August 2016
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www.st.com
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User manual
Getting started with the X-NUCLEO-IHM11M1 low voltage 3-phase
brushless DC motor driver expansion board based on STSPIN230
Introduction
The X-NUCLEO-IHM11M1 is a low voltage three-phase brushless DC motor driver expansion board
based on STSPIN230 for STM32 Nucleo. It is an affordable and easy-to-use solution with motor driver
operation in low voltage battery scenarios, allowing zero consumption state (such as in thermal printers,
robotics, toys, etc..).
The X-NUCLEO-IHM11M1 is compatible with the Arduino UNO R3 and the ST morpho connectors and
supports the addition of other boards to a single STM32 Nucleo board.
Furthermore, the board is designed for six-step and FOC algorithms.
Figure 1: X-NUCLEO-IHM11M1 expansion board
Contents
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Contents
1 Hardware and software requirements ............................................ 5
2 Getting started ................................................................................. 6
3 Hardware description and configuration ....................................... 7
3.1 Selecting the STM32 Nucleo board ................................................... 8
4 Circuit description ........................................................................... 9
4.1 Hall/encoder motor speed sensor ..................................................... 9
4.2 Sensorless detection ......................................................................... 9
4.3 Bus voltage circuit ............................................................................. 9
5 Revision history ............................................................................ 10
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List of tables
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List of tables
Table 1: ST morpho connector table .......................................................................................................... 7
Table 2: Other connectors, jumpers and test points ................................................................................... 8
Table 3: BEFM3 input selection .................................................................................................................. 9
Table 4: Document revision history .......................................................................................................... 10
List of figures
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List of figures
Figure 1: X-NUCLEO-IHM11M1 expansion board .................................................................................... 1
Figure 2: X-NUCLEO-IHM11M1 jumper and connector positions ............................................................. 7
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Hardware and software requirements
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1 Hardware and software requirements
To use the STM32 Nucleo development boards with the X-NUCLEO-IHM11M1 expansion
board, the following software and hardware specifications are required:
a Windows PC (XP, Vista 7 , Win 8, Win 10 ) to install the software package
an X-NUCLEO-IHM11M1 expansion board
an STM32 Nucleo development board (NUCLEO-F401RE, NUCLEO-F334R8,
NUCLEO-F030R8 or NUCLEO-L053R8)
a type A USB to mini-B USB cable to connect the STM32 Nucleo board to the PC
the X-CUBE-SPN7 software package (available on www.st.com)
an IDE chosen among IAR Embedded Workbench for ARM (EWARM), Keil
microcontroller development kit (MDK-ARM) and system workbench for STM32
Nucleo project
three-phase brushless DC motor with compatible voltage and current for STSPIN230
driver
an external power supply or battery able to provide the voltage required by the stepper
motor used
Getting started
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2 Getting started
The X-NUCLEO-IHM11M1 expansion board is a three-phase brushless DC motor driver
covering a wide range of applications.
The board maximum ratings are:
Power stage supply voltage (Vsub) from 1.8 to 10 V
Motor phase current up to 1.3 A
To start your project with the board:
1. Check the jumper position of your configuration (see Section 2: "Introduction").
2. Connect the X-NUCLEO-IHM11M1 with the STM32 Nucleo development board
through ST morpho connectors (CN7, CN10).
3. Supply the board through input 5 (Vin) and 6 (GND) of the J1 connector: the D5 (red)
LED turns on.
4. Develop your application using the examples provided with the firmware library.
Further support material is available on the STSPIN230 (www.st.com) and STM32 Nucleo
web pages (www.st.com/stm32nucleo)
rms
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Hardware description and configuration
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Connector
Pin
(1)
Signal
Remarks
CN10
1
IO_BEFM
9
Ground
15
BEFM3
Section 3: "Hardware and software requirements"
19
Reset
21
V_High
23
U_High
24
W_Low
25
H3
26
BEFM3
Section 3: "Hardware and software requirements"
27
Fault
28
V_Low
29
Enable
30
U_Low
31
H2
3 Hardware description and configuration
The figure below shows the board connector and jumper positions.
