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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