How to run the gimbal motor that comes with the P-NUCLEO-IHM03 dev kit at very low speeds (5 rpm)?

Hi,

I have a P-NUCLEO-IHM03 dev kit which comes with a iPower gimbal motor (GBM2804 – 100T) , NUCLEO-G431RB and a power shield. I am running the 'Speed Ramp with potentiometer on P-NUCLEO-IHM03 kit' example in the motor control workbench.

My intention is to run it at very low speeds, typically 5 rpm in a sensorless configuration. The example works fine for higher speeds >300rpm. There is also jerks when it starts up and the motor starts only after the pot is moved past a minimum offset value. Kindly help me in configuring the parameters in the Motor Control Workbench to achieve the same.

Thanks,

Vimal