We are using VESC in our project and we are experiencing problems with BEMF/BLDC mode on high current operation. It looks like it has some wrong commutations.
When we add next power, our design goes to fault and stops, so I think it is a start of failures.
Do you have some ideas? Maybe we need to change the Zero Cross detection algorithm to fix it?
Below are the pictures with current, and currents with BEMF(when everything is ok). Date is measured @ 130 kHz so there are some missing points.