STM32 MCUs Motor control

My company produces systems that use very high resolution optical encoders, with over 2^16 quadrature counts per rev (over 2^14 PPR). We are looking to modernize our positioner electronics and have been prototyping with a NUCLEO-G431RB and an IHM07M1 in 3-shunt mode.When entering our motor parameters into the MCSDK, I can enter e.g. 20,000 for "pulses per mechanical revolution". In the generated code, M1_ENCODER_PPR holds this value. However, ENCODER_M1.PulseNumber, which is a uint16_t, is set to 4*M1_ENCODER_PPR (presumably this is CPR and the 4x comes from quadrature decoding). This value will be truncated when M1_ENCODER_PPR is greater than 16,383. All of our systems exceed this PPR threshold, so we can't use the MCSDK as-is.So to summarize, there are a few directly related issues:The code generated by the MCSDK does not directly support high-resolution encoders with over 16,383 PPRENCODER_Mx.PulseNumber is a uint16 despite e.g. SpeednPosFdBk.wMecAngle being an int32_tOther related

Hello,I think it is easy to connect nucleo64-boards (e.g. NUCLEO-F303RE) and X-NUCLEO-IHM08M1. Is it possible to connect NUCLEO-F746ZG and X-NUCLEO-IHM08M1 in the same way?I am concerned about the size of the nucleo144-boards and whether they will interfere with the X-NUCLEO-IHM08M1 and whether the pins will fit.Thanks in advance

I am using the STEVAL-ESC001v1 board to control a brushless motor. The project is started with Motor Control Workbench 5.Y.4 or 5.4.8. Where do I choose between a 6-step algorithm and Sinusoidal? Which algorithm is being used by default after the rev-up?The monitor in 5.4.8 works sometimes but Motor Profiler has never worked and so it is difficult to test or 'get my motor running in minutes' like the marketing claims. I am starting to think that I am trying to use the wrong algorithm.

Hi All,Background: during my very first experiments with the STM32 Motor Control SDK 5.Y.2 I did hear something like a two tone alarm coming from the motor when a critical overcurrent or overload situation occured. I was pretty sure at that time, there there must be some routine that uses the motor as a speaker to emit such a beep when required.Topic: With my current project it would be quite handy to be able to output a short beep in some situations without having to assemble dedicated speaker or beeper. But I could not find a piece of code in the MCSDK-Lib that is related to such a function.Question: My question is now, whether the alarm I did hear with the older MCSDK was just an artifact of the motor control. Or was this an intended functionality and got removed during the code cleanup in 5.Y.4?Has anyone used a motor as speaker with the MCSDK already? In my opinion that should be possible since a motor and a speaker are not very different.Regards Thomas

Hi,I am trying to run a brushless motor at constant speed and at a ramped input (from 0 rpm to desired speed and back to 0 rpm representing a triangle wave at 0.01 Hz) to rotate an experimental rig (consisting of a small shaft clamped using 2 bearing housings) up to 15,000 rpm.The link for the motor is as follows:22ECP 45 8B 82 01 | Portescap Brushless DC Motor, 80 W, 24 V, 0.0294 Nm, 15700 rpm, 3mm Shaft Diameter | RS (rs-online.com)I am very new to motor control, and with hopes of quick-learning I ordered the STEVAL-SPIN3204 driver board for this purpose. I have installed the X-cube-MCSDK Y (version MC SDK 5.Y.4) control software to find an example for applying to my project, but none of the example projects there are for BLDC motors. I did find an example for Shinano LA052-080E3NL1 using the mentioned driver board, but the motor parameters only show for PMSM structures. Link for the driver board: STEVAL-SPIN3204 - Six-step brushless motor driver evaluation board for application

Hi All,Got it turning. Now need a guidance on where / what file and how I can control the speed. SDK 5.4.8.6S_STEVAL3202_SL_VM example.Monitor connects well.I can start the motor.Final ramp speed does not work. The only use - setting the direction of rotation.Measured speed raises from 0 to 4000rpm and motor stops with Fault over "Start-up failure". Motor power indicator jumps to max and stays there.My application is simple. I need an open loop control. 2 speeds forward, 2 speeds reverse. Stop. Preferably hardware control -3 pin. The only feedback - hardware Fault output.Questions are: Where (what settings) can be an error.Where can I find the code where I can control the speed.How I can control the speed (what variables are responsible for speed and acceleration?). I assume that it can be done in main.c in while(1) loop.Could you please direct me to some manual or documentation on 6S_STEVAL3202_SL_VM package.Thanks in advance for your answers.Regards,Edward.

