EVAL6470H-DISC: fully integrated stepper motor driver
Contents
1. e e cece eee 11 4 1 Power supply iuis ee Roo x o ads weed ae wal Sa ie ERE E 11 4 2 L6470 stepper motor driver ee ee 12 4 2 1 Charge pump sw eese eec ea eae Rn EUER SED d 13 4 2 2 Voltage mode driving sx e eee 14 4 2 3 Overcurrent and stall detection thresholds isse 14 4 2 4 Speed profile su seu ue e ene seek ee eta ERA 15 4 3 STM32F105RB microcontroller llle 15 4 4 Firmware loading 2E ERR RE RA RR ARR Rae ke HER RE vekke 17 4 4 1 DfuSe installation liliis 17 4 4 2 Generate a DFU file from a HEX Tile 17 4 4 3 Board settlngs ive ME esu eatin nee EAR eee ea Vo 19 4 4 4 DEU Oa ING si DE RARR Rota odia dos Red ges B ecd ata 20 4 5 Using the EVAL6470H DISC with firmware for the GUI 24 4 5 1 Sanity check of the board with firmware for the GUI 24 4 5 2 Parameters exportation from the GUI to the FW library 33 4 6 Using the EVAL6470H DISC with the firmware library 34 4 6 1 FW library package contents 00 EE eee 34 4 6 2 FW L6470 library description 0 0 00 e ee eee 34 4 6 3 Demonstration sequence description EE EE EE Ee 35 4 6 4 Create a project using the FW library package 39 5 References cursos ves wid exu EE e nm ends 40 6 Revision history Se SE SERE NAR EER KARRE EE EER HORE ER RR EE 40 2 41 DocID025486 Rev 2 Ly UM1691 List of figures List of figures Figure2. Please refer to the STM32F105xx reference manual to get more information on the microcontroller operation The STM32F105RBT6 has a 64 pin LQFP package with a 128 KByte Flash memory and operates in the 40 to 85 C temperature range DoclD025486 Rev 2 15 41 General description UM1691 Figure 9 shows the general block diagram of the STM32F105xx and STM32F107xx family Figure 9 STM32F105xx and STM32F107xx block diagram TRACECLX ee u T ew swurag Trace Trig Von 210 3 6 V Vss JTDI JTCK SWCLK Cortex M3 CPU JDO BAF Fmax 72 MHZ TM Vooa Vasa MIL TXDE2 0PRMIL TXD 1 0 n MIL TX CLKRMIL TX CLK ye Mil TX EN RMIL TX EN E MIL RXDE OYRME RXD 1 0 MIL AX ER RMII RX ER Mil RX CLK RMII REF CLK MIL FX DV RMII CRS DV MH CRS MIL COL RMH COL MDC OSC32 IN MDIO PPS OUT OSC32 OUT TAMPER ATC i ALARM SECOND OUT ID DM DP 4 Channels ETA BS AF 4 Channels ETA BS AF 4 Channels ETR as AF PL ne 2 adas me WI gt va ro anos GPIO port A i as AF M pa Fo AX TX CTS ATS P amp 15 0 lt i gt cPiopore gt USART2 CK as AF GPIO pot B Potts LEES rasa GA aereo KDE Pensa sf crore KP i RX TX CTS ATS E ens CK as AF S Je mona MOSVSD MISO MCK dd spe i252 TA SCKICK NSS WS as AF MOSVSD MESO MCI ems E SCKICK NSS WS as AF gt NE SoL SDA SVEA as AF smu EE Kk SCK NSS as AF a anna RX TX CTS ATS ar aN RX as AN2 TX 8 AF 16 ADC12 m
3. Procuct ID Procuct ID pri Version Version 0200 Enter DFU mode HID detach Leave DFU mode Actions Select Target s Targetld Name Available Sectors Double Click for more DU Internal Flash 128 sectors 01 SPI Flash M25P64 128 sectors Upload Action Upgrade or Verify Action File File fwlibraries_dspin_pecO09v2 dfu Vendor ID 0483 s ore l 1 Dan m Ec __ Upload Em Procuct ID 0000 r Transferred data size 7 Ier 0000 OKB O Bytes of 0 KB O Bytes Verify after download Optimize Upgrade duratig m Operation duration 00 00 00 Upgrade Abort File correctly loaded 6 If this dialog box appears click Yes Figure 16 DFU file confirmation li Your device was plugged in DFU mode P So it is impossible to make sure this file is correct for this device Continue however DoclD025486 Rev 2 4 UM1691 General description I 7 Once the download is performed you should have Figure 17 DFU file download OK m Available DFU Devices STM Device in DFU Mode r Application Mode m DFU Mode E A Vendor ID Vendor ID 0483 Supports Upload C Manifestation tolerant Supports Download C Accelerated Upload ST Procuct ID Procuet ID pri Can Detach 3 Version Version 0200 Enter DFU mode HID deta
