IntroductionThe X-NUCLEO-IHM16M1 motor driver expansion board is based on the STSPIN830 monolithic driver for three-phasebrushless motors.

It represents an affordable, easy-to-use solution for driving brushless motors in your STM32 Nucleo project, implementing singleand three-shunt current sensing.

The STSPIN830 embeds a PWM current limiter with adjustable threshold together with a full set of protections.

The X-NUCLEO-IHM16M1 expansion board is compatible with the Arduino and ST morpho connectors, so it can be plugged toan STM32 Nucleo development board and stacked with additional STM32 Nucleo expansion boards.

Figure 1. X-NUCLEO-IHM16M1 expansion board

Getting started with the X-NUCLEO-IHM16M1 three-phase brushless motor driver board based on STSPIN830 for STM32 Nucleo

UM2415

User manual

UM2415 - Rev 2 - September 2020For further information contact your local STMicroelectronics sales office.

www.st.com

1 Hardware and software requirements

To use the STM32 Nucleo development boards with the X-NUCLEO-IHM16M1 expansion board, the followingsoftware and hardware are required:• a Windows PC (7, 8 or 10)• an X-NUCLEO-IHM16M1 expansion board• an STM32 Nucleo development board (NUCLEO-F401RE, NUCLEO-F303RE, NUCLEO-F302R8 or

NUCLEO-F030R8)• a type A USB to mini-B USB cable to connect the STM32 Nucleo board to the PC• the X-CUBE-SPN16 software package• an IDE chosen among IAR Embedded Workbench for ARM (IAR-EWARM), Keil microcontroller development

kit (MDK-ARM-STM32) and system workbench for STM32 Nucleo project (SW4STM32)• a power supply with output voltage between 7 and 45 V• a three-phase brushless motor with compatible voltage and current for the power supply and the STSPIN830

driver

UM2415Hardware and software requirements

UM2415 - Rev 2 page 2/25

2 Safety precautions

Danger:

Some of the components mounted on the board could reach hazardous temperatureduring operation.

While using the board:• Do not touch the components• Do not cover the board• Do not put the board in contact with flammable materials or with materials releasing smoke when heated• After operation, allow the board to cool down before touching it

UM2415Safety precautions

UM2415 - Rev 2 page 3/25

3 Getting started

To start your project with the board:

Step 1. Check the jumper positions and the mounting options according to the desired operation mode (seeSection 4.1 Operation mode and sensing topology selection) and STM32 Nucleo development board(see Section 4.7 STM32 Nucleo development board compatibility)

Step 2. Connect the X-NUCLEO-IHM16M1 with the STM32 Nucleo development board through ST morphoconnectors (CN7, CN10)

Step 3. Connect the brushless motor to 3-4-5 outputs of CN1 using the provided screw terminal

Step 4. Connect the STM32 Nucleo development board to the PC using a USB cable and download thecorresponding pre-compiled code

Step 5. Supply the board through one of the supply connectors:– inputs 2 (VIN) and 1 (ground) of CN1 using the provided screw terminal– J4 jack input (2.1 mm or 2.5 mm, tip positive)

Step 6. Develop your application starting from the X-CUBE-SPN16 software package

UM2415Getting started

UM2415 - Rev 2 page 4/25

4 Hardware description and configuration

The figure below shows the X-NUCLEO-IHM16M1 main component positions.

Figure 2. X-NUCLEOIHM16M1 component positions

The table below lists the signals mapped on the ST morpho connectors.

