STEVAL-IHM042V1: low voltage dual motor control board based on the STM32F303 MCU and L6230 monolithic driver. Figure 1.

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1 User manual STEVAL-IHM0V: low voltage dual motor control board based on the STMF0 MCU and L60 monolithic driver Introduction The STEVAL-IHM0V evaluation board is designed as a dual motor field-oriented control (FOC) complete evaluation platform featuring STMicroelectronics' ARM Cortex -MF - bit core-based STMF0CC microcontroller with floating point support and two DMOS fully integrated L60 -phase motor drivers. This platform has been designed as an integrated evaluation environment for motor control applications in the range of 8 V - 8 V of DC bus voltage (which is extendable up to V) and nominal power up to 0 W for each motor driver, exploiting the computational power of the STMF0CC microcontroller with internal 8 KB SRAM and 6 KB Flash, ADCs, DACs, 7 comparators, operational amplifiers with programmable gains, SWD debugging and the L60 DMOS driver with.8 A output peak current, non-dissipative overcurrent detection/protection, cross conduction protection, uncommitted comparator, thermal shutdown, and undervoltage lockout. The STEVAL-IHM0V is provided with a USB-to-serial interface specific for real-time data exchange performed by an STMF0C8 already programmed with the STM Virtual COM Port firmware. The ST Link, in-circuit debugger and programmer, is embedded in the board allowing the user to program and debug the STMF0CC microcontroller directly with a USB cable using a compatible toolset. With dedicated hardware evaluation features, the STEVAL-IHM0V board is designed to help developers evaluate the device and develop their own applications. The STEVAL-IHM0V can be used together with the STM PMSM single/dual FOC SDK and constitutes a complete motor control evaluation and development platform. The evaluation board can be ordered using order code STEVAL-IHM0V. Figure. STEVAL-IHM0V March 0 DocID09 Rev /8

2 Contents Contents Features Block diagram and layout Board schematics Jumper settings Using the STEVAL-IHM0V with the STM FOC firmware library. 6 Bill of material Technical issues Revision history /8 DocID09 Rev

3 Features Features STMicroelectronics' ARM TM Cortex-MF core-based STMF0CC microcontroller Two L60 monolithic power stages in a PowerSO package featuring overcurrent and thermal protection Simultaneous field-oriented control (FOC) of two PMSM motors Embedded ST Link in-circuit debugger and programmer with SWD support USB-to-serial interface for real-time control via ST s motor control workbench -shunt or single-shunt current sensing topology for each driver easily selectable through jumpers DC voltage range from 8 V to 8 V (extendable up to V) Maximum load current of. Arms (.8 A peak) for each output Integrated DC-DC regulator (. V) Optional control interface through trimmer and general-purpose buttons Reset button Two LEDs DACs outputs Two Hall sensor/encoder inputs DocID09 Rev /8

4 Block diagram and layout Block diagram and layout Figure shows the block diagram of the STEVAL-IHM0V. The inner white square represents the active area. The components inside the active area are the minimum required to perform the dual motor drive. The board has been developed in two layers. Figure shows the layout of the top layer while Figure shows the bottom layer. Figure. Block diagram /8 DocID09 Rev

5 Block diagram and layout Figure. Layout - top layer Figure. Layout - bottom layer DocID09 Rev /8

6 Board schematics Board schematics Figure. Schematic ( of ) VS PA0 TDO/SWO R.7k R9 0k R.7k R.7k R.7k Motor Motor Enc/Hal l Connector Enc/Hal l Connector ENC A/H_A ENC A/H_B ENC B/H_A ENC B/H_B ENC Z/H_A ENC Z/H_B V_EncHall C6 0pF V_EncHall C9 00nF TMS/SWDIO C 0pF BTN BTN MC_PWM_ MC_PWM_ MC_PWM_ LED MC_CurrentB MC_CurrentC R.K R6.7k C 0pF C nf R7 NM C8.7nF R.7k C 0pF C 0pF R 8.k R7 00K R7 00 PA0 C 0pF CN CN SB R8 NM ENC A/H_A R6.K ENC B/H_A V_EncHall +V_USB MC_STOP MC_PWM_ MC_PWM_ R7 00 C7 00nF R0 NM USART_RX USART_TX MC_STOP PB PB PB C nf LED R7 LED NM ENC B/H_B ENC A/H_B ENC B/H_A R 9k R 9k MC_PWM_ TCK/SWCLK U MC_PWM_EN MC_PWM_EN 8 VDD 7 VSS 6 PB9 PB8 BOOT0 PB7 PB6 PB 0 PB 9 PB 8 PA 7 PA 6 VDD VSS PA PA PA PA0 0 LED C0 pf PA9 9 PA8 VBAT PC/TAMP/RTC PC PC PD0/OSC-IN 7 PD/OSC-OUT NRST VSSA VDDA RESET X 8MHz 6 PA0-WKUP PA 0 PA 8 PB 7 PB 6 PB PB PA0 MC_CurrentA R 0 C pf STMF0CCT6 8 9 PA PA PA PA6 PA7 PB0 PB PB PB0 PB VSS VDD MC_CurrentB C7 00nF DAC_OUT C6 00nF C + + uf MC_CurrentB SB ENC Z/H_B R76 00 MC_CurrentC ENC Z/H_A PB PB0 MC_CurrentA GSPG00DI00 6/8 DocID09 Rev

7 Board schematics Figure 6. Schematic ( of ) R6 R6 R69 R70 R7 C8 0nF C9 0nF VS VS k MC_CurrentC MC_CurrentB MC_CurrentA MC_CurrentC MC_CurrentB MC_CurrentA C 0nF R 60. k CN Motor MC_STOP CP+ CP- CPOUT MC_PWM_ 9 VSA 0 IN VSB 00nF 00nF MC_PWM_ EN GND 8 C C6 6 GND 0V 0V 7 IN L60 GND 9 6 EN GND 6 MC_PWM_ CN OUT 9 IN MC_PWM_EN EN OUT OUT Motor MC_CurrentA MC_CurrentB MC_CurrentC CP+ 8 CP- SENSE 8 R 66. k CPOUT SENSE R 67. k SENSE MC_CurrentA MC_CurrentB MC_CurrentC JP R 68. k k C 0nF U DIAG/EN IN EN IN EN IN EN L60PD L60 VBOOT VCP 0 7 VSA VSB 00nF GND 8 C GND 8 9 0V GND 9 6 GND 6 OUT OUT OUT SENSE 8 SENSE SENSE NC# NC# NC#6 NC# NC#6 NC#7 EP NC# NC# NC# NC# NC# 0 NC#0 00nF C 0V R 6. k U DIAG/EN L60PD VBOOT VCP NC# NC# NC#6 NC# NC#6 NC#7 EP NC# NC# NC# NC# NC# 0 NC#0 k k k D BAV C 0 7uF D BAV99 R 6. k J P JP J P R8 0.7 W R9 0.7 W R0 0.7 W R 0.7 W R 0.7 W R 0.7 W R6 k MC_STOP MC_PWM_ MC_PWM_ MC_PWM_ MC_PWM_EN GSPG00DI0 DocID09 Rev 7/8

8 Board schematics Figure 7. Schematic ( of ) 8V - 8V VS JP + - UMKBJ06MM-T Taiyo Yuden PB DAC_OUT USART_RX USART_TX PA0 PB0 EPL00-8MLB Coilcraft 8.uH/0.A +._PS 6SVP7M OSCON (SANYO) ESR = 70mohm RESET RESET R 0k Pot R0 00 B B BTN BTN Btn Btn CN CON R9 k7 D GREEN LED R 0R U STSPHR L V TP BOOT SW 8 8.uH R 7k R6 0 7 VIN EN EN GND 6 PGOOD FB C0 80pF TP B BUTTON R8.7k STRIPLINE X 00nF C8 C 0uF C7 00nF EP 9 D STPS060Z R7 k7 + + C 9 7uF GND C 00nF R7 00 C 00nF BUTTON BUTTON R 00 R k7 C 00nF R k7 C6 00nF Extension connector PA PB7 PB6 CN PC PB PA PA LED LED PB PB PB TCK/SWCLK TMS/SWDIO LED LED PC PB R6 R D RED D6 BLU R7 00 R _PS +._USB GSPG00DI00 8/8 DocID09 Rev

9 Board schematics Figure 8. Schematic ( of ) R k7 R7 k7 GSPG00DI0 SWIM_PU_CTRL STM_RST STM_JTMS_SWDIO STL_USB_DP STL_USB_DM T_SWO LED_STLINK MCO T_JTMS T_JTCK T_SWDIO_IN Red Yellow LD HSMF_A0-A00J T_JTCK T_JTDO T_JTDI T_NRST T_JRST STM_JTCK_SWCLK +._USB +._USB C7 00nF R0 00k +._USB X 8MHz C 00nF +._USB AIN_ 0 PA0-WKUP PA PA STM_JTMS_SWDIO STM_JTCK_SWCLK CN7 +._USB +V_USB +V_USB STL_USB_DM STL_USB_DP +._USB +V_USB R.k +._USB PA PA PA PA0 0 PA9 9 PA8 8 PB 7 PB 6 PB PB U STMF0C8T6 +._USB LED_STLINK T_JTDO T_SWO T_SWDIO_IN T_JTMS T_NRST T_JRST T_JTDI T_JTCK +._USB +._USB TDO/SWO TMS/SWDIO RESET TRST TDI TCK/SWCLK AIN_ PA PA PA PA6 PA7 PB0 PB PB PB0 PB VSS VDD 8 VDD 7 VSS 6 PB9 PB8 BOOT0 PB7 PB6 PB 0 PB 9 PB 8 PA 7 PA VBAT PC/TAMP/RTC PC PC PD0/OSC-IN PD/OSC-OUT NRST VSSA VDDA VDD VSS 6 U6 GND Vout Vout Vin LD7DTR Nc8 7 Vout7 6 Vout6 Nc 8 R 00 R6 00k C9 0pF C0 0pF C 00nF R NM R 0k C8 00nF R8 00k C.7uF V R9 0k T BC88 C 00nF C7 00nF 6.V R CN8 MINIUSBB-TYCO-70 R0 6k C 00nF + C + 6 0uF V 8 9 DocID09 Rev 9/8

