STM32 MCUs Motor control

Hi, I am using StevalESC001 board and MCSDK latest version to implement FOC on a custom motor.  I am facing a few issues while testing it with load. I am unaware of what might be the cause of these issues if anyone could direct me towards what might be happening it would be helpful. First of all, during the startup motor sometimes starts spinning in anticlockwise direction that too at a very high speed. This behavior is random, I haven't yet identified any pattern into it, and it becomes more frequent when testing with load. I also noticed that sometimes Iq value shown in motor pilot is -10A initial which seems wrong, shouldn't it be 0 initially?Another issue is with the Actual RPM and the RPM shown in motor pilot, the RPM shown by motor pilot is 300 to 500 more as compared to actual RPM the motor is spinning at. The difference increases as we increase the throttle. Also, motor seems to reach its capacity at only half throttle. It is producing only 600 g of thrust w

I am working on a BLDC motor 6-step (trapezoidal) control using a NUCLEO-G474RE controller board and NUCLEO-IHM07M1 (L6230) power board with a 48V supply.Below is my phase activation for one commutation step: __HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_1, curr_duty);__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_2, 0);__HAL_TIM_SET_COMPARE(&htim1, TIM_CHANNEL_3, 0);HAL_GPIO_WritePin(GPIOC, GPIO_PIN_10, SET); // UL EnableHAL_GPIO_WritePin(GPIOC, GPIO_PIN_11, SET); // VL EnableHAL_GPIO_WritePin(GPIOC, GPIO_PIN_12, RESET); // WL DisableProblemThe L6230 gate driver IC overheats quickly, even though I am running only an open-loop 6-step sequence.My ParametersSwitching frequency: 9 kHz (tested from 8 kHz up to 50 kHz)PWM duty cycle: ramping from 10% → 40%Step duration: ramping down from 60 ms → 20 msWhat I Have TriedChanging commutation step duration (15 ms → 60 ms)Slower and faster duty-cycle rampChanging PWM switching frequencyVerified PWM compare values and GPIO logic for each s

Hello,I'm experiencing an issue with the internal LDO regulator on the STSPIN32G4 MCU. The LDO is outputting 4.1V instead of the expected 3.3V, and I've been unable to resolve it despite trying multiple configurations.Problem Details:Target: 3.3V VDD from internal LDOActual output: 4.1V when input voltage > 4VBehavior: When input voltage is 3.33V, output is 3.05V (which seems reasonable given dropout), but when input is >4V, output remains at ~4.1V instead of regulating to 3.3VWhat I've Tried:All configuration options listed in Section 5.1.2 of the datasheetReplicated the three circuit configurations from Figure 9 ("3.3V LDO regulator supplied through VCC")Various register settings without successExpected Behavior: The LDO should regulate the output to 3.3V whenever the input voltage is above 3.3V + dropout voltage, correct?I've attached my schematic and screenshots showing the output voltages. Any insights into what might be causing this behavior or what configuration I might be

Hello everyone,I am working on shifting sensored FOC to sensorless FOC for a BLDC motor using STM32F103C8T6. I have successfully implemented all necessary transformations (Clark, Park, and Inverse Park), and the waveforms appear correct.To estimate the rotor angle, I am using a Sliding Mode Observer (SMO). However, since the STM32F103 lacks an FPU, So function like atan2f() increase execution time. Instead, I implemented an alternate method for angle calculation. I am using position detected by hall sensor as reference, but output of my sensorless algorithm is having some differences from hall sensor signal.This is output waveformHere is the code I am using for angle calculation: void SMOcalcalculation(int32_t Valpa, int32_t Vbeta, int32_t Ialpa, int32_t Ibeta){ // this is for approximated or predicted values of motor phase currents // this is need to reconstant bemf :The error between the actual and estimated currents (error_alpa and error_beta) is used to compute the Slid

In this documentation, I can find a detailed description of the torque/flux (current) PI controller implementation, but there is no clear explanation of the speed PI controller design or tuning. Could you please explain how the speed PI (KP, KI) is derived, and what criterion ST MC Workbench uses to compute these parameters automatically? 

