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UM1691
User manual
EVAL6470H-DISC: fully integrated stepper motor driver based on the L6470 and
STM32™
Introduction
The EVAL6470H-DISC can be used together with the STM32™ firmware library V1.0 and constitutes a complete motor control
evaluation and a development platform.
It is a demonstration board for motor control applications in the range of 8 V to 45 V of DC bus voltage using the STM32F105RB
microcontroller with an internal 128 kB Flash size and a 64 kB internal RAM and the L6470 fully integrated solution suitable for
driving two-phase bipolar stepper motors up to 1/128 microstepping.
The L6470 integrates a dual 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 protection.
With dedicated hardware evaluation features, the EVAL6470H-DISC board is designed to help developers evaluate the device
and develop their own applications.
Figure 1.
EVAL6470H-DISC board
UM1691 - Rev 3 - November 2021
www.st.com
For further information contact your local STMicroelectronics sales office.
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Table of Contents
Related Manuals for ST EVAL6470H-DISC
Summary of Contents for ST EVAL6470H-DISC
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Page 1: Figure 1. Eval6470H-Disc Board
STM32™ Introduction The EVAL6470H-DISC can be used together with the STM32™ firmware library V1.0 and constitutes a complete motor control evaluation and a development platform. It is a demonstration board for motor control applications in the range of 8 V to 45 V of DC bus voltage using the STM32F105RB microcontroller with an internal 128 kB Flash size and a 64 kB internal RAM and the L6470 fully integrated solution suitable for driving two-phase bipolar stepper motors up to 1/128 microstepping. -
Page 2: Main Features
UM1691 Main features Main features The characteristics of the EVAL6470H-DISC board are the following: • DC voltage range from 8 V to 45 V • Maximum load phase current at 3 A r.m.s. • Footprint for external resonator or crystal •... -
Page 3: Electrical Characteristics Of The Board
UM1691 Electrical characteristics of the board Electrical characteristics of the board Table 1. Electrical specifications Name Value Supply voltage (V 8 to 45 V Maximum output current (each phase) r.m.s Logic supply voltage (V 3 V (L6470 regulator supply) Logic interface voltage (V 3.3 V (USB supply) Low level logic inputs voltage High level logic input voltage... -
Page 4: Schematics, Layout And Bill Of Material
UM1691 Schematics, layout and bill of material Schematics, layout and bill of material Figure 2. Schematic (microcontroller supply part) TP 1 KEYSTONE5000 VOUT VOUT VOUT VOUT 10U F SHELL USB_VC C USBD M SHELL USBDM USBD P SHELL USBDP LD1117D33T R SHELL 100N F USB_ GND... -
Page 5: Figure 4. Schematic (Motor Driver Part)
UM1691 Schematics, layout and bill of material Figure 4. Schematic (motor driver part) 200K 220NF AD CIN BAV99 GN D KEYSTONE5000 3.6V 100NF 47UF 3.3NF 7.5K 10NF 100UF XTAL 100NF 100NF 100NF OSCIN OSCIN OUT1A OSCOU T OSCOUT L6470H OUT2A ADCIN ADCIN STCK... -
Page 6: Table 2. Bill Of Material
UM1691 Schematics, layout and bill of material Table 2. Bill of material Item Quantity Reference Value Package C1, C16 Cap. cer. 10 µF 10 V X7R 10 µF 0805 Cap. cer. 1 µF 10 V X7R 1 µF 0805 C3, C4, C10, C13, C17, C19, Cap. - Page 7 UM1691 Schematics, layout and bill of material Item Quantity Reference Value Package TP1, TP2, TP4, Test point red KEYSTONE-5000 Test point black KEYSTONE-5001 REG 1300mA LN 3.3 V LD1117D33TR USBLC6-2P6 USBLC6-2P6 SOT 666 L6470 microstepping motor driver L6470 HTSSOP28 MCU, RISC, 72MHz, 3.6 V, STM32F105RBT6 LQFP64 10 x 10 32-bit, 64-pin, LQFP...
