STM32 Nucleo Pack FOC and 6-step motor control platform for 3
Contents
1. J9 Enable VIN supply voltage JP1 JP2 Jumpers for FOC SPEED Potentiometer CN10 ST morpho connector CN5 Arduino UNO connector CN9 Arduino UNO connector J2 Motor connector J3 Hall Encoder sensor connector J7 Debug connector JP3 External pull up for sensors J5 J6 Current measure mode 1Sh 3Sh D11 LED status indicator Figure 7 X NUCLEO IHM07M1 connectors view m DoclD028309 Rev 1 d UM1945 Basic user Getting started 3 4 Upload the firmware example The motor control Nucleo Pack example firmware is pre loaded in NUCLEO F302R8 board As described in the previous section it performs two different algorithms to run the motor 6 step trapezoidal control or FOC Field Oriented Control This chapter describes the procedure to reload the firmware demonstration inside the NUCLEO F302R8 board in order to restart by default condition There are two ways to do it one is through ST LINK tool free download available from ST web site www st com and one with drag amp drop function suggested 3 4 1 Drag amp drop procedure 1 Install ST LINK drivers from www st com website 2 Onthe NUCLEO F302R8 board put JP5 jumper in U5V position 3 Plug the NUCLEO F302R8 Board to the host PC using a micro USB cable If the ST LINK driver is correctly installed it will be recognized as an external memory device called NUCLEO or similar 4 the binary file of the2. Cur UM1945 Sf life augmented User Manual STM32 Nucleo Pack FOC and 6 step motor control platform for 3 phase low voltage motor Introduction The NUCLEO Pack P NUCLEO IHM001 is a motor control kit based on X NUCLEO IHMO7M1 and NUCLEO F302R8 boards The power board with ST L6230 DMOS driver belonging to STPIN family provides a motor control solution for low voltage 3 phase DC brushless motor with the addition of STM32 NUCLEO board through the ST morpho connector 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 this P NUCLEO IHMOO 1 kit 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 itis compatible with 3 shunt or 1 shunt current sense measuring The Figure 1 shows the motor control kit assembled Figure 1 P NUCLEO IHM001 Pack 1 Picture not contractual Enabled September 2015 DoclD028309 Rev 1 1 27 www st com Contents UM1945 Contents 1 FU NR 5 2
3. Dit C1025 gt 2 71 2 H3 E BED DAC REF J8 1 Stripline m 1x3 RING VIN J9 CN7 22 1 VIN 5V CN10 es er ARDUINO MORPHO CONNECTOR rdp C73 2 C74 C7 18 C10 C10 2 c75 3 4 EBV C76 CN5 10 510 C10 C104 If J9 ON C77 5 7 8 3V3 CN6 5 5 9 10 C10 6 1 12VMAX ON J1 C75 1 1 8 C5 8 C10 C10_8 cri 10 66233V3 7 CRT C10 610710 21 IPS Nucleo pin 2 3 C7 13 11 12 5 6 10 10 12 2 JP1 Nucleo Removed C7 15 i ie C55 C10 C10 14 C7 17 4 C54 C10 C10 16 719 17 1817 20 C6 6 5 3 10 10_18 Cr 21 119 20 c7 22 1 67 7 2 C52 C10 C10 20 C723 21 22 CT 24 C6 8 C5 1 C10 C10 22 C7 25 23 24107 26 8 C9 8 C10 C10 24 C7 27 25 26 7 28 C81 1 C97 C10 C10 26 C7 29 A r C7 30 C8 2 2 6 C9 6 C10 C10 28 C731 C732 C8 3 3 C9 5 C10 C10 30 c7 33 31 32 7 34 C8 4 4 4 C94 C10 C10 32 STM32 NUCLEO PART USED C735 33 34 I C7 36 C85 5 C9 3 C10 C10 34 C737 35 36 7 38 C8 6 6 2 C92 C10 C10 36 PC13 START STOP B1 BUTTON 37 38 C9 1 C10 C10 38 CN8 CN9 RESET MCU RST B2 BUTTON e21329 3 976 UM1945Federal Communications Commission FCC and Industry Canada IC Compliance State AppendixA Federal Communications Commission FCC A 1 A 1 1 A 1 2 A 1 3 A 2 A 2 1 A 2 2 d and Industry Canada IC Compliance Statements FCC Compliance Statement Part 15 19 This device complies with Part 15 of the FCC Rules Operation is subject to the following tw
