ST STM32 Nucleo User manual

Introduction
The P-NUCLEO-IHM03 pack is the motor-control kit based on the X-NUCLEO-IHM16M1 and NUCLEO-G431RB boards. The
power board with the STSPIN830 driver in the STPIN family provides a motor-control solution for three-phase, low-voltage,
PMSM motors with the addition of the STM32 Nucleo board through the ST morpho connector as illustrated in Figure 1. P-
NUCLEO-IHM03 is provided with a power supply unit also shown in Figure 1.
The device used on the power board is the STSPIN830. It is a compact and versatile FOC-ready driver for a three-phase motor.
It supports both single- and three-shunt architectures and embeds a PWM current controller based on user-settable values of
reference voltage and OFF time. Thanks to a dedicated MODE input pin, the device offers the freedom to decide whether to
drive it through 6 inputs (one for each power switch) or a more common 3 PWM direct-driving inputs. In addition, it integrates
both the control logic and a fully protected low-RDSon triple-half-bridge power stage. The NUCLEO-G431RB board provides an
affordable and flexible way for users to try out new concepts and build prototypes with the STM32G4 microcontroller. It does not
require any separate probe as it integrates the STLINK-V3E debugger and programmer.
This motor-control evaluation kit is fully configurable to support the closed-loop control (FOC only). It can be used with either a
speed sensor mode (Hall or Encoder), or speed sensorless mode. It is compatible with both 1-shunt and 3-shunt current-sense
topologies.
Figure 1. P-NUCLEO-IHM03 pack
Picture is not contractual.
STM32 motor-control pack using the FOC algorithm for three-phase, low-voltage,
and low-current motor evaluation
UM2538
User manual
UM2538 - Rev 1 - April 2019
For further information contact your local STMicroelectronics sales office. www.st.com

1Features
•X-NUCLEO-IHM16M1
– Three-phase driver board for BLDC/PMSM motors based on STSPIN830
– Nominal operating voltage range from 7 V dc to 45 V dc
– Output current up to 1.5 A rms
– Over-current, short-circuit, and interlocking protections
– Thermal shutdown and under-voltage lockout
– BEMF sensing circuitry
– Support of 3-shunt or 1-shunt motor current sensing
– Hall-effect-based sensors or encoder input connector
– Potentiometer available for speed regulation
– Equipped with ST morpho connectors
•NUCLEO-G431RB
–STM32G431RB 32-bit microcontroller based on the Arm® Cortex®-M4 core at 170 MHz in LQFP64
package with 128 Kbytes of Flash memory and 32 Kbytes of SRAM
– Two types of extension resources:
◦Arduino™ Uno V3 expansion connector
◦ ST morpho extension pin headers for full access to all STM32 I/Os
– On-board STLINK-V3E debugger/programmer with USB re-enumeration capability: mass storage,
Virtual COM port, and debug port
– 1 user and 1 reset push-buttons
• Three-phase motor:
– Gimbal motor: GBM2804H-100T
– Maximum DC voltage: 14.8 V
– Maximum rotational speed: 2180 rpm
– Maximum torque: 0.981 N·m
– Maximum DC current: 5 A
– Number of pole pairs: 7
• DC power supply:
– Nominal output voltage: 12 V dc
– Maximum output current: 2 A
– Input voltage range: from 100 V ac to 240 V ac
– Frequency range: from 50 Hz to 60 Hz
The STM32 32-bit microcontrollers are based on the Arm® Cortex®-M processor.
Note: Arm is a registered trademark of Arm Limited (or its subsidiaries) in the US and/or elsewhere.
UM2538
Features
UM2538 - Rev 1 page 2/27