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Page 8: General Description
UM1691 General description General description Power supply The EVAL6470H-DISC board is designed to be powered via: • Connector J1: power of the motor and also motor control driver. • USB connector J5: power of the microcontroller and logic control. The USB cable supplies the digital part through a dedicated LDO (U1) providing 3.3 V. -
Page 9: L6470 Stepper Motor Driver
UM1691 L6470 stepper motor driver L6470 stepper motor driver The L6470 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. DS(on) Features • Operating voltage: 8 - 45 V •... -
Page 10: Charge Pump
UM1691 L6470 stepper motor driver 4.2.1 Charge pump The L6470 device uses an internal charge pump for driving correctly the integrated MOSFETs, a voltage higher than the motor power supply. The charge pump is obtained through an oscillator and few external components. Figure 8. -
Page 11: Overcurrent And Stall Detection Thresholds
UM1691 STM32F105RB microcontroller 4.2.3 Overcurrent and stall detection thresholds The overcurrent protection and the stall detection are implemented measuring the current flowing into each integrated MOSFET. The overcurrent protection threshold should be set just above the current rating of the motor: I OCDth >... -
Page 12: Firmware Loading
This section describes how to load firmware to the board by using the DfuSe demonstration software. 4.4.1 DfuSe installation You need first to download the DfuSe demonstration software from: http://www.st.com The DfuSe tool is referenced under the development suite STSW-STM32080. Once downloaded, run the setup.exe file. -
Page 13: Generate A Dfu File From A Hex File
UM1691 Firmware loading 4.4.2 Generate a DFU file from a HEX file If the file you want to download to the discovery board is not a DFU file but a HEX file, you will need first to convert it. In this purpose: •... -
Page 14: Board Settings
UM1691 Firmware loading 4.4.3 Board settings To be able to download firmware, the discovery board should be started in the “DFU” mode. In this purpose: Remove the jumper from the BOOT pins. Plug a USB cable between the discovery board and the PC. It does not matter if the VS connector is plugged or not to a supply voltage. -
Page 15: Dfu Loading
UM1691 Firmware loading 4.4.4 DFU loading At this step, you are now ready to perform the firmware upgrade. Start the “DfuSeDemo.exe”. You must have an “STM Device in DFU Mode” in the list of the “Available DFU Devices”. Else, it means that your board is not correctly configured or not connected to the PC. -
Page 16: Figure 14. Dfu File (Open)
UM1691 Firmware loading Figure 14. DFU file (open) Click on the “Upgrade” button. Figure 15. DFU file (upgrade) If this dialog box appears, click “Yes”. UM1691 - Rev 3 page 16/33... -
Page 17: Figure 16. Dfu File (Confirmation)
UM1691 Firmware loading Figure 16. DFU file (confirmation) Once the download is performed, you should have: Figure 17. DFU file (download OK) Do no forget to put the jumper back on the BOOT pins in order to restart the discovery board to the normal mode! UM1691 - Rev 3 page 17/33... -
Page 18: Using The Eval6470H-Disc With Firmware For The Gui
UM1691 Using the EVAL6470H-DISC with firmware for the GUI Using the EVAL6470H-DISC with firmware for the GUI By default the discovery board is loaded with firmware offering the capability to connect the board with the SPINFamily evaluation tool. This GUI provides direct access to all L6470 registers and allows sending application commands. -
Page 19: Figure 20. Starting Board (Usb Connection)
UM1691 Using the EVAL6470H-DISC with firmware for the GUI Plug a USB cable (which must at least provide a power supply). Figure 20. Starting board (USB connection) The board should switch on automatically. UM1691 - Rev 3 page 19/33... -
Page 20: Figure 21. Starting Board (Error Case)