Table 1. X-NUCLEO-IHM16M1 ST morpho connector pinouts

Connector Pin Signal Remarks

CN7

12 VDD (pull-up voltage)3.3 V in STM32 Nucleo dev. boards.

Through R44

17 Hall-effect sensor 1 R43

18 5 V

20 Ground

22 Ground

28 Motor supply voltage sensing R33

30 Current feedback phase U R29

32 Current reference (DAC) R39 (NP by default)

34Current feedback phase W R36

STM32F303RE embedded PGA input U R75 (NP by default)

35 Speed reference signal

36 BEMF feedback phase W

37 BEMF feedback phase V

38 BEMF feedback phase V

UM2415Hardware description and configuration

UM2415 - Rev 2 page 5/25

Connector Pin Signal Remarks

CN10

1 BEMF divider GPIO

2 Hall-effect sensor 3 R87

4 Hall-effect sensor 1 R81

6 Motor supply voltage sensing R31

11 ENU driving signal R79 (NP by default)

13 ENV driving signal R78 (NP by default)

14 EN/FAULT signal R35

15

Current feedback phase W R34

ENU driving signal R69 (NP by default)

ENW driving signal R74 (NP by default)

16 EN/FAULT signal R37

18

Current feedback phase V R41

STM32F303RE embedded PGA input W R77 (NP by default)

PCB temperature sensing (NTC) R83 (NP by default)

19 Hall-effect sensor 2 R85

21 INV driving signal

23 INU driving signal

24 Current feedback phase V R42

25 Hall-effect sensor 3 R84

26 ENW driving signal R61

27 Current reference (PWM) R40

28ENV driving signal R73

Motor supply voltage sensing R88 (NP by default)

29 Active low standby

30STM32F303RE embedded PGA input V R76 (NP by default)

ENU driving signal R80

31 Hall-effect sensor 2 R86

33 INW driving signal

34 PCB temperature sensing (NTC) R82

4.1 Operation mode and sensing topology selection

The X-NUCLEO-IHM16M1 expansion board supports 6-step and field oriented control (FOC) algorithms.According to the algorithm, the board hardware configuration must be changed as follows:

UM2415Operation mode and sensing topology selection

UM2415 - Rev 2 page 6/25

Table 2. X-NUCLEO-IHM16M1 expansion board configuration based on the algorithm used

6-step(1) FOC (3-shunt)(2) FOC (single shunt)

Singleshunt

Currentsensing

Currentlimiterenabled(3)

Adjustablecurrentlimiterthreshold (3)

Three-shunt

Currentsensing

Currentlimiterdisabled

Fixedcurrentlimiterthreshold

Singleshunt

Currentsensing

Currentlimiterenabled(3)

Adjustablecurrentlimiterthreshold (3)

CloseJP4andJP7,solderbridgeat thebottom

Open J5and J6jumpers

J2 closedto 1-2position

J3 closed to2-3 position

OpenJP4andJP7,solderbridgeat thebottom

Close J5and J6jumpers

J2 closedto 2-3position

J3 closedto 1-2position

CloseJP4andJP7,solderbridgeat thebottom

Close J5and J6jumpers

J2 closedto 1-2position

J3 closed to2-3 position

1. Voltage or current mode.2. Default configuration3. Optional.

4.2 Current sensing

The X-NUCLEO-IHM16M1 expansion board mounts three shunt resistors to sense the current in each motorphase.For each shunt resistor, the TSV994 operational amplifier performs signal conditioning before sending the sensedvalue to the ADC inputs of the STM32.

Table 3. TSV994 operational amplifier configuration

Opamp Sensed current Gain Out offset J5 J6 Remarks

1 None (grounded) 1 0 V Unused

2 Phase V(1)1.53 1.56 V Closed Closed FOC

3 0 V Open Open 6STEP

3 Phase W(1) 1.53 1.56 V FOC

4 Phase U(1) 1.53 1.56 V FOC

1. In single shunt topology, all the operational amplifiers sense the same current.

4.2.1 Sense resistor value and maximum current range in FOC modeThe sensed current range in FOC mode could be limited by the value of the shunt resistor.The mounted resistor of 330 mΩ allows an up to 1 A reading without distortion.For a better performance at 1.5 A, you should reduce the shunt resistor value to 100 mΩ. The opamp gain has tobe tuned accordingly.

RELATED LINKS For further details, refer to the AN5386, STSPIN830: measuring negative voltages on sense resistors.

4.2.2 Using the STM32F303RE embedded PGAThe STM32F303RE (in the NUCLEO-F303RE) embeds PGAs suitable for sensing the phase currents in fieldoriented control applications.To use these feature, the X-NUCLEO-IHM16M1 expansion board configuration must be modified as follows (seealso Figure 6. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F303RE (PGA):• Three-shunt topology: open JP4 and JP7 solder bridge at the bottom• Connections between TSV944 operational amplifiers and MCU to be removed: R29, R34, R36, R41, R42 =

NP

UM2415Current sensing

UM2415 - Rev 2 page 7/25

• Shunt resistors to be connected to PGA 3 and 4 inputs: R75, R76, R77 = 0R• ENU driving GPIO to be changed from PB13 to PA7: R80 = NP, R74 = 0R

4.3 STSPIN830 current limiter

The STSPIN830 implements a PWM current limiter.In single shunt topology, the device monitors the motor current through the SNS pin connected to the sensingresistor.When the SNS pin (VSNS) voltage exceeds the reference voltage threshold (VREF) the current limiter is triggered,the OFF time is started and all the power outputs are disabled (high impedance) until the OFF time expires.J2 jumper selects the SNS input connection: when closed in 2-3 position (default), it shorts the pin to grounddisabling the current limiter feature; when closed in 1-2 position, it connects the pin to the shunts.It is possible to set the VREF value in two ways:• J3 closed in 1-2 position: fixed to 0.497 V corresponding to about 4.5 A in single shunt topology

(equivalent resistance 0.11 Ω)• J3 closed in 2-3 position: adjustable through MCU up to 0.497 V corresponding to about 4.5 A in single

shunt topology (equivalent resistance 0.11 Ω).

The MCU can set the reference voltage through:1. PWM signal (default)2. DAC output, if available (not connected by default)R16 resistor sets the OFF time duration according to the graph shown below (default value is about 18 µs).

Figure 3. OFF time vs. ROFF value

4.4 STSPIN830 logic inputs and fault signaling

The STSPIN830 offers two methods for driving the power stage selectable through the MODE pin.When the MODE pin is low, the ENx and INx inputs control the power outputs according to Table 4. ENx and INxinputs truth table (MODE = L) (the board default configuration).When MODE pin is high, the INxH and INxL inputs control the power outputs according to Table 5. INxL and INxHinputs truth table (MODE = H). This configuration is set by removing R12 resistor; it is also recommended toreplace R11 with a 0 R resistor.

UM2415STSPIN830 current limiter

UM2415 - Rev 2 page 8/25

When the EN\FAULT input is forced low, the power stage is immediately disabled (all MOSFETs are turned off) inboth modes and the D1 LED turns red.

Table 4. ENx and INx inputs truth table (MODE = L)X: Don’t care; High Z: High impedance

EN\FAULT ENx INx OUTx ‘x’ half-bridge condition

0 X X High Z Disabled

1 0 X High Z Disabled

1 1 0 GND LS on

1 1 1 VS HS on

Table 5. INxL and INxH inputs truth table (MODE = H)X: Don’t care; High Z: High impedance

EN\FAULT INxH INxL OUTx ‘x’ half-bridge condition

0 X X High Z Disabled

1 0 0 High Z Disabled

1 0 1 GND LS on

1 1 0 VS HS on

1 1 1 High Z Disabled (interlocking)

The EN/FAULT signal is forwarded to the TIM1 BKIN input to implement failure protection.

4.5 Hall effect sensors and encoder connector

The X-NUCLEO-IHM16M1 expansion board provides an interface between the digital Hall effect sensors orencoder mounted on the motor and the STM32 Nucleo development board through J1 connector.The connector provides:• Pull-up resistors (R20, R21, R22) for open-drain and open-collector interfacing.

Note: It is recommended to remove the pull-up resistors in case of push-pull outputs.• Protection from overvoltage on the MCU input pin through the D2, D3 and D4 Zener diodes.

Table 5.

Table 6. J1 connector pinout

Pin Encoder Hall effect sensor

1 A+ Hall 1

2 B+ Hall 2

3 Z Hall 3

45 V supply from

Nucleo development board

5 V supply from

Nucleo development board

5 Ground Ground

UM2415Hall effect sensors and encoder connector

UM2415 - Rev 2 page 9/25

4.6 Speed trimmer

The R17 trimmer provides an analog signal to the MCU that can be used by the firmware to set the speed controlloop.The voltage range is from 0 to 3.3 V (VDD) and increases rotating the knob in clockwise direction.

