ST L6480 User Manual

L6480

Fully integrated microstepping motor driver with motion engine and SPI

Features

■Operating voltage: 7.5 V - 85 V

■Dual full bridge gate driver for N-channel MOSFETs

■Fully programmable gate driving

■Embedded Miller clamp function

■Programmable speed profile

■Up to 1/128 microstepping

■Sensorless stall detection

■Integrated voltage regulators

■SPI interface

■Low quiescent standby currents

■Programmable non-dissipative overcurrent protection

■Overtemperature protection

Application

■ Bipolar stepper motor

Description

The L6480, 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 full bridge gate driver for N- channel MOSFET power stages with embedded non-dissipative overcurrent protection. Thanks to

Datasheet − preliminary data

HTSSOP38

a unique voltage mode driving mode which compensates for BEMF, bus voltage and motor winding variations, the microstepping of a true 1/128-step 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 register set. All application commands and data registers, including those used to set analog values (i.e. current protection trip point, deadtime, PWM frequency, etc.) are sent through a standard 5-Mbit/s SPI. A very rich set of protections (thermal, low bus voltage, overcurrent and motor stall) make the L6480 “bullet proof”, as required by the most demanding motor control applications.

Table 1.	Device summary
	Order codes	Package	Packaging
	L6480H	HTSSOP38	Tube

June 2012

Doc ID 023278 Rev 1

1/74

This is preliminary information on a new product now in development or undergoing evaluation. Details are subject to	www.st.com
change without notice.

Contents	L6480

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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		17
	4.1	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

6.4.1 Automatic Full-step and Boost modes . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.5 Absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 6.6 Programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 6.7 Motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

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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	6.10	Undervoltage lockout (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . . 29
	6.11	VS undervoltage lockout (UVLO_ADC) . . . . . . . . . . . . . . . . . . . . .	. . . . . 30
	6.12	Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . .	. . . . 30
	6.13	Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . 31
	6.14	External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . 31
	6.15	Programmable gate drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . 32
	6.16	Deadtime and blanking time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . 33
	6.17	Integrated analog to digital converter . . . . . . . . . . . . . . . . . . . . . . . .	. . . . 33
	6.18	Supply management and internal voltage regulators . . . . . . . . . . . .	. . . . 34
	6.19	BUSY/SYNC pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . 35
	6.20	FLAG pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	. . . . 35
7	Phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .		. . . . 36

7.1 PWM sinewave generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 7.2 Sensorless stall detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 7.3 Low speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 7.4 BEMF compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 7.5 Motor supply voltage compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 7.6 Winding resistance thermal drift compensation . . . . . . . . . . . . . . . . . . . . 40

8	Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	41
9	Programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	43
	9.1 Registers and flags description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	43

9.1.1 ABS_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 9.1.2 EL_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 9.1.3 MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9.1.4 SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9.1.5 ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9.1.6 DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.1.7 MAX_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.1.8 MIN_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.1.9 FS_SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 9.1.10 KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC . . . . . . . . . . . . 47 9.1.11 INT_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

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9.1.12 ST_SLP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 9.1.13 FN_SLP_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 9.1.14 FN_SLP_DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 9.1.15 K_THERM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 9.1.16 ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 9.1.17 OCD_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 9.1.18 STALL_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 9.1.19 STEP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 9.1.20 ALARM_EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 9.1.21 GATECFG1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 9.1.22 GATECFG2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 9.1.23 CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 9.1.24 STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

9.2 Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

9.2.1 Command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 9.2.2 Nop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 9.2.3 SetParam (PARAM, VALUE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 9.2.4 GetParam (PARAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 9.2.5 Run (DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 9.2.6 StepClock (DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 9.2.7 Move (DIR, N_STEP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 9.2.8 GoTo (ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 9.2.9 GoTo_DIR (DIR, ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 9.2.10 GoUntil (ACT, DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 9.2.11 ReleaseSW (ACT, DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 9.2.12 GoHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 9.2.13 GoMark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 9.2.14 ResetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 9.2.15 ResetDevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 9.2.16 SoftStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 9.2.17 HardStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 9.2.18 SoftHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 9.2.19 HardHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 9.2.20 GetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

