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 mechanical data
- 11 Revision history

Electrical characteristics L6470
12/70 Doc ID16737 Rev 5
t
f
Fall time
(3)
POW_SR = '00'; I
out
= +1 A 90
ns
POW_SR = '00'; I
out
= -1 A 110
POW_SR = '11', I
out
= ±1 A 110
POW_SR = '10', I
out
= ±1 A 260
POW_SR = '01', I
load
= ±1 A 375
SR
out_r
Output rising slew rate
POW_SR = '00', I
out
= +1 A 285
V/µs
POW_SR = '00', I
out
= -1 A 360
POW_SR = '11', I
out
= ±1 A 285
POW_SR = '10', I
out
= ±1 A 150
POW_SR = '01', I
out
= ±1 A 95
SR
out_f
Output falling slew rate
POW_SR = '00', I
out
= +1 A 320
V/µs
POW_SR = '00', I
out
= -1 A 260
POW_SR = '11', I
out
= ±1 A 260
POW_SR = '10', I
out
= ±1 A 110
POW_SR = '01', I
out
= ±1 A 75
Deadtime and blanking
t
DT
Deadtime
(1)
POW_SR = '00' 250
ns
POW_SR = '11',
f
OSC
= 16 MHz
375
POW_SR = '10',
f
OSC
= 16 MHz
625
POW_SR = '01',
f
OSC
= 16 MHz
875
t
blank
Blanking time
(1)
POW_SR = '00' 250
ns
POW_SR = '11',
f
OSC
= 16 MHz
375
POW_SR = '10',
f
OSC
= 16 MHz
625
POW_SR = '01',
f
OSC
= 16 MHz
875
Source-drain diodes
V
SD,HS
High-side diode forward ON voltage I
out
= 1 A 1 1.1 V
V
SD,LS
Low-side diode forward ON voltage I
out
= 1 A 1 1.1 V
t
rrHS
High-side diode reverse recovery time I
out
= 1 A 30 ns
t
rrLS
Low-side diode reverse recovery time I
out
= 1 A 100 ns
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit