Hi Guys, I seem to be having a similar issue.
As @rz2za, when I apply a small amount of force to the motor, it seems to loose encoder positioning. As I check the serial monitor, it gains or loses 50-1000 radians randomly, and then resumes rotation from the new position. This seems to only happen when I set the current limit above 1 amp. Is anybody familiar with such an issue or have seen this before? Below are some reasons that could be possible that I came up with, but perhaps someone with more experience has a better understanding of what is happening:
- increasing amperage → increase magnetic field interference to AS5047p sensor
- increasing amperage → increase magnetic field interference to SPI interface
Please see video demo below:
Current limit at 1 amp (no issue):
Current limit at 2 amps:
Thanks in advance!
Amit