ST / X_NUCLEO_IHM03A1

Expansion SW library to control high power stepper motor(s) using IHM03A1 expansion board(s) with Powerstep01 driver.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   IHM03A1_ExampleFor1Motor HelloWorld_IHM03A1 IHM03A1_ExampleFor3Motors KYPHOS_Stepper_Motor_Control

Fork of X_NUCLEO_IHM03A1 by ST Expansion SW Team

Motor Control Library

Library to handle the X-NUCLEO-IHM03A1 Motor Control Expansion Board based on the Powerstep01 component.

It features the:

• read and write of Powerstep01 registers
• Nucleo and expansion board configuration (GPIOs, PWMs, IRQs, etc.)
• Powerstep01 application commands handling
• FLAG and BUSY interrupt handling (alarm reporting)
• Daisy chain handling

The API allows to easily:

• perform various positioning, moves and stops
• get/set or monitor the motor positions
• set home position and mark another position
• get/set minimum and maximum speed
• get current speed
• get/set acceleration and deceleration
• get/set the step mode (up to 1/128)
• get/set the control method
• get/set parameters for voltage mode driving
• get/set parameters for current mode driving
• get/set parameters for gate driving
• configure various protections such as overcurrent detection
• enable/disable alarms
• handle step-clock
• get system status

Daisy-Chain Configuration

The IHM03A1 board can be stacked up to three times so that the Powerstep01 components will be connected in daisy-chain configuration. For this purpose, some resistors must be correctly connected on the boards as depicted here below:

Platform compatibility

Compatible platforms have been tested with the default configuration provided by the HelloWorld_IHM03A1 example.