4.7 STM32 Nucleo development board compatibility

The X-NUCLEO-IHM16M1 expansion board supports the following STM32 Nucleo development boards:• NUCLEO-F401RE (by default)• NUCLEO-F303RE (by default)• NUCLEO-F302R8 (modifications needed)• NUCLEO-F030R8 (by default)

Considering the pinout differences and the peripheral mapping, the compatibility with the different boards ispossible only through the mounting options shown below.

Figure 4. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F401RE

UM2415Speed trimmer

UM2415 - Rev 2 page 10/25

Figure 5. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F303RE (no PGA)

UM2415STM32 Nucleo development board compatibility

UM2415 - Rev 2 page 11/25

Figure 6. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F303RE (PGA)

UM2415STM32 Nucleo development board compatibility

UM2415 - Rev 2 page 12/25

Figure 7. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F302R8

UM2415STM32 Nucleo development board compatibility

UM2415 - Rev 2 page 13/25

Figure 8. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F030R8

UM2415STM32 Nucleo development board compatibility

UM2415 - Rev 2 page 14/25

5 Bill of materials

Table 7. X-NUCLEO-IHM16M1 bill of materials

Item Q.ty Ref. Part/Value Description Manufacturer Order code

1 1 CN1 Pluggableterminal block Wurth Elektronik 691311500105

2 1 CN2 Pluggableterminal block Wurth Elektronik 691351500002

3 1 CN3 Pluggableterminal block Wurth Elektronik 691351500003

4 1 CN5 NP10 positionreceptacleconnector

Samtec SSQ-110-01-F-S

5 2 CN6, CN9 NP8 positionreceptacleconnector

Samtec SSQ-108-01-F-S

6 2 CN7, CN10 Board-to-boardconnectors Samtec ESQ-119-24-G-D

7 1 CN8 NP6 positionreceptacleconnector

Samtec SSQ-106-01-F-S

8 1 C133 µF, 50 V,±20%,D6.3_H7.7

Aluminiumelectrolyticcapacitor

Wurth Elektronik 865080645010

9 1 C2 NP, 50 V, ±20%,D6.3_H11_P2.5

Aluminiumelectrolyticcapacitor

Wurth Elektronik 860080673003

10 1 C3 330 NF, 50 V,±10%, 805

Ceramiccapacitor Any 330NF_50V_X7R_0805

11 2 C4, C16 10 NF, 50 V,±15%, 603

Ceramiccapacitors Any 10NF_50V_X7R_0603

12 1 C5 2.2 NF, 50 V,±15%, 603

Ceramiccapacitor Any 2.2NF_50V_X7R_0603

13 1 C6 NP, 50 V, ±15%,603

Ceramiccapacitor Any 4.7NF_50V_X7R_0603

14 5 C7, C8, C9,C13, C22

220 NF, 16 V,±10%, 603

Ceramiccapacitors Any 220NF_16V_X7R_0603

15 3 C10, C11, C12 10 PF, 50 V,±10%, 603

Ceramiccapacitors Any 10PF_50V_COG_0603

16 3 C14, C17, C19 680 PF, 50 V,±15%, 603

Ceramiccapacitors Any 680PF_50V_X7R_0603

