STM32 MCUs Motor control

Hello,I am currently designing an ESC for a small vehicle (around 300g).  I made a first proto board and I use the 6-steps algorithm with an hall sensored motor. I would like to be able to brake. I firstly thought to short all the phases directly to the ground with a PWM in order to brake more or less but it seems that there is no dedicated function  for braking in the generated project.Here are the availabe functions in mc_api.h :/* Starts Motor 1 */ bool MC_StartMotor1(void); /* Stops Motor 1 */ bool MC_StopMotor1(void); /* Programs a Speed ramp for Motor 1 */ void MC_ProgramSpeedRampMotor1(int16_t hFinalSpeed, uint16_t hDurationms); /* Returns the current PWM duty cycle reference for Motor 1 */ int16_t MCI_GetDutyCycleRefMotor1(void); /* Returns the state of the last submited command for Motor 1 */ MCI_CommandState_t MC_GetCommandStateMotor1(void); /* Stops the execution of the current speed ramp for Motor 1 if any */ bool MC_StopSpeedRampMotor1(void); /* Stops the e

Hi all , I'm currently using the EVSPIN32G4 evaluation board along with MC Workbench for motor control development, and I'm encountering an issue with Overcurrent Protection (OCP) behavior that I can’t quite resolve.My Setup:Gain Type: External Gain NetOCP Threshold (set in MC Workbench): 200AShunt Resistor: Physically modified to 1mΩ (0.001Ω)External Amplifier Gain: 7.33 During runtime, I monitored the motor phase current using a current probe and oscilloscope. OCP is triggered at only around 46A, which is far below the configured 200A.In the firmware, I noticed:DAC_OCP_Threshold = 7427;According to the MC SDK, the current conversion factor is calculated using this formula:#define CURRENT_CONV_FACTOR ((uint16_t)((65536.0 * RSHUNT * GAIN) / ADC_REFERENCE_VOLTAGE))I get: CURRENT_CONV_FACTOR ≈ 146 ///   I = 7427/146 = 50.9AIn the official ST document UM2850 - Getting Started with EVSPIN32G4, Section 5.5.2 provides a OCP threshold formula. The formula is used to c

Hello, I am having a lot of noise of the Id and Iq current. The Eval board is connected to a BLDC, having a hall sensor. I am using the v6.3.2 of the MC Workbench. I am running the Open Loop Current Mode from MC Pilot to make sure that it is the not the position of the rotor is the problem.I attached a picture for reference. The speed reference is zero here and Id ref = 0Amps.Thank you

I'm using STMC FOC sdk v4.3 on a STM32F303ZE MCU. The main sensor is an incremental encoder, but I'm experiencing issues with the speed measurements.The issue is pretty consistent in nature, although it appears rather randomly. The figure shows the measured speed in units of 01Hz. We get a negative spike with value `speed = actualSpeed - 624`, followed by a positive spike   `speed = actualSpeed + 625`  at exactly 16 samples later. Note that the buffer size of `ENCParamsM1` is 16. I'm suspecting that `VirtualSpeedSensor` class is related to the issue as it's parameter struct has a member `hTransitionSteps` with value 625. However, I don't know the details for how this works and the v4.3 sdk is pretty hard to troubleshoot.Note that the MC is in RUN state at all times, and that neither the return value of `ENC_CalcAvrgMecSpeed01Hz()` in `ENC_F30X_SpeednPosFdbkClass` nor the return value of `SPD_CalcAvrgMecSpeed01Hz()` in `SpeednPosFdbkClass` goes FALSE at any

Hello!I’m currently working on a sensorless 6-step BLDC motor control project using an STM32G474RE.I implemented the full control flow based on ADC-DMA sampling, center-aligned PWM (TIM1), TIM2-based timing, and ZCP detection logic.The control flow is as follows:The motor enters an alignment phase with fixed high/low-side conduction.It transitions to open-loop commutation for ~1 second.Once enough steps have passed, I enable ZCP detection.ZCP is detected when BEMF crosses Vbus/2 with correct polarity.After ZCP, commutation is scheduled with a 30° electrical delay using TIM1 Channel 4 compare interrupt.All ADC channels (BEMF_A/B/C, DCBV, DCBI, etc.) are configured correctly, DMA is working, and ZCP detection logic is being called.However, the motor does not spin at all, even during open-loop startup.Could someone review the attached code and let me know if there’s something wrong in how PWM, commutation, or ZCP triggering is being handled?Thank you!

