STMicroelectronics X-NUCLEO-IHM07M1 User manual

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 motor 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 with onto a single STM32 Nucleo board.
The user can also mount the Arduino UNO R3 connector. The driver used on this expansion board is the L6230, a DMOS fully
integrated driver for three-phase brushless DC motors assembled in a PowerSO-36 package (L6230PD), with overcurrent and
thermal protection.
The L6230 driver is optimized for six-step and FOC algorithms thanks to independent current sensing.
Figure 1. X-NUCLEO-IHM07M1 three-phase brushless DC motor driver expansion board based on L6230 for STM32
Nucleo
Getting started with the X-NUCLEO-IHM07M1 motor driver expansion board
based on the L6230 for STM32 Nucleo
UM1943
User manual
UM1943 - Rev 2 - July 2021
For further information contact your local STMicroelectronics sales office.
www.st.com

1Getting started
1.1 Overview
The X-NUCLEO-IHM07M1 expansion board features:
• 3-phase driver for BLDC/PMSM motors
• Nominal operating voltage range from 8 V to 48 VDC
• 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
• Compatible with STM32 Nucleo boards
• Fully compatible with STM32 Motor Control SDK (X-CUBE-MCSDK-Y)
• Equipped with ST morpho connectors
• Three-shunt and single-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
• User LED
• RoHS compliant
1.2 Target applications
• Low voltage PMSM motor driver
• Low power fans
• Power tools
• Industrial drives
1.3 Architecture
A generic motor control system can be schematized in:
• a control block which accepts user commands and drive the motor; an STM32 Nucleo development board
provides digital signals to properly implement motor driver control;
• a power block which is based on three-phase inverter topology. The power block core consists of the L6230
driver, which contains the necessary active power and analog components to perform low voltage PMSM
motor control;
• a motor - the X-NUCLEO-IHM07M1 can drive a low voltage BLDC/PMSM motor.
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Getting started
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Figure 2. Motor control system
1.4 System setup
The X-NUCLEO-IHM07M1 expansion board (power block) has to be connected to an STM32 Nucleo
development board (control block) through the ST morpho connector, as shown below.
Figure 3. X-NUCLEO-IHM07M1 plugged on STM32 Nucleo
The X-NUCLEO-IHM07M1 is designed to be plugged onto many STM32 Nucleo development boards without
modifying any solder bridge. When stacked, the system is ready to operate with a BLDC/PMSM motor.
Note: For software details, refer to STM32 Motor Control SDK (X-CUBE-MCSDK-Y).
1.4.1 Hardware settings
Table 1. Jumper settings
Jumper Allowed configurations Default condition
JP1 Pull-up insertion (BIAS) in current sensing circuit OPEN
JP2 Op-amp gain modification in current sensing circuit OPEN
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System setup
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Jumper Allowed configurations Default condition
JP3 Pull-up enabling in Hall/Encoder detection circuit CLOSED
J9 Supply the STM32 Nucleo development board through the X-NUCLEO-IHM07M1 expansion
board (1) OPEN
J5
Single/three shunt configuration.
Note: Set to single shunt by default.
2-3 CLOSED
J6
Single/three shunt configuration.
Note: Set to single shunt by default.
2-3 CLOSED
J7 Debug connector for DAC, available for probe connection OPEN
1. Remove J9 jumper before powering on J1.
Caution: When J9 is closed, do not exceed 12 V DC on J1 connector to prevent damaging the STM32 Nucleo board.
Important:
JP5 jumper on the STM32 Nucleo has to 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 silk-screen (top layer)
The X-NUCLEO-IHM07M1 expansion board is equipped with ST morpho connectors (CN7 and CN10 male pin
headers are accessible on both sides of the board). They connect the power board to the STM32 Nucleo board.
All signals and power pins of the MCU are available on the ST morpho connector.
