UM1857用户手册(DM00156746).pdf

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UM1857 User manual Stepper motor driver expansion board based on L6474 for STM32 Nucleo Introduction The X-NUCLEO-IHM01A1 is a stepper motor driving board based on the L6474. It provides an affordable and easy-to-use solution for driving stepper motors in your STM32 Nucleo project. The advanced current control of the L6474 and the complete set of protections guarantee high performance and robustness. The X-NUCLEO-IHM01A1 is compatible with the Arduino UNO R3 connector on the ST Morpho connector. More boards of the same type can be stacked easily to drive up to three stepper motors with a single STM32 Nucleo board. Figure 1: X-NUCLEO-IHM01A1 board March 2015 DocID027377 Rev 2 1/9 www.st.com

Contents Contents UM1857 Getting started ................................................................................ 3 Hardware description and configuration ...................................... 4 2.1 2.2 Selecting the chip select and clock lines of the SPI ......................... 6 Multi motor configuration .................................................................. 6 Revision history ............................................................................. 8 1 2 3 2/9 DocID027377 Rev 2

UM1857 Getting started 1 Getting started The X-NUCLEO-IHM01A1 expansion board is a stepper motor driver covering a wide range of applications. The maximum ratings are: Power stage supply voltage (VS) from 8 V to 45 V   Motor phase current up to 3 A rms To start your project with the board: 1. Check the jumper position in accordance with your configuration (see Section 2: "Hardware description and configuration" ). 2. Connect the board to the STM32 Nucleo board with the connector: a. Arduino UNO R3 for the X-NUCLEO-IHM01A1. b. ST Morpho for the X-NUCLEO-IHM01A. Up to three expansion boards can be stacked on the same STM32 Nucleo board, as described in Section 2.2: "Multi motor configuration". 1. Supply the board through input 1 (VS) and 2 (ground) of the connector CN1. 2. The power OK (green) and fault (red) LEDs turn on. 3. Develop your application using the examples provided with the firmware library. Further support material is available on the L6474 and STM32 Nucleo web pages (www.st.com/stm32nucleo). DocID027377 Rev 2 3/9

Hardware description and configuration 2 Hardware description and configuration UM1857 The Figure 2: "Jumpers and connectors position" shows the position of the connectors and the configuration jumpers of the board. Figure 2: Jumpers and connectors position The following tables provide the connector details for the Arduino UNO R3 and ST Morpho, respectively. Connector Pin(1) Signal Remarks Table 1: Arduino UNO R3 connector table CN5 CN9 1 2 3 4 5 6 7 3 4 5 6 7 L6474 STBY\\RESET PWM1 SPI CS SPI MOSI SPI MISO SPI SCK Ground L6474 FLAG output See Section 2.1: "Selecting the chip select and clock lines of the SPI" See Section 2.2: "Multi motor configuration" See Section 2.1: "Selecting the chip select and clock lines of the SPI" See Section 2.2: "Multi motor configuration" PWM2\\SPI SCK See Section 2.2: "Multi motor configuration" and Section 2.1: "Selecting the chip select and clock lines of the SPI" DIR2 DIR3 PWM3 See Section 2.2: "Multi motor configuration" 4/9 DocID027377 Rev 2

UM1857 Hardware description and configuration Connector Pin(1) Signal Remarks 8 2 6 7 3 DIR1 VDD Ground Ground SPI CS CN6 CN8 Notes: (1)All the non-listed pins are not connected. See Section 2.1: "Selecting the chip select and clock lines of the SPI" Connector Pin(1) Signal Remarks Table 2: ST Morpho connector table 9 Ground 11 SPI SCK 13 15 SPI MISO SPI MOSI 17 SPI CS See Section 2.1: "Selecting the chip select and clock lines of the SPI" See Section 2.2: "Multi motor configuration" See Section 2.1: "Selecting the chip select and clock lines of the SPI" 19 PWM1 See Section 2.2: "Multi motor configuration" L6474 STBY\\RESET CN10 21 23 25 27 29 DIR1 PWM3 DIR3 DIR2 31 PWM2 33 12 20 22 L6474 FLAG output VDD Ground Ground 32 SPI CS CN7 Notes: (1)All the non-listed pins are not connected. See Section 2.2: "Multi motor configuration" See Section 2.1: "Selecting the chip select and clock lines of the SPI" and Section 2.2: "Multi motor configuration" See Section 2.1: "Selecting the chip select and clock lines of the SPI" DocID027377 Rev 2 5/9

Hardware description and configuration 2.1 Selecting the chip select and clock lines of the SPI UM1857 The chip select and the clock lines of the SPI interface can be selected through dedicated resistors as indicated in Table 3: "Chip select line selection" and Table 4: "Chip select line selection". Table 3: Chip select line selection R15 Not mounted R25 0R CS line CN5 pin 3, CN10 pin 17 (default) 0R Not mounted CN8 pin 3, CN7 pin 32 R23 0R Table 4: Chip select line selection R24 CS line Not mounted CN5 pin 6, CN10 pin 9 (default) Not mounted 0R CN9 pin 4, CN10 pin 31 When the alternative clock line is selected (CN9 pin 4, CN10 pin 31) the PWM2 signal is no longer available for multi-motor configurations (see Section 2.2: "Multi motor configuration"). 2.2 Multi motor configuration The expansion boards can be stacked on a single STM32 Nucleo board in order to drive up to three stepper motors (one for each motor). The configuration can be changed by mounting the necessary resistors from R1 to R12 as listed in the Table 5. The other resistors are not mounted. By default, the stepper driver board is configured for a single motor setup, so board configurations for multi-motor setups must be changed before stacking the boards on the STM32 Nucleo. Table 5: Multi-motor setup table Number of motors Board STCK\\DIR Mounted resistors (0R) 1 2 3 - PWM1\\DIR1 R1, R4, R7, R12 1 (bottom) 2 (top) 1 (bottom) 2 3 (top) PWM1\\DIR1 R1, R4, R7, R10 PWM2\\DIR2 R2, R5, R8, R12 PWM1\\DIR1 R1, R4, R7, R10 PWM2\\DIR2 R2, R5, R8, R11 PWM3\\DIR3 R3, R6, R9, R12 If the alternative SPI clock line is selected (see Section 2.1: "Selecting the chip select and clock lines of the SPI") the PWM2 step clock is no longer available and the multi-motor setup is limited to two motors maximum. The Table 6: "Multi-motor setup with alternative SPI clock line" shows the proper configuration in this case. 6/9 DocID027377 Rev 2

UM1857 Hardware description and configuration Table 6: Multi-motor setup with alternative SPI clock line Number of motors Board STCK\\DIR Mounted resistors (0R) 2 1 (bottom) 2 (top) PWM1\\DIR1 R1, R4, R7, R10 PWM3\\DIR2 R2, R6, R8, R12 DocID027377 Rev 2 7/9

Revision history 3 Revision history UM1857 Table 7: Document revision history Date Revision Changes 16-Mar-2015 30-Mar-2015 1 2 Initial release. Updated Section 1: "Getting started". 8/9 DocID027377 Rev 2

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