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Version 1.0 (November 18, 2015)
Quick Start Guide
Two axis stepper motor driver expansion board based on the L6470
for STM32 Nucleo
(X-NUCLEO-IHM02A1)
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Overview
2
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
• Hardware overview
• Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4
Page 3
Overview
3
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
• Hardware overview
• Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4
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STM32 Open Development Environment
Fast, affordable Prototyping and Development
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• The STM32 Open Development Environment (ODE) consists of a set of stackable boards
and a modular open SW environment designed around the STM32 microcontroller family.
www.st.com/stm32ode
Compatibility with multiple Development environments
STM32Cube development software
STM32 Nucleo expansion boards
STM32 Nucleo development boards
STM32Cube
expansion software
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Power supply
through USB or
external source
Integrated debugging
and programming
ST-LINK probe
STM32 microcontroller
Complete product range
from ultra-low power to high-performance
ST morpho extension header
STM32 Nucleo
Development Boards (NUCLEO)
• A comprehensive range of affordable development boards for all the STM32
microcontroller series, with unlimited unified expansion capabilities and integrated
debugger/programmer functionality.
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www.st.com/stm32nucleo
Arduino™ UNO R3 extension headers
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Move/ActuatePower InteractConnect
Sense
STM32 Nucleo
Expansion Boards (X-NUCLEO)
• Boards with additional functionality that can be plugged directly on top of the STM32
Nucleo development board directly or stacked on another expansion board.
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DIL24 support for
new devices
Motion MEMS sensors
Environmental sensors
www.st.com/x-nucleo
Example of STM32 expansion board (X-NUCLEO-IKS01A1)
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STM32 Open Development Environment
Software components
• STM32Cube software (CUBE) - A set
of free tools and embedded software bricks
to enable fast and easy development on
the STM32, including a Hardware
Abstraction Layer and middleware bricks.
• STM32Cube expansion software
(X-CUBE) - Expansion software provided
free for use with the STM32 Nucleo
expansion board and fully compatible with
the STM32Cube software framework. It
provides abstracted access to expansion
board functionality through high-level APIs
and sample applications.
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www.st.com/stm32cube
• Compatibility with multiple Development Environments - The STM32 Open Development
Environment is compatible with a number of IDEs including IAR EWARM, Keil MDK, and GCC-based
environments. Users can choose from three IDEs from leading vendors, which are free of charge and
deployed in close cooperation with ST. These include Eclipse-based IDEs such as Ac6 System
Workbench for STM32 and the MDK-ARM environment.
Tools&IDEs
Application examples
(e.g.basedon ST OpenSoftwareX)
Hardware
SampleapplicationsApplications
IAREWARM,Keil MDK-ARM,GCC-basedIDEs
(e.g.Ac6SystemWorkbenchfor STM32)
STM32CubeHardwareAbstractionLayer(HAL)
STM32Cube
middleware
Upperlevelmiddleware
(e.g.ST OpenSoftwareX)
Middleware
Hardware
Abstraction
STM32Cubeexpansion middleware
STM32 Nucleo expansion boards (X-NUCLEO)
STM32 Nucleo developer boards
OPEN LICENSE MODELS: STM32Cube software and sample applications are covered by a mix of fully open source BSD license and ST
licenses with very permissive terms.
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STM32 Open Development Environment
Building block approach
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The building blocks Your need Our answer
Move /
Actuate
Connect
Power
Sense
Process
Inertial modules, magnetometer
Proximity, microphone
Pressure, temperature, humidity
Bluetooth LE, Sub-GHz radio
NFC, Wi-Fi, GNSS
Energy management & battery
General-purpose microcontrollers
Stepper motor driver
DC & BLDC motor driver
Audio amplifier
COLLECT
TRANSMIT
ACCESS
CREATE
POWER
PROCESS
Software
Secure microcontrollers
Touch controller
Operation Amplifier
Accelerometer, gyroscope
Translate
Industrial input / output
www.st.com/stm32ode
Page 9
Overview
9
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
• Hardware overview
• Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4
Page 10
L6470
Two axis stepper motor driver expansion board
Hardware Overview
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X-NUCLEO-IHM02A1 Hardware description
The X-NUCLEO-IHM02A1 is a two axis stepper motor driver
expansion board based on L6470. It provides an affordable and easy-
to-use solution for driving low voltage motor control for Stepper Motor
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.