Figure 2: X-NUCLEO-IHM11M1 jumper and connector positions
The table below shows ST morpho connector detailed pinout.
Table 1: ST morpho connector table
Hardware description and configuration
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Connector
Pin
(1)
Signal
Remarks
33
W_High
CN7
12
VDD
17
H1
18
5V
20
Ground
22
Ground
28
CURR_FDB
30
VBUS
34
BEFM2
35
Speed
37
BEFM1
Notes:
(1)
All the non-listed pins are not connected.
Name
Pin
Label
Description
J1
1 - 2
Vin GND
Motor power supply
J2
1 - 2 3
U, V, W
3-phase BLDC motor phases connection
J3
1 - 2 3
-
Hall/encoder sensors connector
4 - 5
-
Sensors power supply
J4 - J4
Selection for Hall’s input lines protection (closed by default) Hall’s
input lines
TP1 - GND
Ground
TP2 - VIN
Motor power supply
TP3 - VDD
Digital power supply (by default 3.3 V coming from STM32 Nucleo
board)
The X-NUCLEO-IHM11M1 is equipped with screw connectors for motor and power supply,
a jumper for enabling a Hall encoder detection circuit and a connector for Hall effect
sensors (refer to the table below).
Table 2: Other connectors, jumpers and test points
3.1 Selecting the STM32 Nucleo board
This expansion board natively supports the following STM32 Nucleo development boards:
NUCLEO-F401RE
NUCLEO-F334R8
NUCLEO-F030R8
NUCLEO-L053R8
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Circuit description
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Nucleo board
CN10 connector
R15
R16
Remark
NUCLEO-F401RE
NUCLEO-F030R8
NUCLEO-L053R8
pin15
0 Ω
Not mounted
Default
NUCLEO-F334R8
pin 26
Not mounted
0 Ω
4 Circuit description
The STSPIN230 integrates a protected triple half-bridge with low R
solution for a three-phase BLDC motor in very low consumption mode.
The device is protected against overload and short-circuits: short to ground, short to motor
supply voltage, short between the outputs. If one of the failure events occurs, the fault
signal is set and the fault LED D5 is lit (red).
The STSPIN230 is compatible with single shunt current sense measurement. The current
feedback signal conditioning is performed by hardware available on the board and sent to
the STM32 Nucleo board through the CN7 ST morpho connector (pin 28).
Motor speed regulation can be performed by hardware, by acting on trimmer R12. In this
way, you can change the reference used by STM32 firmware for speed regulation.
The X-NUCLEO-IHM11M1 expansion board provides two hardware solutions for motor
position feedback: one based on sensors and the other one based on sensorless detection.
4.1 Hall/encoder motor speed sensor
The X-NUCLEO-IHM11M1 expansion board implements the Hall/encoder sensor detection
circuit for motor speed feedback. The motor sensor feedback is connected through the J3
connector and an analog circuit to the STM32 Nucleo board in order to detect the motor
rotation.
For sensors requiring external pull-up, three 10 kΩ resistors are already mounted and
connected to the VDD voltage (if these are not necessary, you can remove them).
The J4 jumper (closed by default) protects the Hall’s input lines connecting them to VDD
voltage through a small-signal Schottky diode.
for evaluating a
DS(on)
4.2 Sensorless detection
In six-step driving mode, one of the three phases is left in high impedance state: comparing
this phase voltage with the center-tap voltage, we can detect the BEMF zero-crossing.
This signal is acquired through an analog circuit embedded on the expansion board and
sent to the STM32 Nucleo board through the ST morpho connectors.
For each different STM32 Nucleo development board, the BEFM3 driver input can be
selected through a dedicated resistor, as indicated in the table below.
Table 3: BEFM3 input selection
4.3 Bus voltage circuit
The X-NUCLEO-IHM11M1 expansion board provides the hardware bus voltage sensing.
This signal is acquired with a resistor divider from the motor supply voltage (VBUS) and
sent to the analog to digital converter (connector CN7 pin 30).
Revision history
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Date
Revision
Changes
19-Jul-2016
1
Initial release.
5 Revision history
Table 4: Document revision history
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