Page 1
UM3030
User manual
Getting started with the X-NUCLEO-IHM09M2 motor control connector expansion
board for STM32 Nucleo
Introduction
The X-NUCLEO-IHM09M2
motor control solutions for three-phase motors by connecting the STM32 Nucleo development board to an external ST motor
control power board, thanks to the ST morpho and motor control connector.
The 34-pin motor control connector is compatible with all major ST motor control power boards, which requires an external
digital section (MCU) to drive a three-phase motor.
The DAC connector supports the user code development and testing with easy access to the MCU peripherals.
An LED is available for fault condition signaling or status indication.
The X-NUCLEO-IHM09M2 is fully compatible with the ST six-step and field-oriented control (FOC) firmware library.
is a motor control connector expansion board for STM32 Nucleo. It provides an easy way to evaluate
Figure 1. X-NUCLEO-IHM09M2 motor control connector expansion board
UM3030 - Rev 1 - July 2022
For further information contact your local STMicroelectronics sales of
fice.
www.st.com
Page 2
1 System overview
1.1 Main characteristics
The X-NUCLEO-IHM09M2 expansion board is designed for three-phase motor driver applications. It features:
ST motor control connector (34 pins) compatible with ST motor control power boards
•
• STM32 Nucleo compatibility, thanks to ST morpho connectors
• Compatible with the ST six-step and FOC motor control firmware library
• Debug connector for DAC, GPIOs, etc.
• Fully populated board with test points
• LED for fault signaling or status indication
• Potentiometer available (for speed reference)
• PCB type and size:
– PCB material - FR-4
– layout - double layer
– copper thickness - 35 μm
– overall board dimensions - 70 mm x 70 mm
• RoHS compliant
UM3030
System overview
UM3030 - Rev 1
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Page 3
2 Getting started
2.1 System architecture
A generic motor control system consists of the following major blocks:
1. Control block, which accepts the user commands and provides motor control signals to drive a motor
The X-NUCLEO-IHM09M2 adapter connects an STM32 Nucleo development board to a power board that
requires an external digital section.
2. Power block, which is normally in a three-phase inverter topology. It contains all the necessary active power
and analog components to control a low voltage PMSM/BLDC motor.
3. Motor, which is a three-phase brushless motor.
UM3030
Getting started
.
Figure 2. System architecture
2.2 Building the system
The X-NUCLEO-IHM09M2 expansion board adapts the STM32 Nucleo development board to the ST motor
control power boards, which require an external digital section to control a three-phase PMSM/BLDC motor
For the regular board operation, plug the expansion board onto the top of the development board (control block)
via the ST morpho connector, as shown below.
.
UM3030 - Rev 1
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Page 4
Figure 3. X-NUCLEO-IHM09M2 plugged onto the STM32 Nucleo
UM3030
Building the system
The interconnection between the two boards is fully compatible with a wide range of STM32 Nucleo development
boards. No solder bridge modification is required.
The stacked solution is ready to operate with a compatible power board via a standard 34-pin flat cable.
2.2.1 Hardware settings
Set the X-NUCLEO-IHM09M2 J1 jumper of
Jumper/connector Description
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 for fault or status indication
f.
Table 1. Jumper, connectors, and LED
UM3030 - Rev 1
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Page 5
Figure 4. X-NUCLEO-IHM09M2 - top layer with silk-screen
UM3030
Building the system
UM3030 - Rev 1
The X-NUCLEO-IHM09M2 is equipped with ST morpho connectors. The male pin headers are CN7 and CN10.
These connectors are used to connect the expansion board to the STM32 Nucleo.
The MCU signals and power pins are available on the morpho connector
. For further details, refer to UM1724,
section 5.12.
