STM32 Nucleo

expansion boards
Motor control
selection guide
 STM32 ODE
ecosystem

FAST, AFFORDABLE PROTOTYPING AND DEVELOPMENT

The STM32 Open Development Environment (ODE) is an open, flexible, easy and affordable way to develop
innovative devices and applications based on the STM32 32-bit microcontroller family combined with other
state-of-the-art ST components connected via expansion boards. It enables fast prototyping with leading-
edge components that can quickly be transformed into final designs.
The STM32 ODE includes the following five elements:
• STM32 Nucleo development boards. A comprehensive range of affordable development boards for all STM32
microcontroller series, with unlimited unified expansion capability, and with integrated debugger/programmer
• STM32 Nucleo expansion boards. Boards with additional functionality to add sensing, control, connectivity, power,
audio or other functions as needed. The expansion boards are plugged on top of the STM32 Nucleo development
boards. More complex functionalities can be achieved by stacking additional expansion boards
• STM32Cube software. A set of free-of-charge tools and embedded software bricks to enable fast and easy
development on the STM32, including a Hardware Abstraction Layer, middleware and the STM32CubeMX PC-based
configurator and code generator
• STM32Cube expansion software. Expansion software provided free of charge for use with STM32 Nucleo expansion
boards, and compatible with the STM32Cube software framework
• STM32 ODE Function Packs. Set of function examples for some of the most common application cases built
by leveraging the modularity and interoperability of STM32 Nucleo development boards and expansions, with
STM32Cube software and expansions.
The STM32 Open Development Environment is compatible with a number of IDEs including IAR EWARM,
Keil MDK, mbed and GCC-based environments.

STM32 Nucleo STM32Cube

development boards development software

STM32 Nucleo STM32Cube

expansion boards (X-NUCLEO) expansion software (X-CUBE)

Function packs (FP)

2
STM32 Open Development
Environment: all that you
need

The combination of a broad range of expandable boards based on leading-edge commercial products and
modular software, from driver to application level, enables fast prototyping of ideas that can be smoothly
transformed into final designs.
To start your design:
• Choose the appropriate STM32 Nucleo development board (MCU) and expansion (X-NUCLEO) boards (sensors,
connectivity, audio, motor control etc.) for the functionality you need
• Select your development environment (IAR EWARM, Keil MDK, and GCC-based IDEs) and use the free STM32Cube
tools and software.
• Download all the necessary software to run the functionality on the selected STM32 Nucleo expansion boards.
• Compile your design and upload it to the STM32 Nucleo development board.
• Then start developing and testing your application.
Software developed on the STM32 Open Development Environment prototyping hardware can be directly
used in an advanced prototyping board or in and end product design using the same commercial ST
components, or components from the same family as those found on the STM32 Nucleo boards.

The building blocks Your need Our answer

Accelerometer, gyroscope
Inertial modules, magnetometer COLLECT
Pressure, temperature, humidity Sense
Proximity, microphone
Bluetooth LE, Sub-GHz radio TRANSMIT
NFC, Wi-Fi, GNSS Connect
Audio amplifier
ACCESS
Touch controller Translate
Operation Amplifier
Stepper motor driver
DC & BLDC motor driver Move/Actuate CREATE
Industrial input / output

Energy management & battery Power POWER

General-purpose microcontrollers PROCESS

Secure microcontrollers Process

Software
Power supply
through USB or STM32 microcontroller
external source Complete product range from Motion MEMS sensors
Integrated debugging ultra-low power
and programming to high-performance
ST-LINK probe DIL24 support for
new devices Environmental sensors
ST morpho extension header
Example of STM32 expansion board (X-NUCELO-IKS01A1)
Arduino™ UNO R3 extension headers