10	Package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	71
11	Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .	73

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L6480	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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Table 9. UVLO thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Table 10. Thermal protection summarizing table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Table 11. Registers map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Table 12. EL_POS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 Table 13. MIN_SPEED register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Table 14. FS_SPD register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 Table 15. Voltage amplitude regulation registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 Table 16. Winding resistance thermal drift compensation coefficient . . . . . . . . . . . . . . . . . . . . . . . . . 49 Table 17. ADC_OUT value and motor supply voltage compensation feature . . . . . . . . . . . . . . . . . . 49 Table 18. Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Table 19. Stall detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Table 20. STEP_MODE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50 Table 21. Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Table 22. SYNC signal source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51 Table 23. ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Table 24. GATECFG1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Table 25. IGATE parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 Table 26. TCC parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Table 27. TBOOST parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 Table 28. GATECFG2 register (voltage mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Table 29. TDT parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Table 30. TBLANK parameters. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Table 31. CONFIG register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 Table 32. Oscillator management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Table 33. External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 Table 34. Overcurrent event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Table 35. Programmable VCC regulator output voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Table 36. Programmable UVLO thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Table 37. Motor supply voltage compensation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Table 38. PWM frequency: integer division factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 Table 39. PWM frequency: multiplication factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Table 40. Available PWM frequencies [kHz]: 8-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . . 57 Table 41. Available PWM frequencies [kHz]: 16-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 58 Table 42. Available PWM frequencies [kHz]: 24-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 58 Table 43. Available PWM frequencies [kHz]: 32-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 58 Table 44. STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 Table 45. STATUS register TH_STATUS bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Table 46. STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Table 47. STATUS register MOT_STATE bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 Table 48. Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

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List of tables	L6480

Table 49. Nop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Table 50. SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Table 51. GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 Table 52. Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Table 53. StepClock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 Table 54. Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Table 55. GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 Table 56. GoTo_DIR command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Table 57. GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 Table 58. ReleaseSW command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Table 59. GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Table 60. GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Table 61. ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Table 62. ResetDevice command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Table 63. SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 Table 64. HardStop command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Table 65. SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Table 66. HardHiZ command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Table 67. GetStatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 Table 68. HTSSOP38 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Table 69. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

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L6480	List of figures

List of figures

Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Figure 2. Pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 Figure 3. Typical application schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Figure 4. Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Figure 5. Normal mode and microstepping (128 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 Figure 6. Automatic full-step switching in Normal mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Figure 7. Automatic full-step switching in Boost mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Figure 8. Constant speed command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 Figure 9. Positioning command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Figure 10. Motion commands examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 Figure 11. OSCIN and OSCOUT pin configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Figure 12. Overcurrent detection-principle scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 Figure 13. External switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Figure 14. Gate driving currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Figure 15. Device supply pin management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Figure 16. Current distortion and compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 Figure 17. BEMF compensation curve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Figure 18. Motor supply voltage compensation circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 Figure 19. SPI timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Figure 20. Daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 Figure 21. Command with 3-byte argument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Figure 22. Command with 3-byte response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Figure 23. Command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 Figure 24. HTSSOP38 package dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 Figure 25. HTSSOP38 footprint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

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7/74

Block diagram	L6480

1 Block diagram

Figure 1. Block diagram

	632%'	6##		6##2%'	62%'	#0	6"//4	63
						#HARGE
	6OLTAGE 2EG	6##	6OLTAGE 2EG		62%'		PUMP	6"//4
		4EMPERATURE					6##	(6'!
!$#).	!$#
								/54!
		SENSING
								,6'!
	6DD							6"//4
6$$								(6'!
							6##
#3								/54!
#+	30)	#/2%						,6'!
3$/		,/')#
3$)
								6"//4
34"9 2%3%4							6##	(6'"
		/VERCURRENT						/54"
&,!'
			DETECTION					,6'"
								6"//4
"539 39.#								(6'"
			-(Z				6##
			/SCILLATOR					/54"
34#+								,6'"
37		%XT /SC DRIVER
$'.$			#LOCKKGEN
	!'.$	/3#).		/3#/54	0'.$
								!- V

