STM32 MCUs Motor control

Hi STM,I am having NUCLEO-476RG and I am planning project with steppers (by using X-NUCLEO-IHM01A1). Can I connect this expansion with my development board. And also, what is the maximum number of expansion boards I can connect to the development board. I am asking that as my project should use 7 motors?Regards,Aleksandar

Hi,I am having issue to find a work around this parameter.I do not specifically set any over voltage threshold but it seems to be present there already, so i am guessing that's something hard wired by ST. Is there a way, other than changing manually to change this value?Thanks in advance.

Hi, I am having a trouble using MCWorkbench 6.1.1When downloading a project generated from MCWorkbench demo to my B-G431B-ESC1, this happens(the rotor moves for some angle per each second while making a wierd noise. It temporarily stops when I push the start/stop button in the ESC(ESC generates low beep sound))ST-Link FW : V2J41M27Demo : Electronic Speed Control on B-G431B-ESC1 kitI did not modify any .ioc file(cubeMX) or  .cproject Any advice would be helpful.

Hi all,I'm new to the STM32 world and ST motor control tools, so I might be missing something obvious.I have the B-G431B-ESC1 development board connected to a BLDC motor.I generated the code for FOC with the MC-WB 6.1.2 and STCubeMX 6.8.1. Compiled with STM32CubeIDE 1.12.1. Connecting to the board and upload worked well. I can connect with the Motor Pilot 1.1.12 to the board.The board generates a repeated beeping noise with 1 Hz frequency. Is that normal?When I try to accelerate the motor via the GUI, the board initially responds but aborts. It sounds like the "beeping" generator is still active. To test, I set the duration of the first phase to 10 seconds in the Rev-UP dialog and reduce the torque. This generates the current profile shown below. The current follows the reference value most of the time, but is periodically disturbed. This disturbance follows the rythm of the beeping. If I set the reference current higher (to generate enough torque to turn the motor), the controller tri

When i refer the source code of the B-G431B-ESC1 board, i do not see the code check for series resistance, inductance of the motor. Is the source code independent of the series and inductance of the motor? For example/***************** MOTOR ELECTRICAL PARAMETERS ******************************/#define RS           0.35 /* Stator resistance , ohm*/#define LS           0.0006 /* Stator inductance, HBut i do not see these parameters used anywhere in the program. Is my understanding correct?

Hi! I followed user manual provided here and did everything step by step to set up environment for my motor (Maxon 397172). After connecting my hardware (Nucleo-F446RE and X-NUCLEO-IHM08M1) to Motor Control Workbench and clicking "Start Motor" button - nothing happens. Motor won't start, it will only flicker once, Measured speed will increase (during motor still doesn't move).Things I did:Motor is in sensorless modechanged motor Parameters measured by Motor Profiler to parameters from datasheetI was experimenting with PWM frequency and Execution rate of PWM periodsalso experimented with PIDstried to change Start-up parametersbut nothing really changes the fact, that m motor won't start. I also generated code from my project, but I really can't find any tutorial what can I do with this code.Do you have any ideas?I am using ST Motor Control 5.4.1, I have installed drivers and STM32CubeMX. Also my generator can give 3.21 A and 24 V (as needed for this motor).Things are interesting, becaus

Hello!I would like to use the STM32 PMSM FOC firmware library. According to the release note of the SDK (https://www.st.com/content/ccc/resource/technical/document/release_note/b1/3f/4e/1b/cc/7f/45/c1/DM00068242.pdf/files/DM00068242.pdf/jcr:content/translations/en.DM00068242.pdf) the following microcontrollers are supported: STM32F030C6/C8/K6/R8 STM32F051C6/C8/K6/K8/R6/R8 STM32F072x STM32F100, STM32F103 STM32F2 Series STM32F302xB/C, STM32F303xB/C, STM32F302x6/x8 STM32F405xx, STM32F407xx, STM32F415xx, STM32F417xx, STM32F446xC, STM32F446xE. STM32F301C6/C8/K6/K8/R6/R8 How am I able to access the STM FOC FW library if I have designed a custom motor controller with one of the MCUs that I listed above? I have seen this question asked in previous posts and users are always directed to https://www.st.com/en/embedded-software/stsw-stm32100.html which forces you to use the MotorControl Workbench, but this can only be used with STM development kits and not a custom PCB

I cannot find a way to get this to work... Already using run as administrator.

I am using the F302RB nucleo board and IHM07M1 motor driver.

