December 2015
DocID028469 Rev 2
1/7
For further information contact your local STMicroelectronics sales
office
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X-NUCLEO-IHM02A1
Two axis stepper motor driver expansion board based on the
L6470 for STM32 Nucl eo
Data brief
Features
Operating voltage: 8 V - 45 V DC
7 A peak ouotput current (3 A rms) for each
motor driver
Digital voltage supply is selectable (3.3 V or
5.0 V) by a 0 Ω resistor and is provided on
main board
3.3 V digital voltage supply may be provided
by:
the STM32 Nucleo board
the step-down monolithic power
switching regulator soldered on the
expansion board (through jumper
selection, it can also be used to supply
the STM32 Nucleo board
USART communication
enables receiving of commands from a
PC
enables sending information to a PC
Requires no dedicated cable; uses the
Type A to Type Mini-B USB cable
already used to supply the STM32
Nucleo board
SPI interface (may be connected in a daisy
chain configuration)
Equipped with Arduino UNO R3 connectors
Layout compatible with ST morpho
connectors
Five LEDs:
2 green, to indicate that each L6470 is
powered
1 orange, to indicate that the digital
voltage is on
1 yellow, to indicate when any L6470 is
busy
1 red, to indicate when a fault condition
occurs (step loss, OCD, thermal pre-
warning or shutdown, UVLO, incorrect
command, non-performable command)
for any L6470
RoHS compliant
Description
The X-NUCLEO-IHM02A1 is a two axis stepper
motor driver expansion board based on the
L6470. It provides an affordable and easy-to-use
solution for low voltage motor control driving for
stepper motors in your STM32 Nucleo project.
The expansion board includes two L6470s, a
fully-integrated micro stepping motor driver used
to control stepper motors by means of high-end
motion control commands received through SPI.
It is capable of driving one or two stepper motors
when plugged into an STM32 Nucleo board.
This board is equipped with Arduino UNO R3
connectors and the layout is also compatible with
ST morpho connectors. One or more of these
expansion boards can be plugged into an STM32
Nucleo board to control one or more stepper
motors.
Each SPI peripheral of each L6470 is connected
in a daisy chain configuration.
Schematic diagram
2/7
DocID028469 Rev 2
Schematic diagram
Figure 1: X-NUCLEO-IHM02A1 circuit schematic (1 of 4)
Stepper
Motor 2
Pl ace cl osed
t he t wo si des
of t he L6470PD
L6470_0_2A
L6470_0_2B
L6470_0_1B
L6470_0_1AL6470_0_VS
L6470_0_VS
L6470_0_VS
L6470_0_VS
L6470_0_GND
L6470_0_GND
L6470_0_GND
L6470_0_GND
L6470_0_GND
L6470_0_1B
L6470_0_2B
L6470_0_2A
L6470_0_1A
L6470_0_OSCOUT
VS
VS
VS
L6470_0_nCS
L6470_0_SDI
L6470_0_SCK
L6470_0_STCK
L6470_0_nFLAG
L6470_0_nBUSY\SYNC
L6470_0_SDO
L6470_0_SW
L6470_0_nSTBY\nRST
L6470_0_VDD
L6470_0_OSCOUT
L6470_0_STCK
R9
9.76k
N.M.
C17
100nF
6.3V
C32
10nF
50V
C31
10nF
6.3V
C20
100nF
50V
C18
10uF
6.3V
+C28
47uF
6.3V
C27
100nF
6.3V
Y2
16MHz
N.M.
C22
100nF
50V
C30
220nF
16V
SB2
C25
18pF
N.M.
R7
39k
J3
CON1
1
D5
BZX84J-C3V6
N.M.
C26
18pF
N.M.
C19
100nF
50V
C29
3.3nF
6.3V
N.M.
R10
100
ST2
4 terminals
2
1
3
4
U2
L6470PD
OUT1A_2
2
VSA_5
5
nSTBY_nRST
6
SW
7
ADCIN
8
VREG
9
OSCIN
10
OSCOUT
11
AGND
12
CP
13
VBOOT
14
VSB_15
15
PGND_19 19
OUT1B_17
17 OUT2B_20 20
VSB_22 22
VDD 24
SDO 25
CK 26
SDI 27
DGND 28
nBUSY_SYNC 29
nCS 30
nFLAG 31
STCK 32
VSA_33 33
PGND_1
1OUT2A_36 36
OUT1A_3
3
VSA_4
4
VSB_16
16
OUT1B_18
18 OUT2B_21 21
VSB_23 23
VSA_34 34
OUT2A_35 35
ExpPad 37
R6
560
D4
GREEN_LED
D6
BAV99
3
1
2
SB1
R8
62k
N.M.
+C23
100uF
63V
C24
1nF
6.3V
C21
100nF
50V
Driver_0
(configuration for VS = 12 V)
GSPG0810150925SG
X-NUCLEO-IHM02A1
Schematic diagram
DocID028469 Rev 2
3/7
Figure 2: X-NUCLEO-IHM02A1 circuit schematic (2 of 4)
Stepper
Motor 1
Place closed
the two sides
of the L6470PD
L6470_1_2A
L6470_1_2B
L6470_1_1B
L6470_1_1A L6470_1_VS
L6470_1_VS
L6470_1_VS
L6470_1_VS
L6470_1_GND
L6470_1_GND
L6470_1_GND
L6470_1_GND
L6470_1_GND
L6470_1_1B
L6470_1_2B
L6470_1_2A
L6470_1_1A
L6470_1_OSCIN
VS
VS
VS
L6470_1_nCS
L6470_1_SDI
L6470_1_SCK
L6470_1_STCK
L6470_1_nFLAG
L6470_1_nBUSY\SYNC
L6470_1_SDO
L6470_1_SW
L6470_1_nSTBY\nRST
L6470_1_VDD
L6470_1_OSCIN
L6470_1_STCK
SB4
C15
10nF
6.3V
ST1
4 terminals
2
1
3
4
C13
3.3nF
6.3V
N.M.
Y1
16MHz
N.M.
C16
10nF
50V
C2
10uF
6.3V
R3
62k
N.M.
C14
220nF
16V
R4
9.76k
N.M.
C11
100nF
6.3V
R5
100
R1
560
R2
39k
C9
18pF
N.M.
C5
100nF
50V
C1
100nF
6.3V C4
100nF
50V
+C7
100uF
63V
C3
100nF
50V
C10
18pF
N.M.
D3
BAV99
3
1
2
J4
CON1
1
C8
1nF
6.3V
D2
BZX84J-C3V6
N.M.
SB3
+C12
47uF
6.3V
D1
GREEN_LED
C6
100nF
50V
U1
L6470PD
OUT1A_2
2
VSA_5
5
nSTBY_nRST
6
SW
7
ADCIN
8
VREG
9
OSCIN
10
OSCOUT
11
AGND
12
CP
13
VBOOT
14
VSB_15
15
PGND_19 19
OUT1B_17
17 OUT2B_20 20
VSB_22 22
VDD 24
SDO 25
CK 26
SDI 27
DGND 28
nBUSY_SYNC 29
nCS 30
nFLAG 31
STCK 32
VSA_33 33
PGND_1
1OUT2A_36 36
OUT1A_3
3
VSA_4
4
VSB_16
16
OUT1B_18
18 OUT2B_21 21
VSB_23 23
VSA_34 34
OUT2A_35 35
ExpPad 37
Driver_0
(configuration for VS = 12 V)
GSPG0810150945SG
Schematic diagram
4/7
DocID028469 Rev 2
Figure 3: X-NUCLEO-IHM02A1 circuit schematic (3 of 4)
(8V÷45V)
VS
+3.3V_ST1S14
ST1S14_nEN1
ST1S14_PGOOD
R38100k
C37
100nF
100V C38 5.1pF
50V
+C39
47uF
6.3V
U3
ST1S14
BOOT
1
PG 2
nEN1 3
FB 4
EN2
5
GND 6
VIN
7SW 8
ExpPad 9
L1 27uH
R39
59k
C35
100nF
100V
R3747k
D10
STPS1L60
C36
4.7uF
100V
GSPG0810151030SG
X-NUCLEO-IHM02A1
Schematic diagram
DocID028469 Rev 2
5/7
Figure 4: X-NUCLEO-IHM02A1 circuit schematic (4 of 4)
Pass-Through:
Female on Bottom -Male on TopPass-Through:
Female on Bottom - MaleonTop
Pass-Through:
Male on Bottom- Female on Top
Pass-Through:
MaleonBottom - Female on Top
Pass-Through:
Male on Bottom - Female on Top
Pass-Through:
Male on Bottom - Female on Top
(8V÷45V)
PC11
PD2
E5V
GND
IOREF
RESET
+3V3
+5V
GND
GND
VIN
PA0 A0
PA1 A1
PA4 A2
PB0 A3
PC1 A4
PC0 A5
PA8
D7
PB4
D5/PWM PB10
D6/PWM
PB5
D4 PB3
D3/PWM PA10
D2 PA2
D1/TX PA3
D0/RX
PC10
PC12
VDD
BOOT0
NC/PF6
NC/PF7
PA13
PA14
PA15
GND
PB7
PC13
PC14
PC15
PH0/PF0/PD0
PH1/PF1/PD1
VLCD/VBAT
PC2
PC3
PC8
PC6
PC5
U5V
PD8
PA12
PA11
PB12
PB11/NC
GND
PB2
PB1
PB15
PB14
PB13
AGND
PC4
NC/PF5
NC/PF4
PB8
D15/SCL PB9
D14/SDA AVDD
GND
PA5
D13/SCK PA6
D12/MISO PA7
D11/MOSI/PWM PB6
D10/CS/PWM PC7
D9/PWM PA9
D8
PC9
PC0
PC1
PB0
PA4
PA10
PB5
PB15
PB14
PB13
PA6
PA7
PB3
PA5
PB4
PB6
VS
+3.3V_ST1S14
+3V3
+5V
L6470_1_nBUSY\SYNC
L6470_0_nBUSY\SYNC
L6470_1_nFLAG
L6470_0_nFLAG
ST1S14_nEN1
L6470_1_nSTBY\nRST
L6470_0_nSTBY\nRST
ST1S14_PGOOD
L6470_1_nCS
L6470_0_nCS
L6470_1_SW
L6470_0_SW
L6470_0_VDD
L6470_1_VDD
L6470_0_SDO
L6470_1_SDI
L6470_1_SCK
L6470_0_SDI
L6470_1_SDO
L6470_0_SCK
L6470_1_OSCIN
L6470_0_OSCOUT
SB32 0
CN6
1
2
3
4
5
6
7
8
D8
RED_LED
D9
ORANGE_LED
R29
620
SB34 0
SB9
C34
100pF
6.3V SB7
SB41
0 N.M.
D11
SMAJ48A
SB12
D7
YELLOW_LED
Arduino
CN5
1
2
3
4
5
6
7
8
9
10
SB26 0
CN7
12
34
56
78
910
11 12
13 14
1516
1718
19 20
21 22
2324
25 26
27 28
29 30
31 32
33 34
35 36
37 38
J1
CON4
1
2
3
4
R21
39k
C40
100pF
6.3V
ST3
2 terminals
1
2
J2
CON8
1 2
3 4
5 6
7 8
SB13
C33
100pF
6.3V
SB40
0
SB11
CN8
1
2
3
4
5
6
CN9
1
2
3
4
5
6
7
8
SB10
SB5
C41
100pF
6.3V
R22
39k
SB6
SB8
R28
620
CN10
12
34
56
78
910
11 12
13 14
15 16
17 18
19 20
21 22
23 24
25 26
27 28
29 30
31 32
33 34
35 36
37 38
SB23 0
R30
620
2-3:
- ST1S14 is inhibited
- VDD is provided by +3V3 of the main board
1-2 and 3-4
- Take care! Refer to the UM of the main board about external power supply
- ST1S14 is enabled
- VDD is provided by +3V3 of the ST1S14 of the expansion board
- The main board is supplied by ST1S14 of the expansion board
STM32 NUCLEO CONNEC
TORS
SX side DX side
CN5 of NUCLEO BOARD Arduino
CN9 of NUCLEO BOARD
ST morpho
CN7 of NUCLEO BOARD
Arduino
CN6 of NUCLEO BOARD Arduino
CN8 of NUCLEO BOARD
ST morpho
CN10 of NUCLEO BOARD
GSPG081015 1135SG
Revision history
6/7
DocID028469 Rev 2
Revision history
Table 1: Document revision history
Date
Version
Changes
19-Oct-2015
1
Initial release.
16-Dec-2015
2
Changed title description on cover page.
X-NUCLEO-IHM02A1
DocID028469 Rev 2
7/7
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