How it Works
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L6470
User Manual
70 pgs867.21 Kb0
Table of contents
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ST L6470 User Manual

dSPIN fully integrated microstepping motor driver with motion
Features
■ 7.0 A out peak current (3.0 A r.m.s.)
■ Low R
■ Programmable speed profile and positioning
■ Programmable power MOS slew rate
■ Up to 1/128 microstepping
■ Sensorless stall detection
■ SPI interface
■ Low quiescent and standby currents
■ Programmable non-dissipative overcurrent
protection on high and low-side
■ Two levels of overtemperature protection
Application
■ Bipolar stepper motors
Description
The L6470, realized in analog mixed signal technology, is an advanced fully integrated solution suitable for driving two-phase bipolar stepper motors with microstepping. It integrates a dual low R
Power MOSFETs
DS(on)
DMOS full bridge with all of the
DS(on)
L6470
engine and SPI
Datasheet − production data
HTSSOP28POWERSO36
power switches equipped with an accurate on­chip current sensing circuitry suitable for non­dissipative current control and overcurrent protection. Thanks to a unique control system, a true 1/128 steps resolution is achieved. The digital control core can generate user defined motion profiles with acceleration, deceleration, speed or target position, easily programmed through a dedicated registers set. All commands and data registers, including those used to set analogue values (i.e. current control value, current protection trip point, deadtime, PWM frequency, etc.) are sent through a standard 5­Mbit/s SPI. A very rich set of protections (thermal, low bus voltage, overcurrent, motor stall) allows the design of a fully protected application, as required by the most demanding motor control applications.

Table 1. Device summary

Order codes Package Packaging
L6470H HTSSOP28 Tube
L6470HTR HTSSOP28 Tape and reel
L6470PD POWERSO36 Tube
L6470PDTR POWERSO36 Tape and reel
June 2012 Doc ID16737 Rev 4 1/70
This is information on a product in full production.
www.st.com
70
Contents L6470
Contents
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.3 Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1 Pin list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5 Typical applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.1 Device power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.2 Logic I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.3 Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.4 Microstepping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.4.1 Automatic full-step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.5 Absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.6 Programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.6.1 Infinite acceleration/deceleration mode . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7 Motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.1 Constant speed commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.2 Positioning commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7.3 Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7.4 Stop commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.7.5 Step-clock mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.7.6 GoUntil and ReleaseSW commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.8 Internal oscillator and oscillator driver . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.8.1 Internal oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.8.2 External clock source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
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L6470 Contents
6.9 Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.10 Undervoltage lockout (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.11 Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.12 Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.13 External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.14 Programmable DMOS slew rate, deadtime and blanking time . . . . . . . . . 31
6.15 Integrated analog-to-digital converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.16 Internal voltage regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.17 BUSY\SYNC pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.17.1 BUSY operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.17.2 SYNC operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.18 FLAG pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7 Phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.1 PWM sinewave generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.2 Sensorless stall detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.3 Low speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.4 BEMF compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.5 Motor supply voltage compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.6 Winding resistance thermal drift compensation . . . . . . . . . . . . . . . . . . . . 37
8 Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9 Programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1 Registers and flags description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1.1 ABS_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1.2 EL_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1.3 MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.4 SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.5 ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.6 DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.7 MAX_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.8 MIN_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.9 FS_SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.10 KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC . . . . . . . . . . . . 44
Doc ID16737 Rev 4 3/70
Contents L6470
9.1.11 INT_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.12 ST_SLP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.13 FN_SLP_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.14 FN_SLP_DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.15 K_THERM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.16 ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.17 OCD_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.18 STALL_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.19 STEP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.20 ALARM_EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.1.21 CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.22 STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.2 Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2.1 Command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2.2 Nop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.2.3 SetParam (PARAM, VALUE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.2.4 GetParam (PARAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.2.5 Run (DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.2.6 StepClock (DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.2.7 Move (DIR, N_STEP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.2.8 GoTo (ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.2.9 GoTo_DIR (DIR, ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.2.10 GoUntil (ACT, DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.11 ReleaseSW (ACT, DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.12 GoHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.13 GoMark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.14 ResetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.15 ResetDevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.16 SoftStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.17 HardStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.18 SoftHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.19 HardHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
9.2.20 GetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
10 Package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
11 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4/70 Doc ID16737 Rev 4
L6470 List of tables
List of tables
Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3. Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 4. Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 5. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 6. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Table 7. Typical application values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Table 8. CL values according to external oscillator frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Table 9. Registers map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Table 10. EL_POS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 11. MIN_SPEED register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 12. Voltage amplitude regulation registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 13. Winding resistance thermal drift compensation coefficient . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 14. ADC_OUT value and motor supply voltage compensation feature . . . . . . . . . . . . . . . . . . 46
Table 15. Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 16. Stall detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 17. STEP_MODE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 18. Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 19. SYNC output frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 20. SYNC signal source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 21. ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 22. CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 23. Oscillator management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 24. External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 25. Overcurrent event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 26. Programmable power bridge output slew rate values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 27. Motor supply voltage compensation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 28. PWM frequency: integer division factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 29. PWM frequency: multiplication factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 30. Available PWM frequencies [kHz]: 8-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . . 52
Table 31. Available PWM frequencies [kHz]: 16-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 52
Table 32. Available PWM frequencies [kHz]: 24-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 53
Table 33. Available PWM frequencies [kHz]: 32-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 53
Table 34. STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 35. STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 36. STATUS register MOT_STATE bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Table 37. Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Table 38. Nop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 39. SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 40. GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 41. Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 42. Stepclock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 43. Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 44. GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 45. GoTo_DIR command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 46. GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 47. ReleaseSW command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 48. GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Doc ID16737 Rev 4 5/70
List of tables L6470
Table 49. GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 50. ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 51. ResetDevice command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 52. SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 53. HardStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 54. SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 55. HardHiZ command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Table 56. GetStatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Table 57. HTSSOP28 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Table 58. POWERSO36 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
Table 59. Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6/70 Doc ID16737 Rev 4
L6470 List of figures
List of figures
Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 2. HTSSOP28 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 3. POWERSO36 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 4. Bipolar stepper motor control application using L6470 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 5. Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 6. Normal mode and microstepping (128 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 7. Automatic full-step switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 8. Speed profile in infinite acceleration/deceleration mode . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 9. Constant speed command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 10. Positioning command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 11. Motion command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Figure 12. OSCIN and OSCOUT pin configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 13. External switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 14. Internal 3 V linear regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Figure 15. Current distortion and compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 16. BEMF compensation curve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 17. Motor supply voltage compensation circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 18. SPI timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 19. Daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 20. Command with 3-byte argument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Figure 21. Command with 3-byte response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Figure 22. Command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Figure 23. HTSSOP28 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Figure 24. POWERSO36 drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Doc ID16737 Rev 4 7/70
Block diagram L6470

