ST UM2082 User manual

July 2016
DocID029504 Rev 1
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www.st.com
UM2082
User manual
Getting started with X-NUCLEO-IHM06A1 low voltage stepper motor
driver expansion board based on STSPIN220 for STM32 Nucleo
Introduction
The X-NUCLEO-IHM06A1 is a low voltage stepper motor driver expansion board based on the
STSPIN220 monolithic low voltage driver for low voltage stepper motors. It represents an affordable,
easy-to-use solution for driving low voltage stepper motors in your STM32 Nucleo project, implementing
portable motor driving applications such as thermal printers, robotics and toys.
It includes a stepper driver able to operate in low voltage (battery) scenarios, allowing zero consumption
states. The device implements current control with fixed OFF time and a maximum 1/256 microstep
resolution.
The X-NUCLEO-IHM06A1 is compatible with the Arduino UNO R3 connector and supports the addition
of other STM32 expansion boards with a single STM32 Nucleo board. You can also mount the ST
morpho connector.
Figure 1: X-NUCLEO-IHM06A1 low voltage stepper motor expansion board based on STSPIN220

Contents
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Contents
1X-NUCLEO-IHM06A1 board overview ............................................5
2Getting started.................................................................................6
2.1 Hardware and software requirements...............................................6
2.2 Using the X-NUCLEO-IHM06A1 expansion board with the STM32
Nucleo board..................................................................................................6
2.3 Using the X-NUCLEO-IHM06A1 expansion board alone ..................6
2.3.1 Hardware connections and equipment............................................... 7
2.3.2 Operating mode.................................................................................. 7
3Hardware description and configuration.......................................8
3.1 Selecting direction and step clock lines...........................................10
4Bill of materials..............................................................................11
5Revision history ............................................................................13

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List of tables
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List of tables
Table 1: Arduino UNO R3 connector table.................................................................................................9
Table 2: ST morpho connector table ..........................................................................................................9
Table 3: J1 connector, switches and test point descriptions ....................................................................10
Table 4: Direction selection ......................................................................................................................10
Table 5: Step clock selection....................................................................................................................10
Table 6: Bill of materials............................................................................................................................11
Table 7: Document revision history ..........................................................................................................13

List of figures
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List of figures
Figure 1: X-NUCLEO-IHM06A1 low voltage stepper motor expansion board based on STSPIN220 .......1
Figure 2: Switch and connector positions...................................................................................................8

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X-NUCLEO-IHM06A1 board overview
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1 X-NUCLEO-IHM06A1 board overview
The X-NUCLEO-IHM06A1 expansion board for STM32 Nucleo is a low voltage stepper
motor driver covering a wide range of applications.
The key features are:
Low voltage range: 1.8 to 10 V
Microstep adjustment up to the 256th step
Phase current: up to 1.3 ARMS
Current control with adjustable off-time
Full protection overcurrent and short circuit protection
Thermal shutdown
Compatible with Arduino UNO R3 connector
Compatible with STM32 Nucleo boards
RoHS compliant

Getting started
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2 Getting started
2.1 Hardware and software requirements
Using STM32 Nucleo boards with the X-NUCLEO-IHM06A1 expansion board requires the
following software and hardware:
1 x Windows PC (XP, Vista 7 ,Win 8, Win 10 ) to install the software package
1 x Low voltage stepper motor driver expansion board (X-NUCLEO-IHM06A1)
1 x STM32 Nucleo development board (NUCLEO-F401RE or NUCLEO-F334R8 or
NUCLEO-F030R8 or NUCLEO-L053R8)
1 x USB type A to mini-B USB cable to connect the STM32 Nucleo board to the PC
X-CUBE-SPN6 software package (available on www.st.com)
1 x IDE among:
IAR Embedded Workbench for ARM (EWARM)
Keil microcontroller development kit (MDK-ARM)
system workbench for STM32 Nucleo project
1 x stepper motor with compatible voltage and current ratings for the STSPIN220
driver
1 x external power supply or external battery suitable for the stepper motor used.
2.2 Using the X-NUCLEO-IHM06A1 expansion board with the
STM32 Nucleo board
The X-NUCLEO-IHM06A1 board is compatible with following STM32 Nucleo development
boards:
NUCLEO-F401RE
NUCLEO-F334R8
NUCLEO-F030R8
NUCLEO-L053R8
To start your project:
1. Check the jumper position based on your configuration (see Section 5: "Hardware
description and configuration").
2. Connect the X-NUCLEO-IHM06A1 with the STM32 Nucleo board through Arduino
UNO R3 Connectors (CN5, CN6, CN8, CN9).
3. Supply the board through the input 5 (Vin) and 6 (ground) of the J1 connector. The D5
(red) LED turns on.
4. Develop your application using the sample applications bundled with the X-CUBE-
SPN6 software package.
Further STSPIN220 and STM32 Nucleo support material is available on www.st.com.
2.3 Using the X-NUCLEO-IHM06A1 expansion board alone
The X-NUCLEO-IHM06A1 expansion board is able to drive a low voltage stepper motor
without an STM32 Nucleo board.

