View source for STM32MotorControl:STM32 MC Motor Pilot - Start-up guide

{{DISPLAYTITLE:STM32 MC Motor Pilot - Start-up guide}}

Based on STM32 MC Motor Pilot 5.Y.2 V0.9.7 (included in STM32 MC-SDK 5.Y.2).

==Overview of the STM32 MC motor-pilot tool==

STM32 MC Motor Pilot is a monitoring tool for STM32 motor-control applications that:
*connects to MC applications built with the UI module through the serial port 
*uses the same protocol as the current monitor
*allows for controlling, monitoring, and tuning MC applications
*replaces in the future the monitor part of STM32 MC workbench
** current available version is an already usable preview
[[file:STM32_MC_MotorPilot_slide3.png|600px|center]]

STM32 MC Motor Pilot added values are:
* enhanced plotting feature: the user can now plot most registers
* the user can easily customize GUI at run time
** to fit specific needs or to experiment with new firmware features
* solid foundation to support future firmware features
** ACIM, 6-Step, sensor-less zero speed, enhanced debug features
* runs on all three MCD target platforms: Windows, Mac, and Linux

==STM32 MC motor-pilot quick guide==

===Installation and run===

STM32 MC Motor Pilot is now automatically installed with STM32 MC SDK.

A shortcut is now created in Windows menus to run it.

===Quick start-up===

====Quick step 1====

# MotorPilot:
#* starts unconnected [[file:STM32_MC_MotorPilot_slide6_1.png|200px|center]]
#* lists available serial ports [[file:STM32_MC_MotorPilot_slide6_2.png|200px|center]]
#* displays the default UI
# Connect a Motor Pilot board to the PC.
# Click on Connect.

[[file:STM32_MC_MotorPilot_slide6_3.png|600px|center]]

====Quick step 2====

# When MotorPilot is connected, it:
#* displays version of embedded firmware [[file:STM32_MC_MotorPilot_slide7_1.png|200px|center]]
#* retrieves importants parameters for motor control form the board and adjust the GUI with theses informations
#* starts to monitor parameters needed by the GUI [[file:STM32_MC_MotorPilot_slide7_3.png|600px|center]]
# Spin the motor:
#* Click on the Start button. [[file:STM32_MC_MotorPilot_slide7_2.png|200px|center]]
# Motors starts and the pilot updates the GUI. [[file:STM32_MC_MotorPilot_slide7_4.png|200px|center]]

====Quick step 3====

# Control the motor:
#* Slide the knob to set the speed [[file:STM32_MC_MotorPilot_slide8_1.png|200px|center]]
#* Set Target Speed, Duration and click to apply a ramp [[file:STM32_MC_MotorPilot_slide8_2.png|200px|center]]

[[file:STM32_MC_MotorPilot_slide8_3.png|600px|center]]

* Click Stop Ramp to stop it before end [[file:STM32_MC_MotorPilot_slide9_1.png|200px|center]]
* Click Stop to stop spinning the motor [[file:STM32_MC_MotorPilot_slide9_2.png|200px|center]]

[[file:STM32_MC_MotorPilot_slide9_3.png|200px|center]]

==MC application parameters==

STM32 MC Motor Pilot gets MC application parameters from the board and adapts widgets to them.

==MC application advanced settings==

===Speed PID, Toque PID, Flux PID and Flux reference===

# Click Advanced Configuration:
#* displays additional panel with more settings [[file:STM32_MC_MotorPilot_slide11.png|600px|center]]
# As in the current monitor, customizes:
#* Speed PID
#* Toque PID
#* Flux PID
#* Set Flux reference

===State Observer, PLL parameters, CORDIC parameters and DAC settings===

# Click Advanced Configuration
#* Displays additional panel with more settings
# As in the current monitor, customizes:
#* State Observer + PLL parameters
#* State Observer + CORDIC parameters
[[File:STM32 MC MotorPilot ADVANCED CONFIG.png|600px|center]]
# if DAC is available on your board you can select which register you want to output on it

===Handling errors===

====Control Board disconnection====

Board freeze due to firmware critical error or breakpoint trigger:
* Resume execution or reset the board, and the connection resumes.

