ST STM32, X-NUCLEO-IHM16M1, NUCLEO-G431RB, P-NUCLEO-IHM03 User Manual

UM2538

User manual

STM32 motor-control pack using the FOC algorithm for three-phase, low-voltage,

and low-current motor evaluation

Introduction

The P-NUCLEO-IHM03 pack is the motor-control kit based on the X-NUCLEO-IHM16M1 and NUCLEO-G431RB boards. The
power board with the STSPIN830 driver in the STPIN family provides a motor-control solution for three-phase, low-voltage,
PMSM motors with the addition of the STM32 Nucleo board through the ST morpho connector as illustrated in Figure 1. P-

NUCLEO-IHM03 is provided with a power supply unit also shown in Figure 1.

The device used on the power board is the STSPIN830. It is a compact and versatile FOC-ready driver for a three-phase motor.
It supports both single- and three-shunt architectures and embeds a PWM current controller based on user-settable values of
reference voltage and OFF time. Thanks to a dedicated MODE input pin, the device offers the freedom to decide whether to
drive it through 6 inputs (one for each power switch) or a more common 3 PWM direct-driving inputs. In addition, it integrates
both the control logic and a fully protected low-RDSon triple-half-bridge power stage. The NUCLEO-G431RB board provides an
affordable and flexible way for users to try out new concepts and build prototypes with the STM32G4 microcontroller. It does not
require any separate probe as it integrates the STLINK-V3E debugger and programmer.

This motor-control evaluation kit is fully configurable to support the closed-loop control (FOC only). It can be used with either a
speed sensor mode (Hall or Encoder), or speed sensorless mode. It is compatible with both 1-shunt and 3-shunt current-sense
topologies.

Figure 1. P-NUCLEO-IHM03 pack

Picture is not contractual.

UM2538 - Rev 1 - April 2019
For further information contact your local STMicroelectronics sales office.

www.st.com

1 Features

• X-NUCLEO-IHM16M1
– Three-phase driver board for BLDC/PMSM motors based on STSPIN830
– Nominal operating voltage range from 7 V dc to 45 V dc
– Output current up to 1.5 A rms
– Over-current, short-circuit, and interlocking protections
– Thermal shutdown and under-voltage lockout
– BEMF sensing circuitry
– Support of 3-shunt or 1-shunt motor current sensing
– Hall-effect-based sensors or encoder input connector
– Potentiometer available for speed regulation
– Equipped with ST morpho connectors

• NUCLEO-G431RB
–

STM32G431RB 32-bit microcontroller based on the Arm® Cortex®-M4 core at 170 MHz in LQFP64

package with 128 Kbytes of Flash memory and 32 Kbytes of SRAM

– Two types of extension resources:

◦
◦ ST morpho extension pin headers for full access to all STM32 I/Os

– On-board STLINK-V3E debugger/programmer with USB re-enumeration capability: mass storage,

Virtual COM port, and debug port

– 1 user and 1 reset push-buttons

• Three-phase motor:
– Gimbal motor: GBM2804H-100T
– Maximum DC voltage: 14.8 V
– Maximum rotational speed: 2180 rpm
– Maximum torque: 0.981 N·m
– Maximum DC current: 5 A
– Number of pole pairs: 7

• DC power supply:
– Nominal output voltage: 12 V dc
– Maximum output current: 2 A
– Input voltage range: from 100 V ac to 240 V ac
– Frequency range: from 50 Hz to 60 Hz

UM2538

Features

Arduino™ Uno V3 expansion connector

The STM32 32-bit microcontrollers are based on the Arm® Cortex®-M processor.

Note: Arm is a registered trademark of Arm Limited (or its subsidiaries) in the US and/or elsewhere.

UM2538 - Rev 1

page 2/27

2 Ordering information

To order the P-NUCLEO-IHM03, refer to Table 1. Additional information is available from the datasheet and
reference manual of the target STM32.

Order code Boards Target STM32 Additional content

P-NUCLEO-IHM03

2.1 Product marking

Evaluation tools marked as “ES” or “E” are not yet qualified and therefore not ready to be used as reference
design or in production. Any consequences deriving from such usage will not be at ST charge. In no event, ST will
be liable for any customer usage of these engineering sample tools as reference design or in production.

“E” or “ES” marking examples of location:

• On the targeted STM32 that is soldered on the board (for illustration of STM32 marking, refer to the STM32
datasheet “Package information” paragraph at the www.st.com website).

• Next to the evaluation tool ordering part number that is stuck or silk-screen printed on the board.

This board features a specific STM32 device version, which allows the operation of any bundled commercial
stack/library available. This STM32 device shows a "U" marking option at the end of the standard part number
and is not available for sales.

