EVAL6472H-DISC: fully integrated stepper motor driver
Contents
1. Figure 5 Layout top and bottom layer 8 42 DoclD025487 Rev 2 UM1692 Schematic layout and bill of material Table 2 Bill of material Item Qty Reference Value Package C1 C16 2 Cap cer 10 uF 10 V X7R 0805 10 UF 0805 C2 1 Cap cer 1 uF 10 V X7R 0805 1 uF 0805 C3 C4 C10 a nA 14 Cap cer 100 nF 50 V X7R 0603 100 nF 0603 C22 C25 C27 C5 1 Cap cer 3 3 nF 50 V X7R 0603 3 3 nF 0603 C6 1 Cap cer 220 nF 35 V X7R 0603 220 nF 0603 C7 1 Cap cer 4 7 nF 50 V X7R 0603 4 7 nF 0603 oe P i 4 Cap cer 10 nF 50 V X7R 0603 10 nF 0603 C9 1 Cap tant 47 uF 6 3 V10 PACK A 47 uF 3216 C14 1 Cap elec 100 uF 63 V 100 uF CAPES R10HXX C23 C24 2 Cap cer 20 pF 50 V COG 0603 20 pF 0603 D1 1 Zener regulator 3 6V SOD 523 D2 4 Double diode high speed switching BAV99 SOT23 diode D3 1 LED red 0805 2 mcd 621 nm Red 0805 D4 1 LED green 0805 6 mcd 569 nm Green 0805 D5 1 LED yellow 0805 6 mcd 588 nm Yellow 0805 D6 1 LED orange 0805 2 mcd 602 nm Orange 0805 FIX1 FIX4 4 Hole 3mn J1 J3 g sere conceal e Foes MADEN aae SENTO 2E od MKDSN 1 5 2 5 08 1 5 2 5 08 J4 1 JTAG CON FLAT 10 x 2 180M _ CON FLAT 10 x 2 180 M CON FLAT 10 x 2 180 M J5 1 USB_B_MINI_AMP_2. TRACECLK lur i pew Em Vor NN Voo 2 to 3 6 V SWI JTAG Trace Trig Voltage reg DD ER NJTRSTK Ble 3 3 V to 1 8 V Vss JTDI lt lt m ISIS Flash 256 KB L JTCK SWCLK Cortex M3 CPU amp QV JTMS SWDIO hoe PP zi JTDO POR asAF Fmax 72 MHz bus SRAM Res eiim NRST F v C 64 KB e Int POR PDR VODA x aes SSA NVIC E RC LS PVD B A 1 2 PLL3 h V MIL TXD 3 0 RMII TXD 1 0 GP DMA bad TE Vopa Vpp EG IN MIL TX CLK RMII TX CLK 7 channels Eat MII_TX_EN RMII_TX_EN PLL SERE MII_RXD 3 0 RMII_RXD 1 0 GP DMA2 MII_RX_ER RMII_RX_ER ord IWDG MIL RX CLK RMII REF CLK TN Reset amp MIL RX DV RMIL CRS DV OV clock Sten y EES EV MIL CRS contro interface o Vpat 1 o 3 MIL COL RMII COL E Ethernet MAC Va VBAT is m 1100 OSC32_IN MDIO DMA Ethemet XTAL 32kHz F PPS_OUT lt 5 Jn OSC32 OUT Backup Rrc Bac T x apre rng co oom ID N Backup interface DM USBOTGFS KG lt p Baca meram DP lt 3 TIM2 4 Channels ETR I Kn as AF AHB to AHB to lt gt 4 Ch Is ETR SRAM 1 25 KB APB2 APB1 IMS Kr asAR S EXT KD nw KH 4 Channels ETR BENE 2 wie KEEP lt k as AF N TIMS 4 Channels ETR mal PAL15 0 EED GPIOpotA KG as AF m RX TX CTS RTS z dd 2 USART2 K EN i PB 15 0 lt 7 GPIO port B DI a n CK as AF RX TX CTS RTS lt USARTS e NS PC 15 0 lt D GPIO port O B E Ko ok as AF LL xi lt gt UA
3. DoclD025487 Rev 2 19 42 General description UM1692 4 4 4 DFU loading At this step you are now ready to perform the firmware upgrade 1 Start the DfuSeDemo exe 2 You must have an STM Device in DFU Mode in the list of the Available DFU Devices Else it means that your board is not correctly configured or not connected to the PC Figure 13 DFU loading dor ID Vendor ID 0463 Application Mode m DFU Mode C Manifestation tolera Support ve doos ad ST Procuct ID Procuct ID DFT DFT Can Detach Version Version 0200 Enter DFU mode HID detact Leave DFU mode Actions Select Targets Targetld Name Available Sectors Double Click for more 00 Internal Flash 128 sectors 01 SPI Flash M25P64 128 sectors m Upload Action m Upgrade or Verify Action File File ESE Targets in file Bees apiece J Procuct ID m Transferred data size 4 Version D KB 0 Bytes of 0 KB O Bytes Verify after download Optimize Upgrade duration Remove some FFs Operation duration 00 00 00 3 In the Upgrade or Verify Action group click on the Choose button 4 20 42 DoclD025487 Rev 2 General description UM1692 4 Select the dfu file of your choice in the open dialog box and click on the Open button Figure 14 DFU file open Look in J
4. UM1692 List of figures List of figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Figure 11 Figure 12 Figure 13 Figure 14 Figure 15 Figure 16 Figure 17 Figure 18 Figure 19 Figure 20 Figure 21 Figure 22 Figure 23 Figure 24 Figure 25 Figure 26 Figure 27 Figure 28 Figure 29 Board image EE RE EE RE baled gelu Daa li jan ve Pda EE Re ae ves 1 Schematic microcontroller supply part 0 0 00 eee 6 Schematic microcontroller part llle 7 Schematic motor driver part l l 8 Layout silK screen ende denke Renee reor Rok loe e Ron tae ka PR RR ei 9 Layout top and bottom layer liliis 9 Microcontroller supply section 2 0 00 cee es 12 L6472 block diagram eser N eee eae a ees 13 Charge pump CCU ei ta EE RE EE tee eee ees 14 STM32F105xx and STM32F107xx block diagram ee eee 17 DFU file manager action EE EE EG i reni Ee RR eae 18 DFU file manager generation EE EE III 19 Board settings iiie pa be usen idee Reve px Te an di Gand RR RA UP BR 20 DEU loaditig 22 te Be Ree mne RO re En tener dl ne er ox RR EE ER EA ER 21 Blad le C CEP 22 DFU TIS lee n OE EE RE EE gee 23 DFU file confirmation iss EE EE EE EE RE e GE ee RR RI he 23 DFU file download OK EE EE SE Ee RR I 24 Starting board BOOT mode EE hiriren rurka ee ee ee ee 25 Starting board