4. Car UM1691 y life augmented User manual EVAL6470H DISC fully integrated stepper motor driver based on the L6470 and STM32 Introduction The EVAL6470H 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 L6470 fully integrated solution suitable for driving two phase bipolar stepper motors up to 1 128 microstepping The L6470 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 EVAL6470H DISC board is designed to help developers evaluate the device and develop their own applications Figure 1 Board image L6470H DISCOVERY KIT R MALE dapin April 2015 DoclD025486 Rev 2 1 41 www st com Contents UM1691 Contents 1 Main features ass ei EERS DER ER ease ER SEER bee ees OE ER EE eee 4 1 1 Target applications ee ee 4 1 2 Description EE ss d 2 Electrical characteristics of the board sees 5 3 Schematics layout and bill of material 6 4 General description
5. 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 from 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 4 DoclD025486 Rev 2 41 41
6. ld Name Available Sectors Double Click for more DU Internal Flash 128 sectors 01 SPI Flash M25P64 128 sectors Upload Action r Upgrade or Verify Action File File Vendor ID _Ehoose Upload es Procuct ID EE EE N Targets in file m Transferred data size Version OKB O Bytes of 0 KB O Bytes Miss Tigres Verify after download Optimize Upgrade duration Remove some FFs Operation duration 00 00 00 7 parade iip LLL O 3 In the Upgrade or Verify Action group click on the Choose button 4 20 41 DoclD025486 Rev 2 UM1691 General description 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 Ji v1 10 e amp i et Be iE Name Date modified Type ay fwlibraries_dspin_discoverykit dfu 05 09 2013 12 03 DFU File Recent Pl led aspin TyKit 7 Desktop L xm Files of type Dru Files C diy lt Cancel Open as read only DoclD025486 Rev 2 21 41 General description UM1691 22 41 5 Click on the Upgrade button Figure 15 DFU file upgrade Available DFU Devices STM Device in DFU Mode r Application Mode Jr DFU Mode Can Detach Vendor ID Vendor ID 0483 Supports Upload C Manifestation tolerant Supports Download C Accelerated Upload ST
7. 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 6470H DISCOVERY Edit the preprocessor include directories and add s PROJ_DIRG stm32f10x CMSIS CM3 DeviceSupport ST STM32F 10x e PROJ_DIR stm32f10x STM32F10x_StdPeriph_Driver inc 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 s 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 DoclD025486 Rev 2 39 41 References UM1691 5 40 41 References This user manual provides information on the hardware features and use of the EVAL6470H DISC board along with the demonstration firmware and software For additional information refer to the following STM32F 105xx STM32F107xx datasheet CD00220364 STM32F 101xx STM32F 102xx STM32F 103
8. 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 Board image ER OE e ue EE EN ade ae NNE EE aed eons 1 Schematic microcontroller supply part nanana auaa 6 Schematic microcontroller part EE EE eee eae 7 Schematic motor driver part is e eae 8 Layout top layer and bottom layer EE EE ee EE nen 8 Microcontroller supply section EE EE 000 cece ee 11 L6470 block diagram 0 R EE edian R tee eee 12 Charge pump circuitry 0 0 tees 13 STM32F105xx and STM32F107xx block diagram 0 0 ee 16 DFU file manager action EE EE EG SE RII 17 DFU file manager generation EE III 18 Board settings PERPE 19 Be Ode tele N EE EE EE EE OR R ba daa fides 20 DEU ide RR EE N RRR Sl Meee ee Gee N 21 DFU tile Upgrade ees cce eee RR GA te ge eee oe ed Rd 22 DFU file confirmation sers S K SK serer EE eens 22 DFU file download CST RRR RE ES RR RR ER Re eee tee RRR R 22 Starting board boot mode teas 24 Starting board motor power supply 000 cece ete eee 25 Starting board USB connection 00 eae 26 Starting board error case e R R e tenes 27 Starting board board OK 00 eee 28 Starting board d
