Benutzerhandbuch für STMicroelectronics Fully integrated stepper motor driver mounting the L6472 in a high power PowerSO package EVAL6472PD

Inhaltsverzeichnis

• Table 1. Device summary

  1
• 1 Block diagram

  8
  • Figure 1. Block diagram

    8
• 2 Electrical data

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  • 2.1 Absolute maximum ratings

    9
    • Table 2. Absolute maximum ratings

      9
  • 2.2 Recommended operating conditions

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    • Table 3. Recommended operating conditions

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  • 2.3 Thermal data

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    • Table 4. Thermal data

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• 3 Electrical characteristics

  11
  • Table 5. Electrical characteristics

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• 4 Pin connection

  16
  • Figure 2. HTSSOP28 pin connection (top view)

    16
  • Figure 3. POWERSO36 pin connection (top view)

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  • Pin list

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    • Table 6. Pin description

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• 5 Typical applications

  19
  • Table 7. Typical application values

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  • Figure 4. Bipolar stepper motor control application using the L6472

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• 6 Functional description

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  • 6.1 Device power-up

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  • 6.2 Logic I/O

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  • 6.3 Charge pump

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    • Figure 5. Charge pump circuitry

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  • 6.4 Microstepping

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    • Figure 6. Normal mode and microstepping (16 microsteps)

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    • Automatic full-step mode

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      • Figure 7. Automatic full-step switching

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  • 6.5 Absolute position counter

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  • 6.6 Programmable speed profiles

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    • Infinite acceleration/deceleration mode

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      • Figure 8. Speed profile in infinite acceleration/deceleration mode

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  • 6.7 Motor control commands

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    • 6.7.1 Constant speed commands

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      • Figure 9. Constant speed command examples

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    • 6.7.2 Positioning commands

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      • Figure 10. Positioning command examples

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    • 6.7.3 Motion commands

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      • Figure 11. Motion command examples

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    • 6.7.4 Stop commands

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    • 6.7.5 Step-clock mode

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    • 6.7.6 GoUntil and ReleaseSW commands

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  • 6.8 Internal oscillator and oscillator driver

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    • 6.8.1 Internal oscillator

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    • 6.8.2 External clock source

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      • Table 8. CL values according to external oscillator frequency

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      • Figure 12. OSCIN and OSCOUT pin configurations

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  • 6.9 Overcurrent detection

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  • 6.10 Undervoltage lockout (UVLO)

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  • 6.11 Thermal warning and thermal shutdown

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  • 6.12 Reset and standby

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  • 6.13 External switch (SW pin)

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    • Figure 13. External switch connection

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  • 6.14 Programmable DMOS slew rate, deadtime and blanking time

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  • 6.15 Integrated analog-to-digital converter

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  • 6.16 Internal voltage regulator

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    • Figure 14. Internal 3 V linear regulator

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  • 6.17 BUSY\SYNC pin

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    • 6.17.1 BUSY operation mode

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    • 6.17.2 SYNC operation mode

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  • 6.18 FLAG pin

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• 7 Phase current control

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  • 7.1 Predictive current control

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    • Figure 15. Predictive current control

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    • Figure 16. Non-predictive current control

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  • 7.2 Auto-adjusted decay mode

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    • Figure 17. Adaptive decay - fast decay tuning

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    • Figure 18. Adaptive decay switch from normal to slow + fast decay mode and vice-versa

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  • 7.3 Auto-adjusted fast decay during the falling steps

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    • Figure 19. Fast decay tuning during the falling steps

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  • 7.4 Torque regulation (output current amplitude regulation)

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• 8 Serial interface

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  • Figure 20. SPI timings diagram

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  • Figure 21. Daisy chain configuration

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• 9 Programming manual

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  • 9.1 Register and flag description

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    • Table 9. Register map

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    • 9.1.1 ABS_POS

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    • 9.1.2 EL_POS

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      • Table 10. EL_POS register

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    • 9.1.3 MARK

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    • 9.1.4 SPEED

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    • 9.1.5 ACC

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    • 9.1.6 DEC

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    • 9.1.7 MAX_SPEED

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    • 9.1.8 MIN_SPEED

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      • Table 11. MIN_SPEED register

