STM32 PMSM FOC SDK v4.0 Hands-on
Contents
1. OK m Canc l l I I l l I l l l l l l I d l l l Ly BEES life augmented Step 6 Create a new WB project based on the Bl evaluation board am i L rio Mota File Tools Help Deca umentation Ek New Project LS oad Project Help New Project Application type System Generic Single Motor Dual Motors Select Power and Control Boards STM32Fbx O Inverter MC Ki amp Power amp Control STM32F2xx Control Evaluation board for STM32 FO series with STM32F051 STM320518 EVAL MCU Power 2kW 3phase motor control evaluation board featuring the CI Use old Library STEVAL IHMOZEV2 STGIPS20CED IGBT Pe power module MOTOR PROFILER support AA Wie WEEEEE WENEEN WENEEN WENEEI WENE 8 SEND WENEEI WENEEN WENEE WENEEI WENEEI WENEEI WENE WENEE WENE WEEEN 4 Motor I Choose motor from a motor m database You can save your motor Ed EE EE i parameters from your project M1 Generic Low voltage lt 50 life augmented CI Ge Ly life augmented step 6 or Create a new WB project based on an example project Choose the WB example project that best fits your needs Choose the one with the same name of the ST evaluation board you are using or choose the one with the same microcontroller you are using ae m m EMO eee EEN eee d life augmented m sk ST Motor Control Workbench File Tools Help Documenta2. SIM32 PMSM FOC SDK 4 2 Hands on workshop with hardware tools Rev 1 5 y fi life augmented Objectives The purpose of this hands on workshop Is to e Get you up and running with the STM32 PMSM FOC SDK using the ST MC Workbench with the final purpose of running a PM synchronous motor with STEVAL boards e Show you where to go for documentation firmware libraries and application notes and additional ecosystem Support e Help you obtain additional technical support Systems check e Everyone should have e A Windows laptop XP Vista or Win 7 Win 8 AST LINK dongle optional e USB to RS 232 dongle and a null modem cable optional The permanent magnet motor you want to run e A multimeter optional An oscilloscope with current probe optional e An insulated DC and or AC power supply e Ready to begin Hardware setup Step 1 Hardware setup e It is possible to choose one of the following offers e Complete Motor Control Kit e One of the complete inverters currently in stock e Any SIM32 evaluation board combined with one of the ST evaluation power stages both including the MC connector e The following slides report all available boards present in the ST stock that can be used to arrange a motor control system Follow the instructions in the related user manual to set up each board life augmented Motor control board offer amm Complete 3ph Inverter solutions _ Control and power s
3. 4 1 0 4 1 0 4 0 0 4 1 0 Version 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 FOC SDK 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 0 0 4 1 0 FOC SDK 4 1 0 4 1 0 4 1 0 4 1 0 41 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 4 1 0 T evaluation board Choose New Project Type PMSM PSM PSM PMSM PSM PSM Type PSM PRISM PMSId PMSM PSM PSM PMSM PSM PSM PMSId PIEL PIdSId PMSM Tm life augmented Step 6 Create a new WB project based on the ST evaluation board a r f File Tools Help Documentation C h O ose E l HERE A ENEEI ee A o SNO a CHEER z a CHER CER esa mmm md GEB e rz xl p New Project Load Project Help About i i applicatio Ne geci ADOUL l Application type 1 Applications i LL mm mm iereric j Generic mE i h Pumps Application type 1 T prem i Motor Control Library l d Generic DOTT Single Motor Dual Motors 410 Dish washer N N MCU Supported Fans e o STM32F 4xx STM32F3xx STM32F2xx STM32F103x E z STM32F 100 od board for STM32 FO series with STM32F051 STM32FIK Use old Library 2 kW 3 phase motor control evaluation board featuring the STGIP520C60 IGBT intelligent power module MOTOR PROFILER supported Power STEVAL IHMO28V2 Ml Generic Low volfage lt 2017 life augmented Ly life augmented Step 6 Create a
4. d 4 life augmented Step 5 Driver trouble shooting e A warning message may appear 8 Select Install this driver software anyway ta Windows Security K Windows can t verity the publisher of this driver software 3 Don t install this driver software You should check your manufacturer s website for updated driver software for your device gt Install this driver software anyway Only install driver software obtained from your manufacturers website or disc Unsigned software from other sources may harm your computer or steal information P See details Ly life augmented Step 5 Driver trouble shooting You should receive a message incre none Windows has successfully File Action View Help updated your driver software esimBiHtmimi sie p m Network adapters P AJ Portable Devices b DO Processors b Sound video and game controllers b i System devices d g Universal Serial Bus controllers Windows has successfully updated your driver software Windows has finished installing the driver software for this device F Standard Enhanced PCI to USB Host Controller P Standard Enhanced PCI to USB Host Controller g Standard OpenHCD USB Host Controller a Standard OpenHCD USB Host Controller S standard blica USB Host Controller STMicroelectronics STLink dongle e Re check Device Manager to ensure STMicroelectronics STLink dongle is f
5. features 3 3 Motor type control type ST Parts Application focus PMSM BLDC 1 x STGIF7CH60TS L Power board water pumps 1x TSV994 fans and more Single 3 shunts PMSM BLDC 1 x STGIB1OCHGOTS L Power board pumps l 1x TSV994 compressors air conditioning single 3 shunt EE SDK workflow SDK workflow 1 5 ST MC Workbench ae ST Mer Comper Weten Nora Pie m et Dorevertates BI JBUX OFK Coe Molor KI da More Ma Mo Covet uto ar fes doo Fore Saga P MAP Dm Mar ape art e Open the ST MC Workbench and create a new project see Step 6 SDK workflow 2 5 ST MC Workbench EET KI pr Jerry T tete h P te User project MC library project Generate the configuration h files for the firmware library see Step 9 Source code Ly life augmented SDK workflow 3 5 ST MC Workbench STE wa rerig i ss f SUK es o 5e e Mel ME PM HOC SOK v J UU LU U 01010 h i 001011110001 E 101010101 Parameter EXE files MC library savas 001 I LIB project MIAR SIKEIL Tools by ARM Source code e Compile the FW library using available IDE IAR Keil see step 10 Ly life augmented SDK workflow 4 5 ST MC Workbench o She M ER Smee seat EE ET NE m i STM32 001011110001 T 101010101 m User proj
