EVAL6472PD STMicroelectronics, EVAL6472PD Datasheet
EVAL6472PD
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EVAL6472PD Summary of contents
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Features ■ Operating voltage ■ 7.0 A output peak current (3.0 A r.m.s.) ■ Low R Power MOSFETs DS(on) ■ Programmable speed profile ■ Programmable Power MOSFET slew rate ■ ...
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Contents Contents 1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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L6472 6.9 Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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Contents 9.1.14 9.1.15 9.1.16 9.1.17 9.1.18 9.1.19 9.2 Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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L6472 List of table Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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List of table Table 49. SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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L6472 List of figures Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ...
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Block diagram 1 Block diagram Figure 1. Block diagram 8/68 Doc ID 022729 Rev 2 L6472 ...
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L6472 2 Electrical data 2.1 Absolute maximum ratings Table 2. Absolute maximum ratings Symbol Parameter V Logic interface supply voltage DD V Motor supply voltage S Differential voltage between AGND, V GND, diff PGND and DGND V Bootstrap peak voltage ...
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... HTSSOP28 mounted on EVAL6472H Rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface 2 of about each layer and 15 via holes below the IC. 2. POWERSO36 mounted on EVAL6472PD Rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about 40 cm 10/68 Parameter 3.3 V logic outputs ...
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L6472 3 Electrical characteristics specified. Table 5. Electrical characteristics Symbol General V V UVLO turn-on threshold SthOn UVLO turn-off threshold SthOff S V UVLO threshold S V SthHyst ...
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Electrical characteristics Table 5. Electrical characteristics (continued) Symbol t Fall time f SR Output rising slew rate out_r SR Output falling slew rate out_f Dead time and blanking t Dead time DT t Blanking time blank Source-drain diodes High-side diode ...
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L6472 Table 5. Electrical characteristics (continued) Symbol Low-side diode reverse t rrLS recovery time Logic inputs and outputs V Low logic level input voltage IL V High logic level input voltage IH High logic level input current I (4) IH ...
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Electrical characteristics Table 5. Electrical characteristics (continued) Symbol t rCK SPI clock rise and fall time t fCK t SPI clock high and low time hCK (7) t lCK t Chip select setup time setCS t Chip select hold time ...
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L6472 Table 5. Electrical characteristics (continued) Symbol Charge pump power-on and t cpwu wake-up time Internal voltage regulator Voltage regulator output V REG voltage Voltage regulator output I REG current Voltage regulator output V REG, drop voltage drop Voltage regulator ...
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Pin connection 4 Pin connection Figure 2. HTSSOP28 pin connection (top view) Figure 3. POWERSO36 pin connection (top view) 16/68 Doc ID 022729 Rev 2 L6472 ...
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L6472 4.1 Pin list Table 6. Pin description No. Name 17 VDD 6 VREG 7 OSCIN Analog input 8 OSCOUT Analog output Vboot Supply voltage 5 ADCIN Analog input 2 VSA Power supply 26 12 VSB Power ...
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Pin connection Table 6. Pin description (continued) No. Name 3 STBY\RST Logic input 25 STCK Logic input EPAD Exposed pad 18/68 Type Standby and reset pin. LOW logic level resets the logic and puts the device into standby mode. If ...
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L6472 5 Typical applications Table 7. Typical application values Name VSPOL C REG C REGPOL DDPOL D1 C BOOT C FLY Figure 4. Bipolar stepper motor control application ...
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Functional description 6 Functional description 6.1 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 ...
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L6472 Figure 5. Charge pump circuitry 6.4 Microstepping The driver is able to divide the single step into microsteps. Step mode can be programmed by the STEP_SEL parameter in the STEP_MODE register (see Step mode can only ...
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Functional description 6.4.1 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 microstepping when motor speed decreases below the full-step speed threshold. The full- step speed threshold ...
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L6472 6.6.1 Infinite acceleration/deceleration mode When the ACC register value is set to max. (0xFFF), the system works in “infinite acceleration mode”: acceleration and deceleration phases are totally skipped, as shown in Figure not possible to skip ...
