dm00091165

UM1654
User manual
SPIN family evaluation software
Introduction
This user manual describes how to use the SPIN family evaluation software.
The SPIN family evaluation software allows STMicroelectronics® customers to easily
evaluate functionalities and performances of the devices of dSPIN™ and cSPIN™ families.
This software is designed to work with the IBU universal interface demonstration board
(STEVAL-PCC009V2).
Before starting, please take some time to visit the STMicroelectronics web site. There
updated datasheets, application notes and the latest version of the software can be found.
See www.st.com/dspin and www.st.com/cspin.
September 2013
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Contents
UM1654
Contents
1
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2
Quick start guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3
2.1
STEVAL-PCC009V2 firmware upgrade . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2
Drivers installation (old firmware revision only) . . . . . . . . . . . . . . . . . . . . . 8
SPINFamily evaluation software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3.1
Menu and toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2
Command section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3
3.4
4
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3.2.1
“Positioning” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2.2
“Speed” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.2.3
“Advanced” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.2.4
Stop buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.1
HiZ LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.3.2
UVLO LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3.3
OCD LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.3.4
Thermal status LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3.5
Stall LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.3.6
BUSY LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.3.7
Motor status indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
3.3.8
Switch event and switch status LEDs . . . . . . . . . . . . . . . . . . . . . . . . . . 19
3.3.9
StepClock mode LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
3.3.10
Command error LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Opening and saving multiple device configurations . . . . . . . . . . . . . . . . . 21
Register map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
4.1
Writing registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
4.2
Reading registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.3
Loading and saving configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
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Contents
Device configuration tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.1
“Speed Profile” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
5.2
“Phase current control” tab for the voltage mode devices . . . . . . . . . . . . 28
5.3
“Phase current control” tab for the current mode devices . . . . . . . . . . . . 29
5.4
“Gate driving” tab (cSPIN™ family only) . . . . . . . . . . . . . . . . . . . . . . . . . 30
5.5
“Others” tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
5.6
Load and save configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
BEMF compensation tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Saving and loading application and motor parameters. . . . . . . . . . . . . . . . . . . . . 34
7
Scripting environment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
7.1
Writing scripts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
7.2
Script execution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
8
Options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
9
Daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
10
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
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List of tables
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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.
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Menu items and toolbar buttons of the main form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
HiZ LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
UVLO LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
OCD LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Thermal status LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Stall LED indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Busy LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Motor status indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
SW event LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
SW status LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
StepClock mode LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Command error LED indicator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
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List of figures
List of figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
Figure 10.
Figure 11.
Figure 12.
Figure 13.
Figure 14.
Figure 15.
Figure 16.
Figure 17.
Figure 18.
Device selection dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Main form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Positioning tab in command section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Speed tab in command section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Advanced tab in command section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Stop buttons in command section. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Status display . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Open configuration group form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Save configuration group form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Register map form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Speed profile tab in device configuration form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Voltage mode driving tab in device configuration form . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Advanced current control driving tab in device configuration form . . . . . . . . . . . . . . . . . . . 29
Gate driving tab in device configuration form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
“Others” tab in device configuration form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
BEMF compensation form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Scripting environment form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Options dialog . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
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Installation
1
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Installation
The software requirements are the following:

Computer mounting Windows 7 OS(a).

A free USB port.

IBU universal interface board (STEVAL-PCC009V2).

