L6480HTR Current problem

[TOAMUSEN]

We are operating the motor with the Run command “Run(DIR, SPD)” to rotate it at a constant speed. However, when the speed (SPD) is varied and then returned to the same SPD, we observe a significant increase in current.

• We send the Run command to the driver IC every 20ms.
• Even when the motor status is constant speed “MOT_STATUS[1, 1]… Constant speed”, we continue to send the Run command. In this case, a slight speed variation causes the current to keep increasing.
• When we tried not sending the Run command while the motor status was constant speed “MOT_STATUS[1, 1]… Constant speed”, the current change almost disappeared.

Therefore, could continuously sending the Run command while the motor status is “constant speed” affect the phase current adjustment in some way?