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| this is information on a product in full production. may 2014 docid022729 rev 4 1/70 l6472 dspin? fully integrated microstepping motor driver datasheet - production data features ? operating voltage: 8 - 45 v ? 7.0 a output peak current (3.0 a r.m.s. ) ? low r ds(on) power mosfets ? programmable speed profile ? programmable power mosfet slew rate ? up to 1/16 microstepping ? predictive current control with adaptive decay ? non dissipative current sensing ? spi interface ? low quiescent and standby currents ? programmable non dissipative overcurrent protection on all power mosfets ? two levels of overtemperature protection applications ? bipolar stepper motor description the l6472 device, realized in analog mixed signal technology, is an advanced fully integrated solution suitable for dr iving two-phase bipolar stepper motors with microstepping. it integrates a dual low r ds(on) dmos full bridge with all of the power switches equipped with an accurate on-chip current sensing circuitry suitable for non dissipative current c ontrol and overcurrent protection. thanks to a new current control, a 1/16 microstepping is achieved through an adaptive decay mode which outperforms traditional implementations. the digital control core can generate user defined motion profiles with acceleration, deceleration, speed or target position, easily programmed through a dedicated register set. all application commands and data registers, including those used to set analog values (i.e. current control value, current protection trip point, deadtime, etc.) are sent through a standard 5-mbit/s spi. a very rich set of prot ections (thermal, low bus voltage, overcurrent) makes the l6472 device ?bullet proof?, as required by the most demanding motor control applications. htssop28 powerso36 table 1. device summary order codes package packing l6472h htssop28 tube l6472htr htssop28 tape and reel L6472PD powerso36 tube L6472PDtr powerso36 tape and reel www.st.com
contents l6472 2/70 docid022729 rev 4 contents 1 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2 electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1 absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3 thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3 electrical characteristi cs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4 pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 pin list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 5 typical applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 6 functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 6.1 device power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 6.2 logic i/o . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 6.3 charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 6.4 microstepping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 automatic full-step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 6.5 absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 6.6 programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 6.7 motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 6.7.1 constant speed commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 6.7.2 positioning commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 6.7.3 motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 6.7.4 stop commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 6.7.5 step-clock mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 6.7.6 gountil and releasesw commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 6.8 internal oscillator and oscillator driver . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 6.8.1 internal oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 6.8.2 external clock source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 6.9 overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 docid022729 rev 4 3/70 l6472 contents 70 6.10 undervoltage lockout (uvlo) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 6.11 thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 29 6.12 reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 6.13 external switch (sw pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 6.14 programmable dmos slew rate, deadtime and blanking time . . . . . . . . . 30 6.15 integrated analog-to-digital converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 6.16 internal voltage regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 6.17 busy\sync pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 6.17.1 busy operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 6.17.2 sync operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 6.18 flag pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 7 phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 7.1 predictive current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 7.2 auto-adjusted decay mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 7.3 auto-adjusted fast decay during the falling steps . . . . . . . . . . . . . . . . . . . 36 7.4 torque regulation (output current amplitude regulation) . . . . . . . . . . . . . . 37 8 serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 9 programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 9.1 register and flag description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 9.1.1 abs_pos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 9.1.2 el_pos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 9.1.3 mark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 9.1.4 speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 9.1.5 acc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 9.1.6 dec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 9.1.7 max_speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 9.1.8 min_speed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 9.1.9 fs_spd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 9.1.10 tval_hold, tval_run, tval_acc and tval_dec . . . . . . . . . . . . 44 9.1.11 t_fast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9.1.12 ton_min . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 9.1.13 toff_min . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 9.1.14 adc_out . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 contents l6472 4/70 docid022729 rev 4 9.1.15 ocd_th . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 9.1.16 step_mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47 9.1.17 alarm_en . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 9.1.18 config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49 9.1.19 status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 9.2 application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 9.2.1 command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 9.2.2 nop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 9.2.3 setparam (param, value) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 9.2.4 getparam (param) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 9.2.5 run (dir, spd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 9.2.6 stepclock (dir) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 9.2.7 move (dir, n_step) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 9.2.8 goto (abs_pos) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 9.2.9 goto_dir (dir, abs_pos) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 9.2.10 gountil (act, dir, spd) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 9.2.11 releasesw (act, dir) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 9.2.12 gohome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 9.2.13 gomark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 9.2.14 resetpos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 9.2.15 resetdevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 9.2.16 softstop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 9.2.17 hardstop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 9.2.18 softhiz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 9.2.19 hardhiz . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 9.2.20 getstatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 10 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 11 revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 docid022729 rev 4 5/70 l6472 list of tables 70 list of tables table 1. device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 table 2. absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 table 3. recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 table 4. thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 table 5. electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 table 6. pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 table 7. typical application values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 table 8. cl values according to external oscillator frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 table 9. register map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 table 10. el_pos register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 table 11. min_speed register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 table 12. torque regulation by tval_h old, tval_acc, tval_dec and tval_run registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 table 13. t_fast register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 table 14. maximum fast decay times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 table 15. minimum on time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 table 16. minimum off time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 table 17. adc_out value and torque regulation feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 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 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 table 31. status register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 table 32. status register dir bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 table 33. status register mot_status bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 table 34. application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54 table 35. nop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 36. setparam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 37. getparam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 table 38. run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 39. stepclock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57 table 40. move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 41. goto command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 table 42. goto_dir command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 table 43. gountil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59 table 44. releasesw command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 0 table 45. gohome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60 table 46. gomark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 table 47. resetpos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 list of tables l6472 6/70 docid022729 rev 4 table 48. resetdevice command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61 table 49. softstop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 table 50. hardstop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 table 51. softhiz command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 table 52. hardhiz command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 53. getstatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63 table 54. htssop28 package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66 table 55. powerso36 package mechanical da ta . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 table 56. document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 docid022729 rev 4 7/70 l6472 list of figures 70 list of figures figure 1. block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 figure 2. htssop28 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 figure 3. powerso36 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 figure 4. bipolar stepper motor control application using th e l6472 . . . . . . . . . . . . . . . . . . . . . . . . . 19 figure 5. charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 figure 6. normal mode and microstepping (16 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 figure 7. automatic full-step sw itching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 figure 8. constant speed command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 figure 9. positioning command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 figure 10. motion command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 figure 11. oscin and oscout pin configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 figure 12. external switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 figure 13. internal 3 v linear regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 figure 14. predictive current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 figure 15. non-predictive current control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 figure 16. adaptive decay - fast decay tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 figure 17. adaptive decay switch from normal to slow + fast decay mode and vice-versa . . . . . . . . . 36 figure 18. fast decay tuning during the fa lling steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 figure 19. spi timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 figure 20. daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 figure 21. command with 3-byte argument. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 figure 22. command with 3-byte response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 figure 23. command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55 figure 24. htssop28 package outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65 figure 25. powerso36 package outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 block diagram l6472 8/70 docid022729 rev 4 1 block diagram figure 1. block diagram $ 0 y 9 9 r o w d j h 5 h j $ ' & ( [ w 2 v f g u l y h u & o r f n j h q 0 + ] 2 v f l o o d w r u & k d u j h s x p s 9 ' ' 6 3 , 5 h j l v w h u v & r q w u r o / r j l f & x u u h q w ' $ & v & r p s d u d w r u v 7 h p s h u d w x u h v h q v l q j & x u u h q w v h q v l q j 6 7 % < 5 6 7 ) / $ * & 6 & . 6 ' 2 6 ' , % 8 6 < 6 < 1 & 6 : 6 7 & . ' * 1 ' 9 ' ' 2 6 & , 1 2 6 7 2 2 % 9 3 & * ( 5 9 1 , & ' $ 7 8 2 & $ * 1 ' 3 * 1 ' 3 * 1 ' 9 6 $ 9 6 $ 2 8 7 $ 2 8 7 $ 9 6 % 9 6 % 2 8 7 % 2 8 7 % + 6 $ / 6 $ + 6 $ / 6 $ + 6 % / 6 % + 6 % / 6 % + 6 $ / 6 $ + 6 $ / 6 $ + 6 % / 6 % + 6 % / 6 % 9 ' ' 9 e r r w 9 e r r w 9 e r r w 9 e r r w docid022729 rev 4 9/70 l6472 electrical data 70 2 electrical data 2.1 absolute maximum ratings 2.2 recommended operating conditions table 2. absolute maximum ratings symbol parameter test condition value unit v dd logic interface supply voltage 5.5 v v s motor supply voltage v sa = v sb = v s 48 v v gnd, diff differential voltage between agnd, pgnd and dgnd 0.3 v v boot bootstrap peak voltage 55 v v reg internal voltage regulator output pin and logic supply voltage 3.6 v v adcin integrated adc input voltage range (adcin pin) -0.3 to +3.6 v v osc oscin and oscout pin voltage range -0.3 to +3.6 v v out_diff differential voltage between v sa , out1 a , out2 a , pgnd and v sb , out1 b , out2 b , pgnd pins v sa = v sb = v s 48 v v logic logic inputs voltage range -0.3 to +5.5 v i out (1) r.m.s. output current 3 a i out_peak (1) pulsed output current t pulse < 1 ms 7 a t op operating junction temperature -40 to 150 c t s storage temperature range -55 to 150 c p tot total power dissipation (t a = 25 c) (2) 5w 1. maximum output current limit is related to metal connection and bonding characteristics. actual limit must sa tisfy maximum thermal dissipation constraints. 2. htssop28 mounted on the eval6472h. table 3. recommended operating conditions symbol parameter test condition value unit v dd logic interface supply voltage 3.3 v logic outputs 3.3 v 5 v logic outputs 5 v s motor supply voltage v sa = v sb = v s 8 45 v v out_diff differential voltage between v sa , out1 a , out2 a , pgnd and v sb , out1 b , out2 b , pgnd pins v sa = v sb = v s 45 v v reg,in logic supply voltage v reg voltage imposed by external source 3.2 3.3 v v adc integrated adc input voltage (adcin pin) 0 v reg v electrical data l6472 10/70 docid022729 rev 4 2.3 thermal data table 4. thermal data symbol parameter package typ. unit r thja thermal resistance junction ambient htssop28 (1) 22 c/w powerso36 (2) 12 1. htssop28 mounted on the eval6472h rev 1.0 board: four-layer fr4 pcb with a dissipating copper surface of about 40 cm 2 on each layer and 15 via holes below the ic. 2. powerso36 mounted on the evaL6472PD rev 1.0 board: four-l ayer fr4 pcb with a dissipating copper surface of about 40 cm 2 on each layer and 22 via holes below the ic. docid022729 rev 4 11/70 l6472 electrical characteristics 70 3 electrical characteristics v sa = v sb = 36 v; v dd = 3.3 v; internal 3 v regulator; t j = 25 c, unless otherwise specified. table 5. electrical characteristics symbol parameter test condit ion min. typ. max. unit general v sthon v s uvlo turn-on threshold 7.5 8.2 8.9 v v sthoff v s uvlo turn-off threshold 6.6 7.2 7.8 v v sthhyst v s uvlo threshold hysteresis 0.7 1 1.3 v i q quiescent moto r supply current internal oscillator selected; v reg = 3.3 v ext; cp floating 0.5 0.65 ma t j(wrn) thermal warning temperature 130 c t j(sd) thermal shutdown temperature 160 c charge pump v pump voltage swing for charge pump oscillator 10 v f pump,min minimum charge pump oscillator frequency (1) 660 khz f pump,max maximum charge pump oscillator frequency (1) 800 khz i boot average boot current f sw,a = f sw,b = 15.6 khz pow_sr = ?10? 1.1 1.4 ma output dmos transistor r ds(on) high-side switch on-resistance t j = 25 c, i out = 3 a 0.37 ? t j = 125 c, (2) i out = 3 a 0.51 low-side switch on-resistance t j = 25 c, i out = 3 a 0.18 t j = 125 c, (2) i out = 3 a 0.23 i dss leakage current out = v s 3.1 ma out = gnd -0.3 t r rise time (3) pow_sr = '00', i out = +1 a 100 ns pow_sr = '00', i out = -1 a 80 pow_sr = ?11?, i out = 1 a 100 pow_sr = ?10?, i out = 1 a 200 pow_sr = ?01?, i out = 1 a 300 electrical characteristics l6472 12/70 docid022729 rev 4 t f fall time (3) pow_sr = '00'; i out = +1 a 90 ns pow_sr = '00'; i out = -1 a 110 pow_sr = ?11?, i out = 1 a 110 pow_sr = ?10?, i out = 1 a 260 pow_sr = ?01?, i load = 1 a 375 sr out_r output rising slew rate pow_sr = '00', i out = +1 a 285 v/s pow_sr = '00', i out = -1 a 360 pow_sr = ?11?, i out = 1 a 285 pow_sr = ?10?, i out = 1 a 150 pow_sr = ?01?, i out = 1 a 95 sr out_f output falling slew rate pow_sr = '00', i out = +1 a 320 v/s pow_sr = '00', i out = -1 a 260 pow_sr = ?11?, i out = 1 a 260 pow_sr = ?10?, i out = 1 a 110 pow_sr = ?01?, i out = 1 a 75 deadtime and blanking t dt deadtime (1) pow_sr = '00' 250 ns pow_sr = ?11?, f osc = 16 mhz 375 pow_sr = ?10?, f osc = 16 mhz 625 pow_sr = ?01?, f osc = 16 mhz 875 t blank blanking time (1) pow_sr = '00' 250 ns pow_sr = ?11?, f osc = 16 mhz 375 pow_sr = ?10?, f osc = 16 mhz 625 pow_sr = ?01?, f osc = 16 mhz 875 source-drain diodes v sd,hs high-side diode forward on voltage i out = 1 a 1 1.1 v v sd,ls low-side diode forward on voltage i out = 1 a 1 1.1 v t rrhs high-side diode reverse recovery time i out = 1 a 30 ns t rrls low-side diode reverse recovery time i out = 1 a 100 ns logic inputs and outputs v il low logic level input voltage 0.8 v v ih high logic level input voltage 2 v i ih high logic level input current (4) v in = 5 v 1 a table 5. electrical characteristics (continued) symbol parameter test condit ion min. typ. max. unit docid022729 rev 4 13/70 l6472 electrical characteristics 70 i il low logic level input current (5) v in = 0 v -1 a v ol low logic level output voltage (6) v dd = 3.3 v, i ol = 4 ma 0.3 v v dd = 5 v, i ol = 4 ma 0.3 v oh high logic level output voltage v dd = 3.3 v, i oh = 4 ma 2.4 v v dd = 5 v, i oh = 4 ma 4.7 r pu r pd cs pull-up and stby pull-down resistors cs = gnd; stby/rst = 5 v 335 430 565 k ? i logic internal logic supply current 3.3 v v reg externally supplied, internal oscillator 3.7 4.3 ma i logic,stby standby mode internal logic supply current 3.3 v v reg externally supplied 2 2.5 a f stck step-clock input frequency 2 mhz internal oscillator and external oscillator driver f osc,i internal oscillator frequency t j = 25 c, v reg = 3.3 v -3% 16 +3% mhz f osc,e programmable external oscillator frequency 8 32 mhz v oscouth oscout clock source high level voltage internal oscillator 3.3 v v reg externally supplied; i oscout = 4 ma 2.4 v v oscoutl oscout clock source low level voltage internal oscillator 3.3 v v reg externally supplied; i oscout = 4 ma 0.3 v t roscout t foscout oscout clock source rise and fall time internal oscillator 20 ns t extosc internal to external oscillator switching delay 3 ms t intosc external to internal oscillator switching delay 1.5 s spi f ck,max maximum spi clock frequency (7) 5 mhz t rck t fck spi clock rise and fall time (7) c l = 30 pf 25 ns t hck t lck spi clock high and low time (7) 75 ns t setcs chip select setup time (7) 350 ns t holcs chip select hold time (7) 10 ns t discs de-select time (7) 800 ns t setsdi data input setup time (7) 25 ns t holsdi data input hold time (7) 20 ns t ensdo data output enable time (7) 38 ns table 5. electrical characteristics (continued) symbol parameter test condit ion min. typ. max. unit electrical characteristics l6472 14/70 docid022729 rev 4 t dissdo data output disable time (7) 47 ns t vsdo data output valid time (7) 57 ns t holsdo data output hold time (7) 37 ns switch input (sw) r pusw sw input pull-up resistance sw = gnd 60 85 110 k ? current control i step,max max. programmable reference current 4 a i step,min min. programmable refe rence current 31 ma overcurrent protection i ocd,max maximum programmable overcurrent detection threshold ocd_th = ?1111? 6 a i ocd,min minimum programmable overcurrent detection threshold ocd_th = ?0000? 0.37 5 a i ocd,res programmable overcurrent detection threshold resolution 0.37 5 a t ocd,flag ocd to flag signal delay time di out /d t = 350 a/s 650 1000 ns t ocd,sd ocd to shutdown delay time di out /d t = 350 a/s pow_sr = '10' 600 s standby i qstby quiescent motor su pply current in standby conditions v s = 8 v 26 34 a v s = 36 v 30 36 t stby,min minimum standby time 10 s t logicwu logic power-on and wake-up time 38 45 s t cpwu charge pump power-on and wake-up time power bridges disabled, c p = 10 nf, c boot = 220 nf 650 s internal voltage regulator v reg voltage regulator output voltage 2.9 3 3.2 v i reg voltage regulator output current 40 ma v reg, drop voltage regulator output voltage drop i reg = 40 ma 50 mv i reg,stby voltage regulator standby output current 10 ma table 5. electrical characteristics (continued) symbol parameter test condit ion min. typ. max. unit docid022729 rev 4 15/70 l6472 electrical characteristics 70 integrated analog-to -digital converter n adc analog-to-digital converter resolution 5 bit v adc,ref analog-to-digital converter reference voltage v reg v f s analog-to-digital converter sampling frequency f osc / 512 khz 1. accuracy depends on oscillat or frequency accuracy. 2. tested at 25 c in a restricted range and guaranteed by characterization. 3. rise and fall time depends on motor supply voltage value. refer to sr out values in order to evaluate the actual rise and fall time. 4. not valid for the stby/rst pin which has an internal pull-down resistor. 5. not valid for the sw and cs pins which have an internal pull-up resistor. 6. flag , busy and sync open drain outputs included. 