STM32 MCUs Motor control

Hello ST team,I am using MCSDK 6.4.1 with a custom STM32G431CBUx inverter board. My external ESC PWM signal is physically connected to PB10.As shown in the two attached images:1. Motor Control Workbench shows PWM_ESC_INPUT on PB10 / TIM2_CH3.2. After code generation, STM32CubeMX shows M1_PWM_INPUT on PA15, while PB10 is unconfigured.Why does the generated configuration differ from the Workbench setting? Is this a known limitation or a configuration issue?How can I use PB10 / TIM2_CH3 with the native MCSDK ESC functionality?Thank you.  

I am reading through AN5464 and UM1052 looking through the PID tuning sections.https://www.st.com/resource/en/application_note/an5464-position-control-of-a-threephase-permanent-magnet-motor-using-xcubemcsdk-or-xcubemcsdkful-stmicroelectronics.pdfhttps://www.st.com/resource/en/user_manual/um1052-stm32f-pmsm-singledual-foc-sdk-v43-stmicroelectronics.pdfTypically one would tune the inner loop PI for Torque and Flux then go onto tune the outer loop position PID. The calculated position control PID parameters for the project by default are completely unstable. I am looking for any documentation around the recommended method of tuning the inner loops as in both the Flux and Torque PI parameters. Is there anything along these lines available?

HiMCSDK 6.4.2when a start is aborted, it can happen, that the code can get stuck in __weak void *R3_2_TIMx_UP_IRQHandler(PWMC_R3_2_Handle_t *pHandle) while (0x0u != pHandle->pParams_str->ADCDataReg1[0]->JSQR) { /* Nothing to do */ }i added this to fix it  if (true == pHandle->_Super.PWMState) {by the way I don’t like having whiles in the code at all. And if nessesary please add a timeout.In MCSDK 6.2.1 an overvoltage event, when no motor is running will also end up in a stuck while __weak void R3_2_SwitchOffPWM(PWMC_Handle_t *pHdl) while (0U == LL_TIM_IsActiveFlag_UPDATE(TIMx)) { /* Nothing to do */ } that seams to be fixed in newer versions

I am following https://www.st.com/resource/en/product_presentation/evlspin32g4-act-and-stwinbox-high-speed-datalogging-for-motor-control-and-sensors-quick-start-guide.pdf using hardware STEVAL-STWINBX1+EVLSPIN32G4-ACT  https://github.com/STMicroelectronics/stdatalog-pysdk.git v1.5.0 stdatalog_MC_GUI.py is able to start/stop the motor operated in sensorless mode, correct GUI view and .dat file stored for all onboard sensors. But enabling slow/fast motor telemetries leads to error message: “HSDatalogApp.stdatalog_gui.HSD_GUI.HSD_Controller - ERROR - No data from fast_mc_telemetries Component.” For suggestion “Restart the acquisition lowering component ODR to acquire data correctly.”, I tried to only enable one data item in slow telemetry, and had the same failure. FW build env for both PMSM and STWIN.box:MotorControl Workbench_6.3.0 STMCubeIDE 2.1.1 STMCubeMX 6.12 STM32 FW V1.5.2 When importing the STWIN.box FW project, among three projects(DATALOGMC, DATALOGMC_CubeAI, DATALOGMC_NanoEdge

     I’m currently working on a PMSM drive project using the HSO scheme. I am using MC-Workbench 6.4.2 with the STM32G474RET6 MCU on a custom-designed control board. After configuring the project in Workbench and downloading the firmware to my custom board, I used the Pilot interface to verify my hardware design. First, I ran the FOC in open-loop duty mode. The motor spins normally, and the waveforms such as phase current and phase voltage look basically acceptable.Then I started the Profiler for motor parameter identification. As soon as the identification process starts, the system throws an ERROR_DC_AC fault. This is where I am stuck now. I need to troubleshoot the root cause and check if there are any inappropriate configuration settings so that the automatic identification can complete successfully.      To identify the root cause of the above issue, I tested Iα, Iβ, phase voltages Uα and Uβ in open‑loop mode. The waveforms themselves look acceptable. However, I observed a strange

