dSPIN Fully Integrated Microstepping Motor Driver With Motion Engine and SPI

May 2011 Doc ID 16737 Rev 3 1/67
67
L6470
dSPIN fully integrated microstepping motor driver
with motion engine and SPI
Features
Operating voltage: 8 - 45 V
7.0 A output peak current (3.0 A r.m.s.)
Low R
DSon
power MOSFETS
Programmable speed profile and positioning
Programmable power MOS slew-rate
Up to 1/128 microstepping
Sensorless stall detection
SPI interface
Low quiescent and standby currents
Programmable non dissipative overcurrent
protection on high and low-side
Two levels overtemperature protection
Applications
Bipolar stepper motor
Description
The L6470, realized in analog mixed signal
technology, is an advanced fully integrated
solution suitable for driving two phase bipolar
stepper motors with microstepping.
It integrates a dual low R
DSon
DMOS full bridge
with all of the power switches equipped with an
accurate on chip current sensing circuitry suitable
for non dissipative current control and overcurrent
protections. Thanks to a unique control system a
true 1/128 steps 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 registers set. All commands
and data registers, including those used to set
analogue values (i.e. current control value,
current protection trip point, dead time, PWM
frequency etc.) are sent through a standard 5
Mbit/s SPI.
A very rich set of protections (thermal, low bus
voltage, overcurrent, motor stall) allows designing
a fully protected application, as required by most
demanding motor control applications.

HTSSOP28
Table 1. Device summary
Order codes Package Packing
L6470H HTSSOP28 Tube
L6470HTR HTSSOP28 Tape and reel
www.st.com

Contents L6470
2/67 Doc ID 16737 Rev 3
Contents
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4.1 Pin list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
5 Typical applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
6 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6.1 Device power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6.2 Logic I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6.3 Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6.4 Microstepping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.4.1 Automatic full-step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.5 Absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.6 Programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
6.6.1 Infinite acceleration/deceleration mode . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.7 Motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7.1 Constant speed commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7.2 Positioning commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7.3 Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.4 Stop commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.5 Step-clock mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7.6 GoUntil and ReleaseSW commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.8 Internal oscillator and oscillator driver . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.8.1 Internal oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.8.2 External clock source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.9 Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
L6470 Contents
Doc ID 16737 Rev 3 3/67

6.10 Undervoltage lock-out (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.11 Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.12 Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
6.13 External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.14 Programmable DMOS slew-rate, dead-time and blanking-time . . . . . . . . 30
6.15 Integrated analog to digital converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.16 Internal voltage regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.17 BUSY\SYNC pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.17.1 BUSY operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.17.2 SYNC operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.18 FLAG pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
7 Phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.1 PWM sinewave generators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7.2 Sensorless stall detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.3 Low speed optimization . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.4 BEMF compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.5 Motor supply voltage compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.6 Winding resistance thermal drift compensation . . . . . . . . . . . . . . . . . . . . 35
8 Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
9 Programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9.1 Registers and flags description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9.1.1 ABS_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9.1.2 EL_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
9.1.3 MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1.4 SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1.5 ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1.6 DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1.7 MAX_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1.8 MIN_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1.9 FS_SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.10 KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC . . . . . . . . . . . . 42
9.1.11 INT_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.12 ST_SLP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

Contents L6470
4/67 Doc ID 16737 Rev 3
9.1.13 FN_SLP_ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.14 FN_SLP_DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.15 K_THERM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.16 ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.17 OCD_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.18 STALL_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.19 STEP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.20 ALARM_EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.21 CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.22 STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.2 Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.2.1 Command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2.2 Nop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2.3 SetParam (PARAM, VALUE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2.4 GetParam (PARAM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
9.2.5 Run (DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.2.6 StepClock (DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
9.2.7 Move (DIR, N_STEP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.2.8 GoTo (ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
9.2.9 GoTo_DIR (DIR, ABS_POS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.2.10 GoUntil (ACT, DIR, SPD) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
9.2.11 ReleaseSW (ACT, DIR) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.2.12 GoHome . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.2.13 GoMark . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
9.2.14 ResetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.15 ResetDevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.16 SoftStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.17 HardStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.18 SoftHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.19 HardHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.20 GetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
10 Package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
11 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
L6470 List of tables
Doc ID 16737 Rev 3 5/67

List of tables
Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3. Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 4. Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 5. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 6. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Table 7. Typical application values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Table 8. CL values according to external oscillator frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Table 9. Registers map. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Table 10. EL_POS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Table 11. MIN_SPEED register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 12. Voltage amplitude regulation registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 13. Winding resistance thermal drift compensation coefficient . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 14. ADC_OUT value and motor supply voltage compensation feature . . . . . . . . . . . . . . . . . . 44
Table 15. Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 16. Stall detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 17. STEP_MODE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 18. Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 19. SYNC output frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 20. SYNC signal source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 21. ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 22. CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 23. Oscillator management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 24. External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 25. Overcurrent event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 26. Programmable power bridge output slew-rate values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 27. Motor supply voltage compensation enable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 28. PWM frequency: integer division factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 29. PWM frequency: multiplication factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 30. Available PWM frequencies [kHz]: 8 MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . . 50
Table 31. Available PWM frequencies [kHz]: 16 MHz oscillator frequency . . . . . . . . . . . . . . . . . . . . 51
Table 34. STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 35. STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Table 36. STATUS register MOT_STATE bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Table 37. Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 38. Nop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Table 39. SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 40. GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 41. Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 42. Stepclock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 43. Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 44. GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 45. GoTo_DIR command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 46. GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 47. ReleaseSW command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 48. GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

List of tables L6470
6/67 Doc ID 16737 Rev 3
Table 49. GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 50. ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 51. ResetDevice command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 52. SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 53. HardStop command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 54. SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 55. HardHiZ command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 56. GetStatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 57. HTSSOP28 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
Table 58. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
L6470 List of figures
Doc ID 16737 Rev 3 7/67

List of figures
Figure 1. Block diagram. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 2. Pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 3. Bipolar stepper motor control application using L6470. . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 4. Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 5. Normal mode and microstepping (128 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 6. Automatic full-step switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 7. Speed profile in infinite acceleration/deceleration mode . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 8. Constant speed commands examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 9. Positioning command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 10. Motion commands examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 11. OSCIN and OSCOUT pins configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Figure 12. External switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Figure 13. Internal 3 V linear regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 14. Current distortion and compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 15. BEMF compensation curve. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 16. Motor supply voltage compensation circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 17. SPI timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Figure 18. Daisy-chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 19. Command with three byte argument . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 20. Command with three byte responset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 21. Command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 22. HTSSOP28 mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

Block diagram L6470
8/67 Doc ID 16737 Rev 3
1 Block diagram
Figure 1. Block diagram
AM02377v1
3 V
Voltage Reg.
ADC
Ext. Osc. driver
&
Clock gen.
16MHz
Oscillator
Charge
pump
VDD
S
P
I
R
e
g
i
s
t
e
r
s
Control
Logic
Current DACs
&
Comparators
Temperature
sensing
Current
sensing
STBY/RST
FLAG
CS
CK
SDO
SDI
BUSY/SYNC
SW
STCK
DGND
VDD OSCIN OSCOUT ADCIN VREG CP VBOOT
AGND
PGND
PGND
VSA
VSA
OUT1A
OUT2A
VSB
VSB
OUT1B
OUT2B
HSA1
LSA1
HSA2
LSA2
HSB1
LSB1
HSB2
LSB2
HSA1
LSA1
HSA2
LSA2
HSB1
LSB1
HSB2
LSB2
VDD
Vboot Vboot
Vboot Vboot
L6470 Electrical data
Doc ID 16737 Rev 3 9/67

