ST X-NUCLEO-IHM09M1 Manuel utilisateur

October 2015

DocID028558 Rev 1

1/19

www.st.com

UM1970

User Manual

Getting started with the X-NUCLEO-IHM09M1 motor control

connector expansion board for STM32 Nucleo

Introduction

The X-NUCLEO-IHM09M1 is a motor control connector expansion board for STM32 Nucleo. It provides

an easy way to evaluate motor control solutions for three-phase motors by adapting the STM32 Nucleo

board with an external ST motor control power board, thanks to ST morpho and motor control

connector. The 34-pin motor control connector is compatible with all major ST motor control power

boards, requiring an external digital section (MCU) to drive a three-phase motor. The DAC connector

supports user code development and testing with easy access to the MCU peripherals. An LED is

available for fault condition signaling or status indication.

This document describes the procedure for configuring this STM32 NUCLEO expansion board to

operate with the STM32 Nucleo board and run a voltage 3-phase brushless motor. The board is fully

compatible with the ST Six-Step and FOC (field oriented control) firmware library.

Figure 1: X-NUCLEO-IHM09M1 motor control connector expansion board

Contents

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Contents

1System overview .............................................................................3

1.1 Main characteristics ..........................................................................3

1.2 Target application..............................................................................3

2Getting started.................................................................................4

2.1 System architecture ..........................................................................4

2.2 Building the system...........................................................................4

2.2.1 Hardware settings............................................................................... 5

2.2.2 Motor control connector pinout........................................................... 9

2.2.3 DAC settings for debug .................................................................... 11

2.2.4 User LED.......................................................................................... 11

3MC FOC SDK –Configuration guide for X-NUCLEO-IHM09M1 ..12

4Schematic diagram........................................................................13

5Bill of materials..............................................................................16

6Revision history ............................................................................18

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System overview

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1 System overview

1.1 Main characteristics

The information listed below shows the board specification data and the main parameters

set for the X-NUCLEO-IHM09M1 expansion board for STM32 Nucleo:

ST motor control connector (34 pins) compatible with major ST motor control power

boards

STM32 Nucleo support, thanks to ST morpho connectors

Compatible with six-step and FOC motor control firmware library by ST

Debug connector for DAC, GPIOs, etc.

Fully populated board conception with test points

LED for fault signaling or status indication

Potentiometer available (i.e. for speed reference)

PCB type and size:

PCB material - FR-4

layout - double layer

copper thickness - 35 μm

overall board dimensions - 70 mm x70 mm

RoHS compliant

1.2 Target application

3-phase motor driver

Getting started

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2 Getting started

2.1 System architecture

A generic motor control system can be broken down into the following three major blocks:

1. Control block - accepts user commands and provides motor control signals to drive a

motor. The X-NUCLEO-IHM09M1 adapter connects an STM32 Nucleo board with a

power board requiring an external digital section.

2. Power block - is normally in a 3-phase inverter topology and contains all the

necessary active power and analog components to perform low voltage PMSM/BLDC

motor control.

3. Motor - 3 phase brushless motor.

Figure 2: System architecture

2.2 Building the system

The X-NUCLEO-IHM09M1 adapts the STM32 Nucleo to ST motor control power boards

requiring an external digital section to perform three-phase PMSM/BLDC motor control. For

regular board operation, it must be plugged on top of an STM32 Nucleo board (control

block) via the ST morpho connector as shown below.

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Figure 3: X-NUCLEO-IHM09M1 plugged on STM32 Nucleo

The interconnection between the STM32 Nucleo board and the X-NUCLEO-IHM09M1

expansion board is designed for full compatibility with a wide range of STM32 Nucleo

boards, with no solder bridge modification required. The stacked solution is ready to

operate in connection with a power board compatible with a standard 34-pin flat cable.

2.2.1 Hardware settings

J1 - jumper OFF

R26 - potentiometer

D1 –LED for fault or status indication

Table 1: Connectors

Part name

Function

34-pin motor control connector

DAC/GPIO output

CN7

ST morpho connector

CN6

Arduino UNO R3 Connector

CN8

Arduino UNO R3 Connector

CN10

ST morpho connector

CN5

Arduino UNO R3 Connector

CN9

Arduino UNO R3 Connector

LED

Getting started

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Figure 4: X-NUCLEO-IHM09M1 –top layer with silk-screen

The X-NUCLEO-IHM09M1 is equipped with ST morpho connectors - male pin headers

(CN7 and CN10), which can be used to connect expansion boards to the STM32 Nucleo

board. All signals and power pins of the MCU are available on the STMicroelectronics

morpho connector. For further details please refer to user manual UM1724, section 5.12 -

STMicroelectronics morpho connector available on website www.st.com.

