UM1970 User Manual Getting started with the X-NUCLEO-IHM09M1 motor control connector expansion board for STM32 Nucleo Introduction The X-NUCLEO-IHM09M1 is a motor control connector expansion board for STM32 Nucleo. It provides an easy way to evaluate motor control solutions for three-phase motors by adapting the STM32 Nucleo board with an external ST motor control power board, thanks to ST morpho and motor control connector. The 34-pin motor control connector is compatible with all major ST motor control power boards, requiring an external digital section (MCU) to drive a three-phase motor. The DAC connector supports user code development and testing with easy access to the MCU peripherals. An LED is available for fault condition signaling or status indication. This document describes the procedure for configuring this STM32 NUCLEO expansion board to operate with the STM32 Nucleo board and run a voltage 3-phase brushless motor. The board is fully compatible with the ST Six-Step and FOC (field oriented control) firmware library. Figure 1: X-NUCLEO-IHM09M1 motor control connector expansion board October 2015 DocID028558 Rev 1 1/19 www.st.com Contents UM1970 Contents 1 2 System overview ............................................................................. 3 1.1 Main characteristics .......................................................................... 3 1.2 Target application.............................................................................. 3 Getting started ................................................................................. 4 2.1 System architecture .......................................................................... 4 2.2 Building the system ........................................................................... 4 2.2.1 Hardware settings ............................................................................... 5 2.2.2 Motor control connector pinout ........................................................... 9 2.2.3 DAC settings for debug .................................................................... 11 2.2.4 User LED .......................................................................................... 11 3 MC FOC SDK – Configuration guide for X-NUCLEO-IHM09M1 .. 12 4 Schematic diagram........................................................................ 13 5 Bill of materials .............................................................................. 16 6 Revision history ............................................................................ 18 2/19 DocID028558 Rev 1 UM1970 System overview 1 System overview 1.1 Main characteristics The information listed below shows the board specification data and the main parameters set for the X-NUCLEO-IHM09M1 expansion board for STM32 Nucleo: 1.2 ST motor control connector (34 pins) compatible with major ST motor control power boards STM32 Nucleo support, thanks to ST morpho connectors Compatible with six-step and FOC motor control firmware library by ST Debug connector for DAC, GPIOs, etc. Fully populated board conception with test points LED for fault signaling or status indication Potentiometer available (i.e. for speed reference) PCB type and size: PCB material - FR-4 layout - double layer copper thickness - 35 μm overall board dimensions - 70 mm x70 mm RoHS compliant Target application 3-phase motor driver DocID028558 Rev 1 3/19 Getting started UM1970 2 Getting started 2.1 System architecture A generic motor control system can be broken down into the following three major blocks: 1. 2. 3. Control block - accepts user commands and provides motor control signals to drive a motor. The X-NUCLEO-IHM09M1 adapter connects an STM32 Nucleo board with a power board requiring an external digital section. Power block - is normally in a 3-phase inverter topology and contains all the necessary active power and analog components to perform low voltage PMSM/BLDC motor control. Motor - 3 phase brushless motor. Figure 2: System architecture 2.2 Building the system The X-NUCLEO-IHM09M1 adapts the STM32 Nucleo to ST motor control power boards requiring an external digital section to perform three-phase PMSM/BLDC motor control. For regular board operation, it must be plugged on top of an STM32 Nucleo board (control block) via the ST morpho connector as shown below. 