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This page contains some Frequently Asked Questions frequently asked questions (FAQ) related to Motor Control motor control with STM32 (STM32 MC).

Main sections

STM32 MC Ecosystem ecosystem
STM32 MC SDK Usageusage
STM32 MC SDK Featuresfeatures

Acronyms and abbreviations

FOC = Field Oriented Control field oriented control (algorithm)
MC = Motor Controlmotor control
PMSM = Permanent Magnet Synchronous Motorpermanent magnet synchronous motor
SDK = Software Development Kitsoftware development kit

1 STM32 Motor Control Ecosystemmotor control ecosystem[edit]

1.1 What is the purpose Overview of the STM32 MC SDK?[edit]

The ST

Motor Control Ecosystem includes also the STM32 Motor Control Software Development Kit (download the "

motor control ecosystem includes the STM32 motor control software development kit (to install it, download it from the X-CUBE-MCSDK

" deliverable to install

web page). Its purpose is to speed up the evaluation and development of a FOC

algorithm (Field Oriented Control) and six steps for Permanent Magnet Synchronous Motor

or 6-step algorithm for permanent magnet synchronous motor (PMSM) applications.

The STM32 MC SDK is running

with the STM32 MCU families implementing

on STM32 MCUs that implement an advanced timer (refer to the appropriate release note for more information)

, and it

. It is composed of:

STM32 MC

Firmware

firmware (STM32 MC FW) library
- Currently only the PMSM FOC control is available for all configurations
- PMSM

Six Step and Asynchronous

- 6-step and asynchronous motor FOC getting started

in the MCSDK as examples

- examples, available within X-CUBE-MCSDK
STM32 MC

Workbench

workbench (STM32 MC WB)
- PC

Graphical User Interface

- graphical user interface (GUI) tools to configure the FOC firmware library parameters and to perform real-time monitoring (monitoring with the STM32 MC WB only, up to version 5.4.6)
STM32 MC

Motor Profiler

motor profiler (STM32 MC MP)
- PC tools able to measure the

Motor Parameter

- motor parameters automatically and to update the STM32 MC FW library, through the ST MC

Workbench usage

- workbench

1.2 What are the changes Changes from previous version?[edit]

Please, refer

Refer to the STM32 MC SDK

Release Notes

release note provided with each released version.

1.3 What is Overview of the STM32 MC SDK Version version 5.Y?[edit]

The STM32 MC SDK is available in two versions of the

"

X-CUBE-MCSDK

"

deliverable:

STM32 MC SDK version 5.4.6,

correcting

that corrects few problems of the 5.4 series. It is fully compatible with previous versions.
STM32 MC SDK version 5.Y, that is a first step in our innovative roadmap. It includes:
- A new communication protocol and its associated monitoring tools, the SM32 MC

Motor Pilot

- motor pilot
- New algorithms, such as discontinuous PWM, single shunt phase shift, and overmodulation
- New

six

- 6-step examples compatible with the new STM32 MC

Motor PilotNew

- motor pilot
- A new sensorless asynchronous motor example compatible with the new STM32 MC

Motor Pilot

- motor pilot
- New

STSpinG4

- STSPING4 support.

The main

limitation

limitations of STM32 MC SDK version 5.Y are:

Project

The projects generated with STM32 MC SDK version 5.4 deliveries are not

be

compatible with version 5.Y.
STM32 MC SDK version 5.Y does not support STM32F1

series

Series.
STM32 MC SDK version 5.Y does not support dual-motor applications.

1.4 How do I choose Choosing between STM32 MC SDK 5.4.6 and 5.Y versions?[edit]

If you are already using STM32 MC SDK version 5.4 and need to keep the

compliancy

compliance, use

the

version 5.4.6.
If you want a well-established mature SDK version

with no surprise

, use

the

version 5.4.6.
If you use an STM32F1 MCU,

use the

choose version 5.4.6.
For dual-motor

application

applications, use

the

version 5.4.6.

But

However,:

If you need new debug capabilities and dumping features to mature your application, use

the

version 5.Y.
If you are interested by

any of

the

following features: discontinuous

PWM, single shunt phase shift, or overmodulation feature, use

the

version 5.Y.
If you want to use the new STSPING4, use

the

version 5.Y.
For asynchronous motor

application

applications, use

the

version 5.Y.

1.5 What is the STM32 MC Motor Profiler tool?motor profiler[edit]

This

is a

tool

that

automatically

measure

measures the electrical parameters of PMSM motors. The

specification

characteristics of an electric motor may not be known and

is

can be determined in less than a minute.

The algorithm determines the motor parameters

needed

required to configure the STM32 MC FW

library

library: stator resistance

Rs;

R_s, stator inductance

Ls;

L_s, back EMF constant

;

, motor

ionertia

inertia, and friction.

Refer to the STM32

MC SDK tools document

motor control SDK user manual for more details (UM2380).

1.6 What is the STM32 MC Motor Pilot tool?motor pilot[edit]

The STM32 MC

Motor Pilot

motor pilot is a new control and monitoring PC tool, available in version 5.Y

, which replaced the monitor

. It replaces the monitoring tool currently delivered with the STM32 MC

Motor Workbench

motor workbench.

It is built on a brand-new communication protocol that allows

for

faster and more reliable

communication

communications while consuming less MIPS from the MCU.

With this protocol, internal motor control signals are monitored in real-time with no or controlled subsampling.

2 Using the STM32 MC SDK Usage[edit]

2.1 How to create a motor control project?[edit]

First read the STM32 MC SDK

- Getting Started

getting started manual (UM2374). Then, start either from

either

a motor control example project, or

from

design a new project

design

.

Tips :

Don’t

Information

Do not forget to create and save your project into

the

your dedicated working directory.

