L6470PD STMicroelectronics, L6470PD Datasheet
L6470PD
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L6470PD Summary of contents
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... DS(on) Table 1. Device summary Order codes L6470H L6470HTR L6470PD L6470PDTR December 2012 This is information on a product in full production. POWERSO36 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 ...
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Contents Contents 1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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L6470 6.9 Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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Contents 9.1.11 9.1.12 9.1.13 9.1.14 9.1.15 9.1.16 9.1.17 9.1.18 9.1.19 9.1.20 9.1.21 9.1.22 9.2 Application commands . . . . . . . . . . . . . . . . . . . . . . . . ...
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L6470 List of tables Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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List of tables Table 49. GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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L6470 List of figures Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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Block diagram 1 Block diagram Figure 1. Block diagram VDD 16MHz Oscillator STBY/RST FLAG SDO SDI BUSY/SYNC STCK DGND 8/70 OSCIN OSCOUT ADCIN VREG Ext. Osc. driver & Clock gen ADC ...
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L6470 2 Electrical data 2.1 Absolute maximum ratings Table 2. Absolute maximum ratings Symbol Parameter V Logic interface supply voltage DD V Motor supply voltage S Differential voltage between AGND, V GND, diff PGND and DGND V Bootstrap peak voltage ...
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... HTSSOP28 mounted on EVAL6470H rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface 2 of about each layer and 15 via holes below the IC. 2. POWERSO36 mounted on EVAL6470PD rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about 40 cm 10/70 Parameter Test condition 3 ...
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L6470 3 Electrical characteristics specified. Table 5. Electrical characteristics Symbol Parameter General V V UVLO turn-on threshold SthOn UVLO turn-off threshold SthOff UVLO threshold hysteresis ...
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Electrical characteristics Table 5. Electrical characteristics (continued) Symbol Parameter (3) t Fall time f SR Output rising slew rate out_r SR Output falling slew rate out_f Deadtime and blanking (1) t Deadtime DT (1) t Blanking time blank Source-drain diodes ...
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L6470 Table 5. Electrical characteristics (continued) Symbol Parameter Logic inputs and outputs V Low logic level input voltage IL V High logic level input voltage IH I High logic level input current IH I Low logic level input current IL ...
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Electrical characteristics Table 5. Electrical characteristics (continued) Symbol Parameter t Chip select hold time holCS (7) t Deselect time disCS t Data input setup time setSDI t Data input hold time holSDI t Data output enable time enSDO t Data ...
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L6470 Table 5. Electrical characteristics (continued) Symbol Parameter t Charge pump power-on and wake-up time cpwu Internal voltage regulator V Voltage regulator output voltage REG I Voltage regulator output current REG V Voltage regulator output voltage drop REG, drop I ...
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Pin connection 4 Pin connection Figure 2. HTSSOP28 pin connection (top view) Figure 3. POWERSO36 pin connection (top view) 16/70 Doc ID16737 Rev 5 L6470 ...
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L6470 4.1 Pin list Table 6. Pin description No. Name HTSSOP POWERSO 17 24 VDD 6 9 VREG 7 10 OSCIN 8 11 OSCOUT VBOOT 5 8 ADCIN 33, 34 VSA ...
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Pin connection Table 6. Pin description (continued) No. Name HTSSOP POWERSO 24 31 FLAG 3 6 STBY\RST 25 32 STCK EPAD EPAD Exposed pad Ground 18/70 Type Status flag pin. An internal open drain transistor can pull the pin to ...
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L6470 5 Typical applications Table 7. Typical application values Name VSPOL C REG C REGPOL DDPOL D1 C BOOT C FLY Value 220 nF ...
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Typical applications Figure 4. Bipolar stepper motor control application using L6470 20/70 Doc ID16737 Rev 5 L6470 ...
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L6470 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 ...
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Functional description Figure 5. Charge pump circuitry 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 Step mode can ...
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L6470 6.4.1 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 microstepping when motor speed decreases below the full-step speed threshold. The full- step speed threshold is ...
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Functional description 6.6.1 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 not possible to ...
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L6470 Figure 9. Constant speed command examples 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 ...
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Functional description 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 ...
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L6470 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 ...
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Functional description must be placed as close as possible to the pins. Refer to capacitor values according to the external oscillator frequency. Table 8. CL values according to external oscillator frequency Crystal/resonator freq. 16 MHz 24 MHz 32 MHz 1. ...
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L6470 expired and a GetStatus command is sent to the IC (see 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 ...
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Functional description 6.12 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 ...
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L6470 Figure 13. External switch connection 6.14 Programmable DMOS slew rate, deadtime and blanking time Using the POW_SR parameter in the CONFIG register possible to set the commutation speed of the power bridges output (see 6.15 Integrated analog-to-digital ...
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Functional description Figure 14. Internal 3 V linear regulator V DD μC INTERNAL voltage regulator 6.17 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 ...
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L6470 6.18 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 ...
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Phase current control 7 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 ...
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L6470 7.2 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 ...
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Phase current control 7.4 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 The ...
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L6470 Figure 17. Motor supply voltage compensation circuit Motor supply voltage compensation can be enabled setting high the EN_VSCOMP bit of the CONFIG register (see compensation is disabled and the internal analog-to-digital converter is at the user’s disposal; sampling rate ...
