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L6470H
ST L6470H User Manual
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Block diagram
L6470
8/64
Doc ID 16737 Rev 2
1 Bloc
k
diagram
Figure 1.
Block diagram
AM02
3
77v1
3
V
Vo
l
t
a
ge Reg.
ADC
Ext. O
s
c. driver
&
Clock gen.
16MHz
O
s
cill
a
tor
Ch
a
rge
p
u
mp
V
DD
S
PI
Regi
s
ter
s
Control
Logic
C
u
rrent DAC
s
&
Comp
a
r
a
tor
s
T
emper
a
t
u
re
s
en
s
ing
C
u
rrent
s
en
s
ing
S
TBY/R
S
T
FLAG
C
S
CK
S
DO
S
DI
BU
S
Y/
S
YNC
S
W
S
TCK
DGND
VDD
O
S
CIN
O
S
COUT
ADCIN
VREG
CP
VBOOT
AGND
PGND
PGND
V
S
A
V
S
A
OUT1A
OUT2A
V
S
B
V
S
B
OUT1B
OUT2B
H
S
A1
L
S
A1
H
S
A2
L
S
A2
H
S
B1
L
S
B1
H
S
B2
L
S
B2
H
S
A1
L
S
A1
H
S
A2
L
S
A2
H
S
B1
L
S
B1
H
S
B2
L
S
B2
V
DD
V
b
oot
V
b
oot
V
b
oot
V
b
oot
7
9
Table of Contents
Default Chapter
1
Table 1. Device Summary
1
Table of Contents
2
Block Diagram
8
Electrical Data
9
Absolute Maximum Ratings
9
Table 2. Absolute Maximum Ratings
9
Recommended Operating Conditions
10
Table 3. Recommended Operating Conditions
10
Electrical Characteristics
11
Table 4. Electrical Characteristics
11
Pin Connection
16
Pin List
16
Table 5. Pin Description
16
Figure 2. Pin Connection (Top View)
16
Typical Applications
18
Table 6. Typical Application Values
18
Figure 3. Bipolar Stepper Motor Control Application Using L6470
18
Functional Description
19
Device Power-Up
19
Logic I/O
19
Charge Pump
19
Microstepping
20
Figure 4. Charge Pump Circuitry
20
Figure 5. Normal Mode and Microstepping (128 Microsteps)
20
Absolute Position Counter
21
Programmable Speed Profiles
21
Infinite Acceleration/Deceleration Mode
21
Figure 6. Speed Profile in Infinite Acceleration/Deceleration Mode
21
Motor Control Commands
22
Constant Speed Commands
22
Positioning Commands
22
Figure 7. Constant Speed Commands Examples
22
Motion Commands
23
Stop Commands
23
Figure 8. Positioning Command Examples
23
Figure 9. Motion Commands Examples
23
Step-Clock Mode
24
Internal Oscillator and Oscillator Driver
24
Internal Oscillator
24
External Clock Source
24
Overcurrent Detection
25
Table 7. CL Values According to External Oscillator Frequency
25
Figure 10. OSCIN and OSCOUT Pins Configurations
25
Undervoltage Lock-Out (UVLO)
26
Thermal Warning and Thermal Shutdown
26
Reset and Standby
26
External Switch (SW Pin)
27
Figure 11. External Switch Connection
27
Programmable DMOS Slew-Rate, Dead-Time and Blanking-Time
28
Integrated Analog to Digital Converter
28
Internal Voltage Regulator
28
Figure 12. Internal 3 V Linear Regulator
28
BUSY\SYNC Pin
29
BUSY Operation Mode
29
SYNC Operation Mode
29
FLAG Pin
29
Phase Current Control
30
PWM Sinewave Generators
30
Sensorless Stall Detection
31
Low Speed Optimization
31
Figure 13. Current Distortion and Compensation
31
BEMF Compensation
32
Motor Supply Voltage Compensation
32
Figure 14. BEMF Compensation Curve
32
Winding Resistance Thermal Drift Compensation
33
Figure 15. Motor Supply Voltage Compensation Circuit
33
Serial Interface
34
Figure 16. SPI Timings Diagram
34
Figure 17. Daisy-Chain Configuration
35
Programming Manual
36
Registers and Flags Description
36
Table 8. Registers Map
36
Abs_Pos
37
El_Pos
37
Table 9. EL_POS Register
