ZHCSDA7G July 2014 – February 2018 DRV10983
For any given motor, the integrated value of BEMF during half of an electronic cycle will be constant, Ktc (see Lock2: Abnormal Kt).
The integration of the motor BEMF is processed periodically (updated every electrical cycle) while the motor is spinning. The result is stored in register MotorKt1 and MotorKt2.
The relationship is shown in Equation 11.