Tool/software:
Hello dear support team,
I'm running a program based on the i07_speed_control_eabi in a sensor-less configuration. What I'm trying to achieve is to stop and restart the motor but at the same time, disable the PWM output when the motor is not spinning. The problem I'm facing is that the estimator is continuing to try to estimate the angle and that results in the fact that when I'm trying to restart the motor, the angle is wrong and there's a jerk at the beginning.
I have tried disabling both the trajectory and the estimator itself but disabling the estimator sets the angle to zero. So, the question is: what the correct way is to disable the PWM and the estimator output while preserving the angle for the next run?
Alternatively, is there any way for the estimator to calculate the angle before applying torque while the shaft is stopped?
Best Regards,
Victor Munoz