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L6480	Electrical data

2 Electrical data

2.1Absolute maximum ratings

Table 2.	Absolute maximum ratings
Symbol	Parameter		Test condition	Value	Unit
VDD	Logic interface supply voltage			5.5	V
VREG	Logic supply voltage			3.6
VS	Motor supply voltage			95	V
VCC	Low-side gate driver supply			18	V
	voltage
VBOOT	Boot voltage			100	V
∆VBOOT	High-side gate driver supply			0 to 20	V
	voltage
VSREG	Internal VCC regulator supply			95	V
	voltage
VCCREG	Internal VREG regulator			18	V
	supply voltage
VOUT1A		DC		-5 to	V
				VBOOT
VOUT2A	Full bridge output voltage
VOUT1B		AC		-15 to
VOUT2B				VBOOT
SRout	Full bridge outputs slew rate			10	V/ns
	(10% - 90%)
VHVG1A	High-side output driver			VOUT to
VHVG2A					V
VHVG1B	voltage			VBOOT
VHVG2B
∆VHVG1A	High-side output driver to
∆VHVG2A	respective bridge output			15	V
∆VHVG1B	voltage(VHVG - VOUT)
∆VHVG2B
VLVG1A
VLVG2A	Low-side output driver voltage			VCC + 0.3	V
VLVG1B
VLVG2B
IGATE-	High-side gate voltage clamp			100	mA
CLAMP	current capability
VADCIN	Integrated ADC input voltage			-0.3 to 3.6	V
	range (ADCIN pin)
	Differential voltage between
Vout_diff	VBOOT, VS, OUT1A, OUT2A,			100	V
	PGND and VBOOT, VS,
	OUT1B, OUT2B, PGND pins

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Electrical data					L6480
	Table 2.	Absolute maximum ratings (continued)
	Symbol	Parameter	Test condition	Value		Unit
	Vin	Logic inputs voltage range		-0.3 to 5.5		V
	TOP	Operating junction		150		°C
		temperature
	Ts	Storage temperature		-55 to 150		°C
	Ptot	Total power dissipation (Tamb	Board characteristics: TBD	TBD		W
		= 25 ºC)

2.2Recommended operating conditions

Table 3.	Recommended operating conditions
Symbol	Parameter	Test condition	Min.	Typ.	Max.	Unit
VDD	Logic interface supply voltage	3.3 V logic outputs		3.3		V
		5 V logic outputs		5
VREG	Logic supply voltage			3.3		V
VS	Motor supply voltage		VSREG		85	V
VSREG	Internal VCC voltage regulator	VCC voltage internally	VCC +3		Vs	V
		generated
		VCC voltage imposed by
VCC	Gate driver supply voltage	external source (VSREG	7.5		15	V
		= VCC)
VCCREG	Internal VREG voltage regulator	VREG voltage internally	6.3		VCC	V
	supply voltage	generated
VADC	Integrated ADC input voltage		0		VREG	V
	(ADCIN pin)
Tj	Operating junction temperature		- 25		125	°C

2.3Thermal data

Table 4.	Thermal data
Symbol	Parameter	Package	Typ.	Unit
Rthj-a	Thermal resistance junction-to-ambient	HTSSOP38	TBD	°C/W

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L6480	Electrical characteristics

3 Electrical characteristics

VS = 48 V; VCC= 7.5 V; Tj = 25 °C, unless otherwise specified.

