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.
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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.
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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.
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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
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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.
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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
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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.
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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
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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

• Through the STM32CubeProgrammer (STM32CubeProg) tool (free download available from
STMicroelectronics web site: www.st.com), as shown in Section 4.4.2
4.4.1 Drag-and-drop procedure
1. Install the ST-LINK drivers from the www.st.com website.
2. On the NUCLEO-G431RB board, set the JP5 jumper in position U5V.
3. Plug the NUCLEO-G431RB board to the host PC using a Type-A to Micro-B USB cable. If the ST-LINK
driver is correctly installed, it is recognized as an external memory device called “NUCLEO” or any similar
name.
4. Drag and drop the binary file of the firmware demonstration (P-NUCLEO-IHM003.out) into the “NUCLEO”
device, listed inside the list of the disk drives (click on the Start button of Windows®), contained into the X-
CUBE-SPN7 firmware pack.
5. Wait until the programming is complete.
4.4.2 STM32CubeProgrammer tool
1. Open the STM32CubeProgrammer tool (STM32CubeProg).
2. Connect the NUCLEO-G431RB board to the PC with a USB Type-A to Micro-B cable through the USB
connector (CN1) on the NUCLEO-G431RB board.
3. Open either the Potentiometer.out or Potentiometer.hex file as the code to be downloaded. The
corresponding window appears as shown in Figure 7.
Figure 7. STM32CubeProgrammer tool
4. Click on the Download button (refer to Figure 8).
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Upload the firmware example
UM2538 - Rev 1 page 11/27

Figure 8. STM32CubeProgrammer download
5. Press the Reset button (B2) on the NUCLEO-G431RB board to start using the motor.
4.5 Demonstration usage
This section describes how to use the setup to spin the motor:
1. Press the Reset button (black) (NUCLEO-G431RB board)
2. Press the User button (blue) to start the motor (NUCLEO-G431RB board)
3. Check that the motor starts spinning and LEDs D8, D9, and D10 are turned on (X-NUCLEO-IHM16M1
board)
4. Rotate the User rotary knob (blue) clockwise to the maximum (X-NUCLEO-IHM16M1 board)
5. Check that the motor is stopped and LEDs D8, D9, and D10 are turned off (X-NUCLEO-IHM16M1 board)
6. Rotate the User rotary knob (blue) counterclockwise to the maximum (X-NUCLEO-IHM16M1 board)
7. Check that the motor is spinning at a higher speed compared to step 3 and LEDs D8, D9, and D10 are
turned on (X-NUCLEO-IHM16M1 board)
8. Rotate the User rotary knob (blue) to 1/3 of its maximum (X-NUCLEO-IHM16M1 board)
9. Check that the motor is spinning at a lower speed compared to step 7 and LEDs D8, D9, and D10 are
turning on (X-NUCLEO-IHM16M1 board)
10. Press the User button (blue) to stop the motor (NUCLEO-G431RB board)
11. Check that the motor is stopped and LEDs D8, D9, and D10 are turning off (X-NUCLEO-IHM16M1 board)
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Demonstration usage
UM2538 - Rev 1 page 12/27

5FOC control algorithm settings (advanced user)
The P-NUCLEO-IHM03 pack supports the ST FOC library. No hardware modification is needed to run the motor
provided in a 3-shunt current-sensing mode. To use the FOC in a 1-shunt configuration, the user must reconfigure
the X-NUCLEO-IHM16M1 board to select the 1-shunt current sensing and the current-limiter features according to
the jumper settings as given in Table 3. Jumper settings. The MC SDK installation is required to reconfigure the P-
NUCLEO-IHM03 project for 1-shunt current sensing, generation, and use.
For further information about the MC SDK, refer to [5].