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Serial interface 8 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 ...
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L6470 Figure 19. Daisy chain configuration Doc ID16737 Rev 5 Serial interface 39/70 ...
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Programming manual 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. Register map Address Register name Register function [Hex] h01 ABS_POS Current position h02 ...
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L6470 Table 9. Register map (continued) Address Register name Register function [Hex] h18 CONFIG IC configuration h19 STATUS Status h1A RESERVED Reserved address h1B RESERVED Reserved address 1. R: readable, WH: writable only when outputs are in high impedance, WS: ...
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Programming manual 9.1.3 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.). 2's complement format ...
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L6470 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, ...
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Programming manual 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 If the FS_SPD value is set to h3FF (max.) the system always works in microstepping mode ...
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L6470 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 ...
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Programming manual Table 13. Winding resistance thermal drift compensation coefficient (continued) K_THERM [3.. 9.1.16 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 ...
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L6470 Table 16. Stall detection threshold STALL_th [6.. … … … 9.1.19 STEP_MODE The STEP_MODE register has the following structure: Table 17. STEP_MODE register Bit 7 Bit 6 ...
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Programming manual 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. SYNC output ...
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L6470 Table 21. ALARM_EN register ALARM_EN bit 0 (LSB (MSB) 9.1.21 CONFIG The CONFIG register has the following structure: Table 22. CONFIG register Bit 15 Bit 14 F_PWM_INT Bit 7 Bit 6 OC_SD ...
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Programming manual Table 23. Oscillator management (continued) EXT_C OSC_SEL[2.. ...
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L6470 Table 26. Programmable power bridge output slew rate values POW_SR [1.. See S and S Rout_r The EN_VSCOMP bit sets whether the motor supply voltage compensation is enabled or not. ...
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Programming manual Table 29. PWM frequency: multiplication factor F_PWM_DEC [2.. 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 ...
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L6470 Table 31. Available PWM frequencies [kHz]: 16-MHz oscillator frequency F_PWM_INT 011 100 101 110 Table 32. Available PWM frequencies [kHz]: 24-MHz oscillator frequency F_PWM_INT 000 001 010 011 100 101 110 Table 33. Available PWM frequencies [kHz]: 32-MHz oscillator ...
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Programming manual 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 9.1.22 STATUS Table 34. STATUS register Bit 15 Bit 14 SCK_MOD STEP_LOSS_B Bit ...
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L6470 Table 36. STATUS register MOT_STATE bits MOT_STATUS Any attempt to write to the register causes the command to be ignored and the NOTPERF_CMD flag to rise (see 9.2 Application commands The command summary is given ...
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Programming manual Table 37. Application commands (continued) Command binary code Command mnemonic [7..5] [4] HardStop 101 SoftHiZ 101 HardHiZ 101 GetStatus 110 RESERVED 111 RESERVED 111 9.2.1 Command management The host microcontroller can control motor motion and configure the L6470 ...
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L6470 Figure 22. Command response aborted When a byte that does not correspond to a command is sent to the IC ignored and the WRONG_CMD flag in the STATUS register is raised (see 9.2.2 Nop Table 38. Nop ...
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Programming manual 9.2.4 GetParam (PARAM) Table 40. GetParam command structure Bit 7 Bit This command reads the current PARAM register value; PARAM is the respective register address listed in The command response is the current value of ...
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L6470 9.2.6 StepClock (DIR) Table 42. Stepclock command structure Bit 7 Bit The StepClock command switches the device in Step-clock mode (see imposes the forward (DIR = '1') or reverse (DIR = '0') direction. When the device ...
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Programming manual 9.2.8 GoTo (ABS_POS) Table 44. GoTo command structure Bit 7 Bit The GoTo command produces a motion to ABS_POS absolute position through the shortest path. The ABS_POS value is always in agreement with ...
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L6470 9.2.10 GoUntil (ACT, DIR, SPD) Table 46. GoUntil command structure Bit 7 Bit The GoUntil command produces a motion at SPD speed imposing a forward (DIR = '1 reverse (DIR = '0') ...
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Programming manual 9.2.12 GoHome Table 48. GoHome command structure Bit 7 Bit 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)” ...
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L6470 9.2.15 ResetDevice Table 51. ResetDevice command structure Bit 7 Bit The ResetDevice command resets the device to power-up conditions (see Note: At power-up the power bridges are disabled. 9.2.16 SoftStop Table 52. SoftStop command structure Bit ...
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Programming manual 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 ...
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L6470 10 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: ® ...
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Package mechanical data Figure 23. HTSSOP28 mechanical data 66/70 Doc ID16737 Rev 5 L6470 ...
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L6470 Table 58. POWERSO36 mechanical data Dim D( E1( Min. Typ. 0.10 0 0.22 0.23 15.80 9.40 13.90 10.90 5.8 0.65 ...
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Package mechanical data Figure 24. POWERSO36 drawings 68/70 Doc ID16737 Rev 5 L6470 ...
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L6470 11 Revision history Table 59. Revision history Date 06-Nov-2009 05-Nov-2010 18-May-2011 19-Jun-2012 20-Dec-2012 Revision 1 Initial release 2 Document status promoted from preliminary data to datasheet Updated: Table 4, Table 5 3 Added: Section 6.7.6, Added device in POWERSO36 ...
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