User manual Getting started with the X-NUCLEO-IHM4A stepper motor driver expansion board based on STSPIN80 for STM Nucleo Introduction The X-NUCLEO-IHM4A motor driver expansion board is based on the STSPIN80 monolithic driver for stepper motors. It represents an affordable, easy-to-use solution for driving stepper motors in your STM Nucleo project, implementing motor driving applications such as D/D printers, robotics and security cameras. The STSPIN80 implements a PWM current control with constant OFF time adjustable via an external resistor and a microstepping resolution up to the 56 th step. The X-NUCLEO-IHM4A expansion board is compatible with the Arduino UNO R connector and the ST morpho connector, so it can be plugged to the STM Nucleo development board and stacked with additional X-NUCLEO expansion boards. Figure : X-NUCLEO-IHM4A expansion board October 07 DocID0 Rev /6 www.st.com
Contents Contents Getting started... 5. Board overview... 5. Hardware and software requirements... 5. Board setup... 5.. Using the X-NUCLEO-IHM4A expansion board with an STM Nucleo 5.. Using the X-NUCLEO-IHM4A expansion board alone... 6 Hardware description and configuration... 9. X-NUCLEO-IHM4A expansion board switches, connectors and pins 9. Selecting the STSPIN80 direction and step clock lines... Schematic diagram... 4 Bill of materials... 5 Revision history... 5 /6 DocID0 Rev
List of tables List of tables Table : S, S, S step mode switches... 7 Table : S4 step mode switches... 8 Table : Arduino UNO R connector description... 9 Table 4: ST morpho connector description... 0 Table 5: CN connector, switches and test point description... Table 6: Direction selection... Table 7: Step clock selection... Table 8: X-NUCLEO-IHM4A expansion board bill of materials... Table 9: Document revision history... 5 DocID0 Rev /6
List of figures List of figures Figure : X-NUCLEO-IHM4A expansion board... Figure : X-NUCLEO-IHM4A expansion board: switches and connectors... 9 Figure : X-NUCLEO-IHM4A circuit schematic... 4/6 DocID0 Rev
Getting started Getting started. Board overview The X-NUCLEO-IHM4A expansion board for STM Nucleo is a stepper motor driver covering a wide range of applications. The key features are: Operating voltage: 7 to 45 V Output current up to.5 Arms Fine tuning microstepping up to the 56 th step Current control with adjustable OFF time Full protection set: Overcurrent protection Short-circuit protection Under voltage lock out Thermal shutdown Compatible with Arduino UNO R connector Compatible with STM Nucleo boards RoHS compliant. Hardware and software requirements To use the STM Nucleo development boards with the X-NUCLEO-IHM4A expansion board, the following software and hardware specifications are required:. Board setup a PC with Microsoft Windows (XP, Vista, 7, 8 and 0) to install the software package (X-CUBE-SPN4) an STM Nucleo development board a type A to Mini-B USB cable to connect the STM Nucleo board to the PC the X-CUBE-SPN4 software package (available on www.st.com) an IDE among: IAR Embedded Workbench for ARM (EWARM) Keil microcontroller development kit (MDK-ARM) System Workbench for STM (SW4STM) a stepper motor with compatible and current ratings for the STSPIN80 driver an external power supply or external battery suitable for the stepper motor used.. Using the X-NUCLEO-IHM4A expansion board with an STM Nucleo When used with an STM Nucleo board, to set up the X-NUCLEO-IHM4A expansion board: Check the jumper position on the basis of your configuration (refer to Section.: "X-NUCLEO-IHM4A expansion board switches, connectors and pins" ) Connect the X-NUCLEO-IHM4A to the STM Nucleo board via the Arduino UNO R connectors (CN5, CN6, CN8 and CN9). Power the board through the CN connector inputs 5 (VS) and 6 (GND). DocID0 Rev 5/6
