St X-nucleo-ihm09m2 User manual

Introduction

The X-NUCLEO-IHM09M2 is a motor control connector expansion board for STM32 Nucleo. It provides an easy way to evaluate

motor control solutions for three-phase motors by connecting the STM32 Nucleo development board to an external ST motor

control power board, thanks to the ST morpho and motor control connector.

The 34-pin motor control connector is compatible with all major ST motor control power boards, which requires an external

digital section (MCU) to drive a three-phase motor.

The DAC connector supports the user code development and testing with easy access to the MCU peripherals.

An LED is available for fault condition signaling or status indication.

The X-NUCLEO-IHM09M2 is fully compatible with the ST six-step and field-oriented control (FOC) firmware library.

Figure 1. X-NUCLEO-IHM09M2 motor control connector expansion board

Getting started with the X-NUCLEO-IHM09M2 motor control connector expansion

board for STM32 Nucleo

UM3030

User manual

UM3030 - Rev 1 - July 2022

For further information contact your local STMicroelectronics sales office. www.st.com

1System overview

1.1 Main characteristics

The X-NUCLEO-IHM09M2 expansion board is designed for three-phase motor driver applications. It features:

•ST motor control connector (34 pins) compatible with ST motor control power boards

•STM32 Nucleo compatibility, thanks to ST morpho connectors

• Compatible with the ST six-step and FOC motor control firmware library

• Debug connector for DAC, GPIOs, etc.

• Fully populated board with test points

• LED for fault signaling or status indication

• Potentiometer available (for speed reference)

• PCB type and size:

– PCB material - FR-4

– layout - double layer

– copper thickness - 35 μm

– overall board dimensions - 70 mm x 70 mm

• RoHS compliant

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System overview

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2Getting started

2.1 System architecture

A generic motor control system consists of the following major blocks:

1. Control block, which accepts the user commands and provides motor control signals to drive a motor.

The X-NUCLEO-IHM09M2 adapter connects an STM32 Nucleo development board to a power board that

requires an external digital section.

2. Power block, which is normally in a three-phase inverter topology. It contains all the necessary active power

and analog components to control a low voltage PMSM/BLDC motor.

3. Motor, which is a three-phase brushless motor.

Figure 2. System architecture

2.2 Building the system

The X-NUCLEO-IHM09M2 expansion board adapts the STM32 Nucleo development board to the ST motor

control power boards, which require an external digital section to control a three-phase PMSM/BLDC motor.

For the regular board operation, plug the expansion board onto the top of the development board (control block)

via the ST morpho connector, as shown below.

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Getting started

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Figure 3. X-NUCLEO-IHM09M2 plugged onto the STM32 Nucleo

The interconnection between the two boards is fully compatible with a wide range of STM32 Nucleo development

boards. No solder bridge modification is required.

The stacked solution is ready to operate with a compatible power board via a standard 34-pin flat cable.

2.2.1 Hardware settings

Set the X-NUCLEO-IHM09M2 J1 jumper off.

Table 1. Jumper, connectors, and LED

Jumper/connector Description

J7 34-pin motor control connector

J1 DAC/GPIO output

CN7 ST morpho connector

CN6 Arduino UNO R3 connector

CN8 Arduino UNO R3 connector

CN10 ST morpho connector

CN5 Arduino UNO R3 connector

CN9 Arduino UNO R3 connector

D1 LED for fault or status indication

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Building the system

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Figure 4. X-NUCLEO-IHM09M2 - top layer with silk-screen

The X-NUCLEO-IHM09M2 is equipped with ST morpho connectors. The male pin headers are CN7 and CN10.

These connectors are used to connect the expansion board to the STM32 Nucleo.

The MCU signals and power pins are available on the morpho connector. For further details, refer to UM1724,

section 5.12.