9. 5 1 Res 1 5 KQ 1 10 W 5 0603 SMD 1 5 KO 0603 R6 R8 R11 R14 R19 10 Res 10 KO 5 1 10 W 0603 SMD 10 KQ 0603 R30 R32 Ly DoclD025486 Rev 2 9 41 Schematics layout and bill of material UM1691 Table 2 Bill of material Item Kr n Reference Value Package R7 R12 2 Res 100 Q 5 1 10 W 100 Q 0603 R15 R18 4 Res 470 Q 5 1 10 W 0603 470 0 0603 R20 R33 2 Res 1 KO 596 1 10 W 0603 SMD 1 KQ 0603 R21 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 KQ 5 1 10 W 0603 SMD 100 KO 0603 R29 1 Res NP 0805 NP 0805 S1 S3 3 Switch button SMD EVQQ2D03W CMS 6 5 x 6 x 3 1 TP1 TP2 TP4 TP7 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 L6470 microstepping motor driven L6470 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 30 PPM 20 pF 8 MHz HC49 US SM 10 41 DoclD025486 Rev 2 ky UM1691 General description 4 4 1 Note General description Power supply The EVAL6470H DISC board is designed to be powered via e Connector J1 power of the motor and also motor control driver s USB connector J5 power of the microcontroller and logic control The USB cable supplies the digital part through a dedicated
10. LDO U1 providing 3 3 V The motor power must be set according to the voltage required by the user motor Both the supply sources USB connector and J1 connector must be present to make the board operative Figure 6 Microcontroller supply section VDD VDD TP1 1 UI t1 1y GND NC Bx KEYSTONE5000 J5 31 VOUT VOUT 5 c 6 1 aun 4 VOUT VOUT 5 daus SHELL USB_VCC VIN NC 7 2 USBDM 8 SHELL USBDM USBDP SHELL USBDP H LD1117D33TR aL 9 4 c3 SHELL IDs USB_GND 100NF 1734035 1 is Ei 1 6 USBDM VDD E voi onne BEE T R4 2 5 ME C7 GND VBUS ANE 3 jo243 10244 4 USBDP ee USR IT 1 El USBLC6 2P6 100NF 1 5K AM03463 ky DocID025486 Rev 2 11 41 General description UM1691 4 2 L6470 stepper motor driver The L6470 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 and positioning e Programmable power MOS slew rate e Upto 1 128 microstepping e Sensorless stall detection s SP interface s Low quiescent and standby currents e Programmable non dissipative overcurrent e Two levels of overte
11. a R20 R21 R22 R28 m aoocanraaaaaca Ly c2 re llel lal slal edes ak S Wn AUF 10N b B E n EEE EI Eg E i 8 F 2 SEE 7 a aca VDD Q ven a ver S Le 2 VDD VDD 6 T T C26 R28 c27 R19 100NF TOOK 10K 100NF Let NK p 100R oo s2 vr c2 ca OPEN 10NF 100NF AM03464 DoclD025486 Rev 2 7 41 Schematics layout and bill of material UM1691 Figure 4 Schematic motor driver part vs R2 27K VS R1 2 C6 200K 220NF IP7 D2 BAV99 M 2 1 KEYSTONES000 7 M 4 14 T D l 1 7 t 1 d TP2 TP3 3 6V R34 ce ct um JER vs zi S c5 o hoonr if R3 VDD l47UF TE 08 l J1 3 3NF A5 10NF 4 C S 0 C10 N x o eo C12 C13 C14 gt All AR 100UF 100NF a8 Cc Wo tag 100NF 100NF 63V Sg 9g 9 999 I I d R29 a G S a Bi NP 7 1 8 LT OSCIN OUT1A ities 8 U3 2 OSCOUT S L6470H mst 28 ADEIN Sy ADCIN TR sw STCK 25 FLAG 24 STBY_RES 14 22 BUSY 59 FLAG OUT1B 2 BUSY SYNC 1 A SPI NSS SPENOR 19 CS ours SPI MOST 20 CK x 20 SPIMISU 18 SDI 9 a 999 SDO 566 a UU n n eo DJMN NI N IN AM03465 8 41 DoclD025486 Rev 2 Ly UM1691 Schematics l
12. ayout and bill of material Table 2 Bill of material Quan Item tity 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 C13 C17 C19 C21 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 C8 FE a 4 Cap cer 10 nF 50 V X7R 0603 10 nF 0603 C9 1 Cap tant 47 uF 6 3 V 10 PACK A 47 uF 3216 C14 1 Cap elec 100 uF 63 V 100 uF CAPES R10HXX C23 C24 2 CAP CER 20pF 50V COG 0603 20 pF 0603 D1 1 Zener regulator 3 6 V SOD 523 D2 1 w jg ee BAV99 SOT23 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 3 mn J1 J3 gc PN MSN MKDSN 1505 08 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 1734035 1 CN USB CMS Mini USB J6 J7 2 JUMP254P M 2 OPEN STRIP 2 x 2 54 3 OPTICAL TARGET OPTICAL TARGET Diam 1 mn R1 1 Trimmer 200 KQ 200 KQ Trimm 100 x 50 x 110 R2 1 27 KQ 5 1 10 W 27 KQ 0603 R3 1 Res 7 5 KQ 5 1 10 W 0603 SMD 7 5 KO 0603 R4 R13 2 Res 1 MQ 1 10 W 5 0603 SMD 1MQ 0603 R
