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july 2016 docid029504 rev 1 1 / 14 www.st.com UM2082 user manual getting started with x - nucleo - ihm06a1 low voltage stepper motor driver expansion board based on stspin220 for stm32 nucleo introduction the x - nucleo - ihm06a1 is a low voltage stepper motor driver expansion board based on the stspin220 monolithic low voltage driver for low voltage stepper motors. it represents an affordable, easy - to - use solution for driving low voltage stepper motors in your stm32 nucleo project, implementing portable motor driving applications such as thermal printers, robotics and toys. it includes a stepper driver able to operate in low voltage (battery) scenarios, allowing ze ro consumption states. the device implements current control with fixed off time and a maximum 1/256 microstep resolution. the x - nucleo - ihm06a1 is compatible with the arduino uno r3 connector and supports the addition of other stm32 expansion boards with a single stm32 nucleo board. you can also mount the st morpho connector. figure 1 : x - nucleo - ihm06a1 low voltage stepper motor expansion board based on stspin220
contents UM2082 2 / 14 docid029504 rev 1 contents 1 x - nucleo - ihm06a1 board overview ................................ ............ 5 2 getting started ................................ ................................ ................. 6 2.1 hardware and software requirements ................................ ............... 6 2.2 using the x - nucleo - ihm06a1 expansion board with the stm32 nucleo board ................................ ................................ ................................ .. 6 2.3 using the x - nucleo - ihm06a1 expansion board alone .................. 6 2.3.1 hardware connections and equipment ................................ ............... 7 2.3.2 operating mode ................................ ................................ .................. 7 3 har dware description and configuration ................................ ....... 8 3.1 selecting direction and step clock lines ................................ ........... 10 4 bill of materials ................................ ................................ .............. 11 5 revision history ................................ ................................ ............ 13
UM2082 list of tables docid029504 rev 1 3 / 14 list of tables table 1: arduino uno r3 connector table ................................ ................................ ................................ . 9 table 2: st morpho connector table ................................ ................................ ................................ .......... 9 table 3: j1 connect or, switches and test point descriptions ................................ ................................ .... 10 table 4: direction selection ................................ ................................ ................................ ...................... 10 table 5: step clock selection ................................ ................................ ................................ .................... 10 table 6: bill of materials ................................ ................................ ................................ ............................ 11 table 7: document revision history ................................ ................................ ................................ .......... 13
list of figures UM2082 4 / 14 docid029504 rev 1 list of figures figure 1: x - nucleo - ihm06a1 low voltage stepper motor expansion board based on stspin220 ....... 1 figure 2: switch and connector positions ................................ ................................ ................................ ... 8
UM2082 x - nucleo - ihm06a1 board overview docid029504 rev 1 5 / 14 1 x - nucleo - ihm06a1 board overview the x - nucleo - ihm06a1 expansion board for stm32 nucleo is a low voltage stepper motor driver covering a wide range of applications. the key features are: ? low voltage range: 1.8 to 10 v ? microstep adjustment up to the 256 th step ? phase current: up to 1.3 a rm s ? current control with adjustable off - time ? full protection overcurrent and short circuit protection ? thermal shutdown ? compatible with arduino uno r3 connector ? compatible with stm32 nucleo boards ? rohs compliant
getting started UM2082 6 / 14 docid029504 rev 1 2 getting started 2.1 hardware and software requirements using stm32 nucleo boards with the x - nucleo - ihm06a1 expansion board requires the following software and hard ware: ? 1 x windows pc (xp, vista 7 ,win 8, win 10 ) to install the software package ? 1 x low voltage stepper motor driver expansion board (x - nucleo - ihm06a1) ? 1 x stm32 nucleo development board (nucleo - f401re or nucleo - f334r8 or nucleo - f030r8 or nucleo - l053r8) ? 1 x usb type a to mini - b usb cable to connect the stm32 nucleo board to the pc ? x - cube - spn6 software package (available on www.st.com) ? 1 x ide among: ? iar embedded workbench for arm (ewarm) ? keil microcontroller development kit (mdk - arm) ? system workbench for stm32 nucleo project ? 1 x stepper motor with compatible voltage and current ratings for the stspin220 driver ? 1 x external power supply or external battery suitable for the stepper motor used. 2.2 using the x - nucleo - ihm06a1 expansion board with the stm32 nucleo board the x - nucleo - ihm06a1 board is compatible with following stm32 nucleo development boards: ? nucleo - f401re ? nucleo - f334r8 ? nucleo - f030r8 ? nucleo - l053r8 to start your project: 1. check the jumper position based on your configuration (see section 5: "hardware description and configuration" ). 2. connect the x - nucleo - ihm06a1 with the stm32 nucleo board through arduino uno r3 connectors (cn5, cn6, cn8, cn9). 3. supply the board through the input 5 (vin) and 6 (ground) of the j1 connector. the d5 (red) led turns on. 4. develop your application using the sample applications bundled with the x - cube - spn6 software package. further stspin220 and stm32 nucleo support material is available on www.st.com . 2.3 using the x - nucleo - ihm06a1 expansion board alone the x - nucleo - ihm06a1 expansion board is able to drive a low vol tage stepper motor without an stm32 nucleo board.