Table 2. ST morpho connector - CN7

Pin Default Signal Solder bridge

1 PC10 NTC bypass R17

2 PC11 Dissipative brake/OCP disable R19

3 PC12

4 PD2

5 VDD

6 E5V

7 BOOT0

8 GND

9 NC/PF6

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Building the system

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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 R27

18 +5V

19 GND

20 GND

21 PB7

22 GND

23 PC13

24 VIN

25 PC14

26 NC

27 PC15

28 PA0 Curr_fdbk_PhA R4

29 PH0/PF0/PD0

30 PA1 VBUS_sensing R5

31 PH1/PF1/PD1

32 PA4 DAC_Ch R18 (not mounted)

33 VLCD/VBAT

34 PB0 VL_PWM R15

35 PC2 Temperature feedback R10

36 PC1 or PB9 Curr_fdbk_PhB R9 (1)

37 PC3 Potentiometer R28

38 PC0 or PB8 Curr_fdbk_PhC R7 (1)

1. For further details, refer to UM1724, table 9.

Table 3. ST morpho connector - CN10

Pin Default Signal Solder bridge

1 PC9

2 PC8

3 PB8

4 PC6

5 PB9

6 PC5

7 AVDD

8U5V (1)

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Building the system

UM3030 - Rev 1 page 6/19

Pin Default Signal Solder bridge

9 GND

10 NC

11 PA5 (2) GPIO/DAC/PWM R21

12 PA12

13 PA6 (3) DIAG/ENABLE/BKIN1 R3

14 PA11 DIAG/ENABLE/BKIN2 R1

15 PA7 (4) UL_PWM R12

16 PB12

17 PB6

18 PB11/NC

19 PC7

20 GND

21 PA9 VH_PWM R8

22 PB2 Red LED R14

23 PA8 UH_PWM R6

24 PB1 WL_PWM R16

25 PB10 Encoder Z/Hall H3 R25

26 PB15 (4)

27 PB4 PWM/DEBUG R20

28 PB14 (3) DIAG/ENABLE/BKIN1 R2

29 PB5 GPIO/DAC/PWM R23

30 PB13 (2) GPIO/DAC/PWM R22

31 PB3 Encoder B/Hall H2 R24

32 AGND

33 PA10 WH_PWM R11

34 PC4

35 PA2

36 NC/PF5

37 PA3

38 NC/PF4

1. U5V is the 5 V power from the ST-LINK/V2-1 USB connector and it rises above +5 V.

2. For NUCLEO-F302R8 only: pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11.

3. For NUCLEO-F302R8 only: pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13.

4. For NUCLEO-F302R8 only: pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13.

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Building the system

UM3030 - Rev 1 page 7/19

2.2.2 Pinout of the motor control connector

Figure 5. J7 motor control connector (top view)

1521 131 17 11 5919 32933 2325 71327

1622 232 18 12 61020 43034 2426 81428

The X-NUCLEO-IHM09M2 expansion board supports motor control via the J7 34-pin connector. This connector

provides all the required control and feedback signals to and from an ST motor power-drive board.

The available signals include the emergency stop, speed or position feedback, three-phase motor current, bus

voltage, and heatsink temperature.

Table 4. J7 pin assignments

Pin Default Function

1 PA6/PA11 DIAG/ENABLE/BKIN1

2 GND Dissipative brake/OCP disable

3 PA8 UH_PWM

4 GND

5 PA7/PB15 UL_PWM

6 GND

7 PA9 VH_PWM

8 GND

9 PB0 VL_PWM

10 GND

11 PA10 WH_PWM

12 GND

13 PB1 WL_PWM

14 PA1 VBUS_sensing

15 PA0 Curr_fdbk_PhA

16 Not connected

17 PC1 Curr_fdbk_PhB

18 Not connected

19 PC0 Curr_fdbk_PhC

20 Not connected

21 PC10 NTC bypass

22 Not connected

23 PC11 Dissipative brake/OCP disable

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Building the system

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Pin Default Function

24 Not connected

25 E5V

26 PC2 Temperature feedback

27 Not connected

28 Not connected

29 Not connected

30 Not connected

31 PA15 Encoder A/Hall H1

32 Not connected

33 PB3 Encoder B/Hall H2

34 PB10 Encoder Z/Hall H3

2.2.3 DAC settings for debug

For debugging purposes, you can use the DAC peripheral and configure the motor control library to drive the

signal.

For instance, the PA4 pin is accessible through the ST morpho connector or J1 connector. This pin is usually

connected to DAC_CH1.

Different pins are available on the J1 connector, according to the STM32 Nucleo development board used.

2.2.4 User LED

The X-NUCLEO-IHM09M2 provides a programmable LED (D1) connected on the PB2 pin. It can be used to

signal motor status, faults, etc.

You have to configure this pin and drive it through the application code you have developed.

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Building the system

UM3030 - Rev 1 page 9/19

3MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2

The X-NUCLEO-IHM09M2 expansion board is compatible with the motor control (MC) FOC SDK, which is a

firmware library and workbench GUI.

No hardware modification is needed to run the motor through this control algorithm.

For the pin configuration, see Table 2 and Table 3.

You can connect the STM32 Nucleo to the MC workbench GUI through a virtual COM embedded in the STM32

Nucleo, which allows using the USART2 on PA2 and PA3 pins from the same USB type A to Mini-B USB cable

used to program the STM32 Nucleo.

For further information on the MC FOC SDK, see X-CUBE-MCSDK.

UM3030

MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2

UM3030 - Rev 1 page 10/19

4Schematic diagrams

Figure 6. X-NUCLEO-IHM09M2 circuit schematic

F302

PWM

ARDUINO/MORPHO CONNECTOR

Currents

DAC

USER

F302

HALL/ENCODER SENSOR

F302

C10_13 MC1

C10_28

C10_23

MC7

MC3

C10_33

MC5

MC11

C7_34

MC13

MC9

C7_28

C7_38

MC26C7_35

MC15

MC19

C7_17

C10_31

C10_25 MC34

MC31

MC33

C10_21

C10_24

C10_15 C10_22

C10_26

C7_1

C7_2

MC21

MC23

MC1

MC3

MC7

MC5

MC9

MC11

MC13

MC15

MC17

MC19

C10_30

C10_27

C10_29

C7_32

C10_11

MC31

MC33 MC34

MC14

MC26

MC23

MC21

C7_37

C10_14

C7_36 MC17

C7_30 MC14

MC25

3V3

0R21

0R28

0R11

R26

100K

CN9

0R27

CN10

3 4

5 6

7 8

9 10

11 12

13 14

15 16

17 18

19 20

21 22

23 24

25 26

27 28

29 30

31 32

33 34

35 36

37 38

0R17

0R13

0R16

R4 0

R29 N.C.

R8 0

RED

CON34A

3 4

5 6

7 8

9 10

11 12

13 14

15 16

25 26

27 28

29 30

31 32

33 34

CN5

R9 0

CN6

0R19

0R25

R7 0

0R6

0R22

0R15

0R12

0R20

R14

510

0R18

J2 1

RING

CN7

1 2

3 4

5 6

7 8

9 10

11 12

13 14

15 16

17 18

19 20

21 22

23 24

25 26

27 28

29 30

31 32

33 34

35 36

37 38

Stripline m. 1x3

CN8

0R24

0R30

0R5

0R10

0R23

PA8-UH

PA6-BKIN

PA10-WH

PB0-VL

PA0 - PhA

PC0 - PhC

PC2 - Temp. Sens.

PA15 - Enc. A/H1

PB3 - Enc. B/H2

PB10 - Enc. Z/H3

PB1-WL

PA9-VH

PB2

PA7-UL

PC10-NTC bypass

PC11-Dissipative Brake/OCP disable

PA5/PB13

PA4- DAC

PPBB55--DDAACC PPWWMM

PB4-PWM

PA5 - DAC

PC3-SPEED

PA11

C7_1

C7_3

C7_5

C7_7

C7_13

C7_15

C7_17

C7_19

C7_21

C7_23

C7_25

C7_27

C7_29

C7_31

C7_33

C7_35

C7_37

C7_14 C6_3

C7_16

C7_18

C7_20

C7_22

C7_24 C6_8

C7_28 C8_1

C7_38 C8_6

C7_36 C8_5

C7_34 C8_4

C7_30 C8_2

C7_32 C8_3

C7_2

C7_4

E5V C7_6

C7_8

C10_3C5_10

C10_7C5_8

C10_9C5_7

C10_11C5_6

C10_13C5_5

C10_15C5_4 C10_17C5_3

C10_19C5_2

C10_21C5_1

C10_5C5_9

C10_35C9_2

C10_29C9_5

C10_31C9_4

C10_25C9_7

C10_33C9_3

C10_27C9_6

C10_23C9_8

C10_37C9_1

C10_1 C10_2

C10_4

C10_6

C10_8

C10_10

C10_12

C10_14

C10_16

C10_18

C10_20

C10_22

C10_24

C10_26

C10_28

C10_30

C10_32

C10_34

C10_36

C10_38

C7_9

C7_11 C7_12

C6_1 N.C.

C6_2 +3V3

C6_6

N.C. C7_10

C6_7

C7_26

C6_4

PC1 - PhB

PA1 - BUSV

C6_5

UM3030 - Rev 1 page 11/19

UM3030

Schematic diagrams

5Bill of materials

Table 5. X-NUCLEO-IHM09M2 bill of materials

Item Q.ty Ref. Part/value Description Manufacturer Order code

1 1 D1 RED, SMD

0603,

LED standard -

SMD Lite-on LTST-C193KRKT-5A

2 1 J1

Stripline m. 1x3,

TH 2.54 mm

pitch

3-way strip line Stelvio Kontek 613040167028

3 1 J2 RING, TH, 1

mm Test point Vero

Technologies 20-2137

4 2

CN7, CN10,

male on top,

female on

bottom

CONN 38, TH

2.54 mm pitch

38-pin elevated

socket morpho

connector

Samtec ESQ-119-24-T-D

4UCONN 08413

5 0

CN6,CN9,femal

e on top, male

on bottom

CONN8, TH

2.54 mm pitch

8-pin elevated

socket morpho

connector (not

mounted)

Samtec ESQ-108-24-T-S

4UCONN 15284

6 0

CN5, female on

top, male on

bottom

CONN10, TH

2.54 mm pitch

10-pin elevated

socket (not

mounted)

Samtec ESQ-110-24-T-S

4UCONN 15286

7 1 J7 Motor control

connector, TH

34-way IDC

straight boxed

header

ASSMANN

WSW AWHW 34G-0202-T

8 0

CN8, female on

top, male on

bottom

CONN6, TH

2.54 mm pitch

6-pin elevated

socket (not

mounted)

Samtec ESQ-106-24-T-S

4UCONN 15282

9 26

R1, R2, R3, R4,

R5, R6, R7, R8,

R9, R10, R11,

R12, R13, R15,

R16, R17, R18,

R19, R20, R21,

R22, R23, R24,

R25, R27, R28

0 Ohm, 0603,

0.1 W SMD resistors RS PRO 716-9743

10 1 R14 510 Ohm, 0603,

0.1 W SMD resistor RS PRO 804-8820

11 1 R26 100 kOhm, 1/2

W, ±10 % Trimmer resistor Bourns 3386G-1-104LF

12 0 R29 0, 0603, 1/2 W

Solder bridge

(not mounted) -

leave open

- -

13 1 R30 closed with

a drop of tin 0, 0603, 1/2 W Solder bridge Any -

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Bill of materials

UM3030 - Rev 1 page 12/19

6Board versions

Table 6. X-NUCLEO-IHM09M2 versions

PCB version Schematic diagrams Bill of materials

X$NUCLEO-IHM09M2 (1) X$NUCLEO-IHM09M2 schematic diagrams X$NUCLEO-IHM09M2 bill of materials

1. This code identifies the X-NUCLEO-IHM09M2 first version. It is printed on the board PCB.

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Board versions

UM3030 - Rev 1 page 13/19

7Regulatory compliance information

Formal Notice Required by the U.S. Federal Communications Commission

For evaluation only; not FCC approved for resale

FCC NOTICE

This kit is designed to allow:

(1) Product developers to evaluate electronic components, circuitry, or software associated with the kit to

determine whether to incorporate such items in a finished product and

(2) Software developers to write software applications for use with the end product.

