Getting started with the X-NUCLEO
Contents
1. 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 9 Arduino Connector D1 LED 3 DoclD028558 Rev 1 5 19 Getting started UM1970 Figure 4 X NUCLEO IHM09M1 top layer with silk screen AINO 53504804 NOILWNIVAR 803 31 53 8014 Q3AOBddV 223 LON X NUCLEO I HM09MI1 mmo 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 signals and power pins of the MCU are available on the STMicroelectronics morpho connector For further details please refer to user manual UM1 724 section 5 12 STMicroelectronics morpho connector available on website www st com Table 2 ST morpho connector CN7 Pin Default Signal Solder Bridge Notes 1 PC10 NTC bypass R17 PC11 Dissipative Brake OCP disable R19 12 PD2 VDD E5V BOOTO QO or BR ow Pp 6 19 DoclD028558 Rev 1 Ly UM1970 Getting started 3 Default Signal Solder Bridge Notes2. 1970 y life augmented User Manual Getting started with the X NUCLEO IHMO9M 1 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 IHMO9M1 motor control connector expansion board October 2015 DoclD028558 Rev 1 1 19 www st com UM1970 Contents 1 tet 3 1 1 Main characteristics UE 3 1 2 e APPONCANOM BE 3 2 Getting SUAS WE 4 2 1 System architecture ee 4 2 2 GEET the SVSIOITI
3. 8 19 DoclD028558 Rev 1 Ly UM1970 Geiting started Pin Default Signal Solder Bridge Notes For NUCLEO F302R8 28 14 DIAG ENABLE BKIN1 R2 Sp 10 13 29 PB5 GPIO DAC PWM R23 For NUCLEO F302R8 30 PB13 GPIO DAC PWM R22 1 NT on 10 11 31 Encoder Hall H2 R24 32 AGND 33 10 WH_PWM R11 34 PC4 35 PA2 36 5 37 38 NC PF4 2 2 2 Motor control connector pinout Figure 5 Motor control connector J7 top view v 33 31 29 27 25 23 21 19 17 15 13 11 9 7 5 3 1 34 32 30 28 26 24 22 20 18 16 14 12108 6 4 2 The X NUCLEO IHMO9M1 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 3 DoclD028558 Rev 1 9 19 Getting started UM1970 Table 4 ST motor control connector J7 pin assignments Pin Default Function 1 PA6 PA11 DIAG ENABLE BKIN1 2 G
4. 8 GND 9 NC PF6 10 NC 11 NC PF7 12 IOREF 13 PA13 14 RESET 15 PA14 16 3V3 17 PA15 Encoder A Hall H1 R27 18 5V 19 GND 20 GND 21 PB7 22 GND 23 PC13 24 VIN 25 PC14 26 NC 27 PC15 28 PAO Curr_fdbk_PhA R4 29 PHO PFO PDO 30 DA VBUS sensing R5 31 PH1 PF1 PD1 32 PA4 DAC_Ch R18 33 VLCD VBAT 34 PBO VL_PWM R15 35 PC2 Temperature feedback R10 Refer to UM1724 Table 36 PC1 or 9 Curr fdbk PhB R9 9 Solder bridges for further details 37 Potentiometer R28 Refer to UM1724 Table 38 PCO or PB8 Curr fdbk PhC R7 9 Solder bridges for further details DoclD028558 Rev 1 7 19 Getting started UM1970 Table 3 ST morpho connector CN10 Pin Default Signal Solder Bridge Notes 1 PC9 2 PC8 3 PB8 4 PC6 5 PB9 6 PC5 7 AVDD is 5 V power from 8 Srnec before 5 V 9 GND 10 NC For NUCLEO F302R8 11 5 GPIO DAC PWM R21 CN10 pin 11 12 12 For NUCLEO F302R8 13 PAG DIAG ENABLE BKIN1 R3 221 Di CN10 pin 13 14 11 DIAG ENABLE BKIN2 For NUCLEO F302R8 s em Lew 2 CN10 pin 13 16 PB12 17 PB6 18 PB11 NC 19 PC7 20 GND 21 PA9 VH PWM R8 22 PB2 LED RED R14 23 PA8 UH PWM R6 24 PB1 WL_PWM R16 25 10 2 R25 For NUCLEO F302R8 26 PBI5 CN dipin 26 and PBS is on CN10 pin 13 27 PB4 PWM DEBUG R20
5. 4 2 2 1 Hardware settmgs 0 5 2 2 2 Motor control connector Ginout 9 2 2 3 DAC settings for debug 11 2 2 4 EE 11 3 FOC SDK Configuration guide for X NUCLEO IHM09M1 12 4 Schematic GIAQKAIN E 13 5 Bill OF 16 6 Revision HISTORY E 18 2 19 DoclD028558 Rev 1 UM1970 System overview 1 1 1 2 3 System overview 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 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 material FR 4 layout double layer copper thickness 35 um overall board dimensions 70 mm x70 mm RoHS compliant Target application 3 phase motor driver DoclD028558 Rev 1 3 19 Getting started UM1970 2 2 4 19 Getting started System architecture A generic motor control system can be broken down into the following three major blocks 1 Control block accepts user commands and provides motor control signals to