1 Block diagram

Figure 1. Block diagram

VDD OSCIN OSCOUT ADCIN VREG CP VBOOT
STBY/RST
FLAG
SDO
SDI
BUSY/SYNC
STCK
SW
HS
LS
HS
LS
Charge
pump
A1
A1
B1
B1
VSA
V
boot
V
boot
Current sensing
V
boot
HS
LS
V
boot
HS
LS
AGND
VSA
A2
OUT1A
OUT2A
A2
PGND
VSB
VSB
B2
OUT1B
OUT2B
B2
PGND
Registers
Ext. Osc. driver
&
Clock gen.
Control
Logic
ADC
3 V
Vol tage Reg.
HS
A1
LS
A1
HS
A2
LS
A2
HS
B1
LS
B1
HS
B2
LS
B2
16MHz
Oscillator
V
DD
CS
CK
SPI
Current DACs
&
Comparators
V
DD
DGND
Temperature
sensing
AM02377v1
8/70 Doc ID16737 Rev 4
L6470 Electrical data

2 Electrical data

2.1 Absolute maximum ratings

Table 2. Absolute maximum ratings

Symbol Parameter Test condition Value Unit
V
DD
V
V
GND, diff
V
boot
V
REG
V
ADCIN
V
OSC
S
Logic interface supply voltage 5.5 V
Motor supply voltage VSA = VSB = V
Differential voltage between AGND, PGND and DGND
S
48 V
±0.3 V
Bootstrap peak voltage 55 V
Internal voltage regulator output pin and logic supply voltage
Integrated ADC input voltage range (ADCIN pin)
OSCIN and OSCOUT pin voltage range
3.6 V
-0.3 to +3.6 V
-0.3 to +3.6 V
Differential voltage between VSA,
, OUT2A, PGND and VSB,
V
out_diff
V
LOGIC
I
out
I
out_peak
T
OP
T
s
P
tot
1. Maximum output current limit is related to metal connection and bonding characteristics. Actual limit must satisfy maximum thermal dissipation constraints.
2. HTSSOP28 mounted on EVAL6470H.
OUT1
A
, OUT2B, PGND pins
OUT1
B
Logic inputs voltage range -0.3 to +5.5 V
(1)
R.m.s. output current 3 A
(1)
Pulsed output current T
Operating junction temperature 150 °C
Storage temperature range -55 to 150 °C
Total power dissipation (TA = 25 ºC)
V
= VSB = V
SA
PULSE
(2)
S
< 1 ms 7 A
48 V
5W
Doc ID16737 Rev 4 9/70
Electrical data L6470

