ST L6480 User Manual

L6480
Fully integrated microstepping motor driver with motion engine and
SPI
Datasheet − preliminary data
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
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.
HTSSOP38
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 N­channel MOSFET power stages with embedded non-dissipative overcurrent protection. Thanks to

Table 1. Device summary

Order codes Package Packaging
L6480H HTSSOP38 Tube
June 2012 Doc ID 023278 Rev 1 1/74
This is preliminar y information on a new product now in development or undergoing evaluation. Details are subject to change without notice.
www.st.com
74
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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Contents L6480
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
4/74 Doc ID 023278 Rev 1
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 V
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
CC regulator output voltage
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Doc ID 023278 Rev 1 5/74
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
6/74 Doc ID 023278 Rev 1
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
Doc ID 023278 Rev 1 7/74
Block diagram L6480

1 Block diagram

Figure 1. Block diagram

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8/74 Doc ID 023278 Rev 1
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L6480 Electrical data

2 Electrical data

2.1 Absolute maximum ratings

Table 2. Absolute maximum ratings

Symbol Parameter Test condition Value Unit
V
V
V
V
BOOT
V
V
SREG
V
CCREG
V
OUT1A
V
OUT2A
V
OUT1B
V
OUT2B
SR
V
HVG1A
V
HVG2A
V
HVG1B
V
HVG2B
V
HVG1A
V
HVG2A
V
HVG1B
V
HVG2B
V
LVG 1 A
V
LVG 2 A
V
LVG 1 B
V
LVG 2 B
I
GATE-
CLAMP
V
ADCIN
DD
REG
V
S
CC
BOOT
out
Logic interface supply voltage 5.5 V
Logic supply voltage 3.6
Motor supply voltage 95 V
Low-side gate driver supply voltage
18 V
Boot voltage 100 V
High-side gate driver supply voltage
Internal VCC regulator supply voltage
Internal V
regulator
REG
supply voltage
Full bridge output voltage
Full bridge outputs slew rate (10% - 90%)
DC
AC
0 to 20 V
95 V
18 V
-5 to
V
BOOT
-15 to
V
BOOT
10 V/ns
High-side output driver voltage
High-side output driver to respective bridge output voltage(V
HVG
- V
OUT
)
V
to
OUT
V
BOOT
15 V
Low-side output driver voltage VCC + 0.3 V
High-side gate voltage clamp current capability
Integrated ADC input voltage range (ADCIN pin)
100 mA
-0.3 to 3.6 V
V
V
V
out_diff
Differential voltage between VBOOT, VS, OUT1A, OUT2A, PGND and VBOOT, VS, OUT1B, OUT2B, PGND pins
Doc ID 023278 Rev 1 9/74
100 V
Electrical data L6480
Table 2. Absolute maximum ratings (continued)
Symbol Parameter Test condition Value Unit
V
T
OP
T
P
Logic inputs voltage range -0.3 to 5.5 V
in
Operating junction temperature
Storage temperature -55 to 150 °C
s
Total power dissipation (T
tot
= 25 ºC)
amb
Board characteristics: TBD TBD W

2.2 Recommended operating conditions

Table 3. Recommended operating conditions

Symbol Parameter Test condition Min. Typ. Max. Unit
V
V
REG
V
V
SREG
V
V
CCREG
Logic interface supply voltage
DD
Logic supply voltage 3.3 V
Motor supply voltage V
S
Internal V
Gate driver supply voltage
CC
Internal V
voltage regulator
CC
voltage regulator
REG
supply voltage
3.3 V logic outputs 3.3
5 V logic outputs 5
voltage internally
V
CC
generated
voltage imposed by
V
CC
external source (V
)
= V
CC
V
voltage internally
REG
generated
SREG
150 °C
SREG
+3 V
V
CC
7.5 15 V
6.3 V
85 V
s
CC
V
V
V
V
Integrated ADC input voltage
ADC
(ADCIN pin)
T
Operating junction temperature - 25 125 °C
j

