I have 2 question about Cureent control of KMS as below:
1. When I test torque control with KMS (no load condition and bare shaft). I find Q-Aixs and D-Aixs current has a big vibration as the picture.
2. I define Q-Aixs current is 0.20 A in torque control (as the below picture) . but in the above picture, Q-Aixs current reference is 0, and D-Aixs current reference is 0.17A. Why?