7. see figure 19: spi timings diagram on page 38 for details. table 5. electrical characteristics (continued) symbol parameter test condit ion min. typ. max. unit pin connection l6472 16/70 docid022729 rev 4 4 pin connection figure 2. htssop28 pin connection (top view) 3 4 5 figure 3. powerso36 pin connection (top view) 1 ( / % 0 6 5 " 0 6 5 " 7 4 " 7 4 " 4 5 # : 3 4 5 4 8 " % $ * / 0 4 $ * / 0 4 $ 0 6 5 0 6 5 # " ( / % $ 1 7 # 0 0 5 7 4 # 7 4 # 7 3 & ( 0 6 5 # 0 6 5 " 0 6 5 " 7 4 " 7 4 " 4 5 $ , ' - " ( $ 4 # 6 4 : = 4 : / $ & 1 " % % ( / % 4 % * 0 6 5 # $ , 4 % 0 7 % % 7 4 # 7 4 # 1 ( / % 0 6 5 # docid022729 rev 4 17/70 l6472 pin connection 70 pin list table 6. pin description no. name type function 17 vdd power logic output supply voltage (pull-up reference) 6 vreg power internal 3 v voltage regulator output and 3.3 v external logic supply 7 oscin analog input oscillator pin 1. to connect an external oscillator or clock source. if this pin is unused, it should be left floating. 8 oscout analog output oscillator pin 2. to connect an external oscillator. when the internal oscillator is used this pin can supply 2/4/8/16 mhz. if this pin is unused, it should be left floating. 10 cp output charge pump oscillator output 11 vboot supply voltage bootstrap voltage needed for driving the high-side power dmos of both bridges (a and b). 5 adcin analog input internal analog-to-digital converter input 2 vsa power supply full bridge a power supp ly pin. it must be connected to vsb. 26 12 vsb power supply full bridge b power supp ly pin. it must be connected to vsa. 16 27 pgnd ground power ground pin 13 1 out1a power output full bridge a output 1 28 out2a power output full bridge a output 2 14 out1b power output full bridge b output 1 15 out2b power output full bridge b output 2 9 agnd ground analog ground. 4 sw logical input external switch input pin. if not used the pin should be connected to vdd. 21 dgnd ground digital ground 22 busy \sync open drain output by default, this busy pin is forced low when the device is performing a command. otherwis e the pin can be configured to generate a synchronization signal. 18 sdo logic output data output pin for serial interface 20 sdi logic input data input pin for serial interface 19 ck logic input serial interface clock 23 cs logic input chip select input pin for serial interface 24 flag open drain output status flag pin. an internal open drain transistor can pull the pin to gnd when a programmed alarm condition occurs (step loss, ocd, thermal pre-warning or shutdown, uvlo, wrong command, non-performable command). pin connection l6472 18/70 docid022729 rev 4 3 stby\rst logic input standby and reset pin. low logic level resets the logic and puts the device into standby mode. if not used, it should be connected to vdd 25 stck logic input step-clock input epad exposed pad ground internally connected to pgnd, agnd and dgnd pins table 6. pin description (continued) no. name type function docid022729 rev 4 19/70 l6472 typical applications 70 5 typical applications figure 4. bipolar stepper motor control application using the l6472 table 7. typical application values name value c vs 220 nf c vspol 100 f c reg 100 nf c regpol 47 f c dd 100 nf c ddpol 10 f d1 charge pump diodes c boot 220 nf c fly 10 nf r pu 39 k ? r sw 100 ? c sw 10 nf functional description l6472 20/70 docid022729 rev 4 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 os cillator and a 2 mhz clock is provided by the oscout pin ? bridges are disabled (high z) ? uvlo bit in the status register is forced low (fail condition) ? flag output is forced low. during power-up the device is under reset (all logic io disabled and power bridges in high- impedance state) until the following conditions are satisfied: ? v s is greater than v sthon ? v reg is greater than v regth = 2.8 v (typ.) ? internal oscillator is operative. any motion command causes the device to exit from high z state (hardstop and softstop included). 6.2 logic i/o pins cs , ck, sdi, stck, sw and stby\rst are ttl/cmos 3.3 v - 5 v compatible logic inputs. pin sdo is a ttl/cmos compatible logic out put. the vdd pin voltage sets the logic output pin voltage range; when it is connected to vreg or a 3.3 v external supply voltage, the output is 3.3 v compatible. when vdd is connected to a 5 v supply voltage, sdo is 5 v compatible. vdd is not internally connected to v reg , an external connection is always needed. a 10 f capacitor should be connected to the vdd pin in order to obtain a proper operation. pins flag and busy \sync are open drain outputs. 6.3 charge pump to ensure the correct driving of the high-side integrated mosfets, a voltage higher than the motor power supply voltage needs to be applied to the vboot pin. the high-side gate driver supply voltage vboot is obtained through an oscillator and a few external components realizing a charge pump (see figure 5 ). docid022729 rev 4 21/70 l6472 functional description 70 figure 5. charge pump circuitry 6.4 microstepping the driver is able to divide the single step into up to 16 microsteps. step mode can be programmed by the step_sel parameter in the step_mode register (see table 20 on page 47 ). step mode can only be changed when bridges are disabled. every time step mode is changed, the electrical position (i.e. the point of microstepping sine wave that is generated) is reset to zero, and the absolute position counter value (see section 6.5 ) becomes meaningless. functional description l6472 22/70 docid022729 rev 4 figure 6. normal mode and microstepping (16 microsteps) 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 figure 7 ); the driving mode returns to microstepping when motor speed decreases be low the full-step speed threshold. the full- step speed threshold is set through the fs_spd register (see section 9.1.9 on page 44 ). figure 7. automatic full-step switching 1 i b t f " 1 i b t f # / y s / y s ' v m m 4 u f q p 4 u f q q j o h p 4 u f q q j o h * q f b l t j o s y * q f b l docid022729 rev 4 23/70 l6472 functional description 70 6.5 absolute position counter an internal 22-bit register (abs_pos) keeps track of the motor moti on according to the selected step mode; the stored value unit is e qual to the selected step mode (full, half, quarter, etc.). the position range is from -2 21 to +2 21 -1 () steps (see section 9.1.1 on page 41 ). 6.6 programmable speed profiles the user can easily program a customized speed profile, independently defining acceleration, deceleration, maximum and mini mum speed values through the acc, dec, max_speed and min_speed regi sters respectively (see section 9.1.5 on page 42 , 9.1.6 on page 42 , 9.1.7 on page 43 and 9.1.8 on page 43 ). when a command is sent to the device, th e integrated logic generates the microstep frequency profile that performs a motor motion compliant to speed profile boundaries. all acceleration parameters are expressed in step/tick 2 and all speed parameters are expressed in step/tick; the unit of measurement does not depend on selected step mode. acceleration and deceleration parameters range from 2 -40 to (2 12 -2) ? 2 -40 step/tick2 (equivalent to 14.55 to 59590 step/s2). minimum speed parameter ranges from 0 to (2 12 - 1 ) ? 2 -24 step/tick (equivalent to 0 to 976.3 step/s). maximum speed parameter ranges from 2 -18 to (2 10 -1) ? 2 -18 step/tick (equivalent to 15.25 to 15610 step/s). 6.7 motor control commands the l6472 can accept different types of commands: ? constant speed commands (run, gountil, releasesw) ? absolute positioning commands (goto, goto_dir, gohome, gomark) ? motion commands (move) ? stop commands (softstop, hardstop, softhiz, hardhiz). for detailed command descriptions refer to section 9.2 on page 54 . functional description l6472 24/70 docid022729 rev 4 6.7.1 constant speed commands a constant speed command produces a motion in order to reach and maintain a user defined target speed starting from the prog rammed minimum speed (s et in the min_speed register) and with the programmed acceleration/de celeration value (set in the acc and dec registers). a new constant speed command can be requested anytime. figure 8. 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 by performing the minimum path (minimum ph ysical distance) or forcing a direction (see figure 9 ). the performed motor motion is compliant to programmed speed profile boundaries (acceleration, deceleration, minimum and maximum speed). note that with some speed profiles or positioning commands, the deceleration phase can start before the maximum speed is reached. docid022729 rev 4 25/70 l6472 functional description 70 figure 9. positioning command examples 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 ar e sent to the device together with the command (see figure 10 ). the performed motor motion is compliant to programmed speed profile boundaries (acceleration, deceleration, minimum and maximum speed). note that with some speed profiles or motion commands, the deceleration phase can start before the maximum speed is reached. figure 10. motion command examples 6.7.4 stop commands a stop command forces the motor to stop. stop commands can be sent anytime. the softstop command causes the motor to decelerate with a programmed deceleration value until the min_speed value is reached and then stops the motor maintaining the rotor position (a holding torque is applied). functional description l6472 26/70 docid022729 rev 4 the hardstop command stops the motor instantly, ignoring deceleration constraints and maintaining the rotor position (a holding torque is applied). the softhiz command causes the motor to decelerate with a programmed deceleration value until the min_speed valu e is reached and then forces the bridges into high- impedance state (no holding torque is present). the hardhiz command instantly forces the bridges into high-impedance state (no holding torque is present). 6.7.5 step-clock mode in step-clock mode the motor motion is defined by the step-clock signal applied to the stck pin. at each step-clock rising edge, the motor is moved by one microstep in the programmed direction and the absolute position is consequently updated. when the system is in step-clock mode the sck_ mod flag in the status register is raised, the speed register is set to ze ro and the motor status is c onsidered stoppe d whatever the stck signal frequency (the mot_status parameter in the status register equal to g00h). 6.7.6 gountil and releasesw commands in most applications the powe r-up position of the stepper motor is undefined, so an initialization algorithm driving the motor to a known position is necessary. the gountil and releasesw commands can be us ed in combination with external switch input (see section 6.13 on page 30 ) to easily initialize the motor position. the gountil command makes the motor run at the target constant speed until the sw input is forced low (falling edge). when this event occurs, on e of the following actions can be performed: ? abs_pos register is set to ze ro (home position) and the motor decelerates to zero speed (as a softstop command) ? abs_pos register value is stor ed in the mark register an d the motor decelerates to zero speed (as a softstop command). if the sw_mode bit of the config register is set to e0f, the motor does not decelerate but it immediately stops (as a hardstop command). the releasesw command makes the motor run at the programmed minimum speed until the sw input is forced high (rising edge). when this event occurs, one of the following actions can be performed: ? abs_pos register is set to zero (home position) and th e motor immediately stops (as a hardstop command) ? abs_pos register value is st ored in the mark register and the motor immediately stops (as a hardstop command). if the programmed minimum speed is less than 5 step/s, the motor is driven at 5 step/s. docid022729 rev 4 27/70 l6472 functional description 70 6.8 internal oscillator and oscillator driver the control logic clock can be supplied by t he internal 16-mhz osc illator, an external oscillator (crystal or ceramic reso nator) or a direct clock signal. these working modes can be selected by the ext_clk and osc_sel parameters in the config register (see table 25 on page 50 ). at power-up the device st arts using the internal oscillator and provides a 2-mhz clock signal on the oscout pin. warning: in any case, before changing clock source configuration, a hardware reset is mandatory. switching to different clock configurations during operation could cause unexpected behavior. 