3
 Motor control
family

ST, a pioneer in the field of motor and motion control, offers a wide selection of ICs to best match an
application spectrum covering a wide range of power ratings and motor types, as well as varied system
partitioning.
STSPIN motor drivers embed all the functions needed to drive motors efficiently and with the highest
accuracy and include an advanced motion profile generator to relieve the host microcontroller, while
ensuring robustness and reliability thanks to a comprehensive set of protection and diagnostic features.
Particularly noteworthy are the adaptive current decay control scheme used in many of the STSPIN motor
driver ICs as well as the innovative voltage mode driving used in micro-stepping motor drivers that provides
incredibly silent motion and enhanced torque control accuracy and thus motion smoothness. Our line-up of
STSPIN motor control ICs has been developed with the objectives of modularity, scalability and robustness
to provide designers a wide choice of solutions to fit different requirements and system architectures.
All products have comprehensive built-in protection and diagnostic schemes to help attain the level of long
term reliability and robustness requested to cope with harsh factory automation environments.
Available in a wide selection of space-saving, thermally-optimized packages, you are sure to find a device in
our STSPIN line-up that addresses your motor or motion control system requirements.
The benefit of our 10 and 15 years longevity program is available for our industrial grade STSPIN motor
drivers.

System-in-package
POWERSTEP01
Monolithic PWD Series
L64 Series
L62 Series

STSPIN8 Series
Very Low Voltage
STSPIN2 Series Controllers STSPIN32F0 LV & HV, L6480, L6482

10 W 50 W 100 W ≈ 350 W

Portable, Medical, Security, ATM, Stage Lighting Industrial,

Battery Powered Vending, 3D Printers, Smart Factory Automation

For more details on STSPIN motor drivers devices, please visit www.st.com/stspin

4
Expansion boards for
motor control

The STM32 Nucleo expansion boards for motor control cover all the main motor categories in a wide
operating range of both current and voltage.

Stepper motor Brushed DC Brushless DC

X-NUCLEO-IHM07M1
X-NUCLEO-IHM01A1 X-NUCLEO-IHM08M1
X-NUCLEO-IHM02A1 X-NUCLEO-IHM04A1 X-NUCLEO-IHM09M1*
X-NUCLEO-IHM03A1 X-NUCLEO-IHM12A1 X-NUCLEO-IHM11M1
X-NUCLEO-IHM05A1 X-NUCLEO-IHM13A1 X-NUCLEO-IHM16M1
X-NUCLEO-IHM06A1 X-NUCLEO-IHM15A1 X-NUCLEO-IHM17M1
X-NUCLEO-IHM14A1
* connector expansion board

For Brushless DC motors there is also the possibility to have an omni-comprehensive kit including STM32
Nucleo board, Motor Control expansion board and a dedicated motor.

Motor Control Nucleo Pack

Nucleo X-Nucleo Motor

KIT Name Power Supply
(included) (included) (included)

Bull-Running model BR2804-

P-NUCLEO-IHM001 NUCLEO-F302R8 X-NUCLEO-IHM07M1
1700 kV

Bull-Running model BR2804-

P-NUCLEO-IHM002 NUCLEO-F302R8 X-NUCLEO-IHM07M1 •
1700 kV

Gimbal motor GBM2804H-

P-NUCLEO-IHM03 NUCLEO-G431RB X-NUCLEO-IHM16M1 •
100T

5
 Stepper
motor

Stepper motors are widely used in holding and positioning applications in the computer, security, industrial
automation and automotive sectors. Depending on the number of phases, the winding arrangement and the
required level of motion smoothness.
In bipolar stepper motors, current can flow in both directions; a full-bridge converter is required to drive each
of the two windings of a two-phase motor. During motion, the type of electronic control (full step, half step,
micro-stepping) and the resulting phase current waveform impact the vibration level, the acoustic noise,
motion smoothness and sensitivity to resonances ST’s portfolio of STSPIN stepper motor drivers spans from
relatively simple ICs with current control and phase generation to more complex solutions. They combine in
a single chip all that is needed to autonomously drive a stepper motor using high-level motion commands
coming from the motor or motion control system host – a microcontroller, DSP or FPGA.
Available in a large selection of space-saving, thermally-enhanced packages, STSPIN stepper motor drivers
provide a ready-to-use, optimized solution for motor and motion control systems in a wide range of voltage
and current ratings.

