STM32 MCUs Motor control

Hello,I apologise in advance if my post lacks any important information, I am very new to working with these sorts of boards and have limited experience with motor control in general. I am using a B-G431-ESC1 to drive a 24V hoverboard motor. I have profiled the motor and uploaded the firmware to it and it runs just fine on the motor pilot with FOC speed control. I had also used the potentiometer on the ESC to change the speed without issue.I wanted to switch to using PWM signals to control the speed of the motor, and reuploaded the firmware to the board with the potentiometer option disabled and the Electronic Speed Control option enabled for the stage configuration. Using an ESP32 I generate a 490Hz PWM signal and first send 1060us pulses to the ESC (verified with an oscilloscope). I then send a new PWM to the ESC where the signal is high for 1850us. My expectation was that the initial 1060us PWM would arm the driver, and then the 1850us PWM would command the ESC to dri

Hi everyone,I am working on a custom board based on STM32F407VGTX to control a BLDC motor, and I am looking for some guidance. My goal is to implement sensorless control (FOC or 6‑step) using this MCU, and I would really appreciate any example projects, application notes, or configuration tips (timers, ADC sampling, current sensing, etc.) that you can share.If someone has already done a similar BLDC project with STM32F4, pointers to code repositories or project structures would be very helpful. Thank you in advance for your support!Ashish

Hi - I'm about to start in on a new motor control application using ST Micro products. Can anyone suggest what a reasonable range of speeds I might be able to get good velocity control over?  This will be a sensored application with high resolution encoders. Maybe 4K-16K counts per revolution. For example, If the maximum motor speed is 4000 RPM will I be able to maintain good speed control down to 400 RPM? 40 RPM? 4 RPM? "Good" speed control might be +/- 5% or so. And the load changes will be small, probably less than 20% or so.Thanks

I have been trying to generate a motor control demo for TrustZone enabled environment but seems Motorcontrol work bench does not support that. Is there any procedure/ way to manually port the code to TrustZone enabled environment? 

This is to report an erroneous speed - with a divided by two speed - for the Motor Control Workbench and its associated Motor Pilot version 6.4.1.The speed information throughout the Motor Control Workbench generates twice the mechanical speed with F.O.C algorithm and STEVAL-SPIN3202 control board.The  measured tachometer shaft speed which leads to confirmed motor speed and associated computations are the following:Motor Speed (RPM) = 2 x BEMF(Freq)(Hz) x 60 seconds / Poles pairsNote: 2 factor meaning:  Each magnet passes over the coil used to sense the Back-EMF twice during each rotation, once over each end.BEMF(Freq)  is matching HALL(Freq) in our application.These checks were carried out with two motors:1,400 RPM with a 10:1 gear ratio delivering 140 RPM at the shaft and 155 RPM with no gear In both cases, we have correct mechanical speed for half the speed entered within Motor Control Workbench and Motor Pilot. Motor Pilot reports half the speed of the actu

Hi,I have purchased NUCLEO-F411RE controller EVK and X-NUCLEO-IHM08M1 expansion board to write motor control application and check the motor parameters on Motor Control Work bench tool.While checking for sample application or extension packages for the expansion board and controller, I don't find SPN8 package on X-CUBE extension list. And don't find sample application to add and compile on STM32IDE for NUCLEO-F411RE + X-NUCLEO-IHM08M1. Please suggest me sample application for the NUCLEO-F411RE + X-NUCLEO-IHM08M1 and how to add it into STMCUBEIDE, Compile and Run.Regards,Omkar

 I’m using the X-NUCLEO-IHM16M1 BLDC driver board, which is based on the STSPIN830, together with a NUCLEO-F446RE. In the STSPIN830 datasheet, ST clearly mentions that the device supports both 3-PWM and 6-PWM input modes.But in practice, on this expansion board:Only INU / INV / INW are connected to the MCUENU/ENV/ENW are present but “NP” (Not Populated) unless manually solderedNone of the INxH / INxL pins (the 6-input mode pins) are routed to the Nucleo connectorsTIM1 complementary outputs (CH1N/CH2N/CH3N) have nowhere to goMotor Control Workbench only allows 3-PWM mode for this boardThe user manual (UM2415) seems to confirm that the 6-input mode requires hardware changes: removing R12, replacing R11, and populating the NP resistors that route INxH/INxL to the MCU. Out of the box, the board is locked to 3-PWM “direct driving” mode.My question:Has anyone actually gotten TRUE 6-PWM complementary drive (TIM1 CHx + CHxN with dead-time) working on the X-NUCLEO-IHM16M1?Not "6 logic inpu

Hello All,   Attached is the snapshot taken using logic analyser on PWM & Hall Effect TTL Signals. Trying with 446 & IHM08M1 – Open Loop.D0 – PWM1 & D1 – PWM1 ND2 – PWM2 & D3 – PWM2 ND4 – PWM3 & D5 – PWM3 ND6 – Hall Effect UD7 – Hall Effect VA0 – Hall Effect W (No extra digital channel, using the analog channel as digtal).Practical Explanation Required at each cycle.D6 rising edge makes PWM1 & PWM1N to operate until D3 rising edge –which winding is energised?Like this, explanation required for 1 full cycle wrt to Phase Energising.

