Features• 36 V/6 Apeak power stage• STSPIN32F0A advanced 3-phase motor controller embedding Cortex-M0 MCU• STL7DN6LF3 60 V, 35 mΩ Dual N-channel MOSFETs• Hall sensors• Position control loop based on Field Oriented Control• MODBUS communication protocol through RS-485• Extremely compact footprint (40 mm x 40 mm)• maxon EC-i 40 100 W 3-phase brushless DC motor• maxon ENX 16 EASY 1024-pulse incremental encoder

DescriptionThe EVALKIT-ROBOT-1 is an evaluation kit offering a ready-to-use servo brushlesssolution.

Thanks to the high integration level of the STSPIN32F0A, the control board providesa powerful power stage, the analog circuitry implementing current sensing andovercurrent protection and a Cortex-M0 microcontroller performing a Field-OrientedControl with closed-loop positioning. All packed into a 40 mm x 40 mm footprint.

The maxon EC-i 40 motor, thanks to the optimized magnetic circuit, offers a very hightorque density and very low cogging torque. In combination with the maxon ENX 16EASY 1024 pulses incremental encoder, it is an excellent choice for reliable, robustand high-precision position and speed control.Product status link

EVALKIT-ROBOT-1

Compact reference design kit for robotics and automation based on STSPIN32F0A

EVALKIT-ROBOT-1

Data brief

DB4049 - Rev 3 - February 2020For further information contact your local STMicroelectronics sales office.

www.st.com

https://www.st.com/en/product/EVALKIT-ROBOT-1?ecmp=tt9470_gl_link_feb2019&rt=db&id=DB4049https://www.st.com/en/product/EVALKIT-ROBOT-1?ecmp=tt9470_gl_link_feb2019&rt=db&id=DB4049

