I have seen these docs, but cant find them now...
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I saw a sine wave PWM document somewhere, but I cant find it again.
it described how you switch from one phase to another and the associated sine wave adjustment required across that change in phase..
it was an app note I think and was many pages... diagrams / waveforms / description etc.
Nick,
This is the Instaspin (TI's implementation of FOC) user's guide:http://www.ti.com/lit/ug/spruhj1h/spruhj1h.pdf
Is this the one you needed?
Regards,
-Adam