X-NUCLEO-IHM02A1 Two axis stepper motor driver expansion board based on the L6470 for STM32 Nucleo Data brief Description 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 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 December 2015 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 prewarning or shutdown, UVLO, incorrect command, non-performable command) for any L6470 RoHS compliant 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. DocID028469 Rev 2 For further information contact your local STMicroelectronics sales office 1/7 www.st.com GSPG0810150925SG 2/7 L6470_0_nSTBY\nRST (configuration for VS = 12 V) DocID028469 Rev 2 L6470_0_SW CON1 J3 1 100 R10 L6470_0_STCK C31 10nF 6.3V D5 BZX84J-C3V6 N.M. R9 9.76k N.M. C29 3.3nF 6.3V N.M. C17 100nF 6.3V 16MHz N.M. Y2 SB1 C25 18pF N.M. 560 R8 62k N.M. L6470_0_OSCOUT VS C24 1nF 6.3V R7 39k D4 GREEN_LED R6 C26 18pF N.M. SB2 C18 10uF 6.3V 2 D6 BAV99 220nF 16V C30 L6470_0_1B L6470_0_VS 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 C32 10nF 50V L6470_0_OSCOUT L6470_0_GND L6470_0_VS L6470_0_GND L6470_0_1A 1 U2 VS L6470PD PGND_1 OUT1A_2 OUT1A_3 VSA_4 VSA_5 nSTBY_nRST SW ADCIN VREG OSCIN OSCOUT AGND CP VBOOT VSB_15 VSB_16 OUT1B_17 OUT1B_18 Driver_0 OUT2A_36 OUT2A_35 VSA_34 VSA_33 STCK nFLAG nCS nBUSY_SYNC DGND SDI CK SDO VDD VSB_23 VSB_22 OUT2B_21 OUT2B_20 PGND_19 ExpPad L6470_0_VDD 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 37 L6470_0_GND L6470_0_GND L6470_0_2B L6470_0_VS L6470_0_GND L6470_0_VS L6470_0_2A C20 C21 C22 Stepper Motor 2 L6470_0_SDI L6470_0_SCK L6470_0_SDO 3 4 1 2 4 terminals ST2 C27 100nF 6.3V + C28 47uF 6.3V C23 100uF 63V L6470_0_1A L6470_0_2A L6470_0_2B L6470_0_1B + 100nF 100nF 100nF 100nF 50V 50V 50V 50V C19 Pl ace cl osed t he t wo si des of t he L6470PD L6470_0_STCK L6470_0_nFLAG L6470_0_nCS L6470_0_nBUSY\SYNC VS Schematic diagram X-NUCLEO-IHM02A1 Schematic diagram Figure 1: X-NUCLEO-IHM02A1 circuit schematic (1 of 4) 3 GSPG0810150945SG L6470_1_nSTBY\nRST (configuration for VS = 12 V) DocID028469 Rev 2 D2 BZX84J-C3V6 N.M. R4 9.76k N.M. CON1 J4 1 100 R5 C10 18pF N.M. SB4 L6470_1_STCK C15 10nF 6.3V C9 18pF N.M. L6470_1_SW C1 100nF 6.3V 16MHz N.M. Y1 SB3 R3 62k N.M. C13 3.3nF 6.3V N.M. C8 1nF 6.3V L6470_1_OSCIN VS D1 GREEN_LED R2 39k 560 R1 C2 10uF 6.3V 2 D3 BAV99 220nF 16V C14 L6470_1_1B L6470_1_VS L6470_1_GND L6470_1_OSCIN L6470_1_VS L6470_1_GND L6470_1_1A C16 10nF 50V 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 1 U1 VS L6470PD PGND_1 OUT1A_2 OUT1A_3 VSA_4 VSA_5 nSTBY_nRST SW ADCIN VREG OSCIN OSCOUT AGND CP VBOOT VSB_15 VSB_16 OUT1B_17 OUT1B_18 Driver_0 OUT2A_36 OUT2A_35 VSA_34 VSA_33 STCK nFLAG nCS nBUSY_SYNC DGND SDI CK SDO VDD VSB_23 VSB_22 OUT2B_21 OUT2B_20 PGND_19 ExpPad L6470_1_VDD 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 37 L6470_1_GND L6470_1_GND L6470_1_2B L6470_1_VS L6470_1_GND L6470_1_VS L6470_1_2A C4 C5 C6 L6470_1_SDI L6470_1_SCK L6470_1_SDO 3 4 1 2 4 terminals ST1 C11 100nF 6.3V + C12 47uF 6.3V C7 100uF 63V L6470_1_1A L6470_1_2A L6470_1_2B L6470_1_1B + 100nF 100nF 100nF 100nF 50V 50V 50V 50V C3 Place closed the two sides of the L6470PD L6470_1_STCK L6470_1_nFLAG