37
Acc
38
Mark
38
Speed
38
Dec
39
Max_Speed
39
Min_Speed
39
Table 10. MIN_SPEED Register
39
Fs_Spd
40
KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC
40
Fn_Slp_Acc
41
Int_Speed
41
St_Slp
41
Table 11. Voltage Amplitude Regulation Registers
41
Adc_Out
42
Fn_Slp_Dec
42
K_Therm
42
Table 12. Winding Resistance Thermal Drift Compensation Coefficient
42
Table 13. ADC_OUT Value and Motor Supply Voltage Compensation Feature
42
Ocd_Th
43
Stall_Th
43
Step_Mode
43
Table 14. Overcurrent Detection Threshold
43
Table 15. Stall Detection Threshold
43
Table 16. STEP_MODE Register
43
Table 17. Step Mode Selection
44
Table 18. SYNC Output Frequency
44
Alarm_En
45
Config
45
Table 19. SYNC Signal Source
45
Table 20. ALARM_EN Register
45
Table 21. CONFIG Register
45
Table 22. Oscillator Management
46
Table 23. External Switch Hard Stop Interrupt Mode
46
Table 24. Overcurrent Event
47
Table 25. Programmable Power Bridge Output Slew-Rate Values
47
Table 26. Motor Supply Voltage Compensation Enable
47
Table 27. PWM Frequency: Integer Division Factor
47
Table 28. PWM Frequency: Multiplication Factor
48
Table 29. Available PWM Frequencies [Khz]: 8 Mhz Oscillator Frequency
48
Table 30. Available PWM Frequencies [Khz]: 16 Mhz Oscillator Frequency
49
Table 31. Available PWM Frequencies [Khz]: 24 Mhz Oscillator Frequency
49
Status
50
Table 32. Available PWM Frequencies [Khz]: 32 Mhz Oscillator Frequency
50
Table 33. STATUS Register
50
Table 34. STATUS Register dir Bit
51
Table 35. STATUS Register MOT_STATE Bits
51
Application Commands
52
Table 36. Application Commands
52
Command Management
53
Figure 18. Command with Three Byte Argument
53
Figure 19. Command with Three Byte Responset
53
Figure 20. Command Response Aborted
53
Nop
53
Table 37. Nop Command Structure
53
Getparam (PARAM)
54
Setparam (PARAM, VALUE)
54
Table 38. Setparam Command Structure
54
Table 39. Getparam Command Structure
54
Run (DIR, SPD)
55
Stepclock (DIR)
55
Table 40. Run Command Structure
55
Table 41. Stepclock Command Structure
55
Goto (ABS_POS)
56
Move (DIR, N_STEP)
56
Table 42. Move Command Structure
56
Table 43. Goto Command Structure
56
Goto_Dir (DIR, ABS_POS)
57
Gountil (ACT, DIR, SPD)
57
Table 44. Goto_Dir Command Structure
57
Table 45. Gountil Command Structure
57
Gohome
58
Gomark
58
Releasesw (ACT, DIR)
58
Table 46. Releasesw Command Structure
58
Table 47. Gohome Command Structure
58
Table 48. Gomark Command Structure
58
Hardstop
59
Resetdevice
59
Resetpos
59
Softstop
59
Table 49. Resetpos Command Structure
59
Table 50. Resetdevice Command Structure
59
Table 51. Softstop Command Structure
59
Table 52. Hardstop Command Structure
59
Getstatus
60
Hardhiz
60
Softhiz
60
Table 53. Softhiz Command Structure
60
Table 54. Hardhiz Command Structure
60
Table 55. Getstatus Command Structure
60
Package Mechanical Data
61
Table 56. HTSSOP28 Mechanical Data
61
Figure 21. HTSSOP28 Mechanical Data
62
Revision History
63
Table 57. Document Revision History
63
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ST L6470H Specifications
General
Brand
ST
Model
L6470H
Category
Computer Hardware
Language
English
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