ST P-NUCLEO-IHM001 User manual

September 2016 DocID028354 Rev 2 1/13
1
UM1949
User manual
Getting started with STM32 Motor Control Nucleo Packs
P-NUCLEO-IHM001 and P-NUCLEO-IHM002
Introduction
The Nucleo Packs P-NUCLEO-IHM001 and P-NUCLEO-IHM002 are motor control kits
based on X-NUCLEO-IHM07M1 and NUCLEO-F302R8 boards. The power board with
ST L6230 DMOS driver, belonging to STPIN family, provides a motor control
solution for low-voltage, 3-phase, DC brushless motor with the addition of the STM32
NUCLEO-F302R8 board, connected through the ST morpho connectors (see Figure 1).
The P-NUCLEO-IHM002 Packs comes with a power supply unit (see Figure 2).
This document describes the hardware environment to build the system and run an
application, based on the P-NUCLEO-IHM001 and P-NUCLEO-IHM002 Nucleo Packs.
1. Pictures are not contractual.
Figure 1. P-NUCLEO-IHM001 Pack Figure 2. P-NUCLEO-IHM002 Pack
www.st.com

Contents UM1949
2/13 DocID028354 Rev 2
Contents
1 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 How to build and run the motor control for the STM32 Nucleo Packs . . . . 7
2 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

DocID028354 Rev 2 3/13
UM1949 List of tables
3
List of tables
Table 1. Description of the connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 2. Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

List of figures UM1949
4/13 DocID028354 Rev 2
List of figures
Figure 1. P-NUCLEO-IHM001 Pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Figure 2. P-NUCLEO-IHM002 Pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Figure 3. P-NUCLEO-IHM001 Pack main blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Figure 4. P-NUCLEO-IHM002 Pack main blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 5. X-NUCLEO-IHM07M1 and NUCLEO-F302R8 assembled . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 6. Motor connection with X-NUCLEO-IHM07M1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 7. X-NUCLEO-IHM07M1 – top layer with silk-screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 8. X-NUCLEO-IHM07M1 connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 9. Power supply connection for X-NUCLEO-IHM07M1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

DocID028354 Rev 2 5/13
UM1949 Getting started
12
1 Getting started
1.1 System architecture
A generic motor control system as the P-Nucleo-IHM001 or the P-Nucleo-IHM002 can be
basically schematized as the arrangement of three main blocks (see Figure 3 and Figure 4):
•Control block: its main task is to accept user commands and configuration parameters
to drive a motor. The P-Nucleo-IHM001 and the P-NUCLEO-IHM002 Nucleo Packs are
based on the NUCLEO-F302R8 board, that provides all digital signals to perform the
proper motor driving control algorithm (for instance 6-step or FOC):
– The original firmware demonstration to reprogram the STM32 MCU of the
P-NUCLEO-IHM001, is available in binary file format from the www.st.com
website and it is called P-NUCLEO-IHM001.bin.
– FOC solution is based on the STM32 PMSM FOC SDK software development kit
(SDK): STSW-STM32100.
– 6-step solution is based on 6-step motor control library: X-CUBE-SPN7.
•Power block: the X-NUCLEO-IHM07M1 is based on 3-phase inverter topology. The
core of the power block embedded on board, is the driver STSPIN L6230, which
contains all the necessary active power and analog components, to perform a
low- voltage PMSM motor control.
•PMSM Motor: low-voltage, 3-phase, brushless motor.
The P-Nucleo-IHM002 has a fourth block:
•DC Power supply unit: it provides the power for this Nucleo Pack (12 V, 2 A).
Figure 3. P-NUCLEO-IHM001 Pack main blocks

Getting started UM1949
6/13 DocID028354 Rev 2
Figure 4. P-NUCLEO-IHM002 Pack main blocks
3RZHU6XSSO\8QLW

DocID028354 Rev 2 7/13
UM1949 Getting started
12
1.2 How to build and run the motor control for the STM32 Nucleo
Packs
The Nucleo Packs are complete hardware development platforms for the STM32 Nucleo
ecosystem, to evaluate a motor control solution for single motor.
For a regular board operating, follow the hardware configuration explained below:
1. The X-NUCLEO-IHM07M1 board must be stacked on the NUCLEO-F302R8 board
through the ST morpho connectors. There is only one position allowed for this
connection, in particular the two buttons on the NUCLEO-F302R8 board (the blue B1
and the black B2) must be kept out, as shown in Figure 5.
Figure 5. X-NUCLEO-IHM07M1 and NUCLEO-F302R8 assembled
1. The interconnection between the X-NUCLEO-IHM07M1 and the NUCLEO-F302R8 boards has been
designed for a full-compatibility with a lot of control board and no modification of solder bridges is required
2. Connect the three motor wires U,V,W at J2 connector as shown in the Figure 6: Motor
connection with X-NUCLEO-IHM07M1: it is mandatory to connect the yellow wire to
OUT3, the black one to OUT2 and the red one to OUT1, to respect clockwise and
counterclockwise motor rotation, according to the firmware implementation.