2.2 Recommended operating conditions

Table 3. Recommended operating conditions

Symbol Parameter Test condition Value Unit
V
V
Logic interface supply voltage
DD
Motor supply voltage VSA = VSB = V
S
Differential voltage between
, OUT1A, OUT2A, PGND
V
V
out_diff
SA
and V
SB
PGND pins
V
REG,in
V
ADC
Logic supply voltage
Integrated ADC input voltage (ADCIN pin)
Operating junction temperature - 25 125 °C
T
j

2.3 Thermal data

Table 4. Thermal data

Symbol Parameter Package Typ. Unit
R
thJA
1. HTSSOP28 mounted on EVAL6470H rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about 40 cm
2. POWERSO36 mounted on EVAL6470PD rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about 40 cm
Thermal resistance junction-ambient
2
on each layer and 15 via holes below the IC.
3.3 V logic outputs 3.3
5 V logic outputs 5
V
= VSB = V
, OUT1B, OUT2B,
SA
voltage imposed
V
REG
by external source
2
on each layer and 22 via holes below the IC.
S
S
HTSSOP28
POWERSO36
V
845V
45 V
3.2 3.3 V
0V
(1)
(2)
REG
22
12
V
°C/W
10/70 Doc ID16737 Rev 4
L6470 Electrical characteristics

3 Electrical characteristics

VSA = VSB = 36 V; VDD = 3.3 V; internal 3 V regulator; TJ = 25 °C, unless otherwise specified.

