EVAL6470H_技术文档

L6470

dSPIN™ fully integrated microstepping motor driver with motion

engine and SPI

Datasheet − production data

Features

■ Operating voltage: 8 - 45 V

■ 7.0 A out peak current (3.0 A r.m.s.)

■ Low R_DS(on)Power MOSFETs

■ Programmable speed profile and positioning

■ Programmable power MOS slew rate

■ Up to 1/128 microstepping

POWERSO36

HTSSOP28

■ Sensorless stall detection

power switches equipped with an accurate on-

chip current sensing circuitry suitable for non-

dissipative current control and overcurrent

protection. Thanks to a unique control system, a

true 1/128 steps resolution is achieved. The

digital control core can generate user defined

motion profiles with acceleration, deceleration,

speed or target position, easily programmed

through a dedicated registers set. All commands

and data registers, including those used to set

analogue values (i.e. current control value,

current protection trip point, deadtime, PWM

frequency, etc.) are sent through a standard 5-

Mbit/s SPI. A very rich set of protections (thermal,

low bus voltage, overcurrent, motor stall) allows

the design of a fully protected application, as

required by the most demanding motor control

applications.

■ SPI interface

■ Low quiescent and standby currents

■ Programmable non-dissipative overcurrent

protection on high and low-side

■ Two-levels of overtemperature protection

Applications

■ Bipolar stepper motors

Description

The L6470, realized in analog mixed signal

technology, is an advanced fully integrated

solution suitable for driving two-phase bipolar

stepper motors with microstepping. It integrates a

dual low R_DS(on)DMOS full-bridge with all of the

Table 1.

Device summary

Order codes

Package

Packaging

L6470H

L6470HTR

L6470PD

HTSSOP28

Tube

Tape and reel

Tube

POWERSO36

L6470PDTR

Tape and reel

December 2012

Doc ID16737 Rev 5

1/70

This is information on a product in full production.

www.st.com

70

Contents

L6470

Contents

1

2

Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.1

2.2

2.3

Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

3

4

Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

4.1

Pin list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

5

6

Typical applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.1

6.2

6.3

6.4

Device power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Logic I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Microstepping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

6.4.1

Automatic full-step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6.5

6.6

Absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

6.6.1

Infinite acceleration/deceleration mode . . . . . . . . . . . . . . . . . . . . . . . . . 24

6.7

Motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

6.7.1

6.7.2

6.7.3

6.7.4

6.7.5

6.7.6

Constant speed commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Positioning commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Stop commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Step-clock mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

GoUntil and ReleaseSW commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6.8

Internal oscillator and oscillator driver . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

6.8.1

6.8.2

Internal oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

External clock source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

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6.9

Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

6.10 Undervoltage lockout (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

6.11 Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 29

6.12 Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6.13 External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

6.14 Programmable DMOS slew rate, deadtime and blanking time . . . . . . . . . 31

6.15 Integrated analog-to-digital converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

6.16 Internal voltage regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

6.17 BUSY\SYNC pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.17.1 BUSY operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.17.2 SYNC operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.18 FLAG pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

7

Phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

7.1

7.2

7.3

7.4

7.5

7.6

PWM sinewave generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Sensorless stall detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Low speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

BEMF compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Motor supply voltage compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Winding resistance thermal drift compensation . . . . . . . . . . . . . . . . . . . . 37

8

9

Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

9.1

Registers and flags description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

9.1.1

9.1.2

9.1.3

9.1.4

9.1.5

9.1.6

9.1.7

9.1.8

9.1.9

ABS_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

EL_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

MAX_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

MIN_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

FS_SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

9.1.10 KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC . . . . . . . . . . . . 44

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Contents

L6470

9.1.11 INT_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

9.1.12 ST_SLP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.1.13 FN_SLP_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.1.14 FN_SLP_DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.1.15 K_THERM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

9.1.16 ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

9.1.17 OCD_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

9.1.18 STALL_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

9.1.19 STEP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

9.1.20 ALARM_EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

9.1.21 CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

9.1.22 STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

9.2

Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

9.2.1

9.2.2

9.2.3

9.2.4

9.2.5

9.2.6

9.2.7

9.2.8

9.2.9

Command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Nop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

SetParam (PARAM, VALUE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

GetParam (PARAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Run (DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

StepClock (DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Move (DIR, N_STEP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

GoTo (ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

GoTo_DIR (DIR, ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

9.2.10 GoUntil (ACT, DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

9.2.11 ReleaseSW (ACT, DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

9.2.12 GoHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

9.2.13 GoMark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

9.2.14 ResetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

9.2.15 ResetDevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

9.2.16 SoftStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

9.2.17 HardStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

9.2.18 SoftHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

9.2.19 HardHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

9.2.20 GetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

10

11

Package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

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List of tables

Table 1.

Table 2.

Table 3.

Table 4.

Table 5.

Table 6.

Table 7.

Table 8.

Device summary. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Typical application values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

CL values according to external oscillator frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Register map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

EL_POS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

MIN_SPEED register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Voltage amplitude regulation registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

Winding resistance thermal drift compensation coefficient. . . . . . . . . . . . . . . . . . . . . . . . . 45

ADC_OUT value and motor supply voltage compensation feature . . . . . . . . . . . . . . . . . . 46

Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Stall detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

STEP_MODE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

SYNC output frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

SYNC signal source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

CONFIG register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

Oscillator management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Overcurrent event. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

Programmable power bridge output slew rate values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

Motor supply voltage compensation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

PWM frequency: integer division factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

PWM frequency: multiplication factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

Available PWM frequencies [kHz]: 8-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . . 52

Available PWM frequencies [kHz]: 16-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 52

Available PWM frequencies [kHz]: 24-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 53

Available PWM frequencies [kHz]: 32-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 53

STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

STATUS register MOT_STATE bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

Nop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

Stepclock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

GoTo_DIR command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

ReleaseSW command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

Table 9.

Table 10.

Table 11.

Table 12.

Table 13.

Table 14.

Table 15.

Table 16.

Table 17.

Table 18.

Table 19.

Table 20.

Table 21.

Table 22.

Table 23.

Table 24.

Table 25.

Table 26.

Table 27.

Table 28.

Table 29.

Table 30.

Table 31.

Table 32.

Table 33.

Table 34.

Table 35.

Table 36.

Table 37.

Table 38.

Table 39.

Table 40.

Table 41.

Table 42.

Table 43.

Table 44.

Table 45.

Table 46.

Table 47.

Table 48.

Doc ID16737 Rev 5

5/70

List of tables

L6470

Table 49.

Table 50.

Table 51.

Table 52.

Table 53.

Table 54.

Table 55.

Table 56.

Table 57.

Table 58.

Table 59.

GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

ResetDevice command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

HardStop command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

HardHiZ command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

GetStatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

HTSSOP28 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

POWERSO36 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

6/70

Doc ID16737 Rev 5

L6470

List of figures

Figure 1.

Figure 2.

Figure 3.

Figure 4.

Figure 5.

Figure 6.

Figure 7.

Figure 8.

Figure 9.

Block diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

HTSSOP28 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

POWERSO36 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

Bipolar stepper motor control application using L6470. . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Normal mode and microstepping (128 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

Automatic full-step switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Speed profile in infinite acceleration/deceleration mode . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Constant speed command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Figure 10. Positioning command examples. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Figure 11. Motion command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Figure 12. OSCIN and OSCOUT pin configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Figure 13. External switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

Figure 14. Internal 3 V linear regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

Figure 15. Current distortion and compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

Figure 16. BEMF compensation curve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Figure 17. Motor supply voltage compensation circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Figure 18. SPI timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Figure 19. Daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

Figure 20. Command with 3-byte argument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Figure 21. Command with 3-byte response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

Figure 22. Command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

Figure 23. HTSSOP28 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

Figure 24. POWERSO36 drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

Doc ID16737 Rev 5

7/70

Block diagram

L6470

1

Block diagram

Figure 1.

Block diagram

VDD

OSCIN

OSCOUT ADCIN

VREG

CP

VBOOT

Charge

pump

Ext. Osc. driver

16MHz

Oscillator

&

VSA

Clock gen.

3 V

Voltage Reg.

ADC

V

boot

Vboot

STBY/RST

FLAG

HS A1

LS A1

HS A2

LS A2

OUT1A

OUT2A

HS A1

LS A1

HS A2

LS A2

PGND

Control

Logic

V

DD

VSB

HS B1

LS B1

HS B2

LS B2

CS

CK

V

boot

Vboot

HS B1

LS B1

HS B2

LS B2

SDO

OUT1B

OUT2B

SDI

Current DACs

BUSY/SYNC

Temperature

sensing

&

Comparators

PGND

STCK

SW

V

DD

Current

sensing

DGND

AGND

AM02377v1

8/70

Doc ID16737 Rev 5

L6470

Electrical data

2

Electrical data

2.1

Absolute maximum ratings

Table 2.

Absolute maximum ratings

Parameter

Symbol

Test condition

Value

Unit

V_DD

V_S

Logic interface supply voltage

5.5

48

V

Motor supply voltage

V_SA= V_SB= V_S

Differential voltage between AGND,

PGND and DGND

V_{GND, diff}

V_boot

0.3

55

V

Bootstrap peak voltage

Internal voltage regulator output pin

and logic supply voltage

V_REG

3.6

Integrated ADC input voltage range

(ADCIN pin)

V_ADCIN

V_OSC

-0.3 to +3.6

V

OSCIN and OSCOUT pin voltage

range

Differential voltage between V_SA

,

V_{out_diff}

V_LOGIC

OUT1_A, OUT2_A, PGND and V_SB

,

V_SA= V_SB= V_S

48

V

OUT1_B, OUT2_B, PGND pins

Logic inputs voltage range

R.m.s. output current

-0.3 to +5.5

V

A

(1)

I_out

3

(1)

I_{out_peak}

T_OP

Pulsed output current

T_PULSE< 1 ms

7

A

Operating junction temperature

Storage temperature range

Total power dissipation (T_A= 25 ºC)

-40 to 150

-55 to 150

5

°C

W

T_s

(2)

P_tot

1. Maximum output current limit is related to metal connection and bonding characteristics. Actual limit must satisfy maximum

thermal dissipation constraints.

2. HTSSOP28 mounted on EVAL6470H.

Doc ID16737 Rev 5

9/70

Electrical data

L6470

Unit

2.2

Recommended operating conditions

Table 3.

Symbol

Recommended operating conditions

Parameter

Test condition

Value

3.3 V logic outputs

5 V logic outputs

V_SA= V_SB= V_S

3.3

5

V_DD

V_S

Logic interface supply voltage

Motor supply voltage

V

8

45

Differential voltage between

V_SA, OUT1_A, OUT2_A, PGND

and V_SB, OUT1_B, OUT2_B,

PGND pins

V_{out_diff}

V_SA= V_SB= V_S

V

V_REGvoltage imposed

by external source

V_REG,inLogic supply voltage

3.2

0

3.3

V

Integrated ADC input voltage

(ADCIN pin)

V_ADC

V_REG

2.3

Thermal data

Table 4.

Symbol

Thermal data

Parameter

Package

Typ.

Unit

HTSSOP28 ⁽¹⁾

22

12

R_thJA

Thermal resistance junction-ambient

°C/W

POWERSO36 ⁽²⁾

1. HTSSOP28 mounted on EVAL6470H rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface

2

of about 40 cm on each layer and 15 via holes below the IC.

2. POWERSO36 mounted on EVAL6470PD rev 1.0 board: four-layer FR4 PCB with a dissipating copper

2

surface of about 40 cm on each layer and 22 via holes below the IC.

