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IntroductionThe STEVAL-GMBL02V1 reference design kit is a complete triple motor field-oriented control (FOC) demonstration andevaluation platform. The kit is as an integrated environment for three axis Gimbal controller applications in the 6.0 V to 8.4 VDCbus voltage range (2 LiPo batteries), which you can increase up to 11 V with a maximum output current of 1.3 A for each motordrive.
The design features the STM32F303RE microcontroller with ARM® Cortex®-M4 32-bit core and the STSPIN233 low voltagethree phase and three sense motor driver.
The STEVAL-GMBL02V1 is equipped with a USB interface for real-time data exchange. The kit includes an STEVAL-UKI001V1ST-LINK adapter for serial wire debug (SWD) and corresponding cable. If you mount the STEVAL-UKI001V1 on the ST-LINK/V2-1 debugging section of an STM32 Nucleo-64 board, you can program and debug the STM32F303RE microcontroller with acompatible toolset via USB.
Reference design kit for Gimbal controller for drones and handheld applications
UM2460
User manual
UM2460 - Rev 1 - August 2018For further information contact your local STMicroelectronics sales office.
www.st.com
1 Reference design kit overview
The STEVAL-GMBL02V1 reference design kit lets you the three-axis Gimbal controller for drones or smallhandheld cameras like smartphones and action cams. The kit includes demonstration firmware to drive threemotors with field-oriented control (FOC) driven by the STM32F303RE microcontroller.The Gimbal GUI software allows you to set PI controllers and adjust application parameters via a USB connectionwith your PC.
1.1 Package componentsThe STEVAL-GMBL02V1 package has all the main components that you need to experience the demo throughthe platform firmware and dedicated GUI.The package includes:An STEVAL-GMBL01V1 reference design board (50 x 50 mm)An STEVAL-UKI001V1 adapter for the ST-LINK programming and debugging toolA 0.050” 10-pin flat cable
1.2 Hardware features• Up to three-axis Gimbal controller.• Compact (50 x 50 mm) design, suitable for mounting on:
– drones– handheld cameras
• Three STSPIN233 low voltage three phase and three sense motor drivers.• STM32F303RE microcontroller with ARM® Cortex®-M4 core able to simultaneously drive three PMSM
motors:– MCU runs a high efficiency field oriented control (FOC) algorithm compatible with the most common
position sensors on Gimbal motors (PWM or analogic inputs)– compatible with open loop sensorless algorithm
• Operating voltage from 6.0 V to 8.4 V (2 LiPo batteries).– maximum output current 1.3 ARMS.
• Protection mechanisms:– triple single shunt current sensing network– non-dissipative overcurrent protection– short-circuit protection– thermal shutdown– hardware overvoltage and polarity inversion protection
• Measurement units:– on-board inertial measurement unit LSM6DSL (frame IMU)– compatible with external SPI/I2C inertial measurement units (camera IMU)
• Interfaces:– STEVAL-UKI001V1 Serial Wire Debug (SWD) board with cable– USB connector for real-time data communication– three connectors for Pitch, Roll and Tilt axis target angle inputs (PWM mode)– one channel DAC output and one GPIO test point for debugging purpose
• 2 Kbit serial I2C bus EEPROM for data storage• WEEE and RoHS compliant
UM2460Reference design kit overview
UM2460 - Rev 1 page 2/31
1.3 Software features• Firmware:
– firmware to drive three motors with field-oriented control (FOC)– support for position sensors on three Gimbal motors (PWM inputs)– accurate position control algorithm– support for triple single shunt current sensing network– decoding of on-board inertial measurement unit LSM6DSL (frame IMU)– decoding of the external SPI inertial measurement units based on LSM6DSL on STEVAL-MKI178V1 or
STEVAL-MKI178V2 board (for camera IMU)– USB communication for real-time data exchange with the Gimbal GUI– application data stored in the on-board 2 Kbit serial I2C bus EEPROM– auto-start control when not connected to the GUI
• Gimbal GUI– start/stop Gimbal control– real time setting of the PID regulators for pitch, roll and yaw– set target angles for pitch, roll and yaw– display measured camera and frame IMU angles– save and load application data in flash– restore factory settings
1.4 System requirementsTo run the demo, you need the following items:• A camera IMU sensor (the firmware is compatible with STEVAL-MKI178V1 or STEVAL-MKI178V2)• A mechanical Gimbal frame• Three three-phase motors with internal permanent magnet and with magnetic encoder position (FW is
compatible with the PM2804 motor with AS5048A encoder)• A USB type A to mini-B male cable• An STM32 Nucleo-64 board with ST-LINK/V2-1 in circuit debugger/programmer• A two-cell LiPo battery or 8 V DC power supply• A Windows PC (version 7 or higher) PC• The ST-LINK utility for binary firmware download (find the latest embedded software version on
www.st.com).
