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Disconnect shunt resistors R8 and R14.", "shuntResistor": 0.02, "offsetNetworkAttenuation": 0.909, "opAmpGain": 11, "polarizationOffset": 1.65, "amplifyingNetworkImax": 8.25, "amplifyingNetworkVm": 3.3, "amplifyingNetworkPrating": 1, "signals": { "CURRENT_SHUNT_P": [ { "name": "PA7", "help": "", "cost": 0 } ] } } ] }, { "name": "PhaseVoltageGeneration", "type": "PhaseVoltageGeneration", "driverName": "G4_COMPLEX_LP_DRIVER", "driverPN": "STSPIN32G4", "minDeadTime": 700, "maxSwitchingFreq": 50, "tNoise": 800, "hwVariants": [ { "type": "PoweringHighAndLowSides", "deadTime": 700, "help": "", "signals": { "GD_CHU_H": [ { "name": "GHS1", "help": "", "cost": 0 } ], "GD_CHV_H": [ { "name": "GHS2", "help": "", "cost": 0 } ], "GD_CHW_H": [ { "name": "GHS3", "help": "", "cost": 0 } ], "GD_CHU_L": [ { "name": "GLS1", "help": "", "cost": 0 } ], "GD_CHV_L": [ { "name": "GLS2", "help": "", "cost": 0 } ], "GD_CHW_L": [ { "name": "GLS3", "help": "", "cost": 0 } ] } } ] }, { "name": "SpeedAndPositionSensing", "type": "SpeedAndPositionSensing", "hwVariants": [ { "type": "HallEffectSensor", "help": "The solder jumpers SB3, SB4 and SB5 on the top side of the board, allow to select the sensors supply voltage (only one solder jumper must be mounted). Refer to the documentation of the board.", "signals": { "HALLSENSOR_H1": [ { "name": "PB6", "help": "", "cost": 0 } ], "HALLSENSOR_H2": [ { "name": "PB7", "help": "", "cost": 0 } ], "HALLSENSOR_H3": [ { "name": "PB8-BOOT0", "help": "", "cost": 0 } ] } }, { "type": "QuadratureEncoderRelative", "help": "The solder jumpers SB3, SB4 and SB5 on the top side of the board, allow to select the sensors supply voltage (only one solder jumper must be mounted). Refer to the documentation of the board.", "signals": { "QENC_A": [ { "name": "PB6", "help": "", "cost": 0 } ], "QENC_B": [ { "name": "PB7", "help": "", "cost": 0 } ] } }, { "type": "QuadratureEncoderAbsolute", "help": "The solder jumpers SB3, SB4 and SB5 on the top side of the board, allow to select the sensors supply voltage (only one solder jumper must be mounted). Refer to the documentation of the board.", "signals": { "QENC_A": [ { "name": "PB6", "help": "", "cost": 0 } ], "QENC_B": [ { "name": "PB7", "help": "", "cost": 0 } ], "QENC_Z": [ { "name": "PB8-BOOT0", "help": "", "cost": 0 } ] } } ] }, { "name": "VBusSensing", "type": "VBusSensing", "busVoltageDivider": 25, "hwVariants": [ { "type": "VBusSensing", "help": "", "signals": { "VBUS": [ { "name": "PA0", "help": "", "cost": 0 } ] }, "busVoltageDivider": 25, "busVoltageDividerR1": 72.3, "busVoltageDividerR2": 3.01 } ] }, { "name": "TemperatureSensing", "type": "TemperatureSensing", "hwVariants": [ { "type": "NTCThermistor", "help": "", "v0": 1750, "t0": 50, "gain": 25, "maxSensorTemperature": 85, "signals": { "TEMPERATURE_NTC": [ { "name": "PC4", "help": "", "cost": 0 } ] } } ] } ], "compatibility": [ "FOC", "sixStep" ] } ], "connectorTypes": [ "None" ], "hardwareFamily": "POWER", "id": "EVLSPIN32G4-ACT", "label": "EVLSPIN32G4-ACT", "description": "STSPIN32G4 smart actuator board for three-phase brushless motors", "descVersion": 4, "contentVersion": "1.0", "compatibility": [ "FOC", "sixStep" ] } ], "motor": [ { "BEmfConstant": 7.655245304107666, "compatibility": [ "FOC", "sixStep" ], "description": "sca_v3_9_23", "friction": 5.85, "hardwareFamily": "MOTOR", "id": "userMotor.sca_v3.json", "inertia": 5.5, "label": "sca_v3", "ls": 0.06, "magneticStructure": { "type": "SM-PMSM" }, "maxRatedSpeed": 1920, "nominalCurrent": 