Arms
10
X-NUCLEO-IHM03A1 (powerSTEP01)

3
X-NUCLEO-IHM01A1 (L6474)
X-NUCLEO-IHM02A1* (2x L6470)
2.8
X-NUCLEO-IHM05A1 (L6208)

1.5
X-NUCLEO-IHM14A1 (STSPIN820)
1.3
X-NUCLEO-IHM06A1
(STSPIN220)

VDC
1.8 7 8 10 45 50 85
*IHM02A1 is dual stepper

Stepper motor control Nucleo expansion boards grouped by operative range and family. Use this graphical
representation to select the best appropriate board based on the operative range of the motor to be used.

6
Expansion boards
Power/Max
Board Voltage ST parts Stackable Application focus
Current

Textile machines, factory automation,

Up to 3 boards,
X-NUCLEO-IHM01A1 8 - 45 VDC Up to 3 Arms 1x L6474 industrial and 3D printers.
3 motors
Up to 16 microsteps

Textile machines, factory automation,

Up to 3 Arms
Up to 4 boards industrial and 3D printers.
X-NUCLEO-IHM02A1 8 - 45 VDC for each 2x L6470
(up to 8 motors) Up to 128 microsteps,
motor driver
Voltage mode driving

Textile and sewing machines, pick and

Up to 3 boards, place machines, factory automation,
X-NUCLEO-IHM03A1 10.5 - 85 VDC Up to 10 Arms 1x powerSTEP01
3 motors industrial printers, industrial mixers.
Up to 128 microsteps

Money handling machines, factory

automation, valves, textile machines.
X-NUCLEO-IHM05A1 8 - 50 VDC Up to 2.8 Arms 1x L6208 No
For bipolar stepper motor.
Microstepping managed by MCU.

POS, cash registers, toys,

camera control,
X-NUCLEO-IHM06A1 1.8 - 10 VDC Up to 1.3 Arms 1x STSPIN220 Up to 2 boards (*)
IoT and haptic feedbacks 3D printers
Up to 256 microsteps

Label printers, surveillance and

dome cameras,
X-NUCLEO-IHM14A1 7 - 45 VDC Up to 1.5 Arms 1x STSPIN820 Up to 2 boards (*) textile machines, 3D printers,
antenna control.
Up to 256 microsteps.

(*) Some limitations could be present when the boards are stacked.

NUCLEO-F401RE NUCLEO-F334R8 NUCLEO-F302R8 NUCLEO-F030R8 NUCLEO-F072RB NUCLEO-L053R8

X-NUCLEO-
IHM01A1
(X-CUBE-SPN1)
• • • •
X-NUCLEO-
IHM02A1
(X-CUBE-SPN2)
• • •
X-NUCLEO-
IHM03A1
(X-CUBE-SPN3)
• • • •
X-NUCLEO-
IHM05A1
(X-CUBE-SPN5)
• • • •
X-NUCLEO-
IHM06A1
(X-CUBE-SPN6)
• • • •
X-NUCLEO-
IHM14A1
(X-CUBE-SPN14)
• • • •

Stepper motor control Nucleo expansion boards compatibility matrix.

The X-CUBE expansions are built on STM32Cube software technology to ease portability across different
STM32 microcontrollers. The software comes with a sample implementation of the drivers running on
the associated X-NUCLEO motor control expansion boards connected to a featured STM32 Nucleo
development board.

7
 Brushed DC
motors

A brushed motor is an easy-to-drive, low-cost DC motor often driven by batteries. The electric motor uses
brushes to provide power to an armature coil sitting between permanent magnets that create the magnetic
field. The current through the brush to the coil drives the rotor and is used for motors up to a horsepower.
As the armature rotates, the stationary brushes come into contact with different sections of the rotating
commutator and so wear out over time.
Brushed DC motor are commonly used in industrial applications such as robots, valves and healthcare
equipment

ST’s STSPIN motor drivers for brushed DC motors integrate a dual current control core and a dual full-
bridge power stage to drive two brushed DC motors.
Available in a large selection of space-saving, thermally-enhanced packages, STSPIN brushed DC motor
driver ICs provide a ready-to-use, optimized solution for motor and motion control systems in a wide range
of voltage and current ratings.