2.2 How to handle a project made with a previous version of the STM32 MC Workbench?workbench[edit]

The STM32 MC

Workbench

workbench automatically migrates

automatically

an older *.stmcx file to the current version.

Note that before

Before the migration, an information window pops

-

up requesting confirmation. Click yes if you agree with this conversion (

note that

after migration, the previous configuration is lost

after migration

).

Regarding

to

the user application software itself, refer to "How to migrate motor control application software from STM32 MC SDK v4.3 to v5.x" (AN5143).

Tips:

Information

Get a copy of all your original files.

Don’t

Do not forget to create and save your project into your dedicated working directory.

Warning

:

Projects generated with STM32 MC SDK version 5.4.x cannot be reused with the new

version

5.Y version.

2.3 How to get a project framework for a particular IDE (such as IAR^TM, KEIL or Keil^®, …)?[edit]

User may start from

Two solutions are possible:

Either

Start from a motor control application software example

as

provided in the “./Projects” directory for all supported

IDE :

IDEs, IAR^TM,

KEIL

Keil^® or GCC based (

Read its

read the attached ReadMe.txt file)

;

.

Either

Use a

pre-configured

preconfigured motor control application example project

,

or a newly created one, via the STM32 MC

Workbench usage

workbench. Then, select the

user selects the wanted

required IDE

,

as well as the STM32CubeMX version,

before to generate his/her

and generate the motor control application software example.

Tips :

Don’t

Information

Do not forget to create and save your project into

your

a dedicated working directory.

2.4 Why does not the STM32 Motor Profiler motor profiler tool doesn’t recognize my motor?[edit]

If the STM32

Motor Profiler

motor profiler tool does not recognize your motor, proceed as follows:

Apply a nominal voltage.
Select the power stage with the proper current range.
Fill the nominal motor speed parameter or play with this value.
Decrease the nominal current parameter.
Decrease the applied bus voltage.

Warning

:

The STM32 MC

Motor Profiler

motor profiler has the following limitation

. It

: it cannot

recognize

profile motors with

Rs >

R_s < 1 Ω

, Ls >

or L_s < 1 mH.

If you still face problems, profile your motor manually using the following procedure: How To manually configure the motor parameters.

2.5 Why does not my motor not start immediately?[edit]

Although your motor is running fine, it

doesn’t

does not start immediately

for

. The reason can be one of the following

reason

:

During initialization, a motor alignment is

needed

required to start from a known position. In other words, it means that the initialization phase sets a static stator vector and waits until the rotor vector aligns with this position.
When the

“On

“on-the-

Fly

fly startup” feature is enabled

. Before any motor drive

, this feature starts a detection phase before driving any motor:
- When the rotation is detected, it skips the

start-up

- startup phase and runs directly in the close-loop mode.
- When

the

- no rotation is

not

- detected, it

runs the start-up phase : alignment,

- launches the startup phase, such as alignment or ramp-up

, …

- .

2.6 How to choose the basic set of ramp-up parameters for a given motor?[edit]

Most of the time,

we have noticed that

setting the ramp-up parameters as

follow,

follows ensures a correct start of the motor

starts the first time

:

Check the box “Include alignment before ramp-up”

;

.
Set the motor alignment “Duration” to 2000 ms

;

.
Set the motor alignment “Final current ramp value”

from

to ½ of the nominal motor current (in A)

;

.
Set the “Speed ramp duration” to 3000 ms

;

.
Set the “Speed ramp final value” to 30% of the maximal motor speed (in RPM);
Set the “Current ramp final value”

from

to ½ of the nominal motor current (in A)

;

.
Set the “Minimum start-up output speed” to 15% of the maximal motor speed (in RPM).

After a first successful

run

start, fine-tune these parameters.

2.7 How to choose the PWM frequency and the FOC execution rate?[edit]

The choice of the PWM frequency and the FOC execution rate is a compromise between available speed and switching losses

. In case of a high speed motor or a low inductance motor, you have to

:

For high-speed or low-inductance motors, use a high PWM frequency (

e.g.

for example, 30 kHz).

In other cases

Whatever the motor, a lower PWM frequency (

e.g.

for example, 16 kHz) is

enough for most cases

sufficient.

In all cases

Whatever the motor, check the maximum PWM frequency capability for the selected MCU.

In case of a

For low-inductance

motor

motors,

it is possible to increase

the FOC execution rate can be increased while keeping a high PWM frequency to save CPU load, or

to

migrate to a lower performance MCU (

e.g.

for example PWM = 30 kHz and

a

FOC execution rate = 2

means

mean that the FOC algorithm runs

@

at 15 kHz).

2.8 Why do I have an “FOC duration” fault message and the motor don’t does not even try to start?[edit]

This fault message appears when the FOC execution rate is too high and the FOC algorithm computation does not fit in the PWM period.

Open the "Drive Settings" window and decrease the ratio between the PWM period execution rate in the "Torque and flux regulators" section as shown below (for example increase this execution rate by one

for example

).

2.9 Why do I have an “Over current” fault message and the motor does not even try to start?[edit]

This fault message appears

from

in the following

situation

situations:

A wrong current sensing topology is selected.

Check

In this case, check and select the right current sensing configuration.
A

Wrong

wrong current sensing parameter is set.

Check

To solve this issue, check and correct the current sensing parameters.
The current regulation loop bandwidth is too high for the

HW

hardware setup.

Open

In this case, open the "Drive Settings" window and decrease the current regulation loop cut-off frequency (for example down to 2000 rad/s for a 3-shunt topology and 1000 rad/s for a 1-shunt topology). Typical maximum current regulation loop bandwidth values are 9000 rad/s for a 3-shunt topology and 4500 rad/s for a 1-shunt topology.