UM2460Software features
UM2460 - Rev 1 page 3/31
2 STEVAL-GMBL01V1 Gimbal controller board architecture
Figure 1. STEVAL-GMBL01V1 top side components
• U1: LD1117 low drop voltage regulator• U2: LD39050 500 mA low quiescent current and low noise voltage regulator• U3: USBLC6-4 very low capacitance ESD protection• U4: STM32F303RE MCUs ARM® Cortex®-M4• U5: LSM6DSL iNEMO 6DoF inertial module (on board frame IMU)• U6: M24C02-R 2 Kbit serial I2C bus EEPROM• U7, U8 and U9: STSPIN233 low voltage three phase and three sense motor drivers• Q2: STS8DN3LLH5 dual N-channel 30 V, 0.0155 Ω typ., 10 A STripFET™ V Power MOSFET
U4
U3
U6
U7
U8
U9
U2
U5
U1
Q2
UM2460STEVAL-GMBL01V1 Gimbal controller board architecture
UM2460 - Rev 1 page 4/31
Figure 2. STEVAL-GMBL01V1 block diagram1. Power management (5 V, 3.3 V)2. Microcontroller3. Three phase inverters4. Frame IMU5. Embedded EEPROM6. Connectors: motor, motor sensors, camera IMU, RC inputs, USB, enhanced SWD and battery
2.1 Power managementThe STEVAL-GMBL01V1 power management board can accept from 6 to 11 VDC input through connector CN1,so it is compatible with a 2-cell LiPo battery (7.4 V nominal). The power manager outputs 5 V and 3.3 V.You can also supply the microcontroller using via USB. In this case, the motors are not powered, but you can usethe microcontroller to program the firmware and communicate with the GUI.The power manager has hardware protection against the inversion of the battery polarity. Do not supply a voltagehigher than 11 V to avoid permanent damage. LED LD1 signals an overvoltage condition.
2.2 STM32F303RE microcontrollerThe STM32F303RE microcontroller features an ARM® Cortex®-M4 32-bit core with floating point support. Otherfeatures of the microcontroller are listed below:• 64+16 KB of internal SRAM and 512 KB Flash• 4 ADCs, 2 DACs and 7 comparators• 4 operational amplifiers with programmable gains• SWD debugging through the SWD connector (CN2) on the board connector (CN2 also routes UART pins)
The board also has a reset button (SW1) to restart the microcontroller.
UM2460Power management
UM2460 - Rev 1 page 5/31
2.3 Enhanced SWD connectorThe STEVAL-UKI001V1 adapter board has a 1.27 mm, 10-contact, 2-row board-to-board connector.The connector can be used to program the microcontroller on the STEVAL-GMBL01V1 board via the STEVAL-UKI001V1 adapter board connected to a programming tool like ST-LINK/V2-1.The connector can also be used as an expansion connector that routes the UART pins and allows the STEVAL-GMBL01V1 to connect with a PC COM port.A further IO for USER_LED is also routed.
Note: For real-time data exchange, the kit firmware uses a direct USB connection via CN3, not the enhanced SWDconnector.
Figure 3. 10 to 20 pin Serial Wire Debug (SWD) adapter
SWDIO
8NRST
6 SWO_RS232_RXSWCLK
1
RS232_TX
USR_LED
mounted on TOP
J2
10
3USR_BTN
2
9
5
50 mils 10-pin Header
VDD_TARGET
GND
4
7
SWCLK
5
100 mils 20-pin Header
6
18
7
SWO 14
20
2
17
8
GNDVDD_TARGET
11
SWDIO9
3
NRST 16
10
1
1213
4
15
J1
19
2.4 STSPIN233 three phase invertersThe output stage of the STEVAL-GMBL01V1 consists of three integrated STSPIN233 inverters. Each inverter candrive one three phase motor.Each stage is able to provide up to 1.3 Arms alternate current (1.8 A peak). Each stage has a currentmeasurement network with single shunt topology that takes advantage of the embedded operational amplifier withprogrammable gain in the STM32F303RE microcontroller.The STSPIN233 device has the following protection mechanisms:• Non-dissipative overcurrent• Short-circuit• Thermal shutdown• Hardware overvoltage• Polarity inversion
2.5 Camera IMUThe camera IMU obtains camera orientation data with respect to the inertial system (the ground for instance),which the firmware uses to stabilize the camera.The camera IMU must be fixed to the camera and connected to the CN5 connector on the STEVAL-GMBL01V1board.
Note: The STEVAL-GMBL01V1 is compatible with any IMU with SPI or I2C communication channels, but the firmwareis currently only compatible with an LSM6DSL device. You can use a STEVAL-MKI178V1 or STEVAL-MKI178V2with embedded LSM6DSL.
RELATED LINKS 3.3 How to set up and connect the camera IMU on page 13
UM2460Enhanced SWD connector
UM2460 - Rev 1 page 6/31
2.6 Frame IMUThe LSM6DSL iNEMO 6DoF inertial module is the on-board inertial measurement unit. The firmware running onthe STM32F303RE microcontroller uses the module data to calculate the orientation angles of the frame on whichthe STEVAL-GMBL01V1 is mounted.The frame IMU data is not mandatory, but the information may be used to extend the functionality of the Gimbalfirmware.The GUI also shows the frame IMU data.
2.7 Embedded EEPROMThe firmware stores application parameters that are set in the GUI in the M24C02-R 2 Kbit EEPROM on theSTEVAL-GMBL01V1 board.
2.8 STEVAL-UKI001V1This tool is an adapter for Serial Wire Debug (SWD) from 10-pin 50-mil socket to 20-pin 100-mil socket (mountedon ST-LINK/V2) or to 6-pin 100-mil (mounted on ST-LINK/V2-1 on the STM32 Nucleo-64 board).The ST-LINK/V2-1 of the STM32 Nucleo-64 board offers more features. However, you need to ensure that thetarget application routes the UART RX, UART TX, user button and user LED tracks correctly on the SWD.You can use ST-LINK/V2-1 through the STEVAL-UKI001V1 board to program and debug the target application.You can also use the ST-LINK/V2-1 as a UART interface adapter via the STM32 Virtual COM Port Driver. Thisallows you to keep using the USB cable that connects the kit to your PC. To use this configuration, ensure thatpins 2 and 3 of CN14 and pins 1 and 2 of CN15 are shorted. Refer to the schematic below.