5. ET UM1692 y life augmented User manual EVAL6472H DISC fully integrated stepper motor driver based on the L6472 and STM32 Introduction The EVAL6472H DISC can be used together with the STM32 firmware library V1 0 and constitutes a complete motor control evaluation and a development platform It is a demonstration board for motor control applications in the range of 8 V to 45 V of DC bus voltage using the STM32F105RB microcontroller with an internal 128 kB Flash size and a 64 kB internal RAM and the L6472 fully integrated solution suitable for driving two phase bipolar stepper motors up to 1 16 microstepping The L6472 device integrates a dual DMOS full bridge with all of the power switches equipped with an accurate on chip current sensing circuitry suitable for non dissipative current control and overcurrent protection With dedicated hardware evaluation features the EVAL6472H DISC board is designed to help developers evaluate the device and develop their own applications Figure 1 Board image L6472H DISCOVERY KIT R1 ww st com dspin April 2015 DoclD025487 Rev 2 1 42 www st com Contents UM1692 Contents 1 Main features spas ee rie p ods SE SEE EERS EDE GES DER AER EAE EE 4 1 1 Target applications ee ee 4 1 2 Description 0 000 ss 4 2 Electrical characteristics of the board ssse 5 3 Schematic layout and bill of material 6
6. motor power supply EE SE Ee Ee Ge ee ee eek ee ee ee 26 Starting board USB connection EE EE eee 27 Starting board error case 1 eee 28 Starting board board OK 0 00 eee eee 29 Starting board display board ID 0 0 0 eee eee 30 Starting board action LEFT Key 0 0 cece ee eee eae 31 Starting board action RIGHT key 0 ee EE ee ee tees 32 Starting board action RESET key 0 0 cece e 33 Parameters exportation 0 0000 Ee Ee ee ee es 34 Parameters exportation save file EE EE eae 35 DoclD025487 Rev 2 3 42 Main features UM1692 1 Main features The characteristics of the EVAL6472H DISC board are following e DC voltage range from 8 V to 45 V e Maximum load phase current at 3 A pms e Footprint for external resonator or crystal e Control interface through trimmer user keys and switch motor input e Control through LED indicators e Interface control by USB and debug outputs e Compatible with SPINFamily evaluation tool e Autonomous board due to embedded firmware e Up to 1 16 microstepping e Optimized layout on 2 layer board low cost and high thermal performance 1 1 Target applications The demonstration board is designed to fit all typical stepper motor applications it is an autonomous board due to embedded firmware 1 2 Description The EVAL6472_DISC is downloaded with embedded firmware The possibility with this board is d
7. 4 5 1 24 42 Using the EVAL6472H DISC with the firmware for the GUI FWGUI By default the discovery board is loaded with the FWGUI This firmware offers the capability to connect the board with a GUI the SPINFamily evaluation tool This GUI provides direct access to all L6472 registers and allows sending application commands Both the FWGUI and the GUI can be downloaded from the Design Resources page of the L6472 The FWGUI can be downloaded to the discovery board as detailed in Section 4 4 The behavior of the GUI is detailed in the Help chm file which is provided with the setup file of the GUI Sanity check of the board with the firmware for the GUI FWGUI At the startup of the FWGUI a sanity check is performed to confirm the discovery board is working correctly The status is returned via the board LEDs To have a correct execution of the sanity check please follow the steps below 1 Place a jumper on the BOOT pins bottom left corner of the board A m ed a d m E DoclD025487 Rev 2 Ly UM1692 General description 2 Connect the board to a 5 V 45 V DC power supply Figure 19 Starting board motor power supply Ly DoclD025487 Rev 2 25 42 General description UM1692 3 Plug a USB cable which must at least provide a power supply Figure 20 Starting board USB connection 4 The board should switch on a
8. 4 General description 0000 cee eee 12 4 1 Power SUDDIV iis kk de Ry mg x ape a a RU ee eed wae ws 12 4 2 L6472 stepper motor driver 000 0 cee ee 13 4 2 1 Charge pump ER EE EE EE dd 14 4 2 2 Advanced current control 000 ccc eee 14 4 2 3 Overcurrent detection 0020 c eee eee 15 4 2 4 Speed profile ia aa vised ve err ee eta dd ERO 15 4 3 STM32F105RB microcontroller llle 15 4 4 Firmware loading aem RU ARR ae ees Ecl Seek ARE RE 18 4 4 1 DfuSe installation lille 18 4 4 2 Generate a DFU file from a HEX file 2 22 000 18 4 4 3 Board settings ses ck RR SS wade nee EAR ERR E iud RR 20 4 4 4 DEU Joading d ace ROM a Ace ale Ro ee AR o Ae at data 21 4 5 Using the EVAL6472H DISC with the firmware for the GUI FWGUI 25 4 5 1 Sanity check of the board with the firmware for the GUI FWGUI 25 4 5 2 Parameters exportation from the GUI to the FW library 34 4 6 Using the EVAL6472H DISC with the firmware library 36 4 6 1 FW library package contents EE SE Ee Ee ee ek ee 36 4 6 2 FW L6472 library description EE Ee ES Ee eee 36 4 6 3 Demonstration sequence description 0000 000 37 4 6 4 Create a project using the FW library package 41 5 References cic cess wid exu RE e ra is 42 6 REVISION history Se SE SERE NAR shee dunes EE EER HORE ER EE 42 2 42 DoclD025487 Rev 2 ky