6.8.1 internal oscillator in this mode the internal oscillator is activa ted and oscin is unused. if the oscout clock source is enabled, the oscout pin provides a 2, 4, 8 or 16-mhz clock signal (according to the osc_sel value); otherwise it is unused (see figure 11 ). 6.8.2 external clock source two types of external clock source can be sele cted: crystal/ceramic resonator or direct clock source. four programmable clock frequencies ar e available for each external clock source: 8, 16, 24 and 32 mhz. when an external crystal/resonator is select ed, the oscin and oscout pins are used to drive the crystal/resonator (see figure 11 ). the crystal/resonator and load capacitors (cl) must be placed as close as possible to the pins. refer to table 8 for the choice of the load capacitor value according to th e external oscillator frequency. if a direct clock source is used, it must be connected to the oscin pin, and the oscout pin supplies the invert ed oscin signal (see figure 11 ). table 8. cl values according to external oscillator frequency crystal/resonator freq. (1) 1. first harmonic resonance frequency. cl (2) 2. lower esr value allows the driving of greater load capacitors. 8 mhz 25 pf (esr max = 80 ? ) 16 mhz 18 pf (esr max = 50 ? ) 24 mhz 15 pf (esr max = 40 ? ) 32 mhz 10 pf (esr max = 40 ? ) functional description l6472 28/70 docid022729 rev 4 figure 11. 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 exceeds a programmed overcurrent threshold, the status register ocd flag is forced low until the overcurrent event expires and a getstatus command is sent to the ic (see section 9.1.19 on page 52 and 9.2.20 on page 63 ). the overcurrent event expires when all the power mosfet currents fall below the programmed overcurrent threshold. the overcurrent threshold can be programmed through the ocd_th register in one of 16 available values ranging from 375 ma to 6 a with steps of 375 ma (see table 18 on page 47 ). it is possible to set if an overcurrent event c auses or not the mosfet turn-off (bridges in high-impedance status) acting on the oc _sd bit in the config register (see section 9.1.18 on page 49 ). the ocd flag in the status register is raised anyway (see table 26 on page 50 ). when the ic outputs are turned off by an ocd event, they cannot be turned on until the ocd flag is released by a getstatus command. docid022729 rev 4 29/70 l6472 functional description 70 warning: the overcurrent shutdown is a critical protection feature. it is not recommended to disable it. 6.10 undervoltage lockout (uvlo) the l6472 provides motor supply uvlo protec tion. when the motor supply voltage falls below the v sthoff threshold voltage, the status register uvlo flag is forced low. when a getstatus command is sent to the ic, and the undervoltage condition expires, the uvlo flag is released (see section 9.1.19 on page 52 and 9.2.20 on page 63 ). the undervoltage condition expires when the motor supply voltage goes over the v sthon threshold voltage. when the device is in the undervoltage cond ition, no motion command can be performed. the uvlo flag is forced low by logic reset (p ower-up included) even if no uvlo condition is present. 6.11 thermal warning and thermal shutdown an internal sensor allows the l6472 to detect when the device internal temperature exceeds a thermal warning or an overtemperature threshold. when the thermal warning threshold (t j(wrn) ) is reached, the th_wrn bit in the status register is forced low (see section 9.1.19 ) until the temperature decreases below t j(wrn) and a getstatus command is sent to the ic (see section 9.1.19 and 9.2.20 ). when the thermal shutdown threshold (t j(off) ) is reached, the device goes into the thermal shutdown condition: the th_sd bit in the status register is forced low, the power bridges are disabled bridges in high-impedance state and the hiz bit in the status register is raised (see section 9.1.19 ). the thermal shutdown condition only expires when the temperature goes below the thermal warning threshold (t j(wrn) ). on exiting the thermal shutdown condition, the bridges are still disabled (hiz flag high); whichever motion command makes the devic e exit from high z state (hardstop and softstop included). 6.12 reset and standby the device can be reset and put into standby mode through a dedicated pin. when the stby \rst pin is driven low, the bridges are left open (high z state), the internal charge pump is stopped, the spi interface and control logic are disabled, and the internal 3 v voltage regulator maximum output current is re duced to ireg,stby; as a result, the l6472 heavily reduces the power consumption. at the same time the register values are reset to default and all protection func tions are disabled. stby\rst input must be forced low at least for t stby,min in order to ensure the comp lete switch to standby mode. on exiting standby mode, as well as fo r ic power-up, a delay of up to t logicwu must be given before applying a new command to allow proper oscillator and logic startup and a delay of up to t cpwu must be given to allow the charge pump startup. functional description l6472 30/70 docid022729 rev 4 on exiting standby mode the bridges are disa bled (hiz flag high) and whichever motion command causes the device to exit high z state (hardstop and softstop included). warning: it is not recommended to reset the device when outputs are active. the device should be switched to high-impedance state before being reset. 6.13 external switch (sw pin) the sw input is intern ally pulled-up to v dd and detects if the pin is open or connected to ground (see figure 12 ). the sw_f bit of the status register indicates if the switch is open (?0?) or closed (?1?) (see section 9.1.19 on page 52 ); the bit value is refreshed at ev ery system clock cycle (125 ns). the sw_evn flag of the status register is raised when a switch turn-on event (sw input falling edge) is detected (see section 9.1.19 ). a getstatus command releases the sw_evn flag (see section 9.2.20 on page 63 ). by default a switch turn-on event causes a hardstop interrupt (sw_mode bit of the config register set to ?0?). otherwise (sw_mode bit of the config register set to ?1?), switch input events do not cause interrupts and the switch status information is at the user?s disposal (see table 26 on page 50 ). the switch input can be used by the gount il and releasesw commands as described in section 9.2.10 on page 59 and 9.2.11 on page 60 . if the sw input is not used, it should be connected to vdd. 6.14 programmable dmos slew r ate, deadtime and blanking time using the pow_sr parameter in the config regist er, it is possible to set the commutation speed of the power bridge output (see table 28 on page 51 ). figure 12. external switch connection docid022729 rev 4 31/70 l6472 functional description 70 6.15 integrated analog -to-digital converter the l6472 integrates an n adc bit ramp-compare analog-to-digital converter with a reference voltage equal to vreg. the analog-to-digital c onverter input is available through the adcin pin and the conversion result is av ailable in the adc_out register (see section 9.1.13 on page 46 ). the sampling frequency is equal to the clock frequency divided by 512. the adc_out value can be used for the torque regulation or can remain at the user?s disposal. 6.16 internal voltage regulator the l6472 device integrates a voltage regulator which generates a 3 v voltage starting from motor power supply (vsa and vsb). in order to make the vo ltage regulator stable, at least 22 f should be connected between the vreg pin and ground (the suggested value is 47 f). the internal voltage regulator can be used to supply the vdd pin in order to make the device digital output range 3.3 v compatible ( figure 13 ). a digital output range 5 v compatible can be obtained connecting the vdd pin to an external 5 v voltage source. in both cases, a 10 f capacitance should be connected to the vdd pin in order to obtain a correct operation. the internal voltage regulator is ab le to supply a current up to i reg,max , internal logic consumption included (i logic ). when the device is in standby mode the maximum current that can be supplied is i reg , stby , internal consumption included (i logic , stby ). if an external 3.3 v regulated voltage is availabl e, it can be applied to the vreg pin in order to supply all the internal logic and avoid power dissipation of the internal 3 v voltage regulator ( figure 13 ). the external voltage regulator should never sink current from the vreg pin. figure 13. internal 3 v linear regulator 7 3 & ( 7 % % 7 4 " 7 4 # " ( / % % ( / % 7 % % p $ * $ 7 t 7 7 3 & ( 7 % % 7 4 " 7 4 # " ( / % % ( / % * $ 7 3 & ( 7 t 7 # " 5 - p h j h t v q q m j f e c z * / 5 & 3 / " - w p m u b h f s f h v m b u p s - p h j h t v q q m j f e c z & 9 5 & 3 / " - w p m u b h f s f h v m b u p s functional description l6472 32/70 docid022729 rev 4 6.17 busy\sync pin this pin is an open drain output which can be used as the busy flag or synchronization signal according to the sync_en bit value (step_mode register). 6.17.1 busy operation mode the pin works as busy signal when the sync_en bit is set low (default condition). in this mode the output is forced low while a constant speed, absolute positioning or motion command is under execution. the busy pin is released when the command has been executed (target speed or target position reached). the status register includes a busy flag that is the busy pin mirror (see section 9.1.19 on page 52 ). in the case of daisy chain configuration, busy pins of different ics can be hard-wired to save host controller gpios. 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 section 9.1.16 on page 47 ). 6.18 flag pin by default an internal open drain transistor pulls the flag pin to ground when at least one of the following conditions occur: ? power-up or standby/reset exit ? overcurrent detection ? thermal warning ? thermal shutdown ? uvlo ? switch turn-on event ? wrong command ? non-performable command. it is possible to mask one or more alarm conditions by programming the alarm_en register (see table 23 on page 49 ). if the corresponding bit of the alarm_en register is low, the alarm condition is masked and it does not cause a flag pin transition; all other actions imposed by alarm conditions are performed anyway. in the case of daisy chain configuration, the flag pins of different ic s can be or-wired to save host controller gpios. docid022729 rev 4 33/70 l6472 phase current control 70 7 phase current control the l6472 performs a new current control technique, named predictive current control, allowing the device to obtain the target averag e phase current. this method is described in detail in section 7.1 . furthermore, the l6472 automatically selects the better decay mode in order to follow the current profile. current control algorithm parameters can be programmed by the t_fast, ton_min, toff_min and config registers (see section 9.1.11 on page 45 , 9.1.12 on page 45 , 9.1.13 on page 46 and 9.1.18 on page 49 for details). different current amplitude can be set for acceleration, deceleration and constant speed phases and when the motor is stopped through the tval_acc, tval_dec, tval_run and tval_hold registers (see section 7.4 on page 37 ). the output current amplitude can also be regulated by the adcin voltage value (see section 6.15 ). each bridge is driven by an independent control system that shares the cont rol parameters only with other bridges. 