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X-NUCLEO-IHM02A1
Two axis stepper motor driver expansion board based on the
L6470 for STM32 Nucleo
Data brief
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
Description
Features
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Operating voltage: 8 V - 45 V DC
7 A peak ouotput current (3 A rms) for each
motor driver
Digital voltage supply is selectable (3.3 V or
5.0 V) by a 0 Ω resistor and is provided on
main board
3.3 V digital voltage supply may be provided
by:

the STM32 Nucleo board

the step-down monolithic power
switching regulator soldered on the
expansion board (through jumper
selection, it can also be used to supply
the STM32 Nucleo board
USART communication

enables receiving of commands from a
PC

enables sending information to a PC

Requires no dedicated cable; uses the
Type A to Type Mini-B USB cable
already used to supply the STM32
Nucleo board
SPI interface (may be connected in a daisy
chain configuration)
Equipped with Arduino UNO R3 connectors
Layout compatible with ST morpho
connectors
December 2015
Five LEDs:

2 green, to indicate that each L6470 is
powered

1 orange, to indicate that the digital
voltage is on

1 yellow, to indicate when any L6470 is
busy

1 red, to indicate when a fault condition
occurs (step loss, OCD, thermal prewarning or shutdown, UVLO, incorrect
command, non-performable command)
for any L6470
RoHS compliant
The X-NUCLEO-IHM02A1 is a two axis stepper
motor driver expansion board based on the
L6470. It provides an affordable and easy-to-use
solution for low voltage motor control driving for
stepper motors in your STM32 Nucleo project.
The expansion board includes two L6470s, a
fully-integrated micro stepping motor driver used
to control stepper motors by means of high-end
motion control commands received through SPI.
It is capable of driving one or two stepper motors
when plugged into an STM32 Nucleo board.
This board is equipped with Arduino UNO R3
connectors and the layout is also compatible with
ST morpho connectors. One or more of these
expansion boards can be plugged into an STM32
Nucleo board to control one or more stepper
motors.
Each SPI peripheral of each L6470 is connected
in a daisy chain configuration.
DocID028469 Rev 2
For further information contact your local STMicroelectronics sales
office
1/7
www.st.com
GSPG0810150925SG
2/7
L6470_0_nSTBY\nRST
(configuration for VS = 12 V)
DocID028469 Rev 2
L6470_0_SW
CON1
J3
1
100
R10
L6470_0_STCK
C31
10nF
6.3V
D5
BZX84J-C3V6
N.M.
R9
9.76k
N.M.
C29
3.3nF
6.3V
N.M.
C17
100nF
6.3V
16MHz
N.M.
Y2
SB1
C25
18pF
N.M.
560
R8
62k
N.M.
L6470_0_OSCOUT
VS
C24
1nF
6.3V
R7
39k
D4
GREEN_LED
R6
C26
18pF
N.M.
SB2
C18
10uF
6.3V
2
D6
BAV99
220nF
16V
C30
L6470_0_1B