2.10 Why do I have a “Speed feedback” fault message during the acceleration phase and why does the motor stopsstop?[edit]

Often, this

This fault message often appears following an abrupt torque variation demand at the end of the

start-up

startup phase. As a result, the "Back-EMF estimator" is spoilt.

1.

The observer gain G2 is too high

and this

. This makes the speed reconstruction

a bit

too noisy to be used by the speed PI gains

(

, thus causing an estimator reliability

trouble)

issue.

Possible solutions are

The possible solutions are the following:

Decreasing

- Decrease the observer gain G2 by successive steps : /2, /4, /6, /8.
- Run the motor in torque mode until the

trouble

- issue disappears. The

draw back

- drawback is that the speed regulator gains are not optimal. Trim the gain values (refer to the dedicated FAQ).

2.

The

start-up

startup phase ends too early.

Possible solutions are

The possible solutions are the following:

Increasing

- Increase the “Consecutive successful start-up output tests” parameter (it must not be set to

more

- a value higher than 4-5);

Setting

- Set the “Minimum

start-up

- startup output speed” parameter to 15% of your maximum application speed, then

decreasing

- decrease it

for fine tuning

- progressively.

Tips :

Information

Smooth the speed variation between the “Minimum

start-up

startup output speed” and the “Speed ramp final value” by adjusting the “Speed ramp duration”.

2.11 Why do I have a “Start-up “Startup failure” error message during the rev-up phase and why does the motor stop?[edit]

Typically, this

This fault message typically appears because

there is insufficient

the current provided to support the required speed acceleration is not sufficient.

1.

To solve this issue, proceed as follows:

Decrease the speed acceleration

rate

rate:
- Increase the “Speed ramp duration” parameter

;

- .
- Set the “Speed ramp final value” parameter to 30% of your maximum application speed.

2.

Increase the

start-up current

startup current:
- Increase the “Current ramp initial value” parameter

;

- .
- Increase the “Current ramp final value” parameter up to the “Nominal Current” parameter of the motor

;

- .
- Check the “Include alignment before ramp-up” box to make the

start-up

- startup phase more deterministic, and follow the FAQ on "Basic parameters settings for the ramp-up".

2.12 Why do I have a “Start-up “Startup failure” error message during the acceleration following the rev-up phase and the motor stop?[edit]

Often, this

This fault message often appears following an abrupt

Torque

torque variations demand at the end of the

start-up

startup phase. This spoils the Back-EMF estimator.

1.

The observer gain G2 is too high

and this results in a noisy

. This makes the speed reconstruction

for the PI speed gains used (causing estimator reliability trouble). Possible solutions are

too noisy to be used by the speed PI gain, thus causing an estimator reliability issue. The possible solutions are the following:
- Decrease the observer gain G2 by successive steps : /2, /4, /6, /8.
- Increase the “Variance threshold” parameter to release the check

mechanism

- mechanism:

Up

- up to 80% for Observer+PLL,

Up

- up to 400% for Observer+CORDIC.

2.

The reliability capture window of the estimator is too small. The possible

solution is

solutions are the following:
- Increase the “Speed ramp final value” parameter up to 40% of the maximum application speed

;

- .
- Decrease the “Minimum

start-up

- startup output speed” parameter down to 10% of the maximum application speed.

2.13 How to interface the STM32 MC Firmware firmware library?[edit]

Several motor control APIs are implemented to offer basic

interaction

interactions with the firmware library.

Please, refer

Refer to the

on-line

online firmware reference information

, which contains all these details and more

that contains the below information and more:

From the STM32 MC

Workbench

workbench menu

(Documentation ->

: select Documentation and select Firmware Reference

);

.
From the Windows

Start-up menu (

Startup menu: select an ST Motor Control SDK

xxx -> Reference Manual xxx)

and open the corresponding reference manual.

2.14 How to choose the hardware Power power board?[edit]

While it is not true for the nominal bus voltage,

usually,

the maximum current (torque) used by your application is usually different from the maximum current of the motor.

As a consequence, the motor spin must be adapted to the selected

Power

power board range.

Of course, the

The best case is of course when the maximum current of the motor is part of the current range offered by the selected

Power

power board.

2.15 How to debug a motor control application?[edit]

A motor control application cannot use the standard debug mechanism which

are HW or SW

consists in hardware or software breakpoints for holding the program.

The reason is that during the break,

your

the application loses the real rotor position with respect to the needed magnetic field computation phasing defined by the firmware execution.

So, the DAC (or an emulated DAC, thanks to a PWM output) and/or the USART communication are used as outlined below:

The DAC generates a voltage

reflecting

that reflects the internal signals (for example currents, B-EMF voltage, or reconstructed angle). Then, it provides the capability to scope this waveform during the motor spin.

Best

The best solution is to dedicate two

pins of a

DAC output pins.
The USART provides data, but at a lower rate than the DAC. It requires the two Tx/Rx pins and the STM32 MC

Workbench

workbench tool to monitor the data.

2.16 How to make the current more sinusoidal when the motor spins?[edit]

One possible cause is that the PI gains of the speed regulator are incorrect.

Decrease the

Kp

KP gain and

act on

adjust the

Ki

KI gain (evaluating the speed regulation) to check over/

under-shooting

undershooting during transients.

2.17 How to tune the PI speed regulator?[edit]

Among the possible ways, an example is described

as follows

below:

Run the motor and connect it to the STM32 MC

Workbench,

workbench.
Open the

Monitor

monitor mode and switch on the plotter window

on,

.
In the “Final ramp speed” box, enter the new reference speed (for example change the speed from 2,000 RPM to 4,000 RPM).
In the plotter windows, check the measured speed reaction. It may either exhibit a fast reaction

but present oscillation

with oscillations around the final value, or have a slow reaction

, refer

. Refer to the following solutions:
- If the regulated variable oscillates around a value,

then

- decrease KI or increase KP.
- If the trend of regulated variable is too slow or not stabilize, then increase KI.