7.1 predictive current control unlike a classical peak current control system, that causes the phase current decay when the target value is reached, this new method keeps the power bridge on for an extra time after reaching the current threshold. at each cycle the system measures the time required to reach the target current (t sense ). after that the power stage is kept in a ?predictive? on state (t pred ) for a time equal to the mean value of t sense in the last two control cycles (actual one and previous one), as shown in figure 14 . figure 14. predictive current control phase current control l6472 34/70 docid022729 rev 4 at the end of the predictive on state the power stage is set in the off state for a fixed time, as in a constant t off current control. during the off state both slow and fast decay can be performed; the better decay combination is automatically selected by the l6472, as described in section 7.2 . as shown in figure 14 , the system is able to center the triangular wave on the desired reference value improving dramatically the accu racy of the current co ntrol system: in fact the average value of a triangular wave is exactly equal to the middle point of each of its segments and at steady-state the predictive cu rrent control tends to equalize the duration of the t sense and the t pred time. furthermore, the t off value is recalculated each time a new current value is requested (microstep change) in order to keep the pwm frequency as near as possible to the programmed one (tsw parameter in the config register). the device can be forced to work using a classic peak current control setting the pred_en bit in the config register low (default condition). in this case, after the sense phase (t sense ) the power stage is set in the off state, as shown in figure 15 . figure 15. non-predictive current control 7.2 auto-adjusted decay mode during the current control, the device automat ically selects the better decay mode in order to follow the current profile reducing the current ripple. at reset, the off time is performed by turni ng on both the low-side mosfets of the power stage and the current recirculates in the lower half of the bridge (slow decay). if, during a pwm cycle, the target current thre shold is reached in a time shorter than the ton_min value, a fast decay of toff_fast/8 (t_fast register) is immediately performed turning on the opposite mos of both half-bridges and the current recirculates back to the supply bus. after this time, the bridge returns to the on state: if the time needed to reach the target current value is still less than ton_min, a new fast decay is performed with a period twice the previous one. otherwise, the normal control sequence is followed as described in section 7.1 . the maximum fast decay duration is set by the toff_fast value. docid022729 rev 4 35/70 l6472 phase current control 70 figure 16. adaptive decay - fast decay tuning when two or more fast decays are performed with the present target current, the control system adds a fast decay at the end of every off time, keeping the off state duration constant (t off is split into t off,slow and t off,fast ). when the current threshold is increased by a microstep change (rising step), the syst em returns to normal decay mode (slow decay only) and the t fast value is halved. stopping the motor or reaching the current sine wave zero crossing causes the current control system to retu rn to the reset state. $ 0 w ) $ 6 7 w ) $ 6 7 w ) $ 6 7 w ) $ 6 7 phase current control l6472 36/70 docid022729 rev 4 7.3 auto-adjusted fast deca y during the falling steps when the target current is dec reased by a microstep change (falling step), the device performs a fast decay in order to reach the new value as fast as possible. anyway, exceeding the fast duration may cause a strong ripple on the step change. the l6472 device automatically adjusts these fast decays reducing the current ripple. at reset, the fast decay value (t fall ) is set to fall_step/4 (t_fast register). the t fall value is doubled every time, within the same fallin g step, an extra fast decay is necessary to obtain an on time greater than ton_min. the maximum t fall value is equal to fall_step. at the next falling step, the system uses the last t fall value of the previous falling step. stopping the motor or reaching the current sine wave zero crossing causes the current control system to retu rn to the reset state. figure 17. adaptive decay switch from normal to slow + fast decay mode and vice-versa docid022729 rev 4 37/70 l6472 phase current control 70 figure 18. fast decay tuning during the falling steps 7.4 torque regulation (output current amplitude regulation) the output current amplitude can be regula ted in two ways: writing the tval_acc, tval_dec, tval_run and tval_hold registers or varying the adcin voltage value. the en_tqreg bit (config register) sets the torq ue regulation method. if this bit is high, the adc_out prevalue is used to regu late output current amplitude (see section 9.1.14 on page 46 ). otherwise the internal analog-to-digital co nverter is at the user?s disposal and the output current amplitude is managed by the tval_hold, tval_run, tval_acc and tval_dec registers (see section 9.1.10 on page 44 ). the voltage applied to the adcin pin is sampled at f s frequency and converted in an nadc bit digital signal. the analog-to-digital conv ersion result is available in the adc_out register. serial interface l6472 38/70 docid022729 rev 4 8 serial interface the integrated 8-bit serial peripheral interf ace (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 da ta input (sdi) and serial data output (sdo) pins. when cs is high, the device is unselected and the sdo line is inactive (high-impedance). the communication starts when cs is forced low. the ck line is used for synchronization of data communication. all commands and data bytes are shifted into the device through the sdi input, most significant bit first. the sdi is samp led on the rising edges of the ck. all output data bytes are shifted out of the de vice through the sdo ou tput, most significant bit first. the sdo is latched on the falling edges of the ck. when a return value from the device is not available, an all zero byte is sent. after each byte transmission, the cs input must be raised and be kept high for at least t discs in order to allow the device to decode the received command and put the return value into the shift register. all timing requirements are shown in figure 19 (see section 3 on page 11 for the respective electrical characteristics for values). multiple devices can be connected in a daisy chain configuration, as shown in figure 20 . figure 19. spi timings diagram docid022729 rev 4 39/70 l6472 serial interface 70 figure 20. daisy chain configuration programming manual l6472 40/70 docid022729 rev 4 9 programming manual 9.1 register and flag description table 9 shows a map of the user registers availa ble (detailed description in respective paragraphs from section 9.1.1 on page 41 to section 9.1.19 on page 52 ): table 9. register map address [hex] register name register function len. [bit] reset [hex] reset value remarks (1) h01 abs_pos current positi on 22 000000 0 r, ws h02 el_pos electrical position 9 000 0 r, ws h03 mark mark position 22 000000 0 r, wr h04 speed current speed 20 00000 0 step/tick (0 step/s) r h05 acc acceleration 12 08a 125.5e-12 step/tick 2 (2008 step/s 2 ) r, ws h06 dec deceleration 12 08a 125.5e-12 step/tick 2 (2008 step/s 2 ) r, ws h07 max_speed maximum spe ed 10 041 248e-6 st ep/tick (991.8 step/s) r, wr h08 min_speed minimum speed 13 000 0 step/tick (0 step/s) r, ws h15 fs_spd full-step speed 10 027 150.7e-6 step/tick (602.7 step/s) r, wr h09 tval_hold holding current 7 29 1.3125 a r, wr h0a tval_run constant speed current 7 29 1.3125 a r, wr h0b tval_acc acceleration starting current 7 29 1.3125 a r, wr h0c tval_dec deceleration starting current 7 29 1.3125 a r, wr h0d reserved reserved address 16 h0e t_fast fast decay/fall step time 8 19 1s / 5 s r, wh h0f ton_min minimum on time 7 29 20.5 s r, wh h10 toff_min minimum off time 7 29 20.5 s r, wh h11 reserved reserved address 8 h12 adc_out adc output 5 xx (2) r h13 ocd_th ocd threshold 4 8 3.38 a r, wr h14 reserved reserved address 8 h16 step_mode step mode 8 7 (3) 16 microsteps, no synch. r, wh h17 alarm_en alarms enable 8 ff all alarms enabled r, ws docid022729 rev 4 41/70 l6472 programming manual 70 9.1.1 abs_pos the abs_pos register contains the current motor absolute po sition in agreement to the selected step mode; the stored value unit is e qual to the selected step mode (full, half, quarter, etc.). the value is in 2's complement format and it ranges from -2 21 to +2 21 -1. at power-on the register is init ialized to ?0? (home position). any attempt to write the register when t he motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 on page 52 ). 9.1.2 el_pos the el_pos register contains the current elec trical position of the motor. the two msbits indicate the current step and the other bits in dicate the current microstep (expressed in step/128) within the step. when the el_pos register is written by the user the new electrical position is instantly imposed. when the el_pos register is written its value must be masked in order to match with the step mode selected in the step_mo de register in order to avoid a wrong microstep value generation (see section 9.1.16 on page 47 ); otherwise the resulting microstep sequence is incorrect. any attempt to write the register when t he motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 on page 52 ). h18 config ic configuration 16 2e88 internal oscillator, 2 mhz oscout clock, supply voltage compensation disabled, overcurrent shutdown enabled, slew rate = 290 v/s tsw = 40 s r, wh h19 status status 16 xxxx (2) high-impedance stat e, uvlo/reset flag set. r h1a reserved reserved address h1b reserved reserved address 1. r: readable, wh: writable only when outputs are in high-im pedance, ws: writable only when motor is stopped, wr: always writable. 2. according to startup conditions. 3. the bit 3 of the register must be set to one. table 9. register map (continued) address [hex] register name register function len. [bit] reset [hex] reset value remarks (1) table 10. el_pos register bit 8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 step microstep programming manual l6472 42/70 docid022729 rev 4 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 e qual to the selected step mode (full, half, quarter, etc.). it is in 2's complement format and it ranges from -2 21 to +2 21 -1. 9.1.4 speed the speed register contains the current moto r speed, expressed in step/tick (format unsigned fixed point 0.28). in order to convert the speed value in st ep/s the following fo rmula can be used: equation 1 where speed is the integer number stored in the register and tick is 250 ns. the available range is from 0 to 15625 st ep/s with a resolution of 0.015 step/s. note: the range, effectively available to the user, is lim ited by the max_speed parameter. any attempt to write the register causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 on page 52 ). 9.1.5 acc the acc register contains the speed prof ile acceleration expressed in step/tick 2 (format unsigned fixed point 0.40). in order to convert acc value in step/s2 the following formula can be used: equation 2 where acc is the integer number stored in the register and tick is 250 ns. the available range is from 14.55 to 59590 step/s 2 with a resolution of 14.55 step/s 2 . the 0xfff value of the register is re served and it should never be used. any attempt to write to the re gister when the motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 ). 9.1.6 dec the dec register contains the speed prof ile deceleration expr essed in step/tick 2 (format unsigned fixed point 0.40). step s ? ?? speed 2 28 ? ? tick ------------------------------------- = step s ? ?? acc 2 40 ? ? tick 2 ---------------------------- - = docid022729 rev 4 43/70 l6472 programming manual 70 in order to convert the dec value in step/s2 the following formula can be used: 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 2 with a resolution of 14.55 step/s 2 . any attempt to write the register when t he motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 on page 52 ). 