L6480
Microstepping motor controller with motion engine and SPI
Datasheet - production data
Applications
Bipolar stepper motor
Description
The L6480 device, realized in analog mixed
signal technology, is an advanced fully integrated
solution suitable for driving two-phase bipolar
stepper motors with microstepping.
HTSSOP38
Features
Operating voltage: 7.5 V - 85 V
Dual full bridge gate driver for N-channel
MOSFETs
Fully programmable gate driving
Embedded Miller clamp function
Programmable speed profile
Up to 1/128 microstepping
Sensorless stall detection
Integrated voltage regulators
SPI interface
Low quiescent standby currents
Programmable non dissipative overcurrent
protection
It integrates a dual full bridge gate driver for
N-channel MOSFET power stages with
embedded non dissipative overcurrent protection.
Thanks to a unique voltage mode driving mode
which compensates for BEMF, bus voltage and
motor winding variations, the microstepping of
a true 1/128-step resolution is achieved. 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 protection
trip point, deadtime, PWM frequency, etc.) are
sent through a standard 5-Mbit/s SPI. A very rich
set of protections (thermal, low bus voltage,
overcurrent and motor stall) makes the L6480
device “bullet proof”, as required by the most
demanding motor control applications.
Overtemperature protection
Table 1. Device summary
Order codes
Package
Packaging
L6480H
HTSSOP38
Tube
L6480HTR
HTSSOP38
Tape and reel
March 2015
This is information on a product in full production.
DocID023278 Rev 7
1/75
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Contents
L6480
Contents
1
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2
Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.1
Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.2
Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2.3
Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3
Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4
Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
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 and Boost modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.5
Absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.6
Programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7
Motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.8
6.9
2/75
6.7.1
Constant speed commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.2
Positioning commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.3
Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7.4
Stop commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.7.5
Step-clock mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.7.6
GoUntil and ReleaseSW commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Internal oscillator and oscillator driver . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.8.1
Internal oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.8.2
External clock source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
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6.10
Undervoltage lockout (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.11
VS undervoltage lockout (UVLO_ADC) . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.12
Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.13
Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.14
External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.15
Programmable gate drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.16
Deadtime and blanking time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.17
Integrated analog to digital converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
6.18
Supply management and internal voltage regulators . . . . . . . . . . . . . . . . 34
6.19
BUSY/SYNC pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
6.20
FLAG pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.1
PWM sine wave generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.2
Sensorless stall detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.3
Low speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
7.4
BEMF compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
7.5
Motor supply voltage compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
7.6
Winding resistance thermal drift compensation . . . . . . . . . . . . . . . . . . . . 40
8
Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9
Programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1
Register and flag description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.1
ABS_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.2
EL_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.3
MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.4
SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.5
ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.6
DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.7
MAX_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.8
MIN_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.9
FS_SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.10
KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC . . . . . . . . . . . 47
9.1.11
INT_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
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Contents
L6480
9.2
4/75
9.1.12
ST_SLP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.1.13
FN_SLP_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
9.1.14
FN_SLP_DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.15
K_THERM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.16
ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.17
OCD_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9.1.18
STALL_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9.1.19
STEP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
9.1.20
ALARM_EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.1.21
GATECFG1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.1.22
GATECFG2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
9.1.23
CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.1.24
STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.1
Command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.2
Nop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
9.2.3
SetParam (PARAM, VALUE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
9.2.4
GetParam (PARAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
9.2.5
Run (DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.2.6
StepClock (DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
9.2.7
Move (DIR, N_STEP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
9.2.8
GoTo (ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
9.2.9
GoTo_DIR (DIR, ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
9.2.10
GoUntil (ACT, DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
9.2.11
ReleaseSW (ACT, DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
9.2.12
GoHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
9.2.13
GoMark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
9.2.14
ResetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.2.15
ResetDevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.2.16
SoftStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
9.2.17
HardStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.2.18
SoftHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.2.19
HardHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
9.2.20
GetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
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Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
HTSSOP38 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
11
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
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List of tables
L6480
List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Table 7.
Table 8.
Table 9.
Table 10.
Table 11.
Table 12.
Table 13.
Table 14.
Table 15.
Table 16.
Table 17.
Table 18.
Table 19.
Table 20.
Table 21.
Table 22.
Table 23.
Table 24.
Table 25.
Table 26.
Table 27.
Table 28.
Table 29.
Table 30.
Table 31.
Table 32.
Table 33.
Table 34.
Table 35.
Table 36.
Table 37.
Table 38.
Table 39.
Table 40.
Table 41.
Table 42.
Table 43.
Table 44.
Table 45.
Table 46.
Table 47.
Table 48.
6/75
Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Typical application values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
CL values according to external oscillator frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
UVLO thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Thermal protection summarizing table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Register map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
EL_POS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
MIN_SPEED register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
FS_SPD register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Voltage amplitude regulation registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Winding resistance thermal drift compensation coefficient . . . . . . . . . . . . . . . . . . . . . . . . . 49
ADC_OUT value and motor supply voltage compensation feature . . . . . . . . . . . . . . . . . . 49
Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Stall detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
STEP_MODE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
SYNC signal source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
GATECFG1 register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
IGATE parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
TCC parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
TBOOST parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
GATECFG2 register (voltage mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
TDT parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
TBLANK parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Oscillator management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Overcurrent event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Programmable VCC regulator output voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Programmable UVLO thresholds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Motor supply voltage compensation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
PWM frequency: integer division factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
PWM frequency: multiplication factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Available PWM frequencies [kHz]: 8-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . . 58
Available PWM frequencies [kHz]: 16-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 58
Available PWM frequencies [kHz]: 24-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 59
Available PWM frequencies [kHz]: 32-MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 59
STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
STATUS register TH_STATUS bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
STATUS register MOT_STATUS bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
DocID023278 Rev 7
L6480
Table 49.
Table 50.
Table 51.
Table 52.
Table 53.
Table 54.
Table 55.
Table 56.
Table 57.
Table 58.
Table 59.
Table 60.
Table 61.
Table 62.
Table 63.
Table 64.
Table 65.
Table 66.
Table 67.
Table 68.
Table 69.
List of tables
Nop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
StepClock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
GoTo_DIR command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
ReleaseSW command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
ResetDevice command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
HardStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
HardHiZ command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
GetStatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
HTSSOP38 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
DocID023278 Rev 7
7/75
75
List of figures
L6480
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.
8/75
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Typical application schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Normal mode and microstepping (128 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Automatic Full-step switching in Normal mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Automatic Full-step switching in Boost mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Constant speed command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Positioning command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Motion command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
OSCIN and OSCOUT pin configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Overcurrent detection-principle scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
External switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Gate driving currents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Device supply pin management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Current distortion and compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
BEMF compensation curve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Motor supply voltage compensation circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
SPI timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
Command with 3-byte argument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Command with 3-byte response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
HTSSOP38 package outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
HTSSOP38 footprint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
DocID023278 Rev 7
L6480
Block diagram
Figure 1. Block diagram
965(*
9ROWDJH5HJ
$'&
$'&,1
9&&
9&&5(*
9&&
9ROWDJH5HJ
95(*
95(*
&3
9%227
&KDUJH
SXPS
96
9%227
+9*$
9&&
7HPSHUDWXUH
VHQVLQJ
287$
9%227
9GG
9''
&.
6'2
/9*$
+9*$
9&&
&6
287$
63,
1
Block diagram
/9*$
&25(
/2*,&
6',
9%227
67% 3.5 V
VCC-VLVGX > 3.5 V
High-side and low-side turn-off overboost
gate current
2.4
4
5.6
5.4
8
10.6
11.3
16
20.7
17.3
24
30.7
23.2
32
40.8
50.2
64
77.8
81
96
113
2.8
4
5.2
5.8
8
10.2
12
16
20
18
24
30
24
32
40
51
64
77
82
96
112
85
103
117
mA
mA
mA
RCLAMP(LS)
Low-side gate driver Miller clamp
resistance
6.5
10
RCLAMP(HS)
High-side gate driver Miller clamp
resistance
3
10
VGATE-CLAMP High-side gate voltage clamp
tcc
Programmable constant gate current
time(2)
tOB
Programmable. Turn-off overboost; gate
current time(2)
IDSS
tr
tf
Leakage current
IGATE-CLAMP=10 mA
16.7
TCC = ’00000’
125
TCC = 11111
3750
TBOOST = ’001’, internal
oscillator
62.5
TBOOST = ’111’
1000
ns
ns
0.1
OUT = VS
OUT = GND
v
-0.1
mA
mA
Rise time (10% - 90%)
IGATE = 96 mA
VCC = 15 V
CGATE = 15 nF
2.5
s
Fall time (90%-10%)
IGATE = 96 mA
VCC = 15 V
CGATE = 15 nF
2.5
s
DocID023278 Rev 7
13/75
75
Electrical characteristics
L6480
Table 5. Electrical characteristics (continued)
Symbol
SRgate
Parameter
Test condition
Gate driver output slew rate
Min.
