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This is information on a product in full production.

March 2015 DocID16737 Rev 7 1/73

L6470

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

 Sensorless stall detection

 SPI interface

 Low quiescent and standby currents

 Programmable non-dissipative overcurrent

protection on high and low-side

 Two-levels of overtemperature protection

Applications

 Bipolar stepper motors

Description

The L6470 device, realized in analog mixed

signal technology, is an advanced fully integrated

solution suitable for driving two-phase bipolar

stepper motors with microstepping. It integrates

a dual low R

DS(on)

DMOS full bridge with all of the

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.

HTSSOP28POWERSO36

Table 1. Device summary

Order codes Package Packaging

L6470H HTSSOP28 Tube

L6470HTR HTSSOP28 Tape and reel

L6470PD POWERSO36 Tube

L6470PDTR POWERSO36 Tape and reel

www.st.com

Summary of content (73 pages)

PAGE 1
L6470 Fully integrated microstepping motor driver with motion engine and SPI Datasheet - production data Applications  Bipolar stepper motors Description POWERSO36 HTSSOP28 Features  Operating voltage: 8 - 45 V  7.0 A out peak current (3.0 A r.m.s.
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Contents L6470 Contents 1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.3 Thermal data . . . . . . . . . . . . . . . . . . .
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L6470 Contents 6.10 Undervoltage lockout (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.11 Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.12 Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.13 External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 6.14 Programmable DMOS slew rate, deadtime and blanking time . . . . . .
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Contents L6470 9.2 10 11 4/73 9.1.13 FN_SLP_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9.1.14 FN_SLP_DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9.1.15 K_THERM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.1.16 ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.1.17 OCD_TH . . . . . .
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L6470 List of tables List of tables Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Table 7. Table 8. 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.
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List of tables Table 49. Table 50. Table 51. Table 52. Table 53. Table 54. Table 55. Table 56. Table 57. Table 58. Table 59. 6/73 L6470 GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 ResetDevice command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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L6470 List of figures List of figures Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. Figure 8. Figure 9. Figure 10. Figure 11. Figure 12. Figure 13. Figure 14. Figure 15. Figure 16. Figure 17. Figure 18. Figure 19. Figure 20. Figure 21. Figure 22. Figure 23. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 HTSSOP28 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Block diagram 1 L6470 Block diagram Figure 1. Block diagram VDD OSCIN 16MHz Oscillator OSCOUT ADCIN VREG VBOOT Charge pump Ext. Osc. driver & Clock gen. ADC STBY/RST CP VSA 3V Voltage Reg.
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L6470 Electrical data 2 Electrical data 2.1 Absolute maximum ratings Table 2. Absolute maximum ratings Symbol VDD Parameter Test condition Logic interface supply voltage Motor supply voltage VS VGND, diff VSA = VSB = VS Differential voltage between AGND, PGND and DGND Value Unit 5.5 V 48 V ±0.3 V Vboot Bootstrap peak voltage 55 V VREG Internal voltage regulator output pin and logic supply voltage 3.6 V VADCIN Integrated ADC input voltage range (ADCIN pin) -0.3 to +3.
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Electrical data 2.2 L6470 Recommended operating conditions Table 3. Recommended operating conditions Symbol VDD VS Test condition Logic interface supply voltage Value 3.3 V logic outputs 5 V logic outputs V 5 VSA = VSB = VS Vout_diff Differential voltage between VSA, OUT1A, OUT2A, PGND and VSB, OUT1B, OUT2B, PGND pins VSA = VSB = VS VREG,in Logic supply voltage VREG voltage imposed by external source Integrated ADC input voltage (ADCIN pin) Unit 3.3 Motor supply voltage VADC 2.
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L6470 3 Electrical characteristics Electrical characteristics VSA = VSB = 36 V; VDD = 3.3 V; internal 3 V regulator; TJ = 25 °C, unless otherwise specified. Table 5. Electrical characteristics Symbol Parameter Test condition Min. Typ. Max. Unit General VSthOn VS UVLO turn-on threshold 7.5 8.2 8.9 V VSthOff VS UVLO turn-off threshold 6.6 7.2 7.8 V VSthHyst VS UVLO threshold hysteresis 0.7 1 1.3 V Iq Quiescent motor supply current 0.5 0.
