Fully integrated microstepping motor driver
HTSSOP28
POWERSO36
Features
Operating voltage: 8 - 45 V
7.0 A output peak current (3.0 A
Low R
power MOSFETs
DS(on)
Programmable speed profile
Programmable power MOSFET slew rate
Up to 1/16 microstepping
Predictive current control with adaptive decay
Non dissipative current sensing
SPI interface
Low quiescent and standby currents
Programmable non dissipative overcurrent
protection on all power MOSFETs
Two levels of overtemperature protection
)
r.m.s.
Table 1. Device summary
L6472
Datasheet - production data
Applications
Bipolar stepper motor
Description
The L6472 device, 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 switches equipped with an accurate onchip current sensing circuitry suitable for non
dissipative current control and overcurrent
protection. Thanks to a new current control,
a 1/16 microstepping is achieved through an
adaptive decay mode which outperforms
traditional implementations. The digital control
core can generate user defined motion profiles
with acceleration, deceleration, speed or target
position, easily programmed through a dedicated
register set.
All application commands and data registers,
including those used to set analog values
(i.e.: current control value, current protection trip
point, deadtime, etc.) are sent through a standard
5-Mbit/s SPI.
A very rich set of protections (thermal, low bus
voltage, overcurrent) makes the L6472 device
“bullet proof”, as required by the most demanding
motor control applications.
DMOS full bridge with all of the
DS(on)
March 2015 DocID022729 Rev 5 1/70
This is information on a product in full production.
Order codes Package Packing
L6472H HTSSOP28 Tube
L6472HTR HTSSOP28 Tape and reel
L6472PD POWERSO36 Tube
L6472PDTR POWERSO36 Tape and reel
www.st.com
Contents L6472
Contents
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Pin list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5 Typical applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.1 Device power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.2 Logic I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.3 Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.4 Microstepping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Automatic full-step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.5 Absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.6 Programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7 Motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7.1 Constant speed commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.2 Positioning commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.3 Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7.4 Stop commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
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
6.9 Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
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L6472 Contents
6.10 Undervoltage lockout (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.11 Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.12 Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.13 External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.14 Programmable DMOS slew rate, deadtime and blanking time . . . . . . . . . 30
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7 Phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.1 Predictive current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.2 Auto-adjusted decay mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.3 Auto-adjusted fast decay during the falling steps . . . . . . . . . . . . . . . . . . . 36
7.4 Torque regulation (output current amplitude regulation) . . . . . . . . . . . . . . 37
8 Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9 Programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1 Register and flag 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.10 TVAL_HOLD, TVAL_RUN, TVAL_ACC and TVAL_DEC . . . . . . . . . . . . 44
9.1.11 T_FAST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.12 TON_MIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.13 TOFF_MIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.14 ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
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9.1.15 OCD_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.16 STEP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.17 ALARM_EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.18 CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.19 STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.2 Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.2.1 Command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2.2 NOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2.3 SetParam (PARAM, VALUE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2.4 GetParam (PARAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2.5 Run (DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.2.6 StepClock (DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.2.7 Move (DIR, N_STEP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.2.8 GoTo (ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.2.9 GoTo_DIR (DIR, ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.2.10 GoUntil (ACT, DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.2.11 ReleaseSW (ACT, DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.2.12 GoHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.2.13 GoMark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.14 ResetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.15 ResetDevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.16 SoftStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.17 HardStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.18 SoftHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.19 HardHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.20 GetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
10 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
10.1 HTSSOP28 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10.2 POWERSO36 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
11 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4/70 DocID022729 Rev 5
L6472 List of tables
List of tables
Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3. Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Table 9. Register map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Table 10. EL_POS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 11. MIN_SPEED register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 12. Torque regulation by TVAL_HOLD, TVAL_ACC, TVAL_DEC and TVAL_RUN
registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 13. T_FAST register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 14. Maximum fast decay times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 15. Minimum ON time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 16. Minimum OFF time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 17. ADC_OUT value and torque regulation feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 18. Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 19. STEP_MODE register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 20. Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 21. SYNC output frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 22. SYNC signal source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 23. ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 24. CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 25. Oscillator management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 26. External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 27. Overcurrent event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 28. Programmable power bridge output slew rate values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 29. External torque regulation enable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 30. Switching period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 31. STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 32. STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 33. STATUS register MOT_STATUS bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Table 34. Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 35. NOP command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 36. SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 37. GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 38. Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 39. StepClock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 40. Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 41. GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 42. GoTo_DIR command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 43. GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 44. ReleaseSW command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 45. GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 46. GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 47. ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
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70
List of tables L6472
Table 48. ResetDevice command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 49. SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 50. HardStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 51. SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 52. HardHiZ command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 53. GetStatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 54. HTSSOP28 package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Table 55. POWERSO36 package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Table 56. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
6/70 DocID022729 Rev 5
L6472 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 the L6472. . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 5. Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 6. Normal mode and microstepping (16 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 7. Automatic full-step switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 8. Constant speed command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 9. Positioning command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 10. Motion command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 11. OSCIN and OSCOUT pin configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 12. External switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 13. Internal 3 V linear regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 14. Predictive current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 15. Non-predictive current control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 16. Adaptive decay - fast decay tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 17. Adaptive decay switch from normal to slow + fast decay mode and vice-versa . . . . . . . . . 36
Figure 18. Fast decay tuning during the falling steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 19. SPI timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 20. Daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 21. Command with 3-byte argument. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 22. Command with 3-byte response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 23. Command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 24. HTSSOP28 package outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Figure 25. POWERSO36 package outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
DocID022729 Rev 5 7/70
70
Block diagram L6472
1 Block diagram
Figure 1. Block diagram
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8/70 DocID022729 Rev 5
L6472 Electrical data
2 Electrical data
2.1 Absolute maximum ratings
Table 2. Absolute maximum ratings
Symbol Parameter Test condition Value Unit
V
Logic interface supply voltage 5.5 V
DD
Motor supply voltage VSA = VSB = VS 48 V
V
S
V
V
V
V
I
out_peak
1. Maximum output current limit is related to metal connection and bonding characteristics. Actual limit must satisfy maximum
2. HTSSOP28 mounted on the EVAL6472H.
Differential voltage between AGND, PGND and DGND ±0.3 V
GND, diff
V
Bootstrap peak voltage 55 V
boot
Internal voltage regulator output pin and logic supply voltage 3.6 V
V
REG
Integrated ADC input voltage range (ADCIN pin) -0.3 to +3.6 V
ADCIN
V
OSC
out_diff
LOGIC
I
out
T
T
P
thermal dissipation constraints.
OSCIN and OSCOUT pin voltage range -0.3 to +3.6 V
Differential voltage between V
, OUT1B, OUT2B, PGND pins
V
SB
, OUT1A, OUT2A, PGND and
SA
= VSB = VS 48 V
V
SA
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 -40 to 150 °C
OP
Storage temperature range -55 to 150 °C
s
Total power dissipation (TA = 25 °C)
tot
< 1 ms 7 A
PULSE
(2)
5W
2.2 Recommended operating conditions
Symbol Parameter Test condition Value Unit
V
V
V
out_diff
V
REG,in
V
ADC
Logic interface supply voltage
DD
Motor supply voltage VSA = VSB = VS 8 45 V
S
Differential voltage between VSA, OUT1A, OUT2A,
PGND and VSB, OUT1B, OUT2B, PGND pins
Logic supply voltage
Integrated ADC input voltage (ADCIN pin) 0 V
Table 3. Recommended operating conditions
3.3 V logic outputs 3.3 V
5 V logic outputs 5
V
= V
SA
V
voltage imposed by
REG
external source
DocID022729 Rev 5 9/70
= VS 45 V
SB
3.2 3.3 V
V
REG
70
Electrical data L6472
2.3 Thermal data
Table 4. Thermal data
Symbol Parameter Package Typ. Unit
R
thJA
1. HTSSOP28 mounted on the EVAL6472H Rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about 40
cm2 on each layer and 15 via holes below the IC.
