UM1604 User manual STEVAL-IHM039V1 dual motor control demonstration board featuring the STM32F415 microcontroller Introduction The STEVAL-IHM039V1 demonstration board is designed as a dual motor field-oriented control (FOC) development platform for STMicroelectronics' ARM CortexTM-M4 32-bit corebased STM32F415ZG microcontroller with up to 168 MHz of clock frequency and FPU support. The board features full-speed USB 2.0 and CAN 2.0 A/B compliant interfaces; 1 I2S/I2C channel, 1 USART channel and 1 insulate USART through USB to serial bridge, 2 DAC channels, internal 192+4KB SRAM and 1 MB Flash memory, and JTAG and SWD debugging support. The board is designed to implement multiple motor controls and offers an advanced user I/O interface (LCD QVGA display and joystick key). Extension headers make it easy to connect a daughterboard or wrapping board for specific applications. With dedicated hardware features, the STEVAL-IHM39V1 board is designed to help developers to evaluate the device and develop their own applications. The STEVAL-IHM39V1 can be used together with the STM32 PMSM single/dual FOC SDK v3.x and two of the possible STMicroelectronics demonstration power boards equipped with MC connector for a complete dual motor control evaluation and development platform. The demonstration board can be ordered through order code STEVAL-IHM039V1. Figure 1. Demonstration board March 2013 DocID024194 Rev 1 1/24 www.st.com Contents UM1604 Contents 1 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2 Board description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 3 Jumper settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 4 Using the STEVAL-IHM039V1 with the STM32 FOC firmware library . 16 4.1 Hardware requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 4.2 Software requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 5 Bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 2/24 DocID024194 Rev 1 UM1604 1 Features Features * STMicroelectronics' ARMTM Cortex-M4 core-based STM32F415ZG microcontroller * Two full-featured MC connectors for interfacing with any of the possible STMicroelectronics demonstration power boards * JTAG, SWD and trace debug support * USB connector for isolated virtual com port * USB 2.0 full speed connection * 240 x 320 TFT color LCD * Joystick with 4-direction control and selector * 4 LEDs * Reset plus three user buttons * Five 5 V power supply sources: 2-way screw connector, power jack, two USB connectors or daughterboard * Boot from user Flash or system memory * CAN 2.0 A/B compliant connection * I2C connection * RS-232 channel with RTS/CTS handshake support * Extension connectors for daughterboard or wrapping area board DocID024194 Rev 1 3/24 Board description 2 UM1604 Board description Figure 2. Schematic diagram (1 of 9) 3*>@ 3)>@ 3(>@ 3'>@ 3&>@ 3%>@ 3$>@ 3*>@ 3)>@ 3(>@ 3'>@ 3&>@ 3%>@ 3$>@ &21 5(6(7 3* 3* 3* 3& 3' 3' 3' 5 5 '9 3% 3% 3( 3( 3( 3' 3( 3( 3* 3) 3) 3% 3% 3% 3& 3$ 3$ 3$ 3& 3& 3) 9 3* 3* 3* 3* 3' 3' 3' 3% 3% 3% 3% 3( 3( 3' 3( 3( 3* 3) 3) 3) 3& 3$ 3$ 3$ 3$ 3& 3& +HDGHU[ &21 3& 3& 3$ 3$ 3$ 3$ 3& 3' 3( 3' 3' 3' 3' 3* 3* 3* 3% 3% 3% 3( 3( 3( 3& 3) '9 - 3 3) 3) 3) 3) 9 +HDGHU[ 4/24 DocID024194 Rev 1 3& 3& 3$ 3$ 3$ 3$ 3$ 3& 3& 3' 3( 3' 3' 3* 3* 3* 3* 3% 3% 3% 3% 9 3( 3( 3& - 3 3& 3) 3) 3) 3) 3) UM1604 Board description Figure 3. Schematic diagram (2 of 9) 9 5 N 5 5 8VHUB%XWWRQB 5 5 9 & Q) 8 6(5 5 . 5 . 5 . 