Hello ST Community,I am working with an STM32F072RBT6 NUCLEO board and I am trying to generate3-phase complementary PWM using TIM1.My requirement is:• MCU: STM32F072RBT6• Board: NUCLEO-F072RB• Timer: TIM1• System Clock: 48 MHz• TIM1 Clock: 48 MHz• PWM Frequency: 20 kHz• Duty Cycle: 50%• Complementary PWM: CH1/CH1N, CH2/CH2N, CH3/CH3N• Required Dead Time: 500 nsMy TIM1 configuration is:Prescaler = 0Counter Mode = UpARR = 2399Clock Division = DIV1CCR1 = 1200CCR2 = 1200CCR3 = 1200PWM frequency calculation:PWM = 48 MHz / (PSC + 1) / (ARR + 1)PWM = 48,000,000 / 1 / 2400PWM = 20 kHzFor the dead time:TIM1 clock = 48 MHz1 timer tick = 20.833 nsRequired dead time = 500 ns500 ns / 20.833 ns ≈ 24Therefore I configured:DeadTime = 24My output pins are:TIM1_CH1  -> PA8TIM1_CH1N -> PB13TIM1_CH2  -> PA9TIM1_CH2N -> PB14TIM1_CH3  -> PA10TIM1_CH3N -> PB15The problem is with the complementary outputs.For example, when monitoring PA8 (CH1) and PB13 (CH1N) on an oscilloscope:• When PA8 is

I already built a project with my custom board and the stspin32g4 which works fine. Now I bought the EVLSERVO1 to evaluate higher power. But after successful code generation and flashing, motor pilot is not working ("Port Open, try to configure the board”) I already tested with another EVLSERVO1 board (because I thought my first one is broken). But second board same behavior.I checked, TX line from STLinkV3 ( 0x 85 FF FF BF) is sent but no answer from EVAL BoardI reduced Baud rate to 9600 because I thought maybe lost data because of high data rate. Maybe somebody can give me a hint. kind regardsPhilipp

Hello,I am using:Motor Control Workbench/X-CUBE-MCSDK 6.4.1 STM32G474RETx, 170 MHz EVLDRIVE102BH FOC with three-shunt current sensing A2212 13T, seven pole pairs I cannot find the High-Speed Observer, HSO, option in Motor Control Workbench.HSO is not visible or selectable in Motor Control Workbench. The same result occurs with a one-pole-pair, 24 krpm HKP Y0H0-A11 motor. Could you confirm:Is HSO publicly available in MCSDK 6.4.1? Is EVLDRIVE102BH supported? Which reference board should be selected? Is a particular MCU, motor type, sensing topology, or project type required? Is there a working HSO example project that I can import and run? Where exactly should HSO appear in the Workbench user interface?

Hello,I have successfully implemented the High Sensitivity Observer using the following configuration:MCU: STM32G474RETx, 170 MHz Power board: EVLDRIVE102BH, configured as a Custom Power Board in STM32 Motor Control Workbench Phase-voltage sensing configured according to the HSO hardware requirementsHSO is operational with this configuration. However, I am observing rotor alignment movement and vibration during startup, before stable closed-loop operation is established.Could you please clarify the expected HSO startup behavior?What startup stages are performed before the HSO reaches stable closed-loop operation? What is the expected extent of rotor movement during the initial alignment and observer-lock sequence? Is some vibration or oscillatory rotor movement expected during this stage? How does the selected startup method, such as PolPulse or RSDC, influence rotor displacement and vibration? How significantly do the motor parameters, mechanical load, inertia, friction, and initial r

I’m using X-NUCLEO-IHM08M1 with NUCLEO-G474RE evaluation board for FOC speed control of PMSMs.My main sensor is SE461000AB10030 encoder (I do not intend to use a sensorless system) and I’ve set it to 1000 ppr on the MC Workbench. With other commercial inverters, I’ve always used it with only its A, B and Z outputs (not the differential inverted ones)When I power up via usb the evaluation board (DC bus off), I turn the rotor with my hand and connect the oscilloscope to CN7_17 and CN10_31, I can see the encoder pulses correctly; and when I turn the encoder by hand through one mechanical revolution (360 degree), TIM2->CNT goes from 0 to 4000, as it should.  The problem is that as soon as I press START (blue push botton), the rotor gives a brief slow jolt, the state machine switches to “alignment” and finally enters “run” mode without any faults; the currents across the three phases are these         but the rotor is stuck (it isn't moving...)  On the hardware side, I followed the chang

Hello,I am currently evaluating the STM32 G4 platform for motor control. I would like to control 3 motors with one MCU, and I was planning to order: 1 * B-G473E-ZEST1S3 * STEVAL-LVLP011 * B-ZEST-ADAPT13 motorsI have installed x-cube-mcsdk-6.4.2 and tried to create this setup, but I cannot see how to add 3 motors, and how to interface many power boards to 1 control board : The file supporting B-ZEST-ADAPT1 needs to be imported ?The support for 3 instead of 2 motors needs to be done manually (by editing the code) ?The 3 motors will be using biss or ssi so I will have to create those drivers. Are there any other points to check for compatibility ?Thanks for your support

Dear ST Community,I am currently testing the position control functionality using the following API: MC_ProgramPositionCommandMotor1(target, duration_s);I would like to clarify the behavior of the duration parameter. Does this parameter define only the expected movement duration, or does the position control algorithm also ensure that the motor reaches the specified target position within that duration?I am testing a case where the target position is intentionally very large: float actual = MC_GetCurrentPosition1();float commanded_target = actual + 10000;MC_ProgramPositionCommandMotor1(commanded_target, 2.0f);In this case, completing a 10000-radian movement within 2 seconds is physically unrealistic for my motor.I am monitoring the control status using the following code: uint32_t start = HAL_GetTick();printf("ms (planned %ld ms)\r\n", (long)(MC_GetMoveDuration1() * 1000));while (1){ if (HAL_GetTick() - start < 10000) { printf("Control status : %d state : %d Fault

Hi everyone,I am working on a three-phase BLDC motor control application using the following components:MOSFET: STL90N6F7 Gate Driver IC: DRV8334 Microcontroller: STM32G431RBT3 DC Bus Voltage: 24 VDC Motor Speed: 60,000–70,000 RPM Measured Peak load Current: Approximately 5 AThe motor is operating normally; however, when running at higher speeds (approximately 60,000–70,000 RPM), the MOSFET package surface temperature rises to around 60°C.Considering that the DC bus voltage is 24 V and the measured peak input current is approximately 5 A, I would like to understand why the MOSFETs are experiencing this level of heating at high RPM.Could the heating be caused by switching losses, gate-drive voltage, dead-time settings, PWM frequency, reverse-recovery losses, PCB layout, or other factors associated with high-speed motor operation?I would appreciate any suggestions on how to identify the root cause and reduce the MOSFET temperature. If anyone has encountered a similar issue with the DRV83

Hi,MC SDK 6.4.1, STM32G431, three shunt configuration.I genrated code with workbench with open loop debug.I am able to run ACIM motor in openloop voltage mode.Now, i need to allow overmodulation to utilise 100% VBUS.In MCWB I set DPWM overmodulation flag, generated code and mergerd changes with my actual application code.I am expecting thate PWM waveform should be for DPWM but on CRO i see standard SVPWM.Can anyone help to enable DPWM and utilise VBUS 100% using overmodulation? Thanks & Regards,Ketan Patel 

I have been trying to use the motor profiler to characterize a motor that I do not have full specs for. I am getting “firmware is not a profiler fw….” which took me down the Application Configuration road in the MC workbench. There I discovered that the Profiler check box did not exist. That led me to the Current Sensing configuration section where the following is displayed:Current Mode is off and grayed-out Current Reading Selected hardware boards do not support this featureThe EVLSPIN32G0A2 of course, is a 3 shunt board. I am running 6.4.2 of the MC workbench. So what is happening here? I’m fairly new to this toolchain and thinking there’s a work-around someplace. For a little more context, I am trying to run a 6-step model with a Hall-sensored motor. I can get things to run in Pilot but there’s wonky stuff going on with the GUI. Thinking some of these observations may be related to the current sensing topo as well?

Dear ST Community,I am working on an STM32 motor control project using MC Workbench and would like to configure one SPI interface and two UART interfaces in addition to the motor control peripherals.Is it possible to configure SPI and two UARTs while using MC Workbench?I tried configuring these peripherals by modifying the generated .ioc file in STM32CubeMX. However, when I regenerate the project/code, some of the peripheral configurations are overwritten by the MC Workbench-generated configuration.Could you please suggest the recommended approach for this use case? Specifically:Is there a supported way to configure SPI + two UARTs directly through MC Workbench? If not, what is the recommended method to add these peripherals without their configuration being overwritten? Should the peripherals be configured in the .ioc file after MC Workbench code generation, or is there another recommended integration method? Are there any specific USER CODE sections, middleware, or configuration file

B-G473E-ZEST1SControl Discovery kitSTEVAL-LVLP01Power Discovery kitST offers a sensorless control solution featuring the ZeST (Zero Speed ​​Full Torque) algorithm, bundled with two Discovery kits: the B-G473E-ZEST1S Control Discovery kit and the STEVAL-LVLP01 Power Discovery kit. However, the power board has a relatively low output current (approximately 5 Arms). I would like to know if the ZeST algorithm can be implemented on a different power board that supports a higher output current.