Hi,I'm using Motor Control Workbench 6.2.0 with a custom power board that supports a maximum of 1200Vdc. The motor to be controlled also supports a maximum of 1200Vdc.When creating the project, I noticed that on the Power Supply tab, the application requires the bus voltage level to be specified within a range compatible with the power board and motor specifications, which in my case is [100 - 1200] Vdc.However, regardless of the value set in the bus voltage level text box, the Voltage Scale field on the Speed Sensing Config. tab appears to be out of range: it indicates a maximum allowed value of 1000V.Moreover, from the HSO startup guide, I read that the voltage scale value can't be lower than the maximum voltage that can be measured based on the hardware design (which makes sense due to internal firmware scaling).So, I wonder if there's a way for my application to work with bus voltages in the range of (1000 - 1200] Vdc?Is this an intentional limitation of Motor Control Workbenc

Hi, I am using motor workbench 6.3 along with stm32cube mx 6.12 and stm32cubeIDE 1.16.0. The hardware is a F303RE nucleo board with IHM08M1 motor board. The motor is a generci A2212 1000kV drone motor with a maximum current of 10A. C3, C5, C7 are removed as per https://www.st.com/resource/en/data_brief/x-nucleo-ihm08m1.pdfJumper JP1 & JP2 are on FOC. J5 & J6 are on 3 shunt measurement.The motor profiler runs up to 28%, does not spin the motor and goes into "Motor profiler is taking too long error" I have configured the DSP libraries in the project properties and also added "pMCIList[M1] = &Mci[M1];" to solve the hardfault handler error.  While generating the code I get "Attr not supported : Dmpu" error but I have been advised that it is not a serious error. https://community.st.com/t5/stm32-mcus-motor-control/mc-6-3-with-mx6-12-attr-not-supported-dmpu/m-p/704970#M10610Neither motor profiler nor motor pilot work at the moment. Please a

Hello, I build two different projects with MCSDK version 6.3, one with use the NUCLEO-F302R8 and the other one the NUCLEO-F030R8, the motor and the power board are the same, I use FOC and for both projects I use the same parameter set, in particular in the Regular execution time is set to  3 PWM.When I run the motor the behavior of the two nucleo boards is different.When I use the NUCLEO-F302R8 the behavior is as expected.When I use the NUCLEO-F030R8 the motor speed read from STM Motor Pilot (V.1.2.9) is different from the measured motor speed with an external instrument, when I set a speed of 1000 RPM the speed feedback read from Motor Pilot is 1000 RPM but the motor run at 600 RPM. Moreover the motor is not able to run at maximum speed with the load, around 1150 RPM, but it runs at 1020 RPM maximum.Attached the two MC workbench projects.Any suggestion to solve this issue?

Hello,I am experiencing an issue with the Motor Profiler in MotorControl Workbench 6.3.0. When I enable the Hall Effect in the generated source code, the program triggers the HardFault_Handler during execution.Here are the details of my setup:Tools:MotorControl Workbench 6.3.0STM32CubeIDE 1.15.1STM32CubeMX 6.11.1Hardware:Control Board: NUCLEO-G474REPower Board: X-NUCLEO-IHM17M1The following configurations work fine with this setup:Motor Profiler with Hall Effect OFFFOC with Main Sensor Observer+PLLFOC with Main Sensor Observer+PLL and Auxiliary Sensor Hall SensorHowever, when running the Motor Profiler with Hall Effect ON, the debugger shows that the HardFault_Handler is called within the FOC_Init() function, specifically at the HT_Init(&HT, false) call. The error message is:Can't find a source file at "C:\Motor_Control\MC_Releases\6.3.0\MotorProfilerLibs\Projects\NUCLEO-G431RB-X-NUCLEO-IHM07M1-3Sh\MotorControlDev\MCSDK\MCLib\Any\Src\mp_hall_tuning.c"Locate the file or edit the sou

Here's my setup:Nucleo G431RBIHM08M1 (Setup for 3 phase current sensing)MCSDK v6.3Motor is Annaheim Automation BLWS234D-36V-4000 (BLDC motor - Delta winding- 2 pole pairs)I've tried many different settings to try to get my motor to spin. Currently trying to go to the most basic setup and just input current in open loop mode but it seems the behavior is not what I would expect. I'm setting the speed ramp to ramp up to some speed and I expected that this would result in a cycle of PWM outputs at the given speed and at a duty cycle proportional to my voltage refence. Instead it appears to try pushing some current for a couple seconds then just gives up. I'm not getting any faults and there are no current measurements showing up in the Id or Iq boxes. I would expect those values to come to some steady state. I feel like I'm missing something here.

