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PDF L6470 Data sheet ( Hoja de datos )

Número de pieza L6470
Descripción Fully integrated microstepping motor
Fabricantes STMicroelectronics　
Logotipo STMicroelectronics Logotipo



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L6470
Fully integrated microstepping motor driver
with motion engine and SPI
Target specification
Features
■ Operating voltage: 8 - 45 V
■ 7.0 A output peak current (3.0 A r.m.s.)
■ Low RDSon power MOSFETS
■ Programmable speed profile and positioning
■ Programmable power MOS slew-rate
■ Up to 1/128 microstepping
■ Sensorless stall detection
■ SPI interface
■ Low quiescent and standby currents
■ Programmable non dissipative overcurrent
protection on high and low-side
■ Two levels overtemperature protection
■ Miniaturized and thermally enhanced
packages: QFN7X7-48, HTSSOP28 and
POWERSO36
Applications
■ Bipolar stepper motor
www.DataSDheeets4Uc.croimption
The L6470, realized in analog mixed signal
technology, is an advanced fully integrated
solution suitable for driving two phase bipolar
stepper motors with microstepping.
HTSSOP28
It integrates a dual low RDSon DMOS full bridge
with all of the power switches equipped with an
accurate on chip current sensing circuitry suitable
for non dissipative current control and overcurrent
protections. Thanks to a unique control system a
true 1/128 steps resolution is achieved. The
digital control core can generate user defined
motion profiles with acceleration, deceleration,
speed or target position easily programmed
through a dedicated registers set. All commands
and data registers, including those used to set
analogue values (i.e. current control value,
current protection trip point, dead time, PWM
frequency etc.) are sent through a standard
5Mbit/s SPI.
A very rich set of protections (thermal, low bus
voltage, overcurrent, motor stall) allows designing
a fully protected application, as required by most
demanding motor control applications
Table 1.
Device summary
Order codes
L6470H
L6470Q
L6470PD
Package
HTSSOP28
QFN7X748
POWERSO36
Packing
Tube
Tray
Tube
November 2009
Doc ID 16737 Rev 1
This is preliminary information on a new product foreseen to be developed. Details are subject to change without notice.
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L6470 pdf
L6470
List of tables
List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
Table 8.
Table 9.
Table 10.
Table 11.
Table 12.
Table 13.
Table 14.
Table 15.
Table 16.
Table 17.
Table 18.
Table 19.
Table 20.
Table 21.
Table 22.
Table 23.
Table 24.
Table 25.
Table 26.
Table 27.
Table 28.
Table 29.
Table 30.
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Table 32.
Table 33.
Table 34.
Table 35.
Table 36.
Table 37.
Table 38.
Table 39.
Table 40.
Table 41.
Table 42.
Table 43.
Table 44.
Table 45.
Table 46.
Table 47.
Table 48.
Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Typical application values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
CL values according to external oscillator frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Registers map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
EL_POS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Voltage amplitude regulation registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Winding resistance thermal drift compensation coefficient . . . . . . . . . . . . . . . . . . . . . . . . . 40
ADC_OUT value and motor supply voltage compensation feature . . . . . . . . . . . . . . . . . . 40
Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Stall detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
STEP_MODE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Oscillator management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Overcurrent event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Programmable power bridge output slew-rate values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Motor supply voltage compensation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
PWM frequency: integer division factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
PWM frequency: multiplication factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Available PWM frequencies [kHz]: 8 MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . . 46
Available PWM frequencies [kHz]: 16 MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 47
Available PWM frequencies [kHz]: 24 MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 47
Available PWM frequencies [kHz]: 32 MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 48
STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
STATUS register MOT_STATE bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Nop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Stepclock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
GoTo_DIR command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
ResetDevice command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
HardStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Doc ID 16737 Rev 1
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L6470 arduino
L6470
3 Electrical characteristics
Electrical characteristics
VSA = VSB = 36 V; VDD = 3.3 V; VREG = 3 V; TJ = 25 °C, unless otherwise specified.
Table 4. Electrical characteristics
Symbol
Parameter
Test condition
Min Typ Max Unit
General
VSthOn
VSthOff
VREGth
Iqu
Iq
Tj(WRN)
Tj(OFF)
VS UVLO turn on threshold
VS UVLO turn off threshold
VREG OK threshold
Undervoltage motor quiescent supply current
TBD 8 TBD V
TBD 6.8 TBD V
2.8 V
TBD TBD µA
Quiescent motor supply current
Internal oscillator selected
7 TBD mA
Thermal warning temperature
TBD 130 TBD °C
Thermal shutdown temperature
TBD 160 TBD °C
Charge pump
Vpump
fpump,min
fpump,max
Iboot
Voltage swing for charge pump oscillator
Minimum charge pump oscillator frequency (1)
Maximum charge pump oscillator frequency (1)
Average boot current
fsw,A = fsw,B = 15.6 kHz
POW_SR = ‘10’
10 V
660 kHz
800 kHz
870 µA
Output DMOS transistor
High side switch ON resistance
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RDS(ON)
Low side switch ON resistance
IDSS
Leakage current
tr Rise time (3)
Tj = 25 °C,
Iout = 3A
Tj = 125 °C, (2)
Iout = 3A
Tj = 25 °C,
Iout = 3A
Tj = 125 °C, (2)
Iout = 3A
OUT = VS
OUT = GND
POW_SR = ‘11’
Iout = ±1A
POW_SR = ‘10’
Ilout = ±1A
POW_SR = ‘01’
Iout = ±1A
0.37 TBD
0.51 TBD
0.18 TBD
Ω
0.23 TBD
TBD
TBD
mA
TBD
TBD
ns
TBD
Doc ID 16737 Rev 1
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