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ST STEVAL-ROBKIT1 User Manual

ST STEVAL-ROBKIT1 User Manual

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UM3457
User manual
Getting started with STEVAL-ROBKIT1
Introduction
The
STEVAL-ROBKIT1
is an evaluation kit which is a hardware and software package designed as a platform for the
development of robotic technology and its applications. This evaluation kit consists of a main board which houses the STM32H7
series MCU, integrates various functionalities, and controls the motor board and imaging board connected to the kit.
The robotics evaluation kit is designed in such a way that it can demonstrate the various robotics applications. This board is
designed with a vision of its reusage for an even higher robotics application platform that provides the scope of easy expansion
and customization due to its modular design. This robotics evaluation kit is useful for students, hobbyists, and professionals who
want to explore robotics, develop various algorithms, and understand how different components interact in a robotic system.
Figure 1.
STEVAL-ROBKIT1
Notice:
For dedicated assistance, submit a request through our online support portal at www.st.com/support.
UM3457 - Rev 1 - December 2024
www.st.com
For further information contact your local STMicroelectronics sales office.

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Summary of Contents for ST STEVAL-ROBKIT1

  • Page 1 Figure 1. STEVAL-ROBKIT1 Notice: For dedicated assistance, submit a request through our online support portal at www.st.com/support. UM3457 - Rev 1 - December 2024 www.st.com For further information contact your local STMicroelectronics sales office.

  • Page 2: Laser Safety Considerations

    UM3457 Laser safety considerations Laser safety considerations The VL53L8CX Time-of-Flight sensor contains a laser emitter and corresponding drive circuitry. The laser output is designed to remain within Class 1 laser safety limits under all reasonably foreseeable conditions including single faults, in compliance with IEC 60825-1:2014 (third edition). The laser output remains within Class 1 limits as long as STMicroelectronic's recommended device settings are used, and the operating conditions specified in the datasheet are respected.

  • Page 3: Getting Started

    STM32G071CBT6 provides effective motor control that is used to manage the motor's direction, speed, and other attributes. The robotic kit's imaging component is the STEVAL-ROBKIT1-3. Its ability to acquire and analyze visual information from the surroundings is essential for activities like environmental mapping, object detection, and navigation.

  • Page 4: Figure 3. Steval-Robkit1 Architecture Block Diagram

    AXI interconnect supporting internal and external memory access. To improve application robustness, all memories feature error code correction. The main board, STEVAL-ROBKIT1-1, is equipped with a variety of sensors and components that are controlled by the STM32H725IGT6 microcontroller.

  • Page 5: Figure 5. Steval Robkit1-1 System Block Diagram

    UM3457 Getting started In terms of memory, the board includes external PSRAM and flash memory, providing additional data storage and processing capabilities. The microcontroller accesses these memories to store and retrieve data as needed, ensuring efficient performance. The main board also features a 40-pin Raspberry Pi compatible GPIO connector, allowing it to interface with Raspberry Pi accessories and peripherals.

  • Page 6: Figure 6. Steval Robkit1-2 Component Placement Details

    Figure 6. STEVAL ROBKIT1-2 component placement details The motor board, STEVAL-ROBKIT1-2, is a critical component of the robotic kit that drives the robot's movement and ensures precise control over its motors. The STM32G071CBT6 is a high-performance and low-power consumption microcontroller, making it ideal for motor control applications. It features up to 128 Kbytes of flash memory and 36 Kbytes of SRAM, providing ample space for firmware and real-time processing.

  • Page 7: Figure 7. Steval Robkit1-2 System Block Diagram

    The imaging board used in the STEVAL-ROBKIT1 consists mainly of a camera module and Time-of-Flight sensor (VL53L8CX) interfaced using an MIPI (Mobile Industry Processor Interface) & SPI interface respectively. The figure below shows the component placement on the board.

  • Page 8: System Requirements

    Use only 4 units of 1.5 V AA alkaline batteries. Don’t use rechargeable batteries having less than 1.5 V each. Setup specifications and starting the kit To prepare the setup, follow the steps below. Step 1. Connect the STEVAL-ROBKIT1-1 board with the STEVAL-ROBKIT1-2 using the 12-pin connector cable. Figure 10. Connection of 12-pin connector cable...

  • Page 9: Figure 11. Connection Of 6-Pin Jst Connector Cable With Two Bo Motors

    UM3457 Getting started Step 2. Connect the STEVAL-ROBKIT1-2 board with both DC motors using the 6-pin JST connector cable for each motor. Figure 11. Connection of 6-pin JST connector cable with two BO motors Step 3. Connect the STEVAL-ROBKIT1-1 board with the STEVAL-ROBKIT1-3 using the 26-pin FFC connector cable.