Figure 4. STEVAL-UKI001V1 schematic
VDD_TARGET
SWCLK
3
USR_BTN
VDD_TARGETSWCLK
CN13
4
SWOSWO_RS232_RX
SWDIO
4-pin Male Header
5
100 mils 20-pin Header
CN2_1
8
miniswitch-KMR211GLFSUSR_BTN
NRST
590
Not Mounted
JP1
2
3-pin Male Header
6 SWO_RS232_RX
4
2
GND
C1 1-pin Male Header
6SWCLK
CN2_2
Fit on STM32 Nucleo board
GN
D
RST
SWO
3
1
SW1
2
18
RS232_TX
5
7
C2
2-pin Female Header
ST_LINK_RX
GND
SWO
1
USR_LED
1
14
miniswitch-KMR211GLFS
4-pi
n Fe
mal
e H
eade
r
20
mounted on TOP
mounted on TOP
mounted on BOTTOM
SW2
10 to 20 pin Serial Wire Debug (SWD) adapter
J22
31
17
1
8
GNDVDD_TARGET
CN14
11
CN2_4
10
100nF
CN2
2
CN2_3
SWDIO
1
J3
CN3
LED (Yellow)
6-pin Female Header
NRST
3
CN2_3
9
USR_BTN
1
ST_LINK_3V3
ST_LINK_RX
2-pin Male Header
NRST
4
6
CN4
2
2-pi
n Fe
mal
e H
eade
r
2-pi
n Fe
mal
e H
eade
r
ST_LINK_TX
3
9
CN15
USR_LED
NRST
CN2_2
2
16
SWDIO
ST_LINK_3V3
CN2_1
D1
1
3
100nF
10
2-pin Male Header
R1
CN2_4
1
CN12
1213
ST_LINK_TX
45
1
15
JP2
GND2
50 mils 10-pin Header
2
closed 2-3
J1
Not Mounted
closed
VDD_TARGET
GND
4
RS232_TX
7
19
UM2460Frame IMU
UM2460 - Rev 1 page 7/31
Figure 5. STEVAL-UKI001V1 top view
Figure 6. STEVAL-UKI001V1 bottom view
RELATED LINKS 3.1 How to set up and connect the STEVAL-UKI001V1 on page 9
UM2460STEVAL-UKI001V1
UM2460 - Rev 1 page 8/31
3 How to set up the STEVAL-GMBL02V1 reference design kit
3.1 How to set up and connect the STEVAL-UKI001V1The STEVAL-GMBL01V1 needs to be programmed before you use it the first time or if you want to restore theoriginal version of the firmware.
Note: Restoring the firmware to factory values does not automatically restore the application data.
To program the STEVAL-GMBL01V1, you can use the ST-LINK/V2-1 debugging hardware available on anySTM32 Nucleo-64 board. You can snap off the ST-LINK/V2-1 section from the STM32 Nucleo-64 board or followthe instructions in the STM32 Nucleo-64 board user manual to determine how to use the ST-LINK/V2-1 toprogram or debug another host microcontroller.
Step 1. Plug the STEVAL-UKI001V1 on ST-LINK/V2-1 (from the STM32 Nucleo-64 board) as shown in thefollowing figure.
Figure 7. STEVAL-UKI001V1 assembly
Step 2. Connect the ST-LINK/V2-1 to your PC through the USB Type-A male to Type-B mini cable.Step 3. Connect the 10-pin flat wire cable to the STEVAL-GMBL01V1 CN2 as shown in the following figure.
UM2460
UM2460 - Rev 1 page 9/31
Figure 8. STEVAL-GMBL01V1 CN2 - SWD connector for STEVAL-UKI001V1
RELATED LINKS 2.8 STEVAL-UKI001V1 on page 7
3.2 How to assemble and connect the frame motorsThe Gimbal firmware works with three-phase motors with embedded magnetic position sensors able to generatea PWM signal with duty cycle proportional to the mechanical position of the motor (for example, the AS5048A).Each motor has a specific function:1. M1 regulates the pitch of the Gimbal frame2. M2 regulates the roll of the Gimbal frame3. M3 regulates the yaw of the Gimbal frame
Step 1. Ensure you have a motor with the same characteristics as those listed below.
Table 1. List of compatible motors
Part Number Description Supplier
PM2804 PM2804 with AS5048A encoder SMC Powers
PM2805 PM2805 with AS5048A encoder SMC Powers
Step 2. Refer to the motor manufacturer documentation to identify the three motor phase wires and the threemotor sensor wires.
UM2460How to assemble and connect the frame motors
UM2460 - Rev 1 page 10/31
Figure 9. Example of motor phases and sensor wires1. Motor phases2. Motor sensor
1
2
Step 3. Connect the 3 motor phases of each motor.– Connect the 3 motor phases of the motor that regulates the pitch of the camera to connector M1
of the STEVAL-GMBL01V1.– Connect the 3 motor phases of the motor that regulates the roll of the camera to connector M2 of
the STEVAL-GMBL01V1.– Connect the 3 motor phases of the motor that regulates the yaw of the camera to connector M3 of
the STEVAL-GMBL01V1.
Note: If a motor runs in the wrong direction swap the black wire (phase A) with the white wire (phase C) for that motor.
UM2460How to assemble and connect the frame motors
UM2460 - Rev 1 page 11/31
Figure 10. Motor connections
– M1 regulates the pitch of the Gimbal frame– M2 regulates the roll of the Gimbal frame– M3 regulates the yaw of the Gimbal frame
M1
M2
M3
Step 4. Connect the 3 motor sensor signals for each motor.– Connect the three signals of motor sensor that regulates the pitch (M1) to connector CN8 of the
STEVAL-GMBL01V1.– Connect the three signals of motor sensor that regulates the roll (M2) to connector CN9 of the
STEVAL-GMBL01V1.– Connect the three signals of motor sensor that regulates the yaw (M3) to connector CN14 of the
STEVAL-GMBL01V1.