L6470_1_nCS L6470_1_nBUSY\SYNC Stepper Motor 1 VS X-NUCLEO-IHM02A1 Figure 2: X-NUCLEO-IHM02A1 circuit schematic (2 of 4) Schematic diagram 3 3/7 4/7 VS C36 4.7uF 100V (8V/45V) ST1S14 EN2 VIN BOOT U3 ExpPad GND nEN1 DocID028469 Rev 2 ST1S14_nEN1 100nF 100V C37 5 7 1 100nF 100V C35 4 2 8 D10 STPS1L60 FB PG SW R39 59k C38 R38 R37 L1 5.1pF 50V 100k 47k 27uH + C39 47uF 6.3V +3.3V_ST1S14 ST1S14_PGOOD Schematic diagram Figure 3: X-NUCLEO-IHM02A1 circuit schematic (3 of 4) X-NUCLEO-IHM02A1 9 6 3 GSPG0810151030SG CN7 CN7 of NUCLEO BOARD ST morpho DocID028469 Rev 2 CON4 1 2 3 4 J1 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 ST1S14_nEN1 +3.3V_ST1S14 D7 YELLOW_LED R29 620 L6470_0_nFLAG L6470_1_nFLAG L6470_0_nBUSY\SYNC D8 RED_LED R30 620 PC1 PC0 100pF 6.3V C33 R21 39k CN9 Pass-Through: Male on Bottom - Female on Top 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 CN10 100pF 6.3V C34 R22 39k 100pF 6.3V C41 DX side PC9 PB8 PB9 AVDD GND PA5 PA6 PA7 PB6 PC7 PA9 PA8 PB10 PB4 PB5 PB3 PA10 PA2 PA3 100pF 6.3V C40 D13/SCK D12/MISO D11/MOSI/PWM D10/CS/PWM D9/PWM D8 D7 D6/PWM D5/PWM D4 D3/PWM D2 D1/TX D0/RX D15/SCL D14/SDA Pass-Through: Male on Bottom - Female on Top 10 9 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 ST morpho D9 ORANGE_LED 0 N.M. SB41 SB40 0 +3V3 CN5 CN8 L6470_1_nBUSY\SYNC 1 2 3 4 5 6 Arduino CN8 of NUCLEO BOARD +5V A0 A1 A2 A3 A4 A5 1 2 3 4 5 6 7 8 CN6 Pass-Through: Male on Bottom - Female on Top Arduino CN6 of NUCLEO BOARD L6470_0_VDD PA0 PA1 PA4 PB0 PC1 PC0 IOREF RESET +3V3 +5V GND GND VIN PC11 PD2 E5V GND Arduino CN9 of NUCLEO BOARD SX side 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 Arduino CN5 of NUCLEO BOARD R28 620 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 Pass-Through: Male on Bottom - Female on Top ST3 2 1 PC8 PC6 PC5 U5V PD8 PA12 PA11 PB12 PB11/NC GND PB2 PB1 PB15 PB14 PB13 AGND PC4 NC/PF5 NC/PF4 SB26 0 SB10 PB3 PB14 PA6 SB13 SB12 SB34 0 SB11 SB32 0 L6470_1_SDO PA7 PB15 L6470_0_SW PB13 SB9 2 4 6 8 CON8 1 3 5 7 J2 L6470_1_SW L6470_0_SCK L6470_1_SCK L6470_0_SDO L6470_0_SDI L6470_1_SDI L6470_0_nSTBY\nRST PB4 L6470_0_nCS L6470_1_nCS D11 SMAJ48A (8V/45V) PB5 ST1S14_PGOOD L6470_1_OSCIN L6470_1_nSTBY\nRST SB6 SB5 PA5 SB8 SB7 SB23 0 VS PB0 L6470_0_OSCOUT PB6 PA10 PA4 2 terminals 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 Pass-Through: Female on Bottom - Male on Top CN10 of NUCLEO BOARD L6470_1_VDD 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 Pass-Through: Female on Bottom - Male on Top STM32 NUCLEO CONNEC TORS X-NUCLEO-IHM02A1 Figure 4: X-NUCLEO-IHM02A1 circuit schematic (4 of 4) Schematic diagram GSPG081015 1135SG 5/7 Revision history X-NUCLEO-IHM02A1 Revision history Table 1: Document revision history 6/7 Date Version Changes 19-Oct-2015 1 Initial release. 16-Dec-2015 2 Changed title description on cover page. 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All other product or service names are the property of their respective owners. Information in this document supersedes and replaces information previously supplied in any prior versions of this document. (c) 2015 STMicroelectronics - All rights reserved DocID028469 Rev 2 7/7