ST X-NUCLEO-IHM03A1 Manual de usuario

July 2015

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www.st.com

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User manual

Getting started with the high power stepper motor driver

expansion board based on powerSTEP01 for STM32 Nucleo

Introduction

The X-NUCLEO-IHM03A1 is a high power stepper motor driver expansion board based on the

powerSTEP01. It provides an affordable and easy-to-use solution for driving high power bipolar stepper

motors in your STM32 Nucleo project. The fully digital motion control through speed profile generation,

dynamic positioning feedback and a complete suite of protection features offer high levels of

performance and robustness The X-NUCLEO-IHM03A1 is compatible with the Arduino UNO R3

connector and supports the addition of other boards which can be stacked to drive up to three stepper

motors with a single STM32 Nucleo board.

Figure 1: X-NUCLEO-IHM03A1 expansion board for STM32 Nucleo

Contents

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Contents

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

2Hardware description and configuration......................................4

2.1 Selecting the chip select and clock lines of the SPI .........................6

2.2 Multi-motor configuration..................................................................6

3Revision history ...........................................................................11

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1 Getting started

The X-NUCLEO-IHM03A1 expansion board is a high power stepper motor driver covering

a wide range of applications. In particular, the maximum ratings of the board are the

following.

Power stage supply voltage (VS) from 10.5 V to 50 V

Motor phase current up to 10 A r.m.s.

Follow this sequence to start your project with the board:

1. Check the jumper position based on your configuration (see Section 2: "Hardware

description and configuration").

2. Plug the board to the STM32 Nucleo board through Arduino UNO R3 for the X-

NUCLEO-IHM03A1.

3. Supply the board through the input 1 (VS) and 2 (ground) of the connector CN1. The

power OK (green) and fault (red) LEDs will turn on.

4. Develop your application using the examples provided with the firmware library, X-

CUBE-SPN3, high power stepper motor driver software expansion for STM32Cube.

Further support material is available on the powerSTEP01 (www.st.com/powerstep)

and STM32 Nucleo web pages (www.st.com/stm32nucleo).

Up to three expansion boards can be stacked on the same STM32 Nucleo board

as described in Section 2.2: "Multi-motor configuration".

Hardware description and configuration

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2 Hardware description and configuration

Figure 2: "Jumper and connector positions" shows the position of the connectors and the

configuration jumpers of the board.

Figure 2: Jumper and connector positions

Below are the pinout details for the Arduino UNO R3 and the ST Morpho connectors.

Table 1: Arduino UNO R3 connector table

Connector

Pin (1)

Signal

Remarks

CN5

powerSTEP RESET

Step clock input

SPI CS

See Section 2.1:

"Selecting the chip

select and clock lines

of the SPI"

SPI MOSI

See Section 2.2:

"Multi-motor

configuration"

SPI MISO

See Section 2.2:

"Multi-motor

configuration"

SPI SCK

See Section 2.1:

"Selecting the chip

select and clock lines

of the SPI"

Ground

CN9

FLAG

SPI SCK

See Section 2.1:

"Selecting the chip

select and clock lines

of the SPI"

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Connector

Pin (1)

Signal

Remarks

BUSY / SYNC

CN6

VDD

Ground

CN8

VDD

Ground

Notes:

(1)All the unlisted pins are not connected.

Table 2: ST Morpho connector table

Connector

Pin (1)

Signal

Remarks

CN10

Ground

SPI SCK

See Section 2.1:

"Selecting the chip

select and clock lines

of the SPI"

SPI MISO

See Section 2.2:

"Multi-motor

configuration"

SPI MOSI

See Section 2.2:

"Multi-motor

configuration"

SPI CS

See Section 2.1:

"Selecting the chip

select and clock lines

of the SPI"

Step clock input

powerSTEP RESET

BUSY/SYNC

SPI CK

See Section 2.1:

"Selecting the chip

select and clock lines

of the SPI"

FLAG

CN7

VDD

Ground

SPI CS

See Section 2.1:

"Selecting the chip

select and clock lines

of the SPI"

Notes:

(1)All the unlisted pins are not connected.

Hardware description and configuration

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2.1 Selecting the chip select and clock lines of the SPI

The chip select and the clock lines of the SPI interface can be selected via the appropriate

resistors indicated in Table 3: "Chip select line selection" and Table 4: "Clock line

selection".

Table 3: Chip select line selection

R10

CS line

Not mounted

0 Ω

CN5 pin3, CN10 pin 17 (default)

0 Ω

Not mounted

CN8 pin 3, CN7 pin 32

Table 4: Clock line selection

R11

R12

SCK line

0 Ω

Not mounted

CN5 pin6, CN10 pin 9 (default)

Not mounted

0 Ω

CN9 pin 4, CN10 pin 31

2.2 Multi-motor configuration

The expansion boards can be stacked on a single STM32 Nucleo board in order to drive up

to the three stepper motors (one expansion board for each motor is required).

The configuration is changed by mounting the resistors from R3 to R8 as listed in Table 5:

"Multi-motor setup table".

The other resistors are not mounted.

