ST X-NUCLEO-IHM04A1 Manuel utilisateur

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August 2015

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www.st.com

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User manual

Getting started with the X-NUCLEO-IHM04A1 dual brush DC

motor driver expansion board for STM32 Nucleo

Introduction

The X-NUCLEO-IHM04A1 is a dual brush DC motor drive expansion board based on L6206 (DMOS

dual full bridge driver) to drive dual bipolar DC or quad unipolar DC motors. It provides a low cost,

robust and easy-to-use solution for driving DC motors in your STM32 Nucleo project. A flexible solution

for driving 1 to 4 DC motors is implemented via jumpers.

The X-NUCLEO-IHM04A1 is compatible with the Arduino UNO R3 connector, and supports the addition

of other expansion boards with a single STM32 Nucleo board. The user can also mount the ST Morpho

connector.

Figure 1: X-NUCLEO-IHM04A1: Dual brush DC motor driver expansion board based on L6206

Contents

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Contents

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

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

2.1 overcurrent (OCD) threshold setting ................................................5

2.2 Selecting the mode ..........................................................................6

2.2.1 Mode no. 1: two bidirectional DC motors ..........................................7

2.2.2 Mode no. 2: four DC motors unidirectional........................................7

2.2.3Mode no. 3: parallel connection for higher current - one DC motor

bidirectional .......................................................................................................8

2.2.4 Mode n °4: parallel connection for higher current - two unidirectional

DC motors .........................................................................................................9

2.2.5 Mode no. 5: parallel connection for lower overcurrent - one DC

motor bidirectional...........................................................................................10

2.2.6 Mode n °6: parallel connection for lower overcurrent - two

unidirectional DC motors.................................................................................11

2.2.7 Mode no. 7: parallel all bridges - one unidirectional DC motor .......12

3Schematic diagram....................................................................... 13

4Bill of material............................................................................... 14

5Revision history ........................................................................... 16

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1 Getting started

The X-NUCLEO-IHM04A1 expansion board is a dual brush DC motor driver covering a

wide range of applications. The maximum ratings of the board are the following:

Power stage supply voltage (VS) from 8 V to 50 V

Motor phase current up to 2.8 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. Connect the board with the STM32 Nucleo board through Arduino UNO R3 for the X-

NUCLEO-IHM04A1

3. Supply the board through the input 6 (VS) and 5 (ground) of the connector CN1

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

CUBE-SPN4

Further support material is available on the L6206 and the STM32 Nucleo web pages on

www.st.com

Hardware description and configuration

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2 Hardware description and configuration

Figure 2: Jumper and connector position

The following table provides the detailed pinout of the Arduino UNO R3 and ST Morpho

connectors.

Table 1: Arduino UNO R3 connector table

Connector

Pin (1)

Signal

Remarks

CN5

ADC-6

Ground

CN9

EN-A

IN2A

See Section 2.1:

"overcurrent (OCD)

threshold setting"

IN1A

See Section 2.1:

"overcurrent (OCD)

threshold setting"

CN6

Ground

CN8

IN1B

See Section 2.1:

"overcurrent (OCD)

threshold setting"

IN2B

See Section 2.1:

"overcurrent (OCD)

threshold setting"

ADC-4

Notes:

(1)All the non-listed pins are not connected.

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Table 2: ST Morpho connector table

Connector

Pin (1)

Signal

Remarks

CN10

Ground

ADC-6

IN1A

See Section 2.1:

"overcurrent (OCD)

threshold setting"

IN2A

See Section 2.1:

"overcurrent (OCD)

threshold setting"

EN-A

CN7

Ground

IN1B

See Section 2.1:

"overcurrent (OCD)

threshold setting"

IN2B

See Section 2.1:

"overcurrent (OCD)

threshold setting"

ADC-4

EN-B

Notes:

(1)All the non-listed pins are not connected.

2.1 overcurrent (OCD) threshold setting

The device integrates two overcurrent protection circuits with adjustable threshold, one for

each full bridge.

The overcurrent threshold is set through the R9 (bridge A) and R8 (bridge B) resistors, as

indicated in Figure 3: "Overcurrent threshold versus resistor value (no paralleling)".