9. LEDs blinking 30 42 DoclD025487 Rev 2 Ly UM1692 General description 7 Press the RIGHT button and check the two step loops restarts Figure 25 Starting board action RIGHT key Ly DoclD025487 Rev 2 31 42 General description UM1692 Note 32 42 8 Press the RESET button and check that the LEDs restart there two step loop after the board reset Figure 26 Starting board action RESET key s i AC m START STOP LM zm Please note that once you have connected the discovery board to the GUI the LEDs meaning is different You then need to restart the board to perform a new auto check and to have a valid status of the LEDs DoclD025487 Rev 2 Ly UM1692 General description 4 5 2 Parameters exportation from the GUI to the FW library Once you have customized the L6472 parameters with the GUI you can export them to a header file in order to use it with the FW library In this purpose 1 Press the header file button on the main window of the GUI Figure 27 Parameters exportation e F SPINFamily Evaluation Software L6470 selected File Tools ZELLE i es lad 2 3 i Speed Advanced gt ABS_POS 0 RD WR HOME Autorefresh Fw ew Auro gt GoTo 0 4 2 Replace the existing dspin_config h of your current FW li
10. pin 22 Motor goes to home position set by the ReleaseSW command GoHome Wait until not busy busy pin test L6472 pin 22 Step clock mode example 55 56 57 Get Status to clear FLAG due to switch turn on event falling edge on the SW pin GetStatus Motor runs in the step clock mode at 2000 steps s in a forward direction for a few seconds while a 2 kHz clock signal from the MCU is applied to the L6472 STCK pin 25 StepClock DIR The above cited clock is stopped Buttons interrupt example 58 Buttons interrupt configuration a Button A Starts the motor at quarter of max speed if it is stopped Run DIR SPD Doubles the motor speed if it is already running Run DIR SPD b Button B Disables the power bridges after a smooth stop if the motor is running at minimum speed SoftHiZ Halves the motor speed if the motor is running above minimum speed Run DIR SPD DoclD025487 Rev 2 39 42 General description UM1692 4 6 4 40 42 Create a project using the FW library package Using your preferred IDE create a new project In project options properties or settings e Select for the device the ST STM32F105xB e Use the CMSIS library Edit the preprocessor defined symbols and add e STM32F10X CL e USE STDPERIPH DRIVER e ST DSPIN L6472H DISCOVERY Edit the preprocessor including directories and add e PROJ_DIRG stm32f10x CMSIS CM3 Devic
11. the standby mode The L6472 STBY RESET pin goes low for a few hundreds of us and then goes high Program all L6472 registers SetParam PARAM VALUE OO Flag signal management O Oo N 10 11 12 Read status register content GetStatus Interrupt configuration for FLAG signal Motor runs at constant speed of a 400 steps s forward direction Run DIR SPD Tentative to write to the current motor absolute position register while the motor is running as a consequence the LED_ERROR RED is lighted up SetParam PARAM VALUE Get Status to clear FLAG due to non performable command as a consequence the LED_ERROR RED is switched off GetStatus Motor stops smoothly SoftStop Wait until not busy busy pin test L6472 pin 22 Busy signal management 13 14 15 16 17 Interrupt configuration for BUSY signal Motor moves by 100 000 steps in a reverse direction Move DIR N_STEP During busy time the LED_BUSY ORANGE is switched ON L6472 disables the power bridges after a deceleration to zero phase SoftHiZ LED_BUSY ORANGE is switched OFF The LED_BUSY after the point 7 and the LED_ERROR after the point 13 are tied respectively to the BUSY SYNC pin and the FLAG pin So for example they are lighted up when the motor accelerates or decelerates This is happening in the remaining part of the demonstration although not mentioned DoclD025487 Rev 2 37 42 General description UM1692 38 42
12. 1734035 1 CN USB CMS mini USB J6 J7 2 JUMP254P M 2 OPEN STRIP 2x2 54 MEE 3 OPTICAL TARGET OPTICAL TARGET Diam 1mn R1 1 Trimmer 200 KO 200 KO Trimm 100 x 50 x 110 R2 1 27 KQ 596 1 10 W 27 KQ 0603 R3 1 Res 7 5 KO 596 1 10 W 0603 SMD 7 5 KO 0603 R4 R13 2 Res 1 MO 1 10 W 5 0603 SMD 1MQ 0603 R5 1 Res 1 5 KO 1 10 W 5 0603 SMD 1 5 KO 0603 R6 R8 R11 R14 R19 R30 10 Res 10 KO 5 1 10 W 0603 SMD 10 KO 0603 R32 R7 R12 2 Res 100 Q 5 1 10 W 100 Q 0603 Ly DoclD025487 Rev 2 9 42 Schematic layout and bill of material UM1692 Table 2 Bill of material continued Item Qty Reference Value Package R15 R18 4 Res 470 Q 5 1 10 W 0603 470Q 0603 R21 R33 2 Res 1 KO 5 1 10 W 0603 SMD 1KQ 0603 R20 R22 R23 R34 4 Res NP 0603 NP 0603 R24 R27 4 Res 4 7 KO 5 1 10 W 0603 SMD 4 7 KO 0603 R28 1 Res 100 KO 5 1 10 W 0603 SMD 100 KO 0603 R29 1 Res NP 0805 NP 0805 1 S3 3 Switch button SMD EVQQ2D03W CMS 6 5 x 6 x 3 1 TP E 6 Test point red KEYSTONE 5000 TH TP3 1 Test point black KEYSTONE 5001 TH U1 1 IC REG 1300MA LN 3 3 V LD1117D33TR SO8 U2 1 USBLC6 2P6 USBLC6 2P6 SOT 666 U3 1 L6472 microstepping motor driven L6472 HTSSOP28 IC MCU RISC 72 MHz 3 6 V U4 1 32 bit 64 pin LQFP STM32F105RBT6 LQFP64 10 x 10 Y1 1 XTAL 8 MHz 30PPM 20 pF 8 MHz HC49 US SM 10 42 DoclD025487 Rev 2 ky UM1692 General description 4 General descrip
