STM32 MCUs Motor control

Hello,in file RegListSTMV2.json I can define custom registers. Most registers have "UpdateFrequency" configured to "MediumFreq".How often is "MediumFreq" polled by Motor Pilot?Is it possible to configure the polling frequency in Motor Pilot?Thanks, 

Dear ST Team, I am currently working on a 24V @ 1.5A sensorless BLDC motor control application using the following setup: MCU Board: Nucleo-F401RE Driver Board: X-NUCLEO-IHM16M1 Motor: Sensorless BLDC MotorSoftware Tools: MC Workbench 6.4.0 and Motor Pilot Control Technique: Field-Oriented Control (Sensorless) Issues Observed: During startup, the motor produces loud noise, initial jerks, and fault indications in the IHM16M1 board. At higher RPMs, a mild humming noise is audible. When decreasing the speed to medium or lower RPMs, the IHM16M1 board triggers faults again in the IHM16M1 board. We have profiled the motor multiple times using Motor Pilot, and each profiling run gave slightly different values for parameters such as Friction, Inertia, and Back-EMF constant. To address this, we tested the system using the average, minimum, and maximum values obtained from multiple profiles. However, the same issues persisted across all

Hello Everyone,I’m using sensorless FOC to control a BLDC motor with 3-shunt current sensing for closed-loop control. At startup, the motor slightly moves backward before starting to rotate in the correct (forward) direction. I understand this is likely due to the lack of initial rotor position information. There are no position or speed sensors involved—everything is handled via FOC and current feedback.I verified that 6-step control on the same hardware supports Initial Position Detection (IPD), although I haven’t tested it yet. That said, I am not switching to 6-step control. I want to stay with FOC and retain the 3-shunt topology for current sensing in closed-loop mode.My questions:Is there a way to prevent this backward motion using FOC only?If IPD is the only viable solution, how can I integrate IPD into the FOC framework, using my current hardware setup (STM32F401RE + 3-shunt topology)?Can I reuse the 6-step IPD logic just for startup, and then transition into FOC with 3-sh

[VERSION]: MCSDK6.4[TOOL]: MC Workbench6.4.0，   KEIL5， ST Motor PilotI am currently conducting an experiment where a quadrature encoder is used as the primary sensor and STO_PLL serves as the auxiliary sensor. During testing, after using Motor Pilot to acquire the waveforms of ENCODER_EL_ANGLE and STOPLL_EL_ANGLE, I observed that the two do not align. The motor can still run normally without any error reports. Have any of you encountered situations where the electrical angles of two sensors (ENCODER_EL_ANGLE and STOPLL_EL_ANGLE) fail to align? If so, could you share potential causes?The image below shows my test results；         I think the correct waveform should be perfectly aligned;As shown in the figure below： 

Hello, @Peter BENSCH @Cristiana SCARAMEL @TDK @Amel NASRI I recently came across the easySPIN library for controlling a stepper motor using the L6474 driver. The library provides two board options: STEVAL_PCC009V2 and STM32_VL_Discovery.I am using the STEVAL_PCC009V2 code and have selected the STM32F103C8 as the target in uKeil. The code compiles successfully and flashes without any errors.I have connected SPI2 and other required pins (SCK, DIR, STBY_RESET, and FLAG) as defined in the easyspin.h file. However, the motor does not move.The main.c file contains motor functions such as eMotionControl_GoTo(-65);. I am attaching the relevant files for your reference. Kindly review and let me know if I am missing something.Thank you!

