I am confused a bit: torque control mode controls the current (and hence the torque), but what about duty cycle? Does that control the duty cycle of current, supplied to the motor?

Thanks!

I believe at least in BLDC mode we can say, for example:

C = 22.22222222222222222222 = duty %

effective v = 11.11111111111111111111v = (C/100) * 50v battery

then:

(effective v - bemf v) / winding resistance = motor current

(rpm / kv) = bemf v

(effective v * motor current) / battery voltage = battery current

I believe at least in BLDC mode we can say, for example:

C = 22.22222222222222222222 = duty %

effective v = 11.11111111111111111111v = (C/100) * 50v battery

then:

(effective v - bemf v) / winding resistance = motor current

(rpm / kv) = bemf v

(effective v * motor current) / battery voltage = battery current

Thanks!