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2.3.1 Hardware connections and equipment
A suitable external power supply or external battery for the stepper motor used,
connected between J1 connector pin 5 (Vin) and pin6 (ground)
A secondary supply from one of the following sources:
An external power supply providing 3.3 V (recommended), connected between
TP3 (+VDD) and TP1 (ground).
If a secondary power supply is not available, you can connect the VDD net to the
Vin supply voltage by adding the R2 resistor (not mounted by default); in this
configuration, Vin must be lower than 5 V.
In both cases, the R4 resistor must be replaced with a 10 kΩ resistor
(recommended value) for a VDD below 2.5 V.
A waveform generator providing the signal step clock, connected between TP4 (CLK
test point) and TP1 (GND); refer to the STSPIN220 datasheet for amplitude and
frequency limits
Stepper motor connect to J1 motor phase connector (A+, A-, B+, B-).
2.3.2 Operating mode
You can adjust the following parameters:
Step mode: set the desired step mode via the S1, S2, S3 and S4 switches (refer to
the step mode selection table in the STSPIN220 datasheet)
Motor torque (according motor requirements): using the R35 trimmer, you can set the
voltage value at REF input of STSPIN220 (the maximum value is 0.5 V with VDD =
3.3 V).
Motor speed: you can change this parameter through the step clock signal frequency.

Hardware description and configuration
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3 Hardware description and configuration
The PCB silkscreen image below shows the position of the connectors and the
configuration switches of the board.
Figure 2: Switch and connector positions
The following table provides the detailed pinout of the Arduino UNO R3 and ST morpho
connectors.

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Hardware description and configuration
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Table 1: Arduino UNO R3 connector table
Connector
Pin(1)
Signal
Remarks
CN5
1
RESET
2
REF
3
MODE 2
7
Ground
CN9
3
ENABLE
4
PWM1
See Section 5.1: "Selecting direction and step clock lines"
5
DIR 2
See Section 5.1: "Selecting direction and step clock lines"
6
MODE 1
7
PWM2
See Section 5.1: "Selecting direction and step clock lines"
8
DIR 1
See Section 5.1: "Selecting direction and step clock lines"
CN6
2
VDD
6
Ground
7
Ground
Notes:
(1)unlisted pins are not connected
Table 2: ST morpho connector table
Connector
Pin(1)
Signal
Remarks
CN10
9
Ground
17
MODE 2
19
REF
21
RESET
23
DIR 1
See Section 5.1: "Selecting direction and step clock lines"
25
PWM2
See Section 5.1: "Selecting direction and step clock lines"
27
MODE 1
29
DIR 2
See Section 5.1: "Selecting direction and step clock lines"
31
PWM1
See Section 5.1: "Selecting direction and step clock lines"
33
ENABLE
CN7
12
VDD
20
Ground
22
Ground
Notes:
(1)unlisted pins are not connected

Hardware description and configuration
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Table 3: J1 connector, switches and test point descriptions
Name
Pin
Label
Description
J1
5 - 6
Vin - GND
Motor power supply
1 - 4
A+, A-, B+, B-
Motor phases connection
S1, S2, S3, S4
-
MODE1, 2, 3, 4
Step mode selection (stand-alone operation)
TP1
-
GND
Ground
TP2
-
VIN
Motor power supply
TP3
-
VDD
Digital power supply (by default 3.3 V coming
from STM32 Nucleo board)
TP4
-
CLK
Step clock line
3.1 Selecting direction and step clock lines
The direction and the step clock lines of STSPIN220 can be selected through dedicated
resistors indicated in the following tables.
Table 4: Direction selection
Signal
R19
R20
Connector
Remarks
DIR1
330 Ω
Not mounted
CN9 pin8
Default
DIR2
Not mounted
330 Ω
CN9 pin5
Table 5: Step clock selection
Signal
R17
R18
Connector
Remarks
PWM1
330 Ω
Not mounted
CN9 pin4
Default
PWM2
Not mounted
330 Ω
CN9 pin6
Ensure that these signals are used by all the stacked X-NUCLEO-IHM06A1
boards