Table 5.	Electrical characteristics
Symbol	Parameter	Test condition		Min.	Typ.	Max.	Unit
General
VCCthOn	VCC UVLO turn-on threshold	UVLO_VAL set high(1)			10.8		V
		UVLO_VAL set low(1)			7
VCCthOff	VCC UVLO turn-off threshold	UVLO_VAL set high(1)			10.3		V
		UVLO_VAL set low(1)			6.5
∆VBOOTthOn	VBOOT - VS UVLO turn-on threshold	UVLO_VAL set high(1)			9.3		V
		UVLO_VAL set low(1)			6		V
∆VBOOTthOff	VBOOT - VS UVLO turn-off threshold	UVLO_VAL set high(1)			8.8
		UVLO_VAL set low(1)			5.5
VREGthOn	VREG turn-on threshold	(1)			2.8		V
VREGthOff	VREG turn-off threshold	(1)			2.6		V
IVSREGqu	Undervoltage VSREG quiescent supply	VCCREG shorted to VCC	(1)		TBD		µA
	current
		VCCREG shorted to VCC,
IVSREGq	Quiescent VSREG supply current	internal oscillator			TBD		mA
		selected(1)
Thermal protection
Tj(WRN)Set	Thermal warning temperature				135		°C
Tj(WRN)Rec	Thermal warning recovery temperature				125		°C
Tj(OFF)Set	Thermal bridge shutdown temperature				155		°C
Tj(OFF)Rec	Thermal bridge shutdown recovery				145		°C
	temperature
Tj(SD)Set	Thermal device shutdown temperature				170		°C
Tj(SD)Rec	Thermal device shutdown recovery				130		°C
	temperature
Charge pump
Vpump	Voltage swing for charge pump oscillator				VCC		V
fpump,min	Minimum charge pump oscillator frequency(2)				660		kHz
fpump,max	Maximum charge pump oscillator				800		kHz
	frequency(2)
RpumpHS	Charge pump high-side RDS(ON) resistance				TBD		Ω
RpumpLS	Charge pump low-side RDS(ON) resistance				TBD		Ω

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Electrical characteristics						L6480
Table 5.	Electrical characteristics (continued)
Symbol	Parameter	Test condition	Min.	Typ.	Max.		Unit
Iboot	Average boot current	TBD		TBD			µA
Gate Driver Outputs
				4			mΑ
				8
		VS = 38 V		16
	Programmable high-side and low-side gate
IGATE,Sink		VHVGX - VOUTX > 3 V		24
	sink current
		VLVGX > 3 V		32
				64
				96
				4			mA
				8
	Programmable high-side and low-side gate	VS = 38 V		16
IGATE,Source	source current	VBOOTX - VHVGX > 3.5 V		24
		VCC-VLVGX > 3.5 V
				32
				64
				96
IOB	High-side and low-side turn-off overboost			103			mA
	gate current
RCLAMP(LS)	Low-side gate driver Miller clamp resistance			7			Ω
RCLAMP(HS)	High-side gate driver Miller clamp resistance			3.5			Ω
VGATE-	High-side gate voltage clamp	IGATE-CLAMP=100 mA		18.7			v
		IGATE-CLAMP=100 A		15.3
CLAMP
t	Programmable constant gate current time(2)	TCC=’00000’		125			ns
cc		TCC= 11111		3750
	Programmable. Turn-off overboost; gate	TBOOST=’001’, internal		62.5			ns
tOB		oscillator
	current time(2)
		TBOOST=’111’		1000
IDSS	Leakage current	OUT = VS			TBD		mA
		OUT = GND	TBD
		IGATE = 4 mA
		VCC = 15 V		TBD
		CGATE = 10 nC
tr	Rise time	IGATE = 32 mA					ns
		VCC = 15 V		TBD
		CGATE = 10 nC

