STM32 MCUs Motor control

Posted on March 28, 2014 at 00:53Hi,I successfully used the 3.4 Library to drive a small brushless motor using an STM32F103 and 3 current shunt resistors. My new design uses the STM32F303CB and onboard PGA for current sensing. This new 303 version does not work, the motor spins during startup but as it switches to FOC it gives a ''Start-up Failure'' error. All of the other library settings (motor parameters, pwm freq etc) remain the same so I can only think it is a problem with the current sensing.I am a bit confused by the onboard current sensing. I select 3 shunt resistors, but it only assigns 2 op amps per motor. Was I supposed to use an external op amp for the 3rd phase?I have attached my STMCWB project and the current sense waveforms for motor 2. Do these current sense waveforms look as expected, am I missing something obvious? I have also attached the schematic showing which pins I hooked up and the cur

Posted on April 16, 2014 at 17:59Hello guys,I'm trying to run a three-phase BLDC motor with STM32 MC PMSM FOC SDK v3.4 library. I have the latest ST MC Workbench. I have a following problem:When I start the motor, it begins to spin, but I am unable to regulate a speed of it. I keeps an exact speed no matter what speed I set. Only when I set the speed lower than approximately 1300 rpm, the motor stops and I get a ''speed feedback'' error. Motor is also spinning even if I set target speed to 0.The motor also consumes too much current. It doesn't have any load on it so it should take maximum of 100mA to spin. But it consumes 1A and only because I have a current limit of 1A on my voltage source.Hall sensors, current reading and voltage sensing are working fine.Where could be a problem?  Thank you very much for your responses. #bldc-speed-regulation

Posted on May 23, 2014 at 13:28Gigi:       I debug the STM3210E-EVAL Board and trying to drive Three shunt FOC PMSM Motor in FOC SDK V3.4       Now,I set the Motor run in the Open_Loop FOC ENABLE,DAC channel 1 output Iq ref, DAC channel 2 output Iq. the Motor can run in the Open_Loop.       my question is How can I tune the Torque PID parameters from watch Iq ref and Iq in oscilloscope.The motor can achieve best performance.Best regards, Jacky

Posted on June 04, 2014 at 14:09In  UM1052(STM32F0x/F100xx/F103xx/F2xx/F30x/F4xx PMSM single/dual FOC SDK v3.4)  it is written: ''Motor Control Software Development Kit (STSW-STM32100) designed for and to be used with STM32F0x/F100xx/F103xx, STM32F2xx, STM32F302xB/C, STM32F303xB/C and F4xx microcontrollers.The software library implements the Field Oriented Control (FOC) drive of 3-phase Permanent Magnet Synchronous Motors (PMSM), both Surface Mounted (SM-PMSM) and Internal (I-PMSM). The control of an AC induction motor equipped with encoder or tacho generator is described in the UM0483 user manual.But looking in UM0483  (STM32F103xxAC induction motor IFOCsoftware library V1.0) I have discovered that this pdf uses a different library from the one used in UM1052. I have only downloaded from S

Posted on June 30, 2014 at 23:58 Hello! I'm building a motor controller using the STEVAL-IHM039V1 and the STEVAL-IHM027V1. I received these boards, configured the firmware (FOC SDK 3.4) and hardware settings for my setup (three-shunt pmsm w/ hall sensors), and flashed the code using the JTAG connector, an ARM-USB-TINY-H programmer/debugger, and gdb/OpenOCD. The LCD interface works and so on. However, once I flashed the code, I can no longer connect to the board through OpenOCD. It says that it can't detect the board. However, I can connect to it and reflash it if I hold down the reset button while connecting. This makes me think that some pin setting might be incorrect in the firmware that somehow makes the JTAG not work. Any ideas? Here is the output of OpenOCD trying to connect: Open On-Chip Debugger 0.8.0 (2014-05-13-11:37) Licensed under GNU GPL v2 For bug reports, read

