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TMS320F28027F: The motor cannot be aligned when it is started with full load alignment.

F.F
Genius 3095 points

Part Number: TMS320F28027F

Hi team:

I need to start motor with full load alignment according to chapter 14.4.2 of InstaSPIN-FOC and InstaSPIN-MOTION User's Guide (Rev. H), 

I enable RS recalibration. When the motor is empty, it can be pulled to 0 position by DC, and then it can be closed-loop operated from this position.

However, when the load is applied, due to the small DC pull current, the DC pull to zero position cannot be realized. How to solve this problem?

In addition, when the no-load DC motor is pulled to the 0 position, there will be jitter.

Best regards