MCF8316A: Different start-up behavior for I2C and Brake

Hi Expert

I am running a customer motor based on MCF8316EVM.

It was found if using I2C Speed CMD to set stop to  (0% speed CMD) to re-start (90% speed CMD), there was a small audible noise when motion starting.

But if using Brake pin to stop the motor (set brake to high) and re-start (set brake to low), there does not have this audible noise when motion starting.

Is this expected? Is there a way to eliminate audible noise when using I2C to stop-start?

Thanks!

Regards

Rocky