UM2082 getting started docid029504 rev 1 7 / 14 2.3.1 hardware connections and equipment ? a suitable external power supply or external battery for the stepper motor used, connected between j1 connector pin 5 (vin) and pin6 (ground) ? a secondary supply from one of the following sources: ? an external power supply providing 3.3 v (recommended), connected between tp3 (+vdd) and tp1 (ground). ? if a secondary power supply is not available, you can co nnect the vdd net to the vin supply voltage by adding the r2 resistor (not mounted by default); in this configuration, vin must be lower than 5 v. in both cases, the r4 resistor must be replaced with a 10 k? resistor (recommended value) for a vdd below 2.5 v. ? a waveform generator providing the signal step clock, connected between tp4 (clk test point) and tp1 (gnd); refer to the stspin220 datasheet for amplitude and frequency limits ? stepper motor connect to j1 motor phase connector (a+, a - , b+, b - ). 2.3.2 ope rating mode you can adjust the following parameters: ? step mode : set the desired step mode via the s1, s2, s3 and s4 switches (refer to the step mode selection table in the stspin220 da tasheet) ? motor torque (according motor requirements): using the r35 trimmer, you can set the voltage value at ref input of stspin220 (the maximum value is 0.5 v with vdd = 3.3 v). ? motor speed : you can change this parameter through the step clock signal fre quency.
hardware description and configuration UM2082 8 / 14 docid029504 rev 1 3 hardware description and configuration the pcb silkscreen image below shows the position of the connectors and the configuration switches of the board. figure 2 : switch and connector positions the following table provides the detailed pinout of the arduino uno r3 and st morpho connectors.
UM2082 hardware description and configuration docid029504 rev 1 9 / 14 table 1: arduino uno r3 connector table connector pin (1) signal remarks cn5 1 reset 2 ref 3 mode 2 7 ground cn9 3 enable 4 pwm1 see section 5.1: "selecting direction and step clock lines" 5 dir 2 see section 5.1: "selecting direction and step clock lin es" 6 mode 1 7 pwm2 see section 5.1: "selecting direction and step clock lines" 8 dir 1 see section 5.1: "selecting direction and step clock lines" cn6 2 vdd 6 ground 7 ground notes: (1) unlisted pins are not connected table 2: st morpho connector table connector pin (1) signal remarks cn10 9 ground 17 mode 2 19 ref 21 reset 23 dir 1 see section 5 .1: "selecting direction and step clock lines" 25 pwm2 see section 5.1: "selecting direction and step clock lines" 27 mode 1 29 dir 2 see section 5.1: "selecting direction and step cl ock lines" 31 pwm1 see section 5.1: "selecting direction and step clock lines" 33 enable cn7 12 vdd 20 ground 22 ground notes: (1) unlisted pins are not connected
hardware description and configuration UM2082 10 / 14 docid029504 rev 1 table 3: j1 connector, switches and test point descriptions name pin label description j1 5 - 6 vin - gnd motor power supply 1 - 4 a+, a - , b+, b - motor phases connection s1, s2, s3, s4 - mode1, 2, 3, 4 step mode selection (stand - alone operation) tp1 - gnd ground tp2 - vin motor power supply tp3 - vdd digital power supply (by default 3.3 v coming from stm32 nucleo board) tp4 - clk step clock line 3.1 selecting direction and step clock lines the direction and the step clo ck lines of stspin220 can be selected through dedicated resistors indicated in the following tables. table 4: direction selection signal r19 r20 connector remarks dir1 330 ? not mounted cn9 pin8 default dir2 not mounted 330 ? cn9 pin5 table 5: step clock selection signal r17 r18 connector remarks pwm1 330 ? not mounted cn9 pin4 default pwm2 not mounted 330 ? cn9 pin6 ensure that these signals are used by all the stacked x - nucleo - ihm06a1 boards
