STM32 MCUs Motor control

Hello,I've been trying to control a Maxon motor BLDC, the motor has hall sensors and encoder as well.  I'm using the STEVAL-SPIN3204 board. I've downloaded the MCSDK6, Cube MX and Cube IDE. I'm new to motor and motor control. I was able to start the motor and achieve full speed control of 9000 RPM, using the sensorless mode. the current monitoring window showed an average current of about 1500( I'm assuming this is in mA); the motor was freely running. I then proceeded to set-up and run the motor using the 6-step with Hall sensor. After properly welding/closing the JP5,JP6, and JP7 and leaving JP8,9,and 10 open as stated in the MC workbench. I was able to start the motor but only up to about 1800 rpm. The current monitor on the motor pilot showed an average current of more than 8500, again I'm assuming these are in mA. The motor is rated for 7.35A, however, once the board was connected to the motor pilot, it always shows a nominal amp rating of 2.64.  The over-current alarm i

Hello Community,I have a problem with the STM Motor Control Workbench 6.3. I have hardware for FOC motor control. For the current measurement, I am using three shunts with differential current measurement, integrated op-amps, and an external resistor network for the gain. I tried to configure this hardware with the STM Board Designer, especially the current sensing:  The creation of the board is fine, but when trying to open it in Motor Control Workbench, I get this error message: Motor Control: MC Workbench 6.3Microcontroller: STSPIN32G4 The board file is attached.Has anyone else encountered the same issue?Best regards,Steffen   

I am using the STM32 NUCLEO-G474RE control board and the NUCLEO-IHM08M1 inverter board for a motor-control application. I want to run a 6-step (trapezoidal) commutation algorithm, so I need to generate PWM signals from the control board to the driver IC on the power board(NUCLEO-IHM08M1).The driver IC (L6398) truth table specifies:HIN = 0 and LIN = 0 → Low-side ONHIN = 1 and LIN = 1 → High-side ONBut the STM32 timer provides complementary PWM outputs, where each channel only gives PWM + its inverted output, so it does not match the L6398 input logic. With complementary channels, the outputs are only HIGH or LOW for PWM—they cannot give “both HIGH” or “both LOW” on the same phase simultaneously as required by the driver.Therefore, I need guidance on how to generate the correct 6-step commutation sequence for the IHM08M1 board using the NUCLEO-G474RE, given that the L6398 requires both HIN and LIN to be controlled independently.

Hello, I did a custom design based on EVLSPIN32G4-ACT, schematic is basically the same apart from board shape and connectors.The hardware is working in general, I successfully got my BLDC motor without an attached load spinning using sensor less speed feedback.The application is the drive unit for an radial fan. After attaching the fan impeller to the motor shaft the before working setup would not spin up anymore.I got speed feedback failures, then I raised the start up current until I got over current events. All not working. The motor also features integrated hall sensors, so I decided to switch to those. The mechanical speed returns sane values inside motor pilot software, so I assume them working. Using the hall sensor, the motor is trying to spin up in the wrong direction finally failing with an speed feedback error.How ever, if I give the motor a push in the correct direction, it will spin up and then be driven to the max. application speed.  At this point new

Hi,I want to use the Trace Interface on the STS32PING4, but I can't seem to find the correct Pins for it. I have found a general Overview of where the Pins would be located in the STM32G431 here (PE2-PE6):https://www.st.com/content/ccc/resource/training/technical/product_training/group0/c9/b9/a2/df/3e/80/45/59/STM32G4-System-Debug_DBG/files/STM32G4-System-Debug_DBG.pdf/_jcr_content/translations/en.STM32G4-System-Debug_DBG.pdfBut since the STM32G431 is integrated in the STSPING4, I don't know the mapping. Also in the Datasheet in the STSPING4, I can't find the Pin names TRACECK and TRACED0-TRACED3.Greetingsdmuth

MCSDK Version: 6.4.1 Build: 250722.224358 uint16_t R3_2_SetADCSampPointSectX_OVM(PWMC_Handle_t *pHdl) Line 1246. Should there be Tcase2?  Tcase3 here is wrong, Tcase2 with no caller.

