The Workbench setting for the Hall sensor cannot run Motor Pilot.

[Vincent7]

Hello Everybody,

MCSDK:6.3.0

CubeMX: 6.3.0

Workbench : 6.3.0

Motor Pilot : 1.2.9

Power Board : IHM08M1

Control Board : NUCLEO-G431RB

Motor : BL5702

I am now using Motor Pilot to adjust the speed. Below are part of the settings from Workbench:
a) Speed Sensing Selection : Observer +PLL(Sensorless)
b) Speed Sensing Config / Auxiliary Sensor - Speed Sensor Mode : Hall Sensor
c) Drive Settings : Open Loop OFF
d) Applicaion Configuration : Motor Profiler(Enable)

I followed the steps from STMicroelectronics/MC_SDK_6.3.0/Documentation under the Motor Profiler section. I started with Workbench to generate the project -> CubeMX GENERATE CODE -> CubeIDE to flash and run the program.

However, I noticed that the program gets stuck at TSK_HardwareFaultTask();. This prevents me from testing my Hall Sensor with Motor Pilot.

If I disable Speed Sensing Config / Auxiliary Sensor - Speed Sensor Mode : Hall Sensor and reflash the firmware, the program runs without issues. But when running Motor Pilot, I encounter a Speed Feedback Error.

Could you help me identify where I might have gone wrong in the process?

[GMA]

Hello @Vincent7,

Concerning the attached picture, it is mentioned that the used firmware has not been generated with the "motor profiler" enabled.

[Vincent7]

Hello GMA,

Thank you for your reply.

Actually, I have enabled the motor profiler, but when I execute the program, it stops at TSK_HardwareFaultTask().
I'm not sure if my settings in Workbench are correct (specifically, setting Speed Sensing Selection to Observer + PLL (Sensorless) and Speed Sensing Config / Auxiliary Sensor - Speed Sensor Mode to Hall Sensor).

[Vincent7]

I am using a motor with Hall sensors (but no encoder), and I want to confirm if the correct configuration in Workbench for Speed Sensing Selection is to select "Observer + PLL (Sensorless)" and then choose "Hall Sensor" in the Auxiliary option under Speed Sensing Config?

If this is not the correct setting, how can the "Start Hall Profiling" feature mentioned in the STM32_MC_Motor_Pilot_-_Start-up_guide be enabled?

Another related question is : does a motor using a hall sensor(but without an encoder) also need to measure RS, Ls and perform Hall Profiling in the Motor Pilot?

[GMA]

Hello @Vincent7,

Your setup is correct and yes, Rs, Ls measurement phase should be done first.
Error is not linked to HALL sensor part but to the motor control itself. For detail about Speed Feedback, refer to User Manual documentation available through "Workbench tool">About>Documentations>Documentation>"User manual" tab, "Firmware errors" link, "7. Speed Feedback error" chapter.
On the other hand, on Workbench set setup, did you choose a motor with closest electrical characteristics than the one you want to profile?

[Vincent7]

Hi GMA,

Thank you for your reply.

By flashing the hex file and reconnecting to Motor Pilot / launching the profiler, I was able to measure Rs, Ls, and Hall Sensing. However, I still don’t understand why the original procedure prevented me from connecting to the profiler.

An additional issue I encountered is that when using Open Loop - Voltage mode (Target RPM = 300, Vref = 30% , Duration=2000ms), the fault code "Over Current" appears immediately, even though the motor hasn’t started spinning. Currently, all the Workbench settings (Current Sensing, Temperature Sensing) are set to their default values. Could you explain the possible causes of the Over Current fault? Or should I adjust some parameters?

(The Motor change to  : 250w/ Hall Sensor / 8 pole pairs / voltage :36v / Max Curr: 15A)

[GMA]

Hello @Vincent7,

Refer to User Manual documentation "User manual" tab>"Firmware errors" link, "2. Over Current" Chapter.