Datasheet
Table Of Contents
- Table 1. Device summary
- 1 Block diagram
- 2 Electrical data
- 3 Electrical characteristics
- 4 Pin connection
- 5 Typical applications
- 6 Functional description
- 6.1 Device power-up
- 6.2 Logic I/O
- 6.3 Charge pump
- 6.4 Microstepping
- 6.5 Absolute position counter
- 6.6 Programmable speed profiles
- 6.7 Motor control commands
- 6.8 Internal oscillator and oscillator driver
- 6.9 Overcurrent detection
- 6.10 Undervoltage lockout (UVLO)
- 6.11 Thermal warning and thermal shutdown
- 6.12 Reset and standby
- 6.13 External switch (SW pin)
- 6.14 Programmable DMOS slew rate, deadtime and blanking time
- 6.15 Integrated analog-to-digital converter
- 6.16 Internal voltage regulator
- 6.17 BUSY\SYNC pin
- 6.18 FLAG pin
- 7 Phase current control
- 8 Serial interface
- 9 Programming manual
- 9.1 Registers and flags description
- Table 9. Register map
- 9.1.1 ABS_POS
- 9.1.2 EL_POS
- 9.1.3 MARK
- 9.1.4 SPEED
- 9.1.5 ACC
- 9.1.6 DEC
- 9.1.7 MAX_SPEED
- 9.1.8 MIN_SPEED
- 9.1.9 FS_SPD
- 9.1.10 KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC
- 9.1.11 INT_SPEED
- 9.1.12 ST_SLP
- 9.1.13 FN_SLP_ACC
- 9.1.14 FN_SLP_DEC
- 9.1.15 K_THERM
- 9.1.16 ADC_OUT
- 9.1.17 OCD_TH
- 9.1.18 STALL_TH
- 9.1.19 STEP_MODE
- 9.1.20 ALARM_EN
- 9.1.21 CONFIG
- Table 22. CONFIG register
- Table 23. Oscillator management
- Table 24. External switch hard stop interrupt mode
- Table 25. Overcurrent event
- Table 26. Programmable power bridge output slew rate values
- Table 27. Motor supply voltage compensation enable
- Table 28. PWM frequency: integer division factor
- Table 29. PWM frequency: multiplication factor
- Table 30. Available PWM frequencies [kHz]: 8-MHz oscillator frequency
- Table 31. Available PWM frequencies [kHz]: 16-MHz oscillator frequency
- Table 32. Available PWM frequencies [kHz]: 24-MHz oscillator frequency
- Table 33. Available PWM frequencies [kHz]: 32-MHz oscillator frequency
- 9.1.22 STATUS
- 9.2 Application commands
- Table 37. Application commands
- 9.2.1 Command management
- 9.2.2 Nop
- 9.2.3 SetParam (PARAM, VALUE)
- 9.2.4 GetParam (PARAM)
- 9.2.5 Run (DIR, SPD)
- 9.2.6 StepClock (DIR)
- 9.2.7 Move (DIR, N_STEP)
- 9.2.8 GoTo (ABS_POS)
- 9.2.9 GoTo_DIR (DIR, ABS_POS)
- 9.2.10 GoUntil (ACT, DIR, SPD)
- 9.2.11 ReleaseSW (ACT, DIR)
- 9.2.12 GoHome
- 9.2.13 GoMark
- 9.2.14 ResetPos
- 9.2.15 ResetDevice
- 9.2.16 SoftStop
- 9.2.17 HardStop
- 9.2.18 SoftHiZ
- 9.2.19 HardHiZ
- 9.2.20 GetStatus
- 9.1 Registers and flags description
- 10 Package information
- 11 Revision history
Revision history L6470
72/73 DocID16737 Rev 7
11 Revision history
Table 59. Revision history
Date Revision Changes
06-Nov-2009 1 Initial release
05-Nov-2010 2 Document status promoted from preliminary data to datasheet
18-May-2011 3
Updated: Tabl e 4, Tabl e 5
Added: Section 6.7.6, Section
19-Jun-2012 4
Added device in POWERSO36 and Figure 3
Updated: Tabl e 2, Tabl e 3, Table 4, Table 5, Table 6, Table 9 and
Section 9.1.11.
Minor text changes.
20-Dec-2012 5
Changed the title.
Changed T
OP
value in Tab le 2
Removed T
j
value in Table 3.
Updated HTSSOP28 mechanical data.
19-May-2014 6
Updated Figure 3 on page 16 (replaced “DIR” pin by “SW” pin).
Updated Section 6.4 on page 22 (replaced “the first microstep” by
“zero”).
Removed Section “Infinite acceleration/deceleration mode” from
page 23.
Updated Section 9.1.5 on page 42 (replaced “When the ACC value is
set to 0xFFF, the device works in infinite acceleration mode.” by “The
0xFFF value of the register is reserved and it should never be
used.”).
Updated Section 9.1.6 on page 43 (removed “When the device is
working in infinite acceleration mode, this value is ignored.”).
Updated title of Table 36 on page 56 (replaced “MOT_STATE” by
“MOT_STATUS”).
Updated Section 10: Package information on page 67 (updated
titles, reversed order of Figure 22 and Table 57, Figure 23 and
Table 58, added note 1 below Tabl e 58).
Updated cross-references throughout document.
Minor modifications throughout document.
12-Mar-2015 7
Removed “dSPIN™” from the main title on page 1.
Minor modifications throughout document.