2.3 Thermal data

Table 4. Thermal data

Symbol Parameter Package Typ. Unit
R
thj-a
10/74 Doc ID 023278 Rev 1
Thermal resistance junction-to-ambient HTSSOP38 TBD °C/W
0V
REG
V
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
(1)
(1)
(1)
(1)
(1)
(1)
(1)
(1)
10.8 V
7
10.3 V
6.5
9.3 V
6V
8.8
5.5
2.8 V
2.6 V
(1)
TBD µA
CC
CC,
TBD mA
V
CCthOn
V
CCthOff
V
BOOTthOnVBOOT
V
BOOTthOffVBOOT
V
REGthOnVREG
V
REGthOffVREG
I
VSREGqu
I
VSREGq
VCC UVLO turn-on threshold
VCC UVLO turn-off threshold
- VS UVLO turn-on threshold
- VS UVLO turn-off threshold
turn-on threshold
turn-off threshold
Undervoltage V
quiescent supply
SREG
current
Quiescent V
supply current
SREG
UVLO_VAL set high
UVLO_VAL set low
UVLO_VAL set high
UVLO_VAL set low
UVLO_VAL set high
UVLO_VAL set low
UVLO_VAL set high
UVLO_VAL set low
(1)
(1)
CCREG
CCREG
shorted to V
shorted to V
(1)
V
V internal oscillator selected
Thermal protection
T
j(WRN)Set
T
j(WRN)Rec
T
j(OFF)Set
T
j(OFF)Rec
T
j(SD)Set
T
j(SD)Rec
Thermal warning temperature 135 °C
Thermal warning recovery temperature 125 °C
Thermal bridge shutdown temperature 155 °C
Thermal bridge shutdown recovery temperature
Thermal device shutdown temperature 170 °C
Thermal device shutdown recovery temperature
Charge pump
V
pump
f
pump,min
f
pump,max
R
pumpHS
R
pumpLS
Voltage swing for charge pump oscillator V
Minimum charge pump oscillator frequency
Maximum charge pump oscillator frequency
Charge pump high-side R
Charge pump low-side R
(2)
145
130
CC
(2)
resistance TBD
DS(ON)
resistance TBD
DS(ON)
660 kHz
800 kHz
°C
°C
V
Doc ID 023278 Rev 1 11/74
Electrical characteristics L6480
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
I
boot
Average boot current TBD TBD µA
Gate Driver Outputs
I
GATE,Sink
Programmable high-side and low-side gate sink current
Programmable high-side and low-side gate
I
GATE,Source
I
OB
R
CLAMP(LS)
R
CLAMP(HS)
V
GATE-
CLAMP
t
cc
t
OB
I
DSS
source current
High-side and low-side turn-off overboost gate current
Low-side gate driver Miller clamp resistance 7
High-side gate driver Miller clamp resistance 3.5
High-side gate voltage clamp
Programmable constant gate current time
Programmable. Turn-off overboost; gate current time
Leakage current
(2)
4mΑ
8
VS = 38 V V
- V
HVGX
V
> 3 V
LVG X
OUTX
> 3 V
16
24
32
64
96
4mA
8
= 38 V
V
S
V
BOOTX
V
CC-VLVG X
- V > 3.5 V
HVGX
> 3.5 V
16
24
32
64
96
103 mA
I
GATE-CLAMP=100 mA
I
GATE-CLAMP=100 µA
TCC=’00000’ 125
(2)
18.7 v
15.3
ns
TCC= 11111 3750
TBOOST=’001’, internal oscillator
62.5 ns
TBOOST=’111’ 1000
OUT = V
S
TBD mA
OUT = GND TBD
I
GATE
V
= 15 V
CC
C
GATE
t
r
Rise time
I
GATE
V
CC
C
GATE
= 15 V
12/74 Doc ID 023278 Rev 1
= 4 mA
= 10 nC
= 32 mA
= 10 nC
TBD
ns
TBD
L6480 Electrical characteristics
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
= 96 mA
I
GATE
V
tr Rise time
t
f
Fall time
Deadtime and blanking
CC
C
GATE
I
GATE
V
CC
C
GATE
I
GATE
V
CC
C
GATE
I
GATE
V
CC
C
GATE
= 15 V
= 10 nC
= 4 mA
= 15 V
= 10 nC
= 32 mA
= 15 V
= 10 nC
= 96 mA
= 15 V
= 10 nC
TBD ns
TBD
TBD
ns
TBD
t
t
blank
Logic
V
V
V
V
R
PUCS
PDRST
R
PUSW
I
I
DT
IL
IH
IH
IL
OL
OH
Programmable deadtime
2
TDT= '00000' 125
ns
TDT=’11111’ 4000
TBLANK= '000' 125
Programmable blanking time2
ns
TBLANK=’111’ 1000
Low level logic input voltage 0.8 V
High level logic input voltage 2 V
High level logic input current VIN = 5 V 1 µA
Low level logic input current VIN = 0 V -1 µA
Low level logic output voltage
High level logic output voltage
(3)
VDD = 3.3 V, IOL = 4 mA 0.3
= 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
V
CS pull-up resistor 430
STBY/RESET pull-down resistor 430
kR
CS pull-up resistor 65.2
3.3 V V supplied, internal oscillator
externally
REG
5
I
logic
Internal logic supply current
3.3 V V supplied, external 8-MHz oscillator
3.3 V V supplied, external 32-MHz
externally
REG
externally
REG
TBD
TBD
mA
oscillator
Doc ID 023278 Rev 1 13/74
Electrical characteristics L6480
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
I
logic,STBY
t
high,STCK
t
low,STCK
f
SYNC
Standby mode internal logic supply current
