ST X-NUCLEO-IHM09M2 Bedienungsanleitung
Introduction
The X-NUCLEO-IHM09M2 is a motor control connector expansion board for STM32 Nucleo. It provides an easy way to evaluate
motor control solutions for three-phase motors by connecting the STM32 Nucleo development board to an external ST motor
control power board, thanks to the ST morpho and motor control connector.
The 34-pin motor control connector is compatible with all major ST motor control power boards, which requires an external
digital section (MCU) to drive a three-phase motor.
The DAC connector supports the user code development and testing with easy access to the MCU peripherals.
An LED is available for fault condition signaling or status indication.
The X-NUCLEO-IHM09M2 is fully compatible with the ST six-step and field-oriented control (FOC) firmware library.
Figure 1. X-NUCLEO-IHM09M2 motor control connector expansion board
Getting started with the X-NUCLEO-IHM09M2 motor control connector expansion
board for STM32 Nucleo
UM3030
User manual
UM3030 - Rev 1 - July 2022
For further information contact your local STMicroelectronics sales office. www.st.com
1System overview
1.1 Main characteristics
The X-NUCLEO-IHM09M2 expansion board is designed for three-phase motor driver applications. It features:
•ST motor control connector (34 pins) compatible with ST motor control power boards
•STM32 Nucleo compatibility, thanks to ST morpho connectors
• Compatible with the ST six-step and FOC motor control firmware library
• Debug connector for DAC, GPIOs, etc.
• Fully populated board with test points
• LED for fault signaling or status indication
• Potentiometer available (for speed reference)
• PCB type and size:
– PCB material - FR-4
– layout - double layer
– copper thickness - 35 μm
– overall board dimensions - 70 mm x 70 mm
• RoHS compliant
UM3030
System overview
UM3030 - Rev 1 page 2/19
2Getting started
2.1 System architecture
A generic motor control system consists of the following major blocks:
1. Control block, which accepts the user commands and provides motor control signals to drive a motor.
The X-NUCLEO-IHM09M2 adapter connects an STM32 Nucleo development board to a power board that
requires an external digital section.
2. Power block, which is normally in a three-phase inverter topology. It contains all the necessary active power
and analog components to control a low voltage PMSM/BLDC motor.
3. Motor, which is a three-phase brushless motor.
Figure 2. System architecture
2.2 Building the system
The X-NUCLEO-IHM09M2 expansion board adapts the STM32 Nucleo development board to the ST motor
control power boards, which require an external digital section to control a three-phase PMSM/BLDC motor.
For the regular board operation, plug the expansion board onto the top of the development board (control block)
via the ST morpho connector, as shown below.
UM3030
Getting started
UM3030 - Rev 1 page 3/19
Figure 3. X-NUCLEO-IHM09M2 plugged onto the STM32 Nucleo
The interconnection between the two boards is fully compatible with a wide range of STM32 Nucleo development
boards. No solder bridge modification is required.
The stacked solution is ready to operate with a compatible power board via a standard 34-pin flat cable.
2.2.1 Hardware settings
Set the X-NUCLEO-IHM09M2 J1 jumper off.
Table 1. Jumper, connectors, and LED
Jumper/connector Description
J7 34-pin motor control connector
J1 DAC/GPIO output
CN7 ST morpho connector
CN6 Arduino UNO R3 connector
CN8 Arduino UNO R3 connector
CN10 ST morpho connector
CN5 Arduino UNO R3 connector
CN9 Arduino UNO R3 connector
D1 LED for fault or status indication
UM3030
Building the system
UM3030 - Rev 1 page 4/19
Figure 4. X-NUCLEO-IHM09M2 - top layer with silk-screen
The X-NUCLEO-IHM09M2 is equipped with ST morpho connectors. The male pin headers are CN7 and CN10.
These connectors are used to connect the expansion board to the STM32 Nucleo.
The MCU signals and power pins are available on the morpho connector. For further details, refer to UM1724,
section 5.12.