4. IC Compliance Statement Compliance Statement Industry Canada ICES 003 Compliance Label CAN ICES 3 B NMB 3 B D claration de conformit tiquette de conformit la NMB 003 d Industrie Canada CAN ICES 3 B NMB 3 B DoclD028309 Rev 1 25 27 Revision History UM1945 6 26 27 Revision History Table 4 Document Revision History Date 22 Sep 2015 Version 1 Initial version Revision Details DoclD028309 Rev 1 d UM1945 IMPORTANT NOTICE PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries ST reserve the right to make changes corrections enhancements modifications and improvements to ST products and or to this document at any time without notice Purchasers should obtain the latest relevant information on ST products before placing orders ST products are sold pursuant to ST s terms and conditions of sale in place at the time of order acknowledgement Purchasers are solely responsible for the choice selection and use of ST products and ST assumes no liability for application assistance or the design of Purchasers products No license express or implied to any intellectual property right is granted by ST herein Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product ST and the ST logo are trademarks of ST All other product or service names are the property of the
5. Ordering information 6 3 Basic user Getting started 6 3 1 System architecture 6 3 2 Building and run the motor control Nucleo Pack 6 3 3 Hardware settings 9 3 4 Upload the firmware 13 3 4 1 Drag amp drop procedure 13 3 4 2 STSEINKOOL i apr spede eae hee ae ea de AREE SRE RE 13 4 Advanced user 6 step and FOC control algorithm settings 16 4 1 6 step firmware based on X CUBE SPN7 16 4 1 1 Firmware architecture overview 16 4 1 2 Firmware parameter settings to spin different BLDC motors 19 4 1 3 Inside the 6 step firmware 19 4 1 4 DAC settings for debug 20 4 2 ST FOC SDK Configuration guide for PPNUCLEO IHMOO1 20 5 Electrical schematics 21 Appendix A Federal Communications Commission FCC and Industry Canada IC Compliance Statements25 A 1 FCC Compliance 25 A 1 1 Part 15 19 bedre sd nada dent bebes dt Pages dde 25 A 1 2 15105 m Lerret 25 A 1 3 152150 dene RE RI ee ale Rd E 25 A 2 IC C
6. firmware demonstration P NUCLEO IHM001 bin and drag and drop the file into the NUCLEO device listed inside the disk drives list this is showed by clicking the Start button of Windows OS interface contained into X CUBE SPN7 firmware pack 5 Wait until flashing is complete 3 4 2 ST LINK tool 1 Open ST LINK tool 2 Connect NUCLEO F302R8 board to PC with a USB type A to Mini B cable through USB connector CN1 on NUCLEO F302R8 board 3 Make sure that the embedded ST LINK V2 is configured for in system programming on NUCLEO F302R8 board both CN2 jumpers ON 4 Use P NUCLEO IHMOO 1 bin binary file to upload the code inside STM32 the window will appear as shown in Figure 8 d DoclD028309 Rev 1 13 27 Basic user Getting started UM1945 14 27 Figure 8 ST LINK utility tool View Target ST LINK External Loader Help Ad EEAO Bw Memory display Address 0x0800A000 Size 0x7DC4 Device Memory File P NUCLEO IHM001 hex Data Width 32 bits X P NUCLEO IHM00 1 hex Address range 0x08000000 0x0800FFFF 20000408 08000581 080005FD 08000583 F0005080 428811D4 5000F04F F0004004 080005AD 08000585 00000000 if 1080005 11E8F8DF 2100F912 F8DFBF1C F901F000 BDO1B8FA me P NUCLEO IHMOO 1 hex opened successfully u O Bg B N 108 P 8 108 P 8g B BgD B N 06 P 6 0 06 P 60 AhBo Cor
7. frequency and with different priority level according to the specific function to cover in particular 1 High frequency task it is dedicated for the high frequency function advanced TIMx PWM generation ADC reading and it is managed at highest priority This frequency is changeable through the STM32CubeMX software TIM1 ARR 2 Medium frequency task it is dedicated for the medium frequency function general TIMx for step timing and it is managed at medium priority This frequency is changeable through the STM32CubeMX software i e TIM6 ARR for NUCLEO F302R8 board 3 Low frequency task it is dedicated for the low frequency function SysTick timer for Speed Loop timing and it is managed at lowest priority The SysTick SixStep MediumFrequencyTask is called at SysTick frequency 1msec while the speed loop function is managed by SPEED LOOP TIME msec defined in SixStep param h file DAC settings for debug For debug purpose it is possible to use the DAC peripheral and configure the 6 step library in order to drive the signal The function SET DAC value dac value allows to convert the variable dac value in 16 bit format with no sign in analog signal so it is possible to monitor for instance the motor speed set by default or the potentiometer value through an external oscilloscope attached at configured pin By default PA4 pin is configured and it is accessible through the ST morpho connector and it is typica