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Electrical characteristics L6470 Table 5. Electrical characteristics (continued) Symbol tf SRout_r SRout_f Parameter Test condition (3) Fall time Output rising slew rate Output falling slew rate Min. Typ.
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L6470 Electrical characteristics Table 5. Electrical characteristics (continued) Symbol Parameter VOL Low logic level output voltage(6) VOH High logic level output voltage RPU RPD Ilogic Ilogic,STBY fSTCK Test condition Min. Typ. Max. Unit VDD = 3.3 V, IOL = 4 mA 0.3 VDD = 5 V, IOL = 4 mA 0.3 VDD = 3.3 V, IOH = 4 mA 2.4 VDD = 5 V, IOH = 4 mA 4.
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Electrical characteristics L6470 Table 5. Electrical characteristics (continued) Symbol Parameter Test condition Min. Typ. Max. Unit tenSDO (7) Data output enable time 38 ns tdisSDO Data output disable time(7) 47 ns 57 ns tvSDO tholSDO (7) Data output valid time Data output hold time (7) 37 ns Switch input (SW) RPUSW SW input pull-up resistance SW = GND 60 85 110 fosc = 16 MHz 2.8 62.5 fosc = 32 MHz 5.
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L6470 Electrical characteristics Table 5. Electrical characteristics (continued) Symbol Parameter Test condition VREG, drop Voltage regulator output voltage drop IREG = 40 mA Min. Typ. Max. Unit 50 IREG,STBY Voltage regulator standby output current mV 10 mA Integrated analog-to-digital converter NADC Analog-to-digital converter resolution 5 bit VADC,ref Analog-to-digital converter reference voltage VRE V fS Analog-to-digital converter sampling frequency G fPWM kHz 1.
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Pin connection 4 L6470 Pin connection Figure 2. HTSSOP28 pin connection (top view) 065 " 065 " 74" 1(/% 45#:=345 74" 48 45$, "%$*/ '-"( 73&( $4 04$*/ #64:=4:/$ 04$065 %(/% "(/% 4%* $1 $, 7#005 4%0 7%% &1"% 74# 1(/% 065 # 74# 065 # $0 Y Figure 3.
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L6470 Pin connection Pin list Table 6. Pin description No. Name Type Function HTSSOP POWERSO 17 24 VDD 6 9 VREG Power 7 10 OSCIN Analog input Oscillator pin 1. To connect an external oscillator or clock source. If this pin is unused, it should be left floating. 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.
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Pin connection L6470 Table 6. Pin description (continued) No. Name HTSSOP Type Function POWERSO Status flag pin. An internal open drain transistor can pull the pin to GND when a programmed alarm Open drain output condition occurs (step loss, OCD, thermal prewarning or shutdown, UVLO, wrong command, nonperformable command) 24 31 FLAG 3 6 STBY\RST Logic input 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.
PAGE 19
L6470 5 Typical applications Typical applications Table 7. Typical application values Name Value CVS 220 nF CVSPOL 100 µF CREG 100 nF CREGPOL 47 µF CDD 100 nF CDDPOL 10 µF D1 Charge pump diodes CBOOT 220 nF CFLY 10 nF RPU 39 k RSW 100  CSW 10 nF RA 2.
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Typical applications L6470 Figure 4.
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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.
PAGE 22
Functional description L6470 Figure 5. Charge pump circuitry 96 9&3 9' &%227 96 ' &)/< 96 9&3 9' 9' 9%227 ' &3 9&3 WR KLJK VLGH JDWH GULYHUV 9'' I3803 $0 Y 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 on page 48). Step mode can only be changed when bridges are disabled.
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L6470 Functional description Automatic full-step mode When motor speed is greater than a programmable full-step speed threshold, the L6470 device 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 fullstep speed threshold is set through the FS_SPD register (see Section 9.1.9 on page 44). Figure 7. Automatic full-step switching Ipeak sin(π/4) x Ipeak Phase A Phase B μStepping 6.
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Functional description 6.7 L6470 Motor control commands The L6470 device 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 56. 6.7.
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L6470 Functional description Figure 9. Positioning command examples )RUZDUG GLUHFWLRQ 3UHVHQW SRVLWLRQ 3UHVHQW SRVLWLRQ 7DUJHW SRVLWLRQ 7DUJHW SRVLWLRQ *R7RB',5 7DUJHW SRV ): *R7R 7DUJHW SRV 6.7.3 $0 Y Motion commands Motion commands produce a motion in order to perform a user-defined number of microsteps in a user-defined direction that are sent to the device together with the command (see Figure 10).
