ST X-NUCLEO-IHM02A1 User manual

Version 1.0 (November 18, 2015)
Quick Start Guide
Two axis stepper motor driver expansion board based on the L6470
for STM32 Nucleo
(X-NUCLEO-IHM02A1)

Overview 2
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
•Hardware overview
•Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4

Overview 3
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
•Hardware overview
•Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4

STM32 Open Development Environment
Fast, affordable Prototyping and Development 4
•The STM32 Open Development Environment (ODE) consists of a set of stackable boards
and a modular open SW environment designed around the STM32 microcontroller family.
www.st.com/stm32ode
Compatibility with multiple Development environments
STM32Cube development software STM32 Nucleo expansion boards
STM32 Nucleo development boards STM32Cube
expansion software

Power supply
through USB or
external source
Integrated debugging
and programming
ST-LINK probe
STM32 microcontroller
Complete product range
from ultra-low power to high-performance
ST morpho extension header
STM32 Nucleo
Development Boards (NUCLEO)
•A comprehensive range of affordable development boards for all the STM32
microcontroller series, with unlimited unified expansion capabilities and integrated
debugger/programmer functionality.
5
www.st.com/stm32nucleo
Arduino™ UNO R3 extension headers

Move/ActuatePower InteractConnect
Sense
STM32 Nucleo
Expansion Boards (X-NUCLEO)
•Boards with additional functionality that can be plugged directly on top of the STM32
Nucleo development board directly or stacked on another expansion board.
6
DIL24 support for
new devices
Motion MEMS sensors
Environmental sensors
www.st.com/x-nucleo
Example of STM32 expansion board (X-NUCLEO-IKS01A1)

STM32 Open Development Environment
Software components
•STM32Cube software (CUBE) -A set
of free tools and embedded software bricks
to enable fast and easy development on
the STM32, including a Hardware
Abstraction Layer and middleware bricks.
•STM32Cube expansion software
(X-CUBE) -Expansion software provided
free for use with the STM32 Nucleo
expansion board and fully compatible with
the STM32Cube software framework. It
provides abstracted access to expansion
board functionality through high-level APIs
and sample applications.
7
www.st.com/stm32cube
•Compatibility with multiple Development Environments - The STM32 Open Development
Environment is compatible with a number of IDEs including IAR EWARM, Keil MDK, and GCC-based
environments. Users can choose from three IDEs from leading vendors, which are free of charge and
deployed in close cooperation with ST. These include Eclipse-based IDEs such as Ac6 System
Workbench for STM32 and the MDK-ARM environment.
Tools&IDEs
Applicationexamples
(e.g.basedon ST OpenSoftwareX)
Hardware
SampleapplicationsApplications
IAREWARM,KeilMDK-ARM,GCC-basedIDEs
(e.g.Ac6SystemWorkbenchforSTM32)
STM32CubeHardwareAbstractionLayer(HAL)
STM32Cube
middleware
Upperlevel middleware
(e.g.ST OpenSoftwareX)
Middleware
Hardware
Abstraction
STM32Cubeexpansionmiddleware
STM32 Nucleo expansion boards (X-NUCLEO)
STM32 Nucleo developer boards
OPEN LICENSE MODELS: STM32Cube software and sample applications are covered by a mix of fully open source BSD license and ST
licenses with very permissive terms.

STM32 Open Development Environment
Building block approach 8
The building blocks Your need Our answer
Move /
Actuate
Connect
Power
Sense
Process
Inertial modules, magnetometer
Proximity, microphone
Pressure, temperature, humidity
Bluetooth LE, Sub-GHz radio
NFC, Wi-Fi, GNSS
Energy management & battery
General-purpose microcontrollers
Stepper motor driver
DC & BLDC motor driver
Audio amplifier
COLLECT
TRANSMIT
ACCESS
CREATE
POWER
PROCESS
Software
Secure microcontrollers
Touch controller
Operation Amplifier
Accelerometer, gyroscope
Translate
Industrial input / output
www.st.com/stm32ode

Overview 9
Introduction to the STM32 Open Development Environment
STM32 Nucleo two axis stepper motor driver expansion board
•Hardware overview
•Software overview
Documents & Related Resources
Setup & Demo Examples
1
2
3
4

L6470
Two axis stepper motor driver expansion board
Hardware Overview 10
X-NUCLEO-IHM02A1 Hardware description
The X-NUCLEO-IHM02A1 is a two axis stepper motor driver
expansion board based on L6470.It provides an affordable and easy-
to-use solution for driving low voltage motor control for Stepper Motor
in your STM32 Nucleo project. The expansion board includes two
L6470s, a fully-integrated micro stepping motor driver used to control
stepper motors by means of high-end motion control commands
received through SPI.It is capable of driving one or two stepper
motors when plugged into an STM32 Nucleo board.
Main features:
•Nominal operating voltage range: 8 V - 45 VDC
•Maximum output peak current: 7.0 A (3.0 A rms) for each motor
driver
•Digital voltage supply is selectable (3.3 V or 5.0 V)
•USART communication
•SPI interface (may be connected in a daisy chain configuration)
•Equipped with Arduino UNO R3 connectors
•Layout compatible with ST morpho connectors
Order Code: X-NUCLEO-IHM02A1
ST1S14
Key Products on board:
L6470: Fully integrated microstepping motor driver with motion
engine and SPI
ST1S14:Up to 3 A step down switching regulator
SMAJ48A: Transil
STPS1L60:Low Drop Power Schottky Rectifier
Latest info available at
X-NUCLEO-IHM02A1
SMAJ48A
STPS1L60 Connectors (Arduino UNO
R3 and ST morpho) (*)
(*) only Arduino is mounted by default