UM1949 User Manual Getting started with STM32 Nucleo Pack Introduction The NUCLEO Pack (P-NUCLEO-IHM001) is a motor control kit based on X-NUCLEOIHM07M1 and NUCLEO-F302R8. The power board with ST L6230 DMOS driver, belonging to STPIN family, provides a motor control solution for low voltage 3-phase DC brushless motor with the addition of STM32 NUCLEO-F302R8 board, connected through ST morpho connectors. This document describes the hardware environment to build the system and run an application based on the P-NUCLEO-IHM001 motor control kit. Figure 1. P-NUCLEO-IHM001 Pack September 2015 DocID028354 Rev 1 1/12 www.st.com 1 Contents UM1949 Contents 1 2 2/12 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.1 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.2 How to build and run the motor control Nucleo Pack . . . . . . . . . . . . . . . . . 6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 DocID028354 Rev 1 UM1949 List of tables List of tables Table 1. Table 2. Connectors description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 DocID028354 Rev 1 3/12 3 List of figures UM1949 List of figures Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. 4/12 P-NUCLEO-IHM001 Pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 X-NUCLEO-IHM07M1 and NUCLEO-F302R8 assembled . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Motor connection with X-NUCLEO-IHM07M1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 X-NUCLEO-IHM07M1 – top layer with silk-screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 X-NUCLEO-IHM07M1 connectors view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Power supply connection for X-NUCLEO-IHM07M1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 DocID028354 Rev 1 UM1949 Getting started 1 Getting started 1.1 System architecture A generic motor control system can be basically schematized as the arrangement of three main blocks (see Figure 2: System architecture): Control block: its main task is to accept user commands and configuration parameters to drive a motor. The P-NUCLEO-IHM001 is based on NUCLEO-F302R8 board that provides all digital signals to perform the proper motor driving control algorithm (for instance 6-step or FOC): – The original firmware demonstration, to reprogram the STM32 MCU of the PNUCLEO-IHM001, is available from ST web site www.st.com, in binary file format called P-NUCLEO-IHM001.bin. – FOC solution is based on the STM32 PMSM FOC SDK software development kit (SDK): STSW-STM32100. – 6-step solution is based on 6-step motor control library: X-CUBE-SPN7. Power block: the X-NUCLEO-IHM07M1 is based on 3-phase inverter topology. The core of the power block embedded on board, is the driver STSPIN L6230, which contains all the necessary active power and analog components, to perform a low voltage PMSM motor control. PMSM Motor: low voltage 3-phase brushless motor. Figure 2. System architecture An external power supply (from 8 V min to 12 V max, able to delivered 1 A min) is required to power the kit. DocID028354 Rev 1 5/12 11 Getting started 1.2 UM1949 How to build and run the motor control Nucleo Pack The P-NUCLEO-IHM001 is a complete hardware development platform (Power & Control block + Motor) for STM32 Nucleo ecosystem, to evaluate a motor control solution for single motor. For a regular board operating, follow the hardware configuration shown below: 1. The X-NUCLEO-IHM07M1 must be stacked on the NUCLEO-F302R8(a) board through the ST morpho connector. There is only one position allowed for this connection, in particular as shown in Figure 3 the two buttons on NUCLEO-F302R8 board (blue B1 and black B2) must be kept out. Figure 3. X-NUCLEO-IHM07M1 and NUCLEO-F302R8 assembled a. The interconnection between the X-NUCLEO-IHM07M1 and NUCLEO-F302R8 boards has been designed for a full-compatibility with a lot of control board and no modification of solder bridges is required. 6/12 DocID028354 Rev 1 UM1949 Getting started 2. Connect the three motor wires U,V,W at J2 connector as shown in the Figure 4: Motor connection with X-NUCLEO-IHM07M1: it is mandatory to connect the white or yellow wire to OUT1, the black one to OUT2 and the red one to OUT3, to respect clockwise and counterclockwise motor rotation, according to the firmware implementation. Figure 4. Motor connection with X-NUCLEO-IHM07M1 1. The three motor wires are identified by a colored line, marked on them. The line marked on OUT1 (refer to the white arrow in the above figure) can be white or yellow. 3. Select the jumper configuration on the power board to choose the desired control algorithm (6-step or FOC) as described below: a) On NUCLEO-F302R8 board, check jumper setting: JP1 open, JP5 (PWR) on E5V side, JP6 (IDD) closed. b) On X-NUCLEO-IHM07M1 expansion board: – Check jumper settings: J9(b) closed, JP3 closed – For 6-step control, set jumpers as: JP1 and JP2 open, J5&J6 on 1Sh side(b) – For FOC control, set jumpers as: JP1 and JP2 closed, J5&J6 on 3Sh side(b) For details refer to Figure 5: X-NUCLEO-IHM07M1 – top layer with silk-screen and Figure 6: X-NUCLEO-IHM07M1 connectors view. Note: FOC algorithm gives better performance than 6-step one. b. It is important that supply voltage is powered off before control mode changing. DocID028354 Rev 1 7/12 11 Getting started UM1949 Figure 5. X-NUCLEO-IHM07M1 – top layer with silk-screen Table 1. Connectors description 8/12 Part reference Description CN7 ST morpho connector CN6 Arduino UNO connector CN8 Arduino UNO connector U11 L6230 driver U10 TSV994IPT op. amp. J1 Power supply connector J9 Enable VIN supply voltage JP1, JP2 Jumpers for FOC DocID028354 Rev 1 UM1949 Getting started Table 1. Connectors description (continued) Part reference Description SPEED Potentiometer CN10 ST morpho connector CN5 Arduino UNO Connector CN9 Arduino UNO Connector J2 Motor connector J3 Hall/Encoder sensor connector J7 Debug connector JP3 External pull-up for sensors J5, J6 Current measure mode (1Sh/3Sh) D11 LED status indicator Figure 6. X-NUCLEO-IHM07M1 connectors view DocID028354 Rev 1 9/12 11 Getting started 4. UM1949 Connect DC supply voltage on J1(c) connector and power-on (up to 12 V DC for BR2804 motor included in the Pack, as shown in Figure 7: Power supply connection for X-NUCLEO-IHM07M1). Figure 7. Power supply connection for X-NUCLEO-IHM07M1 5. At power-on (or reset) led D11 on X-NUCLEO-IHM07M1 board starts to blink, according to the control algorithm choice: – 2 times for FOC mode control – 4 times for 6-step mode control After the confirmation of the control algorithm selected, the system is ready to start. 6. Push the blue button on NUCLEO-F302R8 board (B1) and the motor starts to spin. 7. Rotate the potentiometer on X-NUCLEO-IHM07M1 board to regulate the motor speed. For more details refer to UM1945 at www.st.com website. c. 10/12 For a different motor (>12V) it is mandatory to remove the jumper J9 on power board, before the power-on, to avoid to damage the NUCLEO-F302R8 board. To supply the STM32-NUCLEO from USB, the jumper JP5 must be connected between PIN 1 and PIN2. For further details on Nucleo settings refer to UM1724 available from ST web site www.st.com. DocID028354 Rev 1 UM1949 2 Revision history Revision history Table 2. Revision history Date Revision 22-Sep-2015 1 Changes Initial version DocID028354 Rev 1 11/12 11 UM1949 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 12/12 DocID028354 Rev 1