ST X-NUCLEO-IHM01A1 User manual

March 2015
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www.st.com
UM1857
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
1
L6474
STBY\\RESET
2
PWM1
See Section 2.1: "Selecting the chip select and clock
lines of the SPI"
3
SPI CS
See Section 2.2: "Multi motor configuration"
4
SPI MOSI
See Section 2.1: "Selecting the chip select and clock
lines of the SPI"
5
SPI MISO
6
SPI SCK
See Section 2.2: "Multi motor configuration"
7
Ground
CN9
3
L6474 FLAG
output
4
PWM2\\SPI SCK
See Section 2.2: "Multi motor configuration" and Section
2.1: "Selecting the chip select and clock lines of the
SPI"
5
DIR2
See Section 2.2: "Multi motor configuration"
6
DIR3
7
PWM3

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Connector
Pin(1)
Signal
Remarks
8
DIR1
CN6
2
VDD
6
Ground
7
Ground
CN8
3
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
9
Ground
11
SPI SCK
See Section 2.1: "Selecting the chip select and clock
lines of the SPI"
13
SPI MISO
See Section 2.2: "Multi motor configuration"
15
SPI MOSI
17
SPI CS
See Section 2.1: "Selecting the chip select and clock
lines of the SPI"
19
PWM1
See Section 2.2: "Multi motor configuration"
21
L6474
STBY\\RESET
23
DIR1
See Section 2.2: "Multi motor configuration"
25
PWM3
27
DIR3
29
DIR2
31
PWM2
See Section 2.1: "Selecting the chip select and clock
lines of the SPI" and Section 2.2: "Multi motor
configuration"
33
L6474 FLAG
output
CN7
12
VDD
20
Ground
22
Ground
32
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
0R
CN5 pin 3, CN10 pin 17 (default)
0R
Not mounted
CN8 pin 3, CN7 pin 32
Table 4: Chip select line selection
R23
R24
CS line
0R
Not mounted
CN5 pin 6, CN10 pin 9 (default)
Not mounted
0R
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)
1
-
PWM1\\DIR1
R1, R4, R7, R12
2
1 (bottom)
PWM1\\DIR1
R1, R4, R7, R10
2 (top)
PWM2\\DIR2
R2, R5, R8, R12
3
1 (bottom)
PWM1\\DIR1
R1, R4, R7, R10
2
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)
2
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
1
Initial release.

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