ST X-NUCLEO-IHM02A1 User Manual
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ST X-NUCLEO-IHM02A1 User Manual

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UM1964
User manual
Getting started with X-NUCLEO-IHM02A1; two-axis stepper motor
driver expansion board based on L6470 for STM32 Nucleo
Introduction
The X-NUCLEO-IHM02A1 is a two-axis stepper motor driver expansion board based on
L6470. It provides an affordable and easy to use solution for driving low voltage motor
control for stepper motors in your STM32 Nucleo project. The expansion board includes two
L6470 fully integrated micro stepping motor drivers for motor stepper control throughmotors
high-end motion control commands received via SPI. It is able to drive one or two stepper
motors when plugged on an STM32 Nucleo board. This board is equipped with an
Arduino™ UNO R3 connector and the layout is also compatible with ST morpho connectors.
One or more of these expansion boards can be plugged on a STM32 Nucleo board to
control one or more stepper motorss. The SPI peripherals from each L6470 are connected
in daisy chain configuration.
Figure 1. X-NUCLEO-IHM02A1; two-axis stepper motors driver expansion board
based on L6470
October 2015
DocID028481 Rev 1
1/24
www.st.com
24

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Summary of Contents for ST X-NUCLEO-IHM02A1

  • Page 1 STM32 Nucleo board. This board is equipped with an Arduino™ UNO R3 connector and the layout is also compatible with ST morpho connectors. One or more of these expansion boards can be plugged on a STM32 Nucleo board to control one or more stepper motorss.

  • Page 2: Table Of Contents

    Contents UM1964 Contents Getting started ..........3 Hardware and software requirements .

  • Page 3: Getting Started

    STM32 Nucleo board. The firmware has been written and tested for the NUCLEO-F401RE, NUCLEO-F302R8 and NUCLEO-F072RB. Note: For correct use of the NUCLEO-F401RE with the X-NUCLEO-IHM02A1, the solder bridge SB15 on the NUCLEO-F401RE has to be removed (see the NUCLEO-F401RE user manual for further information).

  • Page 4: Hardware And Software Requirements

    Getting started UM1964 Hardware and software requirements Using the STM32 Nucleo boards with the X-NUCLEO-IHM02A1 expansion board requires the following software and hardware: • a Windows PC (XP, Vista, 7, 8) to install the software package; • from one to four X-NUCLEO-IHM02A1 expansion boards;...

  • Page 5: Hardware Description And Configuration

    Figure 3 shows the position of the connectors and the configuration board jumpers. Figure 3. Jumper and connector positions Below is the detailed pinout of the ST morpho and Arduino™ UNO R3 connectors. Table 1. ST morpho connector table Connector Default...
  • Page 6 Hardware description and configuration UM1964 Table 1. ST morpho connector table (continued) Connector Default Signal Solder bridge IOREF PA13 RESET PA14 +3V3 +3V3 SB40 PA15 SB40 PC13 PC14 PC15 PH0/PF0/PD0 PH1/PF1/PD1 L6470 nCS SB23 VLCD/VBAT ST1S14 PGOOD L6470 nFLAG L6470 nBUSY\SYNC...
  • Page 7 UM1964 Hardware description and configuration Table 1. ST morpho connector table (continued) Connector Default Signal Solder bridge PD8/NC PA5/PB13 L6470 SCK SB12 PA12 PA6/PB14 L6470 #0 SDO SB32 PA11 PA7/PB15 L6470 #1 SDI SB26 PB12 L6470 nCS PB11/NC CIN10 PB10...
  • Page 8 Hardware description and configuration UM1964 Table 2. Arduino UNO R3 connector table Connector Default Signal Solder bridge D9/PWM D10/CS/PWM L6470 nCS D11/MOSI/PWM L6470 #1 SDI SB26 D12/MISO L6470 #0 SDO SB32 D13/SCK L6470 SCK SB12 D14/SDA D15/SCL IOREF RESET +3V3 L6470 nCS SB23 ST1S14 PGOOD...
  • Page 9 UM1964 Hardware description and configuration Table 3. Solder bridge table Solder Default Function Group Sub group bridge condition Connect L6470 #0 OSCIN to the crystal Open External L6470 #0 crystal Connect L6470 #0 OSCOUT to the crystal Open Connect L6470 #1 OSCIN to the crystal Open L6470 #1 Connect L6470 #1 OSCOUT to the crystal...

  • Page 10: Selecting The Spi Lines

    (step down monolithic power switching regulator). 2-3 short Note: short SB40 if you intend to supply the STM32 Nucleo board through the X-NUCLEO-IHM02A1; if so, refer to the section in the STM32 Nucleo board User Manual (available on www.st.com) regarding external power supply.