In order to use the same commercial stack in his application, a developer may need to purchase a part number
specific to this stack/library. The price of those part numbers includes the stack/library royalties.

• X-NUCLEO-IHM16M1

• NUCLEO-G431RB

Table 1. List of available products

STM32G431RBT6U

UM2538

Ordering information

• Power supply (12 V dc, 2 A)

• Gimbal motor (GBM2804H-100T)

2.2 Codification

The meaning of the codification of the Nucleo board is explained in Table 2.

NUCLEO-XXYYZT Description Example: NUCLEO-G431RB

XX MCU series in STM32 32-bit Arm Cortex MCUs STM32G4 Series

YY MCU product line in the series STM32G431

Z

T

The order code is mentioned on a sticker placed on the top side of the board.

Table 2. Nucleo-board codification explanation

STM32 package pin count:

• R for 64 pins

STM32 Flash memory size:

• B for 128 Kbytes

64 pins

128 Kbytes

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3 Development environment

3.1 System requirements

• Windows® OS (7, 8 and 10), Linux® 64-bit, or macOS

• USB Type-A to Micro-B cable

Note:

macOS® is a trademark of Apple Inc. registered in the U.S. and other countries.

UM2538

Development environment

®

3.2

Note:

Development toolchains

• Keil® MDK-ARM (see note)

• IAR™ EWARM (see note)

• GCC-based IDEs

On Windows® only.

3.3 Demonstration software

The demonstration software, included in the X-CUBE-MCSDK STM32Cube Expansion Package, is preloaded in
the STM32 Flash memory for easy demonstration of the device peripherals in standalone mode. The latest
versions of the demonstration source code and associated documentation can be downloaded from www.st.com.

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4 Getting started (basic user)

4.1 System architecture

The P-NUCLEO-IHM03 kit is based on the usual four-block architecture for a motor-control system :

• Control block: it interfaces user commands and configuration parameters to drive a motor. The P­NUCLEO-IHM03 kit is based on the NUCLEO-G431RB board that provides all needed signals to perform the
proper motor-driving control algorithm (for instance FOC).

• Power block: the X-NUCLEO-IHM16M1 is based on a 3-phase inverter topology. The core of the power
block embedded on board is the STSPIN830 driver, which embeds all the necessary active power and
analog components to perform a low-voltage PMSM motor control.

• PMSM motor: low-voltage, 3-phase, brushless motor.

• DC Power supply unit: it provides the power for the other blocks (12 V, 2 A).

Figure 2. Four-block architecture of the P-NUCLEO-IHM03 pack

UM2538

Getting started (basic user)

Power supply unit

Control Power PMSM

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page 5/27

UM2538

Configure and run the motor control from the STM32 Nucleo motor-control pack

4.2 Configure and run the motor control from the STM32 Nucleo motor-control

pack

The P-NUCLEO-IHM03 Nucleo pack is a complete hardware development platform for the STM32 Nucleo
ecosystem to evaluate a motor-control solution with a single motor.

For operating the standard pack, follow these hardware configuration steps:

1. The X-NUCLEO-IHM16M1 must be stacked on the NUCLEO-G431RB board through the CN7 and CN10 ST

morpho connectors. There is only one position allowed for this connection, in particular the two buttons on
the NUCLEO-G431RB board (blue button B1 and black button B2) must be kept out, as shown in Figure 3.

Figure 3. X-NUCLEO-IHM16M1 and NUCLEO-G431RB assembled

UM2538 - Rev 1

The interconnection between the X-NUCLEO-IHM16M1 and the NUCLEO-G431RB board is designed for full
compatibility with many control boards. No modification of solder bridges is required for the use of the FOC
algorithm.

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Configure and run the motor control from the STM32 Nucleo motor-control pack

2. Connect the three motor wires U,V,W on the CN1 connector as shown in Figure 4.

Figure 4. Motor connection with X-NUCLEO-IHM16M1

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UM2538 - Rev 1

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UM2538

Configure and run the motor control from the STM32 Nucleo motor-control pack

3. Select the jumper configuration on the power board to choose the desired control algorithm (FOC) as

described below:
a. On the NUCLEO-G431RB board, check the jumper settings: JP5 on position [1-2] for 5V_STLK source,

JP8 (VREF) on position [1-2], JP6 (IDD) closed.

b. On the X-NUCLEO-IHM16M1 board

(2)

:
◦ Check jumper settings: J5 closed, J6 closed
◦ For FOC control, set jumper settings as: JP4 and JP7 solder bridge left open, J2 closed on

position [2-3], J3 closed on position [1-2]

4. Connect the DC power supply (use the power supply provided with the pack or an equivalent one) on CN1
or J4 connector and power-on (up to 12 V DC for the Gimbal motor included in the P-NUCLEO-IHM03 pack,
as shown in Figure 5.