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L6480			Electrical characteristics
Table 5.	Electrical characteristics	(continued)
Symbol	Parameter		Test condition	Min.	Typ.	Max.	Unit
			IGATE = 96 mA
tr	Rise time		VCC = 15 V		TBD		ns
			CGATE = 10 nC
			IGATE = 4 mA
			VCC = 15 V		TBD
			CGATE = 10 nC
tf	Fall time		IGATE = 32 mA				ns
			VCC = 15 V		TBD
			CGATE = 10 nC
			IGATE = 96 mA
			VCC = 15 V		TBD
			CGATE = 10 nC
Deadtime and blanking
t	Programmable deadtime2		TDT= '00000'		125		ns
DT			TDT=’11111’		4000
t	Programmable blanking time2		TBLANK= '000'		125		ns
blank			TBLANK=’111’		1000
Logic
VIL	Low level logic input voltage					0.8	V
VIH	High level logic input voltage			2			V
IIH	High level logic input current		VIN = 5 V			1	µA
IIL	Low level logic input current		VIN = 0 V	-1			µA
V	Low level logic output voltage(3)		VDD = 3.3 V, IOL = 4 mA			0.3	V
OL			VDD = 5 V, IOL = 4 mA			0.3
VOH	High level logic output voltage		VDD = 3.3 V, IOH = 4 mA	2.4			V
			VDD = 5 V, IOH = 4 mA	4.7
RPUCS	CS pull-up resistor				430
RPDRST	STBY/RESET pull-down resistor				430		kΩ
RPUSW	CS pull-up resistor				65.2
			3.3 V VREG externally		5
			supplied, internal oscillator
			3.3 V VREG externally
Ilogic	Internal logic supply current		supplied, external 8-MHz		TBD		mA
			oscillator
			3.3 V VREG externally
			supplied, external 32-MHz		TBD
			oscillator

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Electrical characteristics

L6480

Table 5.

Electrical characteristics (continued)

Symbol

Parameter

Test condition

Min.

Typ.

Max.

Unit

Ilogic,STBY

Standby mode internal logic supply current

3.3 V VREG externally

5

µA

supplied

thigh,STCK

Step-clock input high time

300

ns

tlow,STCK

Step-clock input low time

300

ns

f

SYNC

BUSY/SYNC output frequency (2)

R

=TBD, C

BUSY

=TBD

2

MHz

BUSY

Internal oscillator and external oscillator driver

fosc,int

Internal oscillator frequency

Tj = 25 °C,

-5%

16

+5%

MHz

fosc,ext

Programmable external oscillator frequency

8

32

MHz

VOSCOUTH

OSCOUT clock source high level voltage

Internal oscillator

2.4

V

VOSCOUTL

OSCOUT clock source low level voltage

Internal oscillator

0.3

V

trOSCOUT

OSCOUT clock source rise and fall time

Internal oscillator

10

ns

tfOSCOUT

thigh

OSCOUT clock source high time

Internal oscillator

62.5

ns

textosc

Internal to external oscillator switching delay

3

ms

tintosc

External to internal oscillator switching delay

100

µs

SPI

fCK,MAX

Maximum SPI clock frequency(4)

5

MHz

trCK

SPI clock rise and fall time

(5)

1

µs

tfCK

thCK

SPI clock high and low time

(5)

90

ns

tlCK

tsetCS

Chip select setup time(5)

30

ns

tholCS

Chip select hold time 5)

30

ns

tdisCS

Deselect time(5)

625

ns

tsetSDI

Data input setup time(5)

20

ns

tholSDI

Data input hold time(5)

30

ns

tenSDO

Data output enable time(5)

95

ns

tdisSDO

Data output disable time 5)

95

ns

tvSDO

Data output valid time 5)

35

ns

tholSDO

Data output hold time(5)