  • Page 10: Figure 13. Images Shown For Signal Leds

    Getting started Step 5. Turn on the board with the SW1 switch, on the STEVAL-ROBKIT1-1, to power the whole kit. A welcome tone is generated using an on-board buzzer along with it all three green, red, and yellow LEDs which blink once to indicate proper initialization of all the on-board devices (see Figure 13).

  • Page 11: Component Description

    3.1.1 STM32H725IGT6 The robotic kit's central control unit is designated as the STEVAL-ROBKIT1-1. The STM32H725IGT6 microcontroller, a high-performance member of the STM32 family, powers it. It typically includes various communication interfaces such as UART, SPI, I²C, OCTOSPI, etc. for connecting to other boards and peripherals.

  • Page 12: Imu (Lsm6Dsv16Bx)

    UM3457 Component description Figure 16. STM32H725IGT6 MCU power section 3.1.2 IMU (LSM6DSV16BX) The LSM6DSV16BX is a high-performance, low-power 6-axis small IMU (Inertial Memory Unit), featuring a 3-axis digital accelerometer and a 3-axis digital gyroscope, that offers the best IMU sensor with a triple-channel architecture for processing acceleration and angular rate data on three separate channels (user interface, OIS, and EIS) with dedicated configuration, processing, and filtering.

  • Page 13: Magnetometer

    Voltage range 1.7 V to 3.6 V Operating voltage 3.3 V Along with the BLE module, the STEVAL-ROBKIT1-1 also consists of a BLE programming connector (J5) that is used to program the BLE module. UM3457 - Rev 1 page 13/74...

  • Page 14: Microphone

    UM3457 Component description Figure 19. BlueNRG-M2SA 3.1.5 Microphone The MP34DT06JTR is a digital MEMS microphone built with a capacitive sensing element and an IC interface. The sensing element, capable of detecting acoustic waves, is manufactured using a specialized silicon micromachining process dedicated to producing audio sensors. The IC interface is manufactured using a CMOS process that allows designing a dedicated circuit able to provide a digital signal externally in PDM format.

  • Page 15: Psram

    UM3457 Component description Table 6. Flash NOR memory details Features Description Device Flash NOR memory Part number W25Q128JVPIQ Voltage range 2.7 V to 3.6 V Operating voltage 3.3 V Operating frequency 133 MHz Figure 21. Flash NOR memory 3.1.7 PSRAM The APS6408L-30BM-BA is a 64 Mbit (8 MB) pseudo-static RAM (PSRAM) organized as 8M x 8-bit.

  • Page 16: 40-Pin Gpio Connector

    3.1.8 40-pin GPIO connector A 40-pin Raspberry Pi connector is available on the main board, STEVAL-ROBKIT1-1, allowing it to interface with Raspberry Pi accessories and peripherals. The microcontroller communicates with these peripherals through the connector, expanding the robot's functionality and compatibility with various external devices.

  • Page 17: Led

    UM3457 Component description Pin No Name CN1 connector pin Pin No Name CN1 connector pin PA7 / IO11 PDI5 / IO12 PC4 / IO13 PB1 / IO15 PE10 / IO16 PE11 / IO18 PJ10 / SPI5_MOSI PJ11 / SPI5_MISO PB14 / IO22 PK0 / SPI5_SCK PD10 / SPI5_CS PB15 / IO26...

  • Page 18: Switches

    Operating frequency 100 kHz (standard mode) Figure 25. Buzzer 3.1.11 Switches The main function of the user switches on the STEVAL-ROBKIT1 is to provide an option to control certain functionalities through manual intervention. Figure 26. User Switches 3.1.12 MCU programming connector The main board includes a 14-pin MCU programming connector (J1) designed to facilitate the programming and debugging of the microcontroller unit (MCU).

  • Page 19: Crystal

    UM3457 Component description Figure 27. MCU programming connector for STEVAL-ROBKIT1-1 3.1.13 Crystal The main board is equipped with two crystal oscillators, a 25 MHz crystal and a 32.76 kHz crystal, which are essential for the accurate timing and operation of the MCU STM32H725IGT6. These crystals provide stable clock signals required for various functionalities of the microcontroller.

  • Page 20: Mipi De-Serializer

    UM3457 Component description Figure 28. Crystal 3.1.14 MIPI de-serializer The imaging board transmits camera signals to the main board, where they are processed by the STMIPID02/TR de-serializer. This high-performance de-serializer converts the serialized camera data into a parallel format that the main board's MCU can efficiently process.

  • Page 21: Component Description Of Steval Robkit1-2

    UM3457 Component description Figure 29. MIPI de-serializer, STMIPID02/TR Component description of STEVAL ROBKIT1-2 3.2.1 STM32G071CBT6 The kit includes a motor board featuring the STM32G071CBT6 microcontroller unit (MCU), a highly efficient and versatile 32-bit Arm Cortex®-M0+ core. This MCU operates at a frequency of up to 64 MHz and is equipped with 128 KB of flash memory and 36 KB of SRAM, providing ample space for complex motor control algorithms.