Table 5. Electrical characteristics

Symbol Parameter Test condition Min. Typ. Max. Unit
General
V
SthOn
V
SthOff
V
SthHyst VS
I
q
T
j(WRN)
T
j(SD)
VS UVLO turn-on threshold 7.5 8.2 8.9 V
VS UVLO turn-off threshold 6.6 7.2 7.8 V
UVLO threshold hysteresis 0.7 1 1.3 V
Quiescent motor supply current
Thermal warning temperature 130 °C
Thermal shutdown temperature 160 °C
Charge pump
V
pump
f
pump,min
f
pump,max
I
boot
Voltage swing for charge pump oscillator 10 V
Minimum charge pump oscillator frequency
(1)
Maximum charge pump oscillator frequency
(1)
Average boot current
Output DMOS transistor
R
DS(on)
R
DS(on)
I
DSS
High-side switch on-resistance
Low-side switch on-resistance
Leakage current
Internal oscillator selected; VREG = 3.3 V ext; CP floating
f
= f
sw,A
= 15.6 kHz
sw,B
POW_SR = '10'
T
= 25 °C, I
j
T
= 125 °C,
j
T
= 25 °C, I
j
T
= 125 °C,
j
OUT = V
= 3 A 0.37
out
(2)
I
= 3 A 0.51
out
= 3 A 0.18
out
(2)
I
= 3 A 0.23
out
S
OUT = GND -0.3
0.5 0.65 mA
660 kHz
800 kHz
1.1 1.4 mA
Ω
3.1 mA
POW_SR = '00', I
POW_SR = '00', I
t
r
Rise time
(3)
POW_SR = '11', I
POW_SR = '10', I
POW_SR = '01', I
= +1 A 100
out
= -1 A 80
out
= ±1 A 100
out
= ±1 A 200
lout
= ±1 A 300
out
ns
Doc ID16737 Rev 4 11/70
Electrical characteristics L6470
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
SR
SR
t
f
out_r
out_f
Fall time
Output rising slew rate
Output falling slew rate
Deadtime and blanking
(3)
POW_SR = '00'; I
POW_SR = '00'; I
POW_SR = '11', I
POW_SR = '10', I
POW_SR = '01', I
POW_SR = '00', I
POW_SR = '00', I
POW_SR = '11', I
POW_SR = '10', I
POW_SR = '01', I
POW_SR = '00', I
POW_SR = '00', I
POW_SR = '11', I
POW_SR = '10', I
POW_SR = '01', I
= +1 A 90
out
= -1 A 110
out
= ±1 A 110
out
= ±1 A 260
out
= ±1 A 375
load
= +1 A 285
out
= -1 A 360
out
= ±1 A 285
out
= ±1 A 150
out
= ±1 A 95
out
= +1 A 320
out
= -1 A 260
out
= ±1 A 260
out
= ±1 A 110
out
= ±1 A 75
out
POW_SR = '00' 250
ns
V/µs
V/µs
t
DT
t
blank
Deadtime
Blanking time
Source-drain diodes
V
SD,HS
V
t
t
SD,LS
rrHS
rrLS
High-side diode forward ON voltage I
Low-side diode forward ON voltage I
High-side diode reverse recovery time I
Low-side diode reverse recovery time I
(1)
(1)
POW_SR = '11', f
= 16 MHz
OSC
POW_SR = '10', f
= 16 MHz
OSC
POW_SR = '01', f
= 16 MHz
OSC
375
625
875
POW_SR = '00' 250
POW_SR = '11', f
= 16 MHz
OSC
POW_SR = '10', f
= 16 MHz
OSC
POW_SR = '01', f
= 16 MHz
OSC
= 1 A 1 1.1 V
out
= 1 A 1 1.1 V
out
= 1 A 30 ns
out
= 1 A 100 ns
out
375
625
875
ns
ns
12/70 Doc ID16737 Rev 4
L6470 Electrical characteristics
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
Logic inputs and outputs
V
IL
V
IH
I
IH
I
IL
V
OL
V
OH
R
PU
R
PD
I
logic
I
logic,STBY
f
STCK
Low logic level input voltage 0.8 V
High logic level input voltage 2 V
High logic level input current
Low logic level input current
Low logic level output voltage
(4)
(5)
(6)
High logic level output voltage
CS pull-up and STBY pull-down resistors
Internal logic supply current
Standby mode internal logic supply current
Step-clock input frequency 2 MHz
Internal oscillator and external oscillator driver
f
osc,i
f
osc,e
V
OSCOUTH
V
OSCOUTL
t
rOSCOUT
t
fOSCOUT
t
extosc
t
intosc
Internal oscillator frequency
Programmable external oscillator frequency 8 32 MHz
OSCOUT clock source high level voltage
OSCOUT clock source low level voltage
OSCOUT clock source rise and fall time Internal oscillator 20 ns
Internal to external oscillator switching delay 3 ms