8. to supply the Nucleo board through the X NUCLEO IHMO7M1 CLOSED 3 2 T 2 3 5 Selection for 1 shunt 3 shunt configuration single shunt by default CLOSED 3 z 8 2 3 J6 Selection for 1 shunt or 3 shunt configuration single shunt by default CLOSED J7 Debug connector for DAC OPEN 1 JP1 and JP2 selection between FOC or 6 step current sensing circuit It must be both closed FOC selection or both open 6 step selection default setting 2 Itisrecommended to verify that power supply voltage is not higher than 12V dc in order to avoid damaging on NUCLEO F302R8 board For further details on Nucleo settings refer to UM1724 available from ST web site www st com 3 J5 and J6 must have both the same configuration Both 1 2 for three shunt configuration Both 2 3 for single shunt configuration On the silkscreen the correct position for three and for single shunt is indicated Also the default position is indicated The Table 2 shows the main connector on X NUCLEO IHMO7M 1 board Table 2 Screw terminal table Screw terminal Function J1 Motor power supply input 8V 48V J2 3 phase motor connector U V W The X NUCLEO IHMO7M is based on ST morpho connector male pin headers CN7 and CN10 accessible on both sides of the board They can be used to connect this power board to NUCLEO F302R8 board All signals and power pins for MCU are available on ST morpho connector For further details refer to
9. F 6 3V Nn R36 2 2k OUT1 RIAA BEMF 1 OUT2 RIAA BEMF DETECTION 6 STEP 3sh shunt 1 SENS1 1sh shunt 2 J5 27 end SINS 25 N21 R22 10K 22 1 lt lt DIAG EN R25 26 39k Ok 617 1nF 6 3V GPIO BEM GPIO_BEMF R38 2 2k R37 2 2k lt lt BEMF2 CON3 3sh 1 shunt 3 SENS3 15 shunt 2 J6 BEMF3_KBEMF3 SY6LNN e21329 3 22 76 L 60 87Z0C 1900 Figure 16 STM32 MCU assignment Currents C10 14 Y ENEA 0 R4 Curr fdbkt PC1 PhB 0 R R gt C736 Peo PC CR Curr fdbk2 C10 28 C7 38 Curr fdbk3 Grad 80 BUS 12 2 ETR ADA cpour PC2 Temp Senso R54 C10 13 C7 35 Temperature f eedback PC9 GPIO GPIO BEMF C10 23 ORS C7 30 C7 1 xii dan 5 3V3 pap 1 NA R62 N M 13K 1 7 34 BEMF2 Vshunt 1j PAL EmbPGA RA 7 C10 15 BEMF3 C10 23 Sr C10 15 C10 26 PCi 5 N N 4 99K 0 NA EN Vshunt 2 PAZ EmbPGA R nos R69 BEMF 6 step NG C7 3 EN3 Vshunt 3 N N 4 99 N M 13K 1 HALL ENCODER SENSOR C10 24 Y B1 ORY SPEED R79 Q PA15 Enc AH1 lt R81 0 Enc 2 SH y a RIA AA R84 0 10 Z H3 50
10. O7M1 connectors 12 ST LINK utility tool 2 ees 14 ST LINK utility tool programming 15 6 step firmware Project workspace on IAR 16 Generic firmware 17 X CUBE SPN7 software 19 Current sense conditioning 21 Sensors and shunt resistor 22 16230 driver and BEMF detection circuit 23 STM32 MCU pin assignment 000 eae 24 2 10028309 Rev 1 UM1945 Features d Features The information listed below shows the main board specification data and parameters set for the X NUCLEO IHMO7M1 expansion board included in the P NUCLEO IHMOO 1 kit a 3 phase driver board for BLDC PMSM Motors Nominal operating voltage range from 8 V to 48 V DC 2 8 A output peak current 1 4 A RMS Operating frequency up to 100 kHz Non dissipative overcurrent detection and protection Cross conduction protection Thermal measuring and overheating protection Full compatible with ST 6 Step or ST FOC control algorithm Full support for sensorless and sensor mode 3 shunt and 1 shunt configurable jumpers for motor current
