Command remains active after I disable the motor

I am moving the motor with an angle position or velocity command. I am stopping the motor with a disable motor command. If I enable the motor, it resumes the command form before. How can I reenable the motor without continuing the command?

Another issue, sometimes I change the current limit while moving, and then when I stop the motor, it seems to keep on going on constant high current. It seems like the PID is overflowed or something.

What can I do?

Hi @Geronimo,

Did you find a solution yet?

Question 1:
Maybe you can program that when you send the dissable motor command, that it automatically sends a command after it for reseting the position or velocity to a default chosen value?

Question 2:
I do not know a solution for that one!

not yet, no solution