Figure 5. Power-supply connection for X-NUCLEO-IHM16M1

(1)

UM2538 - Rev 1

5. Press the blue button on NUCLEO-G431RB (B1) to start spinning the motor.

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6. Rotate the potentiometer on X-NUCLEO-IHM16M1 to regulate the motor speed.

1. To supply the NUCLEO-G431RB from the USB, the jumper JP5 must be connected between Pin 1 and Pin 2. For further

details on Nucleo settings refer to [3].

2. Supply voltage must be off before changing the control mode.

4.3 Hardware settings

Table 3 shows the jumper configuration on the X-NUCLEO-IHM16M1 board as shown in Figure 6. According to

the jumper selection, it is possible to choose the 1-shunt or 3-shunt current-sensing mode, the Hall encoder with
pull-up, or the external supply for the NUCLEO-G431RB board.

UM2538

Hardware settings

Table 3. Jumper settings

Jumper Permitted configuration

Default

condition

J5 Selection of the FOC control algorithm. CLOSED

J6 Selection of the FOC control algorithm. CLOSED

JP4 and JP7

J2

Selection of the HW current limiter threshold (disabled in 3-shunt configuration by
default).

J3 Selection of fixed or adjustable current limiter threshold (fixed by default).

(1)

Selection of 1-shunt or 3-shunt configuration (3-shunt by default). OPEN

[2-3]

CLOSED

[1-2]

CLOSED

1. JP4 and JP7 must have both the same configuration: both left open for 3-shunt configuration, both closed for 1- shunt

configuration. On the silkscreen, the correct position for 3- or 1-shunt is indicated together with the default position.

Table 4 shows the main connectors on the X-NUCLEO-IHM16M1 board.

Table 4. Screw terminal table

Screw terminal

J4 Motor power supply input (7 to 45 Vdc)

CN1 3-phase motor connector (U,V,W) and Motor Power Supply input (when J4 is not used)

Function

The X-NUCLEO-IHM16M1 is stacked on ST morpho connectors, male pin headers (CN7 and CN10) accessible
on both sides of the board. They can be used to connect this power board to the NUCLEO-G431RB board. All
signals and power pins for the MCU are available on the ST morpho connectors. For further details refer to the
“ST morpho connectors” section in [3].

UM2538 - Rev 1

Table 5. Connector description

Part reference

CN7, CN10 ST morpho connector

CN5, CN6, CN9, CN8 Arduino Uno connector

U1 STSPIN830 driver

U2 TSV994IPT op. amp.

J4 Power-supply jack connector

J5, J6 Jumpers for FOC use

SPEED Potentiometer

CN1 Motor- and power-supply connector

Description

page 9/27

Part reference Description

J1 Hall-encoder sensor connector

J2, J3 Current limiter use and configuration

JP3 External pull-up for sensors

JP4, JP7 Current measure mode (1 shunt / 3 shunt)

D1 LED status indicator

Figure 6. X-NUCLEO-IHM16M1 connectors

UM2538

Upload the firmware example

JP3

D1

J2

J3

J1

U2U1

J4

4.4 Upload the firmware example

The example for the motor-control application example is pre-loaded in the NUCLEO-G431RB board. This
example is using the FOC (field-oriented control) algorithm. This chapter describes the procedure to reload the
firmware demonstration inside the NUCLEO-G431RB board and restart by the default condition. There are two
ways to do it:

• Drag-and-drop procedure (suggested), as detailed in Section 4.4.1

UM2538 - Rev 1

J5 & J6CN1

page 10/27

• Through the STM32CubeProgrammer (STM32CubeProg) tool (free download available from
STMicroelectronics web site: www.st.com), as shown in Section 4.4.2

4.4.1 Drag-and-drop procedure

1. Install the ST-LINK drivers from the www.st.com website.

2. On the NUCLEO-G431RB board, set the JP5 jumper in position U5V.

3. Plug the NUCLEO-G431RB board to the host PC using a Type-A to Micro-B USB cable. If the ST-LINK
driver is correctly installed, it is recognized as an external memory device called “NUCLEO” or any similar
name.

4. Drag and drop the binary file of the firmware demonstration (P-NUCLEO-IHM003.out) into the “NUCLEO”
device, listed inside the list of the disk drives (click on the Start button of Windows®), contained into the X-

CUBE-SPN7 firmware pack.

5. Wait until the programming is complete.

4.4.2 STM32CubeProgrammer tool

1. Open the STM32CubeProgrammer tool (STM32CubeProg).

2. Connect the NUCLEO-G431RB board to the PC with a USB Type-A to Micro-B cable through the USB
connector (CN1) on the NUCLEO-G431RB board.