6. Seng MC26 Figure 9 X NUCLEO IHMO9M1 schematic DAC 0 PA5 DAC R2 F302 1 302 R2 0 3 c1029 R2 0 PB5 DAC PWM Stripline m 1x3 3 DoclD028558 Rev 1 13 19 Schematic diagram UM1970 Figure 10 X NUCLEO IHMO9M1 schematic user interface D1 RED RIZ A 0 10 aS R1 0 PC11 Dissipative Brake OCP di cr 3V3 Figure 11 X NUCLEO IHMO9M1 schematic motor control connector CON34A 3 14 19 DoclD028558 Rev 1 UM1970 Schematic diagram 3 Figure 12 X NUCLEO IHMO9M1 schematic Arduino UNO R3 ST morpho connector ko lt ko po O a kr ko ICC III opppppppppppppppppp DoclD028558 Rev 1 15 19 Bill of materials UM1970 5 Bill of materials Table 5 BOM part I Voltage Watt Type Qty Ref Part value Ampere technology LED standard 1 1 D1 red SMD 3 way strip line 2 1 J1 Stripline m 1x3 male 2 54 mm 3 1 J2 ring test point 1 mm elevated socket 4 2 CN7 CN10 CONN 38 S L morpho connector 38 pin 19x2 l2 CN6 CN9 CONN8 pinielevated socket 10 pin elevated 6 1 CNS 10 Socket 34 way IDC motor control 7 1 7 connector straight boxed header 6 pin elevated 8 1 CN8 CONN6 socket R1 R2 R3 R4 R5 R 6 R7 R8 R9 R10 R1 1 R12 R13 R15 R16 9 26 17 18 19 20 00 0 1 W SMD resistor R21 R22 R23 R24 R25 R27 R28 10 1 R14 5100 0 1 W SMD
7. ND Dissipative brake OCP disable 3 PWM 4 GND 5 PA7 PB15 UL_PWM 6 GND 7 PAQ VH_PWM 8 GND 9 PBO VL_PWM 10 GND 11 PA10 WH_PWM 12 GND 13 WL_PWM 14 PA1 VBUS sensing 15 PAO Curr fdbk 16 N C 17 PC1 PhB 18 N C 19 PCO Curr fdbk PhC 20 N C 21 PC10 NTC bypass 22 N C 23 PC11 Dissipative brake OCP disable 24 N C 25 E5V 26 PC2 Temperature feedback 27 N C 28 3V3 29 N C 30 N C 31 PA15 Encoder A Hall H1 32 N C 33 PB3 Encoder B Hall H2 34 PB10 Encoder Z Hall H3 d 1049 DoclD028558 Rev 1 UM1970 Geiting started 2 2 3 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 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 3 DoclD028558 Rev 1 11 19 FOC SDK Configuration guide for UM1970 X NUCLEO IHMO9M 1 3 12 19 MC FOC SDK Configuration guide for X NUCLEO IHMO9M1 The X NUCLEO IHMO9M 1 expansion board for the STM32
8. 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 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 DoclD028558 Rev 1 ky UM1970 Schematic diagram 4 Schematic diagram Figure 6 X NUCLEO IHMO9M1 schematic PWM C10_14 C10_28 10 13 6 MC1 0 R6 0 PA amp 8 UH C1023 2 R8 0 C1021L 2 0 PA10 WH PB1 WL Figure 7 X NUCLEO IHMO9M1 schematic Hall encoder sensor R27 0 PA15 Enc AIH1 ED lt R24 0 PB3 Enc E R25 0 PB10 Enc Z H3 10 25 S 2 71 34 Figure 8 X NUCLEO IHMO9M1 schematic currents Se 5 R9 0 PC1 PhB gt lt 7 R7 0 PCO PhC R5 0 DAT BUSV pep LS iA e S R10 2 Temp
9. drive motor The X NUCLEO IHMO9M 1 adapter connects an STM32 Nucleo board with power board requiring an external digital section 2 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 3 Motor 3 phase brushless motor Figure 2 System architecture control block motor control connector motor control power block ros B ERR zc dos SE k me 3 1 wan Building the system The X NUCLEO IHMO9M 1 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 DoclD028558 Rev 1 Ly UM1970 Geiting started Figure 3 X NUCLEO IHMO9M1 plugged on STM32 Nucleo The interconnection between the STM32 Nucleo board and the X NUCLEO IHMO9M 1 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
10. hasers 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 3 DoclD028558 Rev 1 19 19
11. resistor 11 1 R26 100 kO Yo trimmer resistor 16 19 DoclD028558 Rev 1 UM1970 Bill of materials d Table 6 BOM part Il Manuf order Item Tol Package Manuf code order p n Notes 1 SMD 0603 Lite on SES 2 2 54 Vero Th Technologies 20 2137 alternative 4UCONN 4 TH 2 54mm pitch Samtec ESQ 119 24 T D 08413 info ASSEMBLY ON TOP alternative 4UCONN 15284 5 TH 2 54mm pitch Samtec 50 108 24 5 Mounting info Female on top male on bottom NOT MOUNTED alternative 4UCONN 15286 6 TH 2 54mm pitch Samtec 50 110 24 5 Mounting info Female on top male on bottom NOT MOUNTED 7 TH any any Alternative 4UCONN 15282 8 TH 2 54mm pitch Samtec ESQ 106 24 T 5 Mounting info Female on top male on bottom NOT MOUNTED 9 0603 ANY ANY 10 0603 ANY ANY 11 10 Bourns 3386G 1 104LF DoclD028558 Rev 1 17 19 Revision history UM1970 6 18 19 Revision history Table 7 Document revision history Date Version Changes 28 Oct 2015 1 Initial release DoclD028558 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 Purc
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