UM1829
User manual
EVLPOWERSTEP01: system-in-package integrating microstepping
controller and 10 A power MOSFETs
Introduction
The EVLPOWERSTEP01 is a demonstration board based on the powerSTEP01 system-inpackage implementing a complete stepper motor driver for high power applications. It is
designed to operate with a supply voltage ranging from 10.5 V to 85 V with a maximum
current of 10 Ar.m.s.
In combination with the STEVAL-PCC009V2 demonstration board and the SPINFamily
evaluation tool, the board provides a complete and easy to use evaluation environment
allowing the user to investigate all the features of the powerSTEP.
Supporting the daisy chain configuration the board is suitable for the evaluation of the multi
motor applications.
October 2014
DocID027011 Rev 1
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www.st.com
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Contents
UM1829
Contents
1
Board description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2
Evaluation environment setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3
Device configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.1
Voltage mode driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
3.2
Advanced current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3
Gate drivers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.4
Overcurrent and stall detection thresholds . . . . . . . . . . . . . . . . . . . . . . . . 13
3.5
Speed profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4
Sensing resistors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
5
How to change the supply configuration of the board . . . . . . . . . . . . 16
6
Daisy chaining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
7
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
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1
Board description
Board description
Table 1. Electrical specifications
Parameter
Value
Supply voltage (VS)
10.5 V to 85 V
Maximum output current (each phase)
10 Ar.m.s.
Gate drivers supply voltage (VCC)
7.5 V to 15 V
Logic supply voltage
3.3 V
Logic interface supply voltage
3.3 V or 5 V
Low logic level input
0V
High logic level input
VDD(1)
Operating ambient temperature
0 °C to +85 °C
1. All logic inputs are 5 V tolerant.
Figure 1. Jumpers and connectors location
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Board description
UM1829
Table 2. Jumpers and connectors description
Name
Type
Function
J4
Power supply
Main supply voltage
J1
Power output
Power bridge A outputs
J3
Power output
Power bridge B outputs
J6
Power supply
Integrated voltage regulator inputs
J5
SPI
Master SPI connector
J7
SPI
Slave SPI connector
JP3
Jumper
VS to VSREG jumper
JP4
Jumper
VSREG to VCC jumper
JP5
Jumper
VCC to VCCREG jumper
JP6
Jumper
VCCREG to VREG jumper
JP7
Jumper
VREG to VDD jumper
JP8
Jumper
VDD to 3.3 V from SPI connector jumper
JP9
Jumper
Daisy chain termination jumper
JP10
Jumper
STBY to VS pull-up jumper
Table 3. Master SPI connector pinout (J5)
Pin number
Type
Function
1
Open drain output
powerSTEP01 BUSY output
2
Open drain output
powerSTEP01 FLAG output
3
Ground
Ground
4
Supply
EXT_VDD (can be used as external logic power supply)
5
Digital output
SPI “Master In Slave Out” signal (connected to powerSTEP01 SDO output
through daisy chain termination jumper JP9)
6
Digital input
SPI “Serial Clock” signal (connected to powerSTEP01 CK input)
7
Digital input
SPI “Master Out Slave In” signal (connected to powerSTEP01 SDI input)
8
Digital input
SPI “Slave Select” signal (connected to powerSTEP01 CS input)
9
Digital input
powerSTEP01 step-clock input
10
Digital input
powerSTEP01 standby/reset input
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Board description
Table 4. Slave SPI connector pinout (J7)
Pin number
Type
Function
1
Open drain output
powerSTEP01 BUSY output
2
Open drain output
powerSTEP01 FLAG output
3
Ground
Ground
4
Supply
EXT_VDD (can be used as external logic power supply)
5
Digital output
SPI “Master In Slave Out” signal (connected to pin 5 of J5)
6
Digital input
SPI “Serial Clock” signal (connected to powerSTEP01 CK input)
7
Digital input
SPI “Master Out Slave In” signal (connected to powerSTEP01 SDO output)
8
Digital input
SPI “Slave Select” signal (connected to powerSTEP01 CS input)
9
Digital input
powerSTEP01 step-clock input
10
Digital input
powerSTEP01 standby/reset input
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Board description
UM1829
Figure 2. Schematic page 1 of 2
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Board description
Figure 3. Schematic page 2 of 2
7/20
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Board description
UM1829
Table 5. Bill of material
Index Qty.