2 Electrical data
2.1 Absolute maximum ratings
Table 2. Absolute maximum ratings
Symbol Parameter Test condition Value Unit
V
DD
Logic interface supply voltage 5.5 V
V
S
Motor supply voltage V
SA
= V
SB
= V
S
48 V
V
GND, diff
Differential voltage between
AGND, PGND and DGND
0.3 V
V
boot
Bootstrap peak voltage 55 V
V
REG
Internal voltage regulator output
pin and logic supply voltage
3.6 V
V
ADCIN
Integrated ADC input voltage
range (ADCIN pin)
-0.3 to +3.6 V
V
OSC
OSCIN and OSCOUT pin voltage
range
-0.3 to +3.6 V
V
out_diff
Differential voltage between V
SA
,
OUT1
A
, OUT2
A
, PGND and V
SB
,
OUT1
B
, OUT2
B
, PGND pins
V
SA
= V
SB
= V
S
48 V
V
LOGIC
Logic inputs voltage range -0.3 to +5.5 V
I
out
(1)
R.m.s. output current 3 A
I
out_peak
(1)
Pulsed output current T
PULSE
< 1 ms 7 A
T
OP
Operating junction temperature 150 C
T
s
Storage temperature range -55 to 150 C
P
tot
Total power dissipation (T
A
= 25C)
(2)
3 W
All pins
Maximum withstanding voltage
range
CDF-AEC-Q100-002- human body
model Acceptance criteria normal
performance all pins vs. all pins
2000 V
Maximum withstanding voltage
range
TBD - charge device model all pins vs.
all pins
TBD V
1. Maximum output current limit is related to metal connection and bonding characteristics. Actual limit must satisfy maximum
thermal dissipation constraints.
2. HTSSOP28 mounted on EVAL6470 Rev 1.0

Electrical data L6470
10/67 Doc ID 16737 Rev 3
2.2 Recommended operating conditions

Table 3. Recommended operating conditions
Symbol Parameter Test condition Value Unit
V
DD
Logic interface supply voltage
3.3 V logic outputs 3.3
V
5 V logic outputs 5
V
S
Motor supply voltage V
SA
= V
SB
= V
S
8 45 V
V
out_diff
Differential voltage between
V
SA
, OUT1
A
, OUT2
A
, PGND
and V
SB
, OUT1
B
, OUT2
B
,
PGND pins
V
SA
= V
SB
= V
S
45 V
V
REG,in
Logic supply voltage
V
REG
voltage imposed
by external source
3.2 3.3 V
V
ADC
Integrated ADC input voltage
(ADCIN pin)
0 V
REG
V
T
j
Operating junction temperature - 25 125 C
Table 4. Thermal data
Symbol Parameter Value Unit
R
thJA
Thermal resistance junction-ambient
(1)
1. HTSSOP28 mounted on EVAL6470 Rev 1.0 board: two-layer FR4 PCB with a dissipating copper surface
of about 3.5 cm2 on the top side plus 9 cm2 ground layer connected through via holes (12 below the IC).
40 C/W
L6470 Electrical characteristics
Doc ID 16737 Rev 3 11/67

3 Electrical characteristics
V
SA
= V
SB
= 36 V; V
DD
= 3.3 V; internal 3 V regulator; T
J
= 25C, unless otherwise specified.
Table 5. Electrical characteristics
Symbol Parameter Test condition Min Typ Max Unit
General
V
SthOn
V
S
UVLO turn on threshold 7.5 8.2 8.9 V
V
SthOff
V
S
UVLO turn off threshold 6.6 7.2 7.8 V
V
SthHyst
V
S
UVLO threshold hysteresis 0.7 1 1.3 V
I
q
Quiescent motor supply current
Internal oscillator selected;
VREG = 3.3V ext;
CP floating
0.5 0.65 mA
T
j(WRN)
Thermal warning temperature 130 C
T
j(SD)
Thermal shutdown temperature 160 C
Charge pump
V
pump
Voltage swing for charge pump oscillator 10 V
f
pump,min
Minimum charge pump oscillator frequency
(1)
660 kHz
f
pump,max
Maximum charge pump oscillator frequency
(1)
800 kHz
I
boot
Average boot current
f
sw,A
= f
sw,B
= 15.6 kHz
POW_SR = 10
1.1 1.4 mA
Output DMOS transistor
R
DS(on)
High side switch ON resistance
T
j
= 25 C,
I
out
= 3A
0.37
T
j
= 125 C,
(2)
I
out
= 3A
0.51
Low side switch ON resistance
T
j
= 25 C,
I
out
= 3A
0.18
T
j
= 125 C,
(2)
I
out
= 3A
0.23
I
DSS
Leakage current
OUT = V
S
3.1
mA
OUT = GND -0.3
t
r
Rise time
(3)
POW_SR = '00', I
out
= +1A 100
ns
POW_SR = '00', I
out
= -1A 80
POW_SR = 11, I
out
= 1A 100
POW_SR = 10, I
lout
= 1A 200
POW_SR = 01, I
out
= 1A 300

Electrical characteristics L6470
12/67 Doc ID 16737 Rev 3
t
f
Fall time
(3)
POW_SR = '00'; Iout = +1A 90
ns
POW_SR = '00'; Iout = -1A 110
POW_SR = 11, I
out
= 1A 110
POW_SR = 10, I
out
= 1A 260
POW_SR = 01, I
load
= 1A 375
SR
out_r
Output rising slew-rate
POW_SR = '00', I
out
= +1A 285
V/s
POW_SR = '00', I
out
= -1A 360
POW_SR = 11, I
out
= 1A 285
POW_SR = 10, I
out
= 1A 150
POW_SR = 01, I
out
= 1A 95
SR
out_f
Output falling slew-rate
POW_SR = '00', I
out
= +1A 320
V/s
POW_SR = '00', I
out
= -1A 260
POW_SR = 11, I
out
= 1A 260
POW_SR = 10, I
out
= 1A 110
POW_SR = 01, I
out
= 1A 75
Dead time and blanking
t
DT
Dead time
(1)
POW_SR = '00' 250
ns
POW_SR = 11,
f
OSC
= 16MHz
375
POW_SR = 10,
f
OSC
= 16MHz
625
POW_SR = 01,
f
OSC
= 16MHz
875
t
blank
Blanking time
(1)
POW_SR = '00' 250
ns
POW_SR = 11,
f
OSC
= 16MHz
375
POW_SR = 10,
f
OSC
= 16MHz
625
POW_SR = 01,
f
OSC
= 16MHz
875
Source-drain diodes
V
SD,HS
High side diode forward ON voltage I
out
= 1 A 1 1.1 V
V
SD,LS
Low side diode forward ON voltage I
out
= 1 A 1 1.1 V
t
rrHS
High side diode reverse recovery time I
out
= 1 A 30 ns
t
rrLS
Low side diode reverse recovery time I
out
= 1 A 100 ns
Table 5. Electrical characteristics (continued)
Doc ID 16737 Rev 3 13/67

Logic inputs and outputs
V
IL
Low logic level input voltage 0.8 V
V
IH
High logic level input voltage 2 V
I
IH
High logic level input current
(4)
V
IN
= 5 V 1 A
I
IL
Low logic level input current
(5)
V
IN
= 0 V -1 A
V
OL
Low logic level output voltage
(6)
V
DD
= 3.3 V,
I
OL
= 4 mA
0.3
V
V
DD
= 5 V,
I
OL
= 4 mA
0.3
V
OH
High logic level output voltage
V
DD
= 3.3 V,
I
OH
= 4 mA
2.4
V
V
DD
= 5 V,
I
OH
= 4 mA
4.7
R
PU
R
PD
CS Pull-up and STBY pull-down resistors
CS = GND;
STBY/RST = 5 V
335 430 565 k
I
logic
Internal logic supply current
3.3 V V
REG
externally
supplied, internal oscillator
3.7 4.3 mA
I
logic,STBY
Standby mode internal logic supply current
3.3 V V
REG
externally
supplied
2 2.5 A
f
STCK
Step clock input frequency 2 MHz
Internal oscillator and external oscillator driver
f
osc,i
Internal oscillator frequency
T
j
= 25C,
V
REG
= 3.3 V
-3% 16 +3% MHz
f
osc,e
Programmable external oscillator frequency 8 32 MHz
V
OSCOUTH
OSCOUT clock source high level voltage
Internal oscillator
3.3 V V
REG
externally
supplied; I
OSCOUT
= 4 mA
2.4 V
V
OSCOUTL
OSCOUT clock source low level voltage
Internal oscillator
3.3 V V
REG
externally
supplied; I
OSCOUT
= 4 mA
0.3 V
t
rOSCOUT
t
fOSCOUT
OSCOUT clock source rise and fall time Internal oscillator 20 ns
t
extosc
Internal to external oscillator switching delay 3 ms
t
intosc
External to internal oscillator switching delay 1.5 s
SPI
f
CK,MAX
Maximum SPI clock frequency
(7)
5 MHz
t
rCK
t
fCK
SPI clock rise and fall time
(7)
C
L
= 30pF 25 ns

