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HTSSOP28
Features
Operating voltage: 8 - 45 V
7.0 A output peak current (3.0 A
Low R
power MOSFETs
DS(on)
Programmable speed profile
Programmable power MOSFET slew rate
Up to 1/16 microstepping
Predictive current control with adaptive decay
Non dissipative current sensing
SPI interface
Low quiescent and standby currents
Programmable non dissipative overcurrent
protection on all power MOSFETs
Two levels of overtemperature protection
Order codes
L6472H
L6472HTR
L6472PD
L6472PDTR
March 2015
This is information on a product in full production.
Fully integrated microstepping motor driver
POWERSO36
)
r.m.s.
Table 1. Device summary
Package
HTSSOP28
HTSSOP28
POWERSO36
POWERSO36
DocID022729 Rev 5
Applications
Bipolar stepper motor
Description
The L6472 device, realized in analog mixed
signal technology, is an advanced fully integrated
solution suitable for driving two-phase bipolar
stepper motors with microstepping. It integrates
a dual low R
DMOS full bridge with all of the
DS(on)
power switches equipped with an accurate on-
chip current sensing circuitry suitable for non
dissipative current control and overcurrent
protection. Thanks to a new current control,
a 1/16 microstepping is achieved through an
adaptive decay mode which outperforms
traditional implementations. The digital control
core can generate user defined motion profiles
with acceleration, deceleration, speed or target
position, easily programmed through a dedicated
register set.
All application commands and data registers,
including those used to set analog values
(i.e.: current control value, current protection trip
point, deadtime, etc.) are sent through a standard
5-Mbit/s SPI.
A very rich set of protections (thermal, low bus
voltage, overcurrent) makes the L6472 device
"bullet proof", as required by the most demanding
motor control applications.
L6472
-
Datasheet
production data
Packing
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Tape and reel
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Related Manuals for ST L6472
Summary of Contents for ST L6472
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Page 1: Table 1. Device Summary
Fully integrated microstepping motor driver Datasheet production data Applications Bipolar stepper motor Description The L6472 device, realized in analog mixed signal technology, is an advanced fully integrated POWERSO36 HTSSOP28 solution suitable for driving two-phase bipolar stepper motors with microstepping. It integrates... -
Page 2: Table Of Contents
Contents L6472 Contents Block diagram ..........8 Electrical data . - Page 3 L6472 Contents 6.10 Undervoltage lockout (UVLO) ....... . . 29 6.11...
- Page 4 Contents L6472 9.1.15 OCD_TH ..........47 9.1.16...
- Page 5 L6472 List of tables List of tables Table 1. Device summary ............1 Table 2.
- Page 6 List of tables L6472 Table 48. ResetDevice command structure..........61 Table 49.
- Page 7 POWERSO36 pin connection (top view) ........16 Figure 4. Bipolar stepper motor control application using the L6472 ......19 Figure 5.
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Page 8: Block Diagram
Block diagram L6472 Block diagram Figure 1. Block diagram 8/70 DocID022729 Rev 5... -
Page 9: Electrical Data
L6472 Electrical data Electrical data Absolute maximum ratings Table 2. Absolute maximum ratings Symbol Parameter Test condition Value Unit Logic interface supply voltage Motor supply voltage Differential voltage between AGND, PGND and DGND ±0.3 GND, diff Bootstrap peak voltage boot... -
Page 10: Thermal Data
Electrical data L6472 Thermal data Table 4. Thermal data Symbol Parameter Package Typ. Unit HTSSOP28 Thermal resistance junction ambient °C/W thJA POWERSO36 1. HTSSOP28 mounted on the EVAL6472H Rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about 40 on each layer and 15 via holes below the IC. -
Page 11: Electrical Characteristics
L6472 Electrical characteristics Electrical characteristics = 36 V; V = 3.3 V; internal 3 V regulator; T = 25 °C, unless otherwise specified. Table 5. Electrical characteristics Symbol Parameter Test condition Min. Typ. Max. Unit General UVLO turn-on threshold SthOn... - Page 12 Electrical characteristics L6472 Table 5. Electrical characteristics (continued) Symbol Parameter Test condition Min. Typ. Max. Unit POW_SR = '00'; I = +1 A POW_SR = '00'; I = -1 A Fall time POW_SR = ‘11’, I = ±1 A POW_SR = ‘10’, I = ±1 A...
