The motor resynchronization function works when the ISD and resynchronization functions are both enabled and the device determines that the initial state of the motor is spinning in the forward direction (same direction as the commanded direction). The speed and position information measured during ISD are used to initialize the drive state of the MCF8316A , which can transition directly into closed loop (or open loop if motor speed is not sufficient for closed loop operation) state without needing to stop the motor. In the MCF8316A , motor resynchronization can be enabled/disabled through RESYNC_EN bit. If motor resynchronization is disabled, the device proceeds to check if the motor coast (Hi-Z) routine is enabled.