UM2460How to assemble and connect the frame motors
UM2460 - Rev 1 page 12/31
Figure 11. Motor sensor connections
M1
M3
M23 2 1
3 2 1
3 2 1
CN14
CN9
CN8
3.3 How to set up and connect the camera IMUTo run the demo, you need to attach an inertial measurement unit (IMU) with a MEMS sensor to your camera. TheIMU determines the camera orientation angles with respect to an inertial reference system.
The demo firmware is supports the LSM6DSL iNEMO 6DoF inertial module.
Step 1. Attach a board with IMU STEVAL-MKI178V1 or STEVAL-MKI178V2 board with LSM6DSL module toyour camera.Use the orientation shown in the figure below.
UM2460How to set up and connect the camera IMU
UM2460 - Rev 1 page 13/31
Figure 12. Camera IMU placement
Step 2. Connect the pins of the STEVAL-MKI178V1 or STEVAL-MKI178V2 connectors JP1-JP2 to theSTEVAL-GMBL01V1 connector CN5.Refer to the following table for connection details.
Table 2. STEVAL-MKI178V1 or STEVAL-MKI178V2 connections
STEVAL-GMBL01V1 (CN5) pin STEVAL-MKI178V1 or STEVAL-MKI178V2 JP1-JP2 pin Function
1 1, 2 VDD=VDDIO=3.3V
2 21 SDA (PC12)
3 22 SDO (PC11)
4 20 SCL (PC10)
5 13 GND
6 19 CS (PA15)
7 Not connected Not connected
RELATED LINKS 2.5 Camera IMU on page 6
3.4 How to supply power to the STEVAL-GMBL01V1 boardThe STEVAL-GMBL01V1 accepts 6 V to 11 V input power. You can use a 2-cell LiPo battery (7.4 V nom) or a DCpower supply that is compatible with the input voltage range. The maximum current drawn by the is 3 A.
Step 1. Connect the battery or power supply to connector CN1 on the STEVAL-GMBL01V1 board.Use the polarity shown in the following figure.
UM2460How to supply power to the STEVAL-GMBL01V1 board
UM2460 - Rev 1 page 14/31
Figure 13. Power supply connection for the STEVAL-GMBL01V1
Step 2. You can also connect a USB Type-A Male to Type-B mini cable to power the microcontroller only forprogramming and debugging with the ST-LINK or for a real-time data communication with the GUI.The power section of the board and the motors do not receive any power through the USB connection.
3.5 How to program the firmwareIf LED LD2 does not blink when you connect the battery or the DC power supply, you must reprogram themicrocontroller with the firmware code.
You can find the STEVAL-GMBL01V1.hex executable file for the firmware in the kit software package in theExecutable firmware folder. You can also download the latest version of the firmware and GUI at the followinglocation on the ST website: STEVAL-GMBL02V1.
Step 1. Install the ST-LINK utility. You can find the installation instructions for the utility on www.st.com.Step 2. Install the ST-LINK USB driver and the STM32 Virtual COM port Driver for Windows. You can find the
installation instructions for the drivers on www.st.com..
UM2460How to program the firmware
UM2460 - Rev 1 page 15/31
4 STEVAL-GMBL02V1 GUI controls
The STEVAL-GMBL2V1 GUI software runs on Windows 7 or later. The GUI communicates with the firmwarerunning on the evaluation board to retrieve information such as camera orientation angles and to send commandssuch as to begin start control.To use the GUI, connect a USB cable Type-A Male to Type-B from your PC to connector CN3 on the STEVAL-GMBL01V1 board. The battery or the DC power supply can be supplied through connector CN1 if you want todrive the Gimbal.
Figure 14. STEVAL-GMBL02V1 GUI controls
1. [Connect]: establish communication with the board2. [Disconnect]: close communication3. [Start]: start control (manually – see [AutoRun] control) of the Gimbal camera4. [Stop]: stop camera control5. [Camera IMU]: gives the orientation angles of the camera (pitch, roll and yaw) with respect to the inertial
reference. The values are updated in real time when communication is established.
UM2460STEVAL-GMBL02V1 GUI controls
UM2460 - Rev 1 page 16/31
6. [Frame IMU]: gives the orientation angles of the frame (pitch, roll and yaw) on which the board is mountedwith respect the inertial reference (e.g., the ground). The values are updated in real time whencommunication is established.
7. [Target Angles]: where you can set the orientation angles (pitch, roll and yaw) for the camera with respectto the inertial reference (e.g., the ground). The target angles can be set numerically in the edit box or usingthe [Slider]. The camera will follow the target if the control of the camera is turned on ([Start] pressed) andreal-time communication is active ([Connect] pressed).
8. [Pitch PID]: where you can set the coefficients (kp, ki and kd) for the position controller for the pitch angle.9. [Roll PID]: where you can set the coefficients (kp, ki and kd) for the position controller for the roll angle.10. [Yaw PID]: where you can set the coefficients (kp, ki and kd) for the position controller for the yaw angle.11. [AutoRun]: where you can set the standalone behaviour of the firmware when you connect the battery or
DC power supply (not when the USB is connected):– if it is checked (normal mode), the firmware automatically starts control of the Gimbal when the board is
powered– if it is not checked (debug mode - default), the firmware does not automatically start control of the
Gimbal when the board is powered. You can start control manually by clicking the [Start] button.12. [Factory Reset]: restores the application settings to factory defaults.13. [Load]: overwrites current GUI settings with application data (e.g., PID coefficients) stored in the embedded
memory.14. [Store]: saves the GUI settings (e.g., the PID coefficients) in the embedded memory, which retains the data
even after the battery or DC power supply is removed.