2.18 How to connect ICS with the MC FW library?[edit]

Our

The implemented ICS requires

usage on 2

using two phases from a

3

three-phase power supply.

The STM32 MC FW library operates only on

Phase

phase U and

Phase V, this is where the user must connect each ICS

phase V. Connect each ICS to these phases.

2.19 Why use the using FOC as opposed to a 6-Steps step control for PMSM drive?[edit]

The

FOC brings the following

benefits

benefits:

Better energy efficiency

;

Improver

Improved responsiveness of speed control

;

Precise

Accurate positioning control

;

Lower acoustic noise

.

2.20 Why use the using 3-Shunts shunt as opposed to a 1-Shunt shunt resistor implementation for current measurement?[edit]

Using the 1-

Shunt

shunt implementation for measurement is the cheapest solution.

However, some

motor (for example a low inductance motor

motors (such as low-inductance motors) require current measurements on two phases simultaneously. Only the 3-

Shunts

shunt implementation

manage

manages this configuration.

3 STM32 MC SDK features[edit]

3.1 Does the STM32 MC SDK support power factor corrector?[edit]

Yes, it does.

Power factor correction examples are accessible from the STM32 MC Workbench first page, in the example list.

3.2 Does the STM32 MC SDK support dual drive motors?[edit]

Yes, the STM32 MC SDK supports dual-drive motors using only one MCU.

Warning

:

This functionality has been temporarily removed in the STM32 MC SDK version 5.Y

3.3 Does the STM32 MC SDK provide project examples using FOC or 6-Steps control for PMSM drive?[edit]

Yes, the STM32 MC SDK provides project examples to demonstrate FOC and 6-Steps control implementations.

They are accessible from STM32 MC Workbench first page.

3.4 What are the new features of STM32 MC SDK version 5.Y?[edit]

The STM32 MC SDK version 5.Y

,

is a first step in our innovative roadmap. It includes:

A new communication protocol and its associated monitoring tools, the STM32 MC

Motor Pilot

motor pilot
New algorithms

like

such as discontinuous PWM,

Single

single shunt phase shift

, Overmodulation

and overmodulation
New 6-step examples compatible with the new STM32 MC

Motor Pilot

motor pilot
New sensorless asynchronous motor example compatible with the new STM32 MC

Motor Pilot

motor pilot
New

STSpinG4

STSPING4 support
MISRA support for STM32G4

series

Series

{{DISPLAYTITLE:Frequently Asked Questionsasked questions (FAQ)}}
__NOTOC__

This page contains some Frequently Asked Questionsfrequently asked questions (FAQ) related to Motor Controlmotor control with STM32 (STM32 MC).

'''Main sections'''
# [[#STM32_Motor_Control_Ecosystemmotor_control_ecosystem|STM32 MC '''Ecosystemecosystem''']]
# [[#STM32_MC_SDK_Usage#Using the STM32 MC SDK|STM32 MC '''SDK Usageusage''']]
# [[#STM32_ MC_ SDK_Features features|STM32 MC '''SDK Featuresfeatures''']]

'''Acronyms and abbreviations'''
* FOC = Field Oriented Controlfield oriented control (algorithm)
* MC = Motor Controlmotor control

* PMSM = Permanent Magnet Synchronous Motor
* SDK = Software Development Kit

== STM32 Motor Control Ecosystem ==
=== What is the purpose permanent magnet synchronous motor
* SDK = software development kit

== STM32 motor control ecosystem ==
=== Overview of the STM32 MC SDK? ===
<div class="mw-collapsible  mw-collapsed">

The ST Motor Control Ecosystem includes also the STM32 Motor Control Software Development Kit (download the "X-CUBE-MCSDK" deliverable to install ===
The ST motor control ecosystem includes the STM32 motor control software development kit (to install it, download it from the X-CUBE-MCSDK web page). Its purpose is to speed up the evaluation and development of a FOC algorithm (Field Oriented Control) and six steps for Permanent Magnet Synchronous Motoror 6-step algorithm for permanent magnet synchronous motor (PMSM) applications.

The STM32 MC SDK is running with the on STM32 MCU families implementingMCUs that implement an advanced timer (refer to the appropriate release note for more information), and it . It is composed of:
* STM32 MC Firmwarefirmware (STM32 MC FW) library
** Currently only the PMSM FOC control is available for all configurations
** PMSM Six Step 6-step and Asynchronousasynchronous motor FOC getting started in the MCSDK as examples
* STM32 MC Workbenchexamples, available within X-CUBE-MCSDK
* STM32 MC workbench (STM32 MC WB)
** PC Graphical User Interfacegraphical user interface (GUI) tools to configure the FOC firmware library parameters and to perform real -time monitoring (monitoring with the STM32 MC WB only, up to version 5.4.6)
* STM32 MC Motor Profilermotor profiler (STM32 MC MP)
** PC tools able to measure the Motor Parametermotor parameters automatically and to update the STM32 MC FW library, through the ST MC Workbench usage</div>


=== What are the changes from previous version? ===
<div class="mw-collapsible  mw-collapsed">

Please, refer workbench<br>


=== Changes from previous version ===
Refer to the STM32 MC SDK Release Notesrelease note provided with each released version.</div>


=== What is

=== Overview of the STM32 MC SDK Versionversion 5.Y? ===<div class="mw-collapsible  mw-collapsed"> ===
The STM32 MC SDK is available in two versions of the "'''X-CUBE-MCSDK"''' deliverable:
* STM32 MC SDK version 5.4.6, correcting that corrects few problems of the 5.4 series. It is fully compatible with previous versions.
* STM32 MC SDK version 5.Y, that is a first step in our innovative roadmap. It includes:
**  A new communication protocol and its associated monitoring tools, the SM32 MC Motor Pilotmotor pilot 

** New algorithms, such as discontinuous PWM, single shunt phase shift, and overmodulation
** New six 6-step examples compatible with the new STM32 MC Motor Pilot
** New motor pilot
** A new sensorless asynchronous motor example compatible with the new STM32 MC Motor Pilotmotor pilot 

** New STSpinG4STSPING4 support.

The main limitationlimitations of STM32 MC SDK version 5.Y are:
* Project The projects generated with STM32 MC SDK version 5.4 deliveries are not be compatible with version 5.Y.