10 Board schematics Figure 9. Schematic ( of ) GSPG00DI0 VCOM_JTMS_SWDIO VCOM_USB_DP VCOM_USB_DM VCOM_LED Red Yellow LD HSMF_A0-A00J VCOM_JTCK_SWCLK +._USB +._USB +._USB VCOM_USART TX VCOM_JTMS_SWDIO VCOM_JTCK_SWCLK VCOM_USB_DM VCOM_USB_DP +._USB U7 STMF0C8T6 +._USB VCOM_LED VCOM_USART TX VCOM_USART RX USART_RX USART_TX VCOM_USART RX +._USB C8 00nF 0 PA0-WKUP PA PA CN9 +._USB +V_USB +V_USB +._USB 6 VDD VSS PA PA PA PA0 0 PA9 9 PA8 8 PB 7 PB 6 PB PB C 00nF +._USB PA PA PA PA6 PA7 PB0 PB PB PB0 PB VSS VDD 8 VDD 7 VSS 6 PB9 PB8 BOOT0 PB7 PB6 PB 0 PB 9 PB 8 PA 7 PA C 00nF 6 VBAT PC/TAMP/RTC PC PC PD0/OSC-IN 7 PD/OSC-OUT NRST 8 9 VSSA VDDA CN0 MINIUSBB-TYCO-70 R8 6k C 00nF R 00 R R 00k R 00k C 00nF C0 0pF X 8MHz C 0pF C9 00nF R6 00k C.7uF V R7 0k T BC R9.k 0/8 DocID09 Rev

11 Jumper settings Jumper settings Table gives a detailed description of the jumpers used. Table. Jumper settings Jumper Selection Description JP, JP JP, JP R7 R0 R R6 R7 R8 R9 R7 R7 R7 R7 Both between - Selects the single-shunt current reading for motor Both between - (default) Selects the three-shunt current reading for motor Both between - Selects the single-shunt current reading for motor Both between - (default) Selects the three-shunt current reading for motor Mounted (0 Ω) (default) Not mounted Mounted (0 Ω) Not mounted (default) Mounted (0 Ω) Not mounted Mounted (90 Ω) (default) Not mounted Mounted (0 Ω) (default) Not mounted Mounted (0 Ω) (default) Not mounted Mounted (0 Ω) (default) Not mounted Mounted (0 Ω)(default) Not mounted Motor sensors (Hall or encoder) are supplied from CN8 or CN0 (USB + V). Keep R0 not mounted. (USB + V) not connected to motor sensors (Hall or encoder) Motor sensors (Hall or encoder) are supplied from Vdd micro (+. V). Remove in this case R7. Vdd micro (+. V) not connected to motor sensors (Hall or encoder) VBUS (CN) 8 V - 8 V supplies the DC-DC converter JP (8 V - 8 V) supplies the DC-DC converter VBUS (CN) 0 - V LED D driven by microcontroller (PC). Keep R7 open. LED D not connected to microcontroller STMF0CC is supplied by DC-DC converter STMF0CC is not supplied by DC-DC converter STMF0CC is supplied by USB CN8 or CN0 STMF0CC is not supplied by USB CN8 or CN0 LED D6 driven by microcontroller (PB). Keep R7 open. LED D6 not connected to microcontroller Bus voltage sensing connected to PB (ADC_IN). Keep R7 not mounted. Bus voltage sensing not connected to PB (ADC_IN) Mounted (0 Ω) Connect Pot to PB (ADC_IN). Remove in this case R7. Not mounted (default) Mounted (0 Ω) Not mounted (default) Mounted (0 Ω) Not mounted (default) Pot not connected to PB (ADC_IN) DIAG/EN signal from U (emergency signal motor ) connected to microcontroller (PC). Remove in this case R6. DIAG/EN signal from U (emergency signal motor ) not connected to microcontroller DIAG/EN signal from U (emergency signal motor ) connected to microcontroller (PB). Remove in this case R9. DIAG/EN signal from U (emergency signal motor ) not connected to microcontroller DocID09 Rev /8

