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Webinar Agenda
Introduction
STs digital motion engine drivers
Q&A/Wrap-up
Stand-alone
controllers
Monolithic dual
full-bridge drivers
L6480
L6482
L6474
L6470
L6472
Power SiP
(digital controller +
power discrete
MOSFETs)
PowerSTEP01
STSPINdigital -
Applications
Home
automation
ATM, vending
machines
Security
cameras
Industrial
2D\3D
printers
Medical
equpments
Robotics
Healthcare
Portable
Toys
44
Important Messages
Digital Motion Engine features/advantages/benefits
The SPI programmable controller provides a fully digital control of the motion through a speed profile
generation and positioning calculations. It allows operation with either voltage mode driving or advanced
current control fitting different application needs. The digital control core can generate user defined motion
profiles with acceleration, deceleration, speed or a 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.
FEATURE:
SPI interface
ADVANTAGE
High level commands (position, speed
profile)
BENEFIT:
Easy to control
Digital diagnostics
No need of complex subroutines
Smaller MCU can be used
Current control/Voltage
control algorithms
Microstepping
Logic
Programmable speed
profile
Comprehensive
command set
Protections
MCU
MCU
FAIL!
MCU
BUSY
MCU
BUSY
Diagnostic Register
The devices integrate a diagnostic register collecting the information
about the status of the system
STATUS
Register
Step-clock mode
Overcurrent
Thermal status
SW status
Thermal Shutdown
10
Tj
TSD
TWRN
Warning region
The device operates
normally but it is
approaching the thermal
shutdown temperature
Thermal shutdown
The power stage is disabled
and cannot be turned on in
any way.
Safe region
Normal
operation is
restored
12
Intelligence Integration
13
system MCU
MCU
dedicated
MCU
dedicated
MCU
Intelligence Integration
14
SPI
MCU
SPI
SPI
system MCU
SPI
15
Typical Application
L6470\72
16
L648X characteristics
Supply voltage 7.5V 85V
Dual full-bridge gate drivers
Fully programmable gate driving
Overcurrent protection based on
MOSFET drain-source drop
Up to 128 microsteps (L6480)
Current control
18
Intelligence integration
Before L648X
dedicated
MCU
Gate drv.s
+ 8x
system MCU
MCU
dedicated
MCU
dedicated
MCU
Gate drv.s
+ 8x
Gate drv.s
+ 8x
19
Intelligence integration
with L648X
System is heavily simplified
No more dedicated MCU to
perform speed profile and
positioning calculations
Less components
Single MCU can drive more
devices at the same time
SPI
MCU
SPI
SPI
8x
8x
8x
system MCU
SPI
20
Gate sink/source
current
Dead time
Blanking time
LESS EMI
LESS POWER
21
Typical application
22
Typical application
23
PowerStep01 System-in-Package
STMicroelectronics
Motor Drivers are moving the future
BetterPerformance
PMOS
PMOS
PMOS
PMOS
Stepper
motor
controller
QFN 11 x 14 mm package
8 x power MOSFETs
Maximum current 10 Arms
Rds(ON) = 16 m
PMOS
PMOS
PMOS
PMOS
26
Intelligence Integration
27
before powerSTEP01
dedicated
MCU
Gate drv.s
+ 8x
system MCU
MCU
dedicated
MCU
dedicated
MCU
Gate drv.s
+ 8x
Gate drv.s
+ 8x
Intelligence Integration
with powerSTEP01
System is greatly simplified
No more dedicated MCU to
perform speed profile and
positioning calculations
Less components
Single MCU can drive more
devices at the same time
SPI
MCU
SPI
SPI
system MCU
SPI
28
Slew-rate
Igate
tCC
tDT
tblank
tboost
790 V/s
64 mA
500 ns
125 ns
375 ns
0 ns
980 V/s
96 mA
375 ns
125 ns
500 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
(VS = 48V)
29
Current mode
System tries to impose phase
current applying a switching
voltage.