  • Page 11: Multi-Motor Configuration

    It is possible to synchronously drive two-axis stepper motors with one X-NUCLEO-IHM02A1 board only. However, up to four X-NUCLEO-IHM02A1 expansion boards can be stacked on a single STM32 Nucleo board, so it is possible to drive up to eight stepper motors. Each X- NUCLEO-IHM02A1 expansion board is addressable through the nCS pin that must be connected to one pin only of the microcontroller.

  • Page 12: Set-Up To Try The Provided Example

    Follow this sequence to start your project with the board: Choose an STM32 Nucleo board from among NUCLEO-F401RE, NUCLEO-F302R8 and NUCLEO-F072RB. Get the right firmware from the X-CUBE-SPN2 (available on www.st.com) for the chosen STM32 Nucleo board and program it properly. –...

  • Page 13: Board Schematic And Bill Of Material

    UM1964 Board schematic and bill of material Board schematic and bill of material Figure 4. Schematic - L6470_0 DocID028481 Rev 1 13/24...
  • Page 14 Board schematic and bill of material UM1964 Figure 5. Schematic - L6470_1 14/24 DocID028481 Rev 1...
  • Page 15 UM1964 Board schematic and bill of material Figure 6. Schematic - L6470 Interfaces with STM32 Nucleo DocID028481 Rev 1 15/24...

  • Page 16: Bill Of Material

    Board schematic and bill of material UM1964 Figure 7. Schematic - step-down monolithic switching regulator Bill of material Table 7. BOM (part 1) Item Reference Part/value Tol % Voltage / current Watt ARDUINO_10x1 CN6, CN9 ARDUINO_8x1 CN7, CN10 ST_MORPHO_19x2 ARDUINO_6x1 C1, C11, C17, C27 100nF 6.3V...
  • Page 17 UM1964 Board schematic and bill of material Table 7. BOM (part 1) (continued) Item Reference Part/value Tol % Voltage / current Watt C15, C31 10nF 6.3V C16, C32 10nF C33, C34, C40, C41 100pF 0.05 6.3V C35, C37 100nF 100V 4.7uF 100V 5.1pF...
  • Page 18 Board schematic and bill of material UM1964 Table 7. BOM (part 1) (continued) Item Reference Part/value Tol % Voltage / current Watt SB1, SB2, SB3, SB4, SB5, SB6, SB7, SB8, SB9, SB10, 0.01 0.1W SB11, SB12, SB13 SB23, SB26, SB32, SB34, 0.01 0.1W SB40...
  • Page 19 UM1964 Board schematic and bill of material Table 8. BOM (part 2) (continued) Item Technology information Package Manufacturer X7R Ceramic Multilayer Capacitor SMD 0805 X7S Dielectric Ceramic Multilayer SMD 1210 C0G Ceramic Multilayer Capacitor SMD 0603 Tantalum Electrolytic Capacitor SMC 3528-21 SMD 0603 Lite-On Zener diode...
  • Page 20 Board schematic and bill of material UM1964 Table 8. BOM (part 2) (continued) Item Technology information Package Manufacturer Through Hole 4 Way Screw Terminal (2x TH 3.81 mm pitch 4UCONN 2way connector) Through Hole 2 Way Screw Terminal TH 3.81 mm pitch 4UCONN dSPIN Microstepping Driver with Motion POWERSO36...
  • Page 21 UM1964 Board schematic and bill of material Table 9. BOM (part 3) (continued) Item Manufacturer code Supplier Supplier code More info C3225X7S2A475M200AB Digi-Key 445-6043-2-ND TPSB476M006R0 TPSB476M006R0350 Digi-Key 350-ND LTST-C191KGKT 692-1010 BZX84J-C3V6 436-8215 Not Mounted BAV99 792-0796 LTST-C193KSKT-5A 692-1054 LTST-C193KRKT-5A 692-1041 LTST-C193KFKT-5A 692-1032 STPS1L60A...
  • Page 22 Board schematic and bill of material UM1964 Table 9. BOM (part 3) (continued) Item Manufacturer code Supplier Supplier code More info 12342 Alternative: Phoenix Contact MKDS 1/ 4-3,81 12342 Alternative: Phoenix Contact MKDS 1/ 2-3,81 L6470PD ST1S14 ABLS-16.000MHz-B2 703-1818 Not Mounted 22/24 DocID028481 Rev 1...

  • Page 23: Revision History

    UM1964 Revision history Revision history Table 10. Document revision history Date Revision Changes 15-Oct-2015 Initial release. DocID028481 Rev 1 23/24...
  • Page 24 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.

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