Hardware description and configuration

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Figure 3: Overcurrent threshold versus resistor value (no paralleling)

When one of the paralleling modes is used (see Section 2.2: "Selecting the mode"), the

actual OCD threshold value may be scaled as indicated in Table 1: "Arduino UNO R3

connector table".

2.2 Selecting the mode

This board can drive 1 to 4 DC motors with several configurations.

The selection is done by Jumper J1 - J2 - J3 and J4, by default: all jumpers are not

populated.

The table below briefly summarizes the possible configurations:

Table 3: Board configuration summary

Mode

Max output

current

Output

RDS(on)

OCD

threshold

scaling

Two bidirectional DC

motors

2.8 A rms

0.3 Ω

× 1

Disconnect

Four unidirectional

DC motors

2.8 A rms (1)

0.3 Ω

× 1 (1)

Disconnect

High current parallel

one bidirectional DC

motor

5.6 A rms

0.15 Ω

× 2

Disconnect

Connected

High current parallel

two unidirectional DC

motors

5.6 A rms

0.15 Ω

× 2

Disconnect

Connected

Low current parallel

one DC motors

bidirectional

2.8 A rms

0.15 Ω

× 1

Connected

Disconnect

Low current parallel

two unidirectional DC

motors

2.8 A rms

0.15 Ω

× 1

Connected

Disconnect

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Mode

Max output

current

Output

RDS(on)

OCD

threshold

scaling

Parallel all bridges

one unidirectional DC

motor

11.2 A rms

0.075 Ω

× 4

Connected

Notes:

(1)The current limit is shared between the two motors connected on the same full-bridge (A or B).

2.2.1 Mode no. 1: two bidirectional DC motors

Two independent DC motors are driven by the board.

The supply voltage of both motors is connected to J1 pin 5 and 6 with a maximum voltage

at 50 V DC.

Maximum current is 2.8 A rms and the output RDS(on) is equal to 0.3 W (TJ= 25 °C).

The maximum overcurrent detection threshold is set to 5.6 A.

Motor A connected between A+ (CN1 pin1) and A- (CN1 pin2)

Motor B connected between B+ (CN1 pin4) and B- (CN1 pin3)

Table 4: Jumper selection

Disconnected

Figure 4: two bidirectional DC motors

2.2.2 Mode no. 2: four DC motors unidirectional

Four independent DC motors are driven by the board.

The supply voltage of both motors is connected to J1 pin 5 and 6 with a maximum voltage

of 50 V DC.

Hardware description and configuration

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Maximum current is 2.8 A rms and the output RDS(on) is equal to 0.3 W (TJ= 25 °C).

The maximum overcurrent detection threshold is set to 5.6 A.

The total rms current flowing in A+ and A- DC motor must be below the 2.8 A

rms limit. The OCD threshold is also triggered when the sum of the two output

currents exceeds the programmed threshold.

The same for the B+ and B- outputs.

Motor A connected between A+ (CN1 pin1) and GND

Motor B connected between A- (CN1 pin2) and GND

Motor C connected between B+ (CN1 pin4) and GND

Motor D connected between B- (CN1 pin3) and GND

Table 5: Jumper selection

Disconnected

Figure 5: Four unidirectional DC motors

2.2.3 Mode no. 3: parallel connection for higher current - one DC motor

bidirectional

This mode, with output power in parallel, increases the output current capability.

The motor supply voltage is connected to J1 pin 5 and 6 with a maximum voltage of 50 V

DC.

Maximum current is 5.6 A rms and the output RDS(on) is equal to 0.15 W (TJ= 25 °C).

The maximum overcurrent detection threshold is set to 11.2 A.

Motor A connected between

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Both A+ (CN1 pin1) B+ (CN1 pin4)

Both A- (CN1 pin2) B- (CN1 pin3)

Table 6: Jumper selection

Disconnected

Connected

Figure 6: One DC motor bidirectional - higher current

2.2.4 Mode n °4: parallel connection for higher current - two unidirectional

DC motors

This mode is similar to mode 3 - the bidirectional DC motor is replaced by two

unidirectional DC motors

Motor A connected between

Both A+ (CN1 pin1) B+ (CN1 pin4)

GND

Motor B connected between

Both A- (CN1 pin2) B- (CN1 pin3)

GND

Table 7: Jumper selection

Disconnected

Connected

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