Typ.
IGATE= 96 mA
VCC = 15 V
CGATE = 15 nF
6
TDT = '00000'
125
TDT = ’11111’
4000
TBLANK = '000'
125
TBLANK = ’111’
1000
Max. Unit
V/s
Deadtime and blanking
tDT
tblank
Programmable deadtime2
Programmable blanking time2
ns
ns
Logic
VIL
Low level logic input voltage
VIH
High level logic input voltage
IIH
High level logic input current
VIN = 5 V, VDDIO = 5 V
IIL
Low level logic input current
VIN = 0 V, VDDIO = 5 V
VOL
Low level logic output voltage(3)
VOH
High level logic output voltage
0.8
2
V
1
-1
0.3
VDD = 5 V, IOL = 4 mA
0.3
2.4
VDD = 5 V, IOH = 4 mA
4.7
µA
µA
VDD = 3.3 V, IOL = 4 mA
VDD = 3.3 V, IOH = 4 mA
V
V
V
RPUCS
CS pull-up resistor
430
RPDRST
STBY/RESET pull-down resistor
450
RPUSW
SW pull-up resistor
80
k
thigh,STCK
Step-clock input high time
300
ns
tlow,STCK
Step-clock input low time
300
ns
Internal oscillator and external oscillator driver
fosc,int
Internal oscillator frequency
Tj = 25 °C
fosc,ext
Programmable external oscillator
frequency
-5%
16
8
+5% MHz
32
VOSCOUTH
OSCOUT clock source high level voltage
Internal oscillator
VOSCOUTL
OSCOUT clock source low level voltage
Internal oscillator
0.3
V
trOSCOUT
tfOSCOUT
OSCOUT clock source rise and fall time
Internal oscillator
10
ns
OSCOUT clock source high time
Internal oscillator
thigh
textosc
Internal to external oscillator switching
delay
tintosc
External to internal oscillator switching
delay
14/75
DocID023278 Rev 7
2.4
MHz
V
31.25
ns
3
ms
100
µs
L6480
Electrical characteristics
Table 5. Electrical characteristics (continued)
Symbol
Parameter
Test condition
Min.
Typ.
Max. Unit
SPI
fCK,MAX
Maximum SPI clock frequency(4)
5
MHz
trCK
tfCK
SPI clock rise and fall time(4)
thCK
tlCK
SPI clock high and low time(4)
90
ns
Chip select setup time(4)
30
ns
30
ns
625
ns
20
ns
30
ns
tsetCS
tholCS
tdisCS
tsetSDI
Chip select hold time
1
(4)
(4)
Deselect time
Data input setup
time(4)
time(4)
µs
tholSDI
Data input hold
tenSDO
Data output enable time(4)
95
ns
tdisSDO
time(4)
95
ns
(4)
35
ns
tvSDO
tholSDO
Data output disable
Data output valid time
Data output hold
time(4)
0
ns
PWM modulators
fPWM
NPWM
Programmable PWM frequency(2)
fosc = 32 MHz
F_PWM_INT = ’11X’
F_PWM_DEC = ’000’
5.6
fosc = 32 MHz
F_PWM_INT = ’000’
F_PWM_DEC = ’111’
125
PWM resolution
kHz
8
bit
Overcurrent protection
VOCD
Programmable overcurrent detection
voltage VDS threshold
OCD_TH = ‘11111’
800
1000
1100
mV
OCD_TH = ‘00000’
27
31
35
mV
OCD_TH = ‘01001’
270
312.5
344
mV
OCD_TH = ‘10011’
500
625
688
mV
tOCD,Comp
OCD comparator delay
100
200
ns
tOCD,Flag
OCD to flag signal delay time
230
530
ns
tOCD,SD
OCD to shutdown delay time
400
630
ns
OCD_TH = '11111'
OCD event to 90% of gate
voltage
Stall detection
VSTALL
Programmable stall detection VDS voltage STALL_TH = '11111'
threshold
STALL_TH = '00000'
DocID023278 Rev 7
1000
31
mV
15/75
75
Electrical characteristics
L6480
Table 5. Electrical characteristics (continued)
Symbol
Parameter
Test condition
Min.
Typ.
Max. Unit
Standby
ISTBY
Standby mode supply current (VSREG
pin)
ISTBY,vreg
Standby mode supply current (VREG pin)
tSTBY,min
tlogicwu
tcpwu
VCC = VCCREG = 7.5 V
VSREG = 48 V
42
µA
VCC = VCCREG = 7.5 V
VSREG = 18 V
37.5
6
µA
Minimum standby time
0.5
ms
Logic power-on and wake-up time
500
µs
1
ms
V
Power bridges disabled,
Charge pump power-on and wake-up time Cp = 10 nF, Cboot = 220 nF,
VCC = 15 V
Internal voltage regulators
VCCOUT
VSREG, drop
PCC
VREGOUT
Internal VCC voltage regulator output
voltage
Low (default), ICC= 10 mA
7.3
7.5
High, ICC = 10 mA
14
15
VSREG to VCC dropout voltage
ICC = 50 mA
Internal VCC voltage regulator power
dissipation
Internal VREG voltage regulator output
voltage
VCCREG, drop VCCREG to VREG dropout voltage
IREG = 10 mA
3.135
3
V
2.5
W
3.3
IREG = 50 mA
V
3
V
IREGOUT
Internal VREG voltage regulator output
current
VREG pin shorted to
ground.
125
mA
IREGOUT,STBY
Internal VREG voltage regulator output
standby current
VREG pin shorted to
ground.
55
mA
PREG
Internal VREG voltage regulator power
dissipation
0.5
W
Integrated analog to digital converter
NADC
Analog to digital converter resolution
5
bit
VADC,ref
Analog to digital converter reference
voltage
3.3
V
fS
Analog to digital converter sampling
frequency
fPWM
kHz
VADC,UVLO
(2)
ADCIN UVLO threshold
1.05
1. Guaranteed in the temperature range -25 to 125 °C.
2. The value accuracy is dependent on oscillator frequency accuracy (Section 6.8 on page 27).
3. FLAG and BUSY open drain outputs included.
4.
See Figure 19 on page 41.
16/75
DocID023278 Rev 7
1.16
1.35
V
L6480
4
Pin connection
Pin connection
Figure 2. Pin connection (top view)
/9*$
/9*$
287$
287$
+9*$
1&
3*1'
$'&,1
67% Tj(OFF)Set
Tj > Tj(OFF)Rel
High temperature protection: the
MOSFETs are turned off and the gate
drivers are disabled
10
Tj > Tj(SD)Rel
Overtemperature protection: the
MOSFETs are turned off, the gate drivers
are disabled, the internal VCC voltage
regulator is disabled, the current capability
of the internal VREG voltage regulator is
limited, and the charge pump is disabled
11
Device shutdown
6.13
Tj > Tj(SD)Set
Reset and standby
The device can be reset and put into Standby mode through the STBY/RESET pin. When it
is forced low, all the MOSFETs are turned off (High Z state), the charge pump is stopped,
the SPI interface and control logic are disabled and the internal VREG voltage regulator
maximum output current is limited; as a result, the L6480 heavily reduces the power
consumption. At the same time the register values are reset to their default and all the
protection functions are disabled. The STBY/RESET input must be forced low at least for
tSTBY,min in order to ensure the complete switch to Standby mode.
On exiting Standby mode, as well as for IC power-up, a delay must be given before applying
a new command to allow proper oscillator and charge pump startup. Actual delay could vary
according to the values of the charge pump external components.
On exiting Standby mode all the MOSFETs are off and the HiZ flag is high.
The registers can be reset to the default values without putting the device into Standby
mode through the ResetDevice command (Section 9.2.14 on page 69).
6.14
External switch (SW pin)
The SW input is internally pulled up to VDD and detects if the pin is open or connected to
ground (see Figure 13).
The SW_F bit of the STATUS register indicates if the switch is open (‘0’) or closed (‘1’)
(Section 9.1.24 on page 59); the bit value is refreshed at every 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 (Section 9.1.24). A GetStatus command releases the SW_EVN flag
(Section 9.2.20 on page 71).