9.1.7 max_speed the max_speed register contains the spee d profile maximum sp eed expres sed in step/tick (format unsigned fixed point 0.18). in order to convert it in step/s the following formula can be used: equation 4 where max_speed is the integer number stored in the register and tick is 250 ns. the available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s. 9.1.8 min_speed the min_speed register contains the following parameters: the min_speed parameter contai ns the speed profile mini mum speed. its value is expressed in step/tick and to convert it in step/s the following formula can be used: equation 5 where min_speed is the in teger number stored in the regist er and tick is th e ramp 250 ns. the available range is from 0 to 976.3 step/s with a resolution of 0.238 step/s. any attempt to write the register when the mo tor is running causes the notperf_cmd flag to rise. step s ? ?? dec 2 40 ? ? tick 2 ---------------------------- - = step s ? ?? maxspeed 2 18 ? ? tick --------------------------------------------------- = table 11. min_speed register bit12 bit 11 bit 10 bit 9 bit 8 bit 7 bi t 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 min_speed step s ? ?? minspeed 2 24 ? ? tick ------------------------------------------------- = programming manual l6472 44/70 docid022729 rev 4 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 switch ed to full-step two-phase on. its value is expressed in step/tick (format unsigned fixed point 0.18) and to convert it in step/s the following formula can be used. equation 6 if the fs_spd value is set to h3ff (max.) t he system always works in microstepping mode (speed must go beyond the threshold to switch to full-step mode). setting fs_spd to zero does not have the same effect as setting step mode to full-step two phase on: the zero fs_spd value is equivalent to a speed threshold of about 7.63 step/s. the available range is from 7.63 to 15625 step/s with a resolution of 15.25 step/s. 9.1.10 tval_hold, tval_run, tval_acc and tval_dec the tval_hold register contains the curren t value that is assigned to the torque regulation dac when the motor is stopped. the tval_run register contains the current value that is assi gned to the torque regulation dac when the motor is running at constant speed. the tval_acc register contains the current va lue that is assigned to the torque regulation dac during acceleration. the tval_dec register contains the current va lue that is assigned to the torque regulation dac during deceleration. the available range is from 31.25 ma to 4 a with a resolution of 31.25 ma, as shown in table 12 . step s ? ?? fsspd 0.5 + ?? 2 18 ? ? tick -------------------------------------------------------- = table 12. torque regulation by tval_hol d, tval_acc, tval_dec and tval_run registers tval_x [6 ? 0] output current amplitude 0 0 0 0 0 0 0 31.25 ma 0 0 0 0 0 0 1 62.5 ma ? ? ? ? ? ? ? ? 1 1 1 1 1 1 0 3.969 a 1 1 1 1 1 1 1 4 a docid022729 rev 4 45/70 l6472 programming manual 70 9.1.11 t_fast the t_fast register contains the maximum fast decay time (toff_fast) and the maximum fall step time (fall_step) us ed by the current control system (see section 7.2 on page 34 and 7.3 on page 36 for details): the available range for both parameters is from 2 s to 32 s. any attempt to write to the re gister when the motor is running causes the command to be ignored and notperf_cmd to rise (see section 9.1.19 on page 52 ). 9.1.12 ton_min the ton_min register contains the minimum on time value used by the current control system (see section 7.2 on page 34 ). the available range for both parame ters is from 0.5 s to 64 s. any attempt to write to the re gister when the motor is running causes the command to be ignored and the notperf_cmd to rise (see section 9.1.19 ). table 13. t_fast register bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 toff_fast fast_step table 14. maximum fast decay times toff_fast [3 ? 0] fast_step [3 ? 0] fast decay time 0 0 0 0 2 s 0 0 0 1 4 s ? ? ? ? ? 1 1 1 0 30 s 1 1 1 1 32 s table 15. minimum on time ton_min [6 ? 0] time 0 0 0 0 0 0 0 0.5 s 0 0 0 0 0 0 1 1 s ? ? ? ? ? ? ? ? 1 1 1 1 1 1 0 63.5 s 1 1 1 1 1 1 1 64 s programming manual l6472 46/70 docid022729 rev 4 9.1.13 toff_min the toff_min register contains the minimum of f time value used by the current control system (see section 7.1 on page 33 for details). the available range for both parameters is from 0.5 s to 64 s. any attempt to write to the re gister when the motor is running causes the command to be ignored and notperf_cmd to rise (see section 9.1.19 on page 52 ). 9.1.14 adc_out the adc_out register contains the result of the analog-to-digital conversion of the adcin pin voltage. any attempt to write to the register causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 ). table 16. minimum off time toff_min [6 ? 0] time 0 0 0 0 0 0 0 0.5 s 0 0 0 0 0 0 1 1 s ? ? ? ? ? ? ? ? 1 1 1 1 1 1 0 63.5 s 1 1 1 1 1 1 1 64 s table 17. adc_out value and torque regulation feature vadcin/ vreg adc_out [4.0] output current amplitude 0 0 0 0 0 0 125 ma 1/32 0 0 0 0 1 250 ma ? ? ? ? ? ? ? 30/32 1 1 1 1 0 3.875 a 31/32 1 1 1 1 1 4 a docid022729 rev 4 47/70 l6472 programming manual 70 9.1.15 ocd_th the ocd_th register contains the overcurrent threshold value (see section 6.9 on page 28 for details). the available range is from 375 ma to 6 a, steps of 375 ma, as shown in table 18 . 9.1.16 step_mode the step_mode register has the following structure: the step_sel parameter selects one of five possible stepping modes: every time the step mode is changed, the electr ical position (i.e. the point of microstepping sine wave that is generated) is reset to the first microstep. warning: every time step_sel is ch anged the value in the abs_pos register looses meaning and should be reset. table 18. overcurrent detection threshold ocd_th [3 ? 0] overcurrent detection threshold 0 0 0 0 375 ma 0 0 0 1 750 ma ? ? ? ? ? 1 1 1 0 5.625 a 1 1 1 1 6 a table 19. step_mode register bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 sync_en sync_sel 1 (1) 1. when the register is written this bit should be set to 1. when the step_mode register is written, the bit #3 is to be set to 1, otherwise anomalous behaviors could occur. step_sel table 20. step mode selection step_sel[2 ? 0] step mode 0 0 0 full-step 0 0 1 half-step 0 1 0 1/4 microstep 0 1 1 1/8 microstep 1 x x 1/16 microstep programming manual l6472 48/70 docid022729 rev 4 any attempt to write the register when t he motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 ). when when sync_en bit is set low, busy /sync output is forced low during the commands execution, otherwise, when the sync_en bit is set high, the busy /sync output provides a clock signal a ccording to the sy nc_sel parameter. the synchronization signal is obtained starting from the electrical position information (el_pos register) according to table 22 : table 21. sync output frequency step_sel (f fs is the full-step frequency) 000 001 010 011 100 101 110 111 sync_sel 000 f fs /2 f fs /2 f fs /2 f fs /2 f fs /2 f fs /2 f fs /2 f fs /2 001 na f fs f fs f fs f fs f fs f fs f fs 010 na na 2 f fs 2 f fs 2 f fs 2 f fs 2 f fs 2 f fs 011 na na na 4 f fs 4 f fs 4 f fs 4 f fs 4 f fs 100 na na na na 8 f fs 8 f fs 8 f fs 8 f fs 101 na na na na na na na na 110 na na na na na na na na 111 na na na na na na na na table 22. sync signal source sync_sel[2 ? 0] source 0 0 0 el_pos[7] 0 0 1 el_pos[6] 0 1 0 el_pos[5] 0 1 1 el_pos[4] 1 0 0 el_pos[3] 1 0 1 unused (1) 1. when this value is selected the busy output is forced low. 1 1 0 unused (1) 1 1 1 unused (1) docid022729 rev 4 49/70 l6472 programming manual 70 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. 9.1.18 config the config register has the following structure: table 23. alarm_en register alarm_en bit al arm condition 0 (lsb) overcurrent 1 thermal shutdown 2 thermal warning 3 undervoltage 4 unused 5 unused 6 switch turn-on event 7 (msb) wrong or non-performable command table 24. config register bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 pred_en tsw pow_sr bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 oc_sd reserved en_tqreg sw_mode ext_clk osc_sel programming manual l6472 50/70 docid022729 rev 4 the osc_sel and ext_clk bits set the system clock source: the sw_mode bit sets the external switch to act as hardstop interrupt or not: the oc_sd bit sets if an overcurrent event ca uses or not the bridges to turn off; the ocd flag in the status register is forced low anyway: table 25. oscillator management ext_clk osc_sel[2 ? 0] clock source oscin oscout 0 0 0 0 internal oscillator: 16 mhz unused unused 0 0 0 1 0 0 1 0 0 0 1 1 1 0 0 0 internal oscillator: 16 mhz unused supplies a 2-mhz clock 1 0 0 1 internal oscillator: 16 mhz unused supplies a 4-mhz clock 1 0 1 0 unused supplies an 8-mhz clock 1 0 1 1 unused supplies a 16-mhz clock 0 1 0 0 external crystal or resonator: 8 mhz crystal/resonator driving crystal/resonator driving 0 1 0 1 external crystal or resonator: 16 mhz crystal/resonator driving crystal/resonator driving 0 1 1 0 external crystal or resonator: 24 mhz crystal/resonator driving crystal/resonator driving 0 1 1 1 external crystal or resonator: 32 mhz crystal/resonator driving crystal/resonator driving 1 1 0 0 ext clock source: 8 mhz (crystal/resonator driver disabled) clock source supplies inverted oscin signal 1 1 0 1 ext clock source: 16 mhz (crystal/resonator driver disabled) clock source supplies inverted oscin signal 1 1 1 0 ext clock source: 24 mhz (crystal/resonator driver disabled) clock source supplies inverted oscin signal 1 1 1 1 ext clock source: 32 mhz (crystal/resonator driver disabled) clock source supplies inverted oscin signal table 26. external switch hard stop interrupt mode sw_mode switch mode 0 hardstop interrupt 1 user disposal docid022729 rev 4 51/70 l6472 programming manual 70 the pow_sr bits set the slew rate value of the power bridge output: the tqreg bit sets if the torque regulation (see section 7.4 on page 37 ) is performed through adcin voltage (external) or the tval_hold, tval_acc, tval_dec and tval_run registers (internal): the tsw parameter is used by the current control system and it sets the target switching period. any attempt to write the config register wh en the motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 ). table 27. overcurrent event oc_sd overcurrent event 1 bridges shut down 0 bridges do not shut down table 28. programmable power bridge output slew rate values pow_sr [1 ? 0] output slew rate (1) [v/ ? s] (1) 1. see s rout_r and s rout_f parameters in table 5 on page 11 for details. 0 0 320 0 1 75 1 0 110 1 1 270 table 29. external torque regulation enable tqreg external torque regulation enable 0 internal registers 1 adc input table 30. switching period tsw [4 ? 0] switching period 0 0 0 0 0 4 s (250 khz) 0 0 0 0 1 4 s (250 khz) 0 0 0 1 0 8 s (125 khz) ? ? ? ? ? ? 