2. POWERSO36 mounted on the EVAL6472PD 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 22 via holes below the IC.
POWERSO36
HTSSOP28
(1)
(2)
22
°C/W
12
10/70 DocID022729 Rev 5
L6472 Electrical characteristics
3 Electrical characteristics
VSA = VSB = 36 V; VDD = 3.3 V; internal 3 V regulator; TJ = 25 °C, unless otherwise
specified.
Symbol Parameter Test condition Min. Typ. Max. Unit
General
Table 5. Electrical characteristics
V
SthOn VS
V
SthOff
V
SthHyst 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
Iq Quiescent motor supply current
T
Thermal warning temperature 130 °C
j(WRN)
T
j(SD)
Thermal shutdown temperature 160 °C
Charge pump
V
pump
f
pump,min
f
pump,max
I
boot
Voltage swing for charge pump
oscillator
Minimum charge pump oscillator
frequency
Maximum charge pump oscillator
frequency
(1)
(1)
Average boot current
Output DMOS transistor
High-side switch on-resistance
R
DS(on)
Low-side switch on-resistance
I
DSS
Leakage current
Rise time
t
r
(3)
Internal oscillator selected;
= 3.3 V ext; CP floating
V
REG
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
= 125 °C,
T
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
POW_SR = '00', I
POW_SR = '00', I
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
out
= ±1 A 300
out
0.5 0.65 mA
10 V
660 kHz
800 kHz
1.1 1.4 mA
3.1
mA
ns
DocID022729 Rev 5 11/70
70
Electrical characteristics L6472
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
(3)
SR
SR
t
Fall time
f
Output rising slew rate
out_r
Output falling slew rate
out_f
Deadtime and blanking
t
DT
Deadtime
(1)
tblank Blanking time
(1)
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
POW_SR = ‘11’, f
POW_SR = ‘10’, f
POW_SR = ‘01’, f
= 16 MHz 375
OSC
= 16 MHz 625
OSC
= 16 MHz 875
OSC
POW_SR = '00' 250
POW_SR = ‘11’, f
POW_SR = ‘10’, f
POW_SR = ‘01’, f
= 16 MHz 375
OSC
= 16 MHz 625
OSC
= 16 MHz 875
OSC
ns
V/µs
V/µs
ns
ns
Source-drain diodes
High-side diode forward ON voltage I
V
SD,HS
V
Low-side diode forward ON voltage I
SD,LS
t
rrHS
t
rrLS
High-side diode reverse recovery
time
Low-side diode reverse recovery time I
= 1 A 1 1.1 V
out
= 1 A 1 1.1 V
out
I
= 1 A 30 ns
out
= 1 A 100 ns
out
Logic inputs and outputs
V
Low logic level input voltage 0.8 V
IL
High logic level input voltage 2 V
V
IH
I
High logic level input current
IH
(4)
V
= 5 V 1 µA
IN
12/70 DocID022729 Rev 5
L6472 Electrical characteristics
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
IIL Low logic level input current
V
Low logic level output voltage
OL
V
High logic level output voltage
OH
RPU RPD
CS pull-up and STBY pull-down
resistors
(5)
(6)
V
= 0 V -1 µA
IN
VDD = 3.3 V, IOL = 4 mA 0.3
V
= 5 V, IOL = 4 mA 0.3
V
DD
V
= 3.3 V, IOH = 4 mA 2.4
DD
= 5 V, IOH = 4 mA 4.7
V
DD
V
CS = GND; STBY/RST = 5 V 335 430 565 k
Internal logic supply current
I
logic
I
logic,STBY
f
STCK
Standby mode internal logic supply
current
Step-clock input frequency 2 MHz
Internal oscillator and external oscillator driver
f
Internal oscillator frequency T
osc,i
f
osc,e
V
OSCOUTH
V
OSCOUTL
t
rOSCOUT
t
fOSCOUT
t
extosc
t
intosc
Programmable external oscillator
frequency
OSCOUT clock source high level
voltage
OSCOUT clock source low level
voltage
OSCOUT clock source rise and fall
time
Internal to external oscillator
switching delay
External to internal oscillator