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Functional description L6470 The SoftHiZ command causes the motor to decelerate with programmed deceleration value until the MIN_SPEED value is reached and then forces the bridges in high impedance state (no holding torque is present). The HardHiZ command instantly forces the bridges into high impedance state (no holding torque is present). 6.7.5 Step-clock mode In Step-clock mode the motor motion is defined by the step-clock signal applied to the STCK pin.
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L6470 6.7.6 Functional description GoUntil and ReleaseSW commands In most applications the power-up position of the stepper motor is undefined, so an initialization algorithm driving the motor to a known position is necessary. The GoUntil and ReleaseSW commands can be used in combination with external switch input (see Section 6.13 on page 31) to easily initialize the motor position. The GoUntil command makes the motor run at the constant target speed until the SW input is forced low (falling edge).
PAGE 28
Functional description 6.8.1 L6470 Internal oscillator In this mode the internal oscillator is activated and OSCIN is unused. If the OSCOUT clock source is enabled, the OSCOUT pin provides a 2, 4, 8 or 16-MHz clock signal (according to OSC_SEL value); it is otherwise unused (see Figure 11). 6.8.2 External clock source Two types of external clock source can be selected: crystal/ceramic resonator or direct clock source.
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L6470 Functional description Figure 11. OSCIN and OSCOUT pin configuration &95@$-, &95@$-, .)[ $- $ .)[ 04$@4&- YY 04$*/ 04$065 &YUFSOBM PTDJMMBUPS DPOGJHVSBUJPO 04$*/ 04$065 &YUFSOBM DMPDL TPVSDF DPOGJHVSBUJPO .
PAGE 30
Functional description L6470 Attention: The overcurrent shutdown is a critical protection feature. It is not recommended to disable it. 6.10 Undervoltage lockout (UVLO) The L6470 device provides a motor supply UVLO protection. When the motor supply voltage falls below the VSthOff threshold 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 on page 55 and 9.2.
PAGE 31
L6470 Functional description 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 VDD and detects if the pin is open or connected to ground (see Figure 12).
PAGE 32
Functional description 6.15 L6470 Integrated analog-to-digital converter The L6470 device integrates an NADC bit 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 on page 46). Sampling frequency is equal to the programmed PWM frequency.
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L6470 6.17.1 Functional description 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 on page 55).
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Phase current control 7 L6470 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 (KVAL).
PAGE 35
L6470 7.2 Phase current control 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 on page 66). 7.
PAGE 36
Phase current control 7.4 L6470 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 15).
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L6470 Phase current control Figure 16. Motor supply voltage compensation circuit 74 73&( 3" "%$*/ 7"%$*/ 74 Y 3# 3" 3# "%$ "%$@065 3# G18. $0 Y Motor supply voltage compensation can be enabled setting high the EN_VSCOMP bit of the CONFIG register (see Table 22 on page 49, Section 9.1.21 on page 49). 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.
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Serial interface 8 L6470 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.
PAGE 39
L6470 Serial interface Figure 18. Daisy chain configuration %&7 $4 $4 $, $, )045 4%0 . 4%*. 4%* 4%0 %&7 $4 $, )045 41* TJHOBMT 4%* 4%0 $4 4%0. #ZUF / #ZUF / #ZUF #ZUF / 4%*.
PAGE 40
Programming manual L6470 9 Programming manual 9.1 Registers and flags description Table 9 is a map of the user registers available (detailed description in respective paragraphs): Table 9. Register map Address [Hex] Register name h01 ABS_POS h02 EL_POS h03 Register function Len.
PAGE 41
L6470 Programming manual Table 9. Register map (continued) Address [Hex] Register name Register function Len. [bit] Reset Reset Hex value 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 IC configuration 16 2E88 h19 STATUS Status 16 XXXX(2) h1A RESERVED Reserved address h1B RESERVED Reserved address Remarks(1) High impedance state, UVLO/Reset flag set.
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Programming manual 9.1.3 L6470 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 -221 to +221-1. 9.1.4 SPEED The SPEED register contains the current motor speed, expressed in step/tick (format unsigned fixed point 0.28).
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L6470 9.1.6 Programming manual 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 – 40 2 DEC  2  step/s  = ---------------------------2 tick 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.
