UM3027

User manual

How to use STM32 motor control SDK v6.0 workbench

Introduction
The STM32 motor control software development kit (MC SDK) is part of the STMicroelectronics motor-control
ecosystem. It is referenced as X-CUBE-MCSDK or X-CUBE-MCSDK-FUL according to the software license
agreement applied. It includes:
• ST MC FOC firmware library for permanent magnet synchronous motor (PMSM) field-oriented control (FOC)
• ST MC 6-step firmware library
• ST motor profiler
• ST motor pilot
• ST MC workbench software tool, a graphical user interface (GUI) for the configuration of MC SDK firmware
library parameters
This user manual explains how to use the ST MC workbench software tool included within the MC SDK firmware
version 6.0.

UM3027 - Rev 1 - April 2022 www.st.com

For further information contact your local STMicroelectronics sales office.
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General information

1 General information

The ST MC workbench software tool is part of the MC SDK that is used for the development of motor control
applications running on STM32 32-bit microcontrollers, based on the Arm® Cortex®‑M processor.
The ST MC workbench provides the user with an easy and friendly way to configure his MC application software
matching his hardware setup.
When completed, the user can directly generate his project which is compatible with the STM32CubeMX usage
for a further MC application extension.
The ST MC workbench runs on a PC system using Windows® and requires a USB Type-A connector.
Note: Arm is a registered trademark of Arm Limited (or its subsidiaries) in the US and/or elsewhere.

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Related documents

2 Related documents

Documents available from Arm® infocenter website

• Cortex®-M0 Technical Reference Manual

• Cortex®-M3 Technical Reference Manual
• Cortex®-M4 Technical Reference Manual

Documents available from www.st.com or your STMicroelectronics sales office

• STM32F0xx datasheets
• STM32F3xx datasheets
• STM32F4xx datasheets
• STM32G4xx datasheets
• STM32G0xx datasheets
• STM32F7xx datasheets
• STM32H7xx datasheets
• STM32L4xx datasheets

Motor control reference documents

Table 1 presents the documentation that helps to get a deeper understanding of the STMicroelectronics motor
control solution.

Table 1. Reference documentation

Reference Document

Application note How to migrate motor control application software from SDK v4.3 to SDK
[AN5143]
v5.x
Application note Guidelines for control and customization of power boards with STM32 MC
[AN5166]
SDK v5.0
Application note Position control of a three-phase permanent magnet motor using X-CUBE-
[AN5464]
MCSDK or X-CUBE-MCSDK-FUL
[DB3548] Data brief STM32 MC SDK software expansion for STM32Cube

[UM2374](1) User manual Getting started with STM32 motor control SDK v5.x

[UM2380](1) User manual Getting started with STM32 motor control SDK v5.x

[UM2392] User manual STM32 motor control SDK v5.0.0 firmware

User manual MCSDK - 6-step firmware examples: insights of the firmware and how to
[UM2916]
customize it
[UM3016] User manual STM32 MC SDK motor profiler

[UM3026](1) User manual Getting started with STM32 motor control SDK v6.0

[UM3027](1) User manual Workbench tools for STM32 motor control SDK 6.0

[wiki] Refer to the motor control pages at the wiki.st.com/stm32mcu STMicroelectronics wiki site

1. UM3026 and UM3027 are respectively the evolutions of UM2374 and UM2380 for MC SDK 6.0.

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ST motor-control workbench

3 ST motor-control workbench

Launch the ST motor-control workbench software tool by clicking either its icon (Figure 1) or running directly from
the installation folder.

Figure 1. ST MC workbench – Icon

The ST MC workbench GUI presents the following home area (start-up page) where there are the following
sections:
1. The user buttons area (Area 1 in Figure 2) to start either a new project or load a previous one, as well as
launch the ST Motor Profiler or Motor Pilot software tools.
2. The recent projects area (Area 2 in Figure 2) to load a user's recent project.
3. The example projects area (Area 3 in Figure 2) to load a project example.