17 3 C15, C18, C20 NP 603 Ceramiccapacitors Any C_NP_0603

18 1 C21 100 NF, 50 V,±15%, 603

Ceramiccapacitor Any 100NF_50V_X7R_0603

19 1 D1 RED, 805 LED Wurth Elektronik 150080RS75000

20 3 D2, D3, D4 3 V, SOD123 Zener diodes OnSemiconductors MMSZ3V0T1G

21 6 D5, D6, D7,D11, D12, D13 SOD523 Small signal

Schotky diodes ST BAT30KFILM

UM2415Bill of materials

UM2415 - Rev 2 page 15/25

Item Q.ty Ref. Part/Value Description Manufacturer Order code

22 3 D8, D9, D10 YELLOW, 805 LED Wurth Elektronik 150080YS75000

23 1 JP3 CLOSE, 603 Resistors Any SMALL TIN-DROP CLOSE

24 2 JP4, JP7 OPEN Resistor Any SOLDER_BRIDGE

25 1 J15 positionconnectorheader

Wurth Elektronik 61300511121

26 2 J2, J3CON_HEADER_1X3_L7.62_W2.54_P2.54

3 positionconnectorheader

Wurth Elektronik 61300311121

27 1 J4 FC681465P Jack connector RS FC681465P

28 2 J5, J6CON_HEADER_1X2_L5.08_W2.54_P2.54

2 pin THTheader Wurth Elektronik 61300211121

29 3 M1, M2, M3 OPTICAL_TARGET

OPTICAL_TARGET Any OPTICAL_TARGET

30 1 M4 GU_4xx PCB Any PCB GU -rev4 2 layers

31 4 M5, M6, M7, M8 CLOSEDJUMPER

2 position shuntconnector Wurth Elektronik 60900213421

32 1 Q1 P-MOS, SOT323 P-channelMOSFET NXP NX3008PBKW

33 1 R1 12 K, 1/10 W,±5%, 603 Resistor Any 12K_5%_0603

34 1 R2 1 K, 1/10 W,±5%, 603 Resistor Any 1K_5%_0603

35 8R3, R5, R6, R7,R8, R9, R10,R11

39 K, 1/10 W,±5%, 603 Resistors Any 39K_5%_0603

36 4 R4, R23, R24,R25

330 R, 1/10 W,±5%, 603 Resistors Any 330R_5%_0603

37 23

R12, R29, R31,R33, R34, R35,R36, R37, R40,R41, R42, R43,R44, R45, R61,R73, R80, R81,R82, R84, R85,R86, R87

0 R, 1/10 W,±5%, 603 Resistors Any 0R_5%_0603

38 1 R13 3.9 K, 1/10 W,±5%, 603 Resistor Any 3.9K_5%_0603

39 1 R14 180 K, 1/10 W,±1%, 603 Resistor Any 180K_1%_0603

40 1 R15 22 K, 1/10 W,±5%, 603 Resistor Any 22K_5%_0603

41 1 R16 12 K, 1/8 W,±5%, 805 Resistor Any 12K_5%_0805

42 1 R1710 K, 1/2 W,±10%,L9.5_W4.9_H9.5

Resistor Bourns 3386P-1-103TLF

43 1 R18 10 K, 1/10 W,±5%, 603 Resistor Any 10K_5%_0603

44 1 R19 12 K, 1/10 W,±1%, 603 Resistor Any 12K_1%_0603

UM2415Bill of materials

UM2415 - Rev 2 page 16/25

Item Q.ty Ref. Part/Value Description Manufacturer Order code

45 3 R20, R21, R22 3 K, 1/10 W,±5%, 603 Resistors Any 3K_5%_0603

46 3 R26, R27, R28 NP, 1/10 W,±1%, 603 Resistors Any 4.7K_1%_0603

47 11

R30, R32, R39,R69, R74, R75,R76, R77, R78,R79, R83

NP, 603 Resistors Any R_NP_0603

48 1 R38 47 K, 1/10 W,±5%, 603 Thermistor Murata NCP18WB473J03RB

49 6 R46, R47, R48,R49, R50, R51