Main features:
• Nominal operating voltage range: 8 V - 45 V DC
• Maximum output peak current: 7.0 A (3.0 A rms) for each motor
driver
• Digital voltage supply is selectable (3.3 V or 5.0 V)
• USART communication
• SPI interface (may be connected in a daisy chain configuration)
• Equipped with Arduino UNO R3 connectors
• Layout compatible with ST morpho connectors
Order Code: X-NUCLEO-IHM02A1
ST1S14
Key Products on board:
L6470: Fully integrated microstepping motor driver with motion
engine and SPI
ST1S14: Up to 3 A step down switching regulator
SMAJ48A: Transil
STPS1L60: Low Drop Power Schottky Rectifier
Latest info available at
X-NUCLEO-IHM02A1
SMAJ48A
STPS1L60 Connectors (Arduino UNO
R3 and ST morpho) (*)
(*) only Arduino is mounted by default
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Two axis stepper motor driver software expansion
Software Overview
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X-CUBE-SPN2 Software description
• The X-CUBE-SPN2 is an expansion software package for
STM32Cube. The software runs on the STM32 and includes
drivers that initialize and send application commands to all stepper
motor drivers (L6470) mounted on one or more dedicated STM32
expansion board (X-NUCLEO-IHM02A1) stacked on a STM32
Nucleo Board.
• It is compatible with the NUCLEO-F401RE, the NUCLEO-F302R8
or the NUCLEO-F072RB when connected to X-NUCLEO-IHM02A1
expansion board for STM32.
Key features:
• Complete middleware to build applications using stepper motor
driver (L6470) for STM32 expansion board (X-NUCLEOIHM02A1)
• Addresses more than one STM32 expansion board
• Addresses more than two stepper motor drivers in the same
daisy chain
• Simply functions to send application commands from one to all
stepper motor drivers in a daisy chain simultaneously
• Sample application to send commands through a PC via
USART
• Easy portability across different MCU families, thanks to
STM32Cube
• Free, user-friendly license terms
• Sample implementation available on board X-NUCLEO-
IHM02A1 when plugged into NUCLEO-F401RE, NUCLEOF302R8 or NUCLEO-F072RB
Overall System Architecture
Latest SW available at
X-CUBE-SPN2
Hardware Abstraction Layer API
Boards Support Packages
Drivers
Board Demonstrations
X-NUCLEO-IHM02A1 Expansion BoardSTM32 NucleoBoard
CMSIS
Utilities
HW Components
STM32
L6470
Applications
Motion Control for
MicrosteppingMotor
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Overview
12
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
• Hardware overview
• Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4
Page 13
Documents & Related Resources
X-NUCLEO-IHM02A1: Product webpage (Link)
• Gerber files, BOM, Schematic
• DB2698: Two axis stepper motor driver expansion board for STM32 Nucleo
based on L6470 – Data Brief
• UM1964: Getting started with X-NUCLEO-IHM02A1; two-axis stepper motor
driver expansion board based on L6470 for STM32 Nucleo – User Manual
X-CUBE-SPN2: Product webpage (Link)
• DB2699: Two axis stepper motor driver software expansion for STM32Cube –
Data Brief
• UM1963: Getting started with the X-CUBE-SPN2; two-axis stepper motor driver
software expansion for STM32Cube – User Manual
• Software setup file
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All documents are available in the Design Resources tab of the
two axis stepper motor driver expansion board webpage
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Overview
14
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
• Hardware overview
• Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4
Page 15
Setup & Demo Examples
HW prerequisites
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(*) Power stage supply voltage from 8 V to 45 VDC
Stepper motor
NUCLEO-F401RE or
NUCLEO-F302R8 or
NUCLEO-F072RB
X-NUCLEO
-IHM02A1
• 1 x X-NUCLEO-IHM02A1 (Two axis stepper motor driver expansion
board based on L6470)
• 1 x STM32 Nucleo board (NUCLEO-F401RE, NUCLEO-F302R8, or
NUCLEO-F072RB)
• 1 x external DC power supply with two electric cables (*)
• 2 x stepper motors whose voltage and current compatible with the
L6470 (**)
• 1 x Laptop/PC with MS Windows 7 or 8
• 1 x USB typeA to Mini-B USB cable
Stepper motor
Complete evaluation
platform
STM32 NUCLEO
+
X-NUCLEO-IHM02A
+
2 stepper motors
(**) The example provided is set to use motors as the Hybrid Stepping Motor
42BYGHM809 by Wantai Motor.