Posted on July 03, 2014 at 23:36 Hi, I just converted my project from Web Distribution 3.4 to Web Distribution 4.0 , and when compiling signed16[sMECSPEEDREF01HZ] = MCI_GetMecSpeedRef01Hz(*myMCI); signed16[sAVRGMECSPEED01HZ] = MCI_GetAvrgMecSpeed01Hz(*myMCI); signed16[sTORQUEREF] = MCI_GetTorqueRef(*myMCI); signed16[sTORQUE] = MCI_GetTorque(*myMCI); I get Error[Li005]: no definition for ''MCI_GetTorqueRef'' [referenced from C:\Program Files (x86)\STMicroelectronics\FOC SDK\STM32 PMSM FOC LIBv4.0\Web\Project\EWARM\UserProject\ STM32303C-EVAL_SINGLEDRIVE\Obj\rjl_modifications.o] Error[Li005]: no definition for ''MCI_GetTorque'' [referenced from C:\Program Files (x86)\STMicroelectronics\FOC SDK\STM32 PMSM FOC LIBv4.0\Web\Project\EWARM\UserProject\ STM32303C-EVAL_SINGLEDRIVE\Obj\rjl_modifications.o] These definitions are MCInterfaceCla

Posted on July 23, 2014 at 17:54I am using the FOC SDK 4.0 and have set up a dual motor control system with a STM32F405 controller. The motors are PMSM and have a quadrature encoder each.Now I want to drive the motors in parallel with electronic gearing. One Motor is the master and the other follows the rotation position with a variable gear ratio.To do so, I want to count the number of steps and rotations of the motors. How can I use the FOC SDK to get this information?If I have the absolute position of both motor, I can control the slave with execSpeedRamp to reach the requested position. But It would be easier to have a ''position generator'' that sets the requested mechanical position of the slave.Is there an app note or an example to realize this kind of position control? #pmsm-electronic-gearing

Posted on September 09, 2014 at 19:22I am trying to use the motor conrol foc library found in stsw-stm32003.  I am using an stm32f103 and am failing to understand the steps required to use the parameter files generated by the workbench so that I can use the serial monitor part of the gui.  This is a custom board, so there is no LCD interface option.Can someone point me to the project and application files I must use to get a serial connection?I have verified the serial connectivity using a different embedded application, but the documentation doesn't seem very clear where I get the code to talk on the ST side of the serial link. The best I can tell just from poking around is that I should use the following workspace:C:\Program Files (x86)\STMicroelectronics\FOC SDK\STM32 PMSM FOC LIBv4.0\Web\Project\EWARM\STM32F10x_Workspace.ewwAnd I can get that to build and run, but

Posted on September 14, 2014 at 21:48Hi, would like to use STM 32 F0 for 3-phase motor control. Could anyone please let me know what evaluation board for motor control in STM32 F0 to purchase? ALso, I noticed that st’s library ＂STM32 PMSM FOC SDK ＂supports STM32 F0 as well．How does it work?Thanks and best regards

Posted on September 18, 2014 at 21:34Hi, few days ago I downloaded the file ''STM32_FOC_SDK_4.0.0_Web_140625.exe'' from your homepage and wanted to try out the motion control on my custom board equiped with an STM32F407ZG device (either as single drive or dual drive). The driving IC is a Trinamic IC TMC603. Unfortunately I'm not able to test the TMC603, because the FOC 4.0 won't really work. I generated the dedicated header-files with the WorkBench and needed to adopt some pin settings (I use ADC3 instead of ADC1&2). After that I compiled everything without an error or warning (using Keil MDK-ARM). I did this with the provided example for MDK-ARM, but after MCboot() it seems that the microcontoller reset's itself everytime. The structures you need to provide the MCboot()-function are set with address 0x0 by firmware itself. If I force to run the application with internal RC-oscillator 16 MHz

Posted on September 19, 2014 at 08:32When using the configuration Sensor-Less Observer with PLL as main sensor and the Hall sensors as auxiliary sensor, the STMCWB generates faulty code in ''drive parameter.h'':On line 49, the ''&sharpdefine AUX_ENCODER'' is wrong. There MUST be correctly ''&sharpdefine AUX_HALL_SENSOR''With this wrong define, the peripherals are initialized badly and the configuration doesn't work at all.This happens in single and dual motor control.STSW-STM32100, FOC SDK 4.0.0, on STM32f4xxx, with Keil Tool chain </p> Online Support Incident - </td> </p> TECH001645 </td> </tr> </tbody></table> #stmcwb-auxiliary-hall-