13. DIT LLOW RED ORANGE GREEN BUTON E T6 PAI pete 33 BOARD D0 X en a sNEEYO 28901292z 0085825200 R20 R21 R22 R28 OFFKAEERAERRARAAAFF SPARE ERROR BUSY READY EH SS IISISIRIS RUN SIR 8 NP 1KQ 2 NP NP lola IE ole lo Hale Sr co a Pass E X ERE Bo B laisse qq t ao ala VDD VDD VDD Tr a OJ zl zl VDD VDD l T T C26 R28 Car R19 100 nF 100 KQ I 10KQ R11 100 nF 10 KQ c2 C21 M c22 10nF 9 s m s3 100 nF 100 nF i START STOP d C RESET SW MOTOR LEFT RIGHT AM03519 7 42 Schematic layout and bill of material UM1692 Figure 4 Schematic motor driver part vs R2 27KQ Y vs R1 2 c6 200 KQ 220NF 4 ADCIN I TP7 i D2 BAV99 T 2 4 1 KEYSTONE5000 _ VS GND D i 1 e 2 TP2 TP3 36V R34 c9 ct NP lt gt yS C5 ER o 00 nF C8 JH EE R3 VDD M7yF 3 3 nF 75 SS du 1 KQ 1 bd 7 S e e EF C10 So I AAS C12 C13 014 1004F XTAL 100 nF aw n mm 100nF 100nF 63V eu o o e o emm gt g 9 ad ut R29 j gt li j J8 NP OSCIN 7 1 OSCIN OUT1A A1 OSCOUT S Sy oscour gerou 28 Sef OUT2A WIN R ADCIN sw STCK 25 STCK STBY RESEP STBY RES J2 FLAG 24 14 BUSY 57 FLAG OUT1B 2 B1 BUSY SYNC 119 B2 SPI NSS 19 PLNCK 19 CS ourza SPI MOST 20 pu a M preo 18 SPLMISO 18 9 o 2280 SDO 5 amp 600 a Ww un 9 DNN ON NI ON d AM03520
14. N by L6472 and or motor in the whole document Updated Table 3 on page 13 minor modifications Updated Section 4 5 on page 24 replaced FWPSPIN by FWGUI removed dSPIN and web link Updated text above Figure 23 on page 29 removed L6470 device step Updated Section 4 5 2 on page 33 and Section 4 6 2 on page 35 removed L6470 device board Updated Section 4 6 4 on page 40 replaced L6470H by 6472H Updated 20 in Section Various application commands examples on page 38 minor modifications Updated 1 and 2 in Section 5 on page 41 Minor modifications throughout document DoclD025487 Rev 2 41 42 UM1692 IMPORTANT NOTICE PLEASE READ CAREFULLY STMicroelectronics NV and its subsidiaries ST reserve the right to make changes corrections enhancements modifications and improvements to ST products and or to this document at any time without notice Purchasers should obtain the latest relevant information on ST products before placing orders ST products are sold pursuant to ST s terms and conditions of sale in place at the time of order acknowledgement Purchasers are solely responsible for the choice selection and use of ST products and ST assumes no liability for application assistance or the design of Purchasers products No license express or implied to any intellectual property right is granted by ST herein Resale of ST products with provisions different f
15. N time 4 us Minimum OFF time 21 us Max fast decay 10 us Max fast decay at step change 16 us Target switching time 48 us Predictive current control enabled The impact of the timing parameters are explained in the application note AN4158 Peak current control with automatic decay adjustment and predictive current control basics and setup DoclD025487 Rev 2 13 42 General description UM1692 4 2 3 4 2 4 4 3 14 42 The target phase current is set through the TVAL registers The TVAL determinates the current corresponding to the peak of the sine wave microstepping operation Overcurrent detection The overcurrent protection detection is implemented by measuring the current flowing into each integrated MOSFET The overcurrent protection threshold should be set just above the current rating of the motor locpth e Imaxir m s d v2 For example if the maximum phase current of the motor is 2 Arms the overcurrent protection should be set to about 3 A Warning Important it is strongly discouraged to disable the overcurrent shutdown It may result in critical failures Speed profile The max speed parameter is the maximum speed the motor will run By default it is about 1000 step s That means if you send a command to run at 2000 step s the motor speed is limited at 1000 step s This is an important safety feature in the final application but not necessarily useful to evaluate
16. RT4 gt RX TX as AF PD 15 0 lt gt GPIO portb KD E Ke a RX TX as AF PE 15 0 lt GPIO pot E n r3 UNS KP MOSI SD MISO MCK de uerus ED sP1271282 KO SCKICK NSSINS as AF 4 compl Channels MOSI SD MISO MCK dum TIM1 lt gt MCK BKIN ETR input as AF gt CD spiss2sa_ KC P SCKICK NSSANS as AF I2C1 KE SCLSDA SMBA as AF MOSI MISO 122 SCKNSS as AF pe SP11 lt gt KP se SCL SDA SMBA RX TX CTS RTS monem Ler et ws ken PL sem lpw RXas SRAM 512B Temp sensor TE R bxCAN2 CAN2_TX a AF SS a de poroa ADC1 amp ADC2 12bit aDC2 1F KI TIMG KEN KC qt baci gt DAC OUT1 as AF IF TIM7 gt lt gt 12bit DAC 2 gt DAC OUT2 as AF VREF VDDA VDDA REF lt ai15411 16 42 DoclD025487 Rev 2 UM1692 General description 4 4 4 4 1 4 4 2 Firmware loading This section describes how to load firmware to the board by using the DfuSe demonstration software DfuSe installation You need first to download the DfuSe demonstration software from www st com The DfuSe tool is referenced under the development suite STSW STM32080 Once downloaded run the setup exe file More details on DfuSe are given in the UM0412 user manual Generate a DFU file from a HEX file If the file you want to download to the discovery board is not a DFU file but a HEX file you will need first to convert it In this purpose e Startthe DFU file manager V3 0 3 or greater which has been inst