11. Rev 1 UM1945 Advanced user 6 step and FOC control algorithm settings Figure 11 Generic firmware architecture Level 2 Level 1 Level O vr i se Level 0 This level is divided into three sub layers e Board Support Package BSP this layer offers a set of APIs relative to the hardware components in the hardware boards Audio codec IO expander Touchscreen SRAM driver LCD drivers etc and composed of two parts Component is the driver relative to the external device on the board and not related to the STM32 The component driver provides specific APIs to the BSP driver external components and could be portable on any other board In this case X NUCLEO IHMO7M1 the ST 16230 driver has been provided inside the firmware package driver it allows to link the component driver to a specific board and provides a set of friendly used APIs The APIs naming rule is BSP FUNCT Action ex BSP LED Init BSP LED On It is based on modular architecture allowing to port it easily on any hardware by just implementing the low level routines e Hardware Abstraction Layer HAL this layer provides the low level drivers and the hardware interfacing methods to interact with the upper layers application libraries and stacks It provides a generic multi instance and functionalities oriented APIs which permit to offload the user application implementatio
12. UM1724 document section 5 12 ST morpho connector available on website www st com DoclD028309 Rev 1 3 UM1945 Basic user Getting started Figure 6 X NUCLEO IHM07M1 top layer with silk screen AINO 535048404 NOTLVNIVAI 000000000000000000 i 31 53 YO4 Q3AOHddV 224 LON vsu 668 67 el e oe 299 e 00 o o gt e cec R46 enit io ee os P 17 S ul 3 e i im R64 o e 900 esie m 2 e Sime WM R62 en org R61 o Ze Em R74 e R75 e EP dl 2 OG R50 RI8 mi4M M mo RO US 04 R160 ECL i ERE N E HR Rh dar z Cam EN GND OUT1 OUT2 OUT3 FA gt ma vl B Z 5V GND 2 Table 3 Connectors description Part reference Description CN7 ST morpho connector CN6 Arduino UNO connector CN8 Arduino UNO connector U11 L6230 driver U10 TSV994IPT op amp J1 Power supply connector DoclD028309 Rev 1 11 27 Basic user Getting started UM1945 12 27 Table 3 Connectors description continued Part reference Description
13. e State No Memory Grid 5 5 Click on Target and Program buttons see Figure 9 ST LINK utility tool programming environment DoclD028309 Rev 1 d UM1945 Basic user Getting started 4 Figure 9 ST LINK utility tool programming environment File Edit View Target ST LINK Extemal Loader Help Tr Memory display Address 0x0800A000 Size Ox7DC4 Device Memory File P NUCLEO IHMOO1 hex Data Width 32 bits P NUCLEO IHM00 1 hex Address range 0x08000000 0x0800FFFF 20000408 08000581 00000000 080005FD 08000583 BFLC4FAO F0005080 428811D4 5000F04F F0004004 080005AD 08000585 08000588 11EBFBDF 2100F912 FSDFBFLC F901F000 BDO1BSFA me P NUCLEO IHMOO 1 hex opened successfully u O Bg B N 108 P 8 108 P 8g B BgD B N 108 P 8 08 P 60 AhBo Core State No Memory Grid S 6 Click on Start and the firmware will be uploaded successfully DoclD028309 Rev 1 15 27 Advanced user 6 step and FOC control algorithm settings UM1945 4 settings 4 1 4 1 1 The firmware example in X CUBE SPN7 is provided for three different IDE tools 6 step firmware based on X CUBE SPN7 Firmware architecture overview case the IAR IDE workspace appears as shown in Figure 10 Figure 10 6 step firmware Project workspace on IAR Advanced user 6 step and FOC control algo
14. ge 3 phase brushless motor Figure 2 System architecture Control block Power block PMSM Motor Building and run the motor control Nucleo Pack The P NUCLEO IHMOO1 is a complete hardware development platform Power amp Control block Motor for STM32 Nucleo ecosystem to evaluate a motor control solution for single motor For a regular board operating follow the hardware configuration shown below DocID028309 Rev 1 Ly UM1945 Basic user Getting started 1 The X NUCLEO IHM07M1 must be stacked on a NUCLEO F302R8 board through the ST morpho connector There is only one position allowed for this connection in particular the two buttons on NUCLEO F302R8 board blue B1 and black B2 must be kept out as shown in Figure 3 Figure 3 X NUCLEO IHM07M1 and NUCLEO F302R8 assembled 1 The interconnection between the X NUCLEO IHMO7M1 with STM32 NUCLEO board has been designed for a full compatibility with a lot of control board and no modification of solder bridges is required d DoclD028309 Rev 1 7 27 Basic user Getting started UM1945 2 Connect the three motor wires U V W at J2 connector as shown the Figure 4 Motor connection with X NUCLEO IHMO7M 1 it is mandatory to connect the white or yellow wire to OUT1 the black one to OUT2 and the red one to OUT3 to respect clockwise and counterclockwise motor rotation according to the firmware implementation Figure 4 Motor connec