One or more demonstration boards compatible with the software environment (check
on the STEVAL-PCC009V2 board documentation).
To install the software:
1.
Unzip the archive content
2.
Start software installation using “SPINFamily Setup.msi” file
3.
Follow the guided installation instructions
A link to the application is created into the START menu:
(All Programs/STMicroelectronics/SPINFamily Evaluation Tool).
a. Some old version of the STEVAL-PCC009V2 firmware works on Windows XP OS only. In this case, please
refer to Section 2.1 for the firmware upgrade instructions.
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Quick start guide
Quick start guide
Before start working with the evaluation software the firmware mounted on the IBU universal
interface board must be checked in order to verify if it is compatible with the application and
eventually update it to the last revision. See Section 2.1 for the details.
The software is designed to work in demonstration mode, so all functionalities can be
explored even if no demonstration boards are present (neither the STEVAL-PCC009V2 nor
the demonstration boards of the devices are required in this case).
1.
Start the “SPINFamily Evaluation Tool” (by default it is in Start menu > All programs >
STMicroelectronics > SPINFamily Evaluation Tool).
2.
When the application is started the device selection dialog of Figure 1 is shown.
Figure 1. Device selection dialog
3.
Click on the target device.
4.
Plug the STEVAL-PCC009V2 communication board to a free USB port (the cable is not
included).
5.
Wait a few seconds for board initialization.
6.
Connect the SPI_IN connector (black) of the demonstration board to the 10-pin
connector of the IBU universal interface board using the provided cable.
For connecting more devices to the same board, please consult the daisy chain
connection paragraph (Section 3).
7.
Power up the demonstration boards.
8.
Click on the button with the USB symbol to connect the IBU universal interface board to
the PC and initialize the evaluation environment.
The application automatically identifies the number of demonstration boards
connected.
9.
The evaluation environment is ready.
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Quick start guide
2.1
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STEVAL-PCC009V2 firmware upgrade
A tool to update the firmware named “IBUUI updater” is installed with the application.This
tool can be also used to check if the firmware mounted on the board is compatible with the
evaluation software.
2.2
1.
Start the IBUUI updater tool (by default it is in Start menu > All programs >
STMicroelectronics > SPINFamily Evaluation Tool).
If the communication board mounts an early version of the firmware, the first time the
communication board is connected to the PC, driver installation procedure could be
required (see Section 2.2).
2.
Click on the “start” button.
3.
Follow the guided procedure.
Drivers installation (old firmware revision only)
This procedure is used to install STEVAL-PCC009V2 drivers which are required by the early
version of the firmware. This operation is requested only the first time the board is
connected to the PC; if they are already installed this procedure can be skipped.
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1.
Connect the board to the PC through a USB cable.
2.
System should start the assisted driver installation procedure.
3.
Chose “No, not this time” option and click “Next”.
4.
Chose to install the device driver automatically (recommended).
5.
If the drivers are not found:
a)
Chose to install the device driver from a specific location.
b)
Select the first option and check “Include this location in the search”.
c)
Select the driver path clicking on the “Browse” button: drivers are installed into the
“Updater\Drivers\WinXP” subfolder in the SPINFamily Evaluation Tool folder (by
default it is Program Files\STMicroelectronics\SPINFamily Evaluation Tool\
Updater\Drivers\WinXP).
6.
When the driver certification warning is shown click on the “Continue Anyway” option.
7.
Driver installation is completed and the communication board is now operative.
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SPINFamily evaluation software
SPINFamily evaluation software
When the application starts the form is shown in Figure 2.
The form is divided into two main sections: the command section, on the top, that collects all
the device commands and allows reading/writing the absolute position and the speed
registers. The device status display, on the bottom, that shows the last information collected
from the status register.
Between the command section and the toolbar the device selection and reset buttons can
be found. When more devices are driven in daisy chain configuration, these buttons can be
used to select the device to control. All the commands are sent only to the selected device
and the application can drive only one device at a time. See Section 9 on page 38 for further
details.
The “RESET” button forces low the STBY/RESET line of the communication board after
a warning message. Clicking on the button again releases the STBY/RESET line.
The menu and toolbar provide access to extra tools and allow opening/saving the device
