Motors heat up when searching for index

When we specifically set find_index = true for the encoders and run FULL_CALIBRATION_SEQUENCE the motor becomes superhot and untouchable with bare hands. Can someone please explain why this occurs and how can we solve it?

You likely need to turn down the lockin current. Tbh I don’t remember if it’s General Lockin or Calibration Lockin, but they likely both need config.current set lower.

I decreased config.calibration_lockin.current and now it does not heat up. Thank you.

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