{ "version": 8, "details": { "steps": { "motor_0": { "label": "Maxon", "description": "EVLSERVO1 + MAXON", "polePairs": 7, "mmsType": "", "rs": 0.29, "ls": 0.279, "mmsLd_lq_ratio": "Number.NaN", "maxCurrent": 9.34, "maxDCVoltage": 24, "BEmfConstant": 1.943, "inertia": 0.832, "friction": "Number.NaN", "maxRatedSpeed": 3240, "hasHallSensor": true, "hallSensor": { "sensorsDisplacement": "Number.NaN", "placementElectricalAngle": "Number.NaN" }, "hasQuadratureEncoder": true, "quadratureEncoder": { "pulsesPerMechanicalRevolution": 4096, "hasIndexPin": true }, "nominalCurrent": "Number.NaN", "nominalDCVoltage": "Number.NaN" }, "powerSupply_0": { "nominalDcBusVoltage": 24, "nominalCurrent": 9.34, "maxCurrent_pk": "Number.NaN", "icl": { "enable": false, "polarity": "", "changeStateAfter": "Number.NaN", "capChargingDelay": "Number.NaN", "voltageThreshold": "Number.NaN" } }, "speedSensingSel_0": { "mainSensorParams": { "speedSensorMode": "encoder" } }, "driveManagement_0": { "currentReg": { "controlMode": "speed", "autoPI": true, "KpKi": { "P": "Number.NaN", "I": "Number.NaN" }, "cutOffFrequency": "Number.NaN", "useMTPA": false, "feedForward": false, "MTPATarget": "Number.NaN" }, "speedReg": { "executionRate": "Number.NaN", "targetSpeed": 2000, "commutationTime": "Number.NaN", "KpKi": { "P": { "num": "Number.NaN", "den": "Number.NaN" }, "I": { "num": "Number.NaN", "den": "Number.NaN" } }, "autoPI": true }, "torqueReg": { "target": 2.5, "KpKi": { "P": { "num": "Number.NaN", "den": "Number.NaN" }, "I": { "num": "Number.NaN", "den": "Number.NaN" } } }, "fluxReg": { "target": 0, "KpKi": { "P": { "num": "Number.NaN", "den": "Number.NaN" }, "I": { "num": "Number.NaN", "den": "Number.NaN" } } }, "fluxWeak": { "enabled": false, "voltageLimit": "Number.NaN", "KpKi": { "P": { "num": "Number.NaN", "den": "Number.NaN" }, "I": { "num": "Number.NaN", "den": "Number.NaN" } } }, "posReg": { "executionRate": "Number.NaN", "KpKiKd": { "P": { "num": 10000, "den": 1024 }, "D": { "num": 1000, "den": 16 }, "I": { "num": 1000, "den": 32768 } } }, "debugSettings": { "openLoop": { "enabled": false } }, "modulationFlags": { "overModulation": false, "discontinuousPWM": false } }, "applicationConfig": { "freeRTOS": { "enabled": false }, "dacDebug": { "enabled": true, "dacSignals": { "_tag": "dac", "signal_1": { "enabled": true }, "signal_2": { "enabled": false } } }, "lowMemoryFootprintReg": false, "motorProfiler": false, "dbgMcuLoadMeasure": false }, "speedSensing_0": { "mainSensorParams": { "speedSensorMode": "", "maxAllowedErrors": "Number.NaN", "sensorParams": { "_tag": "encoder", "speedFIFODepth": "Number.NaN", "inputFilterDuration": "Number.NaN", "reverseCountDirection": false, "encoderModeAbsolute": false, "startUpParam": { "duration": "Number.NaN", "electricalAlignAngle": "Number.NaN", "finalCurrent": "Number.NaN" } } }, "auxSensorParams": { "enableAuxSensing": false, "speedSensorMode": "", "maxAllowedErrors": "Number.NaN", "sensorParams": { "_tag": "cordic", "sensorlessSpeedFeedback": true, "varianceThreshold": "Number.NaN", "loopAverageSpeedFIFO": "Number.NaN", "observerAverageSpeedFIFO": "Number.NaN", "autoCalculate": true, "g1Observer": "Number.NaN", "g2Observer": "Number.NaN", "bemfTolerance": "Number.NaN", "bemfGain": "Number.NaN", "bemfQualityFactor": "Number.NaN", "maxApplicationAcc": "Number.NaN", "F1": "Number.NaN", "F2": "Number.NaN" } }, "startupParams": { "startupProfile": { "initialElectricalAngle": "Number.NaN", "pts": [ { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": "Number.NaN", "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": 