configuration.
The status bar on the bottom side of the form shows the current board status and the SPI
communication speed. On the right corner the status of BUSY and FLAG lines can be
found: red text indicates that the respective line is low.
Figure 2. Main form
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3.1
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Menu and toolbar
Table 1 lists the content of the menu of the main form and the toolbar buttons with a brief
description of each item.
Table 1. Menu items and toolbar buttons of the main form
Menu item
Toolbar
button
Description
File\Open
Load a group of configuration files and write them into the devices.
File\Save
Save the setup of the devices in a group of configuration files.
File\Exit
-
Close the application.
Tools\Connect board
Connect and disconnect the IBU universal interface board from the PC.
Tools\Register map
Open the “Register map” tool (see Section 4 on page 23).
Tools\Device configuration
Open the “Device configuration” tool (see Section 5 on page 26).
Tools\BEMF compensation
Open the BEMF compensation evaluator tool for the voltage mode driving
(see Section 6 on page 33).
Tools\Script editor
Open the scripting environment (see Section 7 on page 35).
Tools\Options
-
Open the application option dialog (see Section 8 on page 37).
?\Help
-
Open the help file.
?\About
-
Show detailed information about the software.
?\Web
-
Open the STMicroelectronics web page.
3.2
Command section
Command section collects all commands and allows reading and writing ABS_POS, MARK
and SPEED registers.
For a detailed description of the command set of the device, please refer to the DS6582,
DS8858, DS9080 and DS9306 device datasheets and AN4241, AN4290 application notes
on st.com.
3.2.1
“Positioning” tab
The positioning tab collects all the motion commands allowing the device to reach target
positions.
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Figure 3. Positioning tab in command section
GoTo and GoTo_DIR commands can be sent to the selected device clicking on the “GoTo”
button. If the “AUTO” button is selected, the GoTo command is sent and the motion direction
is selected by the device using the minimum path algorithm. “FW” and “BW” buttons force
a forward/backward direction sending a GoTo_DIR command.
Position argument is set by a numeric box next to the button and can vary within -2097152
and 2097151 (the absolute position is expressed in a 2 s complement format). The target
position can be written directly or it can be changed using up and down arrows positioned
on the right side of the box. GoTo or GoTo_DIR command can also be sent pushing the
return key in this numeric box.
Clicking on the “Move” button a Move command is sent to the current active device. The
motion direction is selected through “FW” (forward) and “BW” (backward) buttons and the
number of steps is set by a numeric box next to the button. This value goes from 0 to
4194303. The value can be directly written within the box or it can be adjusted using up and
down arrows.
The Move command can also be sent pushing the return key in the numeric box.
The “Positioning” tab also gives quick access to the ABS_POS register. Clicking on the “RD”
button the current ABS_POS value of the selected device is read and it is returned into the
numeric box. If “Autorefresh” is checked, the absolute position is automatically updated at
the selected polling rate.
Clicking the “WR” button the ABS_POS register is written, the desired value must be set into
the numeric box (-2097152 to 2097151). The same operation can be performed pushing the
return key in the numeric box.
The “HOME” button resets ABS_POS register to home position (zero).
3.2.2
“Speed” tab
The speed tab collects all the motion commands allowing the device to reach a target
speed.
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Figure 4. Speed tab in command section
Clicking on the “Run” button a Run command is sent to the current active device. Motion
direction is selected through “FW” (forward) and “BW” (backward) buttons and target speed
is set by a numeric box next to the button. This value ranges from 0 to 15624.985
(expressed in step/s) and can be directly written in the box or it can be changed using the up
and down arrows.
Pushing the return key in the number box sends a Run command also.
In the “Speed” tab is also allowed reading the current SPEED register value by clicking on
the “RD” button. If “Autorefresh” is checked, the speed value is automatically updated at the
selected polling rate.
3.2.3
“Advanced” tab
Figure 5. Advanced tab in command section
The “GoMark” and “GoHome” buttons in the “Advanced” tab send the respective command
to the selected device. In this tab quick access to MARK register is also provided. Clicking
on the “RD” button or the current MARK value of the selected device is read and it is
returned into the numeric box. The register can be written setting the desired value into the
numeric box (-2097152 to 2097151) and pushing the return key or clicking on the “WR”
button.
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The “GoUntil” button sends the respective command using the parameters indicated by the
adjacent controls:

The numeric box defines the target speed (expressed in step/s). Its value ranges from
0 to 15624.985 and can be set directly or by means of the up and down arrows.

The “FW”/”BW” buttons select the motion direction.

The “HOME”/”MARK” buttons select the action performed at the SW falling edge. If
“HOME” is selected the ABS_POS register is set to zero (home position), otherwise its
value is stored into the MARK register.
Pushing the return key in the numeric box DOES NOT SEND a GoUntil command, the
“GoUntil” button has to be used.
The “ReleaseSW” button sends a ReleaseSW command using the parameters indicated by
the same controls used for the GoUntil command. In this case, the “HOME”/”MARK” buttons
select the action performed at the SW rising edge as described in the DS6582, DS8858,
DS9080 and DS9306 device datasheets on st.com.
3.2.4
Stop buttons
Figure 6. Stop buttons in command section
At the bottom of the command section the stop commands can be found. Clicking on
“HardStop”, “HardHiZ”, “SoftStop” or “SoftHiZ” buttons the respective command is sent to
the current active device.
3.3
Status display
The status display shows the last STATUS register value of the current active device. This
display is updated every time the STATUS register is read through a GetStatus or
a GetParam command.
Figure 7. Status display
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The status display shows the last STATUS register value of the current active device.
This display is updated every time the STATUS register is read through a GetStatus or
a GetParam command.
If the “Autorefresh” box is checked, the display is automatically updated at selected polling
rate, but error/failure flags are not cleared (GetParam command is used to get STATUS
value instead of GetStatus command).
Failure conditions can be cleared using the button in the lower right corner which sends
a GeStatus command to the selected device.
Detailed differences between GetParam and GetStatus command can be found on the
DS6582, DS8858, DS9080 and DS9306 device datasheets or AN4241, AN4290 application
notes on st.com.
3.3.1
HiZ LED
The “HiZ” LED indicates the high impedance status: if it is lit (green) the device outputs are
disabled; otherwise the outputs are active.
The LED status is related to the HiZ bit value of the STATUS register according to Table 2.
Table 2. HiZ LED indicator
HiZ
3.3.2
LED
Status
1
Power stage disabled.
0
Power stage enabled.
UVLO LED
When the “UVLO” LED is red an undervoltage or the reset/power-up event occurred. If it is
off (gray) no fails are present.
If a device of the cSPIN™ family is used (L648x), the LED reports the UVLO_ADC failure
through a yellow light.
The LED status is related to the UVLO bit and eventually to the UVLO_ADC bit values of the
STATUS register according to Table 3.
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Table 3. UVLO LED indicator
3.3.3
UVLO
UVLO_ADC
(L648x)
1
1
Operative conditions.
1
0
Undervoltage on ADC input.
0
X
Undervoltage condition.
LED
Status
OCD LED
The “OCD” LED indicates that an overcurrent has been detected: if it is on (red) an
overcurrent event occurred; otherwise no fails are present.
The LED status is related to the OCD bit value of the STATUS register according to Table 4.
Table 4. OCD LED indicator
OCD
3.3.4
LED
Status
1
No failures.
0
Overcurrent failure occurred.
Thermal status LED
The “Thermal status” LED indicates the thermal status of the device:

Gray means that the device temperature is below the warning threshold.

Yellow indicates that the warning temperature has been reached.

Red indicates that a thermal shutdown event occurred (the device temperature
reached the shutdown threshold).