Electrical characteristics L6470
14/67 Doc ID 16737 Rev 3
t
hCK
t
lCK
SPI clock high and low time
(7)
75 ns
t
setCS
Chip select setup time
(7)
350 ns
t
holCS
Chip select hold time
(7)
10 ns
t
disCS
Deselect time
(7)
800 ns
t
setSDI
Data input setup time
(7)
25 ns
t
holSDI
Data input hold time
(7)
20 ns
t
enSDO
Data output enable time
(7)
38 ns
t
disSDO
Data output disable time
(7)
47 ns
t
vSDO
Data output valid time
(7)
57 ns
t
holSDO
Data output hold time
(7)
37 ns
Switch input (SW)
R
PUSW
SW input pull-up resistance SW = GND 60 85 110 k
PWM modulators
f
PWM
Programmable PWM frequency
(1)
f
osc
= 16MHz 2.8 62.5
kHz
f
osc
= 32MHz 5.6 125
N
PWM
PWM resolution 8 bit
Stall detection
I
STALL,MAX
Maximum programmable stall threshold STALL_TH = '1111111' 4 A
I
STALL,MIN
Minimum programmable stall threshold STALL_TH = '0000000' 31.25 mA
I
STALL,RES
Programmable stall threshold resolution 31.25 mA
Overcurrent protection
I
OCD,MAX
Maximum programmable overcurrent
detection threshold
OCD_TH = 1111 6 A
I
OCD,MIN
Minimum programmable overcurrent detection
threshold
OCD_TH = 0000 0.375 A
I
OCD,RES
Programmable overcurrent detection threshold
resolution
0.375 A
t
OCD,Flag
OCD to Flag signal delay time
dI
out
/dt = 350A/s,
R
FLAG
= TBD
650 1000 ns
t
OCD,SD
OCD to shut-down delay time
dI
out
/dt = 350A/s
POW_SR = '10'
600 s
Standby
I
qSTBY
Quiescent motor supply current in standby
conditions
V
S
= 8V 26 34
A
V
S
= 36V 30 36
Doc ID 16737 Rev 3 15/67

t
STBY,min
Minimum standby time 10 s
t
logicwu
Logic power-on and wake-up time 38 45 s
t
cpwu
Charge pump power-on and wake-up time
Power bridges disabled,
C
p
= 10nF,
C
boot
= 220nF
650 s
Internal voltage regulator
V
REG
Voltage regulator output voltage 2.9 3 3.2 V
I
REG
Voltage regulator output current 40 mA
V
REG, drop
Voltage regulator output voltage drop I
REG
= 40mA 50 mV
I
REG,STBY
Voltage regulator standby output current 10 mA
Integrated analog to digital converter
N
ADC
Analog to digital converter resolution 5 bit
V
ADC,ref
Analog to digital converter reference voltage V
REG
V
f
S
Analog to digital converter sampling
frequency
f
PWM
kHz
1. Accuracy depends on oscillator frequency accuracy.
2. Tested at 25C in a restricted range and guaranteed by characterization.
3. Rise and fall time depends on motor supply voltage value. Refer to SR
out
values in order to evaluate the actual rise and fall
time.
4. Not valid for STBY/RST pin which have internal pull-down resistor.
5. Not valid for SW and CS pins which have internal pull-up resistor
6. FLAG, BUSY and SYNC open drain outputs included.
7. See Figure 17 SPI timings diagram for details.

Pin connection L6470
16/67 Doc ID 16737 Rev 3
4 Pin connection
4.1 Pin list

Figure 2. Pin connection (top view)

OUTlA OUT2A
vSA
ST8\PLS
Sw
ADC|N
vPLG
OSC|N
OSCOUT
AGND
CP
v8OOT
PGND
vS8
OUTl8 OUT28
vS8
vDD
SDO
CK
SD|
DGND
8US\SNC
CS
PLAG
STCK
PGND
vSA
1
2
3
4
5
6
7
8
9
10
11
12
13
14
28
27
26
25
24
23
22
21
20
19
18
17
16
15
LPAD
AM02378v1
Table 6. Pin description
N. Name Type Function
17 VDD Power Logic outputs supply voltage (pull-up reference)
6 VREG Power
Internal 3 V voltage regulator output and 3.3 V external
logic supply
7 OSCIN Analog input
Oscillator pin 1. To connect an external oscillator or clock
source. If this pin is unused, it should be left floating.
8 OSCOUT Analog output
Oscillator pin 2. To connect an external oscillator. When
the internal oscillator is used this pin can supply a
2/4/8/16 MHz. If this pin is unused, it should be left
floating.
10 CP Output Charge pump oscillator output
11 VBOOT Supply voltage
Bootstrap voltage needed for driving the high side power
DMOS of both bridges (A and B)
5 ADCIN Analog input Internal analog to digital converter input
2
VSA Power supply
Full bridge A power supply pin. It must be connected to
VSB
26
12
VSB Power supply
Full bridge B power supply pin. It must be connected to
VSA
16
L6470 Pin connection
Doc ID 16737 Rev 3 17/67

27
PGND Ground Power ground pin
13
1 OUT1A Power output Full bridge A output 1
28 OUT2A Power output Full bridge A output 2
14 OUT1B Power output Full bridge B output 1
15 OUT2B Power output Full bridge B output 2
9 AGND Ground Analog ground.
4 SW Logical input
External switch input pin. If not used the pin should be
connected to VDD.
21 DGND Ground Digital ground
22 BUSY\SYNC Open drain output
By default this BUSY pin is forced low when the device is
performing a command. Otherwise the pin can be
configured to generate a synchronization signal.
18 SDO Logic output Data output pin for serial interface
20 SDI Logic input Data input pin for serial interface
19 CK Logic input Serial interface clock
23 CS Logic input Chip Select input pin for serial interface
24 FLAG Open drain output
Status Flag pin. An internal open drain transistor can pull
the pin to GND when a programmed alarm condition
occurs (step loss, OCD, thermal pre-warning or
shutdown, UVLO, wrong command, non performable
command)
3 STBY\RST Logic input
Standby and reset pin. LOW logic level reset the logic
and puts the device in standby mode. If not used, should
be connected to VDD
25 STCK Logic input Step clock input
EPAD Exposed pad Ground Internally connected to PGND, AGND and DGND pins
Table 6. Pin description (continued)
N. Name Type Function

Typical applications L6470
18/67 Doc ID 16737 Rev 3
5 Typical applications

Figure 3. Bipolar stepper motor control application using L6470
Table 7. Typical application values
Name value
C
VS
220 nF
C
VSPOL
100 F
C
REG
100 nF
C
REGPOL
47 F
C
DD
100 nF
C
DDPOL
10 F
D1 Charge pump diodes
C
BOOT
220 nF
C
FLY
10 nF
R
PU
39 k
R
SW
100
C
SW
10 nF
R
A
2.7 k (VS = 36 V)
R
B
62 k (VS = 36 V)
L6470 Functional description
Doc ID 16737 Rev 3 19/67