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Programming manual L6470 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.
PAGE 45
L6470 9.1.11 Programming manual INT_SPEED The INT_SPEED register contains the speed value at which the BEMF compensation curve changes slope (see Section 7.4 on page 36). Its value is expressed in step/tick and to convert it in step/s, the following formula can be used: Equation 10 – 26 INT – SPEED  2  step  s  = --------------------------------------------------tick where INT_SPEED is the integer number stored in the register and tick is 250 ns. The available range is from 0 to 976.
PAGE 46
Programming manual 9.1.15 L6470 K_THERM The K_THERM register contains the value used by the winding resistance thermal drift compensation system (see Section 7.6 on page 37). 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] 9.1.16 Compensation coefficient 0 0 0 1 1.03125 … 1 … 0 … 0 … 0 … 0 1 1 1 0 1.4375 1 1 1 1 1.
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L6470 9.1.17 Programming manual OCD_TH The OCD_TH register contains the overcurrent threshold value (see Section 6.9 on page 29). 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] 9.1.18 Overcurrent detection threshold 0 0 0 0 375 mA 0 0 0 1 750 mA … … … … … 1 1 1 0 5.625 A 1 1 1 1 6A STALL_TH The STALL_TH register contains the stall detection threshold value (see Section 7.
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Programming manual L6470 The STEP_SEL parameter selects one of eight possible stepping modes: Table 18. Step mode selection STEP_SEL[2 .… 0] Step mode 0 0 0 Full-step 0 0 1 Half-step 0 1 0 1/4 microstep 0 1 1 1/8 microstep 1 0 0 1/16 microstep 1 0 1 1/32 microstep 1 1 0 1/64 microstep 1 1 1 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.
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L6470 Programming manual The synchronization signal is obtained starting from electrical position information (EL_POS register) according to Table 20: Table 20. SYNC signal source SYNC_SEL[2 .… 0] 9.1.20 Source 0 0 0 EL_POS[7] 0 0 1 EL_POS[6] 0 1 0 EL_POS[5] 0 1 1 EL_POS[4] 1 0 0 EL_POS[3] 1 0 1 EL_POS[2] 1 1 0 EL_POS[1] 1 1 1 EL_POS[0] ALARM_EN The ALARM_EN register allows the selection of which alarm signals are used to generate the FLAG output.
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Programming manual L6470 The OSC_SEL and EXT_CLK bits set the system clock source: Table 23. Oscillator management EXT_CLK OSC_SEL[2 .
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L6470 Programming manual 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 HardStop interrupt 1 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.
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Programming manual L6470 The F_PWM_INT bits set the integer division factor of PWM frequency generation. Table 28. PWM frequency: integer division factor F_PWM_INT [2 .… 0] Integer division factor 0 0 0 1 0 0 1 2 0 1 0 3 0 1 1 4 1 0 0 5 1 0 1 6 1 1 0 7 1 1 1 The F_PWM_DEC bits set the multiplication factor of PWM frequency generation. Table 29. PWM frequency: multiplication factor F_PWM_DEC [2 .… 0] 52/73 Multiplication factor 0 0 0 0.625 0 0 1 0.75 0 1 0 0.
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L6470 Programming manual 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_INT 000 001 010 011 100 101 110 111 000 9.8 11.7 13.7 15.6 19.5 23.4 27.3 31.3 001 4.9 5.9 6.8 7.8 9.8 11.7 13.7 15.6 010 3.3 3.9 4.6 5.2 6.5 7.8 9.1 10.4 011 2.4 2.
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Programming manual L6470 Table 32. Available PWM frequencies [kHz]: 24-MHz oscillator frequency F_PWM_DEC F_PWM_INT 000 001 010 011 100 101 110 111 000 29.3 35.2 41.0 46.9 58.6 70.3 82.0 93.8 001 14.6 17.6 20.5 23.4 29.3 35.2 41.0 46.9 010 9.8 11.7 13.7 15.6 19.5 23.4 27.3 31.3 011 7.3 8.8 10.3 11.7 14.6 17.6 20.5 23.4 100 5.9 7.0 8.2 9.4 11.7 14.1 16.4 18.8 101 4.9 5.9 6.8 7.8 9.8 11.7 13.7 15.6 110 4.2 5.0 5.9 6.7 8.4 10.0 11.7 13.
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L6470 Programming manual 9.1.22 STATUS Table 34. STATUS register Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 SCK_MOD STEP_LOSS_B STEP_LOSS_A OCD TH_SD TH_WRN UVLO WRONG_CMD Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DIR SW_EVN SW_F BUSY HiZ NOTPERF_CMD MOT_STATUS When the HiZ flag is high, it indicates that the bridges are in high impedance state.
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Programming manual L6470 MOT_STATUS indicates the current motor status: Table 36. STATUS register MOT_STATUS bits MOT_STATUS Motor status 0 0 Stopped 0 1 Acceleration 1 0 Deceleration 1 1 Constant speed Any attempt to write to the register causes the command to be ignored and the NOTPERF_CMD flag to rise. 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] [2 .