Arms Single motor

Dual motor

5.6
IHM04A1 (L6206) parallel mode

3
IHM15A1 (STSPIN840) parallel mode
2.8
2.6 IHM04A1 L6206)
IHM13A1
1.5 (STSPIN250)
IHM15A1 (STSPIN840)
1.3
IHM12A1
(STSPIN240)

VDC
1.8 7 8 10 45 50

Brushed DC motor control Nucleo expansion boards grouped by operative range and family. Use this
graphical representation to select the best appropriate board based on the operative range of the motor to
be used.
This parallel mode, if supported, converts some motor boards to a single brush DC driver doubling the
output current capability.

8
Expansion boards
Power/Max
Board Voltage ST parts Stackable Application focus
Current

Stage lighting, antenna control, vending

machines, factory automation.
Both bi-directional or uni-directional
Up to 2.8 Arms
brush DC motors without current
X-NUCLEO-IHM04A1 8 - 50 VDC (5.6 Arms in 1x L6206 No
limiting. It drives dual bipolar DC or quad
parallel mode)
unipolar DC motors.
Relays and other inductive loads.
Outputs can be paralleled.
eValves, IoT, edu/home robots,
healthcare, toys, eLock, actuators.
Ultra low voltage and portable
X-NUCLEO-IHM12A1 1.8 - 10 VDC Up to 1.3 Arms 1x STSPIN240 No equipment.
Dual bi-directional brush DC motor with
current limiter.
Parallel operation is not allowed.
eValves, IoT, edu/home robots,
healthcare, toys, eLock, actuators.
Ultra low voltage and portable
X-NUCLEO-IHM13A1 1.8 - 10 VDC Up to 2.6 Arms 1x STSPIN250 No
equipment.
Single high current bi-directional brush
DC motor with current limiter.
Stage lighting, Industrial automation,
service robots, medical and health care,
Up to 1.5 Arms ATM, Vending machines.
X-NUCLEO-IHM15A1 7 - 45 VDC (3 Arms in 1x STSPIN840 No Dual bi-directional brush DC motor
parallel mode) with current limiter.
Parallel operation enabled through a
dedicated pin.

NUCLEO-F401RE NUCLEO-F334R8 NUCLEO-F302R8 NUCLEO-F030R8 NUCLEO-F072RB NUCLEO-L053R8

X-NUCLEO-
IHM04A1
(X-CUBE-SPN4)
• • •

X-NUCLEO-
IHM12A1
(X-CUBE-SPN12)
• • • •

X-NUCLEO-
IHM13A1
(X-CUBE-SPN13)
• • • •

X-NUCLEO-
IHM15A1
(X-CUBE-SPN15)
• • •

Brushed DC motor control Nucleo expansion boards compatibility matrix.

The X-CUBE expansions are built on STM32Cube software technology to ease portability across different
STM32 microcontrollers. The software comes with a sample implementation of the drivers running on
the associated X-NUCLEO motor control expansion boards connected to a featured STM32 Nucleo
development board.