hello everybody:    l'm currently debugging the FOC motor with MC Workbench. Now I have generate the code with the open loop configuration. According to the user mannual, I can use the APIs in the code as follows:------------------------------------Firmware Usage via APIsStep 1 : Choose Open Loop mode using MCI_SetOpenLoopVoltageMode(&Mci[motorID]) or MCI_SetOpenLoopCurrentMode(&Mci[motorID]) functions (MCI_SetOpenLoopCurrent and MCI_SetOpenLoopVoltage should be considered as deprecated there will be removed in the future).Step 2 (Open Loop Voltage Mode only) : Set Voltage reference via OL_UpdateVoltage(&OpenLoop_ParamsMx,((Voltage_Reference * 32767) / 100)) function.Step 2 bis (Open Loop Current Mode only) : Set Current reference via MCI_SetCurrentReferences(&Mci[motorID], Iqd) function. Mind that Iqd is a qd_t struct that needs to be given Id and Iq as parameters. Id is Flux Reference, whereas Iq is usually 0.Step 3 : 

Hello,I need you help . For implementing sensorless control of a PMSM motor using the STEVAL-IPM30B and STM32F407, how should their pins be connected? Should the control board's required feedback for voltage and current be directly connected from the given sensing points? 

I have a STSPIN32F0A board on which, I need support on below points1) Ability to operate the motor through LIN/PWM signal rather than an ADC signal, currently the EVAL board supports an ADC through an onboard potentiometer which I want to remove. 2) My current design is not able to move beyond 1.5A rms, whereas the design can support up to 15A rms, How to rectify this issue?

Hi, I'm trying to profile a motor on the latest firmware. I can't get the latest firmware to build with the profiler enabled and get a series of issues related to arm_math.h.Are there any known fixes to this or are there any significant downsides to using the recommended earlier firmware version. Any help would be appreciated,Thanks!

 I am using the Nucleo-IHM17M1 and Nucleo-F401RE to evaluate a high-speed drone motor (22,000KV) with sensorless drive. I am particularly interested in the Motor Profiler function, since some key motor parameters are not provided by the manufacturer. However, whenever I open Motor Workbench with Motor Profiler (version 6.4.0) and attempt to connect, I consistently receive a firmware error message. I have reviewed the specification sheet, which confirms that these boards are supposed to be compatible. Could you suggest any possible reasons for this issue, or recommend any other compatible boards for profiling sensorless BLDC drone motors?Thank you very much!

 I can't increase the motor speed beyond a certain point.For example, when using the ST Motor Pilot interface, I set the Speed Reference variable to 2500 RPM, and the Mechanical Speed reaches approximately the same value (2495 RPM). However, when I increase the Speed Reference beyond 2500 RPM, the Mechanical Speed does not increase and remains the same.MCU: STM32G431RBPower Board: STEVAL-IHM023V3NOT :I increased the motor's nominal current using MC Workbench, but I didn't notice any change in speed.[VERSION]: MCSDK6.3.2 (latest version for all tools)[TOOL]: MC WB[DETAILS]: See above.[EXPECTED BEHAVIOR]: Increase in motor speed[HOW TO REPRODUCE]: See above.Best regards.

Hello,I bought the STM32 Nucleo Pack with the Nucleo-F302R8, the X-Nucleo-IHM07M1 and a three-phase motor.I use MCSDK to control my motor and it's no problem.But when I want to add an external potentiometer to the ADC, I can't get the values from it.I've tried lots of things, but nothing works.To be sure of my potentiometer and my program, I tried with a simple program that doesn't use MCSDK, and everything worked perfectly. Here is the configuration of my MX_ADC1_Init with mcsdk activated: static void MX_ADC1_Init(void) { /* USER CODE BEGIN ADC1_Init 0 */ /* USER CODE END ADC1_Init 0 */ ADC_AnalogWDGConfTypeDef AnalogWDGConfig = {0}; ADC_InjectionConfTypeDef sConfigInjected = {0}; ADC_ChannelConfTypeDef sConfig = {0}; /* USER CODE BEGIN ADC1_Init 1 */ /* USER CODE END ADC1_Init 1 */ /** Common config */ hadc1.Instance = ADC1; hadc1.Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV1; hadc1.Init.Resolution = ADC_RESOLUTION_12B; hadc1.Init.ScanConvMode = ADC_SCAN_ENABLE; ha

Hello All,I'm using VNH707AY motor driver to drive 2 motors separately i want to interface with my STM32Can anyone share the schematic or  references for the same which can help me in this.Thanks & Best Regards,Sakshi 

Hello,I have a custom Board based on the evspin32g4 dual, what Values should i put in "Charge Boot Capacitor Time" and "Charge Boot Capacitor Duty" in the motor control workbench?

