DRV8711: High motor displacement when re-enabled through CTRL

Part Number:DRV8711

Hi,

We're using the DRV8711 in 1/16 step mode. The problem we're facing is that the motor seems to move to a full step position when it is re-enabled (using SPI CTRL register). Our application requires the motor to be enabled and disabled for the user to move the load manually:

1) motor is enabled, 1/16 stepmode, standstill, 600 mA

2) motor is disabled (CTRL register)

3) user moves the load (and thus rotates the motor) to a specified position.

4) motor is enabled again, 600 mA current

5) motor makes a 'jump' (to a full step position?) and the position specified by the user is lost.

The problem is in 5): motor moves when it is enabled. I expect it to move to the nearest 1/16 step position (which translates to a linear resolution of 0.01 mm) but not this amount.

What happens to the indexer table when the motor is enabled/disabled?

Kind regards,