2Ordering information
To order the P-NUCLEO-IHM03, refer to Table 1. Additional information is available from the datasheet and
reference manual of the target STM32.
Table 1. List of available products
Order code Boards Target STM32 Additional content
P-NUCLEO-IHM03 •X-NUCLEO-IHM16M1
•NUCLEO-G431RB STM32G431RBT6U • Power supply (12 V dc, 2 A) • Gimbal motor (GBM2804H-100T)
2.1 Product marking
Evaluation tools marked as “ES” or “E” are not yet qualified and therefore not ready to be used as reference
design or in production. Any consequences deriving from such usage will not be at ST charge. In no event, ST will
be liable for any customer usage of these engineering sample tools as reference design or in production.
“E” or “ES” marking examples of location:
• On the targeted STM32 that is soldered on the board (for illustration of STM32 marking, refer to the STM32
datasheet “Package information” paragraph at the www.st.com website).
• Next to the evaluation tool ordering part number that is stuck or silk-screen printed on the board.
This board features a specific STM32 device version, which allows the operation of any bundled commercial
stack/library available. This STM32 device shows a "U" marking option at the end of the standard part number
and is not available for sales.
In order to use the same commercial stack in his application, a developer may need to purchase a part number
specific to this stack/library. The price of those part numbers includes the stack/library royalties.
2.2 Codification
The meaning of the codification of the Nucleo board is explained in Table 2.
Table 2. Nucleo-board codification explanation
NUCLEO-XXYYZT Description Example: NUCLEO-G431RB
XX MCU series in STM32 32-bit Arm Cortex MCUs STM32G4 Series
YY MCU product line in the series STM32G431
ZSTM32 package pin count:
• R for 64 pins 64 pins
TSTM32 Flash memory size:
• B for 128 Kbytes 128 Kbytes
The order code is mentioned on a sticker placed on the top side of the board.
UM2538
Ordering information
UM2538 - Rev 1 page 3/27

3Development environment
3.1 System requirements
• Windows® OS (7, 8 and 10), Linux® 64-bit, or macOS®
• USB Type-A to Micro-B cable
Note: macOS® is a trademark of Apple Inc. registered in the U.S. and other countries.
3.2 Development toolchains
• Keil® MDK-ARM (see note)
• IAR™ EWARM (see note)
• GCC-based IDEs
Note: On Windows® only.
3.3 Demonstration software
The demonstration software, included in the X-CUBE-MCSDK STM32Cube Expansion Package, is preloaded in
the STM32 Flash memory for easy demonstration of the device peripherals in standalone mode. The latest
versions of the demonstration source code and associated documentation can be downloaded from www.st.com.
UM2538
Development environment
UM2538 - Rev 1 page 4/27

4Getting started (basic user)
4.1 System architecture
The P-NUCLEO-IHM03 kit is based on the usual four-block architecture for a motor-control system :
•Control block: it interfaces user commands and configuration parameters to drive a motor. The P-
NUCLEO-IHM03 kit is based on the NUCLEO-G431RB board that provides all needed signals to perform the
proper motor-driving control algorithm (for instance FOC).
•Power block: the X-NUCLEO-IHM16M1 is based on a 3-phase inverter topology. The core of the power
block embedded on board is the STSPIN830 driver, which embeds all the necessary active power and
analog components to perform a low-voltage PMSM motor control.
•PMSM motor: low-voltage, 3-phase, brushless motor.
•DC Power supply unit: it provides the power for the other blocks (12 V, 2 A).
Figure 2. Four-block architecture of the P-NUCLEO-IHM03 pack
Control Power PMSM
Power supply unit
UM2538
Getting started (basic user)
UM2538 - Rev 1 page 5/27

4.2 Configure and run the motor control from the STM32 Nucleo motor-control
pack
The P-NUCLEO-IHM03 Nucleo pack is a complete hardware development platform for the STM32 Nucleo
ecosystem to evaluate a motor-control solution with a single motor.
For operating the standard pack, follow these hardware configuration steps:
1. The X-NUCLEO-IHM16M1 must be stacked on the NUCLEO-G431RB board through the CN7 and CN10 ST
morpho connectors. There is only one position allowed for this connection, in particular the two buttons on
the NUCLEO-G431RB board (blue button B1 and black button B2) must be kept out, as shown in Figure 3.
Figure 3. X-NUCLEO-IHM16M1 and NUCLEO-G431RB assembled
The interconnection between the X-NUCLEO-IHM16M1 and the NUCLEO-G431RB board is designed for full
compatibility with many control boards. No modification of solder bridges is required for the use of the FOC
algorithm.
UM2538
Configure and run the motor control from the STM32 Nucleo motor-control pack
UM2538 - Rev 1 page 6/27

2. Connect the three motor wires U,V,W on the CN1 connector as shown in Figure 4.
Figure 4. Motor connection with X-NUCLEO-IHM16M1
UM2538
Configure and run the motor control from the STM32 Nucleo motor-control pack
UM2538 - Rev 1 page 7/27