Reference
Value / generic
part number
Package
1
2
C1, C8
470 nF/25 V
CAPC-0603
2
4
C2, C3, C4,
C5
220 nF/100 V
CAPC-0805
3
1
C6
47 nF/100 V
CAPC-0805
4
1
C7
100 nF/100 V
CAPC-0603
5
1
C9
100 nF/25 V
CAPC-0603
6
1
C10
3.3 nF/6.3 V
CAPC-0805
7
1
C11
22 F/6.3 V
CAPC-1206
8
1
C12
100 nF/4 V
CAPC-0603
9
1
C13
100 nF/6.3 V
CAPC-0603
10
1
C14A
220 F/100 V
CAPE-R16H21- P75
11
1
C14
220 F/100 V
CAPES-R18H17
12
1
C15
10 nF/6.3 V
CAPC-0603
13
1
DL1
LED - amber
LEDC-0805
14
1
DL2
LED - red
LEDC-0805
15
1
D1
BAR43S
SOT23
16
1
D2
BZX585-B3V3
SOD523
17
1
D3
BZX585-B3V6
SOD523
18
5
JP1, JP2, JP4,
JP6, JP8
OPEN
JP2SO
19
5
JP3, JP5, JP7,
JP9, JP10
CLOSED
JP2SO
20
3
J1, J3, J4
MORSV-508-2P
MORSV-508-2P
21
2
J2, J8
N. M.
STRIP254P-M-2
22
1
J5
Pol. IDC male
header vertical
10 poles (black)
CON-FLAT - 5 x 2- 180 M
23
1
J6
N. M.
STRIP254P-M-4
24
1
J7
Pol. IDC male
header vertical
10 poles (gray)
CON-FLAT - 5 x 2- 180 M
25
2
R1, R2
39 k
RESC-0603
26
6
R3, R4, R5,
R6, R7, R8
0.1 /2 W
RESC-2512
27
2
R9, R10
470
RESC-0603
8/20
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Manufacturer
Manufacturer's
ordering code /
orderable part
number
STMicroelectronics
BAR43SFILM
UM1829
Board description
Table 5. Bill of material (continued)
Index Qty.
Reference
Value / generic
part number
Package
28
1
R11
10 k
RESC-0603
29
2
R12, R14
100 k/0.125 W
RESC-0603
30
1
R13
N. M.
RESC-0603
31
1
R15
50 k/0.125 W
TRIMM- 100 x 50 x 110
- 64 W
32
7
TP1, TP2, VS,
VREG, VDD,
VCC, STCK
TP-RING-RED
TPTH-RING- 1 MM
33
1
U1
powerSTEP01
Manufacturer
Manufacturer's
ordering code /
orderable part
number
MLPQ85L
STMicroelectronics POWERSTEP01
- 140 x 110 x 100 - 89 - ST
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Evaluation environment setup
2
UM1829
Evaluation environment setup
The evaluation environment is composed by:
One or more EVLPOWERSTEP01.
One STEVAL-PCC009V2 demonstration board.
A USB cable.
A stepper motor with a small mechanical load (unloaded stepper motors suffer of
strong resonance issues).
A power supply with an output voltage within the operative range of the demonstration
board.
A Windows® 7 or Windows XP PC with a free USB port.
The SPINFamily evaluation tool (the last version can be downloaded from the
STMicroelectronics® website).
In order to start using the evaluation environment the following steps are required:
1.
Install the SPINFamily evaluation tool.
2.
Start the SPINFamily evaluation tool (by default it is in Start menu > All programs >
STMicroelectronics > SPINFamily Evaluation Tool).
3.
Select the proper device when requested by the application.
4.
Plug the STEVAL-PCC009V2 demonstration board to a free USB port.
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 STEVAL-PCC009V2 board using the provided cable.
For connecting more devices to the same board, please consult the daisy chain
connection paragraph (Section 6 on page 18).
7.
Power-up the demonstration boards. The FLAG LED should turn on.
8.
Click on the button with the USB symbol to connect the STEVAL-PCC009V2 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.
Before start working with the demonstration board, the device must be configured according
to the indications described in Section 3: Device configuration.
Warning:
10/20
important - the device configuration is mandatory. The
default configuration is not operative.
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3
Device configuration
Device configuration
This section offers an overview of the basic configuration steps which are required for make
the demonstration board operative. More details about the configuration of the gate driving
circuitry and the control algorithms are available in the specific application notes.
Warning:
3.1
important - the device configuration is mandatory. The
default configuration is not operative.
Important - before changing the device configuration verify
that the device is in high impedance status (power stage is
disabled).
Voltage mode driving
When the device uses the voltage mode driving, the shunt resistors are not required. In this
case it is recommended to remove the shunt resistors (R4 - R8) and short the sense pins to
ground through the JP1 and JP2 jumpers.
The configuration parameters of the voltage mode driving can be obtained through the
BEMF compensation tool embedded into the SPINFamily software.
A wrong setup of these parameters could cause several issues, in particular:
The phase current decreases with the speed and the motor will stall.
