ST X-NUCLEO-IHM02A1 Manual de usuario

October 2015 DocID028481 Rev 1 1/24

UM1964

User manual

Getting started with X-NUCLEO-IHM02A1; two-axis stepper motor

driver expansion board based on L6470 for STM32 Nucleo

Introduction

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 motors in your STM32 Nucleo project. The expansion board includes two

L6470 fully integrated micro stepping motor drivers for motor stepper control throughmotors

high-end motion control commands received via SPI. It is able to drive one or two stepper

motors when plugged on an STM32 Nucleo board. This board is equipped with an

Arduino™ UNO R3 connector and the layout is also compatible with ST morpho connectors.

One or more of these expansion boards can be plugged on a STM32 Nucleo board to

control one or more stepper motorss. The SPI peripherals from each L6470 are connected

in daisy chain configuration.

Figure 1. X-NUCLEO-IHM02A1; two-axis stepper motors driver expansion board

based on L6470

www.st.com

Contents UM1964

2/24 DocID028481 Rev 1

Contents

1 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.1 Hardware and software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2 Hardware description and configuration . . . . . . . . . . . . . . . . . . . . . . . . 5

2.1 Selecting the SPI lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.2 Multi-motor configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

3 Set-up to try the provided example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4 Board schematic and bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4.1 Bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

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

DocID028481 Rev 1 3/24

UM1964 Getting started

1 Getting started

The X-NUCLEO-IHM02A1 expansion board extends the application landscape for STM32

Nucleo board user. It directly handles two-axis stepper motors driving, through the L6470,

and can be used in a wide range of relevant applications.. The maximum ratings of the

L6470 are the following:

•Power stage supply voltage (VS) from 8 V to 45 V DC;

•motors phase current up to 3 A r.s.m. (related to the L6470)

To function correctly, the X-NUCLEO-IHM02A1 (two-axis stepper motors driver expansion

board based on L6470) has to be plugged on an STM32 Nucleo board as shown in Figure 2.

Figure 2. X-NUCLEO-IHM02A1 plugged on STM32 Nucleo board

The interconnection between the STM32 Nucleo board and the X-NUCLEO-IHM02A1 is

designed to permit the use of any STM32 Nucleo board. The firmware has been written and

tested for the NUCLEO-F401RE, NUCLEO-F302R8 and NUCLEO-F072RB.

Note: For correct use of the NUCLEO-F401RE with the X-NUCLEO-IHM02A1, the solder bridge

SB15 on the NUCLEO-F401RE has to be removed (see the NUCLEO-F401RE user manual

for further information).

Getting started UM1964

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1.1 Hardware and software requirements

Using the STM32 Nucleo boards with the X-NUCLEO-IHM02A1 expansion board requires

the following software and hardware:

•a Windows PC (XP, Vista, 7, 8) to install the software package;

•from one to four X-NUCLEO-IHM02A1 expansion boards;

•an STM32 Nucleo board chosen from among NUCLEO-F401RE, NUCLEO-F302R8 or

NUCLEO-F072RB;

•a USB type A to Mini-B USB cable to connect the STM32 Nucleo board to the PC;

•the X-CUBE-SPN2 software package (available on www.st.com);

•an IDE chosen from among IAR Embedded Workbench for ARM (EWARM), keil

microcontroller development Kit (MDK-ARM) and System Workbench for STM32

(SW4STM32);

•two-axis stepper motors with compatible voltage and current for the L6470;

•an external power supply able to provide the right voltage for the stepper motors used;

•(optional) a terminal emulator, serial console (i.e. PuTTY) to send commands via

USART.

DocID028481 Rev 1 5/24

UM1964 Hardware description and configuration

2 Hardware description and configuration

This section describes the X-NUCLEO-IHM02A1 features and provides useful information

for understanding the board schematics. Figure 3 shows the position of the connectors and

the configuration board jumpers.

Figure 3. Jumper and connector positions

Below is the detailed pinout of the ST morpho and Arduino™ UNO R3 connectors.

Table 1. ST morpho connector table

Connector Pin Default Signal Solder bridge

CN7

1PC10

2PC11

3PC12

4PD2

5VDD

6E5V

7 BOOT0

8GND

9 NC/PF6

10 NC

11 NC/PF7

Hardware description and configuration UM1964

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CN7

12 IOREF

13 PA13

14 RESET

15 PA14

16 +3V3 +3V3 SB40

17 PA15

18 +5V +5V SB40

19 GND

20 GND

21 PB7

22 GND

23 PC13

24 VIN

25 PC14

26 NC

27 PC15

28 PA0

29 PH0/PF0/PD0

30 PA1

31 PH1/PF1/PD1

32 PA4 L6470 nCS SB23

33 VLCD/VBAT

34 PB0 ST1S14 PGOOD SB6

PC2

36 PC1 L6470 nFLAG

37 PC3

38 PC0 L6470 nBUSY\SYNC

CIN10

1PC9

2PC8

3 PB8

4PC6

5 PB9

6PC5

7 AVDD

8U5V

Table 1. ST morpho connector table (continued)