External to internal oscillator switching delay 1.5 µs
SPI
f
CK,MAX
t
rCK
t
fCK
t
hCK
t
lCK
t
setCS
Maximum SPI clock frequency
SPI clock rise and fall time
SPI clock high and low time
Chip select setup time
(7)
(7)
5MHz
(7)
(7)
VIN = 5 V 1 µA
VIN = 0 V -1 µA
VDD = 3.3 V, IOL = 4 mA 0.3
V
VDD = 5 V, IOL = 4 mA 0.3
VDD = 3.3 V, IOH = 4 mA 2.4
V
= 5 V,
DD
I
= 4 mA
OH
CS = GND; STBY/RST = 5 V
3.3 V V
externally
REG
supplied, internal oscillator
3.3 V V
externally
REG
supplied
= 25 °C,
T
j
V
= 3.3 V
REG
4.7
335 430 565 kΩ
3.7 4.3 mA
22.5µA
-3% 16 +3% MHz
V
Internal oscillator 3.3 V V
externally supplied;
REG
I
OSCOUT
= 4 mA
2.4 V
Internal oscillator 3.3 V V
externally supplied;
REG
I
OSCOUT
= 4 mA
0.3 V
CL = 30 pF 25 ns
75 ns
350 ns
Doc ID16737 Rev 4 13/70
Electrical characteristics L6470
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
(7)
(7)
(7)
(7)
(7)
(7)
(7)
(7)
10 ns
800 ns
25 ns
20 ns
38 ns
47 ns
57 ns
37 ns
t
holCS
t
disCS
t
setSDI
t
holSDI
t
enSDO
t
disSDO
t
vSDO
t
holSDO
Chip select hold time
Deselect time
Data input setup time
Data input hold time
Data output enable time
Data output disable time
Data output valid time
Data output hold time
Switch input (SW)
R
PUSW
SW input pull-up resistance SW = GND 60 85 110 kΩ
PWM modulators
f
PWM
N
PWM
Programmable PWM frequency
PWM resolution 8 bit
Stall detection
I
STALL,MAX
I
STALL,MIN
I
STALL,RES
Maximum programmable stall threshold STALL_TH = '1111111' 4 A
Minimum programmable stall threshold STALL_TH = '0000000'
Programmable stall threshold resolution
Overcurrent protection
I
OCD,MAX
I
OCD,MIN
I
OCD,RES
t
OCD,Flag
t
OCD,SD
Maximum programmable overcurrent detection threshold
Minimum programmable overcurrent detection threshold
Programmable overcurrent detection threshold resolution
OCD to flag signal delay time dI
OCD to shutdown delay time
(1)
f
= 16 MHz 2.8 62.5
osc
= 32 MHz 5.6 125
f
osc
31.2 5
31.2 5
kHz
mA
mA
OCD_TH = '1111' 6 A
OCD_TH = '0000'
0.37 5
0.37 5
/dt = 350 A/µs 650 1000 ns
out
/dt = 350 A/µs
dI
out
POW_SR = '10'
600 ns
A
A
Standby
= 8 V 26 34
V
I
qSTBY
t
STBY,min
t
logicwu
Quiescent motor supply current in standby conditions
Minimum standby time 10 µs
Logic power-on and wake-up time 38 45 µs
S
= 36 V 30 36
V
S
14/70 Doc ID16737 Rev 4
µA
L6470 Electrical characteristics
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
t
cpwu
Charge pump power-on and wake-up time
Power bridges disabled, Cp = 10 nF, C
Internal voltage regulator
V
REG
I
REG
V
REG, drop
I
REG,STBY
Voltage regulator output voltage 2.9 3 3.2 V
Voltage regulator output current 40 mA
Voltage regulator output voltage drop I
= 40 mA 50 mV
REG
Voltage regulator standby output current 10 mA
Integrated analog-to-digital converter
N
ADC
V
ADC,ref
f
S
1. Accuracy depends on oscillator frequency accuracy.
2. Tested at 25 °C in a restricted range and guaranteed by characterization.
3. Rise and fall time depends on motor supply voltage value. Refer to SR time.
4. Not valid for STBY/RST
5. Not valid for SW and CS pins which have internal pull-up resistors.
6. FLAG
7. See Figure 18 – SPI timings diagram for details.
Analog-to-digital converter resolution 5 bit
Analog-to-digital converter reference voltage
Analog-to-digital converter sampling frequency
out
pin which has internal pull-down resistor.
, BUSY and SYNC open drain outputs included.
= 220 nF
boot
values in order to evaluate the actual rise and fall
650 µs
V
RE
G
f
PWM
V
kHz
Doc ID16737 Rev 4 15/70
Pin connection L6470