4.453232288360596, "nominalDCVoltage": 19.79180908203125, "polePairs": 14, "rs": 0.10213278234004974, "status": "success" } ], "connections": [ { "motor": 0, "power": 0, "drive": 0, "ctrlConn": 0 } ], "constrains": { "connectAlgoVersion": 1, "MCUParamVersion": 1, "motors": [ { "motor": "M1", "features": [ { "name": "CurrentSensing", "type": "CurrentSensing", "hwVariants": [ { "name": "ThreeShunt_RawCurrents_SingleEnded_ExternalGain", "swVariants": [ { "name": "DualOPAMPs", "solutions": [ { "ip": [ "OPAMP1", "OPAMP2" ], "sharedSignal": "V", "signals": [ { "name": "CURRENT_SHUNT_UP", "pin": "PA1", "peripheral": "OPAMP1_VINP", "help": "" }, { "name": "CURRENT_AMPLN_U", "pin": "PA3", "peripheral": "OPAMP1_VINM", "help": "" }, { "name": "CURRENT_AMPL_U", "pin": "PA2", "peripheral": "OPAMP1_VOUT", "help": "" }, { "name": "CURRENT_SHUNT_WP", "pin": "PB0", "peripheral": "OPAMP2_VINP", "help": "" }, { "name": "CURRENT_AMPLN_W", "pin": "PC5", "peripheral": "OPAMP2_VINM", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PA6", "peripheral": "OPAMP2_VOUT", "help": "" }, { "name": "CURRENT_SHUNT_VP", "pin": "PA7", "peripheral": "OPAMP1_VINP", "help": "" }, { "name": "CURRENT_AMPLN_V", "pin": "PC5", "peripheral": "OPAMP1_VINM", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PA2", "peripheral": "OPAMP1_VOUT", "help": "" }, { "name": "CURRENT_SHUNT_VP", "pin": "PA7", "peripheral": "OPAMP2_VINP", "help": "" }, { "name": "CURRENT_AMPLN_V", "pin": "PC5", "peripheral": "OPAMP2_VINM", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PA6", "peripheral": "OPAMP2_VOUT", "help": "" } ], "cost": 0, "ADCVariants": [ { "name": "OPDualADCs", "solutions": [ { "ip": [ "ADC1", "ADC2" ], "signals": [ { "name": "OPAMP1_OUT", "pin": "PA2", "peripheral": "ADC1_IN3", "help": "" }, { "name": "OPAMP2_OUT", "pin": "PA6", "peripheral": "ADC2_IN3", "help": "" } ], "cost": 0 } ] } ] } ] } ] }, { "name": "ThreeShunt_RawCurrents_SingleEnded_InternalGain", "swVariants": [ { "name": "DualOPAMPs", "solutions": [ { "ip": [ "OPAMP1", "OPAMP2" ], "sharedSignal": "V", "signals": [ { "name": "CURRENT_SHUNT_UP", "pin": "PA1", "peripheral": "OPAMP1_VINP", "help": "" }, { "name": "CURRENT_SHUNT_WP", "pin": "PB0", "peripheral": "OPAMP2_VINP", "help": "" }, { "name": "CURRENT_SHUNT_VP", "pin": "PA7", "peripheral": "OPAMP1_VINP", "help": "" }, { "name": "CURRENT_SHUNT_VP", "pin": "PA7", "peripheral": "OPAMP2_VINP", "help": "" } ], "cost": 0, "ADCVariants": [ { "name": "OPDualADCs", "solutions": [ { "ip": [ "ADC1", "ADC2" ], "signals": [ { "name": "OPAMP1_OUT", "pin": "PA2", "peripheral": "ADC1_IN3", "help": "" }, { "name": "OPAMP2_OUT", "pin": "PA6", "peripheral": "ADC2_IN3", "help": "" } ], "cost": 0 } ] } ] } ] } ] }, { "name": "SingleShunt_RawCurrents_SingleEnded_ExternalGain", "swVariants": [ { "name": "SingleOPAMP", "solutions": [ { "ip": [ "OPAMP2" ], "cost": 0, "signals": [ { "name": "CURRENT_SHUNT_P", "pin": "PA7", "peripheral": "OPAMP2_VINP", "help": "" }, { "name": "CURRENT_AMPLN", "pin": "PC5", "peripheral": "OPAMP2_VINM", "help": "" }, { "name": "CURRENT_AMPL", "pin": "PA6", "peripheral": "OPAMP2_VOUT", "help": "" } ], "ADCVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "ADC2" ], "signals": [ { "name": "OPAMP2_OUT", "pin": "PA6", "peripheral": "ADC2_IN3", "help": "" } ], "cost": 0 } ] } ] } ] } ] }, { "name": "SingleShunt_RawCurrents_SingleEnded_InternalGain", "swVariants": [ { "name": "SingleOPAMP", "solutions": [ { "ip": [ "OPAMP1" ], "cost": 0, "signals": [ { "name": "CURRENT_SHUNT_P", "pin": "PA7", "peripheral": "OPAMP1_VINP", "help": "" } ], "ADCVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "ADC1" ], "signals": [ { "name": "OPAMP1_OUT", "pin": "PA2", "peripheral": "ADC1_IN3", "help": "" } ], "cost": 0 }, { "ip": [ "ADC1" ], "signals": [ { "name": "OPAMP1_OUT", "pin": "VPOPAMP1", "peripheral": "ADC1_IN_VPOPAMP1", "help": "" } ], "cost": 0 } ] } ] }, { "ip": [ "OPAMP2" ], "cost": 0, "signals": [ { "name": "CURRENT_SHUNT_P", "pin": "PA7", "peripheral": "OPAMP2_VINP", "help": "" } ], "ADCVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "ADC2" ], "signals": [ { "name": "OPAMP2_OUT", "pin": "VPOPAMP2", "peripheral": "ADC2_IN_VPOPAMP2", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2" ], "signals": [ { "name": "OPAMP2_OUT", "pin": "PA6", "peripheral": "ADC2_IN3", "help": "" } ], "cost": 0 } ] } ] } ] } ] } ] }, { "name": "OverCurrentProtection", "type": "OverCurrentProtection", "hwVariants": [ { "name": "ThreeShunt_RawCurrents_Protection_IntRef", "swVariants": [ { "name": "IndependentWires", "independentWires": { "CURRENT_SHUNT_UP": [ { "ip": "COMP1", "pin": "PA1", "peripheral": "COMP1_INP", "help": "", "cost": 0 } ], "CURRENT_SHUNT_VP": [ { "ip": "COMP2", "pin": "PA7", "peripheral": "COMP2_INP", "help": "", "cost": 0 } ], "CURRENT_SHUNT_WP": [ { "ip": "COMP4", "pin": "PB0", "peripheral": "COMP4_INP", "help": "", "cost": 0 } ] } } ] }, { "name": "SingleShunt_RawCurrents_Protection_IntRef", "swVariants": [ { "name": "IndependentWires", "independentWires": { "CURRENT_SHUNT_P": [ { "ip": "COMP2", "pin": "PA7", "peripheral": "COMP2_INP", "help": "", "cost": 0 } ] } } ] } ] }, { "name": "PhaseVoltageGeneration", "type": "PhaseVoltageGeneration", "hwVariants": [ { "name": "PoweringHighAndLowSides", "swVariants": [ { "name": "SingleTimer", "solutions": [ { "ip": [ "DRV1" ], "signals": [ { "name": "GD_CHU_H", "pin": "GHS1", "peripheral": "DRV1_CH1", "help": "" }, { "name": "GD_CHV_H", "pin": "GHS2", "peripheral": "DRV1_CH2", "help": "" }, { "name": "GD_CHW_H", "pin": "GHS3", "peripheral": "DRV1_CH3", "help": "" }, { "name": "GD_CHU_L", "pin": "GLS1", "peripheral": "DRV1_CH1N", "help": "" }, { "name": "GD_CHV_L", "pin": "GLS2", "peripheral": "DRV1_CH2N", "help": "" }, { "name": "GD_CHW_L", "pin": "GLS3", "peripheral": "DRV1_CH3N", "help": "" } ], "cost": 0 } ] } ] } ] }, { "name": "SpeedAndPositionSensing", "type": "SpeedAndPositionSensing", "hwVariants": [ { "name": "HallEffectSensor", "swVariants": [ { "name": "SingleTimer", "solutions": [ { "ip": [ "TIM4" ], "signals": [ { "name": "HALLSENSOR_H1", "pin": "PB6", "peripheral": "TIM4_CH1", "help": "" }, { "name": "HALLSENSOR_H2", "pin": "PB7", "peripheral": "TIM4_CH2", "help": "" }, { "name": "HALLSENSOR_H3", "pin": "PB8-BOOT0", "peripheral": "TIM4_CH3", "help": "" } ], "cost": 0 } ] } ] }, { "name": "QuadratureEncoderRelative", "swVariants": [ { "name": "SingleTimer", "solutions": [ { "ip": [ "TIM4" ], "signals": [ { "name": "QENC_A", "pin": "PB6", "peripheral": "TIM4_CH1", "help": "" }, { "name": "QENC_B", "pin": "PB7", "peripheral": "TIM4_CH2", "help": "" } ], "cost": 0 } ] } ] }, { "swVariants": [ { "solutions": [ { "ip": [ "TIM4" ], "signals": [ { "name": "QENC_A", "pin": "PB6", "peripheral": "TIM4_CH1", "help": "" }, { "name": "QENC_B", "pin": "PB7", "peripheral": "TIM4_CH2", "help": "" } ], "cost": 0 } ], "independentWires": { "QENC_Z": [ { "ip": "GPIO", "pin": "PB8-BOOT0", "peripheral": "GPIO_Output", "help": "", "cost": 0 } ] }, "name": "SingleTimerAndGPIOs" } ], "name": "QuadratureEncoderAbsolute" } ] }, { "name": "VBusSensing", "type": "VBusSensing", "hwVariants": [ { "name": "VBusSensing", "swVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "ADC1" ], "signals": [ { "name": "VBUS", "pin": "PA0", "peripheral": "ADC1_IN1", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2" ], "signals": [ { "name": "VBUS", "pin": "PA0", "peripheral": "ADC2_IN1", "help": "" } ], "cost": 0 } ] } ] } ] }, { "name": "TemperatureSensing", "type": "TemperatureSensing", "hwVariants": [ { "name": "NTCThermistor", "swVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "ADC2" ], "signals": [ { "name": "TEMPERATURE_NTC", "pin": "PC4", "peripheral": "ADC2_IN5", "help": "" } ], "cost": 0 } ] } ] } ] } ] } ], "features": [], "errors": [ { "en": "RCSConnect: ThreeShunt_RawCurrents_Differential_InternalGain Global NO OPAMP for Phase V" } ], "warnings": [], "info": [] }, "inverter": { "hardwareFamily": "INVERTER", "id": "EVLSPIN32G4-ACT", "label": "EVLSPIN32G4-ACT", "description": "STSPIN32G4 smart actuator board for three-phase brushless motors", "descVersion": 4, "contentVersion": "1.0", "compatibility": [ "FOC", "sixStep" ], "status": "success" } }, "version": 13, "workBenchVersion": "6.3.0", "workBenchVersionFileCreation": "6.3.0", "details": { "steps": { "motor_0": { "label": "", "description": "", "polePairs": "Number.NaN", "mmsType": "", "rs": "Number.NaN", "ls": "Number.NaN", "mmsLd_lq_ratio": "Number.NaN", "maxCurrent": 7, "maxDCVoltage": "Number.NaN", "BEmfConstant": "Number.NaN", "inertia": "Number.NaN", "friction": "Number.NaN", "maxRatedSpeed": "Number.NaN", "hasHallSensor": false, "hallSensor": { "sensorsDisplacement": "Number.NaN", "placementElectricalAngle": "Number.NaN" }, "hasQuadratureEncoder": true, "quadratureEncoder": { "pulsesPerMechanicalRevolution": 4096, "hasIndexPin": false } }, "applicationConfig": { "freeRTOS": { "enabled": false }, "dacDebug": { "enabled": true, "dacSignals": { "_tag": "dac", "signal_1": { "enabled": true }, "signal_2": { "enabled": true } } }, "lowMemoryFootprintReg": false, "motorProfiler": false, "dbgMcuLoadMeasure": false }, "speedSensing_0": { "mainSensorParams": { "speedSensorMode": "", "maxAllowedErrors": 10, "sensorParams": { "_tag": "encoder", "speedFIFODepth": "Number.NaN", "inputFilterDuration": "Number.NaN", "reverseCountDirection": false, "encoderModeAbsolute": false, "startUpParam": { "duration": "Number.NaN", "electricalAlignAngle": "Number.NaN", "finalCurrent": "Number.NaN" } } }, "auxSensorParams": { "enableAuxSensing": true, "speedSensorMode": "pll", "maxAllowedErrors": "Number.NaN", "sensorParams": { "_tag": "pll", "sensorlessSpeedFeedback": true, "varianceThreshold": "Number.NaN", "loopAverageSpeedDepth": "Number.NaN", "observerAverageSpeedDepth": "Number.NaN", "autoCalculate": true, "g1Observer": "Number.NaN", "g2Observer": "Number.NaN", "bemfTolerance": "Number.NaN", "bemfGain": "Number.NaN", "F1": "Number.NaN", "F2": "Number.NaN", "pll": { "KpKi": { "P": { "num": "Number.NaN", "den": "Number.NaN" }, "I": { "num": "Number.NaN", "den": "Number.NaN" } } } } }, "startupParams": { "startupProfile": { "initialElectricalAngle": "Number.NaN", "pts": [ { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" } ], "sensorlessStartingPhase": "Number.NaN", "onTheFlyStartupEnabled": true }, "startupExitCond": { "startUpSpeedThresh": "Number.NaN", "consecutiveCorrectMeasures": "Number.NaN", "speedBandToleranceLowerLimit": "Number.NaN", "speedBandToleranceUpperLimit": "Number.NaN" }, "FOCSwitchOver": { "revupToFocSwitchOverEnabled": true, "focSwitchOverDuration": "Number.NaN" } } }, "speedSensingSel_0": { "mainSensorParams": { "speedSensorMode": "encoder" } } } } }