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Table Of Contents

This is information on a product in full production.

December 2012 Doc ID16737 Rev 5 1/70

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

■ 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, 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 (70 pages)

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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.
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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 6.9 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) . . . . . . . . . . . . . . . . . . . .
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Contents L6470 9.2 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 . . . . . . . . . . .
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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. 6/70 L6470 GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 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. Figure 24. 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 CP VBOOT Charge pump Ext. Osc. driver & Clock gen. ADC STBY/RST 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 Parameter Test condition Logic interface supply voltage VDD VS Motor supply voltage 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 Parameter Test condition Value 3.3 V logic outputs VDD VS 2.3 3.
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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 Table 5. Electrical characteristics (continued) Symbol tf SRout_r SRout_f L6470 Parameter Fall time Test condition (3) Output rising slew rate Output falling slew rate Min. Typ. Max.
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L6470 Table 5. Electrical characteristics Electrical characteristics (continued) Symbol Parameter Test condition Min. Typ. Max. Unit Logic inputs and outputs VIL Low logic level input voltage VIH High logic level input voltage IIH IIL VOL 0.8 2 High logic level input current (4) VIN = 5 V Low logic level input current (5) VIN = 0 V Low logic level output voltage (6) -1 0.3 V VDD = 3.3 V, IOH = 4 mA 2.4 VDD = 5 V, IOH = 4 mA 4.
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Electrical characteristics Table 5. L6470 Electrical characteristics (continued) Symbol Parameter tholCS Chip select hold time (7) tdisCS Deselect time (7) tsetSDI tholSDI Data input setup time Data input hold time Test condition (7) (7) Min. Typ. Max.
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L6470 Table 5. Electrical characteristics Electrical characteristics (continued) Symbol tcpwu Parameter Test condition Charge pump power-on and wake-up time Min. Typ. Max. Unit Power bridges disabled, Cp = 10 nF, Cboot = 220 nF μs 650 Internal voltage regulator VREG Voltage regulator output voltage IREG Voltage regulator output current 2.9 VREG, drop Voltage regulator output voltage drop IREG,STBY Voltage regulator standby output current IREG = 40 mA 3 3.
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Pin connection 4 L6470 Pin connection Figure 2. HTSSOP28 pin connection (top view) /54 ! /54 ! 63! 0'.$ 34"9<234 63! 37 34#+ !$#). &,!' 62%' #3 /3#). "539<39.# /3#/54 $'.$ !'.$ 3$) #0 #+ 6"//4 3$/ 63" 6$$ 0'.$ /54 " %0!$ 63" /54 " !- V Figure 3.
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L6470 Pin connection 4.1 Pin list Table 6. Pin description No. Name Type Function HTSSOP POWERSO 17 24 VDD Power Logic outputs supply voltage (pull-up reference) 6 9 VREG Power Internal 3 V voltage regulator output and 3.3 V external logic supply 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. Analog output Oscillator pin 2. To connect an external oscillator.
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Pin connection Table 6. L6470 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.
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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 kΩ RSW 100 Ω CSW 10 nF RA 2.
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Typical applications 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.
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Functional description Figure 5. L6470 Charge pump circuitry 63 6#0 6$ #"//4 63 $ 63 6#0 6$ #&,9 6$ 6"//4 $ #0 6#0 TO HIGH SIDE GATE DRIVERS 6$$ F05-0 !- V 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.
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L6470 6.4.1 Functional description 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 fullstep speed threshold is set through the FS_SPD register (see Section 9.1.9). Figure 7. Automatic full-step switching Ipeak sin(π/4) x Ipeak Phase A Phase B μStepping 6.
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Functional description 6.6.1 L6470 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 30%%$ 0ROGRAMMED MAXIMUM SPEED 0ROGRAMMED NUMBER OF MICROSTEPS TIME TIME )NDEXING MODE 6.
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L6470 Functional description Figure 9. Constant speed command examples 3PEED STEP FREQUENCY 30$ 2UN 30$ "7 30$ 30$ 2UN 30$ &7 2UN 30$ &7 -INIMUM SPEED -INIMUM SPEED TIME 2UN 30$ &7 30$ !- V 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).
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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 30%%$ 30%%$ PROGRAMMED NUMBER OF MICROSTEPS PROGRAMMED NUMBER OF MICROSTEPS PROGRAMMED MAXIMUM SPEED PROGRAMMED MAXIMUM SPEED PROGRAMMED !##%,%2!4)/.
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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).
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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 Crystal/resonator freq. (1) CL (2) 8 MHz 25 pF (ESRmax = 80 Ω) 16 MHz 18 pF (ESRmax = 50 Ω) 24 MHz 15 pF (ESRmax = 40 Ω) 32 MHz 10 pF (ESRmax = 40 Ω) 1. First harmonic resonance frequency. 2.
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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).
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Functional description 6.12 L6470 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 IREG,STBY; as a result, the L6470 heavily reduces the power consumption.
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L6470 Functional description Figure 13. External switch connection 6$$ %XTERNAL 3WITCH 37 !- V 6.14 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). 6.15 Integrated analog-to-digital converter The L6470 integrates an NADC bit ramp-compare analog-to-digital converter with a reference voltage equal to VREG.
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Functional description L6470 Figure 14. Internal 3 V linear regulator VBAT Vs Vs 3V VDD VREG 3.3V REG. VDD μC VSA VSB IC DGND VDD VSA VSB IC AGND Logig supplied by INTERNAL voltage regulator 6.17 VREG DGND AGND Logig supplied by EXTERNAL voltage regulator 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.
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L6470 6.18 Functional description 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.
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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).
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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). 7.
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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 16).