6 Functional description
6.1 Device power-up
At power-up end, the device state is the following:
Registers are set to default,
Internal logic is driven by internal oscillator and a 2MHz clock is provided by OSCOUT
pin,
Bridges are disabled (High Z),
UVLO bit in STATUS register is forced low (fail condition),
FLAG output is forced low
During power-up the device is under reset (all logic IO disabled and power bridges in high
impedance state) until the following conditions are satisfied:
V
S
is greater than V
SthOn
,
V
REG
is greater than V
REGth
= 2.8 V typical
Internal oscillator is operative.
Any motion command makes the device exiting from High Z state (HardStop and SoftStop
included).
6.2 Logic I/O
Pins CS, CK, SDI, STCK, SW and STBY\RST are TTL/CMOS 3.3V-5V compatible logic
inputs.
Pin SDO is a TTL/CMOS compatible logic output. VDD pin voltage sets the logic output pin
voltage range; when it is connected to VREG or 3.3V external supply voltage, the output is
3.3V compatible. When VDD is connected to a 5V supply voltage, SDO is 5V compatible.
VDD is not internally connected to V
REG
, an external connection is always needed.
A 10 F capacitor should be connected to V
DD
pin in order to obtain a proper operation.
Pins FLAG and BUSY\SYNC are open drain outputs.
6.3 Charge pump
To ensure the correct driving of the high side integrated mosfets a voltage higher than the
motor power supply voltage needs to be applied to the VBOOT pin. The high side gate
driver supply voltage V
boot
is obtained through an oscillator and a few external components
realizing a charge pump (see Figure 4).

Functional description L6470
20/67 Doc ID 16737 Rev 3
Figure 4. Charge pump circuitry
6.4 Microstepping
The driver is able to divide the single step into up to 128 microsteps. Stepping mode can be
programmed by STEP_SEL parameter in STEP_MODE register (see Table 18).
Step mode can be only changed when bridges are disabled. Every time the step mode is
changed the electrical position (i.e. the point of microstepping sinewave that is generated) is
reset to first microstep and the absolute position counter value (see Section 6.5) becomes
meaningless.
Figure 5. Normal mode and microstepping (128 microsteps)
AM02380v1
V
S
V
S
+ V
CP
- V
D1
- V
D2
V
CP
f
PUMP
to high side
gate drivers
V
S
+ V
CP
- V
D1
C
BOOT
C
FLY
D1 D2
VBOOT CP
VDD
AM02381v1
step 1 step 1 step 2 step 3 step 4 step 1
Reset
position
step 1 step 2 step 3 step 4
Normal driving Microstepping
PHASE A current
PHASE B current
PHASE A current
PHASE B current
microsteps
128
steps
128
steps
128
steps
128
steps
Reset
position
Doc ID 16737 Rev 3 21/67

6.4.1 Automatic full-step mode
When motor speed is greater than a programmable full step speed threshold, the L6470
switches automatically to full-step mode (see Figure 6); the driving mode returns to
microstepping when motor speed decrease below the full step speed threshold. Full step
speed threshold is set through the FS_SPD register (see Section 9.1.9).
Figure 6. Automatic full-step switching
6.5 Absolute position counter
An internal 22 bit register (ABS_POS) takes memory of motor motion according to the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The position range is from -2
21
to +2
21
-1 ()steps (see Section 9.1.1).
6.6 Programmable speed profiles
The user can easily program a customized speed profile defining independently
acceleration, deceleration, maximum and minimum speed values by ACC, DEC,
MAX_SPEED and MIN_SPEED registers respectively (see Section 9.1.5, 9.1.6, 9.1.7 and
9.1.8).
When a command is sent to the device, the integrated logic generates the microstep
frequency profile that performs a motor motion compliant to speed profile boundaries.
All acceleration parameters are expressed in step/tick
2
and all speed parameters are
expressed in step/tick; the unit of measure does not depend on selected step mode.
Acceleration and deceleration parameters range from 2
-40
to (2
12
-2)2
-40
step/tick
2

(equivalent to 14.55 to 59590 step/s
2
).
Minimum speed parameter ranges from 0 to (2
12
-
1
)2
-24
step/tick (equivalent to 0 to 976.3
step/s).
Maximum speed parameter ranges from 2
-18
to (2
10
-1) 2
-18
step/tick (equivalent to 15.25 to
15610 step/s).
Phase A
Phase B
(2N+1) x /4 (2N+1) x /4
Full-Step
Stepping
Stepping
I
peak
sin(/4) x I
peak

22/67 Doc ID 16737 Rev 3
6.6.1 Infinite acceleration/deceleration mode
When ACC register value is set to max (0xFFF), system works in infinite acceleration
mode: acceleration and deceleration phases are totally skipped as shown in Figure 7.
It is not possible to skip the acceleration or deceleration phase independently.
Figure 7. Speed profile in infinite acceleration/deceleration mode
SPEED
ndexing mode Constant speed mode
time
Programmed number of microsteps
time
AM08546V1
Programmed
maximum
speed
Doc ID 16737 Rev 3 23/67

6.7 Motor control commands
The L6470 can accept different types of commands:
constant speed commands (Run, GoUntil, ReleaseSW),
absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark),
motion commands (Move),
stop commands (SoftStop, HardStop, SoftHiz, HardHiz).
For detailed command descriptions refer to Section 9.2 on page 54.
6.7.1 Constant speed commands
A constant speed command produces a motion in order to reach and maintain a user-
defined target speed starting from the programmed minimum speed (set in MIN_SPEED
register) and with the programmed acceleration/deceleration value (set in ACC and DEC
registers). A new constant speed command can be requested anytime.
Figure 8. Constant speed commands examples
6.7.2 Positioning commands
An absolute positioning command produces a motion in order to reach a user-defined
position that is sent to the device together with the command. The position can be reached
performing the minimum path (minimum physical distance) or forcing a direction (see
Figure 9).
Performed motor motion is compliant to programmed speed profile boundaries
(acceleration, deceleration, minimum and maximum speed).
Note that with some speed profiles or positioning commands, the deceleration phase can
start before the maximum speed is reached.
AM02382v1
SPD1
SPD2
SPD3
SPD4
Run(SPD2,FW)
time
Speed
(step frequency)
Run(SPD3,FW)
Run(SPD1,FW)
Run(SPD4,BW)
Minimum
speed
Minimum
speed

24/67 Doc ID 16737 Rev 3
Figure 9. Positioning command examples
6.7.3 Motion commands
Motion commands produce a motion in order to perform a user-defined number of
microsteps in a user-defined direction that are sent to the device together with the command
(see Figure 10).
Performed motor motion is compliant to programmed speed profile boundaries
(acceleration, deceleration, minimum and maximum speed).
Note that with some speed profiles or motion commands, the deceleration phase can start
before the maximum speed is reached.
Figure 10. Motion commands examples
6.7.4 Stop commands
A stop command forces the motor to stop. Stop commands can be sent anytime.
SoftStop command causes the motor to decelerate with programmed deceleration value
until MIN_SPEED value is reached and then stops the motor keeping the rotor position (a
holding torque is applied).
HardStop command stops the motor instantly ignoring deceleration constrain and keeping
the rotor position (a holding torque is applied).
AM02383v1
Forward
direction
0
-2
21
+2
21
-1
0
-2
21
+2
21
-1
Present
position
Target
position
Present
position
Target
position
GoTo(Target pos)
GoTo_DR(Target pos,FW)
AM02384v1
programmed
ACCELERATON
SPEED
programmed
maximum
speed
programmed
minimum
speed
time
programmed
DECELERATON
programmed number of microsteps
programmed
ACCELERATON
SPEED
programmed
maximum
speed
programmed
minimum
speed
time
programmed
DECELERATON
programmed number of microsteps
Note: with some
Acceleration/Decelaration profiles
the programmed maximum speed
is never reached
Doc ID 16737 Rev 3 25/67

