STM32 MCUs Motor control

I am using MCSDK 5.Y.4 and add position loop.My controller sends a position command every 4ms.err=target_pos - current_pos,then the err value (multiply by P) is the speed loop pid input.But I found that the speed is not smooth when the motor changes direction.There is a lag problem between the current position curve and the target position of the position loop.My position loop only uses P control, no I.

Hi ,Is there any sample code for motor control (especially FOC) in Cube IDE, Cube MX, motor control workbench, ST website, etc.?I tried to search all the Cube IDE, ST website, etc., but I couldn't find it.Also, is there any additional software I need to use them?

I have made a SM-PMSM project for a hub motor (10 pole pairs). I can compile the generated code in STM32CubeIDE (HAL) but when I run it I always get the fault "Speed feedback" in Motor Control Workbench Monitor.There is 20ms of activity, where there is 3ms of 13kHz PWM wave from about zero to nominal voltage (p-p) at 50% duty, then "Speed feedback" fault occurs. The waveforms are identical on all phases. The motor does not move, therefore no encoder pulses.It is strange that the pulse are the same on all three phase outputs, basically stalling the motor.What is going on here?UPDATE:Hall sensors are conected to the board header, has been probed in place and correct 0-VDD square wave is output.Motor coils probed and b-emf waveform checks out ok.Placement electrical angle was measured from Hall H1 rising edge to the peak of the first Phase waveform.It seems like none of these measurements have made any difference at all.Is there a way to test the STEVAL-SPIN3201 board?UPDATE 2:I have mana

The definition of the function is __weak int16_t STC_GetMecSpeedRefUnitDefault(SpeednTorqCtrl_Handle_t *pHandle) in speed_torq_ctrl.c file.It is called in mc_tasks.c as belowSTC_GetMecSpeedRefUnitDefault(pSTC[M1]),0);it is called with additional 0 argument, why? What is the purpose of 0?  

Hi,I'm currently working on sending signals through FDCAN or UART of B-G431B-ESC1 while driving a motor.I have written a debug code which sends UART data when a button is pressed.However, the function is called once and never called again, nor the motor won't start."stm32g4xx_mc_it"uint8_t mc_it_debug[64];void EXTI15_10_IRQHandler (void){/* USER CODE BEGIN START_STOP_BTN */  sprintf(mc_it_debug, "StartStop Button Pressed\r\n");  HAL_UART_Transmit_DMA(&huart2, mc_it_debug, sizeof(mc_it_debug));  if (  0U == LL_EXTI_ReadFlag_0_31(LL_EXTI_LINE_10) )  {    /* Nothing to do */  }  else  {    LL_EXTI_ClearFlag_0_31 (LL_EXTI_LINE_10);    ( void )UI_HandleStartStopButton_cb ();  } } in the main.c file, /* Reset of all peripherals, Initializes the Flash interface and the Systick. */HAL_Init();/* USER CODE BEGIN Init *//* USER CODE END Init *//* Configure the system clock */SystemClock_Config();/* USER

First, I am new to this board and to development using ST products.I have identified the STEVAL-STSPIN3201 as being the platform most suited to the project I am involved with and have attempted, unsuccessfully, to use ST Motor Control Workbench 6.1.1 to generate code to upload to the 3201. Below are the steps I followed:I started a new project, selecting 1 motor, FOC, InverterSelect GBM2804H-100T for the motorSelect the STEVAL-STSPIN3201 as the power board (inverter)Change Max Application Current to 2AChange Bus Voltage to 12VSave and click Generate the project (STM32CubeMX: 6.4.0, Target Toolchain: ST STM32CubeIDE, Firmware Package Version: STM32 FW V1.114 (Recommended), Drive Type: HAL)Completed with Errors: CLASS='Data Exchange' GROUP='STM32_MetaDataManager, GROUP='STM32_MetaDataManager' CLASS='Data Exchange. Research I did seemed to indicate these errors would not affect the outcome. I'm not certain.Select RUN STM32CubeMX (STM32CubeMX opens)Select GENERATE CODE (code successfu

I have a problem with STEVAL-PTOOL1V1 (for sensorless use added needed components)The project was built with:The board description from https://community.st.com/t5/motor-control-mcu/dear-st-i-need-to-find-the-download-quot-motorcontrol-workbench/m-p/118999MC Workbench 6.1.2Motor data from the datasheet (4 pole, 32V, 3.6A etc)Power supply 32V, 4.3ASTM32CubeMX 6.8.1STM32CubeIDE 1.12.1Testing with Motor Pilot (6-step algorithm)Board connection OKWith the default project settings, the motor makes half a revolution and stops with an Over Current error. The power supply is not overloaded.With the rev-up with halved Pulse values in Phases Configuration, the motor makes the same half a revolution, and the program stops in TSK_HardwareFaultTask();What could be the problem?