Purple indicates that a device shutdown event occurred (L648x only).
When a device of the dSPIN™ family is used, the LED status is related to TH_WRN and
TH_SD bit values. When a device of the cSPIN™ family is used, it is related to the
TH_STATUS parameter value.
The relations are described in Table 5.
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Table 5. Thermal status LED indicator
3.3.5
TH_WRN
(L647x)
TH_SD
(L647x)
TH_STATUS
(L648x)
1
1
00
No failures.
0
1
01
Warning temperature exceeded.
0
0
10
Power stage shutdown temperature exceeded.
N. A.
N. A.
11
Device shutdown temperature exceeded.
1
0
N. A.
LED
Status
Not allowed
Stall LEDs
The “Stall A” and “Stall B” LEDs indicate a stall detection warning. If the LED is on (red)
a stall event occurred in the respective bridge; otherwise no fails are present.
Note:
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This indication is available in the L6470 and L6480 devices only.
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SPINFamily evaluation software
The LED statuses are related to the STEP_LOSS_A and STEP_LOSS_B bit values of the
STATUS register according to Table 6.
.
Table 6. Stall LED indicators
STEP_LOSS_X
(L6470 and L6480)
3.3.6
LED
Status
1
No failures.
0
Stall failure occurred.
BUSY LED
The “BUSY” LED is turned on (yellow) during a command execution. When it is off (gray),
the last command has been executed and the device is idle.
The LED status is related to the BUSY bit value of the STATUS register according to
Table 7.
Table 7. Busy LED indicator
BUSY
LED
Status
1
Ready for a new command.
0
Command under execution.
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Motor status indicator
The “Motor status” icon indicates the current status of the motor. Different icons represent
the acceleration, deceleration, constant speed and holding status in both directions.
The displayed icon depends on DIR and MOT_STATUS parameters of the STATUS register
according to Table 8.
Table 8. Motor status indicator
Motor status
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DIR
MOT_STATUS
Stopped
X
00
Accelerating in forward direction
1
01
Decelerating in forward direction
1
10
Running in forward direction
1
11
Accelerating in backward direction
0
01
Decelerating in backward direction
0
10
Running in backward direction
0
11
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Icon
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3.3.8
SPINFamily evaluation software
Switch event and switch status LEDs
If the “SW Event” LED is on (yellow), the SW input has been forced low (switch turn-on
event); otherwise no falling edges has been detected on the input.
The LED status is related to the SW_EVN bit value of the STATUS register according to
Table 9.
Table 9. SW event LED indicator
SW_EVN
LED
Status
0
No falling edges on SW input were detected.
1
Falling edge on SW input occurred.
The “SW Status” LED indicates the SW input status: if it is on (green) the SW input is low
(switch closed); otherwise the SW input is high (switch open).
The LED status is related to the SW_F bit value of the STATUS register according to
Table 10.
Table 10. SW status LED indicator
SW_F
LED
Status
0
SW input is high.
1
SW input is low.
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StepClock mode LED
If the “StepClock mode” LED is on (green), the device is operating in StepClock mode;
otherwise the device is operating in standard mode.
The LED status is related to the SCK_MOD bit value of the STATUS register according to
Table 11.
Table 11. StepClock mode LED indicator
SCK_MOD
3.3.10
LED
Status
0
Normal operation.
1
StepClock mode operation.
Command error LED
If the “Command error” LED is on (yellow), a wrong or a not performable command has
been sent to device; otherwise all sent commands have been correctly executed.
When a device of the dSPIN™ family is used, the LED status is related to WRONG_CMD
and NOTPERF_CMD bit values. When a device of the cSPIN™ family is used, it is related
to the CMD_ERROR parameter value.
The relations are described in Table 12.
Table 12. Command error LED indicator
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NOTPERF_CMD
(L647x)
WRONG_CMD
(L647x)
CMD_ERROR
(L648x)
0
0
0
No failures detected.
X
1
1
A wrong command was
received.
1
X
N. A.
A not performable
command was received.
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Status
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3.4
SPINFamily evaluation software
Opening and saving multiple device configurations
From main form it is possible to save and set the configuration of all the devices in the chain
at the same time.
Clicking on the “Open” button or selecting the “File\Open” menu item the dialog is shown in
Figure 8.
Figure 8. Open configuration group form
In order to load the configuration of multiple devices (daisy chain only) the following
procedure should be used:
1.
Select which devices have to be configured checking the related box.
2.
Write the target file path in the text box or browse it clicking on the “...” button.
3.
Click on the “Ok” button.
If one or more of the file does not exist an error message is shown.
The new configurations are immediately written into the devices.
Warning:
The information included into a configuration file is strictly
related to the respective device (L6470, L6472, L6480 or
L6482). Any attempt to open a configuration file of
a device type into another one will cause an error.
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Clicking on the “Save” button or selecting the “File\Save” menu item the dialog is shown in
Figure 9.
Figure 9. Save configuration group form
In order to save the configuration of multiple devices (daisy chain only) the following
procedure should be used:
1.
Select which device configurations have to be saved checking the related box
2.
Write the target file path in the text box or browse it clicking on the “...” button
3.
Click on the “Ok” button
If one or more of the file already exists warning message is shown. If one or more of the file
is read-only or the user is not allowed to write on the target folder an error message is
shown.
All the writable registers of the selected devices are updated through a GetParam command
before saving the configuration.
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4
Register map
Register map
The register map tool gives an overview of the current device register values. It can be
opened from the application main form clicking on the respective toolbar button or selecting
“Register map” in the “Tools” menu.
If more than one device is connected to the communication board (daisy chain
configuration, Section 9 on page 38), the active device can be selected through the drop list
on the top right corner of the toolbar.
Figure 10. Register map form
The registers are represented as rows of a table with information stored in different
columns:

“Name” column contains the register mnemonic name.