0

ns

PWM modulators

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L6480		Electrical characteristics
Table 5.	Electrical characteristics (continued)
Symbol	Parameter	Test condition	Min.	Typ.	Max.	Unit
		fosc = 32 MHz
		F_PWM_INT=’11X’		5.6		kHz
fPWM	Programmable PWM frequency(2)	F_PWM_DEC=’000’
		fosc = 32 MHz
		F_PWM_INT=’000’		125
		F_PWM_DEC=’111’
NPWM	PWM resolution			8		bit
Overcurrent protection
VOCD	Programmable overcurrent detection voltage	OCD_TH = ‘11111’		1000		mV
	VDS threshold	OCD_TH = ‘00000’		31		mV
VOCD,offset	Overcurrent detection VDS voltage threshold		TBD		TBD	mV
	offset
tOCD,Comp	OCD comparator delay			100		ns
tOCD,Flag	OCD to flag signal delay time	CFLAG=TBDpF		TBD		ns
tOCD,SD	OCD to shutdown delay time(3)	TBD		TBD		s
Stall detection
VSTALL	Programmable stall detection VDS voltage	STALL_TH = '11111'		1000		mV
	threshold	STALL_TH = '00000'		31
VSTALL,offset	Stall detection VDS voltage threshold offset		TBD		TBD	mV
tSTALL,Comp	Stall detection comparator delay			100		ns
tSTALL,Flag	Stall detection to flag signal delay time	CFLAG=TBDpF		TBD		ns
Standby
		VCC = VREG voltages
		internally generated		TBD		µA
		(VCCREG shorted to VCC)
		VSREG=TBDV
ISTBY	Standby mode supply current	VCC = VREG voltages
		internally generated
		(VCCREG shorted to VCC)		TBD	36
		VSREG=TBDV
tSTBY,min	Minimum standby time			0.5		ms
tlogicwu	Logic power-on and wake-up time			500		µs
		Power bridges disabled,
tcpwu	Charge pump power-on and wake-up time	Cp = 10 nF, Cboot = 220 nF,		1		ms
		VCC=15 V
Internal voltage regulators

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Electrical characteristics						L6480
Table 5.	Electrical characteristics (continued)
Symbol	Parameter	Test condition	Min.	Typ.	Max.		Unit
VCCOUT	Internal VCC voltage regulator output voltage	Low (default), ICC=10 mA	7.3	7.5			V
		High, ICC=10 mA		15
VCCREG,	VSREG to VCC dropout voltage	ICC=TBD			3		V
drop
ICCOUT	Internal VCC voltage regulator output current	Short-circuit	180		360		mA
PCC	Internal VCC voltage regulator power				2.5		W
	dissipation
VREGOUT	Internal VREG voltage regulator output	IREG=TBDmA		3.3			V
	voltage
VCCREG,	VCCREG to VREG dropout voltage	IREG=TBD			3		V
drop
IREGOUT	Internal VREG voltage regulator output	Short-circuit	TBD	50	TBD		mA
	current
IREGOUT,STB	Internal VREG voltage regulator output	Short-circuit	TBD	10	TBD		mA
Y	standby current
PREG	Internal VREG voltage regulator power				0.5		W
	dissipation
Integrated analog to digital converter
NADC	Analog to digital converter resolution			5			bit
VADC,ref	Analog to digital converter reference voltage			3.3			V
fS	Analog to digital converter sampling	(2)		fPWM			kHz
	frequency
VADC,UVLO	ADCIN UVLO threshold		1.05	1.16	1.35		V

1.Guaranteed in the temperature range -25 to 125 °C.

2.The value accuracy is dependent on oscillator frequency accuracy (Section 6.8).

3.FLAG and BUSY open drain outputs included.

4.See Figure 19.

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L6480	Pin connection

4 Pin connection

Figure 2. Pin connection (top view)

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4.1Pin list

	Table 6.	Pin description
	No.	Name	Type	Function
	11	VCCREG	Power supply	Internal VREG voltage regulator supply voltage
	13	VREG	Power supply	Logic supply voltage
	27	VDD	Power supply	Logic interface supply voltage
	12	VSREG	Power supply	Internal VCC voltage regulator supply voltage
	10	VCC	Power supply	Gate driver supply voltage
	14	OSCIN	Analog input	Oscillator pin1. To connect an external oscillator or
				clock source
				Oscillator pin2. To connect an external oscillator.
	15	OSCOUT	Analog output	When the internal oscillator is used, this pin can
				supply a 2/4/8/16 MHz clock
	9	CP	Output	Charge pump oscillator output
	7	VBOOT	Power supply	Bootstrap voltage needed for driving the high-side
				power DMOS of both bridges (A and B)
	5	ADCIN	Analog input	Internal analog to digital converter input
	6	VS	Power supply	Motor voltage
	3	HVGA1	Power output	High-side half bridge A1 gate driver output

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Pin connection

L6480

Table 6.

Pin description (continued)

No.

