ST X-NUCLEO-IHM07M1 User manual

September 2015
DocID028304 Rev 1
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www.st.com
UM1943
User manual
Getting started with the X-NUCLEO-IHM07M1 motor driver
expansion board based on the L6230 for STM32 Nucleo
Introduction
The X-NUCLEO-IHM07M1 is a three-phase brushless DC motor driver expansion board based on the
L6230 for STM32 Nucleo. It provides an affordable and easy-to-use solution for driving three-phase
brushless DC motors in your STM32 Nucleo project. The X-NUCLEO-IHM07M1 is compatible with the
ST morpho connector and supports the addition of other boards which can be stacked onto a single
STM32 Nucleo board. The user can also mount the Arduino UNO R3 connector. The X-NUCLEO-
IHM07M1 is fully configurable and ready to support different closed loop control based on sensor or
sensorless mode control, and it is compatible with three shunt or single shunt current sense measuring.
The driver used on this STM32 Nucleo expansion board is the L6230, a DMOS fully-integrated driver for
three-phase brushless PMSM motors, assembled in a PowerSO36 package, with overcurrent and
thermal protection. This user manual describes the procedure to configure the X-NUCLEO-IHM07M1
expansion board to operate with an STM32 Nucleo board.
Figure 1: X-NUCLEO-IHM07M1 three-phase brushless DC motor driver expansion board based on L6230 for
STM32 Nucleo

Contents
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Contents
1System introduction.........................................................................3
1.1 Main characteristics ..........................................................................3
1.2 Target applications............................................................................3
2Getting started..................................................................................4
2.1 System architecture ..........................................................................4
2.2 Building the system...........................................................................4
2.2.1 Hardware settings............................................................................... 5
3Board schematic.............................................................................10
4Circuit description..........................................................................18
4.1 Power section –L6230 driver with integrated three-phase bridge...18
4.2 Power section –Overcurrent detection (OCP) and current sensing
measurement...............................................................................................19
4.3 Analog section –Hall/Encoder motor speed sensor........................21
4.4 Analog section –BEMF detection circuit.........................................21
4.5 Analog section –Bus voltage and temperature sensing circuit.......21
5BOM (bill of material) .....................................................................23
6Revision history..............................................................................27

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System introduction
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1 System introduction
1.1 Main characteristics
The list below provides the board specification data and the main parameters for the X-
NUCLEO-IHM07M1 expansion board:
Three-phase driver board for BLDC/PMSM motors
Nominal operating voltage range from 8 V to 48 V DC
2.8 A output peak current (1.4 ARMS)
Operating frequency up to 100 kHz
Non dissipative overcurrent detection and protection
Cross-conduction protection
Thermal measuring and overheating protection
Full compatibility with ST Six Step or ST FOC control algorithms
Full support for sensor and sensorless mode
3-shunt and 1-shunt configurable jumpers for motor current sensing
Hall/Encoder motor sensor connector and circuit
Debug connector for DAC, GPIOs, etc.
Potentiometer available for speed regulation
Fully populated board conception with test points
User LED
Compatible with STM32 Nucleo boards
Equipped with ST morpho connectors
RoHS compliant
PCB type and size:
PCB material: FR-4
4-layer layout
Copper thickness: 70 μm (external layer), 35 μm (internal layer)
Total dimensions of the board: 70 mm x 66 mm
1.2 Target applications
Low voltage PMSM motor driver
Low power fans
Power tools
Industrial drives

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2 Getting started
2.1 System architecture
A generic motor control system can be schematized in three main blocks (see Figure 2:
"Overall system architecture"):
Control block - its main task is to accept user commands and drive a motor. The X-
NUCLEO-IHM07M1 is based on the STM32 Nucleo board, which provides all digital
signals to properly implement motor driver control.
Power block - it is based on three-phase inverter topology. The core of the power
block is the L6230 driver, which contains all the necessary active power and analog
components to perform low voltage PMSM motor control.
Motor - the X-NUCLEO-IHM07M1 is able to properly drive a low voltage BLDC/PMSM
motor.
Figure 2: Overall system architecture
2.2 Building the system
The X-NUCLEO-IHM07M1 expansion board is a complete hardware development platform
(Power block) for the STM32 Nucleo board, for evaluating a motor control solution for a
single BLDC/PMSM motor. For normal board operation, it must be connected to an STM32
Nucleo board (Control block) through the ST morpho connector, as shown in the image
below.

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Figure 3: X-NUCLEO-IHM07M1 plugged on STM32 Nucleo
The interconnection between the STM32 Nucleo and the X-NUCLEO-IHM07M1 has been
designed for full-compatibility with many STM32 Nucleo boards and no solder bridge
modification is required. When stacked, the system is ready to operate with the connection
of a BLDC/PMSM motor. For proper use, please respect the hardware and software
settings. For the software details, refer to the X-CUBE-SPN7 software expansion
documents available on www.st.com.
2.2.1 Hardware settings
Table 1: Jumper settings
Jumper
Permitted configurations
Default
condition
JP1
Selection for pull-up insertion (BIAS) in current sensing circuit
OPEN
JP2
Selection for op amp gain modification in current sensing circuit
OPEN
JP3
Selection for pull-up enabling in Hall/Encoder detection circuit
CLOSED
J9
Selection to supply the STM32 Nucleo board through the X-NUCLEO-
IHM07M(1)
OPEN
J5
Selection for single/three shunt configuration. Set to single shunt by
default
2-3 CLOSED
J6
Selection for single/three shunt configuration. Set to single shunt by
default
2-3 CLOSED
J7
Debug connector for DAC. Available for probe connection
OPEN
Notes:
(1)It is recommended to REMOVE jumper J9 before power-on on J1

