Current controller malfunctioning with low value for Elmo motor_max_speed object (0x6080)

[preston-rogers]

It was found that in the following scenario current control (CST commands) cease to function:

-Only hall sensor feedback is used (no encoder feedback) for position and velocity
-The object 0x6080 is set below a value of 10000. 0x6080 is the object that specifies maximum speed of the motor. When the motor is in CSV mode, the maximum speed the motor can operate in is the minimum of VH[2] and 0x6080.

Notes:
-VH[2] is set in counts per second and 0x6080 is set in revolutions per minute. To compare the two values, ELMO converts 0x6080 to counts per second likely by multiplying 0x6080 by CA[18]/3600. CA[18] gives the encoder counts per mechanical revolution.
E.g., if 0x6080 is set to 10000 and CA[18] is set to 24 (4 pole pairs), then the maximum counts per second is approximately 67.