1 Specifications

Table 1. Control board specifications

Parameter Value

Supply voltageNominal 36 V

Full operating range from 12 V to 45 V

Maximum currentDC(1) 3 A

Peak 6 A

RS485 maximum baud rate 20 Mbps

RS485 differential input voltageDifferential ± 12 V

Common mode - 7 V to 12 V

Encoder inputsDifferential ± 7 V

Common mode ± 7 V

1. Actual maximum current may be limited by power dissipation

Table 2. Motor specifications

Parameter Value

Nominal voltage 36 V

SpeedNominal 3950 rpm

No load 4550 rpm

TorqueNominal 207 mNm

Stall 3160 mNm

CurrentNominal 2.72 A

Stall 42.2 A

Phase resistance 0.853 Ω

Phase inductance 0.675 mH

Rotor inertia 44 gcm2

Pole pairs 7

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 2/15

Figure 1. Motor operating range

Table 3. Encoder specifications

Parameter Value

Supply voltage 5 V

Supply current 22 mA

Pulses per turn 1024

Max speed 30 krpm

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 3/15

Figure 2. Motor and encoder connectors drawings

Table 4. Motor and Hall-effect sensors connector

Pin Connection

1 Hall-effect sensor 1

2 Hall-effect sensor 2

3 Hall-effect sensor 3

4 Hall-effect sensors supply

5 Motor winding 1

6 Motor winding 2

7 Motor winding 3

8 Hall-effect sensors ground

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 4/15

Table 5. Encoder connector

Pin Connection

1 Not connected

2 Encoder supply

3 Encoder ground

4 Not connected

5 Quadrature output channel A-

6 Quadrature output channel A+

7 Quadrature output channel B-

8 Quadrature output channel B+

9 Zero index channel I-

10 Zero index channel I+

Figure 3. Schematic board 1

DE

H1H2H3

DE

RX

Plug:Wurth Elektronik662008113322

TXRX

TX

Plug:Wurth Elektronik690157001072

DEBUG

TERMA+

B-GND

BOTTOM SIDE

TX

RX

NRST

NRST

BOO

T0

PA13

PA0

PF0

PA15

PA15

PB6

PB7

OUTUOUTVOUTW

ENC_nAENC_nBENC_nIENC_I

ENC_AENC_B

PF1ENC_IENC_nI

ENC_nBENC_B

PA7

ENC_AENC_nA

PA6

PB6

PB7

PA14

PF0PF1

PA6

PA7

H1

PA0PA1

PA2

PA1 H2

PA2 H3

NRST

PA13PA14PA14

PA15BOOT0

12V

VM

VDD

VDD

VDD

VDD

VDD

VDD

5V

VDD

VDD

VDD

5V

VDD

HSW

LSWHSV

LSVHSU

LSU

OUTU

OUTV

OUTW

PA3

PA4

PA5

PB1

OP3

PO

P3N

OP3

O

OP2POP2NOP2O

OP1

OO

P1N

OP1

PO

CC

OM

P

R6012k

R2100k

TP17 R312k

R63 1k

U1

STSPIN32F0A

OP2P1

OP2N2

OP2O3

PF04

PF15

VREG126

NRST7

VM8

SW9

VDDA10

PA011

PA112

PA2

13

PA3

14

PA4

15

PA5

16

PA6

17

PA7

18

PB1

19

TEST

MO

DE

20

OP1

O21

OP1

N22

OP1

P23

OC

CO

MP

24

HSW25OUTW26VBOOTW27LSW28HSV29

VBOOTV31LSV32

OUTV30

OUTU34

LSU36

HSU33

VBOOTU35

PA13

37PA

1438

PA15

39PB

640

PB7

41BO

OT0

42R

ESER

VED

43G

ND

44O

P3P

45O

P3N

46O

P3O

47VD

D48

EPAD

49

C31220p

U5

STR485

VL1

R2

DE3

nRE4

D5

GND6SRL7A8B9VCC10

EP11

TP15

TP16

R6212k

C7100nF

C91nF

R1330R6

12k

LED1RED

12

C32220p

J413579

2468

10

J81234

U6 AM26LV32E

1B1

1A2

1Y3

G4

2Y5

2A6

2B7

GND8

3B93A103Y11nG124Y134A144B15VCC16

EPAD

17

TP3

C310uF

C30220p

C4 470nF

J12

Header 10x2