3. Open either the Potentiometer.out or Potentiometer.hex file as the code to be downloaded. The
corresponding window appears as shown in Figure 7.

UM2538

Upload the firmware example

Figure 7. STM32CubeProgrammer tool

4. Click on the Download button (refer to Figure 8).

UM2538 - Rev 1

page 11/27

Figure 8. STM32CubeProgrammer download

UM2538

Demonstration usage

4.5

5. Press the Reset button (B2) on the NUCLEO-G431RB board to start using the motor.

Demonstration usage

This section describes how to use the setup to spin the motor:

1. Press the Reset button (black) (NUCLEO-G431RB board)

2. Press the User button (blue) to start the motor (NUCLEO-G431RB board)

3. Check that the motor starts spinning and LEDs D8, D9, and D10 are turned on (X-NUCLEO-IHM16M1
board)

4. Rotate the User rotary knob (blue) clockwise to the maximum (X-NUCLEO-IHM16M1 board)

5. Check that the motor is stopped and LEDs D8, D9, and D10 are turned off (X-NUCLEO-IHM16M1 board)

6. Rotate the User rotary knob (blue) counterclockwise to the maximum (X-NUCLEO-IHM16M1 board)

7. Check that the motor is spinning at a higher speed compared to step 3 and LEDs D8, D9, and D10 are
turned on (X-NUCLEO-IHM16M1 board)

8. Rotate the User rotary knob (blue) to 1/3 of its maximum (X-NUCLEO-IHM16M1 board)

9. Check that the motor is spinning at a lower speed compared to step 7 and LEDs D8, D9, and D10 are
turning on (X-NUCLEO-IHM16M1 board)

10. Press the User button (blue) to stop the motor (NUCLEO-G431RB board)

11. Check that the motor is stopped and LEDs D8, D9, and D10 are turning off (X-NUCLEO-IHM16M1 board)

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page 12/27

FOC control algorithm settings (advanced user)

5 FOC control algorithm settings (advanced user)

The P-NUCLEO-IHM03 pack supports the ST FOC library. No hardware modification is needed to run the motor
provided in a 3-shunt current-sensing mode. To use the FOC in a 1-shunt configuration, the user must reconfigure
the X-NUCLEO-IHM16M1 board to select the 1-shunt current sensing and the current-limiter features according to
the jumper settings as given in Table 3. Jumper settings. The MC SDK installation is required to reconfigure the P-
NUCLEO-IHM03 project for 1-shunt current sensing, generation, and use.

For further information about the MC SDK, refer to [5].

UM2538

UM2538 - Rev 1

page 13/27

UM2538

Electrical schematics

6 Electrical schematics

This chapter presents some of the X-NUCLEO-IHM16M1 schematics related to the material detailed in the user
manual:

• Figure 9. X-NUCLEO-IHM16M1 motor driver connections

• Figure 10. X-NUCLEO-IHM16M1 current-sensing conditioning circuit

• Figure 11. X-NUCLEO-IHM16M1 sensors and shunt resistor circuit

• Figure 12. X-NUCLEO-IHM16M1 L6230 driver and BEMF detection circuit

• Figure 13. X-NUCLEO-IHM16M1 MCU pin assignment

Note: Users are advised to check for the most up-to-date schematics of X-NUCLEO-IHM16M1 and NUCLEO-G431RB

on STMicroelectronics www.st.com web site.

UM2538 - Rev 1

page 14/27

X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s che ma tic diagra ms ve rs ion 1| s hee t 1

39K539K

C1

19

INU/INUH

20

0R

+

39K

SENSEV

14

STBY

39K

17

D1

INV

VDD

OUTW

12

1

R7

ENW

61300311121

2

SENSEW

R9

EN_FAULT

MODE

18

ENV

OUTU

NC

8

+

C2

R5

23

INW/INWH

OUTW

M5

R11

3

10

C5

RED

NP

OUTU

21

INV/INVH

22

VDD

VREF

P-MOS

INU

24

ENW/INWL

STSPIN830

13

4.7NF
NP

OUTV

11

1K

SENSEU

7

INW

R4

ENV/INVL

39K

1

TOFF

SENSEV

U1

C4

2.2NF

R30

C6

330R

R32

NP

VS

9

GND

15

33µF 50V

R2

12K

C3

VDD

G

R8

39K

330NF

R6

VDD

33µF 50VNP

R10

SENSEU

VREF

2

TOFF

EPAD

25

SNS

4

ENU/INUL

STBY

16

R1

S

2

VS

Jumper M5 connected
between J2 pin 2&3

VS

39K

EN_FAULT

10NF

1

ENU

J2

6

GND

GND

3

39K

R12

OUTV

Q1

NX3008PBKW

D

3

SENSEW

R3

VS

UM2538 - Rev 1

Figure 9. X-NUCLEO-IHM16M1 motor driver connections

page 15/27

Electrical schematics

UM2538

X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s che ma tic diagra ms ve rs ion 1| s hee t 3

