STM32 MCUs Motor control

Hi guys,I'm using Motor Control Workbench (V6.4.2) with the EVLSPIN32G0A2 in a 6-step configuration with Hall sensors.At the moment, it seems that the motor current cannot be measured and monitored in Motor Pilot.Is there any option to activate current sensing for this board in 6-step mode, or do I need to implement the current measurement myself?The hardware itself should support current sensing, since current measurement is also available when using the same board in an FOC configuration.Is there an easy workaround to get the motor current?Thanks!

I am experimenting with hall, 6-step sensorless, and FOC. Our application requires periodic spin reversal and fairly quick acceleration. I have been able to tune for smooth acceleration using MCWB but changing direction does not seem to be supported in the Motor Pilot GUI. Can someone point me to sample code or examples that provide this function, GPIO-driven?

Hi everyone, I’ve noticed that in MCWB folder there’s the executable “STMCWB_C.exe” that seems to provide an interface for command-line.Is this correct? Is there any documentation or any other way to use MCWB programmatically?Thanks!Best regards,Andrea

Is there a way to halt a position control move? It seems that issuing the stop and then reissuing the start will not clear the previous position control command and the controller will still attempt to achieve the position after the stop. Issuing another position move request does not seem to stop the process either as the code seems to reject move requests until they are complete.Here’s the code in question from the MCSDK 6.4.2case MC_REG_POSITION_RAMP: { FloatToU32 Position; FloatToU32 Duration; /* 32 bits access are split into 2x16 bits access */ Position.U32_Val = ((int32_t)(*(int16_t *)&rawData[2]))<<16 | *(uint16_t *)rawData; /* 32 bits access are split into 2x16 bits access */ Duration.U32_Val = ((int32_t)(*(int16_t *)&rawData[6]))<<16 | *(uint16_t *)&rawData[4]; MCI_ExecPositionCommand(pMCIN, Position.Float_Val, Duration.Float_Val); break; }__weak vo

We are using the STSPIN948 in dual independent full-bridge mode, with only bridge A driving a motor.Bridge B is unused, and OUT1B/OUT2B are left unconnected. EN/nFAULTB is held LOW to keep these outputs in the high-impedance state, as specified in Table 9 on page 13 of the STSPIN948 datasheet.Could you please confirm whether LSS1B, LSS2B, and SENSEB should be connected directly to GND or left unconnected in this configuration? Please also advise on the recommended connections for REFB and TOFFB.

Hello everyone,I am working on a motor control project and want to verify if my hardware combination is ideal, and get advice on tuning the parameters.My Hardware Setup:Microcontroller Board: NUCLEO-F411RE Driver Expansion Board: X-NUCLEO-IHM07M1  Motor: A2212-13T 1000KV BLDC  My Software Environment:Toolchain: STM32CubeIDE Current Status & Questions:Has anyone successfully spun a 1000KV motor using the X-NUCLEO-IHM07M1? What is the recommended jumper configuration on the IHM07M1 board for this specific setup? Any advice, Motor Control configurations, or past experiences with this hardware combination would be greatly appreciated!Thanks in advance.

Hi, I’m using X-NUCLEO-IHM08M1 with NUCLEO-G474RE evaluation board for FOC speed control of PMSMs (using encoder). I made the various hardware modifications and soldered the circuit so as to have a 3-shunt resistor.The motor rotates at the set speed, with the selected acceleration (via the ramp function) and with sufficiently high torque thanks to the tuning of Kp and Ki.The problem is that the temperature read by the NTC via NTC_GetAvTemp_C(&TempSensor_M1) increases one step at a time, just like a ramp, until it reaches the set OVER_TEMPERATURE value. This happens at any speed, with no load, and even when the rotor is stopped! (after I press the blue button)It seems strange to me because the currents on the phases are usually around 2Arms and the current on the DC bus (47V) is less than 1.2A… the MOSFETs get quite hot because I can feel the heat if I hold my finger close to them; I don’t think they should get that hot with such a small load.I’d like to ask what changes we could ma

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

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 am using IHM.08M1 with nucleo.stm32g474.I’ve decided to try lowering this parameter from 2275 rpm (maximum motor speed) to 250 rpm (maximum speed for my application): As you can see, when I change the value, an error in Speed Sensing Config appears: The auxiliary sensor section is not active!I don’t understand where the error lies.Any value lower than 1600 rpm gives me an error; I don’t understand why

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’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