12 Using the STEVAL-IHM0V with the STM FOC firmware library Using the STEVAL-IHM0V with the STM FOC firmware library The STM FOC firmware library performs the field-oriented control (FOC) of one or two permanent magnet synchronous motors (PMSM) in both sensor and sensorless configurations. It is possible to configure the firmware to work with the STEVAL-IHM0V board and to establish real-time communication for debugging/tuning purposes using ST s motor control workbench. For more information or updates visit ST s website at or contact the nearest ST sales office. /8 DocID09 Rev

13 Bill of material 6 Bill of material Table. Bill of material Item Quantity Reference Part Tolerance Description B,B,B BUTTON Surface mount tactile switch CN,CN Enc/Hall Connector CN,CN Motor CN CON CN6 6 CN7,CN9 ways connector male mm ways connector male mm 8 way dual row strip line connector (male connector). mm pitch way dual row strip line connector (male connector). mm pitch 7 CN8,CN0 MINIUSBB-TYCO- USB mini connector female 8 6 C,C,C,C,C,C6 0 pf % SMD mult.ceramic cap. 9 0 C7,C9,C6,C7,C,C,C,C6,C7,C8,C,C 00 nf % SMD mult.ceramic cap. 0 C8.7 nf % SMD mult.ceramic cap. C0,C pf % SMD mult.ceramic cap. C,C nf % SMD mult.ceramic cap. C uf 0% SMD mult.ceramic cap. C8,C9 0 nf % SMD mult.ceramic cap. C0 7 uf 0% Aluminium electrolytic capacitor 6 C,C 0 nf % SMD mult.ceramic cap. 7 C,C,C,C6 00 nf % SMD mult.ceramic cap. 8 C7,C8 00 nf SMD mult.ceramic cap. 9 C9 7 uf 0% Aluminium electrolytic capacitor 0 C0 80 pf % SMD mult.ceramic cap. C 0 uf 0% High value multilayer ceramic capacitors C9,C0,C0,C 0 pf % SMD mult.ceramic cap. C,C6.7 uf 0% C6 0 uf 0% Aluminium electrolytic capacitor Aluminium electrolytic capacitor DocID09 Rev /8

14 Bill of material Table. Bill of material (continued) Item Quantity Reference Part Tolerance Description C7 00 nf % SMD MULT.CERAMIC CAP. 6 D,D BAV99 Small signal diode 7 D STPS060Z Power schottky rectifier 8 D GREEN LED SMT LED 9 D RED SMT LED 0 D6 BLU SMT LED JP,JP,JP,JP STRIPLINE X JP STRIPLINE X ways strip line-male. mm ways strip line-male. mm LD,LD HSMF_A0-A00J SMT LED two-color L 8. uh SMT power inductor 7 R,R,R,R,R,R6,R8.7 k % 6 6 R7,R7,R8,R7,R7,R76 0 % 7 R8,R0,R,R7,R7 NM % 8 R9 0 k % 9 R 8. k % 0 R,R 9 k % R 0 % R,R6. K % 7 R7,R0,R6,R8,R,R, R6 00 k % 6 R8,R9,R0,R,R,R 0.7 % R 0R % 6 R 7 k % 7 R6 0 % 8 R7,R,R,R,R7 7 k % 9 R9 7 k % 0 6 R0,R,R,R,R,R 00 % R 0 k 0% Trimmer Cermet R6,R9 90 % R,R9,R7 0 k % R0,R8 6 k % R,R9. k % 6 6 R60,R6,R6,R66,R67,R68. k % 7 6 R6,R6,R6,R69,R70,R7 k % /8 DocID09 Rev

15 Bill of material Table. Bill of material (continued) Item Quantity Reference Part Tolerance Description 8 TP V way strip line male 9 TP GND way strip line male 60 T,T BC88 NPN Transistor 6 U STMF0CCT6 6 U,U L60PD 6 U STSPHR 6 U,U7 STMF0C8T6 6 U6 LD7DTR 66 X,X,X 8MHz 8 MHzCrystal DocID09 Rev /8

16 Technical issues 7 Technical issues DIAG/EN signal from U (emergency signal motor ) can't be used in PB (TIM BRK) because it is used by OP AMP Out. It can be connected to PC through R7 used just as a GPIO, LED must be disabled unmounting the resistor R6 in this case. DIAG/EN signal from U (emergency signal motor ) can't be used in PA6 (TIM8 BRK) because it is used by OP AMP Out. It can be connected to PB through R7 used just as a GPIO, LED must be disabled unmounting the resistor R9 in this case. 6/8 DocID09 Rev

17 Revision history 8 Revision history Table. Document revision history Date Revision Changes 9-Apr-0 Initial release. 6-Mar-0 Modified: Section DocID09 Rev 7/8

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