Table 2. ST morpho connector - CN7
Pin Default Signal Solder bridge
1 PC10 NTC bypass R17
2 PC11 Dissipative brake/OCP disable R19
3 PC12
4 PD2
5 VDD
6 E5V
7 BOOT0
8 GND
9 NC/PF6
page 5/19
Page 6
Building the system
Pin Default Signal Solder bridge
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 PA0 Curr_fdbk_PhA R4
29 PH0/PF0/PD0
30 PA1 VBUS_sensing R5
31 PH1/PF1/PD1
32 PA4 DAC_Ch R18 (not mounted)
33 VLCD/VBAT
34 PB0 VL_PWM R15
35 PC2 Temperature feedback R10
36 PC1 or PB9 Curr_fdbk_PhB
R9
(1)
37 PC3 Potentiometer R28
38 PC0 or PB8 Curr_fdbk_PhC
For further details, refer to UM1724, table 9.
1.
R7
(1)
UM3030
UM3030 - Rev 1
Table 3. ST morpho connector - CN10
Pin Default Signal Solder bridge
1 PC9
2 PC8
3 PB8
4 PC6
5 PB9
6 PC5
7 AVDD
8
U5V
(1)
page 6/19
Page 7
Pin Default Signal Solder bridge
9 GND
10 NC
11
PA5
(2)
GPIO/DAC/PWM R21
12 PA12
13
PA6
(3)
DIAG/ENABLE/BKIN1 R3
14 PA11 DIAG/ENABLE/BKIN2 R1
15
PA7
(4)
UL_PWM R12
16 PB12
17 PB6
18 PB11/NC
19 PC7
20 GND
21 PA9 VH_PWM R8
22 PB2 Red LED R14
23 PA8 UH_PWM R6
24 PB1 WL_PWM R16
25 PB10 Encoder Z/Hall H3 R25
26
PB15
(4)
27 PB4 PWM/DEBUG R20
28
PB14
(3)
DIAG/ENABLE/BKIN1 R2
29 PB5 GPIO/DAC/PWM R23
30
PB13
(2)
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
1. U5V is the 5 V power from the ST-LINK/V2-1 USB connector and it rises above +5 V.
2. For NUCLEO-F302R8 only: pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11.
3. For NUCLEO-F302R8 only: pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13.
4. For NUCLEO-F302R8 only: pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13.
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Building the system
UM3030 - Rev 1
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Page 8
2.2.2 Pinout of the motor control connector
1521 131 17 11 5919 32933 2325 71327
1622 232 18 12 61020 43034 2426 81428
Figure 5. J7 motor control connector (top view)
UM3030
Building the system
The X-NUCLEO-IHM09M2 expansion board supports motor control via the J7 34-pin connector
. This connector
provides all the required control and feedback signals to and from an ST motor power-drive board.
The available signals include the emergency stop, speed or position feedback, three-phase motor current, bus
voltage, and heatsink temperature.
Table 4. J7 pin assignments
Pin Default Function
1 PA6/PA11 DIAG/ENABLE/BKIN1
2 GND Dissipative brake/OCP disable
3 PA8 UH_PWM
4 GND
5 PA7/PB15 UL_PWM
6 GND
7 PA9 VH_PWM
8 GND
9 PB0 VL_PWM
10 GND
11 PA10 WH_PWM
12 GND
13 PB1 WL_PWM
14 PA1 VBUS_sensing
15 PA0 Curr_fdbk_PhA
16 Not connected
17 PC1 Curr_fdbk_PhB
18 Not connected
19 PC0 Curr_fdbk_PhC
20 Not connected
21 PC10 NTC bypass
22 Not connected
23 PC11 Dissipative brake/OCP disable
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Page 9
Pin Default Function
24 Not connected
25 E5V
26 PC2 Temperature feedback
27 Not connected
28 Not connected
29 Not connected
30 Not connected
31 PA15 Encoder A/Hall H1
32 Not connected
33 PB3 Encoder B/Hall H2
34 PB10 Encoder Z/Hall H3
2.2.3 DAC settings for debug
For debugging purposes, you can use the DAC peripheral and configure the motor control library to drive the
signal.