13. brary Once you have customized the L6470 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 gr SPINFamily Evaluation Software L6470 selected So File Tools Z H A X C 1 oe fa 2 C ABS POS 0 Rb WR J HOME ET Autorefresh GoTo 0 Lan auro 2 Replace the existing dspin config h of your current FW library by the new one Figure 28 Parameters exportation save file Save As IE EAR 7 7 mi T G wl dspin user motion dspin inc v om gt EE ME MEE Organize v New folder Documentation Name Date modified 4 STM32F10x StdPeriph D N inc de sre 3 M user motion 4 dspin EI me di sre Ji project clock h 2013 10 07 09 48 L dspin h 2013 10 07 09 48 dspin config h 2013 10 07 09 48 main h 2013 10 07 09 48 L stm32f10x conf h 2013 10 07 09 48 Lj stm32f10x it h 2013 10 07 09 48 File name Save as type Header files h Hide Folders 3 Then you only need to recompile your project as usual to use the exported parameters Ly DoclD025486 Rev 2 33 41 General description UM1691 4 6 4 6 1 4 6 2 34 41 Using the EVAL6470H DISC with the firmware library The L6470 firmwa
14. ch Leave DFU mode Actions Select largest Targetld Name Available Sectors Double Click for more 00 Internal Flash 128 sectors 01 SPI Flash M25P64 128 sectors r Upload Action m Upgrade or Verify Action File File fwlibraries dspin pecO09v2 dfu Vendor ID 0483 Targets in file Choose 00 ST a Procuct ID 0000 r Transferred data size Vermon 0000 11 KB 12148 Bytes of 11 KB 12148 Bytes Verify after download Optimize Upgrade duration Remove some FFs r Operation duration 00 00 05 Choose Verify Target 00 Upgrade successful Quit 8 Dono forget to put the jumper back on the BOOT pins in order to restart the discovery board to the normal mode DoclD025486 Rev 2 23 41 General description UM1691 4 5 4 5 1 24 41 Using the EVAL6470H DISC with firmware for the GUI By default the discovery board is loaded with firmware offering the capability to connect the board with the SPINFamily evaluation tool This GUI provides direct access to all L6470 registers and allows sending application commands Sanity check of the board with firmware for the GUI 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 Figure 18 Starting board boo
15. file and click on the Save button DoclD025486 Rev 2 17 41 General description UM1691 Figure 11 DFU file manager generation Device Vendor ID Ox 0483 Product ID Ox 0000 Injection Target ID 0 f MuliBIN Version Ox 0000 Taos Nan mr dd Deletion Delete selected Image Generate Cancel Image for Alternate Setting 00 ST 18 41 DoclD025486 Rev 2 Ly UM1691 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 Ly DocID025486 Rev 2 19 41 General description UM1691 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 gt DfuSgJBefffe v5 0 3 Pd DFU Devices DEU Mode Vendor ID 0483 ST Procuct ID Procuct Ip DT Version Version 0200 Leave DFU mode NL Actions Select Target s Target
16. g and not to switch to full step Hence this parameter should be greater than the maximum speed 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 a Flash memory up to 256 Kbytes and an 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 SPIs two I Ss five USARTs a USB OTG FS and two CANs The STM32F 105xx device 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 motor drives and application control medical and handheld equipment industrial applications PLCs inverters printers and scanners alarm systems video intercom and HVAC and home audio equipment Please refer to the STM32F105xx datasheet for an overview of the complete range of peripherals proposed in this family