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    • 9.1.9 FS_SPD

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    • 9.1.10 TVAL_HOLD, TVAL_RUN, TVAL_ACC and TVAL_DEC

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      • Table 12. Torque regulation by TVAL_HOLD, TVAL_ACC, TVAL_DEC and TVAL_RUN registers

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    • 9.1.11 T_FAST

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      • Table 13. T_FAST register

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      • Table 14. Maximum fast decay times

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    • 9.1.12 TON_MIN

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      • Table 15. Minimum ON time

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    • 9.1.13 TOFF_MIN

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      • Table 16. Minimum OFF time

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    • 9.1.14 ADC_OUT

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      • Table 17. ADC_OUT value and torque regulation feature

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    • 9.1.15 OCD_TH

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      • Table 18. Overcurrent detection threshold

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    • 9.1.16 STEP_MODE

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      • Table 19. STEP_MODE register

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      • Table 20. Step mode selection

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      • Table 21. SYNC output frequency

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      • Table 22. SYNC signal source

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    • 9.1.17 ALARM_EN

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      • Table 23. ALARM_EN register

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    • 9.1.18 CONFIG

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      • Table 24. CONFIG register

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      • Table 25. Oscillator management

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      • Table 26. External switch hard stop interrupt mode

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      • Table 27. Overcurrent event

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      • Table 28. Programmable power bridge output slew rate values

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      • Table 29. External torque regulation enable

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      • Table 30. Switching period

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    • 9.1.19 STATUS

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      • Table 31. STATUS register

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      • Table 32. STATUS register DIR bit

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      • Table 33. STATUS register MOT_STATE bits

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  • 9.2 Application commands

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    • Table 34. Application commands

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    • 9.2.1 Command management

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      • Figure 22. Command with 3-byte argument

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      • Figure 23. Command with 3-byte response

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      • Figure 24. Command response aborted

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    • 9.2.2 Nop

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      • Table 35. NOP command structure

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    • 9.2.3 SetParam (PARAM, VALUE)

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      • Table 36. SetParam command structure

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    • 9.2.4 GetParam (PARAM)

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      • Table 37. GetParam command structure

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    • 9.2.5 Run (DIR, SPD)

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      • Table 38. Run command structure

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    • 9.2.6 StepClock (DIR)

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      • Table 39. StepClock command structure

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    • 9.2.7 Move (DIR, N_STEP)

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      • Table 40. Move command structure

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    • 9.2.8 GoTo (ABS_POS)

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      • Table 41. GoTo command structure

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    • 9.2.9 GoTo_DIR (DIR, ABS_POS)

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      • Table 42. GoTo_DIR command structure

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    • 9.2.10 GoUntil (ACT, DIR, SPD)

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      • Table 43. GoUntil command structure

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    • 9.2.11 ReleaseSW (ACT, DIR)

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      • Table 44. ReleaseSW command structure

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    • 9.2.12 GoHome

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      • Table 45. GoHome command structure

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    • 9.2.13 GoMark

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      • Table 46. GoMark command structure

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    • 9.2.14 ResetPos

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      • Table 47. ResetPos command structure

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    • 9.2.15 ResetDevice

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      • Table 48. ResetDevice command structure

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    • 9.2.16 SoftStop

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      • Table 49. SoftStop command structure

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    • 9.2.17 HardStop

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      • Table 50. HardStop command structure

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    • 9.2.18 SoftHiZ

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      • Table 51. SoftHiZ command structure

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    • 9.2.19 HardHiZ

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      • Table 52. HardHiZ command structure

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    • 9.2.20 GetStatus

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      • Table 53. GetStatus command structure

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• 10 Package information

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  • Figure 25. HTSSOP28 package outline

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  • Table 54. HTSSOP28 package mechanical data

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  • Figure 26. POWERSO36 package outline

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  • Table 55. POWERSO36 package mechanical data

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• 11 Revision history

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  • Table 56. Document revision history

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