10 K, 1/4 W,±5%, 603 Resistors Any 10K_5%_0603_1/4W

50 13

R52, R53, R54,R55, R58, R59,R60, R64, R65,R66, R67, R71,R72

2.2 K, 1/10 W,±5%, 603 Resistors Any 2.2K_5%_0603

51 3 R56, R62, R68 680 R, 1/10 W,±5%, 603 Resistors Any 680R_5%_0603

52 3 R57, R63, R70 0.33 R, 1/2 W,±1%, 1206 Resistors Any 0R33_1%_1206_0.5W

53 1 R88 NP, 1/10 W,±5%, 603 Resistor Any 0R_5%_0603

54 8TP1, TP2, TP3,TP4, TP5, TP6,TP7, TP8

S1751-46R Test terminals Harwin S1751-46R

55 1 U1 QFN24_L4_W4_P0.5

Three-phasebrushlessmonolithic motordriver

ST STSPIN830

56 1 U2 TSSOP14

Wide bandwidthrail-to-rail input/output 5 VCMOS quad Op-Amps

ST TSV994IPT

UM2415Bill of materials

UM2415 - Rev 2 page 17/25

6 X-NUCLEO-IHM16M1 schematic diagrams

Figure 9. X-NUCLEO-IHM16M1 circuit schematic (1 of 5)

39K

5

39K

C1

19INU/INUH

20

0R

+

39K

SENSEV

14

STBY

39K

17

D1

INV

VDD

OUTW12

1

R7ENW 613003111212

SENSEW

R9

EN_FAULT

MODE18

ENV

OUTU

NC8

+C2

R5

23INW/INWH

OUTW

M5R11

3

10

C5

RED

NP OUTU

21INV/INVH

22

VDD

VREFP-MOS

INU

24ENW/INWL

STSPIN830

13

4.7NFNP

OUTV11

1K

SENSEU

7

INWR4ENV/INVL

39K

1

TOFF

SENSEV

U1

C4

2.2NF

R30

C6

330RR32NP

VS9

GN

D15

33µF 50V

R2

12K

C3

VDD

G

R8

39K

330NF

R6

VDD

33µF 50VNP

R10

SENSEU

VREF2

TOFF

EPAD

25

SNS4

ENU/INUL

STBY16

R1

S2

VS

Jumper M5 connected between J2 pin 2&3

VS

39K

EN_FAULT

10NF

1

ENU

J2

6G

ND

GN

D3

39K

R12

OUTV

Q1NX3008PBKW

D3

SENSEW

R3

VS

Figure 10. X-NUCLEO-IHM16M1 circuit schematic (2 of 5)

A+/H1B+/H2Z+/H3+5VGND

Roff

VDD

SPEED

VREF

VDD

VDD

VDD

5V

5V

VS

VS VDD

VDD

VREF

CURRENT_REF

TOFF

SPEEDH1

H2H3

VBUS NTC

TP5

1

330R

R1710K

13

2

R223K

NTC R38

X7R

R213K

R133.9K

JP31

CLOSE

2

R284.7KNP

C1210PF

D33V

1

61300511121

12345

R1810K

R14180K1%

C9220NF16V

X7R

R264.7KNP

C22220NF16VX7R

R1612K

TP2

1

S1751-46R

J3

13

2

61300311121

D23V

22K

C21100NF50VX7R

R24 330R

D43V

R203K

TP3

1

S1751-46R

M6

TP1

1

R25 330R

C1110PF

C7220NF16VX7R

Jumper M6 connected between J3 pin 1&2

S1751-46R

R23

10PFR274.7KNP

S1751-46R

C10

C8

NCP18WB473J03RB

220NF16V

MMSZ3V0T1G

TP4

GND GND VS

J1

S1751-46R

R15

MMSZ3V0T1G

R19

MMSZ3V0T1G

12K1%

UM2415X-NUCLEO-IHM16M1 schematic diagrams

UM2415 - Rev 2 page 18/25

Figure 11. X-NUCLEO-IHM16M1 circuit schematic (3 of 5)

OP303_W

87654321

ESQ-119-24-G-D

25

R88

R83

R440R

246810

5V

27

C10_34

27

INV

C7_32

X7R

C10_24

C10_11

BEMF3

C10_18 F303

F302

BKIN2 (F302, F303)

