Hi, I’ve experimented with couple custom Simplefoc boards and they works fine with motors without gearbox. recently i got a robotic joint motor GIM4305 :https://www.aliexpress.com/item/1005003433829950.html
was tryna get it work with angle -velocity-torque mode but had no result after days of trials. I was starting from torque control mode, got it move in a very weird way after setting current I term to 350, P term 0.05:
Giving any torque value like 1, 2, etc. its only going to hold the motor in place, and for it to move, need to set torque to 0, and then the motor starts spinning if subjected to external force.
Does anyone know some tips when tunning geared/robotic joint motors like this? Many thanks