ST STM32 Nucleo Manuale utente
Introduction
The P-NUCLEO-IHM03 pack is a motor-control kit based on the X-NUCLEO-IHM16M1 and NUCLEO-G431RB boards. Used
with the STM32 Nucleo board through the ST morpho connector, the power board (based on the STSPIN830 driver of the
STPIN family) provides a motor-control solution for three-phase, low-voltage, PMSM motors. This is shown in Figure 1 with the
power supply that is also provided.
The STSPIN830 device on the power board is a compact and versatile FOC-ready driver for a three-phase motor. It supports
both single-shunt and three-shunt architectures, and embeds a PWM current controller with user-settable values of reference
voltage and off time. With a dedicated mode input pin, the device offers the freedom to decide whether to drive it through six
inputs (one for each power switch), or the more common three PWM directly driven inputs. In addition, it integrates both the
control logic and a fully protected low-RDS(on), triple-half-bridge power stage. The NUCLEO-G431RB control board provides an
affordable and flexible way for users to try out new concepts and build prototypes with the STM32G4 microcontroller. It does not
require any separate probe, as it integrates the STLINK-V3E debugger and programmer.
This motor-control evaluation kit is fully configurable to support closed-loop control (FOC only). It can be used in either a speed-
sensor mode (Hall or encoder), or in a speed-sensorless mode. It is compatible with both single-shunt and three-shunt current-
sense topologies.
Figure 1. P-NUCLEO-IHM03 pack
Picture is not contractual.
STM32 motor-control pack using the FOC algorithm for three-phase, low-voltage,
and low‑current motor evaluation
UM2538
User manual
UM2538 - Rev 2 - June 2023
For further information contact your local STMicroelectronics sales office. www.st.com
1 Features
•X-NUCLEO-IHM16M1
– Three-phase driver board for BLDC/PMSM motors based on STSPIN830
– Nominal operating voltage range from 7 V dc to 45 V dc
– Output current up to 1.5 A rms
– Overcurrent, short-circuit, and interlocking protections
– Thermal shutdown and under-voltage lockout
– BEMF sensing circuitry
– Support of 3-shunt or 1-shunt motor current sensing
– Hall-effect-based sensors or encoder input connector
– Potentiometer available for speed regulation
– Equipped with ST morpho connectors
•NUCLEO-G431RB
–STM32G431RB 32-bit microcontroller based on the Arm® Cortex®-M4 core at 170 MHz in an
LQFP64 package with 128 Kbytes of flash memory and 32 Kbytes of SRAM
– Two types of extension resources:
◦ARDUINO® Uno V3 expansion connector
◦ ST morpho extension pin headers for full access to all STM32 I/Os
– On-board STLINK-V3E debugger/programmer with USB re-enumeration capability: mass storage,
Virtual COM port, and debug port
– 1 user and 1 reset push-buttons
• Three-phase motor:
– Gimbal motor: GBM2804H-100T
– Maximum DC voltage: 14.8 V
– Maximum rotational speed: 2180 rpm
– Maximum torque: 0.981 N·m
– Maximum DC current: 5 A
– Number of pole pairs: 7
• DC power supply:
– Nominal output voltage: 12 V dc
– Maximum output current: 2 A
– Input voltage range: from 100 V ac to 240 V ac
– Frequency range: from 50 Hz to 60 Hz
STM32 32-bit microcontrollers are based on the Arm® Cortex®-M processor.
Note: Arm is a registered trademark of Arm Limited (or its subsidiaries) in the US and/or elsewhere.
UM2538
Features
UM2538 - Rev 2 page 2/25
2 Ordering information
To order the P-NUCLEO-IHM03 Nucleo pack, refer to Table 1. Additional information is available from the
datasheet and reference manual of the target STM32.
Table 1. List of available products
Order code Board Board reference Target STM32
P-NUCLEO-IHM03 •X-NUCLEO-IHM16M1
•NUCLEO-G431RB
• No board reference(1)
• MB1367(2) STM32G431RBT6
1. Power board
2. Control board
2.1 Codification
The meaning of the codification of the Nucleo board is explained in Table 4.
Table 2. Nucleo pack codification explanation
P-NUCLEO-XXXYY Description Example: P-NUCLEO-IHM03
P-NUCLEO
Product type:
• P: Pack composed of one Nucleo
board and one expansion board
(called a power board in this
pack), maintained and supported
by STMicroelectronics
P-NUCLEO
XXX
Application: code defining the
application type of specialized
components
IHM for industrial, home appliance,
motor control
YY Index: sequential number 03
Table 3. Power board codification explanation
X-NUCLEO-XXXYYTZ Description Example: X-NUCLEO-IHM16M1
X-NUCLEO
Product type:
• X: expansion board, distributed on
ST website, maintained and
supported by STMicroelectronics
X-NUCLEO
XXX
Application: code defining the
application type of specialized
components
IHM for industrial, home appliance,
motor control
YY Index: sequential number 16
T
Type of connector:
• A for ARDUINO®
• M for ST morpho
• Z for ST Zio
M for ST morpho
Z Index: sequential number IHM16M1
UM2538
Ordering information
UM2538 - Rev 2 page 3/25
Table 4. Nucleo board codification explanation
NUCLEO-XXYYZT Description Example: NUCLEO-G431RB
XX MCU series in STM32 32-bit Arm Cortex MCUs STM32G4 series
YY MCU product line in the series STM32G431xx MCUs belong to the STM32G4x1
product line
ZSTM32 package pin count:
• R for 64 pins 64 pins
TSTM32 flash memory size:
• B for 128 Kbytes 128 Kbytes
UM2538
Codification
UM2538 - Rev 2 page 4/25
3 Development environment
3.1 System requirements
•Multi‑OS support: Windows® 10, Linux® 64-bit, or macOS®
• USB Type-A or USB Type-C® to Micro-B cable
Note: macOS® is a trademark of Apple Inc., registered in the U.S. and other countries and regions.