UM2460STEVAL-GMBL02V1 GUI controls
UM2460 - Rev 1 page 17/31
5 How to run the demo application
You can run the demo application after you set up of the system, supply power to the board and connect the USBcable to the STEVAL-GMBL01V1 board at connector CN3.
Note: If the AutoRun feature is enabled in the stored application settings (disabled by default), the Gimbal controllerstarts to adjust the camera as soon as the board is supplied. You should start with AutoRun disabled to checkthat Camera IMU is corrected correctly.
Step 1. Run the Gimbal GUI and click the [Connect] button.
Step 2. Align the position of the camera with the horizon (or the ground), until all the Camera IMU angles in theGUI are zero.
Figure 15. Camera alignment with horizon
Camera Front
Camera Up
Side view Front view
Camera Up
Camera Front
Top view
Step 3. Move the camera and check that the angles shown in the GUI are the correct sign (positive ornegative).The figure below shows which directions should be positive.
Figure 16. Sign conventions of orientation angles for the Camera IMU
Positive Pitch Angles
Side view Front view Top view
Positive Roll Angles
Positive Yaw Angles
Step 4. If the Camera IMU angles in the GUI are correct, click the [Start] button in the GUI.Step 5. Modify the [Target Angles] in the GUI using the sliders or the edit boxes and verify the response of the
motors to match the settings.You can also adjust the PID coefficients of each axis controller (pitch, roll or yaw) in the GUI.
Step 6. Save your settings in non-volatile memory by clicking the [Store] button in the GUI.Use the [Load] button to load these settings later.
Step 7. Select the [AutoRun] check box.The Gimbal controller starts automatically the next time you power on.
Step 8. Disconnect the USB cable and the power supply.
UM2460How to run the demo application
UM2460 - Rev 1 page 18/31
The system is now ready for a standalone control.Step 9. Reconnect the power supply.
Camera control will start automatically.
If the Camera IMU angles in the GUI are not correct, you need to check the orientation of the Camera IMU board(STEVAL-MKI178V1 or STEVAL-MKI178V2 in our example).If any of the motors run in the wrong direction, swap the black wire (phase A) with the white wire (phase C).
UM2460How to run the demo application
UM2460 - Rev 1 page 19/31
6 STEVAL-GMBL02V1 bill of materials
Table 3. STEVAL-GMBL02V1 bill of materials
Item Q.ty Ref. Part / Value Description Manufacturer Order code
1 1 - STEVAL-GMBL01V1
Gimbal controllerboard ST STEVAL-GMBL01V1
2 1 - STEVAL-UKI001V1
ST-LINK adapterboard for serial wiredebug (SWD)
ST STEVAL-UKI001V1
3 1 - 10-pin Flat Cable Samtec FFSD-05-D-08.00-01-N
6.1 STEVAL-GMBL01V1 bill of materials
Table 4. STEVAL-GMBL01V1 bill of materials
Item Q.ty Ref. Part / Value Description Manufacturer Order code
1 1 U1 LD1117S50TR SOT-223 ST LD1117S50TR
2 1 U2 LD39050PU33R DFN6(3X3) ST LD39050PU33R
3 1 U3 USBLC6-4SC6 SOT23-6L ST USBLC6-4SC6
4 1 U4 STM32F303RET6 LQFP64 ST STM32F303RET6
5 1 U5 LSM6DSLTR LGA-14L ST LSM6DSLTR
6 1 U6 M24C02-RMN6TP SO8 ST M24C02-RMN6TP
7 3 U7,U8,U9 STSPIN233 VFQFPN3X3 16L ST STSPIN233
8 3 RSH1,RSH2,RSH3 1E 1206R WALSIN WF12P1R00FTL
9 2 R1,R2 2K2 0603R Any Any
10 4 R3,R9,R10,R21 22E 0603R Any Any
11 2 R4,R5 10K 1206R Any Any