Step-clock input high time 300 ns
Step-clock input low time 300 ns
BUSY/SYNC output frequency
(2)
Internal oscillator and external oscillator driver
f
osc,int
f
osc,ext
V
OSCOUTH
V
OSCOUTL
t
rOSCOUT
t
fOSCOUT
t
high
t
extosc
t
intosc
Internal oscillator frequency Tj = 25 °C, -5% 16 +5% MHz
Programmable external oscillator frequency 8 32 MHz
OSCOUT clock source high level voltage Internal oscillator 2.4 V
OSCOUT clock source low level voltage Internal oscillator 0.3 V
OSCOUT clock source rise and fall time Internal oscillator 10 ns
OSCOUT clock source high time
Internal to external oscillator switching delay 3 ms
External to internal oscillator switching delay 100 µs
SPI
f
CK,MAX
t
rCK
t
fCK
t
hCK
t
lCK
t
setCS
t
holCS
t
disCS
t
setSDI
t
holSDI
t
enSDO
t
disSDO
t
vSDO
t
holSDO
Maximum SPI clock frequency
SPI clock rise and fall time
SPI clock high and low time
Chip select setup time
Chip select hold time
Deselect time
(5)
Data input setup time
Data input hold time
(5)
5)
(5)
(5)
Data output enable time
Data output disable time
Data output valid time
Data output hold time
5)
(5)
(4)
(5)
(5)
(5)
5)
PWM modulators
3.3 V V
externally
REG
supplied
R
=TBD, C
BUSY
Internal oscillator
A
=TBD 2 MHz
BUSY
62.5 ns
5MHz
90 ns
30 ns
30 ns
625 ns
20 ns
30 ns
0ns
s
95 ns
95 ns
35 ns
14/74 Doc ID 023278 Rev 1
L6480 Electrical characteristics
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
f
= 32 MHz
osc
f
PWM
Programmable PWM frequency
(2)
F_PWM_INT=’11X’ F_PWM_DEC=’000’
f
= 32 MHz
osc
F_PWM_INT=’000’ F_PWM_DEC=’111’
5.6 kHz
125
N
PWM
PWM resolution 8 bit
Overcurrent protection
V
OCD
V
OCD,offset
t
OCD,Comp
t
OCD,Flag
t
OCD,SD
Programmable overcurrent detection voltage
threshold
V
DS
Overcurrent detection V offset
OCD comparator delay 100 ns
OCD to flag signal delay time C
OCD to shutdown delay time
Stall detection
V
STALL
V
STALL,offset
t
STALL,Comp
t
STALL
Programmable stall detection V threshold
Stall detection V
Stall detection comparator delay 100 ns
Stall detection to flag signal delay time C
,Flag
Standby
I
STBY
Standby mode supply current
OCD_TH = ‘11111’ 1000 mV
OCD_TH = ‘00000’ 31 mV
voltage threshold
DS
(3)
DS
voltage
=TBDpF TBD ns
FLAG
TBD TBD µs
STALL_TH = '11111' 1000 mV
TBD TBD mV
STALL_TH = '00000' 31
voltage threshold offset TBD TBD mV
DS
=TBDpF TBD ns
FLAG
= V
V
CC
internally generated (V
CCREG
V
SREG
V
= V
CC
voltages
REG
shorted to VCC)
=TBDV
voltages
REG
TBD µA
internally generated (V
V
SREG
CCREG
=TBDV
shorted to VCC)
TBD 36
t
STBY,min
t
logicwu
t
cpwu
Minimum standby time 0.5 ms
Logic power-on and wake-up time 500 µs
Charge pump power-on and wake-up time
Internal voltage regulators
Power bridges disabled,
= 10 nF, C
C
p
=15 V
V
CC
= 220 nF,
boot
1ms
Doc ID 023278 Rev 1 15/74
Electrical characteristics L6480
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit
V
CCOUT
V
CCREG,
drop
I
CCOUT
P
CC
V
REGOUT
V
CCREG,
drop
I
REGOUT
I
REGOUT,STB
Y
P
REG
Internal V
V
SREG to VCC
Internal V
Internal V
voltage regulator output voltage
CC
voltage regulator output current Short-circuit 180 360 mA
CC
voltage regulator power
CC
dissipation
Internal V
REG
voltage
V
CCREG to VREG
Internal V
REG
current
Internal V
REG
standby current
Internal V
REG
dissipation
dropout voltage ICC=TBD 3 V
voltage regulator output
dropout voltage I
voltage regulator output
voltage regulator output
voltage regulator power
Integrated analog to digital converter
N
ADC
V
ADC,ref
f
S
Analog to digital converter resolution 5 bit
Analog to digital converter reference voltage 3.3 V
Analog to digital converter sampling frequency
Low (default), I
High, I
=10 mA 15
CC
=10 mA 7.3 7.5 V
CC
2.5 W
I
=TBDmA 3.3 V
REG
=TBD 3 V
REG
Short-circuit TBD 50 TBD mA
Short-circuit TBD 10 TBD mA
0.5 W
(2)
f
PWM
kHz
V
ADC,UVLO
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
4. See Figure 19.
ADCIN UVLO threshold 1.05 1.16 1.35 V
and BUSY open drain outputs included.
16/74 Doc ID 023278 Rev 1
L6480 Pin connection
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4 Pin connection