Hai All,  New to the workbench software.  Able to set the required parameters - STM32F446RE & IHM08M1.  Getting stuck in the final path - CubeMx & IDE.   But I am having the latest updated one.   Kindly help me where I am missing.Jayaraj.A

Hello ST communityWhat voltage margin would you suggest if using the motor STSPIN32G0A2 controller IC ? The supply voltage of the IC is rated from 15-45V. Is it safe to supply it with 36V and connect a BLDC motor to it? I am scared that the IC may be damaged due to voltage transients. This question may sound a bit silly, but I need some opinions.The motor is a 150W maxon EC 60 flat type, and the product is intended for the consumer industry. A gear with a ratio of 1:26 is connected and the motor and it is used to propel a machine (size of a vacuum cleaner) that is moving with a constant speed on the ground. The power supply is a mean well RPS-300-36-C type and the PCB also features a bulk capacitor of 2200 uF. The schematic and layout is similar to the STEVAL SPIN3202.Thank you for sharing your opinions.   

Hi All,I am currently planning a custom motor control design based on the STM32G431CUB6 microcontroller for a 3-phase inverter application.Before finalizing my PCB design, I would like to clearly understand the firmware flashing and runtime communication possibilities, especially related to Motor Pilot and real-time monitoring.I kindly request your clarification on the following points:Is the use of ST-LINK mandatory for flashing the firmware into the STM32G431CUB6 during development?Does Motor Pilot software communicate with the MCU only through ST-LINK, or can it also operate via UART?For real-time monitoring of parameters such as RPM, DC bus voltage, current, and motor status using Motor Pilot, is ST-LINK compulsory? Your guidance will help me finalize my hardware design and production programming strategy correctly.

Hello,We are using a custom board based on EVSPIN32G4 with HSO that has 2 extra ADC channels.When I try to register them with RCM the entire motor either shuts down or unable to start correctly.It appears like it interferes with the existing ADC channel operation.I tried registering it before interrupts are enabled, and after interrupts are enabled. It's all the same.Here is the code:static RegConv_t MotorSensorConv = { .regADC = ADC2, .channel = TEMP_ADC_CHANNEL_NUM, .samplingTime = LL_ADC_SAMPLINGTIME_2CYCLES_5, }; In the init function:RCM_RegisterRegConv(&MotorSensorConv);In the polling function:uint16_t value = RCM_GetRegularConv(&MotorSensorConv);LOG_DBG("Motor sensor adc val: %d", value);Does anyone know what could be wrong?Another question, I noticed that callback hooks from mc_app_hooks.c are not called from anywhere?Anybody knows why?As another riskier approach I was considering to modify the default ADC configuration to add extra injected channels, but I am afrai

Hi everyone,I’m new to STM32 and working on a custom board using the STSPIN32G4 to drive a 3-phase BLDC motor (max 1000 W). The board will be powered by a 7-cell Li-ion pack (max 29.4 V, up to 30 A). I would appreciate a general schematic review.Could you please check the following points:Debug interface – Is the STDC14 wiring correct? I want to use the STLINK-V3SET Debugger!Power routing – Are VDD_3V3, VDDA, VREF+, REGIN, and VCC connected properly and decoupled with the correct capacitors?Decoupling – Can any of the VDDA / VREF+ / VDD capacitors be safely reduced?TVS diode on VM – For the 29.4 V input, should I use a unidirectional or bidirectional TVS diode at the VM input? I’ve seen both approaches online but not sure which approach is best practice. RFM69 supply – Is it safe to power the RFM69 from VDD_3V (internal LDO), given ~140 mA peak and ~10–30 mA continuous (≈1% duty cycle), noting the STSPIN32G4 LDO is limited to 150 mA?SPI pin conflict – All SPI1, 2, 3 pins

Hello,While testing FOC operation using Hall sensors in MCSDK, I encountered an issue that I’d like to discuss.When attempting low-speed BLDC control (around 100-200 RPM) with FOC, the electrical angle updates discontinuously at 60-degree intervals, as shown in the graph below. If I first apply a high-speed/high-torque command so that HALL can interpolate the electrical angle and then switch to low-speed control, the problem is resolved. However, this approach becomes challenging when the motor is under heavy load.Is there any method or idea to make the motor run smoothly at low speed directly from a standstill without going through this intermediate process?Additionally, it seems that in 6-step control, users can only specify a speed reference. Is there any way to set a current (torque) reference without modifying the core MCSDK code? If this feature is not currently supported, I’m curious whether there are plans to enable 6-step control via current reference in the future(in case som

I am curious what dictates the operating conditions of the STEVAL-ESC002V1 to a 2-6S battery and 20A current capability? I would like to use this chipset and operate from an 8S battery. The specs state that the MCU is capable of operating up to 45V and a fully charged 8S battery would only be 33.6V. Therefore I would assume the MCU can operate at the voltages I need and what would need to change on the EVAL board to test at the increased voltages?