“Address” column indicates the register address in hexadecimal format.

“Description” column contains a brief description of the register content.

“Value” column shows the current register “decoded” value.

“Hex” column shows the value of the register in hexadecimal format. This is the only
writable column and it can be used to change the register value.

“Default” column shows the default value of the register in hexadecimal format.
There are also columns that allow reading/writing registers:

Clicking on “WR” column buttons the register value is written.

Clicking on “RD” column buttons the register value is read.

Clicking on “DEF” column buttons the register value is set to its default value.

Checking “AWR” boxes the register value is automatically written every time its value in
“Hex” column is changed.
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Warning:
Reading/writing buttons are only displayed when the IBU
universal interface board is correctly connected to the PC.
They will be hidden also when a script code is running.
The colors of the rows are used to identify register status:
4.1

Black text on white background indicates that the register is writable and that the
displayed value is updated (A GetParam or SetParam command refreshed the “Hex”
column value).

Red text on white background indicates that the “Hex” column value has been
changed by the user but it is not written yet into the device.

Black text on grey background indicates read-only registers.
Writing registers
Single registers can be written changing their value in the “Hex” column (hexadecimal
format) and clicking on the “WR” button. When the “Hex” value is changed the “Value”
column is immediately updated showing the new decoded value, but the register is not
written. This situation is indicated by the row text color in red. This way the GUI shows
a preview of how new register value will affect the device configuration without make this
change effective.
In order to set if a specific register has to be automatically written every time the “Hex” value
is changed checking the respective “AWR” column box.
Warning:
When auto-write (“AWR”) is enabled, any accidental change
in the “Hex” column will cause the respective register to be
written.
The whole register map can also be written clicking on the
button in the toolbar. This
way all the registers (whatever their value has been changed or not) will be written
according to the current “Hex” column value.
Clicking on the
button all registers (whatever their value has been changed or not) will
be set to the respective default value.
Read-only registers are indicated with black text on grey background rows.
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Register map
Warning:
4.2
If the autorefresh of the ABS_POS register in main form is
enabled (see Section 3.2.1 on page 10), the ABS_POS row is
updated at the current polling rate. This condition makes
difficult to set the ABS_POS register to the desired value. In
order to change the ABS_POS register value the autorefresh
should first be disabled.
Reading registers
Single registers can be read clicking on the “RD” button. The “Hex” and “Value” columns will
be updated according to the current register value. Unwritten changes (red text) will be
rejected (black text).
The whole register map can also be read clicking on the
registers will be read updating “Hex” and “Value” columns.
4.3
button. This way all the
Loading and saving configurations
Current device configuration can be saved clicking on the “Save” button. A file selection
dialog will be opened to choose if creating a new configuration file or overwriting an existing
one.
Warning:
Saved values are the “Hex” column ones, whatever they are
actually written into the device or not.
Configuration files can be loaded clicking on the “Open” button. A file selection dialog will be
opened to choose the configuration file.
When it is loaded, the “Hex” column is updated, but no value is written into the device
(changed registers will be highlighted with red text) even if the respective “AWR” box is
checked. To write the configuration the
or the “WR” buttons must be used.
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Device configuration tool
5
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Device configuration tool
This form allows an easy configuration of the IC. All registers content is displayed through
a user-friendly interface and the parameters are converted in a common format (e.g. speeds
are expressed in step/s, current thresholds in Amperes, etc.). The device configuration form
can be opened from the application main form clicking on the respective toolbar button or
selecting “Device configuration” in “Tools” menu.
If more than one device is connected to the communication board (daisy chain
configuration, Section 9 on page 38), the active device can be selected through the drop list
on the top right corner of the toolbar.
Changing the form control values does not modify the actual value of the device registers.
Configuration is written into the device and changes are made effective clicking on the
button of the toolbar or clicking on “Ok” or “Apply” buttons in the bottom right corner of the
form.
Clicking on the “Ok” button the new configuration is written into the selected device and the
form is closed.
Clicking on the “Apply” button the new configuration is written into the selected device and
the form is kept open.
Clicking on the “Cancel” button the form is closed without writing the new configuration into
the selected device.
The actual configuration can be loaded clicking on the
The default device configuration can be set clicking on the
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button of the toolbar.
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5.1
Device configuration tool
“Speed Profile” tab
Figure 11. Speed profile tab in device configuration form
This tab collects all the device parameters that are related to speed profile boundaries and
in general to the configuration of the motion engine of the device.
The values can be changed writing the new value in common format (step/s2 for
acceleration/deceleration and step/s for speed) or in hexadecimal format using the '0x'
prefix. In the first case the value is rounded to the nearest available. For example the
“Acceleration” can be set to 2008.164 step/s2 writing '2010' or '0x8A'. If the inserted value is
out of the range of the parameter, the change is ignored.
Clicking on up and down buttons the parameter value is increased or decreased of one unit
according to its resolution.
Warning:
Considering that the low speed optimization threshold and
the minimum speed parameters are determined by the same
register, the two boxes are always forced to the same value.
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“Phase current control” tab for the voltage mode devices
Figure 12. Voltage mode driving tab in device configuration form
All the parameters related to the voltage mode control are listed in this tab. Values in
numeric boxes can be changed writing the new value or using up/down arrows.
The “Acc. duty-cycle”, “Dec. duty-cycle”, “Run duty-cycle” and “Hold duty-cycle” boxes show
KVAL_X register values expressed in percentage format. When a new value is written into
the boxes the allowed formats are decimal (e.g '0.25'), percentage (e.g. '25%') and
hexadecimal using the '0x' prefix (e.g. '0x40'). If the inserted value is out of the range of the
parameter, the change is ignored.
The “Intersect Speed” box contains the INT_SPEED register value. When a new value is
written into the box the allowed formats are decimal (e.g. '230.5') and hexadecimal using the
'0x' prefix (e.g. '0x53A'). If the inserted value is out of the range of the parameter, the change
is ignored.
The BEMF compensation slopes (ST_SLP, FN_SLP_ACC and FN_SLP_DEC) are shown in
“Starting Slope”, “Acc. Final Slope” and “Dec. Final Slope” boxes. When a new value is
written into the box the allowed formats are decimal (e.g. '0.00048') and hexadecimal using