Getting started UM1949
8/13 DocID028354 Rev 2
Figure 6. Motor connection with X-NUCLEO-IHM07M1
3. Select the jumper configuration on the power board to choose the desired control
algorithm (6-step or FOC) as described below:
a) On the NUCLEO-F302R8 board, check jumper settings: JP1 open, JP5 (PWR) on
E5V side, JP6 (IDD) closed.
b) On the X-NUCLEO-IHM07M1 expansion board:
– Check jumper settings: J9(a) closed, JP3 closed
– For 6-step control, set jumpers as: JP1 and JP2 open, J5 and J6 on 1Sh side(a)
– For FOC control, set jumpers as: JP1 and JP2 closed, J5 and J6 on 3Sh side(a)
For details refer to Figure 7: X-NUCLEO-IHM07M1 – top layer with silk-screen and Figure 8:
X-NUCLEO-IHM07M1 connectors.
Note: FOC algorithm gives better performance than 6-step.
a. Supply voltage has to be off before changing the control mode.

DocID028354 Rev 2 9/13
UM1949 Getting started
12
Figure 7. X-NUCLEO-IHM07M1 – top layer with silk-screen
Table 1. Description of the connectors
Part reference Description
CN7 ST morpho connector
CN6 Arduino UNO connector
CN8 Arduino UNO connector
U11 L6230 driver
U10 TSV994IPT op. amp.
J1 Power supply connector

Getting started UM1949
10/13 DocID028354 Rev 2
Figure 8. X-NUCLEO-IHM07M1 connectors
J9 Enable VIN supply voltage
JP1, JP2 Jumpers for FOC
SPEED Potentiometer
CN10 ST morpho connector
CN5 Arduino UNO Connector
CN9 Arduino UNO Connector
J2 Motor connector
J3 Hall/Encoder sensor connector
J7 Debug connector
JP3 External pull-up for sensors
J5, J6 Current measure mode (1Sh/3Sh)
D11 LED status indicator
Table 1. Description of the connectors (continued)
Part reference Description

DocID028354 Rev 2 11/13
UM1949 Getting started
12
4. Connect the DC power supply on J1(b) connector and power-on, as shown in Figure 9:
Power supply connection for X-NUCLEO-IHM07M1).
Figure 9. Power supply connection for X-NUCLEO-IHM07M1
1. The red cable is VCC, the black one is GND.
5. At power-on (or reset) led D11 on X-NUCLEO-IHM07M1 board starts to blink,
according to the control algorithm choice:
– twice for FOC control mode
– 4 times for 6-step control mode
After the confirmation of the control algorithm selected, the system is ready to start.
6. Press the blue button (B1) on the NUCLEO-F302R8 board and the motor starts
spinning.
7. Rotate the potentiometer on the X-NUCLEO-IHM07M1 board to regulate the motor
speed.
For more details refer to “STM32 Nucleo Packs - Motor Control FOC and 6-step solutions
for three-phase, low-voltage and low-current motors” User manual (UM1945) at the
www.st.com website.
b. For a different motor (>12V) it is mandatory to remove the jumper J9 on power board, before the power-on, to
avoid damaging the NUCLEO-F302R8 board. To supply the STM32-NUCLEO from USB, the jumper JP5 must
be connected between Pin 1 and Pin 2. For further details on Nucleo settings refer to “STM32 Nucleo-64
boards” User manual (UM1724) available from ST web site www.st.com.

Revision history UM1949
12/13 DocID028354 Rev 2
2 Revision history
Table 2. Revision history
Date Revision Changes
22-Sep-2015 1 Initial version
08-Sep-2016 2
Updated Introduction, Section 1.1: System
architecture,Section 1.2: How to build and run the motor control
for the STM32 Nucleo Packs to introduce the power supply unit.

DocID028354 Rev 2 13/13
UM1949
13
IMPORTANT NOTICE – PLEASE READ CAREFULLY
STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and
improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on
ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order
acknowledgement.
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 Purchasers’ products.
No license, express or implied, to any intellectual property right is granted by ST herein.
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. 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.
© 2016 STMicroelectronics – All rights reserved