The single-resistance mode of the current sensor can generate successfully, while the three-resistance mode fails to generate Software version:MCSDK 6.4.0 CUBEMX 6.14.1CUBEFW 1.28.2  log2025-07-04 10:29:20,884 DEBUG [WB_to_MX.lambda$run_gui_mode$0] Arguments: [-mx_timeout, -1, -pack, assets/MotorControlPack/MotorControl.zip, -exp, templates/wb-defines_where_and_what.txt, -ftl, templates/wb_ioc_template.ftl, -xdm, F:\06.Code\FOC\STMC2M\STMC2M.wbdef, -ioc, F:\06.Code\FOC\STMC2M\STMC2M.ioc] 2025-07-04 10:29:20,885 DEBUG [ArgsValue.lambda$retrieve$2] CLI_ARG[ftl]: templates/wb_ioc_template.ftl 2025-07-04 10:29:20,885 DEBUG [ArgsValue.lambda$retrieve$2] CLI_ARG[exp]: templates/wb-defines_where_and_what.txt 2025-07-04 10:29:20,885 DEBUG [ArgsValue.lambda$retrieve$2] CLI_ARG[xdm]: F:\06.Code\FOC\STMC2M\STMC2M.wbdef 2025-07-04 10:29:20,886 DEBUG [ArgsValue.lambda$retrieve$2] CLI_ARG[ioc]: F:\06.Code\FOC\STMC2M\STMC2M.ioc 2025-07-04 10:29:20,887 DEBUG [ArgsValue.lambda$retri

Hi team,I had made project on Motor control workbench in 5.4.8 where i get serial communication to check the parameter.if i work on 5.Y.4 where serial port is not active, then how to activate the serial port in 5.Y.4?if i import the 5.4.8 project in 5.Y.4 then the API is not matched. if i maually type the code in IDE then also 5.4.8 & 5.Y.4 parameters may changed.can i use same drive_parameters.h and pmsm_parameters.h in 5.Y.4 ? observer & PLL?The API is same for 5.4.8 & 5.Y.4 or different? if different then what to do to checkIf i run the motor in 5.4.8 with same parameter with the debugger in IDE, then debugger gets disconnected and i cannot debug the fault.Please help into thisRegards,Amol S.Email ID : amol.shinde@aplosventures.com

Hi, I got a Steval-ctm010v1 board and using sdk 5.4.8. I have tried to enable its PFC section with eliminating the warning from xml file at the sdk file location. It enabled the PFC in the motor workbench and it shows that pins are assigned at the motor workbench. But After generating the code, the pins aren’t assigned in Stm32cube MX so the PFC isn’t enabled in practice and it just generates the PFC codes (pfc.c and etc…) to be used in the main code. How can I enable PFC the right way? any Help would be appreciated.

 i m using customized stspin32g4ACT board , nd version of work bench m using is 6.3.1 but when i try to generate code there is motor profiler option is disable  although m using stm32ide 1.17.0 when i upload code for led blink using pc14 it turn but don't blink but when m upload code through Arduino it blink very good pc14 and pc13 both in st32ide it does not blink show suggest me where i lacking motor m using is 2 pole hall sensor code is blow  , i m new to workbench so pls guys guide me nd this is disable motor profiler image  

Hi,It is not an issue with ST software but wanted to clarify, my application requires different modes with speed limitation in each mode, to do that i have started controlling the CircleLimitationM1.MaxModule parameter in torque control mode which is the modulation index. Is it ok? since as of now i only used to control the Iq parameter but speed i could not regulate with Iq. I was successful in controlling the RPM but i want confirmation that it is ok to alter the maxmodule parameter as per the requirement, i am changing this in run time.  

