dSPIN Future in motion d L6470 dSPIN: breakthrough in motor control ST is universally acknowledged as one of the leading semiconductor suppliers for motor control applications ST is a pioneer and leader in smart power monolithic and integrated solutions for motor driver applications dSPIN represents the breakthrough solution for stepper motors in terms of performance with fast & easy design The 3 key benefits of dSPIN Voltage mode driving Outstanding position accuracy & smooth motion: - Resolution up to 128 microsteps/step - Very accurate sine-wave profile Digital core Fully digital motion management: - User-defined motion profiles easily programmable through SPI interface - No need of complex MCU routines Full set of protection features High level of robustness against system faults: - Thermal, low bus voltage, overcurrent, stall detection - Easy design, reduced external components Monolithic digital microstepping driver BCD 0.35 m, multi-power technology 3V voltage regulator 16MHz oscillator ADC dSPIN Charge pump core Power stage DAC and comparator Current sensing SPI Thermal protection Driving multi-purpose bipolar stepper motors Factory automation, sewing machine Stage lighting ATM, POS, vending machines, gaming Medical, security Professional and label printers Consumer, toys & robotics Voltage driving versus current driving Without dSPIN Standard current mode driving Noisy and jerky motion Mechanical vibrations from abrupt current changes Inaccurate positioning Peak current different from target Torque ripple and EMI difficult to control Non constant switching frequency With dSPIN Innovative voltage mode driving Resolution up to 128 steps/step Very accurate and smooth sine-wave profile Reduced resonances, mechanical noise and vibrations at low speed Reduced torque and speed ripple at low speeds Outstanding position resolution and smooth motion Standard current mode – more details 1. Abrupt current changes cause high mechanical vibrations 2. Peak current is Current mode tries to follow even non –ideal steps (reference voltage quantization and sampling) Noisy and jerky motion controlled; average current value is different from target Inaccurate positioning 3. Non-constant switching frequency Torque ripple and EMI are difficult to control dSPIN innovative control – more details Smooth current transient reduces mechanical vibrations Motor movement is soft and silent Constant switching frequency Torque ripple and EMI are controlled Average current is controlled Accurate positioning Digital core Without dSPIN Speed and position profiles required complex MCU routines With dSPIN dSPIN does the tricky part, following simple high-level SPI commands Fully digital motion management with simple commands Integration of digital core dSPIN manages the full motion profile Target speed, acceleration, deceleration Maximum speed from 15.25 to 15610 step/s (15.25 step/s resolution) Absolute/ relative positioning Integrated 22-bit register For up to 32768 full steps @128 µstep Acceleration and deceleration from 14.55 to 59590 step/s2 (14.55 step/s2 resolution) Advanced set of protection features Programmable non dissipative overcurrent protection Internal sensing of highand low-side power Two levels of overtemperature protection Under voltage protection Stall detection Example of stall detection Vphase STALL threshold Iphase BEMF Normal operation High level of robustness against system faults Stall High configurability for easy design 3 slew-rate levels programmable through SPI 180 V/μs, 290 V/μs and 530 V/μs SPI daisy-chain configuration 4 clock configurations Logic supply management Fully-digital control through SPI Absolute-position register can be set Speed profile parameters Torque control parameters BEMF compensation Phase resistance drift compensation ADC conversion result Overcurrent threshold Stall detection threshold Device configuration and status Motor electrical position (current microstep) can be set L6470 - Benefits summary Voltage mode driving Digital core Full set of protections 128 µsteps/ step is the best motion resolution ever reached in monolithic stepper motor drivers Smoothness of motion is like never before All with a single chip, avoiding more expensive and space consuming discrete solutions Fully digital motion control allows the user to set a variety of features: target speed, acceleration/ deceleration, absolute and relative position, just to name a few SPI interface allows user to easily insert desired parameters with no need for external microcontroller A full set of protection functions confers robustness to the system and helps to further reduce the number of external components, the cost and complexity Outstanding performance with fast & easy design Motor control system-on-chip er w Po pin S in D d Sp in p s Advanced control driving C Performance & Integration Motor control ICs C-SPIN digital controller + driver conceived to enable a wide variety of implementations Making your designs easier Packages HTSSOP28 package (H type) – mass production PowerSO36 (PD Type) – samples already available Support Full design support: evaluation board, software, USB and IBU interface boards, application notes, available at: www.st.com/dspin Tools and documentation Sales codes L6470H L6470HTR L6470PD - HTSSOP28 - Tray - HTSSOP28 - Tape & Reel - PowerSO36 (Samples available now) L6470 Documentation: L6470 webpage Datasheet Application Note (AN3103) Software: L6470 Evaluation tool software Evaluation boards EVAL6470H EVAL6470PD Control boards STEVAL-PCC009V2 (and –V1) dSPIN firmware library Available at http://www.st.com/dspin