ST UM2082 Manuale utente

July 2016

DocID029504 Rev 1

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www.st.com

UM2082

User manual

Getting started with X-NUCLEO-IHM06A1 low voltage stepper motor

driver expansion board based on STSPIN220 for STM32 Nucleo

Introduction

The X-NUCLEO-IHM06A1 is a low voltage stepper motor driver expansion board based on the

STSPIN220 monolithic low voltage driver for low voltage stepper motors. It represents an affordable,

easy-to-use solution for driving low voltage stepper motors in your STM32 Nucleo project, implementing

portable motor driving applications such as thermal printers, robotics and toys.

It includes a stepper driver able to operate in low voltage (battery) scenarios, allowing zero consumption

states. The device implements current control with fixed OFF time and a maximum 1/256 microstep

resolution.

The X-NUCLEO-IHM06A1 is compatible with the Arduino UNO R3 connector and supports the addition

of other STM32 expansion boards with a single STM32 Nucleo board. You can also mount the ST

morpho connector.

Figure 1: X-NUCLEO-IHM06A1 low voltage stepper motor expansion board based on STSPIN220

Contents

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Contents

1X-NUCLEO-IHM06A1 board overview ............................................5

2Getting started.................................................................................6

2.1 Hardware and software requirements...............................................6

2.2 Using the X-NUCLEO-IHM06A1 expansion board with the STM32

Nucleo board..................................................................................................6

2.3 Using the X-NUCLEO-IHM06A1 expansion board alone ..................6

2.3.1 Hardware connections and equipment............................................... 7

2.3.2 Operating mode.................................................................................. 7

3Hardware description and configuration.......................................8

3.1 Selecting direction and step clock lines...........................................10

4Bill of materials..............................................................................11

5Revision history ............................................................................13

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List of tables

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List of tables

Table 1: Arduino UNO R3 connector table.................................................................................................9

Table 2: ST morpho connector table ..........................................................................................................9

Table 3: J1 connector, switches and test point descriptions ....................................................................10

Table 4: Direction selection ......................................................................................................................10

Table 5: Step clock selection....................................................................................................................10

Table 6: Bill of materials............................................................................................................................11

Table 7: Document revision history ..........................................................................................................13

List of figures

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List of figures

Figure 1: X-NUCLEO-IHM06A1 low voltage stepper motor expansion board based on STSPIN220 .......1

Figure 2: Switch and connector positions...................................................................................................8

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X-NUCLEO-IHM06A1 board overview

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1 X-NUCLEO-IHM06A1 board overview

The X-NUCLEO-IHM06A1 expansion board for STM32 Nucleo is a low voltage stepper

motor driver covering a wide range of applications.

The key features are:

Low voltage range: 1.8 to 10 V

Microstep adjustment up to the 256th step

Phase current: up to 1.3 ARMS

Current control with adjustable off-time

Full protection overcurrent and short circuit protection

Thermal shutdown

Compatible with Arduino UNO R3 connector

Compatible with STM32 Nucleo boards

RoHS compliant

Getting started

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2 Getting started

2.1 Hardware and software requirements

Using STM32 Nucleo boards with the X-NUCLEO-IHM06A1 expansion board requires the

following software and hardware:

1 x Windows PC (XP, Vista 7 ,Win 8, Win 10 ) to install the software package

1 x Low voltage stepper motor driver expansion board (X-NUCLEO-IHM06A1)

1 x STM32 Nucleo development board (NUCLEO-F401RE or NUCLEO-F334R8 or

NUCLEO-F030R8 or NUCLEO-L053R8)

1 x USB type A to mini-B USB cable to connect the STM32 Nucleo board to the PC

X-CUBE-SPN6 software package (available on www.st.com)

1 x IDE among:

IAR Embedded Workbench for ARM (EWARM)

Keil microcontroller development kit (MDK-ARM)

system workbench for STM32 Nucleo project

1 x stepper motor with compatible voltage and current ratings for the STSPIN220

driver

1 x external power supply or external battery suitable for the stepper motor used.

2.2 Using the X-NUCLEO-IHM06A1 expansion board with the

STM32 Nucleo board

The X-NUCLEO-IHM06A1 board is compatible with following STM32 Nucleo development

boards:

NUCLEO-F401RE

NUCLEO-F334R8

NUCLEO-F030R8

NUCLEO-L053R8

To start your project:

1. Check the jumper position based on your configuration (see Section 5: "Hardware

description and configuration").