Hi there, I am getting started with motor control with the ST kit P-NUCLEO-IHM03 and MCSDK 6. While I successfully ran the default configuration (i.e. FOC + 3 shunt current sensing), I am having trouble with non-default configurations (i.e. 6-step +1 shunt & FOC+1 shunt) and I am wondering if I am missing anything (e.g. parameter adjustments in MC Workbench or Jumper settings on the Nucleo or expansion board).For 6-step & 1 shunt, I only changed the algorithm in MC Workbench to 6-step and adjusted the jumpers on the expansion board according the table in section 4.1. in the document UM2415  (i.e. close JP4 & JP7 with solder bridge, open J5 & J6, close J2 on 1-2,  close J3 on 2-3).After generating and flashing the firmware, I started and modified parameters via the Motor Pilot. However, for speeds below 600rpm the motor runs very "choppy" i.e. stops intermittently. So to exclude that this is normal behavior with the 6 step algorithm I tried the other

Hi,Is there any way to use Motor Profiler with EVSPIN32F601S3 Board ?--Karan

I have some drivers left from a few months ago, and they are working with no problem. This same project loaded to the new boards and everything works O'K except that the packets don't flow (neither way).I've tried to reset and set the CAN_SHDN (PC11) signal with no change. Is there any change in the latest bootloader regarding the use of the CAN bus?How to fix the problem?

hi guys, have a good day,  i have a problem.i use stm32f303ret6 microcontrollermicrocontroller crashes to hardfault.As soon as the motor I control with a mosfet draws 3 amps of current, the microcontroller falls into a hard fault. It works when you disable the microcontroller and connect the nucleo 64 board with the cables outside, but it does not work when you solder the microcontroller. Do the paths passing under the microcontroller (bottom layer) make the microcontroller error? software and schematic 100% working. I drew the pcb I drew before by shrinking it again and I started to encounter this error.

I am using the p-nucleo-ihm03 package but with a different motor and a quadrature encoder (AMT-103).The motor runs perfectly fine in sensorless mode but I need a way to switch the direction very fast which does not work with sensorless as there is at least a 500ms delay between running a speed ramp, stopping the motor and reversing the direction.Well, I had the bright idea maybe a closed loop control with an encoder might help but the motor does not move. It does move, but MAYBE once for whatever reason and is otherwise locked the entire time. While it's locked it's pretty noisy so there is current flowing in I guess. Changing PID gains just changes how loud the noises are so I have absolutely ZERO clue why the motor is not moving. I really need a way to switch directions as fast as possible and I can't seem to get the encoder work.I did not find anything in the documentation. Can someone help here? I am also limited with the tech here as I don't have an oscilloscope at home (just

I am referring to the above diagram and the placement angle delay is mentioned as 270. How is it? According to me it shall be 90Degrees. 

Hi all,I probably found a bug in the Control Stage - Analog Input and Protection.Choosing a gain higher than 16 doesn't change the gain (32 and 64). The gain changes properly if a gain between 2 and 16 is selected.Best,Alessandro

Hello!I've recently started playing around with my new steval-spin3202 board. I've run into an issue, where the power MOSFETs of the inverter seem to not work.Firstly, I've left the hardware configuration default, so it is set up for six-step sensor-less control. I'm using the STM32CubeMX (version 6.8.1) to generate the HAL code. The chosen MCU is STM32F031C6Tx.Regarding power, I'm measuring 20V across the J1 connector, 5V on TP5 and 3.3V on TP14. I have not connected the motor yet, so the J3 connector is empty.I've tried to isolate the problem as much as possible to make sure I am making no mistake in the code. My idea of testing is that I open the Q4 MOSFET by setting the GPIO output to high (thus connecting it to the shunt resistor R26+R27), and starting the PWM output on channel 1 (Which should be the Q1 MOSFET) at 20KHz with 83%duty-cycle. I believe I should be able to measure some voltage between TP7 and TP11. There is, however, no voltage between any 2 phases.Things I am certain

My old projects are in 5.4.4 SDK Version. So I need the 5.4.4 version download link. So please share the link to download.Regards,Nishanth M

Tool & Version: Motor Control Work Bench 5.Y.4 Cube MX: V6.8.1 FW: 1.11.4 ​ Create the new project as below: Code generation error: Log detial: I had tried to slove the problem in following way: a) Use the direct path to instead of relative path; ---- Direct path: D:\Software Install\MC_SDK_5.Y.4\Middlewares\ST\MotorControlmodify in the config file: wb2mx.properties b) Use the recommand ​FW version: FW1.11.3 ---- Problem still; c) Install Motor Control Work Bench 5.4.8 ---- Same problem;   Does anyone have the same problem? Any suggestion? ​ ​

I'm using Nucleo-G431RB with X-NUCLEO-IHM16M1 GBM2804H-100T gimbal motor. I need to move gimbal motor to certain steps. so that I can configure gimbal motor to certain angle with torque control.