I have a strange problem with the ADC/TIM interrupts for a simple FOC motor application on STM32G431 on the B-B431B-ESC eval board. The build uses FreeRTOS.There appears to be some strange behavior with R3_2_TIMx_UP_IRQHandler() and ADC1_2_IRQHandler() at startup under some conditions. An apparently benign code change (code that is not actually executed) causes a lockup in R3_2_TIMx_UP_IRQHandler() due to an aparent timing issue.while (0x0u != pHandle->pParams_str->ADCDataReg1[pHandle->_Super.Sector]->JSQR) { /* Nothing to do */ } What appears to happen in the lockup case isR3_2_TIMx_UP_IRQHandler() called for the 1st time and triggers an ADC JSQR conversion (T1).R3_2_TIMx_UP_IRQHandler() called for the second time and triggers an ADC JSQR conversion (T2).ADC1_2_IRQHandler() is called for the first time for T1, but we now loose T2R3_2_TIMx_UP_IRQHandler() called for the third time and hangs because JSQR is not zero because the T2trigger was lost.What should have happe

Hello Everybody,Here are the software and boards in this case:1. MC workbench 6.4.12. STM32 FW V1.28.2I’m running the code generated by ST MCSDK and noticed that the waveforms on the microcontroller’s U-phase and V-phase channels (see pins Ch. U and Ch. V in picture 2) are not center-aligned—there is a slight offset (see picture 1: the center of the blue waveform is shifted a little to the left relative to the yellow one). How can I fix this? I suspect this mismatch is causing noticeable acoustic noise while the motor is running.How can I fix the problem? Thank you!

Hello, I'm using an RC car BLDC motor with an EVLSERVO1 evaluation board and can't complete the Motor Profiler process.  My application has a large mass on the motor, so I need the mechanical model to get better control loop parameters.  I have manually measured the electrical model and have successfully done the following:Run the motor open loop in voltage modeRun the motor open loop in current modeManually determined a start-up ramp profile in open loopStarted up with speed control with my start-up ramp.Used the same MCSDK project with open loop disabled and motor profile enabled to generate a motor profile project with known good motor electrical model and start-up ramp.Despite this, I see no change in behavior during the motor profile process when compared to the default project.  I have used the startup speed as my max speed, lower, and higher.  I have changed the max current to the same as my start-up profile and to the max the board can handle.  No luck.

Hello Expert, I am reaching out regarding some persistent issues I am facing with MCSDK 6.41 on the STM32F303EVAL control board with the STEVAL-IPM-NM2S. I suspect there may be bugs or configuration issues. Background: I previously purchased two boards, and neither motor ran correctly during initial experiments(external opamp case motor work fine) I have now purchased a fresh STM32F303EVAL board and intend to use the internal op-amps and comparators as before. Using external op-amps allows the motors to run, but with internal op-amps, the motors do not start. I followed previous technical support guidance: Set HTMIN2 = 1 and applied the new configuration. Replaced the file r3_2_f30x_pwm_curr_fdbk.c in project\MCSDK_v6.4.1-Full\MotorControl\MCSDK\MCLib\F3xx\Src\ with the attached version. Reduced the PWM pulse width. Observed Issues: Motor 1 always faults (mostly fault code 32), whereas Motor 2 runs without issue. I have tried more many times to play with parameters, s

I´m not 100% sure how to interpret and thereby implement ASPEP on an own controller to talk to the performerSo I want to ask if someone can tell if I´m on the right way on the example of the BEACON messageThe documentation says least significant bits are send first and the BEACON message isI recorded the inital traffic when connecting the Motor Pilot and the first message is I currently think to fit this reording in the documented scheme, I have to "mirror the bytes around the vertical axis", so fittet in the scheeme the message would be10100000 11100011 10000000 00101000?If that is correct, what suprises me is that the CRC bit is zero indicating no crc is supported by the performer, but somehow the last 4 CRCH bits are not zero.  

Hello community,I am using STM32G474 for my FOC application and I am a bit confused about the ADC modes.Since the G4 series has a wide range of ADC modes, which ADC mode is best for 2 or 3 phase current sensing in FOC applications?Is the "dual injected simultaneous mode only" suitable for this purpose?I'm using the ADC1_IN2, ADC2_IN1 and ADC3_IN5 channels to sense the current.If I want to sense all 3 phases current, what should I do? "Independent mode+injected conversion" combination enough for it?I can use a FOC library or MCSDK, but I need to learn the logic behind this task.Thanks for any help. Best Regards

Does anyone know how to connect X-NUCLEO-IHM08M1 with NUCLEO-U575ZI-Q?CN11 and CN12 of NUCLEO-U575ZI-Q will be connected to CN7 and CN10 of X-NUCLEO-IHM08M1 respectively?  Pin 1 of CN11 and CN12 are connected to Pin 1 of CN7 and CN10?Thank you

 Anyone tried to control more than one motor with the EVLSERVO1?The scenery that I mean is like: the ELVSERVO1 is 3kW, so I would control 4 motors of 500W each and give to the EVLSERVO1 the reference (hall sensors) of one of the 4 motors.Did anyone try something similar to that? Do you think that this could work?Thanks.