DocID023278 Rev 7
31/75
75
Functional description
L6480
By default, a switch turn-on event causes a HardStop interrupt (SW_MODE bit of CONFIG
register set to ‘0’). Otherwise (SW_MODE bit of CONFIG register set to ‘1’), switch input
events do not cause interrupts and the switch status information is at the user’s disposal
(Table 32 on page 55 and Section 9.1.24 on page 59).
The switch input can be used by GoUntil and ReleaseSW commands as described in
Section 9.2.10 on page 67 and Section 9.2.11 on page 68.
If the SW input is not used, it should be connected to VDD.
Figure 13. External switch connection
VDD
External
Switch
SW
AM12833v1
6.15
Programmable gate drivers
The L6480 device integrates eight programmable gate drivers that allow the fitting of a wide
range of applications.
The following parameters can be adjusted:
gate sink/source current (IGATE)
controlled current time (tCC)
turn-off overboost time (tOB).
During turn-on, the gate driver charges the gate forcing an IGATE current for all the controlled
current time period. At the end of the controlled current phase the gate of the external
MOSFET should be completely charged, otherwise the gate driving circuitry continues to
charge it using a holding current.
This current is equal to IGATE for the low-side gate drivers and 1 mA for the high-side ones.
During turn-off, the gate driver discharges the gate sinking an IGATE current for all the
controlled current time period. At the beginning of turn-off an overboost phase can be
added: in this case the gate driver sinks an IOB current for the programmed tOB period in
order to rapidly reach the plateau region. At the end of the controlled current time the gate of
the external MOSFET should be completely charged, otherwise the gate driving circuitry
discharges it using the integrated Miller clamp.
32/75
DocID023278 Rev 7
L6480
Functional description
Figure 14. Gate driving currents
W
W
*DWHFKDUJHG
W
*DWHGLVFKDUJHG
2%
&&
,2%
&&
,JDWH
,JDWH
*DWH&XUUHQW
*DWHWXUQRII
*DWHWXUQRQ
The gate current can be set to one of the following values: 4, 8, 16, 24, 32, 64 and 96 mA
through the IGATE parameter in the GATECFG1 register (see Section 9.1.21 on page 52).
Controlled current time can be programmed within range from 125 ns to 3.75 s with
a resolution of 125 ns (TCC parameter in GATECFG1 register) (see Section 9.1.21).
Turn-off overboost time can be set to one of the following values: 0, 62.5, 125, 250 ns
(TBOOST parameter in GATECFG1 register). The 62.5 ns value is only available when
clock frequency is 16 MHz or 32 MHz; when clock frequency is 8 MHz it is changed to 125
ns and when a 24-MHz clock is used it is changed to 83.3 ns. (see Section 9.1.21).
6.16
Deadtime and blanking time
During the bridge commutation, a deadtime is added in order to avoid cross conductions.
The deadtime can be programmed within a range from 125 ns to 4 s with a resolution of
125 ns (TDT parameter in the GATECFG2 register) (see Section 9.1.22 on page 53).
At the end of each commutation the overcurrent and stall detection comparators are
disabled (blanking) in order to avoid the respective systems detecting body diodes turn-off
current peaks.
The duration of blanking time is programmable through the TBLANK parameter in the
GATECFG2 register at one of the following values: 125, 250, 375, 500, 625, 750, 875, 1000
ns (see Section 9.1.22).
6.17
Integrated analog to digital converter
The L6480 integrates an NADC bit ramp-compare analog to digital converter with a reference
voltage equal to VREG. The analog to digital converter input is available through the ADCIN
pin and the conversion result is available in the ADC_OUT register (Section 9.1.16 on page
49).
Sampling frequency is equal to the programmed PWM frequency.
The ADC_OUT value can be used for motor supply voltage compensation or can be at the
user’s disposal.
DocID023278 Rev 7
33/75
75
Functional description
6.18
L6480
Supply management and internal voltage regulators
The L6480 integrates two linear voltage regulators: the first one can be used to obtain gate
driver supply starting from a higher voltage (e.g. the motor supply one). Its output voltage
can be set to 7.5 V or 15 V according to the VCCVAL bit value (CONFIG register). The
second linear voltage regulator can be used to obtain the 3.3 V logic supply voltage.
The regulator is designed to supply the internal circuitry of the IC and should not be used to
supply external components.
The input and output voltages of both regulators are connected to external pins and the
regulators are totally independent: in this way a very flexible supply management can be
performed using external components or external supply voltages (Figure 15).
Figure 15. Device supply pin management
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If VCC is externally supplied, the VSREG and VCC pins must be shorted (VSREG must be
compliant with VCC range).
If VREG is externally supplied, the VCCREG and VREG pins must be shorted and equal to
3.3 V.
VSREG must be always less than VBOOT in order to avoid related ESD protection diode turnon. The device can be protected from this event by adding an external low drop diode
between the VSREG and VS pins, charge pump diodes should be low drop too.
VCCREG must be always less than VCC in order to avoid ESD protection diode turn-on. The
device can be protected from this event by adding an external low drop diode between the
VCCREG and VSREG pins.
Both regulators provide a short circuit protection limiting the load current within the
respective maximum ratings.
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L6480
6.19
Functional description
BUSY/SYNC pin
This pin is an open drain output which can be used as busy flag or synchronization signal
according to the SYNC_EN bit value (STEP_MODE register) (see Section 9.1.19 on page
50).
6.20
FLAG pin
By default, an internal open drain transistor pulls the FLAG pin to ground when at least one
of the following conditions occurs:
Power-up or standby/reset exit
Stall detection on bridge A
Stall detection on bridge B
Overcurrent detection
Thermal warning
Thermal shutdown
UVLO
UVLO on ADC input
Switch turn-on event
Command error.
It is possible to mask one or more alarm conditions by programming the ALARM_EN
register (see Section 9.1.20 on page 52 and Table 23 on page 52). 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
case of daisy chain configuration, FLAG pins of different ICs can be or-wired to save host
controller GPIOs.
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Phase current control
7
L6480
Phase current control
The L6480 controls the phase current applying a sinusoidal voltage to motor windings.
Phase current amplitude is not directly controlled but depends on phase voltage amplitude,
load torque, motor electrical characteristics and rotation speed. Sine wave amplitude is
proportional to the motor supply voltage multiplied by a coefficient (KVAL). KVAL ranges from
0 to 100% and the sine wave amplitude can be obtained through the following formula:
Equation 1
V OUT = V S K VAL
Different KVAL values can be programmed for acceleration, deceleration and constant speed
phases and when the motor is stopped (HOLD phase) through KVAL_ACC, KVAL_DEC,
KVAL_RUN and KVAL_HOLD registers (Section 9.1.10 on page 47). KVAL value is
calculated according to the following formula:
Equation 2
K VAL = K VAL_X + BEMF_COMP VSCOMP K_THERM microst ep
where KVAL_X is the starting KVAL value programmed for the present motion phase
(KVAL_ACC, KVAL_DEC, KVAL_RUN or KVAL_HOLD), BEMF_COMP is the BEMF
compensation curve value, VSCOMP and K_THERM are the motor supply voltage and
winding resistance compensation factors and microstep is the current microstep value
(fraction of target peak current).
The L6480 offers various methods to guarantee a stable current value, allowing the
compensation of:
7.1
low speed distortion (Section 7.3)
back electromotive force (Section 7.4)
motor supply voltage variation (Section 7.5)
windings resistance variation (Section 7.6 on page 40).
PWM sine wave generators
The two voltage sine waves applied to the stepper motor phases are generated by two
PWM modulators.
The PWM frequency (fPWM) is proportional to the oscillator frequency (fOSC) and can be
obtained through the following formula:
Equation 3
f OSC
f PWM = ------------------ m
512 N
'N' is the integer division factor and 'm' is the multiplication factor. 'N' and 'm' values can be
programmed by F_PWM_INT and F_PWM_DEC parameters in the CONFIG register (see
Table 38 on page 57 and Table 39 on page 57, Section 9.1.23 on page 54).
Available PWM frequencies are listed in Section 9.1.23 from Table 40 on page 58 to
Table 43 on page 59.
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L6480
7.2
Phase current control
Sensorless stall detection
The L6480 is able to detect a motor stall caused by an excessive load torque. When the
motor is driven using the voltage mode approach, a stall condition corresponds to an
unexpected increase of the phase current. Imposing a current threshold slightly above the
operative current, it is possible to detect the stall condition without speed or position
sensors.
The L6480 measures the load current of each phase sensing the VDS voltage of the lowside Power MOSFETs. When any of the VDS voltages rise over the programmed threshold,
the STEP_LOSS_X flag in the STATUS register of the respective bridge (STEP_LOSS_A or
STEP_LOSS_B) is forced low. The failure flag is kept low until the VDS voltages fall below
the programmed threshold and a GetStatus command is sent to the device (Section 9.1.24
on page 59 and Section 9.2.20 on page 71).
