ST X-NUCLEO-IHM07M1 Bedienungsanleitung

September 2015

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www.st.com

UM1943

User manual

Getting started with the X-NUCLEO-IHM07M1 motor driver

expansion board based on the L6230 for STM32 Nucleo

Introduction

The X-NUCLEO-IHM07M1 is a three-phase brushless DC motor driver expansion board based on the

L6230 for STM32 Nucleo. It provides an affordable and easy-to-use solution for driving three-phase

brushless DC motors in your STM32 Nucleo project. The X-NUCLEO-IHM07M1 is compatible with the

ST morpho connector and supports the addition of other boards which can be stacked onto a single

STM32 Nucleo board. The user can also mount the Arduino UNO R3 connector. The X-NUCLEO-

IHM07M1 is fully configurable and ready to support different closed loop control based on sensor or

sensorless mode control, and it is compatible with three shunt or single shunt current sense measuring.

The driver used on this STM32 Nucleo expansion board is the L6230, a DMOS fully-integrated driver for

three-phase brushless PMSM motors, assembled in a PowerSO36 package, with overcurrent and

thermal protection. This user manual describes the procedure to configure the X-NUCLEO-IHM07M1

expansion board to operate with an STM32 Nucleo board.

Figure 1: X-NUCLEO-IHM07M1 three-phase brushless DC motor driver expansion board based on L6230 for

STM32 Nucleo

Contents

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Contents

1System introduction.........................................................................3

1.1 Main characteristics ..........................................................................3

1.2 Target applications............................................................................3

2Getting started..................................................................................4

2.1 System architecture ..........................................................................4

2.2 Building the system...........................................................................4

2.2.1 Hardware settings............................................................................... 5

3Board schematic.............................................................................10

4Circuit description..........................................................................18

4.1 Power section –L6230 driver with integrated three-phase bridge...18

4.2 Power section –Overcurrent detection (OCP) and current sensing

measurement...............................................................................................19

4.3 Analog section –Hall/Encoder motor speed sensor........................21

4.4 Analog section –BEMF detection circuit.........................................21

4.5 Analog section –Bus voltage and temperature sensing circuit.......21

5BOM (bill of material) .....................................................................23

6Revision history..............................................................................27

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1 System introduction

1.1 Main characteristics

The list below provides the board specification data and the main parameters for the X-

NUCLEO-IHM07M1 expansion board:

Three-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 ARMS)

Operating frequency up to 100 kHz

Non dissipative overcurrent detection and protection

Cross-conduction protection

Thermal measuring and overheating protection

Full compatibility with ST Six Step or ST FOC control algorithms

Full support for sensor and sensorless 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

RoHS compliant

PCB type and size:

PCB material: FR-4

4-layer layout

Copper thickness: 70 μm (external layer), 35 μm (internal layer)

Total dimensions of the board: 70 mm x 66 mm

1.2 Target applications

Low voltage PMSM motor driver

Low power fans

Power tools

Industrial drives

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2 Getting started

2.1 System architecture

A generic motor control system can be schematized in three main blocks (see Figure 2:

"Overall system architecture"):

Control block - its main task is to accept user commands and drive a motor. The X-

NUCLEO-IHM07M1 is based on the STM32 Nucleo board, which provides all digital

signals to properly implement motor driver control.

Power block - it is based on three-phase inverter topology. The core of the power

block is the L6230 driver, which contains all the necessary active power and analog

components to perform low voltage PMSM motor control.

Motor - the X-NUCLEO-IHM07M1 is able to properly drive a low voltage BLDC/PMSM

motor.

Figure 2: Overall system architecture

2.2 Building the system

The X-NUCLEO-IHM07M1 expansion board is a complete hardware development platform

(Power block) for the STM32 Nucleo board, for evaluating a motor control solution for a

single BLDC/PMSM motor. For normal board operation, it must be connected to an STM32

Nucleo board (Control block) through the ST morpho connector, as shown in the image

below.

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Figure 3: X-NUCLEO-IHM07M1 plugged on STM32 Nucleo

The interconnection between the STM32 Nucleo and the X-NUCLEO-IHM07M1 has been

designed for full-compatibility with many STM32 Nucleo boards and no solder bridge

modification is required. When stacked, the system is ready to operate with the connection

of a BLDC/PMSM motor. For proper use, please respect the hardware and software

settings. For the software details, refer to the X-CUBE-SPN7 software expansion

documents available on www.st.com.

2.2.1 Hardware settings

Table 1: Jumper settings

Jumper

Permitted configurations

Default

condition

JP1

Selection for pull-up insertion (BIAS) in current sensing circuit

OPEN

JP2

Selection for op amp gain modification in current sensing circuit

OPEN

JP3

Selection for pull-up enabling in Hall/Encoder detection circuit

CLOSED

Selection to supply the STM32 Nucleo board through the X-NUCLEO-

IHM07M(1)

OPEN

Selection for single/three shunt configuration. Set to single shunt by

default

2-3 CLOSED

Selection for single/three shunt configuration. Set to single shunt by

default

2-3 CLOSED

Debug connector for DAC. Available for probe connection

OPEN

Notes:

(1)It is recommended to REMOVE jumper J9 before power-on on J1

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With J9 closed, it is mandatory not to exceed 12 V DC on the J1 connector to avoid

damage to the STM32 Nucleo board.