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Functional description Figure 9. Constant speed command examples 6.7.2 Positioning commands An absolute positioning command produces a motion in order to reach a user-defined position that is sent to the device together with the command. The position can be reached ...
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L6472 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 11). The performed motor motion is ...
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Functional description 6.7.6 GoUntil and ReleaseSW commands In most applications the power-up position of the stepper motor is undefined initialization algorithm driving the motor to a known position is necessary. The GoUntil and ReleaseSW commands can be used ...
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L6472 6.8 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 direct clock signal. These working modes can be selected by the EXT_CLK ...
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Functional description Figure 12. OSCIN and OSCOUT pin configurations Note: When OSCIN is UNUSED, it should be left floating. When OSCOUT is UNUSED it should be left floating. 6.9 Overcurrent detection When the current in any of the Power MOSFETs ...
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L6472 6.10 Undervoltage lockout (UVLO) The L6472 provides motor supply UVLO protection. When the motor supply voltage falls below the V SthOff GetStatus command is sent to the IC, and the undervoltage condition expires, the UVLO flag is released (see ...
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Functional description 6.13 External switch (SW pin) The SW input is internally pulled- ground (see Figure The SW_F bit of the STATUS register indicates if the switch is open (‘0’) or closed (‘1’) (see Section 9.1.19); the bit ...
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L6472 6.16 Internal voltage regulator The L6472 integrates a voltage regulator which generates voltage starting from motor power supply (VSA and VSB). In order to make the voltage regulator stable, at least 22 µF should be connected ...
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Functional description 6.17.2 SYNC operation mode The pin works as a synchronization signal when the SYNC_EN bit is set high. In this mode a step-clock signal is provided on the output according to a SYNC_SEL and STEP_SEL parameter combination (see ...
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L6472 7 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 ...
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Phase current control As shown in Figure reference value improving dramatically the accuracy of the current control system: in fact the average value of a triangular wave is exactly equal to the middle point of each of its segments and ...
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L6472 7.2 Auto-adjusted decay mode During the current control, the device automatically selects the better decay mode in order to follow the current profile reducing the current ripple. At reset, the OFF time is performed by turning on both the ...
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Phase current control Figure 18. Adaptive decay switch from normal to slow+fast decay mode and viceversa 7.3 Auto-adjusted fast decay during the falling steps When the target current is decreased by a microstep change (falling step), the device performs a ...
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L6472 Figure 19. Fast decay tuning during the falling steps 7.4 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 ...
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Serial interface 8 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 ...
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L6472 Figure 21. Daisy chain configuration Doc ID 022729 Rev 2 Serial interface 39/68 ...
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Programming manual 9 Programming manual 9.1 Register and flag description Table 9 shows a map of the user registers available (detailed description in respective paragraphs): Table 9. Register map Address Register Register function [Hex] name h01 ABS_POS Current position h02 ...
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L6472 Table 9. Register map (continued) Address Register Register function [Hex] name h18 CONFIG IC configuration h19 STATUS Status h1A RESERVED Reserved address h1B RESERVED Reserved address 1. R: Readable, WH: writable only when outputs are in high-impedance, WS: writable ...
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Programming manual 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.). 2's complement ...
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L6472 Equation 3 where DEC is the integer number stored in the register and tick is 250 ns. The available range is from 14.55 to 59590 step/s When the device is working in infinite acceleration mode this value is ignored. ...
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Programming manual 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 ...
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L6472 Table 13. T_FAST register Bit 7 Bit 6 TOFF_FAST The available range for both parameters is from 0.5 µ µs. Table 14. Maximum fast decay times TOFF_FAST [3..0] FAST_STEP[3.. Any attempt to write ...
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Programming manual Table 16. Minimum OFF time Any attempt to write to the register when the motor is running causes the command to be ignored and NOTPERF_CMD to rise (see 9.1.14 ADC_OUT ...