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With J9 closed, it is mandatory not to exceed 12 V DC on the J1 connector to avoid
damage to the STM32 Nucleo board.
Jumper JP5 (STM32 Nucleo board) MUST be connected between pin 2 and 3 to enable
the STM32 Nucleo external power supply.
Table 2: Screw terminal table
Screw terminal
Function
J1
Motor power supply input (8 V- 48 V DC)
J2
3-phase motor connector
Figure 4: X-NUCLEO-IHM07M1 –top layer with silk-screen
The X-NUCLEO-IHM07M1 expansion board is equipped with the ST morpho connector,
male pin headers (CN7 and CN10) accessible on both sides of the board. They can be
used to connect the power board to the STM32 Nucleo board. All signals and power pins of
the MCU are available on the ST morpho connector. For further details, please refer to user
manual UM1724 (5.12 STMicroelectronics morpho connector) available on www.st.com.
Table 3: ST morpho connector table
Connector
Pin
Default
Signal
Solder bridge
CN7
1
PC10
Enable_CH1-L6230
R58
2
PC11
Enable_CH2-L6230
R67
3
PC12
Enable_CH3-L6230
R72
4
PD2
5
VDD
6
E5V
7
BOOT0
8
GND
9
NC/PF6

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Connector
Pin
Default
Signal
Solder bridge
10
NC
11
NC/PF7
12
IOREF
13
PA13
14
RESET
15
PA14
16
+3V3
17
PA15
Encoder A/Hall H1
R79
18
+5V
Encoder/Hall PS voltage
19
GND
20
GND
21
PB7
22
GND
23
PC13
Blue button
24
VIN
J9
25
PC14
26
NC
27
PC15
28
PA0
Curr_fdbk_PhA
R47
29
PH0/PF0/PD0
30
PA1
VBUS_sensing
R51
31
PH1/PF1/PD1
32
PA4
DAC_Ch
R76 N.M.
33
VLCD/VBAT
34
PB0
BEMF2_sensing
R60
35
PC2
Temperature feedback
R54
36
PC1 or PB9(1)
Curr_fdbk_PhB
R48
37
PC3
BEMF1_sensing
R59
38
PC0 or PB8(2)
Curr_fdbk_PhC
R50
CN10
1
PC9
2
PC8
3
PB8
4
PC6
5
PB9
6
PC5
7
AVDD
8
U5V(3)

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Connector
Pin
Default
Signal
Solder bridge
9
GND
10
NC
11
PA5(4)
GPIO/DAC/PWM
R80
12
PA12
CPOUT
R52
13
PA6(5)
DIAG/ENABLE/BKIN1
R53
14
PA11
DIAG/ENABLE/BKIN2
R46
15
PA7(6)
BEMF3_sensing
R63
16
PB12
17
PB6
18
PB11/NC
19
PC7
20
GND
21
PA9
VH_PWM
R64
22
PB2
LED RED
R83
23
PA8
UH_PWM
R56
24
PB1
POTENTIOMETER
R78
25
PB10
Encoder Z/Hall H3
R84
26
PB15(7)
BEMF3_sensing
R66
27
PB4
CURRENT REF
R77
28
PB14(8)
DIAG/ENABLE/BKIN1
R49
29
PB5
GPIO/DAC/PWM
R85
30
PB13(9)
GPIO/DAC/PWM
R82
31
PB3
Encoder B/Hall H2
R81
32
AGND
33
PA10
WH_PWM
R70
34
PC4
35
PA2
36
NC/PF5
37
PA3
38
NC/PF4
Notes:
(1)Please refer to Table 9: Solder bridges in user manual UM1724 for further details
(2)Please refer to Table 9: Solder bridges in user manual UM1724 for further details
(3)U5V is 5 V power from ST-LINK/V2-1 USB connector and it rises before +5 V
(4)For STM32F302-Nucleo only:
- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11
- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13
- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

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(5)For STM32F302-Nucleo only:
- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11
- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13
- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13
(6)For STM32F302-Nucleo only:
- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11
- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13
- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13
(7)For STM32F302-Nucleo only:
- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11
- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13
- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13
(8)For STM32F302-Nucleo only:
- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11
- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13
- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13
(9)For STM32F302-Nucleo only:
- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11
- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13
- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

Board schematic
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3 Board schematic
Figure 5: X-NUCLEO-IHM07M1 schematic (1 of 8)
Vshunt_3_GND
Vshunt_2_GND
Vshunt_1_GND
Externaloperational-amplifier
Overall AV=1.53
3V3
3V3
3V3
3V3
3V3
3V3
3V3
Vshunt_1
Curr_fdbk1
Curr_fdbk2
CP+
Vshunt_2
Curr_fdbk3
Vshunt_3
C8
N.M. 100pF/6.3V
JP1
FOC
R11
2.2k
C4
N.M. 100pF/6.3V
R13
680
C1
100nF10V
R9
2.2k
-
+U10C
TSV994IPT
10
98
4
11
-
+U10D
TSV994IPT
12
13 14
4
11
R10 2.2k
C3
680pF 10V
0 3R
R15
2.2k
R1
2.2k
C7
680pF 10V
R5 2.2k
R4
2.2k
R14
0
R8
0
R2680
R12
2.2k
C5
680pF 10V
-
+U10B
TSV994IPT
5
67
4
11
-
+U10A
TSV994IPT
3
21
4
11
R7
680
R16
2.2k
R6
2.2k
C6
N.M. 100pF/6.3V
JP2 FOC
C2
4.7uF 10V
GSPG03092015DI0955