Hi everyone, I'm working on a dual motor setup using an STM32F303 with the STM32 Motor Control SDK (MCSDK). I'm using FOC with Hall sensors and 3-shunt current sensing. The project is configured with MC Workbench and controlled via ST Motor Pilot. I’m trying to track the position of Motor 1 using the following code inside the Hall sensor interrupt handler:rotation_count_M1 -= pHandle->Direction * SenseMoteurM1; This works fine when only one motor is connected. However, when both motors are active, the function __weak void *HALL_TIMx_CC_IRQHandler(void *pHandleVoid) is called for both motors, and the position count becomes incorrect — which makes sense, since I can't tell which motor triggered the interrupt.I tried something like:if (pHandle == "HALL_M1") { ... }But of course, that doesn’t work because pHandle is a pointer, not a string.My question is:What is the proper way to identify whether pHandle corresponds to Motor 1 or Motor 2 inside this interrupt handler? Is

 Able to generate a code (446+IHM08M1) and spin the BLDC motor. Configured a serial port in my generated code with 19200 Baud Rate.Want to monitor all the parameters using ST Motor Pilot.How to make use of the ST Motor Pilot?Does it Auto detect the Hardware or we have to manually feed? 

 I’m using the EVSPIN32G4 dual motor control board with MotorControl Workbench 6.4.1 in Sensorless FOC mode.Both motors have identical configurations, but Motor 2 doesn’t rotate when using Workbench 6.4.1.The same setup works perfectly in Workbench 6.3.2, where both motors run normally.Hardware and wiring are fine — this seems to be a software or code-generation issue in Workbench 6.4.1 for dual-motor projects.Can you please confirm if this is a known issue or regression in version 6.4.1, and suggest a fix or workaround?Setup Summary:Board: EVSPIN32G4Mode: Sensorless FOC, Dual MotorMC Workbench: 6.4.1 (issue), 6.3.2 (working)IDE: STM32CubeIDE 1.19.0

Hi,I’m controlling a 4-pole BLDC motor (24V) for a tilting door using STM32F303, configured via MC Workbench and monitored with ST Motor Pilot.Control method is FOC with Hall sensors and 3-shunt current sensing. PWM frequency is 25kHz.:wrench: Motor specs:Rs = 0.83Ω, Ls = 0.97mHBEMF = 8.75 Vrms/KrpmInertia = 55.53 µN·m·s², Friction = 38.94 µN·m·sMax speed = 1000 rpm🧠 Control parameters:Hall sensors: Displacement = 120°, Electrical angle = 60°FIFO = 16, Input capture filter = 4 µsRegulation time = 80 µs (2 PWM), T-rise = 1500 ns, T-noise = 2000 nsAngle interpolation enabledSpeed control mode with Feed Forward enabledTorque & Flux cutoff frequency = 6000 rad/sExecution rate = 5 ms:chart_decreasing: Issue:Upward motion is relatively clean (minor oscillation), but downward motion shows strong oscillations. The torque required for closing is higher than for opening, and I can’t find PID values that stabilize the system.:backhand_index_pointing_right: Questions:Could the electrical angl

Hello thereI´ve consulted documents explaining the ASPEP - I´m still wondering how synchronisation is done. -Like is there a unique token / value / ASCII character marking the start or end of a telegram?E.g. the NMEA protocol for GPS antennas use the '$' to indicate a start of frame so the receiver can null it´s bytecounters. I mean somehow what ever parses incomming data must be able to tell if a certain byte is the very first of a new message or not and eventually go back to some idle state.It can´t relie on the assumption that everything always stays in sync and that like never ever a byte get´s lost. - br, Justus