Hello, I am working on a project that requires control the motor speed by adjusting bus voltage. The PWM width shall be consistent. The motor bus voltage is controlled by another ST micro. Is this a possible approach? What documents/ examples I can refer to? Any feedback is greatly appreciated

Trying to use B-G431B-ESC1 - Discovery kit with specific motors, Rs = 0.1 om, Ls =0.01 mH. STM Motor Profiler 6.0.0 does not seems to detect correctly the motor specs. And some issues appear with the position detection, over-temperature protection … when compile the project from MotorControl Workbench 6.0.0. As much as I understood from Getting Started with Motor Control SDK 6.0.0, ST Motor Profiler is optimized for motors with Rs >1 om and Ls > 1 mH. Any way to optimize it for work with the mentioned motors ? As well as X-CUBE-MCSDK refers to MCSDK 6.x, which seems not available for download yet ?

HelloI am using the combination of F401RE and IHM16M1 for a project in my lab to drive a 24V BLDC Motor (max RPM 5000). Issues:1) I am unable to select the above combination in the Motor Profiler.2) When I try to generate code using Motor Control Workbench (5.Y), I generate code using CubeMX (6.3) and flash it using CubeIDE (1.10.1) -->I run motor using Motor Pilot but it always says "Speed Feedback Error". I don't know why this happens.3) No resources about how to make this combination work.4) I tried using the 6StepLib. However, the motor just spins and then stops making a humming noise (increasing), then stops. Sometimes it doesn't stop but runs at 450-500 RPM.Can anyone please point me to a given example for this combination? Or am I missing something?I am new to the ecosystem so I would appreciate any help or guidance. Thank you.------------------------------------------------------------------------------------------------ ****UPDATE****GMA, Thank you for helping me resol

Dears，Currently I'm working on a BLDC project, and with the MC SDK, we can control the motor.And we also want to make the MCU(STM32F4) into STOP mode to save some power, the issue is the MCU can not goes into STOP mode, anyone tried this before?​The code:void McuEnterStopMode(void) { __disable_irq(); HAL_CAN_Stop(&hcan1); HAL_SuspendTick(); HAL_TIM_Base_Stop(&htim1); HAL_TIM_Base_Stop(&htim3); HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn); HAL_NVIC_DisableIRQ(TIM1_BRK_TIM9_IRQn); HAL_NVIC_DisableIRQ(TIM3_IRQn); HAL_NVIC_DisableIRQ(TIM7_IRQn); HAL_NVIC_DisableIRQ(FPU_IRQn); htim1.Instance->CR1 &= ~(TIM_CR1_CEN); htim3.Instance->CR1 &= ~(TIM_CR1_CEN); htim1.Instance->SR = 0; htim3.Instance->SR = 0; TIM7->CR1 &= ~(TIM_CR1_CEN); TIM7->SR = 0; TIM3->CR1 &= ~(TIM_CR1_CEN); TIM3->SR = 0;   ClearFPU();   HAL_NVIC_ClearPendingIRQ(TIM1_BRK_TIM9_IRQn); HAL_NVIC_ClearPendingIRQ(TIM1_BRK_TIM9_IRQn); HAL_NVIC_ClearPendingI

I've got an X-NUCLEO-IHM03A1 (the PowerSTEP based board) and a NUCLEO-G431RB. I'd like to start on the software to get them working together. However, I'm new to STM32 development. I'm not sure of how I should proceed. Would it be easier to start with one of the example applications and modify it to work with the G431 or start a STM32CubeIDE project for the G431 and then work at merging in the IHM03A1 modules into it?Are there any specific files where I should expect the bulk of the differences to live?Thanks a bunch!