5 . 5 . 6: 5 5 5 8 5 -2@ 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3% 3(>@ 3) 3) 3) 3) 3) 3) 3) 3) 3) 3) 3) 3) 3) 3) 3) 3) 86%'3 86%'0 3$>@ 3%>@ 3& 3& 3& 3& 3& 3& 3& 3& 3& 3& 3& 3& 3& 3& 3& 3& 3(>@ 3)>@ 3* 3* 3* 3* 3* 3* 3* 3* 3* 3* 3* 3* 3* 3* 3* 3* 5 N 5 N 3%>@ 3&>@ 3' 3' 3' 3' 3' 3' 3' 3' 3' 3' 3' 3' 3' 3' 3' 3' 3)>@ 3*>@ 4 6 7 5 9 3&>@ 3'>@ 3*>@ 3'>@ UM1604 Board description Figure 9. Schematic diagram (8 of 9) 11/24 12/24 DocID024194 Rev 1 7JSUVBM$0. *OTVMBUFE 86%W\SH%FRQQ & Q) ' ' 05 5 & X) 89 ' ' . *0 7CVT *0 8 Q) & 89 675 4 . 5 N 86%B'0 86%B'3 86%B'LVFRQQHFW - 03 & Q) 89 9'' 966 3$ 3$ 3$ 3$ 3$ 3$ 3& 3& 3& 3& 3% 3% 3% 3% 'MBTI 4ZTUFN 89 %FGBVMUTFUUJOH 5 5 89 & Q) 5 5 #005 5 . 89 86%/&6& *0 (/% *0 86%B'LVFRQQHFW 5 675 4 . 89 5 5 89 & Q) 9%$7 3&7$0357& 3& 3& 3'26&,1 3'26&287 1567 3& 3& 3& 3& 966$ 9''$ 3$:.83 3$ 3$ 7$$ % % (/% 4)&-4)&-- 89 S) 8 %227 6: 9'' 966 3% 3% 3% 3% 3% 3& 3& 3$ 3$ 3$ 3$ 9''$ 966$ 3$ &21 & Q) 5 89 670)57 8B6:&/. 5 N 3$ 3$ 3& 3& 3& 3' 3% 3% 3% 3% 3% %227 3% 3% 966 9'' 86%5HVHW % ; 0+] & S) & & Q) 8B6:',2 8B6:&/. - 89 X)9 & 89 9'' *1' ,1 ,1 287 287 1& *1' 8 ,1+ ,1 *1' 287 - 9'' *1' 287 287 ,1 ,1 1& *1' 9 X)9 & 89 ,/( SLQ62,& /'$%075 627/ 8B86$57B5; 89 8B6:',2 86%B'3 86%B'0 8B86$57B5; 8B86$57B7; 89 8B86$57B7; & Q) 86$57B5; 89 ' *UHHQ 5 N 86$57B7; Board description UM1604 Figure 10. Schematic diagram (9 of 9) UM1604 3 Jumper settings Jumper settings Table 1 gives a detailed description of the jumpers used. Table 1. Jumper settings Jumper Selection Close PC14 is connected to the extension connector CON3 Open (default) PC14 isn't connected to the extension connector CON3 Close PC15 is connected to the extension connector CON3 Open (default) PC15 isn't connected to the extension connector CON3 Close Add 10nF of capacitor to filter the motor 1 sensor input (Encoder A/H1) Open (default) No filter added Close Add 10nF of capacitor to filter the motor 2 sensor input (Encoder A/H1) Open (default) No filter added Between 1-2 (default) TIM4_CH3 is used for motor 2 sensor input (Encoder Index/H3) Between 2-3 TIM3_CH3 is used for motor 2 sensor input (Encoder Index/H3). See JMP5. Between 1-2 (default) TIM4_CH2 is used for motor 2 sensor input (Encoder B/H2) Between 2-3 TIM3_CH2 is used for motor 2 sensor input (Encoder B/H2). See JPM8. Between 1-2 (default) TIM4_CH1 is used for motor 2 sensor input (Encoder A/H1) Between 2-3 TIM3_CH1 is used for motor 2 sensor input See JP5. Open +5 V is not supplied by the 2way screw connector CON13 or by the power jack CON12 Close (default) +5 V is supplied by the 2-way screw connector CON13 or by the power jack CON12 JP1 JP2 JP4 JP6 Description JMP3 JMP4 JMP10 JP9 DocID024194 Rev 1 13/24 Jumper settings UM1604 Table 1. Jumper settings (continued) Jumper Selection Open (default) +5 V is not connected to the extension connector Close +5 V is connected to the extension connector Open (default) +5 V is not supplied by USB connector CON11 Close +5 V is supplied by USB connector CON11 Open (default) +5 V is not supplied by USB connector CON14 Close +5V is supplied by USB connector CON14 Between 1-2 The microcontroller pin PB0 (TIM3_CH3) is used for motor 2 sensor input (Encoder Index/H3). See JMP3. Between 2-3 (default) The microcontroller pin PB0 (ADC12_IN8) is connected to the phase C motor 2 current feedback (MC_Sub1 CurrentC). Between 1-2 Use this setting if TIM3 is used for speed and positioning