Project Files of 2204 Gimbal Motor Library for Proteus Simulation

2204 GIMBAL MOTOR LIBRARY FOR PROTEUS SIMULATION - V1.0 (a 12N14P brushless gimbal motor, with a pop-up)
Designed by The Engineering Projects
www.TheEngineeringProjects.com

IMPORTANT LINKS
Article (read it first - pictures, step by step, every feature explained):
  https://www.theengineeringprojects.com/2026/11/2204-gimbal-motor-library-for-proteus.html
Report a bug or suggest a feature (our forum):
  https://www.theengineeringprojects.com/forum/category/motor-driver-proteus-library
The demo runs on our Arduino UNO V4.0 (included) - working LEDs, RESET and a
built-in serial monitor, no Virtual Terminal to wire - its own article:
  https://www.theengineeringprojects.com/2026/10/arduino-uno-library-for-proteus-v40.html
The demo drives the motor through our SimpleFOC Mini Driver library (a SEPARATE library - install it too):
  https://www.theengineeringprojects.com/2026/11/simplefoc-mini-driver-library-for-proteus.html
Support us (the libraries are free):
  https://www.theengineeringprojects.com/donate

FILE STRUCTURE
2204-Gimbal-Motor-TEP-v1.0/
|-- Proteus Library Files/
|   |-- ArduinoV4TEP.LIB                              201.9 KB   TEP Arduino boards V4.0 (UNO) -> LIBRARY
|   |-- TEPGIMBAL2204.LIB                              11.4 KB   the library -> LIBRARY folder
|-- Proteus Model Files/
|   |-- TEPARDUINO.DLL                                883.5 KB   the Arduino board model -> MODELS folder
|   |-- TEPGIMBAL2204.DLL                             303.5 KB   the model -> MODELS folder
|-- Proteus Simulation/
|   |-- Gimbal_Demo.hex                                23.3 KB   the demo firmware
|   |-- GIMBAL2204-SFOCMINI-ArduinoUnoV4.pdsprj        20.0 KB   the demo project
|   |-- TEPARDUINO.DLL                                883.5 KB   copy of the board model
|   |-- TEPGIMBAL2204.DLL                             303.5 KB   copy of the model
|-- Arduino Code/
|   |-- Gimbal_Demo/Gimbal_Demo.ino                     5.8 KB   the demo sketch (source of the .hex)
|-- README.txt                                        ~14.9 KB   this file
Total: 2.59 MB (unzipped). The C++ source code of the models is not included.

WHAT IS IT?
The 2204 260KV brushless gimbal motor, the pancake motor of small camera gimbals and of
field-oriented control (FOC) projects, drawn
at true scale (top view: the black bell 27.8 mm across, the silver cap with its four screws, the 4
mm hollow shaft, the three phase leads;
our own drawing, no maker's mark):
  * An outrunner: 14 magnets on the turning bell, 12 coils on the fixed stator - 7 pole pairs, so
    the field turns 7 times for one turn of
    the shaft. Gimbal motors are wound with many turns of thin wire: they hold a position with a
    small current instead of spinning fast.
  * From the listings: a 22 x 4 mm stator, 260 RPM per volt, 12 - 24 V, 600 mA, 28 x 28 x 13 mm, 20
    g; 12N14P and the 4 mm hollow shaft
    as on other 2204 gimbal motors. No listing gives the resistance: we use 8 ohm line to line, the
    figure of a similar 2204 motor.
  * The model: three windings in star with a sinusoidal back-EMF, solved with the driver; the torque
    = 1.5 x the back-EMF constant x the
    current x the sine of the load angle - the angle by which the field leads the magnets; the shaft
    with its friction, load and inertia.
  * Measured: the speed, the shaft angle, the current vector (its size and electrical angle), the
    load angle (90 degrees = the most
    torque), pole slips, the torque, the power and the winding's temperature.
  * Click it at Run for the pop-up: the outrunner with its magnets and coils, the field against the
    rotor with the torque curve, a scope
    of the phase currents, graphs, an event log and a check page.
The body is drawn as on the real part and to true scale against our Arduino.
The TEP signature and the pop-up are TEP additions.

ONE DEVICE (search "GIMBAL2204" in Pick Devices):
  GIMBAL2204TEP  "2204 Gimbal Motor V1.0" in TEPGIMBAL2204.LIB (Electromechanical > Motors), prefix
  M, model TEPGIMBAL2204.DLL (analog).
                 Pins A, B, C (the three phase leads) on the left. The name starts with G so that it
                 sorts after the embedded ARDUINO UNO
                 V4.0.
The demo's driver is our SimpleFOC Mini (SIMPLEFOCMINITEP in TEPSFOCMINI.LIB / TEPSFOCMINI.DLL): a
separate library - install it from its
own package.