* STM32 MC SDK version 5.Y does not support STM32F1 seriesSeries.

* STM32 MC SDK version 5.Y does not support dual motor.</div>


=== How do I choose -motor applications.

=== Choosing between STM32 MC SDK 5.4.6 and 5.Y versions? ===<div class="mw-collapsible  mw-collapsed">
 ===* If you are already using  STM32 MC SDK version 5.4 and need to keep the compliancycompliance, use the version 5.4.6.

* If you want a well -established mature SDK version with no surprise, use the , use version 5.4.6.

* If you use an STM32F1, use the  MCU, choose version 5.4.6.

* For dual -motor applicationapplications, use the version 5.4.6

But.
However,:
* If you need new debug capabilities and dumping features to mature your application, use the version 5.Y.

* If you are interested by any of the following features: discontinuous PWM, single shunt phase shift, or overmodulation feature, use the version 5.Y.

* If you want to use the new STSPING4, use the version 5.Y.

* For asynchronous motor application applications, use the version 5.Y
</div>


=== What is the STM32 MC Motor Profiler tool? ===
<div class="mw-collapsible  mw-collapsed">

This is a tool that automatically measure.

=== STM32 MC motor profiler ===
This tool automatically measures the electrical parameters of PMSM motors. The specificationcharacteristics of an electric motor may not be known and is can be determined in less than a minute.

The algorithm determines the motor parameters neededrequired to configure the STM32 MC FW library : stator resistance Rs;R<sub>s</sub>, stator inductance Ls;L<sub>s</sub>, back EMF constant;, motor ionertiainertia, and friction.

Refer to the STM32 MC motor control SDK tools documentuser manual for more details ([https://www.st.com/resource/en/user_manual/dm00486148-stm32-motor-control-sdk-v54-tools-stmicroelectronics.pdf UM2380]).
</div>


=== What is the STM32 MC Motor Pilot tool? ===
<div class="mw-collapsible  mw-collapsed">

The STM32 MC Motor Pilot=== STM32 MC motor pilot ===
The STM32 MC motor pilot is a new control and monitoring PC tool , available in version 5.Y, which replaced. It replaces the monitor monitoring tool currently delivered with the STM32 MC Motor Workbenchmotor workbench.

It is built on a brand -new communication protocol that allows for faster and more reliable communicationcommunications while consuming less MIPS from the MCU.

With this protocol, internal motor control signals are monitored in real -time with no or controlled subsampling.</div>


== 

== Using the STM32 MC SDK Usage ==

=== How to create a motor control project? ===
<div class="mw-collapsible  mw-collapsed">
 ===First read the STM32 MC SDK - Getting Started getting started manual ([https://www.st.com/resource/en/user_manual/dm00484271-getting-started-with-stm32-motor-control-sdk-v50-stmicroelectronics.pdf UM2374]). Then, start either from either a motor control example project, or fromdesign a new project design.

''Tips :
* Don’t .

{{Info | 
* Do not forget to create and save your project into theyour dedicated working directory.''</div>

}}
=== How to handle a project made with a previous version of the STM32 MC Workbench? ===
<div class="mw-collapsible  mw-collapsed">
workbench ===
The STM32 MC Workbench workbench automatically migrates automaticallyan older *.stmcx file to the current version. Note that before Before the migration, an information window pops- up requesting confirmation. Click yes if you agree with this conversion (note thatafter migration, the previous configuration is lost after migration).

Regarding to the user application software itself, refer to "How to migrate motor control application software from STM32 MC SDK v4.3 to v5.x" ([https://www.st.com/resource/en/application_note/dm00477952-how-to-migrate-motor-control-application-software-from-sdk-v43-to-sdk-v5x-stmicroelectronics.pdf AN5143]).
''Tips:{{Info | * Get a copy of all your original files.
* Don’t Do not forget to create and save your project into your dedicated working directory.''

''Warning:
*}}

{{Warning | Projects generated with  STM32 MC SDK version 5.4.x cannot be reused with the new version 5.Y''</div> version.}}


=== How to get a project framework for a particular IDE (such as IAR<sup>TM</sup>, KEIL or Keil<sup>®</sup>, …)? ===
<div class="mw-collapsible  mw-collapsed">

User may start from :

Either) ===

Two solutions are possible:

* Start from a motor control application software example as provided in the “./Projects” directory for all supported IDE : IDEs, IAR<sup>TM</sup>, KEILKeil<sup>®</sup> or GCC based (Read itsread the attached ReadMe.txt file);

Either.
* Use a pre-configuredpreconfigured motor control application example project, or a newly created one, via the STM32 MC Workbench usageworkbench. Then, the user selects the wanted IDE,select the required IDE as well as the STM32CubeMX version, before to and generate his/herthe motor control application software example.
''Tips :
* Don’t {{Info | 
* Do not forget to create and save your project into youra dedicated working directory.''</div>


=== Why the STM32 Motor Profiler tool doesn’t recognize my motor? ===
<div class="mw-collapsible  mw-collapsed">

If the STM32 Motor Profiler}}

=== Why does not the STM32 motor profiler tool recognize my motor? ===

If the STM32 motor profiler tool does not recognize your motor, proceed  as follows:
* Apply a nominal voltage.