10/70

Doc ID16737 Rev 5

L6470

Electrical characteristics

3

Electrical characteristics

V_SA= V_SB= 36 V; V_DD= 3.3 V; internal 3 V regulator; T_J= 25 °C, unless otherwise

specified.

Table 5.

Symbol

Electrical characteristics

Parameter

Test condition

Min. Typ. Max. Unit

General

V_SthOn

V_SthOff

V_SthHyst

V_SUVLO turn-on threshold

V_SUVLO turn-off threshold

V_SUVLO threshold hysteresis

7.5

6.6

0.7

8.2

7.2

1

8.9

7.8

1.3

V

Internal oscillator selected;

VREG = 3.3 V ext; CP

floating

I_q

Quiescent motor supply current

0.5 0.65 mA

T_j(WRN)

T_j(SD)

Charge pump

Thermal warning temperature

130

160

°C

Thermal shutdown temperature

V_pump

Voltage swing for charge pump oscillator

10

V

Minimum charge pump oscillator frequency

f_pump,min

660

kHz

(1)

Maximum charge pump oscillator frequency

f_pump,max

800

1.1

kHz

(1)

f

_sw,A= f_sw,B= 15.6 kHz

I_boot

Average boot current

1.4 mA

POW_SR = '10'

Output DMOS transistor

T_j= 25 °C, I_out= 3 A

0.37

0.51

0.18

0.23

R_DS(on)

I_DSS

High-side switch on-resistance

T_j= 125 °C, ⁽²⁾I_out= 3 A

Ω

T_j= 25 °C, I_out= 3 A

Low-side switch on-resistance

Leakage current

T_j= 125 °C, ⁽²⁾I_out= 3 A

OUT = V_S

3.1

mA

OUT = GND

-0.3

POW_SR = '00', I_out= +1 A

POW_SR = '00', I_out= -1 A

POW_SR = '11', I_out= 1 A

POW_SR = '10', I_lout= 1 A

POW_SR = '01', I_out= 1 A

100

80

t_r

Rise time ⁽³⁾

100

200

300

ns

Doc ID16737 Rev 5

11/70

Electrical characteristics

L6470

Table 5.

Symbol

Electrical characteristics (continued)

Parameter

Test condition

Min. Typ. Max. Unit

POW_SR = '00'; I_out= +1 A

POW_SR = '00'; I_out= -1 A

POW_SR = '11', I_out= 1 A

POW_SR = '10', I_out= 1 A

POW_SR = '01', I_load= 1 A

POW_SR = '00', I_out= +1 A

POW_SR = '00', I_out= -1 A

POW_SR = '11', I_out= 1 A

POW_SR = '10', I_out= 1 A

POW_SR = '01', I_out= 1 A

POW_SR = '00', I_out= +1 A

POW_SR = '00', I_out= -1 A

POW_SR = '11', I_out= 1 A

POW_SR = '10', I_out= 1 A

POW_SR = '01', I_out= 1 A

90

110

t_f

Fall time ⁽³⁾

110

260

375

285

360

285

150

95

ns

SR_{out_r}

Output rising slew rate

V/µs

320

260

110

75

SR_{out_f}

Output falling slew rate

Deadtime and blanking

POW_SR = '00'

POW_SR = '11',

250

375

f

_OSC= 16 MHz

POW_SR = '10',

_OSC= 16 MHz

POW_SR = '01',

_OSC= 16 MHz

t_DT

Deadtime ⁽¹⁾

ns

625

f

875

250

375

f

POW_SR = '00'

POW_SR = '11',

f

_OSC= 16 MHz

POW_SR = '10',

_OSC= 16 MHz

POW_SR = '01',

_OSC= 16 MHz

t_blank

Blanking time ⁽¹⁾

ns

625

875

f

Source-drain diodes

V_SD,HS

V_SD,LS

t_rrHS

High-side diode forward ON voltage

I_out= 1 A

1

1.1

V

Low-side diode forward ON voltage

High-side diode reverse recovery time

Low-side diode reverse recovery time

30

100

ns

t_rrLS

12/70

Doc ID16737 Rev 5

L6470

Electrical characteristics

Min. Typ. Max. Unit

Table 5.

Symbol

Electrical characteristics (continued)

Parameter

Test condition

Logic inputs and outputs

V_IL

V_IH

I_IH

Low logic level input voltage

0.8

1

V

High logic level input voltage

High logic level input current ⁽⁴⁾

Low logic level input current ⁽⁵⁾

2

V_IN= 5 V

µA

I_IL

V_IN= 0 V

-1

V_DD= 3.3 V, I_OL= 4 mA

V_DD= 5 V, I_OL= 4 mA

V_DD= 3.3 V, I_OH= 4 mA

0.3

V_OL

Low logic level output voltage ⁽⁶⁾

V

2.4

4.7

V_OH

High logic level output voltage

V

V_DD= 5 V,

I

_OH= 4 mA

R_PU

R_PD

CS = GND;

CS pull-up and STBY pull-down resistors

Internal logic supply current

335 430 565

kΩ

STBY/RST = 5 V

3.3 V V_REGexternally

supplied, internal oscillator

I_logic

3.7

2

4.3 mA

3.3 V V_REGexternally

supplied

I_logic,STBYStandby mode internal logic supply current

2.5

2

µA

f_STCK

Step-clock input frequency

MHz

Internal oscillator and external oscillator driver

T_j= 25 °C,

f_osc,i

Internal oscillator frequency

-3% 16

8

+3% MHz

32 MHz

V_REG= 3.3 V

f_osc,e

Programmable external oscillator frequency

Internal oscillator 3.3 V

V_OSCOUTHOSCOUT clock source high level voltage

V_OSCOUTLOSCOUT clock source low level voltage

V_REGexternally supplied;

2.4

V

I

_OSCOUT= 4 mA

Internal oscillator 3.3 V

V_REGexternally supplied;

0.3

20

V

I

_OSCOUT= 4 mA

t_rOSCOUT

OSCOUT clock source rise and fall time

t_fOSCOUT

Internal oscillator

ns

t_extosc

t_intosc

SPI

Internal to external oscillator switching delay

External to internal oscillator switching delay

3

ms

µs

1.5

f_CK,MAX

Maximum SPI clock frequency ⁽⁷⁾

SPI clock rise and fall time ⁽⁷⁾

5

MHz

ns

t_rCK

t_fCK

t_hCK

t_lCK

C_L= 30 pF

25

SPI clock high and low time ⁽⁷⁾

Chip select setup time ⁽⁷⁾

75

ns

t_setCS

350

Doc ID16737 Rev 5

13/70

Electrical characteristics

L6470

Table 5.

Symbol

Electrical characteristics (continued)

Parameter

Chip select hold time ⁽⁷⁾

Test condition

Min. Typ. Max. Unit

t_holCS

t_disCS

10

800

25

ns

Deselect time ⁽⁷⁾

t_setSDI

t_holSDI

t_enSDO

t_disSDO

t_vSDO

Data input setup time ⁽⁷⁾

Data input hold time ⁽⁷⁾

Data output enable time ⁽⁷⁾

Data output disable time ⁽⁷⁾

Data output valid time ⁽⁷⁾

Data output hold time ⁽⁷⁾

20

38

47

57

t_holSDO

37

60

Switch input (SW)

R_PUSW

SW input pull-up resistance

SW = GND

85

110

kΩ

PWM modulators

f_osc= 16 MHz

f_osc= 32 MHz

2.8

5.6

62.5

125

f_PWM

Programmable PWM frequency ⁽¹⁾

PWM resolution

kHz

bit

N_PWM

8

4

Stall detection

I

Maximum programmable stall threshold

STALL_TH = '1111111'

STALL_TH = '0000000'

A

STALL,MAX

31.2

5

I

Minimum programmable stall threshold

Programmable stall threshold resolution

mA

STALL,MIN

31.2

5

I

mA

STALL,RES

Overcurrent protection

Maximum programmable overcurrent

detection threshold

I_OCD,MAX

I_OCD,MIN

I_OCD,RES

OCD_TH = '1111'

OCD_TH = '0000'

6

A

Minimum programmable overcurrent

detection threshold

0.37

5

Programmable overcurrent detection

threshold resolution

0.37

5

t_OCD,FlagOCD to flag signal delay time

dI_out/dt = 350 A/µs

650 1000 ns

dI_out/dt = 350 A/µs

POW_SR = '10'

t_OCD,SD

OCD to shutdown delay time

600

ns

Standby

V_S= 8 V

26

30

10

38

34

36

Quiescent motor supply current in standby

conditions

I_qSTBY

µA

V_S= 36 V

t_STBY,minMinimum standby time

t_logicwuLogic power-on and wake-up time

μs

45

µs

14/70

Doc ID16737 Rev 5

L6470

Electrical characteristics

Min. Typ. Max. Unit

Table 5.

Symbol

Electrical characteristics (continued)

Parameter

Test condition

Power bridges disabled,

t_cpwu

Charge pump power-on and wake-up time

650

μs

C_p= 10 nF, C_boot= 220 nF

Internal voltage regulator

V_REGVoltage regulator output voltage

I_REGVoltage regulator output current

2.9

3

3.2

40

V

mA

mV

mA

V_{REG, drop}Voltage regulator output voltage drop

I_REG,STBYVoltage regulator standby output current

I_REG= 40 mA

50

10

Integrated analog-to-digital converter

N_ADC

Analog-to-digital converter resolution

5

bit

V

V_RE

V_ADC,ref

Analog-to-digital converter reference voltage

G

Analog-to-digital converter sampling

frequency

f_S

f_PWM

kHz

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 values in order to evaluate the actual rise and fall

out

time.

4. Not valid for STBY/RST pin which has internal pull-down resistor.

5. Not valid for SW and CS pins which have internal pull-up resistors.

6. FLAG, BUSY and SYNC open drain outputs included.

7. See Figure 18 – SPI timings diagram for details.

Doc ID16737 Rev 5

15/70

Pin connection

L6470

4

Pin connection

Figure 2.

HTSSOP28 pin connection (top view)

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ꢁꢅ

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63!

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3$/

6$$

63"

0'.$

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63"

/54ꢁ"

!-ꢀꢁꢂꢃꢄVꢅ

Figure 3.

POWERSO36 pin connection (top view)

1(/%

065ꢀ"

74"

ꢀ

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ꢆꢄ

ꢆꢅ

ꢆꢆ

ꢆꢇ

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065ꢂ"

74"

ꢇ

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74"

ꢄ

45$,

'-"(

$4

45#:ꢁ345

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73&(

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%(/%

4%*

ꢁ

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04$*/

04$065

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$1

ꢀꢈ

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ꢀꢁ

$,

4%0

7%%

7#005

74#

065ꢂ#

1(/%

065ꢀ#

16/70

Doc ID16737 Rev 5

L6470

Pin connection

4.1

Pin list

Table 6.

Pin description

No.

HTSSOP POWERSO

Name

Type

Function

17

6

24

9

VDD

Power

Logic outputs supply voltage (pull-up reference)

Internal 3 V voltage regulator output and 3.3 V

external logic supply

VREG

Oscillator pin 1. To connect an external oscillator or

clock source. If this pin is unused, it should be left

floating.

7

8

10

11

OSCIN

Analog input

Oscillator pin 2. To connect an external oscillator.

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.

OSCOUT Analog output

10

11

13

CP

Output

Charge pump oscillator output

Bootstrap voltage needed for driving the high-side

power DMOS of both bridges (A and B)

14

8

VBOOT

ADCIN

VSA

Supply voltage

Analog input

Power supply

5

Internal analog-to-digital converter input

Full-bridge A power supply pin. It must be connected

to VSB.

2, 26

4, 5, 33, 34

Full-bridge B power supply pin. It must be connected

to VSA.

12, 16 15, 16, 22, 23

VSB

Power supply

27, 13

1

1, 19

2, 3

PGND

OUT1A

OUT2A

OUT1B

OUT2B

AGND

Ground

Power ground pin

Power output

Ground

Full-bridge A output 1

Full-bridge A output 2

Full-bridge B output 1

Full-bridge B output 2

Analog ground.

28

14

15

9

35, 36

17, 18

20, 21

12

External switch input pin. If not used the pin should be

connected to VDD.

4

7

SW

Logical input

Ground

21

28

DGND

Digital ground

By default, this BUSY pin is forced low when the

device is performing a command. Otherwise the pin

can be configured to generate a synchronization

signal.

22

29

BUSY\SYNC Open drain output

18

20

19

23

25

27

26

30

SDO

SDI

CK

Logic output

Logic input

Data output pin for serial interface

Data input pin for serial interface

Serial interface clock

CS

Chip select input pin for serial interface

Doc ID16737 Rev 5

17/70

Pin connection

L6470

Table 6.

Pin description (continued)

No.

Name

Type

Function

HTSSOP POWERSO

Status flag pin. An internal open drain transistor can

pull the pin to GND when a programmed alarm

24

3

31

6

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 resets the

logic and puts the device into Standby mode. If not

used, it should be connected to VDD.

STBY\RST Logic input

25

32

STCK

Logic input

Step-clock input

EPAD

Exposed pad Ground

Internally connected to PGND, AGND and DGND pins

18/70

Doc ID16737 Rev 5

L6470

Typical applications

5

Typical applications

Table 7.

Typical application values

Name

Value

C_VS

C_VSPOL

C_REG

C_REGPOL

C_DD

220 nF

100 µF

100 nF

47 µF

100 nF

C_DDPOL

D1

10 µF

Charge pump diodes

220 nF

C_BOOT

C_FLY

10 nF

R_PU

39 kΩ

R_SW

100 Ω

C_SW

10 nF

R_A

2.7 kΩ (VS = 36 V)

62 kΩ (VS = 36 V)

R_B

Doc ID16737 Rev 5

19/70

Typical applications

Figure 4.

L6470

Bipolar stepper motor control application using L6470

20/70

Doc ID16737 Rev 5

L6470

Functional description

6

Functional description

6.1

Device power-up

At power-up end, the device state is the following:

●

Registers are set to default

●

Internal logic is driven by internal oscillator and a 2 MHz clock is provided by the

OSCOUT pin

●

Bridges are disabled (High Z)

UVLO bit in the STATUS register is forced low (fail condition)

FLAG output is forced low.

During power-up, the device is under reset (all logic IOs disabled and power bridges in high

impedance state) until the following conditions are satisfied:

●

V_Sis greater than V_SthOn

V_REGis greater than V_REGth= 2.8 V typical

Internal oscillator is operative.

Any motion 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\RST are TTL/CMOS 3.3 V - 5 V compatible logic

inputs.

Pin SDO is a TTL/CMOS compatible logic output. VDD pin voltage sets the logic output pin

voltage range; when it is connected to VREG or 3.3 V external supply voltage, the output is

3.3 V compatible. When VDD is connected to a 5 V supply voltage, SDO is 5 V compatible.

VDD is not internally connected to V_REG, an external connection is always needed.

A 10 µF capacitor should be connected to the VDD pin in order to obtain a proper operation.

Pins FLAG and BUSY\SYNC are open drain outputs.

6.3

Charge pump

To ensure the correct driving of the high-side integrated MOSFETs, a voltage higher than

the motor power supply voltage needs to be applied to the VBOOT pin. The high-side gate

driver supply voltage, V_boot, is obtained through an oscillator and a few external components

realizing a charge pump (see Figure 5).

Doc ID16737 Rev 5

21/70

Functional description

Figure 5.

L6470

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 (see Table 18).

Step mode can only be 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 (see Section 6.5)

becomes meaningless.

Figure 6.

Normal mode and microstepping (128 microsteps)

.ORMAL DRIVING

-ICROSTEPPING

2ESET

POSITION

2ESET

POSITION

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22/70

Doc ID16737 Rev 5

L6470

Functional description

6.4.1

Automatic full-step mode

When motor speed is greater than a programmable full-step speed threshold, the L6470

switches automatically to Full-step mode (see Figure 7); the driving mode returns to

microstepping when motor speed decreases below the full-step speed threshold. The full-

step speed threshold is set through the FS_SPD register (see Section 9.1.9).

Figure 7.

Automatic full-step switching

I_peak

sin(π/4) x I_peak

Phase A

Phase B

Full-Step

μStepping

(2N+1) x π/4

6.5

6.6

Absolute position counter

An internal 22-bit register (ABS_POS) records the motor motion 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 -2²¹to +2²¹-1 (µ)steps (see Section 9.1.1).

Programmable speed profiles

The user can easily program a customized speed profile defining independently

acceleration, deceleration, maximum and minimum speed values by the 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/tick²and 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^-40to (2¹²-2)•2^-40step/tick²

(equivalent to 14.55 to 59590 step/s²).

The minimum speed parameter ranges from 0 to (2¹²-¹)•2^-24step/tick (equivalent to 0 to

976.3 step/s).

The maximum speed parameter ranges from 2^-18to (2¹⁰-1)• 2^-18step/tick (equivalent to

15.25 to 15610 step/s).

Doc ID16737 Rev 5

23/70

Functional description

L6470

6.6.1

Infinite acceleration/deceleration mode

When the ACC register value is set to max. (0xFFF), the system works in “infinite

acceleration mode”: acceleration and deceleration phases are totally skipped, as shown in

Figure 8.

It is not possible to skip the acceleration or deceleration phase independently.

Figure 8.

Speed profile in infinite acceleration/deceleration mode

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6.7

Motor control commands

The L6470 can accept different types of commands:

●

constant speed commands (Run, GoUntil, ReleaseSW)

absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark)

motion commands (Move)

stop commands (SoftStop, HardStop, SoftHiz, HardHiz).

For detailed command descriptions refer to Section 9.2 on page 55.

6.7.1

Constant speed commands

A constant speed command produces a motion in order to reach and maintain a user-

defined target speed starting from the programmed minimum speed (set in the MIN_SPEED

register) and with the programmed acceleration/deceleration value (set in the ACC and DEC

registers). A new constant speed command can be requested anytime.

24/70

Doc ID16737 Rev 5

L6470

Functional description

Figure 9.

Constant speed command examples

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6.7.2

Positioning commands

An absolute positioning command produces a motion in order to reach a user-defined

position that is sent to the device together with the command. The position can be reached

performing the minimum path (minimum physical distance) or forcing a direction (see

Figure 10).

The performed motor motion is compliant to programmed speed profile boundaries

(acceleration, deceleration, minimum and maximum speed).

Note that with some speed profiles or positioning commands, the deceleration phase can

start before the maximum speed is reached.

Figure 10. Positioning command examples

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6.7.3

Motion commands

Motion commands produce a motion in order to perform a user-defined number of

microsteps in a user-defined direction that are sent to the device together with the command

(see Figure 11).

Doc ID16737 Rev 5

25/70

Functional description

L6470

The performed motor motion is compliant to programmed speed profile boundaries

(acceleration, deceleration, minimum and maximum speed).

Note that with some speed profiles or motion commands, the deceleration phase can start

before the maximum speed is reached.

Figure 11. Motion command examples

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6.7.4

Stop commands

A stop command forces the motor to stop. Stop commands can be sent anytime.

The SoftStop command causes the motor to decelerate with programmed deceleration

value until the MIN_SPEED value is reached and then stops the motor keeping the rotor

position (a holding torque is applied).

The HardStop command stops the motor instantly, ignoring deceleration constraints and

keeping the rotor position (a holding torque is applied).

The SoftHiZ command causes the motor to decelerate with programmed deceleration value

until the MIN_SPEED value is reached and then forces the bridges in high impedance state

(no holding torque is present).

The HardHiZ command instantly forces the bridges into high impedance state (no holding

torque is present).

6.7.5

6.7.6

Step-clock mode

In Step-clock mode the motor motion is defined by the step-clock signal applied to the STCK

pin. At each step-clock rising edge, the motor is moved one microstep in the programmed

direction and the absolute position is consequently updated.

When the system is in Step-clock mode, the SCK_MOD flag in the STATUS register is

raised, the SPEED register is set to zero and motor status is considered stopped whatever

the STCK signal frequency (MOT_STATUS parameter in STATUS register equal to “00”).

GoUntil and ReleaseSW commands

In most applications the power-up position of the stepper motor is undefined, so an

initialization algorithm driving the motor to a known position is necessary.

The GoUntil and ReleaseSW commands can be used in combination with external switch

input (see Section 6.13) to easily initialize the motor position.

26/70

Doc ID16737 Rev 5

L6470

Functional description

The GoUntil command makes the motor run at the constant target speed until the SW input

is forced low (falling edge). When this event occurs, one of the following actions can be

performed:

●

The ABS_POS register is set to zero (home position) and the motor decelerates to zero

speed (as a SoftStop command)

●

The ABS_POS register value is stored in the MARK register and the motor decelerates

to zero speed (as a SoftStop command).

If the SW_MODE bit of the CONFIG register is set to ‘0’, the motor does not decelerate but

it immediately stops (as a HardStop command).

The ReleaseSW command makes the motor run at the programmed minimum speed until

the SW input is forced high (rising edge). When this event occurs, one of the following

actions can be performed:

●

The ABS_POS register is set to zero (home position) and the motor immediately stops

(as a HardStop command)

●

The ABS_POS register value is stored in the MARK register and the motor immediately

stops (as a HardStop command).

If the programmed minimum speed is less than 5 step/s, the motor is driven at 5 step/s.

6.8

Internal oscillator and oscillator driver

The control logic clock can be supplied by the internal 16-MHz oscillator, an external

oscillator (crystal or ceramic resonator) or a direct clock signal.

These working modes can be selected by EXT_CLK and OSC_SEL parameters in the

CONFIG register (see Table 23).

At power-up the device starts using the internal oscillator and provides a 2-MHz clock signal

on the OSCOUT pin.

Attention: In any case, before changing clock source configuration, a

hardware reset is mandatory. Switching to different clock

configurations during operation may cause unexpected

behavior.

6.8.1

6.8.2

Internal oscillator

In this mode the internal oscillator is activated and OSCIN is unused. If the OSCOUT clock

source is enabled, the OSCOUT pin provides a 2, 4, 8 or 16-MHz clock signal (according to

OSC_SEL value); it is otherwise unused (see Figure 12).

External clock source

Two types of external clock source can be selected: crystal/ceramic resonator or direct clock

source. Four programmable clock frequencies are available for each external clock source:

8, 16, 24 and 32 MHz.

When an external crystal/resonator is selected, the OSCIN and OSCOUT pins are used to

drive the crystal/resonator (see Figure 12). The crystal/resonator and load capacitors (C_L)

Doc ID16737 Rev 5

27/70

Functional description

L6470

must be placed as close as possible to the pins. Refer to Table 8 for the choice of load

capacitor values according to the external oscillator frequency.

Table 8.

CL values according to external oscillator frequency

(2)

Crystal/resonator freq. ⁽¹⁾

C_L

8 MHz

16 MHz

24 MHz

32 MHz

25 pF (ESR_max= 80 Ω)

18 pF (ESR_max= 50 Ω)

15 pF (ESR_max= 40 Ω)

10 pF (ESR_max= 40 Ω)

1. First harmonic resonance frequency.

2. Lower ESR value allows the driving of greater load capacitors.

If a direct clock source is used, it must be connected to the OSCIN pin and the OSCOUT pin

supplies the inverted OSCIN signal (see Figure 12).

