HBL2350 CL Speed mode and Firmware update

Hello, I\'m trying to operate two brushless motors in closed loop speed mode using their hall sensors for feedback. The control works fine in open loop mode, however I can\'t get the motors to turn in CL mode. The error stays at zero no matter what the commanded speed is.

I know fixes have been made to the firmware, and want to update to the latest version (10/19/11, I currently have 1/16/11). However when I restart the controller in DFU mode, the DFU loader program is unable to see it. It shows up as \'STM Device in DFU Mode\' in the device manager, but the pulldown menu in the DFU loader remains empty.

How can I fix this?

If the controller is seen in DFU in the device manager, then there is something wrong with the loader.

Try restarting. Run as administrator. If it keeps failing, you can use the DFU loader from another company at www.st.com/internet/com/SOFTWARE_RESOURC...T/SW_DEMO/um0412.zip

Thanks, I was able to use the STMicroelectronics DFU loader to update the firmware to the 10/19/11 version.

However, with the new firmware, the controller is not maintaining a stable USB connection. Whenever Roborun+ attempts to load the controller settings, the connection is lost halfway. This seems to be similar to other problems reported on this forum, is there a solution?

The USB connection can get lost from time to time but it is usually far more robust than what you report. Try using a shorter cable, or one with a feritte core for better noise immunity.

Note that the closed loop speed mode using hall sensor has been fine tuned lately and that a new beta firmware will shortly be available.

I have resolved the USB stability issue, and now the controller is communicating properly. However, even with the latest firmware (10/19/11), the closed loop speed control with hall sensor feedback is still not working.

Using the capture section of roborun+, I can verify that the hall sensor is correctly reporting RPM. However, no matter where I command the motor, the feedback and loop error remains at 0 and the motor does not move. It works fine in the open loop mode. The closed loop PID parameters are all set at their defaults (2-2-2).

Am I doing something wrong? Or is this an issue that will be addressed in the upcoming firmware update?

Any update on this? I am still unable to get the CL speed mode to work using the hall sensors for feedback.

Try the firmware attached.

You will need to install the latest version of the pc utility. Use the utility to configure the hall sensors as feedback.

When I installed the firmware above, it seems to have broken USB connectivity. The USB status light no longer lights when the cable is connected to the computer, and the controller doesn\'t show up in the device manager (either as a virtual com port or in DFU mode).

This is a rare occurence of firmware that works in developement environment and failed in the release version. Our appologies.

The attached loads OK here and USB is functional.

You have two options to install it.

1- Try forcing the controller in DFU mode
2- Use serial port

To force in DFU, use the yellow wire and ground it to turn off the controller.

Release for 3 seconds, then ground for 2s. Repeat 5 times. You should observe a different flashing pattern the last time: off with short on burst. You may find it easier to observe the flashing pattern and cycle power until you see the DFU pattern.

Serial port is a lot more straightforward but you need to make a cable bringing pins 2, 3 and 5 from the 25-pin connector to the same pin numbers on the 9-pin COM port connector.

Thanks for the new firmware. I was able to force the controller into DFU mode and apply the update.

After the update, the Hall-Sensor CL seems to work to a limited extent. I\'ve found two problems with it so far:

1) The Hall Speed reports incorrectly by a factor of 10; i.e. when the encoder reports 1900rpm, the hall speed is 190. Also, the Loop Error seems to be calculated incorrectly; for example when I command the rpm to \'400\' (taking the factor of 10 in to account), the feedback stabilizes the speed at a hall sensor reported \'170\' rpm, and the loop error is reporting +-10 rpm rather than the 230 that is correct.

2) The firmware seems to have broken my channel 1 motor output, the motor ratchets like one of the three phases is inactive in both closed and open loop mode. Channel 2 is fine and was used for the above testing.

I also have the \'config\' fault light continuously on in the roborun run tab, I can\'t figure out the cause, and doesn\'t go away even when I reset the controller to defaults.

I am not so concerned about the hall feedback anymore, due to the poor low speed resolution of hall sensors, I\'m having a tough time stabilizing the loop at low speeds. I\'m going to switch my feedback to the optical encoders. However, I do need both channels working, so could you take a look at the 3/15 firmware to see what is causing channel 1 to fail?

Thanks,
Matt