     I'm trying to control a PMSM motor using Nucleo-G474RE and STEVAL-IHM023V3 motor control boards and Motor Control WorkBench (Version 6.2.1).     I have noticed that the values of shunt resistors (R55, R68, and R101) are given as 150 mOhm in User Manual UM1823 (pages 13, 14, 15) while 100 mOhm in source code (power_stage_parameter.h, line 46) and Motor Control Workbench software. I have visually inspected the STEVAL-IHM023V3 motor control board and seen that shunt resistors' values are 150 mOhm.     The PMSM motor is rotating normally when I create, compile and run the source code via Motor Control WorkBench (for default 100 mOhm shunt resistor value in the Motor Control Workbench).     But when i changed the RSHUNT value at the power_stage_parameter.h, line 46 to 150 mOhm, PMSM motor started to rotate abnormally.     Can someone explain to me the value differency between the source code and the user manual

Hello,I am an employee of a company producing underwater scooters, currently working on implementing the STSPIN32G4 microcontroller in our products. I have the following question:In the Motor control Workbench software, in the "Speed ​​Sensing Mode Selection" section, the "High sensitivity observer" option is available to choose from1. How should the microcontroller hardware connections be made to be able to use this option?2. Will STSPIN32G4 allow the use of this functionality?I also have the EvalBoard EVSPIN32G4, but when trying to configure it, the "High sensitivity observer" option for this evalboard is unavailable.3. What should be changed in the scheme of this evalboard to be able to use this option?Best regards,Slawomir Gradowicz

 SPD_GetInstElSpeedDpp is implemented in speed_pos_fdbk.h  static inline int16_t SPD_GetInstElSpeedDpp(const SpeednPosFdbk_Handle_t *pHandle) { #ifdef NULL_PTR_CHECK_SPD_POS_FBK return ((MC_NULL == pHandle) ? 0 : pHandle->InstantaneousElSpeedDpp); #else return (pHandle->InstantaneousElSpeedDpp); #endif }  The returned variable pHandle->InstantaneousElSpeedDpp is however only updated when using STO+PLL as speed sensing method (see sto_pll_speed_pos_fdbk.c). For any other method (sensored or sensorless) InstantaneousElSpeedDpp is never updated.SPD_GetInstElSpeedDpp is used in mc_tasks_foc.c (mc_tasks.c before version 6.3.0) to do do reverse park angle compensation. This means that REV_PARK_ANGLE_COMPENSATION_FACTOR does not work as expected for any other speed sensing method than STO+PLL.  hElAngle += SPD_GetInstElSpeedDpp(speedHandle)*REV_PARK_ANGLE_COMPENSATION_FACTOR;  As far as I can figure out, SPD_GetInstElSpeedDpp s

I am attempting to evaluate motor control using the X-NUCLEO-IHM07M1 power board with the STM32F302R8 Nucleo board. I have installed STM32 Motor Control Workbench version 5.4.6 on my PC. However, I encounter the following issue:Error: "Device is not connected"Steps Taken:Hardware Setup:X-NUCLEO-IHM07M1 is stacked on STM32F302R8 board.USB connection is made via STM32’s USB mini port to the PC.Power supply is connected to the motor driver board.Verified jumper settings as per user manual (JP1, JP5, etc.).Software Checks:USB connection is recognized in Device Manager as STLink (driver is working fine).Attempted connection via Motor Profiler, but it failed to detect the board.Verified that COM port is correctly assigned and visible.Motor Control Workbench:Attempted to connect in the tool after selecting the correct Nucleo board and firmware version.Tried both "New Project" and “Monitor” mode — same error: “Device is not connected”.System Info:Windows Version: windows 10STM32CubeIDE: STM32C

i am trying to use the IHM16M1 with the NUCLEO-G474RE.  i have it plugged into the top of the Nucleo board via the Morphio connectors.I can supply power (12v) to the IHM16M1, but it does not seem to be powering the G474RE.I have tried JP5 on the Nucleo in both E5V and 5V_VIN mode. Am I missing something?  The IHM07M1 works when connected this way, but I cant get the IHM16M1 to work.   thanks.

Hi,I'm working on a BLDC motor control project using the X-NUCLEO-IHM07M1 driver board with a NUCLEO-F446RE. I'm trying to control an A2212-13T BLDC motor (1000KV) with a 12V power supply at 2.5A, and targeting around 5000 RPM, but the motor does not spin at all.I have confirmed that the jumper settings on the X-NUCLEO-IHM07M1 are set correctly for 3-shunt operation, and the firmware is properly loaded using STM's MCSDK.However, when I use the same motor and power conditions with the B-G431B-ESC1 board, the motor spins as expected.While searching the STM Community, I found several similar issues reported when users try to run motors other than the Bull Running BR2804-1700KV (used in STM’s tutorial videos). Unfortunately, most of those threads have no final solution.Is there something about the IHM07M1 or the motor parameter configuration that causes compatibility issues with common hobby BLDC motors like the A2212?Any advice or working configuration examples would be appreciated.Thanks

Good day,I am wondering there is a way to access the project file for the EVALSTDRIVE101 demonstration board. I need to do a custom board based on it and only the Gerber files are available.I would appreciate any help.Thanks in advance Mostafa  

Hi,I got several FreeMarker template errors when I tried to compile the code to test out EVLSPIN32G0A1. It looks like all the files under MotorControl folder were affected by what I assume is the same error type (see attached picture).FreeMarker template error. The steps to reproduce this error are as shown below.Hardware Platform:Board: EVLSPIN32G0A1Motor: GBM2804H 100TSoftware:OS: Windows 11System Type: x64Motor Control Workbench v6.3.2STM32CubeMX v6.14.1STM32CubeIDE v1.18.1STM32Cube MCU Package v1.6.2Sequence of operation to reproduce error:I folowed the instructions in section 3.2 of UM3398 (User's manual: Getting started with EVLSPIN32G0A1)Launch the Motor Control Workbench tool.Select the target control algorithm from Field Oriented Control (FOC) or 6STEP.Select the target motor or create a new motor.Select the target evaluation board in the inverter section.Configure the solution according to application requirements.Generate the project and compile the codeI'm a newbie when it

Unable to generate motor control project using MCSDK 6.3.2The MCU is STM32G473CCU6"It is not possible to create a motor control project with the FOC algorithm using the selected hardware. No proper path for motor control signals was found for the following mandatory features: - Current SensingFor more details, please, look at the following log file in your home directory: .st_workbench/connectAlgo.log"I'm using three shunt resistors for current sensing, I have no idea where is wrong.

Hello, I'm struggling with frequent overcurrent faults at the EVSPIN32G4 board.I found some mismatch of current sensing with 3-shunt and 2-OPAMP topology.Default current sensing for EVSPIN32G4 is described as following diagram at motor control workbench. But, the EVSPIN32G4 schematic drawing is as follows. It is a mismatch of the MC workbench and the schematic of EVSPIN32G4  [MC workbench : W Phase] OPAMP2 (+) : PB0, OPAMP2 (-) : PC5, OPAMP2 (out) : PA6[Schematic: V Phase]  OPAMP2 (+) : PA7, OPAMP2 (-) : PC5, OPAMP2 (out) : PA6  I'm wondering about this mismatch and it might be the cause of overcurrent fault.  Thanks for any advice in advance.      

"I am currently using the STSPIN32G4 chip to design a motor drive controller with an external 6V supply for the gate driver. The DC bus voltage (VM) is selected to be 4V, which is less than 5.5V. When the motor speed is high, the gate driver triggers a reset. However, when the VM voltage is increased to 4.5V, the driver operates normally. What could be the possible reasons for this?

Hi I am currently trying to realise a motor control project for my custom designed circuit board using the STM32 G474 VE microcontroller. I found the motor control workbench by stm which allows me to relatively easy configure the control algorithm in a user interface which is beneficial as I am an electrical engineer and not a programmer. However the software only allows me to configure the system for STM boards and a range of specific motors. Is there any way to adopt the project for my system.  I would be really happy if someone could help me in this matter.

Hello,I am trying to write to SPEED_RAMP using the Registers tab in MC Control Pilot, however I get the following error:ASPEP_RESP ERROR:ERROR_BAD_RAW_FORMATI am writing the data as follow for example: 6000;500Can someone help me find the right synthax? Thank you

Hi all,I'm currently using Motor Pilot v1.2.12 and working with Observer + PLL mode for sensorless control. I see that there are parameters C1 and C2 available for tuning, but I'm not quite sure what each of them does and how they affect the motor control.Could someone please explain the function of C1 and C2 in this context?Also, are there any reference documents or official resources that go into detail about these parameters?Thanks in advance!

Hi, Community.When I try to generate an IDE project from the MotorControlWorkbench project I inherited, an error occurs.I checked both cases where a previous IDE project existed and where only the stwb6 file existed, but neither worked.The IDE, MX, and MotorControlSDK are installed.Are there any special steps required to generate an IDE project on another PC?