ST L6482HTR Stepper Motor Controller Manuals

Manuals and User Guides for ST L6482HTR Stepper Motor Controller. We have 1 ST L6482HTR Stepper Motor Controller manual available for free PDF download: Manual

ST L6482HTR Manual (73 pages)

Brand: ST | Category: Computer Hardware | Size: 1 MB

Table 1. Device Summary
1
Table of Contents
2
Block Diagram
8
Figure 1. Block Diagram
8
Electrical Data
9
Absolute Maximum Ratings
9
Table 2. Absolute Maximum Ratings
9
Recommended Operating Conditions
10
Thermal Data
10
Table 3. Recommended Operating Conditions
10
Table 4. Thermal Data
10
Electrical Characteristics
11
Table 5. Electrical Characteristics
11
Pin Connection
16
Pin List
16
Table 6. Pin Description
16
Figure 2. Pin Connection (Top View)
16
Typical Applications
18
Table 7. Typical Application Values
18
Figure 3. Typical Application Schematic
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 (16 Microsteps)
20
Automatic Full-Step and Boost Modes
21
Figure 6. Automatic Full-Step Switching in Normal Mode
21
Absolute Position Counter
22
Programmable Speed Profiles
22
Infinite Acceleration/Deceleration Mode
22
Figure 7. Automatic Full-Step Switching in Boost Mode
22
Motor Control Commands
23
Constant Speed Commands
23
Positioning Commands
23
Figure 8. Speed Profile in Infinite Acceleration/Deceleration Mode
23
Figure 9. Constant Speed Command Examples
23
Motion Commands
24
Figure 10. Positioning Command Examples
24
Figure 11. Motion Command Examples
24
Stop Commands
25
Step-Clock Mode
25
Gountil and Releasesw Commands
25
Internal Oscillator and Oscillator Driver
26
Internal Oscillator
26
External Clock Source
26
Table 8. CL Values According to External Oscillator Frequency
26
Overcurrent Detection
27
Figure 12. OSCIN and OSCOUT Pin Configuration
27
Undervoltage Lockout (UVLO)
28
Figure 13. Overcurrent Detection-Principle Scheme
28
VS Undervoltage Lockout (UVLO_ADC)
29
Thermal Warning and Thermal Shutdown
29
Table 9. UVLO Thresholds
29
Reset and Standby
30
External Switch (SW Pin)
30
Table 10. Thermal Protection Summarizing Table
30
Programmable Gate Drivers
31
Figure 14. External Switch Connection
31
Deadtime and Blanking Time
32
Integrated Analog-To-Digital Converter
32
Figure 15. Gate Driving Currents
32
Supply Management and Internal Voltage Regulators
33
Figure 16. Device Supply Pin Management
33
BUSY/SYNC Pin
34
FLAG Pin
34
Phase Current Control
35
Predictive Current Control
35
Figure 17. Predictive Current Control
35
Auto-Adjusted Decay Mode
36
Figure 18. Non-Predictive Current Control
36
Figure 19. Adaptive Decay - Fast Decay Tuning
37
Auto-Adjusted Fast Decay During the Falling Steps
38
Figure 20. Adaptive Decay - Switch from Normal to Slow+Fast Decay Mode and Vice Versa
38
Torque Regulation (Output Current Amplitude Regulation)
39
Figure 21. Fast Decay Tuning During the Falling Steps
39
Figure 22. Current Sensing and Reference Voltage Generation
40
Serial Interface
41
Figure 23. SPI Timings Diagram
41
Figure 24. Daisy Chain Configuration
42
Programming Manual
43
Register and Flag Description
43
Abs_Pos
44
El_Pos
44
Table 11. Register Map
44
Table 12. EL_POS Register
44
Mark
45
Speed
45
Acc
45
Dec
46
Max_Speed
46
Min_Speed
46
Table 13. MIN_SPEED Register
46
Fs_Spd
47
TVAL_HOLD, TVAL_RUN, TVAL_ACC and TVAL_DEC
47
T_Fast
48
Ton_Min
48
Table 14. FS_SPD Register
48
Table 15. Torque Regulation by TVAL_HOLD, TVAL_ACC, TVAL_DEC and TVAL_RUN Registers . 48 Table 16. FS_SPD Register
48
Table 17. Maximum Fast Decay Times
48
Toff_Min
49
Table 18. Minimum On-Time
49
Table 19. Minimum Off-Time
49
Adc_Out
50
Ocd_Th
50
Table 20. ADC_OUT Value and Torque Regulation Feature
50
Table 21. Overcurrent Detection Threshold
50
Step_Mode
51
Table 22. STEP_MODE Register
51
Table 23. Step Mode Selection
51
Alarm_En
52
Table 24. SYNC Output Frequency
52
Table 25. SYNC Signal Source
52
Table 26. ALARM_EN Register
52
Gatecfg1
53
Table 27. GATECFG1 Register
53
Table 28. IGATE Parameter
53
Gatecfg2
54
Table 29. TCC Parameter
54
Table 30. TBOOST Parameter
54
Table 31. GATECFG2 Register (Voltage Mode)
54
Config
55
Table 32. TDT Parameter
55
Table 33. TBLANK Parameters
55
Table 34. CONFIG Register
55
Table 35. Oscillator Management
56
Table 36. External Switch Hardstop Interrupt Mode
56
Table 37. Overcurrent Event
57
Table 38. Programmable VCC Regulator Output Voltage
57
Table 39. Programmable UVLO Thresholds
57
Table 40. External Torque Regulation Enable
57
Table 41. Switching Period
57
Status
58
Table 42. Motor Supply Voltage Compensation Enable
58
Table 43. STATUS Register
58
Table 44. STATUS Register TH_STATUS Bits
59
Table 45. STATUS Register dir Bit
59
Table 46. STATUS Register MOT_STATE Bits
59
Application Commands
60
Table 47. Application Commands
60
Command Management
61
Figure 25. Command with 3-Byte Argument
61
Figure 26. Command with 3-Byte Response
61
Figure 27. Command Response Aborted
61
Nop
62
Setparam (PARAM, VALUE)
62
Getparam (PARAM)
62
Table 48. Nop Command Structure
62
Table 49. Setparam Command Structure
62
Table 50. Getparam Command Structure
62
Run (DIR, SPD)
63
Stepclock (DIR)
63
Table 51. Run Command Structure
63
Table 52. Stepclock Command Structure
63
Move (DIR, N_STEP)
64
Goto (ABS_POS)
64
Table 53. Move Command Structure
64
Table 54. Goto Command Structure
64
Goto_Dir (DIR, ABS_POS)
65
Gountil (ACT, DIR, SPD)
65
Table 55. Goto_Dir Command Structure
65
Table 56. Gountil Command Structure
65
Releasesw (ACT, DIR)
66
Gohome
66
Gomark
66
Table 57. Releasesw Command Structure
66
Table 58. Gohome Command Structure
66
Table 59. Gomark Command Structure
66
Resetpos
67
Resetdevice
67
Softstop
67
Table 60. Resetpos Command Structure
67
Table 61. Resetdevice Command Structure
67
Table 62. Softstop Command Structure
67
Hardstop
68
Softhiz
68
Hardhiz
68
Table 63. Hardstop Command Structure
68
Table 64. Softhiz Command Structure
68
Table 65. Hardhiz Command Structure
68
Getstatus
69
Table 66. Getstatus Command Structure
69
Package Mechanical Data
70
Table 67. HTSSOP38 Mechanical Data
70
Figure 28. HTSSOP38 Package Dimensions
70
Figure 29. HTSSOP38 Footprint
71
Revision History
72
Table 68. Document Revision History
72

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