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L6472 9.1.16 STEP_MODE The STEP_MODE register has the following structure: Table 19. STEP_MODE register Bit 7 SYNC_EN 1. When the register is written this bit should be set to 1. Note: When the STEP_MODE register is written, the bit #3 ...
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Programming manual Table 21. SYNC output frequency 000 000 f FS 001 NA 010 NA 011 NA 100 NA 101 NA 110 NA 111 NA The synchronization signal is obtained starting from the electrical position information (EL_POS register) according to ...
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L6472 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. ...
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Programming manual The OSC_SEL and EXT_CLK bits set the system clock source: Table 25. Oscillator management EXT_CLK OSC_SEL[2.. ...
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L6472 Table 27. Overcurrent event OC_SD 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.. See S and S Rout_r ...
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Programming manual 9.1.19 STATUS Table 31. STATUS register Bit 15 SCK_MOD Bit 7 NOTPERF_CMD When the HiZ flag is high it indicates that the bridges are in high-impedance state. Any motion command causes the device to exit from High Z ...
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L6472 Any attempt to write to the register causes the command to be ignored and the NOTPERF_CMD to rise (see 9.2 Application commands A summary of commands is given in Table 34. Application commands Command mnemonic [7..5] [4] NOP 000 ...
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Programming manual 9.2.1 Command management The host microcontroller can control motor motion and configure the L6472 through a complete set of commands. All commands are composed by a single byte. After the command byte, some argument bytes should be needed ...
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L6472 9.2.3 SetParam (PARAM, VALUE) Table 36. SetParam command structure Bit 7 Bit The SetParam command sets the PARAM register value equal to VALUE; PARAM is the respective register address listed in The command should be followed ...
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Programming manual Any attempt to read an inexistent register (wrong address value) causes the command to be ignored and WRONG_CMD flag to rise at the end of command byte unknown command code is sent. 9.2.5 Run (DIR, ...
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L6472 9.2.7 Move (DIR, N_STEP) Table 40. Move command structure Bit 7 Bit The move command produces a motion of N_STEP microsteps; the direction is selected by the DIR bit ('1' forward or '0' reverse). ...
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Programming manual 9.2.9 GoTo_DIR (DIR, ABS_POS) Table 42. GoTo_DIR command structure Bit 7 Bit The GoTo_DIR command produces a motion to the ABS_POS absolute position imposing a forward (DIR = '1 reverse (DIR ...
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L6472 9.2.11 ReleaseSW (ACT, DIR) Table 44. ReleaseSW command structure Bit 7 Bit The ReleaseSW command produces a motion at minimum speed imposing a forward (DIR = '1') or reverse (DIR = '0') rotation. When SW is ...
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Programming manual The GoMark command keeps the BUSY flag low until the MARK position is reached. This command can only be given when the previous motion command has been completed (BUSY flag released). Any attempt to perform a GoMark command ...
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L6472 9.2.17 HardStop Table 50. HardStop command structure Bit 7 Bit The HardStop command causes an immediate motor stop with infinite deceleration. When the motor is in high-impedance state, a HardStop command forces the bridges to exit ...
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Programming manual 9.2.20 GetStatus Table 53. GetStatus command structure Bit 7 Bit The GetStatus command returns the STATUS register value. The GetStatus command resets the STATUS register warning flags. The command forces the system to exit from ...
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L6472 10 Package mechanical data 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. ECOPACK ...
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Package mechanical data Figure 25. HTSSOP28 mechanical data 64/68 Doc ID 022729 Rev 2 L6472 ...
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L6472 Table 55. POWERSO36 mechanical data Dim ( ( Min. Typ. 0.10 0 0.22 0.23 15.80 9.40 13.90 10.90 ...
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Package mechanical data Figure 26. POWERSO36 drawings 66/68 Doc ID 022729 Rev 2 L6472 ...
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L6472 11 Revision history Table 56. Document revision history Date 24-Jan-2012 09-Jan-2013 Revision 1 Initial release. Changed the title. Changed T value in OP Removed T parameter Added footnote to Table Changed fast decay time in Changed ...
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