For instance, the P
connected to DAC_CH1.
Different pins are available on the J1 connector, according to the STM32 Nucleo development board used.
A4 pin is accessible through the ST morpho connector or J1 connector. This pin is usually
UM3030
Building the system
2.2.4 User LED
The X-NUCLEO-IHM09M2 provides a programmable LED (D1) connected on the PB2 pin. It can be used to
signal motor status, faults, etc.
Y
ou have to configure this pin and drive it through the application code you have developed.
UM3030 - Rev 1
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Page 10
MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2
3 MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2
The X-NUCLEO-IHM09M2 expansion board is compatible with the motor control (MC) FOC SDK, which is a
firmware library and workbench GUI.
No hardware modification is needed to run the motor through this control algorithm.
For the pin configuration, see T
You can connect the STM32 Nucleo to the MC workbench GUI through a virtual COM embedded in the STM32
Nucleo, which allows using the USART2 on PA2 and PA3 pins from the same USB type A to Mini-B USB cable
used to program the STM32 Nucleo.
For further information on the MC FOC SDK, see X-CUBE-MCSDK.
able 2 and Table 3.
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Page 11
F302
PWM
ARDUINO/MORPHO CONNECTOR
Currents
DAC
USER
F302
HALL/ENCODER SENSOR
F302
C10_13
MC1
C10_28
C10_23
MC7
MC3
C10_33
MC5
MC11
C7_34
MC13
MC9
C7_28
C7_38
MC26C7_35
MC15
MC19
C7_17
C10_31
C10_25 MC34
MC31
MC33
C10_21
C10_24
C10_15
C10_22
C10_26
C7_1
C7_2
MC21
MC23
MC1
MC3
MC7
MC5
MC9
MC11
MC13
MC15
MC17
MC19
C10_30
C10_27
C10_29
C7_32
C10_11
MC31
MC33 MC34
MC14
MC26
MC23
MC21
C7_37
C10_14
C7_36 MC17
C7_30 MC14
MC25
MC25
3V3
3V3
3V3
5V
0R21
0R28
0R11
R26
100K
CN9
1
2
3
4
5
6
7
8
0R27
1
CN10
2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
0R17
0R13
0R16
R4 0
R29 N.C.
R8 0
D1
RED
J7
1
CON34A
2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17
19
21
23
25 26
27 28
29 30
31 32
33 34
18
20
22
24
CN5
1
2
3
4
5
6
7
8
9
10
R9 0
CN6
1
2
3
4
5
6
7
8
0R19
0R25
0
R1
R7 0
0R6
0R22
0R15
R3
0
0R12
0R20
R14
510
0R18
J2
1
RING
R2
0
CN7
1 2
3 4
5 6
7 8
9 10
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
J1
1
2
3
Stripline m. 1x3
CN8
1
2
3
4
5
6
0R24
0R30
0R5
0R10
0R23
PA8-UH
PA6-BKIN
PA10-WH
PB0-VL
PA0 - PhA
PC0 - PhC
PC2 - Temp. Sens.
