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CCS/TMS320F28069M: Lab 6e - Motors not behaves equal

JL96
Prodigy 100 points

Part Number: TMS320F28069M

Tool/software: Code Composer Studio

Hello

I run Lab 6e with TMS320F28069M with two BOOST-XL DRV8305EVM. Two PMSM motors that should be identical is connected.

Set gMotorVars[0].SpeedRef_krpm and gMotorVars[1].SpeedRef_krpm = 0.1. Both motors spins. Motor [0] spins smooth with constant speed but motor [1] spins about same speed but spins slower short times along the rotation.

Both motors uses identical user_mtr_on_j1.h and user_mtr_on_j5.h (attached).

I have also checked the pidHandle (pidHandle[HAL_MTR1][1] and pidHandle[HAL_MTR1][2] use equal P, I and D.

What can be the reason for the motors not equal behaviour?

Thanks

user_mtr_on_j5.h