  • Page 22: Figure 30. Stm32G071Cbt6 Gpio Section

    UM3457 Component description Figure 30. STM32G071CBT6 GPIO section Figure 31. STM32G071CBT6 power section UM3457 - Rev 1 page 22/74...

  • Page 23: 3-Axis Accelerometer And 3-Axis Gyroscope (Lsm6Dsr)

    UM3457 Component description Figure 32. 12-pin box connector and 14-pin programming connector 3.2.2 3-axis accelerometer and 3-axis gyroscope (LSM6DSR) The LSM6DSR is a system-in-package featuring a 3-axis digital accelerometer and a 3-axis digital gyroscope with an extended full-scale range for the gyroscope, up to 4000 dps, and high stability over temperature and time. UM3457 - Rev 1 page 23/74...

  • Page 24: Motor Driver (Stspin240)

    UM3457 Component description Figure 33. IMU (LSM6DSR) The LSM6DSR has a full-scale acceleration range of ±2/±4/±8/±16 g and an angular rate range of ±125/±250/±500/±1000/±2000/±4000 dps. The LSM6DSR embeds a broad range of advanced functions supporting programmable sensors (suitable for activity recognition). Table 13.

  • Page 25: Motor Encoder

    UM3457 Component description Figure 34. Motor driver (STSPIN240) 3.2.4 Motor encoder A motor encoder works by translating mechanical motion into electrical signals, typically through methods such as optical or magnetic sensing. These signals provide feedback on parameters such as position, speed, and direction of rotation, enabling precise control and monitoring of motorized systems.

  • Page 26: Component Description Of Steval Robkit1-3

    The imaging board enables the robotic evaluation kit to perceive and interact with its environment using visual data. The imaging board used in the STEVAL-ROBKIT1 consists mainly of a FOX PRO module and Time-of-Flight sensor VL53L8 operating at a very high speed up to 20 MHz.

  • Page 27: Figure 37. Camera Module Connector On Steval-Robkit1-3

    UM3457 Component description Figure 37. Camera module connector on STEVAL-ROBKIT1-3 UM3457 - Rev 1 page 27/74...

  • Page 28: Fpc Connector And Ffc Cable

    UM3457 Component description Figure 38. Camera module - mainboard interface 3.3.3 FPC connector and FFC cable The imaging board is connected to the main board using a 26-pin FPC (Flexible Printed Circuit) connector and an FFC (Flexible Flat Cable). This combination ensures a reliable and efficient interface between the two boards, facilitating high-speed data transfer and robust signal integrity.

  • Page 29: Tof (Vl53L8Cx)

    UM3457 Component description Table 17. Connector - imaging board details Device Entity Signal Signal Signal Signal Signal Signal MIPI CLK+ CLK- MIPI SHIELDING RESET SHUTDOWN GPIO0 GPIO1 MCLK MISO MOSI GPIO1 GPIO2 LDO ENABLE PWREN SUPPLY 3.3 V (3.3 V) GROUND 3.3.4 ToF (VL53L8CX)

  • Page 30: Component Description For The Additional Components On Steval-Robkit1

    Component description Figure 40. Time-of-Flight sensor (VL53L8CX) Component description for the additional components on STEVAL-ROBKIT1 3.4.1 Protective fuse and fuse holder The kit features a protective switch, a fast-acting 1.6 A, 250 V fuse (021501.6 MXP), and a PCB mounted fuse holder (64700001003) strategically placed between the main board and the 6 V battery pack.

  • Page 31: Table 18. Fuse And Fuse Holder Details

    UM3457 Component description Table 18. Fuse and fuse holder details Features Description Description Device Fuse Fuse holder Part number 021501.6MXP 64700001003 Voltage range 250 V 250 V Package / case 5 mm x 20 mm 5 mm x 20 mm UM3457 - Rev 1 page 31/74...

  • Page 32: Schematic Diagrams

    Schematic diagrams Figure 42. STEVAL-ROBKIT1-1 schematic (1 of 12) PSRAM & Serial FLASH MCU_GPIO 40 Pin GPIO CONN PF8_OCTO_P1_IO0 PF8_OCTO_P1_IO0 PF9_OCTO_P1_IO1 PF9_OCTO_P1_IO1 PK1_GPIO40_CLK_IO7 PK1_GPIO40_CLK_IO7 PF7_OCTO_P1_IO2 PF7_OCTO_P1_IO2 PA7_GPIO40_IO11 PA7_GPIO40_IO11 PF6_OCTO_P1_IO3 PF6_OCTO_P1_IO3 PC4_GPIO40_IO13 PC4_GPIO40_IO13 PD4_OCTO_P1_IO4 PB1_GPIO40_IO15 PD4_OCTO_P1_IO4 PB1_GPIO40_IO15 PD5_OCTO_P1_IO5 PD5_OCTO_P1_IO5 PE10_GPIO40_IO16 PE10_GPIO40_IO16...