UM2082 bill of materials docid029504 rev 1 11 / 14 4 bill of materials table 6: bill of materials part reference part value part description cn5 conn10 10 pin elevated socket, female, straight two part board connector cn6, cn9 conn8 8 pin elevated socket, female, straight two part board connector cn7, cn10 n.m. elevated socket morpho connector 19x2, th pitch 2.54 mm cn8 conn6 6 pin elevated socket, female, straight two part board connector c1 3.3 nf, 50 v, 15 % ceramic capacitor, smd 0603 c2 2.2 f, 16 v 20 % ceramic capacitor, smd 0603 c3 n. m. electrolytic capacitor, th d5xh11xp2 mm c4 22 f, 16 v, 20 % aluminum electrolytic capacitor, smd l4.5xw4.5 mm c5 1 nf, 50 v, 15 % ceramic capaci tor, smd 0603 c6 10 nf, 50 v, 15 % ceramic capacitor, smd 0603 c7 22 nf, 50 v, 5 % ceramic capacitor, smd 0603 c8 220 nf, 35 v, 15 % ceramic capacitor, smd 0603 d1, d2 ,d3, d4 led smd led (yellow) d5 led smd led (red) j1 motor connector screw pcb ter minal block 1x6 q2 n - mos 2n7002 or similar r1 0 ?, 5 %, 0.125 w resistor, smd 0805 r2,r21 n.m. resistor, smd 0603 r3 18 k?, 5%, 0.1 w resistor, smd 0603 r4 39 k?, 5 %, 0.1 w resistor, smd 0603 r5, r16 330 ?, 5%, 0.1 w resistor, smd 0603 r6, r7, r8, r9 680 m?, 1%, 0.33 w resistor, smd 0805 r10, r23, r24, r25, r26 47 k?, 5 %, 0.1 w resistor, smd 0603 r11 1 k?, 5 %, 0.1 w resistor, smd 0603 r12, r13, r14, r15 2.2 k?, 5 %, 0.125 w resistor, smd 0805 r17, r19, r32, r33 330 ?, 5 %, 0.125 w resistor, sm d 0805 r18, r20 n. m. resistor, smd 0805 r22 22 k?, 5 %, 0.1 w resistor, smd 0603 r27 22 k?, 1 %, 0.1 w resistor, smd 0603 r28, r29, r30, r31 10 k?, 5 %, 0.1 w resistor, smd 0603
bill of materials UM2082 12 / 14 docid029504 rev 1 part reference part value part description r34 5.6 k?, 5 %, 0.1 w resistor, smd 0603 r35 1 k?, 10 %, 0.5 w trimmer , th l7xw7xh5.8 mm copal electronics ct - 6ep102 or similar s1, s2, s3, s4 slide switch 2 - position switch, l10xw2.5xh6.4 mm tp1 tpth - anello - 1mm pcb test terminal 1 mm (black) tp2, tp3, tp4 tpth - anello - 1mm pcb test terminal 1 mm (red) u1 stspin220 low vol tage stepper motor driver, qfn 3x3 16l u2 sn74lvc1g125dckr single bus buffer gate with 3 - state output, sot - 353
UM2082 revision history docid029504 rev 1 13 / 14 5 revision history table 7: document revision history date version chang es 0 4 - ju l - 2016 1 initial release.
UM2082 14 / 14 docid029504 rev 1 important notice C please read carefully stmicroelectronics nv and its subsidiaries (st) reserve the right to make changes, correction s, 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 sts terms a nd 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 applicati on assistance or the design of purchasers products. no l icense, 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 f or 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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