**Part Number:**BOOSTXL-DRV8323RH

Hi,

I am working on the HALL to FAST smooth transition issues and discovered both speedRef_Hz and speedEST_Hz was out of sync.

when running under FAST estimator + Current Control mode, set IsRef_A to 2.0, I have both EST and HALL Hz as below

when running under FAST estimator + Speed Control mode, set speedRef_Hz to 438, I have speedEST_Hz = 434 and speedHall_Hz which's like Current Control different.

FAST Current Control mode

IsRef_A = 2.0

speedEST_Hz = 438

speedHall_Hz = 31

FAST Speed Control mode

speedRef_Hz = 438

speedEST_Hz = 434

speedHall_Hz = 31

now change the estimator to HALL, if IsRef_A set to 2.0, my motor spin like crazy because speedEST_Hz is ramp up to -7495

HALL Current Control mode

IsRef_A = 1.45

speedEST_Hz = 423

speedHall_Hz = 30

IsRef_A = 2.0

speedEST_Hz = -7495

speedHall_Hz = 189

HALL Speed Control mode

speedRef_Hz = 15

speedEST_Hz = -174

speedHall_Hz = 15

IsRef_A = ~1.17

speedRef_Hz = 20

speedEST_Hz = -235

speedHall_Hz = 19

IsRef_A = ~1.32

speedRef_Hz = 120

speedEST_Hz = -7499

speedHall_Hz = 118

IsRef_A = ~1.6

both Speed and Current Control mode under HALL estimator seem to have speedEST_Hz issues

e.g. positive speedHall_Hz have negative speedEST_Hz value, that's noway to make transition !!!!

what's the 7499 upper limit value ?

on HALL + Current Control mode, it's jump to its upper limit 7499 see below IsSet_A set to 1.7 and 1.9

on HALL + Speed Control mode, speedRef_Hz higher than 100, speedEST_Hz also jump to -7499

IsSet_A speedHall_Hz speedEST_Hz

1.4 28 -360

1.5 34 -512

1.6 46 -844

1.7 62 -7499

1.8 190 -7499

1.9 190 -7499

Can anyone help to let me know how to make it in-sync.?

Thanks,

Tiger