TMS320F28069M: Instaspin-FOC experiment 11a was changed to the encoder feedback angle, causing the motor spinning rapidly

Hi Team,

Here's an issue from the customer may need your help:

Hardware: TMS320F28069M + DRV8305 kit

software: Instaspin-FOC lab 11a

The motor operates normally. I want to modify the code. Use the angle of encoder feedback to replace the senseless. I added the Enc.c and QEP.c files under the original project, added the QEP predefinition, added the enc object and handle, and initialized:

Then in the angle and speed feedback part, changes were made in the blue part of the picture below:

The code compiles without problems. But when it is enabled (gMotorVars.Flag_enableSys = 1) and gMotorVars.Flag_Run_Identify = 0 during operation, the motor starts to rotate rapidly and is uncontrollable. What could possibly be causing this?

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Thanks & Regards