6. new WB project based on the Bl evaluation board File Tools Help Documentation BB New Project B oad Project New Proj I Application type System 9 Generic Single Motor Dual Motors O Inverter mi MC Kit Power amp Control Control STM320518 EVAL od board for 5TM32 FO series with STM32F051 STM 32F ike Power 2 kW 3 phase motor control evaluation board featuring the Use old Library IHMO028V STGIPS20C60 IGBT intelligent power module MOTOR debe PROFILER supported Ml Generic Low volfage lt 2017 life augmented OK J Cm j Ly life augmented Step 6 Create a new WB project based En on the Bl evaluation board ST Moto File Tools Help Documentation BB New Project B oad Project New Project Application type System Generic Single Motor Dual Motors 410 I Inverter MC Kit Power amp Control am STM32F2xx Control STM320518 EVAL UN board for 5TM32 FO series with STM32F051 STM32F ike Power 2 kW 3 phase motor control evaluation board featuring the CI Use old Library l AL IHIMIOU STGIPS20C60 IGBT intelligent pov dule MOTOR STEVAL IHMO28V2 Se aS E TA Board abriroaio r Choose if you are using Inverter MG Kit or Power plus Control boards e Select the board used or create your own custom board Motor MI Generic Low voltage lt 501
7. 000 w Size 0x1544 Data Width 8bits v TE EE RR e nnn d Name Date modified Type Size Device Memory File STM3210B EVAL hex FEES es T TT TE _ STEVAL IHMO22V1 DUALDRIVE hex 6 25 2014 4 24 PM HEX File 157 KB 0108010000 10 4F 00 20 01 01 08 SD 5 00 08 _ STEVAL IHMO22VI SINGLEDRIVE hex 6 25 2014 4 24 PM HEX File 142 KB Gn em e n L EN Ee _ STEVAL IHMO39V1 DUALDRIVE hex 6 25 2014 4 24 PM HEX File 140 KB 0X08010020 00 00 00 00 00 00 00 00 00 00 08 0x08010030 F9 01 01 08 00 00 00 FB 01 08 08 le STEVAL IHMO39V1 SIMGLEDRIVE hex 6 25 2014 4 24 PM HEX File 140 KB RU N N M id EL ae k STM32F2xx dual hex 6 25 2014 4 24 PM HEX File 159 KB 008010050 FF 01 01 08 00 01 08 FF 01 08 08 E 0x08010060 FF 01 01 08 oi 01 08 FF 01 08 08 li STM322xG EV AL hex bir 25 2014 4 24 PM HEX File 145 KB Et lm i M E n STM324xG EVAL hex 5 25 2014 4 24 PM HEX File 143 KB 008010080 FF 01 01 08 00 01 08 FF 01 08 08 a 4 a L STM3210B EVAL hex 6 25 2014 4 24 PM HEA File 142 KE _ STM3210E EVAL hex 6 25 2014 4 24 PM HEA File 159 KB 15 01 45 STM3210B EVAL hex opened successfully STM32100B EVAL hex 6 25 2014 4 24 PM HEX File 84 KB n STM32303C EVAL DUALDRIVE hex 6 25 2014 4 24 PM HEX File 155 KB STM32303C EVAL SINGLEDRIVE hex 6 25 2014 4 24 PM HEX File 139 KB BEES EE kl STM320518 EVAL hex 5 25 2014 4 24 PM HEX File 84 KB life augmented step 13 Run the motor e Arrange the system fo
8. 2 Mama eke in ine UM1052 da 9 Working Connect the control board with PC using R5232 COM null modem cable life augmented Step 7 Run Motor Profiler e Procedure will end in about 60 seconds Motor stopped e Hs measurement e Ls measurement e Current regulators set up Open loop MT Ke measurement Ml Sensorless state observer set up Switch over Lf V were Closed loop Friction coefficient measurement Moment of inertia measurement Speed regulator set up Ly life augmented Step 7 Motor Profiler complete 8 At the end of the procedure the measured parameters will be shown on a dedicated window e It is possible to import them on the workbench project and save them for later use i Port Ic M11 0 115200 M T Start Motor Identified Process completed Click on the button to py the actuals results on the project Actuals Results Rs Ls 0 167 mH B Emf constant 38 Vms Krpm Nominal DC Voltage 258 V Nominal Speed 8454 mm Q Copy Results on Project E Dont show this window after generating files life augmented Step 8 Set up motor parameters manually e Select Surface Mounted PMSM in Motor Electrical parameters Magnetic structure Motor Electrical parameters Step 8 Set up motor parameters manually set Max Rated Speed with the maximum motor speed according the application Specs o
9. 50kHz Startup Encoder Hall sensors ICS m on the fly Max Dual Max Dual FOC S FOCO ST MC USART based Max FOC Max p Workbench com protocol F100 11kHz FOC a ER EO si support add on FOxx 12kHz 23kHz x a 1 High Frequency Injection 2 Supported only for STM32F103 STM32F2 STM32F4 Ly 3 Max FOC estimated in sensorless mode life augmented otep 6 Drive parameter tricks e If motor profiler is not used in start up parameters select the basic profile Set current ramp initial and final values equal to motor nominal current value 2 if load is low at low speed otherwise it can be set up to 0 8 1 0 times nominal current value Set speed ramp final value to around 30 of maximum application speed e According to motor inertia it may be required to increase the speed ramp duration e Set minimum start up output speed to 15 of maximum application speed if required decreased it later e Set estimated speed band tolerance lower limit to 93 75 e Enable the alignment at the beginning of your development duration 2000 ms final current ramp value from 0 5 to 1 times motor nominal current according to load Basic Drive Management Start up parameters Sensorless rev up settings Profile Basic Advanced customized Speed ramp duration NENE oag Speed ramp final value Curent ramp initial value INR da PP s Current ramp final value Current ramp duration 350 lt g