Figure 2. ST MC workbench – GUI (Home view)

3.1 Editing field behavior

One of the common developing paths in the ST MC workbench is the editing and combo field behavior. Each edit
or combo field has the following format and behavior:

Figure 3. ST MC workbench – Editing field

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New project wizard

Label area
In this area, the field name is shown with optionally a number notification bullet that shows specific notes on the
field. The bullet must be info (Blue), warning (Orange), or error (Red), and the specific messages pop up on the
bullet mouse over.

Editing area
In this area, the user can set its value. The field (Edit or combo) assumes different styles depending on its editing
state:
• Field with default value: No value specified by the user (Value in light grey). The default value can be
changed silently by the application itself.

Edit fields Combo fields

• Field with default value in editing mode (Value in light grey): The user can edit its value. The user can
transform the default value into an explicit user value by clicking the upper-right small icon ( ).

Edit fields

• Field with explicit user value (Value in black): The explicit user value cannot be recalculated by the
application. The user can reset the field to its default value by pressing the upper-right small icon ( ).

Edit fields Combo fields

• Field with error on value (Value in red): The user must review the field or reset the field to its default pressing
the upper-right small icon.

Edit fields Combo fields

Unit and legend area

This area is optional: It indicates the unit or the legend of the field, meaning the valid range.

3.2 New project wizard

When clicking the New Project button (Figure 2. ST MC workbench – GUI (Home view)), a window pops up that
helps the user to define step‑by‑step the project configuration ().

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New project wizard

3.2.1 General Info

In the General Info step the user can set the following info:
• Project Name & Description
– Insert a Project name (Optional field), if specified it is used as the default file name in save as….
– Insert a Description (Optional field).
• Select Motor Control Algorithm & Hardware
– Selects Num. Motors usage.
– Selects Algorithm type, such as FOC or 6-step.
– Selects the ST Hardware type boards:
◦ Custom if the system is composed of a control evaluation board together with a power evaluation
board.
◦ Kit if the ST board is an ST MC kit, meaning P-NUCLEO-IHM003.
◦ Inverter if the ST board is a complete inverter board (Single board with both power and control
electronics).

Figure 4. ST MC workbench – New project window

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New project wizard

3.2.2 Motors
In the Motors step, the user selects the motor to use in the project. The user can select a Generic Motor or a
Profiled Motor. The Profiled Motors are identified by an icon (Refer to the example in Figure 5). This step
is not available in case the user selects as Hardware an ST MC kit (Refer to the example in Figure 9. ST MC
workbench – New project window – Kit). The list provides a set of motors delivered with the application as well as
the user motors.

Figure 5. ST MC workbench – New project window – Motors

3.2.3 Power board

In the Power step, a list of available power boards is shown. The power boards are sorted by compatibility with
the previously selected motor supply. A yellow warning triangle is shown if the board output power supply is not
properly compatible with the motor.

Figure 6. ST MC workbench – New project window – Power

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New project wizard

3.2.4 Control board

In the Control step, a list of supported control boards is proposed. The list is sorted by compatibility with the
selected power. An extra Bridge step is shown if the connectors for power and control are not compatible and
require an adapter board.

Figure 7. ST MC workbench – New project window – Control

3.2.5 Bridge
In the Bridge step, a list of available adapters is shown to be selected. The bridge selection allows the usage of
boards (power and control) that are not directly connectable because they have different connectors, such as ST
morpho or motor‑control connectors.

Figure 8. ST MC workbench – New project window – Bridge

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New project wizard

3.2.6 Kit
The Kit step allows the selection of available supported kits. A kit is composed of a control board, a power board,
and a motor.

Figure 9. ST MC workbench – New project window – Kit

3.2.7 Inverter
The Inverter step allows the selection of available inverters. The inverter is a complete board, meaning a single
board with both power and control parts.

Figure 10. ST MC workbench – New project window – Inverter

3.2.8 Creating the project

At the end of the new project wizard, the user can click on the OK button to create the project. All hardware must
be explicitly selected by the user and depends on the hardware type field.

