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Duty cycle jumps to maximum when *lowering* current limit

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vadimz
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Joined: 2018-08-29 17:30
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Duty cycle jumps to maximum when *lowering* current limit

In our robotics-like application we use RPM mode while adjusting current limit - we customized it to allow dynamic modification of the limit by terminal command. I noticed that if the current limit is set below the actual current, the duty cycle jumps to the highest value (95%) and stays there.

For instance, say current limit is set to 1 Amp, and the motor is spinning at 1000 ERPM drawing 0.3 Amp. If I change the limit to 0.2 Amp, the duty cycle jumps to 95% and motor speeds up to max.

Any ideas ?