The stall detection threshold can be programmed in one of 32 available values ranging from
31.25 mV to 1 V with steps of 31.25 mV (see Section 9.1.18 on page 50).
Stall detection comparators are disabled, in order to avoid wrong voltage measurements, in
the following cases:
7.3
The respective half-bridge is in high impedance state (both MOSFETs forced off)
The respective half-bridge is commutating
The respective half-bridge is commutated and the programmed blanking time has not
yet elapsed
The respective low-side gate is turned off.
Low speed optimization
When the motor is driven at a very low speed using a small driving voltage, the resulting
phase current can be distorted. As a consequence, the motor position is different from the
ideal one (see Figure 16).
The device implements a low speed optimization in order to remove this effect.
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Phase current control
L6480
Figure 16. Current distortion and compensation
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The optimization can be enabled setting high the LSPD_OPT bit in the MIN_SPEED register
(Section 9.1.8 on page 46) and is active in a speed range from zero to MIN_SPEED. When
low speed optimization is enabled, speed profile minimum speed is forced to zero.
7.4
BEMF compensation
Using the speed information, a compensation curve is added to the amplitude of the voltage
waveform applied to the motor winding in order to compensate the BEMF variations during
acceleration and deceleration (see Figure 17).
The compensation curve is approximated by a stacked line with a starting slope (ST_SLP)
when speed is lower than a programmable threshold speed (INT_SPEED) and a fine slope
(FN_SLP_ACC and FN_SLP_DEC) when speed is greater than the threshold speed (see
sections 9.1.11 on page 48, 9.1.12 on page 48, 9.1.13 on page 48 and 9.1.14 on page 49).
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L6480
Phase current control
Figure 17. BEMF compensation curve
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To obtain different current values during acceleration and deceleration phase, two different
final slope values, and consequently two different compensation curves, can be
programmed.
Acceleration compensation curve is applied when the motor runs. No BEMF compensation
is applied when the motor is stopped.
7.5
Motor supply voltage compensation
The sine wave amplitude generated by the PWM modulators is directly proportional to the
motor supply voltage (VS). When the motor supply voltage is different from its nominal
value, the motor phases are driven with an incorrect voltage. The L6480 can compensate
motor supply voltage variations in order to avoid this effect.
The motor supply voltage should be connected to the integrated ADC input through
a resistor divider in order to obtain VREG/2 voltage at the ADCIN pin when VS is at its
nominal value (see Figure 18).
The ADC input is sampled at fS frequency, which is equal to PWM frequency.
Figure 18. Motor supply voltage compensation circuit
VS
VREG
RA
ADCIN
VADCIN = VS x R / (R + R)
B
A
5
ADC
B
ADC_OUT
R
B
fPWM
AM12836v1
Motor supply voltage compensation can be enabled setting high the EN_VSCOMP bit of the
CONFIG register (seeTable 37 on page 56, Section 9.1.23 on page 54). If the EN_VSCOMP
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Phase current control
L6480
bit is low, the compensation is disabled and the internal analog to digital converter is at the
user’s disposal; the sampling rate is always equal to PWM frequency.
7.6
Winding resistance thermal drift compensation
The higher the winding resistance the greater the voltage to be applied in order to obtain the
same phase current.
The L6480 integrates a register (K_THERM) which can be used to compensate phase
resistance increment due to temperature rising.
The value in the K_THERM register (Section 9.1.15 on page 49) multiplies duty cycle value
allowing the higher phase resistance value to be faced.
The compensation algorithm and the eventual motor temperature measurement should be
implemented by microcontroller firmware.
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L6480
Serial interface
8
Serial interface
The integrated 8-bit serial peripheral interface (SPI) is used for a synchronous serial
communication between the host microprocessor (always master) and the L6480 (always
slave).
The SPI uses chip select (CS), serial clock (CK), serial data 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 sampled on the rising edges of the CK.
All output data bytes are shifted out of the device through the SDO output, 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 tdisCS
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 12 for values).
Multiple devices can be connected in daisy chain configuration, as shown in Figure 20.
Figure 19. SPI timings diagram
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Serial interface
L6480
Figure 20. Daisy chain configuration
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L6480
Programming manual
9
Programming manual
9.1
Register and flag description
The following section shows the user registers available (detailed description in respective
paragraphs from Section 9.1.1 on page 44 to Section 9.1.24 on page 59):
Table 11. Register map
Address
[Hex]
Register name
Register function
Current position
Len.
[bit]
22
Reset
Reset
[Hex]
value
000000 0
Remarks(1)
h01
ABS_POS
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/tick2
(2008 step/s2)
R, WS
h06
DEC
Deceleration
12
08A
125.5e-12 step/tick2
(2008 step/s2)
R, WS
h07
MAX_SPEED
Maximum speed
10
041
248e-6 step/tick
(991.8 step/s)
R, WR
h08
MIN_SPEED
Minimum speed
12
000
0 step/tick
(0 step/s)
R, WS
h15
FS_SPD
Full-step speed
11
027
150.7e-6 step/tick
(602.7 step/s)
R, WR
h09
KVAL_HOLD
Holding KVAL
8
29
0.16 · VS
R, WR
h0A
KVAL_RUN
Constant speed KVAL
8
29
0.16 · VS
R, WR
h0B
KVAL_ACC
Acceleration starting
KVAL
8
29
0.16 · VS
R, WR
h0C
KVAL_DEC
Deceleration starting
KVAL
8
29
0.16 · VS
R, WR
h0D
INT_SPEED
Intersect speed
14
0408
15.4e-6 step/tick (61.5 step/s)
R, WH
h0E
ST_SLP
Start slope
8
19
250.038% s/step
R, WH
h0F
FN_SLP_ACC
Acceleration final slope
8
29
0.063% s/step 25
R, WH
h10
FN_SLP_DEC Deceleration final slope
8
29
0.063% s/step 25
R, WH
h11
K_THERM
Thermal compensation
factor
4
0
1.0
R, WR
h12
ADC_OUT
ADC output
5
XX(2)
0
R
h13
OCD_TH
OCD threshold
5
8
281.25 mV
R, WR
h14
STALL_TH
STALL threshold
5
10
531.25 mV
R, WR
h16
STEP_MODE
Step mode
4
7
BUSY/SYNC output used as
BUSY, 128 steps
R, WH
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Programming manual
L6480
Table 11. Register map (continued)
Register name
Register function
Len.
[bit]
Reset
Reset
[Hex]
value
h17
ALARM_EN
Alarms enables
8
FF
All alarms enabled
R, WS
h18
GATECFG1
Gate driver
configuration
11
0
Igate = 4 mA, tCC = 125 ns, no
boost
R, WH
h19
GATECFG2
Gate driver
configuration
8
0
tBLANK = 125 ns, tDT = 125 ns
R, WH
2C88
Internal 16 MHz oscillator
(OSCOUT at 2 MHz),
SW event causes HardStop,
motor supply voltage
compensation disabled,
overcurrent shutdown,
VCC = 7.5 V,
UVLO threshold low,
fPWM = fOSC / 1024
R, WH
XXXX(2)
High impedance state,
motor stopped,
reverse direction,
all fault flags released
UVLO/Reset flag set
R
Address
[Hex]
h1A
h1B
CONFIG
IC configuration
STATUS
Status
16
16
Remarks(1)
1. R: readable, WH: writable, only when outputs are in high impedance, WS: writable only when motor is stopped, WR: always
writable.
2. According to startup conditions.
9.1.1
ABS_POS
The ABS_POS register contains the current motor absolute position in agreement with the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The value is in 2's complement format and it ranges from -221 to +221-1.
At power-on the register is initialized to “0” (HOME position).
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24 on page 59).
9.1.2
EL_POS
The EL_POS register contains the current electrical position of the motor. The two MSbits
indicate the current step and the other bits indicate the current microstep (expressed in
step/128) within the step.
Table 12. EL_POS register
Bit 8
Bit 7
STEP
44/75
Bit 6
Bit 5
Bit 4
Bit 3
MICROSTEP
DocID023278 Rev 7
Bit 2
Bit 1
Bit 0
L6480
Programming manual
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_MODE register in order to avoid a wrong
microstep value generation (Section 9.1.19 on page 50); otherwise the resulting microstep
sequence is incorrect.
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24 on page 59).
9.1.3
MARK
The MARK register contains an absolute position called MARK, according to the selected
step mode; the stored value unit is equal to the selected step mode (full, half, quarter, etc.).