DearsWe used STM32G431CBT3 in 5000W Three-phase Permanent Magnet Synchronous Motor Driver projects, now facing some issues below, could you help check and advise this, thanks!1. There are some issues encountered in the project of driving with a three-phase permanent magnet synchronous motor. Please assist in resolving them. The attached file contains the design materials. If any other materials are needed, please inform us promptly. Thank you!1. Driver parameters:Rated power: 5000W (continuous operation with approximately 100A)Peak power: 13500W (300A current flow for about 3 seconds)Carrier frequency: 16kHzWorking voltage: 18 series lithium batteries (54V - 78V)Operating environment temperature: -10℃ to 50℃Motor slot-pole number: 36N, 42PTest topology:2. Problem Description: During the pulse experiment, the following issues were encountered. The double pulse parameters were (pulse current 400A, bus voltage 80V, auxiliary test inductance 5.6uH). Regarding the following severa

After obtaining the motor configuration parameters using the P-NUCLEO-IHM03, I applied the same motor parameter values to the EVSPIN32G4-DUAL board, which is used to drive two motors.However, when operating the motors with these settings on the EVSPIN32G4-DUAL, an overcurrent error occurs.Could you please explain the possible reasons for this overcurrent condition?In particular, I would like to know whether differences in the power stage, current sensing topology, or dual-motor operation could cause this issue, even when the same motor parameters are used.Thank you for your support.Best regards,Pelino

Dear ST Support Team,I am working with the STEVAL-ESC001V1 evaluation board and a drone motor listed at the following link:https://www.dys.hk/product/D2826.html RPS for power supply given directly to ESC power pins of 12V and 2A current.My objective is to run this motor using ST MC Workbench software version 6.4.1. I would like to confirm whether any additional hardware, such as an STM32 development board, is required in order to operate the motor with this setup.During system configuration in MC Workbench, I created a new project and selected STEVAL-ESC001V1 for the inverter section and Bull Running BR2804-1700KV for the motor section. However, when I later attempted to edit the project, the motor selection options displayed only two types of PMSM motors. Could you please clarify whether MC Workbench supports only PMSM motors? The motor I am using is a BLDC motor, as specified above.Additionally, I would like to inquire whether an example project for STEVAL-ESC001V1 is available

Hello ST Community, I am seeking assistance with a project generation issue using STM32 Motor Control SDK (v6.x) and the EVLSPIN32G0A1 evaluation board. The Problem: Even though I explicitly select the EVLSPIN32G0A1 board (which features the STSPIN32G0A1 / STM32G071 core) in the Motor Control Workbench, the generated .ioc file and STM32CubeIDE project target the STM32G031C8Tx instead. Consequences: Debugger Error: When attempting to flash the code, the ST-LINK GDB server returns: "Target no device found" or a Device ID mismatch because it is looking for a G031 but finding a G071 core. Configuration Mismatches: The clock tree and memory boundaries in the .ioc are being set for the G031 (64KB Flash) instead of the STSPIN32G0 (128KB Flash). What I have tried: Creating a new project in MC Workbench and selecting the board from the "Boards" tab. Configuring

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Wir haben keine Möglichkeiten die Sofware anzupassen. Wir brauchen fogende Eingänge : PWM-Enebel-DIR-Break möglichst mit Energierückgewinnung. Wer kann uns helfen und mit welchen Kosten müssen wir rechnen. Vielen Dank J.Negraszus English translation (by Google): We develop motor controls for operating room doors. State of the art - H-bridge. Tests with Spin 32G4-ACT or B-G431B-ESC1 could work well. We have no way to customize the software. We need the following inputs: PWM-Enable-DIR-Break, preferably with energy recovery. Who can help us and what costs should we expect? Thank you J. Negraszus                                                  Please note that the Official forum language is English - see the Terms & Conditions.