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FOC control algorithm settings (advanced user)
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6Electrical schematics
This chapter presents some of the X-NUCLEO-IHM16M1 schematics related to the material detailed in the user
manual:
•Figure 9. X-NUCLEO-IHM16M1 motor driver connections
•Figure 10. X-NUCLEO-IHM16M1 current-sensing conditioning circuit
•Figure 11. X-NUCLEO-IHM16M1 sensors and shunt resistor circuit
•Figure 12. X-NUCLEO-IHM16M1 L6230 driver and BEMF detection circuit
•Figure 13. X-NUCLEO-IHM16M1 MCU pin assignment
Note: Users are advised to check for the most up-to-date schematics of X-NUCLEO-IHM16M1 and NUCLEO-G431RB
on STMicroelectronics www.st.com web site.
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Electrical schematics
UM2538 - Rev 1 page 14/27

Figure 9. X-NUCLEO-IHM16M1 motor driver connections
X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s chematic dia grams ve rsion 1| she et 1
39K
5
39K
C1
19 INU/INUH
20
0R
+
39K
SENSEV
14
STBY
39K
17
D1
INV
VDD
OUTW 12
1
R7
ENW 61300311121
2
SENSEW
R9
EN_FAULT
MODE
18
ENV
OUTU
NC 8
+
C2
R5
23 INW/INWH
OUTW
M5
R11
3
10
C5
RED
NP OUTU
21 INV/INVH
22
VDD
VREF P-MOS
INU
24 ENW/INWL
STSPIN830
13
4.7NF
NP
OUTV 11
1K
SENSEU
7
INW
R4
ENV/INVL
39K
1
TOFF
SENSEV
U1
C4
2.2NF
R30
C6
330R
R32
NP
VS 9
GND
15
33µF 50V
R2
12K
C3
VDD
G
R8
39K
330NF
R6
VDD
33µF 50VNP
R10
SENSEU
VREF
2TOFF
EPAD
25
SNS 4
ENU/INUL
STBY
16
R1
S
2
VS
Jumper M5 connected
between J2 pin 2&3
VS
39K
EN_FAULT
10NF
1
ENU
J2
6GND
GND
3
39K
R12
OUTV
Q1
NX3008PBKW
D
3
SENSEW
R3
VS
Figure 1: X-NUCLEO-IHM16M1 c irc uit s c he matic (1 o f 5)
A+/H1
B+/H2
Z+/H3
+5V
GND
Roff
VDD
SPEED
VREF
VDD
VDD
VDD
5V
5V
VS
VS VDD
VDD
VREF
CURRENT_REF
TOFF
SPEED
H1
H2
H3
VBUS NTC
TP5
1
330R
R17
10K
1 3
2
R22
3K
NTC
R38
X7R
R21
3K
R13
3.9K
JP3
1
CLOSE
2
R28
4.7K
NP
C12
10PF
D3
3V
1
61300511121
1
2
3
4
5
R18
10K
R14
180K
1%
C9
220NF
16V
X7R
R26
4.7K
NP
C22
220NF
16V
X7R
R16
12K
TP2
1
S1751-46R
J3
13
2
61300311121
D2
3V
22K
C21
100NF
50V
X7R
R24 330R
D4
3V
R20
3K
TP3
1
S1751-46R
M6
TP1
1
R25 330R
C11
10PF
C7
220NF
16V
X7R
Jumper M6 connected
between J3 pin 1&2
S1751-46R
R23
10PF R27 4.7K
NP
S1751-46R
C10
C8
NCP18WB473J03RB
220NF
16V
MMSZ3V0T1G
TP4
GND GND VS
J1
S1751-46R
R15
MMSZ3V0T1G
R19
MMSZ3V0T1G
12K
1%