Hello,I am using the EVLSERVO1 board and trying to monitor the DAC outputs with an oscilloscope, since the high-frequency plots in Motor Pilot are difficult to use effectively. I enabled DAC Debug in the FOC Wizard, assigning DAC Out 1 to PA4 and DAC Out 2 to PA5. After doing this, I checked CubeMX and confirmed that these pins are configured correctly.According to the EVLSERVO1 schematic, it looks like I should be able to connect the oscilloscope probes to pins 8 and 5 on the J2 connector. However, when I select a variable to output to the DACs from within Motor Pilot, I see no signal on the scope, just noise.Is there anything else I need to configure to get the DAC output working?Thanks

Hello everyone!Based on the shot I provided, there are some parameters that I don't know exactly how they are calculated.What are the Polarization Offset and Offset network attenuation parameters and how could I calculate them? Is there any user guide for that?It's very useful when designing a custom boardThank you all

I have implemented the following logic if the throttle signal is below a threshold i give Stopmotor command, it will take some time for the motor to come to zero speed, but the requirement is if i give throttle again the motor shall continue running but the problem is if i give start motor command i can hear a noise or jerk. I tried giving the command MC_ProgramTorqueRampMotor1(0,0) instead of the stop motor command, but power is still going to the phases and i can hear the sound and this is not acceptable to customer.  Please suggest how do i solve this problem.It is hall sensor based custom board.

Hi All,I have an STM32f302R8 with IHM07M1 with a Bull Runner 2804 motor. This may seem like a simple question but I cannot find any information as to reversing the direction of the motor. In my final project I will need to reverse the direction of the motor on occasion. Does anyone have any information that may help me?DonCorr

Hello,I want to use MCU pin A6 for something else and OPAMP2 to ADC2-IN3 shall be internally connected only.G4 Reference manual page 779 figure 171 says:opamp_out can be redirected internally to an ADC channel by setting OPAINTOEN bit.In this case, the I/O on which is mapped the OPAMPx_VOUT is free and can be used for another purpose. In standalone mode, VOUT pin is disconnected from the OPAMP output and the gain cannot be set by an external resistors (in this case OPAMP can be used only as comparator).When I look at MCSDK generated code I see, that OPAINTOEN is disabled. According to docu above this means, OPAMP out is not connected to ADC ??? /* USER CODE END OPAMP1_Init 1 */ OPAMP_InitStruct.PowerMode = LL_OPAMP_POWERMODE_NORMALSPEED; OPAMP_InitStruct.FunctionalMode = LL_OPAMP_MODE_PGA_IO0_BIAS; OPAMP_InitStruct.InputNonInverting = LL_OPAMP_INPUT_NONINVERT_IO0; LL_OPAMP_Init(OPAMP1, &OPAMP_InitStruct); LL_OPAMP_SetInputsMuxMode(OPAMP1, LL_OPAMP_INPUT_MUX_DISABLE);

Hello,I am generating firmware using MCSDK 6.4.0 and testing my motor with Motor Pilot. I am using FOC with encoder feedback.Under no-load conditions, the velocity control loop works perfectly with the default PI gains, the motor tracks speed very accurately. However, the motor produces no holding torque and can be stalled easily with just my fingers at all speeds.I assumed this was due to a poorly tuned current loop, so I began increasing the proportional gain of the torque (Iq) PI controller in Motor Pilot while running in torque mode. During testing, I monitored the I_Q_MEAS and I_Q_REF registers while gradually increasing the torque current.There is quite a bit of noise in the I_Q_MEAS signal, but it is still clear that it never steps anywhere near I_Q_REF. Increasing the torque gain has no noticeable effect, the motor still pulls only a small amount of current, and the holding torque remains nonexistent.I have been searching for any hidden current limit or clamp that could explain