- Page 13 L6472 Electrical characteristics Table 5. Electrical characteristics (continued) Symbol Parameter Test condition Min. Typ. Max. Unit Low logic level input current = 0 V µA = 3.3 V, I = 4 mA Low logic level output voltage = 5 V, I = 4 mA = 3.3 V, I...
- Page 14 Electrical characteristics L6472 Table 5. Electrical characteristics (continued) Symbol Parameter Test condition Min. Typ. Max. Unit Data output disable time disSDO Data output valid time vSDO Data output hold time holSDO Switch input (SW) SW input pull-up resistance SW = GND k...
- Page 15 L6472 Electrical characteristics Table 5. Electrical characteristics (continued) Symbol Parameter Test condition Min. Typ. Max. Unit Integrated analog-to-digital converter Analog-to-digital converter resolution Analog-to-digital converter reference ADC,ref voltage Analog-to-digital converter sampling frequency 1. Accuracy depends on oscillator frequency accuracy. 2. Tested at 25 °C in a restricted range and guaranteed by characterization.
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Page 16: Pin Connection
Pin connection L6472 Pin connection Figure 2. HTSSOP28 pin connection (top view) Figure 3. POWERSO36 pin connection (top view) 16/70 DocID022729 Rev 5... -
Page 17: Pin List
L6472 Pin connection Pin list Table 6. Pin description Number Name Type Function POWERSO HTSSOP Power Logic output supply voltage (pull-up reference) Internal 3 V voltage regulator output and 3.3 V VREG Power external logic supply Oscillator pin 1. To connect an external oscillator or... - Page 18 Pin connection L6472 Table 6. Pin description (continued) Number Name Type Function POWERSO HTSSOP Status flag pin. An internal open drain transistor can pull the pin to GND when a programmed alarm FLAG Open drain output condition occurs (step loss, OCD, thermal pre- warning or shutdown, UVLO, wrong command, non- performable command).
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Page 19: Typical Applications
100 µF VSPOL 100 nF 47 µF REGPOL 100 nF 10 µF DDPOL Charge pump diodes 220 nF BOOT 10 nF 39 k 100 10 nF Figure 4. Bipolar stepper motor control application using the L6472 DocID022729 Rev 5 19/70... -
Page 20: Functional Description
Functional description L6472 Functional description Device power-up At the end of power-up, the device state is the following: Registers are set to default Internal logic is driven by the internal oscillator and a 2 MHz clock is provided by the OSCOUT pin ... -
Page 21: Microstepping
L6472 Functional description Figure 5. Charge pump circuitry Microstepping The driver is able to divide the single step into up to 16 microsteps. Step mode can be programmed by the STEP_SEL parameter in the STEP_MODE register (see Table 20 on page 47). -
Page 22: Automatic Full-Step Mode
Functional description L6472 Figure 6. Normal mode and microstepping (16 microsteps) Automatic full-step mode When motor speed is greater than a programmable full-step speed threshold, the L6472 switches automatically to full-step mode (see Figure 7); the driving mode returns to microstepping when motor speed decreases below the full-step speed threshold. -
Page 23: Absolute Position Counter
Maximum speed parameter ranges from 2 to (2 -1) • 2 step/tick (equivalent to 15.25 to 15610 step/s). Motor control commands The L6472 can accept different types of commands: constant speed commands (Run, GoUntil, ReleaseSW) absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark) ... -
Page 24: Constant Speed Commands
Functional description L6472 6.7.1 Constant speed commands A constant speed command produces a motion in order to reach and maintain a user defined target speed starting from the programmed minimum speed (set in the MIN_SPEED register) and with the programmed acceleration/deceleration value (set in the ACC and DEC registers). -
Page 25: Motion Commands
L6472 Functional description Figure 9. Positioning command examples 6.7.3 Motion commands Motion commands produce a motion in order to perform a user-defined number of microsteps in a user-defined direction that are sent to the device together with the command (see Figure 10). -
Page 26: Step-Clock Mode
Functional description L6472 The HardStop command stops the motor instantly, ignoring deceleration constraints and maintaining the rotor position (a holding torque is applied). The SoftHiZ command causes the motor to decelerate with a programmed deceleration value until the MIN_SPEED value is reached and then forces the bridges into high- impedance state (no holding torque is present). -