SoftHiZ command causes the motor to decelerate with programmed deceleration value until
MIN_SPEED value is reached and then forces the bridges in high impedance state (no
holding torque is present).
HardHiZ command instantly forces the bridges in high impedance state (no holding torque is
present).
6.7.5 Step-clock mode
In step clock mode the motor motion is defined by the step clock signal applied to STCK pin.
At each step clock rising edge, the motor is moved of one microstep in the programmed
direction and absolute position is consequently updated.
When the system is in step clock mode the SCK_MOD flag in STATUS register is raised,
SPEED register is set to zero and motor status is considered stopped whatever the STCK
signal frequency (MOT_STATUS parameter in STATUS register equal to 00).
6.7.6 GoUntil and ReleaseSW commands
In most applications the power-up position of the stepper motor is undefined, so an
initialization algorithm driving the motor to a known position is necessary.
The GoUntil and ReleaseSW commands can be used in combination with external switch
input (see Section 6.13) to easily initialize the motor position.
GoUntil command makes the motor run at target constant speed until the SW input is forced
low (falling edge). When this event occurs, one of the following actions can be performed:
ABS_POS register is set to zero (home position) and the motor decelerates to zero
speed (as a SoftStop command);
ABS_POS register value is stored into MARK register and the motor decelerates to
zero speed (as a SoftStop command).
If the SW_MODE bit of CONFIG register is set to 0, the motor do not decelerates but it
immediately stops (as a HardStop command).
ReleaseSW command makes the motor run at programmed minimum speed until the SW
input is forced high (rising edge). When this event occurs, one of the following actions can
be performed:
ABS_POS register is set to zero (home position) and the motor immediately stops (as a
HardStop command);
ABS_POS register value is stored into MARK register and the motor immediately stops
(as a HardStop command).
If the programmed minimum speed is lesser than 5 step/s, the motor is driven at 5 step/s.

26/67 Doc ID 16737 Rev 3
6.8 Internal oscillator and oscillator driver
The control logic clock can be supplied by the internal 16 MHz oscillator, an external
oscillator (crystal or ceramic resonator) or a direct clock signal.
These working modes can be selected by EXT_CLK and OSC_SEL parameters in the
CONFIG register (see Table 23).
At power-up the device starts using the internal oscillator and provides a 2 MHz clock signal
on the OSCOUT pin.
Attention: In any case, before changing clock source configuration, a
hardware reset is mandatory. Switching to different clock
configurations during operation could cause unexpected
behavior.
6.8.1 Internal oscillator
In this mode the internal oscillator is activated and OSCIN is unused. If OSCOUT clock
source is enabled, OSCOUT pin provides a 2, 4, 8 or 16 MHz clock signal (according to
OSC_SEL value); otherwise it is unused (see Figure 11).
6.8.2 External clock source
Two types of external clock source can be selected: crystal/ceramic resonator or direct clock
source. Four programmable clock frequencies are available for each external clock source:
8, 16, 24 and 32 MHz.
When an external crystal/resonator is selected, OSCIN and OSCOUT pins are used to drive
the crystal/resonator (see Figure 11). Crystal/resonator and load capacitors (C
L
) must be
placed as close as possible to the pins. Refer to Table 8 for the choice of the load capacitor
value according to the external oscillator frequency.

If a direct clock source is used, it must be connected to OSCIN pin and OSCOUT pin
supplies the inverted OSCIN signal (see Figure 11).
Table 8. CL values according to external oscillator frequency
Crystal/resonator freq.
(1)
1. First harmonic resonance frequency.
C
L

(2)
2. Lower ESR value allows driving greater load capacitors.
8MHz 25pF (ESR
max
= 80)
16MHz 18pF (ESR
max
= 50)
24MHz 15pF (ESR
max
= 40)
32MHz 10pF (ESR
max
= 40)
Doc ID 16737 Rev 3 27/67

Figure 11. OSCIN and OSCOUT pins configurations
Note: When OSCIN is UNUSED, it should be left floating.
When OSCOUT is UNUSED it should be left floating.
6.9 Overcurrent detection
When the current in any of the power MOSFETs exceeds a programmed overcurrent
threshold, STATUS register OCD flag is forced low until the overcurrent event is expired and
a GetStatus command is sent to the IC (see paragraphs 9.1.22 and 9.1.17). Overcurrent
event expires when all the power MOSFET currents fall below the programmed overcurrent
threshold.
The overcurrent threshold can be programmed through the OCD_TH register in one of 16
available values ranging from 375 mA to 6 A with steps of 375 mA (see Table 9, paragraph
9.1.17).
It is possible to set if an overcurrent event causes or not the MOSFETs turn-off (bridges in
high impedance status)acting on OC_SD bit in the CONFIG register (see paragraph 9.1.21).
The OCD flag in the STATUS register is raised anyway (see Table 34, paragraph 9.1.22).
When the IC outputs are turned-off by an OCD event, they cannot be turned on until the
OCD flag is released by a GetStatus command.
Attention: The overcurrent shutdown is a critical protection feature. It is
not recommended to disable it.
AM02385v1
UNUSLD
OSC|N OSCOUT OSC|N OSCOUT
OSC|N OSCOUT
2/4/8/l6 MHz
8/l6/24/32 MHz
8/l6/24/32 MHz
Lxternal oscillator
configuration
Lxternal clock source
configuration
|nternal oscillator
configuration
with clock generation
OSC|N OSCOUT
|nternal oscillator
configuration
without clock source
UNUSLD UNUSLD
DSC_SL = 1xx
DSC_SL = 0xx
C L C L
X7_CLk = 0 X7_CLk = 1

28/67 Doc ID 16737 Rev 3
6.10 Undervoltage lock-out (UVLO)
The L6470 provides a motor supply UVLO protection. When the motor supply voltage falls
below the V
SthOff
threshold voltage, STATUS register UVLO flag is forced low. When a
GetStatus command is sent to the IC, and the undervoltage condition is expired, the UVLO
flag is released (see paragraphs 9.1.22 and 9.2.20). Undervoltage condition expires when
the motor supply voltage goes over the V
SthOn
threshold voltage. When the device is in
undervoltage condition no motion command can be performed. UVLO flag is forced low by
logic reset (power-up included) even if no UVLO condition is present.
6.11 Thermal warning and thermal shutdown
An internal sensor allows the L6470 to detect when the device internal temperature exceeds
a thermal warning or an overtemperature threshold.
When the thermal warning threshold (T
j(WRN)
) is reached the TH_WRN bit in the STATUS
register is forced low (see paragraph 9.1.22) until the temperature decrease below T
j(WRN)

and a GetStatus command is sent to the IC (see paragraphs 9.1.22 and 9.2.20).
When the thermal shutdown threshold (T
j(OFF)
) is reached the device goes in thermal
shutdown condition: the TH_SD bit in the STATUS register is forced low, the power bridges
are disabled bridges in high impedance state and the HiZ bit in the STATUS register is
raised (see paragraph 9.1.22).
Thermal shutdown condition only expires when the temperature goes below the thermal
warning threshold (T
j(WRN)
).
On exit from thermal shutdown condition the bridges are still disabled (HiZ flag high);
whichever motion command makes the device exiting from High Z state (HardStop and
SoftStop included).
6.12 Reset and standby
The device can be reset and put into standby mode through a dedicated pin. When
STBY\RST pin is driven low, the bridges are left open (High Z state), the internal charge
pump is stopped, the SPI interface and control logic are disabled and the internal 3 V
voltage regulator maximum output current is reduced to I
REG,STBY
; as a result the L6470
heavily reduces the power consumption. At the same time the registers values are reset to
default and all protection functions are disabled. STBY\RST input has to be forced low at
least for t
STBY,min
in order to ensure the complete switch to standby mode.
On exit from standby mode, as well as for IC power-up, a delay of up to t
logicwu
must be
given before applying a new command to allow proper oscillator and logic startup and a
delay of up to t
cpwu
must be given to allow the charge pump startup.
On exit from standby mode the bridges are disabled (HiZ flag high) and whichever motion
command makes the device exiting from High Z state (HardStop and SoftStop included).
Attention: It is not recommended to reset device when outputs are
active. The device should be switched to high impedance
state before being reset.
Doc ID 16737 Rev 3 29/67