Name

Type

Function

36

HVGA2

Power output

High-side half bridge A2 gate driver output

17

HVGB1

Power output

High-side half bridge B1 gate driver output

22

HVGB2

Power output

High-side half bridge B2 gate driver output

1

LVGA1

Power output

Low-side half bridge A1 gate driver output

38

LVGA2

Power output

Low-side half bridge A2 gate driver output

19

LVGB1

Power output

Low-side half bridge B1 gate driver output

20

LVGB2

Power output

Low-side half bridge B2 gate driver output

8,23,55

PGND

Ground

Power ground pins. They must be connected to other

ground pins

2

OUTA1

Power input

Full bridge A output 1

37

OUTA2

Power input

Full bridge A output 2

18

OUTB1

Power input

Full bridge B output 1

21

OUTB2

Power input

Full bridge B output 2

16

AGND

Ground

Analog ground. It must be connected to other ground

pins

33

SW

Logical input

External switch input pin

29

DGND

Ground

Digital ground. It must be connected to other ground

pins

28

SDO

Logical output

Data output pin for serial interface

26

SDI

Logical input

Data input pin for serial interface

25

CK

Logical input

Serial interface clock

24

Logical input

Chip select input pin for serial interface

CS

By default, the

/SYNC pin is forced low when

BUSY

the device is performing a command.

30

Open drain output

The pin can be programmed in order to generate a

BUSY/SYNC

synchronization signal

Status flag pin. An internal open drain transistor can

pull the pin to GND when a programmed alarm

31

FLAG

Open drain output

condition occurs (step loss, OCD, thermal pre-

warning or shutdown, UVLO, wrong command, non-

performable command)

Standby and reset pin. LOW logic level puts the

STBY

34

Logical input

device in Standby mode and reset logic.

RESET

If not used, should be connected to VREG

32

STCK

Logical input

Step-clock input

EPAD

Exposed pad

Ground

Exposed pad. It must be connected to other ground

pins

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L6480	Typical applications

5 Typical applications

Table 7.	Typical application values
	Name		Value
	CVSPOL		220 µF
	CVS		220 nF
	CBOOT		470 nF
	CFLY		47 nF
	CVSREG		100 nF
	CVCC		470 nF
CVCCREG			100 nF
	CVREG		100 nF
CVREGPOL			22 µF
	CVDD		100 nF
	D1		Charge pump diodes
Q1,Q2,Q3,Q4,Q5,Q6,Q7			STD25NF10
	,Q8
	RPU		39 kΩ
	RA		1.8 kΩ (VS = 85 V)
	RB		91 kΩ (VS = 85 V)

Figure 3. Typical application schematic

									VS (10.5V - 85V)
								CBOOT	C	C
									VS	VSPOL
CVREGPOL						D1			RB
CVREG	C	C		C		CVSREG	CFLY
	VDD	VCCREG		VCC					RA
RPU
VREG	VDD			VCCREG	VCC VSREG	VS	CP	VBOOT
RPU								ADCIN
FLAG									Q1	Q2
								HVGA1
BUSY/SYNC								OUTA1
STBY/RESET								LVGA1
STCK
								LVGA2
HOST								OUTA2
								HVGA2
CS			L6480						Q3	Q4
CK										Motor
SDO
									Q5	Q6
SDI
								HVGB1
								OUTB1
SW								LVGB1
OSCIN								LVGB2
								OUTB2
OSCOUT								HVGB2	Q7	Q8
		DGND	AGND	PGND
										AM12826v1

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Functional description	L6480

6 Functional description

6.1Device power-up

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:

●VCC is greater than VCCthOn

●VBOOT - VS is greater than ∆VBOOTthOn

●VREG is greater than VREGthOn

●Internal oscillator is operative

●STBY/RESET input is forced high.

After power-up, the device state is the following:

●Parameters 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 impedance).

After power-up, a period of tlogicwu must pass before applying a command to allow proper oscillator and logic startup.

Any movement command makes the device exit from High Z state (HardStop and SoftStop included).

6.2Logic I/O

Pins CS, CK, SDI, STCK, SW and STBY/RESET are TTL/CMOS 3.3 V-5 V compatible logic inputs.