Figure 2: X-NUCLEO-IHM16M1 c irc uit s c he matic (2 o f 5)
All information on this pa ge is s ubje ct to the Eva luation Board Licens e Agre eme nt included in this document P age 1 of 6
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Electrical schematics
UM2538 - Rev 1 page 15/27

Figure 10. X-NUCLEO-IHM16M1 current-sensing conditioning circuit
X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s chematic dia grams ve rsion 1| she et 3
OUT
2.2K
R65
Jumper M8 connected
between J6 pin 1&2
IN+
VDD
J5
M8
680R
5IN+
C14
Jumper M7 connected
between J5 pin 1&2
12
VDD
IN-
6
2
2.2K
R70
0.33R
1/2W
1206
680R
GND
8
U2B
OP303_V
SENSEU
680PF
R60
11
OPEN
TSV994
R62
Vcc 4
1
2
11
OP303_W
R56
2.2K
1
2.2K
OUT
R63
0.33R
1/2W
2.2K
R72
VDD
2.2K
SENSEV
1
GND
11
R58
U2C
C19
3IN+
10NF
Curr_fdbk3
2.2K
7
1206
680R
J6
OUT
VDD
TSV994
Vcc 4
Curr_fdbk2
GND
11
2.2K
R66
M7
R57
0.33R
1/2W
TSV994
2.2K
R64C17
U2A
Vcc 4
NP
C16
61300211121
R67
VDD
Curr_fdbk1
13 14
1
IN+
10
OPEN
GND
2.2K
R71
2IN-
R55
JP7
U2D
TSV994
4
Vcc
C20
C15
SENSEW
1206
1 2
OP303_U
61300211121
JP4
OUT
IN-
2
680PF
R59
680PF
R68
VDD
VDD
C18
NP
9IN-
NP
Figure 5: X-NUCLEO-IHM16M1 c irc uit s c he matic (5 o f 5)
All information on this pa ge is s ubje ct to the Eva luation Board Licens e Agre eme nt included in this document P a ge 3 of 6
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Electrical schematics
UM2538 - Rev 1 page 16/27

Figure 11. X-NUCLEO-IHM16M1 sensors and shunt resistor circuit
X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s chematic dia grams ve rsion 1| she et 1
39K
5
39K
C1
19 INU/INUH
20
0R
+
39K
SENSEV
14
STBY
39K
17
D1
INV
VDD
OUTW 12
1
R7
ENW 61300311121
2
SENSEW
R9
EN_FAULT
MODE
18
ENV
OUTU
NC 8
+
C2
R5
23 INW/INWH
OUTW
M5
R11
3
10
C5
RED
NP OUTU
21 INV/INVH
22
VDD
VREF P-MOS
INU
24 ENW/INWL
STSPIN830
13
4.7NF
NP
OUTV 11
1K
SENSEU
7
INW
R4
ENV/INVL
39K
1
TOFF
SENSEV
U1
C4
2.2NF
R30
C6
330R
R32
NP
VS 9
GND
15
33µF 50V
R2
12K
C3
VDD
G
R8
39K
330NF
R6
VDD
33µF 50VNP
R10
SENSEU
VREF
2TOFF
EPAD
25
SNS 4
ENU/INUL
STBY
16
R1
S
2
VS
Jumper M5 connected
between J2 pin 2&3
VS
39K
EN_FAULT
10NF
1
ENU
J2
6GND
GND
3
39K
R12
OUTV
Q1
NX3008PBKW
D
3
SENSEW
R3
VS
Figure 1: X-NUCLEO-IHM16M1 c irc uit s c he matic (1 o f 5)
A+/H1
B+/H2
Z+/H3
+5V
GND
Roff
VDD
SPEED
VREF
VDD
VDD
VDD
5V
5V
VS
VS VDD
VDD
VREF