OUT

2.2K

R65

Jumper M8 connected
between J6 pin 1&2

IN+

VDD

J5

M8

680R

5

IN+

C14

Jumper M7 connected
between J5 pin 1&2

12

VDD

IN-

6

2

2.2K

R70

0.33R
1/2W

1206

680R

GND

8

U2B

OP303_V

SENSEU

680PF

R60

11

OPEN

TSV994

R62

Vcc

4

1
2

11

OP303_W

R56

2.2K

1

2.2K

OUT

R63

0.33R
1/2W

2.2K

R72

VDD

2.2K

SENSEV

1

GND

11

R58

U2C

C19

3

IN+

10NF

Curr_fdbk3

2.2K

7

1206

680R

J6

OUT

VDD

TSV994

Vcc

4

Curr_fdbk2

GND

11

2.2K

R66

M7

R57

0.33R
1/2W

TSV994

2.2K

R64C17

U2A

Vcc

4

NP

C16

61300211121

R67

VDD

Curr_fdbk1

13

14

1

IN+

10

OPEN

GND

2.2K

R71

2

IN-

R55

JP7

U2D

TSV994

4

Vcc

C20

C15

SENSEW

1206

1

2

OP303_U

61300211121

JP4

OUT

IN-

2

680PF

R59

680PF

R68

VDD

VDD

C18

NP

9

IN-

NP

UM2538 - Rev 1

Figure 10. X-NUCLEO-IHM16M1 current-sensing conditioning circuit

page 16/27

Electrical schematics

UM2538

39K539K

19

INU/INUH

20

0R

39K

SENSEV

14

STBY

39K

17

D1

INV

OUTW

12

1

R7

ENW

61300311121

2

SENSEW

R9

EN_FAULT

MODE

18

ENV

OUTU

NC

8

R5

23

INW/INWH

OUTW

M5

R11

3

10

C5

RED

NP

OUTU

21

INV/INVH

22

VDD

VREF

P-MOS

INU

24

ENW/INWL

STSPIN830

13

4.7NF
NP

OUTV

11

1K

SENSEU

7

INW

R4

ENV/INVL

39K

1

TOFF

SENSEV

U1

C4

2.2NF

R30

C6

330R

R32

NP

VS

9

GND

15

12K

G

R8

39K

R6

R10

SENSEU

VREF

2

TOFF

EPAD

25

SNS

4

ENU/INUL

STBY

16

R1

S

2

Jumper M5 connected
between J2 pin 2&3

39K

10NF

1

ENU

J2

6

GND

GND

3

39K

R12

OUTV

Q1

NX3008PBKW

D

3

SENSEW

R3

VS

Figure 1: X-NUCLEO-IHM16M1 c ircuit s ch e matic (1 o f 5)