12 2 R6,R7 0E 0603R Any Any
13 1 R8 1K5 0603R Any Any
14 2 R11,R16 100K 0603R Any Any
15 2 R12,R13 47K 0603R Any Any
16 3 R14,R15,R19 4K7 0603R Any Any
17 3 R27,R33,R39 3K 0603R MULTICOMP MCWR06X3001FTL
18 1 R17 560E 0603R Any Any
19 4 R18,R25,R31,R37 10K 0603R Any Any
20 6 R23,R26,R29,R32,R35,R38 18K 0603R Any Any
21 3 R24,R30,R36 100E 0603R Any Any
22 3 R28,R34,R40 1K 0603R Any Any
23 2 C1,C4 1uF 0603C Any Any
UM2460STEVAL-GMBL02V1 bill of materials
UM2460 - Rev 1 page 20/31
Item Q.ty Ref. Part / Value Description Manufacturer Order code
24 1 C2 10uF Case B 1210(3528-21) AVX TAJB106K025R
25 1 C3 10uF Case A 1206(3216-18) AVX TAJA106K016R
26 12
C5,C6,C7,C8,C9,C11,C13,C14,C15,C16,C17,C18
100nF 0603C Any Any
27 2 C10,C12 20pF 0603C Any Any
28 3 C20,C25,C30 22uF 1210C AVX TAJB226K020RNJ
29 9C21,C22,C23,C26,C27,C28,C31,C32,C33
10nF 0603C Any Any
30 3 C24, C29, C34 N.M. 0603C
31 2 D1,D3 STPS2L30A SMA ST STPS2L30A
32 1 D2 SMAJ8.5CA SMA ST SMAJ8.5CA-TR
33 1 LD1 LED_RED 0603 Any Any
34 1 LD2 LED_BLUE 0603 Any Any
35 1 L1 BEAD 0603L Taiyo Yuden BK1608HS601-T
36 1 CN1 BATT TH 2.5mm PitchJST (JAPANSOLDERLESSTERMINALS)
B2B-XH-A (LF)(SN)
37 1 CN2 1,27mm Pitch 1,27mm Pitch Samtec FTSH-105-01-F-D-K
38 1 CN3 USB MINITYPE B USB-MINI-B-SMD Molex 51387-0530
39 1 CN5 7 pin Molex2.54mm 2.54mm Pitch Any Any
40 6CN8,CN9,CN10,CN11, CN13,CN14
3 pin Molex2.54mm 2.54mm Pitch Any Any
41 3 M1,M2,M3 3 pin Molex2.54mm 2.54mm Pitch Molex 901361103
42 1 Q1 BS170F SOT-23 DiodesZetex BS170FTA
43 1 Q2 STS8DN3LLH5 SO8 ST STS8DN3LLH5
44 1 SW1 Tactile Switch SMD C & K KMR211GLFS
45 2 TP1, TP2 Test point Hole 1.02mm KeystoneElectronics 5001
46 1 X1 8MHz SMD Diodes Inc. /Pericom FY0800018
6.2 STEVAL-UKI001V1 bill of materials
Table 5. STEVAL-UKI001V1 bill of materials
Item Q.ty Ref. Part / Value Description Manufacturer Order code
1 1 CN2 Connector 4-pin FemaleHeader
SullinsConnectorSolutions
PPPC041LFBN-RC
UM2460STEVAL-UKI001V1 bill of materials
UM2460 - Rev 1 page 21/31
Item Q.ty Ref. Part / Value Description Manufacturer Order code
2 3 JP1, CN3,CN12 Connector 2-pin Female
Header
SullinsConnectorSolutions
PPPC021LFBN-RC
3 1 CN4 Connector 6-pin FemaleHeader
SullinsConnectorSolutions
PPPC061LFBN-RC
4 1 CN13 Connector 4-pin Male Header(not mounted)
SullinsConnectorSolutions
PRPC004SAAN-RC
5 1 CN14 Connector 3-pin Male HeaderSullinsConnectorSolutions
PRPC003SAAN-RC
6 1 CN15 Connector 2-pin Male HeaderSullinsConnectorSolutions
PRPC002SAAN-RC
7 2 C1, C2 100nF, 16V,±10%
Ceramic X7R (notmounted) Any Any
8 1 D1 LED Yellow ROHM SML-M13YTT86
9 1 JP2 2-pin MaleHeader Not Mounted
SullinsConnectorSolutions
PRPC002SAAN-RC
10 1 J1 100 mils 20-pinHeader - Wurth
Electronics Inc 612 020 216 21
11 1 J2 50 mils 10-pinHeader - Samtec FTSH-105-01-F-D-K
12 1 J3 1-pin MaleHeader -
SullinsConnectorSolutions
PRPC001SAAN-RC
13 1 R1 590, Film ±1% - Any Any
14 2 SW1, SW2 miniswitch - C&K KMR211GLFS
15 2 N.D. Jumper -SullinsConnectorSolutions
QPC02SXGN-RC
UM2460STEVAL-UKI001V1 bill of materials
UM2460 - Rev 1 page 22/31
7.1 STEVAL-GMBL01V1 controller board schematic diagrams
Figure 17. STEVAL-GMBL01V1 schematic - interfaces
VOUT
PB13
PA2
PB9
PA14
EXT_IMU_SPI3
100K
R22K2
R13
U5V
BATT_MINUS
PC3
100nF
PA13
PC12
PB6
PC10
5
PA8
10K_1206
Vout
CN8
PC8
PC6
100nF
C1
D2_
26
D2_
1
Remote Controller Inputs