By default, the stepper driver board is configured for a single-motor setup, so the board

configuration must be changed in multi-motor setups before stacking the boards on the

STM32 Nucleo.

Table 5: Multi-motor setup table

Number of motors

Of Board

Mounted resistors

R3 –R8

1 (bottom)

R3 –R6

2 (top)

R4 –R8

1 (bottom)

R3 –R6

R4 –R7

3 (top)

R5 –R8

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Figure 3: Schematic diagram

Table 6: BOM list (Part 1)

Item

Reference

Value

Q.ty

Description

Part number

C1 C6

100NF

CAP CER 100nF 50V X7R

0603

100NF_50V_X7R_0603

Hardware description and configuration

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Item

Reference

Value

Q.ty

Description

Part number

220NF

CAP CER 220nF 35V X7R

0603

220NF_35V_X7R_0603

C3 C7

470NF

CAP CER 470nF 25V X7R

0603

470NF_25V_X7R_0603

3.3NF

CAP CER 3.3nF 50V X7R

0603

3.3NF_50V_X7R_0603

CAP NP 0603

C_NP_0603

47NF

CAP CER 47nF 100V

X7R/X7S 0805

47NF_100V_X7R/X7S_0805

22UF

CAP TANT 22uF 6V3 10%

PACK-A

22UF_6V3_TANT_PACK-A

C10-C13

220NF

CAP CER 220nF 100V

X7R 0805

220NF_100V_X7R_0805

C14 C15

68UF

CAP ALU 68uF 100V SMD

17x17

EEV-FK2A680Q

C16 C17

CAP ALU 68uF 100V

Radial 10x6-P5

UHE2A680MPD

CN1

MKDS1/6-3.81

Screw connector 6 poles

MKDS 1/6-3.81

MKDS1/6-3.81

CN3

CON-1x2

THOUGH-HOLE-1x2-Pin

height 14.8 - Body 8.5mn -

pitch 2.54

SSQ-102-04-F-S

CN5

CON-1x10

THOUGH-HOLE-1x10-Pin

height 14.8 - Body 8.5mn -

pitch 2.54

SSQ-110-04-F-S

CN6 CN9

CON-1x8

THOUGH-HOLE-1x8-Pin

height 14.8 - Body 8.5mn -

pitch 2.54

SSQ-108-04-F-S

CN7 CN10

CON-2x19

THOUGH-HOLE-2x19-Pin

height 14.8 - Body 8.5mn -

pitch 2.54

SSQ-119-04-L-D

CN8

CON-1x6

THOUGH-HOLE-1x6-Pin

height 14.8 - Body 8.5mn -

pitch 2.54

SSQ-106-04-F-S

BAR43

Double Diode High Speed

Switching Diode

BAR43

RED

LED RED - 0805 -2mcd -

621nm

LED _RED

D3-D7

YELLOW

LED YELLOW - 0805 -

6mcd - 588nm

LED_YELLOW

GREEN

LED GREEN - 0805 -6mcd

- 569nm

LED_GREEN

D9 D10

BAT46ZFILM

DIODE SCHOTTKY

150MA

BAT46

MIRE1-

MIRE3

OPTICAL_TARG

OPTICAL_TARGET

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Item

Reference

Value

Q.ty

Description

Part number

R1 R2

0R1

RES 0.1 OHM 5% 2W

2512

0R1_5%_2512

R3 R8 R10

R11

RES 0 OHM 5% 1/8W

0805

0R_5%_0805

R4-R7 R9

R12 R22

RES NP 0805

R_NP_0805

R13 R25

R26

39K

RES 39K OHM 5% 1/10W

0603

39K_5%_0603

R14 R20

R21

330R

330R OHM 5% 1/10W

330R_5%_0603

R15 R23

RES 0 OHM 5% 1/10W

0603

0R_5%_0603

R16-R19

10K

RES 10K OHM 5% 1/10W

0805 SMD

10K_5%_0805

R24 R27-

R30

RES NP 0603

R_NP_0603

TP1

KEYSTONE-5000

TEST POINT RED

KEYSTONE 5000

POWERSTEP01

Fully integrated stepper

motor driver

POWERSTEP01

Table 7: BOM list (Part 2)

Item

Manufact.

Manuf. Part number

Distributor

Distributor Part number

PANASONIC

EEV-FK2A680Q

NICHICON

UHE2A680MPD

PHOENIX CONTACT

MKDS1/6-3.81

220-4377

SAMTEC

SSQ-102-04-F-S

SAMTEC

SSQ-110-04-F-S

SAMTEC

SSQ-108-04-F-S

SAMTEC

SSQ-119-04-L-D

SAMTEC

SSQ-106-04-F-S

STMICROELECTRONICS

BAR43SFILM

714-0470

LITE-ON

LTST-C170-EKT

692-0890

LITE-ON

LTST-C170-YKT

692-0925

LITE-ON

LTST-C170-GKT

692-0900

STMICROELECTRONICS

BAT46ZFILM

714-6850

Hardware description and configuration

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Item

Manufact.

Manuf. Part number

Distributor

Distributor Part number

KEYSTONE

KEYSTONE 5000

FARNELL

1463076

STMICROELECTRONICS

POWERSTEP01

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