Pin SDO is a TTL/CMOS compatible logic output. VDD pin voltage imposes logical output voltage range.

Pins FLAG and BUSY/SYNC are open drain outputs.

SW and CS inputs are internally pulled up to VDD and STBY/RESET input is internally pulled down to ground.

6.3Charge 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 4).

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L6480	Functional description

Figure 4.	Charge pump circuitry
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				F05-0

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6.4Microstepping

The driver is able to divide the single step into up to 128 microsteps. Stepping mode can be programmed by the STEP_SEL parameter in the STEP_MODE register (Table 20.).

Step mode can be only changed when bridges are disabled. Every time the step mode is changed, the electrical position (i.e. the point of microstepping sinewave that is generated) is reset to the first microstep and the absolute position counter value (Section 6.5) becomes meaningless.

Figure 5. Normal mode and microstepping (128 microsteps)

2ESET		.ORMAL DRIVING				2ESET		-ICROSTEPPING
POSITION	0(!3%!!3CURRENT					POSITION	0(!3%!!3CURRENT
	0(!3%!"3CURRENT						0(!3%!"3CURRENT
											MICROSTEPS
	STEP	STEP	STEP	STEP	STEP		STEP	STEP	STEP	STEP	STEP
							STEPS	STEPS	STEPS	STEPS
											". W

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Functional description	L6480

6.4.1Automatic Full-step and Boost modes

When motor speed is greater than a programmable full-step speed threshold, the L6480 switches automatically to Full-step mode; the driving mode returns to microstepping when motor speed decreases below the full-step speed threshold.

The switching between the microstepping and Full-step mode and vice-versa is always performed at an electrical position multiple of π/4 (Figure 6 andFigure 7).

Full-step speed threshold is set through the related parameter in the FS_SPD register (Section 9.1.9).

When the BOOST_MODE bit of the FS_SPD register is low (default), the amplitude of the voltage squarewave in Full-step mode is equal to the peak of the voltage sinewave multiplied by sine(π/4) (Figure 6). This avoids the current drop between the two driving modes.

When the BOOST_MODE bit of the FS_SPD register is high, the amplitude of the voltage squarewave in Full-step mode is equal to the peak of the voltage sinewave (Figure 7). That improves the output current increasing the maximum motor torque.

Figure 6. Automatic full-step switching in Normal mode

Vpeak

sin(π /4)x V

peak

Phase A

Phase B

Microstepping	Full-Step	Microstepping
(2N+1) xπ /4		(2N+1) xπ /4

AM12829v1

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L6480	Functional description

Figure 7. Automatic full-step switching in Boost mode

Vpeak
Phase A
Vpeak
Phase B
Microstepping	Full-Step	Microstepping
(2N+1) xπ /4		(2N+1) xπ/4
		AM12850v1

6.5Absolute position counter

An internal 22-bit register (ABS_POS) records all the motor motions according to the selected step mode; the stored value unit is equal to the selected step mode (full, half, quarter, etc.). The position range is from -221 to +221-1 steps (see Section 9.1.1).

6.6Programmable speed profiles

The user can easily program a customized speed profile defining independently acceleration, deceleration, maximum and minimum speed values by ACC, DEC, MAX_SPEED and MIN_SPEED registers respectively (see Section 9.1.5, 9.1.6, 9.1.7 and

9.1.8).

When a command is sent to the device, the integrated logic generates the microstep frequency profile that performs a motor motion compliant to speed profile boundaries.

All acceleration parameters are expressed in step/tick2 and all speed parameters are expressed in step/tick; the unit of measurement does not depend on the selected step mode. Acceleration and deceleration parameters range from 2-40 to (212-2)•2-40 step/tick2 (equivalent to 14.55 to 59590 step/s2).

Minimum speed parameter ranges from 0 to step/s).

Maximum speed parameter ranges from 2-18 15610 step/s).

(212-1)•2-24 step/tick (equivalent to 0 to 976.3

to (210-1)• 2-18 step/tick (equivalent to 15.25 to

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