9
 Brushless DC
motors

Permanent Magnet synchronous motor and Brushless DC motors (BLCD) are replacing DC brush motors
more and more in many applications due to advantages such as higher efficiency, quieter operation, low
torque ripple and fast response time and better reliability. Despite their different structures, all three-phase
permanent magnet motors (BLDC, permanent magnet synchronous motors, PMSM, or permanent magnet
AC, PMAC) are driven by a pulse-width-modulated (PWM) three-phase bridge (three half bridges) so as to
supply the motor with variable frequency and amplitude of voltages and currents. With the rapid evolution
of Industry 4.0 and the Internet of Things (IoT), coupled with the push for higher efficiency in motor control,
brushless direct current (BLDC) motors are being used increasingly in diverse application segments.
Examples include:
• Industry and automation, blowers, cooling fans and industrial robotics
• Emerging high-tech, for drones, gimbal control, and collaborative warehouse robots
• Home applications, for power try and automation tools and vacuum cleaners
ST’s STSPIN drivers for 3-phase brushless DC (BLDC) motors includes power drivers in a 3-phase bridge
configuration and integrated solutions with built-in decoding logic for Hall-effect sensors. Our BLDC
motor drivers also feature a PWM current controller to autonomously drive a BLDC motor through motion
commands coming from the motor or motion control system host – a microcontroller, DSP or FPGA.
In addition to the integration of the power MOSFET and the associated driving circuitry, they
include protection and diagnostic features for over-temperature, over-current and under-voltage conditions,
resulting in robust and reliable designs. Available in a wide selection of space-saving, thermally-enhanced
packages, STSPIN 3-phase BLDC motor driver ICs provide a ready-to-use and optimized solution for motor
and motion control systems in a wide range of voltage and current ratings.

Arms
15
IHM08M1 (L6398 + STL220N6F7)

1.5
IHM16M1 (STSPIN830)
1.4
IHM07M1 (L6230)
1.3
IHM11M1 (STSPIN230)
IHM17M1 (STSPIN233)

VDC
1.8 7 8 10 45 48

10
Brushless DC motor control Nucleo expansion boards grouped by operative range and family. Use this
graphical representation to select the best appropriate board based on the operative range of the motor to
be used.

Expansion boards
Power/Max
Board Voltage ST parts Stackable Application focus
Current

Fans, pumps, factory automation,

money handling machines and medical
X-NUCLEO-IHM07M1 8 - 48 VDC Up to 1.4 Arms 1x L6230 No equipment.
Low power brushless motor driver in
single shunt and 3 shunts topology.

Fans, propellers for drones.

3x L6398
X-NUCLEO-IHM08M1 10 - 48 VDC Up to 15 Arms No High power brushless motor driver in
6x STL220N6F7
single shunt and 3 shunt topology.

X-NUCLEO-IHM09M1 N.A. N.A. Not Silicon Part No Motor control connector adapter

Low voltage three-phase brushless DC

motor driver.
Ultra low voltage and portable
X-NUCLEO-IHM11M1 1.8 - 10 VDC Up to 1.3 Arms 1x STSPIN230 No equipment such as thermal printers,
robotics and toys.
Brushless motor driver
in single shunt topology.

Antenna control, fans, robots, factory

automation, home appliances and
X-NUCLEO-IHM16M1 7 - 45 VDC Up to 1.5 Arms 1x STSPIN830 No medical equipment.
Brushless motor driver in single shunt
and 3 shunt topology.

Healthcare and medical, IoT, gimbals,

edu/home robots, toys, fans, small
actuators.
X-NUCLEO-IHM17M1 1.8 - 10 VDC Up to 1.3 Arms 1x STSPIN233 No Ultra low voltage and portable
equipment.
Brushless motor driver in single shunt
and three shunt topology.

11
 NUCLEO-F401RE NUCLEO-F334R8 NUCLEO-F302R8 NUCLEO-F103RB NUCLEO-F030R8

X-NUCLEO-IHM07M1
(X-CUBE-SPN7) • • • •

X-NUCLEO-IHM08M1
(X-CUBE-SPN8) • •

X-NUCLEO-IHM11M1
(X-CUBE-SPN11) •

X-NUCLEO-IHM16M1
(X-CUBE-SPN16) • • •

X-NUCLEO-IHM06A1
(X-CUBE-SPN6) • • • •

X-NUCLEO-IHM17M1
(X-CUBE-SPN17) • • • •

Brushless DC motor control Nucleo expansion boards compatibility matrix.

The X-CUBE expansions are built on STM32Cube software technology to ease portability across different
STM32 microcontrollers. The software comes with a sample implementation of the drivers running on
the associated X-NUCLEO motor control expansion boards connected to a featured STM32 Nucleo
development board.

For more information on ST products and solutions, visit www.st.com

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