1 1 1 1 1 124 s (8 khz) programming manual l6472 52/70 docid022729 rev 4 9.1.19 status when the hiz flag is high it indicates that the bridges are in high-impedance state. any motion command causes the device to exit fr om high z state (hardstop and softstop included), unless error flags forcing a high z state are active. the uvlo flag is active low and is set by an undervoltage lockout or reset event (power-up included). the th_wrn, th_sd, ocd flags are active low and indicate respectively thermal warning, thermal shutdown and overcurrent detection events. the notperf_cmd and wrong_cmd flags are active high and indicate, respectively, that the command received by spi can't be performed or does not exist at all. the sw_f reports the sw input status (low for open and high for closed). the sw_evn flag is active high and indicates a switch tu rn-on event (sw input falling edge). the uvlo, th_wrn, th_sd, ocd, notper f_cmd, wrong_cmd and sw_evn flags are latched: when the respective conditions make them active (low or high) they remain in that state until a getstatus command is sent to the ic. the busy bit reflects the busy pin status. th e busy flag is low when a constant speed, positioning or motion command is under exec ution and is released (high) after the command has been completed. the sck_mod bit is an active high flag indica ting that the device is working in step-clock mode. in this case the step-clock signal should be provided through the stck input pin. the dir bit indicates the cu rrent motor direction: table 31. status register bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8 sck_mod x x ocd th_sd th_wrn uvlo wrong_cmd bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 notperf_cmd mot_status di r sw_evn sw_f busy hiz table 32. status register dir bit dir motor direction 1 forward 0 reverse docid022729 rev 4 53/70 l6472 programming manual 70 mot_status indicates the current motor status: any attempt to write to the register causes the command to be ignored and the notperf_cmd to rise. table 33. status register mot_status bits mot_status motor status 0 0 stopped 0 1 acceleration 1 0 deceleration 1 1 constant speed programming manual l6472 54/70 docid022729 rev 4 9.2 application commands a summary of commands is given in table 34 . table 34. application commands command mnemonic command binary code action [7 ? 5] [4] [3] [2 ?1] [0] nop 000 0 0 00 0 nothing setparam (param, value) 000 [param] writes value in the param register getparam (param) 001 [param] returns th e stored value in the param register run (dir, spd) 010 1 0 00 dir sets the target speed and the motor direction stepclock (dir) 010 1 1 00 dir puts the device into step-clock mode and imposes dir direction move (dir,n_step) 010 0 0 00 dir makes n_step (micro) st eps in dir direction (non-performable when motor is running) goto (abs_pos) 011 0 0 00 0 brings motor in abs_pos position (minimum path) goto_dir (dir,abs_pos) 011 0 1 00 dir brings motor in abs_pos position forcing dir direction gountil (act,dir,spd) 100 0 act 01 dir performs a motion in dir direction with speed spd until sw is closed, the act action is executed then a softstop takes place releasesw (act, dir) 100 1 act 01 dir performs a motion in di r direction at minimum speed until the sw is released (open), the act action is executed then a hardstop takes place gohome 011 1 0 00 0 brings the motor in home position gomark 011 1 1 00 0 brings the motor in mark position resetpos 110 1 1 00 0 resets the abs_pos register (set home position) resetdevice 110 0 0 00 0 device is reset to power-up conditions softstop 101 1 0 00 0 stops motor with a deceleration phase hardstop 101 1 1 00 0 stops motor immediately softhiz 101 0 0 00 0 puts the bridges in high-impedance status after a deceleration phase hardhiz 101 0 1 00 0 puts the bridges in high-impedance status immediately getstatus 110 1 0 00 0 returns the status register value reserved 111 0 1 01 1 reserved command reserved 111 1 1 00 0 reserved command docid022729 rev 4 55/70 l6472 programming manual 70 9.2.1 command management the host microcontroller can control motor motion and configure the l6472 device through a complete set of commands. all commands are composed by a single byte. after the command byte, some argument bytes should be needed (see figure 21 ). argument length can vary from 1 to 3 bytes. figure 21. command with 3-byte argument by default the device returns an all zero response for any received byte, the only exceptions are getparam and getstatus commands. when one of these commands is received the following response bytes represent the related register value (see figure 22 ). response length can va ry from 1 to 3 bytes. figure 22. command with 3-byte response during response transmission, new commands can be sent. if a command requiring a response is sent before the previous response is completed, the response transmission is aborted and the new response is loaded into the output communication buffer (see figure 23 ). figure 23. command response aborted when a byte that does not correspond to a comma nd is sent to the ic, it is ignored and the wrong_cmd flag in the status register is raised (see section 9.1.19 ). programming manual l6472 56/70 docid022729 rev 4 9.2.2 nop nothing is performed. 9.2.3 setparam (param, value) the setparam command sets the param register value equal to value; param is the respective register address listed in table 9 on page 40 . the command should be followed by the new register value (most significant byte first). the number of bytes composing the value argu ment depends on the length of the target register (see table 9 ). some registers cannot be written (see table 9 ); any attempt to write one of these registers causes the command to be ignored and the wrong_cmd flag to rise at the end of the command byte as if an unknown command code was sent (see section 9.1.18 on page 49 ). some registers can only be writte n in particular conditions (see table 9 ); any attempt to write one of these registers when the conditions are not satisfied causes the command to be ignored and the notperf_cmd flag to rise at the end of last argument byte (see section 9.1.19 on page 52 ). any attempt to set an inexistent register (wrong address value) causes the command to be ignored and the wrong_cmd flag to rise at the end of the command byte as if an unknown command code was sent. 9.2.4 getparam (param) table 35. nop command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 0 0 0 0 0 0 0 from host table 36. setparam command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 0 0 param from host value byte 2 (if needed) value byte 1 (if needed) value byte 0 table 37. getparam command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 0 1 param from host ans byte 2 (if needed) to host ans byte 1 (if needed) to host ans byte 0 to host docid022729 rev 4 57/70 l6472 programming manual 70 this command reads the current param register value; param is the respective register address listed in table 9 on page 40 . the command response is the current value of the register (most significant byte first). the number of bytes composing the command resp onse depends on the length of the target register (see table 9 ). the returned value is the register one at the moment of getparam command decoding. if the register value changes after this moment, the response is not accordingly updated. all registers can be read anytime. any attempt to read an inexistent register (wrong address value) causes the command to be ignored and wrong_cmd flag to rise at t he end of command byte as if an unknown command code is sent. 9.2.5 run (dir, spd) the run command produces a motion at spd s peed; the direction is selected by the dir bit: '1' forward or '0' reverse. the spd value is expressed in step/tick (format unsigned fixed point 0.28) which is the same format as the speed register (see section 9.1.4 on page 42 ). note: the spd value should be lower th an max_speed and greater than min_speed otherwise the run co mmand is executed at max_speed or min_spe ed respectively. this command keeps the busy flag low until the target speed is reached. this command can be given anytim e and is immediately executed. 9.2.6 stepclock (dir) the stepclock command switches the device in step-clock mode (see section 6.7.5 on page 26 ) and imposes the forward (dir = '1') or reverse (dir = '0') direction. when the device is in step-clock mode the sck_ mod flag in the status register is raised and the motor is always considered stopped (see section 6.7.5 and section 9.1.18 on page 49 ). the device exits from step-clock mode when a constant speed, absolute positioning or motion command is sent through spi. motion direction is imposed by the respective table 38. run command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 1 0 1 0 0 0 dir from host x x x x spd (byte 2) from host spd (byte 1) from host spd (byte 0) from host table 39. stepclock command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 1 0 1 1 0 0 dir from host programming manual l6472 58/70 docid022729 rev 4 stepclock command argument and can by changed by a new stepclock command without exiting step-clock mode. events that cause bridges to be forced in to high-impedance state (overtemperature, overcurrent, etc.) do not cause the device to leave step-clock mode. stepclock command does not force the busy flag low. this command can only be given when the motor is stopped. if a motion is in progress the motor should be stopped and it is then possible to send a stepclock command. any attempt to perform a stepclock command when the motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 on page 52 ). 9.2.7 move (dir, n_step) the move command produces a motion of n_step microsteps; the direction is selected by the dir bit ('1' forward or '0' reverse). the n_step value is always in agreement wi th the selected step mode; the parameter value unit is equal to th e selected step mode (full, half, quarter, etc.). this command keeps the busy flag low until the target number of steps is performed. this command can only be performed when the motor is stopped. if a motion is in progress the motor must be stopped and it is then possible to perform a move command. any attempt to perform a move command when the motor is running causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 ). 9.2.8 goto (abs_pos) the goto command prod uces a motion to the abs_pos ab solute position through the shortest path. the abs_pos valu e is always in agreement with the selected step mode; the parameter value unit is equal to the select ed step mode (full, half, quarter, etc.). the goto command keeps the busy flag low until the target position is reached. table 40. move command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 1 0 0 0 0 0 dir from host x x n_step (byte 2) from host n_step (byte 1) from host n_step (byte 0) from host table 41. goto command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 1 1 0 0 0 0 0 from host x x abs_pos (byte 2) from host abs_pos (byte 1) from host abs_pos (byte 0) from host docid022729 rev 4 59/70 l6472 programming manual 70 this command can only be given when the previous motion command has been completed (busy flag released). any attempt to perform a goto command when a previous command is under execution (busy low) causes the command to be ig nored and the notperf_cmd flag to rise (see section 9.1.19 on page 52 ). 9.2.9 goto_dir (dir, abs_pos) the goto_dir command produces a motion to the abs_pos absolute position imposing a forward (dir = '1') or a re verse (dir = '0') rotation. the abs_pos value is always in agreement with the selected st ep mode; the paramete r value unit is equa l to the selected step mode (full, half, quarter, etc.). the goto_dir command keeps the busy flag low until the target speed is reached. this command can only be given when the previous motion command has been completed (busy flag released). any attempt to perform a goto_dir command when a previous command is under execution (busy low) causes the command to be ignored and the notperf_cmd flag to rise (see section 9.1.19 ). 9.2.10 gountil (act, dir, spd) the gountil command produces a motion at spd speed imposing a forward (dir = '1') or a reverse (dir = '0') direction. when an external switch turn-on event occurs (see section 6.13 on page 30 ), the abs_pos register is rese t (if act = '0') or the abs_pos register value is copied into the mark regist er (if act = '1'); the system then performs a softstop command. the spd value is expressed in step/tick (format unsigned fixed point 0.28) which is the same format as the speed register (see section 9.1.4 on page 42 ). the spd value should be lower than max_speed and greater than min_speed, otherwise the target speed is imposed at max_speed or min_speed respectively. table 42. goto_dir command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 1 1 0 1 0 0 dir from host x x abs_pos (byte 2) from host abs_pos (byte 1) from host abs_pos (byte 0) from host table 43. gountil command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 0 0 0 act 0 1 dir from host x x x x spd (byte 2) from host spd (byte 1) from host spd (byte 0) from host programming manual l6472 60/70 docid022729 rev 4 if the sw_mode bit of the config register is set low, the external switch turn-on event causes a hardstop interrupt instead of the softstop one (see section 6.13 on page 30 and 9.1.18 on page 49 ). this command keeps the busy flag low until the switch turn-o n event occurs and the motor is stopped. this command can be give n anytime and is i mmediately executed. 