Hello, I want to drive a BLDC motor using the EVAL-L9907 in combination with the Nucleo-401RB board, and I want to use the STM32 Motor Control Workbench. I have tried to configure a custom board for the EVAL-L9907 in the Motor Control Workbench, but I cannot set some of the functionality (e.g. current sensing, enable GPIOs). Is there a way to obtain a JSON file for the EVAL-L9907 that I can import into the Motor Control Workbench?   Many thanks in advance.

Hello. I'm using B-G431B-ESC1 to operate drone motorThe operation was successful using FOC, but from 28,000 RPM and above,it changes to - speed as seen on the Pilot screen. (When the rpm becomes negative, speed control becomes impossible.)In fact, using betaflight, I have seen it go up to 45,000 rpm.Any idea how I can change the minus speed or what I need to change?? 

Can anyone help me understand how these two arrays have been made#define M1_ANGC                            {-116,-363,-611,-843,-1091,-1338,-1571,-1833}#define OFST {0,17,51,99,167,252,348,474}these arrays are used in MTPA calculation with y=mx+c equation.These are the motor parameters for which the array has been calculated. Your assistance will be appreciated.

Hello,I am below Hardware and Software setup:Hardware:MCU Board: NUCLEO F401REPower Board: X-NUCLEO IHM08M1BLDC Motor: Portescap 22ECP45-8B-154.01 (specifications_22ecp45.pdf attached)Software:MC Workbenach v6.4.1I am using sensorless FOC (STO-PLL) in WorkBench tool. I am trying to increase the speed of the motor to its MAX 47000 RPM. But, I am getting only 7200 RPM with Parameters from Motor Datasheet in MC Workbench tool. I have changed the HW to short 3-SHUNT and removed mentioned capacitors.Below are my parameter configurations: Max speed I am getting on Motor Pilot:I queried Motor for the Max speed of the motor. They replied it is achievable by using 14 mNm Torque.    I have few questions:1. In the Motor profiler tool, reaches upto 12000 RPM then giving Speed Feedback error. What configurations can set to run profiler tool successfully?2. Does ST HW (F401RE + IHM08M1) support 47K RPM @24V for the Motor?3. With ST workbench tool having Sensor

Hello,I am using STM32 Motor Control SDK / MC Workbench with sensorless FOC (STO + PLL) to drive a low-speed, high-inertia 24V 40W BLDC fan motor.Power Board: X-NUCLEO-IHM07M1Issues observed:Motor rotates stably but produces intermittent (not continuous) rubbing noise, mainly after settling at certain RPM.Large speed oscillations are visible in Motor Pilot (speed dial deviation).Motor does not reach max speed even when increasing current limit in MC Workbench.Reducing Iq PI gains(cut off frequency) does not significantly reduce the noise.Very low PLL gains are required for stable rotation; higher PLL gains cause oscillation or loss of speed feedback.pilot_register_observationQuestions:For low-speed, high-inertia fan motors, what is the recommended observer / speed LPF cutoff frequency parameters?Can I reduce this intermittent noise and speed oscillation and run smooth motor control without noise?Which parameters should be prioritized to:Reduce speed oscillationsEliminate intermitt

Hello. I try to start a new project with two non-listed motors in Workbench. I use two gimbal 3-phase BLDC motor with encoder AS5048A https://cdn.sparkfun.com/assets/d/6/b/5/8/27477_27478_Datasheet.pdf Based on the motorShinano.json file, I built my own JSON file, please see below. However, I have the following questions. What to write in the compatibility: "sixStep"? The motor has the encoder. Hence, should TRUE be for HasHallSensor? I use a Pololu power board (voltage regulator) https://www.pololu.com/product/5576 and two Sparkfun 3-phase BLDC motor drivers https://www.sparkfun.com/sparkfun-brushless-motor-driver-3-phase-tmc6300.html . Therefore, what to write for pwr_board? What to write for foc_rate? What to write for acceleration and max_speed_startup? Thank you. {"id": "motorSparkfun","label": "Sparkfun DM3505/3505EC","hardwareFamily": "MOTOR","description": "Outer rotor type - 11 poles pairs - brushless DC motor with encoder", "compatibility": ["FOC", "s

Hi,How can one calculate the maximum phase current of a BLDC motor using sinusoidal control with the nominal voltage and power of the motor?I have a 36 V / 560 W motor.Is the peak current equal to:560 W / 36 V * SQR(2) =  22 Aor beacuse of the star topology of the motor:560 W / 36 V / SQR(3) * SQR(2) = 16.33 AI need this to select the proper FETs.Thanks!