A+/H1
B+/H2
Z+/H3
+5V
GND

Roff

VDD

SPEED

VREF

VDD

VDD

VDD

5V

5V

VS

VS VDD

VDD

VREF

CURRENT_REF

TOFF

SPEED
H1

H2
H3

VBUS NTC

TP5

1

330R

R17
10K

1 3

2

R22
3K

NTC

R38

X7R

R21
3K

R13

3.9K

JP3

1

CLOSE

2

R28

4.7K
NP

C12
10PF

D3
3V

1

61300511121

1
2
3
4
5

R18
10K

R14
180K

1%

C9
220NF
16V

X7R

R26

4.7K
NP

C22
220NF
16V

X7R

R16
12K

TP2

1

S1751-46R

J3

13

2

61300311121

D2
3V

22K

C21
100NF
50V

X7R

R24 330R

D4
3V

R20
3K

TP3

1

S1751-46R

M6

TP1

1

R25 330R

C11
10PF

C7
220NF
16V

X7R

Jumper M6 connected
between J3 pin 1&2

S1751-46R

R23

10PF

R27

4.7K
NP

S1751-46R

C10

C8

NCP18WB473J03RB

220NF

16V

MMSZ3V0T1G

TP4

GND

GND

VS

J1

S1751-46R

R15

MMSZ3V0T1G

R19

MMSZ3V0T1G

12K
1%

UM2538 - Rev 1

Figure 11. X-NUCLEO-IHM16M1 sensors and shunt resistor circuit

page 17/27

Electrical schematics

UM2538

OP303_W

8
7
6
5
4
3
2
1

ESQ-119-24-G-D

25

R83

R440R

2
4
6
8
10

5V

27

27

INV

C7_32

X7R

C10_24

C10_11

BEMF3

R45

GU_4xx

R75

NP

C10_14

STBY

23

C10_15

M2

CN5 NP

24
26

0R

17

38

VDD

29

0R

ENV

26
28
30

BEMF1

NP

1
2
3
4
5
6
7
8

12

24

OPTICAL_TARGET

C10_18

C10_26

INW

STBY

REF

INU

INV

VDD

5V
GND
GND

bemf1

bemf3

bemf2

SPD

18

CN9 NP

C10_19

ESQ-119-24-G-D

BEMF2

C10_30

31

SSQ-108-01-F-S

13

C10_2

R77

ENU

28
30

33
35

22

33

C10_28

19

C10_30

C10_13

INW

SSQ-110-01-F-S

OPTICAL_TARGET

CN10

1
3
5
7
9

11

CN6 NP

35
37

20

PA8 - INU

PA9 - INV

PA10 - INW

PC1 - ADC

PC3 - ADC

PC2

PB5

PC9 - GPIO

<CURRENT_REF>

C10_16

C7_28

31 32

34

14

R78

21

36

C10_6

R79

16

SSQ-106-01-F-S

1
3
5
7
9

NP

37

C7_34

34

C10_28

18

R80

CN7

13

36

INU

M1

19
21

29

10

12

38

2
4
6
8
10

NTC

CN8

22

C10_31

14
16

32

20

C7_17

OP303_V

C10_18

15

C10_11

17

23

OPTICAL_TARGET

C13
220NF
16V

R76

SSQ-108-01-F-S

NP

C10_15

11

C10_34

OP303_U

1
2
3
4
5
6

SPEED

C10_30

C10_25

F302

F302

PB0

PB13

PB11

PB13

PA7

M4

R74

C10_4

15

25

VDD

C10_18

PB13

PB14

F303 (Embedded OPAMP ONLY)

PA6

F302

STM32F303 Embedded OPAMP

C10_13

IO_BEMF

C7_30

C10_27

M3

C7_34

9
8
7
6
5
4
3
2
1

PC0 - ADC

NP

NP

NP

NP

Figure 3: X-NUCLEO-IHM16M1 c ircuit s ch e matic (3 o f 5)

CN3

D6

1

S1751-46R

D9

D12

OUT V

CN1

YELLOW

R49

10K

BEMF3

OUTU

1/4W

1

BEMF2

691311500105

BAT30KFILM

BAT30KFILM

BAT30KFILM

VS

VDD

IO_BEMF

S1751-46R

R53

VS

YELLOW

TP8

10K 1/4W

2.2K

R46

3

BAT30KFILM

R50

10K

2

VS
GND

OUT W

OUT U

D11

805-1699

D8

S1751-46R

1

691351500002

R47

1

1

J4

RS

FC681465P

1/4W

10K 1/4W

YELLOW

1/4W

TP6

691351500003

BAT30KFILM

R54

OUTW

1
3
2

OUTV

2.2K

D7

10K 1/4W

R48

3

R51

10K

D10

BEMF1

D13

2.2K

1

D5

4

CN2

TP7

2

BAT30KFILM

R52

2

5

UM2538 - Rev 1

Figure 12. X-NUCLEO-IHM16M1 L6230 driver and BEMF detection circuit

page 18/27

Electrical schematics

UM2538

X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s che ma tic diagra ms ve rs ion 1| s hee t 2

OP303_W

8
7
6
5
4
3
2
1

ESQ-119-24-G-D

25

R88

R83

R440R

2
4
6
8
10

5V

27

C10_34

27

INV

C7_32

X7R

C10_24

C10_11

BEMF3

C10_18

F303

F302

BKIN2 (F302, F303)