1 23 45 67 89 10

C29 100n

C5 470nF

R540R

C10 100nF

R53NP

C8 10nF

C6 470nF

TP19

R64 120R

J10

1234

5678

R1410k

C1100nF

TP14

TP18

TP4

R61 1k

C11 10nF

C210uF

R59 1k

TP13

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 5/15

Figure 4. Schematic board 2

-

+

OC Comp

OCREF

OC

+

-

+

-

+

-

Gain = 15, Max sensed current = 5.5 A

RB 18.0E+3RLP 2.2E+3RS 20.0E-3Ith 3.77 A @ VREF 250mV

ISNSU

ISNSV

ISNSW

ISNSU

ISNSV

ISNSW

ISNSU

ISNSV

ISNSW

VM

VM

VM

VDD

VDD

VM

VDD

VDD

HSU

LSU

OUTU

HSV

LSV

OUTV

LSW

HSW

OUTW

OCCOMP

OP2O

OP2N

OP2P

PA3

PB1

OP3N

OP3O PA4

OP3P

OP1N

PA5OP1O

OP1P

C13150nF

R3521k

R40 0.100R

C182.2nF

R32 100R

R24

10.5k

R15

10.5k

D9BAT30

R49 2.2k

C191nF

R21 100R

C17150nF

R27

2.4k

R34 100R

Q2

STL7DN6LF3

56

78

4

2

3

1

TP6

R20

2.4k

C1633p

TP9

R28

2.4k

TP7

R16 0.100R

D8BAT30

R42 100R

R46180k

TP5

R33

10.5k

R3921k

D6BAT30

R2621k

D7BAT30

TP8

R4718k

C1233p

C15150nF

R18

2.4k

R44 100R

Q3

STL7DN6LF3

56

78

4

2

3

1

R36

2.4k

R5010k

R3021k

D5BAT30

R45 2.2k

R1721k

R29 0.100R

R43 2.2k

R38

2.4k

D4BAT30

R2221k

R23 100R

Q4

STL7DN6LF3

56

78

4

2

3

1

C1433p

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 6/15

Figure 5. Schematic board 3

Nominal supply voltage 36 VOperating range from 12 V to 45 V

Wurth Elektronik744043390

Wurth Elektronik865080243008

VDD5V

VM

5V

VM

C28

100n

R51187k

J7

1

2

C244700n

L1 39uH1 2

C26330n

U4 L78L33ABUTR

IN3

OUT1

GN

D2

TAB

4

TP11

C27100n

R5260k4

C22 100n

+C2047uF

+ C2147uF

U3 ST1S14PHR

BOOT1

EN25

EPAD

9

FB4

GND6

PG2

SW8

VIN7

EN13

C231.7p

D10STPS0560Z

12

+ C25150u

TP12

Table 6. Bill of materials

Item Quantity Part reference Part description Value

1 3 C1, C7, C10 SMT ceramic capacitor 100 nF

2 1 C2 SMT ceramic capacitor 10 µF

3 1 C3 SMT ceramic capacitor 10 µF

4 3 C4, C5, C6 SMT ceramic capacitor 470 nF

5 2 C8, C11 SMT ceramic capacitor 10 nF

6 2 C9, C19 SMT ceramic capacitor 1 nF

7 3 C12, C14, C16 SMT ceramic capacitor 33 pF

8 3 C13, C15, C17 SMT ceramic capacitor 150 nF

9 1 C18 SMT ceramic capacitor 2.2 nF

10 2 C20, C21 SMT electrolytic capacitor 47 µF

11 2 C22, C28 SMT ceramic capacitor 100 nF

12 1 C23 SMT ceramic capacitor 1.7 pF

13 1 C24 SMT ceramic capacitor 4700 nF

14 1 C25 SMT electrolytic capacitor 150 µF

15 1 C26 SMT ceramic capacitor 330 nF

16 2 C27, C29 SMT ceramic capacitor 100 nF

17 3 C30, C31, C32 SMT ceramic capacitor 220 pF

18 6 D4, D5, D6, D7, D8, D9 Small signal Schottky diode BAT30

19 1 D10 Schottky rectifier STPS0560Z

20 1 J4 WR-MM female connector withlatch w/o polarization 10 polesFlat connector 10pole

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 7/15

Item Quantity Part reference Part description Value

21 1 J7 Horizontal terminal block pitch3.50 mm

Terminal2P_screwp3.5mm

22 1 J8 Terminal block T.H. 4 positions,2.54 mm

Terminal4P_screwp2.54mm

23 1 J10 WR-MPC3 - 3.00MM male dual-row right angle 8 polesConnector 8 polew polarization