CURRENT_REF

R45

GU_4xx

R75 NP

C10_14

STBY

23

C10_15

M2

CN5 NP

2426

R69

0R17

38

R33

R84

VDD

29

C7_34

0R

ENV

262830

BEMF1

PB14

NP

R40

H3

12345678

C10_16

12

24

OPTICAL_TARGET

R35

C10_18

C10_26

0R

INW

STBYREF

INUINV

VDD

5VGNDGND

bemf1bemf3

bemf2SPD

18

CN9 NP

C10_19

ESQ-119-24-G-D

BEMF2

C10_3031

0RC10_26

SSQ-108-01-F-S

H1

13

C10_15

C10_2

R77

C10_4

ENU

0R

0R

2830

3335

22

33

C10_19

C10_14

VBUS

C10_28

0R

19

EN_FAULT

C10_30

C10_13

R87

C10_27

INW

R85

SSQ-110-01-F-S

OPTICAL_TARGET

CN1013579

11

R81

R43

CN6 NP

3537

20

C7_17

PA8 - INUPA9 - INV

PA10 - INWPC1 - ADC

PC3 - ADCPC2

PB5

PC9 - GPIO

<CURRENT_REF>

C10_16

0R

C7_28

31 3234

14

R78

21

36

C10_6

R79

R31

16

0R

SSQ-106-01-F-S

13579

R36 0R

NP

37

C7_34

C7_30

34

C10_28

C7_28

18

R80

C10_31

CN7

Curr_fdbk2

13

36

0R

0R

INU

M1

1921

29

10

R82

12

38

246810

R29R86

NTC

CN8

22

C10_31

R42C10_25

0RR73

1416

32

20

R39 NP

C10_2

C7_17

OP303_V

C10_18

R41

15

R61

C10_11

17

23

Curr_fdbk1

Curr_fdbk3

C10_6

OPTICAL_TARGET

C13220NF16V

R76

SSQ-108-01-F-S

NP

R34 0R

R37

C10_15

11

C10_34

OP303_U

ENW

123456SPEED

C10_30

C10_28

C10_25

C7_32

PB0 - PhW Sense

F303PA7 - PhW Sense

PB10 - H3

PA15 - H1

F030PC6 - H1

F302

F302

F302

PB0

PB3 - H2

PB13

PB11

PB13

PB14

PB15

PA7

M4

R74

NP

C10_4

15

25

VDD

C10_18

PB13

PB14

PB15

F303 (Embedded OPAMP ONLY)

PB1 - PhV Sense

PC7 - H2 F030

PWM

DAC

F030

PB11 - PhV Sense

PA4 - DAC

PB4 - PWM

PC8 - H3

PC4

PA6

PA1 - PhU Sense

PC5

PA0

PA11 - BKIN2

F302

PB12 - BKIN

STM32F303 Embedded OPAMP

C10_13

H2

IO_BEMF

C7_30C10_27

M3

C7_34

C10_24

C10_15

987654321

PC0 - ADC

0R

0R

NP

NP

NP

NP

0R

0R

0R

0R

0R

NP

Figure 12. X-NUCLEO-IHM16M1 circuit schematic (4 of 5)

CN3

D6

1

S1751-46R

D9

D12

OUT V

CN1YELLOW

R49

10K

BEMF3

OUTU

1/4W

1

BEMF2

691311500105

BAT30KFILM

BAT30KFILMBAT30KFILM

VS

VDD

IO_BEMF

S1751-46R

R53

VS

YELLOW

TP8

10K 1/4W

2.2K

R46

3BAT30KFILM

R50

10K

2

VSGND

OUT W

OUT U

D11

805-1699

D8

S1751-46R

1

691351500002R47

1

1

J4

RS

FC681465P

1/4W

10K 1/4W

YELLOW

1/4W

TP6

691351500003

BAT30KFILM

R54

OUTW

132

OUTV

2.2K

D7

10K 1/4W

R48

3

R51

10K

D10

BEMF1

D13

2.2K

1

D5

4

CN2

TP7

2BAT30KFILM

R52

2

5

UM2415X-NUCLEO-IHM16M1 schematic diagrams

UM2415 - Rev 2 page 19/25

Figure 13. X-NUCLEO-IHM16M1 circuit schematic (5 of 5)