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Loading an existing project

A post‑selection procedure is executed to check if the configuration allows the creation of the project. If the user
selection is not valid a dialog pops up to inform the user that the choices do not allow the project creation and ask
to refine them (Figure 11).

Figure 11. ST MC workbench – New project creation error

Otherwise, the user selection is valid, a motorcontrol project is created, and the project view (Figure 12) is shown
with all the information that depends on the selected boards and motor.

Figure 12. ST MC workbench – Project view

3.3 Loading an existing project

When clicking the Load Project button (Figure 2. ST MC workbench – GUI (Home view)), a system dialog window
appears and the user can select the project file (.stwb6) to load. The loaded project appears in the Project view
(Figure 12) where the user can refine it.

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Project view

3.4 Project view

The project view is composed by:
• The toolbar area
• The hardware area info
• The Project Steps area to select the hardware part to parametrize:
– The motor,
– The power supply,
– The PWM generation,
– And other parameters.
• The hardware configuration details area. This is used to fine‑tune the selected hardware functionality and
view all the main info and protection at a first glance.

Figure 13. ST MC workbench – Project view (Global view)

3.4.1 Toolbar area

The toolbar area is useful to control application navigation, project saving, and generation.

3.4.1.1 Home

Clicking provides the user with an easy way to close the current project and come back to the home
view (Figure 2. ST MC workbench – GUI (Home view)). When not already saved, a confirmation window pops up
(Figure 14) asking the user to save the current project or not, as well as to cancel the action, then go back to the
hardware configuration window (Figure 13).

Figure 14. ST MC workbench – Close project confirmation window

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Project view

3.4.1.2 Save

Click to open the Save menu.

Figure 15. ST MC workbench – Save menu

• Save: Saves the user's current project. When not already saved, a file manager window pops up to save the
user's current project as a new one (Figure 16).
• Save as…: Saves the user project as a new file. A file manager window pops up to save the user project as
a new one (Figure 16).

Figure 16. ST MC workbench – Project save as window

3.4.1.3 Generate the project

Clicking generates the user application project files. If the project file is not already saved,
an information window pops up to indicate that this project needs to be saved before to generate. Use the Save &
Generate button to save and generate.

Figure 17. ST MC workbench – Save and generate

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Project view

A window pops up (Figure 18) to allow the user to select the target toolchain, firmware package version, drive
type, and generate the motor‑control firmware application throw the selected STM32CubeMX.

Figure 18. ST MC workbench – Project generation

3.4.1.4 Motor Pilot

Clicking the Motor Pilot toolbar button launches the motor pilot application.

3.4.1.5 About
Clicking the About menu opens a window showing some application information and useful links.

Figure 19. ST MC workbench – About

3.4.2 Hardware information area

Hardware information for the current project is presented in this area.

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Project view

3.4.2.1 MCU pin usage and conflicts

Moving over MCU a window pop-up is shown (Figure 20):

Figure 20. ST MC workbench – MCU

• Product Folder: Clicking it opens the product folder page for the MCU selected.
• Pin usage & Conflicts: To control the pin assignment of the MCU and receive feedback about the pin
conflicts (Figure 21).

Figure 21. ST MC workbench – Pin usage & Conflicts

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Project view

3.4.2.2 Control Board

Moving over Control Board a window pops up to give general information about the control board selected
and it shows:
• Data Brief folder: Clicking it opens the relative data brief.
• Product Folder: Clicking it opens the relative product folder page.

Figure 22. ST MC workbench – Control board

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Project wizard

3.4.2.3 Power board

Moving over Power Board, a window pops up, gives general information about the selected power board,
and shows:
• Data Brief folder: Clicking it opens the relative data brief page.
• Product Folder: Clicking it opens the relative product folder page.

Figure 23. ST MC workbench – Power board

3.4.3 Project steps and hardware configuration details

All the hardware configurations alternatives depend on the hardware selected and are accessible from the wizard
steps. The wizard steps are available from the left application pane (Project Steps area) as well as from the
hardware configuration details area (main project view) by clicking the boxes. The information shown in the
schematic is aligned with the wizard steps choices.