Page 27: Internal Oscillator And Oscillator Driver
L6472 Functional description Internal oscillator and oscillator driver The control logic clock can be supplied by the internal 16-MHz oscillator, an external oscillator (crystal or ceramic resonator) or a direct clock signal. These working modes can be selected by the EXT_CLK and OSC_SEL parameters in the... -
Page 28: Overcurrent Detection
Functional description L6472 Figure 11. OSCIN and OSCOUT pin configurations Note: When OSCIN is UNUSED, it should be left floating. When OSCOUT is UNUSED it should be left floating. Overcurrent detection When the current in any of the power MOSFETs exceeds a programmed overcurrent... -
Page 29: Undervoltage Lockout (Uvlo)
6.11 Thermal warning and thermal shutdown An internal sensor allows the L6472 to detect when the device internal temperature exceeds a thermal warning or an overtemperature threshold. When the thermal warning threshold (T ) is reached, the TH_WRN bit in the STATUS... -
Page 30: External Switch (Sw Pin)
Functional description L6472 On exiting standby mode the bridges are disabled (HiZ flag high) and whichever motion command causes the device to exit High Z state (HardStop and SoftStop included). Warning: It is not recommended to reset the device when outputs are active. -
Page 31: Integrated Analog-To-Digital Converter
6.16 Internal voltage regulator The L6472 device integrates a voltage regulator which generates a 3 V voltage starting from motor power supply (VSA and VSB). In order to make the voltage regulator stable, at least 22 µF should be connected between the VREG pin and ground (the suggested value is 47 µF). -
Page 32: Busy\Sync Pin
Functional description L6472 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 bit value (STEP_MODE register). 6.17.1 BUSY operation mode The pin works as busy signal when the SYNC_EN bit is set low (default condition). In this mode the output is forced low while a constant speed, absolute positioning or motion command is under execution. -
Page 33: Phase Current Control
L6472 Phase current control Phase current control The L6472 performs a new current control technique, named predictive current control, allowing the device to obtain the target average phase current. This method is described in detail in Section 7.1. Furthermore, the L6472 automatically selects the better decay mode in order to follow the current profile. -
Page 34: Auto-Adjusted Decay Mode
At the end of the predictive ON state the power stage is set in the OFF state for a fixed time, as in a constant t current control. During the OFF state both slow and fast decay can be performed; the better decay combination is automatically selected by the L6472, as described in Section 7.2. -
Page 35: Figure 16. Adaptive Decay - Fast Decay Tuning
L6472 Phase current control Figure 16. Adaptive decay - fast decay tuning When two or more fast decays are performed with the present target current, the control system adds a fast decay at the end of every OFF time, keeping the OFF state duration... -
Page 36: Auto-Adjusted Fast Decay During The Falling Steps
Anyway, exceeding the fast duration may cause a strong ripple on the step change. The L6472 device automatically adjusts these fast decays reducing the current ripple. -
Page 37: Torque Regulation (Output Current Amplitude Regulation)
L6472 Phase current control Figure 18. Fast decay tuning during the falling steps Torque regulation (output current amplitude regulation) The output current amplitude can be regulated in two ways: writing the TVAL_ACC, TVAL_DEC, TVAL_RUN and TVAL_HOLD registers or varying the ADCIN voltage value. -
Page 38: Serial Interface
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 L6472 (always slave). The SPI uses chip select (CS), serial clock (CK), serial data input (SDI) and serial data output (SDO) pins. -
Page 39: Figure 20. Daisy Chain Configuration
L6472 Serial interface Figure 20. Daisy chain configuration DocID022729 Rev 5 39/70... -
Page 40: Programming Manual
Programming manual L6472 Programming manual Register and flag description Table 9 shows a map of the user registers available (detailed description in respective paragraphs from Section 9.1.1 on page 41 Section 9.1.19 on page 52): Table 9. Register map Address Register Len. -