17. Various application commands examples 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 Motor moves by 60 000 steps forward Move DIR N_STEP Wait until not busy busy pin test L6472 pin 22 Sends L6472 command setting hold duty cycle to 0 5 sends L6472 command changing run duty cycle to 5 SetParam PARAM VALUE Motor runs at constant speed of 50 steps s in a reverse direction Run DIR SPD Motor softly stops after a few seconds SoftStop RESET KVAL HOLD to initial value RESET KVAL RUN to initial value SetParam PARAM VALUE Wait until not busy busy status check in Status register GetStatus Motor moves by 100 000 steps forward Move DIR N STEP Wait until not busy busy status check in Status register GetStatus Test of the Flag pin L6472 pin 24 by polling wait in endless cycle if problem is detected Motor moves to its home position GoHome Wait until not busy busy pin test L6472 pin 22 Motor goes to absolute position 65535 through the shortest path GoTo ABS POS Wait until not busy busy pin test L6472 pin 22 Motor goes in a forward direction to absolute position 131071 GoTo DIR DIR ABS POS Wait until not busy busy pin test L6472 pin 22 Read run duty cycle dSPIN KVAL RUN parameter from L6472 read intersect speed dSPIN INT SPD parameter from L6472 GetParam PARAM Read Status register con
18. alled with the DfuSe e Choose I want to GENERATE a DFU file from S19 HEX or BIN files Figure 10 DFU file manager action CH DFU File Manager Want to do v3 0 3 ss Choose your action want to GENERATE a DFU file from 19 HEX or BIN files C want to EXTRACT 19 HEX or BIN files from a DFU one DoclD025487 Rev 2 17 42 General description UM1692 e Click on the S19 or Hex button e Select in the open dialog box the File of type hex Files select the HEX file and click OK e Click on the Generate button e Give a name to the dfu file and click on the Save button Figure 11 DFU file manager generation Images Image for Alternate Setting 00 ST Vendor ID Ox 0483 Product ID Ox 0000 Injection z Target ID o E DH Multi BIN Version Ox 0000 NOM hans BE r Deletion c Delete selected Image Generate Cancel 18 42 DoclD025487 Rev 2 Ly UM1692 General description 4 4 3 Board settings To be able to download firmware the discovery board should be started in the DFU mode In this purpose 1 Remove the jumper from the BOOT pins 2 Plug a USB cable between the discovery board and the PC It does not matter if the VS connector is plugged or not to a supply voltage Figure 12 Board settings gt E 7 TATE Pe Da 25 lays mo EP oo 05
19. brary by the new one DoclD025487 Rev 2 33 42 General description UM1692 Figure 28 Parameters exportation save file a dspin user motion dspin inc X Searchinc p Documentation 4 STM32F10x_StdPeriph_D di inc D src E a user_motion 4 B dspin de inc J src b di project Organize New folder E e Name _ clock h B dspin h dspin config h E main h stm32f10x_conf h stm32f10x it h C 3 Date modified 2013 10 07 09 48 2013 10 07 09 48 2013 10 07 09 48 2013 10 07 09 48 2013 10 07 09 48 2013 10 07 09 48 P File name ia Hide Folders Seve ype Hen fle e 3 Then you only need to recompile your project as usual to use the exported parameters 34 42 DoclD025487 Rev 2 4 UM1692 General description 4 6 Using the EVAL6472H DISC with the firmware library The L6472 firmware library is supplied as an IAR workspace with a source include project files If you are using an IAR design environment you just need to load the dspin eww file and use the fwlibrairies dspin discoverykit project which is already active If you are using a different design environment you will find instructions in this user manual to build a new project on your preferred IDE The L6472 firmware library is also supplied as an executable in a HEX and in a DFU format It can be loaded into the EVAL6472H DISC board a
20. e Programmable non dissipative overcurrent e Two levels of overtemperature protection Figure 7 L6472 block diagram VDD OSCIN OSCOUT ADCIN VREG CP VBOOT n a a Ext Osc driver amp E pump Clock gen 3V F VSA Voltage Reg V boot V boot VSA 2 HS A1 HS a2 so LS Control Lt n Logic Het P LSB1 V boot V boot Current sensing E DGND AGND AM02377v1 12 42 DocIDO25487 Rev 2 Ly UM1692 General description Table 3 L6472 Recommended operating conditions Symbol Parameter Test condition Value Unit Vpp Logic Interface supply voltage 3 3 V Vs Motor supply voltage Vsa Vsp Vs 8 45 V Differential between voltage Vsa OUTI1A OUT2A PGND i Vour dift and Vgg OUT1B OUT2B PGND pins Vsa Vsg Vs Upto45 V VREG in Logic supply voltage Vngg internal 3 V Vapc Integrated ADC input voltage range ADCIN pin 0 VREG V 4 2 1 Charge pump The L6472 device uses an internal charge pump for driving correctly the integrated MOSFETs a voltage higher than the motor power supply The charge pump is obtained through an oscillator and few external components Figure 8 Charge pump circuitry C6 220 nF 4 E D2 BAV99 H A 3 _ C8 T 10 nF 11 10 2 26 12 16 VBOOT CP VSA VSA VSB VSB U3 L6472H AMO03466V1 4 2 2 Advanced current control The following configuration gives good results with most of motors Minimum O
21. eSupport ST STM32F 10x e PROJ_DIR G stm32f1Ox STM32F 10x StdPeriph Driveninc e PROJ_DIR dspin ince Where PROJ_DIR is a variable containing the path to the project directory Add the required library source files e Startup stm32f10x cl s e system stm32f10x c e misc c e Stm32f10x exti c e Stm32f10x flash c e Stm32f10x gpio c e Stm32f10x rcc c e Stm32f10x spi c e Stm32f10x tim c For the debugger for example select the ST LINK and configure it to run to main to verify download to use the Flash loader and to override the default board file with the FlashSTM32F105xB board DoclD025487 Rev 2 Ly UM1692 References 5 References This user manual provides information on the hardware features and use of the EVAL6472H DISC board along with the demonstration firmware and software For additional information refer to the following 1 STM32F105xx STM32F107xx datasheet CD00220364 2 STM32F101xx STM32F 102xx STM32F 103xx STM32F 105xx and STM32F107xx advanced ARM based 32 bit MCUs reference manual RM0008 6 Revision history Table 4 Document revision history Date 12 Dec 2013 Revision 1 Changes Initial release 17 Apr 2015 Updated Section Introduction on page 1 Table 2 on page 9 and Section 4 2 1 on page 13 replaced L6472H by L6472 Removed Figure 5 Layout silk screen from page 9 Replaced dSPI
