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

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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.

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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

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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.

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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

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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.

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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

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Getting started (basic user)

Power supply unit

Control Power PMSM

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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

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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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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)

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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.

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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].

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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

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