feedback for the motor 2. Between 2-3 (default) The microcontroller pin PB1 (ADC12_IN9) is connected to the temperature sensor of power stage 1 (MC_Main Heatsink Temp). Between 1-2 (default) The microcontroller pin PA2 (ADC123_IN2) is connected to the temperature sensor of power stage 2 (MC_Sub1 Heatsink Temp). Between 2-3 The microcontroller pin PA2 (ADC123_IN2) is connected to the AC current feedback of power stage 1 (MC_Main PFC_Iac). Between 1-2 The microcontroller pin PB5 (TIM3_Ch2) is used for motor control 2 sensor input (Encoder B/H2). See JPM4. Between 2-3 The microcontroller pin PB5 (TIM3_Ch2) is connected to the PFC PWM output (MC_Main PFC_PWM). JP10 JP11 JP13 JMP5 JMP6 JMP7 JMP8 14/24 Description DocID024194 Rev 1 UM1604 Jumper settings Table 1. Jumper settings (continued) Jumper Selection Between 1-2 The microcontroller pin PC3 (ADC123_IN13) is connected to the AC voltage input sensing of the power stage 1 (MC_Main PFC_Vac). Between 2-3 (default) The microcontroller pin PC3 (ADC123_IN13) is used for bus voltage measurement of the power stage 2 (MC_Sub1 Bus Voltage). Between 1-2 (default) The microcontroller pin PB4 (JTRST) is connected to the JTAG connector CON6 Between 2-3 The microcontroller pin PB4 is connected to the synchronization feedback signal coming from power stage (MC_Main PFC Sync) Between 2-4 The microcontroller pin PB4 (TIM3_CH1) is used for motor control 2 sensor input (Encoder A/H1). See JMP10. Closed This must be closed if TIM4 is used for speed and positioning feedback for the motor 2. JMP9 JP5 JP7 Description DocID024194 Rev 1 15/24 Using the STEVAL-IHM039V1 with the STM32 FOC firmware library 4 UM1604 Using the STEVAL-IHM039V1 with the STM32 FOC firmware library The "STM32 FOC firmware library" provided together with the STM3210B-MCKIT performs the field oriented control (FOC) of a permanent magnet synchronous motor (PMSM) in both sensor and sensorless configurations. It is possible to configure the firmware to work with the STEVAL-IHM039V1 board and to establish a real-time communication for debugging/tuning purposes using the ST motor control workbench. This section describes how the "STM32 FOC firmware library" v3.2 or higher can be used together with the STEVAL-IFN003V1 and with the ST motor control workbench release 2.0 or higher. 4.1 Hardware requirements The following items are required to run the STEVAL-IHM039V1 together with the "STM32 FOC firmware library". 4.2 * The STEVAL-IHM039V1 board * A DC power supply (up to 48 V) * A programmer/debugger dongle (not included in the package). To program/debug the STEVAL-IHM039V1, a dongle with JTAG or single wire debugging capabilities (SWD) is required. Use of an insulated dongle (like "ST-LINK/V2-ISOL") is always recommended. * A 3-phase brushless motor with permanent magnet rotor (not included in the package) * A USB cable with USB connector (type B) to establish a real-time communication (not included in the package). * An insulated oscilloscope (as needed). * An insulated multimeter (as needed). Software requirements To customize, compile and download the "STM32 FOC firmware library" v3.2 or above, a tool chain must be installed. Please refer to the UM1052 user manual for details on how to set up the proper tool chain. Before establishing the real-time communication it is also necessary to install the "STM32 Virtual COM Port Driver" available for download from the ST website. Two specific configuration files for the ST motor control Workbench designed to work with the STEVAL-IHM039V1 exist (see Table 2). Both are present in the STM32 PMSM FOC Firmware Library, under "\Utilities\WB_Projects\SDK3xx" subfolder or in the ST MC Workbench, under "\WB_Projects\SDK3xx". 