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august 2016 docid029 570 rev 1 1 / 11 www.st.com UM2095 user manual getting started with the x - nucleo - ihm11m1 low voltage 3 - phase brushless dc motor driver expansion board based on stspin230 introduction the x - nucleo - ihm11m1 is a low voltage three - phase brushless dc motor driver expansion board based on stspin230 for stm32 nucleo. it is an affordable and easy - to - use solution with motor driver operation in low voltage battery scenarios, allowing zero consumption state (such as in thermal printers, robotics, toys, etc..). the x - nucleo - ihm11m1 is compatible with the arduino uno r3 and the st morpho connectors and supports the addition of other boards to a single stm32 nucleo board. furthermore, the board is designed for six - step and foc algorithms. figure 1 : x - nucleo - ihm11m1 expansion board
contents UM2095 2 / 11 docid029570 rev 1 contents 1 hardware and software requirements ................................ ............ 5 2 getting started ................................ ................................ ................. 6 3 hardware description and configuration ................................ ....... 7 3.1 selecting the stm32 nucleo board ................................ ................... 8 4 circuit description ................................ ................................ ........... 9 4.1 hall/encoder motor speed sensor ................................ ..................... 9 4.2 sensorless detection ................................ ................................ ......... 9 4.3 bus voltage circuit ................................ ................................ ............. 9 5 revision history ................................ ................................ ............ 10
UM2095 list of tables docid029570 rev 1 3 / 11 list of tables table 1: st morpho connector table ................................ ................................ ................................ .......... 7 table 2: other co nnectors, jumpers and test points ................................ ................................ ................... 8 table 3: befm3 input selection ................................ ................................ ................................ .................. 9 table 4: document revision history ................................ ................................ ................................ .......... 10
list of figures UM2095 4 / 11 docid029570 rev 1 list of figures figure 1: x - nucleo - ihm11m1 expansion board ................................ ................................ .................... 1 figure 2: x - nucleo - ihm11m1 jumper and connector positions ................................ ............................. 7
UM2095 hardware and software requirement s docid029570 rev 1 5 / 11 1 hardware and software requirements to use the stm32 nucleo development boards with the x - nucleo - ihm11m1 expansion board, the following software and hardware specifications are required: ? a windows pc (xp, vista 7 , win 8, win 10 ) to install the software package ? an x - nucleo - ihm11m1 expansion board ? an stm32 nucleo development b oard (nucleo - f401re, nucleo - f334r8, nucleo - f030r8 or nucleo - l053r8) ? a type a usb to mini - b usb cable to connect the stm32 nucleo board to the pc ? the x - cube - spn7 software package (available on www.st.com ) ? an ide chosen among iar embedded workbench for arm (ewarm), keil microcontroller development kit (mdk - arm) and system workbench for stm32 nucleo project ? three - phase brushless dc motor with compatible voltage and current for stspin230 driver ? an external power sup ply or battery able to provide the voltage required by the stepper motor used
getting started UM2095 6 / 11 docid029570 rev 1 2 getting started the x - nucleo - ihm11m1 expansion board is a three - phase brushless dc motor driver covering a wide range of applications. the board maximum ratings are: ? power stage supply voltage (v sub ) from 1.8 to 10 v ? motor phase current up to 1.3 a rms to start your project with the board: 1. check the jumper position of your configuration (see section 2: "introduction" ). 2. connect the x - nucleo - ihm11m1 with the stm32 nucleo development board through st morpho connectors (cn7, cn10). 3. supply the board through input 5 (vin) and 6 (gnd) of the j1 connector: the d5 (red) led turn s on. 4. develop your application using the examples provided with the firmware library. further support material is available on the stspin230 (www.st.com) and stm32 nucleo web pages ( www.st.com/stm32 nucleo )
