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MCT8316Z: FW selectable BLDC commutation, FOC vs Hall

Part Number: MCT8316Z

Tool/software:

We intend to use the 8316Z BLDC driver in conjunction with a microprocessor for our application. Our objective is to utilize Hall sensors for initial commutation and then implement Field-Oriented Control (FOC) to manage motor torque in a position control servo system. How can we configure the 8316Z or similar devices to achieve this control architecture?