22. i v1 10 e amp er Eg a gt Name Date modified Type ay fwlibraries_dspin_discoverykit dfu 05 09 2013 12 03 DFU Fil Recent Places MP Computer ud Pe one z Files of type Dfu Files C diy Cancel Open as read only 21 42 Ly DoclD025487 Rev 2 General description UM1692 22 42 5 Click on the Upgrade button Figure 15 DFU file upgrade Available DFU Devices STM Device in DFU Mode q r Application Mode p DFU Mode Vendor ID Vendor ID 0483 Supports Upload C Manifestation tolerant Supports Download CO Accelerated Upload ST Procuct ID Procuct ID pr Can Detach Version Version 0200 Enter DFU mode HID detach Leave DFU mode Actions Select Target s Targetld Name Available Sectors Double Click for more 00 Intemal Flash 128 sectors 01 SPI Flash M25P64 128 sectors Upload Action Upgrade or Verify Action File File fwlibraries_dspin_pecO09v2 dfu Vendor ID 0483 aes s us geo Lupe x Procuct ID 0000 U m Transferred data size Miss ooo D KB 0 Bytes of 0 KB O Bytes Verify after download Optimize Upgrade duration m Operation duration 00 00 00 E Upgrade File correctly loaded 6 If this dialog box appears click Yes Figure 16 DFU file confirmation Your de
23. n src stm32f10x it c Interrupt handlers e user motion dspin inc stm32f10x it h Header for stm32f10x_it c e user motion dspin inc clock h System clock setup related header e user motion dspin src clock c System clock source file e user motion dspin inc dspin h L6472 definitions header e user motion dspin src dspin c L6472 routines source file e user motion dspin inc dspin config h L6472 configuration parameters this file can be generated by the GUI e user motion dspin inc main h Main header file e user motion dspin src main c Main program e user motion dspin inc pre include h First header file included by the preprocessor e user motion dspin readme txt Information on the files Demonstration sequence description The demonstration sequence description is for one L6472 device without daisy chaining The application commands used are noted after the pipe character The application commands traffic can be seen on the SPI interface pins 18 19 20 and 23 which are respectively SDO CK SDI and CS DoclD025487 Rev 2 Ly UM1692 General description Initialization and configuration 4 5 Initialize peripherals used by L6472 LED_READY GREEN is lighted up other LEDs are switched off LED check sequence a LED ERROR RED is switched ON LED BUSY ORANGE is switched ON LED SPARE YELLOW is switched ON LED ERROR RED LED BUSY ORANGE and LED SPARE YELLOW are switched OFF Resets and puts L6472 into
24. oller part DoclD025487 Rev 2 VDD VDD VOD R32 Re R27 R26 R25 R24 10KQ R31 R7 10 KQ 10 KQ 4 7 KOM 7 KOl4 7 KO 4 7 Ko CON FLAT 10X2 180M BOOT 1000 Gig J4 J6 EC 2 22 28 4023 OPEN n 4 6 8 10 EE L LZ VDD 14 ee be C18 Ely ER e C16 C17 100 nF EP as 10uF 100 nF 8 lolo PP Re Re RIO a sis lt lt ala I si 40 KO410 KOKO KQ 55 c23 gt ele lel eor cool t ende dale SS gt e T FSS OSA ka ta ka BA te oto yop VDD vod 20 pF vi AORREERRARAASSES an OOO SR 1 g ezogeoetocbrpopir 48 o R30 R33 Ma VBAT Ed VbD 2 47 7 10KO 1KO TP4 TPS TP6 C24 i 7 PC13 TAMPER RTC VSS 2 Fag 100 nF PC14 OSC32 IN PAT3 EI PC15 08C32_OUT PA12 45 USBDP m dod 4 E PD0 OSC IN PA 33 PATO UART1 RX KESET 73 PD1OSC_OUT y4 PA10 37 PAS UARTI TX t REA LED SPARE El NEST ne 41 PAB UARTT CK FED EROR ect STM32F106RBT Pco 35 use fr BELL TED READY TT PE2 Pce 47 PC3 PC7 37 4700 ir VSSA PC6 736 BOARD ID 3 D4 SW_MOTOR 34 VDDA PB15 735 BOARD D 2 Y BUTTON A 157 PAD WRU DEI M BORD
25. ouble e To adapt the settings with your specific setup motor voltage by using the dedicated PC application The user is able to save inside the board the specific parameters depending on a user setup e Using the board with user parameters directly on a site without a connected PC 4 42 DoclD025487 Rev 2 ky UM1692 Electrical characteristics of the board 2 Electrical characteristics of the board Table 1 Electrical specifications Name Value Supply voltage Vs 8 to 45 V Maximum output current each phase 3Arms Logic supply voltage VREG 3 V L6472 regulator supply Logic interface voltage Vpp 3 3 V USB supply Low level logic inputs voltage OV High level logic input voltage Vpp Stepping Up to 1 16 microstepping Operating temperature 0 to 85 C DoclD025487 Rev 2 5 42 Schematic layout and bill of material UM1692 3 Schematic layout and bill of material Figure 2 Schematic microcontroller supply part VDD voD TP1 GND NC KEYSTONE5000 VOUT VOUT sl VOUT VOUT 7 USB_VCC VIN NC 10 pF USBDM USBDP zu LD1117D33TR a 63 ID USB_GND 100 nF 1 01 6 vop VBUS 4 7 nF 1 02 4 L g 100 nF AM03518 6 42 3 DoclD025487 Rev 2 UM1692 Schematic layout and bill of material Figure 3 Schematic microcontr