UM2095 hardware description and configuration docid029570 rev 1 7 / 11 3 hardware description and configuration the figure below shows the board connector and jumper positions. figure 2 : x - nucleo - ihm11m1 jumper and connector positions the table below shows st morpho connector detailed pinout. table 1: st morpho connector table connector pin (1) signal remarks cn10 1 io_befm 9 ground 15 befm3 section 3: "hardware and software requirements" 19 reset 21 v_high 23 u_high 24 w_low 25 h3 26 befm3 section 3: "hardware and software requirements" 27 fault 28 v_low 29 enable 30 u_low 31 h2
hardware description and configuration UM2095 8 / 11 docid029570 rev 1 connector pin (1) signal remarks 33 w_high cn7 12 vdd 17 h1 18 5v 20 ground 22 ground 28 curr_fdb 30 vbus 34 befm2 35 speed 37 befm1 notes: (1) all the non - listed pins are not connected. the x - nucleo - ihm11m1 is equipped with screw connectors for motor and power supply, a jumper for enabling a hall encoder detection circuit and a connector for hall effect sensors (refer to the table below). table 2: other connectors, jumpers and test points name pin label description j1 1 - 2 vin - gnd motor power supply j2 1 - 2 - 3 u, v, w 3 - phase bldc motor phases connection j3 1 - 2 - 3 - hall/encoder sensors connector 4 - 5 - sensors power supply j4 - j4 selection for halls input lines protection (closed by default) halls input lines tp1 - gnd ground tp2 - vin motor power supply tp3 - vdd digital power supply (by default 3.3 v coming from stm32 nucleo board) 3.1 selecting the stm32 nucleo board this expansion board natively supports the following stm32 nucleo development boards: ? nucleo - f401re ? nucleo - f334r8 ? nucleo - f030r8 ? nucleo - l053r8
UM2095 circui t description docid029570 rev 1 9 / 11 4 circuit description the stspin230 integrates a protected triple half - bridge with low r ds(on) for evaluating a solution for a three - phase bldc motor in very low consumption mode. the device is protected against overload and short - circuits: short to ground, short to motor supply voltage, short between the outputs. if one of the failure events occurs, the fault signal is set and the fault led d5 is lit (red). the stspin230 is compatible with si ngle shunt current sense measurement. the current feedback signal conditioning is performed by hardware available on the board and sent to the stm32 nucleo board through the cn7 st morpho connector (pin 28). motor speed regulation can be performed by hardw are, by acting on trimmer r12. in this way, you can change the reference used by stm32 firmware for speed regulation. the x - nucleo - ihm11m1 expansion board provides two hardware solutions for motor position feedback: one based on sensors and the other one b ased on sensorless detection. 4.1 hall/encoder motor speed sensor the x - nucleo - ihm11m1 expansion board implements the hall/encoder sensor detection circuit for mo tor speed feedback. the motor sensor feedback is connected through the j3 connector and an analog circuit to the stm32 nucleo board in order to detect the motor rotation. for sensors requiring external pull - up, three 10 k resistors are already mounted an d connected to the vdd voltage (if these are not necessary, you can remove them). the j4 jumper (closed by default) protects the halls input lines connecting them to vdd voltage through a small - signal schottky diode. 4.2 sensorless detection in six - step driving mode, one of the three phases is left in high impedance state: comparing this phase voltage with the center - tap voltage, we can detect the bemf zero - crossing. this signal is acquired through an analog circuit embedded on the expansion board and sent to the stm32 nucleo board through the st morpho connectors. for each different stm32 nucleo development board, the befm3 driver input can be selected throu gh a dedicated resistor, as indicated in the table below. table 3: befm3 input selection nucleo board cn10 connector r15 r16 remark nucleo - f401re nucleo - f030r8 nucleo - l053r8 pin15 0 not mounted default nucleo - f334r8 pin 26 not mounted 0 4.3 bus voltage circuit the x - nucleo - ihm11m1 expansion board provides the hardware bus voltage sensing. this signal is acquired with a resistor divider from the motor supply volt age (vbus) and sent to the analog to digital converter (connector cn7 pin 30).
revision history UM2095 10 / 11 docid029570 rev 1 5 revision history table 4: document revision history date revision changes 19 - jul - 2016 1 initial release.
UM2095 docid029570 rev 1 11 / 11 important notice C 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 s hould obtain the latest relevant information on st products before placing orders. st products are sold pursuant to sts terms and conditions of sale in place at the time of or der acknowledgement. purchasers are solely responsible for the choice, select ion, 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 C all rights reserved

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