so I have a BLDC Motor with a worm gear box connected to a shaft which is used to wind up some rope which has a weight on the end of the rope. I am implementing a current control for the Motor to generate a specific torque. When winding the rope onto the shaft it all works perfect. But when I want to unwinde the rope, the weight which is connected to the rope doesn’t effect the current of the motor because of the self locking mechanism of the worm gear box. So as soon as the load torque and the motor torque turn in the same dircetion I cant sense any change in load, right? Is there any clever workaround?
Thanks and I hope its understandable