Getting started The D5 (red) LED turns on. 4 Develop your project using the sample applications bundled with the X-CUBE- SPN4 software package. a.. Using the X-NUCLEO-IHM4A expansion board alone The X-NUCLEO-IHM4A expansion board is able to drive a stepper motor without an STM Nucleo board. The following equipment is required:... Operating mode a suitable external power supply (or battery) for the stepper motor used, connected between CN connector pins 5 (VS) and 6 (GND) a secondary power supply providing. V (recommended) or 5 V, connected between TP (VDD) and TP6 or TP8 (GND) a waveform generator providing the signal step clock, connected between CN9 (CLK line) connector pin 4 and TP6 or TP8 (GND) b a stepper motor connected to the motor phase CN connector (A+, A-, B+, B-) You can adjust the following application parameters: Step mode: to set the desired step mode through the position of S, S and S switches as listed in Table : "S, S, S step mode switches" c Decay mode and OFF time: to set the decay mode current recirculation through the position of switch S4 Table : "S4 step mode switches" and the OFF time changing the R9 resistor value d Motor torque (according to the motor requirements): to set the voltage value at the STSPIN80 REF input using the R7 trimmer (the maximum value is 0.5 V with VDD =. V). Motor speed: to be adjusted through the step clock signal frequency a Further details on the STSPIN80 and other STM Nucleo support material are available on www.st.com. b Refer to the STSPIN80 datasheet for amplitude and frequency limits. c Refer to the step mode selection table in the STSPIN80 datasheet. d Refer to the PWM current control section in the STSPIN80 datasheet. 6/6 DocID0 Rev
Table : S, S, S step mode switches Getting started S - MODE S - MODE S - MODE Step mode Full step ½ step ¼ step /8 th step /6 th step / nd step /8 th step /56 th step DocID0 Rev 7/6
Getting started S4 Table : S4 step mode switches Decay mode Mixed decay Slow decay 8/6 DocID0 Rev
Hardware description and configuration Hardware description and configuration. X-NUCLEO-IHM4A expansion board switches, connectors and pins Figure : X-NUCLEO-IHM4A expansion board: switches and connectors CN7 & CN0 ST Morpho connectors CN5 & CN6 Arduino UNO R connectors S-S-S Step mode selection S4 decay mode selection TP7 VDD test point R7 Motor max. torque adj TP VREF test point U STSPIN80 stepper driver TP8 GND test point TP9 VS test point TP6 GND test point D5 Fault LED (red) R5-R8 STCK selection R7-R9 DIR selection TP-TP-TP4-TP5 Power outputs test points D-D-D-D4 Power outputs LED (yellow) CN Power connector CN Motor connector CN8 & CN9 Arduino UNO R connectors Table : Arduino UNO R connector description Connector Pin Signal STBY REF 4 MODE CN5 5 MODE 6 MODE 7 Ground EN_FAULT 4 () STCK 5 () DIR CN9 6 DECAY 7 () STCK 8 () DIR DocID0 Rev 9/6
Hardware description and configuration Connector Pin Signal VDD CN6 6 Ground 7 Ground Notes: () Refer to Section.: "Selecting the STSPIN80 direction and step clock lines" All the non-listed pins are not connected. Table 4: ST morpho connector description Connector Pin Signal 9 Ground MODE MODE 5 MODE 9 REF CN0 STBY () DIR 5 () STCK 7 DECAY 9 () DIR () STCK EN_FAULT VDD CN7 0 Ground Ground Notes: () Refer to Section.: "Selecting the STSPIN80 direction and step clock lines" All the non-listed pins are not connected. 0/6 DocID0 Rev