I am using TIM1 CH1 in PWM mode with the TIM1 repetition counter (RCR) to generate a finite number of STEP pulses for a stepper motor. The desired step frequency is calculated from the motor speed, and ARR/CCR1 are configured accordingly. RCR is set to steps - 1 so that the PWM should generate the requested number of periods and then stop.I am using HAL_TIM_PWM_Start() and the TIM1 update interrupt to detect when the required number of pulses has completed. The update callback is working correctly and HAL_TIM_PeriodElapsedCallback() is being called at the expected completion point.However, TIM1 CH1 is not generating the PWM pulse train correctly, or in some cases no PWM is visible at all on the output pin. I have tried configuring PSC, ARR, CCR1, RCR and the update event/flags before starting PWM, but I am still unable to get the finite number of PWM pulses reliably.I have attached my motor_driver.c file for reference. Could you please review the implementation and let me know if I am

Hi,Chip: STSPIN32G0602Q (STM32G031 core + integrated 3-phase gate driver)Board: custom BLDC driver board, powered via 115VAC through an isolation transformer into the board's own AC input; the board's onboard PFC/rectifier stage converts this to the internal DC buses (HV+ ~400V DC bus, and VBUS ~50-120V DC, which is the rail actually switched by the MOSFETs under test)Purpose of this test: end-of-line (EOL) production test — statically turning on one high-side MOSFET and one low-side MOSFET on different phases (e.g. U-high + V-low) for a short, controlled period, then checking output voltage/current, to verify each MOSFET pair switches correctly before the board ships. This is a functional pass/fail check, not normal motor operation — no continuous PWM switching or motor commutation is involved.Problem: TIM1's gate outputs never turn on. Root cause traced to: BIF (break flag) is always set, so MOE can never be enabled.What happensI start a TIM1 channel (HAL_TIM_PWM_Start + HAL_TIMEx_PW

 I am testing Rhino encoder motors(ig32) 100rpm on an STM32H723ZG Nucleo-144.my actual connections are: Motor driver PWM → PC6 → TIM8_CH1Motor driver DIR → A0 → PA3Encoder A → D5 → PE11 → TIM1_CH2Encoder B → D6 → PE9 → TIM1_CH1my confirmed the CubeMX configuration shows: TIM1 Encoder Mode = TI1 + TI2PE9 = TIM1_CH1PE11 = TIM1_CH2So the encoder is a genuine quadrature encoder, and I have intentionally kept TI12 rather than switching permanently to TI1.2. Motor encoder specificationRhino RMCS-5031 datasheet.The datasheet specifies:Gear ratio: 1:174 Encoder type: Quadrature Output-shaft CPR listed as 9048 Base Hall sensor count: 13The relationship is:13×174=226213\times174=2262and with 4× quadrature decoding:2262×4=90482262\times4=9048So the manufacturer's 9048 figure and my observed quadrature counts became an important part of the investigation.3. my original problemI originally wanted the motor to:rotate exactly one output-shaft revolution and stop based on encoder counts.i initi

Hi,I am using the following hardware setup: NUCLEO-G474RE X-NUCLEO-IHM09M2 STEVAL-IPM20B DC bus: 400 V Motor rated current: about 5 Apeak STM32 Motor Control SDK / Motor Pilot 6.4.2 I have loaded the Motor Profiler firmware generated by Motor Control Workbench.My question is:Can I use the Profiler function in Motor Pilot 6.4.2 to automatically measure the motor parameters with this hardware configuration at a 400 V DC bus voltage?My main concern is that the DC bus voltage is relatively high. I would like to confirm whether the Motor Profiler supports this voltage range with the STEVAL-IPM20B, or whether the profiling procedure should be performed at a lower DC bus voltage first.Are there any recommended voltage/current limits or additional precautions when using Motor Profiler with STEVAL-IPM20B?Thank you.