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L6470 Phase current control Figure 17. Motor supply voltage compensation circuit 63 62%' 2! !$#). 6!$#). 63 X 2" 2! 2" !$# !$#?/54 2" F07!- V 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.
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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.
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L6470 Serial interface Figure 19. Daisy chain configuration $%6 #3 #3 #+ #+ (/34 3$/ - 3$)- 3$) 3$/ $%6 #3 #+ (/34 30) SIGNALS 3$) 3$/ #3 3$/- "YTE . "YTE . "YTE "YTE . 3$)- "YTE . "YTE . "YTE "YTE . $%6 .
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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. Address [Hex] Register map Register name h01 ABS_POS h02 EL_POS h03 h04 Register function Len.
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L6470 Table 9. Address [Hex] Programming manual Register map (continued) 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 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.
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Programming manual L6470 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 – 18 ( FS_SPD + 0.5 ) ⋅ 2 [ 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).
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L6470 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.
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Programming manual L6470 Table 13. Winding resistance thermal drift compensation coefficient (continued) K_THERM [3..0] 9.1.16 Compensation coeff. 1 1 1 0 1.4375 1 1 1 1 1.46875 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).
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L6470 Programming manual Table 16. Stall detection threshold STALL_th [6..0] 9.1.19 Stall detection threshold 0 0 0 0 0 0 0 31.25 mA 0 0 0 0 0 0 1 62.5 mA … … … … … … … … 1 1 1 1 1 1 0 3.969 A 1 1 1 1 1 1 1 4A STEP_MODE The STEP_MODE register has the following structure: Table 17. Bit 7 STEP_MODE register Bit 6 Bit 5 SYNC_EN Bit 4 Bit 3 SYNC_SEL 0 (1) Bit 2 Bit 1 Bit 0 STEP_SEL 1. When the register is written, this bit should be set to 0.
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Programming manual L6470 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.
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L6470 Programming manual Table 21. 9.1.21 ALARM_EN register ALARM_EN bit Alarm condition 0 (LSB) Overcurrent 1 Thermal shutdown 2 Thermal warning 3 Undervoltage 4 Stall detection (Bridge A) 5 Stall detection (Bridge B) 6 Switch turn-on event 7 (MSB) Wrong or non-performable command CONFIG The CONFIG register has the following structure: Table 22.
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Programming manual Table 23. L6470 Oscillator management (continued) EXT_C LK OSC_SEL[2..
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L6470 Programming manual Table 26. Programmable power bridge output slew rate values POW_SR Output slew rate (1) [1..0] [V/µs] 0 0 320 0 1 75 1 0 110 1 1 260 1. See SRout_r and SRout_f parameters in Table 5 for details. The EN_VSCOMP bit sets whether the motor supply voltage compensation is enabled or not. Table 27.
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Programming manual Table 29. L6470 PWM frequency: multiplication factor F_PWM_DEC [2..0] Multiplication factor 0 0 0 0.625 0 0 1 0.75 0 1 0 0.875 0 1 1 1 1 0 0 1.25 1 0 1 1.5 1 1 0 1.75 1 1 1 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.
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L6470 Programming manual Table 31. Available PWM frequencies [kHz]: 16-MHz oscillator frequency F_PWM_DEC F_PWM_INT 000 001 010 011 100 101 110 111 011 4.9 5.9 6.8 7.8 9.8 11.7 13.7 15.6 100 3.9 4.7 5.5 6.3 7.8 9.4 10.9 12.5 101 3.3 3.9 4.6 5.2 6.5 7.8 9.1 10.4 110 2.8 3.3 3.9 4.5 5.6 6.7 7.8 8.9 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.
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Programming manual L6470 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.
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L6470 Programming manual Table 36. STATUS register MOT_STATE 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 (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] 0 [3] 0 [2..
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Programming manual Table 37. L6470 Application commands (continued) Command binary code Command mnemonic Action [7..5] [4] 9.2.1 [3] [2..
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L6470 Programming manual Figure 22.
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Programming manual 9.2.4 L6470 GetParam (PARAM) Table 40. GetParam command structure Bit 7 Bit 6 Bit 5 0 0 1 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 PARAM from host ANS Byte 2 (if needed) to host ANS Byte 1 (if needed) to host ANS Byte 0 to host 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).
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L6470 9.2.6 Programming manual StepClock (DIR) Table 42. Stepclock command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 0 1 1 0 0 DIR 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).
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Programming manual 9.2.8 L6470 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 1 0 0 0 0 0 X X ABS_POS (Byte 2) from host from host ABS_POS (Byte 1) from host ABS_POS (Byte 0) from host The GoTo command produces a motion to ABS_POS absolute position through the shortest path.
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L6470 9.2.10 Programming manual 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 1 0 0 0 ACT 0 1 DIR X X X X SPD (Byte 2) from host from host SPD (Byte 1) from host SPD (Byte 0) from host 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.
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Programming manual 9.2.12 L6470 GoHome Table 48. GoHome command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 1 1 0 0 0 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.
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L6470 9.2.15 Programming manual ResetDevice Table 51. ResetDevice command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 1 1 0 0 0 0 0 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.
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Programming manual L6470 The SoftHiZ command disables the power bridges (high impedance state) after a 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.
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L6470 10 Package mechanical data 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 1.2 A1 0.15 A2 0.8 b 0.19 0.3 c 0.09 0.2 D (1) 9.6 D1 1.0 9.7 1.05 9.8 5.5 E 6.
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Package mechanical data L6470 Figure 23.
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L6470 Package mechanical data Table 58. POWERSO36 mechanical data mm Dim. 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 E1(1) 10.90 11.10 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.
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Package mechanical data L6470 Figure 24.
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L6470 11 Revision history 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 6.4.1 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 Please Read Carefully: Information in this document is provided solely in connection with ST products. STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice. All ST products are sold pursuant to ST’s terms and conditions of sale.