This kit is not a finished product and when assembled may not be resold or otherwise marketed unless all

required FCC equipment authorizations are first obtained. Operation is subject to the condition that this product

not cause harmful interference to licensed radio stations and that this product accept harmful interference. Unless

the assembled kit is designed to operate under part 15, part 18 or part 95 of this chapter, the operator of the kit

must operate under the authority of an FCC license holder or must secure an experimental authorization under

part 5 of this chapter 3.1.2.

Formal Product Notice Required by Industry Canada Innovation, Science and Economic Development

Canada compliance:

For evaluation purposes only. This kit generates, uses, and can radiate radio frequency energy and has not been

tested for compliance with the limits of computing devices pursuant to Industry Canada (IC) rules.

À des fins d'évaluation uniquement. Ce kit génère, utilise et peut émettre de l'énergie radiofréquence et n'a pas

été testé pour sa conformité aux limites des appareils informatiques conformément aux règles d'Industrie Canada

(IC).

Formal product notice required by EU

This device is in conformity with the essential requirements of the Directive 2015/863/EU (RoHS).

UM3030

Regulatory compliance information

UM3030 - Rev 1 page 14/19

Revision history

Table 7. Document revision history

Date Revision Changes

18-Jul-2022 1 Initial release.

UM3030

UM3030 - Rev 1 page 15/19

Contents

1System overview ..................................................................2

1.1 Main characteristics ............................................................2

2Getting started ....................................................................3

2.1 System architecture ............................................................3

2.2 Building the system.............................................................3

2.2.1 Hardware settings ........................................................4

2.2.2 Pinout of the motor control connector .........................................8

2.2.3 DAC settings for debug ....................................................9

2.2.4 User LED ..............................................................9

3MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2 .......................10

4Schematic diagrams ..............................................................11

5Bill of materials...................................................................12

6Board versions ...................................................................13

7Regulatory compliance information ...............................................14

Revision history .......................................................................15

List of tables ..........................................................................17

List of figures..........................................................................18

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Contents

UM3030 - Rev 1 page 16/19

List of tables

Table 1. Jumper, connectors, and LED ...........................................................4

Table 2. ST morpho connector - CN7 ............................................................5

Table 3. ST morpho connector - CN10 ...........................................................6

Table 4. J7 pin assignments ..................................................................8

Table 5. X-NUCLEO-IHM09M2 bill of materials .................................................... 12

Table 6. X-NUCLEO-IHM09M2 versions ......................................................... 13

Table 7. Document revision history .............................................................15

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List of tables

UM3030 - Rev 1 page 17/19

List of figures

Figure 1. X-NUCLEO-IHM09M2 motor control connector expansion board..................................1

Figure 2. System architecture ................................................................3

Figure 3. X-NUCLEO-IHM09M2 plugged onto the STM32 Nucleo........................................4

Figure 4. X-NUCLEO-IHM09M2 - top layer with silk-screen ............................................5

Figure 5. J7 motor control connector (top view) ....................................................8

Figure 6. X-NUCLEO-IHM09M2 circuit schematic.................................................. 11

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List of figures

UM3030 - Rev 1 page 18/19

IMPORTANT NOTICE – READ CAREFULLY

STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to ST

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Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of

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Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product.

ST and the ST logo are trademarks of ST. For additional information about ST trademarks, refer to www.st.com/trademarks. All other product or service names

are the property of their respective owners.

Information in this document supersedes and replaces information previously supplied in any prior versions of this document.

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UM3030 - Rev 1 page 19/19

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