It is in 2's complement format and it ranges from -221 to +221-1.
9.1.4
SPEED
The SPEED register contains the current motor speed, expressed in step/tick (format
unsigned fixed point 0.28).
In order to convert the SPEED value in step/s the following formula can be used:
Equation 4
– 28
SPEED 2
step/s = ------------------------------------tick
where SPEED is the integer number stored in the register and tick is 250 ns.
The available range is from 0 to 15625 step/s with a resolution of 0.015 step/s.
Note:
The range effectively available to the user is limited by the MAX_SPEED parameter.
Any attempt to write the register causes the command to be ignored and the CMD_ERROR
flag to rise (Section 9.1.24).
9.1.5
ACC
The ACC register contains the speed profile acceleration expressed in step/tick2 (format
unsigned fixed point 0.40).
In order to convert the ACC value in step/s2 the following formula can be used:
Equation 5
– 40
2
ACC 2
step/s = ---------------------------2
tick
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/s2 with a resolution of 14.55 step/s2.
The 0xFFF value of the register is reserved and it should never be used.
Any attempt to write to the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24).
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9.1.6
L6480
DEC
The DEC register contains the speed profile deceleration expressed in step/tick2 (format
unsigned fixed point 0.40).
In order to convert the DEC value in step/s2 the following formula can be used:
Equation 6
– 40
DEC 2
2
step/s = ---------------------------2
tick
where DEC is the integer number stored in the register and tick is 250 ns.
The available range is from 14.55to 59590 step/s2 with a resolution of 14.55 step/s2.
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24 on page 59).
9.1.7
MAX_SPEED
The MAX_SPEED register contains the speed profile maximum speed expressed in
step/tick (format unsigned fixed point 0.18).
In order to convert it in step/s, the following formula can be used:
Equation 7
– 18
MAX_SPEED 2
step/s = ----------------------------------------------------tick
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:
Table 13. MIN_SPEED register
Bit 12
LSPD_OPT
Bit 11
Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MIN_SPEED
The MIN_SPEED parameter contains the speed profile minimum speed. Its value is
expressed in step/tick and to convert it in step/s the following formula can be used:
Equation 8
– 24
MIN_SPEED 2
step/s = --------------------------------------------------tick
where MIN_SPEED is the integer number stored in the register and tick is the ramp 250 ns.
The available range is from 0 to 976.3 step/s with a resolution of 0.238 step/s.
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Programming manual
When the LSPD_OPT bit is set high, low speed optimization feature is enabled and the
MIN_SPEED value indicates the speed threshold below which the compensation works. In
this case the minimum speed of the speed profile is set to zero.
Any attempt to write the register when the motor is running causes the CMD_ERROR flag to
rise.
9.1.9
FS_SPD
The FS_SPD register contains the following parameters:
Table 14. FS_SPD register
Bit 10
Bit 9
Bit 8
Bit 7
Bit 6
Bit 5
BOOST_MODE
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
FS_SPD
The FS_SPD threshold speed value over which the step mode is automatically switched to
full-step two-phase on. Its value is expressed in step/tick (format unsigned fixed point 0.18)
and to convert it in step/s the following formula can be used:
Equation 9
– 18
FS_SPD + 0.5 2
step/s = ----------------------------------------------------------tick
If FS_SPD value is set to hFF (max.) the system always works in Microstepping mode
(SPEED must go over the threshold to switch to Full-step mode). Setting FS_SPD to zero
does not have the same effect as setting the 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.
The BOOST_MODE bit sets the amplitude of the voltage squarewave during the full-step
operation (see Section on page 22).
9.1.10
KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC
The KVAL_HOLD register contains the KVAL value that is assigned to the PWM modulators
when the motor is stopped (compensations excluded).
The KVAL_RUN register contains the KVAL value that is assigned to the PWM modulators
when the motor is running at constant speed (compensations excluded).
The KVAL_ACC register contains the starting KVAL value that can be assigned to the PWM
modulators during acceleration (compensations excluded).
The KVAL_DEC register contains the starting KVAL value that can be assigned to the PWM
modulators during deceleration (compensations excluded).
The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS, as shown in
Table 15.
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Table 15. Voltage amplitude regulation registers
KVAL_X [7…0]
9.1.11
Output voltage
0
0
0
0
0
0
0
1
VS x (1/256)
…
0
…
0
…
0
…
0
…
0
…
0
…
0
…
0
…
0
1
1
1
1
1
1
1
0
VS x (254/256)
1
1
1
1
1
1
1
1
VS x (255/256)
INT_SPEED
The INT_SPEED register contains the speed value at which the BEMF compensation curve
changes slope (Section 7.4 on page 38 for details). Its value is expressed in step/tick and to
convert it in [step/s] the following formula can be used:
Equation 10
– 18
INT_SPEED 2
step/s = -------------------------------------------------tick
where INT_SPEED is the integer number stored in the register and tick is 250 ns.
The available range is from 0 to 976.5 step/s with a resolution of 0.0596 step/s.
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24 on page 59).
9.1.12
ST_SLP
The ST_SLP register contains the BEMF compensation curve slope that is used when the
speed is lower than the intersect speed (Section 7.4). Its value is expressed in s/step and
the available range is from 0 to 0.004 with a resolution of 0.000015.
When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF
compensation is performed.
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24).
9.1.13
FN_SLP_ACC
The FN_SLP_ACC register contains the BEMF compensation curve slope that is used when
the speed is greater than the intersect speed during acceleration (Section 7.4 for details). Its
value is expressed in s/step and the available range is from 0 to 0.004 with
a resolution of 0.000015.
When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF
compensation is performed.
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24).
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9.1.14
Programming manual
FN_SLP_DEC
The FN_SLP_DEC register contains the BEMF compensation curve slope that is used when
the speed is greater than the intersect speed during deceleration (Section 7.4 on page 38
for details). Its value is expressed in s/step and the available range is from 0 to 0.004 with
a resolution of 0.000015.
When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF
compensation is performed.
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24 on page 59).
9.1.15
K_THERM
The K_THERM register contains the value used by the winding resistance thermal drift
compensation system (Section 7.6 on page 40).
The available range is from 1 to 1.46875 with a resolution of 0.03125, as shown in Table 16.
Table 16. Winding resistance thermal drift compensation coefficient
K_THERM [3…0]
0
0
0
1
1.03125
…
1
…
0
…
0
…
0
…
0
1
1
1
0
1.4375
1
1
1
1
1.46875
ADC_OUT
The ADC_OUT register contains the result of the analog to digital conversion of the ADCIN
pin voltage; the result is available even if the supply voltage compensation is disabled.
Any attempt to write to the register causes the command to be ignored and the
CMD_ERROR flag to rise (Section 9.1.24).
Table 17. ADC_OUT value and motor supply voltage compensation feature
ADC_OUT
Compensation
coefficient
VS
VADCIN / VREG
Greater than VS,nom + 50%
> 24/32
1
1
X
X
X
0.65625
VS,nom + 50%
24/32
1
1
0
0
0
0.65625
…
0
1
…
…
0
…
…
0
…
…
0
…
…
1
…
…
16/32
…
…
VS,nom
…
…
[4…0]
…
9.1.16
Compensation coefficient
VS,nom – 50%
8/32
0
1
0
0
0
1.968875
Lower than VS,nom – 50%
< 8/32
0
0
X
X
X
1.968875
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9.1.17
L6480
OCD_TH
The OCD_TH register contains the overcurrent threshold value (Section 6.9 on page 29 for
details). The available range is from 31.25 mV to 1 V, steps of 31.25 mV, as shown in
Table 18.
Table 18. Overcurrent detection threshold
OCD_TH [4…0]
9.1.18
Overcurrent detection threshold
0
0
0
0
0
31.25 mV
0
0
0
0
1
62.5 mV
…
…
…
…
…
…
1
1
1
1
0
968.75 mV
1
1
1
1
1
1V
STALL_TH
The STALL_TH register contains the stall detection threshold value. The available range is
from 31.25 mV to 1 V with a resolution of 31.25 mV.
Table 19. Stall detection threshold
STALL_th [4…0]
9.1.19
Stall detection threshold
0
0
0
0
0
31.25 mV
0
0
0
0
1
62.5 mV
…
…
…
…
…
…
1
1
1
1
0
968.75 mV
1
1
1
1
1
1V
STEP_MODE
The STEP_MODE register has the following structure:
Table 20. STEP_MODE register
Bit 7
SYNC_EN
Bit 6
Bit 5
Bit 4
SYNC_SEL
1. When the register is written this bit must be set to 0.
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Bit 3
0(1)
Bit 2
Bit 1
STEP_SEL
Bit 0
L6480
Programming manual
The STEP_SEL parameter selects one of eight possible stepping modes:
Table 21. 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
0
0
1/16 microstep
1
0
1
1/32 microstep
1
1
0
1/64 microstep
1
1
1
1/128 microstep
Every time the step mode is changed, the electrical position (i.e. the point of microstepping
sine wave that is generated) is reset to the first microstep.