PA15 - Enc. A/H1
PB3 - Enc. B/H2
PB10 - Enc. Z/H3
PB1-WL
PA9-VH
PB2
PA7-UL
PC10-NTC bypass
PC11-Dissipative Brake/OCP disable
PA5/PB13
PA4- DAC
PPBB55--DDAACC PPWWMM
PB4-PWM
PA5 - DAC
PC3-SPEED
PA11
C7_1
C7_3
C7_5
C7_7
C7_13
C7_15
C7_17
C7_19
C7_21
C7_23
C7_25
C7_27
C7_29
C7_31
C7_33
C7_35
C7_37
C7_14 C6_3
C7_16
C7_18
C7_20
C7_22
C7_24 C6_8
C7_28 C8_1
C7_38 C8_6
C7_36 C8_5
C7_34 C8_4
C7_30 C8_2
C7_32 C8_3
C7_2
C7_4
E5V C7_6
C7_8
C10_3C5_10
C10_7C5_8
C10_9C5_7
C10_11C5_6
C10_13C5_5
C10_15C5_4
C10_17C5_3
C10_19C5_2
C10_21C5_1
C10_5C5_9
C10_35C9_2
C10_29C9_5
C10_31C9_4
C10_25C9_7
C10_33C9_3
C10_27C9_6
C10_23C9_8
C10_37C9_1
C10_1 C10_2
C10_4
C10_6
C10_8
C10_10
C10_12
C10_14
C10_16
C10_18
C10_20
C10_22
C10_24
C10_26
C10_28
C10_30
C10_32
C10_34
C10_36
C10_38
C7_9
C7_11 C7_12
C6_1 N.C.
C6_2 +3V3
C6_6
N.C. C7_10
C6_7
C7_26
C6_4
PC1 - PhB
PA1 - BUSV
C6_5
UM3030 - Rev 1
4 Schematic diagrams
Figure 6. X-NUCLEO-IHM09M2 circuit schematic
page 11/19
Schematic diagrams
UM3030
Page 12
5 Bill of materials
Item Q.ty Ref. Part/value Description Manufacturer Order code
1 1 D1
2 1 J1
3 1 J2
CN7, CN10,
4 2
5 0
6 0
7 1 J7
8 0
9 26
10 1 R14
11 1 R26
12 0 R29 0, 0603, 1/2 W
13 1
male on top,
female on
bottom
CN6,CN9,femal
e on top, male
on bottom
CN5, female on
top, male on
bottom
CN8, female on
top, male on
bottom
R1, R2, R3, R4,
R5, R6, R7, R8,
R9, R10, R1
R12, R13, R15,
R16, R17, R18,
R19, R20, R21,
R22, R23, R24,
R25, R27, R28
R30 closed with
a drop of tin
Table 5. X-NUCLEO-IHM09M2 bill of materials
RED, SMD
0603,
Stripline m. 1x3,
TH 2.54 mm
pitch
RING, TH, 1
mm
CONN 38, TH
2.54 mm pitch
CONN8, TH
2.54 mm pitch
CONN10, TH
2.54 mm pitch
Motor control
connector
CONN6, TH
2.54 mm pitch
1,
0 Ohm, 0603,
0.1 W
510 Ohm, 0603,
0.1 W
100 kOhm, 1/2
W
, ±10 %
0, 0603, 1/2 W Solder bridge Any -
LED standard SMD
3-way strip line Stelvio Kontek 613040167028
Test point
38-pin elevated
socket morpho
connector
8-pin elevated
socket morpho
connector (not
mounted)
10-pin elevated
socket (not
mounted)
34-way IDC
straight boxed
, TH
header
6-pin elevated
socket (not
mounted)
SMD resistors RS PRO 716-9743
SMD resistor RS PRO 804-8820
Trimmer resistor Bourns 3386G-1-104LF
Solder bridge
(not mounted) leave open
Lite-on LTST-C193KRKT-5A
Vero
T
echnologies
Samtec ESQ-119-24-T-D
4UCONN 08413
Samtec ESQ-108-24-T-S
4UCONN 15284
Samtec ESQ-110-24-T-S
4UCONN 15286
ASSMANN
WSW
Samtec ESQ-106-24-T-S
4UCONN 15282
- -
UM3030
Bill of materials
20-2137
AWHW 34G-0202-T
UM3030 - Rev 1
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Page 13
6 Board versions
PCB version Schematic diagrams Bill of materials
X$NUCLEO-IHM09M2
1. This code identifies the X-NUCLEO-IHM09M2 first version. It is printed on the board PCB.
(1)
UM3030
Board versions
Table 6. X-NUCLEO-IHM09M2 versions
X$NUCLEO-IHM09M2 schematic diagrams X$NUCLEO-IHM09M2 bill of materials
UM3030 - Rev 1
page 13/19
Page 14
7 Regulatory compliance information
Formal Notice Required by the U.S. Federal Communications Commission
For evaluation only; not FCC approved for resale
FCC NOTICE
This kit is designed to allow:
(1) Product developers to evaluate electronic components, circuitry
determine whether to incorporate such items in a finished product and
(2) Software developers to write software applications for use with the end product.