Dear forum,For my research project I need to generate arbitrary torque spectrums. Ideally with frequencies of up to 3.5kHz. I planned on using a ~200W PMSM and am now wondering which STM microcontroller and motor control board would be best suited for this task. Note that I don't plan on heavily modifying the control structures of the Motor Control SDK. This would likely take too much time. Is this even possible with the STM motor control ecosystem? If not, do you have any suggestions for me?Thank you very much!Max

I am trying to create a new inverter board for a Motor Control Workbench 6.1.2 project. I have tried several methods :1. Create clone of B-G431B-ESC1 in STMC Board Manager at choose Inverter stage of project wizard.2. Create new board in BM and save as required inverter name.3. Create new board in BM and save as required inverter name. Edit entry in BM to show correct "name" entry.Method (1) produces an entry in the "choose Inverter" part of the wizard, obviously without image. If I later try to create a new project, I choose general info and motor OK, but when I come to the choose inverter stage, my new board has disappeared, although it is still shown in board manager list, and is accessible for editing, etc. In fact all 3 methods above produce that same result, inverter is in BM list but not in project wizard choice. I noticed that the wizard says it is showing 12 of 12 inverters, the board manager shows a list of 14 inverters.If I search my whole PC for one of the inverters, say EV

Hi,I try to implemend sinus algorithm for BLDC engine on  STM32G474RE chip.  I want to use TIM1 (CH1 - CH3) and (CH1N - CH3N) to control a bldc controller. I have configured a complementary output with dead time according to datasheat (so I think) and I have a phase shift problem. Output waveform:At first glance, everything looks good, but after zooming in: The 3rd(CH3) signals and 6th(CH3N) are shifted by ~2ms. Does anyone knows what could cause that?my pwm setup:```#define MOTOR_INH_C_PIN (LL_GPIO_PIN_0)#define MOTOR_INH_C_PORT (GPIOC)#define MOTOR_INH_B_PIN (LL_GPIO_PIN_1)#define MOTOR_INH_B_PORT (GPIOC)#define MOTOR_INH_A_PIN (LL_GPIO_PIN_2)#define MOTOR_INH_A_PORT (GPIOC)  void EnginePwm::Init(){LL_APB2_GRP1_EnableClock(LL_APB2_GRP1_PERIPH_TIM1);LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOC);LL_AHB2_GRP1_EnableClock(LL_AHB2_GRP1_PERIPH_GPIOB);Enable();SetPrescaler(32000, 1000);MODIFY_REG(TIM1->CR1, TIM_CR1_CMS_Msk, (0x01b << TIM_CR1

I successfully ran the BLDC hub motor with sensorless method (sensorless + PLL) with EVSPIN32G4 hardware. My motor have the inbuilt hall sensor with 60 degree placement. Now, I am trying to configure with hall sensor. I get the speed feedback error in pilot software. I want to know some parameters in st mc wb software. Doubt no 1: In motor parameter in st mc wb have the placement electrical angle feature. I need to give the hall sensor electrical angle value of motor electrical value. if hall sensor electrical angle value means, how can I  calculate that angle. Refer the below picture. Doubt no 2: In speed position feedback management in st mc wb software, have the parameters of Average speed FIFO depth, input capture filter duration and use MTPA. Explain that parameters and how can I use. Kindly refer the below picture. Doubt no 3: If am enabling the hall sensor as main feature and enabling sensorless + PLL as auxiliary feature. If the main sensor fails, how c

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In other words, after the ramp up, it always thinks it locked and is spinning even when it doesn't. I've written this code before so here is where I'm suspicious if anybody here is familiar with this code:There is a parameter in drive_parameters.h called NB_CONSECUTIVE_TESTS that gets loaded into Bemf_ADC_M1->StartUpConsistThreshold. Then in the BADC_IsZcDetected function it tests if ZcEvents > StartUpConsistThreshold and increments ZcEvents whenever it determines there was a valid zero crossing. However, ZcEvents is never reset to zero (or even decremented) when and invalid zero crossing is detected. In this way it will eventually detect enough zero crossings just by random chance and not meaning we are really locked. Also, it will never fault out in the "Switchover" state either. It always succeeds and dumps it into run state, even if the motor is stalled and the power suppy is current limiting. I have to click stop to get it to quit. Anyone have any experience with t

Hi all,I am using the software generated from MCSDK motor control and a custom board, I am able to successfully make it work for the torque control mode, for different Iq values the DC power supply current is varying.But i am facing problem with speed control mode, i gave the following command in closed loopMC_ProgramSpeedRampMotor1(((int16_t)g_targetspeed_s16 * ((int16_t)SPEED_UNIT)) / (int16_t)U_RPM, 0);Any value i give for g_targetspeed_s16 the motor settles to the same speed for example if i give 10, 50 it goes and settles to the same speed. Why? I am finding some invalid switching. Is it because of that?