CURRENT_REF
TOFF
SPEED
H1
H2
H3
VBUS NTC
TP5
1
330R
R17
10K
1 3
2
R22
3K
NTC
R38
X7R
R21
3K
R13
3.9K
JP3
1
CLOSE
2
R28
4.7K
NP
C12
10PF
D3
3V
1
61300511121
1
2
3
4
5
R18
10K
R14
180K
1%
C9
220NF
16V
X7R
R26
4.7K
NP
C22
220NF
16V
X7R
R16
12K
TP2
1
S1751-46R
J3
13
2
61300311121
D2
3V
22K
C21
100NF
50V
X7R
R24 330R
D4
3V
R20
3K
TP3
1
S1751-46R
M6
TP1
1
R25 330R
C11
10PF
C7
220NF
16V
X7R
Jumper M6 connected
between J3 pin 1&2
S1751-46R
R23
10PF R27 4.7K
NP
S1751-46R
C10
C8
NCP18WB473J03RB
220NF
16V
MMSZ3V0T1G
TP4
GND GND VS
J1
S1751-46R
R15
MMSZ3V0T1G
R19
MMSZ3V0T1G
12K
1%
Figure 2: X-NUCLEO-IHM16M1 c irc uit s c he matic (2 o f 5)
All information on this pa ge is s ubje ct to the Eva luation Board Licens e Agre eme nt included in this document P age 1 of 6
UM2538
Electrical schematics
UM2538 - Rev 1 page 17/27

Figure 12. X-NUCLEO-IHM16M1 L6230 driver and BEMF detection circuit
X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s chematic dia grams ve rsion 1| she et 2
OP303_W
8
7
6
5
4
3
2
1
ESQ-119-24-G-D
25
R88
R83
R440R
2
4
6
8
10
5V
27
C10_34
27
INV
C7_32
X7R
C10_24
C10_11
BEMF3
C10_18
F303
F302
BKIN2 (F302, F303)
CURRENT_REF
R45
GU_4xx
R75 NP
C10_14
STBY
23
C10_15
M2
CN5 NP
24
26
R69
0R
17
38
R33
R84
VDD
29
C7_34
0R
ENV
26
28
30
BEMF1
PB14
NP
R40
H3
1
2
3
4
5
6
7
8
C10_16
12
24
OPTICAL_TARGET
R35
C10_18
C10_26
0R
INW
STBY
REF
INU
INV
VDD
5V
GND
GND
bemf1
bemf3
bemf2
SPD
18
CN9 NP
C10_19
ESQ-119-24-G-D
BEMF2
C10_30
31
0R
C10_26
SSQ-108-01-F-S
H1
13
C10_15
C10_2
R77
C10_4
ENU
0R
0R
28
30
33
35
22
33
C10_19
C10_14
VBUS
C10_28
0R
19
EN_FAULT
C10_30
C10_13
R87
C10_27
INW
R85
SSQ-110-01-F-S
OPTICAL_TARGET
CN10
1
3
5
7
9
11
R81
R43
CN6 NP
35
37
20
C7_17
PA8 - INU
PA9 - INV
PA10 - INW
PC1 - ADC
PC3 - ADC
PC2
PB5
PC9 - GPIO
<CURRENT_REF>
C10_16
0R
C7_28
31 32
34
14
R78
21
36
C10_6
R79
R31
16
0R
SSQ-106-01-F-S
1
3
5
7
9
R36 0R
NP
37
C7_34
C7_30
34
C10_28
C7_28
18
R80
C10_31
CN7
Curr_fdbk2
13
36
0R
0R
INU
M1
19
21
29
10
R82
12
38
2
4
6
8
10
R29
R86
NTC
CN8
22
C10_31
R42
C10_25
0RR73
14
16
32
20
R39 NP
C10_2
C7_17
OP303_V
C10_18
R41
15
R61
C10_11
17
23
Curr_fdbk1
Curr_fdbk3
C10_6
OPTICAL_TARGET
C13
220NF
16V
R76
SSQ-108-01-F-S
NP
R34 0R
R37
C10_15
11
C10_34
OP303_U
ENW
1
2
3
4
5
6
SPEED
C10_30
C10_28
C10_25
C7_32
PB0 - PhW Sense
F303
PA7 - PhW Sense
PB10 - H3
PA15 - H1
F030PC6 - H1