Hello Everybody,Here are the software and boards in this case:1. MC workbench 6.3.22. STEVAL-IHM039V1/STEVAL-CTM009V1I have an I-PMSM motor, and I use the board (STEVAL-IHM039V1/STEVAL-CTM009V1) to run the ST Motor Pilot for spinning the motor. However, when I try to use the senseless mode, it always reports an error "Start up failure". Should I make some other configuration in ST Motor Pilot? Thanks! 

Hey ST Team and Community Members,I am currently working with the STEVAL-ESC002V1 evaluation board, and i have downloaded the available documentation, including the schematic PDF, BOM, and Gerber files (.ART, .GTD, .DRL ).However, I could not find the original PCB design source files. It would be extremely helpful for understanding the layout, making modifications, or creating and derivative design.My question:Is it possible to get access to the PCB layout source files for the STEVAL-ESC002V1?If they are not publicly released,is there any alternative way to obtain them?Any guidance from ST engineers or community members would be greatly appreciated.Thank you. 

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Hello Everybody,Here are the software and boards in this case:1. MC workbench 6.3.22.STEVAL-IHM039V1/STEVAL-CTM009V1I am using an I-PMSM motor with the ST development boards (STEVAL-IHM039V1 / STEVAL-CTM009V1). In open-loop mode, the motor spins smoothly and quietly. However, when I switch to normal mode—which uses the Hall speed sensors and ICS current sensors—two issues arise:The motor consistently produces a high-frequency noise.At low speeds (e.g., 500 RPM), there is a noticeable lack of torque; the motor cannot sustain rotation when I manually apply light resistance by hand.Could you please help identify the main cause of this problem?Thank you for your help. 

Hello Everybody,Here are the software and boards in this case:1. MC workbench 6.3.22. NUCLEO-F401RE/X-NUCLEO-IHM08M13.?B-G431B-ESC1I have an I-PMSM motor, and I use two boards (one is?NUCLEO-F401RE/X-NUCLEO-IHM08M1, and the other is?B-G431B-ESC1) to run the?ST Motor Profile for detecting the motor parameters. However, the motor parameters in the two test results differ significantly. For example, the result from Board 1 (NUCLEO-F401RE/X-NUCLEO-IHM08M1) is shown in picture 1, and the result from Board 2 (B-G431B-ESC1) is shown in picture 2. We can see that the motor phase resistance is 0.23 ohms, the phase inductance is 0.62 mH, and the back EMF constant is 9.32 in picture 1. And we can see that the motor phase resistance is 0.16 ohms, the phase inductance is 0.43 mH, and the back EMF constant is 10.42 in picture 2.Which result should I trust? Thanks! 

Development environmentMotor control workbench Version: 6.4.0STM32CubeMX Version: 6.16.0STM32CubeIDE Version: 2.00.0Controler/Driver: B-G431B-ESC1 kitI want to drive a 30W BLDC motor using the B-G431B-ESC1 kit.I'm currently following the instructions in the UM2516 user manual on the ST website:Chapter 6, "Connection and first execution of the electronic speed controller (ESC) program"6.1 First case: daughterboard not removed3. Generate and upload the firmware code into the STM32G431CB MCU with the available IDE tool.I selected the "B-G431B-ESC1" sample project in MC WorkBench, ran "Generate the Project," then launched "CubeMX" and then "Code Generate" to generate the project.Up to this point, there were no issues.After opening the project in "CubeIDE," I tried to run "Build," butthe "Build" commands were not enabled.I don't know what the problem is.Is there a more detailed guide for using the "B-G431B-ESC1"?(The UM2516 documentation is insufficient.)Please help

Dear STM Community,I'm familiar with the STM32CubeMX and the STM32CubeIDE, and I began discovering a motor control evaluation kit.The default project generated with the motor control SDK does not compile with default settings (even without touching an option), even though Cube was able to generate a project, and switched miiediately to the IDE. Most of the files were missing, so I had to manually re-import the whole directory structure, and adding all folders with header files in. I never experienced such a problem with a project directly created with the CubeMX.I've updated all STM tools to the latest version, tried to remove and re-download some STM firmware packages, I got further in the compile process, and stuck at a missing speed_duty_ctrl.h header, awhich I was not able to locate on my computer.In the Motor Control Workbench, I selected STM32CubeIDE as target platform, with matching version numbers for the CubeMX.STM32CubeIDE version: 2.0.0STM32CubeMX version: 6.15.0Mo

Hello,I'm working with a custom board that uses an external 12V supply for the VCC pin (gate driver supply) of STSPIN32g4. The VCC supply is interrupted by external circuitry whenever a fault is detected.The problem I'm encoutering is that when the 12V is removed the firmware gets stuck by continuously calling the interupt "TIMx_BRK_M1_IRQHandler" in the file "stm32g4xx_mc_it.c" and no other code gets executed.I tried to stop the timer calling this interrupt but without success. The goal is to remove torque to the motor by hardware as if being connected to an enable/disable input. Thank you in advance. 

Current Sensing的这两个参数应该怎么填，该如何计算得到，或者有官方文档介绍吗？How should these two parameters for Current Sensing be filled in? How should they be calculated? Or is there any official documentation available?