Warning:
Every time STEP_SEL is changed the value in the ABS_POS
register loses meaning and should be reset.
Any attempt to write the register when the motor is running causes the command to be
ignored and the CMD_ERROR flag to rise (Section 9.1.24 on page 59).
When when SYNC_EN bit is set low, BUSY/SYNC output is forced low during command
execution, otherwise, when the SYNC_EN bit is set high, BUSY/SYNC output provides
a clock signal according to the SYNC_SEL parameter.
The synchronization signal is obtained starting from electrical position information (EL_POS
register) according to Table 22:
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
EL_POS[2]
1
1
0
EL_POS[1]
1
1
1
EL_POS[0]
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9.1.20
L6480
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.
Table 23. ALARM_EN register
9.1.21
ALARM_EN bit
Alarm condition
0 (LSB)
Overcurrent
1
Thermal shutdown
2
Thermal warning
3
UVLO
4
ADC UVLO
5
Stall detection
6
Switch turn-on event
7 (MSB)
Command error
GATECFG1
The GATECFG1 register has the following structure:
Table 24. GATECFG1 register
Bit 15
Bit 14
Bit 13
Bit 12
Bit 11
Bit 10
Bit 9
WD_EN
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
IGATE
Bit 8
TBOOST
Bit 2
Bit 1
Bit 0
TCC
The IGATE parameter selects the sink/source current used by gate driving circuitry to
charge/discharge the respective gate during commutations. Seven possible values ranging
from 4 mA to 96 mA are available, as shown in Table 25.
Table 25. IGATE parameter
IGATE [2…0}
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Gate current [mA}
0
0
0
4
0
0
1
4
0
1
0
8
0
1
1
16
1
0
0
24
1
0
1
32
1
1
0
64
1
1
1
96
DocID023278 Rev 7
L6480
Programming manual
The TCC parameter defines the duration of constant current phase during gate turn-on and
turn-off sequences (Section 6.15 on page 32).
Table 26. TCC parameter
TCC [4…0]
Constant current time [ns]
0
0
0
0
0
125
0
0
0
0
1
250
1
1
1
0
0
3625
1
1
1
0
1
3750
1
1
1
1
0
3750
1
1
1
1
1
3750
The TBOOST parameter defines the duration of the overboost phase during gate turn-off
(Section 6.15).
Table 27. TBOOST parameter
TBOOST
Turn-off boost time
[2…0]
[ns]
0
0
0
0
0
0
1
62.5(1)/83.3(2)/125(3)
0
1
0
125
0
1
1
250
1
0
0
375
1
0
1
500
1
1
0
750
1
1
1
1000
1. Clock frequency equal to 16 MHz or 32 MHz.
2. Clock frequency equal to 24 MHz.
3. Clock frequency equal to 8 MHz.
The WD_EN bit enables the clock source monitoring (Section 6.8.2 on page 27).
9.1.22
GATECFG2
The GATECFG2 register has the following structure:
Table 28. GATECFG2 register (voltage mode)
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
TBLANK
Bit 2
Bit 1
Bit 0
TDT
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L6480
The TDT parameter defines the deadtime duration between the gate turn-off and the
opposite gate turn-on sequences (Section 6.16 on page 33).
Table 29. TDT parameter
TDT [4…0]
Deadtime [ns]
0
0
0
0
0
125
0
0
0
0
1
250
1
1
1
1
0
3875
1
1
1
1
1
4000
The TBLANK parameter defines the duration of the blanking of the current sensing
comparators (stall detection and overcurrent) after each commutation (Section 6.16).
Table 30. TBLANK parameter
TBLANK [2…0]
9.1.23
Blanking time [ns]
0
0
0
125
0
0
1
250
1
1
0
875
1
1
1
1000
CONFIG
The CONFIG register has the following structure:
Table 31. CONFIG register
Bit 15
Bit 14
Bit 13
Bit 12
F_PWM_INT
Bit 11
F_PWM_DEC
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
OC_SD
RESERVED
EN_VSCOMP
SW_MODE
EXT_CLK
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Bit 10
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Bit 2
Bit 9
Bit 8
VCCVAL
UVLOVAL
Bit 1
Bit 0
OSC_SEL
L6480
Programming manual
The OSC_SEL and EXT_CLK bits set the system clock source:
Table 32. Oscillator management
EXT_CLK
OSC_SEL[2…0]
Clock source
OSCIN
OSCOUT
Internal oscillator: 16 MHz
Unused
Unused
0
0
0
0
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
Internal oscillator: 16 MHz
Unused
Supplies an 8-MHz
clock
1
0
1
1
Internal oscillator: 16 MHz
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
The SW_MODE bit sets the external switch to act as HardStop interrupt or not:
Table 33. External switch hard stop interrupt mode
SW_MODE
Switch mode
0
HardStop interrupt
1
User disposal
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L6480
The OC_SD bit sets if an overcurrent event causes or not the bridges to turn off; the OCD
flag in the status register is forced low anyway:
Table 34. Overcurrent event
OC_SD
Overcurrent event
1
Bridges shut down
0
Bridges do not shut down
The VCCVAL bit sets the internal VCC regulator output voltage.
Table 35. Programmable VCC regulator output voltage
VCCVAL
VCC voltage
0
7.5 V
1
15 V
The UVLOVAL bit sets the UVLO protection thresholds.
Table 36. Programmable UVLO thresholds
UVLOVAL
VCCthOn
VCCthOff
VBOOTthOn
VBOOTthOff
0
6.9 V
6.3 V
6V
5.5 V
1
10.4 V
10 V
9.2 V
8.8 V
The EN_VSCOMP bit sets if the motor supply voltage compensation is enabled or not.
Table 37. Motor supply voltage compensation enable
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EN_VSCOMP
Motor supply voltage compensation
0
Disabled
1
Enabled
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Programming manual
The F_PWM_INT bits set the integer division factor of PWM frequency generation.
Table 38. PWM frequency: integer division factor
F_PWM_INT [2…0]
Integer division factor
0
0
0
1
0
0
1
2
0
1
0
3
0
1
1
4
1
0
0
5
1
0
1
6
1
1
0
7
1
1
1
7
The F_PWM_DEC bits set the multiplication factor of PWM frequency generation.
Table 39. PWM frequency: multiplication factor
F_PWM_DEC [2…0]
Multiplication factor
0
0
0
0.625
0
0
1
0.75
0
1
0
0.875
0
1
1
1
1
0
0
1.25
1
0
1
1.5
1
1
0
1.75
1
1
1
2
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L6480
From Table 40 to Table 43 all available PWM frequencies are listed according to oscillator
frequency, F_PWM_INT and F_PWM_DEC values (the CONFIG register OSC_SEL
parameter must be correctly programmed).