17. il not busy busy pin test L6470 pin 22 Nothing happens during a few seconds Release SW example 49 50 51 52 53 54 Motor motion in 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 L6470 pin 22 Motor goes to home position set by the ReleaseSW command GoHome Wait until not busy busy pin test L6470 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 step clock mode at 2000 steps s in forward direction for a few seconds while a 2 kHz clock signal from the MCU is applied to the L6470 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 DocID025486 Rev 2 Ly UM1691 General description 4 6 4 Create a
18. isplay board ID 0 00 cee eee 29 Starting board action LEFT key 0 c cece eee eee 30 Starting board action RIGHT key 0 2 0 0 00 cee ee eee 31 Starting board action RESET key 0 0 cece eee 32 Parameters exportation 000 00 eects 33 Parameters exportation save file EE EE GR a 33 DoclD025486 Rev 2 3 41 Main features UM1691 1 Main features The characteristics of the EVAL6470H DISC board are the following e DC voltage range from 8 V to 45 V s Maximum load phase current at 3 Arms e Footprint for external resonator or crystal s 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 an embedded firmware e Up to 1 128 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 an embedded firmware 1 2 Description The EVAL6470_DISC is downloaded with an embedded firmware The possibility with this board is double e 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
19. mperature protection Figure 7 L6470 block diagram VDD OSCIN OSCOUT ADCIN VREG CP VBOOT Ext Osc driver amp Clock gen STBYIRST L FLAG Control Logic BUSY SYNC y Temperature sensing STCK SW sensing a DGND AGND 12 41 DoclD025486 Rev 2 Ly General description UM1691 Table 3 L6470 recommended operating conditions Symbol Parameter Test condition Value Unit Vpp Logic Interface supply voltage 3 3 V Vs Motor supply voltage Vsa Vsg Vs 8 45 V Differential between voltage Vsa OUTI1A OUT2A Vour diff PGND and Vsg OUT1B OUT2B PGND pins Vsa Vago VS Mp fec M VREG in Logic supply voltage Vreg internal 3 V VADC Integrated ADC input voltage range ADCIN pin 0 VREG V 4 2 1 Charge pump The L6470 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 vs D2 4 BAV9 9 11 10 10 nF C8 2 26112 116 VBOOT CP U3 L6470H VSA VSA VSB VSB AM03466 4 DoclD025486 Rev 2 13 41 General description UM1691 4 2 2 4 2 3 14 41 Voltage mode driving The configuration parameters of the voltage mode driving can be obtained through the BEMF compensatio
20. n tool embedded into the SPINFamily software A wrong setup of these parameters could cause several issues in particular s The phase current decreases with the speed and the motor will stall e The wrong voltage is applied to the motor and the system is very noisy s The phase current reaches the overcurrent limit The BEMF compensation form uses the application parameters as inputs in order to evaluate the proper device setup The required inputs are e Supply voltage e Target phase current r m s value at different motion conditions acceleration deceleration constant speed and holding e Target operating speed maximum speed e Motor characteristics The motor characteristics are electrical constant Ke phase inductance and resistance The inductance and the resistance of the phase are given in the motor datasheet The Ke is rarely given in the specification and must be measured In the help section of the SPINFamily software a step by step procedure is explained The same procedure can also be found in the application note AN4144 Voltage mode control operation and parameter optimization on www st com Click on the evaluate button to get the suggested setup for the voltage mode driving Then click on write button to copy the data in the registers of the device Overcurrent and stall detection thresholds The overcurrent protection and the stall detection are implemented measuring the current flowing into each in