26. rom the information set forth herein shall void any warranty granted by ST for such product ST and the ST logo are trademarks of ST All other product or service names are the property of their respective owners Information in this document supersedes and replaces information previously supplied in any prior versions of this document 2015 STMicroelectronics All rights reserved 42 42 DoclD025487 Rev 2 4
27. s explained in Section 4 4 on page 17 4 6 1 FW library package contents e FWL6472 library Described in Section 4 6 2 e CMSIS library stm32f10x CMSIS Library used by the L6472 FW library e STM32F10x Standard Peripherals Library Drivers stm32f10x STM32F10x_StdPeriph_Driver Library used by the L6472 FW library e AR workspace files user motion project ewarm6 fwlibraries dspin dspin eww a workspace file A user motion project ewarm6 fwlibraries dspin settings dspin wsdt a workspace settings file A user motion project ewarm6 fwlibraries dspin discoverykit a directory containing L6472 discovery board project files and subdirectories user motion project ewarm6 fwlibraries dspin discoverykit Debug Exe a directory containing the hex and dfu executable files user motion project ewarm6 fwlibraries dspin pcc009v2 a directory containing PCCO009V2 board project files and subdirectories 4 6 2 FW L6472 library description The FW L6472 library has the following features e Register read write and check e Register values conversion e Device configuration e Motion commands e FLAG and BUSY interrupts management e Button interrupts management e Step Clock mode management e Initialization routine using GoUntil and ReleaseSW commands e Daisy Chain mode The FW L6472 library has been tested on the L6472H DISCOVERY board R1 The main program contains a commented demonstration seq
28. tent GetStatus Read absolute position dSPIN ABS POS parameter from L6472 GetParam PARAM Reset position counter actually ResetPos Read absolute position dSPIN ABS POS parameter from L6472 GetParam PARAM L6472 disable power stage high impedance immediately as a consequence the L6472 supply current drops HardHiZ DoclD025487 Rev 2 Ly UM1692 General description Go Until example 40 41 42 43 44 45 46 4T 48 Interrupt configuration for the SW MOTOR Motor motion in a forward direction at speed 400 steps s until the user puts a jumper on J8 the LED SPARE YELLOW toggles until the user puts a jumper on J8 GoUntil ACT DIR SPD Motor stops The LED SPARE YELLOW is switched off Wait until not busy busy pin test L6472 pin 22 Motor moves by 50 000 steps reverse Move DIR N STEP Motor moves to the position saved by the GoUntil command into the MARK register so 50000 steps forward GoMark Wait until not busy busy pin test L6472 pin 22 Nothing happens during a few seconds Release SW example 49 50 51 52 53 54 Motor motion in a reverse direction at minimum speed until the user removes the jumper on J8 the LED SPARE YELLOW toggles until the user removes the jumper on J8 ReleaseSW ACT DIR The LED SPARE YELLOW is switched off Motor moves by 100 000 steps forward Move DIR N STEP Wait until not busy busy pin test L6472
29. the device performances Setting the parameter to high values e g 6000 step s allows evaluating the maximum speed which can be achieved by the application under test through the speed tracking command Run but it probably limits the possibility to use positioning commands Move GoTo etc The Full step speed parameter indicates the speed at which the system switches from microstepping to full step operation STM32F105RB microcontroller The STM32F 105xx incorporates the high performance ARM Cortex M3 32 bit RISC core operating at a 72 MHz frequency high speed embedded memories Flash memory up to 256 Kbytes and SRAM 64 Kbytes and an extensive range of enhanced I O and peripherals connected to two APB buses All devices offer two 12 bit ADCs four general purpose 16 bit timers plus a PWM timer as well as standard and advanced communication interfaces up to two I Cs three SPls two I Ss five USARTs a USB OTG FS and two CANS The STM32F105xx operates in the 40 to 105 C temperature range from a 2 0 to 3 6 V power supply A comprehensive set of power saving mode allows the design of low power applications The STM32F105xx offers devices in three different package types from 64 pins to 100 pins Depending on the device chosen different sets of peripherals are included These features make the STM32F105xx and STM32F107xx connectivity line microcontroller family suitable for a wide range of applications such as mo
30. tion 4 1 Power supply The EVAL6472H DISC board is designed to be powered via e Connector J1 power of the motor and also motor control driver e USB connector J5 power of the microcontroller and logic control The USB cable supplies the digital part through a dedicated LDO U1 providing 3 3 V The motor power must be set according to the voltage required by the user motor Note Both the supply sources USB connector and J1 connector must be present to make the board operative Figure 6 Microcontroller supply section VDD vob TP1 bd GND NC KEYSTONE5000 J5 VOUT VOUT tg VOUT VOUT TT VIN NC 10 pF LD1117D33TR EE 17340351 EE 1 01 6 We R4 1MQ C7 VBUS 4 7 nF 1 02 4 ca 100 nF 7 1 5 KQ AM03518 Ly DoclD025487 Rev 2 11 42 General description UM1692 4 2 L6472 stepper motor driver The L6472 is an advanced fully integrated solution suitable for driving two phase bipolar stepper motors with microstepping It integrates a dual low Rps on DMOS full bridge Features e Operating voltage 8 45 V e 7 0 A out peak current 3 0 A ms e Low Rps on power MOSFETs e Programmable speed profile e Programmable power MOS slew rate e Predictive current control with adaptive decay e Non dissipative current sensing e Up to 1 16 microstepping e Sensorless stall detection e gt SP interface e Low quiescent and standby currents