Figure 12. OSCIN and OSCOUT pin configuration

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Note:

When OSCIN is UNUSED, it should be left floating.

When OSCOUT is UNUSED, it should be left floating.

6.9

Overcurrent detection

When the current in any of the Power MOSFETs exceeds a programmed overcurrent

threshold, the STATUS register OCD flag is forced low until the overcurrent event has

28/70

Doc ID16737 Rev 5

L6470

Functional description

expired and a GetStatus command is sent to the IC (see Section 9.1.22 and 9.1.17). The

overcurrent event expires when all the Power MOSFET currents fall below the programmed

overcurrent threshold.

The overcurrent threshold can be programmed through the OCD_TH register in one of 16

available values ranging from 375 mA to 6 A with steps of 375 mA (see Table 9,

Section 9.1.17).

It is possible to set whether an overcurrent event causes or not the MOSFET turn-off

(bridges in high impedance status) acting on the OC_SD bit in the CONFIG register (see

Section 9.1.21). The OCD flag in the STATUS register is raised anyway (see Table 34,

Section 9.1.22).

When the IC outputs are turned off by an OCD event, they cannot be turned on until the

OCD flag is released by a GetStatus command.

Attention: The overcurrent shutdown is a critical protection feature. It is

not recommended to disable it.

6.10

6.11

Undervoltage lockout (UVLO)

The L6470 provides a motor supply UVLO protection. When the motor supply voltage falls

below the V_SthOffthreshold voltage, the STATUS register UVLO flag is forced low. When a

GetStatus command is sent to the IC, and the undervoltage condition has expired, the

UVLO flag is released (see Section 9.1.22 and 9.2.20). The undervoltage condition expires

when the motor supply voltage goes over the V_SthOnthreshold voltage. When the device is

in undervoltage condition, no motion command can be performed. The UVLO flag is forced

low by logic reset (power-up included) even if no UVLO condition is present.

Thermal warning and thermal shutdown

An internal sensor allows the L6470 to detect when the device internal temperature exceeds

a thermal warning or an overtemperature threshold.

When the thermal warning threshold (T_j(WRN)) is reached, the TH_WRN bit in the STATUS

register is forced low (see Section 9.1.22) until the temperature decreases below T_j(WRN)

and a GetStatus command is sent to the IC (see Section 9.1.22 and 9.2.20).

When the thermal shutdown threshold (T_j(OFF)) is reached, the device goes into thermal

shutdown condition: the TH_SD bit in the STATUS register is forced low, the power bridges

are disabled bridges in high impedance state and the HiZ bit in the STATUS register is

raised (see Section 9.1.22).

The thermal shutdown condition only expires when the temperature goes below the thermal

warning threshold (T_j(WRN)).

On exiting thermal shutdown condition, the bridges are still disabled (HiZ flag high); any

motion command makes the device exit from High Z state (HardStop and SoftStop

included).

Doc ID16737 Rev 5

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Functional description

L6470

6.12

Reset and standby

The device can be reset and put into Standby mode through a dedicated pin. When the

STBY\RST pin is driven low, the bridges are left open (High Z state), the internal charge

pump is stopped, the SPI interface and control logic are disabled and the internal 3 V

voltage regulator maximum output current is reduced to I_REG,STBY; as a result, the L6470

heavily reduces the power consumption. At the same time the register values are reset to

default and all protection functions are disabled. STBY\RST input must be forced low at

least for t_STBY,minin order to ensure the complete switch to Standby mode.

On exiting Standby mode, as well as for IC power-up, a delay of up to t_logicwumust be given

before applying a new command to allow proper oscillator and logic startup and a delay of

up to t_cpwumust be given to allow the charge pump startup.

On exiting Standby mode, the bridges are disabled (HiZ flag high) and any motion command

makes the device exit High Z state (HardStop and SoftStop included).

Attention: It is not recommended to reset the device when outputs are

active. The device should be switched to high impedance

state before being reset.

6.13

External switch (SW pin)

The SW input is internally pulled up to V_DDand detects if the pin is open or connected to

ground (see Figure 13).

The SW_F bit of the STATUS register indicates if the switch is open (‘0’) or closed (‘1’) (see

Section 9.1.22); the bit value is refreshed at every system clock cycle (125 ns). The

SW_EVN flag of the STATUS register is raised when a switch turn-on event (SW input falling

edge) is detected (see Section 9.1.22). A GetStatus command releases the SW_EVN flag

(see Section 9.2.20).

By default, a switch turn-on event causes a HardStop interrupt (SW_MODE bit of CONFIG

register set to ‘0’). Otherwise (SW_MODE bit of CONFIG register set to ‘1’), switch input

events do not cause interrupts and the switch status information is at the user’s disposal

(see Table 34, Section 9.1.22).

The switch input may be used by the GoUntil and ReleaseSW commands as described in

Section 9.2.10 and 9.2.11.

If the SW input is not used, it should be connected to VDD.

30/70

Doc ID16737 Rev 5

L6470

Functional description

Figure 13. External switch connection

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37

!-ꢀꢁꢂꢄꢊVꢅ

6.14

6.15

Programmable DMOS slew rate, deadtime and blanking time

Using the POW_SR parameter in the CONFIG register, it is possible to set the commutation

speed of the power bridges output (see Table 26, Section 9.1.21).

Integrated analog-to-digital converter

The L6470 integrates an N_ADCbit ramp-compare analog-to-digital converter with a

reference voltage equal to VREG. The analog-to-digital converter input is available through

the ADCIN pin and the conversion result is available in the ADC_OUT register (see

Section 9.1.16).

Sampling frequency is equal to the programmed PWM frequency.

The ADC_OUT value can be used for motor supply voltage compensation or can be at the

user’s disposal.

6.16

Internal voltage regulator

The L6470 integrates a voltage regulator which generates a 3 V voltage starting from the

motor power supply (VSA and VSB). In order to make the voltage regulator stable, at least

22 µF should be connected between the VREG pin and ground (suggested value is 47 µF).

The internal voltage regulator can be used to supply the VDD pin in order to make the

device digital output range 3.3 V compatible (Figure 14). A digital output range, 5 V

compatible, may be obtained connecting the VDD pin to an external 5 V voltage source. In

both cases, a 10 µF capacitance should be connected to the VDD pin in order to obtain a

correct operation.

The internal voltage regulator is able to supply a current up to I_REG,MAX, internal logic

consumption included (I_logic). When the device is in Standby mode, the maximum current

that can be supplied is I_REG, _STBY, internal consumption included (I_logic, _STBY).

If an external 3.3 V regulated voltage is available, it can be applied to the VREG pin in order

to supply all the internal logic and to avoid power dissipation of the internal 3 V voltage

regulator (Figure 14). The external voltage regulator should never sink current from the

VREG pin.

Doc ID16737 Rev 5

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Functional description

Figure 14. Internal 3 V linear regulator

L6470

V

BAT

Vs

3V

3.3V

REG.

V

DD

VREG

VDD

V

SA

V

SB

V

REG

V

DD

V

SA

V

SB

μC

IC

DGND

AGND

DGND

AGND

Logig supplied by

INTERNAL voltage regulator

Logig supplied by

EXTERNAL voltage regulator

6.17

BUSY\SYNC pin

This pin is an open drain output which can be used as the busy flag or synchronization

signal according to the SYNC_EN bit value (STEP_MODE register).

6.17.1

BUSY operation mode

The pin works as busy signal when the SYNC_EN bit is set low (default condition). In this

mode the output is forced low while a constant speed, absolute positioning or motion

command is under execution. The BUSY pin is released when the command has been

executed (target speed or target position reached). The STATUS register includes a BUSY

flag that is the BUSY pin mirror (see Section 9.1.22).

In the case of daisy chain configuration, BUSY pins of different ICs can be hard-wired to

save host controller GPIOs.

6.17.2

SYNC operation mode

The pin works as synchronization signal when the SYNC_EN bit is set high. In this mode a

step-clock signal is provided on the output according to a SYNC_SEL and STEP_SEL

parameter combination (see Section 9.1.19).

32/70

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L6470

Functional description

6.18

FLAG pin

By default, an internal open drain transistor pulls the FLAG pin to ground when at least one

of the following conditions occurs:

●

Power-up or standby/reset exit

Stall detection on A bridge

Stall detection on B bridge

Overcurrent detection

Thermal warning

Thermal shutdown

UVLO

Switch turn-on event

Wrong command

Non-performable command.

It is possible to mask one or more alarm conditions by programming the ALARM_EN

register (see Section 9.1.20, Table 21). If the corresponding bit of the ALARM_EN register is

low, the alarm condition is masked and it does not cause a FLAG pin transition; all other

actions imposed by alarm conditions are performed anyway. In the case of daisy chain

configuration, FLAG pins of different ICs can be or-wired to save host controller GPIOs.

Doc ID16737 Rev 5

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Phase current control

L6470

7

Phase current control

The L6470 controls the phase current applying a sinusoidal voltage to motor windings.

Phase current amplitude is not directly controlled but depends on phase voltage amplitude,

load torque, motor electrical characteristics and rotation speed. Sinewave amplitude is

proportional to the motor supply voltage multiplied by a coefficient (K_VAL). K_VALranges from

0 to 100% and the sinewave amplitude can be obtained through the following formula:

Equation 1

V_OUT= V_S⋅ K_VAL

Different K_VALvalues can be programmed for acceleration, deceleration and constant speed

phases and when the motor is stopped (HOLD phase) through the KVAL_ACC, KVAL_DEC,

KVAL_RUN and KVAL_HOLD registers (see Section 9.1.10). KVAL value is calculated

according to the following formula:

Equation 2

K_VAL= [(K_{VAL_X}+ BEMF_COMP) × VSCOMP × K_THERM] × microstep

where K_{VAL_X}is the starting K_VALvalue programmed for present motion phase (KVAL_ACC,

KVAL_DEC, KVAL_RUN or KVAL_HOLD), BEMF_COMP is the BEMF compensation curve

value, VSCOMP and K_THERM are the motor supply voltage and winding resistance

compensation factors and microstep is the current microstep value (fraction of target peak

current).

The L6470 offers various methods to guarantee a stable current value, allowing the

compensation of:

●

low speed optimization (Section 7.3 7.3)

back electromotive force value (Section 7.4 7.4)

motor supply voltage variation (Section 7.5 7.5)

windings resistance variation (Section 7.67.6).

7.1

PWM sinewave generators

The two voltage sinewaves applied to the stepper motor phases are generated by two PWM

modulators.

The PWM frequency (f_PWM) is proportional to the oscillator frequency (f_OSC) and can be

obtained through the following formula:

Equation 3

f_OSC

---------------------

⋅ m

f_PWM

=

512 ⋅ N

'N' is the integer division factor and 'm' is the multiplication factor. 'N' and 'm' values can be

programmed by the F_PWM_INT and F_PWM_DEC parameters in the CONFIG register

(see Table 28 and Table 29, Section 9.1.21).

Available PWM frequencies are listed in Section 9.1.21 from Table 30 to Table 33.

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Phase current control

7.2

Sensorless stall detection

Depending on motor speed and load angle characteristics, the L6470 offers a motor stall

condition detection using a programmable current comparator.

When a stall event occurs, the respective flag (STEP_LOSS_A or STEP_LOSS_B) is forced

low until a GetStaus command or a system reset occurs (see Section 9.2.20).