Table 40. Available PWM frequencies [kHz]: 8-MHz oscillator frequency
F_PWM_DEC
F_PWM_INT
000
001
010
011
100
101
110
111
000
9.8
11.7
13.7
15.6
19.5
23.4
27.3
31.3
001
4.9
5.9
6.8
7.8
9.8
11.7
13.7
15.6
010
3.3
3.9
4.6
5.2
6.5
7.8
9.1
10.4
011
2.4
2.9
3.4
3.9
4.9
5.9
6.8
7.8
100
2.0
2.3
2.7
3.1
3.9
4.7
5.5
6.3
101
1.6
2.0
2.3
2.6
3.3
3.9
4.6
5.2
110
1.4
1.7
2.0
2.2
2.8
3.3
3.9
4.5
Table 41. Available PWM frequencies [kHz]: 16-MHz oscillator frequency
F_PWM_DEC
F_PWM_INT
000
001
010
011
100
101
110
111
000
19.5
23.4
27.3
31.3
39.1
46.9
54.7
62.5
001
9.8
11.7
13.7
15.6
19.5
23.4
27.3
31.3
010
6.5
7.8
9.1
10.4
13.0
15.6
18.2
20.8
011
4.9
5.9
6.8
7.8
9.8
11.7
13.7
15.6
100
3.9
4.7
5.5
6.3
7.8
9.4
10.9
12.5
101
3.3
3.9
4.6
5.2
6.5
7.8
9.1
10.4
110
2.8
3.3
3.9
4.5
5.6
6.7
7.8
8.9
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Programming manual
Table 42. Available PWM frequencies [kHz]: 24-MHz oscillator frequency
F_PWM_DEC
F_PWM_INT
000
001
010
011
100
101
110
111
000
29.3
35.2
41.0
46.9
58.6
70.3
82.0
93.8
001
14.6
17.6
20.5
23.4
29.3
35.2
41.0
46.9
010
9.8
11.7
13.7
15.6
19.5
23.4
27.3
31.3
011
7.3
8.8
10.3
11.7
14.6
17.6
20.5
23.4
100
5.9
7.0
8.2
9.4
11.7
14.1
16.4
18.8
101
4.9
5.9
6.8
7.8
9.8
11.7
13.7
15.6
110
4.2
5.0
5.9
6.7
8.4
10.0
11.7
13.4
Table 43. Available PWM frequencies [kHz]: 32-MHz oscillator frequency
F_PWM_DEC
F_PWM_INT
000
001
010
011
100
101
110
111
000
39.1
46.9
54.7
62.5
78.1
93.8
109.4
125.0
001
19.5
23.4
27.3
31.3
39.1
46.9
54.7
62.5
010
13.0
15.6
18.2
20.8
26.0
31.3
36.5
41.7
011
9.8
11.7
13.7
15.6
19.5
23.4
27.3
31.3
100
7.8
9.4
10.9
12.5
15.6
18.8
21.9
25.0
101
6.5
7.8
9.1
10.4
13.0
15.6
18.2
20.8
110
5.6
6.7
7.8
8.9
11.2
13.4
15.6
17.9
Any attempt to write the CONFIG register when the motor is running causes the command
to be ignored and the CMD_ERROR flag to rise (Section 9.1.24 on page 59).
9.1.24
STATUS
The STATUS register has the following structure:
Table 44. STATUS register
Bit 15
Bit 14
Bit 13
STEP_LOSS_B
STEP_LOSS_A
OCD
Bit 7
Bit 6
Bit 5
CMD_ERROR
MOT_STATUS
Bit 12
Bit 11
TH_STATUS
Bit 10
Bit 9
Bit 8
UVLO_ADC
UVLO
STCK_MOD
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
DIR
SW_EVN
SW_F
BUSY
HiZ
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L6480
When the HiZ flag is high it indicates that the bridges are in high impedance state. Any
motion command causes the device to exit from High Z 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 events (power-up
included).
The UVLO_ADC flag is active low and indicates an ADC undervoltage event.
The OCD flag is active low and indicates an overcurrent detection event.
The STEP_LOSS_A and STEP_LOSS_B flags are forced low when a stall condition is
detected on bridge A or bridge B respectively.
The CMD_ERROR flag is active high and indicates 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 turn-on event (SW input falling
edge).
TH_STATUS bits indicate the current device thermal status (Section 6.12 on page 30):
Table 45. STATUS register TH_STATUS bits
TH_STATUS
Status
0
0
Normal
0
1
Warning
1
0
Bridge shutdown
1
1
Device shutdown
UVLO, UVLO_ADC, OCD, STEP_LOSS_A, STEP_LOSS_B, CMD_ERROR, SW_EVN and
TH_STATUS bits 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. The BUSY flag is low when a constant speed,
positioning or motion command is under execution and is released (high) after the
command has been completed.
The STCK_MOD bit is an active high flag indicating 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 current motor direction:
Table 46. STATUS register DIR bit
60/75
DIR
Motor direction
1
Forward
0
Reverse
DocID023278 Rev 7
L6480
Programming manual
MOT_STATUS indicates the current motor status:
Table 47. STATUS register MOT_STATUS bits
MOT_STATUS
Motor status
0
0
Stopped
0
1
Acceleration
1
0
Deceleration
1
1
Constant speed
Any attempt to write to the register causes the command to be ignored and the
CMD_ERROR to rise (Section 9.1.24).
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9.2
L6480
Application commands
The commands summary is given in Table 48.
Table 48. Application commands
Command mnemonic
Command binary code
[7…5] [4]
[3]
[2…1]
[0]
0
00
0
NOP
000
SetParam (PARAM, VALUE)
000
[PARAM]
Writes VALUE in PARAM register
GetParam (PARAM)
001
[PARAM]
Returns the stored value in 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 in Step-clock mode and imposes
DIR direction
Move (DIR, N_STEP)
010
0
0
00
DIR
Makes N_STEP (micro)steps in DIR direction
(Not performable when motor is running)
GoTo (ABS_POS)
011
0
0
00
0
GoTo_DIR (DIR,ABS_POS)
011
0
1
00
DIR
GoUntil ( ACT, DIR, SPD)
100
0 ACT
01
Performs a motion in DIR direction with speed SPD
DIR until SW is closed, the ACT action is executed then
a SoftStop takes place
ReleaseSW (ACT, DIR)
100
1 ACT
01
Performs a motion in DIR direction at minimum
DIR 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 (sets 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
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0
Action
Nothing
Brings motor in ABS_POS position (minimum path)
Brings motor in ABS_POS position forcing DIR
direction
DocID023278 Rev 7
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Programming manual
9.2.1
Command management
The host microcontroller can control motor motion and configure the L6480 through
a complete set of commands.
All commands are composed by a single byte. After the command byte, some bytes of
arguments should be needed (see Figure 21). Argument length can vary from 1 to 3 bytes.
Figure 21. Command with 3-byte argument
6',
IURPKRVW
&RPPDQGE\WH
$UJXPHQWE\WH
06%
$UJXPHQWE\WH
$UJXPHQWE\WH
/6%
[
[
[
[
6'2
WRKRVW
$0Y
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 vary from 1 to 3 bytes.
Figure 22. Command with 3-byte response
6',
IURPKRVW
&RPPDQGE\WH
123
123
123
[
5HVSRQVHE\WH
06%
5HVSRQVHE\WH
5HVSRQVHE\WH
/6%
6'2
WRKRVW
$0Y
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
6',
IURPKRVW
6'2
WRKRVW
&RPPDQG
E\WHUHVSH[SHFWHG
&RPPDQG
QRUHVSH[SHFWHG
&RPPDQG
E\WHUHVSH[SHFWHG
&RPPDQG
QRUHVSH[SHFWHG
&RPPDQG
QRUHVSH[SHFWHG
[
5HVSRQVHE\WH
06%
5HVSRQVHE\WH
5HVSRQVHE\WH
06%
5HVSRQVHE\WH
/6%
&RPPDQGUHVSRQVH
LVDERUWHG
$0Y
When a byte that does not correspond to a command is sent to the IC it is ignored and the
CMD_ERROR flag in the STATUS register is raised (see paragraph Section 9.1.24 on page
59).
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9.2.2
L6480
Nop
Table 49. 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
Nothing is performed.
9.2.3
SetParam (PARAM, VALUE)
Table 50. SetParam command structure
Bit 7
Bit 6
Bit 5
0
0
0
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
PARAM
VALUE Byte 2 (if needed)
From host
VALUE Byte 1 (if needed)
VALUE Byte 0
The SetParam command sets the PARAM register value equal to VALUE; PARAM is the
respective register address listed in Table 11 on page 43.
The command should be followed by the new register VALUE (most significant byte first).
The number of bytes composing the VALUE argument depends on the length of the target
register (see Table 11).
Some registers cannot be written (see Table 11); any attempt to write one of those registers
causes the command to be ignored and the CMD_ERROR flag to rise at the end of the
command byte, as if an unknown command code were sent (see Section 9.1.24 on page
59).
Some registers can only be written in particular conditions (see Table 11); any attempt to
write one of those registers when the conditions are not satisfied causes the command to be
ignored and the CMD_ERROR flag to rise at the end of the last argument byte (see
Section 9.1.24).
Any attempt to set an inexistent register (wrong address value) causes the command to be
ignored and the CMD_ERROR flag to rise at the end of the command byte as if an unknown
command code were sent.
9.2.4
GetParam (PARAM)
Table 51. GetParam command structure
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Bit 7
Bit 6
Bit 5
0
0
1
Bit 4
Bit 3
Bit 2
PARAM
Bit 1
Bit 0
From host
ANS Byte 2 (if needed)
To host
ANS Byte 1 (if needed)
To host
ANS Byte 0
To host
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This command reads the current PARAM register value; PARAM is the respective register
address listed in Table 11 on page 43.
The command response is the current value of the register (most significant byte first). The
number of bytes composing the command response depends on the length of the target
register (see Table 11).
The returned value is the register one at the moment of GetParam command decoding. If
register values change 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 the CMD_ERROR flag to rise at the end of the command byte as if an unknown
command code were sent.