switching delay
SPI
f
Maximum SPI clock frequency
CK,MAX
t
rCK
t
fCK
t
hCK
t
lCK
t
setCS
t
holCS
t
disCS
t
setSDI
t
holSDI
t
enSDO
SPI clock rise and fall time
SPI clock high and low time
Chip select setup time
Chip select hold time
De-select time
Data input setup time
Data input hold time
Data output enable time
(7)
(7)
(7)
(7)
(7)
(7)
(7)
(7)
(7)
3.3 V V
internal oscillator
3.3 V V
= 25 °C, V
j
externally supplied,
REG
externally supplied 2 2.5 µA
REG
= 3.3 V -3% 16 +3% MHz
REG
3.7 4.3 mA
8 32 MHz
Internal oscillator 3.3 V V
externally supplied; I
OSCOUT
Internal oscillator 3.3 V V
externally supplied; I
OSCOUT
REG
REG
= 4 mA
= 4 mA
2.4 V
0.3 V
Internal oscillator 20 ns
3 ms
1.5 µs
5 MHz
CL = 30 pF 25 ns
75 ns
350 ns
10 ns
800 ns
25 ns
20 ns
38 ns
DocID022729 Rev 5 13/70
70
Electrical characteristics L6472
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
t
disSDO
t
vSDO
t
holSDO
Data output disable time
Data output valid time
Data output hold time
Switch input (SW)
(7)
(7)
(7)
37 ns
47 ns
57 ns
R
PUSW
SW input pull-up resistance SW = GND 60 85 110 k
Current control
I
STEP,max
I
STEP,min
Max. programmable reference
current
Min. programmable reference current 31 mA
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 dI
Standby
I
qSTBY
t
STBY,min
t
logicwu
t
cpwu
Quiescent motor supply current in
standby conditions
Minimum standby time 10 µs
Logic power-on and wake-up time 38 45 µs
Charge pump power-on and wake-up
time
Internal voltage regulator
4 A
OCD_TH = ‘1111’ 6 A
OCD_TH = ‘0000’
= 350 A/µs 650 1000 ns
out/dt
= 350 A/µs POW_SR = '10' 600 µs
out/dt
0.37
5
0.37
5
A
A
VS = 8 V 26 34
µA
S = 36 V 30 36
V
Power bridges disabled, Cp = 10 nF,
= 220 nF
C
boot
650 µs
V
Voltage regulator output voltage 2.9 3 3.2 V
REG
Voltage regulator output current 40 mA
I
REG
V
REG, drop
I
REG,STBY
Voltage regulator output voltage drop I
Voltage regulator standby output
current
= 40 mA 50 mV
REG
14/70 DocID022729 Rev 5
10 mA
L6472 Electrical characteristics
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
Integrated analog-to-digital converter
Analog-to-digital converter resolution 5 bit
N
ADC
V
ADC,ref
f
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 the STBY/RST
5. Not valid for the SW and CS pins which have an internal pull-up resistor.
6. FLAG
7. See Figure 19: SPI timings diagram on page 38 for details.
Analog-to-digital converter reference
voltage
Analog-to-digital converter sampling
S
frequency
pin which has an internal pull-down resistor.
, BUSY and SYNC open drain outputs included.
V
V
REG
f
/
OSC
512
values in order to evaluate the actual rise and fall
out
kHz
DocID022729 Rev 5 15/70
70
Pin connection L6472
345
4 Pin connection
Figure 2. HTSSOP28 pin connection (top view)
Figure 3. POWERSO36 pin connection (top view)
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16/70 DocID022729 Rev 5
065"
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L6472 Pin connection
Pin list
Table 6. Pin description
Number
Name Type Function
POWERSO HTSSOP
24 17 VDD Power Logic output supply voltage (pull-up reference)
9 6 VREG Power
Internal 3 V voltage regulator output and 3.3 V
external logic supply
Oscillator pin 1. To connect an external oscillator or
10 7 OSCIN Analog input
clock source. If this pin is unused, it should be left
floating.