7.3

Low speed optimization

When the motor is driven at a very low speed using a small driving voltage, the resulting

phase current can be distorted. As a consequence, the motor position is different from the

ideal one (see Figure 15).

The L6470 implements a low speed optimization in order to remove this effect.

Figure 15. Current distortion and compensation

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The optimization can be enabled setting high the LSPD_OPT bit in the MIN_SPEED register

(see Section 9.1.8) and is active in a speed range from zero to MIN_SPEED. When low

speed optimization is enabled, speed profile minimum speed is forced to zero.

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Phase current control

L6470

7.4

BEMF compensation

Using the speed information, a compensation curve is added to the amplitude of the voltage

waveform applied to the motor winding in order to compensate the BEMF variations during

acceleration and deceleration (see Figure 16).

The compensation curve is approximated by a stacked line with a starting slope (ST_SLP)

when speed is lower than a programmable threshold speed (INT_SPEED) and a fine slope

(FN_SLP_ACC and FN_SLP_DEC) when speed is greater than the threshold speed (see

Section 9.1.11, Section 9.1.12, Section 9.1.13 and Section 9.1.14).

Figure 16. BEMF compensation curve

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To obtain different current values during acceleration and deceleration phases, two different

final slope values, and consequently two different compensation curves, can be

programmed.

The acceleration compensation curve is applied when the motor runs. No BEMF

compensation is applied when the motor is stopped.

7.5

Motor supply voltage compensation

The sinewave amplitude generated by the PWM modulators is directly proportional to the

motor supply voltage (V_S). When the motor supply voltage is different from its nominal value,

the motor phases are driven with an incorrect voltage. The L6470 can compensate motor

supply voltage variations in order to avoid this effect.

The motor supply voltage should be connected to the integrated ADC input through a

resistor divider in order to obtain V_REG/2 voltage at the ADCIN pin when V_Sis at its nominal

value (see Figure 17).

The ADC input is sampled at f_Sfrequency, which is equal to PWM frequency.

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Phase current control

Figure 17. Motor supply voltage compensation circuit

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Motor supply voltage compensation can be enabled setting high the EN_VSCOMP bit of the

CONFIG register (see Table 22, Section 9.1.21). If the EN_VSCOMP bit is low, the

compensation is disabled and the internal analog-to-digital converter is at the user’s

disposal; sampling rate is always equal to PWM frequency.

7.6

Winding resistance thermal drift compensation

The higher the winding resistance, the greater the voltage to be applied in order to obtain

the same phase current.

The L6470 integrates a register (K_THERM) which can be used to compensate phase

resistance increment due to temperature rising.

The value in the K_THERM register (see Section 9.1.15) multiplies the duty cycle value

allowing a higher phase resistance value to be faced.

The compensation algorithm and the eventual motor temperature measurement should be

implemented by microcontroller firmware.

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Serial interface

L6470

8

Serial interface

The integrated 8-bit serial peripheral interface (SPI) is used for a synchronous serial

communication between the host microprocessor (always master) and the L6470 (always

slave).

The SPI uses chip select (CS), serial clock (CK), serial data input (SDI) and serial data

output (SDO) pins. When CS is high, the device is unselected and the SDO line is inactive

(high-impedance).

The communication starts when CS is forced low. The CK line is used for synchronization of

data communication.

All commands and data bytes are shifted into the device through the SDI input, most

significant bit first. The SDI is sampled on the rising edges of the CK.

All output data bytes are shifted out of the device through the SDO output, most significant

bit first. The SDO is latched on the falling edges of the CK. When a return value from the

device is not available, an all zero byte is sent.

After each byte transmission the CS input must be raised and be kept high for at least t_disCS

in order to allow the device to decode the received command and put the return value into

the SHIFT register.

All timing requirements are shown in Figure 18 (see Section 3: Electrical characteristics for

values).

Multiple devices can be connected in daisy chain configuration, as shown in Figure 19.

Figure 18. SPI timings diagram

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L6470

Serial interface

Figure 19. Daisy chain configuration

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Programming manual

L6470

9

Programming manual

9.1

Registers and flags description

The following is a map of the user registers available (detailed description in respective

paragraphs):

Table 9.

Register map

Address

[Hex]

Reset

Hex

Reset

value

Len.

[bit]

Register name

Register function

Remarks ⁽¹⁾

h01

h02

h03

h04

ABS_POS

EL_POS

MARK

Current position

Electrical position

Mark position

22 000000

000

22 000000

0

R, WS

R, WR

R

9

SPEED

Current speed

20

12

00000 0 step/tick (0 step/s)

125.5e-12 step/tick²(2008

h05

h06

ACC

DEC

Acceleration

Deceleration

08A

R, WS

step/s²)

125.5e-12 step/tick²(2008

12

08A

step/s²)

h07

h08

MAX_SPEED Maximum speed

MIN_SPEED Minimum speed

10

13

041

000

248e-6 step/tick (991.8 step/s)

0 step/tick (0 step/s)

R, WR

R, WS

150.7e-6 step/tick (602.7

step/s)

h15

FS_SPD

Full-step speed

10

027

R, WR

h09

h0A

KVAL_HOLD Holding K_VAL

8

29

0.16·VS

R, WR

KVAL_RUN

KVAL_ACC

Constant speed K_VAL

Acceleration starting

K_VAL

h0B

h0C

8

29

0.16·VS

R, WR

Deceleration starting

K_VAL

KVAL_DEC

h0D

h0E

INT_SPEED Intersect speed

14

8

0408

19

15.4e-6 step/tick (61.5 step/s)

0.038% s/step

R, WH

ST_SLP

Start slope

Acceleration final

slope

h0F

h10

h11

FN_SLP_ACC

8

4

29

0

0.063% s/step

1.0

R, WH

R, WR

Deceleration final

slope

FN_SLP_DEC

K_THERM

Thermal

compensation factor

h12

h13

h14

h16

h17

ADC_OUT

OCD_TH

ADC output

5

4

7

8

XX ⁽²⁾

8

R

OCD threshold

STALL threshold

3.38A

R, WR

R, WH

R, WS

STALL_TH

40

7

2.03A

STEP_MODE Step mode

ALARM_EN Alarm enable

128 microsteps

All alarms enabled

FF

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Programming manual

Remarks ⁽¹⁾

Table 9.

Register map (continued)

Address

[Hex]

Reset

Hex

Reset

value

Len.

[bit]

Register name

Register function

Internal oscillator, 2 MHz

OSCOUT clock, supply voltage

compensation disabled,

overcurrent shutdown enabled,

slew rate = 290 V/µs PWM

frequency = 15.6 kHz.

h18

CONFIG

STATUS

IC configuration

Status

16

2E88

R, WH

High impedance state,

UVLO/Reset flag set.

h19

16 XXXX ⁽²⁾

R

h1A

h1B

RESERVED Reserved address

1. R: readable, WH: writable only when outputs are in high impedance, WS: writable only when motor is stopped, WR: always

writable.

2. According to startup conditions.

9.1.1

ABS_POS

The ABS_POS register contains the current motor absolute position in agreement with the

selected step mode; the stored value unit is equal to the selected step mode (full, half,

quarter, etc.). The value is in 2's complement format and it ranges from -2²¹to +2²¹-1.

At power-on the register is initialized to “0” (HOME position).

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.2

EL_POS

The EL_POS register contains the current electrical position of the motor. The two MSbits

indicate the current step and the other bits indicate the current microstep (expressed in

step/128) within the step.

Table 10. EL_POS register

Bit 8

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

STEP

MICROSTEP

When the EL_POS register is written by the user, the new electrical position is instantly

imposed. When the EL_POS register is written, its value must be masked in order to match

with the step mode selected in the STEP_MODE register in order to avoid a wrong

microstep value generation (see Section 9.1.19); otherwise the resulting microstep

sequence is incorrect.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

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Programming manual

L6470

9.1.3

MARK

The MARK register contains an absolute position called MARK according to the selected

step mode; the stored value unit is equal to the selected step mode (full, half, quarter, etc.).

It is in 2's complement format and it ranges from -2²¹to +2²¹-1.

9.1.4

SPEED

The SPEED register contains the current motor speed, expressed in step/tick (format

unsigned fixed point 0.28).

In order to convert the SPEED value in step/s, the following formula can be used:

Equation 4

SPEED ⋅ 2^–28

[step/s] = ---------------------------------------

tick

where SPEED is the integer number stored in the register and tick is 250 ns.

The available range is from 0 to 15625 step/s with a resolution of 0.015 step/s.

The range effectively available to the user is limited by the MAX_SPEED parameter.

Note:

Any attempt to write the register causes the command to be ignored and the

NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.5

ACC

The ACC register contains the speed profile acceleration expressed in step/tick²(format

unsigned fixed point 0.40).

In order to convert ACC value in step/s², the following formula can be used:

Equation 5

ACC ⋅ 2^–40

[step/s²] = -------------------------------

tick²

where ACC is the integer number stored in the register and tick is 250 ns.

The available range is from 14.55 to 59590 step/s²with a resolution of 14.55 step/s².

When the ACC value is set to 0xFFF, the device works in infinite acceleration mode.

Any attempt to write to the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.6

DEC

The DEC register contains the speed profile deceleration expressed in step/tick²(format

unsigned fixed point 0.40).

In order to convert DEC value in step/s², the following formula can be used:

Equation 6

DEC ⋅ 2^–40

2

[step/s ] = -------------------------------

tick²

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Programming manual

where DEC is the integer number stored in the register and tick is 250 ns.

The available range is from 14.55 to 59590 step/s2 with a resolution of 14.55 step/s2.

When the device is working in infinite acceleration mode, this value is ignored.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.7

MAX_SPEED

The MAX_SPEED register contains the speed profile maximum speed expressed in

step/tick (format unsigned fixed point 0.18).

In order to convert it in step/s, the following formula can be used:

Equation 7

MAX_SPEED ⋅ 2^–18

[step/s] = -------------------------------------------------------

tick

where MAX_SPEED is the integer number stored in the register and tick is 250 ns.

The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.

9.1.8

MIN_SPEED

The MIN_SPEED register contains the following parameters:

Table 11. MIN_SPEED register

Bit 12

Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

LSPD_OPT

MIN_SPEED

The MIN_SPEED parameter contains the speed profile minimum speed. Its value is

expressed in step/tick and to convert it in step/s, the following formula can be used:

Equation 8

MIN_SPEED ⋅ 2^–24

[step/s] = -----------------------------------------------------

tick

where MIN_SPEED is the integer number stored in the register and tick is the ramp 250 ns.

The available range is from 0 to 976.3 step/s with a resolution of 0.238 step/s.

When the LSPD_OPT bit is set high, the low speed optimization feature is enabled and the

MIN_SPEED value indicates the speed threshold below which the compensation works. In

this case the minimum speed of the speed profile is set to zero.

An attempt to write the register when the motor is running causes the NOTPERF_CMD flag

to rise.

9.1.9

FS_SPD

The FS_SPD register contains the threshold speed. When the actual speed exceeds this

value, the step mode is automatically switched to full-step two-phase on. Its value is

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Programming manual

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expressed in step/tick (format unsigned fixed point 0.18) and to convert it in step/s, the

following formula can be used.

Equation 9

(FS_SPD + 0.5) ⋅ 2^–18

[step/s] = -------------------------------------------------------------

tick

If the FS_SPD value is set to h3FF (max.) the system always works in microstepping mode

(SPEED must go beyond the threshold to switch to Full-step mode). Setting FS_SPD to zero

does not have the same effect as setting Step mode to full-step two-phase on: the zero

FS_SPD value is equivalent to a speed threshold of about 7.63 step/s.