CURRENT_REF

R45

GU_4xx

R75

NP

C10_14

STBY

23

C10_15

M2

CN5 NP

24
26

R69

0R

17

38

R33

R84

VDD

29

C7_34

0R

ENV

26
28
30

BEMF1

PB14

NP

R40

H3

1
2
3
4
5
6
7
8

C10_16

12

24

OPTICAL_TARGET

R35

C10_18

C10_26

0R

INW

STBY

REF

INU

INV

VDD

5V
GND
GND

bemf1

bemf3

bemf2

SPD

18

CN9 NP

C10_19

ESQ-119-24-G-D

BEMF2

C10_30

31

0R

C10_26

SSQ-108-01-F-S

H1

13

C10_15

C10_2

R77

C10_4

ENU

0R

0R

28
30

33
35

22

33

C10_19

C10_14

VBUS

C10_28

0R

19

EN_FAULT

C10_30

C10_13

R87

C10_27

INW

R85

SSQ-110-01-F-S

OPTICAL_TARGET

CN10

1
3
5
7
9

11

R81

R43

CN6 NP

35
37

20

C7_17

PA8 - INU

PA9 - INV

PA10 - INW

PC1 - ADC

PC3 - ADC

PC2

PB5

PC9 - GPIO

<CURRENT_REF>

C10_16

0R

C7_28

31 32

34

14

R78

21

36

C10_6

R79

R31

16

0R

SSQ-106-01-F-S

1
3
5
7
9

R36

0R

NP

37

C7_34

C7_30

34

C10_28

C7_28

18

R80

C10_31

CN7

Curr_fdbk2

13

36

0R

0R

INU

M1

19
21

29

10

R82

12

38

2
4
6
8
10

R29

R86

NTC

CN8

22

C10_31

R42

C10_25

0RR73

14
16

32

20

R39

NP

C10_2

C7_17

OP303_V

C10_18

R41

15

R61

C10_11

17

23

Curr_fdbk1

Curr_fdbk3

C10_6

OPTICAL_TARGET

C13
220NF
16V

R76

SSQ-108-01-F-S

NP

R34

0R

R37

C10_15

11

C10_34

OP303_U

ENW

1
2
3
4
5
6

SPEED

C10_30

C10_28

C10_25

C7_32

PB0 - PhW Sense

F303

PA7 - PhW Sense

PB10 - H3

PA15 - H1

F030PC6 - H1

F302

F302

F302

PB0

PB3 - H2

PB13

PB11

PB13

PB14

PB15

PA7

M4

R74

NP

C10_4

15

25

VDD

C10_18

PB13

PB14

PB15

F303 (Embedded OPAMP ONLY)

PB1 - PhV Sense

PC7 - H2 F030

PWM

DAC

F030

PB11 - PhV Sense

PA4 - DAC

PB4 - PWM

PC8 - H3

PC4

PA6

PA1 - PhU Sense

PC5

PA0

PA11 - BKIN2

F302

PB12 - BKIN

STM32F303 Embedded OPAMP

C10_13

H2

IO_BEMF

C7_30

C10_27

M3

C7_34

C10_24

C10_15

9
8
7
6
5
4
3
2
1

PC0 - ADC

0R

0R

NP

NP

NP

NP

0R

0R

0R

0R

0R

NP

UM2538 - Rev 1

Figure 13. X-NUCLEO-IHM16M1 MCU pin assignment

page 19/27

Electrical schematics

UM2538

7 References

Table 6 lists STMicroelectronics related documents available at www.st.com for supplementary information.

ID Reference document

[1]

[2]

[3] STM32G4 Nucleo-64 boards (MB1367) user manual (UM2505).

[4] Compact and versatile three-phase and three-sense motor driver datasheet (DS12584).

[5] STM32 MC SDK software expansion for STM32Cube data brief (DB3548).

[6] Getting started with STM32 motor control SDK v5.0 user manual (UM2374).

Getting started with the X-NUCLEO-IHM16M1 three-phase brushless motor driver board based on
STSPIN830 for STM32 Nucleo user manual (UM2415).

Getting started with the X-CUBE-SPN16 three-phase brushless DC motor driver software expansion for
STM32Cube user manual (UM2419).

UM2538

References

Table 6. STMicroelectronics reference documents

UM2538 - Rev 1

page 20/27

Federal Communications Commission (FCC) and Industry Canada (IC) Compliance Statements

Appendix A Federal Communications Commission (FCC) and Industry

Canada (IC) Compliance Statements

A.1 FCC Compliance Statement

Part 15.19

This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) this
device may not cause harmful interference, and (2) this device must accept any interference received, including
interference that may cause undesired operation.

Part 15.21

Any changes or modifications to this equipment not expressly approved by STMicroelectronics may cause
harmful interference and void the user's authority to operate this equipment.

Part 15.105

This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part
15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a
residential installation. This equipment generates uses and can radiate radio frequency energy and, if not installed
and used in accordance with the instruction, may cause harmful interference to radio communications. However,
there is no guarantee that interference will not occur in a particular installation. If this equipment does cause
harmful interference to radio or television reception which can be determined by turning the equipment off and on,
the user is encouraged to try to correct interference by one or more of the following measures:

• Reorient or relocate the receiving antenna.

• Increase the separation between the equipment and receiver.

• Connect the equipment into an outlet on circuit different from that to which the receiver is connected.

• Consult the dealer or an experienced radio/TV technician for help.