4 Pin connection

Figure 2. HTSSOP28 pin connection (top view)

/54! /54!
63!
34"9<234
37
!$#).
62%'
/3#).
/3
#/54
!'.$

#0
/4
6"/


63"

0'.$

/54" /54"

Figure 3. POWERSO36 pin connection (top view)

74"
74"
%*3
1(/%
065"
065"
45#:345
"%$*/
73&(
%0!$
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"(/%
7#005
065#
065#
74#
74#

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$1

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
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
63!

34#+
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
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
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
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3$/

6$$

63"

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
065"

065"

74"

74"
45$,

'-"(

$4

#64:=4:/$

%(/%

4%*

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
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
7%%

74#

74#

065#

065#

1(/%

16/70 Doc ID16737 Rev 4
L6470 Pin connection

4.1 Pin list

Table 6. Pin description

No.
Name Type Function
HTSSOP POWERSO
17 24 VDD Power Logic outputs supply voltage (pull-up reference)
6 9 VREG Power
Internal 3 V voltage regulator output and 3.3 V external logic supply
Oscillator pin 1. To connect an external oscillator or
7 10 OSCIN Analog input
clock source. If this pin is unused, it should be left floating.
Oscillator pin 2. To connect an external oscillator.
8 11 OSCOUT Analog output
When the internal oscillator is used this pin can supply 2/4/8/16 MHz. If this pin is unused, it should be left floating.
10 13 CP Output Charge pump oscillator output
11 14 VBOOT Supply voltage
Bootstrap voltage needed for driving the high-side power DMOS of both bridges (A and B)
5 8 ADCIN Analog input Internal analog-to-digital converter input
2, 26 4, 5, 33, 34 VSA Power supply
12, 16 15, 16, 22, 23 VSB Power supply
Full bridge A power supply pin. It must be connected to VSB.
Full bridge B power supply pin. It must be connected to VSA.
27, 13 1, 19 PGND Ground Power ground pin
1 2, 3 OUT1A Power output Full bridge A output 1
28 35, 36 OUT2A Power output Full bridge A output 2
14 17, 18 OUT1B Power output Full bridge B output 1
15 20, 21 OUT2B Power output Full bridge B output 2
9 12 AGND Ground Analog ground.
4 7 SW Logical input
External switch input pin. If not used the pin should be connected to VDD.
21 28 DGND Ground Digital ground
By default, this BUSY pin is forced low when the
22 29 BUSY
\SYNC Open drain output
device is performing a command. Otherwise the pin can be configured to generate a synchronization signal.
18 25 SDO Logic output Data output pin for serial interface
20 27 SDI Logic input Data input pin for serial interface
19 26 CK Logic input Serial interface clock
23 30 CS
Logic input Chip select input pin for serial interface
Doc ID16737 Rev 4 17/70
Pin connection L6470
Table 6. Pin description (continued)
No.
Name Type Function
HTSSOP POWERSO
Status flag pin. An internal open drain transistor can pull the pin to GND when a programmed alarm
24 31 FLAG Open drain output
3 6 STBY\RST
25 32 STCK Logic input Step-clock input
EPAD EPAD Exposed pad Ground Internally connected to PGND, AGND and DGND pins
Logic input
condition occurs (step loss, OCD, thermal pre­warning or shutdown, UVLO, wrong command, non­performable command)
Standby and reset pin. LOW logic level resets the logic and puts the device into Standby mode. If not used, it should be connected to VDD.
18/70 Doc ID16737 Rev 4
L6470 Typical applications

5 Typical applications

Table 7. Typical application values

Name Value
C
C
VSPOL
C
REG
C
REGPOL
C
C
DDPOL
VS
DD
220 nF
100 µF
100 nF
47 µF
100 nF
10 µF
D1 Charge pump diodes
C
C
R
R
C
BOOT
FLY
PU
SW
SW
R
A
R
B
220 nF
10 nF
39 kΩ
100 Ω
10 nF
2.7 kΩ (VS = 36 V)
62 kΩ (VS = 36 V)
Doc ID16737 Rev 4 19/70
Typical applications L6470

Figure 4. Bipolar stepper motor control application using L6470

20/70 Doc ID16737 Rev 4
L6470 Functional description

6 Functional description

6.1 Device power-up

At power-up end, the device state is the following:
● Registers are set to default
● Internal logic is driven by internal oscillator and a 2 MHz clock is provided by the
OSCOUT pin
● Bridges are disabled (High Z)
● UVLO bit in the STATUS register is forced low (fail condition)
● FLAG output is forced low.
During power-up, the device is under reset (all logic IOs disabled and power bridges in high impedance state) until the following conditions are satisfied:
● V
●
● Internal oscillator is operative.
Any motion command makes the device exit from High Z state (HardStop and SoftStop included).
is greater than V
S
V
is greater than V
REG
SthOn
REGth
= 2.8 V typical

6.2 Logic I/O

Pins CS, CK, SDI, STCK, SW and STBY\RST are TTL/CMOS 3.3 V - 5 V compatible logic inputs.
Pin SDO is a TTL/CMOS compatible logic output. VDD pin voltage sets the logic output pin voltage range; when it is connected to VREG or 3.3 V external supply voltage, the output is
3.3 V compatible. When VDD is connected to a 5 V supply voltage, SDO is 5 V compatible.
VDD is not internally connected to V
A 10 µF capacitor should be connected to the VDD pin in order to obtain a proper operation.
Pins FLAG
and BUSY\SYNC are open drain outputs.

6.3 Charge pump

To ensure the correct driving of the high-side integrated MOSFETs, a voltage higher than the motor power supply voltage needs to be applied to the VBOOT pin. The high-side gate driver supply voltage, V realizing a charge pump (see Figure 5).
, an external connection is always needed.
REG
, is obtained through an oscillator and a few external components
boot
Doc ID16737 Rev 4 21/70
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