4/19 DocID028558 Rev 1 UM1970 Getting started Figure 3: X-NUCLEO-IHM09M1 plugged on STM32 Nucleo The interconnection between the STM32 Nucleo board and the X-NUCLEO-IHM09M1 expansion board is designed for full compatibility with a wide range of STM32 Nucleo boards, with no solder bridge modification required. The stacked solution is ready to operate in connection with a power board compatible with a standard 34-pin flat cable. 2.2.1 Hardware settings J1 - jumper OFF R26 - potentiometer D1 – LED for fault or status indication Table 1: Connectors Part name Function J7 34-pin motor control connector J1 DAC/GPIO output CN7 ST morpho connector CN6 Arduino UNO R3 Connector CN8 Arduino UNO R3 Connector CN10 ST morpho connector CN5 Arduino UNO R3 Connector CN9 Arduino UNO R3 Connector D1 LED DocID028558 Rev 1 5/19 Getting started UM1970 Figure 4: X-NUCLEO-IHM09M1 – top layer with silk-screen The X-NUCLEO-IHM09M1 is equipped with ST morpho connectors - male pin headers (CN7 and CN10), which can be used to connect expansion boards to the STM32 Nucleo board. All signals and power pins of the MCU are available on the STMicroelectronics morpho connector. For further details please refer to user manual UM1724, section 5.12 STMicroelectronics morpho connector available on website www.st.com. Table 2: ST morpho connector – CN7 6/19 Pin Default Signal 1 PC10 NTC bypass R17 2 PC11 Dissipative Brake/OCP disable R19 3 PC12 4 PD2 5 VDD 6 E5V 7 BOOT0 DocID028558 Rev 1 Solder Bridge Notes UM1970 Getting started Pin Default 8 GND 9 NC/PF6 10 NC 11 NC/PF7 12 IOREF 13 PA13 14 RESET 15 PA14 16 +3V3 17 PA15 18 +5V 19 GND 20 GND 21 PB7 22 GND 23 PC13 24 VIN 25 PC14 26 NC 27 PC15 28 PA0 29 PH0/PF0/PD0 30 PA1 31 PH1/PF1/PD1 32 PA4 33 VLCD/VBAT 34 Signal Solder Bridge Encoder A/ Hall H1 R27 Curr_fdbk_PhA R4 VBUS_sensing R5 DAC_Ch R18 N.M. PB0 VL_PWM R15 35 PC2 Temperature feedback R10 36 PC1 or PB9 Curr_fdbk_PhB R9 37 PC3 Potentiometer R28 38 PC0 or PB8 Curr_fdbk_PhC R7 DocID028558 Rev 1 Notes Refer to UM1724 Table 9: Solder bridges for further details Refer to UM1724 Table 9: Solder bridges for further details 7/19 Getting started UM1970 Table 3: ST morpho connector – CN10 8/19 Pin Default 1 PC9 2 PC8 3 PB8 4 PC6 5 PB9 6 PC5 7 AVDD 8 U5V 9 GND 10 NC 11 PA5 12 PA12 Signal Solder Bridge U5V is 5 V power from ST-LINK/V2-1 USB connector and it rises before +5 V GPIO/DAC/PWM R21 For NUCLEO-F302R8 only: pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11 For NUCLEO-F302R8 only: pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13 13 PA6 DIAG/ENABLE/BKIN1 R3 14 PA11 DIAG/ENABLE/BKIN2 R1 15 PA7 16 PB12 17 PB6 18 PB11/NC 19 PC7 20 GND 21 UL_PWM R12 PA9 VH_PWM R8 22 PB2 LED RED R14 23 PA8 UH_PWM R6 24 PB1 WL_PWM R16 25 PB10 Encoder Z/ Hall H3 R25 26 PB15 27 PB4 Notes For NUCLEO-F302R8 only: pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13 For NUCLEO-F302R8 only: pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13 PWM/DEBUG DocID028558 Rev 1 R20 UM1970 Getting started Pin 2.2.2 Default Signal Solder Bridge 28 PB14 DIAG/ENABLE/BKIN1 R2 29 PB5 GPIO/DAC/PWM R23 30 PB13 GPIO/DAC/PWM R22 31 PB3 Encoder B/ Hall H2 R24 32 AGND 33 PA10 WH_PWM R11 34 PC4 35 PA2 36 NC/PF5 37 PA3 38 NC/PF4 Notes For NUCLEO-F302R8 only: pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13 For NUCLEO-F302R8 only: pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11 Motor control connector pinout Figure 5: Motor control connector J7 (top view) The X-NUCLEO-IHM09M1 expansion board supports motor control via the J7 34-pin connector, which provides all the required control and feedback signals to and from an ST motor power-drive board. The signals available on this connector include emergency stop, speed or position feedback, three-phase motor current, bus voltage sensor and heatsink temperature sensor from the motor. DocID028558 Rev 1 9/19 Getting started UM1970 Table 4: ST motor control connector J7 pin assignments 10/19 Pin Default Function 1 PA6/PA11 2 GND Dissipative brake/OCP disable 3 PA8 UH_PWM 4 GND 5 PA7/PB15 6 GND 7 PA9 8 GND 9 PB0 10 GND 11 PA10 12 GND 13 PB1 WL_PWM 14 PA1 VBUS_sensing 15 PA0 Curr_fdbk_PhA 16 N.C. 