motor control closed loop

[SDall]

hi I was using STM32CubeExpansion_SPN7_V1.1.0 with f401re and IHM071M1 the motor with the potentiometer runs well without problems, but what I wanted to do and control the motor direction of rotation, speed and finally stop motor, I wanted to do it via software in order to control each cycle in the while (1), starting with small speeds

thank you

[Cristiana SCARAMEL]

Hi @SDall​,

you can find all details in the user manual UM1946

In the Projects directory of  X-CUBE-SPN7 package you can find an example application using the X-NUCLEO-IHM07M1 expansion board with NUCLEO-F401RE boards. Ready to build projects are available for multiple IDEs.

In this application, a low voltage 3ph motor is driven by the L6230 device. The firmware implements a 6-Step MC algorithm. The current measured in single shunt mode is compared with a reference generated by a digital speed loop for current control.

Inside the Documentation folder you can find a compiled HTML file generated from the source code and documents the software component and API details.

The L6230.c file implements all the API functions to manage the motor driver; in particular, it is possible to start/stop PWM signals, enable/disable each inverter leg, etc. At the user level, MC_SixStep_param.h contains all the motor driving parameters like the number of pole pairs, target speed, PI parameters for speed regulation, etc.

An alternative option to program the X-NUCLEO-IHM07M1 with the NUCLEO-F401RE is use the last release of STM32 Motor Control SDK (X-CUBE-MCSDK-Y).

Here you can find some examples for reference.

Let me know if this info is useful to you, if yes please "Select as Best" button to close the topic.

[SDall]

hi I did as you told me using the l6230.h library but I tried to make the executable code but the motor does not move and does not even enable, where can the error be thanks! #include "main_F401.h" #include "stm32f4xx_hal.h" #include "l6230.h" #include "6Step_Lib.h" EnableInput_CH1_E_CH2_E_CH3_D(); EnableInput_CH1_E_CH2_D_CH3_E(); EnableInput_CH1_D_CH2_E_CH3_E(); HF_TIMx_SetDutyCycle_CH1(1000); HF_TIMx_SetDutyCycle_CH2(1000); HF_TIMx_SetDutyCycle_CH3(1000); Current_Reference_Setvalue(1000); Current_Reference_Start(); /* Infinite loop */ /* USER CODE BEGIN WHILE */ while (1) { L6230_Start_PWM_generation(); HAL_Delay(400); L6230_Stop_PWM_generation(); HAL_Delay(400); 2021-06-16 10:38 GMT+02:00, ST Community :

[SDall]

Please someone answer me!​

[Cristiana SCARAMEL]

Hi @SDall​,

for your purpose I suggest to use the high level functions listed in the 6Step_Lib.c :

• MC_StartMotor() --> Send Start motor command:
• MC_StopMotor() --> Send Stop motor command
• MC_SetSpeed(value) --> Send change motor speed (positive value for clockwise, negative value for counterclockwise)

In any case remember to set the motor parameters in the MC_SixStep_param.h

[Cristiana SCARAMEL]

Hi @SDall​ ,

any updates about your progress?

Have a nice day.