ST X-NUCLEO-IHM03A1 User manual

July 2015
DocID027979 Rev 1
1/12
www.st.com
UM1910
User manual
Getting started with the high power stepper motor driver
expansion board based on powerSTEP01 for STM32 Nucleo
Introduction
The X-NUCLEO-IHM03A1 is a high power stepper motor driver expansion board based on the
powerSTEP01. It provides an affordable and easy-to-use solution for driving high power bipolar stepper
motors in your STM32 Nucleo project. The fully digital motion control through speed profile generation,
dynamic positioning feedback and a complete suite of protection features offer high levels of
performance and robustness The X-NUCLEO-IHM03A1 is compatible with the Arduino UNO R3
connector and supports the addition of other boards which can be stacked to drive up to three stepper
motors with a single STM32 Nucleo board.
Figure 1: X-NUCLEO-IHM03A1 expansion board for STM32 Nucleo

Contents
UM1910
2/12
DocID027979 Rev 1
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 ...........................................................................11

UM1910
Getting started
DocID027979 Rev 1
3/12
1 Getting started
The X-NUCLEO-IHM03A1 expansion board is a high power stepper motor driver covering
a wide range of applications. In particular, the maximum ratings of the board are the
following.
Power stage supply voltage (VS) from 10.5 V to 50 V
Motor phase current up to 10 A r.m.s.
Follow this sequence to start your project with the board:
1. Check the jumper position based on your configuration (see Section 2: "Hardware
description and configuration").
2. Plug the board to the STM32 Nucleo board through Arduino UNO R3 for the X-
NUCLEO-IHM03A1.
3. Supply the board through the input 1 (VS) and 2 (ground) of the connector CN1. The
power OK (green) and fault (red) LEDs will turn on.
4. Develop your application using the examples provided with the firmware library, X-
CUBE-SPN3, high power stepper motor driver software expansion for STM32Cube.
Further support material is available on the powerSTEP01 (www.st.com/powerstep)
and STM32 Nucleo web pages (www.st.com/stm32nucleo).
Up to three expansion boards can be stacked on the same STM32 Nucleo board
as described in Section 2.2: "Multi-motor configuration".

Hardware description and configuration
UM1910
4/12
DocID027979 Rev 1
2 Hardware description and configuration
Figure 2: "Jumper and connector positions" shows the position of the connectors and the
configuration jumpers of the board.
Figure 2: Jumper and connector positions
Below are the pinout details for the Arduino UNO R3 and the ST Morpho connectors.
Table 1: Arduino UNO R3 connector table
Connector
Pin (1)
Signal
Remarks
CN5
1
powerSTEP RESET
2
Step clock input
3
SPI CS
See Section 2.1:
"Selecting the chip
select and clock lines
of the SPI"
4
SPI MOSI
See Section 2.2:
"Multi-motor
configuration"
5
SPI MISO
See Section 2.2:
"Multi-motor
configuration"
6
SPI SCK
See Section 2.1:
"Selecting the chip
select and clock lines
of the SPI"
7
Ground
CN9
3
FLAG
4
SPI SCK
See Section 2.1:
"Selecting the chip
select and clock lines
of the SPI"

UM1910
Hardware description and configuration
DocID027979 Rev 1
5/12
Connector
Pin (1)
Signal
Remarks
5
BUSY / SYNC
CN6
2
VDD
6
Ground
7
Ground
CN8
1
VDD
3
Ground
Notes:
(1)All the unlisted 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
See Section 2.2:
"Multi-motor
configuration"
17
SPI CS
See Section 2.1:
"Selecting the chip
select and clock lines
of the SPI"
19
Step clock input
21
powerSTEP RESET
29
BUSY/SYNC
31
SPI CK
See Section 2.1:
"Selecting the chip
select and clock lines
of the SPI"
33
FLAG
CN7
12
VDD
20
Ground
22
Ground
28
ID
32
SPI CS
See Section 2.1:
"Selecting the chip
select and clock lines
of the SPI"
Notes:
(1)All the unlisted pins are not connected.

Hardware description and configuration
UM1910
6/12
DocID027979 Rev 1
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 via the appropriate
resistors indicated in Table 3: "Chip select line selection" and Table 4: "Clock line
selection".
Table 3: Chip select line selection
R9
R10
CS line
Not mounted
0 Ω
CN5 pin3, CN10 pin 17 (default)
0 Ω
Not mounted
CN8 pin 3, CN7 pin 32
Table 4: Clock line selection
R11
R12
SCK line
0 Ω
Not mounted
CN5 pin6, CN10 pin 9 (default)
Not mounted
0 Ω
CN9 pin 4, CN10 pin 31
2.2 Multi-motor configuration
The expansion boards can be stacked on a single STM32 Nucleo board in order to drive up
to the three stepper motors (one expansion board for each motor is required).
The configuration is changed by mounting the resistors from R3 to R8 as listed in Table 5:
"Multi-motor setup table".
The other resistors are not mounted.
By default, the stepper driver board is configured for a single-motor setup, so the board
configuration must be changed in multi-motor setups before stacking the boards on the
STM32 Nucleo.
Table 5: Multi-motor setup table
Number of motors
Of Board
Mounted resistors
1
-
R3 –R8
2
1 (bottom)
R3 –R6
2 (top)
R4 –R8
3
1 (bottom)
R3 –R6
2
R4 –R7
3 (top)
R5 –R8