9.2.11 releasesw (act, dir) the releasesw command produces a motion at minimum speed imposing a forward (dir = '1') or reverse (dir = '0') rotation. when sw is released (opened) the abs_pos register is reset (act = '0') or the abs_pos register value is copied into the mark register (act = '1'); the system then performs a hardstop command. note that resetting the abs_po s register is equivalent to setting the ho me position. if the minimum speed value is less than 5 step /s or low speed optimi zation is enabled, the motion is performed at 5 step/s. the releasesw command keeps the busy flag lo w until the switch i nput is released and the motor is stopped. 9.2.12 gohome the gohome command produces a motion to the home position (zero position) via the shortest path. note that this command is e quivalent to the ?goto(0?0)? command. if a motor direction is mandatory the goto_dir command must be used (see section 9.2.9 ). the gohome command keeps the busy flag low until the home position is reached. this command can only be given when the previ ous motion command has been completed. any attempt to perform a gohome command when a previous command is under execution (busy low) causes the command to be ig nored and the notperf_cmd to rise (see section 9.1.19 on page 52 ). table 44. releasesw command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 0 0 1 act 0 1 dir from host table 45. gohome command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 1 1 1 0 0 0 0 from host docid022729 rev 4 61/70 l6472 programming manual 70 9.2.13 gomark the gomark command produces a motion to th e mark position performing the minimum path. note that this command is e quivalent to the ?goto (mark)? command. if a motor direction is mandatory the goto_dir command must be used. 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 when a previous command is under execution (busy low) causes the command to be igno red and the notperf_cmd flag to rise (see section 9.1.19 on page 52 ). 9.2.14 resetpos the resetpos command resets the abs_pos register to zero. the zero position is also defined as home position (see section 6.5 on page 23 ). 9.2.15 resetdevice the resetdevice command resets the device to power-up conditions (see section 6.1 on page 20 ). note: at power-up the power bridges are disabled. table 46. gomark command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 1 1 1 1 0 0 0 from host table 47. resetpos command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 1 0 1 1 0 0 0 from host table 48. resetdevice command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 1 0 0 0 0 0 0 from host programming manual l6472 62/70 docid022729 rev 4 9.2.16 softstop the softstop command causes an immediate dece leration to zero speed and a consequent motor stop; the deceleration value used is the one stored in the dec register (see section 9.1.6 on page 42 ). when the motor is in high-impedance state, a softstop command forces the bridges to exit from high-impedance state; no motion is performed. this command can be given anytime and is immediately executed. this command keeps the busy flag low until the motor is stopped. 9.2.17 hardstop 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 from high-impedance state; no motion is performed. this command can be given anytime and is immediately executed. this command keeps the busy flag low until the motor is stopped. 9.2.18 softhiz the softhiz command disables the power bridges (high-impedance state) after a deceleration to zero; the deceleration value used is the one stored in the dec register (see section 9.1.6 ). when bridges are disabled the hiz flag is raised. when the motor is stopped, a softhiz command forces the bridges to enter high-impedance state. this command can be given anytime and is immediately executed. this command keeps the busy flag low until the motor is stopped. table 49. softstop command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 0 1 1 0 0 0 0 from host table 50. hardstop command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 0 1 1 1 0 0 0 from host table 51. softhiz command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 0 1 0 0 0 0 0 from host docid022729 rev 4 63/70 l6472 programming manual 70 9.2.19 hardhiz the hardhiz command immediately disables th e power bridges (high-impedance state) and raises the hiz flag. when the motor is stopped, a hardhiz command forces the bridges to enter high- impedance state. this command can be given anytim e and is immediately executed. this command keeps the busy flag low until the motor is stopped. 9.2.20 getstatus the getstatus command returns the status register value. the getstatus command resets the status re gister warning flags. the command forces the system to exit from any error state. the getstatus co mmand does not reset the hiz flag. table 52. hardhiz command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 0 1 0 1 0 0 0 from host table 53. getstatus command structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 1 1 0 1 0 0 0 0 from host status msbyte to host status lsbyte to host package information l6472 64/70 docid022729 rev 4 10 package information 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 a nd product status are available at: www.st.com . ecopack is an st trademark. docid022729 rev 4 65/70 l6472 package information 70 figure 24. htssop28 package outline package information l6472 66/70 docid022729 rev 4 table 54. htssop28 package mechanical data symbol dimensions (mm) min. typ. max. a 1.2 a1 0.15 a2 0.8 1.0 1.05 b 0.19 0.3 c 0.09 0.2 d (1) 1. dimension ?d? does not include mold flash, protrusions or gate burrs. mold flash, protrusions or gate burrs do not exceed 0.15 mm per side. 9.6 9.7 9.8 d1 5.5 e 6.2 6.4 6.6 e1 (2) 2. dimension ?e1? does not include in terlead flash or protrusions. interlead flash or protrusions do not exceed 0.25 mm per side. 4.3 4.4 4.5 e2 2.8 e 0.65 l 0.45 0.6 0.75 l1 1.0 k 0 8 aaa 0.1 docid022729 rev 4 67/70 l6472 package information 70 figure 25. powerso36 package outline h d $ ( d 3 6 2 0 ( & ' ( 7 $ , / $ ' ( ( k [ ? ' ( 7 $ , / $ o h d g v o x j d 6 * d j h 3 o d q h / ' ( 7 $ , / % ' ( 7 $ , / % & 2 3 / $ 1 $ 5 , 7 < * & & 6 ( $ 7 , 1 * 3 / $ 1 ( h f 1 1 0 $ % e % $ + ( ' % 2 7 7 2 0 9 , ( : package information l6472 68/70 docid022729 rev 4 table 55. powerso36 package mechanical data symbol dimensions (mm) min. typ. max. a 3.60 a1 0.10 0.30 a2 3.30 a3 0 0.10 b 0.22 0.38 c 0.23 0.32 d (1) 1. dimension ?d/e1? does not include mold flash, protru sions or gate burrs. mold flash, protrusions or gate burrs do not exceed 0.15 mm per side. 15.80 16.00 d1 9.40 9.80 e 13.90 14.50 e1 (1) 10.90 11.10 e2 2.90 e3 5.8 6.2 e 0.65 e3 11.05 g 0 0.10 h 15.50 15.90 h 1.10 l 0.80 1.10 n 10 s 0 8 docid022729 rev 4 69/70 l6472 revision history 70 11 revision history table 56. document revision history date revision changes 24-jan-2012 1 initial release. 09-jan-2013 2 changed the title. changed t op value in ta ble 2 . removed t j parameter in table 3 . added footnote to table 9 . changed fast decay time in table 14 . changed output slew rate values in table 28 updated htssop28 package mechanical data. 16-dec-2013 3 updated section 9.1.11 (updated available range for both parameters). updated section 10 (updated titles, reversed order of figure 24 and table 54 and figure 25 and table 55 ). minor modifications throughout document. 19-may-2014 4 updated section 6.4 on page 21 (replaced ?the first microstep? by ?zero?). removed section ?infinite acceleration/deceleration mode? from page 23. updated section 9.1.5 on page 42 (replaced ?when the acc value is set to 0xfff the device works in infinite acceleration mode.? by ?the 0xfff value of the register is reserved and it should never be used.?). updated section 9.1.6 on page 42 (removed ?when the device is working in infinite acceleration mode this value is ignored.?). updated title of table 33 on page 53 (replaced ?mot_state? by ?mot_status?). updated table 55 on page 68 (added note 1 below table 55 ). l6472 70/70 docid022729 rev 4 please read carefully: information in this document is provided solely in connection with st products. stmicroelectronics nv and its subsidiaries (?st ?) reserve the right to make changes, corrections, modifications or improvements, to this document, and the products and services described he rein at any time, without notice. all st products are sold pursuant to st?s terms and conditions of sale. purchasers are solely responsible for the choice, selection and use of the st products and services described herein, and st as sumes no liability whatsoever relating to the choice, selection or use of the st products and services described herein. no license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted under this document. i f any part of this document refers to any third party products or services it shall not be deemed a license grant by st for the use of such third party products or services, or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoev er of such third party products or services or any intellectual property contained therein. unless otherwise set forth in st?s terms and conditions of sale st disclaims any express or implied warranty with respect to the use and/or sale of st products including without limitation implied warranties of merchantability, fitness for a parti cular purpose (and their equivalents under the laws of any jurisdiction), or infringement of any patent, copyright or other intellectual property right. st products are not designed or authorized for use in: (a) safety critical applications such as life supporting, active implanted devices or systems wi th product functional safety requirements; (b) aeronautic applications; (c) automotive applications or environments, and/or (d) aerospace applications or environments. where st products are not designed for such use, the purchaser shall use products at purchaser?s sole risk, even if st has been informed in writing of such usage, unless a product is expressly designated by st as being intended for ?automotive, automotive safety or medical? industry domains according to st product design specifications. products formally escc, qml or jan qualified are deemed suitable for use in aerospace by the corresponding governmental agency. resale of st products with provisions different from the statements and/or technical features set forth in this document shall immediately void any warranty granted by st for the st product or service described herein and shall not create or extend in any manner whatsoev er, any liability of st. st and the st logo are trademarks or registered trademarks of st in various countries. information in this document supersedes and replaces all information previously supplied. the st logo is a registered trademark of stmicroelectronics. all other names are the property of their respective owners. ? 2014 stmicroelectronics - all rights reserved stmicroelectronics group of companies australia - belgium - brazil - canada - china - czech republic - finland - france - germany - hong kong - india - israel - ital y - japan - malaysia - malta - morocco - philippines - singapore - spain - sweden - switzerland - united kingdom - united states of america www.st.com |
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