The wrong voltage is applied to the motor and the system is very noisy.
The phase current reaches the overcurrent limit.
The BEMF compensation form uses the application parameters as inputs in order to
evaluate the proper device setup.
The required inputs are:
Supply voltage.
Target phase current (r.m.s. value) at different motion conditions (acceleration,
deceleration, constant speed and holding).
Target operating speed (maximum speed).
Motor characteristics.
The motor characteristics are: electrical constant (Ke), phase inductance and resistance.
The inductance and the resistance of the phase are given in the motor datasheet. The Ke is
rarely given in the specification and must be measured.
In the help section of the SPIN family software a step-by-step procedure is explained. The
same procedure can also be found in the application note AN4144: “Voltage mode control
operation and parameter optimization”.
Click on the “evaluate” button to get the suggested setup for the voltage mode driving. Then
click on the “write” button to copy the data into the registers of the powerSTEP01.
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Device configuration
3.2
UM1829
Advanced current control
The following configuration gives good results with most of motors:
Minimum ON time = (2 x tCC + tDT + tBLANK) + 1 µs.
Minimum OFF time = 21 µs.
Max. fast decay = 10 µs.
Max. fast decay at step change = 16 µs.
Target switching time = 48 µs.
Predictive current control disabled.
The impact of the timing parameters is explained in the application note AN4158: “Peak
current control with automatic decay adjustment and predictive current control: basics and
setup”.
The target phase current is set through the TVAL registers. The TVAL determinates the
reference voltage (i.e.: the voltage drop on the sense resistors) corresponding to the peak of
the current sine wave (microstepping operation):
Equation 1
Ipeak = TVAL_X /Rsense = TVAL_X /0.033
The sensing resistors can be changed as described in Section 5.
3.3
Gate drivers
The charge supplied by the device at each commutation is equal to the gate current (Igate)
multiplied by the controlled current time (tcc). This value must be greater of the total gate
charge (Qg) required to turn on the integrated MOSFETs. The gate current can be changed
in order to speed up or slow down the commutation speed (i.e.: the slew rate of the power
stage outputs); in this case the controlled current time should be changed accordingly.
The power MOSFETs integrated into the powerSTEP01 system-in-package has a total gate
charge of 25 nC (typical) and the recommended configurations are listed in Table 6.
Table 6. Recommended gate driving configurations
12/20
Slew rate (VS = 48 V)
Igate
tCC
tDT
tblank
tboost
980 V/s
96 mA
375 ns
125 ns
500 ns
0 ns
790 V/s
64 mA
500 ns
125 ns
375 ns
0 ns
520 V/s
32 mA
875 ns
125 ns
250 ns
0 ns
400 V/s
24 mA
1000 ns
125 ns
250 ns
0 ns
220 V/s
16 mA
1600 ns
125 ns
250 ns
0 ns
114 V/s
8 mA
3125 ns
125 ns
250 ns
0 ns
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Device configuration
Warning:
important - a wrong gate driving setup may cause spurious
overcurrent failures even if no load is connected to the power
stage.
The suggested configuration for the demonstration board is the following:
3.4
VCC value = 15 V.
UVLO threshold = 11 V (10 V on boot).
Gate current = 64 mA.
Controlled current time = 500 ns.
Deadtime = 125 ns.
Blanking time = 375 ns.
Turn OFF boost time = disabled.
Overcurrent and stall detection thresholds
The overcurrent protection and the stall detection are implemented measuring the drain
source voltage of the MOSFETs, hence their value is a voltage and not a current.
The protection thresholds are set according to the voltage drop caused by the target
triggering current on the MOSFET RdsON at the expected operating temperature (in fact this
parameters increase with temperature).
During the preliminary stages of evaluation, the max. value of 1000 mV can be set for both
protections. The default value of 281.25 mV has a good probability to trigger the overcurrent
alarm.
Warning:
important - it is strongly discouraged to disable the
overcurrent shutdown. It may result in critical failures.
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Device configuration
3.5
UM1829
Speed profile
The max. speed parameter is the maximum speed the motor will run. By default, it is about
1000 step/s. That means, if you send a command to run at 2000 step/s, the motor speed it
limited at 1000 step/s.
This is an important safety feature in the final application, but not necessarily useful to
evaluate the device performances. Setting the parameter to high values (e.g.: 6000 step/s)
allows evaluating the maximum speed which can be achieved by the application under
a test through the speed tracking command (Run), but it probably limits the possibility to use
positioning commands (Move, GoTo, etc.).
The “Full-Step” speed parameter indicates the speed at which the system switches from
microstepping to full step operation.
In voltage mode driving, it is always recommended to operate in microstepping and not to
switch to the full step. Hence, this parameter should be greater than the maximum speed.
