Anti-pinch and obstacle detection reference/example code/algorithm.

[EDokm]

I'm trying to control a PMSM motor using Nucleo-G474RE and STEVAL-IHM023V3 motor control boards and Motor Control WorkBench (Version 6.2.1). I am trying to use it for door control application.

But i could not found out any reference/example code/algorithm and application note for anti-pinch and obstacle detection using  Motor Control WorkBench.

Can you provide me any information for anti-pinch and obstacle detection?

Thanks in advance for your help.