Approved version. Approved on: 17:08, 19 January 2022
Difference between revisions of "STM32MotorControl:STM32 MC Motor Pilot - Start-up guide"
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Based on STM32 MC Motor Pilot 5.Y.2 V0.9.7 (included in STM32 MC-SDK 5.Y.2).
Contents
- 1 Overview of the STM32 MC motor-pilot tool
- 2 STM32 MC motor-pilot quick guide
- 3 MC application parameters
-
4 MC application advanced settings
- 4.1 Speed PID, Toque PID, Flux PID and Flux reference
- 4.2 State Observer, PLL parameters, CORDIC parameters and DAC settings
- 4.3 Handling errors
- 4.4 Viewing and plotting registers with low-speed plotting
- 4.5 Viewing and plotting registers with high-speed plotting
- 4.6 Rev-up configuration
- 4.7 UI is changeable at run-time
1 Overview of the STM32 MC motor-pilot tool[edit]
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
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
2 STM32 MC motor-pilot quick guide[edit]
2.1 Installation and run[edit]
STM32 MC Motor Pilot is now automatically installed with STM32 MC SDK.
A shortcut is now created in Windows menus to run it.
2.2 Quick start-up[edit]
2.2.1 Quick step 1[edit]
- MotorPilot:
- starts unconnected
- lists available serial ports
- displays the default UI
- Connect a Motor Pilot board to the PC.
- Click on Connect.
2.2.2 Quick step 2[edit]
- When MotorPilot is connected, it:
- displays version of embedded firmware
- retrieves importants parameters for motor control form the board and adjust the GUI with theses informations
- starts to monitor parameters needed by the GUI
- Spin the motor:
- Click on the Start button.
- Motors starts and the pilot updates the GUI.
2.2.3 Quick step 3[edit]
- Control the motor:
- Slide the knob to set the speed
- Set Target Speed, Duration and click to apply a ramp
- Click Stop Ramp to stop it before end
- Click Stop to stop spinning the motor
3 MC application parameters[edit]
STM32 MC Motor Pilot gets MC application parameters from the board and adapts widgets to them.
4 MC application advanced settings[edit]
4.1 Speed PID, Toque PID, Flux PID and Flux reference[edit]
- Click Advanced Configuration:
- displays additional panel with more settings
- As in the current monitor, customizes:
- Speed PID
- Toque PID
- Flux PID
- Set Flux reference
4.2 State Observer, PLL parameters, CORDIC parameters and DAC settings[edit]
- Click Advanced Configuration
- Displays additional panel with more settings
- As in the current monitor, customizes:
- State Observer + PLL parameters
- State Observer + CORDIC parameters
- if DAC is available on your board you can select which register you want to output on it
4.3 Handling errors[edit]
4.3.1 Control Board disconnection[edit]
Board freeze due to firmware critical error or breakpoint trigger:
- Resume execution or reset the board, and the connection resumes.
4.3.2 Firmware errors[edit]
- As with the current monitor, current and past errors are indicated.
- Clicking the Ack Faults button has no effect in the FAULT_NOW state.
- Wait for the fault conditions to vanish to enter the FAULT_OVER state
- Then click on Ack Faults to go back to IDLE
4.4 Viewing and plotting registers with low-speed plotting[edit]
With this method of plot, any register can be plot but at low rate (polling every 200 ms by default)
- Clicking the Registers tab displays the list of all registers (see (1) on the following figure)
- 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)
- Lets the user choose to stop showing the already pointed register (see (4) on the figure).
4.5 Viewing and plotting registers with high-speed plotting[edit]
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
- A "High Frequency Plot" window opens:
- 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:
- Click again to plot more registers:
- The data display width is defined by adjusting the buffer size (change buffering to display more data):
- When displaying 2 registers, you can switch to the X / Y plot:
- 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).
4.6 Rev-up configuration[edit]
- Click on "Rev-up" button and then the application panel is replaced by rev-up configuration panel.
- 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).
4.7 UI is changeable at run-time[edit]
- 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.
- Users are able to change the UI by copying an existing ".qml" file and editing it.
{{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). <!-- ====And soon in this start-up guide:==== * frame logger and decoder --> ===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. <!-- ==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> <!-- Internal source: "Motor Pilot 0.9.X - Start up Guide.pptx" VX.0 -->
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* As with the current monitor, current and past errors are indicated. |
* As with the current monitor, current and past errors are indicated. |
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− | * Clicking the Ack Faults button has no effect in the FAULT_NOW state |
+ | * Clicking the Ack Faults button has no effect in the FAULT_NOW state |
[[File:STM32 MC MotorPilot FAULT NOW.png|600px|center]] |
[[File:STM32 MC MotorPilot FAULT NOW.png|600px|center]] |
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