Posted on October 03, 2014 at 13:25Hi! I use the STEVAL - IHM042V1 for dual motor control with FOC SDK 4.0   My Configuration is: M1: Single Shunt (TIM1) with OPAMP3 on B13, the hall sensors are on TIM2 A0,B3 and B10 M2: Single Shunt (TIM8) with OPAMP2 on B14, the hall sensors are on TIM3 B4, B5, B0 I removed R72 and R76 and connected SB1 and SB2, the jumpers are all set on pin 1 and 2. When I try to compile the code, I get an error on line 5088 in file ''SystemNDriveParams.h'' ''Error[Pe020]: identifier ''OPAMP3_NonInvertingInput_PA7'' is undefined'' Now I need to change line 206 in ''Control Stage parameters.h'' from ''#define OPAMP2_NONINVERTINGINPUT_PHB           OPAMP3_NonInvertingInput_PA7'' to ''#define OPAMP2_NONINVERTINGINPUT_PHB      &nbs

Posted on October 06, 2014 at 18:57 I have a computer with 64-bit windows 7 installed, when I start the dspin software it has an error message: unable to load spi_sdk.dll The application has failed to start because the side-by-side configuration are incorrect, it has 4.0 .net installed also.

Posted on October 30, 2014 at 15:31Hi I'm working with the motor from maxon: http://www.maxonmotor.ch/maxon/view/product/motor/ecmotor/ecmax/ecmax30/272768 When I drive the motor at slow speed (50rpm), the Speed is not stable because the resolution of the speed feedback is just +-6rpm. I have an encoder with 2 lines and 500Counts per rotation. I work with the STM32 MC PMSM SDK v3.4. Other strange thing is that I need to set in the ST Motor control workbench pole pairs 2 and Encoder pulses per mechanical revolution to 1000. I my opinion it should be pole pairs = 1 and pulses = 500. But with this setting the motor doesn't runs and make a lot of noise. With the ''wrong'' setting the motor is running but not stable and also the rpm readed back from the firmware with the com

Posted on January 03, 2016 at 15:27Hi,i recently ran into a problem with a FOC SDK 4.2 base motor control project.After assembling a project for Eclipse AC6 (API sources + EWARM library from web edition) I got usage faults during the execution of a initialization function in the library.I investigated this further and found out that a branch (BLX R1) to ''R3_4_F30X_Init'' from the function ''PWMC_Init'' cleared the T-Bit of the EPSR. The content of R1 was 0x8001f88 before the branch. So the behaviour is clear: The address is even and not odd as it should for preserving thumb mode. Thus, the CPU enters ARM mode and fails on the next instruction since it only supports thumb mode. (It is a STM32F303VCT6)To resolve the problem for me I just requested a license agreement for the source code of the FOC SDK. Hopefully I will receive the forms soon.But, I wanted to discuss this here as well. Am I w

Posted on March 09, 2015 at 09:32Hello,I can't get PMSM library working. I don't have motor evaluation board, i have self-built board with STM32F303RB and i have F3 discovery. Problem is that program gets lost in library instructions and ends up stuck on strange memory addresses. I have tried Keil u-Vision and IAR EWARM examples with same results. I have tried it on three computers.Does anybody have a clue why it should stuck?I have asked it here also: /public/STe2ecommunities/mcu/Lists/STM32Java/Flat.aspx?RootFolder=https://my.st.com/public/STe2ecommunities/mcu/Lists/STM32Java/PMSM%20FOC%20code%20stuck&FolderCTID=0x01200200770978C69A1141439FE559EB459D758000F9A0E3A95BA69146A17C2E80209ADC21&currentviews=35I have some specific questions also:Does it matter what Keil or IAR version to use? Should i use the same versions as the library is built with?Has anybody got

Posted on March 22, 2015 at 16:32Hi!I have 2 little problem:1:My Shunt value is  0.0005 ohm. Can i set it somehow in the motor firmware.The original lowest possible value is 0.001 ohm.2:I use 1 shunt settings, and STM32F303VC controller ic. This IC has internal OAMP and comparator.I want to use the embedded HW OCP protection, but i got warning: A1/A3/A7 used in phase current feedback. It is correct because it must be shared pin between oamp and comparator. Why i got error message? Do i miss something?When i choose the 3 shunt setings, and all othtr settings are same the (A1/A3/A7 one of them)  pin is sahere but no error message.''SDK40x-STM32303C-EVAL-IHM045V1-Shinano-SINGLE-DRIVE.stmc''I modified this example from 3 shunt to 1 shunt, and got error mesage.If i use external OC protection this settings are works fine.

Posted on June 19, 2015 at 13:41Why the new library, profiler motor can not be achieved in the F103 series?