I have changed the G431-ESC-1 shunt resistor to 0.001ohm, and gain network resistor values as attached pics, for 100A phase current max with 1mOhm shunt resistor after the off-set circuit, the voltage is 0.19V to comparator's + input (non-inverting) and DAC3 connected to - input (inverting), MCWorkbench generated code in .mc_parameters.c OPAMPParams with  .DAC_OCP_Threshold = 3773 (which is equal to 0.189v) Now my question is, with 3773 DAC value, I couldn't start my little motor because OVERCURRENT fault triggered, I need to increase .DAC_OCP_Threshold value to say 8000 in order my motor can start, but do the maths 8000 = 0.4v threshold which is like 400A phase current pass through 0.001ohm shunt resistor ? Anyone has experience on gain network issues ?ThxDanny

I am trying to run The Motor Control Work Bench using my custom board. I created an inverter profile by cloning one of the existing boards, as below.I made the necessary changes to map pinout of my board. The board appears on the inverter page, as below (referred as TEST BOARD).However, if I change the MCU to STM32G473VETx , the board immediately disappears from the list and I cannot use it to create my Motor Control Project. How to fix this?I noticed, it's only taking MCUs that are already existing in the Motor Control Work Bench, for example, STM32G474QETx, STM32G431CBUx etc. But how do I make it to work with my MCU (STM32G473VET6)?

In the .B-G431B-ESC1 board if i set over current threshold as 45A then i get value of DAC_OCP_Threshold = 4083, Please explain me how this value is achieved.Few of the calculations i know are#define CURRENT_CONV_FACTOR (uint16_t)((65536.0 * RSHUNT * AMPLIFICATION_GAIN)/ADC_REFERENCE_VOLTAGE) 544 and CURRENT_CONV_FACTOR_INV is 0.00183.If i set the over current sense as 45A then the count is 24480 decimal value. But this value is different from the DAC value set (4083). What are the actual calculations.

Dear All,I would like to update old projects from workbench 5.Y.2 to workbench 6.1.1. I am using custom board. With 5.Y.2 I can configure the custom board, but with 6.1.1 I'm not able to configure my board. How can I solve the problem?

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Hello. I would like to design a bldc motor controller using stm32G4 series. I recently ordered stm32g431rbt6 because of the on chip opamps and dacs. Also in the datasheet it states that there are timers for advanced motor control. I am seeking assistance on where to start with the motor controller design and what tools from STM I can use to achieve my goal. The project has a limited deadline and I would like support on the controller design. The motor I will be using is a hub motor. I would also appreciate any other information concerning microcontroller selection and whether I should use a different microcontroller. Thanks.  

TOpenLoop_Handle_t OpenLoop_ParamsM1 ={ .hDefaultVoltage = OPEN_LOOP_VOLTAGE_d, .VFMode      = OPEN_LOOP_VF, .hVFOffset    = OPEN_LOOP_OFF, .hVFSlope     = OPEN_LOOP_K};Constant are undeclared. Any ideas what should be those value? I also don't understand how to set the offset angle between encoder Z channel and motor phase referenceIn addition I can't find where to define the open voltage or current in Motor Pilot GUIs.Many thanksDavid

I'm using motor profiler for the motor control. I have the following hardware components:STM32 Nucleo-F4446REX-NUCLEO-IHM16M1Mitoot motorIn the motor profiler, it mentions that IHM16M1 can only work sith STM32 Nucleo-G4 and that F4 and IHM16 combined is not supported. Is there a workaround available to test the motor despite this limitation?"

When I try to generate code for a project that was generating properly in Feb 2023, I now get the following errors:ERROR [LineInfo_to_exitCode.log_LineInfo] The ST intranet updater server is unknown: mcucrossselector.codex.cro.st.comERROR [LineInfo_to_exitCode.log_LineInfo] Found unsupported composite condition: CLASS='Data Exchange' GROUP='STM32_MetaDataManager'ERROR [LineInfo_to_exitCode.log_LineInfo] Found unsupported composite condition: GROUP='STM32_MetaDataManager' CLASS='Data Exchange'I'm using MC WorkBench: 5.4.8.21553 WB_to_MX : : 1.5.1.template-21-11-15 STM32CubeMX: 6.4.0 MC Firmware Library: 5.4.8Generation Options: Target Toolchain: ST STM32CubeIDe Target Driver : LL-Low Level Target STM32 FW: 1.5.0The project is a G081B eval board with a IPMnM2S 3-shunt power stageI've now Updated my MC Workench to the latest : 6.6.1 STM32CubeMX to : 6.8.1 STM32CubeIDE to 1.12.1 MC WorkBench: 6.6.1 WB_to_MX : : 6.1.0.template-22-12-05 STM32CubeMX: 6.8.1 MC Firmware Library: 6.1.1-Full5.4.