10. 6 2x L6230 1x STM32F303 1x ST1S14 1x L6234 1x STM32F051C6T6 1x L78L33ACD Application focus Complete drive compressors room air conditioning VVater pumps dish vvashers vvashing machines Complete drive fans ceiling fans pumps Complete drive pumps fans Complete drive fans blowers toys Complete drive pumps security systems ATMs PMSM 1x STM32F103C Complete drive pumps BLDC 1x STM8S Complete drive pumps SEL Ure Des Up to 39 W Six step motor control 1x L6230Q security systems ATMs life augmented Hardware Key features 2 3 Application focus Reference bundle Motor type Povver T control type ST parts Voltage STEVAL IHMO21V2 STEVAL IHMO23V3 STEVAL IHMO25V1 STEVAL IHMO28V2 STEVAL IHMO32V1 STEVAL IHMO35V2 STEVAL IHMO45V1 Ly life augmented 120 230 Vac nominal 60 50 Hz 90 285 Vac 125 400 Vp 90 285 Vac 125 400 Vp 90 285 Vac 125 400 Vo 230 Vac nominal 86 to 260 Vac 120 230 Vac nominal S270 Vic 40 400 Vo Up to 100 W Up to 1 kW Up to 1 kW Up to 2 kW Up to 150 W Up to 100 W Up to 100 W PMSM BLDC FOC Six step 3 shunts PMSM BLDC FOC Six step Single 3 shunts PMSM BLDC FOC Six step PMSM BLDC FOC Six step single 3 shunt PMSM BLDC FOC Six step single 3 shunt PMSM BLDC FOC Six step single shunt PMSM FOC Single 3 shunt 3x L6390 1x Viperi2 6x
11. ARM and KEIL Vision e They are available at the following addresses AR Embedded Workbench for ARM JAR Systems http www iar com e Keil Embedded Development Tools for ARM Cortex M http www keil com IAR S KEIL SYSTEMS Tools by ARM Step 4 ST LINK installation e f the control board or the complete system doesn t embed the ST LINK a stand alone dongle is required In any case you must install the ST LINK driver that can be found in the ST website searching for part number ST LINK V2 or ST LINK V2 ISOL Part Number Status Description 31 LINK V 2 Active ST LINKA 2 in circuit debugger programmer for STMS and 5TM32 Click on Design Resources download and install the STSW LINKOO9 Related Tools and Software Part Number Description 319W LINKDO4 SIM32 ST LINK utility STI SW LIM KOOS SI LINK V2 firmware upgra de ST Link ST Link V2 ST Link V2 1 USB driver si Ly life augmented Step 4 ST LINK installation On the same page download and install also the STSW LINKOO4 STM32 ST LINK utility This will be required to flash the LCD FW code into the MCU Related Tools and Software Part Number Description STSW LINKOO3 ST LINK V2 USB driver for Windows 7 Vista and XP SW Q0 STM32 ST LINK utility SISW LINK O5 SI LINK V2 firmware upgrade gt TSW LINKOO6 ST LINK V2 USB driver for Windows 6 y life augmented Step 5 Connect ST LINK
12. IGET inteligent power module MOTOR Tow STEVAL IHMO28V2 MP EE power i La mm sl 2 Qu n n ccc Pa id 2 p I P m 9 gi 2 ec Ce IO ea OE EEE 1 Motor The project supports MI Generic Low voltage lt 50V i vy the Motor Profiler i M P feature WEE WENE mmo mal c EE RR SS step 7 Setup Motor Profiler These parameters must be set by the user e Motor pole pairs e Maximum application speed e Nominal speed of the motor will be computed and used to validate the maximum application speed selected by the user Motor Parameters e Nominal current Max Application Speed l Nominal Curent Motor Profiler One Touch Tuning Fa Before to use the Motor Profiler feature is necessary to generate the configuration files clicking on the ion button 4 Ly life augmented Step 7 Setup Motor Profiler e Verify that the Motor Profiler check box is selected Before to use the Motor Profiler feature is necessary to generate the configuration i on o files clicking on the Generation button 4 step 7 Setup Motor Profiler e Choose the kind of load Motor Profiler One Touch Tuning Noloa v Before to use the Motor Profiler feature is necessary to generate the configuration files clicking on the Generation button 4
13. Project T a B apokcation der D m LCDProject lt working_folder gt the current project folder p i Libraries gt y MCApplication gt MCLibrary gt di PFC Praject b di Project p SystemDriveParams gt jj UILibrary gt lj Utilities ee LIER Ly life augmented Step 11 Compile and program the MCU e Run the IAR Embedded Workbench 98 IAR Embedded Workbench Open the IAR workspace located in Project EWARM folder according to the SIAR microcontroller family e g STM32F10x Workspace eww for STM32F 1 e Select the correct user project from the drop down menu according to the control stage used e g STM32F10x_UserProject STM3210B EVAL Compile Compile and download amp program E STM32F1U0x Workspace IAR Embedded Workbench IDE File Edit View Project Tools Window Help D Hga Selo Workspace Fhap SP HD HEID m readme txt MEN M STM32F10 _UserProject STM32170B EVAL l 1o see Fil 2 dokockokockokokok kock kokokokock kokokokoko kockokokokokok kokoko kocko kockokokokokokokok ee ko koX id les Te F E TS 3 file README TXT El 5 STM32F 1 0x Workspace 4 author STMicroelectronics System Lab MC Team La O STM32F10x_UserProject STM3210B EVAL v 5 version 4 0 0 Fa E31 Motor contral 6 date 26 May 2014 10 45 Ha GMC Application 7 brief SIM32 PMSM FOC library v4 0 README TXT EIMC Lib E TE tt TT RR FRK EE kockck ckcokc ok kokokoko kockcokcok kc ck ko k
14. SIM32 evaluation boards with MC connector HE Part Number Description ST Link on board Type STM32072B EVAL Evaluation board with STM32F072VB MCU Single drive STM3210E EVAL Evaluation board for STM32 F1 series with STM32F103 MCU Single drive STM3220G EVAL Evaluation board for STM32 F2 series with STM32F2071G MCU Ne 00 Single drive STM32303E EVAL Evaluation board for ST M32F303xx microcontrollers Single Dual drive STMS240G EVAL EVAL Evaluation board for Evaluation board for STM32F407 line with STMB2F407IGMCU line with STM32F407IG MCU Single drive drive ee density dual motor control demonstration board based on the ee drive STEVAL IHMO39V1 Dual motor drive control stage based on the STM32F415ZG Single Dual drive microcontroller STM32072B EVAL STM3220G EVAL STM3240G EVAL STM3210E EVAL STEVAL IHMO22V1 STM32303E EVAL STEVAL IHMO39V1 a ST LINK V2 ST LINK V2 ISOL 2500 VRMS high isolation voltage life augmented ST evaluation power boards with MC connector Part Number Description STEVAL IHMO21V2 100 VV 3 phase inverter based on L6390 and UltraFASTmesh MOSFET for speed FOC of 3 phase PMSM motor drive STEVAL IHMO23V3 1 kW 3 phase motor control evaluation board featuring L6390 drivers and new IGBT STGP10H60DF STEVAL IHMO25V1 1 kW 3 phase motor control demonstration board featuring the IGBT SLLIMM STGIPL14K60 STEVAL IHMO28V2 2 kW 3 phase m
