UM1857 User manual Stepper motor driver expansion board based on L6474 for STM32 Nucleo Introduction The X-NUCLEO-IHM01A1 is a stepper motor driving board based on the L6474. It provides an affordable and easy-to-use solution for driving stepper motors in your STM32 Nucleo project. The advanced current control of the L6474 and the complete set of protections guarantee high performance and robustness. The X-NUCLEO-IHM01A1 is compatible with the Arduino UNO R3 connector on the ST Morpho connector. More boards of the same type can be stacked easily to drive up to three stepper motors with a single STM32 Nucleo board. Figure 1: X-NUCLEO-IHM01A1 board March 2015 DocID027377 Rev 2 1/9 www.st.com Contents UM1857 Contents 1 Getting started ................................................................................ 3 2 Hardware description and configuration ...................................... 4 3 2/9 2.1 Selecting the chip select and clock lines of the SPI ......................... 6 2.2 Multi motor configuration .................................................................. 6 Revision history ............................................................................. 8 DocID027377 Rev 2 UM1857 1 Getting started Getting started The X-NUCLEO-IHM01A1 expansion board is a stepper motor driver covering a wide range of applications. The maximum ratings are: Power stage supply voltage (VS) from 8 V to 45 V Motor phase current up to 3 A rms To start your project with the board: 1. 2. Check the jumper position in accordance with your configuration (see Section 2: "Hardware description and configuration" ). Connect the board to the STM32 Nucleo board with the connector: a. Arduino UNO R3 for the X-NUCLEO-IHM01A1. b. ST Morpho for the X-NUCLEO-IHM01A. Up to three expansion boards can be stacked on the same STM32 Nucleo board, as described in Section 2.2: "Multi motor configuration". 1. 2. 3. Supply the board through input 1 (VS) and 2 (ground) of the connector CN1. The power OK (green) and fault (red) LEDs turn on. Develop your application using the examples provided with the firmware library. Further support material is available on the L6474 and STM32 Nucleo web pages (www.st.com/stm32nucleo). DocID027377 Rev 2 3/9 Hardware description and configuration 2 UM1857 Hardware description and configuration The Figure 2: "Jumpers and connectors position" shows the position of the connectors and the configuration jumpers of the board. Figure 2: Jumpers and connectors position The following tables provide the connector details for the Arduino UNO R3 and ST Morpho, respectively. Table 1: Arduino UNO R3 connector table Connector CN5 Pin(1) Signal 1 L6474 STBY\\RESET 2 PWM1 See Section 2.1: "Selecting the chip select and clock lines of the SPI" 3 SPI CS See Section 2.2: "Multi motor configuration" 4 SPI MOSI 5 SPI MISO See Section 2.1: "Selecting the chip select and clock lines of the SPI" 6 SPI SCK See Section 2.2: "Multi motor configuration" 7 Ground 3 L6474 FLAG output 4 PWM2\\SPI SCK 5 DIR2 6 DIR3 7 PWM3 CN9 4/9 Remarks See Section 2.2: "Multi motor configuration" and Section 2.1: "Selecting the chip select and clock lines of the SPI" See Section 2.2: "Multi motor configuration" DocID027377 Rev 2 UM1857 Hardware description and configuration Connector CN6 CN8 Pin(1) Signal 8 DIR1 2 VDD 6 Ground 7 Ground 3 SPI CS Remarks See Section 2.1: "Selecting the chip select and clock lines of the SPI" Notes: (1)All the non-listed pins are not connected. Table 2: ST Morpho connector table Connector CN10 CN7 Pin(1) Signal Remarks 9 Ground 11 SPI SCK 13 SPI MISO 15 SPI MOSI 17 SPI CS See Section 2.1: "Selecting the chip select and clock lines of the SPI" 19 PWM1 See Section 2.2: "Multi motor configuration" 21 L6474 STBY\\RESET 23 DIR1 25 PWM3 27 DIR3 29 DIR2 31 PWM2 33 L6474 FLAG output 12 VDD 20 Ground 22 Ground 32 SPI CS See Section 2.1: "Selecting the chip select and clock lines of the SPI" See Section 2.2: "Multi motor configuration" See Section 2.2: "Multi motor configuration" See Section 2.1: "Selecting the chip select and clock lines of the SPI" and Section 2.2: "Multi motor configuration" See Section 2.1: "Selecting the chip select and clock lines of the SPI" Notes: (1)All the non-listed pins are not connected. DocID027377 Rev 2 5/9 Hardware description and configuration 2.1 UM1857 Selecting the chip select and clock lines of the SPI The chip select and the clock lines of the SPI interface can be selected through dedicated resistors as indicated in Table 3: "Chip select line selection" and Table 4: "Chip select line selection". Table 3: Chip select line selection R15 R25 CS line Not mounted 0R CN5 pin 3, CN10 pin 17 (default) 0R Not mounted CN8 pin 3, CN7 pin 32 Table 4: Chip select line selection R23 R24 CS line 0R Not mounted CN5 pin 6, CN10 pin 9 (default) Not mounted 0R CN9 pin 4, CN10 pin 31 When the alternative clock line is selected (CN9 pin 4, CN10 pin 31) the PWM2 signal is no longer available for multi-motor configurations (see Section 2.2: "Multi motor configuration"). 2.2 Multi motor configuration The expansion boards can be stacked on a single STM32 Nucleo board in order to drive up to three stepper motors (one for each motor). The configuration can be changed by mounting the necessary resistors from R1 to R12 as listed in the Table 5. The other resistors are not mounted. By default, the stepper driver board is configured for a single motor setup, so board configurations for multi-motor setups must be changed before stacking the boards on the STM32 Nucleo. Table 5: Multi-motor setup table Number of motors Board STCK\\DIR Mounted resistors (0R) 1 - PWM1\\DIR1 R1, R4, R7, R12 1 (bottom) PWM1\\DIR1 R1, R4, R7, R10 2 (top) PWM2\\DIR2 R2, R5, R8, R12 1 (bottom) PWM1\\DIR1 R1, R4, R7, R10 2 PWM2\\DIR2 R2, R5, R8, R11 3 (top) PWM3\\DIR3 R3, R6, R9, R12 2 3 If the alternative SPI clock line is selected (see Section 2.1: "Selecting the chip select and clock lines of the SPI") the PWM2 step clock is no longer available and the multi-motor setup is limited to two motors maximum. The Table 6: "Multi-motor setup with alternative SPI clock line" shows the proper configuration in this case. 6/9 DocID027377 Rev 2 UM1857 Hardware description and configuration Table 6: Multi-motor setup with alternative SPI clock line Number of motors 2 Board STCK\\DIR Mounted resistors (0R) 1 (bottom) PWM1\\DIR1 R1, R4, R7, R10 2 (top) PWM3\\DIR2 R2, R6, R8, R12 DocID027377 Rev 2 7/9 Revision history 3 UM1857 Revision history Table 7: Document revision history 8/9 Date Revision Changes 16-Mar-2015 1 Initial release. 30-Mar-2015 2 Updated Section 1: "Getting started". DocID027377 Rev 2 UM1857 IMPORTANT NOTICE – PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement. Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of Purchasers’ products. No license, express or implied, to any intellectual property right is granted by ST herein. Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product. ST and the ST logo are trademarks of ST. All other product or service names are the property of their respective owners. Information in this document supersedes and replaces information previously supplied in any prior versions of this document. © 2015 STMicroelectronics – All rights reserved DocID027377 Rev 2 9/9