  • Page 33: Figure 43. Steval-Robkit1-1 Schematic (2 Of 12)

    Figure 43. STEVAL-ROBKIT1-1 schematic (2 of 12) BLM15EG121SN1D MCU_3V3 MCU_3V3 STM32H725IGT6 MCU_3V3 GND_SD VDD1 VSS1 BLM15EG121SN1D VDDA_3V3 VDD2 VSS2 VDD3 VSS3 10K/NM VDD4 VSS4 VDD5 VSS5 VDD6 VSS6 BOOT0 PDR_ON MCU_3V3 VDD7 VSS7 Jumper J2 VBAT supply VDD8 VSS8 VDDA_3V3...

  • Page 34: Figure 44. Steval-Robkit1-1 Schematic (3 Of 12)

    Figure 44. STEVAL-ROBKIT1-1 schematic (3 of 12) VBAT STM32H725IGT6 STM32H725IGT6 PE0_IMG_BRD_DCMI_D2 PG0_OCTO_P2_IO4 PE1_IMG_BRD_DCMI_D3 PG1_OCTO_P2_IO5 PA0_MTR_BRD_UART4_TXD PE2_MIC_SAI1_CLK PG2_IMG_BRD_GPIO_XSDN PA1_MTR_BRD_UART4_RXD PC1_BNRG_SPI2_MOSI PE3_GPIO40_IO36 PG3_OCTO_P1_RST PC2_C PC2_C_BNRG_SPI2_MISO PE4_IMG_BRD_DCMI_D4 PG4_SWITCH3_GPIO PC3_C PE5_IMG_BRD_DCMI_D6 PG5_SWITCH2_GPIO PA4_IMG_BRD_DCMI_HSYNC PC4_GPIO40_IO13 PE6_IMG_BRD_DCMI_D7 PG6_OCTO_P1_CE PA5_GPIO40_PWM0_IO32 PE7_GPIO40_IO31 PG7_SWITCH1_GPIO PA6_IMG_BRD_DCMI_PIXCLK PC6_GPIO40_PWM1_IO33 PE8_GPIO40_IO37 PG8_LED3_YELLOW PA7_GPIO40_IO11...

  • Page 35: Figure 45. Steval-Robkit1-1 Schematic (4 Of 12)

    Figure 45. STEVAL-ROBKIT1-1 schematic (4 of 12) APS6408L-3OBM-BA PF8_OCTO_P1_IO0 ADQ0 VDDQ PF9_OCTO_P1_IO1 ADQ1 VDDQ_1 PF7_OCTO_P1_IO2 ADQ2 PF6_OCTO_P1_IO3 ADQ3 0.1uF PD4_OCTO_P1_IO4 ADQ4 10uF 0.1uF 0.1uF PD5_OCTO_P1_IO5 ADQ5 VSSQ_1 PE9_OCTO_P1_IO6 ADQ6 VSSQ PD7_OCTO_P1_IO7 ADQ7 NC_3 PG3_OCTO_P1_RST RST# NC_1 PG6_OCTO_P1_CE NC_4 PB2_OCTO_P1_DQS DQS/DM...

  • Page 36: Figure 46. Steval-Robkit1-1 Schematic (5 Of 12)

    Figure 46. STEVAL-ROBKIT1-1 schematic (5 of 12) BlueNRG Slave MODE DIO12 PD11_BNRG_GPIO_RST ADC2 RESET PD11_BNRG_GPIO_RST PB12_BNRG_SPI2_NSS ADC1 DIO1 PB12_BNRG_SPI2_NSS BLE_I2C_CLK DIO4 DIO3 PC1_BNRG_SPI2_MOSI BLE_I2C_SDA DIO5 DIO2 PC2_C_BNRG_SPI2_MISO DIO0 PA12_BNRG_SPI2_CLK 0.1uF 0.1uF 2.2uF BLUENRG-M2SA BLE_BOOT 0/NM PB12_BNRG_SPI2_NSS BLE_I2C_CLK BLE_I2C_SDA BLE_SWDIO BLE_SWCLK...

  • Page 37: Figure 47. Steval-Robkit1-1 Schematic (6 Of 12)

    Figure 47. STEVAL-ROBKIT1-1 schematic (6 of 12) LSM6DSV16BX PB7_SHRD_I2C1_SDA PB6_SHRD_I2C1_SCL TDMout/A1 PD1_IMU_GPIO_CS BCLK/A2 PD0_IMU_GPIO_INT INT1 WCLK 2.2K 2.2K 4.7K 4.7K 0/NM VDD_IO INT2 0.1uF 0.1uF PD1_IMU_GPIO_CS PD1_IMU_GPIO_CS PD0_IMU_GPIO_INT PD0_IMU_GPIO_INT PB6_SHRD_I2C1_SCL PB6_SHRD_I2C1_SCL PB7_SHRD_I2C1_SDA PB7_SHRD_I2C1_SDA LIS2MDLTR PB6_SHRD_I2C1_SCL SCL/SPC NC_2 NC_1 PB4_MAG_GPIO_CS VDD_IO...