Hardware description and configuration Table 5: CN connector, switches and test point description Name Pin Label Description CN 5-6 VS - GND Motor power supply 4 B+, B-, A-, A+ Motor phases connection S, S, S - MODE,,, 4 Step mode selection (stand-alone operation) S4 - DECAY TP - VREF Reference voltage TP, TP, TP4, TP5 - OUT A+, A-, B+, B- TP6, TP8 GND Ground TP7 VDD Decay mode current recirculation (stand-alone operation) Power bridge outputs TP9 - VS Motor power supply Digital power supply (by default. V coming from the STM Nucleo board). Selecting the STSPIN80 direction and step clock lines The STSPIN80 direction and step clock lines can be selected via dedicated resistors as listed in the following tables. Table 6: Direction selection Signal R9 R7 Connector Remarks DIR 0 Ω Not mounted CN9 pin 8 Default DIR Not mounted 0 Ω CN9 pin 5 Table 7: Step clock selection Signal R5 R8 Connector Remarks STCK 0 Ω Not mounted CN9 pin 4 Default STCK Not mounted 0 Ω CN9 pin 7 DocID0 Rev /6
4 5 6 Schematic diagram Schematic diagram Figure : X-NUCLEO-IHM4A circuit schematic TP5 OUTB OUTB R 0k/0.5W B+ B- A- A+ Vs GND VS TP4 OUTB OUTB D YELLOW R 0k/0.5W TP OUTA OUTA OUTB OUTB OUTA OUTA TP OUTA OUTA Q 5 7 9 4 6 8 8 6 4 9 7 5 7 8 5 6 D4 YELLOW CN D YELLOW R8 0 D5 RED TP9 VS R0 0k/0.5W R9 0k/0.5W VS TP6 4 5 6 7 8 4 5 6 7 8 4 5 6 7 8 9 4 5 6 D YELLOW GND TP8 GND C: SMD footprint option µf/50 V C VS + µf/50 V VDD VDD EN_FAULT C: Through Hole footprint option C + VDD 0 n/50 V C R 9k R k TP 0 9 U VREF R 5k6 R5 k R4 NM 7 VS VS VREF EN_FAULT VREF C4 OUTA GND 0n Q OUTA REF_PWM OUTA Vref OUTA C5 R7 6 k R6 47k SENSEA STBY 0n SENSEA MODE SNSA 4 MODE OUTB MODE OUTB 9 OUTB STCK STBY OUTB 0 4 DIR MODE SENSEB 4 TOFF MODE SENSEB 8 DECAY MODE SNSB 5 GND EPAD STCK R R4 R5 R6 0.68/0.5W 0.68/0.5W 0.68/0.5W 0.68/0.5W 5 DIR STSPIN80 R7 TOFF 47k R8 DECAY 47k R9 k Roff VDD VDD VDD VDD VDD R0 S4 8k STBY C6 R4 0k S S S.... R 0k DECAY R 0k R 0k MODE MODE MODE MODE MODE MODE DECAY n CN7 CN9 VDD R5 0 EN_FAULT STCK EN CLK CN6 TP7 R6 0 R7 NM CN0.V DECAY DEC R8 NM DIR DIR R9 0 GND GND C7 0n STBY REF_PWM STBY REF MODE MODE MODE M M M GND 7 5 9 7 5 9 7 5 8 6 4 0 8 6 4 0 8 6 4 0 VDD CON-x8 CN5 CON-x8 CN8 0 4 6 8 0 4 6 8 0 4 6 8 5 7 9 5 7 9 5 7 CON-x9 0 CON-x0 CON-x9 CON-x6 /6 DocID0 Rev
Bill of materials 4 Bill of materials Table 8: X-NUCLEO-IHM4A expansion board bill of materials Item Q.ty Ref. Part/Value Description Manufacturer Order code CN CN7, CN0 CN6, CN9 4 CN5 5 CN8 MKDS/6-5.08 MORSV-508-6P CON-x9 STRIP54P-M- 9X CON-x8 STRIP54P-F-8 CON-x0 STRIP54P-F-0 CON-x6 STRIP54P-F-6 Capacitor Capacitors Phoenix Contact Samtec SSQ-9-04-L-D (Do not mount) Capacitors Samtec SSQ-08-04-F-S Capacitor Samtec SSQ-0-04-F-S Capacitor Samtec SSQ-06-04-F-S 6 C µf/50 V SMD Capacitor Wurth Elektronik 86508064500 7 C µf/50 V - DNM Capacitor 8 C 0 n/50 V 0805 Capacitor 9 C4 0 n 060 Capacitor 0 C5, C7 0 n 060 Capacitors C6 n 060 Capacitor 4 D, D, D, D4 805 Yellow LEDs Wurth Elektronik 50080YS75000 D5 805 Red LED Wurth Elektronik 50080RS75000 4 Q NX008PBKW NPX 5 Q NTA400N ONSemiconductors 6 R 5k6 060 Resistor 7 R k 060 Resistor 8 R 9 k 060 Resistor 9 R4 DNM Resistor 0 R5 k 060 Resistor R6, R7, R8 47 k 060 Resistors R7 k Resistor Bourns J R8 0, 060 Resistor 4 4 R9, R0, R, R 0 k/0.5 W 0805 Resistors DocID0 Rev /6
Bill of materials 5 4 R, R4, R5, R6 0.68/0.5 W 06 Resistors Yageo 6 R9 k 0805 Resistor 7 R0 8 k 060 Resistor 8 4 9 0 R, R, R, R4 R5, R6, R9 R7, R8 0 k 060 Resistors 0 0805 Resistors DNM Resistors S MODE Switch Wurth Elektronik S MODE Switch Wurth Elektronik S MODE Switch Wurth Elektronik 4 S4 DECAY Switch Wurth Elektronik RL06FR- 7W0R68L 5 TP VREF SMD Test point Harwin S75 Series 6 TP OUTA SMD Test point Harwin S75 Series 7 TP OUTA SMD Test point Harwin S75 Series 8 TP4 OUTB SMD Test point Harwin S75 Series 9 TP5 OUTB SMD Test point Harwin S75 Series 40 TP6, TP8 GND SMD Test points Harwin S75 Series 4 TP7 VDD SMD Test point Harwin S75 Series 4 U STSPIN80 ST 4/6 DocID0 Rev
Revision history 5 Revision history Table 9: Document revision history Date Version Changes 7-Oct-07 Initial release. DocID0 Rev 5/6
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