Table 3. ST morpho connector table
Connector Pin Default Signal Solder bridge
CN7 1 PC10 Enable_CH1-L6230 R58
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System setup
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Connector Pin Default Signal Solder bridge
CN7
2PC11 Enable_CH2-L6230 R67
3 PC12 Enable_CH3-L6230 R72
4 PD2
5 VDD
6 E5V
7 BOOT0
8 GND
9 NC/PF6
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(1) Curr_fdbk_PhC R50
CN10
1 PC9
2 PC8
3 PB8
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Connector Pin Default Signal Solder bridge
CN10
4PC6
5 PB9
6 PC5
7 AVDD
8U5V (2)
9 GND
10 NC
11 PA5 (3) GPIO/DAC/PWM R80
12 PA12 CPOUT R52
13 PA6(3) DIAG/ENABLE/BKIN1 R53
14 PA11 DIAG/ENABLE/BKIN2 R46
15 PA7(3) 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(3) BEMF3_sensing R66
27 PB4 CURRENT REF R77
28 PB14(3) DIAG/ENABLE/BKIN1 R49
29 PB5 GPIO/DAC/PWM R85
30 PB13(3) 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
1. Refer to Section 6.9 Solder bridges in UM1724 for further details.
2. U5V is 5 V power from ST-LINK/V2-1 USB connector and it rises before +5 V.
3. Only for STM32 Nucleo development boards based on STM32F302 MCUs:
• 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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2Circuit description
2.1 Power section
2.1.1 L6230 driver with integrated three-phase bridge
The main section is based on the L6230. It is a DMOS fully-configurable driver for three-phase brushless BLDC/
PMSM motors. The supply voltage is provided through an external connector (J1) and with (J9) jumper settings,
it is possible to choose if the digital section (STM32 Nucleo board) must be supplied by USB or by the expansion
board. For these settings, please refer to Table 1. Jumper settings.
Figure 5. X-NUCLEO-IHM07M1 power section
1. J9 jumper
2. L6230 in PowerSO36 package
3. Power supply input
4. Motor connector
12
34
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Circuit description
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The L6230 integrates a three-phase bridge which consists of six power MOSFETs. Using the N-channel power
MOSFET for the upper transistors in the bridge requires a gate drive voltage above the power supply voltage.
The bootstrapped supply (VBOOT) is obtained through an internal oscillator and a few external components to
implement a charge pump circuit as shown below.
Figure 6. X-NUCLEO-IHM07M1 – charge pump circuit
U11
L6230PD
IN1
9
CPOUT
24
VSA
4
N.C . 3
N.C . 2
GND 1
OUT3
32
N.C . 31
VBOOT
30
EN3 29
CP-
28
VCP
7
CP+
13
N.C . 14
OUT1
15
N.C . 16 N.C . 17
GND 18
GND 19
N.C . 20 N.C . 21
EN1
10
SENS1 12
N.C . 23 N.C . 6
IN2 26
SENS2 8
SENS3 25
EN2 27
IN3 11
OUT2
5
DIAG/EN 22
VSB
33
N.C . 34 N.C . 35
GND 36
EP 37
D12
SMBJ48A-TR
C12
10n 100V
C9
220nF, 16V
VIN+
C13
100nF/100V
C15
100uF, 63V
J16
RIN G
1
CP-
C11
100nF/100V
CPOUT
R21
33K
J1
CON2
1
2
CP+
CURR ENTR EF
CP+
D1
SMBD 7000
1 2
3
2.1.2 Overcurrent detection (OCP) and current sensing measurement
The L6230 driver implements overcurrent protection with an internal detection circuit that does not require an
external resistor.
The current is compared with an embedded current reference and the output signals a fault condition to the
DIAG pin that goes to ground. This pin, connected to the STM32 Nucleo board (BKIN timer function), detects this
condition and immediately disables the driving signals.
The current sensing input is connected to the sensing resistors Rsense (shown in the figure below). You can
choose between three-shunt or single-shunt configuration through J5 and J6 jumpers (refer to Table 1. Jumper
settings).