  • Page 38: Figure 48. Steval-Robkit1-1 Schematic (7 Of 12)

    Figure 48. STEVAL-ROBKIT1-1 schematic (7 of 12) 3V33V3 0.1uF 2.2K 2.2K 0.1uF 0.1uF PB11_GPIO40_I2C2_SDA PB10_GPIO40_I2C2_SCL PK1_GPIO40_CLK_IO7 PB13_GPIO40_UART5_TX PD2_GPIO40_UART5_RX PA7_GPIO40_IO11 PD15_GPIO40_IO12 PC4_GPIO40_IO13 PB1_GPIO40_IO15 PE10_GPIO40_IO16 PE11_GPIO40_IO18 PJ10_SHRD_SPI5_MOSI PJ11_SHRD_SPI5_MISO PB14_GPIO40_IO22 PK0_SHRD_SPI5_SCK PD10_SHRD_SPI5_CS 0.1uF PB15_GPIO40_IO26 PF0_GPIO40_I2C5_SDA PF1_GPIO40_I2C5_SCL PF11_GPIO40_IO29 PE7_GPIO40_IO31 PA5_GPIO40_PWM0_IO32 PC6_GPIO40_PWM1_IO33 PD14_GPIO40_IO35 PE3_GPIO40_IO36 PE8_GPIO40_IO37...

  • Page 39: Figure 49. Steval-Robkit1-1 Schematic (8 Of 12)

    Figure 49. STEVAL-ROBKIT1-1 schematic (8 of 12) 4.7K 4.7K 4.7K PG7_SWITCH1_GPIO PG5_SWITCH2_GPIO PG4_SWITCH3_GPIO 0.1uF 0.1uF 0.1uF Switches LED RED 300R PC8_LED1_RED LED GREEN 1N4148WS CMT-4023S-SMT-TR 300R 0.1uF PC7_LED2_GREEN LED YELLOW 300R PG8_LED3_YELLOW PF12_BUZZER_PWM 2STR1160 LEDs Buzzer...

  • Page 40: Figure 50. Steval-Robkit1-1 Schematic (9 Of 12)

    Figure 50. STEVAL-ROBKIT1-1 schematic (9 of 12) CAM_MIPI_D1_N D+_CONN D+_IC CAM_MIPI_D1_IC_N CAM_MIPI_D1_P CAM_MIPI_D1_IC_P D-_CONN D-_IC STMIPID02/TR GND_1 GND_2 VDDE_1V8 ECMF2-40A100N6 CAM_MIPI_CLK_IC_P 10uF 10uF CLKP1 VDDE1_1V8 CAM_MIPI_CLK_IC_N CLKN1 VDDIN_LDO CAM_MIPI_D1_IC_P DAT1P1 VDD_1V2 CAM_MIPI_D1_IC_N DAT1N1 VDDOUT_LDO 0.1uF 0.1uF CAM_MIPI_D2_IC_P DAT2P1 CAM_MIPI_D2_N D+_CONN...

  • Page 41: Figure 51. Steval-Robkit1-1 Schematic (10 Of 12)

    Figure 51. STEVAL-ROBKIT1-1 schematic (10 of 12) 0.1uF VCCA VCCB VCCB_1 0.1uF PE6_IMG_BRD_DCMI_D7 OE_N PE5_IMG_BRD_DCMI_D6 CAM_D7 PD3_IMG_BRD_DCMI_D5 CAM_D6 PE4_IMG_BRD_DCMI_D4 CAM_D5 PE1_IMG_BRD_DCMI_D3 CAM_D4 PE0_IMG_BRD_DCMI_D2 CAM_D3 PA10_IMG_BRD_DCMI_D1 CAM_D2 PA9_IMG_BRD_DCMI_D0 CAM_D1 CAM_D0 GND_2 GND_1 74AVC8T245-Q100J 0.1uF 0.1uF SN74AVC4T774RSVR VCCA VCCB 1.8K 1.8K 200K 2.2K...

  • Page 42: Figure 52. Steval-Robkit1-1 Schematic (11 Of 12)

    Figure 52. STEVAL-ROBKIT1-1 schematic (11 of 12) VBAT 0.1uF 0.1uF PA0_MTR_BRD_UART4_TXD PA1_MTR_BRD_UART4_RXD PA8_MTR_BRD_I2C3_SCL PC9_MTR_BRD_I2C3_SDA PF13_MTR_BRD_GPIO_INT PE15_MTR_BRD_GPIO_RST '62701221721 GND GND STMicroelectronics and/or its licensors do not warrant the accuracy or completeness of this specification or any information contained therein. STMicroelectronics and/or its...