21. p step 1 All LEDs are switching on 28 41 DoclD025486 Rev 2 Ly UM1691 General description In the second step only the LEDs which correspond to the board ID are switched on all at the same time For the L6470 device there are green orange red LEDs Figure 23 Starting board display board ID nine DoclD025486 Rev 2 29 41 General description UM1691 30 41 6 Press the LEFT button and check the two step loop stops after a few seconds Only green LED remains switched on Figure 24 Starting board action LEFT key LEFT button stops LEDs bliniking DocID025486 Rev 2 Ly UM1691 General description T Press the RIGHT button and check the two step loops restarts Figure 25 Starting board action RIGHT key RIGHT button restarts LEDs loop DoclD025486 Rev 2 31 41 General description UM1691 Note 32 41 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 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 from the LEDs DocID025486 Rev 2 Ly UM1691 General description 4 5 2 Parameters exportation from the GUI to the FW li
22. r 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 L6470 FW library the L6470 Discovery board HW does not allow it Please contact ST support if you want more information on Daisy Chain mode testing or implementation The FW L6470 library consists of the following files e user motion dspin inc stm32f10x conf h Library configuration file e user motion dspin src stm32f10x it clnterrupt handlers s user motion dspin inc stm32f10x it hHeader 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 L6470 definitions header e user motion dspin src dspin c L6470 routines source file s user motion dspin inc dspin config hdSPIN configuration parameters this file can be generated by the GUI s user motion dspin inc main h Main header file s user motion dspin src main c Main program e user motion dspin inc pre include hFirst header file included by the preprocessor s user motion dspin readme txt Information on the files 4 6 3 Demonstration sequence description The demonstration sequence description is for one L6470 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 re
23. re library is supplied as an IAR workspace with a source include and 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 L6470 firmware library is also supplied as an executable file in a HEX and in a DFU format It can be loaded into the EVAL6470H DISC board as explained in Section 4 4 on page 17 FW library package contents e FWL6470 library Described in Section 4 6 2 e CMSIS library stm32f10x CMSIS Library used by the L6470 FW library STM32F10x standard peripherals library drivers stm32f10x STM32F10x_StdPeriph_Driver Library used by the L6470 FW library s IAR 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 user motion project ewarm6 fwlibraries dspin discoverykit a directory containing the L6470 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 the PCCO09V2 board project files and subdi
24. rectories FW L6470 library description The FW L6470 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 DocID025486 Rev 2 Ly UM1691 General description The FW L6470 library has been tested on the L6470H DISCOVERY board R1 The main program contains a commented demonstration sequence which uses all the FW L6470 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 L6470 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 L6470 SW pin release At the end of the demonstration sequence the GPIO connected to 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 afte