Hi,Currently I am evaluating HSO [High Sensitivity Observer (Sensorless)] in our custom Inverter board () with B-MOTOR-PMSMA1 motor. But when I start the motor it jerks and giving Over Current SW Fault. Our custom board has following key components.Infineon 6ED2230S12TXUMA1 gate driverMCS1806GS-3-30-Z Current sensor  The same inverter board with B-MOTOR-PMSMA1 motor is working for Observer + PLL configuration. I suspect that this board is having current sensor with ± 37.5 A measurement range designed for higher wattage motor giving fluctuation/slow response for  B-MOTOR-PMSMA1 motor with 2.8A current rating.Please help me to identify root cause of update project configuration to make it run with B-MOTOR-PMSMA1.Attached following items for your reference.W30_SLIM_EVKMotor_HSO.stwb6 [MC Workbench config file]W30_SLIM_305_3IC_v4.json [HSO Inverter Board Designed File]W30_SLIM_305_3IC_v2.json [PLL Inverter Board Designer File

Hi,Could you please let me know where I can download the 3D CAD model (e.g., STEP/IGES) of the EVSPIN32G4-DUAL evaluation board?Thank you!Best regardsPelino

Hello. I have been researching how to use the STEVAL-ESC002V1 with a NUCLEO-F031K6 board to run a BLDC motor. The documentation mentions using the IAR Embedded Workbench for ARM 8.22, but I am programming with the STMCubeIDE and the MotorControl Workbench 6.3.2. Could someone help direct me on how to do this?

Hi - What is the best algorithm for a very low speed and low current application, <50 RPM and <1 Amp with a high resolution encoder (~4096 counts per revolution) on a 3 phase brushless motor? Do the HSO or ZEST algorithms provide any advantage over the standard FOC algorithm when running with an encoder like this? I'm assuming the FOC algorithm is better than the 6 step algorithm, is that correct? Are there any other tips for this application? Thanks

Dear ST Technical Support Team,I am currently working with the EVSPIN32G4-DUAL evaluation board.I understand that this board uses a single-shunt current sensing topology, and therefore the Motor Profiler feature in Motor Pilot is not available (Profiler requires three-shunt current sensing with STO-PLL).In this context, I would like to ask for ST’s recommended procedure to obtain the following motor parameters when using EVSPIN32G4-DUAL:Stator resistance (Rs)Inductances (Ld / Lq or equivalent)Back-EMF constant (Ke)Could you please advise:Whether ST recommends specific manual measurement methods for these parameters with single-shunt hardwareWhich Application Notes or User Manuals describe this procedureAny best practices for entering these values into MC Workbench for stable FOC operationThank you for your support.Best regards,Hyunseok

 I am currently working with the EVSPIN32G4-DUAL board and have a question regarding the I2C pin configuration.According to the EVSPIN32G4-DUAL schematic, the I2C signals are connected to pins PC4 and PA8.However, when generating a project using MCSDK version 6.4.1 and checking the pin mapping, the I2C interface is assigned to PC9 and PC8.When I modify the project to change the I2C pins from PC9/PC8 to PC4/PA8 and then update the firmware image, the system does not operate correctly.Could you please clarify the reason for this discrepancy between the schematic and the MCSDK pin configuration, and advise on the correct way to configure the I2C pins for this board?  Thank you for your support.Best regards,Pelino 

If this is configured incorrectly, will it trigger overcurrent protection?