3.5 Project wizard

The project wizard is accessible from the left pane items or the relative main schematic view. Clicking one of
these items displays the full wizard pops up and the relative step. The wizard is customized depending on the
selected algorithm and in any case all the steps are available, and the user can move over all of them. The project
wizard is the smart way to customize and configure the motor-control application for the hardware selected. Each
wizard step contains several checks and info that help the user to make the right configurations. In case of errors,
the wizard does not allow the project update and asks the user to fix the errors before applying the changes. In
any case, if there are errors, the firmware project generation is not allowed.
The step sequence on the wizard has a special meaning: the values of a field on a step can depend only on fields
on previous steps (and not for the forward steps). The field sequence dependency is also followed inside each
step: it is from top to bottom and from left to right.

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Project wizard

3.5.1 Product Info

This is a common step where the user can set the project description, to better identify the project, specifying
project characteristics and extra‑user information. The project description is also visible as a small pop-up icon in
the recent project list (Area 2 in Figure 2. ST MC workbench – GUI (Home view)).

Figure 24. ST MC workbench – Project Info

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Project wizard

3.5.2 User Interface

This is a common step where the user can configure the Start and Stop button and the Motor Control Protocol
(MCP), if these features are available for the selected hardware.

Figure 25. ST MC workbench – User interface

The user can change only the configurations that are available for the specific selected hardware. In the case
shown in Figure 25, the Start/Stop is available only on the PC13 pin. If the hardware selected allows more
possibilities a combo is available to allow the user to select the right pin to use. The Start/Stop feature can be
disabled if the user does not want to use it.

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Project wizard

3.5.3 Motor
This step is relative to the motor parameters. The default values are loaded from the selected motor during the
creation of the project (Figure 5. ST MC workbench – New project window – Motors). The user can modify each
motor parameter (Figure 26) and activate and configure the Hall sensor or quadrature encoder for the used motor
(Figure 27).

Figure 26. ST MC workbench – Motor

Figure 27. ST MC workbench – Motor – Hall effect – Quadrature encoder

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Project wizard

3.5.4 Power Supply

In this step, the Max. application Current and the Bus Voltage levels that are used by the application can be set.
The values in this step must be the ones provided by the power supply and must be compatible with the power
board and motor.

Figure 28. ST MC workbench – Power supply

3.5.5 PWM Generation

In this step, the user can select the PWM driving topology available for the selected hardware, PWM frequency,
modulation flags, and the MCU pin configuration for the topology used. For different driving topologies, different
configurations are available.

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Project wizard

3.5.5.1 High and low side topology

Figure 29 shows the step for high and low side driving topology.

Figure 29. ST MC workbench - PWM Generation - High and low side

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Project wizard

3.5.5.2 High side and three‑enable topology

Figure 30 shows the step for the high side and three‑enables driving topology.

Figure 30. ST MC workbench – PWM generation – High side and three enables

3.5.6 Current Sensing

In this step, the user can select the available current reading topology and amplification (Figure 31). Depending
on topology, amplification, and gain, the user is prompted with the relative fields to set and MCU Pin for that
configuration, a schema shows the configuration graphically selected. The information on the step depends also
on the selected algorithm (FOC or 6-step).

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Project wizard

3.5.6.1 FOC 3-shunt external amplification

In this Current Sensing topology, the user can set the regulator execution time, T-Rise, and T-Noise. The current
amplification in this case is done on the power board. Figure 31 shows the configuration.

Figure 31. ST MC workbench – Current sensing – FOC 3-shunt external amplification

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Project wizard

3.5.6.2 FOC 3-shunt internal amplification - Internal Gain

In this Current Sensing topology, the user can set the regulator execution time, the internal PGA gain factor, the
T-Rise and T-Noise. In this case, the current amplification is done using an internal MCU operational amplifier.
Figure 32 shows the configuration.