  • Page 43: Figure 53. Steval-Robkit1-1 Schematic (12 Of 12)

    Figure 53. STEVAL-ROBKIT1-1 schematic (12 of 12) 100uH VBAT 0.1uF 47uF 402K EN/CLKIN(*) BOOT 20pF 10uF FB/VOUT L6981NDR 82.5K L6981NDR 16.7uH VBAT VOUT 0.1uF 47uF LD39050PUR EN/CLKIN(*) BOOT 22uF FB/VOUT L6982N33DR 31.2K L6982N33DR LD39050PUR STMicroelectronics and/or its licensors do not warrant the...

  • Page 44: Figure 54. Steval-Robkit1-2 Schematic (1 Of 5)

    Figure 54. STEVAL-ROBKIT1-2 schematic (1 of 5) STM32G071CBT6 LEDs & Switch PB15_LED1 PB15_LED1 PB14_LED2 PB14_LED2 PB13_LED3 PB13_LED3 NRST NRST PA5_SW1_EXT15 PA5_SW1_EXT15 PA6_SW2_EXT16 PA6_SW2_EXT16 PB0_SW3_EXT10 PB0_SW3_EXT10 PC7_SW4_EXT17 PC7_SW4_EXT17 PA1_BATT_ADC PA1_BATT_ADC LEDs & Switch.SchDoc STSPIN240 MCU_MOTOR_A_ENCODER_A MCU_MOTOR_A_ENCODER_A MCU_MOTOR_A_ENCODER_B MCU_MOTOR_A_ENCODER_B MCU_MOTOR_B_ENCODER_A MCU_MOTOR_B_ENCODER_A MCU_MOTOR_B_ENCODER_B...

  • Page 45: Figure 55. Steval-Robkit1-2 Schematic (2 Of 5)

    Figure 55. STEVAL-ROBKIT1-2 schematic (2 of 5) 4.7K 4.7K 4.7K 4.7K 4.7K 100nF 100nF 100nF 100nF 100nF MOUNTING HOLES LOGO1 LOGO2 LOGOS LED RED 300R PB15_LED1 LOGO_ST LOGO_WEEE LED GREEN 300R LOGO4 M3 HOLE NOT PLATED M3 HOLE NOT PLATED...

  • Page 46: Figure 56. Steval-Robkit1-2 Schematic (3 Of 5)

    Figure 56. STEVAL-ROBKIT1-2 schematic (3 of 5) 2.2K 2.2K I2C_SDA I2C_SCL SDO/SA0 SDO_Aux OCS_Aux INT2 LSM6DSR_INT2 LSM6DSR_INT1 INT1 LSM6DSR 100nF STMicroelectronics and/or its licensors do not warrant the accuracy or completeness of this specification or any information contained therein. STMicroelectronics and/or its licensors do not warrant that...

  • Page 47: Figure 57. Steval-Robkit1-2 Schematic (4 Of 5)

    Figure 57. STEVAL-ROBKIT1-2 schematic (4 of 5) STM32G071CBT6 MCU_MOTOR_A_ENCODER_A MCU_MOTOR_B_ENCODER_B PA1_BATT_ADC 1 of 2 PC7_SW4_EXT17 PA2_USART2_TX PC13_INTERRUPT PC13 PA3_USART2_RX PC14-OSC32_IN PC15-OSC32_OUT PA5_SW1_EXT15 PA6_SW2_EXT16 PD0_PWMB PD1_PWM_REF 100R PA8_PWMA STBY/RESET 100R PA10 I2C_SCL I2C_SCL PA11[PA9] PF0-OSC_IN I2C_SDA I2C_SDA PA12[PA10] PF1-OSC_OUT PA13_SYS_SWDIO NRST 32.768kHz...

  • Page 48: Figure 58. Steval-Robkit1-2 Schematic (5 Of 5)

    Figure 58. STEVAL-ROBKIT1-2 schematic (5 of 5) VBAT 2.2uF 22uF 22uF MOTOR_A_VOUT+ STBY/RESET STBY/RESET OUTA1 MOTOR_A_VOUT- PA15_EN_FAULT EN/FAULT OUTA2 MOTOR_B_VOUT+ PB10_PHASE_A OUTB1 MOTOR_B_VOUT- PA8_PWMA PWMA OUTB2 PB11_PHASE_B PD0_PWMB PWMB 200K PD1_PWM_REF SENSEA TOFF SENSEB STSPIN240 10nF 2.2nF 22nF 0R68 0R68...