The available range is from 7.63 to 15625 step/s with a resolution of 15.25 step/s.

9.1.10

KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC

The KVAL_HOLD register contains the K_VALvalue that is assigned to the PWM modulators

when the motor is stopped (compensation excluded).

The KVAL_RUN register contains the K_VALvalue that is assigned to the PWM modulators

when the motor is running at constant speed (compensation excluded).

The KVAL_ACC register contains the starting K_VALvalue that can be assigned to the PWM

modulators during acceleration (compensation excluded).

The KVAL_DEC register contains the starting K_VALvalue that can be assigned to the PWM

modulators during deceleration (compensation excluded).

The available range is from 0 to 0.996 x V_Swith a resolution of 0.004 x V_S, as shown in

Table 12.

Table 12. Voltage amplitude regulation registers

KVAL_X [7..0]

Output voltage

0

1

0

V_Sx (1/256)

1

0

1

V_Sx (254/256)

V_Sx (255/256)

9.1.11

INT_SPEED

The INT_SPEED register contains the speed value at which the BEMF compensation curve

changes slope (see Section 7.4). Its value is expressed in step/tick and to convert it in

step/s, the following formula can be used:

Equation 10

INT–SPEED ⋅ 2^–26

[step ⁄ s] = -----------------------------------------------------

tick

where INT_SPEED is the integer number stored in the register and tick is 250 ns.

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Programming manual

The available range is from 0 to 976.5 step/s with a resolution of 0.0596 step/s.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.12

ST_SLP

The ST_SLP register contains the BEMF compensation curve slope that is used when the

speed is lower than the intersect speed (see Section 7.4). Its value is expressed in s/step

and the available range is from 0 to 0.004 with a resolution of 0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.13

9.1.14

9.1.15

FN_SLP_ACC

The FN_SLP_ACC register contains the BEMF compensation curve slope that is used when

the speed is greater than the intersect speed during acceleration (see Section 7.47.4). Its

value is expressed in s/step and the available range is from 0 to 0.004 with a resolution of

0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

FN_SLP_DEC

The FN_SLP_DEC register contains the BEMF compensation curve slope that is used when

the speed is greater than the intersect speed during deceleration (see Section 7.47.4). Its

value is expressed in s/step and the available range is from 0 to 0.004 with a resolution of

0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

K_THERM

The K_THERM register contains the value used by the winding resistance thermal drift

compensation system (see Section 7.6).

The available range is from 1 to 1.46875 with a resolution of 0.03125, as shown in Table 13.

Table 13. Winding resistance thermal drift compensation coefficient

K_THERM [3..0]

Compensation coeff.

0

1

1.03125

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Table 13. Winding resistance thermal drift compensation coefficient (continued)

K_THERM [3..0]

Compensation coeff.

1

0

1

1.4375

1.46875

9.1.16

ADC_OUT

The ADC_OUT register contains the result of the analog-to-digital conversion of the ADCIN

pin voltage; the result is available even if the supply voltage compensation is disabled.

Any attempt to write to the register causes the command to be ignored and the

NOTPERF_CMD flag to rise (see Section 9.1.22).

Table 14. ADC_OUT value and motor supply voltage compensation feature

ADC_OUT

[4..0]

Compensation

coefficient

V_S

V_ADCIN/V_REG

Greater than V_S,_nom+ 50%

V_S,_nom+ 50%

> 24/32

24/32

1

X

0

X

0

0.65625

1

0

V_S,_nom

16/32

1

0

1

V_S,_nom– 50%

8/32

0

1

0

1.968875

Lower than V_S,_nom– 50%

< 8/32

X

9.1.17

OCD_TH

The OCD_TH register contains the overcurrent threshold value (see Section 6.9). The

available range is from 375 mA to 6 A, in steps of 375 mA, as shown in Table 15.

Table 15. Overcurrent detection threshold

OCD_TH [3..0]

Overcurrent detection threshold

0

1

375 mA

750 mA

…

1

…

1

…

1

…

0

5.625 A

6 A

1

9.1.18

STALL_TH

The STALL_TH register contains the stall detection threshold value (see Section 7.2). The

available range is from 31.25 mA to 4 A with a resolution of 31.25 mA.

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Programming manual

Table 16. Stall detection threshold

STALL_th [6..0]

Stall detection threshold

0

1

31.25 mA

62.5 mA

…

1

…

1

…

1

…

1

…

1

…

1

…

0

3.969 A

4 A

1

9.1.19

STEP_MODE

The STEP_MODE register has the following structure:

Table 17. STEP_MODE register

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

STEP_SEL

Bit 0

SYNC_EN

SYNC_SEL

0 ⁽¹⁾

1. When the register is written, this bit should be set to 0.

The STEP_SEL parameter selects one of eight possible stepping modes:

Table 18. Step mode selection

STEP_SEL[2..0]

Step mode

0

1

0

1

0

1

0

1

0

1

0

1

0

1

Full-step

Half-step

1/4 microstep

1/8 microstep

1/16 microstep

1/32 microstep

1/64 microstep

1/128 microstep

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.

Warning: Every time STEP_SEL is changed, the value in the ABS_POS

register loses meaning and should be reset.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

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When the SYNC_EN bit is set low, BUSY/SYNC output is forced low during command

execution, otherwise, when the SYNC_EN bit is set high, BUSY/SYNC output provides a

clock signal according to the SYNC_SEL parameter.

Table 19. SYNC output frequency

STEP_SEL (f_FSis the full-step frequency)

000

f_FS/2

NA

001

f_FS/2

f_FS

010

f_FS/2

f_FS

011

f_FS/2

f_FS

100

f_FS/2

f_FS

101

f_FS/2

f_FS

110

f_FS/2

f_FS

111

f_FS/2

f_FS

000

001

010

011

100

101

110

111

NA

2· f_FS

NA

2· f_FS

4· f_FS

NA

2· f_FS

4· f_FS

8· f_FS

NA

2· f_FS

4· f_FS

8· f_FS

16· f_FS

NA

2· f_FS

4· f_FS

8· f_FS

16· f_FS

32· f_FS

NA

2· f_FS

4· f_FS

8· f_FS

16· f_FS

32· f_FS

64· f_FS

NA

The synchronization signal is obtained starting from electrical position information (EL_POS

register) according to Table 10:

Table 20. SYNC signal source

SYNC_SEL[2..0]

Source

0

1

0

1

0

1

0

1

0

1

0

1

0

1

EL_POS[7]

EL_POS[6]

EL_POS[5]

EL_POS[4]

EL_POS[3]

EL_POS[2]

EL_POS[1]

EL_POS[0]

9.1.20

ALARM_EN

The ALARM_EN register allows the selection of which alarm signals are used to generate

the FLAG output. If the respective bit of the ALARM_EN register is set high, the alarm

condition forces the FLAG pin output down.

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Table 21. ALARM_EN register

ALARM_EN bit

Alarm condition

0 (LSB)

Overcurrent

Thermal shutdown

1

2

Thermal warning

3

Undervoltage

4

Stall detection (Bridge A)

Stall detection (Bridge B)

Switch turn-on event

5

6

7 (MSB)

Wrong or non-performable command

9.1.21

CONFIG

The CONFIG register has the following structure:

Table 22. CONFIG register

Bit 15

Bit 14

Bit 13

Bit 12

Bit 4

Bit 11

Bit 10

Bit 2

Bit 9

Bit 8

Bit 0

F_PWM_INT

F_PWM_DEC

POW_SR

Bit 7

Bit 6

Bit 5

Bit 3

Bit 1

OC_SD RESERVED EN_VSCOMP SW_MODE EXT_CLK

OSC_SEL

The OSC_SEL and EXT_CLK bits set the system clock source:

Table 23. Oscillator management

EXT_C

OSC_SEL[2..0]

LK

Clock source

OSCIN

OSCOUT

0

1

0

1

0

1

Internal oscillator: 16 MHz

Unused

Supplies a 2-MHz

clock

1

0

1

0

1

0

1

Internal oscillator: 16 MHz

Unused

Supplies a 4-MHz

clock

Supplies an 8-MHz

clock

Supplies a 16-MHz

clock

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Table 23. Oscillator management (continued)

EXT_C

OSC_SEL[2..0]

Clock source

OSCIN

OSCOUT

LK

External crystal or resonator: 8

MHz

Crystal/resonator

driving

Crystal/resonator

driving

0

1

0

1

0

1

0

1

External crystal or resonator:

16 MHz

Crystal/resonator

driving

Crystal/resonator

driving

0

External crystal or resonator:

24 MHz

Crystal/resonator

driving

Crystal/resonator

driving

External crystal or resonator:

32 MHz

Crystal/resonator

driving

Crystal/resonator

driving

Ext clock source: 8 MHz

(Crystal/resonator driver

disabled)

Supplies inverted

OSCIN signal

1

0

1

0

1

0

1

Clock source

Ext clock source: 16 MHz

(Crystal/resonator driver

disabled)

Supplies inverted

OSCIN signal

Ext clock source: 24 MHz

(Crystal/resonator driver

disabled)

Supplies inverted

OSCIN signal

Ext clock source: 32 MHz

(Crystal/resonator driver

disabled)

Supplies inverted

OSCIN signal

The SW_MODE bit sets the external switch to act as HardStop interrupt or not:

Table 24. External switch hard stop interrupt mode

SW_MODE

Switch mode

0

1

HardStop interrupt

User disposal

The OC_SD bit sets whether an overcurrent event causes or not the bridges to turn off; the

OCD flag in the STATUS register is forced low anyway:

Table 25. Overcurrent event

OC_SD

Overcurrent event

1

0

Bridges shut down

Bridges do not shut down

The POW_SR bits set the slew rate value of power bridge output:

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Table 26. Programmable power bridge output slew rate values

POW_SR

[1..0]

Output slew rate ⁽¹⁾

[V/µs]

0

1

0

1

320

75

0

110

260

1

1. See S

and S

parameters in Table 5 for details.

Rout_r

Rout_f

The EN_VSCOMP bit sets whether the motor supply voltage compensation is enabled or

not.

Table 27. Motor supply voltage compensation enable

EN_VSCOMP

Motor supply voltage compensation

0

1

Disabled

Enabled

The F_PWM_INT bits set the integer division factor of PWM frequency generation.

Table 28. PWM frequency: integer division factor

F_PWM_INT

Integer division factor

[2..0]

0

1

0

1

0

1

0

1

0

1

0

1

0

1

2

3

4

5

6

7

The F_PWM_DEC bits set the multiplication factor of PWM frequency generation.

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Table 29. PWM frequency: multiplication factor

F_PWM_DEC [2..0]

Multiplication factor

0

1

0

1

0

1

0

1

0

1

0

1

0

1

0.625

0.75

0.875

1

1.25

1.5

1.75

2

In the following tables all available PWM frequencies are listed according to oscillator

frequency, F_PWM_INT and F_PWM_DEC values (CONFIG register OSC_SEL parameter

must be correctly programmed).