Oscillator pin 2. To connect an external oscillator.
11 8 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.
13 10 CP Output Charge pump oscillator output
14 11 Vboot Supply voltage
Bootstrap voltage needed for driving the high-side
power DMOS of both bridges (A and B).
8 5 ADCIN Analog input Internal analog-to-digital converter input
4, 5 2
VSA Power supply
33, 34 26
Full bridge A power supply pin. It must be connected
to VSB.
15, 16 12
VSB Power supply
22, 23 16
Full bridge B power supply pin. It must be connected
to VSA.
127
PGND Ground Power ground pin
19 13
2, 3 1 OUT1A Power output Full bridge A output 1
35, 36 28 OUT2A Power output Full bridge A output 2
17, 18 14 OUT1B Power output Full bridge B output 1
20, 21 15 OUT2B Power output Full bridge B output 2
12 9 AGND Ground Analog ground.
7 4 SW Logical input
External switch input pin. If not used the pin should
be connected to VDD.
28 21 DGND Ground Digital ground
By default, this BUSY pin is forced low when the
29 22 BUSY
\SYNC Open drain output
device is performing a command. Otherwise the pin
can be configured to generate a synchronization
signal.
25 18 SDO Logic output Data output pin for serial interface
27 20 SDI Logic input Data input pin for serial interface
26 19 CK Logic input Serial interface clock
30 23 CS
Logic input Chip select input pin for serial interface
DocID022729 Rev 5 17/70
70
Pin connection L6472
Table 6. Pin description (continued)
Number
Name Type Function
POWERSO HTSSOP
Status flag pin. An internal open drain transistor can
pull the pin to GND when a programmed alarm
31 24 FLAG Open drain output
6 3 STBY\RST
32 25 STCK Logic input Step-clock input
EPAD Exposed pad Ground
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
Internally connected to PGND, AGND and DGND
pins
18/70 DocID022729 Rev 5
L6472 Typical applications
5 Typical applications
Table 7. Typical application values
Name Value
220 nF
C
VS
C
C
C
100 µF
VSPOL
100 nF
C
REG
REGPOL
47 µF
C
100 nF
DD
10 µF
DDPOL
D1 Charge pump diodes
C
220 nF
BOOT
10 nF
C
FLY
R
39 k
PU
100
R
SW
10 nF
C
SW
Figure 4. Bipolar stepper motor control application using the L6472
DocID022729 Rev 5 19/70
70
Functional description L6472
6 Functional description
6.1 Device power-up
At the end of power-up, the device state is the following:
Registers are set to default
Internal logic is driven by the 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 IO disabled and power bridges in highimpedance state) until the following conditions are satisfied:
V
V
Internal oscillator is operative.
Any motion command causes the device to exit from High Z state (HardStop and SoftStop
included).
is greater than V
S
is greater than V
REG
SthOn
REGth
= 2.8 V (typ.)
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. The VDD pin voltage sets the logic output
pin voltage range; when it is connected to VREG or a 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 Vboot is obtained through an oscillator and a few external components
realizing a charge pump (see Figure 5).
, an external connection is always needed.
REG
20/70 DocID022729 Rev 5
L6472 Functional description
Figure 5. Charge pump circuitry
6.4 Microstepping
The driver is able to divide the single step into up to 16 microsteps. Step mode can be
programmed by the STEP_SEL parameter in the STEP_MODE register (see Table 20 on
page 47).
Step mode can only be changed when bridges are disabled. Every time step mode is
changed, the electrical position (i.e. the point of microstepping sine wave that is generated)
is reset to zero, and the absolute position counter value (see Section 6.5) becomes
meaningless.
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