DRV8316REVM: BLDC Motor Positioning - Stop Issue – DRV8316REVM & LAUNCHXL-F280025C

Tool/software:

Dear TI Expert,

I am working on a project where I control a BLDC motor at low RPM using the DRV8316R and LAUNCHXL-F280025C, with Universal Motor Lab software.

I am encountering an issue when trying to stop the motor at an accurate position. After reaching the target position, the motor slightly moves backward due to what seems to be magnetic pull.

Current Stop Implementation

I use the following logic to stop the motor once it reaches the target position:

However, after stopping, the motor slightly moves backward, likely due to cogging torque or magnetic pull.

Question

What is the correct approach to stop the motor precisely without it moving back? 

I have attached a video demonstrating the issue for better understanding.(from 12991 jump back to 12966)

Thanks for your support!

Best regards,
Shahar


e2e.ti.com/.../BLDC_5F00_jump_5F00_back.mp4