THE POP-UP
Click the part at Run. Tabs:
    Motor      the outrunner (the 14 magnets turning round the 12 coils, each coil lit by its
    current), the field against the rotor (the
               current vector and the magnets' axis in electrical degrees, the load angle between
               them, the torque curve with the
               working point), a scope of the three phase currents over 200 ms, and eight live
               values: speed, shaft angle, load angle,
               torque, current, field, power, pole slips and the winding. The chips on top put a
               load on the shaft: none, 5, 10, 25 mN.m.
    Graphs     the live values over the last 2, 6 or 15 s. Live / Freeze.
    Event log  every change and warning; filters All / Changes / Warnings, Pause, Clear
    Check      what the part is doing and what to look at, each with a verdict (green = fine, amber
    = check, red = wrong)
    Settings   theme, text size, open at Run, window size
    Help       report a bug, suggest a feature, article, updates, donate, forum; Copy diagnostics
    for a bug report

TEST STATUS
V1.0: verified in Proteus 8.5 on 8 Nov 2026 (the demo project as shipped: an A4 sheet, an Arduino UNO V4.0).
What the runs showed (the model's own numbers and the sketch's monitor):
  * The project loads and starts cleanly; the 11 s program runs in about three and a half minutes on
    our PC (with both pop-ups open).
  * Through our SimpleFOC Mini on 12 V (three 31.4 kHz PWMs, a 2 V voltage vector - open loop as
    SimpleFOC does it), LOAD 0.002 N.m,
    INERTIA 30 g.cm2: EN high - the magnets snap to the field and hold at 11.5 deg (load angle 9
    deg, 0.47 A, 2.3 mN.m).
  * 1 rev/s: 61 RPM, load angle 9 deg. 3 rev/s: 180 RPM, load angle 9 deg, 0.44 A, the field at 20.9
    Hz (seven times 3 turns a second),
    1.24 W in; the driver: 65 / 36 / 49 % duty, a 1.99 V vector, 0.113 A from the supply.
  * 10 mN.m (the pop-up's chip) at 3 rev/s: still in step at 179 RPM, the load angle up to 59 deg,
    10.8 mN.m of the 12.6 mN.m this current
    gives at 90 deg. 25 mN.m: more than the field gives - the rotor stalls, SLIPPING, 17 pole slips
    in the picture; no load: back in step.
  * Moves of +90, +90 and -180 deg at 2 rev/s: holding at 257.8, 348.0 and 168.1 deg (load angles
    about 1 deg). EN low: no current, free.
  * The pop-up: Motor (the outrunner, the field against the rotor with the torque curve, the phase
    currents), Graphs, Event log, Check - all
    four followed the run; the cap and its screws turned on the sheet.

INSTALLATION (about 2 minutes)
1. Close Proteus. Extract the WHOLE ZIP to a normal folder (e.g. Desktop).
2. Copy everything in "Proteus Library Files" (TEPGIMBAL2204.LIB and our Arduino library V4.0,
ArduinoV4TEP.LIB, with the ARDUINO UNO V4.0 used by the demo) to the LIBRARY folder of Proteus, for
example:
     C:\Program Files (x86)\Labcenter Electronics\Proteus 8 Professional\LIBRARY
   (use the folder that already holds Proteus's own .LIB files).
3. Copy TEPGIMBAL2204.DLL and TEPARDUINO.DLL from "Proteus Model Files" to the MODELS folder
(...\Proteus 8 Professional\MODELS).
4. Delete TEPGIMBAL2204.IDX from the LIBRARY folder if it is there (Proteus makes a new index).
5. Start Proteus. In Pick Devices (P) search "GIMBAL2204".

RUN THE DEMO
"Proteus Simulation\GIMBAL2204-SFOCMINI-ArduinoUnoV4.pdsprj" (an A4 sheet) - keep the .hex file and
the DLLs beside the project.
  ARD1:   Arduino UNO V4.0 running Gimbal_Demo.hex, its serial monitor built in (window "TEP Arduino
  UNO - ARD1").
  U1:     our SimpleFOC Mini on 12 V: IN1 IN2 IN3 = D9 D10 D11 (31 kHz PWM), EN = D8, nRT = D5, nSP
  = D6, nFT = D7.
  M1:     the 2204 gimbal motor: LOAD 0.002 N.m, INERTIA 30 g.cm2; A B C from M1 M2 M3.
  1. EN high: the magnets snap to the field and hold; open loop at 1 rev/s, then 3 rev/s (a 2 V
  voltage vector, as SimpleFOC sets it).
  2. Loads from the pop-up during the 3 rev/s run (10 mN.m, then 25 mN.m: pole slips, then none);
  three moves of 90 / 90 / -180 degrees;
     EN low: the motor turns free.
Closed the monitor? Click the UNO's USB port.

WIRING (the same in Proteus and on a real board)
  A B C to a three-phase driver with three PWM half-bridges (the SimpleFOC Mini: M1 M2 M3). Swap two
  phases to change the direction.
  For FOC, add an angle sensor on the shaft (a magnetic encoder over the hollow shaft) - the demo
  runs without one, in open loop.
REAL HARDWARE:
 * Limit the voltage, not the current: the windings set the current (Ohm's law), and a gimbal motor
   holding still carries it all the
   time - 2 V gives about 0.5 A here; stay under the 600 mA.
 * Open loop needs margin: past a load angle of 90 degrees the motor slips a pole pair; with an
   encoder (FOC) the driver keeps the field at
   90 degrees and gets the most torque from each ampere.
 * Mind the magnets and the hollow shaft: an encoder magnet sits on the shaft end; keep steel screws
   short.