* Select the power stage with the proper current range.

* Fill the nominal motor speed parameter or play with this value.

* Decrease the nominal current parameter.

* Decrease the applied bus voltage.
''{{Warning:
*  |  The STM32 MC Motor Profilermotor profiler has the following limitation. It: it cannot recognizeprofile motors with Rs > 1 Ω, Ls > 1 mH''R<sub>s</sub> < 1 Ω or L<sub>s</sub> < 1 mH.}}


If you still face problems, profile your motor manually using the following procedure: [[STM32MotorControl:How_To_manually_configure_the_motor_parameters|How To manually configure the motor parameters]].
</div>
=== Why does not my motor not start immediately? ===
<div class="mw-collapsible  mw-collapsed">
Although your motor is running fine, it doesn’t does not start immediately for . The reason can be one of the following reason:
# During initialization, a motor alignment is neededrequired to start from a known position. In other words, it means that the initialization phase sets a static stator vector and waits until the rotor vector aligns with this position.
# When the “On“on-the-Flyfly startup” feature is enabled. Before any motor drive, this feature starts a detection phase: before driving any motor:
#* When the rotation is detected, it skips the start-upstartup phase and runs directly in the close-loop mode.#* When theno rotation is not detected, it runslaunches the start-upstartup phase : alignment, ramp-up, …</div>

, such as alignment or ramp-up.
=== How to choose the basic set of ramp-up parameters for a given motor? ===
<div class="mw-collapsible  mw-collapsed">
 ===
Most of the time, we have noticed that setting the ramp-up parameters as follow, the motor starts the first time follows ensures a correct start of the motor:
* Check the box “Include alignment before ramp-up”;.

* Set the motor alignment “Duration” to 2000 ms;.

* Set the motor alignment “Final current ramp value” fromto ½ of the nominal motor current (in A);.

* Set the “Speed ramp duration” to 3000 ms;.

* Set the “Speed ramp final value” to 30% of the maximal motor speed (in RPM);
* Set the “Current ramp final value” fromto ½ of the nominal motor current (in A);.

* Set the “Minimum start-up output speed” to 15% of the maximal motor speed (in RPM).

After a first successful runstart, fine -tune these parameters.

[[File:DriveManagement_StartUp-Parameters1.png|center]]</div>


=== How to choose the PWM frequency and the FOC execution rate? ===
<div class="mw-collapsible  mw-collapsed">
 ===
The choice of the PWM frequency and the FOC execution rate is a compromise between available speed and switching losses.

* In case of a high speed motor or a low inductance motor, you have to :

* For high-speed or low-inductance motors, use a high PWM frequency (e.g. for example, 30 kHz).
* In other casesWhatever the motor, a lower PWM frequency (e.g. for example, 16 kHz) is enough for most cases.
* In all casessufficient.
* Whatever the motor, check the maximum PWM frequency capability for the selected MCU.
* In case of a low inductance motor, it is possible to increase For low-inductance motors, the FOC execution rate can be increased while keeping a high PWM frequency to save CPU load, or to migrate to a lower performance MCU (e.g. for example PWM = 30 kHz and a FOC execution rate = 2 means mean that the FOC algorithm runs @at 15 kHz).</div>


=== Why do I have an “FOC duration” fault message and the motor don’t does not even try to start? === 
<div class="mw-collapsible  mw-collapsed">
This fault message appears when the FOC execution rate is too high and the FOC algorithm computation does not fit in the PWM period.

Open the "Drive Settings" window and decrease the ratio between the PWM period execution rate in the "Torque and flux regulators" section as shown below (for example increase this execution rate by one for example).

[[File:DriveManagement_DriveSettings1.png|center]]</div>


=== Why do I have an “Over current” fault message and the motor does not even try to start? === 
<div class="mw-collapsible  mw-collapsed">
This fault message appears fromin the following situation situations:
# A wrong current sensing topology is selected. Check In this case, check and select the right current sensing configuration.
# A Wrongwrong current sensing parameter is set. Check To solve this issue, check and correct the current sensing parameters. [[File:PowerStage_CurrentSensing.png|center]]
# The current regulation loop bandwidth is too high for the HWhardware setup. Open In this case, open the "Drive Settings" window and decrease the current regulation loop cut-off frequency (for example down to 2000 rad/s for a 3-shunt topology and 1000 rad/s for a 1-shunt topology). Typical maximum current regulation loop bandwidth values are 9000 rad/s for a 3-shunt topology and 4500 rad/s for a 1-shunt topology.
[[File:DriveManagement_DriveSettings2.png|center]]</div>


=== Why do I have a “Speed feedback” fault message during the acceleration phase and why does the motor stops? === 
<div class="mw-collapsible  mw-collapsed">

Often, this fault message stop? === 

This fault message often appears following an abrupt torque variation demand at the end of the start-upstartup phase. As a result, the "Back-EMF estimator" is spoilt.
* 1. # The observer gain G2 is too high and this . This makes the speed reconstruction a bit too noisy to be used by the speed PI gains (, thus causing an estimator reliability trouble). Possible solutions are :
** Decreasing issue. The possible solutions are the following:
#*Decrease the observer gain G2 by successive steps : /2, /4, /6, /8.
[[File:DriveManagement_SpeedPositionFeedbackManagement1.png|center]]** #*Run the motor in torque mode until the troubleissue disappears. The draw back drawback is that the speed regulator gains are not optimal. Trim the gain values (refer to the dedicated FAQ).* 2. The start-up #The startup phase ends too early. Possible The possible solutions are :
** Increasing the following:
#*Increase the “Consecutive successful start-up output tests” parameter (it must not be set to more a value higher than 4-5);** Setting #*Set the “Minimum start-upstartup output speed” parameter to 15% of your maximum application speed, then decreasingdecrease it for fine tuningprogressively.
[[File:DriveManagement_StartUp-Parameters2.png|center]]
''Tips :{{Info | * Smooth the speed variation between the “Minimum start-upstartup output speed” and the “Speed ramp final value” by adjusting the “Speed ramp duration”.''</div>