OUT

2.2K

R65

Jumper M8 connected between J6 pin 1&2

IN+

VDD

J5

M8

680R5

IN+

C14

Jumper M7 connected between J5 pin 1&2

12

VDD

IN-6

2

2.2K

R700.33R1/2W

1206

680R

GN

D

8

U2BOP303_V

SENSEU

680PF

R60

11OPEN

TSV994R62

Vcc

4

12

11

OP303_W

R56

2.2K

1

2.2K

OUTR630.33R1/2W

2.2K

R72

VDD

2.2K

SENSEV

1

GN

D11

R58

U2C

C19

3IN+

10NF

Curr_fdbk3

2.2K

7

1206

680R

J6

OUT

VDD

TSV994

Vcc

4

Curr_fdbk2

GN

D11

2.2K

R66

M7

R570.33R1/2W

TSV994

2.2K

R64C17

U2AVc

c4

NP

C16

61300211121

R67

VDD

Curr_fdbk11314

1

IN+10

OPEN

GN

D

2.2K

R71

2IN-

R55

JP7

U2D

TSV9944Vc

c

C20

C15

SENSEW

1206

1 2

OP303_U

61300211121

JP4

OUT

IN-

2

680PF

R59

680PF

R68

VDD

VDD

C18

NP

9IN-

NP

UM2415X-NUCLEO-IHM16M1 schematic diagrams

UM2415 - Rev 2 page 20/25

Revision history

Table 8. Document revision history

Date Revision Changes

17-May-2018 1 Initial release.

01-Sep-2020 2 Added Section 4.2.1 Sense resistor value and maximum current range in FOC mode.

UM2415

UM2415 - Rev 2 page 21/25

Contents

1 Hardware and software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

2 Safety precautions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3

3 Getting started . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4

4 Hardware description and configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5

4.1 Operation mode and sensing topology selection. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

4.2 Current sensing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4.2.1 Sense resistor value and maximum current range in FOC mode . . . . . . . . . . . . . . . . . . . . 7

4.2.2 Using the STM32F303RE embedded PGA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

4.3 STSPIN830 current limiter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4.4 STSPIN830 logic inputs and fault signaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4.5 Hall effect sensors and encoder connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

4.6 Speed trimmer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

4.7 STM32 Nucleo development board compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5 Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

6 X-NUCLEO-IHM16M1 schematic diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

UM2415Contents

UM2415 - Rev 2 page 22/25

List of tablesTable 1. X-NUCLEO-IHM16M1 ST morpho connector pinouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table 2. X-NUCLEO-IHM16M1 expansion board configuration based on the algorithm used . . . . . . . . . . . . . . . . . . . . . . 7Table 3. TSV994 operational amplifier configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 4. ENx and INx inputs truth table (MODE = L) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Table 5. INxL and INxH inputs truth table (MODE = H) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Table 6. J1 connector pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Table 7. X-NUCLEO-IHM16M1 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Table 8. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

UM2415List of tables

UM2415 - Rev 2 page 23/25

List of figuresFigure 1. X-NUCLEO-IHM16M1 expansion board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Figure 2. X-NUCLEOIHM16M1 component positions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 3. OFF time vs. ROFF value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Figure 4. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F401RE . . . . . . . . . . . . . . . . . . . . . 10Figure 5. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F303RE (no PGA) . . . . . . . . . . . . . . 11Figure 6. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F303RE (PGA). . . . . . . . . . . . . . . . . 12Figure 7. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F302R8. . . . . . . . . . . . . . . . . . . . . . 13Figure 8. X-NUCLEO-IHM16M1 expansion board mounting options for NUCLEO-F030R8. . . . . . . . . . . . . . . . . . . . . . 14Figure 9. X-NUCLEO-IHM16M1 circuit schematic (1 of 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Figure 10. X-NUCLEO-IHM16M1 circuit schematic (2 of 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Figure 11. X-NUCLEO-IHM16M1 circuit schematic (3 of 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Figure 12. X-NUCLEO-IHM16M1 circuit schematic (4 of 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19Figure 13. X-NUCLEO-IHM16M1 circuit schematic (5 of 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

UM2415List of figures

UM2415 - Rev 2 page 24/25

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UM2415

UM2415 - Rev 2 page 25/25