25. rocontroller part VDD voD VDD R32 T Re R27 Rae JR25 R24 10K R7 R31 10K Hok lk ek rk NR CON FLAT 10X2 180M gg TOOR c15 1 2 22 28 4023 OPEN TONE 3 7 i 5 6 i 7 3 1 7 0 Ed 1T 77 VDD 73 T4 RESET 15 76 7 Te cm TF C16 17 100NF B m 10UF JOONF 4 3 bo i Pi Ra R9 Rio EB da 2g ok dok dok SE c23 PP es lo e apes aus aerae EE un MEN es 2opr OMSROR SLE RANK SOs Y1 R13 QoORRORERERROOD aMHP 1M PE ag E Rees oo l c19 R30 R33 2 E L 100NF 10K 1K TP4 TP5 TP6 C24 PC13 TAMPER RTC VSS 2 yH PC14 OSC32 IN PAT3 4 amp 4 PC15 08C32 OUT PA12 A e 3 PDO OSC_IN PAI 7 PD1 OSC_OUT PA10 RESET mS 7 NRST u4 PAO 4 TED ERROR gj PCO STM32F105RBT6 l r tED BUST 10 PC1 PC9 tED READY 17 PC2 PC8 PC3 PC7 T 37 r 739 VSSA PC6 35 BOARD ID 3 SW MOTOR 44 VODA PB15 735 BOARDID 2 OTT TE PAO WKUP PB14 53 BORRD IB T BUTTONS 75 PA1 PB13 35 R86 RP 15 9 PA2 PB12 ty es VDD Di PE na 3 a rasr nO 2ot2erssansnad
26. s Jer aat ancr ic OE AN2 FIX as AF Keti m L L as ADC1 Abc KS F EX DAC OUT as AF DAC OUT2 as AF Veer L Do 1 E VDDA REF ai15411 I 16 41 DoclD025486 Rev 2 UM1691 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 the 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 Start the DFU file manager V3 0 3 or greater which has been installed with the DfuSe e Choose I want to GENERATE a DFU file from S19 HEX or BIN files Figure 10 DFU file manager action 79 DFU File Manager Want to do v3 0 3 pega Choose your action want to GENERATE a DFU file from 519 HEX or BIN files C want to EXTRACT 519 HEX or BIN files from a DFU one e Click S19 or HEX button e Select in the open dialog box the file of type hex Files select the HEX file and click ORK e Click on the Generate button e Give a name to the DFU
27. s switched ON The L6470 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 motor accelerates or decelerates This is happening in the remaining part of the demonstration although not mentioned DocID025486 Rev 2 Ly UM1691 General description Various application command 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 L6470 pin 22 Send L6470 command setting hold duty cycle to 0 5 send L6470 command changing run duty cycle to 5 SetParam PARAM VALUE Motor runs at constant speed of 50 steps s in 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 L6470 pin 24 by polling wait in endless cycle if problem is detected Motor moves to its home position GoHome Wait until not bu
28. spectively SDO CK SDI and CS DoclD025486 Rev 2 35 41 General description UM1691 36 41 Initialization and configuration 1 2 3 4 5 Initialize peripherals used by L6470 LED_READY green is light 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 the L6470 into standby mode The L6470 STBY_RESET pin goes low for a few hundreds of us and then goes high Program all L6470 registers SetParam PARAM VALUE O Oo o 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 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 L6470 pin 22 Busy signal management 13 14 15 16 17 Interrupt configuration for BUSY signal Motor moves by 100 000 steps in reverse direction Move DIR N STEP During busy time the LED BUSY orange i
29. sy busy pin test L6470 pin 22 Motor goes to absolute position 65535 through the shortest path GoTo ABS POS Wait until not busy busy pin test L6470 pin 22 Motor goes in forward direction to absolute position 131071 GoTo DIR DIR ABS POS Wait until not busy busy pin test L6470 pin 22 Read run duty cycle SPIN KVAL RUN parameter from L6470 read intersect speed dSPIN INT SPD parameter from L6470 GetParam PARAM Read Status register content GetStatus Read absolute position SPIN ABS POS parameter from L6470 GetParam PARAM Reset position counter actually ResetPos Read absolute position SPIN ABS POS parameter from L6470 GetParam PARAM L6470 disable power stage High Impedance immediately as a consequence the motor supply current drops HardHiZ DoclD025486 Rev 2 37 41 General description UM1691 38 41 Go Until example 40 41 42 43 44 45 46 47 48 Interrupt configuration for SW MOTOR Motor motion in 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 L6470 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 unt