F302
F302
F302
PB0
PB3 - H2
PB13
PB11
PB13
PB14
PB15
PA7
M4
R74
NP
C10_4
15
25
VDD
C10_18
PB13
PB14
PB15
F303 (Embedded OPAMP ONLY)
PB1 - PhV Sense
PC7 - H2 F030
PWM
DAC
F030
PB11 - PhV Sense
PA4 - DAC
PB4 - PWM
PC8 - H3
PC4
PA6
PA1 - PhU Sense
PC5
PA0
PA11 - BKIN2
F302
PB12 - BKIN
STM32F303 Embedded OPAMP
C10_13
H2
IO_BEMF
C7_30
C10_27
M3
C7_34
C10_24
C10_15
9
8
7
6
5
4
3
2
1
PC0 - ADC
0R
0R
NP
NP
NP
NP
0R
0R
0R
0R
0R
NP
Figure 3: X-NUCLEO-IHM16M1 c irc uit s c he matic (3 o f 5)
CN3
D6
1
S1751-46R
D9
D12
OUT V
CN1
YELLOW
R49
10K
BEMF3
OUTU
1/4W
1
BEMF2
691311500105
BAT30KFILM
BAT30KFILM
BAT30KFILM
VS
VDD
IO_BEMF
S1751-46R
R53
VS
YELLOW
TP8
10K 1/4W
2.2K
R46
3
BAT30KFILM
R50
10K
2
VS
GND
OUT W
OUT U
D11
805-1699
D8
S1751-46R
1
691351500002
R47
1
1
J4
RS
FC681465P
1/4W
10K 1/4W
YELLOW
1/4W
TP6
691351500003
BAT30KFILM
R54
OUTW
1
3
2
OUTV
2.2K
D7
10K 1/4W
R48
3
R51
10K
D10
BEMF1
D13
2.2K
1
D5
4
CN2
TP7
2
BAT30KFILM
R52
2
5
Figure 4: X-NUCLEO-IHM16M1 c irc uit s c he matic (4 o f 5)
All information on this pa ge is s ubje ct to the Eva luation Board Licens e Agre eme nt included in this document P age 2 of 6
UM2538
Electrical schematics
UM2538 - Rev 1 page 18/27

Figure 13. X-NUCLEO-IHM16M1 MCU pin assignment
X-NUCLEO-IHM16M1 X-NUCLEO-IHM16M1 s chematic dia grams ve rsion 1| she et 2
OP303_W
8
7
6
5
4
3
2
1
ESQ-119-24-G-D
25
R88
R83
R440R
2
4
6
8
10
5V
27
C10_34
27
INV
C7_32
X7R
C10_24
C10_11
BEMF3
C10_18
F303
F302
BKIN2 (F302, F303)
CURRENT_REF
R45
GU_4xx
R75 NP
C10_14
STBY
23
C10_15
M2
CN5 NP
24
26
R69
0R
17
38
R33
R84
VDD
29
C7_34
0R
ENV
26
28
30
BEMF1
PB14
NP
R40
H3
1
2
3
4
5
6
7
8
C10_16
12
24
OPTICAL_TARGET
R35
C10_18
C10_26
0R
INW
STBY
REF
INU
INV
VDD
5V
GND
GND
bemf1
bemf3
bemf2
SPD
18
CN9 NP
C10_19
ESQ-119-24-G-D
BEMF2
C10_30
31
0R
C10_26
SSQ-108-01-F-S
H1
13
C10_15
C10_2
R77
C10_4
ENU
0R
0R
28
30
33
35
22
33
C10_19
C10_14
VBUS
C10_28
0R
19
EN_FAULT
C10_30
C10_13
R87
C10_27
INW
R85
SSQ-110-01-F-S
OPTICAL_TARGET
CN10
1
3
5
7
9
11
R81
R43
CN6 NP
35
37
20
C7_17
PA8 - INU
PA9 - INV
PA10 - INW
PC1 - ADC
PC3 - ADC
PC2
PB5
PC9 - GPIO
<CURRENT_REF>
C10_16
0R
C7_28
31 32
34
14
R78
21
36
C10_6
R79
R31
16
0R
SSQ-106-01-F-S
1
3
5
7
9
R36 0R
NP
37
C7_34
C7_30
34
C10_28
C7_28
18
R80
C10_31
CN7
Curr_fdbk2
13
36
0R
0R
INU
M1
19
21
29
10
R82
12
38
2
4
6
8
10
R29
R86
NTC
CN8
22
