September 2016 DocID028309 Rev 2 1/28
1
UM1945
User manual
STM32 Nucleo Packs - Motor Control FOC and 6-step solutions
for three-phase, low-voltage and low-current motors
Introduction
The STM32 Nucleo Packs P-NUCLEO-IHM001 and P-NUCLEO-IHM002 are motor control
kits based on X-NUCLEO-IHM07M1 and NUCLEO-F302R8 boards. The power board with
ST L6230 DMOS driver, belonging to STPIN family, provides a motor control solution for
3-phase, low-voltage, DC brushless motor with the addition of the STM32 NUCLEO board
through the ST morpho connector (see Figure 1). The P-NUCLEO-IHM002 comes with a
power supply unit (see Figure 2).
The driver used on power board is the L6230, a DMOS fully integrated driver for 3-phase
brushless PMSM motor, assembled in PowerSO36 package, with overcurrent and thermal
protection. The NUCLEO-F302R8 provides an affordable and flexible way for users to try
out new ideas and build prototypes with STM32 MCU. It does not require any separate
probe as it integrates the ST-LINK/V2-1 debugger and programmer.
This document describes the procedure to configure the STM32 Nucleo Packs to run the
low-voltage motor included in the package. The evaluation board is fully configurable and
ready to support different closed loop controls based on sensorless or sensored mode, and
it is compatible with 3-shunt or 1-shunt current sense measuring.
1. Pictures are not contractual.
Figure 1. P-NUCLEO-IHM001 Pack Figure 2. P-NUCLEO-IHM002 Pack
www.st.com
Contents UM1945
2/28 DocID028309 Rev 2
Contents
1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Getting started as basic user . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.1 System architecture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.2 Building and run the motor control for the STM32 Nucleo Packs . . . . . . . . 8
3.3 Hardware settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3.4 Upload the firmware example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.1 Drag and drop procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.2 ST-LINK tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4 6-step and FOC control algorithm settings - advanced user . . . . . . . 17
4.1 6-step firmware based on X-CUBE-SPN7 . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.1 Firmware architecture overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.1.2 Firmware parameter settings to spin different BLDC motors . . . . . . . . . 20
4.1.3 Inside the 6-step firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.1.4 DAC settings for debug . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 ST FOC SDK – Configuration guide for the STM32 Nucleo Packs . . . . . 21
5 Electrical schematics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Appendix A Federal Communications Commission (FCC) and Industry Canada
(IC) Compliance Statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1 FCC Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1.1 Part 15.19 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1.2 Part 15.105 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.1.3 Part 15.21 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.2 IC Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.2.1 Compliance Statement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
A.2.2 Déclaration de conformité. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