Figure 2. Pin connection (top view)

4.1 Pin list

Table 6. Pin description

No. Name Type Function
11 VCCREG Power supply Internal V
voltage regulator supply voltage
REG
13 VREG Power supply Logic supply voltage
27 VDD Power supply Logic interface supply voltage
12 VSREG Power supply Internal V
voltage regulator supply voltage
CC
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
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
Doc ID 023278 Rev 1 17/74
Bootstrap voltage needed for driving the high-side power DMOS of both bridges (A and B)
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
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
33 SW Logical input External switch input pin
29 DGND Ground
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 CS
30 BUSY/SYNC Open drain output
Logical input Chip select input pin for serial interface
Power ground pins. They must be connected to other ground pins
Analog ground. It must be connected to other ground pins
Digital ground. It must be connected to other ground pins
By default, the BUSY the device is performing a command.
The pin can be programmed in order to generate a synchronization signal
/SYNC pin is forced low when
Status flag pin. An internal open drain transistor can pull the pin to GND when a programmed alarm
31 FLAG
34
32 STCK Logical input Step-clock input
EPAD Exposed pad Ground
18/74 Doc ID 023278 Rev 1
STBY
RESET
Open drain output
Logical input
condition occurs (step loss, OCD, thermal pre­warning or shutdown, UVLO, wrong command, non­performable command)
Standby and reset pin. LOW logic level puts the device in Standby mode and reset logic.
If not used, should be connected to V
Exposed pad. It must be connected to other ground pins
REG
L6480 Typical applications

