ST X-NUCLEO-IHM02A1 User manual

October 2015 DocID028481 Rev 1 1/24
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UM1964
User manual
Getting started with X-NUCLEO-IHM02A1; two-axis stepper motor
driver expansion board based on L6470 for STM32 Nucleo
Introduction
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 motors in your STM32 Nucleo project. The expansion board includes two
L6470 fully integrated micro stepping motor drivers for motor stepper control throughmotors
high-end motion control commands received via SPI. It is able to drive one or two stepper
motors when plugged on an STM32 Nucleo board. This board is equipped with an
Arduino™ UNO R3 connector and the layout is also compatible with ST morpho connectors.
One or more of these expansion boards can be plugged on a STM32 Nucleo board to
control one or more stepper motorss. The SPI peripherals from each L6470 are connected
in daisy chain configuration.
Figure 1. X-NUCLEO-IHM02A1; two-axis stepper motors driver expansion board
based on L6470
www.st.com

Contents UM1964
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Contents
1 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.1 Hardware and software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Hardware description and configuration . . . . . . . . . . . . . . . . . . . . . . . . 5
2.1 Selecting the SPI lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2 Multi-motor configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3 Set-up to try the provided example . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4 Board schematic and bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.1 Bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

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1 Getting started
The X-NUCLEO-IHM02A1 expansion board extends the application landscape for STM32
Nucleo board user. It directly handles two-axis stepper motors driving, through the L6470,
and can be used in a wide range of relevant applications.. The maximum ratings of the
L6470 are the following:
•Power stage supply voltage (VS) from 8 V to 45 V DC;
•motors phase current up to 3 A r.s.m. (related to the L6470)
To function correctly, the X-NUCLEO-IHM02A1 (two-axis stepper motors driver expansion
board based on L6470) has to be plugged on an STM32 Nucleo board as shown in Figure 2.
Figure 2. X-NUCLEO-IHM02A1 plugged on STM32 Nucleo board
The interconnection between the STM32 Nucleo board and the X-NUCLEO-IHM02A1 is
designed to permit the use of any STM32 Nucleo board. The firmware has been written and
tested for the NUCLEO-F401RE, NUCLEO-F302R8 and NUCLEO-F072RB.
Note: For correct use of the NUCLEO-F401RE with the X-NUCLEO-IHM02A1, the solder bridge
SB15 on the NUCLEO-F401RE has to be removed (see the NUCLEO-F401RE user manual
for further information).

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1.1 Hardware and software requirements
Using the STM32 Nucleo boards with the X-NUCLEO-IHM02A1 expansion board requires
the following software and hardware:
•a Windows PC (XP, Vista, 7, 8) to install the software package;
•from one to four X-NUCLEO-IHM02A1 expansion boards;
•an STM32 Nucleo board chosen from among NUCLEO-F401RE, NUCLEO-F302R8 or
NUCLEO-F072RB;
•a USB type A to Mini-B USB cable to connect the STM32 Nucleo board to the PC;
•the X-CUBE-SPN2 software package (available on www.st.com);
•an IDE chosen from among IAR Embedded Workbench for ARM (EWARM), keil
microcontroller development Kit (MDK-ARM) and System Workbench for STM32
(SW4STM32);
•two-axis stepper motors with compatible voltage and current for the L6470;
•an external power supply able to provide the right voltage for the stepper motors used;
•(optional) a terminal emulator, serial console (i.e. PuTTY) to send commands via
USART.

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2 Hardware description and configuration
This section describes the X-NUCLEO-IHM02A1 features and provides useful information
for understanding the board schematics. Figure 3 shows the position of the connectors and
the configuration board jumpers.
Figure 3. Jumper and connector positions
Below is the detailed pinout of the ST morpho and Arduino™ UNO R3 connectors.
Table 1. ST morpho connector table
Connector Pin Default Signal Solder bridge
CN7
1PC10
2PC11
3PC12
4PD2
5VDD
6E5V
7 BOOT0
8GND
9 NC/PF6
10 NC
11 NC/PF7

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CN7
12 IOREF
13 PA13
14 RESET
15 PA14
16 +3V3 +3V3 SB40
17 PA15
18 +5V +5V SB40
19 GND
20 GND
21 PB7
22 GND
23 PC13
24 VIN
25 PC14
26 NC
27 PC15
28 PA0
29 PH0/PF0/PD0
30 PA1
31 PH1/PF1/PD1
32 PA4 L6470 nCS SB23
33 VLCD/VBAT
34 PB0 ST1S14 PGOOD SB6
35
PC2
36 PC1 L6470 nFLAG
37 PC3
38 PC0 L6470 nBUSY\SYNC
CIN10
1PC9
2PC8
3 PB8
4PC6
5 PB9
6PC5
7 AVDD
8U5V
Table 1. ST morpho connector table (continued)
Connector Pin Default Signal Solder bridge

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CIN10
9GND
10 PD8/NC
11 PA5/PB13 L6470 SCK SB12
12 PA12
13 PA6/PB14 L6470 #0 SDO SB32
14 PA11
15 PA7/PB15 L6470 #1 SDI SB26
16 PB12
17 PB6 L6470 nCS SB8
18 PB11/NC
19 PC7
20 GND
21 PA9
22 PB2
23 PA8
24 PB1
25 PB10
26 PB15/PA7 L6470 #1 SDI SB10
27 PB4 L6470 nCS SB9
28 PB14/PA6 L6470 #0 SDO SB11
29 PB5 L6470 nSTBY\nRST
30 PB13/PA5 L6470 SCK SB13
31 PB3 L6470 SCK SB34
32 AGND
33 PA10 L6470 nCS SB7
34 PC4
35 PA2
36 NC/PF5
37 PA3
38 NC/PF4
Table 1. ST morpho connector table (continued)
Connector Pin Default Signal Solder bridge

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Table 2. Arduino UNO R3 connector table
Connector Pin Default Signal Solder bridge
CN5
1D8
2 D9/PWM
3 D10/CS/PWM L6470 nCS SB8
4 D11/MOSI/PWM L6470 #1 SDI SB26
5 D12/MISO L6470 #0 SDO SB32
6 D13/SCK L6470 SCK SB12
7NC
8NC
9 D14/SDA
10 D15/SCL
CN6
1NC
2IOREF
3 RESET
4+3V3
5+5V
6GND
7GND
8VIN
CN8
1A0
2A1
3 A2 L6470 nCS SB23
4 A3 ST1S14 PGOOD SB6
5 A4 L6470 nFLAG
6 A5 L6470 nBUSY\SYNC
CN9
1D0/RX
2D1/TX
3 D2 L6470 nCS SB7
4 D3/PWM L6470 SCK SB34
5 D4 L6470 nSTBY\nRST
6 D5/PWM L6470 nCS SB9
7 D6/PWM
8D7

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Note: Only one among SB10 and SB26 can be short.
Only one among SB11 and SB32 can be short.
Only one among SB12, SB13 and SB34 can be short.
Only one among SB7, SB8, SB9 and SB23 can be short.
Only one among SB40 and SB41 can be short.
Table 3. Solder bridge table
Solder
bridge Function Group Sub group Default condition
SB1 Connect L6470 #0 OSCIN to the crystal External
crystal L6470 #0 Open
SB2 Connect L6470 #0 OSCOUT to the crystal Open
SB3 Connect L6470 #1 OSCIN to the crystal L6470 #1 Open
SB4 Connect L6470 #1 OSCOUT to the crystal Open
SB5 Connect L6470 #0 OSCOUT with L6470 #1 OSCIN Clock Synchronism Open
SB6 Connect ST1S14 PGOOD with CN7-34 and CN8-4 ST1S14 Power good Open
SB10 Connect L6470 #1 SDI with CN10-26
SPI
SDI Open
SB26 Connect L6470 #1 SDI with CN10-15 and CN5-4 Short
SB11 Connect L6470 #0 SDO with CN10-28 SDO Open
SB32 Connect L6470 #0 SDO with CN10-13 and CN5-5 Short
SB12 Connect any L6470 SCK with CN10-11 and CN5-6
SCK
Open
SB13 Connect any L6470 SCK with CN10-30 Open
SB34 Connect any L6470 SCK with CN10-31 and CN9-4 Short
SB7 Connect any L6470 nCS with CN10-33 and CN9-3
nCS
Open
SB8 Connect any L6470 nCS with CN10-17 and CN5-3 Open
SB9 Connect any L6470 nCS with CN10-27 and CN9-6 Open
SB23 Connect any L6470 nCS with CN7-32 and CN8-3 Short
SB40 Connect any L6470 VDD to +3V3 of control board VDD Nucleo Short
SB41 Connect any L6470 VDD to +5V of control board Arduino Open

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Note: If SB41 is short then J1 pins 2 and 3 must also be shorted.
2.1 Selecting the SPI lines
The lines of the SPI interface can be selected through the dedicated solder bridges. The
following table (Table 6) shows the possible options for the STM32 Nucleo board and
Arduino Uno R3.
Table 4. Jumper table
Jumper Permitted configurations Default condition
J1
Selection for L6470 VDD:
– 2-3 short: ST1S14 is inhibited.
1-2 short and 3-4 short: ST1S14 is enabled, any L6470
VDD is connected to the +3.3V coming from the ST1S14
(step down monolithic power switching regulator).
Note: short SB40 if you intend to supply the STM32 Nucleo
board through the X-NUCLEO-IHM02A1; if so, refer to the
section in the STM32 Nucleo board User Manual (available
on www.st.com) regarding external power supply.
SB40 open otherwise.
SB41 must be open.
2-3 short
J2 Selection for L6470 external switch input pin: – Connect a limit switch between 1-2 or 3-4 for L6470 #1.
– Connect a limit switch between 5-6 or 7-8 for L6470 #0 All open
J3 Step-clock input for L6470 #0. Open
J4 Step-clock input for L6470 #1. Open
Table 5. Screw terminal table
Screw terminal Function
ST1 To connect the two couples of wiresconnected to the two motors phases with the
two full bridge output couples of L6470 #1.
ST2 To connect the two couples of wiresconnected to the two motors phases with the
two full bridge output couples of L6470 #0.
ST3 motors power supply input (8V÷45V).