Hello,Looking over the STSpin implementation of the Clarke Park transforms and SVM has raised some questions about the derivation of the transform. Typically the the Clarke Transform takes the form of:𝐼𝛼=𝐼𝑎𝐼𝛽=1√3(𝐼𝑎+2𝐼𝑏STSpin's implementation effectively rotates the Beta component by 180 degrees with a sign flip:𝐼𝛼=𝐼𝑎𝐼𝛽= -1√3(𝐼𝑎+2𝐼𝑏)Next, the Park transform usually takes the form of:𝐼𝑑=𝐼𝛼∗cos(𝜃)+ 𝐼𝛽∗sin(𝜃)𝐼𝑞=𝐼𝛽∗cos(𝜃)−𝐼𝛼∗sin(𝜃)Where as STSpin seems to rotate each dq component by 90 degrees by using the opposite trigonometric functions on the alpha/beta vectors 𝐼𝑑=𝐼𝛼∗sin(𝜃) + 𝐼𝛽∗cos(𝜃)𝐼𝑞=𝐼𝛼∗cos(𝜃)−𝐼𝛽∗sin(𝜃)Considering Beta is negative in the STSpin Clarke, it seems that Iq is actually equal to Id in the "correct" Park transform. Does anyone have an explanation for this?Separately, the SVM seems to be empirically 120 degrees out of phase with an SVM implementation from this paper. Is this to compensate for the different reference frame

I am using board B-G431B-ESC1 and Motor Control 5.Y.3. How to implement BLDC blocking at zero speed. I have Hall sensors in the motors, but there is no encoder so I cannot control the position. I do not need position control, I just need a lock, and if the rotor is displaced, then I don’t need to go back, but just continue to lock. I see this as passing direct current (PWM) through the windings or possibly alternately turning on the motor with forward and reverse rotation. How can this be done? Thanks in advance!

I have seen examples of how you can use the Hall Sensor function of a second timer to trigger the events of the primary timer controlling the PWM generation for different motor phases, but I'm not able to use any other timer inputs on the chip I'm using (STSPIN32F0 - based off STM32F031) since I need an SPI input. I'm hoping to be able to just use external interrupts from three GPIO pins instead. Any help/advice would be greatly appreciated.Thanks,Nick

I have designed a custom board based on STSPIN32G4 schematic but with an automotive mosfet (iaua200n04s5n010auma1). Everything works except that the controller enters an IDLE STATE and STOP STATE every time I tried to run the motor.Does this have to do with the internal Mosfet gate driver?Thanks, and best regards,Mit freundlichen Grüßen - with kind regards

PMSM / ACIM emulators have been developed for the automotive industry; they emulate a motor's characteristics for inverter testing and are very accurate and high-powered (50kW+). They have electrical model cycle times of <1us and PWM frequencies of typically hundreds of kHz.Here is an example of a high-end model: Google search "E-Motor Emulator – Testing Power Electronics without Motor" (first PDF result), because I'm not allowed to add a link :)I am developing a version of this that is stripped down both in terms of power and accuracy. It is for our internal company use and needs to 'pass off' as the intended motor but not emulate the characteristics exactly. I'd be happy with a 20% deviation in most motor characteristics. I have guesstimated I need an electrical model cycle time of 2-5us; I *think* I can use one of the processors that run on the Nucleo-144.The high speed task is basically: -read 6x analogue inputs (3 voltage & 3 current), or at a push only 3 voltage.-calculate

Hi all,I have the B-G431B-ESC1 board and would like to try the 6-step mode. When I select a 6 step project in MC Workbench and the B-G431B-ESC1, the software shows that there is no current control/no over current protection. The schematic shown has only 1 current shunt and the board has 3 resistors.If I choose another board (e.g. EVSPIN32F0251S1) which has only one shunt resistor, the current control function is active.Does the 6-stage implementation only work with one shunt resistor?Is this a limitation of the GUI, and can the MC API be configured to use 3 resistors in 6-step mode?Or would I have to program the control myself?Kind Regards Thundernail

I noticed the following bug in the MCSDK generated software, please confirm if it is correct__weak void MCI_SetCurrentReferences(MCI_Handle_t *pHandle, qd_t Iqdref){  pHandle->Iqdref.q = Iqdref.q;  pHandle->Iqdref.d = Iqdref.d;}but it shall bepHandle->pFOCVars->Iqdref.q = Iqdref.q;pHandle->pFOCVars->Iqdref.d = Iqdref.d;since it is used ininline uint16_t FOC_CurrControllerM1(void){ Vqd.q = PI_Controller(pPIDIq[M1], (int32_t)(FOCVars[M1].Iqdref.q) - Iqd.q); Vqd.d = PI_Controller(pPIDId[M1], (int32_t)(FOCVars[M1].Iqdref.d) - Iqd.d);}Is my understanding correct?