Table 30. Available PWM frequencies [kHz]: 8-MHz oscillator frequency

F_PWM_DEC

F_PWM_

000

001

010

011

100

101

110

111

INT

000

001

010

011

100

101

110

9.8

4.9

3.3

2.4

2.0

1.6

1.4

11.7

5.9

3.9

2.9

2.3

2.0

1.7

13.7

6.8

4.6

3.4

2.7

2.3

2.0

15.6

7.8

5.2

3.9

3.1

2.6

2.2

19.5

9.8

6.5

4.9

3.9

3.3

2.8

23.4

11.7

7.8

27.3

13.7

9.1

31.3

15.6

10.4

7.8

5.9

6.8

4.7

5.5

6.3

3.9

4.6

5.2

3.3

3.9

4.5

Table 31. Available PWM frequencies [kHz]: 16-MHz oscillator frequency

F_PWM_DEC

F_PWM_INT

000

19.5

9.8

001

23.4

11.7

7.8

010

27.3

13.7

9.1

011

31.3

15.6

10.4

100

39.1

19.5

13.0

101

46.9

23.4

15.6

110

54.7

27.3

18.2

111

62.5

31.3

20.8

000

001

010

6.5

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Table 31. Available PWM frequencies [kHz]: 16-MHz oscillator frequency

F_PWM_DEC

F_PWM_INT

000

4.9

3.9

3.3

2.8

001

5.9

4.7

3.9

3.3

010

6.8

5.5

4.6

3.9

011

7.8

6.3

5.2

4.5

100

9.8

7.8

6.5

5.6

101

11.7

9.4

110

13.7

10.9

9.1

111

15.6

12.5

10.4

8.9

011

100

101

110

7.8

6.7

7.8

Table 32. Available PWM frequencies [kHz]: 24-MHz oscillator frequency

F_PWM_DEC

F_PWM_INT

000

29.3

14.6

9.8

001

35.2

17.6

11.7

8.8

010

41.0

20.5

13.7

10.3

8.2

011

46.9

23.4

15.6

11.7

9.4

100

58.6

29.3

19.5

14.6

11.7

9.8

101

70.3

35.2

23.4

17.6

14.1

11.7

10.0

110

82.0

41.0

27.3

20.5

16.4

13.7

11.7

111

93.8

46.9

31.3

23.4

18.8

15.6

13.4

001

010

011

7.3

100

5.9

7.0

101

4.9

5.9

6.8

7.8

110

4.2

5.0

5.9

6.7

8.4

Table 33. Available PWM frequencies [kHz]: 32-MHz oscillator frequency

F_PWM_DEC

F_PWM_

000

001

010

011

100

101

110

111

INT

000

001

010

011

100

101

110

39.1

19.5

13.0

9.8

46.9

23.4

15.6

11.7

9.4

54.7

27.3

18.2

13.7

10.9

9.1

62.5

31.3

20.8

15.6

12.5

10.4

8.9

78.1

39.1

26.0

19.5

15.6

13.0

11.2

93.8

46.9

31.3

23.4

18.8

15.6

13.4

109.4

54.7

36.5

27.3

21.9

18.2

15.6

125.0

62.5

41.7

31.3

25.0

20.8

17.9

7.8

6.5

7.8

5.6

6.7

7.8

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Any attempt to write the CONFIG register when the motor is running causes the command

to be ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.22

STATUS

Table 34. STATUS register

Bit 15

Bit 14

STEP_LOSS_B STEP_LOSS_A OCD

Bit 6 Bit 5 Bit 4

MOT_STATUS

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

SCK_MOD

Bit 7

TH_SD

TH_WRN UVLO WRONG_CMD

Bit 3

Bit 2

Bit 1

Bit 0

NOTPERF_CMD

DIR SW_EVN

SW_F

BUSY

HiZ

When the HiZ flag is high, it indicates that the bridges are in high impedance state. Any

motion command makes the device exit from High Z state (HardStop and SoftStop

included), unless error flags forcing a High Z state are active.

The UVLO flag is active low and is set by an undervoltage lockout or reset events (power-up

included).

The TH_WRN, TH_SD, OCD flags are active low and indicate, respectively, thermal

warning, thermal shutdown and overcurrent detection events.

STEP_LOSS_A and STEP_LOSS_B flags are forced low when a stall is detected on bridge

A or bridge B respectively.

The NOTPERF_CMD and WRONG_CMD flags are active high and indicate, respectively,

that the command received by SPI cannot be performed or does not exist at all.

The SW_F flag reports the SW input status (low for open and high for closed).

The SW_EVN flag is active high and indicates a switch turn-on event (SW input falling

edge).

The UVLO, TH_WRN, TH_SD, OCD, STEP_LOSS_A, STEP_LOSS_B, NOTPERF_CMD,

WRONG_CMD and SW_EVN flags are latched: when the respective conditions make them

active (low or high), they remain in that state until a GetStatus command is sent to the IC.

The BUSY bit reflects the BUSY pin status. The BUSY flag is low when a constant speed,

positioning or motion command is under execution and is released (high) after the command

has been completed.

The SCK_MOD bit is an active high flag indicating that the device is working in Step-clock

mode. In this case the step-clock signal should be provided through the STCK input pin. The

DIR bit indicates the current motor direction:

Table 35. STATUS register DIR bit

DIR

Motor direction

1

0

Forward

Reverse

MOT_STATUS indicates the current motor status:

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Table 36. STATUS register MOT_STATE bits

MOT_STATUS

Motor status

0

1

0

1

0

1

Stopped

Acceleration

Deceleration

Constant speed

Any attempt to write to the register causes the command to be ignored and the

NOTPERF_CMD flag to rise (see Section 9.1.22).

9.2

Application commands

The command summary is given in Table 37.

Table 37. Application commands

Command binary code

Command mnemonic

Action

[7..5] [4] [3] [2..1] [0]

NOP

000

0

00

0

Nothing

SetParam(PARAM,VALUE) 000

[PARAM]

Writes VALUE in PARAM register

GetParam(PARAM)

Run(DIR,SPD)

001

010

Returns the stored value in PARAM register

1

0

1

00 DIR Sets the target speed and the motor direction

Puts the device into Step-clock mode and imposes DIR

StepClock(DIR)

010

00 DIR

direction

Makes N_STEP (micro)steps in DIR direction

00 DIR

Move(DIR,N_STEP)

GoTo(ABS_POS)

010

011

0

1

(Not performable when motor is running)

00

0

Brings motor into ABS_POS position (minimum path)

Brings motor into ABS_POS position forcing DIR

direction

GoTo_DIR(DIR,ABS_POS) 011

00 DIR

Performs a motion in DIR direction with speed SPD until

GoUntil(ACT,DIR,SPD)

ReleseSW(ACT, DIR)

100

0

1

ACT 01 DIR SW is closed, the ACT action is executed then a SoftStop

takes place.

Performs a motion in DIR direction at minimum speed

ACT 01 DIR until the SW is released (open), the ACT action is

executed then a HardStop takes place.

GoHome

GoMark

011

110

101

1

0

1

0

1

0

00

0

Brings the motor into HOME position

Brings the motor into MARK position

ResetPos

ResetDevice

SoftStop

Resets the ABS_POS register (set HOME position)

Device is reset to power-up conditions.

Stops motor with a deceleration phase

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Table 37. Application commands (continued)

Command binary code

Command mnemonic

Action

[7..5] [4] [3] [2..1] [0]

HardStop

SoftHiZ

101

1

0

1

0

00

0

Stops motor immediately

Puts the bridges into high impedance status after a

deceleration phase

HardHiZ

GetStatus

101

110

111

0

1

0

1

0

1

00

01

00

0

1

0

Puts the bridges into high impedance status immediately

Returns the STATUS register value

RESERVED COMMAND

RESERVED

RESERVED COMMAND

9.2.1

Command management

The host microcontroller can control motor motion and configure the L6470 through a

complete set of commands.

All commands are composed by a single byte. After the command byte, some bytes of

arguments should be needed (see Figure 20). Argument length can vary from 1 to 3 bytes.

Figure 20. Command with 3-byte argument

!RGUMENT BYTE ꢁ

ꢋ-3"ꢍ

!RGUMENT BYTE ꢀ

ꢋ,3"ꢍ

3$)

#OMMAND BYTE

!RGUMENT BYTE ꢅ

ꢀXꢀꢀ

ꢋFROM HOSTꢍ

3$/

ꢀXꢀꢀ

ꢋTO HOSTꢍ

By default, the device returns an all zero response for any received byte, the only exceptions

are the GetParam and GetStatus commands. When one of these commands is received,

the following response bytes represent the related register value (see Figure 21). Response

length can vary from 1 to 3 bytes.

Figure 21. Command with 3-byte response

3$)

#OMMAND BYTE

./0

ꢋFROM HOSTꢍ

2ESPONSE BYTE ꢁ

ꢋ-3"ꢍ

2ESPONSE BYTE ꢀ

ꢋ,3"ꢍ

3$/

ꢀXꢀꢀ

2ESPONSE BYTE ꢅ

ꢋTO HOSTꢍ

During response transmission, new commands can be sent. If a command requiring a

response is sent before the previous response is completed, the response transmission is

aborted and the new response is loaded into the output communication buffer (see

Figure 22).

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Figure 22. Command response aborted

#OMMAND ꢅ

ꢋꢂ BYTE RESP EXPECTEDꢍ

#OMMAND ꢁ

ꢋNO RESPꢑ EXPECTEDꢍ

#OMMAND ꢂ

ꢋꢁ BYTE RESP EXPECTEDꢍ

#OMMAND ꢈ

ꢋNO RESPꢑ EXPECTEDꢍ

#OMMAND ꢉ

ꢋNO RESPꢑ EXPECTEDꢍ

3$)

ꢋFROM HOSTꢍ

2ESPONSE BYTE ꢁ

ꢋ-3"ꢍ

2ESPONSE BYTE ꢅ

ꢋ-3"ꢍ

2ESPONSE BYTE ꢀ

ꢋ,3"ꢍ

3$/

ꢀXꢀꢀ

2ESPONSE BYTE ꢅ

ꢋTO HOSTꢍ

#OMMAND ꢅ RESPONSE

IS ABORTED

When a byte that does not correspond to a command is sent to the IC, it is ignored and the

WRONG_CMD flag in the STATUS register is raised (see Section 9.1.22).

9.2.2

9.2.3

Nop

Table 38. Nop command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

from host

Nothing is performed.

SetParam (PARAM, VALUE)

Table 39. SetParam command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

PARAM

VALUE Byte 2 (if needed)

VALUE Byte 1 (if needed)

VALUE Byte 0

from host

The SetParam command sets the PARAM register value equal to VALUE; PARAM is the

respective register address listed in Table 12.

The command should be followed by the new register VALUE (most significant byte first).

The number of bytes making up the VALUE argument depends on the length of the target

register (see Table 12).

Some registers cannot be written (see Table 12); any attempt to write one of those registers

causes the command to be ignored and the WRONG_CMD flag to rise at the end of the

command byte as if an unknown command code were sent (see Section 9.1.22).

Some registers can only be written in particular conditions (see Table 12); any attempt to

write one of those registers when the conditions are not satisfied causes the command to be

ignored and the NOTPERF_CMD flag to rise at the end of the last argument byte (see

Section 9.1.22).

Any attempt to set an inexistent register (wrong address value) causes the command to be

ignored and the WRONG_CMD flag to rise at the end of the command byte as if an

unknown command code were sent.

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9.2.4

GetParam (PARAM)

Table 40. GetParam command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

1

PARAM

from host

to host

ANS Byte 2 (if needed)

ANS Byte 1 (if needed)

ANS Byte 0

This command reads the current PARAM register value; PARAM is the respective register

address listed in Table 12.

The command response is the current value of the register (most significant byte first). The

number of bytes making up the command response depends on the length of the target

register (see Table 12).

The returned value is the register one at the moment of GetParam command decoding. If

register values change after this moment, the response is not accordingly updated.

All registers can be read anytime.

Any attempt to read an inexistent register (wrong address value) causes the command to be

ignored and the WRONG_CMD flag to rise at the end of the command byte as if an

unknown command code were sent.