L6470_0_VS
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
C32
10nF
50V
L6470_0_OSCOUT
L6470_0_GND
L6470_0_VS
L6470_0_GND
L6470_0_1A
1
U2
VS
L6470PD
PGND_1
OUT1A_2
OUT1A_3
VSA_4
VSA_5
nSTBY_nRST
SW
ADCIN
VREG
OSCIN
OSCOUT
AGND
CP
VBOOT
VSB_15
VSB_16
OUT1B_17
OUT1B_18
Driver_0
OUT2A_36
OUT2A_35
VSA_34
VSA_33
STCK
nFLAG
nCS
nBUSY_SYNC
DGND
SDI
CK
SDO
VDD
VSB_23
VSB_22
OUT2B_21
OUT2B_20
PGND_19
ExpPad
L6470_0_VDD
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
37
L6470_0_GND
L6470_0_GND
L6470_0_2B
L6470_0_VS
L6470_0_GND
L6470_0_VS
L6470_0_2A
C20
C21
C22
Stepper
Motor 2
L6470_0_SDI
L6470_0_SCK
L6470_0_SDO
3
4
1
2
4 terminals
ST2
C27
100nF
6.3V
+
C28
47uF
6.3V
C23
100uF
63V
L6470_0_1A
L6470_0_2A
L6470_0_2B
L6470_0_1B
+
100nF 100nF 100nF 100nF
50V
50V 50V 50V
C19
Pl ace cl osed
t he t wo si des
of t he L6470PD
L6470_0_STCK
L6470_0_nFLAG
L6470_0_nCS
L6470_0_nBUSY\SYNC
VS
Schematic diagram
X-NUCLEO-IHM02A1
Schematic diagram
Figure 1: X-NUCLEO-IHM02A1 circuit schematic (1 of 4)
3
GSPG0810150945SG
L6470_1_nSTBY\nRST
(configuration for VS = 12 V)
DocID028469 Rev 2
D2
BZX84J-C3V6
N.M.
R4
9.76k
N.M.
CON1
J4
1
100
R5
C10
18pF
N.M.
SB4
L6470_1_STCK
C15
10nF
6.3V
C9
18pF
N.M.
L6470_1_SW
C1
100nF
6.3V
16MHz
N.M.
Y1
SB3
R3
62k
N.M.
C13
3.3nF
6.3V
N.M.
C8
1nF
6.3V
L6470_1_OSCIN
VS
D1
GREEN_LED
R2
39k
560
R1
C2
10uF
6.3V
2
D3
BAV99
220nF
16V
C14
L6470_1_1B
L6470_1_VS
L6470_1_GND
L6470_1_OSCIN
L6470_1_VS
L6470_1_GND
L6470_1_1A
C16
10nF
50V
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
1
U1
VS
L6470PD
PGND_1
OUT1A_2
OUT1A_3
VSA_4
VSA_5
nSTBY_nRST
SW
ADCIN
VREG
OSCIN
OSCOUT
AGND
CP
VBOOT
VSB_15
VSB_16
OUT1B_17
OUT1B_18
Driver_0
OUT2A_36
OUT2A_35
VSA_34
VSA_33
STCK
nFLAG
nCS
nBUSY_SYNC
DGND
SDI
CK
SDO
VDD
VSB_23
VSB_22
OUT2B_21
OUT2B_20
PGND_19
ExpPad
L6470_1_VDD
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
19
37
L6470_1_GND
L6470_1_GND
L6470_1_2B
L6470_1_VS
L6470_1_GND
L6470_1_VS
L6470_1_2A
C4
C5
C6
L6470_1_SDI
L6470_1_SCK
L6470_1_SDO
3
4
1
2
4 terminals
ST1
C11
100nF
6.3V
+
C12
47uF
6.3V
C7
100uF
63V
L6470_1_1A
L6470_1_2A
L6470_1_2B
L6470_1_1B
+
100nF 100nF 100nF 100nF
50V
50V 50V 50V
C3
Place closed
the two sides
of the L6470PD
L6470_1_STCK
L6470_1_nFLAG
L6470_1_nCS
L6470_1_nBUSY\SYNC
Stepper
Motor 1
VS
X-NUCLEO-IHM02A1
Figure 2: X-NUCLEO-IHM02A1 circuit schematic (2 of 4)
Schematic diagram
3
3/7
4/7
VS
C36
4.7uF
100V
(8V÷45V)
ST1S14
EN2
VIN
BOOT
U3
ExpPad
GND
nEN1
DocID028469 Rev 2
ST1S14_nEN1
100nF
100V
C37
5
7
1
100nF
100V
C35
4
2
8
D10
STPS1L60
FB
PG
SW
R39
59k
C38
R38
R37
L1
5.1pF
50V
100k
47k
27uH
+
C39
47uF
6.3V
+3.3V_ST1S14
ST1S14_PGOOD
Schematic diagram
Figure 3: X-NUCLEO-IHM02A1 circuit schematic (3 of 4)
X-NUCLEO-IHM02A1
9
6
3
GSPG0810151030SG
CN7
CN7 of NUCLEO BOARD
ST morpho