Figure 32. ST MC workbench – Current sensing – FOC 3-shunt internal amplification – Internal gain

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Project wizard

3.5.6.3 FOC 3-shunt internal amplification - External gain

In this current-sensing topology, the user can set the regulator execution time, and the T-Rise and T-Noise. In this
case, the current amplification is done using an internal MCU operational amplifier. The gain depends on the gain
net in the control board. Figure 33 shows the configuration.

Figure 33. ST MC workbench – Current sensing – FOC 3-shunt internal amplification – External gain

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Project wizard

3.5.6.4 6-step current mode

This is only available for the 6-step algorithm and the user can enable or disable the current mode. The current
mode can be enabled only if the feature is available for the selected hardware (Figure 34). By default, the current
mode is disabled (Figure 35).

Figure 34. ST MC workbench – 6-step – Current mode

Figure 35. ST MC workbench – 6-step – Current mode disabled

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Project wizard

3.5.6.5 Over-current protection

From the Current Sensing step, the user can enable and configure also the over-current protection (OCP) shown
in Figure 36 the settings depend on the available OCP mode for the selected hardware. A generic schema will
show the hardware connections between signals and the MCU.

Figure 36. ST MC workbench – Current sensing – Over-current protection

3.5.7 Bus voltage sensing

In the Bus Voltage Sensing step, the user can configure the sensing of bus voltage if available for the hardware
specified, and the relative Over Voltage and/or Under Voltage protection.

Figure 37. ST MC workbench – Bus voltage sensing

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Project wizard

3.5.8 Temperature sensing

In the Temperature Sensing step, the user can configure the sensing of temperature if available for the specified
hardware and the relative Over Temperature protection.

Figure 38. ST MC workbench – Temperature sensing

3.5.9 Speed‑sensing
In the Speed-Sensing step, the user can select the speed sensing to use. There are different speed sensing
modes that are available for both main and auxiliary sensors. The auxiliary sensor is optional and disabled by
default. The speed sensing modes depend on the selected algorithm (FOC or 6-step).

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Project wizard

3.5.9.1 FOC observer with PLL (Sensorless)

This speed sensing mode is the default for the main sensor and is always available.

Figure 39. ST MC workbench – Speed‑sensing – Observer PLL

3.5.9.2 FOC observer with Cordic (Sensorless)

This speed sensing mode is always available.

Figure 40. ST MC workbench – Speed-sensing – Observer Cordic

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Project wizard

3.5.9.3 FOC quadrature encoder

This speed‑sensor mode depends on hardware availability and motor capability. The motor must have the sensor
enabled and the feature must be supported by the hardware.

Figure 41. ST MC workbench – Speed‑sensing – Quadrature encoder

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Project wizard

3.5.9.4 Hall sensor

This speed sensor mode depends on hardware availability and motor capability. The sensor must be enabled for
the motor and the hardware must support the feature. This speed sensor mode can be used in FOC and 6-step
algorithms.

Figure 42. ST MC workbench – Speed‑sensing – Hall sensor

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Project wizard

3.5.9.5 FOC sensor-less start-up parameters

The settings of the sensor-less start-up parameters are available only if the main sensor selected is sensorless
(Observer with PLL or observer with Cordic).

Figure 43. ST MC workbench – Speed‑sensing – Sensor-less start-up parameters

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Project wizard

3.5.9.6 6-step sensor-less ADC

Sensor‑less ADC is a specific speed‑sensing mode for the 6-step algorithm.

Figure 44. ST MC workbench – 6-step sensor‑less ADC

3.5.9.7 6-step sensorless start-up parameters

The 6-step algorithm has specific Sensorless Start-up parameters settings, available if the selected
speed‑sensing mode is sensor‑less-ADC.

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Project wizard

Figure 45. ST MC workbench – 6-step – Sensor‑less – Start-up parameters

3.5.10 Drive settings

In the Drive Settings step, the user can configure the current regulator as one of the following three control
modes.

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Project wizard

3.5.10.1 Speed control

This Drive Settings mode is always available.

Figure 46. ST MC workbench – Drive settings – Speed control

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Project wizard

3.5.10.2 Torque control

This Drive Settings mode is always available.