15. SM FOC SDK v4 0 1x GBT STGP1ONCSOKD 7 x IGBT power switch STGP10NCEOKD HMO28V2 eres tam ve ke FOC FOC Dual FOC 4A ar STEVALIHMO21V2 cto for BLOC 1x KGET SLUMM STGIPS20C60 3 x PWM smart driver L6390 VER m EE 1x PWM SMPS VIPer26LD MEM rnc Viper TM CAR D ROREM eo TOL coe ALI 1x GET STGWSSNB60SD 6x MOSFET power switch STO5NS52U sd 4 p p o Ek VSTEVALAHMO32V1 1xIGET SLLIMMT STGIPN3H60 7 3 x PWM smart driver 1x PWM SMPS ViPeri6L 2xL6392D and 1x L6391D 1 converter based on Viper12 6 x IGET power switch STGD3HF60HD STEVALIHMOASVI Tow RSTEVAL IHMO3IVI 59 TRA 1 x IGBT SLUMM STGIPN3H60A Power stage up to 12 24V rgi 1x PWM SMPS VIPerd6LS RE 3 dual PowerMOSFETs STSBdnh3l Op Amp And Comp TSV994 end T5374 2 x PWM smart driver L6387E ix step down converter L4976D YA MEE IE SLLIMM ST IPMs based Gate drivers amp Power Transistors based K Ly yj j dad Please vist nn ine st comevalhoargs or contact a local ST office life augment UU Besse ugt Eer susuinton bacis or otad slo ST ote Motor control kits n ST Link Part Number Description een Type Motor control starter kit for STM32F100 128KB Flash Value Line MCUs Yes Single drive Motor control starter kit for STM32 128KB flash Performance and l I l No Single drive Access Line microcontrollers STM32 Nucleo Pack FOC and 6 step control for Low voltage 3 ph motors Yes emb
16. STD5N52U 3x L6390 1x Viper16 7x STGP10H60DF 1x STGIPL14K60 1x Viper16 1x STGP10NC60KD 1x STGIPS20C60 1x VIPer26LD 1x STGW35NB60SD 2x L6392D 1x L6391D 1x Viper12 6 x STGD3HF60HD 1x STGIPN3H60 1x VlPer16L 1x STGIPN3H60A 1x ViPer06L 1x TSV994 Power board water pumps fans dish washers washing machines Power board pumps compressors washing machines and more Power board pumps compressors washing machines and more Power board pumps compressors air conditioning and more Power board pumps compressors fans dish washers and more Power board pumps compressors fans dish washers and more Power board pumps compressors fans dish washers and more NEW Reference bundle STEVAL IPMO7F STEVAL IPM10F STEVAL IPM10B STEVAL IPM15B STEVAL IPMOSF Voltage Note 1 Available Q4 15 Ly life augmented Power 125 450 Vpc Up to 500 W etti bim 1 x STGIFSCH6OTS L Power board water pumps i 3shunts 1x TSV994 fans dish washers and more 125 450 Vpc Up to 700 W FOC Six step Power board pumps PMSM BLDC 1 x STGIF10CH60TS L ai 125 450 Vpc Up to 1 kW FOC Six step 1x TSV994 compressors washing machines and more 125 450 Voc Up to 1 5 kW FOC Six step 125 450 Vc PMSM BLDC 1 x STGIB15CHGOTS L Power board pumps Upto2W FOC Six step compressors fans dish l 1x TSV994 single 3 shunt washers and more Hardware key
17. Step Generate and compile the FW Before running the Motor Profiler execute Steps 9 10 and 11 11 only if LCD is present in the board to generate and compile the firmware ST MC Workbench ET Mee Pie ET T 1 pg iH Parameter User project os EXE files MC library 301001 SIAR LIB B project SYSTEMS S KEIL Source code life augmented Tools by ARM Step 7 Run Motor Profiler Using the ST MC Workbench run the Motor Profiler procedure oe ST Motor Control Workbench Noname006 File Tools Help Documentation al ws G Motor Power Stage Step 7 Run Motor Profiler e To execute the Motor Profiler procedure connect the PC to the microcontroller board via the USART connection Connect the PC to the control board with the USB to RS 232 dongle and a null modem cable e Select COM port and communication speed as set in the Control Stage gt Digital VO ud Motor Profiler Port COM22 115200 E Start Before to use the Motor Profiler is rto compile and download the executable into D sped IDE ice IAR Embedded Workbench or Keil environment microcontroller usin Ma med asook ad in the UMIE Chapter 3 Working Connect the control board with PC using R5232 COM null modem cable life augmented Step 7 Run Motor Profiler e Press Connect Press Start ai Motor Profiler Port COM 2
18. Using the USB cable connect the control board with ST LINK embedded or the ST LINK dongle to the A male connector into your laptop Device Manager e Wait for Windows to recognize Hle Acton View Help the ST Link device and follow any steps required to install the Been d rive b Sy Sound video and game controllers P MA System devices d 7 Universal Serial Bus controllers g Standard Enhanced PCI to USB Host Controller Upon successful driver ee recognition the ST Link device J fener fus sh tri min should be fully enumerated in Hy EE ie the Windows Device Manager USB Mass Storage Device as shown USB Root Hub USB Root Hub USB Root Hub USB Root Hub Ly life augmented Step 5 Driver trouble shooting Open Device Manager Right click on the STM32 STLink Driver icon Select Update Driver Software Device Manage File Action View Help te Hole b EP Network adapters 4 5 Other devices P A Portable Devices gt B Processors b ay Sound video and game controllers b System devices 4 g Universal Serial Bus controllers F Standard Enhanced PCI to USB Host Controller F Standard Enhanced PCI to USB Host Controller g Standard OpenHCD USB Host Controller g Standard OpenHCD USB Host Controller g Standard OpenHCD USB Host Controller g Standard OpenHCD USB Host Controller g USB Mass Storage Device Step 5 Driver troub