16/24 DocID024194 Rev 1 UM1604 Using the STEVAL-IHM039V1 with the STM32 FOC firmware library Table 2. STEVAL-IHM039V1 configuration files for ST motor control Workbench Configuration file name SDK3xx-STEVAL-IHM039V1-MB459-Shinano-SINGLE-DRIVE.stmc SDK32x-STEVAL-IHM039V1-MB459-Shinano-DUAL-DRIVE.stmc Intended use STEVAL-IHM039 in single drive configuration STEVAL-IHM039 in dual drive configuration To establish real-time communication between STEVAL-IHM039V1 and the ST motor control Workbench, after installing the "STM32 Virtual COM Port Driver", connect a USB cable (type B) to the CON11 connector on the STEVAL-IHM039V1. New hardware will be found on the system and the driver will be installed. A new COM port will be added to the system and the new COM port (Ex. COM58) can be set up in the ST motor control Workbench under the "monitor" window to establish the connection. DocID024194 Rev 1 17/24 Bill of material 5 UM1604 Bill of material Table 3. Bill of material Item Quantity 1 1 2 3 2 1 Reference Part B1 CON1,CON3 CON4 Tolerance Description TD-0341 [RESET/Black] Micro tactile switch Header 35 x 2 2x35 way double row strip line connector (male connector) 2.54 mm pitch Color LCD module 2 strip line connector (female connector) 2x8 way double row 2.54 mm pitch 4 1 CON5 TRACE 2x10 way double row strip line connector (male connector) 1.27 mm pitch 5 1 CON6 JTAG 20 way IDC low profile boxed header 2.54 mm pitch 6 1 CON8 MC_Main connector 34 way IDC low profile boxed header 2.54 mm pitch 7 1 CON9 MC_Sub1 connector 34 way IDC low profile boxed header 2.54 mm pitch 8 1 CON11 USB-typeB conn. USB connector 9 1 CON12 DC-10B Mini DC power socket 2.5 mm 10 1 CON13 Aux DC - 250 V 2 way PCB screw terminal, 5.08 mm pitch 11 1 CON14 MiniUSB-typeB conn. MiniUSB connector 12 40 C1,C3,C4,C5,C6,C7,C 8,C9, 100 nF 16 V 13 C15,C20,C23,C26,C28, C34,C35, 14 C36,C37,C38,C39,C40, C42,C44, 15 C45,C46,C47,C50,C57, C60,C61, 16 C62,C63,C64,C65,C66, C67,C68, 17 C69,C70,C74,C75 18/24 DocID024194 Rev 1 +/-10% Ceramic capacitor X7R UM1604 Bill of material Table 3. Bill of material (continued) Item Quantity Reference Part 18 21 C2,C12,C13,C14,C17, C18, 19 C19,R24,C25,C27,C29, R30, 20 C30,R31,C31,R32,C32, R44, 21 R47,R61,R83 Tolerance Description do not fit 22 2 C10,C24 1 nF +/-10% Ceramic capacitor X7R 23 1 C11 22 nF +/-10% Ceramic capacitor X7R 24 4 C16,C21,C33,C54 10 nF +/-10% Ceramic capacitor X7R 25 1 C22 1 uF +/-10% Ceramic capacitor X7R 26 4 C41,C58,C59,C73 22 pF +/-10% Ceramic capacitor X7R 27 1 C43 4.7 nF +/-10% Ceramic capacitor X7R 28 1 C48 10 uF 16 V +/-10% Electrolytic aluminum capacitor 29 1 C49 470 uF 10 V +/-10% Electrolytic aluminum capacitor 30 2 C51,C53 10 uF +/-10% Ceramic capacitor X7R 31 1 C52 470 nF +/-10% Ceramic capacitor X7R 32 2 C55,C56 10 pF +/-10% Ceramic capacitor X7R 33 1 C71 1 uF +/-10% Ceramic capacitor X7R 34 1 C72 2.2 uF 10 V +/-20% Electrolytic aluminum capacitor 35 2 C76,C77 2.2 uF 16 V +/-10% Ceramic capacitor X7R 36 2 D1,D5 Red Chip LED 37 1 D2 Orange Chip LED 38 2 D3,D6 Green Chip LED 39 1 D4 Blue Chip LED 10 JMP1,JMP2,JMP3,JMP Jump_linear 3 4,JMP5, 40 