Linux® is a registered trademark of Linus Torvalds.
Windows is a trademark of the Microsoft group of companies.
3.2 Development toolchains
•IAR Systems® - IAR Embedded Workbench®(1)
•Keil® - MDK-ARM(1)
• STMicroelectronics - STM32CubeIDE
1. On Windows® only.
3.3 Demonstration software
The demonstration software, included in the X-CUBE-MCSDK STM32Cube Expansion Package, is preloaded in
the STM32 flash memory for easy demonstration of the device peripherals in standalone mode. The latest
versions of the demonstration source code and associated documentation can be downloaded from www.st.com.
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Development environment
UM2538 - Rev 2 page 5/25
4 Conventions
Table 5 provides the conventions used for the ON and OFF settings in the present document.
Table 5. ON/OFF conventions
Convention Definition
Jumper ON Jumper fitted
Jumper OFF Jumper not fitted
Jumper [1-2] Jumper fitted between pin 1 and pin 2
Solder bridge ON Connections closed by 0 Ω resistor
Solder bridge OFF Connections left open
UM2538
Conventions
UM2538 - Rev 2 page 6/25
5 Getting started (basic user)
5.1 System architecture
The P-NUCLEO-IHM03 kit is based on the usual four-block architecture for a motor-control system:
•Control block: it interfaces the user commands and configuration parameters to drive a motor. The P-
NUCLEO-IHM03 kit is based on the NUCLEO-G431RB control board that provides all the needed signals
to perform the proper motor-driving control algorithm (for instance FOC).
•Power block: the P-NUCLEO-IHM03 power board is based on a three-phase inverter topology. Its core on
board is the STSPIN830 driver that embeds all the necessary active power and analog components to
perform a low-voltage PMSM motor control.
•PMSM motor: low-voltage, three-phase, brushless DC motor.
•DC power supply unit: it provides the power for the other blocks (12 V, 2 A).
Figure 2. Four-block architecture of the P-NUCLEO-IHM03 pack
DT61956V1
Control Power PMSM
Power supply unit
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Getting started (basic user)
UM2538 - Rev 2 page 7/25
5.2 Configure and run the motor control from the STM32 Nucleo motor-control
pack
The P-NUCLEO-IHM03 Nucleo pack is a complete hardware development platform for the STM32 Nucleo
ecosystem to evaluate a motor-control solution with a single motor.
For operating the standard pack, follow these hardware configuration steps:
1. The X-NUCLEO-IHM16M1 must be stacked on the NUCLEO-G431RB board through the CN7 and CN10 ST
morpho connectors. There is only one position allowed for this connection. In particular, the two buttons on
the NUCLEO-G431RB board (blue user button B1 and black reset button B2) must be kept uncovered, as
shown in Figure 3.
Figure 3. X-NUCLEO-IHM16M1 and NUCLEO-G431RB assembled
The interconnection between the X-NUCLEO-IHM16M1 and the NUCLEO-G431RB board is designed for full
compatibility with many control boards. No modification of solder bridges is required for the use of the FOC
algorithm.
UM2538
Configure and run the motor control from the STM32 Nucleo motor-control pack
UM2538 - Rev 2 page 8/25
3. Select the jumper configuration on the power board to choose the desired control algorithm (FOC) as
described below:
a. On the NUCLEO-G431RB board, check the jumper settings: JP5 on position [1-2] for 5V_STLK source,
JP8 (VREF) on position [1-2], JP6 (IDD) ON.(1)
b. On the X-NUCLEO-IHM16M1 board(2):
◦ Check the jumper settings: J5 ON, J6 ON
◦ For FOC control, set the jumper settings as: JP4 and JP7 solder bridges OFF, J2 ON on position
[2-3], J3 ON on position [1-2]
4. Connect the DC power supply (use the power supply provided with the pack or an equivalent one) to the
CN1 or J4 connector and power on (up to 12 V dc for the gimbal motor included in the P-NUCLEO-IHM03
pack), as shown in Figure 5.
Figure 5. Power-supply connection for X-NUCLEO-IHM16M1
5. Press the blue user button on NUCLEO-G431RB (B1) to start spinning the motor.
UM2538
Configure and run the motor control from the STM32 Nucleo motor-control pack
UM2538 - Rev 2 page 10/25
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