[[File:STM32 MC MotorPilot Connect ERROR.png|600px|center]]

====Firmware errors====

* As with the current monitor, current and past errors are indicated.
* Clicking the Ack Faults button has no effect in the FAULT_NOW state
[[File:STM32 MC MotorPilot FAULT NOW.png|600px|center]]


* Wait for the fault conditions to vanish to enter the FAULT_OVER state
[[File:STM32 MC MotorPilot FAULT OVER.png|600px|center]]
* Then click on Ack Faults to go back to IDLE 
[[File:STM32 MC MotorPilot FAULT ACK.png|600px|center]]

<br clear=all>

===Viewing and plotting registers with low-speed plotting ===
With this method of plot, any register can be plot but at low rate (polling every 200 ms by default)
<!-- to be delete in the database : [[file:STM32_MC_MotorPilot_slide16_1.png|600px|center]] -->

# Clicking the Registers tab displays the list of all registers (see (1) on the following figure) [[file:STM32_Motor_Pilot_-_new_picture.png|600px|center]]
# Click a "Click to Plot" button (see (2) on the figure)
#* Opens a plot window the first time
#* Lets the user decide where to plot the other times  (see (3) on the figure) [[file:STM32_MC_MotorPilot_slide16_2.png|600px|center]]
#* Lets the user choose to stop showing the already pointed register (see (4) on the figure).

===Viewing and plotting registers with high-speed plotting ===
With this method of plot, only a subset of registers can be plot at PWM frequency rate

* Once the motor is connected (and motor started)
* Click on the "Plot" button
[[file:STM32_MC_MotorPilot_plot_button.png|center]]
* A "High Frequency Plot" window opens:
[[file:STM32_MC_Motor_Pilot_plot1.png|600px|center]]
* Click again to open more plot windows
* Resize these windows to optimize the display of plots on your desktop
* Right-click to select the register you want to plot:
[[file:STM32_MC_Motor_Pilot_plot2.png|600px|center]]
* Click again to plot more registers:
[[file:STM32_MC_Motor_Pilot_plot3.png|600px|center]]
* The data display width is defined by adjusting the buffer size (change buffering to display more data):
[[file:STM32_MC_Motor_Pilot_plot4.png|600px|center]]
* When displaying 2 registers, you can switch to the X / Y plot:
[[file:STM32_MC_Motor_Pilot_plot5.png|600px|center]]
* Dynamic plot display can be paused and resumed as desired.
* Each register plot can be hidden or displayed by double-clicking on the register name in the plot legend (then when the register plot is hidden, the corresponding register name is strikethrough).
[[file:STM32_MC_Motor_Pilot_plot6.png|600px|center]]

===Rev-up configuration===

* Click on "Rev-up" button and then the application panel is replaced by rev-up configuration panel.

[[file:STM32_MC_Motor_Pilot_revup.png|800px|center]]

* This panel allows to set  up to 5 rev-up steps by direct edit in the corresponding table for which a step rev-up duration, a final torque value and a final speed value are defined. (use the same values to have less steps).

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====And soon in this start-up guide:====

* frame logger and decoder
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===UI is changeable at run-time===

* Click on menu item File => Load
** Search for a .qml file and open it.
** For instance, GUI\PositionControlApp.qml found in the release.
* This loads a new GUI with other features
**In the case of PositionControlApp.qml, a position control enabled monitoring application.

[[file:STM32_MC_MotorPilot_slide19.png|600px|center]]

* Users are able to change the UI by copying an existing ".qml" file and editing it.

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==Current limitations and future plans==

===Missing features to be added soon===

* Dual Drive support
* Filtering and sorting registers’ view
* UI API description and development guide
** To let users customize the UI for their own needs
-->

<noinclude>
[[Category:Motor Control]]
{{PublicationRequestId | 21096 | 9/13/2021 | Souade MENDJELI }}
{{PublicationRequestId | 22275 | 19/01/2022 | under TW assignment}}
<noinclude>

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