Never used SimpleFOC to move a stepper motor but with BLDC motors with a low phase resistance setting motor.current_limit to a low value can solve some problems. Do not know if it apply or setup.
PS: very nice planetary gear 
Never used SimpleFOC to move a stepper motor but with BLDC motors with a low phase resistance setting motor.current_limit to a low value can solve some problems. Do not know if it apply or setup.
PS: very nice planetary gear