9.2.5

Run (DIR, SPD)

Table 41. Run command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

1

0

1

0

DIR

from host

X

SPD (Byte 2)

SPD (Byte 1)

SPD (Byte 0)

The Run command produces a motion at SPD speed; the direction is selected by the DIR

bit: '1' forward or '0' reverse. The SPD value is expressed in step/tick (format unsigned fixed

point 0.28) that is the same format as the SPEED register (see Section 9.1.4).

Note:

The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED

otherwise the Run command is executed at MAX_SPEED or MIN_SPEED respectively.

This command keeps the BUSY flag low until the target speed is reached.

This command can be given anytime and is immediately executed.

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9.2.6

StepClock (DIR)

Table 42. Stepclock command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIR

0

1

0

1

0

from host

The StepClock command switches the device in Step-clock mode (see Section 6.7.5) and

imposes the forward (DIR = '1') or reverse (DIR = '0') direction.

When the device is in Step-clock mode, the SCK_MOD flag in the STATUS register is raised

and the motor is always considered stopped (see Section 6.7.5 and 9.1.22).

The device exits from Step-clock mode when a constant speed, absolute positioning or

motion command is sent through SPI. Motion direction is imposed by the respective

StepClock command argument and can by changed by a new StepClock command without

exiting Step-clock mode.

Events that cause bridges to be forced into high impedance state (overtemperature,

overcurrent, etc.) do not cause the device to leave Step-clock mode.

The StepClock command does not force the BUSY flag low. This command can only be

given when the motor is stopped. If a motion is in progress, the motor should be stopped

and it is then possible to send a StepClock command.

Any attempt to perform a StepClock command when the motor is running causes the

command to be ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.2.7

Move (DIR, N_STEP)

Table 43. Move command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

1

0

DIR

from host

X

N_STEP (Byte 2)

N_STEP (Byte 1)

N_STEP (Byte 0)

The Move command produces a motion of N_STEP microsteps; the direction is selected by

the DIR bit ('1' forward or '0' reverse).

The N_STEP value is always in agreement with the selected step mode; the parameter

value unit is equal to the selected step mode (full, half, quarter, etc.).

This command keeps the BUSY flag low until the target number of steps is performed. This

command can only be performed when the motor is stopped. If a motion is in progress, the

motor must be stopped and it is then possible to perform a Move command.

Any attempt to perform a Move command when the motor is running causes the command

to be ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

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9.2.8

GoTo (ABS_POS)

Table 44. GoTo command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

1

0

from host

X

ABS_POS (Byte 2)

from host

ABS_POS (Byte 1)

ABS_POS (Byte 0)

The GoTo command produces a motion to ABS_POS absolute position through the shortest

path. The ABS_POS value is always in agreement with the selected step mode; the

parameter value unit is equal to the selected step mode (full, half, quarter, etc.).

The GoTo command keeps the BUSY flag low until the target position is reached.

This command can be given only when the previous motion command has been completed

(BUSY flag released).

Any attempt to perform a GoTo command when a previous command is under execution

(BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see

Section 9.1.22).

9.2.9

GoTo_DIR (DIR, ABS_POS)

Table 45. GoTo_DIR command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

1

0

1

0

DIR

from host

X

ABS_POS (Byte 2)

ABS_POS (Byte 1)

ABS_POS (Byte 0)

The GoTo_DIR command produces a motion to ABS_POS absolute position imposing a

forward (DIR = '1') or a reverse (DIR = '0') rotation. The ABS_POS value is always in

agreement with the selected step mode; the parameter value unit is equal to the selected

step mode (full, half, quarter, etc.).

The GoTo_DIR command keeps the BUSY flag low until the target speed is reached. This

command can be given only when the previous motion command has been completed

(BUSY flag released).

Any attempt to perform a GoTo_DIR command when a previous command is under

execution (BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to

rise (see Section 9.1.22).

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9.2.10

GoUntil (ACT, DIR, SPD)

Table 46. GoUntil command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIR

1

0

ACT

0

1

from host

X

SPD (Byte 2)

SPD (Byte 1)

SPD (Byte 0)

The GoUntil command produces a motion at SPD speed imposing a forward (DIR = '1') or a

reverse (DIR = '0') direction. When an external switch turn-on event occurs (see

Section 6.13), the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is

copied into the MARK register (if ACT = '1'); then the system performs a SoftStop command.

The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same

format as the SPEED register (see Section 9.1.4).

The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED,

otherwise the target speed is imposed at MAX_SPEED or MIN_SPEED respectively.

If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event

causes a HardStop interrupt instead of the SoftStop one (see Section 6.13 and 9.1.21).

This command keeps the BUSY flag low until the switch turn-on event occurs and the motor

is stopped. This command can be given anytime and is immediately executed.

9.2.11

ReleaseSW (ACT, DIR)

Table 47. ReleaseSW command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

1

ACT

0

1

DIR

from host

The ReleaseSW command produces a motion at minimum speed imposing a forward (DIR =

'1') or reverse (DIR = '0') rotation. When SW is released (opened), the ABS_POS register is

reset (ACT = '0') or the ABS_POS register value is copied into the MARK register (ACT =

'1'); the system then performs a HardStop command.

Note that resetting the ABS_POS register is equivalent to setting the HOME position.

If the minimum speed value is less than 5 step/s or low speed optimization is enabled, the

motion is performed at 5 step/s.

The ReleaseSW command keeps the BUSY flag low until the switch input is released and

the motor is stopped.

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9.2.12

GoHome

Table 48. GoHome command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

1

0

from host

The GoHome command produces a motion to the HOME position (zero position) via the

shortest path.

Note that this command is equivalent to the “GoTo(0…0)” command. If a motor direction is

mandatory, the GoTo_DIR command must be used (see Section 9.2.9).

The GoHome command keeps the BUSY flag low until the home position is reached. This

command can be given only when the previous motion command has been completed. Any

attempt to perform a GoHome command when a previous command is under execution

(BUSY low) causes the command to be ignored and the NOTPERF_CMD to rise (see

Section 9.1.22).

9.2.13

GoMark

Table 49. GoMark command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0

1

0

from host

The GoMark command produces a motion to the MARK position performing the minimum

path.

Note that this command is equivalent to the “GoTo (MARK)” command. If a motor direction is

mandatory, the GoTo_DIR command must be used.

The GoMark command keeps the BUSY flag low until the MARK position is reached. This

command can be given only when the previous motion command has been completed

(BUSY flag released).

Any attempt to perform a GoMark command when a previous command is under execution

(BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see

Section 9.1.22).

9.2.14

ResetPos

Table 50. ResetPos command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

1

0

from host

The ResetPos command resets the ABS_POS register to zero. The zero position is also

defined as HOME position (see Section 6.5).

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Programming manual

9.2.15

ResetDevice

Table 51. ResetDevice command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

from host

The ResetDevice command resets the device to power-up conditions (see Section 6.1).

Note:

At power-up the power bridges are disabled.

9.2.16

SoftStop

Table 52. SoftStop command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

1

0

from host

The SoftStop command causes an immediate deceleration to zero speed and a consequent

motor stop; the deceleration value used is the one stored in the DEC register (see

Section 9.1.6).

When the motor is in high impedance state, a SoftStop command forces the bridges to exit

from high impedance state; no motion is performed.

This command can be given anytime and is immediately executed. This command keeps

the BUSY flag low until the motor is stopped.

9.2.17

HardStop

Table 53. HardStop command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

1

0

from host

The HardStop command causes an immediate motor stop with infinite deceleration.

When the motor is in high impedance state, a HardStop command forces the bridges to exit

from high impedance state; no motion is performed.

This command can be given anytime and is immediately executed. This command keeps

the BUSY flag low until the motor is stopped.

9.2.18

SoftHiZ

Table 54. SoftHiZ command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

1

0

from host

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Programming manual

The SoftHiZ command disables the power bridges (high impedance state) after a

L6470

deceleration to zero; the deceleration value used is the one stored in the DEC register (see

Section 9.1.6). When bridges are disabled, the HiZ flag is raised.

When the motor is stopped, a SoftHiZ command forces the bridges to enter into high

impedance state.

This command can be given anytime and is immediately executed. This command keeps

the BUSY flag low until the motor is stopped.

9.2.19

HardHiZ

Table 55. HardHiZ command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

1

0

1

0

from host

The HardHiZ command immediately disables the power bridges (high impedance state) and

raises the HiZ flag.

When the motor is stopped, a HardHiZ command forces the bridges to enter into high

impedance state.

This command can be given anytime and is immediately executed. This command keeps

the BUSY flag low until the motor is stopped.

9.2.20

GetStatus

Table 56. GetStatus command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1

0

1

0

from host

STATUS MSByte

STATUS LSByte

to host

The GetStatus command returns the STATUS register value.

The GetStatus command resets the STATUS register warning flags. The command forces

the system to exit from any error state. The GetStatus command DOES NOT reset the HiZ

flag.

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Package mechanical data

10

Package mechanical data

In order to meet environmental requirements, ST offers these devices in different grades of

ECOPACK^®packages, depending on their level of environmental compliance. ECOPACK^®

specifications, grade definitions and product status are available at: www.st.com.

ECOPACK^®is an ST trademark.

Table 57. HTSSOP28 mechanical data

mm

Dim.

Min.

Typ.

Max.

A

A1

A2

b

1.2

0.15

1.05

0.3

0.8

0.19

0.09

9.6

1.0

c

0.2

D ⁽¹⁾

D1

E

9.7

5.5

6.4

4.4

2.8

0.65

0.6

1.0

9.8

6.2

4.3

6.6

4.5

E1 ⁽²⁾

E2

e

L

0.45

0°

0.75

8°

L1

K

aaa

0.1

1. Dimension “D” does not include mold flash, protrusions or gate burrs. Mold flash, protrusions or gate burrs

must not exceed 0.15 mm per side.

2. Dimension “E1” does not include interlead flash or protrusions. Interlead flash or protrusions must not

exceed 0.25 mm per side.

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Package mechanical data

Figure 23. HTSSOP28 mechanical data

L6470

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Package mechanical data

Table 58. POWERSO36 mechanical data

mm

Dim.

Min.

Typ.

Max.

A

3.60

0.30

3.30

0.10

0.38

0.32

16.00

9.80

14.50

11.10

2.90

6.2

a1

a2

a3

b

0.10

0

0.22

0.23

15.80

9.40

13.90

10.90

c

D(1)

D1

E

E1(1)

E2

E3

e

5.8

0.65

e3

G

11.05

0

0.10

15.90

1.10

10°

H

15.50

h

L

0.80

0°

N

S

8°

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Package mechanical data

Figure 24. POWERSO36 drawings

L6470

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Revision history

11

Revision history

Table 59. Revision history

Date

Revision

Changes

06-Nov-2009

05-Nov-2010

1

2

Initial release

Document status promoted from preliminary data to datasheet

Updated: Table 4, Table 5

18-May-2011

3

Added: Section 6.7.6, Section 6.4.1

Added device in POWERSO36 and Figure 3

Updated: Table 2, Table 3, Table 4, Table 5, Table 6, Table 9 and

Section 9.1.11.

19-Jun-2012

4

Minor text changes.

Changed the title.

Changed T_OPvalue in Table 2

Removed T_jvalue in Table 3.

Updated HTSSOP28 mechanical data.

20-Dec-2012

5

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L6470

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Doc ID16737 Rev 5


型号：	EVAL6470H
厂家：	ST
描述：	dSPIN fully integrated microstepping motor driver with motion engine and SPI dSPIN完全集成的微电机驱动与运动引擎和SPI 电机驱动
文件：	总70页 (文件大小：743K)
中文：	中文翻译
下载：	下载PDF数据表文档文件

EVAL6470H [STMICROELECTRONICS]

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