Connector Pin Default Signal Solder bridge

DocID028481 Rev 1 7/24

UM1964 Hardware description and configuration

CIN10

9GND

10 PD8/NC

11 PA5/PB13 L6470 SCK SB12

12 PA12

13 PA6/PB14 L6470 #0 SDO SB32

14 PA11

15 PA7/PB15 L6470 #1 SDI SB26

16 PB12

17 PB6 L6470 nCS SB8

18 PB11/NC

19 PC7

20 GND

21 PA9

22 PB2

23 PA8

24 PB1

25 PB10

26 PB15/PA7 L6470 #1 SDI SB10

27 PB4 L6470 nCS SB9

28 PB14/PA6 L6470 #0 SDO SB11

29 PB5 L6470 nSTBY\nRST

30 PB13/PA5 L6470 SCK SB13

31 PB3 L6470 SCK SB34

32 AGND

33 PA10 L6470 nCS SB7

34 PC4

35 PA2

36 NC/PF5

37 PA3

38 NC/PF4

Table 1. ST morpho connector table (continued)

Connector Pin Default Signal Solder bridge

Hardware description and configuration UM1964

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Table 2. Arduino UNO R3 connector table

Connector Pin Default Signal Solder bridge

CN5

1D8

2 D9/PWM

3 D10/CS/PWM L6470 nCS SB8

4 D11/MOSI/PWM L6470 #1 SDI SB26

5 D12/MISO L6470 #0 SDO SB32

6 D13/SCK L6470 SCK SB12

7NC

8NC

9 D14/SDA

10 D15/SCL

CN6

1NC

2IOREF

3 RESET

4+3V3

5+5V

6GND

7GND

8VIN

CN8

1A0

2A1

3 A2 L6470 nCS SB23

4 A3 ST1S14 PGOOD SB6

5 A4 L6470 nFLAG

6 A5 L6470 nBUSY\SYNC

CN9

1D0/RX

2D1/TX

3 D2 L6470 nCS SB7

4 D3/PWM L6470 SCK SB34

5 D4 L6470 nSTBY\nRST

6 D5/PWM L6470 nCS SB9

7 D6/PWM

8D7

DocID028481 Rev 1 9/24

UM1964 Hardware description and configuration

Note: Only one among SB10 and SB26 can be short.

Only one among SB11 and SB32 can be short.

Only one among SB12, SB13 and SB34 can be short.

Only one among SB7, SB8, SB9 and SB23 can be short.

Only one among SB40 and SB41 can be short.

Table 3. Solder bridge table

Solder

bridge Function Group Sub group Default

condition

SB1 Connect L6470 #0 OSCIN to the crystal External

crystal L6470 #0 Open

SB2 Connect L6470 #0 OSCOUT to the crystal Open

SB3 Connect L6470 #1 OSCIN to the crystal L6470 #1 Open

SB4 Connect L6470 #1 OSCOUT to the crystal Open

SB5 Connect L6470 #0 OSCOUT with L6470 #1 OSCIN Clock Synchronism Open

SB6 Connect ST1S14 PGOOD with CN7-34 and CN8-4 ST1S14 Power good Open

SB10 Connect L6470 #1 SDI with CN10-26

SPI

SDI Open

SB26 Connect L6470 #1 SDI with CN10-15 and CN5-4 Short

SB11 Connect L6470 #0 SDO with CN10-28 SDO Open

SB32 Connect L6470 #0 SDO with CN10-13 and CN5-5 Short

SB12 Connect any L6470 SCK with CN10-11 and CN5-6

SCK

Open

SB13 Connect any L6470 SCK with CN10-30 Open

SB34 Connect any L6470 SCK with CN10-31 and CN9-4 Short

SB7 Connect any L6470 nCS with CN10-33 and CN9-3

nCS

Open

SB8 Connect any L6470 nCS with CN10-17 and CN5-3 Open

SB9 Connect any L6470 nCS with CN10-27 and CN9-6 Open

SB23 Connect any L6470 nCS with CN7-32 and CN8-3 Short

SB40 Connect any L6470 VDD to +3V3 of control board VDD Nucleo Short

SB41 Connect any L6470 VDD to +5V of control board Arduino Open

Hardware description and configuration UM1964

10/24 DocID028481 Rev 1

Note: If SB41 is short then J1 pins 2 and 3 must also be shorted.

2.1 Selecting the SPI lines

The lines of the SPI interface can be selected through the dedicated solder bridges. The

following table (Table 6) shows the possible options for the STM32 Nucleo board and

Arduino Uno R3.

Table 4. Jumper table

Jumper Permitted configurations Default condition

Selection for L6470 VDD:

– 2-3 short: ST1S14 is inhibited.

1-2 short and 3-4 short: ST1S14 is enabled, any L6470

VDD is connected to the +3.3V coming from the ST1S14

(step down monolithic power switching regulator).

Note: short SB40 if you intend to supply the STM32 Nucleo

board through the X-NUCLEO-IHM02A1; if so, refer to the

section in the STM32 Nucleo board User Manual (available

on www.st.com) regarding external power supply.

SB40 open otherwise.

SB41 must be open.

2-3 short

J2 Selection for L6470 external switch input pin:

– Connect a limit switch between 1-2 or 3-4 for L6470 #1.

– Connect a limit switch between 5-6 or 7-8 for L6470 #0 All open

J3 Step-clock input for L6470 #0. Open

J4 Step-clock input for L6470 #1. Open

Table 5. Screw terminal table

Screw terminal Function

ST1 To connect the two couples of wiresconnected to the two motors phases with the

two full bridge output couples of L6470 #1.

ST2 To connect the two couples of wiresconnected to the two motors phases with the

two full bridge output couples of L6470 #0.

ST3 motors power supply input (8V÷45V).

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