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Setup & Demo Examples
SW prerequisites
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• STSW-LINK008: ST-LINK/V2-1 USB driver (Link)
• STSW-LINK007: ST-LINK/V2-1 firmware upgrade (Link)
• X-CUBE-SPN2 (Link)
• copy the .zip file content into a folder on your PC. The package will contain source code example
(Keil, IAR, System Workbench) based on NUCLEO-F401RE, NUCLEO-F302R8, or
NUCLEO-F072RB.
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X-CUBE-SPN2 in 8 steps
Use of X-CUBE-SPN2 with pre-compiled .BIN FW file
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Download & unpack
www.st.com/x-nucleo
www.st.com
1
2
3
4
X-CUBE-SPN2
X-NUCLEO-IHM02A1
Select
X-CUBE-SPN2 package main structure
Download & install STM32
Nucleo ST-LINK/V2-1 USB driver
STSW-LINK008
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Download / Install / Run
ST-Link FW Upgrade Utility
STSW-LINK007
Docs
HAL and BSP drivers
F4/F3/F0 src code
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18
drag and drop
X-CUBE-SPN2_F401.bin for F4 or
X-CUBE-SPN2_F302.bin for F3 or
X-CUBE-SPN2_F072.bin for F0
on Nucleo drive
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6
X-CUBE-SPN2 for NUCLEO-F401RE or NUCLEO-F302R8 or NUCLEO-F072RB
\STM32CubeExpansion_SPN2_V1.0.0\Projects\Multi\Examples\MotionControl\MicrosteppingMotor\Binary\NUCLEO-F401RE\
\STM32CubeExpansion_SPN2_V1.0.0\Projects\Multi\Examples\MotionControl\MicrosteppingMotor\Binary\NUCLEO-F302R8\
\STM32CubeExpansion_SPN2_V1.0.0\Projects\Multi\Examples\MotionControl\MicrosteppingMotor\Binary\NUCLEO-F072RB\
X-CUBE-SPN2_Fxxx.bin
Nucleo + X-NUCLEO-IHM02A1 + two stepper motors
Button
X-CUBE-SPN2 in 8 steps
Use of X-CUBE-SPN2 with pre-compiled .BIN FW file
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Connect the STM32 NUCLEO
board with the X-NUCLEO
board and two stepper motors
Push the blue
button
and motor RUN
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X-CUBE-SPN2 for code developers
Compile the FW using one of supported IDE
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4
\STM32CubeExpansion_SPN2_V1.0.0\Projects\Multi\Examples\MotionControl\MicrosteppingMotor\EWARM\
\STM32CubeExpansion_SPN2_V1.0.0\Projects\Multi\Examples\MotionControl\MicrosteppingMotor\MDK-ARM\
\STM32CubeExpansion_SPN2_V1.0.0\Projects\Multi\Examples\MotionControl\MicrosteppingMotor\SW4STM32\
Flash and Run the project
Download & unpack
www.st.com/x-nucleo
www.st.com
1
2
3
X-CUBE-SPN2
X-NUCLEO-IHM02A1
Select
X-CUBE-SPN2 package main structure
Open the IDE workspace
for Nucleo board selected
IAR IDE vers. 7.20
X-CUBE-SPN2 for NUCLEO-F401RE or NUCLEO-F302R8, NUCLEO-F072RB
Docs
HAL and BSP drivers
F4/F3/F0 src code
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www.st.com/stm32ode
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