6.13 External switch (SW pin)
The SW input is internally pulled-up to V
DD
and detects if the pin is open or connected to
ground (see Figure 12).
The SW_F bit of STATUS register indicates if the switch is open (0) or closed (1) (see
paragraph 9.1.22); the bit value is refreshed at every system clock cycle (125 ns). SW_EVN
flag of STATUS register is raised when a switch turn-on event (SW input falling edge) is
detected (see paragraph 9.1.22). A GetStatus command releases the SW_EVN flag (see
paragraph 9.2.20.
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 are at user disposal (see
Table 34, paragraph 9.1.22).
The switch input can used by GoUntil and ReleaseSW commands as described in
paragraph 9.2.10 and 9.2.11.
If the SW input is not used, it should be connected to VDD.
Figure 12. External switch connection
AM02386v1
Lxternal
Switch
Sw
v
DD

30/67 Doc ID 16737 Rev 3
6.14 Programmable DMOS slew-rate, dead-time and blanking-time
Using the POW_SR parameter in the CONFIG register, it is possible to set the commutation
speed of the power bridges output (see Table 26, paragraph 9.1.21).
6.15 Integrated analog to digital converter
The L6470 integrates a N
ADC
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 (see paragraph 9.1.16).
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 user
disposal.
6.16 Internal voltage regulator
The L6470 integrates a voltage regulator which generates a 3 V voltage starting from motor
power supply (VSA and VSB). In order to make the voltage regulator stable, at least 22 F
should be connected between VREG pin and ground (suggested value is 47 F).
The internal voltage regulator can be used to supply the VDD pin in order to make the
device digital output range 3.3 V compatible (Figure 13). A digital output range 5 V
compatible can be obtained connecting VDD pin to an external 5 V voltage source. In both
cases, a 10 F capacitance should be connected to VDD pin in order to obtain a correct
operation.
The internal voltage regulator is able to supply a current up to I
REG,MAX
, internal logic
consumption included (I
logic
). When the device is in standby mode the maximum current that
can be supplied is I
REG
,
STBY
, internal consumption included (I
logic
,
STBY
).
If an external 3.3 V regulated voltage is available, it can be applied to the VREG pin in order
to supply all the internal logic and avoiding power dissipation of the internal 3 V voltage
regulator (Figure 13). External voltage regulator should never sink current from VREG pin.
Figure 13. Internal 3 V linear regulator
VREG VDD VSA VSB
AGND DGND
VDD
C
IC
Vs
3V
VREG VDD VSA VSB
AGND DGND
IC
3.3V
REG.
Vs
VBAT
Logig supplied by
INTERNAL voltage regulator
Logig supplied by
EXTERNAL voltage regulator
Doc ID 16737 Rev 3 31/67

6.17 BUSY\SYNC pin
This pin is an open drain output which can be used as busy flag or synchronization signal
according to SYNC_EN bit value (STEP_MODE register).
6.17.1 BUSY operation mode
The pin works as busy signal when SYNC_EN bit is set low (default condition). In this mode
the output is forced low while a constant speed, absolute positioning or motion command is
under execution. The BUSY pin is released when command has been executed (target
speed or target position reached). The STATUS register includes a BUSY flag that is the
BUSY pin mirror (see paragraph 9.1.22).
In case of daisy-chain configuration, BUSY pins of different ICs can be hard-wired to save
host controller GPIOs.
6.17.2 SYNC operation mode
The pin works as synchronization signal when SYNC_EN bit is set high. In this mode a step
clock signal is provided on output according to SYNC_SEL and STEP_SEL parameters
combination (see paragraph 9.1.19).
6.18 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 A bridge,
Stall detection on B bridge,
Overcurrent detection,
Thermal warning,
Thermal shutdown,
UVLO,
Switch turn-on event,
Wrong command,
Non performable command.
It is possible to mask one or more alarm conditions by programming the ALARM_EN
register (see paragraph 9.1.20, Table 21). If the corresponding bit of 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.

Phase current control L6470
32/67 Doc ID 16737 Rev 3
7 Phase current control
The L6470 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. Sinewave amplitude is
proportional to the motor supply voltage multiplied by a coefficient (K
VAL
). K
VAL
ranges from
0 to 100% and the sinewave amplitude can be obtained through the following formula:
Equation 1
Different K
VAL
values can be programmed for acceleration, deceleration and constant speed
phases and when motor is stopped (HOLD phase) through KVAL_ACC, KVAL_DEC,
KVAL_RUN and KVAL_HOLD registers (see paragraph 9.1.10). KVAL value is calculated
according following formula:
Equation 2
Where K
VAL_X
is the starting K
VAL
value programmed for 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).
L6470 offers various methods to guarantee a stable current value, allowing the
compensation of:
low speed optimization (see paragraph 7.3)
back electromotive force value (see paragraph 7.4);
motor supply voltage variation (see paragraph 7.5);
windings resistance variation (see paragraph 7.6).
7.1 PWM sinewave generators
The two voltage sinewaves applied to stepper motor phases are generated by two PWM
modulators.
The PWM frequency (f
PWM
) is proportional to the oscillator frequency (f
OSC
) and can be
obtained through the following formula:
Equation 3
'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 CONFIG register (see
Table 28 and Table 29, paragraph 9.1.21).
VAL S OUT
K V V =
( ) ( ) microstep THERM _ K VSCOMP COMP _ BEMF K K
VAL_X VAL
+ =
m
N 512
f
f
OSC
PWM

=
L6470 Phase current control
Doc ID 16737 Rev 3 33/67

Available PWM frequencies are listed in paragraph 9.1.21 from Table 30 to Table 33.
7.2 Sensorless stall detection
Depending on motor speed and load angle characteristics, L6470 offers a motor stall
condition detection using a programmable current comparator.
When a stall event occurs, the respective flag (STEP_LOSS_A or STEP_LOSS_B) is forced
low until a GetStaus command or a system reset occurs (see paragraph 9.2.20).
7.3 Low speed optimization
When 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 14).
L6470 implements a low speed optimization in order to remove this effect.
Figure 14. Current distortion and compensation
The optimization can be enabled setting high the LSPD_OPT bit in MIN_SPEED register
(see paragraph 9.1.8) and is active into speed range from zero to MIN_SPEED. When low
speed optimization is enabled, speed profile minimum speed is forced to zero.
phase
phase
Current distortion is heavily
reduced
Without low speed optimizazion
With low speed optimizazion
AM08547V1

Phase current control L6470
34/67 Doc ID 16737 Rev 3
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 15).
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
paragraphs 9.1.11, 9.1.12, 9.1.13 and 9.1.14).
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 sinewave amplitude generated by the PWM modulators is directly proportional to the
motor supply voltage (V
S
). When the motor supply voltage is different from its nominal value,
the motor phases are driven with an incorrect voltage. The L6470 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 V
REG
/2 voltage at the ADCIN pin when V
S
is at its nominal
value (see Figure 16).
The ADC input is sampled at f
S
frequency, which is equal to PWM frequency.
Figure 15. BEMF compensation curve

AM02388v1
Speed
Compensation
value
|NT_SPLLD
ST_SLP
PN_SLP_ACC
PN_SLP_DLC
L6470 Phase current control
Doc ID 16737 Rev 3 35/67

