DRV10983EVM: n closed - loop control, it is easy to jam.Drive current is too small for only 20mA. How to adjust parameters?

So the faults you are seeing are kt abnormal, speed abnormal, and current limit.

1) Sensorless motor operation is not meant for low speeds typically. 5 Hz definately seems very slow so it might now be able to achieve that. What is your target speed?

2) Does the motor failure happen at all speeds, or only at low speeds?

3) Correct me if I'm wrong, but I believe your settings are as shown below. My recommended changes would be to disable inductive avs and increase dead time to 360ns as recommended in our tuning guide http://www.ti.com/lit/ug/slou395d/slou395d.pdf . Also for better control, I would recommend doubling the pwm frequency. And to make sure the driver is tuned properly, please make sure kt and phase to center tap resistance are entered correctly.

fd

For low speed high torque motor applications, I would use a sensored solution based on halls or encoders. For hall-based drive, I would recommend DRV10970