Table 2. ST morpho connector - CN7
Pin Default Signal Solder bridge
1 PC10 NTC bypass R17
2 PC11 Dissipative brake/OCP disable R19
3 PC12
4 PD2
5 VDD
6 E5V
7 BOOT0
8 GND
9 NC/PF6
UM3030
Building the system
UM3030 - Rev 1 page 5/19
Pin Default Signal Solder bridge
10 NC
11 NC/PF7
12 IOREF
13 PA13
14 RESET
15 PA14
16 +3V3
17 PA15 Encoder A/Hall H1 R27
18 +5V
19 GND
20 GND
21 PB7
22 GND
23 PC13
24 VIN
25 PC14
26 NC
27 PC15
28 PA0 Curr_fdbk_PhA R4
29 PH0/PF0/PD0
30 PA1 VBUS_sensing R5
31 PH1/PF1/PD1
32 PA4 DAC_Ch R18 (not mounted)
33 VLCD/VBAT
34 PB0 VL_PWM R15
35 PC2 Temperature feedback R10
36 PC1 or PB9 Curr_fdbk_PhB R9 (1)
37 PC3 Potentiometer R28
38 PC0 or PB8 Curr_fdbk_PhC R7 (1)
1. For further details, refer to UM1724, table 9.
Table 3. ST morpho connector - CN10
Pin Default Signal Solder bridge
1 PC9
2 PC8
3 PB8
4 PC6
5 PB9
6 PC5
7 AVDD
8U5V (1)
UM3030
Building the system
UM3030 - Rev 1 page 6/19
Pin Default Signal Solder bridge
9 GND
10 NC
11 PA5 (2) GPIO/DAC/PWM R21
12 PA12
13 PA6 (3) DIAG/ENABLE/BKIN1 R3
14 PA11 DIAG/ENABLE/BKIN2 R1
15 PA7 (4) UL_PWM R12
16 PB12
17 PB6
18 PB11/NC
19 PC7
20 GND
21 PA9 VH_PWM R8
22 PB2 Red LED R14
23 PA8 UH_PWM R6
24 PB1 WL_PWM R16
25 PB10 Encoder Z/Hall H3 R25
26 PB15 (4)
27 PB4 PWM/DEBUG R20
28 PB14 (3) DIAG/ENABLE/BKIN1 R2
29 PB5 GPIO/DAC/PWM R23
30 PB13 (2) GPIO/DAC/PWM R22
31 PB3 Encoder B/Hall H2 R24
32 AGND
33 PA10 WH_PWM R11
34 PC4
35 PA2
36 NC/PF5
37 PA3
38 NC/PF4
1. U5V is the 5 V power from the ST-LINK/V2-1 USB connector and it rises above +5 V.
2. For NUCLEO-F302R8 only: pin PA5 is on CN10/pin 30 and PB13 is on CN10/pin 11.
3. For NUCLEO-F302R8 only: pin PA6 is on CN10/pin 28 and PB14 is on CN10/pin 13.
4. For NUCLEO-F302R8 only: pin PA7 is on CN10/pin 26 and PB15 is on CN10/pin 13.
UM3030
Building the system
UM3030 - Rev 1 page 7/19
2.2.2 Pinout of the motor control connector
Figure 5. J7 motor control connector (top view)
1521 131 17 11 5919 32933 2325 71327
1622 232 18 12 61020 43034 2426 81428
The X-NUCLEO-IHM09M2 expansion board supports motor control via the J7 34-pin connector. This connector
provides all the required control and feedback signals to and from an ST motor power-drive board.
The available signals include the emergency stop, speed or position feedback, three-phase motor current, bus
voltage, and heatsink temperature.
Table 4. J7 pin assignments
Pin Default Function
1 PA6/PA11 DIAG/ENABLE/BKIN1
2 GND Dissipative brake/OCP disable
3 PA8 UH_PWM
4 GND
5 PA7/PB15 UL_PWM
6 GND
7 PA9 VH_PWM
8 GND
9 PB0 VL_PWM
10 GND
11 PA10 WH_PWM
12 GND
13 PB1 WL_PWM
14 PA1 VBUS_sensing
15 PA0 Curr_fdbk_PhA
16 Not connected
17 PC1 Curr_fdbk_PhB
18 Not connected
19 PC0 Curr_fdbk_PhC
20 Not connected
21 PC10 NTC bypass
22 Not connected
23 PC11 Dissipative brake/OCP disable
UM3030
Building the system
UM3030 - Rev 1 page 8/19
Pin Default Function
24 Not connected
25 E5V
26 PC2 Temperature feedback
27 Not connected
28 Not connected
29 Not connected
30 Not connected
31 PA15 Encoder A/Hall H1
32 Not connected
33 PB3 Encoder B/Hall H2
34 PB10 Encoder Z/Hall H3
2.2.3 DAC settings for debug
For debugging purposes, you can use the DAC peripheral and configure the motor control library to drive the
signal.
For instance, the PA4 pin is accessible through the ST morpho connector or J1 connector. This pin is usually
connected to DAC_CH1.
Different pins are available on the J1 connector, according to the STM32 Nucleo development board used.
2.2.4 User LED
The X-NUCLEO-IHM09M2 provides a programmable LED (D1) connected on the PB2 pin. It can be used to
signal motor status, faults, etc.
You have to configure this pin and drive it through the application code you have developed.
UM3030
Building the system
UM3030 - Rev 1 page 9/19
3MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2
The X-NUCLEO-IHM09M2 expansion board is compatible with the motor control (MC) FOC SDK, which is a
firmware library and workbench GUI.
No hardware modification is needed to run the motor through this control algorithm.
For the pin configuration, see Table 2 and Table 3.
You can connect the STM32 Nucleo to the MC workbench GUI through a virtual COM embedded in the STM32
Nucleo, which allows using the USART2 on PA2 and PA3 pins from the same USB type A to Mini-B USB cable
used to program the STM32 Nucleo.
For further information on the MC FOC SDK, see X-CUBE-MCSDK.
UM3030
MC FOC SDK: configuration guide for X-NUCLEO-IHM09M2
UM3030 - Rev 1 page 10/19
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