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L6470 Programming manual Table 37. Application commands (continued) Command binary code Command mnemonic Action [7 .… 5] [4] [3] [2 .… 1] [0] ResetDevice 110 0 0 00 0 Device is reset to power-up conditions.
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Programming manual 9.2.1 L6470 Command management The host microcontroller can control motor motion and configure the L6470 device 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 19). Argument length can vary from 1 to 3 bytes. Figure 19. Command with 3-byte argument 6', IURP KRVW &RPPDQG E\WH $UJXPHQW E\WH 06% $UJXPHQW E\WH $UJXPHQW E\WH /6% [ [ [ [ 6'2 WR KRVW By defa
PAGE 59
L6470 9.2.3 Programming manual SetParam (PARAM, VALUE) Table 39. SetParam command structure Bit 7 Bit 6 Bit 5 0 0 0 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 PARAM VALUE Byte 2 (if needed) From host VALUE Byte 1 (if needed) VALUE Byte 0 The SetParam command sets the PARAM register value equal to VALUE; PARAM is the respective register address listed in Table 12 on page 44. The command should be followed by the new register VALUE (most significant byte first).
PAGE 60
Programming manual L6470 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.
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L6470 9.2.7 Programming manual 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 0 0 0 0 DIR X X N_STEP (Byte 2) From host From host N_STEP (Byte 1) From host N_STEP (Byte 0) From host The Move command produces a motion of N_STEP microsteps; the direction is selected by the DIR bit ('1' forward or '0' reverse).
PAGE 62
Programming manual 9.2.9 L6470 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 1 0 1 0 0 DIR X X ABS_POS (Byte 2) From host From host ABS_POS (Byte 1) From host ABS_POS (Byte 0) From host The GoTo_DIR command produces a motion to ABS_POS absolute position imposing a forward (DIR = '1') or a reverse (DIR = '0') rotation.
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L6470 9.2.11 Programming manual 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 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.
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Programming manual L6470 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 on page 55). 9.2.14 ResetPos Table 50.
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L6470 9.2.17 Programming manual 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 1 1 0 0 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.
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Programming manual 9.2.20 L6470 GetStatus Table 56. GetStatus command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 1 1 0 1 0 0 0 0 From host STATUS MSByte To host 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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L6470 10 Package information Package information 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.
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Package information 10.1 L6470 HTSSOP28 package information Figure 22.
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L6470 Package information Table 57. HTSSOP28 package mechanical data Dimensions (mm) Symbol Min. Typ. Max. A 1.2 A1 0.15 A2 0.8 b 0.19 0.3 c 0.09 0.2 (1) D 9.6 D1 E (2) E1 1.0 9.7 6.2 6.4 6.6 4.3 4.4 4.5 2.8 e 0.65 0.45 L1 K 9.8 5.5 E2 L 1.05 0.6 0.75 1.0 0° aaa 8° 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.
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Package information 10.2 L6470 POWERSO36 package information Figure 23.
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L6470 Package information Table 58. POWERSO36 package mechanical data Dimensions (mm) Symbol Min. Typ. A a1 Max. 3.60 0.10 0.30 a2 3.30 a3 0 0.10 b 0.22 0.38 c 0.23 0.32 D(1) 15.80 16.00 D1 9.40 9.80 E 13.90 14.50 10.90 11.10 (1) E1 E2 E3 2.90 5.8 6.2 e 0.65 e3 11.05 G 0 0.10 H 15.50 15.90 h L 1.10 0.80 N S 1.10 10° 0° 8° 1. Dimension “D/E1” does not include mold flash, protrusions or gate burrs. Mold flash, protrusions or gate burrs must not exceed 0.
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Revision history 11 L6470 Revision history Table 59. Revision history Date Revision 06-Nov-2009 1 Initial release 05-Nov-2010 2 Document status promoted from preliminary data to datasheet 18-May-2011 3 Updated: Table 4, Table 5 Added: Section 6.7.6, Section 4 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. Minor text changes. 5 Changed the title. Changed TOP value in Table 2 Removed Tj value in Table 3.
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L6470 IMPORTANT NOTICE – PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, enhancements, modifications, and improvements to ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement.