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 15/70
t
cpwu
Charge pump power-on and wake-up time
Power bridges disabled,
C
p
= 10 nF, C
boot
= 220 nF
650 μs
Internal voltage regulator
V
REG
Voltage regulator output voltage 2.9 3 3.2 V
I
REG
Voltage regulator output current 40 mA
V
REG, drop
Voltage regulator output voltage drop I
REG
= 40 mA 50 mV
I
REG,STBY
Voltage regulator standby output current 10 mA
Integrated analog-to-digital converter
N
ADC
Analog-to-digital converter resolution 5 bit
V
ADC,ref
Analog-to-digital converter reference voltage
V
RE
G
V
f
S
Analog-to-digital converter sampling
frequency
f
PWM
kHz
1. Accuracy depends on oscillator frequency accuracy.
2. Tested at 25 °C in a restricted range and guaranteed by characterization.
3. Rise and fall time depends on motor supply voltage value. Refer to SR
out
values in order to evaluate the actual rise and fall
time.
4. Not valid for STBY/RST
pin which has internal pull-down resistor.
5. Not valid for SW and CS pins which have internal pull-up resistors.
6. FLAG
, BUSY and SYNC open drain outputs included.
7. See Figure 18 – SPI timings diagram for details.
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit