stm32samples/F0-nolib/3steppersLB

Loopback control of three stepper motors

Pinout

• PA0 Enc2a (motor2 encoder)
• PA1 Enc2b
• PA2 CLK1 (motor1 clock)
• PA3 ADC1 (ADC1 in, 0-3.3V)
• PA4 CLK2 (motor2 clock)
• PA5 ADC2 (ADC2 in, 0-3.3V)
• PA6 CLK3 (motor3 clock)
• PA7 PWM (opendrain PWM, up to 12V)
• PA8 Enc1a (motor1 encoder)
• PA9 Enc1b
• PA10 BTN1 (user button 1)
• PA11 USBDM
• PA12 USBDP
• PA13 BTN2 (user button 2)
• PA14 BTN3 (user button 3)
• PA15 BTN4 (user button 4)
• PB0 ~EN1 (motor1 not enable)
• PB1 DIR1 (motor1 direction)
• PB2 ~EN2 (motor2 not enable)
• PB3 Buzzer (external buzzer or other non-inductive opendrain load up to 12V)
• PB4 Enc3a (motor3 encoder)
• PB5 Enc3b
• PB6 I2C SCL (external I2C bus, have internal pullups of 4.7kOhm to +3.3V)
• PB7 I2C SDA
• PB8 CAN Rx (external CAN bus, with local galvanic isolation
• PB9 CAN Tx
• PB10 DIR2 (motor2 direction)
• PB11 ~EN3 (motor3 not enable)
• PB12 DIR3 (motor3 direction)
• PB13 Ext0 (3 external outputs: 5V, up to 20mA)
• PB14 Ext1
• PB15 Ext2
• PC13 ESW1 (motor1 zero limit switch)
• PC14 ESW2 (motor2 zero limit switch)
• PC15 ESW3 (motor3 zero limit switch)
• PF0 Relay (10A 250VAC, 10A 30VDC)

Connectors

ADC inputs connector, J1

1. ADC1 (up to 3.3V)
2. ADC2 (up to 3.3V)
3. GND

Encoders connectors, J2-J4

1. GND
2. Encoder B phase
3. Encoder A phase
4. +5V (through resistor 22Ohm)

I2C connector, J5

1. +3.3V
2. SCL
3. SDA
4. GND

PWM connector, J6

1. +3.3V
2. +5V
3. PWM GND (opendrain)

CAN bus connector, J7

1. CANL (low signal)
2. CANGND (common - not need for short lines)
3. CANH (high signal)

External buttons connector (WARNING! NO ESD PROTECTION!), J8

1. Button 1
2. Button 2
3. Button 3
4. Button 4
5. GND

External Hall sensors connector (zero limit switches), J9

1. +3.3V (through resistor 47Ohm)
2. Motor1 limit switch
3. Motor2 limit switch
4. Motor3 limit switch
5. GND

Relay connector, J10

1. Normally opened
2. Common
3. Normally closed

24V input power connector, J12

1. GND
2. +24V DC

24V motors power connector, J13

1. GND
2. +24V DC to motors' coils (reverse protected)

Stepper motors control signals connectors, J14-J16

1. CLK (step signal)
2. DIR (rotation direction)
3. ~EN (not enable)
4. GND

External 5V logic outputs connector (up to 20mA per each channel), J17

1. Ext0
2. Ext1
3. Ext2
4. GND

External buzzer (or other load) connector (opendrain, up to 12V), J18

1. power (depending on JP1 jumper): 3.3V or 5.0V
2. GND (opendrain)

Control points

• TP1 — 5V
• TP2 — 3.3V
• TP3 — NRST
• TP4 — GND

Firmware download

Activate "Jump to DFU" menu entry through USB protocol. Flash MCU by dfu-util.

USB protocol

CAN bus protocol