2. Connect the X-NUCLEO-IHM06A1 with the STM32 Nucleo board through Arduino

UNO R3 Connectors (CN5, CN6, CN8, CN9).

3. Supply the board through the input 5 (Vin) and 6 (ground) of the J1 connector. The D5

(red) LED turns on.

4. Develop your application using the sample applications bundled with the X-CUBE-

SPN6 software package.

Further STSPIN220 and STM32 Nucleo support material is available on www.st.com.

2.3 Using the X-NUCLEO-IHM06A1 expansion board alone

The X-NUCLEO-IHM06A1 expansion board is able to drive a low voltage stepper motor

without an STM32 Nucleo board.

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2.3.1 Hardware connections and equipment

A suitable external power supply or external battery for the stepper motor used,

connected between J1 connector pin 5 (Vin) and pin6 (ground)

A secondary supply from one of the following sources:

An external power supply providing 3.3 V (recommended), connected between

TP3 (+VDD) and TP1 (ground).

If a secondary power supply is not available, you can connect the VDD net to the

Vin supply voltage by adding the R2 resistor (not mounted by default); in this

configuration, Vin must be lower than 5 V.

In both cases, the R4 resistor must be replaced with a 10 kΩ resistor

(recommended value) for a VDD below 2.5 V.

A waveform generator providing the signal step clock, connected between TP4 (CLK

test point) and TP1 (GND); refer to the STSPIN220 datasheet for amplitude and

frequency limits

Stepper motor connect to J1 motor phase connector (A+, A-, B+, B-).

2.3.2 Operating mode

You can adjust the following parameters:

Step mode: set the desired step mode via the S1, S2, S3 and S4 switches (refer to

the step mode selection table in the STSPIN220 datasheet)

Motor torque (according motor requirements): using the R35 trimmer, you can set the

voltage value at REF input of STSPIN220 (the maximum value is 0.5 V with VDD =

3.3 V).

Motor speed: you can change this parameter through the step clock signal frequency.

Hardware description and configuration

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3 Hardware description and configuration

The PCB silkscreen image below shows the position of the connectors and the

configuration switches of the board.

Figure 2: Switch and connector positions

The following table provides the detailed pinout of the Arduino UNO R3 and ST morpho

connectors.

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Hardware description and configuration

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Table 1: Arduino UNO R3 connector table

Connector

Pin(1)

Signal

Remarks

CN5

RESET

REF

MODE 2

Ground

CN9

ENABLE

PWM1

See Section 5.1: "Selecting direction and step clock lines"

DIR 2

See Section 5.1: "Selecting direction and step clock lines"

MODE 1

PWM2

See Section 5.1: "Selecting direction and step clock lines"

DIR 1

See Section 5.1: "Selecting direction and step clock lines"

CN6

VDD

Ground

Notes:

(1)unlisted pins are not connected

Table 2: ST morpho connector table

Connector

Pin(1)

Signal

Remarks

CN10

Ground

MODE 2

REF

RESET

DIR 1

See Section 5.1: "Selecting direction and step clock lines"

PWM2

See Section 5.1: "Selecting direction and step clock lines"

MODE 1

DIR 2

See Section 5.1: "Selecting direction and step clock lines"

PWM1

See Section 5.1: "Selecting direction and step clock lines"

ENABLE

CN7

VDD

Ground

Notes:

(1)unlisted pins are not connected

Hardware description and configuration

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Table 3: J1 connector, switches and test point descriptions

Name

Label

Description

5 - 6

Vin - GND

Motor power supply

1 - 4

A+, A-, B+, B-

Motor phases connection

S1, S2, S3, S4

MODE1, 2, 3, 4

Step mode selection (stand-alone operation)

TP1

GND

Ground

TP2

VIN

Motor power supply

TP3

VDD

Digital power supply (by default 3.3 V coming

from STM32 Nucleo board)

TP4

CLK

Step clock line

3.1 Selecting direction and step clock lines

The direction and the step clock lines of STSPIN220 can be selected through dedicated

resistors indicated in the following tables.

Table 4: Direction selection

Signal

R19

R20

Connector

Remarks

DIR1

330 Ω

Not mounted

CN9 pin8

Default

DIR2

Not mounted

330 Ω

CN9 pin5

Table 5: Step clock selection

Signal

R17

R18

Connector

Remarks

PWM1

330 Ω

Not mounted

CN9 pin4

Default

PWM2

Not mounted

330 Ω

CN9 pin6

Ensure that these signals are used by all the stacked X-NUCLEO-IHM06A1

boards

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