ST L6472PDTR Manuals

Manuals and User Guides for ST L6472PDTR. We have 1 ST L6472PDTR manual available for free PDF download: Manual

ST L6472PDTR Manual

ST L6472PDTR Manual (70 pages)

Fully integrated microstepping motor driver

Brand: ST | Category: Control Unit | Size: 1 MB

Table of Contents

Table 1. Device Summary
1
Table of Contents
2
Block Diagram

8
- Figure 1. Block Diagram
  8
Electrical Data

9
Electrical Characteristics

11
- Table 5. Electrical Characteristics
  11
Pin Connection

16
Typical Applications

19
- Table 7. Typical Application Values
  19
- Figure 4. Bipolar Stepper Motor Control Application Using the L6472
  19
Functional Description

20
- Device Power-Up
  20
- Logic I/O
  20
- Charge Pump
  20
- Microstepping
  21
- Absolute Position Counter
  23
- Programmable Speed Profiles
  23
- Motor Control Commands
  23
  - Constant Speed Commands
    24
  - Positioning Commands
    24
  - Figure 8. Constant Speed Command Examples
    24
  - Motion Commands
    25
  - Stop Commands
    25
  - Figure 9. Positioning Command Examples
    25
  - Figure 10. Motion Command Examples
    25
  - Step-Clock Mode
    26
  - Gountil and Releasesw Commands
    26
- Internal Oscillator and Oscillator Driver
  27
- Overcurrent Detection
  28
- Figure 11. OSCIN and OSCOUT Pin Configurations
  28
- Undervoltage Lockout (UVLO)
  29
- Thermal Warning and Thermal Shutdown
  29
- Reset and Standby
  29
- External Switch (SW Pin)
  30
- Programmable DMOS Slew Rate, Deadtime and Blanking Time
  30
- Figure 12. External Switch Connection
  30
- Integrated Analog-To-Digital Converter
  31
- Internal Voltage Regulator
  31
- Figure 13. Internal 3 V Linear Regulator
  31
- BUSY\SYNC Pin
  32
  - BUSY Operation Mode
    32
  - SYNC Operation Mode
    32
- FLAG Pin
  32
Phase Current Control

33
Serial Interface

38
- Figure 19. SPI Timings Diagram
  38
- Figure 20. Daisy Chain Configuration
  39
Programming Manual

40
- Register and Flag Description
  40
  - Table 9. Register Map
    40
  - Abs_Pos
    41
  - El_Pos
    41
  - Table 10. EL_POS Register
    41
  - Acc
    42
  - Dec
    42
  - Mark
    42
  - Speed
    42
  - Maxspeed 2
    43
  - Minspeed 2
    43
  - Table 11. MIN_SPEED Register
    43
  - Fs_Spd
    44
  - TVAL_HOLD, TVAL_RUN, TVAL_ACC and TVAL_DEC
    44
  - Table 13. T_FAST Register
    45
  - Table 14. Maximum Fast Decay Times
    45
  - Table 15. Minimum on Time
    45
  - Ton_Min
    45
  - T_Fast
    45
  - Adc_Out
    46
  - Table 16. Minimum off Time
    46
  - Table 17. ADC_OUT Value and Torque Regulation Feature
    46
  - Toff_Min
    46
  - Ocd_Th
    47
  - Step_Mode
    47
  - Table 18. Overcurrent Detection Threshold
    47
  - Table 19. STEP_MODE Register
    47
  - Table 20. Step Mode Selection
    47
  - Table 21. SYNC Output Frequency
    48
  - Table 22. SYNC Signal Source
    48
  - Alarm_En
    49
  - Config
    49
  - Table 23. ALARM_EN Register
    49
  - Table 24. CONFIG Register
    49
  - Table 25. Oscillator Management
    50
  - Table 26. External Switch Hard Stop Interrupt Mode
    50
  - Table 27. Overcurrent Event
    51
  - Table 28. Programmable Power Bridge Output Slew Rate Values
    51
  - Table 29. External Torque Regulation Enable
    51
  - Table 30. Switching Period
    51
  - Status
    52
  - Table 31. STATUS Register
    52
  - Table 32. STATUS Register dir Bit
    52
  - Table 33. STATUS Register MOT_STATUS Bits
    53
- Application Commands
  54
  - Table 34. Application Commands
    54
  - Command Management
    55
  - Figure 21. Command with 3-Byte Argument
    55
  - Figure 22. Command with 3-Byte Response
    55
  - Figure 23. Command Response Aborted
    55
  - Getparam (PARAM)
    56
  - Nop
    56
  - Setparam (PARAM, VALUE)
    56
  - Table 35. NOP Command Structure
    56
  - Table 36. Setparam Command Structure
    56
  - Table 37. Getparam Command Structure
    56
  - Run (DIR, SPD)
    57
  - Stepclock (DIR)
    57
  - Table 38. Run Command Structure
    57
  - Table 39. Stepclock Command Structure
    57
  - Goto (ABS_POS)
    58
  - Move (DIR, N_STEP)
    58
  - Table 40. Move Command Structure
    58
  - Table 41. Goto Command Structure
    58
  - Goto_Dir (DIR, ABS_POS)
    59
  - Gountil (ACT, DIR, SPD)
    59
  - Table 42. Goto_Dir Command Structure
    59
  - Table 43. Gountil Command Structure
    59
  - Gohome
    60
  - Releasesw (ACT, DIR)
    60
  - Table 44. Releasesw Command Structure
    60
  - Table 45. Gohome Command Structure
    60
  - Gomark
    61
  - Resetdevice
    61
  - Resetpos
    61
  - Table 46. Gomark Command Structure
    61
  - Table 47. Resetpos Command Structure
    61
  - Table 48. Resetdevice Command Structure
    61
  - Hardstop
    62
  - Softhiz
    62
  - Softstop
    62
  - Table 49. Softstop Command Structure
    62
  - Table 50. Hardstop Command Structure
    62
  - Table 51. Softhiz Command Structure
    62
  - Getstatus
    63
  - Hardhiz
    63
  - Table 52. Hardhiz Command Structure
    63
  - Table 53. Getstatus Command Structure
    63
Package Information

64
Revision History

69
- Table 56. Document Revision History
  69

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