500, "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": 1500, "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": 1600, "currVoltTarget": "Number.NaN" }, { "duration": "Number.NaN", "speedTarget": 2000, "currVoltTarget": "Number.NaN" } ], "sensorlessStartingPhase": "Number.NaN", "onTheFlyStartupEnabled": false }, "startupExitCond": { "startUpSpeedThresh": "Number.NaN", "consecutiveCorrectMeasures": "Number.NaN", "speedBandToleranceLowerLimit": "Number.NaN", "speedBandToleranceUpperLimit": "Number.NaN" }, "FOCSwitchOver": { "revupToFocSwitchOverEnabled": true, "focSwitchOverDuration": "Number.NaN" } } }, "userInterface": { "startStop": { "enabled": false }, "mcpv2": { "bufferSize": "Number.NaN", "stlink": { "enabled": false, "dataLog": { "enabled": false, "numberOfSignal": "Number.NaN", "bufferSize": "Number.NaN" } }, "usartA": { "enabled": true, "baudrate": 115200, "channel": "", "tx": "", "rx": "", "UsartIRQn": "", "dataLog": { "enabled": true, "numberOfSignal": "Number.NaN", "bufferSize": "Number.NaN" } }, "usartB": { "enabled": false } } }, "powerSwitches_0": { "setting": { "PWMFrequency": 12000, "chargeBootCapDuty": "Number.NaN", "chargeBootCapMs": "Number.NaN", "drivingTopology": "" } } } }, "description": "", "checkList": {}, "workBenchVersion": "6.4.0", "workBenchVersionFileCreation": "6.4.0", "algorithm": "FOC", "hardwares": { "type": "INVERTER", "motor": [ { "polePairs": 7, "id": "A2212-13T", "label": "A2212 13T", "hardwareFamily": "MOTOR", "description": "A2212 1000KV Brushless Outrunner Motor 13T", "compatibility": [ "FOC", "sixStep" ], "nominalCurrent": 10, "nominalDCVoltage": 11.045379638671875, "rs": 0.10000000149011612, "ls": 0.02, "magneticStructure": { "type": "SM-PMSM" }, "BEmfConstant": 0.8218573927879333, "inertia": 0.55, "friction": 0.49, "maxRatedSpeed": 9864 } ], "control": { "hardwareFamily": "CONTROL", "mcu": { "id": "STSPIN32G4" }, "clockSource": "internal_osc", "clockFrequency": 170, "connectors": [], "features": [ { "type": "Button", "name": "StartStopButton", "hwVariants": [ { "type": "PushButton", "signals": { "BUTTON_TRIGGER": [ { "name": "PC14-OSC32_IN", "help": {}, "cost": 0 } ] }, "buttonTriggerEdge": "Rising Edge", "buttonGpioConfig": "No Pull up - No Pull down", "help": { "en": "" }, "cost": 0 } ] }, { "name": "SerialPortCommunication", "type": "SerialPortCommunication", "hwVariants": [ { "type": "Uart2WiresCommunication", "signals": { "UART_TX": [ { "name": "PA9", "help": { "en": "" }, "cost": 0 } ], "UART_RX": [ { "name": "PA10", "help": { "en": "" }, "cost": 0 } ] }, "help": { "en": "" } } ] } ], "id": "EVLSERVO1", "label": "EVLSERVO1", "contentVersion": "1.0", "compatibility": [ "FOC", "sixStep" ], "descVersion": 4, "description": "STSPIN32G4 reference design for servo driving applications", "link": "https://www.st.com/en/evaluation-tools/evlservo1.html" }, "connections": [ { "motor": 0, "power": 0, "drive": 0, "ctrlConn": 0 } ], "constrains": { "motors": [ { "motor": "M1", "features": [ { "name": "CurrentSensing", "type": "CurrentSensing", "hwVariants": [ { "name": "ThreeShunt_AmplifiedCurrents", "swVariants": [ { "name": "DualADCs", "solutions": [ { "ip": [ "ADC1", "ADC2" ], "sharedSignal": "CURRENT_AMPL_V", "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC1_IN7", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC2_IN9", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC1_IN8", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC2_IN8", "help": "" } ], "cost": 0 } ] }, { "name": "DualADCsNoSharedPhase", "solutions": [ { "ip": [ "ADC1", "ADC2" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC1_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC1_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC2_IN9", "help": "" } ], "cost": 0 }, { "ip": [ "ADC1", "ADC2" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC1_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC2_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC1_IN9", "help": "" } ], "cost": 0 }, { "ip": [ "ADC1", "ADC2" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC1_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC2_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC2_IN9", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2", "ADC1" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC2_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC1_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC1_IN9", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2", "ADC1" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC2_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC1_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC2_IN9", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2", "ADC1" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC2_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC2_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC1_IN9", "help": "" } ], "cost": 0 } ] }, { "name": "SingleADC", "solutions": [ { "ip": [ "ADC1" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC1_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC1_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC1_IN9", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2" ], "signals": [ { "name": "CURRENT_AMPL_U", "pin": "PC1", "peripheral": "ADC2_IN7", "help": "" }, { "name": "CURRENT_AMPL_V", "pin": "PC2", "peripheral": "ADC2_IN8", "help": "" }, { "name": "CURRENT_AMPL_W", "pin": "PC3", "peripheral": "ADC2_IN9", "help": "" } ], "cost": 0 } ] } ] } ] }, { "name": "PhaseVoltageGeneration", "type": "PhaseVoltageGeneration", "hwVariants": [ { "name": "PoweringHighAndLowSides", "swVariants": [ { "name": "SingleTimer", "solutions": [ { "ip": [ "DRV1" ], "signals": [ { "name": "GD_CHU_H", "pin": "GHS1", "peripheral": "DRV1_CH1", "help": "" }, { "name": "GD_CHV_H", "pin": "GHS2", "peripheral": "DRV1_CH2", "help": "" }, { "name": "GD_CHW_H", "pin": "GHS3", "peripheral": "DRV1_CH3", "help": "" }, { "name": "GD_CHU_L", "pin": "GLS1", "peripheral": "DRV1_CH1N", "help": "" }, { "name": "GD_CHV_L", "pin": "GLS2", "peripheral": "DRV1_CH2N", "help": "" }, { "name": "GD_CHW_L", "pin": "GLS3", "peripheral": "DRV1_CH3N", "help": "" } ], "cost": 0 } ] } ] } ] }, { "name": "SpeedAndPositionSensing", "type": "SpeedAndPositionSensing", "hwVariants": [ { "name": "HallEffectSensor", "swVariants": [ { "name": "SingleTimer", "solutions": [ { "ip": [ "TIM4" ], "signals": [ { "name": "HALLSENSOR_H1", "pin": "PB6", "peripheral": "TIM4_CH1", "help": "" }, { "name": "HALLSENSOR_H2", "pin": "PB7", "peripheral": "TIM4_CH2", "help": "" }, { "name": "HALLSENSOR_H3", "pin": "PB8-BOOT0", "peripheral": "TIM4_CH3", "help": "" } ], "cost": 0 } ] } ] }, { "name": "QuadratureEncoderRelative", "swVariants": [ { "name": "SingleTimer", "solutions": [ { "ip": [ "TIM3" ], "signals": [ { "name": "QENC_A", "pin": "PB4", "peripheral": "TIM3_CH1", "help": { "en": [ "In case of high resolution encoders, replace R81 with 330 ohm resistor." ] } }, { "name": "QENC_B", "pin": "PB5", "peripheral": "TIM3_CH2", "help": { "en": [ "In case of high resolution encoders, replace R82 with 330 ohm resistor." ] } } ], "cost": 20 } ] } ] }, { "name": "QuadratureEncoderAbsolute", "swVariants": [ { "name": "SingleTimerAndGPIOs", "solutions": [ { "ip": [ "TIM3" ], "signals": [ { "name": "QENC_A", "pin": "PB4", "peripheral": "TIM3_CH1", "help": { "en": [ "In case of high resolution encoders, replace R81 with 330 ohm resistor." ] } }, { "name": "QENC_B", "pin": "PB5", "peripheral": "TIM3_CH2", "help": { "en": [ "In case of high resolution encoders, replace R82 with 330 ohm resistor." ] } } ], "cost": 20 } ], "independentWires": { "QENC_Z": [ { "ip": "GPIO", "pin": "PB3", "peripheral": "GPIO_Output", "help": { "en": [ "In case of high resolution encoders, replace R83 with 330 ohm resistor." ] }, "cost": 10 } ] } } ] } ] }, { "name": "VBusSensing", "type": "VBusSensing", "hwVariants": [ { "name": "VBusSensing", "swVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "ADC1" ], "signals": [ { "name": "VBUS", "pin": "PA1", "peripheral": "ADC1_IN2", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2" ], "signals": [ { "name": "VBUS", "pin": "PA1", "peripheral": "ADC2_IN2", "help": "" } ], "cost": 0 } ] } ] } ] }, { "name": "TemperatureSensing", "type": "TemperatureSensing", "hwVariants": [ { "name": "NTCThermistor", "swVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "ADC1" ], "signals": [ { "name": "TEMPERATURE_NTC", "pin": "PC0", "peripheral": "ADC1_IN6", "help": "" } ], "cost": 0 }, { "ip": [ "ADC2" ], "signals": [ { "name": "TEMPERATURE_NTC", "pin": "PC0", "peripheral": "ADC2_IN6", "help": "" } ], "cost": 0 } ] } ] } ] }, { "name": "OverCurrentProtection", "type": "OverCurrentProtection", "hwVariants": [ { "name": "SingleInput_RawCurrents_Protection_IntRef", "swVariants": [ { "name": "IndependentWires", "independentWires": { "CURRENT_INPUT_P": [ { "ip": "COMP3", "pin": "PA0", "peripheral": "COMP3_INP", "help": "", "cost": 0 } ] } } ] } ] }, { "name": "Brake", "type": "Brake", "hwVariants": [ { "name": "DissipativeBreak", "swVariants": [ { "name": "SingleWire", "solutions": [ { "ip": [ "GPIO" ], "signals": [ { "name": "RBRAKE_ENABLE", "pin": "PB10", "peripheral": "GPIO_Output", "help": "" } ], "cost": 0 } ] } ] } ] } ] } ], "features": [], "errors": [], "warnings": [], "info": [], "critical": [] }, "power": [ { "motorDrives": [ { "name": "M1", "maxRatedVoltage": 65, "minRatedVoltage": 10, "maxRatedCurrent": 59, "maxRatedPower": 2000, "resistorOffset": 0.08, "features": [ { "type": "CurrentSensing", "name": "CurrentSensing", "hwVariants": [ { "type": "ThreeShunt_AmplifiedCurrents", "signals": { "CURRENT_AMPL_U": [ { "name": "PC1", "help": { "en": "" }, "cost": 0 } ], "CURRENT_AMPL_V": [ { "name": "PC2", "help": { "en": "" }, "cost": 0 } ], "CURRENT_AMPL_W": [ { "name": "PC3", "help": { "en": "" }, "cost": 0 } ] }, "shuntResistor": 0.0005, "amplifyingNetworkImax": 45, "amplifyingNetworkVm": 3.3, "amplifyingNetworkPrating": 6, "opAmpGain": 20, "offsetNetworkAttenuation": 1, "polarizationOffset": 1.65, "help": { "en": "" } } ], "tRise": 1000 }, { "type": "PhaseVoltageGeneration", "name": "PhaseVoltageGeneration", "hwVariants": [ { "type": "PoweringHighAndLowSides", "signals": { "GD_CHU_H": [ { "name": "GHS1", "help": { "en": "" }, "cost": 0 } ], "GD_CHV_H": [ { "name": "GHS2", "help": { "en": "" }, "cost": 0 } ], "GD_CHW_H": [ { "name": "GHS3", "help": { "en": "" }, "cost": 0 } ], "GD_CHU_L": [ { "name": "GLS1", "help": { "en": "" }, "cost": 0 } ], "GD_CHV_L": [ { "name": "GLS2", "help": { "en": "" }, "cost": 0 } ], "GD_CHW_L": [ { "name": "GLS3", "help": { "en": "" }, "cost": 0 } ] }, "deadTime": 1000, "help": { "en": "" } } ], "driverName": "G4_COMPLEX_LP_DRIVER", "driverPN": "STSPIN32G4", "tNoise": 1000, "minDeadTime": 300, "maxSwitchingFreq": 20 }, { "type": "SpeedAndPositionSensing", "name": "SpeedAndPositionSensing", "hwVariants": [ { "type": "HallEffectSensor", "signals": { "HALLSENSOR_H1": [ { "name": "PB6", "help": { "en": "" }, "cost": 0 } ], "HALLSENSOR_H2": [ { "name": "PB7", "help": { "en": "" }, "cost": 0 } ], "HALLSENSOR_H3": [ { "name": "PB8-BOOT0", "help": { "en": "" }, "cost": 0 } ] }, "help": { "en": "The solder jumpers R84, R87 and R89 on the bottom side of the board, allow to select the sensors supply voltage (only one solder jumper must be mounted). Refer to the documentation of the board." } }, { "type": "QuadratureEncoderRelative", "signals": { "QENC_A": [ { "name": "PB4", "help": { "en": "In case of high resolution encoders, replace R81 with 330 ohm resistor." }, "cost": 10 } ], "QENC_B": [ { "name": "PB5", "help": { "en": "In case of high resolution encoders, replace R82 with 330 ohm resistor." }, "cost": 10 } ] }, "help": { "en": "In case of high resolution encoders replace R81, R82 and R83 with 330 ohm resistors.\nThe solder jumpers R84, R87 and R89 on the bottom side of the board, allow to select the sensors supply voltage (only one solder jumper must be mounted). Refer to the documentation of the board." }, "cost": 10 }, { "type": "QuadratureEncoderAbsolute", "signals": { "QENC_A": [ { "name": "PB4", "help": { "en": "In case of high resolution encoders, replace R81 with 330 ohm resistor." }, "cost": 10 } ], "QENC_B": [ { "name": "PB5", "help": { "en": "In case of high resolution encoders, replace R82 with 330 ohm resistor." }, "cost": 10 } ], "QENC_Z": [ { "name": "PB3", "help": { "en": "In case of high resolution encoders, replace R83 with 330 ohm resistor." }, "cost": 10 } ] }, "help": { "en": "The solder jumpers R84, R87 and R89 on the bottom side of the board, allow to select the sensors supply voltage (only one solder jumper must be mounted). Refer to the documentation of the board." }, "cost": 10 } ] }, { "type": "VBusSensing", "name": "VBusSensing", "hwVariants": [ { "type": "VBusSensing", "signals": { "VBUS": [ { "name": "PA1", "help": { "en": "" }, "cost": 0 } ] }, "busVoltageDivider": 25, "busVoltageDividerR1": 72.3, "busVoltageDividerR2": 3.01, "help": { "en": "" } } ], "busVoltageDivider": 25 }, { "type": "TemperatureSensing", "name": "TemperatureSensing", "hwVariants": [ { "type": "NTCThermistor", "signals": { "TEMPERATURE_NTC": [ { "name": "PC0", "help": { "en": "" }, "cost": 0 } ] }, "v0": 1050, "t0": 25, "gain": 25.1, "maxSensorTemperature": 86, "help": { "en": "" }, "cost": 0 } ] }, { "type": "OverCurrentProtection", "name": "OverCurrentProtection", "hwVariants": [ { "type": "SingleInput_RawCurrents_Protection_IntRef", "signals": { "CURRENT_INPUT_P": [ { "name": "PA0", "help": {}, "cost": 0 } ] }, "OCSignalPolarity": "Active high", "OCComparatorThreshold": 1.95, "OCNetworkOffset": 1.65, "OCNetworkGain": 0.00333, "cost": 0 } ] }, { "type": "Brake", "name": "Brake", "hwVariants": [ { "type": "DissipativeBreak", "signals": { "RBRAKE_ENABLE": [ { "name": "PB10", "help": {}, "cost": 0 } ] }, "rBrakeEnableSignalPolarity": "Active high" } ] } ] } ], "hardwareFamily": "POWER", "id": "EVLSERVO1", "compatibility": [ "FOC", "sixStep" ], "descVersion": 4, "description": "STSPIN32G4 reference design for servo driving applications", "contentVersion": "1.0", "label": "EVLSERVO1", "link": "https://www.st.com/en/evaluation-tools/evlservo1.html" } ], "inverter": { "descVersion": 4, "contentVersion": "1.0", "hardwareFamily": "INVERTER", "id": "EVLSERVO1", "label": "EVLSERVO1", "description": "STSPIN32G4 reference design for servo driving applications", "compatibility": [ "FOC", "sixStep" ] } } }