Jumper JP5 (STM32 Nucleo board) MUST be connected between pin 2 and 3 to enable

the STM32 Nucleo external power supply.

Table 2: Screw terminal table

Screw terminal

Function

Motor power supply input (8 V- 48 V DC)

3-phase motor connector

Figure 4: X-NUCLEO-IHM07M1 –top layer with silk-screen

The X-NUCLEO-IHM07M1 expansion board is equipped with the ST morpho connector,

male pin headers (CN7 and CN10) accessible on both sides of the board. They can be

used to connect the power board to the STM32 Nucleo board. All signals and power pins of

the MCU are available on the ST morpho connector. For further details, please refer to user

manual UM1724 (5.12 STMicroelectronics morpho connector) available on www.st.com.

Table 3: ST morpho connector table

Connector

Default

Signal

Solder bridge

CN7

PC10

Enable_CH1-L6230

R58

PC11

Enable_CH2-L6230

R67

PC12

Enable_CH3-L6230

R72

PD2

VDD

E5V

BOOT0

GND

NC/PF6

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Connector

Default

Signal

Solder bridge

NC/PF7

IOREF

PA13

RESET

PA14

+3V3

PA15

Encoder A/Hall H1

R79

+5V

Encoder/Hall PS voltage

GND

PB7

GND

PC13

Blue button

VIN

PC14

PC15

PA0

Curr_fdbk_PhA

R47

PH0/PF0/PD0

PA1

VBUS_sensing

R51

PH1/PF1/PD1

PA4

DAC_Ch

R76 N.M.

VLCD/VBAT

PB0

BEMF2_sensing

R60

PC2

Temperature feedback

R54

PC1 or PB9(1)

Curr_fdbk_PhB

R48

PC3

BEMF1_sensing

R59

PC0 or PB8(2)

Curr_fdbk_PhC

R50

CN10

PC9

PC8

PB8

PC6

PB9

PC5

AVDD

U5V(3)

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Connector

Default

Signal

Solder bridge

GND

PA5(4)

GPIO/DAC/PWM

R80

PA12

CPOUT

R52

PA6(5)

DIAG/ENABLE/BKIN1

R53

PA11

DIAG/ENABLE/BKIN2

R46

PA7(6)

BEMF3_sensing

R63

PB12

PB6

PB11/NC

PC7

GND

PA9

VH_PWM

R64

PB2

LED RED

R83

PA8

UH_PWM

R56

PB1

POTENTIOMETER

R78

PB10

Encoder Z/Hall H3

R84

PB15(7)

BEMF3_sensing

R66

PB4

CURRENT REF

R77

PB14(8)

DIAG/ENABLE/BKIN1

R49

PB5

GPIO/DAC/PWM

R85

PB13(9)

GPIO/DAC/PWM

R82

PB3

Encoder B/Hall H2

R81

AGND

PA10

WH_PWM

R70

PC4

PA2

NC/PF5

PA3

NC/PF4

Notes:

(1)Please refer to Table 9: Solder bridges in user manual UM1724 for further details

(2)Please refer to Table 9: Solder bridges in user manual UM1724 for further details

(3)U5V is 5 V power from ST-LINK/V2-1 USB connector and it rises before +5 V

(4)For STM32F302-Nucleo only:

- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11

- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13

- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

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(5)For STM32F302-Nucleo only:

- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11

- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13

- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

(6)For STM32F302-Nucleo only:

- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11

- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13

- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

(7)For STM32F302-Nucleo only:

- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11

- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13

- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

(8)For STM32F302-Nucleo only:

- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11

- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13

- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

(9)For STM32F302-Nucleo only:

- pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11

- pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13

- pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13

Board schematic

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3 Board schematic

Figure 5: X-NUCLEO-IHM07M1 schematic (1 of 8)

Vshunt_3_GND

Vshunt_2_GND

Vshunt_1_GND

Externaloperational-amplifier

Overall AV=1.53

3V3

Vshunt_1

Curr_fdbk1

Curr_fdbk2

CP+

Vshunt_2

Curr_fdbk3

Vshunt_3

N.M. 100pF/6.3V

JP1

FOC

R11

2.2k

N.M. 100pF/6.3V

R13

680

100nF10V

2.2k

+U10C

TSV994IPT

+U10D

TSV994IPT

13 14

R10 2.2k

680pF 10V

0 3R

R15

2.2k

680pF 10V

R5 2.2k

2.2k

R14

R2680

R12

2.2k

680pF 10V

+U10B

TSV994IPT

+U10A

TSV994IPT

680

R16

2.2k

N.M. 100pF/6.3V

JP2 FOC

4.7uF 10V

GSPG03092015DI0955

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