Motor supply voltage compensation can be enabled setting high the EN_VSCOMP bit of the
CONFIG register (see Table 22, paragraph 9.1.21). If EN_VSCOMP bit is low the
compensation is disabled and the internal analog to digital converter is at user disposal;
sampling rate is always equal to PWM frequency.
7.6 Winding resistance thermal drift compensation
The higher is the winding resistance the greater is the voltage to be applied in order to
obtain the same phase current.
The L6470 integrates a register (K_THERM) which can be used to compensate phase
resistance increment due by temperature rising.
The value in K_THERM register (see paragraph 9.1.15) multiplies duty cycle value allowing
to face higher phase resistance value.
The compensation algorithm and the eventual motor temperature measurement should be
implemented by microcontroller firmware.
Figure 16. Motor supply voltage compensation circuit

AM02389v1
ADC|N
ADC
5
f
PwM
ADC_OUT
v
S
v
PLG
P
A
P
8
v
ADC|N
v
S
x P
8
/ (P
A
+ P
8
)

Serial interface L6470
36/67 Doc ID 16737 Rev 3
8 Serial interface
The integrated 8bit serial peripheral interface (SPI) is used for a synchronous serial
communication between the host microprocessor (always master) and the L6470 (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 t
disCS

in order to allow the device to decode the received command and put into the shift register
the return value.
All timing requirements are shown in Figure 17 (see respective electrical characteristics
section for values).
Multiple devices can be connected in daisy-chain configuration, as shown in Figure 18.
Figure 17. SPI timings diagram
AM02390v1
CK
SD|
SDO
CS
MS8 LS8
LS8
N-l N-2
MS8
HiZ
N-l N-2
tsetCS
tenSDO
tsetSD|
tholSD|
tvSDO tholSDO
trCK tfCK thCK tlCK
tdisSDO tholCS
tdisCS
MS8
L6470 Serial interface
Doc ID 16737 Rev 3 37/67

Figure 18. Daisy-chain configuration
AM02391v1
HOST
HOST SP| signals
DLv l
CS
SDOM
SD|M
CS
CK
SD|
SDO
CS
CK
SD|M
SDOM
DLv 2
CS
CK
SD|
SDO
DLv N
CS
CK
SD|
SDO
8yte N 8yte N
8yte N 8yte N
8yte N-l
8yte N-l
8yte l
8yte l

Programming manual L6470
38/67 Doc ID 16737 Rev 3
9 Programming manual
9.1 Registers and flags description
Following a map of the user registers available (detailed description in respective
paragraphs):
Table 9. Registers map
Address
[Hex]
Register name Register function
Len.
[bit]
Reset
Hex
Reset
Value
Remarks
(1)
h01 ABS_POS Current position 22 000000 0 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/tick
2
(2008 step/s
2
)
R, WS
h06 DEC Deceleration 12 08A
125.5e-12 step/tick
2
(2008 step/s
2
)
R, WS
h07 MAX_SPEED Maximum speed 10 041
248e-6 step/tick
(991.8 step/s)
R, WR
h08 MIN_SPEED Minimum speed 13 000
0 step/tick
(0 step/s)
R, WS
h15 FS_SPD Full step speed 10 027
150.7e-6 step/tick
(602.7 step/s)
R, WR
h09 KVAL_HOLD Holding K
VAL
8 29 0.16VS R, WR
h0A KVAL_RUN Constant speed K
VAL
8 29 0.16VS R, WR
h0B KVAL_ACC Acceleration starting K
VAL
8 29 0.16VS R, WR
h0C KVAL_DEC Deceleration starting K
VAL
8 29 0.16VS R, WR
h0D INT_SPD Intersect speed 14 0408 61.5e-6 step/tick (246 step/s) R, WH
h0E ST_SLP Start slope 8 19 0.038% s/step R, WH
h0F FN_SLP_ACC Acceleration final slope 8 29 0.063% s/step R, WH
h10 FN_SLP_DEC Deceleration final slope 8 29 0.063% s/step R, WH
h11 K_THERM
Thermal compensation
factor
4 0 1.0 R, WR
h12 ADC_OUT ADC output 5 XX
(2)
R
h13 OCD_TH OCD threshold 4 8 3.38A R, WR
h14 STALL_TH STALL threshold 7 40 2.03A R, WR
h16 STEP_MODE Step mode 8 7 128 microsteps R, WH
h17 ALARM_EN Alarms enables 8 FF All alarms enabled R, WS
L6470 Programming manual
Doc ID 16737 Rev 3 39/67

9.1.1 ABS_POS
The ABS_POS register contains the current motor absolute position in agreement to the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The value is in two's complement format and it ranges from -2
21
to +2
21
-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 NOTPERF_CMD flag to rise (see paragraph 9.1.22).
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.
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 STEP_MODE register in order to avoid a wrong microstep
value generation (see paragraph 9.1.19); otherwise the resulting microstep sequence will be
incorrect.
h18 CONFIG IC configuration 16 2E88
Internal oscillator,
2MHz OSCOUT clock,
supply voltage compensation
disabled,
overcurrent shutdown enabled,
slew-rate = 290 V/s
PWM frequency = 15.6kHz.
R, WH
h19 STATUS Status 16 XXXX
(2)
High impedance state,
UVLO/Reset flag set.
R
h1A RESERVED Reserved address
h1B RESERVED Reserved address
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.
Table 9. Registers map (continued)
Address
[Hex]
Register name Register function
Len.
[bit]
Reset
Hex
Reset
Value
Remarks
(1)
Table 10. EL_POS register
Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
STEP MICROSTEP

40/67 Doc ID 16737 Rev 3
9.1.3 MARK
The MARK register contains an absolute position called MARK in according to the selected
step mode; the stored value unit is equal to the selected step mode (full, half, quarter, etc.).
It is in two's complement format and it ranges from -2
21
to +2
21
-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
where SPEED is the integer number stored into 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
NOTPERF_CMD flag to rise (see paragraph 9.1.22).
9.1.5 ACC
The ACC register contains the speed profile acceleration expressed in step/tick
2
(format
In order to convert ACC value in step/s
2
the following formula can be used:
Equation 5
where ACC is the integer number stored into the register and tick is 250 ns.
The available range is from 14.55 to 59590 step/s
2
with a resolution of 14.55 step/s
2
.
When the ACC value is set to 0xFFF the device works in infinite acceleration mode.
Any attempt to write to the register when the motor is running causes the command to be
[ ]
tick
2 SPEED
s / step
28
=
[ ]
2
40
2
tick
2 ACC
s / step
=
Doc ID 16737 Rev 3 41/67

9.1.6 DEC
The DEC register contains the speed profile deceleration expressed in step/tick
2
(format
In order to convert DEC value in step/s
2
the following formula can be used:
Equation 6
where DEC is the integer number stored into 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.
When the device is working in infinite acceleration mode this value is ignored.
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
where MAX_SPEED is the integer number stored into 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 following parameters:
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:
[ ]
2
40
2
tick
2 DEC
s / step
=
[ ]
tick
2 SPEED _ MAX
s / step
18
=
Table 11. MIN_SPEED register
Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
LSPD_OPT MIN_SPEED
[ ]
tick
2 SPEED _ MIN
s / step
24
=

42/67 Doc ID 16737 Rev 3
where MIN_SPEED is the integer number stored into 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.
When LSPD_OPT bit is set high, low speed optimization feature is enabled and
MIN_SPEED value indicates the speed threshold below which the compensation works. In
this case the minimum speed of speed profile is set to zero.
An attempt to write the register when the motor is running causes the NOTPERF_CMD flag
to rise.
9.1.9 FS_SPD
The FS_SPD register contains the threshold speed. When the actual speed exceeds this
value 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 8
If FS_SPD value is set to hFF (max) the system always works in microstepping mode
(SPEED must go beyond the threshold to switch to full step mode). Setting FS_SPD to zero
has not the same effect as setting step mode to full step two phase on: 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.
9.1.10 KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC
The KVAL_HOLD register contains the K
VAL
value that is assigned to the PWM modulators
when the motor is stopped (compensations excluded).
The KVAL_RUN register contains the K
VAL
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 K
VAL
value that can be assigned to the PWM
modulators during acceleration (compensations excluded).
The KVAL_DEC register contains the starting K
VAL
value that can be assigned to the PWM
modulators during deceleration (compensations excluded).
The available range is from 0 to 0.996 x V
S
with a resolution of 0.004 x V
S
as shown in
Table 12.
[ ]
tick
2 ) 5 . 0 SPD _ FS (
s / step
18
+
=
Doc ID 16737 Rev 3 43/67