Hi Everyone,We are using an STM32F401RE Nucleo board with the IHM16M1 power board, running a sensorless FOC algorithm generated using ST Motor Control Workbench. The motor parameters were averaged over several runs using ST Motor Profiler, and the control is implemented in 3-shunt topology.Observed Issues:Humming noise becomes audible and increases as RPM increases.This is more prominent at higher speeds.At low RPM, noise is tolerable but increases as speed ramps up. Speed graphModifications done in Motor Control Workbench to mitigate issues:Increased Kp divider to reduce aggressive control at low speeds (reduces noise at low RPM but not high RPM).Reduced Ki to prevent instability.Reduced Observer G2 gain to prevent speed feedback faults in Motor Pilot.PWM Mode Testing:Switching from center-aligned to discontinuous PWM seems to delay the onset of the humming noise slightly, but noise still eventually appears at high RPM. Is there a recommended strategy to suppress audible noi

Hello,we do have a custom motor control board based upon B-G431B-ESC1.A custom inverter board is created with the board designer and the project is created with MotorControl Workbench 6.3.1. The system is running fine at higher RPMs (>2500 RPM; max RPM of the motor is 2900).However when running at lower RPMs the system is becoming instable after some time. I see in the motor pilot that IQ_MEAS and ID_MEAS are increasing till the overcurrent limit is triggered. In this error case the motor RPM is remaining constant, but power consumption is increasing. I can also see that a shift between the HALL_EL_ANGLE and the STOPLL_EL_ANGLE (this is the auxiliary sensor) is becoming visible in this case. When the system is working normally the two are aligned.I can delay this behaviour by decreasing the integral part of the PI parameters for Iq and Id or increasing FOC rate to 5, but I can not get it to stop. Does anyone have any tipps how to get the PI regulators to become stable

Hello there-Is there a way to add own commands/requests to the ASPEP protocol like retrieving own custom introduced values?I´m running the B-G431B-ESC1 board and adapted the esc.c file to my needs and it now holds a value I´d like to be able to retrieve. As far as I understand from looking at the code, callbacks are registered through uint8_t MCP_RegisterCallBack (uint8_t callBackID, MCP_user_cb_t fctCB)defined in mcp.h / implemented in mcp.c-Searching the project for this text I didn´d find locations where it is called / callbacks registered. - br, Justus

Hello everyone,I created a project using Motor Control Workbench, configured for FOC with Hall sensors and 3-shunt current sensing, PWM at 20 kHz. The initial setup used:NUCLEO F303RE boardSTDRIVE101 evaluation boardA BLDC motor with a nominal current of 4 ADuring testing, everything worked perfectly: the current reading matched the expected load (4 A at constant effort).Based on this setup, I developed a custom electronic board using an STM32F303VC. The schematic is identical to the EVALSTDRIVE101 board (same components).I reconfigured the project in MC Workbench using exactly the same parameters as in the evaluation setup. However, when testing the custom board under the same load conditions, I read a current of 8 A.I’ve double-checked the hardware: shunt resistor values, op-amps, connections — everything is identical. I suspect a configuration issue or a subtle difference I may have overlooked.Questions:Are there any specific parameters in MC Workbench or Motor Pilot that depend on

 Subject: PMSM Motor Drawing Higher Power at Low RPM – Guidance on Parameter TuningHello Expert,I have developed a custom board based with STM32F303VET6X, using two IPMs and 0.47 Ω shunt resistors, similar to the STEVAL-IHM045V1 design. The board utilizes the internal op-amps and comparators for current sensing and protection.With MCSDK 6.41, I have successfully run two PMSM motors using this custom board, equivalent to the setup with STEVAL-IHM045V1 power board and STM32F303E-EVAL control board.However, I am observing that at lower RPM, the motor exhibits audible noise and higher input power consumption compared to a typical ECM motor operating at similar conditions/ airflow/rpm. In the custom board livewatch target RPM is achieved always, but I am unsure which parameters should be optimized in MCSDK to reduce input power and improve efficiency.As an random experiment, I thought to play with RSH.  I changed the shunt resistor values to see the effect on power consu

Hi:         We are currently using the STM32G431 MCU with an HSO observer. We are working on a high-speed motor driver that requires an electrical frequency of 5000 Hz. We are unsure whether the STM32G431 can handle a 5000 Hz electrical frequency and if there are any related applications. Based on our current testing, we need to generate 8 carrier cycles within one electrical cycle. So for a 5000 Hz electrical frequency, we want it to operate at a 40 kHz carrier frequency. However, the STM32G431’s processing power cannot handle 40 kHz. We would like to know if the H7 series supports HSO and if it can meet the 40 kHz carrier frequency and operational amplifier speed requirements?