41 JMP6,JMP7,JMP8,JMP 9, 42 JMP10 43 JP1,JP2,JP3,JP4,JP6,J JUMPER P7,JP8,JP9, 11 DocID024194 Rev 1 3 way single row strip line connector (male connector) 2.54mm pitch 2 way single row strip line connector (male connector) 2.54mm pitch 19/24 Bill of material UM1604 Table 3. Bill of material (continued) Item Quantity 44 45 Reference Part Tolerance Description JP10,JP11,JP12 1 JP5 CON3+1_1 3+1 way single row strip line connector (male connector) 2.54mm pitch 46 1 J1 I2C 4 way single row strip line connector (male connector) 2.54mm pitch 47 1 J2 RI-0505 DC-DC converter Isolated DC-DC converter 48 1 J3 IL516-3E 0.15'' 16-pin SOIC 4 channel opto-isolator 49 1 J4 50 1 L1 BEAD distrelec 330005 Data line filter 51 2 P1,P2 DB9-male connector 9 way r/a PCB D plug,US footprint 52 3 Q1,Q2,Q3 2STR1215 Low voltage fastswitching NPN power transistor 53 22 R6,R7,R8,R9,R10,R25, 10 K 3 way dual row strip line connector (male connector) 2,54 mm pitch 54 R26,R27,R28,R29,R33, R34, 55 R35,R63,R64,R73,R77, R88, 56 R91,R92,R97 +/- 1% Resistor 57 2 R1,R2 820 +/- 1% Resistor 58 2 R3,R20 4K7 +/- 1% Resistor 59 4 R4,R11,R16,R23 100 R +/- 1% Resistor 60 32 R5,R12,R13,R14,R15, R17, 0R +/- 1% Resistor 61 R21,R22,R36,R37,R40, R41, 62 R45,R46,R48,R49,R50, R52, 63 R53,R54,R56,R57,R58, R59, 20/24 DocID024194 Rev 1 UM1604 Bill of material Table 3. Bill of material (continued) Item Quantity Reference Part 64 R60,R76,R78,R80,R84, R87, 65 R89,R90 Tolerance Description 66 1 R18 330 R +/- 1% Resistor 67 1 R19 220 K +/- 1% Resistor 68 2 R38,R51 3.3 K +/- 1% Resistor 69 3 R39,R42,R55 100 K +/- 1% Resistor 70 1 R43 4.7 K +/- 1% Resistor 71 1 R62 1k +/- 1% Resistor 72 4 R65,R66,R69,R71 600 R +/- 1% Resistor 73 2 R67,R68 22 R +/- 1% Resistor 74 1 R70 1 MR +/- 1% Resistor 75 2 R72,R96 1.5 K +/- 1% Resistor 76 2 R74,R98 36 K +/- 1% Resistor 77 1 R75 47 K +/- 1% Resistor 78 1 R79 220 +/- 1% Resistor 79 1 R82 120 R +/- 1% Resistor 80 1 R85 300 R +/- 1% Resistor 81 1 R86 47 R +/- 1% Resistor 82 1 R93 390 R +/- 1% Resistor 83 2 R94,R95 10 R +/- 1% Resistor 84 1 SW1 USER3 Surface mount tactile switch 85 1 SW2 USER2 Surface mount tactile switch 86 1 SW3 USER1 Surface mount tactile switch 87 1 SW4 BOOT1 1-pole miniature slide switches through hole 88 2 SW5,SW6 BOOT0 1-pole miniature slide switches through hole 89 1 S1 RESET Surface Mount Tactile Switch 90 1 U1 MT008-A Joystick 91 1 U2 USBLC6-2SC6 Very low capacitance ESD protection 92 1 U3 L9615 CAN transceiver 93 1 U4 ST3232EBTR RS-232 transceiver DocID024194 Rev 1 21/24 Bill of material UM1604 Table 3. Bill of material (continued) Item Quantity 94 1 U5 ZEN056V130A24LS 95 1 U6 BNX002-01 96 1 U7 LD1086D2M33TR 97 1 U8 STM32F415ZGT6 98 1 U9 STM32F103R8T6 99 1 U11 LD2981ABM33TR 100 2 X1,Y2 8 MHz 101 1 Y1 32.768 KHz 102 1 Z1 SMAJ5.0A-TR 103 1 RV1 10 K (Trimmer) 104 22/24 14 Reference Part Tolerance 5.6 V 50 V/10 A Description Polymer protected Zener diode 5.6V PCB mount DC power filter Low drop linear regulator Low drop linear regulator Transil Jumper on JMP3,JMP4,JMP10,JM P5, JMP6, JMP7,JMP8,JMP9,JMP 2,JP5,JMP1,JP7,JP9,J P12 jumper DocID024194 Rev 1 UM1604 6 Revision history Revision history Table 4. Document revision history Date Revision 19-Mar-2013 1 Changes Initial release. DocID024194 Rev 1 23/24 UM1604 Please Read Carefully: Information in this document is provided solely in connection with ST products. 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