DocID028469 Rev 2
CON4
1
2
3
4
J1
2-3:
- ST1S14 is inhibited
- VDD is provided by +3V3 of the main board
1-2 and 3-4
- Take care! Refer to the UM of the main board about external power supply
- ST1S14 is enabled
- VDD is provided by +3V3 of the ST1S14 of the expansion board
- The main board is supplied by ST1S14 of the expansion board
ST1S14_nEN1
+3.3V_ST1S14
D7
YELLOW_LED
R29
620
L6470_0_nFLAG
L6470_1_nFLAG
L6470_0_nBUSY\SYNC
D8
RED_LED
R30
620
PC1
PC0
100pF
6.3V
C33
R21
39k
CN9
Pass-Through:
Male on Bottom - Female on Top
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
CN10
100pF
6.3V
C34
R22
39k
100pF
6.3V
C41
DX side
PC9
PB8
PB9
AVDD
GND
PA5
PA6
PA7
PB6
PC7
PA9
PA8
PB10
PB4
PB5
PB3
PA10
PA2
PA3
100pF
6.3V
C40
D13/SCK
D12/MISO
D11/MOSI/PWM
D10/CS/PWM
D9/PWM
D8
D7
D6/PWM
D5/PWM
D4
D3/PWM
D2
D1/TX
D0/RX
D15/SCL
D14/SDA
Pass-Through:
Male on Bottom - Female on Top
10
9
8
7
6
5
4
3
2
1
8
7
6
5
4
3
2
1
ST morpho
D9
ORANGE_LED
0 N.M.
SB41
SB40
0
+3V3
CN5
CN8
L6470_1_nBUSY\SYNC
1
2
3
4
5
6
Arduino
CN8 of NUCLEO BOARD
+5V
A0
A1
A2
A3
A4
A5
1
2
3
4
5
6
7
8
CN6
Pass-Through:
Male on Bottom - Female on Top
Arduino
CN6 of NUCLEO BOARD
L6470_0_VDD
PA0
PA1
PA4
PB0
PC1
PC0
IOREF
RESET
+3V3
+5V
GND
GND
VIN
PC11
PD2
E5V
GND
Arduino
CN9 of NUCLEO BOARD
SX side
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
Arduino
CN5 of NUCLEO BOARD
R28
620
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
35
37
Pass-Through:
Male on Bottom - Female on Top
ST3
2
1
PC8
PC6
PC5
U5V
PD8
PA12
PA11
PB12
PB11/NC
GND
PB2
PB1
PB15
PB14
PB13
AGND
PC4
NC/PF5
NC/PF4
SB26 0
SB10
PB3
PB14
PA6
SB13
SB12
SB34 0
SB11
SB32 0
L6470_1_SDO
PA7
PB15
L6470_0_SW
PB13
SB9
2
4
6
8
CON8
1
3
5
7
J2
L6470_1_SW
L6470_0_SCK
L6470_1_SCK
L6470_0_SDO
L6470_0_SDI
L6470_1_SDI
L6470_0_nSTBY\nRST
PB4
L6470_0_nCS
L6470_1_nCS
D11
SMAJ48A
(8V÷45V)
PB5
ST1S14_PGOOD
L6470_1_OSCIN
L6470_1_nSTBY\nRST
SB6
SB5
PA5
SB8
SB7
SB23 0
VS
PB0
L6470_0_OSCOUT
PB6
PA10
PA4
2 terminals
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
36
38
Pass-Through:
Female on Bottom - Male on Top
CN10 of NUCLEO BOARD
L6470_1_VDD
PC10
PC12
VDD
BOOT0
NC/PF6
NC/PF7
PA13
PA14
PA15
GND
PB7
PC13
PC14
PC15
PH0/PF0/PD0
PH1/PF1/PD1
VLCD/VBAT
PC2
PC3
Pass-Through:
Female on Bottom - Male on Top
STM32 NUCLEO CONNEC
TORS
X-NUCLEO-IHM02A1
Figure 4: X-NUCLEO-IHM02A1 circuit schematic (4 of 4)
Schematic diagram
GSPG081015 1135SG
5/7
Revision history
X-NUCLEO-IHM02A1
Revision history
Table 1: Document revision history
6/7
Date
Version
Changes
19-Oct-2015
1
Initial release.
16-Dec-2015
2
Changed title description on cover page.
DocID028469 Rev 2
X-NUCLEO-IHM02A1
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DocID028469 Rev 2
7/7
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