30. t mode J CR in oa DocID025486 Rev 2 Ly UM1691 General description 2 Connect the board to a 5 V 45 V DC power supply Figure 19 Starting board motor power supply laa s i T niv an LEJ L S LEAL L Y RIE Ta PUMPOMO om Sc v k ESL T U MU DoclD025486 Rev 2 25 41 UM1691 General description 3 Plug a USB cable which must at least provide a power supply Figure 20 Starting board USB connection 3 e s PII M ig vB Tu ei 78 4 The board should switch on automatically 26 41 DoclD025486 Rev 2 UM1691 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 L6470 via the SPI orthere is no 5 V 45 V DC power supply Figure 21 Starting board error case Ly DocID025486 Rev 2 27 41 General description UM1691 b 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 Figure 22 Starting board board OK Loo
31. tegrated MOSFET The overcurrent protection threshold should be set just above the current rating of the motor locpth e Imax r m s x 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 itis strongly discouraged to disable the overcurrent shutdown It may result in critical failures The stall detection threshold should be just above the operating peak current of the application During the preliminary stages of evaluation it can be set to the maximum value DocID025486 Rev 2 Ly UM1691 General description 4 2 4 4 3 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 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 In voltage mode driving devices it is always recommended to operate in microsteppin
32. user parameters directly on a site without a connected PC 4 41 DocID025486 Rev 2 Ly UM1691 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 3A ms Logic supply voltage VREG 3 V L6470 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 1 128 microstepping Operating temperature 0 to 85 C DoclD025486 Rev 2 5 41 Schematics layout and bill of material UM1691 3 Schematics layout and bill of material Figure 2 Schematic microcontroller supply part VDD NOR Tpi il 1 U1 t1 14 cup ne H KEYSTONE5000 35 1 VOUT VOUT HER AE c 6 1 5V0 4 VOUT VOUT 5 10UF 7 SHELL USB VCC 7 USBDM VIN NC 2 5 SHELL USBDM 5 USBDP g SHELL USBDP 4 ca LD1117D33TR SHELL ID 5 TUE USB_GND 1734035 1 E U2 1 L uot vos 8 USBDM VDD ME p 2 GND vsus 4 7NF 3 110283 ES AU USB IT 1 E USBLC6 2P6 a E 1 5K AM03463 6 41 DoclD025486 Rev 2 I UM1691 Schematics layout and bill of material Figure 3 Schematic mic
33. xx STM32F 105xx and STM32F107xx advanced ARM based 32 bit MCUs reference manual RM0008 Voltage mode control operation and parameter optimization application note AN4144 L6470 and L6472 fully integrated stepper motor drivers AN4241 L647x L648x and powerSTEP01 family communication protocol AN4290 1 2 Revision history Table 4 Document revision history Date Revision Changes 29 Nov 2013 1 Initial release Updated Section Introduction on page 1 replaced L6470H by L6470 Removed Figure 5 Layout silk screen from page 9 Replaced dSPIN by L6470 and or motor in the whole document Updated Table 2 on page 9 and Section 4 2 1 on page 13 replaced L6470H by L6470 Updated Table 3 on page 13 minor modifications dated Section 4 5 1 on page 24 replaced VEAPFZ0IS S Ea by eur pr Updated text above Figure 24 on page 30 removed L6472 device step Updated Section 4 5 2 on page 33 and Section 4 6 2 on page 34 removed L6472 device Updated 20 in Section Various application command examples on page 37 minor modifications Updated 1 2 4 and 5 in Section 5 on page 40 Minor modifications throughout document DoclD025486 Rev 2 ky UM1691 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
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