19. ect EXE E MC library project Source code Flash the executable into the microcontroller using ST LINK see Step 10 Ly life augmented SDK workflow 5 5 ST MC Workbench 7 E M Serial communication for run time feedback TIT E Ll ead bi kori 4LILILILI SDK IDE ar TU STM32 5 001011110001 E User project EXE z MC library mun LIB project vi P K E IL Tools by ARM e Establish a real time communication with the firmware using the monitor feature of ST MC Workbench to start the motor set the speed and get feedback see Step 12 Source code Ly life augmented Software setup Step 2 Software setup e Download and install the STM32 PMSM FOC SDK You can find it at www st com and searching for part number STSW STM32100 Part Number Description SI SW S1TM32100 Active STM32 PMSM FOC SDK motor control firmware library UM1052 It contains both the firmware package and the ST MC Workbench PC GUI After installation you will have the following new folders P a d Program Files x86 TER 4 di STMicroelectronics 4 FOC SDK gt STM32 PMSM FOC LIB Pj STMCWB di STM32 PMSM FOC LIB as di STMCWB SS Ey life augmented E Step 3 IDE setup An IDE Integrated development environment is required to compile flash and debug the application e Two IDEs are supported IAR EW
20. ectronics lt center gt lt h2 gt Licensed under MCD ST Liberty SW License Agreement V2 the License Select You may not use this file except in compliance with the License p pr oject You may obtain a copy of the License at H S RVMDK http www St com software license agreement liberty v2 fg UILibrary interface Eg UlLibrary private Unless required by applicable law or agreed to in writing software Ga UILibrary src distributed under the License is distributed on an AS IS BASIS Eg Project WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND either express or implied H A System amp Drive Params See the License for the specific language governing permissions and oe pa limitations under the License REE k ke e ke ke e ke e ke e e e ke e RRR e RRR e e e e e e e ee e e e e e e e e ee e e e e e e e e e e e e e e e e rr jr i Projet 49 books Functions Templates m ST Link Debugger L 26 C5 G life augmented Step 12 Program LCD firmware mm E STM32 ST LINK Utility e Run the ST LINK Utility e File Open file and select the hex file located in LGDProjeciihex according to the control stage used e g STM3210B EVAL hex e Target Program BE STM32 ST LINK Utility File Edit View Target ST LINK Help gram Files x66 ST Microelectronics FOC SDK STM32 PMSM FOC LIBvA0 Web LCDPraject amp hex Sa Wye Memory display Address 0x08000
21. edded Single drive The motor control kit connections represented below can also be applied when combining STM32 control boards and evaluation power boards STM3210B MCKIT STM32100B MCKIT P NUCLEO IHMOO1 Serial communication RS232 STM32 Power stage controller board LJ Debugger programmer o tion board i T NP e m Segger J Link Al JTAG OPTO 1 guam mm mm umm mm ER EE RE EE m m m EE EE EE EE ER ER N E 2nd Motor Van TY Ly life augmented GE cent ee ote ol complete inverters amm ST Link Type on board yP Dual motor control and PFC demonstration board featuring the Single Dual Low power motor control board featuring the SLLIMM SME E STGIPN3H60 and MCU STM32F100C6T6B Single drive STEVAL IHMO38V1 STEVAL IHMO38V1 BLDC ceiling fan controller based on STM32 and SLLIMM nano ceiling fan controller based on STM32 and SLLIMM nano e ee SS e Single drive STEVAL IHMO40V1 BLDC PMSM driver demonstration board based on STM32 and the Single drive SLLIMM nano Compact low voltage dual motor control board based on the Single Dual STEVAL IHM043V1 rd sensorless driver board based on the STM32F051 N Single drive STEVALAFNO03V1 DC PMSM FOC motor drive No Single drive STEVAL IHMO34V2 TN STEVAL IHM042V1 STEVAL IHMO43V1 STEVAL IFNOO3V1 STEVAL IHMO38V1 STEVAL IHM040V1 Part Number Description life augmented Cont
22. et Nominal Current with maximum peak current provided to each of the motor phases according the motor specs set Nominal DC Voltage with value of DC bus provided to the inverter or the rectified value of AC input Keep checked the Auto button near Demagnetizing Current Motor Electrical parameters life augmented Step 8 Set up motor parameters manually mm Pole pair number e The number of pole pairs is usually provided by the motor supplier but in case it s not or if you d like to double check it Connect a DC power supply between two of the three motor phases and provide up to 596 of the expected nominal DC bus voltage You may also set current protection to nominal motor current Rotate the motor with your hands you should notice a little resistance otherwise e f you are not able to rotate the motor decrease the applied voltage e f the motor does not generate any resistance gradually increase the applied voltage e The number of rotor stable positions in one mechanical turn represents the number of pole pairs Nominal Current klamis l DI ier MORS ad DC voltage source L
23. hinano stmcx 4 1 0 4 1 0 PMSM J SDK41x STM3210B EVAL IHM035V2 Shinano stmcx 4 1 0 4 1 0 PMSM WEEN WENE WEEN HEEN mmo mmo mo mo Oo WEE SO WEE SO EEE ORO WEE WEE WEE WEE WEE WEE m m m m um um of life augmented step 6 Create a new WB project Starting from the board selection or example project the control stage parameters will be populated with the correct values e For a custom project the user can set all the parameters STM32303C EVAL folder is set to C VSS MC 3PH 0046 14 SOFTWARE FIRMWARE Setup S TM32 FOC SDK STM32 PMSM FOC step 6 Set up power stage Starting from the board selection or example project the power stage parameters will be populated with the correct values e For a custom project the user can set all the parameters L c2 ik ST Motor Control Workbench Noname000 eS m x File Tools Help Documentation DEUX OTE OD Power Stage life augmented Step 6 Set up drive parameters Starting from the board selection according to the chosen application drive parameters will be populated with the correct values e For a custom project the user can set all the parameters i ST Motor Control Workbench Noname000 e File Tools Help Documentation DEAR OLE DY Drive g t Manaaemen folder is set to C VSS MC 3PH 0046 14 SOFTWARE FIRMWARE Setup S TM32 FOC SDK STM32 PMSM FOC life augmented
