Position Control PID Error?

[MK.1]

CubeMX 6.4.0

Cube IDE 1.8

MSDK 5.y.4

Nucleo -F446RE

IHM 08M1 3sh

Hello,

I noticed that in position control mode, the PID controller generates a current Id ref value other than 0. Is it supposed to be like this?

In version MSDK 5.4.8 the current Id reference is set to 0.

Best regards.

[MK.1]

I found that the Id ref current is set during the alignment of the encoder and is numerically equal to the parameter

#define FINAL_I_ALIGNMENT        3086 /*!< s16A */

[MK.1]

solution here:

https://community.st.com/s/question/0D53W00001M7X3wSAF/msdk-5y4-incorrect-operation-of-the-encoder-alignment-function