3. Select the jumper configuration on the power board to choose the desired control algorithm (FOC) as
described below:
a. On the NUCLEO-G431RB board, check the jumper settings: JP5 on position [1-2] for 5V_STLK source,
JP8 (VREF) on position [1-2], JP6 (IDD) closed.(1)
b. On the X-NUCLEO-IHM16M1 board(2):
◦ Check jumper settings: J5 closed, J6 closed
◦ For FOC control, set jumper settings as: JP4 and JP7 solder bridge left open, J2 closed on
position [2-3], J3 closed on position [1-2]
4. Connect the DC power supply (use the power supply provided with the pack or an equivalent one) on CN1
or J4 connector and power-on (up to 12 V DC for the Gimbal motor included in the P-NUCLEO-IHM03 pack,
as shown in Figure 5.
Figure 5. Power-supply connection for X-NUCLEO-IHM16M1
5. Press the blue button on NUCLEO-G431RB (B1) to start spinning the motor.
UM2538
Configure and run the motor control from the STM32 Nucleo motor-control pack
UM2538 - Rev 1 page 8/27

6. Rotate the potentiometer on X-NUCLEO-IHM16M1 to regulate the motor speed.
1. To supply the NUCLEO-G431RB from the USB, the jumper JP5 must be connected between Pin 1 and Pin 2. For further
details on Nucleo settings refer to [3].
2. Supply voltage must be off before changing the control mode.
4.3 Hardware settings
Table 3 shows the jumper configuration on the X-NUCLEO-IHM16M1 board as shown in Figure 6. According to
the jumper selection, it is possible to choose the 1-shunt or 3-shunt current-sensing mode, the Hall encoder with
pull-up, or the external supply for the NUCLEO-G431RB board.
Table 3. Jumper settings
Jumper Permitted configuration Default
condition
J5 Selection of the FOC control algorithm. CLOSED
J6 Selection of the FOC control algorithm. CLOSED
J2 Selection of the HW current limiter threshold (disabled in 3-shunt configuration by
default).
[2-3]
CLOSED
J3 Selection of fixed or adjustable current limiter threshold (fixed by default). [1-2]
CLOSED
JP4 and JP7(1) Selection of 1-shunt or 3-shunt configuration (3-shunt by default). OPEN
1. JP4 and JP7 must have both the same configuration: both left open for 3-shunt configuration, both closed for 1- shunt
configuration. On the silkscreen, the correct position for 3- or 1-shunt is indicated together with the default position.
Table 4 shows the main connectors on the X-NUCLEO-IHM16M1 board.
Table 4. Screw terminal table
Screw terminal Function
J4 Motor power supply input (7 to 45 Vdc)
CN1 3-phase motor connector (U,V,W) and Motor Power Supply input (when J4 is not used)
The X-NUCLEO-IHM16M1 is stacked on ST morpho connectors, male pin headers (CN7 and CN10) accessible
on both sides of the board. They can be used to connect this power board to the NUCLEO-G431RB board. All
signals and power pins for the MCU are available on the ST morpho connectors. For further details refer to the
“ST morpho connectors” section in [3].
Table 5. Connector description
Part reference Description
CN7, CN10 ST morpho connector
CN5, CN6, CN9, CN8 Arduino Uno connector
U1 STSPIN830 driver
U2 TSV994IPT op. amp.
J4 Power-supply jack connector
J5, J6 Jumpers for FOC use
SPEED Potentiometer
CN1 Motor- and power-supply connector
UM2538
Hardware settings
UM2538 - Rev 1 page 9/27

Part reference Description
J1 Hall-encoder sensor connector
J2, J3 Current limiter use and configuration
JP3 External pull-up for sensors
JP4, JP7 Current measure mode (1 shunt / 3 shunt)
D1 LED status indicator
Figure 6. X-NUCLEO-IHM16M1 connectors
J4
J3
J5 & J6CN1
J1 U2U1
J2
D1
JP3
4.4 Upload the firmware example
The example for the motor-control application example is pre-loaded in the NUCLEO-G431RB board. This
example is using the FOC (field-oriented control) algorithm. This chapter describes the procedure to reload the
firmware demonstration inside the NUCLEO-G431RB board and restart by the default condition. There are two
ways to do it:
• Drag-and-drop procedure (suggested), as detailed in Section 4.4.1
UM2538
Upload the firmware example
UM2538 - Rev 1 page 10/27