Page 41: Abs_Pos
L6472 Programming manual Table 9. Register map (continued) Address Register Len. Reset Register function Reset value Remarks [Hex] name [bit] [Hex] Internal oscillator, 2 MHz OSCOUT clock, supply voltage compensation CONFIG IC configuration 2E88 disabled, overcurrent shutdown R, WH enabled, slew rate = 290 V/µs TSW = 40 µs... -
Page 42: Mark
Programming manual L6472 9.1.3 MARK The MARK register contains an absolute position called MARK, in accordance with the selected step mode; the stored value unit is equal to the selected step mode (full, half, quarter, etc.). It is in 2's complement format and it ranges from -2 to +2 9.1.4... -
Page 43: Maxspeed 2
L6472 Programming manual In order to convert the DEC value in step/s2 the following formula can be used: Equation 3 – DEC 2 step s ---------------------------- - tick where DEC is the integer number stored in the register and tick is 250 ns. -
Page 44: Fs_Spd
Programming manual L6472 9.1.9 FS_SPD The FS_SPD register contains the threshold speed. When the actual speed exceeds this value the step mode is automatically switched to full-step two-phase on. Its value is expressed in step/tick (format unsigned fixed point 0.18) and to convert it in step/s the following formula can be used. -
Page 45: T_Fast
L6472 Programming manual 9.1.11 T_FAST The T_FAST register contains the maximum fast decay time (TOFF_FAST) and the maximum fall step time (FALL_STEP) used by the current control system (see Section 7.2 on page 34 7.3 on page 36 for details): Table 13. -
Page 46: Toff_Min
Programming manual L6472 9.1.13 TOFF_MIN The TOFF_MIN register contains the minimum OFF time value used by the current control system (see Section 7.1 on page 33 for details). The available range for both parameters is from 0.5 µs to 64 µs. -
Page 47: Ocd_Th
L6472 Programming manual 9.1.15 OCD_TH The OCD_TH register contains the overcurrent threshold value (see Section 6.9 on page 28 for details). The available range is from 375 mA to 6 A, steps of 375 mA, as shown in Table Table 18. Overcurrent detection threshold OCD_TH [3 …... -
Page 48: Table 21. Sync Output Frequency
Programming manual L6472 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 Section 9.1.19). When when SYNC_EN bit is set low, BUSY/SYNC output is forced low during the commands execution, otherwise, when the SYNC_EN bit is set high, the BUSY/SYNC output provides a clock signal according to the SYNC_SEL parameter. -
Page 49: Alarm_En
L6472 Programming manual 9.1.17 ALARM_EN The ALARM_EN register allows the selection of which alarm signals are used to generate the FLAG output. If the respective bit of the ALARM_EN register is set high, the alarm condition forces the FLAG pin output down. -
Page 50: Table 25. Oscillator Management
Programming manual L6472 The OSC_SEL and EXT_CLK bits set the system clock source: Table 25. Oscillator management EXT_CLK OSC_SEL[2 … 0] Clock source OSCIN OSCOUT Internal oscillator: 16 MHz Unused Unused Internal oscillator: 16 MHz Unused Supplies a 2-MHz clock... -
Page 51: Table 27. Overcurrent Event
L6472 Programming manual Table 27. Overcurrent event OC_SD Overcurrent event Bridges shut down Bridges do not shut down The POW_SR bits set the slew rate value of the power bridge output: Table 28. Programmable power bridge output slew rate values POW_SR [1 …... -
Page 52: Status
Programming manual L6472 9.1.19 STATUS Table 31. STATUS register Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 SCK_MOD TH_SD TH_WRN UVLO WRONG_CMD Bit 7 Bit 6 Bit 5 Bit 4 Bit 3... -
Page 53: Table 33. Status Register Mot_Status Bits
L6472 Programming manual MOT_STATUS indicates the current motor status: Table 33. STATUS register MOT_STATUS bits MOT_STATUS Motor status Stopped Acceleration Deceleration Constant speed Any attempt to write to the register causes the command to be ignored and the NOTPERF_CMD to rise. -
Page 54: Application Commands
Programming manual L6472 Application commands A summary of commands is given in Table Table 34. Application commands Command mnemonic Command binary code Action [7 … 5] [2 …1] Nothing SetParam (PARAM, VALUE) [PARAM] Writes VALUE in the PARAM register GetParam (PARAM) -
Page 55: Command Management