9.2.5
Run (DIR, SPD)
Table 52. 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
X
X
X
X
SPD (Byte 2)
From host
From host
SPD (Byte 1)
From host
SPD (Byte 0)
From host
The Run command produces a motion at SPD speed; 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) that is the same format as the SPEED register (Section 9.1.4 on page 45).
Note:
The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED,
otherwise the Run command is executed at MAX_SPEED or MIN_SPEED respectively.
This command keeps the BUSY flag low until the target speed is reached.
This command can be given anytime and is immediately executed.
9.2.6
StepClock (DIR)
Table 53. 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
The StepClock command switches the device in Step-clock mode (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 (Section 6.7.5 and 9.1.24 on page 59).
The device exits Step-clock mode when a constant speed, absolute positioning or motion
command is sent through SPI. Motion direction is imposed by the respective StepClock
command argument and can by changed by a new StepClock command without exiting
Step-clock mode.
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Events that cause bridges to be forced into high impedance state (overtemperature,
overcurrent, etc.) do not cause the device to leave Step-clock mode.
The 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 CMD_ERROR flag to rise (Section 9.1.24 on page 59).
9.2.7
Move (DIR, N_STEP)
Table 54. 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
X
X
N_STEP (Byte 2)
From host
From host
N_STEP (Byte 1)
From host
N_STEP (Byte 0)
From host
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 with the selected step mode; the parameter
value unit is equal to the 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 CMD_ERROR flag to rise (Section 9.1.24).
9.2.8
GoTo (ABS_POS)
Table 55. 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
X
X
ABS_POS (Byte 2)
From host
From host
ABS_POS (Byte 1)
From host
ABS_POS (Byte 0)
From host
The GoTo command produces a motion to ABS_POS absolute position through the shortest
path. The ABS_POS value is always in agreement with the selected step mode; the
parameter value unit is equal to the selected step mode (full, half, quarter, etc.).
The GoTo command keeps the BUSY flag low until the target position is reached.
This command can be given only when the previous motion command as been completed
(BUSY flag released).
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Any attempt to perform a GoTo command when a previous command is under execution
(BUSY low) causes the command to be ignored and the CMD_ERROR flag to rise
(Section 9.1.24 on page 59).
9.2.9
GoTo_DIR (DIR, ABS_POS)
Table 56. 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
X
X
ABS_POS (Byte 2)
From host
From host
ABS_POS (Byte 1)
From host
ABS_POS (Byte 0)
From host
The GoTo_DIR command produces a motion to ABS_POS absolute position imposing
a forward (DIR = '1') or a reverse (DIR = '0') rotation. The ABS_POS value is always in
agreement with the selected step mode; the parameter value unit is equal 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 be given only 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 CMD_ERROR flag to
rise (Section 9.1.24).
9.2.10
GoUntil (ACT, DIR, SPD)
Table 57. 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
X
X
X
X
SPD (Byte 2)
From host
From host
SPD (Byte 1)
From host
SPD (Byte 0)
From host
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 (Section 6.14
on page 31), the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is
copied into the MARK register (if ACT = '1'); the system then performs a SoftStop command.
The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same
format as the SPEED register (Section 9.1.4 on page 45).
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.
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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 (Section 6.14 on page 31 and
Section 9.1.23 on page 54).
This command keeps the BUSY flag low until the switch turn-on event occurs and the motor
is stopped. This command can be given anytime and is immediately executed.
9.2.11
ReleaseSW (ACT, DIR)
Table 58. 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
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_POS register is equivalent to setting the HOME position.
If the minimum speed value is less than 5 step/s or low speed optimization is enabled, the
motion is performed at 5 step/s.
The ReleaseSW command keeps the BUSY flag low until the switch input is released and
the motor is stopped.
9.2.12
GoHome
Table 59. 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
The GoHome command produces a motion to the HOME position (zero position) via the
shortest path.
Note that, this command is equivalent to the “GoTo(0…0)” command. If a motor direction is
mandatory, the GoTo_DIR command must be used (Section 9.2.9).
The GoHome command keeps the BUSY flag low until the home position is reached. This
command can be given only when the previous 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 ignored and the CMD_ERROR to rise
(Section 9.1.24 on page 59).
9.2.13
GoMark
Table 60. GoMark command structure
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Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
1
1
1
1
0
0
0
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Programming manual
The GoMark command produces a motion to the MARK position performing the minimum
path.
Note that, this command is equivalent 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 be given only 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 ignored and the CMD_ERROR flag to rise
(Section 9.1.24 on page 59).
9.2.14
ResetPos
Table 61. 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
The ResetPos command resets the ABS_POS register to zero. The zero position is also
defined as the HOME position (Section 6.5 on page 23).
9.2.15
ResetDevice
Table 62. 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
The ResetDevice command resets the device to power-up conditions (Section 6.1 on page
20). The command can be performed only when the device is in high impedance state.
Note:
At power-up the power bridges are disabled.
9.2.16
SoftStop
Table 63. 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
The SoftStop command causes an immediate deceleration to zero speed and a consequent
motor stop; the deceleration value used is the one stored in the DEC register (Section 9.1.6
on page 46).
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.
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9.2.17
L6480
HardStop
Table 64. 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
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
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
Table 65. 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
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
(Section 9.1.6 on page 46). 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.
9.2.19
HardHiZ
Table 66. 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
The HardHiZ command immediately disables the 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 anytime and is immediately executed.
This command keeps the BUSY flag low until the motor is stopped.
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Programming manual
GetStatus
Table 67. 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
The GetStatus command returns the Status register value.
The GetStatus command resets the STATUS register warning flags. The command forces
the system to exit from any error state. The GetStatus command DOES NOT reset the HiZ
flag.
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Package information
10
L6480
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 and product status are available at: www.st.com.
ECOPACK is an ST trademark.
HTSSOP38 package information
Figure 24. HTSSOP38 package outline
( (
F
H
'
PP
$
$
3
E
$
/
3
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Package information
Table 68. HTSSOP38 mechanical data
Dimensions (mm)
Symbol
Min.
A
Typ.
Max.
-
1.1
A1
0.05
-
0.15
A2
0.85
0.9
0.95
b
0.17
-
0.27
c
0.09
-
0.20
D
9.60
9.70
9.80
E1
4.30
4.40
4.50
e
-
0.50
-
E
-
6.40
-
L
0.50
0.60
0.70
P
6.40
6.50
6.60
P1
3.10
3.20
3.30
0°
-
8°
Figure 25. HTSSOP38 footprint
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Revision history
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L6480
Revision history
FLAG output
Table 69. Document revision history
Date
Revision
13-Jun-2012
1
Initial release.
04-Oct-2012
2
Updated Table 2, Table 5, Table 6, Table 9, Table 31, Table 36.
Update Figure 8, Figure 9, Figure 10.
Minor text changes.
19-Dec-2012
3
Changed the title.
Inserted footnote in Table 2 and in Table 4.
Updated Table 18 and Table 19.
4
Updated Section 6.3, (replaced “integrated MOSFETs” by “gate drivers”).
Updated Section 6.9 to Section 6.13, Section 7.2 (replaced “gates” by “MOSFETs”).
Added cross-references to Section 9.
Updated Section 9.1.22 (replaced “TCC parameter” by “TDT parameter”).
Updated Section 9.2.15 (Added “The command can be performed only when the device
is in high impedance state”).
Updated Section 10 (reversed order of Figure 24 and Table 68, updated titles).
Minor modifications throughout document.
19-May-2014
5
Updated Table 2 on page 10 [added (VBOOT - VS) to VBOOT].
Updated Table 5 on page 12 (updated values of thigh,STCK, tlow,STCK, and thigh).
Updated Table 7 on page 19 (replaced STD25NF10 by STD25N10F7).
Updated Section 6.1 on page 20 (removed VCC and VBOOT, added FLAG output...).
Updated Section 6.4 on page 21 (replaced “the first microstep” by “zero”).
Replaced NOTPERF_CMD and WRONG_CMD flag by CMD_ERROR flag throughout
document.
Updated Section 9.1.5 on page 45 (replaced sentence: “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 46 (removed sentence: “When the device is working in
infinite acceleration mode this value is ignored.”).
Updated Table 44 on page 59 (replaced TH_SD by TH_STATUS).
Updated title of Table 47 on page 61 (replaced MOT_STATE by MOT_STATUS).
Updated cross-references throughout document.
05-Mar-2015
6
Updated main title on page 1 (removed cSPIN™).
Updated Table 11 on page 43 (h15 - Len. [bit]: replaced 10 by 11).
23-Mar-2015
7
Updated Table 14 on page 47 (“Bit 11” removed).
Minor modifications throughout document.
12-Dec-2013
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