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September 2016 DocID028309 Rev 2 1/28
1
UM1945
User manual
STM32 Nucleo Packs - Motor Control FOC and 6-step solutions
for three-phase, low-voltage and low-current motors
Introduction
The STM32 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
3-phase, low-voltage, DC brushless motor with the addition of the STM32 NUCLEO board
through the ST morpho connector (see Figure 1). The P-NUCLEO-IHM002 comes with a
power supply unit (see Figure 2).
The driver used on power board is the L6230, a DMOS fully integrated driver for 3-phase
brushless PMSM motor, assembled in PowerSO36 package, with overcurrent and thermal
protection. The NUCLEO-F302R8 provides an affordable and flexible way for users to try
out new ideas and build prototypes with STM32 MCU. It does not require any separate
probe as it integrates the ST-LINK/V2-1 debugger and programmer.
This document describes the procedure to configure the STM32 Nucleo Packs to run the
low-voltage motor included in the package. The evaluation board is fully configurable and
ready to support different closed loop controls based on sensorless or sensored mode, and
it is compatible with 3-shunt or 1-shunt current sense measuring.
1. Pictures are not contractual.
Figure 1. P-NUCLEO-IHM001 Pack Figure 2. P-NUCLEO-IHM002 Pack
www.st.com
Contents UM1945
2/28 DocID028309 Rev 2
Contents
1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Getting started as basic user . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.1 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.2 Building and run the motor control for the STM32 Nucleo Packs . . . . . . . . 8
3.3 Hardware settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3.4 Upload the firmware example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.1 Drag and drop procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.2 ST-LINK tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4 6-step and FOC control algorithm settings - advanced user . . . . . . . 17
4.1 6-step firmware based on X-CUBE-SPN7 . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.1 Firmware architecture overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.2 Firmware parameter settings to spin different BLDC motors . . . . . . . . . 20
4.1.3 Inside the 6-step firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.1.4 DAC settings for debug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 ST FOC SDK – Configuration guide for the STM32 Nucleo Packs . . . . . 21
5 Electrical schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Appendix A Federal Communications Commission (FCC) and Industry Canada
(IC) Compliance Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1 FCC Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1.1 Part 15.19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1.2 Part 15.105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1.3 Part 15.21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.2 IC Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.2.1 Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.2.2 Déclaration de conformité. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
DocID028309 Rev 2 3/28
UM1945 List of tables
3
List of tables
Table 1. Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 2. Jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 3. Screw terminal table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 4. Connector descriptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 5. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
List of figures UM1945
4/28 DocID028309 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. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 4. P-NUCLEO-IHM002 Pack main blocks. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 5. X-NUCLEO-IHM07M1 and NUCLEO-F302R8 assembled . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 6. Motor connection with X-NUCLEO-IHM07M1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Figure 7. Power supply connection for X-NUCLEO-IHM07M1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 8. X-NUCLEO-IHM07M1 – top layer with silk-screen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 9. X-NUCLEO-IHM07M1 connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Figure 10. ST-LINK utility tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Figure 11. ST-LINK programming environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 12. 6-step firmware – Project workspace on IAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 13. Architecture of a generic firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 14. X-CUBE-SPN7 firmware architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 15. Current sense conditioning circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 16. Sensors and shunt resistor circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 17. L6230 driver and BEMF detection circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 18. STM32 MCU pin assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
DocID028309 Rev 2 5/28
UM1945 Features
27
1 Features
The information listed below shows the main board specification data and parameters set
for the X-NUCLEO-IHM07M1 expansion board included in both Nucleo Packs:
• 3-phase driver board for BLDC/PMSM motors
• Nominal operating voltage range from 8 V to 48 V DC
• 2.8 A output peak current (1.4 A RMS)
(a)
• Operating frequency up to 100 kHz
• Non dissipative overcurrent detection and protection
• Cross conduction protection
• Thermal measuring and overheating protection
• Full compatible with ST 6-step or ST FOC control algorithm
• Full support for sensorless and sensored mode
• 3-shunt and 1-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
• Fully populated board conception with test points
• User LED
• Compatible with STM32 Nucleo boards
• Equipped with ST morpho connectors
• PCB type and size:
– Material of PCB - FR-4
– 4-layer layout
– Copper thickness: 70 μm (external layer), 35 μm (internal layer)
– Total dimensions of the expansion board: 70 mm x 66 mm
The information listed below shows the power supply electrical characteristics:
• Output characteristics:
– Nominal voltage 12V
– Nominal current 2A
– Minimum voltage 11.4V
– Maximum voltage: 12.6V
– Load regulation +-5%
– Ripple at nominal voltage: 50mVpp
• Input characteristics:
– Nominal voltage: 100-240Vac
– Variation voltage range: 90-264Vac
– Nominal frequency: 50/60Hz
– Variation frequency: 47-63Hz
a. Device characteristic.
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