15. ir respective owners Information in this document supersedes and replaces information previously supplied in any prior versions of this document O 2015 STMicroelectronics All rights reserved 2 DoclD028309 Rev 1 27 27
16. ld and a lot of parameters usefully for system fine tuning In case of different motor connected or different load condition after the reset or power on the firmware is able to reduce the acceleration rate if startup fails and at the next push button event on NUCLEO F302R8 board a new value speed profile will be generated After this changes the firmware is ready to be recompiled with IDE tool and uploaded in NUCLEO F302R8 board Inside the 6 step firmware The main c file contains the starting point of 6 step library for motor control in particular the MC SixStep INIT configures the basic structure of MC driver based on 6 step control algorithm and the header file 6Step Lib h provides the connection between the application layer with this driver The stm32f3xx it c file includes the entry point for UART communication and the handling code for BKIN interrupt Inside the example folder the stm32F302 nucleo ihm07m1 c contains all the MCU related functions header files and the complete list of the peripherals used DoclD028309 Rev 1 19 27 Advanced user 6 step and FOC control algorithm settings UM1945 4 2 20 27 The core of 6 step algorithm is contained inside the middleware folder 6Step Lib c and its header file has the complete list of API functions available for the user at application level for instance MC StartMotor MC StopMotor or MC SetSpeed value At the base of MC driver three main tasks run at different
17. lly connected to DAC CH1 NUCLEO F302R8 board Other pin are available at J7 connector according with the NUCLEO F302R8 board used For pin modification remember to modify also the stm32F302 nucleo ihm07m1 h file The DAC peripheral is on by default but it is possible to disable it through the MC SixStep param h ST FOC SDK Configuration guide for P PNUCLEO IHM001 The demonstration board supports also the ST FOC library and no hardware modification is needed to run the motor with this control algorithm In this case it is only needed to configure the board for current sensing 1 shunt or 3 shunt mode and select the JP1 JP2 jumpers according to the jumper settings shown on Table 1 Jumper settings It is also available the support of MC Workbench software through the USB cable used for the NUCLEO programming In this case it is recommended to configure the FOC SDK for USART2 on PA2 and PA3 pin For further information about ST FOC SDK library refer to STSW STM32100 document on ST website www st com 3 DoclD028309 Rev 1 L 0 2211 Electrical schematics Figure 13 Current sense conditioning circuit 3V3 Q C2 100nF 10V 4 7uF 10V Vshunt 1 0 R3 Vshunt 2 R10 2 2k 3V3 N M 100pF 6 3V 3V3 Vshunt 3 utc N M 100pF 6 3V 976 LINN gt 6 e21329 3 42 82 L 20 Figure 14 Sens
18. m 6 step library 6Step Lib c h and interface files stm32f302 07 1 The interface file includes the map of STM32 MCU peripherals used for instance advanced TIMx general TIMx ADCx DACx UART etc to operate with the MC SixStep library This file must be updated according with the modification done by the user through STM32CubeMX software if channels or peripherals will be modified respect to the default configuration At middleware level a serial communication based on UART with external PC terminal emulator has been included in X CUBE SPN7 package see the UART Ul c h Examples based on the middleware components each middleware component comes with one or more examples called also Applications showing how