Hi, my motor is the GIM4310-10 which has a phase resistance of 4.8 Ohm. This could not be important but just for you to have all the information. I used a SimpleFOC 2.0.4 Arduino schield board as driver.
As for the the PID parameters, I just used the “angle_control.ino” which comes with the SimpleFOC library without any change on the PID parameters. I used a AS5048A encoder connected via SPI in the way here described. This way the motor works by commanding an angle by the serial terminal. Sometimes it starts vibrating. I didn’t investigate on that because I am interested in torque control (Voltage control). Then I used another setup: a slave (a CUI capacitive encoder connected to the SimpleFOC board (2 and 3 pins of Arduino) to command it. The control mode is Torque and the command is motor.move(k*(encoder.getAngle()-encoder1.getAngle())); being encoder the reference encoder (CUI master) and encoder1 the SPI encoder connected to the controlled motor. In this configuration the motor works very well for my purposes without any vibration and being compliant.
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