}}
=== Why do I have a “Start-up“Startup failure” error message during the rev-up phase and why does the motor stop? ===
<div class="mw-collapsible  mw-collapsed">

Typically, this fault message appears because there is insufficient This fault message typically appears because the current provided to support the required speed acceleration.
* 1. Decrease  is not sufficient. To solve this issue, proceed as follows:
#Decrease the speed acceleration rate :
**:
#* Increase the “Speed ramp duration” parameter;
**.
#* Set the “Speed ramp final value” parameter to 30% of your maximum application speed.* 2. # Increase the start-upstartup current :
**:
#* Increase the “Current ramp initial value” parameter;
**.
#* Increase the “Current ramp final value” parameter up to the “Nominal Current” parameter of the motor;
**.
#* Check the “Include alignment before ramp-up” box to make the start-upstartup phase more deterministic, and follow the FAQ on "Basic parameters settings for the ramp-up".
[[File:DriveManagement_StartUp-Parameters3.png|center]]</div>


=== Why do I have a “Start-up“Startup failure” error message during the acceleration following the rev-up phase and the motor stop? ===
<div class="mw-collapsible  mw-collapsed">

Often, this fault message This fault message often appears following an abrupt Torquetorque variations demand at the end of the start-upstartup phase. This spoils the Back-EMF estimator.* 1.The #The observer gain G2 is too high and this results in a noisy the speed reconstruction for the PI speed gains used (causing estimator reliability trouble). Possible solutions are :
**. This makes the speed reconstruction too noisy to be used by the speed PI gain, thus causing an estimator reliability issue. The possible solutions are the following:
#* Decrease the observer gain G2 by successive steps : /2, /4, /6, /8.
[[File:DriveManagement_SpeedPositionFeedbackManagement1.png|center]]**#* Increase the “Variance threshold” parameter to release the check mechanism : Up: up to 80% for Observer+PLL, Upup to 400% for Observer+CORDIC.
[[File:DriveManagement_SpeedPositionFeedbackManagement2.png|center]]* 2. The #The reliability capture window of the estimator is too small. The possible solution is :
**solutions are the following:
#* Increase the “Speed ramp final value” parameter up to 40% of the maximum application speed;
**.
#* Decrease the “Minimum start-upstartup output speed” parameter down to 10% of the maximum application speed.
[[File:DriveManagement_StartUp-Parameters4.png|center]]</div>


=== How to interface the STM32 MC Firmwarefirmware library? ===
<div class="mw-collapsible  mw-collapsed">
 ===
Several motor control APIs are implemented to offer basic interactioninteractions with the firmware library.
Please, refer Refer to the on-lineonline firmware reference information, which that contains all these detailsthe below information and more :
* From the STM32 MC Workbenchworkbench menu (: select Documentation -> and select Firmware Reference);.

* From the Windows Start-upStartup menu (: select an ST Motor Control SDK xxx -> Reference Manual xxx).</div>

and open the corresponding reference manual.
=== How to choose the hardware Powerpower board? ===
<div class="mw-collapsible  mw-collapsed">
 ===
While it is not true for the nominal bus voltage, usually, the maximum current (torque) used by your application is usually different from the maximum current of the motor.

As a consequence, the motor spin must be adapted to the selected Powerpower board range.
Of course, the The best case is of course when the maximum current of the motor is part of the current range offered by the selected Powerpower board.</div>


=== How to debug a motor control application? ===
<div class="mw-collapsible  mw-collapsed">
 ===
A motor control application cannot use the standard debug mechanism which are HW or SWconsists in hardware or software breakpoints for holding the program.

The reason is that during the break, yourthe application loses the real rotor position with respect to the needed magnetic field computation phasing defined by the firmware execution.

So, the DAC (or an emulated DAC, thanks to a PWM output) and/or the USART communication are used as outlined below:
* The DAC generates a voltage reflecting that reflects the internal signals (for example currents, B-EMF voltage, or reconstructed angle). Then, it provides the capability to scope this waveform during the motor spin. Best The best solution is to dedicate two pins of a DAC outputDAC output pins. * The USART provides data, but at a lower rate than the DAC. It requires the two Tx/Rx pins and the STM32 MC Workbenchworkbench tool to monitor the data.
[[File:STMCWB_Monitoring1.png|center]]</div>


=== How to make the current more sinusoidal when the motor spins? ===
<div class="mw-collapsible  mw-collapsed">
 ===
One possible cause is that the PI gains of the speed regulator are incorrect.

Decrease the KpKP gain and act on adjust the KiKI gain (evaluating the speed regulation) to check over/under-shootingundershooting during transients.</div>


=== How to tune the PI speed regulator? ===
<div class="mw-collapsible  mw-collapsed">
 ===
Among the possible ways, an example is described as followsbelow:
# Run the motor and connect it to the STM32 MC Workbench,workbench.

# Open the Monitormonitor mode and switch on the plotter window on,.# In the “Final ramp speed” box, enter the new reference speed (for example change the speed from 2 ,000 RPM to 4 ,000 RPM).
# In the plotter windows, check the measured speed reaction. It may either exhibit a fast reaction but present oscillation around with oscillations around the final value, or have a slow reaction, refer. Refer to the following solutions:#* If the regulated variable oscillates around a value, then decrease KI or increase KP.#* If the trend of regulated variable is too slow or not stabilize, then increase KI.
[[File:STMCWB_Plotting1.png|center]]</div>


=== How to connect ICS with the MC FW library? ===
<div class="mw-collapsible  mw-collapsed">

Our implemented ICS requires usage on 2 phases from a 3  ===

The implemented ICS requires using two phases from a three-phase power supply.