47K
PB7
PA[0..15]
123
PB15
Vin3
47K
PA3SMAJ8.5CA
R11
PC10
+3V3
U5V
PB13
3 PA14
+3V3PB5
S23
PC5
C4
NRST
PB15
STS8DN3LLH5_SO8
NRST
DM
10uF 25V
R8
1uF X5R 0603
9
CN9
PC7
STPS2L30A
R121
21
100nF
R9
PA7
CN3
PB[0..15]
5075BMR-05-SM
PA12
10uF 16V
C7
PB3
123
+3V3
NRST
G2
4
+5V
4
PB8
PA6
GN
D2
C6
PA13
+3V3
2
4
U3
2GND
USBLC6-4SC6
123
TP2
PB8
22E
PC4
USBDM 3
CN14
PC9
PA4
LD1
PC4
6VIN
+3V3
PA11
PA8
VBATT
+3V3
D1_
28
D1_
1
C2
+3V3
PC11
PC14
7
BS170F_SOT23
D3
PC2
CN5
PG3
USB_VCC 2DP
123
U1
5001
2
PB0
1234567
+
-
Motor Sensors
PC1
D1 LD39050PU33R
EN1C3
PB7
R1
PB10
DM
PC0
+
PD2
8
I/O4
3
BATT1uF X5R
S11
+3V3
22E
CN13
G1
2
1
R10
LED_RED_0603
PA11
PC12
1
PA0
10K_1206
TP1
CN1
1
PA15
PC5
PA10
+
PB2
123
PC4
Q1
PB4
PA5
PA5
Q2
STPS2L30A
50 mils 10-pin Header
6
I/O1
PC15
C5
PB14
I/O24
I/O3
PB1
R3
PA12
PC[0..15]
U5V NC5
22E
1K5
PB12
PA1D2
PC5
CN2
PB10
U2
2K2
PC13
PA9
123
PB6
CN10
PB2
7
+3V3
USB_GND 6
R4
GN
D1
DP
7
10
R5
PB11
PB25001
PB9
PA15
GN
D
5VB
US
CN11
PC11
+3V3
USBDP5
6
PD2
LD1117S50TR2
0603
5
SHELL
ID4
UM2460STEVAL-GMBL01V1 controller board schematic diagrams
UM2460 - Rev 1 page 23/31
Figure 18. STEVAL-GMBL01V1 schematic – MCU, IMU sensor, EEPROM
NRST
PA2
5SDA
9INT2SCx
3
PC1
PA7
100nF
STM32F303RET6 LD2
PC3
1VB
AT
+3V3
PA12
PD2PD2
PC0
PC4
PB5
24
PC525
PA15
100K
47VS
S_2
16
PA317
PB10
PA1346
7
PF1_OSC_OUT
nRST
11
100nF
R15
C11
PA356PB355
PC[0..15]
4INT1
PB4
100nF 100nF
R18
U4
+3V3
PA4
GN
D1
7G
ND
2
PB12
NRST
62PB8
X1
42 PA8
22
PA7
PB1334
PA8
PB15
VDD
A13
PC7
20pF
PD2
PB026
PF0_OSC_IN
6
10NC2
18VS
S_4
4K7
PA9
PA4
5
C13
C17
560E
PC15
PB7
PA0
2
41
PC9
PB2
14
8VDD
PB3
U6R16
53 PC11
M24C02-RMN6TP_SO8VSS
4
PC6
32 48VD
D_2
PA13
VDD
IO6
PA521
VSSA
12
SW1
PA[0..15]
100nF
R21
PA1043
8MHz+3V3
PB6
PA9
PA1550
C18
C15
VDD
_3
+3V3
60BO
OT0
CS
E01
L1
54
PC12
PB1536
WC
PB5
PC9
45 PA1144
VDD
_419
22E
100nF
U5
PA420
PC12PC11
PB[0..15]
PB127
PC14_OSC32_IN4
PA14
PA9
PB9
LED_BLUE_0603
4K7
PC8
PA5
PA1449
PB7 61
10K
52 PC1051
12SC
L
SCL6
VSS_
1
VDD
_1
LSM6DSL
1SDO
RESET
R17100nF
PA11
PC13
PC10
PB1130
PB8
PB13
PC13_ANTI_TAMP3
PB0
PB1435
20pF
PA6 58PB5
PC15_OSC32_OUT
5
PD2
E12
PB433
+3V3
PC210
28
PB1029
PA12
PA0_WKUPPA1
PC08
C9
PA10
15
PA2
PC14
31
PB3
R14
100nF
R19
PB1
C14
59PB6
C12
13SD
I14
57PB4
PC637
7
PC311
NRST
PB12
BEAD
4K7
PA1
+3V3
E23
C16
39 PC738
NC1
9PC1
PA7
8VCC
PB2
100nF
PB14
40 PC8
PA6
PC5
PC2
C8
2SDx
C10
64
VSS_
363
PB9
PA10
23
PC4
PB11
UM2460STEVAL-GMBL01V1 controller board schematic diagrams
UM2460 - Rev 1 page 24/31
Figure 19. STEVAL-GMBL01V1 schematic – motor control
SEN
SEW
C22
PC[0..15]
3
PA9
OUTW
PA3
PA2
+3V3
PC15
PC11YAW
+3V3
R35
C25
13
7OUTV
22µF 20V
R25
PC15
ROLL
PB13
PC4
10K
PA[0..15]
PITCH
U8
STSPIN233
INU1
OUTU
PB14
PC1
4ST
BY/R
ST
+
INV
C30
M1
PA12
C32
PB3
PC7
PC9
INV15
PC3
SEN
SEV
9
PB11
18K
EN/OC
RSH2
PC13
OUTW10
PB1
C33
SEN
SEW
SEN
SEU
VS5
PB7
ENU2
10nF
PB15
14PC2
3OUTU
C24PB10
PC14
C31
1E 0.5W
R39
3K
OUTW
C21
PC7
PC12
PB12
+
22µF 20V
R37
R24 100E
3K
123
SEN
SEV
9
PB2
C29
10nF
16
U7
STSPIN233
INU1
RSH3PB14
PC1
Place close to MCU
Place close to MCU
SEN
SEV
9
VBATT
OUTU
INW
4
PA6
R341K
VBATT
PC6PC8
1E 0.5W
STBY
/RST
10nF
M3
10nF
PA10
6G
ND
R33
10
INW
PB5
ENV
PC0
C28
N.M.
N.M.
R32
C27
15
ENV
8
10K
PA4
SEN
SEU
VS5
+3V3
10nF
PB4
PC6
PA11
+3V3
PC13
R38
18K
R30 100E
TAB
17
U9
STSPIN233
INU1
11
ENW12
PC0
18K
PB0
11
ENW12
PA13PA14
PC3
N.M.
