Welcome @KoLL, to the community!
The UM2781, rev 1 mentions in section 2 that an X-NUCLEO-IHM09M1 can be used to connect NUCLEO and EVALSTDRIVE101. However, the X-NUCLEO-IHM09M1 has since been discontinued by NRND and replaced by the compatible successor X-NUCLEO-IHM09M2. Both interface boards are of course not absolutely necessary, but make it easier to connect the motor control boards via the 34-pin motor control connector.
The only other things you need are a 34 pole 1.27mm pitch flat cable, a USB cable for the NUCLEO, power supply and motor and, of course, a PC.
Hope that helps?
Good luck!
/Peter
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