Figure 7. X-NUCLEO-IHM07M1 current sensing circuit
U11
L6230PD
IN1
9
CPOUT
24
VSA
4
N.C . 3 N.C . 2
GND 1
OUT3
32
N.C . 31
VBOOT
30
EN3 29
CP-
28
VCP
7
CP+
13
N.C . 14
OUT1
15
N.C . 16 N.C . 17
GND 18
GND 19
N.C . 20 N.C . 21
EN1
10
SENS1 12
N.C . 23 N.C . 6
IN2 26
SENS2 8
SENS3 25
EN2 27
IN3 11
OUT2
5
DIAG/EN 22
VSB
33
N.C . 34 N.C . 35
GND 36
EP 37
OUT1 OUT2
J2Motor
1 2 3
OUT3
J5
CON3 1
2
3
J6
CON3 1
2
3
R43
0.33 1W
R44
0.33 1W
R45
0.33 1W
SENS1
SENS2
3V3
SENS3
IN3
EN3
IN2
EN2
R25
39k
R26
39k C17
1nF/6.3V
R22
10K
Vshunt_2
EN3
IN3
EN2
IN2
DIAG/EN
Vshunt_3
SENS3
Vshunt_2
Vshunt_1
SENS1
Vshunt_2
Vshunt_1 Vshunt_2 Vshunt_3
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Power section
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2.2 Analog section
2.2.1 Hall/Encoder motor speed sensor
The X-NUCLEO-IHM07M1 expansion board implements the Hall/Encoder sensor detecting circuit for speed
measurement. The motor sensor pins, through J3 connector and an analog circuit, are connected to the STM32
Nucleo board to detect the motor spin; a +5 V and GND are also provided for the sensor power supply.
For sensors that require external pull-up, use JP3 jumper (refer to Table 1. Jumper settings).
Figure 8. X-NUCLEO-IHM07M1 Hall/Encoder sensor circuit
HALL/ENCODER SENSOR
5V
GND
A+/H1
B+/H2
Z+/H3
3V3 3V3
5V
A+/H1
B+/H2
Z+/H3
R30
1k8
JP3
JUMPER
C20
10pF 10V
R32
1k8 R34
4K7 N.M.
R31
1k8
R33
4K7 N.M.
R29
10k
J3
Stripline m. 1x5
1
2
3
4
5
C22
10pF 10V
R28
10k
R27
10k
D4
BAT30KFILM
D3
BAT30KFILM
D2
BAT30KFILM
C19
100n
R35
4K7 N.M.
J4
RING
1
C21
10pF 10V
2.2.2 BEMF detection circuit
The X-NUCLEO-IHM07M1 expansion board provides two hardware solutions for motor position measuring: one
based on sensors (refer to Section 2.2.1 Hall/Encoder motor speed sensor) and the other based on sensorless
detection.
In six-step driving mode, one of the three phases is left in high impedance state. By comparing the voltage of this
phase to the center-tap voltage, you can detect the BEMF zero-crossing. This signal is acquired with an analog
circuit embedded on the board as shown below.
Figure 9. X-NUCLEO-IHM07M1 – BEMF detection circuit
BEMF DETECTION - SIX STEP
OUT1 OUT2 OUT3
GPIO_BEMF GPIO_BEMF GPIO_BEMF
BEMF1 BEMF3
3V3 3V3 3V3
3V3
GPIO_BEMF
BEMF1 BEMF2
GPIO_BEMF GPIO_BEMF
BEMF3
R39
10k
R36
2.2k
D10
BAT30KFILM
D6
BAT30KFILM
R41
10k
D9
BAT30KFILM
D5
BAT30KFILM
D8
BAT30KFILM
R38
2.2k
C23
0.1µF/6.3V
R40
10k
D7
BAT30KFILM
R37
2.2k
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Analog section
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2.2.3 Bus voltage and temperature sensing circuit
The X-NUCLEO-IHM07M1 expansion board provides the hardware for bus voltage sensing and temperature
measurement. This signal is acquired with a resistor divider and an embedded NTC (close to L6230 driver) as
shown below.
Figure 10. X-NUCLEO-IHM07M1 – VBUS and temperature sensing circuit
VBUS_SENS
V I N +
V B U S
C 1 4
4 . 7n F / 10 V
R 1 8
9 . 31K 1 %
R 1 7
169 K 1 %
RS model 742-8420
Placed near the L6230 driver
3 V 3
Temperature feedback
R 1 9
N T C 10 K
2
1
R 2 0
4 K 7
C 1 0
10n F 10 V
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