31. tor drives and application control medical and handheld equipment industrial applications PLCs DoclD025487 Rev 2 Ly UM1692 General description inverters printers and scanners alarm systems a video intercom HVAC and home audio equipment Please refer to the STM32F105xx datasheet for an overview of the complete range of peripherals proposed in this family Please refer to the STM32F105xx reference manual RM0008 to get more information on the microcontroller operation The STM32F105RBT6 has a 64 pin LQFP package with 128 KBytes Flash memory and operates in the 40 to 85 C temperature range Ly DoclD025487 Rev 2 15 42 General description UM1692 Figure 9 shows the general block diagram of the STM32F105xx and STM32F107xx family Figure 9 STM32F105xx and STM32F107xx block diagram
32. uence which uses all the FW L6472 DoclD025487 Rev 2 35 42 General description UM1692 4 6 3 36 42 library supported features This sequence is interactive and to proceed to the end some user action is necessary For the GoUntil feature demonstration when the LED SPARE is blinking for the first time the user shall close the SW MOTOR jumper J8 This triggers a switch turn on event at the L6472 SW pin For the ReleaseSW feature demonstration when the LED SPARE is blinking again the user shall open the SW MOTOR jumper J8 This triggers a L6472 SW pin release At the end of the demonstration sequence the GPIO connected to the LEFT and RIGHT buttons are configured to trigger interrupts on the microcontroller On a LEFT button press the microcontroller starts the motor at quarter of max speed if it is stopped or doubles the motor speed if it is already running On a LEFT button press the microcontroller disables the power bridges after a smooth stop if the motor is running at minimum speed or halves the motor speed if the motor is running above minimum speed Even if the Daisy Chain mode is supported in the L6472 FW library the L6472 Discovery board HW does not allow it Please contact ST support if you want more information on the Daisy Chain mode testing or implementation The FW L6472 library consists of the following files e user motion dspin inc stm32f10x conf h Library configuration file e user motion dspi
33. utomatically 26 42 DoclD025487 Rev 2 Ly UM1692 General description 5 At this step a Ifa problem is detected the ready LED green and the error LED red will switch on without blinking This means that either the board ID is not recognized by the FW bad FW versions used orthere is a problem with the SPI no connection between the MCU and the L6472 via the SPI orthere is no 5 V 45 V DC power supply Figure 21 Starting board error case Ly DoclD025487 Rev 2 27 42 General description UM1692 If no problem is detected the LEDs will start an infinite two step loop In the first step the four LEDs will switch on one after the other by starting by the green one and ending by the yellow one b Figure 22 Starting board board OK o 27 e Loop step 1 All LEDs are switching on 28 42 DoclD025487 Rev 2 UM1692 General description Inthe second step only the LEDs which correspond to the board ID are switched on all at the same time For the L6472 device there are the green red yellow LEDs Figure 23 Starting board display board ID Ly DoclD025487 Rev 2 29 42 General description UM1692 6 Press the LEFT button and check the two step loop stops after a few seconds Only the green LED remains switched on Figure 24 Starting board action LEFT key LEFT button stops
34. vice was plugged in DFU mode P So it is impossible to make sure this file is correct for this device Continue however No 4 DoclD025487 Rev 2 UM1692 General description 7 Once the download is performed you should have Figure 17 DFU file download OK Available DFU Devices STM Device in DFU Mode Application Made iE DFU Mode Vendor ID Vendor ID 0463 Supports Upload CO Manifestation tolerant Supports Download C Accelerated Upload ST Procuct ID Procuct ID DF11 DEI Can Detach Version Version 0200 Enter DFU mode HID detach Leave DFU mode Actions Select Target s Targetld Name Available Sectors Double Click for more 00 Internal Flash 128 sectors 01 SPI Flash M25P64 128 sectors m Upload Action Upgrade or Verify Action File File fwlibraries_dspin_pecO09v2 dfu Vendor ID 0483 aes d i ESI Urea Procuct ID 0000 T Transferred data size Version 0000 11 KB 12148 Bytes of 11 KB 12148 Bytes Verify after download Optimize Upgrade duration Remove some FFs m Operation duration 00 00 05 Choose Verify Target 00 Upgrade successful Abort Quit 8 Do no forget to put the jumper back on the BOOT pins in order to restart the discovery board to the normal mode Ly DoclD025487 Rev 2 23 42 General description UM1692 4 5
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