Figure 47. ST MC workbench – Drive Settings – Torque control

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Project wizard

3.5.10.3 Position control

This Drive Settings mode is available only if the quadrature encoder is selected as the main speed‑sensing
sensor.

Figure 48. ST MC workbench – Drive settings – Position control

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Revision history
Table 2. Document revision history

Date Revision Changes

27-Apr-2022 1 Initial release.

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Contents

Contents
1 General information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
2 Related documents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
3 ST motor-control workbench. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.1 Editing field behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
3.2 New project wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3.2.1 General Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.2.2 Motors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2.3 Power board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2.4 Control board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2.5 Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2.6 Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2.7 Inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2.8 Creating the project. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.3 Loading an existing project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.4 Project view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.4.1 Toolbar area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.4.2 Hardware information area . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4.3 Project steps and hardware configuration details . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5 Project wizard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5.1 Product Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.5.2 User Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.5.3 Motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.5.4 Power Supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.5.5 PWM Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.5.6 Current Sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
3.5.7 Bus voltage sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
3.5.8 Temperature sensing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.5.9 Speed‑sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
3.5.10 Drive settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .38
List of tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .40
List of figures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41

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List of tables

List of tables
Table 1. Reference documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Table 2. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

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 UM3027
List of figures

List of figures
Figure 1. ST MC workbench – Icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Figure 2. ST MC workbench – GUI (Home view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Figure 3. ST MC workbench – Editing field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Figure 4. ST MC workbench – New project window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 5. ST MC workbench – New project window – Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 6. ST MC workbench – New project window – Power . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 7. ST MC workbench – New project window – Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 8. ST MC workbench – New project window – Bridge . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 9. ST MC workbench – New project window – Kit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 10. ST MC workbench – New project window – Inverter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 11. ST MC workbench – New project creation error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 12. ST MC workbench – Project view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 13. ST MC workbench – Project view (Global view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 14. ST MC workbench – Close project confirmation window. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Figure 15. ST MC workbench – Save menu. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 16. ST MC workbench – Project save as window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 17. ST MC workbench – Save and generate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 18. ST MC workbench – Project generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 19. ST MC workbench – About. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 20. ST MC workbench – MCU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 21. ST MC workbench – Pin usage & Conflicts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 22. ST MC workbench – Control board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 23. ST MC workbench – Power board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 24. ST MC workbench – Project Info. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 25. ST MC workbench – User interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 26. ST MC workbench – Motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 27. ST MC workbench – Motor – Hall effect – Quadrature encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 28. ST MC workbench – Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 29. ST MC workbench - PWM Generation - High and low side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 30. ST MC workbench – PWM generation – High side and three enables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 31. ST MC workbench – Current sensing – FOC 3-shunt external amplification . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 32. ST MC workbench – Current sensing – FOC 3-shunt internal amplification – Internal gain . . . . . . . . . . . . . . . 24
Figure 33. ST MC workbench – Current sensing – FOC 3-shunt internal amplification – External gain . . . . . . . . . . . . . . . 25
Figure 34. ST MC workbench – 6-step – Current mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Figure 35. ST MC workbench – 6-step – Current mode disabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Figure 36. ST MC workbench – Current sensing – Over-current protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 37. ST MC workbench – Bus voltage sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 38. ST MC workbench – Temperature sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 39. ST MC workbench – Speed‑sensing – Observer PLL. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 40. ST MC workbench – Speed-sensing – Observer Cordic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 41. ST MC workbench – Speed‑sensing – Quadrature encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 42. ST MC workbench – Speed‑sensing – Hall sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 43. ST MC workbench – Speed‑sensing – Sensor-less start-up parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 44. ST MC workbench – 6-step sensor‑less ADC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 45. ST MC workbench – 6-step – Sensor‑less – Start-up parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 46. ST MC workbench – Drive settings – Speed control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 47. ST MC workbench – Drive Settings – Torque control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 48. ST MC workbench – Drive settings – Position control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

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