to use it Integration examples that use several middleware components are provided as well This folder is created with STM32CubeMX software and it contains the main file for firmware initialization peripherals MC 6Step and UART communication In addition a specific file MC SixStep param h has been added to provide the complete list of parameters for MC 6Step library at application level Inside the stm32fxxx it c file all interrupt handlers are defined and in particular it contains the starting point for UART communication Level 2 This level is composed of a single layer which is global real time and graphical demonstration based on the middleware service layer the low level abstraction layer and the basic peri
19. m selected the system is ready to start 6 Push the blue button on NUCLEO F302R8 B1 and the motor starts to spin 7 Rotate the potentiometer on X NUCLEO IHMO7M1 board in order to regulate the motor speed Hardware settings TheTable 1 shows the jumper configuration on X NUCLEO IHMO7M1 board see also Figure 6 X NUCLEO IHMO7M 1 top layer with silk screen and Figure 7 X NUCLEO IHMO7M1 connectors view According to the jumpers selection it is possible to choose the c For a different motor gt 12V it is mandatory to remove the jumper J9 on power board before the power on to avoid to damage the NUCLEO F302R8 board To supply the STM32 NUCLEO from USB the jumper JP5 must be connected between PIN 1 and PIN2 For further details on Nucleo settings refer to UM1724 available from ST web site www st com DoclD028309 Rev 1 9 27 Basic user Getting started UM1945 10 27 1 shunt or 3 shunt mode the current sensing circuit offset level the hall encoder with pull up or the external supply for NUCLEO F302R8 board Table 1 Jumper settings Jumper Permitted configurations Derault condition Selection for FOC current sensing circuit The default condition is for 6 Step OPEN control algorithm 1 20 Selection for FOC current sensing circuit The default condition is for 6 Step OPEN control algorithm JP3 Selection for pull up enabling in hall encoder detection circuit CLOSED J9 Selection
20. n by providing ready to use process For example for the communication peripherals 125 UART it provides APIs allowing to initialize and configure the peripheral manage data transfer based on polling interrupt or DMA process and manage communication errors that may raise during communication The HAL drivers APIs are splitted in two categories generic APIs which provides common and generic functions to all the STM32 series and d DoclD028309 Rev 1 17 27 Advanced user 6 step and FOC control algorithm settings UM1945 18 27 extension APIs which provides specific and customized functions for a specific family or a specific part number Basic peripheral usage examples this layer encloses the examples built over the STM32 peripheral using only the HAL and BSP resources Level 1 This level is divided into two sub layers Middleware components set of Libraries covering USB Host and device libraries STemWin FreeRTOS FatFS LwIP and PolarSSL Horizontal interactions between the components of this layer is done directly by calling the feature APIs while the vertical interaction with the low level drivers is done through specific callbacks and static macros implemented in the library system call interface For example the FatFs implements the disk I O driver to access microSD drive or the USB Mass Storage Class The middleware components provided with the X CUBE SPN7 package contain the core of the motor control algorith