R29
2ENU
PB64
10K
PC10
PC14
M2
PA0
18K
C26
PB0
PB9
6G
ND
PA15
R36100E
RSH1
8
10
INW
PC2
1E 0.5W
13EN/OC
PA3
PC8
3K
C34
INV
3
PA1
123
R2615
ENV
123
+3V3
22µF 20V
R31
C23
SEN
SEW
R23
14ST
BY/R
ST
+3V3
+3V3
11
ENW12
R401K
PC5
18KC20
7OUTV
ENU2
PA7
PB[0..15]
7OUTV
14
GN
D6
PC9
PA2
SEN
SEU
VS5
16
10nF
R2710nF
PA5
TAB
17
EN/OC13
PA1
18K
16
10nF
PB11
VBATT
TAB
17
R28 1K
8PB8
+3V3
PA0
+
PA8
10nF
+3V3
UM2460STEVAL-GMBL01V1 controller board schematic diagrams
UM2460 - Rev 1 page 25/31
7.2 STEVAL-UKI001V1 adapter board schematic diagram
Figure 20. STEVAL-UKI001V1 schematic
VDD_TARGET
SWCLK
3
USR_BTN
VDD_TARGETSWCLK
CN13
4
SWOSWO_RS232_RX
SWDIO
4-pin Male Header
5
100 mils 20-pin Header
CN2_1
8
miniswitch-KMR211GLFSUSR_BTN
NRST
590
Not Mounted
JP1
2
3-pin Male Header
6 SWO_RS232_RX
4
2
GND
C1 1-pin Male Header
6SWCLK
CN2_2
Fit on STM32 Nucleo board
GN
D
RST
SWO
3
1
SW1
2
18
RS232_TX
5
7
C2
2-pin Female Header
ST_LINK_RX
GND
SWO
1
USR_LED
1
14
miniswitch-KMR211GLFS
4-pi
n Fe
mal
e H
eade
r
20
mounted on TOP
mounted on TOP
mounted on BOTTOM
SW2
10 to 20 pin Serial Wire Debug (SWD) adapter
J22
31
17
1
8
GNDVDD_TARGET
CN14
11
CN2_4
10
100nF
CN2
2
CN2_3
SWDIO
1
J3
CN3
LED (Yellow)
6-pin Female Header
NRST
3
CN2_3
9
USR_BTN
1
ST_LINK_3V3
ST_LINK_RX
2-pin Male Header
NRST
4
6
CN4
2
2-pi
n Fe
mal
e H
eade
r
2-pi
n Fe
mal
e H
eade
r
ST_LINK_TX
3
9
CN15
USR_LED
NRST
CN2_2
2
16
SWDIO
ST_LINK_3V3
CN2_1
D1
1
3
100nF
10
2-pin Male Header
R1
CN2_4
1
CN12
1213
ST_LINK_TX
45
1
15
JP2
GND2
50 mils 10-pin Header
2
closed 2-3
J1
Not Mounted
closed
VDD_TARGET
GND
4
RS232_TX
7
19
UM2460STEVAL-UKI001V1 adapter board schematic diagram
UM2460 - Rev 1 page 26/31
Revision history
Table 6. Document revision history
Date Version Changes
14-Aug-2018 1 Initial release.
UM2460
UM2460 - Rev 1 page 27/31
Contents
1 Reference design kit overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2
1.1 Package components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Hardware features. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.3 Software features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.4 System requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 STEVAL-GMBL01V1 Gimbal controller board architecture . . . . . . . . . . . . . . . . . . . . . . . . . .4
2.1 Power management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.2 STM32F303RE microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.3 Enhanced SWD connector. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.4 STSPIN233 three phase inverters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.5 Camera IMU. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.6 Frame IMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.7 Embedded EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.8 STEVAL-UKI001V1 SWD adapter board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3 How to set up the STEVAL-GMBL02V1 reference design kit. . . . . . . . . . . . . . . . . . . . . . . . .9
3.1 How to set up and connect the STEVAL-UKI001V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.2 How to assemble and connect the frame motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3 How to set up and connect the camera IMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 How to supply power to the STEVAL-GMBL01V1 board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.5 How to program the firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4 STEVAL-GMBL02V1 GUI controls . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16
5 How to run the demo application. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
6 STEVAL-GMBL02V1 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
6.1 STEVAL-GMBL01V1 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.2 STEVAL-UKI001V1 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
7 Schematic diagrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 0
7.1 STEVAL-GMBL01V1 controller board schematic diagrams. . . . . . . . . . . . . . . . . . . . . . . . . . . 23
7.2 STEVAL-UKI001V1 adapter board schematic diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .27
UM2460Contents
UM2460 - Rev 1 page 28/31
List of figuresFigure 1. STEVAL-GMBL01V1 top side components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Figure 2. STEVAL-GMBL01V1 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 3. 10 to 20 pin Serial Wire Debug (SWD) adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Figure 4. STEVAL-UKI001V1 schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Figure 5. STEVAL-UKI001V1 top view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Figure 6. STEVAL-UKI001V1 bottom view . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Figure 7. STEVAL-UKI001V1 assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9Figure 8. STEVAL-GMBL01V1 CN2 - SWD connector for STEVAL-UKI001V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Figure 9. Example of motor phases and sensor wires . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Figure 10. Motor connections. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Figure 11. Motor sensor connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Figure 12. Camera IMU placement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Figure 13. Power supply connection for the STEVAL-GMBL01V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Figure 14. STEVAL-GMBL02V1 GUI controls. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16Figure 15. Camera alignment with horizon. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Figure 16. Sign conventions of orientation angles for the Camera IMU . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Figure 17. STEVAL-GMBL01V1 schematic - interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Figure 18. STEVAL-GMBL01V1 schematic – MCU, IMU sensor, EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Figure 19. STEVAL-GMBL01V1 schematic – motor control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Figure 20. STEVAL-UKI001V1 schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
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List of tablesTable 1. List of compatible motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Table 2. STEVAL-MKI178V1 or STEVAL-MKI178V2 connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Table 3. STEVAL-GMBL02V1 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Table 4. STEVAL-GMBL01V1 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Table 5. STEVAL-UKI001V1 bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Table 6. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
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