Note: Use only shielded cables.

UM2538

A.2

Responsible party (in the USA)

Terry Blanchard
Americas Region Legal | Group Vice President and Regional Legal Counsel, The Americas
STMicroelectronics, Inc.
750 Canyon Drive | Suite 300 | Coppell, Texas 75019
USA
Telephone: [phone]

IC Compliance Statement

This device complies with FCC and Industry Canada RF radiation exposure limits set forth for general population
for mobile application (uncontrolled exposure). This device must not be collocated or operating in conjunction with
any other antenna or transmitter.

Compliance Statement

Notice: This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the
following two conditions: (1) this device may not cause interference, and (2) this device must accept any
interference, including interference that may cause undesired operation of the device.

Industry Canada ICES-003 Compliance Label: CAN ICES-3 (B) / NMB-3 (B).

Déclaration de conformité

Avis: Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de
licence. L'exploitation est autorisée aux deux conditions suivantes : (1) l'appareil ne doit pas produire de
brouillage, et (2) l'utilisateur de l'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage
est susceptible d'en compromettre le fonctionnement.

UM2538 - Rev 1

page 21/27

Étiquette de conformité à la NMB-003 d'Industrie Canada : CAN ICES-3 (B) / NMB-3 (B).

UM2538

IC Compliance Statement

UM2538 - Rev 1

page 22/27

Revision history

UM2538

Table 7. Document revision history

Date Version Changes

19-Apr-2019 1 Initial release.

UM2538 - Rev 1

page 23/27

UM2538

Contents

Contents

1 Features ...........................................................................2

2 Ordering information ..............................................................3

2.1 Product marking ...............................................................3

2.2 Codification ...................................................................3

3 Development environment .........................................................4

3.1 System requirements ...........................................................4

3.2 Development toolchains .........................................................4

3.3 Demonstration software .........................................................4

4 Getting started (basic user) ........................................................5

4.1 System architecture ............................................................5

4.2 Configure and run the motor control from the STM32 Nucleo motor-control pack .........5

4.3 Hardware settings ..............................................................9

4.4 Upload the firmware example ...................................................10

4.4.1 Drag-and-drop procedure .................................................11

4.4.2 STM32CubeProgrammer tool ..............................................11

4.5 Demonstration usage ..........................................................12

5 FOC control algorithm settings (advanced user)...................................13

6 Electrical schematics .............................................................14

7 References .......................................................................20

Appendix A Federal Communications Commission (FCC) and Industry Canada (IC)

Compliance Statements...........................................................21

A.1 FCC Compliance Statement ....................................................21

A.2 IC Compliance Statement ......................................................21

Revision history .......................................................................23

Contents ..............................................................................24

List of tables ..........................................................................25

List of figures..........................................................................26

UM2538 - Rev 1

page 24/27

UM2538

List of tables

List of tables

Table 1. List of available products...............................................................3

Table 2. Nucleo-board codification explanation......................................................3

Table 3. Jumper settings .....................................................................9

Table 4. Screw terminal table..................................................................9

Table 5. Connector description.................................................................9

Table 6. STMicroelectronics reference documents ..................................................20

Table 7. Document revision history............................................................. 23

UM2538 - Rev 1

page 25/27

UM2538

List of figures

List of figures

Figure 1. P-NUCLEO-IHM03 pack .............................................................1

Figure 2. Four-block architecture of the P-NUCLEO-IHM03 pack ........................................5

Figure 3. X-NUCLEO-IHM16M1 and NUCLEO-G431RB assembled ......................................6

Figure 4. Motor connection with X-NUCLEO-IHM16M1 ...............................................7

Figure 5. Power-supply connection for X-NUCLEO-IHM16M1 ..........................................8

Figure 6. X-NUCLEO-IHM16M1 connectors ......................................................10

Figure 7. STM32CubeProgrammer tool ......................................................... 11

Figure 8. STM32CubeProgrammer download..................................................... 12

Figure 9. X-NUCLEO-IHM16M1 motor driver connections ............................................15

Figure 10. X-NUCLEO-IHM16M1 current-sensing conditioning circuit ..................................... 16

Figure 11. X-NUCLEO-IHM16M1 sensors and shunt resistor circuit ...................................... 17

Figure 12. X-NUCLEO-IHM16M1 L6230 driver and BEMF detection circuit ................................. 18

Figure 13. X-NUCLEO-IHM16M1 MCU pin assignment ............................................... 19

UM2538 - Rev 1

page 26/27

UM2538

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Information in this document supersedes and replaces information previously supplied in any prior versions of this document.

© 2019 STMicroelectronics – All rights reserved

UM2538 - Rev 1

page 27/27