This kit is not a finished product and when assembled may not be resold or otherwise marketed unless all
required FCC equipment authorizations are first obtained. Operation is subject to the condition that this product
not cause harmful interference to licensed radio stations and that this product accept harmful interference. Unless
the assembled kit is designed to operate under part 15, part 18 or part 95 of this chapter, the operator of the kit
must operate under the authority of an FCC license holder or must secure an experimental authorization under
part 5 of this chapter 3.1.2.
Formal Product Notice Required by Industry Canada Innovation, Science and Economic Development
Canada compliance:
For evaluation purposes only. This kit generates, uses, and can radiate radio frequency energy and has not been
tested for compliance with the limits of computing devices pursuant to Industry Canada (IC) rules.
À des fins d'évaluation uniquement. Ce kit génère, utilise et peut émettre de l'énergie radiofréquence et n'a pas
été testé pour sa conformité aux limites des appareils informatiques conformément aux règles d'Industrie Canada
(IC).
UM3030
Regulatory compliance information
, or software associated with the kit to
Formal product notice required by EU
This device is in conformity with the essential requirements of the Directive 2015/863/EU (RoHS).
UM3030 - Rev 1
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Page 15
Revision history
able 7. Document revision history
T
Date Revision Changes
18-Jul-2022 1 Initial release.
UM3030
UM3030 - Rev 1
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Page 16
UM3030
Contents
Contents
1 System overview ..................................................................2
1.1 Main characteristics ............................................................2
2 Getting started ....................................................................3
2.1 System architecture ............................................................3
2.2 Building the system.............................................................3
2.2.1 Hardware settings ........................................................4
2.2.2 Pinout of the motor control connector .........................................8
2.2.3 DAC settings for debug ....................................................9
2.2.4 User LED ..............................................................9
3 MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2 .......................10
4 Schematic diagrams ..............................................................1
5 Bill of materials...................................................................12
6 Board versions ...................................................................13
7 Regulatory compliance information ...............................................14
Revision history .......................................................................15
List of tables ..........................................................................17
List of figures..........................................................................18
1
UM3030 - Rev 1
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Page 17
UM3030
List of tables
List of tables
able 1. Jumper, connectors, and LED ...........................................................4
T
Table 2. ST morpho connector - CN7 ............................................................5
Table 3. ST morpho connector - CN10 ...........................................................6
Table 4. J7 pin assignments ..................................................................8
Table 5. X-NUCLEO-IHM09M2 bill of materials .................................................... 12
Table 6. X-NUCLEO-IHM09M2 versions ......................................................... 13
Table 7. Document revision history ............................................................. 15
UM3030 - Rev 1
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Page 18
UM3030
List of figures
List of figures
Figure 1. X-NUCLEO-IHM09M2 motor control connector expansion board..................................1
Figure 2. System architecture ................................................................3
Figure 3. X-NUCLEO-IHM09M2 plugged onto the STM32 Nucleo ........................................4
Figure 4. X-NUCLEO-IHM09M2 - top layer with silk-screen ............................................5
Figure 5. J7 motor control connector (top view) ....................................................8
Figure 6. X-NUCLEO-IHM09M2 circuit schematic .................................................. 1
1
UM3030 - Rev 1
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Page 19
UM3030
IMPORTANT NOTICE – READ CAREFULLY
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© 2022 STMicroelectronics – All rights reserved
UM3030 - Rev 1
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