24 1 J12 WR-PHD 1.27 mm dual pinheader, H=3.80 mm Header 10x2

25 1 LED1 WL-SMCW SMT red LED red

26 1 L1 WE-TPC SMD Tiny PowerInductor 39 µH

27 3 Q2, Q3, Q4Dual N-channel 60 V, 35 mΩ typ.,6.5 A STripFET™ F3 powerMOSFET

STL7DN6LF3

28 1 R1 SMT resistor 330 Ω

29 1 R2 SMT resistor 100 kΩ

30 4 R3, R6, R60, R62 SMT resistor 12 kΩ

31 1 R14 SMT resistor 10 kΩ

32 3 R15, R24, R33 SMT resistor 10.5 kΩ

33 3 R16, R29, R40 Thick film chip resistors 0.100 Ω

34 6 R17, R22, R26, R30, R35, R39 SMT resistor 21 kΩ

35 6 R18, R20, R27, R28, R36, R38 SMT resistor 2.4 kΩ

36 6 R21, R23, R32, R34, R42, R44 SMT resistor 100 Ω

37 3 R43, R45, R49 SMT resistor 2.2 kΩ

38 1 R46 SMT resistor 180 kΩ

39 1 R47 SMT resistor 18 kΩ

40 1 R50 SMT resistor 10 kΩ

41 1 R51 SMT resistor 187 kΩ

42 1 R52 SMT resistor 60.4 kΩ

43 1 R53 SMT resistor NP

44 1 R54 SMT resistor 0 Ω

45 3 R59, R61, R63 SMT resistor 1 kΩ

46 1 R64 SMT resistor 120 Ω

47 16TP3, TP4, TP5, TP6, TP7, TP8,TP9, TP11, TP12, TP13, TP14,TP15, TP16, TP17, TP18, TP19

40 mils PAD TP-SMD-diam1_016mm

48 1 U1 STSPIN32F0A three-phasecontroller with MCU STSPIN32F0A

49 1 U3 Up to 3 A step-down switchingregulator ST1S14PHR

50 1 U4 Positive Voltage Regulator L78L33ABUTR

51 1 U53.3V RS485 compatible with 1.8VI/Os and selectable speed20Mbps or 250kbps

STR485

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 8/15

Item Quantity Part reference Part description Value

52 1 U6 Quadruple differential linereceiver AM26LV32E

EVALKIT-ROBOT-1 Specifications

DB4049 - Rev 3 page 9/15

2 Waste and Recycling

The evaluation board is not to be disposed of as urban waste. At the end of its life cycle, differentiatedwaste collection must be followed. Consult the local authorities for more information on the proper disposalchannels and recycling centers. It is mandatory to collect separately the evaluation board and make sure it isdelivered to the appropriate waste management and recycling centers. As of 15 August 2018, in all countriesbelonging to the European Union, the evaluation board is subject to the requirements of WEEE Directive2012/19/EU, and therefore it is forbidden to dispose of the evaluation board as undifferentiated waste or withother domestic waste. Incorrect disposal of the evaluation board may cause damage to the environment and mayincur fines based on specific countries’ rules, regulations, and laws.

EVALKIT-ROBOT-1 Waste and Recycling

DB4049 - Rev 3 page 10/15

Revision history

Table 7. Document revision history

Date Version Changes

09-Oct-2019 1 Initial release.

16-Dec-2019 2 Cover image updated.

03-Feb-2020 3 Correct the unit of Maximum Current in Table 1

EVALKIT-ROBOT-1

DB4049 - Rev 3 page 11/15

Contents

1 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .2

2 Waste and Recycling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

List of tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

List of figures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

EVALKIT-ROBOT-1 Contents

DB4049 - Rev 3 page 12/15

List of tablesTable 1. Control board specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Table 2. Motor specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2Table 3. Encoder specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Table 4. Motor and Hall-effect sensors connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Table 5. Encoder connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Table 6. Bill of materials . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Table 7. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

EVALKIT-ROBOT-1 List of tables

DB4049 - Rev 3 page 13/15

List of figuresFigure 1. Motor operating range . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3Figure 2. Motor and encoder connectors drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4Figure 3. Schematic board 1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5Figure 4. Schematic board 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Figure 5. Schematic board 3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

EVALKIT-ROBOT-1 List of figures

DB4049 - Rev 3 page 14/15

IMPORTANT NOTICE – PLEASE READ CAREFULLY

STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to STproducts and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. STproducts are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement.

Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design ofPurchasers’ products.

No license, express or implied, to any intellectual property right is granted by ST herein.

Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product.

ST and the ST logo are trademarks of ST. For additional information about ST trademarks, please refer to www.st.com/trademarks. All other product or servicenames are the property of their respective owners.

Information in this document supersedes and replaces information previously supplied in any prior versions of this document.

© 2020 STMicroelectronics – All rights reserved

EVALKIT-ROBOT-1

DB4049 - Rev 3 page 15/15

http://www.st.com/trademarks

Cover imageProduct status link / summaryFeaturesDescription1 Specifications2 Waste and RecyclingRevision historyContentsList of tablesList of figures