UM1691 Using the EVAL6470H-DISC with firmware for the GUI At this step: If a problem is detected, the “ready” LED (green) and the “error” LED (red) will switch on without blinking. This means that: ◦ either the board ID is not recognized by the FW (bad FW versions used) ◦... -
Page 21: Figure 23. Starting Board (Display Board Id)
UM1691 Using the EVAL6470H-DISC with firmware for the GUI Figure 23. Starting board (display board ID) Press the LEFT button and check the two-step loop stops after a few seconds. Only green LED remains switched on. Figure 24. Starting board (action LEFT key) -
Page 22: Parameters Exportation From The Gui To The Fw Library
UM1691 Using the EVAL6470H-DISC with firmware for the GUI Press the RIGHT button and check the two-step loops restarts. Figure 25. Starting board (action RIGHT key) Press the RESET button and check that the LEDs restart there two-step loop after the board reset. -
Page 23: Using The Eval6470H-Disc With The Firmware Library
UM1691 Using the EVAL6470H-DISC with the firmware library Press the “header file” button on the main window of the GUI. Figure 27. Parameters exportation Replace the existing “dspin_config.h” of your current FW library by the new one. Figure 28. Parameters exportation (save file) -
Page 24: Fw Library Package Contents
Even if the “Daisy Chain” mode is supported in the L6470 FW library, the L6470 Discovery board HW does not allow it. Please contact ST support if you want more information on “Daisy Chain” mode testing or implementation. -
Page 25: Demonstration Sequence Description
UM1691 Using the EVAL6470H-DISC with the firmware library The FW L6470 library consists of the following files: • user_motion/dspin/inc/stm32f10x_conf.h Library configuration file • user_motion/dspin/src/stm32f10x_it.c Interrupt handlers • user_motion/dspin/inc/stm32f10x_it.h Header for stm32f10x_it.c • user_motion/dspin/inc/clock.h System clock setup related header • user_motion/dspin/src/clock.c System clock source file •... - Page 26 UM1691 Using the EVAL6470H-DISC with the firmware library 17. LED_BUSY (orange) is switched OFF. The LED_BUSY after the point 7 and the LED_ERROR after the point 13 are tied respectively to the BUSY/ SYNC pin and the FLAG pin. So for example they are lighted up when motor accelerates or decelerates.
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Page 27: Create A Project Using The Fw Library Package
• stm32f10x_tim.c For the debugger, for example, select the ST-LINK and configure it to run to main, to verify download, to use the Flash loader and to override the default *.board file with the FlashSTM32F105xB.board. UM1691 - Rev 3... -
Page 28: References
UM1691 References References This user manual provides information on the hardware features and use of the EVAL6470H-DISC board along with the demonstration firmware and software. For additional information, refer to the following: STM32F105xx/STM32F107xx datasheet (CD00220364) ® STM32F101xx, STM32F102xx, STM32F103xx, STM32F105xx and STM32F107xx advanced ARM... -
Page 29: Revision History
UM1691 Revision history Table 4. Document revision history Date Version Changes 29-Nov-2013 Initial release. Updated Section : Introduction on page 1 (replaced “L6470H” by“L6470”). Removed Figure 5. Layout (silk screen) from page 9. Replaced “dSPIN” by “L6470” and/or “motor” in the whole document. Updated Table 2 on page 9 and Section 4.2.1 on page 13 (replaced “L6470H”... -
Page 30: Table Of Contents
DFU loading ............15 Using the EVAL6470H-DISC with firmware for the GUI ......18 4.5.1... -
Page 31: List Of Tables
UM1691 List of tables List of tables Table 1. Electrical specifications..............3 Table 2. -
Page 32: List Of Figures
EVAL6470H-DISC board ........ - Page 33 ST’s terms and conditions of sale in place at the time of order acknowledgement. Purchasers are solely responsible for the choice, selection, and use of ST products and ST assumes no liability for application assistance or the design of Purchasers’...
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