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STEVAL-SPIN3201 Basic Operation

Associate II

Trying to evaluate a Maxon 323217 Motor with the STEVAL-SPIN3201 and not having any luck. 

Using MCSDK6.2 with Motor Control Workbench 6.2.1 and Motor Pilot 1.2.5. 

The motor is configured for position control using a 512 count ABI encoder.  I've tried sensorless w/ Torque and Speed Control / Hall w/ Speed Control / Encoder Position Control / Encoder without Index Speed Control.  None of the configuration's work at all.  The system is unstable in almost all configurations.  Tried PWM Frequencies 10kHz / 16kHz / 20kHz with the later two with the current loop running at half the PWM rate.  Tried using the automatic calculations using Auto Calculate Torque/Flux Kp & Ki and tried custom values based on another system which correctly works for this motor.  Set electrical alignment to index pulse = 0 as per the Maxon datasheets.  Also tried measuring the BEMF on A-B and setting the offset angle to the index pulse that way (135deg?).

Maxon motor controller works fine with this motor so the motor is functioning.    Any suggestions?

FWIW: Tried using MCSDK5.4 and software bugs failed to allow me to build the project since it can't find the newer version of MX.


ST Employee

Hello @MarkIlg,

Firstly, sorry for the late reply.
Did you try first to drive your motor in Sensor Less mode (STO_PLL e.g) on main speed sensor and the encoder on auxiliary speed sensor, and if motor spins, compare the STOPLL_EL_ANGLE and the ENCODER_EL_ANGLE, both should be aligned.
If angles do not match, please check the Motor parameters provided to the workbench.

If you agree with the answer, please accept it by clicking on 'Accept as solution'.
Best regards.