Sensorless control and velocity estimates in CAN


Looking at the CAN message list documented in this page, I stumbled upon the following:

0x009 - Get Encoder Estimates* - Master

What would that message return if I were running the motor in sensorless mode? Would it give me the last instantaneous estimates of electrical velocity and position?


It currently only reports the encoder values, so for sensorless it will return zero for both.

I just added 0x015 - Get Sensorless Estimates


Wow that’s really great! Thanks!
Would you know by any chance when that CAN message will be available in the next release of the firmware?