ST STM32 Nucleo User manual

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.

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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

Type of connector:

• A for ARDUINO®

• M for ST morpho

• Z for ST Zio

M for ST morpho

Z Index: sequential number IHM16M1

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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

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Codification

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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

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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)

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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.

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Configure and run the motor control from the STM32 Nucleo motor-control pack

UM2538 - Rev 2 page 8/25

2. Connect the three motor wires U,V,W to the CN1 connector as shown in Figure 4.

Figure 4. Motor connection with X-NUCLEO-IHM16M1

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Configure and run the motor control from the STM32 Nucleo motor-control pack

UM2538 - Rev 2 page 9/25

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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