The STM32 MC FW library operates only on Phasephase U and Phasephase V, this is where the user must connect each ICS.</div>


=== Why use the . Connect each ICS to these phases.

=== Why using FOC as opposed to a 6-Stepsstep control for PMSM drive? ===
<div class="mw-collapsible  mw-collapsed">

The FOC brings the following benefits :
* Better energy efficiency;
* Improver

* Improved responsiveness of speed control;
* Precise

* Accurate positioning control;

* Lower acoustic noise.</div>



=== Why use the using 3-Shuntsshunt as opposed to a 1-Shuntshunt resistor implementation for current measurement? ===
<div class="mw-collapsible  mw-collapsed">
Using the 1-Shuntshunt implementation for measurement is the cheapest solution.

However, some motor (for example a low inductance motormotors (such as low-inductance motors) require current measurements on two phases simultaneously. Only the 3-Shuntsshunt implementation managemanages this configuration.</div>


== STM32 MC SDK features ==

=== Does the STM32 MC SDK support power factor corrector? ===
<div class="mw-collapsible  mw-collapsed">
Yes, it does.

Power factor correction examples are accessible from the STM32 MC Workbench first page, in the example list.</div>

  
=== Does the STM32 MC SDK support dual drive motors? ===
<div class="mw-collapsible  mw-collapsed">
Yes, the STM32 MC SDK supports dual -drive motors using only one MCU.
''{{Warning:
* | This functionality has been temporarily removed in the STM32 MC SDK version 5.Y''</div>

}}
=== Does the STM32 MC SDK provide project examples using FOC or 6-Steps control for PMSM drive? ===
<div class="mw-collapsible  mw-collapsed">
Yes, the STM32 MC SDK provides project examples to demonstrate FOC and 6-Steps control implementations.

They are accessible from STM32 MC Workbench first page.</div>


=== What are the new features of STM32 MC SDK version 5.Y? ===
<div class="mw-collapsible  mw-collapsed">The STM32 MC SDK version 5.Y, is a first step in our innovative roadmap. It includes:  
* A new communication protocol and its associated monitoring tools, the STM32 MC Motor Pilotmotor pilot 

* New algorithms like such as discontinuous PWM, Singlesingle shunt phase shift, Overmodulation and overmodulation* New 6 -step examples compatible with the new STM32 MC Motor Pilotmotor pilot

* New sensorless asynchronous motor example compatible with the new STM32 MC Motor Pilotmotor pilot 

* New STSpinG4STSPING4 support
* MISRA support for STM32G4 series</div>

Series
<noinclude>

[[Category:Motor Control | 00090]]
{{PublicationRequestId | 19720 | 04/22/2021 | CS.GREGORY}}{{PublicationRequestId | 23231| 15/04/2021 | }}</noinclude>

Difference between revisions of "STM32MotorControl:Frequently Asked Questions"

1 STM32 Motor Control Ecosystemmotor control ecosystem[edit]

1.1 What is the purpose Overview of the STM32 MC SDK?[edit]

1.2 What are the changes Changes from previous version?[edit]

1.3 What is Overview of the STM32 MC SDK Version version 5.Y?[edit]

1.4 How do I choose Choosing between STM32 MC SDK 5.4.6 and 5.Y versions?[edit]

1.5 What is the STM32 MC Motor Profiler tool?motor profiler[edit]

1.6 What is the STM32 MC Motor Pilot tool?motor pilot[edit]

2 Using the STM32 MC SDK Usage[edit]

2.1 How to create a motor control project?[edit]

2.2 How to handle a project made with a previous version of the STM32 MC Workbench?workbench[edit]

2.3 How to get a project framework for a particular IDE (such as IARTM, KEIL or Keil®, …)?[edit]

2.4 Why does not the STM32 Motor Profiler motor profiler tool doesn’t recognize my motor?[edit]

2.5 Why does not my motor not start immediately?[edit]

2.6 How to choose the basic set of ramp-up parameters for a given motor?[edit]

2.7 How to choose the PWM frequency and the FOC execution rate?[edit]

2.8 Why do I have an “FOC duration” fault message and the motor don’t does not even try to start?[edit]

2.9 Why do I have an “Over current” fault message and the motor does not even try to start?[edit]

2.10 Why do I have a “Speed feedback” fault message during the acceleration phase and why does the motor stopsstop?[edit]

2.11 Why do I have a “Start-up “Startup failure” error message during the rev-up phase and why does the motor stop?[edit]

2.12 Why do I have a “Start-up “Startup failure” error message during the acceleration following the rev-up phase and the motor stop?[edit]

2.13 How to interface the STM32 MC Firmware firmware library?[edit]

2.14 How to choose the hardware Power power board?[edit]

2.15 How to debug a motor control application?[edit]

2.16 How to make the current more sinusoidal when the motor spins?[edit]

2.17 How to tune the PI speed regulator?[edit]

2.18 How to connect ICS with the MC FW library?[edit]

2.19 Why use the using FOC as opposed to a 6-Steps step control for PMSM drive?[edit]

2.20 Why use the using 3-Shunts shunt as opposed to a 1-Shunt shunt resistor implementation for current measurement?[edit]

3 STM32 MC SDK features[edit]

3.1 Does the STM32 MC SDK support power factor corrector?[edit]

3.2 Does the STM32 MC SDK support dual drive motors?[edit]

3.3 Does the STM32 MC SDK provide project examples using FOC or 6-Steps control for PMSM drive?[edit]

3.4 What are the new features of STM32 MC SDK version 5.Y?[edit]

2.3 How to get a project framework for a particular IDE (such as IAR^TM, KEIL or Keil^®, …)?[edit]