THE DEMO SKETCH ON THE SERIAL MONITOR (Gimbal_Demo V1.0, 9600 baud)
The sketch runs its program, then waits. Type a command:
  v 2      turn at 2 rev/s        a 45     move 45 deg        e 0 / e 1    EN low / high
EXPECTED MONITOR OUTPUT
  TEP 2204 gimbal demo - open loop through the SimpleFOC Mini, 12 V
  0.50 s  EN high: hold at 0 deg
  1.50 s  turn at 1 rev/s

PROPERTIES (double-click the part > Edit Properties)
  Load (LOAD)                          the load on the shaft, N.m (0.002; the pop-up's chips change
  it at Run)
  Inertia (INERTIA)                    extra inertia on the shaft, g.cm2 (30; the rotor's own 12
  g.cm2 is always in)
Every run starts again from the properties.

LINKS.INI (OPTIONAL)
The Help page cards of the pop-up open web pages. To point them somewhere else without a new DLL,
put a text file named links.ini next to TEPGIMBAL2204.DLL with lines KEY=URL, for example:
  ARTICLE=https://www.theengineeringprojects.com/...
Keys: WEBSITE, FORUM, BUG_REPORT, FEATURE_REQUEST, ARTICLE, USER_GUIDE,
UPDATE_CHECK, DONATE. Only http:// and https:// links are used; lines starting
with # are comments.

TROUBLESHOOTING
* SLIPPING / pole slips: the load needs more torque than the current gives at a 90 degree load angle
  - raise the voltage vector, or
  lower the load or the acceleration.
* It buzzes and jitters at low speed: open loop with little damping - normal; FOC with an encoder
  smooths it.
* OVER 600 mA: the voltage vector is too large for the 8 ohm windings.
* The part is not simulated: TEPGIMBAL2204.DLL is missing from MODELS and from the project folder.
* The part is not simulated: TEPGIMBAL2204.DLL is missing from MODELS and from the project folder.
  No UNO / no monitor window: TEPARDUINO.DLL is missing, or click the UNO's USB port.

BUG REPORTS AND FEATURE REQUESTS
Please post them in our forum with a screenshot, the Serial Monitor text, the
simulation log and the pop-up's Copy diagnostics text:
  https://www.theengineeringprojects.com/forum/category/motor-driver-proteus-library

SUPPORT US
This library is free. If it saves you time, please support our work:
  https://www.theengineeringprojects.com/donate

WEBSITE
  https://www.theengineeringprojects.com/

LICENCES AND THIRD-PARTY NOTES
* The model (TEPGIMBAL2204.DLL), the symbols and artwork, the other parts of ours in the demo and
  the Arduino Library V4.0 (ArduinoV4TEP.LIB / TEPARDUINO.DLL, with its built-in TEP Serial Monitor
  Advance) are made by The Engineering Projects. The models use only standard Windows libraries; no
  Visual C++ redistributable is needed.
  The C++ source code is not included.
* Arduino UNO V4.0 (ArduinoV4TEP.LIB / TEPARDUINO.DLL, our Arduino Library V4.0 - its
  microcontroller is Proteus's own AVR model): The Engineering Projects,
  https://www.theengineeringprojects.com/2026/10/arduino-uno-library-for-proteus-v40.html
* The .hex file is built from the demo sketch and the Arduino AVR core 1.8.6, which includes
  LGPL-licensed code; its source code is available at
  https://github.com/arduino/ArduinoCore-avr/tree/1.8.6
* Proteus is a product of Labcenter Electronics and is not included. Arduino is a trademark of Arduino SA.
  This library is not made or endorsed by Arduino or Labcenter.

REBUILDING THE FIRMWARE (OPTIONAL)
The HEX file is supplied; Arduino IDE is not needed to run the demo. To edit the sketch, open
Arduino Code\Gimbal_Demo\Gimbal_Demo.ino, select Arduino Uno and use Sketch > Export Compiled
Binary. Replace the simulation's .hex with the exported HEX. The sketch needs 8,470 bytes of flash
and 441 bytes of RAM.

MODEL SCOPE AND LIMITS
Modelled: the three windings' resistance and sinusoidal back-EMF in star, the torque from the
current vector and the load angle, pole
slips, the shaft's friction, load and inertia, the winding's temperature (lumped: 12 K/W, 48 s - our
figures).
Not modelled: the windings' inductance, cogging, the magnets' temperature, an angle sensor (none is
fitted).

VERSION
TEP 2204 Gimbal Motor library V1.0 (Nov 2026). Device GIMBAL2204TEP (TEPGIMBAL2204.LIB /
TEPGIMBAL2204.DLL). Demo sketch Gimbal_Demo V1.0. Demo board: ARDUINO UNO V4.0 (TEP Arduino Library
V4.0) with its built-in serial monitor; driver: our SimpleFOC Mini library.