17 PC1 18 N.C. 19 PC0 20 N.C. 21 PC10 22 N.C. 23 PC11 24 N.C. 25 E5V 26 PC2 27 N.C. 28 3V3 29 N.C. 30 N.C. 31 PA15 32 N.C. 33 PB3 Encoder B/ Hall H2 34 PB10 Encoder Z/ Hall H3 DIAG/ENABLE/BKIN1 UL_PWM VH_PWM VL_PWM WH_PWM Curr_fdbk_PhB Curr_fdbk_PhC NTC bypass Dissipative brake/OCP disable Temperature feedback Encoder A/ Hall H1 DocID028558 Rev 1 UM1970 2.2.3 Getting started DAC settings for debug For debugging purposes, it is possible to use the DAC peripheral and configure the motor control library in order to drive the signal. For instance, the PA4 pin is accessible through the ST morpho connector or J1 connector and it is typically connected to DAC_CH1. Other pins are available at the J1 connector according to the STM32 Nucleo board used. 2.2.4 User LED The X-NUCLEO-IHM09M1 provides a programmable LED (D1) connected on pin PB2. It can be used to signal motor status, faults, etc. This pin must be configured at the user level and driven by the application code written by the user. DocID028558 Rev 1 11/19 MC FOC SDK – Configuration guide for X-NUCLEO-IHM09M1 3 UM1970 MC FOC SDK – Configuration guide for X-NUCLEO-IHM09M1 The X-NUCLEO-IHM09M1 expansion board for the STM32 Nucleo is compatible with the motor control (MC) FOC SDK (firmware library and Workbench software graphical user interface), and no hardware modification is needed to run the motor with this control algorithm. During MC FOC SDK pin configuration, please adhere to the indications in Table 2: ST morpho connector – CN7 and Table 3: ST morpho connector – CN10. Connection of the STM32 Nucleo board with the MC Workbench software graphical user interface (GUI) is possible through a virtual COM embedded in the STM32 Nucleo board that allows the use of the USART2 on PA2 and PA3 pins directly from the same USB type A to Mini-B USB cable used for STM32 Nucleo programming. For further information regarding MC FOC SDK, please consult the STSW-STM32100 documents on the ST website: www.st.com. 12/19 DocID028558 Rev 1 UM1970 4 Schematic diagram Schematic diagram Figure 6: X-NUCLEO-IHM09M1 schematic: PWM Figure 7: X-NUCLEO-IHM09M1 schematic: Hall/encoder sensor Figure 8: X-NUCLEO-IHM09M1 schematic: currents Figure 9: X-NUCLEO-IHM09M1 schematic: DAC DocID028558 Rev 1 13/19 Schematic diagram UM1970 Figure 10: X-NUCLEO-IHM09M1 schematic: user interface Figure 11: X-NUCLEO-IHM09M1 schematic: motor control connector 14/19 DocID028558 Rev 1 UM1970 Schematic diagram Figure 12: X-NUCLEO-IHM09M1 schematic: Arduino UNO R3/ST morpho connector DocID028558 Rev 1 15/19 Bill of materials 5 UM1970 Bill of materials Table 5: BOM part I Item 16/19 Qty Ref. Part / value Voltage / Watt / Ampere Type / technology 1 1 D1 red LED standard SMD 2 1 J1 Stripline m. 1x3 3-way strip linemale 2.54 mm 3 1 J2 ring test point 1 mm 4 2 CN7,CN10 CONN 38 elevated socket ST morpho connector 38 pin (19x2) 5 2 CN6,CN9 CONN8 8 pin elevated socket 6 1 CN5 CONN10 10 pin elevated socket 7 1 J7 motor control connector 34 way IDC straight boxed header 8 1 CN8 CONN6 6 pin elevated socket 9 26 R1,R2,R3,R4,R5,R 6,R7,R8,R9,R10,R1 1,R12,R13,R15,R16 ,R17,R18,R19,R20, R21,R22,R23,R24, R25,R27,R28 0Ω 0.1 W SMD resistor 10 1 R14 510 Ω 0.1 W SMD resistor 11 1 R26 100 kΩ ½W trimmer resistor DocID028558 Rev 1 UM1970 Bill of materials Table 6: BOM part II Item Tol. Package Manuf. Manuf. order code / order p/n Notes LTST-C193KRKT5A 1 SMD 0603 Lite-on 2 TH 2.54mm pitch any 3 TH Vero Technologies 20-2137 4 TH 2.54mm pitch Samtec ESQ-119-24-T-D alternative:4UCONN 08413 info: ASSEMBLY ON TOP ESQ-108-24-T-S alternative:4UCONN 15284 Mounting info: Female on top, male on bottom -NOT MOUNTED alternative:4UCONN 15286 Mounting info: Female on top, male on bottom -NOT MOUNTED 5 TH 2.54mm pitch Samtec 6 TH 2.54mm pitch Samtec ESQ-110-24-T-S 7 TH any any 8 TH 2.54mm pitch Samtec ESQ-106-24-T-S 9 0603 ANY ANY 10 0603 ANY ANY Bourns 3386G-1-104LF 11 10% DocID028558 Rev 1 Alternative: 4UCONN 15282 Mounting info: Female on top, male on bottom -NOT MOUNTED 17/19 Revision history 6 UM1970 Revision history Table 7: Document revision history 18/19 Date Version Changes 28-Oct-2015 1 Initial release. DocID028558 Rev 1 UM1970 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 DocID028558 Rev 1 19/19