Programming manual 9.2.1 Command management The host microcontroller can control motor motion and configure the L6472 device through a complete set of commands. All commands are composed by a single byte. After the command byte, some argument bytes should be needed (see Figure 21). -
Page 56: Nop
Programming manual L6472 9.2.2 Table 35. NOP command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 From host Nothing is performed. 9.2.3 SetParam (PARAM, VALUE) Table 36. SetParam command structure Bit 7... -
Page 57: Run (Dir, Spd)
L6472 Programming manual This command reads the current PARAM register value; PARAM is the respective register address listed in Table 9 on page The command response is the current value of the register (most significant byte first). The number of bytes composing the command response depends on the length of the target... -
Page 58: Move (Dir, N_Step)
Programming manual L6472 StepClock command argument and can by changed by a new StepClock command without exiting step-clock mode. Events that cause bridges to be forced into high-impedance state (overtemperature, overcurrent, etc.) do not cause the device to leave step-clock mode. StepClock command does not force the BUSY flag low. -
Page 59: Goto_Dir (Dir, Abs_Pos)
L6472 Programming manual This command can only be given when the previous motion command has been completed (BUSY flag released). Any attempt to perform a GoTo command when a previous command is under execution (BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see Section 9.1.19 on page... -
Page 60: Releasesw (Act, Dir)
Programming manual L6472 If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event causes a HardStop interrupt instead of the SoftStop one (see Section 6.13 on page 30 9.1.18 on page 49). This command keeps the BUSY flag low until the switch turn-on event occurs and the motor is stopped. -
Page 61: Gomark
L6472 Programming manual 9.2.13 GoMark Table 46. GoMark command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 From host The GoMark command produces a motion to the MARK position performing the minimum path. -
Page 62: Softstop
Programming manual L6472 9.2.16 SoftStop Table 49. SoftStop command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 From host The SoftStop command causes an immediate deceleration to zero speed and a consequent motor stop;... -
Page 63: Hardhiz
L6472 Programming manual 9.2.19 HardHiZ Table 52. HardHiZ command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 From host The HardHiZ command immediately disables the power bridges (high-impedance state) and raises the HiZ flag. -
Page 64: Package Information
Package information L6472 Package information 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: www.st.com. -
Page 65: Htssop28 Package Information
L6472 Package information 10.1 HTSSOP28 package information Figure 24. HTSSOP28 package outline DocID022729 Rev 5 65/70... -
Page 66: Table 54. Htssop28 Package Mechanical Data
Package information L6472 Table 54. HTSSOP28 package mechanical data Dimensions (mm) Symbol Min. Typ. Max. 0.15 1.05 0.19 0.09 0.65 0.45 0.75 0° 8° 1. Dimension “D” does not include mold flash, protrusions or gate burrs. Mold flash, protrusions or gate burrs do not exceed 0.15 mm per side. -
Page 67: Powerso36 Package Information
L6472 Package information 10.2 POWERSO36 package information Figure 25. POWERSO36 package outline DocID022729 Rev 5 67/70... -
Page 68: Table 55. Powerso36 Package Mechanical Data
Package information L6472 Table 55. POWERSO36 package mechanical data Dimensions (mm) Symbol Min. Typ. Max. 3.60 0.10 0.30 3.30 0.10 0.22 0.38 0.23 0.32 15.80 16.00 9.40 9.80 13.90 14.50 10.90 11.10 2.90 0.65 11.05 0.10 15.50 15.90 1.10 0.80 1.10... -
Page 69: Revision History
L6472 Revision history Revision history Table 56. Document revision history Date Revision Changes 24-Jan-2012 Initial release. Changed the title. Changed T value in Table Removed T parameter in Table 09-Jan-2013 Added footnote to Table Changed fast decay time in Table... - Page 70 ST products and/or to this document at any time without notice. Purchasers should obtain the latest relevant information on ST products before placing orders. ST products are sold pursuant to ST’s terms and conditions of sale in place at the time of order acknowledgement.
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