24. le shooting Browse for driver software on your computer 4 Select Browse my computer fo r d r i ve r S oftwa re Search for driver software in this location Include subfolders How do you want to search for driver software gt Let me pick from a list of device drivers on my computer This list will show installed driver software compatible with the device and all driver software in the same category as the device DY Search automatically for updated driver software Windows will search your computer and the Internet for the latest driver software for your device unless you ve disabled this feature in your device installation settings gt Browse my computer for driver software Locate and install driver software manually 5 Select Let me pick from a list of device drivers of my computer 6 Click Next y A A A A life augmented Step 5 Driver trouble shooting The STMicroelectronics ST Link dongle should be listed 7 Click Next Select the device driver you want to install for this hardyvare Select the manufacturer and model of your hardware device and then click Next If you have a disk that contains the driver you want to install click Have Disk Show compatible hardware Model WB ST Microelectronics STLink dongle Ay This driver is not digitally signed Tell me why driver signing is important 4 4 A A l p 4 A A
25. lly suffices to turn the motor with your hands or using a drill or another motor mechanically coupled and use an oscilloscope to look for the phase to phase induced voltage Vaams Step 8 Set up motor parameters manually Back EMF constant Ke e Measure the V frequency Vs and the peak to peak amplitude Verf A e Compute Ke in Vans 1 Kepm Vee A V peak to peak pole pairs number 1000 2 M2 Four LHZ 60 Demagnetizing Current B EmfCanstant Generate compile debug and run Step 10 Parameter generation mm e Once all the parameters have been entered in the ST MC Workbench select the output path in the option form and choose SystemDriveParams present in the FW working folder e Click on the Generation button to configure the project ntation Template folder lt application_folder gt working templates_040000 PMSM v N N NSystemDriveParams V Template default folder application folder working templates 040000NPMSM Output default folder lt working_folder gt STMCWB_Output Application folder C Program Files amp lt 86 STMicroelectronics FOC SDK STMCWB Working folder CAVSS MC 3PH 0046 14 SOFTWARE FIRMWARE Setup STM32 FOC SDK STM32 PMSM FOC LIBv4 0 Cc 4 di STM32 PMSM FOC LIBv4 0 ism Available macros b eRTOSProject lt default_folder gt the default folder for template or output di FreeRTOS
26. m the MCU mm e Optionally run Keil uVision kd Keil uVisions 5 KEIL Tools by ARM Open the Keil workspace located in Project MDK ARM folder according to the microcontroller family e g STM32F10x Workspace uvmpw for STM32F 1 e Select the proper user project from the drop down menu according to the control stage used e g STM3210B EVAL Compile and download Program CAVSS MC 3PH 0046 14 SOFTWARE FIRMWARE Setup STM32 FOC SDK STM32 PMSM FOC LIBv4 0 Web Project MDK ARM UserProject STM32F10x_UserP File Edit View Project Flash Debug Peripherals Tools SVCS Window Help OBE els oA eS Le mE E ME nas fa al e o elf a T du c3 Sg STM32105 EVAL KRAS e amp ds We e e WEE WEEN WEEN WEE WEE WEE amp Proje As WorkSpace E STM32F10x JserProject d STM3AOB EVAL a CLibrary interface common E GA MCLibrary interface RR RRR RRR RR RRR RRR RRR e e e e e e e e RRR e e ee e e e e e e e e e e e e e e e e e e e e e jr jr file README TXT author STMicroelectronics System Lab MC Team version 4 0 0 date 28 May 2014 10 45 ma MCLibrary lib uM brief STM32 PMSM FOC library v4 0 README TXT e E MC Library STM32F10x single drive lib RREREREREEEEEEEEEEEEEERERERER RR R RE EEE EER RRRRRRRR ER EER EE EER RRERRR EER E EE RR RR EE MC Library STM32Fl0x dual drive lib Compile attention Sg MCApplication interface MCApplication private h2 center amp copy COPYRIGHT 2014 STMicroel
27. o ko kh ko ko k ko kockcokcok ck ko ok kok kockoko ckckc ck kc ko FR hh kc ko ok ko oko kokokokc ko k kk a ibrary er g attention Ha Dinterface 10 x Olib 11 eh2 center scopy COPYRIGHT 2014 STMicroelectronics lt center gt lt h2 gt Ka MC Library STM32FIOK dual drive a 12 D MC Library STM3 F1Ux single drive a 13 Licensed under MCD ST Liberty SW License Agreement V2 the License La Ca System amp Drie Params 14 You may not use this file except in compliance with the License Select CJ Std project template 15 You may obtain a copy of the License at User interface L project EE 17 http www st com software license agreement liberty v2 e 18 reo mett 19 Unless required by applicable law or agreed to in writing software Ha E stm3efl Ox_itc 20 distributed under the License is distributed on an AS IS BASIS stm3efl x MC it c 4 21 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND either express or implied Timebase c x 22 See the License for the specific language governing permissions and UlTask c x 23 limitations under the License Output 24 25 TERRE k k h kk ck k k k k OR ok k h k k k koko hc oh oko ko ok ko oko kokok ee ok kokockchcokc oko ko ok kok EK KOR ER ko oko k kokokcohcokc ko ho ok ko ok ko ko ho oko k kk STM32F1 x LzerProject zn Fr EE Ly id Ln 8 Col 43 System NUM life augmented Step 11 Compile and progra
28. otor control demonstration board featuring the IGBT intelligent power module STGIPS20C60 3 phase high voltage inverter power board for FOC and scalar motor control based on the STGIPN3H60 SLLIMM nano Note 1 Available Q4 15 Ly life augmented a Flexible approach s STEVAL IPMxx IR The STEVAL IPMnmx evaluation board is a universal fully tested and populated design consisting of a 3 phase inverter bridge based on the SLLIMM 24 series IPM The main characteristics are small size minimal BOM and high efficiency It consists of an interface circuit bus and Voc connectors bootstrap capacitors snubber capacitor short circuit protection fault event circuit temperature monitoring single three shunt resistors and filters for input signals e A double current sensing option is provided three dedicated on board op amps or by using the op amps embedded on MCU e Hall encoder part completes the circuit SLLIMM card EE 15 20 v DC 3 shunt single be and network sensing E 3 3 25 e w 9 E 450 V life augmented GEEET STEVAL IPMxx Features and architecture Inverter evaluation board based on 2nd series of ST s SLLIMM IPM trench gate field stop technology IGBT STGIxxCH60x full molded or DBC package Input bus voltage 125 450 Vpc e Nominal power from 300 W to 3 kW SLLIMM card e Current capability from 5 to 30 A nominal 415 20 V e Hardware overcurrent protection using SLLIMM s Smar
29. r running the motor e Connect the control board with the power board using the MC cable e Connect the motor to the power board e Connect the power supply to the power board and turn on the bus f the board is equipped with the LCD y life augmented Press joystick center on Fault Ack button to reset the faults Press joystick right until the Speed controller page is reached e The press joystick down to reach the Start Stop button Press the center of the Joystick to run the motor SIM32 FOC SDK STM32 FOC SDK Configuration and debug Speed controller Motor Ctrl mode Set point Measured speed Power board status di set 1500 rpm DC Bus volt 24 E it s Heatsink T DAC Settings 5 Under voit cha a T o vor cha over temp 3 Fault ack 5 Motor selected 1 Motor selected 1 step 13 Run the motor Optionally you can start the motor using the ST MC Workbench Connect the PC to the control board with the USB to RS 232 dongle and a null modem cable Open the Workbench project used to configure the firmware and click on Monitor button select the COM port and click Connect button This establish the communication with the firmware Speed Position To clear the fault ST Motor Control Workbench Noname000 File Tools Help Documentation gt a 1 BBX SAOP b Motor Mesaer Ack and then Start Motor button to run the motor File Toots Help Documenta
30. step 6 Drive parameter tricks e In Drive settings decrease cut off frequency of torque and flux regulator down to 2000 rad s if power stage current reading topology is single shunt e In Sensing enabling and FW protections uncheck the sensing options not supported by power stage and check any Set intervention threshold to power stage xxx buttons e In Drive settings initially set default target speed to at least 20 of maximum application speed e In additional features start without any additional method possible to add them later T ik ST Motor Control Workbench Noname000 a File Tools Help Documentation LED X KOLE ee Drive Management Value Uni Time Motor ld Message STM32 MC P F o 12 37 15 Working folder is set to C VSS MC 3PH 0046 14 SOFTWARE FIRMWARE Setup STM32 FOC SDK STM32 PMSM FOC 4 wr PMSM STM32 MC PMSM FOC SDK v4 0 life augmented step 6 Drive parameter tricks In Drive settings choose a correct PWM frequency and torque and flux execution rate in such a way that the FOC rate PULL E LL N compatible with the Execution rate maximum FOC rate according to the microcontroller used STM32F4xx STM32F3xx STM32F103x HDIXL STM32F2xx STM32F103x LD MD Motor STM32F100x STM32FOxx Profiler Flux Sensor less FreeRTOS Max FOC9 3 Feed Forward Sensorless sro dd STO PLL Cordic F103 F2xx F103 23kHz F3xx 30kHz F2xx 40kKHz FAxx
31. t Include alignment before ramp up Duration Alignment electrical angle AE EIE IE oe 500 1 1500 Final current ramp value cited Rev up to FOC switch over Enable Consecutive succesful start up output tests Minimum start up output speed Estimated speed Band tolerance upper limit Estimated speed Band tolerance lower limit Ly life augmented Step 7 Set up motor parameters e ST MC Workbench Motor section contains Electrical motor parameters Motor sensor parameters n this hands on session we will configure the system for sensor less control using a motor with a surface mounted magnet e For a custom project the user can set all the parameters Step 7 Set up motor parameters If motor parameters are unknown or instrumentation to measure them are missing and if supported by the hardware it is possible to use the new Motor Profiler feature ESE dd Motor Control Library Generic Single Motor Dual Motors 41 MCU Supported Select Power and Control Boards STM32F dix F 5 Invert MCKt Power amp Control STM32F An Exam le Inverter O M Power amp l l l STM32F10 i Exampie Control RRB Evaluation board for STM32F303 microcontrollers UN i l STM32F Ox STM32303C EVAL I mr IS nmm Hardware supporting M the Motor Profiler Power amc Gard featunng the CI Use old Library M P e OE
32. t DC Shut Down 3 shunt single 5 and network sensing ou Motor current sensing single or three shunt 0 configuration 3 e Sl s MC connector compatible E e Two options for sensing on board op amps or the MCU s e DC bus voltage sensing to MCU TIN M 450 V Hall sensors 3 3 5 V encoder inputs 3 3 5 V to MCU DC Testing pins for all IPM signals Very compact size Ly life augmented STEVAL IPMnmx SLLIMM cards II dT TEL ELM is D N A VA i HA T IPM current capability p p F Full molded package B DBC package Example of codes icon STEVAL IPMOSF r7 Gen 2 Full Molded 5A STEVAL IPM20B SLLIMM Gen 2 DBC 20A life augmented Reference bundle STEVAL IHMO34V2 STEVAL IHMOS6V1 STEVAL IHMO38V1 STEVAL IHMO40V1 STEVAL IHMO42V1 STEVAL IHM043V1 Voltage 230 Vac Nominal 90 285 Vac 125 400 Vo 90 265 Vac 120 230 Vac nominal 60 50 Hz 7 to 42 Voc Hardware key features 1 3 Power Up to 1 ak W Up to 100 W Up to 40 W Up to 100 W Up to 10 W Up to 35 W Motor type control type PMSM Dual Motor FOC digital PFC PMSM BLDC FOC Six step PMSM FOC Single 3 shunt BLDC Six step motor control ST parts 1x STM32F103C8T6 1x STGIPS20C60 1x Viper16L 1x STM32F100C6 1x STGIPN3H60 1x Viper16 1x STM32100 1x STGIPN3H60 1x L6562A 1x STGIPN3H60 1x STM32F100C8T6 1x VIPer1
33. tage in single board isi sTEvAL IFNOO3 V1 2300 STEVALHMO34V2 STM32 Power stage controller board dere ies zien e Dual motor drive t digital PFC Debugger programmer s e EE Es 1 x 32bit Micro STM32FL03C8T6 a prog Isolation board D 1x 32bit Micro STM32F103C 1 xiGET SLLIMM STGIPS20C60 1 converter based on Viper16L xc E STEVAL IFNOOAVI Ca00W N STEVAL IHMO36VA BLDC Six Steps Motor Drive PMSM FOC Motor Drive Segger J Link 1x Motor Driver IC L62300 ix 32bit Micro ix Bbit Micro STMES 1x GB7T SLUMM STGIPN3H60 Iconverter based on Viperi6 Al JTAG OPTO 1 STEVAL IHMO42V1 STEVAL IHMO38V1 PMSM FOC Motor Drive FAN Driver PFC IrDA 2 x Motor Driver IC L6230PD N 1x 32bit Micro STM32F100 1x32bit Micro STM32F303CRT6 i i xiGBT SLUMM STGIPN3HEO K E f u ix DC DC converter ST1514PHR 1 PFC controller L6562A n It from isolated debug probe to motor irse High voltage drives Please vist System evaluation board or contact a local ST office var tn Complementing MC starter kits Main Power Stages for 3 Ph motors aa Control Complementing MC starter kits board Evaluation boards for 3 ph motors Full set of control board featuring all ST MCUS with MC Connector ep STEVAL IHMO25V1 STEVAL IHMO23V2 3 tran ves 1 x IGBT SLLIMMT STGIPLIAKEO 3x PWM smart driver L6390 1 converter based on Viper16 1 converter based on Viperi6 STM8 MC ibrary v1 0 STM32 PM
34. tion m my BA EI TIOL e ef o Status mm umm WEEN mu Basc Advanced Regaters Configuration gf Sensors mmt man Sl Oie PMSM STM32 MC PMSM FOC SDK v4 0 G life augmented Releasing your creativity EJ STM32 ST World e st com e2e Gr www st com stm32 augmented
35. tion e New Project IS Load Project Recent Projects Filename Version FOC SDK Type SDK41x STM32F302 X NUCLEO IHM07M1_1adc Amtech stmcx 4 1 0 4 1 0 PMSM SDK41x STM32303C EVAL MB459 Shinano SINGLE DRIVE stmcx 4 1 0 4 1 0 PMSM SDK41x STM32303C EVAL MB459 Shinano DUAL DRIVE stmcx 4 1 0 4 1 0 PMSM SDK41x STM32F030 X NUCLEO IHM07M1_1ADC motore drone stmcx 4 1 0 4 1 0 PMSM SDK41x STM32F302 X NUCLEO IHM07M1_1ADC motore drone stmcx 410 410 PMSM SDK40x STM324xG EVAL MB459 Ametek stmc 4 0 0 4 0 0 PMSM S adel X mdi D riim C liO Coie U mm RR NE RR NR NR RR KR NR NR KSI mm mmm idem Mulli Example Projects N Filename Version FOCSDK Type l SDK41x STEVAL IFN003V1 Shinano stmcx 4 1 0 4 1 0 PMSM SDK41x STEVAL IHM022V1 MB459 Shinano DUAL DRIVE stmcx 4 1 0 4 1 0 PMSM i SDK41x STEVAL IHMO22V 1 MB459 Shinano SINGLE DRIVE stmcx 41 0 41 0 PMSM i SDK41x STEVAL IHM034V2 PMSM SINGLE DRIVE stmcx 41 0 4 1 0 PMSM SDK41x STEVAL IHM039V1 MB459 Shinano DUAL DRIVE stmcx 41 0 41 0 PMSM SDK41x STEVAL IHM039V1 MB459 Shinano SINGLE DRIVE stmcx 4 1 0 4 1 0 PMSM P l SDK41x STEVAL IHM039V1 MB459 MotorProfiler SINGLE DRIVE stmcx 41 0 4 1 0 PMSM I SDK41x STEVAL IHMOSOV1 stmcx 41 0 41 0 PMSM SDK41x STEVAL IHM042V1 Shinano DUAL DRIVE stmcx 41 0 41 0 PMSM l SDK41x STM320518 EVAL MB459 Shinano stmcx 41 0 41 0 PMSM i SDK41x STM32100B EVAL IHM023V3 Shinano stmcx 41 0 4 1 0 PMSM SDK41x STM32100B EVAL MB459 Shinano stmcx 4 1 0 4 1 0 PMSM I SDK41x STM3210B EVAL MB459 S
36. unctioning normally life augmented oet up workbench project Step 6 Create a new WB project based Xi ST Motor Control Workbench File Tools Help Documentation IB New Project B Load Project onthe S IE 1 About u WEE o Eo Recent Projects Filename SDK41x STM32F302 X NUCLEO IHMOTM1 1adc Amtech stmcx SDK41x 5TM32303C EVAL MB458 Shinano SINGLE DRIVE stmcx SDK41x STM32303C EVAL MB458 Shinano DUAL DRIVE stmcx SDK41x STM32F030 X HUCLEO IHIMOTI 1 14DC motore drane stmcx SDE41x STM32F302 X NUCLEO IHMOTIM1 14 amp DC motore drane stmcx SDK40x STM324xG EVAL MB458 Ametek stmc SDK41x GAPDrive_Claudio Comau simex Example Projects Filename SDKA1x STEVAL IFNOO3V1 5Shinano stmcx 5SDK41x STEVAL I HM022V1 MB458 Shinano DU AL DRIVE stmcx SDK41x STEVAL HM022V1 MB458 Shinano SINGLE DRIVE stmcx SDKA1x STEVAL l HM034V2 PMSM SINGLE DRIVE stmcx HM038V1 MB458 Shinano DU AL DRIVE stmcx HM0389V1 MB458 Shinano SINGLE DRIVE stmcx HM038V1 MB458 MotorProfiler SINGLE DRIVE stmcx HM040V1 stmcx HM042V1 Shinano DUAL DRIVE stmcx SDK41x STM320518 EVAL MB459 Shinano stmex SDKA1x STEVAL I SDK41x STEVAL I SDK41x STEVAL I SDKA1x STEVAL I SDKA1x STEVAL I SDK41x STM32100B EVAL IHMO23V 3 Shinano stmcx SDK41x 5TM32100B EVAL MB458 Shinano stmcx SDK41x STM3210B EVAL MBA5S8 Shinano stmcx SDK41x STM3210B EVAL IHMO35V2 Shinano stmcx Ly life augmented Version 4 1 0 4 1 0 4 1 0
37. y life augmented Step 8 Set up motor parameters manually Stator resistance and inductance Using the multimeter measure the DC stator resistance phase to ohase Rs and divide it by two e Connect the DC voltage between two motor phases e Connect the oscilloscope voltage and current probes as shown in the figure e Increase the voltage up to the value where the current equals the nominal value rotor with align e Dont move the rotor anymore up Dc life augmented Step 8 Set up motor parameters manually otator resistance and inductance Disable the current protection of DC voltage source e Unplug one terminal of the voltage source cable without switching it off e Plug the voltage source rapidly and monitor on the scope the voltage and current waveform until you get something like the one shown in the figure e The measurement is good if the voltage can be assimilated to a step and the current increase such as l 1 e VUUR e Measure the time required to current waveform to rise up to 63 e This time is Ld Rs constant Multiply it by Rs and you ll get Ld value Demaqnetizina Current 21 E A E Au Step 8 Set up motor parameters manually Back EMF constant Ke e The Back EMF constant represents the proportionality constant between the mechanical motor speed and the amplitude of the B EMF induced into the motor phases e To measure Ke it usua
Download Pdf Manuals
Related Search