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

L6470 Electrical characteristics
Doc ID16737 Rev 5 13/70
Logic inputs and outputs
V
IL
Low logic level input voltage 0.8 V
V
IH
High logic level input voltage 2 V
I
IH
High logic level input current
(4)
V
IN
= 5 V 1 µA
I
IL
Low logic level input current
(5)
V
IN
= 0 V -1 µA
V
OL
Low logic level output voltage
(6)
V
DD
= 3.3 V, I
OL
= 4 mA 0.3
V
V
DD
= 5 V, I
OL
= 4 mA 0.3
V
OH
High logic level output voltage
V
DD
= 3.3 V, I
OH
= 4 mA 2.4
V
V
DD
= 5 V,
I
OH
= 4 mA
4.7
R
PU
R
PD
CS pull-up and STBY pull-down resistors
CS = GND;
STBY/RST = 5 V
335 430 565 kΩ
I
logic
Internal logic supply current
3.3 V V
REG
externally
supplied, internal oscillator
3.7 4.3 mA
I
logic,STBY
Standby mode internal logic supply current
3.3 V V
REG
externally
supplied
22.5µA
f
STCK
Step-clock input frequency 2 MHz
Internal oscillator and external oscillator driver
f
osc,i
Internal oscillator frequency
T
j
= 25 °C,
V
REG
= 3.3 V
-3% 16 +3% MHz
f
osc,e
Programmable external oscillator frequency 8 32 MHz
V
OSCOUTH
OSCOUT clock source high level voltage
Internal oscillator 3.3 V
V
REG
externally supplied;
I
OSCOUT
= 4 mA
2.4 V
V
OSCOUTL
OSCOUT clock source low level voltage
Internal oscillator 3.3 V
V
REG
externally supplied;
I
OSCOUT
= 4 mA
0.3 V
t
rOSCOUT
t
fOSCOUT
OSCOUT clock source rise and fall time Internal oscillator 20 ns
t
extosc
Internal to external oscillator switching delay 3 ms
t
intosc
External to internal oscillator switching delay 1.5 µs
SPI
f
CK,MAX
Maximum SPI clock frequency
(7)
5MHz
t
rCK
t
fCK
SPI clock rise and fall time
(7)
C
L
= 30 pF 25 ns
t
hCK
t
lCK
SPI clock high and low time
(7)
75 ns
t
setCS
Chip select setup time
(7)
350 ns
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit