STM32 MCUs Motor control

I work for an aerospace company designing satellites that employ robotics to service other satellites.We are interested in utilizing back EMF measurement in the stepper motors of our robotic mechanisms to provide sensor-less diagnostic information. I found useful information in STM Application Note #3327, L9942 back EMF stall detection algorithm.Question: We would like to estimate the SNR of the back EMF generated (signal) to the driving voltage (noise) for our selected motor to determine if it's feasible to use back EMF for state detection; we're assuming anything > 10% is good to move forward (test in lab). Could this be done by taking ratio of the magnitude of back EMF from the above equation to the voltage drop across a motor phase (product of the nominal current through the phase and the phase resistance)?

Hi allI am working on a time based velocity estimate from an incremental encoder. Currently its set up so that one timer is running in encoder mode, which works perfectly, the timer counts up and down fine through the full resolution of the encoder. I wanted this timer to generate a trigger event upon every timer counter change, which could trigger another free running timer to latch its value upon the trigger, generating a timestamp for that encoder event. This timer then generates two dma requests that move both the encoder value and the timestamp into variables in the code that can then be used for the velocity estimate. To generate these triggers the only way i have found is to set the trigger event selection for the encoder timer to Compare Pulse (OC1), this works to some extent. Triggers are generated and values are being latched, but its only every 4' encoder count that generates a trigger, this effectively removes 3/4 of the encoder resolution which is not optimal. In the refer

Dear All,I am evaluating the Nucleo Board H563ZI now.I notice a very curious pheonmeon. In CubeMX, I didn't configure any SWO or JTAG pins, they are all disabled. However, when I generate the project, I am still able to download the program into MCU by ST LINK on the board ( USB Type-C) and go into debug mode.Why is that? Disable all SWO/JTAG function Download and go into deubg mode  Successfully   

Dear Sir,When I configure the clock for the STM32H5, I found that the CPU Clock doesn't match the actual result of the dividers. For example, in the figure showing my current configuration, considering the red path, my clock source is from HSI (64/2 MHz), then it goes through a divider (/2), a multiplier (x31), and another divider (/2). The SYSCLK should be 248MHz, not 250MHz. Is 250MHz just an approximation? Could this cause any discrepancies, such as in the Timer counting?When designing my system, should I use the actual value of 248MHz instead of 250MHz?  

Hi, I am planning to buy STEVAL-CTM012V1. but when i open motor profiler this board is not available.Pl guide how with to use this board with motor profiler software

Hi,I am having STM32 Nucleo-64 development board and wanted to have it used for high voltage BLDC motor drive. For that, I have below boards:https://www.st.com/en/evaluation-tools/nucleo-g474re.html https://www.st.com/en/ecosystems/x-nucleo-ihm09m2.html https://www.st.com/en/evaluation-tools/evalstdrive601.htmlWhether EVALSTDRIVE601 is supported by ST Motor Profiler software?

 Hello everyone,I am trying to transfer my project generated with motor control workbench from a STM32G431 to STM32G473. Thus, using CubeMX, I opened a new project with the STM32G473VET device and then imported the project generated with the workbench (For STM32G431). After that, I did some remapping of the PINOUT and configured the clock the same way as in the other project.Additionally, when I opened the project in Cube IDE to debug, pressing F8 did not cause the debugger to stop at the first line of main and just stay like this:Does anyone have any idea if this change is viable or what my issue is? Thanks in advance.   

Initially i powered the board by following the steps provided by the st motor profiler. I have tried with Motor control work bench 5.4.8 and 6.3.0. First i tried with 5.4.8 the motor profiler was running but stopped at 94% indicating to check the MAX RPM part in the motor control profiler. After that i tried with 6.3.0 but in that the code was generated with error, so while compiling it was showing some.h file not found. Again when i tried with 5.4.8 it is showing over current error at starting only.Additionally i have removed C5,C3 and C7  as suggested in the vedio https://youtu.be/qB7jJqCr72U?si=K-o0B9kFZTxo9RVP   

Hello,I'm playing with a nucleo-F446 + IHM16M1.The MC workbench is able to generate code. I am able to compile and program it using cube IDE. Running the default Gimbal motor with the standard parameters is still painfull. I'm trying to get a better motor profile with the profiler tool.Using MC workbench 6.1.0, the motor profiler tool can't be run :- Discover board returns "This MCU is not supported"- Manually selecting the board show an empty screen (no board listed)After an update to v6.1.2, things are better but still not working:- Discover board returns "failed to discover board"- Manually selecting the board show the complete list. After selecting my HW config, I have a pop-op requesting a FW update. This update don't works, the software returns back to the board list screen without showing any error.In the terminal, many errors are shown (ERROR:ASPEP BEACON TIMEOUT 500ms).Any ideas will helpThanks 

[VERSION]: 6.3.0[TOOL]: Motor Control Protocol Suite[DETAILS]:As per the title: "Is there a python or C/C++ library to interface with the Motor Control Protocol Suite from the "Controller" side (i.e. computer) ?". There is a pretty extensive Motor Controller Protocol, that is documented, and can help control the STM32 motor controller over UART, which would actually be a really useful feature to have for my use case, as I would like to do some automated testing of BLDC motors and log parameters.Of course I could spend time implementing this by myself. But I feel like it has already been done by ST since there is the Motor Pilot application which makes use of this protocol.Ideally, I would like to have a Python library that allows me to easily send commands. And read parameters.If not possible a C/C++ library could also work.Is there one already located somewhere? Or is it not intended to be released?Best regards,François

Can we see current (ia, ib, ic), w_reference, w_measured waveforms in MC Live Monitor like we could in Motor Pilot?

Dear community, I am using STEVAL-SPIN3201 ev-board to drive a motor by using MotorPilot, everything went well. And I am trying to write my own Controller code (using MS Visual Studio) to drive the ev-board. I managed to connect to the board (Performer), start the motor and stop the motor, it works without any problem. But when I tried to change the motor speed, from MotorPilot terminal, I found I need to set SPEED_RAMP register. I've read the Motor Control Protocol Suite document, but nowhere in that document describe how to set SPEED_RAMP register. So is there any document exists containing a detailed description about the MCP registers? 

Dear All,My platform as list:Control Board: B-G473E-ZEST1SPower Board:  STEVAL-LVLP01  Motor: B-MOTOR-PMSMA1Platform: MCSDC 6.3.0,  (I attached my Workbench configuration file as follow)CubeIDE: 1.15.1  When I try to evaluate the HSO, the Motor pilot appear in weird value.The speed reference and mechanical speed is wrong.Also, there are a orange waring, "Access Register of  Bus Voltage resulted in error" on the buttom. Once I start the contol, it will occurs "Over Current Fault" Has anyone encountered a similar issue? How can it be resolved?Best Regards,  

I will use the STM32G491VC MCU, and the Timer input XOR function for interfacing with Hall sensors (Ref. Manual RM0440, page 1167). Figure 353 (page 1169) shows the six half-bridge control signals for the motor phases (tim_oc1, tim_oc1n, etc.).Question: I'm new to the CubeMX tool for pin configurations. Assigning pins for timer channels CH1, CH2, CH3 is easy. However, the complementary outputs channels CH1N, CH2N, CH3N are not offered by the pull-down menu. See the screenshot. It seems that either CHx or CHxN is available, but not both? Please advise. Thank you.

Hello,I have buy the NUCLEO-F302R8 board with the X-NUCLEO-IHM07M1 with the motor BR2807. Now I search for the library and code generation with STM32CubeMX. It is stand on the web page that is "Workflow supporting the STM32CubeMX GUI configurator". But I dosn't found the package for STM32CubeMX for this.So I have download and install software X-CUBE-MCSDK. After starting of this I can select the correct hardware. But afte start the generation of the source code I become a error:How can I solve it? Which package must I install in STM32CubeMX? I dosn't found a package for this.Why can't I do this in STM32CubeMX?Best regard, Bernd

Hello everyone,I'm working on a proposal for an STM32 MC SDK AC Induction Motor using the STEVAL-IHM023V3, NUCLEO-G431RB, and NUCLEO-IHM09M1 boards in the development environment. I've encountered some challenges while setting up the project and testing.Setting Up LSO GainsWhile creating the project in MC Workbench (MC WB), I came across some variables whose values I'm unsure about, such as the KP and Ki gains for the LSO observer. The ST documentation mentions a general gain range of 1-1.5 for the observer, but it doesn't provide information about the controller bandwidth or how to manually edit KP and Ki. Current and Speed Controller GainsBased on my understanding of FOC loop theory, I estimated the KP and Ki values for the speed and current controllers. However, during testing with Motor Pilot, it seems the values have specific units, and I'm unsure how to adapt my values to them (see attached image).Experimental IssuesUsing some estimated values, I was able to build the projec

Hi.I'm driving a PMSM with FOC (Workbench file attached for reference) with MCSDK 6.3.0 in torque mode.Main parameters:1400 Hz electrical frequency max -- therefore 16 kHz PWM100 Hz mechanical frequency max~0.03 mH line-to-line inductance~9 V/Hz Kv 0.1 Ohm winding resistanceup to 20 A torque sustainedaround 48 V inputWith the default settings of OCP -- 45 Apk and 47.06 ns filter -- OCP is reliably triggered when Iq reference goes above about 7.5 A. To get to 20 A I have to seriously increase both the filter duration and the threshold, which feels a bit unsafe...Measured Iq and Id plots have very noticeable first-order oscillations, but everything else seems to be reasonably normal, and the torque response (and the speed control as well) is good:The magnitude of Iq and Id's oscillations can be somewhat reduced by a more agressive PID tune (essentially increasing the cut-off frequency of the current loop) but this eventually causes to loop to become unstable (as expected).I hav

The GUI MC_FOC_SDK is supposed to be able to tune revup parameters. However, if we try to modify variables in the Torque-column (and only in this column), all input is reset to zero:I have tracked the issue down to RevUpComponent.qml -> doublespinboxdelegate -> valueFromText: function(value, locale). Where apparently the locale is not set correctly, causing a comma/period mixup.When I change "Regional Format" in windows 11 from "Norway" to "English(United States)", it works as expected.

Hi everyone!I'm evaluating STSPIN32G4 for driving a small 6 kRPM 28-pole PMSM (up to about 30A load current - it's driving a propeller, 0.06 mH inductance, about 160 kV). Generally the performance is quite good, but I have noticed frequent STOPLL faults above a certain RPM. I tried many different tunes for the STOPLL but it didn't resolve the issue, and I went deeper. Turns out, above a certain RPM (~5k) bursty artifacts begin to appear in current measurement (In I_A, I_B and everything "above" it) and BEMF reconstruction becomes unreliable which I think upsets the STOPLL phase detector.This only happens:above a specific RPM on a loaded motorappears roughly where overmodulation starts to kick inthe "critical" RPM after it starts to appear go down if PWM frequency is increased I'm guessing it has something to do with the timing of current sampling (it probably samples the current at an invalid interval? or is it because of the distortion introduced by overmodulation?), and wou

Bonjour,    J'ai configurer le contrôle moteur avec un capteur effet hall en auxiliaire.le moteur tourne mais les valeur des registre ne change pas. elle prennent une valeur différente a chaque démarrage mais ensuite ne change jamais. Comment vérifier ces paramétrages ?Pourquoi les valeur de registre ne change pas ?J'ai vérifier tout le câblage, il est bon.J'utilise une nucléo-G431RB et X-NUCLEO-IHM08M1Merci pour votre aide   

Hello,In my project I need to have ~25KHz high resolution PWM generation. So for this I selected STM32H753 with 480MHz HRTIM1.I am struggling producing correct outputs for my needs, maybe some one has this done already and care to share the project ? Problems I am facing:3 channels of synchronized PWM outputs with complimentary part (and dead-time)ADC trigger in correct spot for 3 channels, so I could see if any phase is shortedOk, so the first problem I don't know how to deal with.  it looks like HRTIM1 does actually have one master timer and many other timers with it's own period counters. In order to synchronize PWM outputs, it looks like I need to use master timer for it somehow. It does have many compare units also a period counter. what is correct way of generating simple 3 channels of synchronized PWMs? (why where are no example for this task, it looks it should me main example in my mind...)Can I simply use compare units on master timer and TX1 and TX2 would just add dead

Hello everyone.I am using the Motor Control WorkBench 6.3.0 application to generate the project. The inverter board isB-G431B-ESC1. The motor is a 2-pole BLDC, 8.5V, it has a very low inductance of 0.04mH, an Rs of 0.37ohms and the B-Emf constant is 0.285 Vrms/kRPM.In the data sheetindicates that 60,000 RPM are the maximum it can reach.I configure the application to reach 15000 rpm. After executing the acceleration ramp, the engine stops and gives start up failure.Could you tell me what steps I should take to keep the motor turning. I would like to get a higher speed (25 or 30 KRPM) but first I'm trying to get it to run at 15KRPM.Project attached.Thank you all very much for your time.

Hello,I have some troubles with the STSPIN32F0A when the load on the motor increases,the STSPIN will reset. The reset cause is checked in firmware at startup, and the cause mentioned is RCC_FLAG_PINRST.Apart from a pull-up and a capacitor to ground, there is no hardware on the reset pin.The voltage on the VDDA, VDD and VREG pin are correct at the time of reset.What could be the cause of this reset?Thanks.Joris

Hello there,I have developed some custom hardware based on the B-G431B-ESC1 and I am looking to control it using the Motor Pilot. Is it possible to do this with an STLINK via the SWD interface, and if so could I be provided with instructions on how to do this?Would it also to possible to remove the daughter board from the B-G431B-ESC1 and interface it with my board?Many thanks 

Hi，The version of mcsdk I'm using is 6.3.0， I have a problem with my ADC2, enabling one injection channel as a sample of phase current, and three regular channels, one of which is used as a speedpotentiometer, and two for my own use, and currently running the code keeps waiting for the EOC flag bit at LL_ADC_IsActiveFlag_EOC in RCM_ExecRegularConv(), below is my code:   #include "mc_type.h" #include "mc_app_hooks.h" #include "mc_config.h" #include "speed_potentiometer.h" #include "regular_conversion_manager.h" RegConv_t ADC_UserIbusConv; RegConv_t ADC_UserThreeSpeedConv; uint16_t Ibus = 0; uint16_t TS = 0; uint8_t IbusHandle = 0; uint8_t TSHandle = 0; __weak void MC_APP_BootHook(void) { (void)RCM_RegisterRegConv(&PotRegConv_M1); SPDPOT_Init(&SpeedPotentiometer_M1); ADC_UserIbusConv.regADC = ADC2; ADC_UserIbusConv.channel = ADC_CHANNEL_2; ADC_UserIbusConv.samplingTime = ADC_SAMPLETIME_19CYCLES_5; ADC_UserIbusConv.convHandle = IbusHandle; RCM_RegisterRegConv(&