It is a closed-loop approach
Robust to variation of the motor
and application characteristics
Robust to resonances
Precise positioning
30
Basic Features
32
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Positioning commands
Name
Description
Notes
Move
GoTo
GoTo_DIR
GoHome
GoMark
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Description
Run
SoftStop
HardStop
SoftHiZ
HardHiz
Notes
Always accepted and
immediately executed
(if present, the previous
command is aborted)
Always accepted and
immediately executed
(if present, the previous
command is aborted)
Always accepted and
immediately executed
(if present, the previous
command is aborted)
Always accepted and
immediately executed
(if present, the previous
command is aborted)
Always accepted and
immediately executed
(if present, the previous
command is aborted)
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HardStop
The HardStop command immediately stops the motor.
Speed
HardStop
SoftStop
Time
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HardHiZ
The HardHiZ command executes a HardStop and then disables the
power bridges.
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You can
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L6470,L6480
Voltage mode driving
40
41
Accurate positioning.
42
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BEMF Compensation
44
Vphase
Normal operation
STALL
threshold
Iphase
BEMF
45
Vphase
STALL
threshold
Iphase
BEMF
STALL!
BEMF is null and
current is suddenly
increased
46
High speed
(current can be low because the low pass filtering effect of the
inductor)
47
VS
Vph
Power
stage
Vph
48
L6470
PWM
+
H-Bridge
KTHERM
Sinewave
Amplitude
49
L6472,L6482
Advanced current control
IREF
51
STSPIN
Advanced current control
Automatic selection of the decay mode
Stable current control in all conditions, in
particular with microstep driving
Slow decay and fast decay balancing
Reduced current ripple
Predictive current control
Average current control
52
Auto-adjusted decay
In a PWM current control with fixed OFF time the slow decay is always
the preferred method in order to minimize the current ripple.
In order to discriminate a good control condition (current can be
controlled through the slow decay) from a potentially unstable
condition (fast decay is needed) the tON of each single control
cycle is monitored.
When the control is stable (tON > tON_MIN) the system apply a slow
decay of tOFF.
Target current level
tON
tOFF
54
Function
tON_MIN
tOFF_FAST
tOFF
tFAST_STEP
Higher values
tOFF
Higher ripple
Shorter on-fast sequences
Higher control stability
tON_MIN
Lower ripple
Longer on-fast sequences
Higher probability of
control fail
tOFF_FAST
tFAST_STEP
56
tOFF
tSW2
The peak current control with fixed OFF time has two main cons:
The average current (actual motor position) could be significantly
different from the controlled peak current
The switching frequency can vary significantly
The predictive current algorithm allows to control the average
current and reduces the switching frequency variation.
58
59
STSPIN
Configurable gate driving circuitry
L6480, L6482, powerSTEP01
Technical details
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The total gate charge Qtot is a parameter which can be found in the
datasheet of the MOSFET.
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Igate
Qtot
tCC
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Incorrect Setups
66
When the gate current and the controlled current time are not properly
set the following failures could occurs:
The gate charge is too low:
The MOSFETs are not turned-on as result an overcurrent event is
detected and the power stage is immediately disabled.
The MOSFETs are turned-on with a lower VCC as result the Rds(ON)
value is higher and the power dissipation increases. An overcurrent
event could also be detected.
The gate charge is too high:
The commutation time is excessively long and the control
algorithm is limited (both voltage mode and current mode).
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Technical Support
69
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Application Notes
AN4144 - Voltage mode control operation and parameter optimization
AN4158 - Peak current control with automatic decay adjustment and
predictive current control: basics and setup
AN4354 - cSPIN family gate drivers setup
AN4290 - L647x, L648x and powerSTEP01 family communication protocol
AN4241 - dSPIN family: fully integrated stepper motor drivers
AN4355 - cSPIN family: high power stepper motor controllers
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Evaluation Boards
73
Evaluation Boards:
EVAL6470H, EVAL6470PD, EVAL6470H-DISC,
EVAL6470H, EVAL6472PD, EVAL6472H-DISC
EVAL6480H, EVAL6480H-DISC
EVAL6482H, EVAL6482H-DISC
EVLPOWERSTEP01
STEVAL-PCC009V2 - All boards require this interface board, except DISC versions
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Thank You
Please enter your questions for the Q&A section now
STSPINTM Family