C10_31
R42
C10_25
0RR73
14
16
32
20
R39 NP
C10_2
C7_17
OP303_V
C10_18
R41
15
R61
C10_11
17
23
Curr_fdbk1
Curr_fdbk3
C10_6
OPTICAL_TARGET
C13
220NF
16V
R76
SSQ-108-01-F-S
NP
R34 0R
R37
C10_15
11
C10_34
OP303_U
ENW
1
2
3
4
5
6
SPEED
C10_30
C10_28
C10_25
C7_32
PB0 - PhW Sense
F303
PA7 - PhW Sense
PB10 - H3
PA15 - H1
F030PC6 - H1
F302
F302
F302
PB0
PB3 - H2
PB13
PB11
PB13
PB14
PB15
PA7
M4
R74
NP
C10_4
15
25
VDD
C10_18
PB13
PB14
PB15
F303 (Embedded OPAMP ONLY)
PB1 - PhV Sense
PC7 - H2 F030
PWM
DAC
F030
PB11 - PhV Sense
PA4 - DAC
PB4 - PWM
PC8 - H3
PC4
PA6
PA1 - PhU Sense
PC5
PA0
PA11 - BKIN2
F302
PB12 - BKIN
STM32F303 Embedded OPAMP
C10_13
H2
IO_BEMF
C7_30
C10_27
M3
C7_34
C10_24
C10_15
9
8
7
6
5
4
3
2
1
PC0 - ADC
0R
0R
NP
NP
NP
NP
0R
0R
0R
0R
0R
NP
Figure 3: X-NUCLEO-IHM16M1 c irc uit s c he matic (3 o f 5)
CN3
D6
1
S1751-46R
D9
D12
OUT V
CN1
YELLOW
R49
10K
BEMF3
OUTU
1/4W
1
BEMF2
691311500105
BAT30KFILM
BAT30KFILM
BAT30KFILM
VS
VDD
IO_BEMF
S1751-46R
R53
VS
YELLOW
TP8
10K 1/4W
2.2K
R46
3
BAT30KFILM
R50
10K
2
VS
GND
OUT W
OUT U
D11
805-1699
D8
S1751-46R
1
691351500002
R47
1
1
J4
RS
FC681465P
1/4W
10K 1/4W
YELLOW
1/4W
TP6
691351500003
BAT30KFILM
R54
OUTW
1
3
2
OUTV
2.2K
D7
10K 1/4W
R48
3
R51
10K
D10
BEMF1
D13
2.2K
1
D5
4
CN2
TP7
2
BAT30KFILM
R52
2
5
Figure 4: X-NUCLEO-IHM16M1 c irc uit s c he matic (4 o f 5)
All information on this pa ge is s ubje ct to the Eva luation Board Licens e Agre eme nt included in this document P age 2 of 6
UM2538
Electrical schematics
UM2538 - Rev 1 page 19/27

7References
Table 6 lists STMicroelectronics related documents available at www.st.com for supplementary information.
Table 6. STMicroelectronics reference documents
ID Reference document
[1] Getting started with the X-NUCLEO-IHM16M1 three-phase brushless motor driver board based on
STSPIN830 for STM32 Nucleo user manual (UM2415).
[2] Getting started with the X-CUBE-SPN16 three-phase brushless DC motor driver software expansion for
STM32Cube user manual (UM2419).
[3] STM32G4 Nucleo-64 boards (MB1367) user manual (UM2505).
[4] Compact and versatile three-phase and three-sense motor driver datasheet (DS12584).
[5] STM32 MC SDK software expansion for STM32Cube data brief (DB3548).
[6] Getting started with STM32 motor control SDK v5.0 user manual (UM2374).
UM2538
References
UM2538 - Rev 1 page 20/27