Hello, I have STEVAL-SPIN3201 with sinopro motor. One direction works smoothly and reverse direction is jitter, noisy and with above 2000rpm diver starts to trigger overcurrent condition. According to symptoms it is caused by bad Hall alignment. Hall sensor signal is clean so no filtering issue I suppose. I'm using example code from workbench 5.Y.4 with HAL driver based on FW package 1.11.3 and cubeMX 6.6.1 . Generated code have setting for commutation delay in HALL timer setup:sConfig.IC1Polarity = TIM_ICPOLARITY_RISING; sConfig.IC1Prescaler = TIM_ICPSC_DIV1; sConfig.IC1Filter = 8; sConfig.Commutation_Delay = 0;but when I modify 0 to any other value, it is load to TIM2 CCR2 on startup but is changed to 10 after motor is started. I'm unable to find where is this changed. Any hint how to adjust Hall alignment will be welcome. Other question, is possible to use active motor brake when engine stops (just for few seconds) with this code or I have to implement it myself?Thank you.

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I only want to have the motor to spin as a kitten but ..Hereby I share you my road to hell and frustrations .Tried to get it working with the example and MCSDK_5.Y.4saved it on an empty location and no renameChange nothing for the moment and pusg the button arrow downWhat do I choose as Drive Type option HAL or LL ??Use LL according to some posts I read and push UPDATEHere we are received Complete and then what should i do ??? You get OPEN FOLDER or RUN STM32CubeMX or CloseBut how do I get it in my board ???Do I need another program ??So as I read a lot of posts : the STM32CubeMx is a tool to alter the motor specifaction and sensingOpen Folder gets you to the source files etc that needs to be compiled witha IDE So downloading the ST32CUBEIDE never mentioned in documenttion what so ever ??Now the fun starts 6S_STEVAL3202_SL_VM.ioc has been assigned by windiows to STM32CubeMx .But here I use the IDE to load it up.And now I get a DOS box with the following :SLF4J: Failed to load class "or

Dual drive support was removed from the MCSDK when version 5.Y.0 was introduced. The release notes for MCSDK V6.0.0 states:"Dual drive is no more supported at the moment. Support for this feature will be reintroduced in a future release of the SDK"Is there any information as to when dual drive support will be reintroduced?We will appreciate an indication of the timeline.Best RegardThomas Sølund

(Environment)MC_SDK 5.Y.3 + STM32CubeMX 6.3.0 with HAL + IAR EWARM 8.5(Hardware)custom board based on F446RE + custom power board(3-shunt) + Low Voltage BLDC motor(Control Mode)Speed Control with STO+PLL(Question)At VSS_CalcElAngle() in "virtual_speed_sensor.c",Let's assume the switch-over just started and on going, that is: pHandle->bCopyObserver = falsepHandle->btransitionStarted = truepHandle->hTransitionRemainingSteps >= 0pHandle->_Super.hElSpeedDpp >= 0  (assume positive direction rev-up)Then hAngleDiff = *( int16_t * )pInputVars_str - pHandle->hElAngleAccu has the meaning of (STO angle - VSS angle)In normal case, hAngleDiff would be >= 0 (STO angle = 90 degree, VSS angle < 90 degree in dq-frame), and the following transition will be executed:if ( hAngleDiff >= 0 )  {     pHandle->bTransitionLocked = true;     hRetAngle = *( int16_t * )pInputVars_str - hAngleCorr;}I can not, however,

I am trying to transmit repeatedly using HAL_UART_Transmit_DMA(). The first transmit works. All following fail. The HAL_UART_TxCpltCallback() does not fire. All information I can find on this says you have to check the box 'USART1 global interrupt/...After checking that box I get the error:multiple definition of `USART1_IRQHandler'; ./Application/User/stm32f30x_mc_it.o:C:/Software/STM32CubeIDE/STM32-20220817_mcrot/Src/stm32f30x_mc_it.c:147: first defined here.Searching for 'usart1' in stm32f30x_mc_it.c reveals there is no such definition. In fact the only mention of this function is in the startup file and stm32fxx_it.c. There is a definition for USART_IRQHandler in stm32f30x_mc_it.c.I'm using the reference manual UM1786. Is there something better? The section 'How to use this driver' on p. 598 is not much use because after generating the code with CubeMX it is not clear what still needs to be done.So do I need to enable global interrupts and if so, how do I get past this issue?