  • Page 49: Figure 59. Steval-Robkit1-3 Schematic (1 Of 3)

    Figure 59. STEVAL-ROBKIT1-3 schematic (1 of 3) Power P3V3 PWGOOD P3V3 VANA VOUT VCORE 3.3 uH VOUT TH_PAD VDDIO P3V3 Exclusive Fitting ST1PS01BJR LD39020ADTPU28R 10uF 6.3V 4.7uF VOUT 10uF Jumper 6.3V TH_PAD 4.7uF LD39020ADTPU18R 0RNM P1V8 Jumper 0RNM Jumper FDN5618P/NM...

  • Page 50: Figure 60. Steval-Robkit1-3 Schematic (2 Of 3)

    Figure 60. STEVAL-ROBKIT1-3 schematic (2 of 3) CAMERA TIME OF FLIGHT VANA VCORE VDDIO 4.7uF 220nF 220nF 4.7uF 10k/NM VDDIO CAM_1V8_XSDN CAM_1V8_GPIO0 i 50ohms single + 100ohm diff 4.7uF 220nF CAM_1V8_GPIO1 CAM_MIPI_D1_P CAM_1V8_GPIO2 CAM_MIPI_D1_N VDDIO GPIO3 GPIO4 CAM_MIPI_CLK_P GPIO5 CAM_MIPI_CLK_N...

  • Page 51: Figure 61. Steval-Robkit1-3 Schematic (3 Of 3)

    Figure 61. STEVAL-ROBKIT1-3 schematic (3 of 3) MAINBOARD Interface Level Shifting VDDIO P3V3 P3V3 220nF 220nF P3V3 10uF 6.3V 10k/NM 10k/NM 10k/NM 10k/NM CAM_1V8_GPIO0 CAM_GPIO0 P1V8 CAM_1V8_GPIO1 CAM_GPIO1 TOF_1V8_GPIO1 TOF_GPIO1 10uF TOF_1V8_GPIO2 TOF_GPIO2 6.3V 0.5mm VDDIO Internal Pull-Up of 10kohms on IOs...

  • Page 52: Bill Of Materials

    UM3457 Bill of materials Bill of materials Table 19. STEVAL-ROBKIT1 bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code STEVAL- Table 20. STEV STMicroelectron STEVAL-ROBKIT1-1 ROBKIT1-KIT STEVAL-ROBKIT1-1 AL-ROBKIT1-1 Main board STEVAL- Table 21. STEV STMicroelectron STEVAL-ROBKIT1-2 ROBKIT1-KIT STEVAL-ROBKIT1-2...
  • Page 53 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code 14 Position Cable Assembly Additional 14 Rectangular Position cable Socket to 14 Position cable Samtec FFSD-07-D-05.90-01-N for STLINK Socket, Connection Reversed 0.492' (149.86mm, 5.90") Female-Female Hex Standoff: 4 x Hex Standoff between Hex Standoff...

  • Page 54: Table 20. Steval-Robkit1-1 Bill Of Materials

    Double Sided performance Tape to fix Acrylic Double Double Coated Tape battery Holder Coated Tape, on the chassis Heavy Duty, Clear, Table 20. STEVAL-ROBKIT1-1 bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code CAP CER C1, C2 5.6pF 5.6PF 50V...
  • Page 55 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code C6, C10, C12, C13, C14, C15, C17, C18, C19, C20, C21, C22, C23, C24, C25, C26, C27, C28, C29, C30, C31, C32, C33, C34, CAP CER C36, C37, C39, 0.1uF 0.1UF 50V X7R Yageo...
  • Page 56 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code D1, D2, D3, D4, D5, D7, D8, D9, D10, D11, D12, D13, D14, D16, D17, D18, D19, ESDALC6V1-1U2, TVS DIODE STMicroelectron ESDALC6V1-1U2 D20, D21, D22, ST0201 3VWM ST0201 D23, D24, D25, D26, D27, D28, D29, D30, D31,...
  • Page 57 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code WR-BHD 1.27MM MALE '62701221721 Würth Elektronik 62701221721 ANGLED BOX Inductor 2.2uH 138 mOhms 1.2 2.2uH Murata LQM2MPN2R2MG0L A, 0806 (2016 metric) FIXED IND 100uH 100NH 200MA KLZ2012NHR101LTD25 Corporation 1.6OHM SMD WE-HCIA SMT 16.7uH...
  • Page 58 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code R19, R20, R36, RES SMD 2.2K R37, R48, R50, 2.2K OHM 0.5% Yageo RT0402DRE072K2L R52, R53, R54, 1/16W 0402 RES 4.7K OHM R21, R22, R24, 4.7K 0.1% 1/16W Yageo RP0402BRD074K7L R25, R26...
  • Page 59 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code RAM 64Mb OPI (x8) DDR APS6408L-3OBM-BA 133MHz, 3V, AP Memory APS6408L-3OBM-BA Ind. Temp., BGA24 NOR flash, spiFlash, 3V, W25Q128JVPIQ Winbond W25Q128JVPIQ 128Mbit, 4KB Uniform Sector Very low power application BLUENRG-M2SA, processor...

