ST X-NUCLEO-IHM01A1 Manuel utilisateur

March 2015

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www.st.com

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User manual

Stepper motor driver expansion board based on L6474 for

STM32 Nucleo

Introduction

The X-NUCLEO-IHM01A1 is a stepper motor driving board based on the L6474.

It provides an affordable and easy-to-use solution for driving stepper motors in your STM32 Nucleo

project.

The advanced current control of the L6474 and the complete set of protections guarantee high

performance and robustness.

The X-NUCLEO-IHM01A1 is compatible with the Arduino UNO R3 connector on the ST Morpho

connector.

More boards of the same type can be stacked easily to drive up to three stepper motors with a single

STM32 Nucleo board.

Figure 1: X-NUCLEO-IHM01A1 board

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 .............................................................................8

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1 Getting started

The X-NUCLEO-IHM01A1 expansion board is a stepper motor driver covering a wide

range of applications.

The maximum ratings are:

Power stage supply voltage (VS) from 8 V to 45 V

Motor phase current up to 3 A rms

To start your project with the board:

1. Check the jumper position in accordance with your configuration (see ).

2. Connect the board to the STM32 Nucleo board with the connector:

a. Arduino UNO R3 for the X-NUCLEO-IHM01A1.

b. ST Morpho for the X-NUCLEO-IHM01A.

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

described in Section 2.2: "Multi motor configuration".

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

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

3. Develop your application using the examples provided with the firmware library.

Further support material is available on the L6474 (www.st.com/easyspin) and STM32

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

Hardware description and configuration

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2 Hardware description and configuration

The Figure 2: "Jumpers and connectors position" shows the position of the connectors and

the configuration jumpers of the board.

Figure 2: Jumpers and connectors position

The following tables provide the connector details for the Arduino UNO R3 and ST Morpho,

respectively.

Table 1: Arduino UNO R3 connector table

Connector

Pin(1)

Signal

Remarks

CN5

L6474

STBY\\RESET

PWM1

See Section 2.1: "Selecting the chip select and clock

lines of the SPI"

SPI CS

See Section 2.2: "Multi motor configuration"

SPI MOSI

See Section 2.1: "Selecting the chip select and clock

lines of the SPI"

SPI MISO

SPI SCK

See Section 2.2: "Multi motor configuration"

Ground

CN9

L6474 FLAG

output

PWM2\\SPI SCK

See Section 2.2: "Multi motor configuration" and Section

2.1: "Selecting the chip select and clock lines of the

SPI"

DIR2

See Section 2.2: "Multi motor configuration"

DIR3

PWM3

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Connector

Pin(1)

Signal

Remarks

DIR1

CN6

VDD

Ground

CN8

SPI CS

See Section 2.1: "Selecting the chip select and clock

lines of the SPI"

Notes:

(1)All the non-listed 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

SPI CS

See Section 2.1: "Selecting the chip select and clock

lines of the SPI"

PWM1

See Section 2.2: "Multi motor configuration"

L6474

STBY\\RESET

DIR1

See Section 2.2: "Multi motor configuration"

PWM3

DIR3

DIR2

PWM2

See Section 2.1: "Selecting the chip select and clock

lines of the SPI" and Section 2.2: "Multi motor

configuration"

L6474 FLAG

output

CN7

VDD

Ground

SPI CS

See Section 2.1: "Selecting the chip select and clock

lines of the SPI"

Notes:

(1)All the non-listed 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 through dedicated

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

selection".

Table 3: Chip select line selection

R15

R25

CS line

Not mounted

CN5 pin 3, CN10 pin 17 (default)

Not mounted

CN8 pin 3, CN7 pin 32

Table 4: Chip select line selection

R23

R24

CS line

Not mounted

CN5 pin 6, CN10 pin 9 (default)

Not mounted

CN9 pin 4, CN10 pin 31

When the alternative clock line is selected (CN9 pin 4, CN10 pin 31) the PWM2 signal is no

longer available for multi-motor configurations (see Section 2.2: "Multi motor

configuration").

2.2 Multi motor configuration

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

to three stepper motors (one for each motor).

The configuration can be changed by mounting the necessary resistors from R1 to R12 as

listed in the Table 5. The other resistors are not mounted.

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

configurations for multi-motor setups must be changed before stacking the boards on the

STM32 Nucleo.

Table 5: Multi-motor setup table

Number of motors

Board

STCK\\DIR

Mounted resistors

(0R)

PWM1\\DIR1

R1, R4, R7, R12

1 (bottom)

PWM1\\DIR1

R1, R4, R7, R10

2 (top)

PWM2\\DIR2

R2, R5, R8, R12

1 (bottom)

PWM1\\DIR1

R1, R4, R7, R10

PWM2\\DIR2

R2, R5, R8, R11

3 (top)

PWM3\\DIR3

R3, R6, R9, R12

If the alternative SPI clock line is selected (see Section 2.1: "Selecting the chip select and

clock lines of the SPI") the PWM2 step clock is no longer available and the multi-motor

setup is limited to two motors maximum.

The Table 6: "Multi-motor setup with alternative SPI clock line" shows the proper

configuration in this case.

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Table 6: Multi-motor setup with alternative SPI clock line

Number of motors

Board

STCK\\DIR

Mounted resistors

(0R)

1 (bottom)

PWM1\\DIR1

R1, R4, R7, R10

2 (top)

PWM3\\DIR2

R2, R6, R8, R12

Revision history

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Table 7: Document revision history

Date

Revision

Changes

16-Mar-2015

Initial release.

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