the '0x' prefix (e.g. '0x1F'). If the inserted value is out of the range of the parameter, the
change is ignored.
Clicking on the “BEMF Compensation tool” button the BEMF compensation tool is
immediately opened (see Section 6 on page 33).
The PWM frequency can be selected using “Integer division” and “Multiplier” lists
(corresponding to F_PWM_INT and F_PWM_DEC parameters of the CONFIG register) or
directly from the “PWM Frequency” list. This list contains all the available PWM frequencies
according to the current clock configuration.
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Device configuration tool
Checking the “Motor Supply Voltage Compensation” box the respective compensation is
enabled. In this case the VS resistor divider on the demonstration board must be correctly
configured (see the DS6582 and DS9080 device datasheets for details).
Checking “Low speed opt.” box the low speed optimization feature is enabled. The speed
threshold can be set using the numeric box on the right. The allowed formats are decimal
(e.g. '112.5') and hexadecimal using the '0x' prefix (e.g. '0x3A'). If the inserted value is out of
the range of the parameter, the change is ignored.
Warning:
Considering that the low speed optimization threshold and
the minimum speed parameters are determined by the same
register, the two boxes are always forced to the same value.
The phase resistance thermal drift compensation parameter (K_THERM) can be modified
through the “Ktherm” box. The allowed formats are decimal (e.g. '1.16') and hexadecimal
using the '0x' prefix (e.g. '0x5'). If the inserted value is out of the range of the parameter, the
change is ignored.
5.3
“Phase current control” tab for the current mode devices
Figure 13. Advanced current control driving tab in device configuration form
All the parameters related to the advanced current control are listed in this tab. Values in
numeric boxes can be changed writing the new value or using up/down arrows.
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The “Acc. current”, “Dec. current”, “Run current” and “Hold current” boxes show TVAL_X
register values expressed in Amperes or the reference voltage expressed in Volts in case of
cSPIN™ family devices. The allowed formats are decimal (e.g '0.25') and hexadecimal
using the '0x' prefix (e.g. '0x40').
The “Minimum ON time” box contains the TON_MIN register value in microseconds. The
allowed formats are decimal (e.g. '3.5') and hexadecimal using the '0x' prefix (e.g. '0x5').
The “Minimum OFF time” box contains the TOFF_MIN register value in microseconds. The
allowed formats are decimal (e.g. '3.5') and hexadecimal using the '0x' prefix (e.g. '0x5').
The “Max fast decay” and “Max fast decay @step change” boxes contain respectively the
TOFF_FAST and the FAST_STEP parameters (T_FAST register) in microseconds. The
allowed formats are decimal (e.g. '12') and hexadecimal using the '0x' prefix (e.g. '0x9').
The “Target switching time” box contains the TSW parameter of the CONFIG register in
microseconds. The allowed formats are decimal (e.g. '40') and hexadecimal using the '0x'
prefix (e.g. '0x36').
Checking the “External torque regulation” box the device uses the ADCIN voltage to set the
TVAL value instead of the respective registers. In this case please check that the ADCIN
input is correctly driven.
Checking the “Predictive current control” box the predictive mode is enabled.
5.4
“Gate driving” tab (cSPIN™ family only)
Figure 14. Gate driving tab in device configuration form
This tab is used to configure the gate driving circuitry of the device.
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Device configuration tool
The “Gate current” drop box selects the gate current between the available values (IGATE
parameter).
The “Controlled current time”, “Blanking time” and “Dead time” boxes contain the TCC,
TBLANK and TDT parameters respectively. The parameters can be changed writing the
new value or using up/down arrows. The allowed formats for the new value are decimal
(e.g. '250') and hexadecimal using the '0x' prefix (e.g. '0x1').
The “Turn OFF boost time” drop box enables the respective feature and selects the duration
of the boost time (TBOOST parameter).
The “VCC value” and “UVLO thresholds” drop boxes select the output voltage of the VCC
voltage regulator and set the UVLO protection thresholds.
5.5
“Others” tab
Figure 15. “Others” tab in device configuration form
This tab is used to configure the various device features.
The “Overcurrent threshold” and “Stall threshold” can be set through the respective numeric
boxes writing the new value in decimal format or in hexadecimal using the '0x' prefix. Up and
down arrows can also be used. The values are expressed in Amperes in case of dSPIN™
family devices or in millivolts in case of cSPIN™ family devices.
If the “Overcurrent shutdown” box is checked the overcurrent events causes the power
stage bridges to turn-off.
In the “Step Mode” list the step resolution can be selected and the “Synch. Mode” list allows
enabling and configuring the synchronization signal.
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The output slew rate is selected using the “Slew-rate” list (dSPIN™ family devices only).
The “Alarm enabled” check list selects the error events which causes the FLAG output to be
forced low.
In order to enable the HardStop interrupt on the SW input falling edge the “Switch turn-on
causes HardStop” box needs to be checked, otherwise the SW input does not interfere with
the motor motion.
Device clock configuration is shown on a dedicated panel. Here all possible clock
configuration can be set.
Setting the “Clock source” as “Internal” the integrated 16 MHz oscillator is enabled. If it is set
as “External”, the device is forced to use the external clock source defined by the “External
source type” selection: “Direct” if clock is directly applied to OSCIN input, “Xtal/Reson.” if
a resonator or a crystal is connected between the OSCIN and OSCOUT pins.
The “Clock frequency” list selects the current clock frequency. When the internal oscillator is
used, this value is forced to 16 MHz.
The “OSCOUT clock frequency” list selects the frequency that will be supplied by the
OSCOUT pin (available only when the internal oscillator is enabled).
In case of cSPIN™ family devices the “External clock watchdog” checkbox is available:
when it is checked the device is protected from the failures of the external clock source.
5.6
Load and save configuration
Current device configuration can be saved clicking on the “Save” button in the toolbar. A file
selection dialog will be opened where you can choose to create a new configuration file or
overwrite an existing one.
Warning:
Configuration file includes ALL writable registers (ABS_POS,
EL_POS, MARK, etc.). Make sure that the value of these
registers is coherent with the desired one before saving the
configuration.
Configuration files can be loaded clicking on the “Open” button in the toolbar. A file selection
dialog will be opened to choose the configuration file.
Warning:
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The loaded configuration is NOT written into the device. To
write the new values the
, “Ok” or “Apply” buttons should
be used.
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6
BEMF compensation tool
BEMF compensation tool
This tool helps the user to set the BEMF compensation parameters according to your
application settings. It can be opened from the application main form clicking on the
respective toolbar button or selecting “BEMF compensation” in “Tools” menu.
If more than one device is connected to the communication board (daisy chain
configuration, Section 9 on page 38), the active device can be selected through the drop list
on the top right corner of the toolbar.
Figure 16. BEMF compensation form
The BEMF compensation algorithm is based on the application requirements, as supply
voltage, target current and motor characteristics.
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In the “Application parameters” panel, motor supply voltage and load currents need to be
set:

“VS” is the supply voltage.

“Holding current” is the target r.m.s. current when the motor is stopped.

“Acceleration target current” is the target r.m.s. current when the motor is accelerating.

“Deceleration target current” is the target r.m.s. current when motor is decelerating.

“Running target current” is the target r.m.s. current when the motor is running at
constant speed.
When “Keep target currents linked” box is checked, acceleration, deceleration and running
target currents are forced to the same value.
In the “Motor parameters” panel the motor characteristics need to be set:

“Ke” is the electric constant of the motor.

“Motor phase inductance” is the inductance of the motor phases.

“Motor phase resistance” is the resistance of the motor phases.
When the application parameters and motor characteristics are inserted, the parameters of
the voltage mode algorithm can be calculated clicking on the “Evaluate” button.
The resulting configuration settings are shown in the respective numeric boxes in
hexadecimal format. The compensation curves which are implemented by the algorithm are
shown on the graph in Figure 16.
If the system fails to evaluate the parameters, a warning message is displayed. This error
could be due to wrong application or motor data: for example you cannot obtain a holding
current of 1.5 A with a supply voltage of 10 V and a phase resistance of 10  (maximum
current value is 1 A).
The voltage mode algorithm setup can be written into the device registers clicking on the
“Write” button.
Warning:
The compensation parameters COULD BE NOT the optimal
ones. Better performances can be obtained with fine tuning
of the parameters. Please refer to the AN4144 application
note dedicated to voltage mode driving for furthers details.
Saving and loading application and motor parameters
The current application and motor parameters can be saved clicking on the “Save” button.
A file selection dialog will be opened to choose if creating a new BEMF setup file or
overwriting an existing one.
The BEMF setup files can be loaded clicking on the “Open” button. A file selection dialog will
be opened to choose the target file.
When the selected file is loaded, the new voltage mode algorithm parameters are
immediately evaluated, but the new setup is NOT written into the device.
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7
Scripting environment
Scripting environment
The application includes a scripting environment which allows the user to implement
complex command sequences. The script language is a tailor made Python extension for
the dSPIN™ and cSPIN™ devices. The scripting environment is based on IronPython, an
open-source implementation of the Python programming language for the .NET framework.
The application provides a detailed help file including some Phyton™ basics to write custom
automatic routines. Detailed information on Phyton can be found at the “Python
Programming Language Official Website” - www.python.org.
Figure 17. Scripting environment form
Scripting environment tool is divided into three text boxes:

Script box: here the script code can be written.

Output box: here the script messages will be found.

Error box: here error messages will be displayed.
At the top of the window a menu and a toolbar can be found.
The menu bar allows to manage script files (“File”), start and stop scripting (“Script”) and
quickly access to this help file (“?”).
The toolbar provides shortcuts to the most common commands as “Open” (
(
), “Run script” ( ) and “Stop script” (
).
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), “Save”
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Scripting environment
7.1
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Writing scripts
The scripting environment is based on Phyton. The application provides a detailed help file
including some Phyton basics and a description of all the functions used to control the
devices. Detailed information on Phyton can be found at the Python Programming
Language official website.
When the tool is started, a new scripting file named “Untitled.py” is generated. You can
create a new scripting file anytime through the “New” command in the “File” menu.
You can load an existing script code (.py files) selecting “Open” in the “File” menu or clicking
on the respective toolbar button. The script code is shown in the script box, here you can
edit it. Standard copy, cut, paste and undo commands can be used writing the script.
Note:
Python scripts are simple ASCII text files which can be edited with many different tools, it is
not mandatory to write them used the scripting environment.
Changes can be saved selecting “Save” in the “File” menu or clicking on the respective
toolbar button. If you want to save the script as a different file keeping the original one
unchanged you can do it selecting “SaveAs” in the “File” menu. If you are working on a new
(i.e. unsaved) scripting file, “Save” and “SaveAs” act in the same way.
You can restore the current script file to its last saved version using the “Reload” command
in the “File” menu.
7.2
Script execution
When the script code is ready, it can be executed selecting “Run script” in the “Script” menu
or clicking on the respective toolbar button. When the script is started, the script box is
disabled and the
button is checked.
During the script execution output messages are displayed on the output box. At the end of
the script execution the result message is shown in the error box, the script box is enabled
and the
button is unchecked.
The script execution can be stopped selecting “Stop script” in the “Script” menu or clicking
on the respective toolbar button. Stopping the code execution a HardHiZ command is sent
to all devices.
Warning:
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At the end of script execution all the variables are kept in
memory. If needed, variable initialization is mandatory at
each script execution!
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8
Options
Options
The option dialog allows setting some application options. It can be opened from the main
form selecting “Options” on the “Tools” menu.
Figure 18. Options dialog
The application can be configured to cyclically refresh the value of ABS_POS, SPEED and
STATUS registers. The refresh time can be selected from the “Polling Time” list and the
registers can be selected through relative checkboxes or from the main form. The
autorefresh cycle can also update the BUSY/FLAG lines values. In this case the line values
are shown in the main form status bar.
In the interface board section the SPI speed (“SPI freq.” list) can be selected. The default
value is 4 MHz.
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Daisy chain configuration
9
UM1654
Daisy chain configuration
More demonstration boards can be connected in daisy chain mode. This way you can
control up to eight motors using a single communication board.
To drive two or more boards in daisy chain configuration:
1.
Plug the IBU universal interface board to the PC through the USB cable.
2.
Connect the interface board 10-pin connector to the SPI_IN connector of the first
demonstration board.
3.
Open the termination jumper of the demonstration board.
4.
Connect the SPI_OUT connector of the previous demonstration board to the SPI_IN
connector of the next one.
5.
Repeat step 4. and 5. for all the others boards of the chain except for the last which
must have the termination jumper closed.
6.
Check the termination jumpers of all the demonstration boards: all the jumpers except
for the last one should be opened.
When chain configuration is set, you can connect the interface board to the PC as usual.
The application automatically identifies the number of demonstration boards connected.
Information about the position of the termination jumpers and the SPI connectors can be
found on the documentation of the specific demonstration board.
Warning:
10
Increasing the number of the devices connected in chain
could degrade SPI communication performances. If
communication issues are found, try to reduce SPI clock
speed (see Section 8 on page 37).
Revision history
Table 13. Document revision history
38/39
Date
Revision
03-Sep-2013
1
Changes
Initial release.
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