Posted on July 16, 2015 at 15:18Hello everyone,It's about a month that I work on a project of motor control, and I have some issues that I was not able to solve untill now.I'm working on a ST microcontroller version STM32F207ZC, I explain the situation of my work:I have a two wheel drive cart: each of these wheels is drvien by a brushless motor. There is no phisical axile between the two wheels, so their movement is not joint.My goal is to simulate an axile between the wheels, so that the cart can move properly (the two drive wheels going at the same speed).With the firmware downloaded on ST website and the precompiled librieries (MC Workbench and example project STM32F2xx_Workspace for Keil uVision) I am able to control both motors individually, and using the serial interface provided I can set to both motors the same reference speed,

Posted on September 23, 2015 at 06:51Hi everyone.I am developing a robotic application and I need some advice.I need to drive two BLDC motors (these drive the wheels of the robot) and also to interface with a parallel camera.I understand that with STM32F407VGT6 I am able to drive individually two BLDC motors (using the STM32 PMSM FOC SDK) and also interface with the camera. For this reason I plan to buy the STM32F4DISCOVERY board. Do you know some limitation or problem that I could have with STM32F4DISCOVERY and STM32 PMSM FOC SDK?Thank you and I am sorry in the case I put my message in the wrong place. #stm3240g-eval

Posted on October 29, 2015 at 19:11I am curious how much control we have with the motor braking with SDK. We can of course dissipate extra current with a braking resistor and slow down the motor by shorting the phases. But is it possible for us to actively brake (sometimes called ''chopping'') the motor phases in order to slow them down more quickly than we could by just shorting the phases. And can we directly control the braking 'hierarchy' of which methods will be used?I didn't see too much configuration or interfacing in the API regarding this topic...We will likely need some sort of a mechanical brake on our application, but we would like to do as much as possible with the motor control to reduce any sort mechanical wear in the system (dismissing the fact that there is additional stress to motor itself).Thank you for any feedback on this.

Posted on December 02, 2015 at 14:05Hello, i want to generate a project with the WB for an existing hardware. But i can't configure the Ports for the 2 Analog Inputs of the Shunts. Can you help me to configure the project? Hardware: STM32F405 Gate Driver DRV8302 with Amplifiers for two Shunts (1mOhm)

Posted on January 06, 2016 at 19:54Hello, I've just designed and populated some prototyping boards which happen to connect the HALL sensor not on the correct TIM2-5 CHX pins. Instead of just throwing all in the garbage, I was wondering if is there a way to alternatively use the HALL information from these generic pins and forward it to the FOC speed n position classes? Best regards #stm32f103 #hall-sensors #foc

Posted on January 13, 2016 at 04:28Hi there.I'm trying to learn FOC SDK using P-NUCLEO-IHM001.First test's firmware is ''STM32CubeExpansion_SPN7_V1.0.0\Projects\Multi\Examples\MotorControl\Binary\STM32F302R8-Nucleo\X-CUBE-SPN7.bin''.It worked(I judged it only just looking rotation of motor).Second test's firmware is output of project ''C:\Program Files\STMicroelectronics\FOC SDK\STM32 PMSM FOC LIBv4.2\Web\Project\MDK-ARM\UserProject\STM32F30x_UserProject.uvprojx''.(Using STMCWB outputs parameter.c/.h files, 3 shunt & 6 pole pair)It seems success about serial communication, However Over-Current faults occurs in a 1 seconds after push the [Start] button.I heard PWM sound would gradually get bigger.(Please check appended screenshot image...)Stabilized power supply indicated 0.05A, just before stop motor profiler.So I want to know 3 matters.1.How

Posted on January 18, 2016 at 15:34I am wondering if I can use STM32 FOC SDK with a compiler other than IAR EWARM or Keil MDK-ARM. I have looked up to a document (presentation slide) named ''STM32 PMSM FOC SDK 4.2 - Hands on workshop with hardware tools'', and it says that ''Two IDEs are supported: IAR EWARM and KEIL ?Vision.'' on page 25. But based on SDK workflow diagrams in the same document, I concluded that STM32 PMSM FOC SDK only generates parameters as header file. So, I thought I should be able to take those header files and use wherever I want. Am I right? And if not, what am I missing? Note: I attempted to try that, but the SDK gave an error which I think is about a completely different subject (pin mapping). #stm32-pmsm-foc