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TMS320F28027F: "Step out" detection, recovering, and reporting

Part Number: TMS320F28027F

Hello,

My customer is looking for a solution to detect "step-out" of BLDC motors. Is it possible for C2000 uC ?

I expected the InstaSPINs would have something, but I could not find materials to explain that.

If any solutions, could you recommend a pdf material or a keyword to search the TI homepage ?

I'm sorry this newbie's question. I'm asking this assuming the word "step out" is that the motor axis angle got lost synchronization to the control angle.