21. ndorse or promote products derived from this softvare E stm32F302 nucleo ihm0 mi c 2 vithout specific prior vritten permission E stm323 0_hal_msp c 23 8 E stm32f3xx itc 24 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS Ha 21 Middlewares 25 AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO T Ha CI MC 68tep Lib 26 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 6Step_Lib c 27 DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE LE GJUART serial com 28 FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL La VART Uc 29 DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR Le C3 Output 30 SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER 31 CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY 32 OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN ANY WAY OUT OF THE USE 33 OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE aj 35 36 37 STM32F302R8 Nucleo HE 4 ri Messages File Line Buid Find in Files Debug Log x Ready Errors 0 Warnings 0 Ln113 Col1 System NUM The firmware solution is built around three independent levels that can easily interact with each others as described in the below Figure 11 Generic firmware architecture 16 27 DoclD028309
22. o conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Part 15 105 This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference s by one or more of the following measures e Reorient or relocate the receiving antenna e Increase the separation between the equipment and the receiver e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help Part 15 21 Any changes or modifications to this equipment not expressly approved by STMicroelectronics may cause harmful interference and void the user s authority to operate this equipment
23. ompliance 25 A 2 1 Compliance 5 25 A 2 2 D claration de 25 6 Revision History 26 2 27 DocID028309 Rev 1 Ly UM1945 List of tables List of tables Table 1 cei ue gr WDR dee der bac ra A Rh e 10 Table 2 Screw terminal table 0 000 000 naannn 10 Table 3 Connectors 11 Table 4 Document Revision History 26 Ly DoclD028309 Rev 1 3 27 List of figures UM1945 List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 4 27 P NUCLEO IHMOO1 Pack 1 System architecture 6 X NUCLEO IHMO7M1 and NUCLEO F302R8 7 Motor connection with 1 8 Power supply connection for X NUCLEO IHMO7M1 9 X NUCLEO IHMO7M1 top layer with 11 X NUCLEO IHM
24. ors and shunt resistor circuit VIN en VBUS SENSOR 169K 1 HALL ENCODER SENSOR C1 10nF 10 uds 3V3 3V3 4 2 JUMPER D D D4 w w w e e e A H1 Ena B H2 B H2 Z H3 Z H3 5V GND Stripline m J4 1 4 RING UC SPEED REGULATION ki SHUNT RESISTOR Vshunt 2 R45 0 33 1W R42 SPEED JE SPEED e21329 3 96 L 60 87Z0C 1900 2218 Figure 15 16230 driver and BEMF detection circuit J1 AN 12 SENS1 a KVshunt 2 1 HI EN NA KEN3 VIN 2 lt 5 Ea 220nF 16V 911 CON2 SMBJABA T L82N0PD 99660496498 c C15 222222222222 cu Zoor 63V FEED 100nF 100 100nF 100V VSA SENS3 D1 3 612 7 VBOOT 1 4 SMBD 7000 ton 100v VCP GND GND g ji CP 13 EN3 CURRENT REF gt A CP cp INS i CPOUT 24 EN2 L6230 DMOS driver 3 CPOUT IN2 To0n 6 3V INT DENT 9 n1 ENG for three phase brushless E 8 ext R24 999 DC motor ns 7 CPOUT gt 888 10n N M 58 Motor J2 aya GPIO BEMEcGplo BEMF GPIO GPIO_BEMF D5 D6 D7 D8 D9 BAT3OKFILM BAT30KFILM BAT3OKFILM BAT30KFILM BAT3OKFILM C23 T1 O0 1u
25. pheral usage applications for board based functionalities The Figure 12 X CUBE SPN7 software architecture shows the firmware architecture of X CUBE SPN7 package including also the HW components level 3 DoclD028309 Rev 1 UM1945 Advanced user 6 step and FOC control algorithm settings Figure 12 X CUBE SPN7 software architecture 3Ph Motor Control Application Middleware Hardware Abstraction Layer API Boards Support Packages HW Components STM32 Nucleo Board X NUCLEO IHM07M1 Expansion Board Board Demonstrations d Firmware parameter settings to spin different BLDC motors The firmware example provided for P NUCLEO IHMOO 1 kit is tuned for low inductance high speed motor reference part Bull Running model BR2804 1700KV 11 1Vdc 7 pole pairs 19000 MaxRPM speed The X CUBE SPN7 firmware package is developed to simplify the way to spin a different kind of motors with only few changes In this case a header file SixStep param h contained inside X CUBE SPNT includes several parameters organized in two sections basic and advanced In the first section it is possible to change the main parameters for instance motor pole pairs clockwise or counter clockwise motor direction target speed or potentiometer selection In the advanced section it is possible to set the PI parameters define the alignment time or the acceleration rate during startup change the zero crossing thresho
