[PN]:
NUCLEO G071RB
X-NUCLEO-IHM08M1
Own Motor (4mR, 250uH, 1200rpm, 30Apk, 5pp, inertia known, friction guessed)
[VERSION]: Version of MCSDK 6.4.2, STM32 FW 1.6.3
[TOOL]: CubeMX 6.17.0, Motor Control Workbench Version: 6.4.2 Build: 260313.082202
[DETAILS]:
Settings: 20kHz, 100us regulator (2PWM), ADC Sampling 7.5adcclk (234ns), Sensing config see attached.
After startup, fails with "Speed Feedback". Plotted graphs show good BEMF response, proper angle and reasonable speed signals (see graphs attached), angle of PLL are somewhat behind OpenLoop. Arround start-up exit speed of 432rpm, the calculated speed of the PLL rises quickly while currents are being reduced, shortly after motor stops.
The set target speed in the Motor Pilot is 510 rpm. I tried to switch off UART interface to check if it is linked to MCU load, no success. Debug says "bemfConsistent = true, isSpeedReliable = false"
I tried to change PLL settings as described in the wiki, but could not observe any change.
[EXPECTED BEHAVIOR]: Switch smoothly to FOC and hold desired speed.
[HOW TO REPRODUCE]: see above
