ZHCSH31B August 2017 – February 2018 DRV10987
For any given motor, the integrated value of BEMF during half of an electronic cycle is a 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 MotorKt.
The relationship is shown in Equation 12.