5 Typical applications

Table 7. Typical application values

Name Value
C
VSPOL
C
VS
C
BOOT
C
FLY
C
VSREG
C
VCC
C
VCCREG
C
VREG
C
VREGPOL
C
VDD
D1 Charge pump diodes
Q1,Q2,Q3,Q4,Q5,Q6,Q7
,Q8
R
PU
R
A
R
B

Figure 3. Typical application schematic

220 µF
220 nF
470 nF
47 nF
100 nF
470 nF
100 nF
100 nF
22 µF
100 nF
STD25NF10
39 k
1.8 kΩ (VS = 85 V)
91 kΩ (VS = 85 V)
HOST
V
S
(10.5V - 85V)
C
BOOT
C
VREGPOL
C
VREG
R
PU
R
VREG
PU
FLAG
BUSY/SYNC
STBY/RESET
STCK
CS
CK
SDO
SDI
SW
OSCIN
OSCOUT
C
VCCREG
C
VCC
VCCREG
VCC CP VBOOT
VSREG
C
VDD
VDD
L6480
AGND
DGND
PGND
D1
C
VSREG
C
FLY
VS
ADCIN
HVGA1
OUTA1
LVGA1
LVGA2
OUTA2
HVGA2
HVGB1
OUTB1
LVGB1
LVGB2
OUTB2
HVGB2
C
C
VS
R
B
R
A
VSPOL
Q1 Q2
Q4Q3
Motor
Q5 Q6
Q8Q7
AM12826v1
Doc ID 023278 Rev 1 19/74
Functional description L6480

6 Functional description

6.1 Device 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:
V
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
Bridges are disabled (high impedance).
is greater than V
CC
V
- VS is greater than ∆V
BOOT
V
is greater than V
REG
CCthOn
REGthOn
Internal oscillator is operative
OSCOUT pin
BOOTthOn
After power-up, a period of t oscillator and logic startup.
Any movement command makes the device exit from High Z state (HardStop and SoftStop included).

6.2 Logic 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
SW and CS
and BUSY/SYNC are open drain outputs.
inputs are internally pulled up to VDD and STBY/RESET input is internally
pulled down to ground.

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 components realizing a charge pump (see Figure 4).
must pass before applying a command to allow proper
logicwu
is obtained through an oscillator and a few external
BOOT
20/74 Doc ID 023278 Rev 1
L6480 Functional description

Figure 4. Charge pump circuitry

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6.4 Microstepping

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.
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2ESET
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.ORMALDRIVING -ICROSTEPPING
0(!3%!CURRENT
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Doc ID 023278 Rev 1 21/74
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Functional description L6480

6.4.1 Automatic 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
V
peak
Phase A
sin(π /4 )x V
peak
Phase B
Microstepping
Full-Step
(2N+1) x π /4 (2N+1) x π /4
Microstepping
AM12829v1
22/74 Doc ID 023278 Rev 1
L6480 Functional description
Figure 7. Automatic full-step switching in Boost mode
V
peak
Phase A
V
peak
Phase B
Microstepping
(2N+1) x π /4 (2N+1) x π/4

6.5 Absolute 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 -2

6.6 Programmable 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/tick expressed in step/tick; the unit of measurement does not depend on the selected step mode. Acceleration and deceleration parameters range from 2 (equivalent to 14.55 to 59590 step/s
Minimum speed parameter ranges from 0 to (2 step/s).
Maximum speed parameter ranges from 2 15610 step/s).
2
).
-18
Full-Step
21
to +221-1 steps (see Section 9.1.1).
2
and all speed parameters are
12-1
-24
)2
step/tick (equivalent to 0 to 976.3
to (210-1) 2
-18
Microstepping
-40
to (212-2)2
step/tick (equivalent to 15.25 to
AM12850v1
-40
step/tick2
Doc ID 023278 Rev 1 23/74
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