14/20
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4
Sensing resistors
Sensing resistors
In the advanced current control mode, the output current range is determined by the sensing
resistors as indicated in the following formulas:
Equation 2
Ipeak,min = 7.8 mV /Rsense
Equation 3
Ipeak,max = 1 V/Rsense
Where 7.8 mV and 1 V are the minimum and the maximum value of the TVAL registers.
However the actual output current is usually limited by the power rating of the sensing
resistors:
Equation 4
I out limit =
Note:
P d max
-----------------R sense
(r.m.s. value)
The power rating of the sensing resistor determining the maximum output current is 50% of
the nominal one.
If the operative range resulting from the sensing resistors which are mounted on the board
is not suitable for the application, it is possible to change these components in order to fit the
requirements.
The sensing resistors should make the current control operates with a peak reference
voltage between 0.2 and 0.1 volts. This way the power dissipation on the sensing resistor is
not excessive and the offset of the sensing circuitry does not affect the performance of the
current control algorithm.
Equation 5
0.2V
R sense = ------------I peak
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How to change the supply configuration of the board
5
UM1829
How to change the supply configuration of the board
The configuration of the supply voltages can be changed through the jumpers from J3 to J8
as listed in Table 6, Table 7 and Table 8.
Table 7. VCC supply configurations
Configuration
Internally generated
from VS
JP3
JP4
VSREG range
Notes
Closed
Open
Default.
VCC + 3 V ÷ 85 V VCC value is determined by the internal regulator
configuration.
Internally generated
from a voltage source
different from VS
Open
Open
VCC + 3 V ÷ VS
VCC value is determined by the internal regulator
configuration.
External protection diode could be required (see
following).
Externally supplied
(equal to VSREG)
Open
Closed
7.5 V ÷ 15 V
External protection diode could be required (see
following).
Note:
When the VCC voltage of 7.5 V is used, the charge pump diodes should be replaced with
low drop ones (suggested part BAR43SFILM). Otherwise the resulting boot voltage could be
lower than the respective UVLO threshold and the device is not operative.
When the VSREG pin is not shorted to VS (JP1 is open), particular care must be taken in
order to avoid that the VBOOT voltage falls below the VSREG one (e.g.: VS is floating and
VSREG is supplied). In this case the internal ESD diode is turned on and the device could
be damaged.
Adding a low drop diode between VSREG and VS protects the internal ESD diode from this
event (the charge pump diodes must also be low drop type).
Table 8. VREG supply configurations
Configuration
JP5
JP6
VCCREG range
Closed
Open
VCC
Internally generated from a voltage
source different from VCC
Open
Open
6.3 V ÷ VCC
External protection diode could be
required (see following).
Externally supplied (equal to
VCCREG)
Open
Closed
3.3 V
External protection diode could be
required (see following).
Internally generated from VCC
Notes
Default.
When the VCCREG pin is not shorted to VCC (JP3 is open), particular care must be taken in
order to avoid that the VCC voltage falls below the VCCREG one. In this case the internal
ESD diode is turned on and the device could be damaged.
Adding a low drop diode between VCCREG and VCC protects the internal ESD diode from
this event.
16/20
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UM1829
How to change the supply configuration of the board
Table 9. VDD supply configurations
Configuration
Supplied by VREG
JP7
JP8
VDD range
Closed
Open
3.3 V
Supplied by SPI connectors
Open
Supplied by VDD test point
Open
Notes
Default, 3.3 V logic.
Closed 3.3 V or 5 V 3.3 V when connected to the STEVAL-PCC009V2.
Open
3.3 V or 5 V Must be 3.3 V if connected to the STEVAL-PCC009V2.
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20
Daisy chaining
6
UM1829
Daisy chaining
More demonstration boards can be connected in the daisy chain mode.
To drive two or more boards in daisy chain configuration:
Note:
18/20
1.
Connect the STEVAL-PCC009V2 board 10-pin connector to the SPI_IN connector of
the first demonstration board through the 10-pole flat cable.
2.
Open the termination jumper (see Section 3.1 on page 11 and Section 3.2 on page 12).
3.
Connect the SPI_OUT connector of the first demonstration board to the SPI_IN of the
next one through the 10-pole flat cable.
4.
Repeat point 2 and 3 for all the others board of the chain but the last one.
5.
Check the termination jumpers of the demonstration boards: all the jumpers but the last
one should be opened.
Increasing the number of devices connected in the chain could degrade SPI communication
performances. If communication issues occur, try reducing the SPI clock speed.
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Revision history
Revision history
Table 10. Document revision history
Date
Revision
07-Oct-2014
1
Changes
Initial release.
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