26. rithm in this 22 Project IAR Embedded Workbench IDE dl File Edit View Project Tools Window Help Suga 8 2 Workspace r3022 man v X STM32F302R8 Nucleo 1H X a Files E 3 er main F302 c 5 EJ STM32F302R8 Nucleo STM32F302R8 Nucleo 4 gauthor System lab Automation and Motion control team B Doc 5 amp version 1 0 0 Ha C3 Drivers 6 06 July 2i La CIBsP Ha Components gt Camie230c 9 CISTM32F3ocNucleo E stm32f3xx nucleo c 11 eh2 center scopy COPYRIGHT c 2015 SIMicroelectronics center h2 CIJX NUCLEO HMO MIT 12 E X NUCLEO IHMO MI c 13 Redistribution and use in source and binary forms vith or vithout modification La 23 CMSIS 14 are permitted provided that the folloving conditions are met La C3 STM32F dx HAL Driver 15 1 Redistributions of source code must retain the above copyright notice Ha Example this list of conditions and the ing disclaimer 17 2 Redistributions in binary form must reproduce the above copyrigi SBIEWARM 18 this list of conditions and the folloving disclaimer in the doc n AG User 19 and or materials provided vith the distribution DENG name of SIMicroelectronics nor the names of its contributors I MC SixStep param h ee may be e
27. sensing Hall encoder motor sensor connector and circuit Debug connector for DAC GPIOs etc Potentiometer available for speed regulation Fully populated board conception with test points User LED Compatible with STM32 Nucleo boards Equipped with ST morpho connector PCB type and size Material of PCB FR 4 4 layers layout Copper thickness 70 um external layer 35 um internal layer Total dimensions of the expansion board 70 mm x 66 mm Device characteristic DoclD028309 Rev 1 5 27 Ordering information UM1945 2 3 1 3 2 6 27 Ordering information To order the motor control kit based on X NUCLEO IHMO7M1 and NUCLEO F302R8 use the order code P NUCLEO IHMOO1 Basic user Getting started System architecture A generic motor control system can be basically schematized as the arrangement of three main blocks see Figure 2 e Control block its main task is to accept user commands and configuration parameters to drive a motor The P NUCLEO IHMOO 1 is based on NUCLEO F302R8 board that provides all digital signals to perform the proper motor driving control algorithm for instance 6 step or FOC e Power block the X NUCLEO IHMO7M1 is based on 3 phase inverter topology core of the power block embedded on board is the driver STSPIN L6230 which contains all the necessary active power and analog components to perform a low voltage PMSM motor control Motor low volta
28. tion with X NUCLEO IHM07M1 SS OUR K 7X LIP IO VOGAL ne 53 1 The three motor wires are identified by a colored line marked on them The line marked on OUT1 refer to the white arrow in the above figure can be white or yellow 3 Select the jumper configuration on the power board to choose the desired control algorithm 6 step or FOC as described below a NUCLEO F302R8 board check jumper setting JP1 open JP5 PWR on E5V side JP6 IDD closed b X NUCLEO IHMO7M1 expansion board Check jumper settings J9 closed closed For6 step control set jumper settings as JP1 and JP2 open J5 amp J6 on 1Sh side For FOC control set jumper settings as JP1 and JP2 closed J5 amp J6 on 3Sh side b Itis important that supply voltage is powered off before control mode changing 2 8 27 DoclD028309 Rev 1 UM1945 Basic user Getting started 3 3 d 4 Connect DC supply voltage on 1 9 connector and power on up to 12 V DC for BR2804 motor included in the Pack as shown in Figure 5 Power supply connection for X NUCLEO IHMO7M1 Figure 5 Power supply connection for X NUCLEO IHM07M1 999 PA 5 At power on or reset led 011 on X NUCLEO IHMO7M 1 board starts to blink according to the control algorithm choice 2times for FOC mode control 4 times for 6 step mode control After the confirmation of control algorith
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