  • Page 60: Table 21. Steval-Robkit1-2 Bill Of Materials

    NX3215SA-32.768KHz- XTAL2 +-20ppm, EXS00A-MU00525 EXS00A-MU00525 50Kohms max, WE-SPXO 24.0MHz XTAL3 831056216 Würth Elektronik 831056216 50ppm 2.0 x 1.6mm Table 21. STEVAL-ROBKIT1-2 bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code Multilayer Ceramic Capacitors C1, C2 6.8pF MLCC -...
  • Page 61 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code Multilayer Ceramic Capacitors Vishay Vitramon GA0603Y102KXAAC31G MLCC - SMD/SMT 50volt 1nF 10% CAP CER Murata 10nF 10000PF 50V Electronics GRM188R71H103KA01D X7R 0603 North America Multilayer Ceramic Capacitors 2.2nF MLCC - Yageo CC0603KPX7R9BB222...
  • Page 62 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code 600 Ohms @ 100 MHz 1 Ferrite Bead 600 Ohms @ 100 MHz TAI-TECH FCM1608KF-601T03 0603 (1608 Metric) 350mA 500mOhm RES SMD 100 R1, R2, R3, R4 100R OHM 1% 1/10W Yageo RC0603FR-07100RP...

  • Page 63: Table 22. Steval-Robkit1-3 Bill Of Materials

    CRYSTAL NX3225GD 8MHz 8MHz 32.7680KHZ EXS00A-CG04874 12.5PF SMD CRYSTAL CTS-Frequency 32.768kHz 32.7680KHZ TFE322P32K7680R Controls 12.5PF SMD Table 22. STEVAL-ROBKIT1-3 bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code CAP, CER, C1, C3, C18, 10uF 10uF, 6.3V, Murata GRJ155R60J106ME11D...
  • Page 64 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code CONN RCPT 30POS SMD BM28B0.6-30DS/ BM28B0.6-30DS GOLD, with Hirose 2-0.35V(53) PLCC28_Fox Module CONN FFC FPC BOTTOM 0.5mm Wurth Elektronik 687126149022 26POS 0.5MM FIXED IND, 3.3uH, 1.9A, 3.3 uH VLS252010HBX-3R3M-1 178 mOHM, 1008...
  • Page 65 UM3457 Bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code IC, 4-Bit Bi- directional Level Diodes PI4ULS3V204 Shifter, PI4ULS3V204ZBEX Incorporated TQFN3.5x3.5-1 Voltage Level Translator Texas TXU0304DTR Bidirectional 1 TXU0304DTR Instruments Circuit 4 Channel XTAL OSC XO ECS-2520MVLC-120-CN- 12MHz 50ppm 12MHZ CMOS ECS Inc.

  • Page 66: Kit Versions

    STEVAL$ROBKIT1A schematic diagrams STEVAL$ROBKIT1A bill of materials 1. This code identifies the STEVAL-ROBKIT1 evaluation kit first version. The kit consists of the STEVAL-ROBKIT1-1 motherboard whose version is identified by the code STV$ROBKIT1-1A, the STEVAL-ROBKIT1-2 daughterboard whose version is identified by the code STV$ROBKIT1-2A, and the STEVAL-ROBKIT1-3 daughterboard whose version is identified by the code STV$ROBKIT1-3A.

  • Page 67: Regulatory Compliance Information

    Notice for the United Kingdom The kit STEVAL-ROBKIT1 is in compliance with the UK Radio Equipment Regulations 2017 (UK SI 2017 No. 1206 and amendments) and with the Restriction of the Use of Certain Hazardous Substances in Electrical and Electronic Equipment Regulations 2012 (UK SI 2012 No.

  • Page 68: Revision History

    UM3457 Revision history Table 24. Document revision history Date Revision Changes 16-Dec-2024 Initial release. UM3457 - Rev 1 page 68/74...

  • Page 69: Table Of Contents

    ToF (VL53L8CX) ............29 Component description for the additional components on STEVAL-ROBKIT1 ... 30 3.4.1...
  • Page 70 UM3457 Contents Bill of materials ..............52 Kit versions .

  • Page 71: List Of Tables

    STEVAL-ROBKIT1-1 bill of materials ........

  • Page 72: List Of Figures

    MCU programming connector for STEVAL-ROBKIT1-1 ........
  • Page 73 STEVAL-ROBKIT1-2 schematic (1 of 5) ........
  • Page 74 ST’s terms and conditions of sale in place at the time of order acknowledgment. Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of purchasers’...