Table 2: ST morpho connector –CN7

Default

Signal

Solder Bridge

Notes

PC10

NTC bypass

R17

PC11

Dissipative Brake/OCP disable

R19

PC12

PD2

VDD

E5V

BOOT0

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Default

Signal

Solder Bridge

Notes

GND

NC/PF6

NC/PF7

IOREF

PA13

RESET

PA14

+3V3

PA15

Encoder A/ Hall H1

R27

+5V

GND

PB7

GND

PC13

VIN

PC14

PC15

PA0

Curr_fdbk_PhA

PH0/PF0/PD0

PA1

VBUS_sensing

PH1/PF1/PD1

PA4

DAC_Ch

R18 N.M.

VLCD/VBAT

PB0

VL_PWM

R15

PC2

Temperature feedback

R10

PC1 or PB9

Curr_fdbk_PhB

Refer to UM1724 Table

9: Solder bridges for

further details

PC3

Potentiometer

R28

PC0 or PB8

Curr_fdbk_PhC

Refer to UM1724 Table

9: Solder bridges for

further details

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Table 3: ST morpho connector –CN10

Default

Signal

Solder Bridge

Notes

PC9

PC8

PB8

PC6

PB9

PC5

AVDD

U5V

U5V is 5 V power from

ST-LINK/V2-1 USB

connector and it rises

before +5 V

GND

PA5

GPIO/DAC/PWM

R21

For NUCLEO-F302R8

only: pin PA5 is on

CN10/pin 30 and PB13 is

on CN10/pin 11

PA12

PA6

DIAG/ENABLE/BKIN1

For NUCLEO-F302R8

only: pin PA6 is on

CN10/pin 28 and PB14 is

on CN10/pin 13

PA11

DIAG/ENABLE/BKIN2

PA7

UL_PWM

R12

For NUCLEO-F302R8

only: pin PA7 is on

CN10/pin 26 and PB15 is

on CN10/pin 13

PB12

PB6

PB11/NC

PC7

GND

PA9

VH_PWM

PB2

LED RED

R14

PA8

UH_PWM

PB1

WL_PWM

R16

PB10

Encoder Z/ Hall H3

R25

PB15

For NUCLEO-F302R8

only: pin PA7 is on

CN10/pin 26 and PB15 is

on CN10/pin 13

PB4

PWM/DEBUG

R20

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Default

Signal

Solder Bridge

Notes

PB14

DIAG/ENABLE/BKIN1

For NUCLEO-F302R8

only: pin PA6 is on

CN10/pin 28 and PB14 is

on CN10/pin 13

PB5

GPIO/DAC/PWM

R23

PB13

GPIO/DAC/PWM

R22

For NUCLEO-F302R8

only: pin PA5 is on

CN10/pin 30 and PB13 is

on CN10/pin 11

PB3

Encoder B/ Hall H2

R24

AGND

PA10

WH_PWM

R11

PC4

PA2

NC/PF5

PA3

NC/PF4

2.2.2 Motor control connector pinout

Figure 5: Motor control connector J7 (top view)

The X-NUCLEO-IHM09M1 expansion board supports motor control via the J7 34-pin

connector, which provides all the required control and feedback signals to and from an ST

motor power-drive board. The signals available on this connector include emergency stop,

speed or position feedback, three-phase motor current, bus voltage sensor and heatsink

temperature sensor from the motor.

Getting started

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Table 4: ST motor control connector J7 pin assignments

Default

Function

PA6/PA11

DIAG/ENABLE/BKIN1

GND

Dissipative brake/OCP disable

PA8

UH_PWM

GND

PA7/PB15

UL_PWM

GND

PA9

VH_PWM

GND

PB0

VL_PWM

GND

PA10

WH_PWM

GND

PB1

WL_PWM

PA1

VBUS_sensing

PA0

Curr_fdbk_PhA

N.C.

PC1

Curr_fdbk_PhB

N.C.

PC0

Curr_fdbk_PhC

N.C.

PC10

NTC bypass

N.C.

PC11

Dissipative brake/OCP disable

N.C.

E5V

PC2

Temperature feedback

N.C.

3V3

N.C.

PA15

Encoder A/ Hall H1

N.C.

PB3

Encoder B/ Hall H2

PB10

Encoder Z/ Hall H3

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