We are using STM32F301 micro along with 5.4.4 motor control SDK. We found that at different speeds we get different power measurments for the same amount of power output of the motor.Is this due to the fact that PQD_CalcElMotorPower() does not use power factor for calculating power?In our user code we are using MPM_GetAvrgElMotorPowerW(pMCT->pMPM) to limit the output power of the motor and this is not working properly because of the accuracy of the power measurement at different speeds of the motor.

I am using EVSPIN32F0602S1. After successfully loading the code onto the board, I was able to connect to the workbench software. But after giving command communication closes.Have set communication baudrate to 9600 both on workbench monitor and in CubeMX.After successfully connecting the motor to the workbench monitor, I give "Motor Start" command.Log gives an error "Communication is closed, the board doesn't response correctly"Is this in anyway related to board's power supply. I'm just at the border (54V) of min. voltage limit (50V)Can some please help me out?Thanks

Hi,I have an issue with calling Timer13 from model.cpp. For instance, htim13.Instance->CCR1 = 95. for instance fails to load. Wasn't a problem for CM7.c:\st\stm32cubeide_1.7.0\stm32cubeide\plugins\com.st.stm32cube.ide.mcu.externaltools.gnu-tools-for-stm32.10.3-2021.10.win32_1.0.0.202111181127\tools\arm-none-eabi\bin\ld.exe: ./Application/User/gui/Model.o: in function `Model::PWM_DELTA(int)':C:/TouchGFXProjects/AUGV.08.30.2002/CM7/TouchGFX/gui/src/model/Model.cpp:23: undefined reference to `htim13'#include <gui/model/Model.hpp>#include <gui/model/ModelListener.hpp>#include "stm32h7xx_hal.h"extern TIM_HandleTypeDef htim13;Model::Model() : modelListener(0){}void Model::tick(){}void Model:: PWM_DELTA(int value){value = value * 9.70; //constant to allow 0-100 percent htim13.Instance->CCR1 = 95; //change dutyclycle}I've written this code multiple times without issue utilizing one processor (CM7). Now I'm using CM4 for PWM, I have a handler failure that I can't resolve.

Hi, I am working on a customized board powered by STSPIN32F01B, FOC is used with 3 external OPAs for each shunt resistor. The code is generated by MCWB 5.Y.4. The SDK keeps returning error code 16 or 32 after pressing the start/stop button. I have been blocked by this issue for a few days. Any inputs are greatly appreciated.

HiThere is this motor control nucleo Pack P-NUCLEO-IHM03 which includes the NUCLEO-G431RB evaluation board, the X-NUCLEO-IHM16M1 expansion board and Gimbal motor GBM2804H-100T. I cannot find further information if the included evaluation board can be used with other expansion boards for motor control e.g. for brushed DC Motors.Thank you for any help

Hello,I am starting to develop an application using the Nucleo F303RE and the IHM08M1 with the Motor Control Workbench.My motor is driven with 24V and has a maximum current of 3.25A and a rated speed of 3590 RPM, from its datasheet I know that it has a 0.53 Ohm phase resistance, 0.43mH inductance, 4 poles but unfortunately the voltage constant is not listed (only the torque constant of 0.35 Nm/kRPM)I configured my project to use the 3 shunt architecture, FOC and hall sensors, I modify the IHM08M1 board accordingly (removed R181, C3, C5, C7, changed the solder bridges to 3 Sh, connected both contacts from the JP1 and JP2 and kept JP9 open),The motor profiler never worked for me, I changed the current, the max speed, but I could never make the motor turn and received after a while the message that "it is taking too long".I configure my Motor Control Workbench as best as I could (with the motor information that I had at hand) and after playing around with the order of the motor phases and

Dual drive support was removed from the MCSDK when version 5.Y.0 was introduced. The release notes for MCSDK V6.0.0 states:"Dual drive is no more supported at the moment. Support for this feature will be reintroduced in a future release of the SDK"Is there any information as to when dual drive support will be reintroduced?/Sune

Hello there,I have sensorless 3-phase bldc motor. I am using MC Workbench for Sensorless FOC algorithm with STEVAL-SPIN3201 board. I've run my motor at torque mode and it seems okay. But, when I loaded motor does not produce any torque and immediately stops. What can be the problem? I've attached screenshots of GUI settings file.