UM1910
Hardware description and configuration
DocID027979 Rev 1
7/12
Figure 3: Schematic diagram
Table 6: BOM list (Part 1)
Item
Reference
Value
Q.ty
Description
Part number
1
C1 C6
100NF
2
CAP CER 100nF 50V X7R
0603
100NF_50V_X7R_0603

Hardware description and configuration
UM1910
8/12
DocID027979 Rev 1
Item
Reference
Value
Q.ty
Description
Part number
2
C2
220NF
1
CAP CER 220nF 35V X7R
0603
220NF_35V_X7R_0603
3
C3 C7
470NF
2
CAP CER 470nF 25V X7R
0603
470NF_25V_X7R_0603
4
C4
3.3NF
1
CAP CER 3.3nF 50V X7R
0603
3.3NF_50V_X7R_0603
5
C5
NP
1
CAP NP 0603
C_NP_0603
6
C8
47NF
1
CAP CER 47nF 100V
X7R/X7S 0805
47NF_100V_X7R/X7S_0805
7
C9
22UF
1
CAP TANT 22uF 6V3 10%
PACK-A
22UF_6V3_TANT_PACK-A
8
C10-C13
220NF
4
CAP CER 220nF 100V
X7R 0805
220NF_100V_X7R_0805
9
C14 C15
68UF
2
CAP ALU 68uF 100V SMD
17x17
EEV-FK2A680Q
10
C16 C17
NP
2
CAP ALU 68uF 100V
Radial 10x6-P5
UHE2A680MPD
11
CN1
MKDS1/6-3.81
1
Screw connector 6 poles
MKDS 1/6-3.81
MKDS1/6-3.81
12
CN3
CON-1x2
1
THOUGH-HOLE-1x2-Pin
height 14.8 - Body 8.5mn -
pitch 2.54
SSQ-102-04-F-S
13
CN5
CON-1x10
1
THOUGH-HOLE-1x10-Pin
height 14.8 - Body 8.5mn -
pitch 2.54
SSQ-110-04-F-S
14
CN6 CN9
CON-1x8
2
THOUGH-HOLE-1x8-Pin
height 14.8 - Body 8.5mn -
pitch 2.54
SSQ-108-04-F-S
15
CN7 CN10
CON-2x19
2
THOUGH-HOLE-2x19-Pin
height 14.8 - Body 8.5mn -
pitch 2.54
SSQ-119-04-L-D
16
CN8
CON-1x6
1
THOUGH-HOLE-1x6-Pin
height 14.8 - Body 8.5mn -
pitch 2.54
SSQ-106-04-F-S
17
D1
BAR43
1
Double Diode High Speed
Switching Diode
BAR43
18
D2
RED
1
LED RED - 0805 -2mcd -
621nm
LED _RED
19
D3-D7
YELLOW
5
LED YELLOW - 0805 -
6mcd - 588nm
LED_YELLOW
20
D8
GREEN
1
LED GREEN - 0805 -6mcd
- 569nm
LED_GREEN
21
D9 D10
BAT46ZFILM
2
DIODE SCHOTTKY
150MA
BAT46
22
MIRE1-
MIRE3
OPTICAL_TARG
ET
3
OPTICAL_TARGET
OPTICAL_TARGET

UM1910
Hardware description and configuration
DocID027979 Rev 1
9/12
Item
Reference
Value
Q.ty
Description
Part number
23
R1 R2
0R1
2
RES 0.1 OHM 5% 2W
2512
0R1_5%_2512
24
R3 R8 R10
R11
0R
4
RES 0 OHM 5% 1/8W
0805
0R_5%_0805
25
R4-R7 R9
R12 R22
NP
7
RES NP 0805
R_NP_0805
26
R13 R25
R26
39K
3
RES 39K OHM 5% 1/10W
0603
39K_5%_0603
27
R14 R20
R21
330R
3
330R OHM 5% 1/10W
330R_5%_0603
28
R15 R23
0R
2
RES 0 OHM 5% 1/10W
0603
0R_5%_0603
29
R16-R19
10K
4
RES 10K OHM 5% 1/10W
0805 SMD
10K_5%_0805
30
R24 R27-
R30
NP
5
RES NP 0603
R_NP_0603
31
TP1
KEYSTONE-5000
1
TEST POINT RED
KEYSTONE 5000
32
U1
POWERSTEP01
1
Fully integrated stepper
motor driver
POWERSTEP01
Table 7: BOM list (Part 2)
Item
Manufact.
Manuf. Part number
Distributor
Distributor Part number
1
2
3
4
5
6
7
8
9
PANASONIC
EEV-FK2A680Q
10
NICHICON
UHE2A680MPD
11
PHOENIX CONTACT
MKDS1/6-3.81
RS
220-4377
12
SAMTEC
SSQ-102-04-F-S
13
SAMTEC
SSQ-110-04-F-S
14
SAMTEC
SSQ-108-04-F-S
15
SAMTEC
SSQ-119-04-L-D
16
SAMTEC
SSQ-106-04-F-S
17
STMICROELECTRONICS
BAR43SFILM
RS
714-0470
18
LITE-ON
LTST-C170-EKT
RS
692-0890
19
LITE-ON
LTST-C170-YKT
RS
692-0925
20
LITE-ON
LTST-C170-GKT
RS
692-0900
21
STMICROELECTRONICS
BAT46ZFILM
RS
714-6850

Hardware description and configuration
UM1910
10/12
DocID027979 Rev 1
Item
Manufact.
Manuf. Part number
Distributor
Distributor Part number
22
23
24
25
26
27
28
29
30
31
KEYSTONE
KEYSTONE 5000
FARNELL
1463076
32
STMICROELECTRONICS
POWERSTEP01