9.1.11 INT_SPEED
The INT_SPEED register contains the speed value at which the BEMF compensation curve
changes slope (see paragraph 7.4 for details). Its value is expressed in step/tick and to
convert it in [step/s] the following formula can be used:
Equation 9
where INT_SPEED is the integer number stored into the register and tick is 250 ns.
The available range is from 0 to 3906 step/s with a resolution of 0.238 step/s.
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 (see paragraph 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.
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 (see paragraph 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.
Table 12. Voltage amplitude regulation registers
KVAL_X [7..0] Output voltage
0 0 0 0 0 0 0 0 0
0 0 0 0 0 0 0 1 V
S
x (1/256)
1 1 1 1 1 1 1 0 V
S
x (254/256)
1 1 1 1 1 1 1 1 V
S
x (255/256)
[ ]
tick
2 SPEED _ INT
s / step
24
=

44/67 Doc ID 16737 Rev 3
9.1.14 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 (see paragraph 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.
9.1.15 K_THERM
The K_THERM register contains the value used by the winding resistance thermal drift
compensation system (see paragraph 7.6).
The available range is from 1 to 1.46875 with a resolution of 0.03125 as shown in Table 13.

9.1.16 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
NOTPERF_CMD flag to rise (see paragraph 9.1.22).

Table 13. Winding resistance thermal drift compensation coefficient
K_THERM [3..0] Compensation coeff.
0 0 0 0 1
0 0 0 1 1.03125
1 1 1 0 1.4375
1 1 1 1 1.46875
Table 14. ADC_OUT value and motor supply voltage compensation feature
V
S
V
ADCIN
/V
REG
ADC_OUT
[4..0]
Compensation
coefficient
Greater than V
S
,
nom
+ 50% > 24/32 1 1 X X X 0.65625
V
S
,
nom
+ 50% 24/32 1 1 0 0 0 0.65625
V
S
,
nom
16/32 1 0 0 0 0 1
V
S
,
nom
50% 8/32 0 1 0 0 0 1.968875
Lower than V
S
,
nom
50% < 8/32 0 0 X X X 1.968875
Doc ID 16737 Rev 3 45/67

9.1.17 OCD_TH
The OCD_TH register contains the overcurrent threshold value (see paragraph 6.9 for
details). The available range is from 375 mA to 6 A, steps of 375 mA as shown in Table 15.
9.1.18 STALL_TH
The STALL_TH register contains the stall detection threshold value (see paragraph 7.2 for
details). The available range is from 31.25 mA to 4 A with a resolution of 31.25 mA.
9.1.19 STEP_MODE
The STEP_MODE register has the following structure:

The STEP_SEL parameter selects one of eight possible stepping modes:
Table 15. Overcurrent detection threshold
OCD_TH [3..0] Overcurrent detection threshold
0 0 0 0 375 mA
0 0 0 1 750 mA

1 1 1 0 5.625 A
1 1 1 1 6 A
Table 16. Stall detection threshold
STALL_th [6..0] Stall detection threshold
0 0 0 0 0 0 0 31.25 mA
0 0 0 0 0 0 1 62.5 mA

1 1 1 1 1 1 0 3.969 A
1 1 1 1 1 1 1 4 A
Table 17. STEP_MODE register
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
SYNC_EN SYNC_SEL 0
(1)
1. When the register is written this bit should be set to 0.
STEP_SEL

46/67 Doc ID 16737 Rev 3

Every time the step mode is changed the electrical position (i.e. the point of microstepping
sinewave that is generated) is reset to the first microstep.
Warning: Every time STEP_SEL is changed the value in ABS_POS
register looses meaning and should be reset.
When when SYNC_EN bit is set low BUSY/SYNC output is forced low during commands
execution, otherwise, when SYNC_EN bit is set high, BUSY/SYNC output provides a clock
signal according to SYNC_SEL parameter.
Table 18. 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
Table 19. SYNC output frequency
STEP_SEL
(f
FS
is the full step frequency)
000 001 010 011 100 101 110 111
S
Y
N
C
_
S
E
L
000 f
FS
/2 f
FS
/2 f
FS
/2 f
FS
/2 f
FS
/2 f
FS
/2 f
FS
/2 f
FS
/2
001 NA f
FS
f
FS
f
FS
f
FS
f
FS
f
FS
f
FS
010 NA NA 2 f
FS
2 f
FS
2 f
FS
2 f
FS
2 f
FS
2 f
FS
011 NA NA NA 4 f
FS
4 f
FS
4 f
FS
4 f
FS
4 f
FS
100 NA NA NA NA 8 f
FS
8 f
FS
8 f
FS
8 f
FS
101 NA NA NA NA NA 16 f
FS
16 f
FS
16 f
FS
110 NA NA NA NA NA NA 32 f
FS
32 f
FS
111 NA NA NA NA NA NA NA 64 f
FS
Doc ID 16737 Rev 3 47/67

the synchronization signal is obtained starting from electrical position information (EL_POS
register) according to following Table 10:
9.1.20 ALARM_EN
The ALARM_EN register allows selecting which alarm signals are used to generate the
FLAG output. If the respective bit of ALARM_EN register is set high, the alarm condition
forces the FLAG pin output down.
9.1.21 CONFIG
The CONFIG register has the following structure:
Table 20. 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]
Table 21. ALARM_EN register
ALARM_EN bit Alarm condition
0 (LSB) Overcurrent
1 Thermal shutdown
2 Thermal warning
3 Under-voltage
4 Stall detection (Bridge A)
5 Stall detection (Bridge B)
6 Switch turn-on event
7 (MSB) Wrong or not performable command
Table 22. CONFIG register
F_PWM_INT F_PWM_DEC POW_SR
OC_SD RESERVED EN_VSCOMP SW_MODE EXT_CLK OSC_SEL

48/67 Doc ID 16737 Rev 3
The OSC_SEL and EXT_CLK bits set the system clock source:

The SW_MODE bit sets the external switch to act as HardStop interrupt or not:
Table 23. Oscillator management
EXT_CLK OSC_SEL[2..0] Clock source OSCIN OSCOUT
0 0 0 0
Internal Oscillator: 16MHz Unused Unused
0 0 0 1
0 0 1 0
0 0 1 1
1 0 0 0 Internal Oscillator: 16MHz Unused
Supplies a 2MHz
clock
1 0 0 1 Internal Oscillator: 16MHz Unused
Supplies a 4MHz
clock
1 0 1 0 Internal oscillator: 16MHz Unused
Supplies a 8MHz
clock
1 0 1 1 Internal oscillator: 16MHz Unused
Supplies a 16MHz
clock
0 1 0 0
External crystal or
resonator: 8MHz
Crystal/reson
ator driving
Crystal/resonator
driving
0 1 0 1
External crystal or
resonator: 16MHz
Crystal/reson
ator driving
Crystal/resonator
driving
0 1 1 0
External crystal or
resonator: 24MHz
Crystal/reson
ator driving
Crystal/resonator
driving
0 1 1 1
External crystal or
resonator: 32MHz
Crystal/reson
ator driving
Crystal/resonator
driving
1 1 0 0
Ext clock source: 8MHz
(Crystal/resonator driver
disabled)
Clock source
Supplies inverted
OSCIN signal
1 1 0 1
disabled)
Clock source
Supplies inverted
OSCIN signal
1 1 1 0
disabled)
Clock source
Supplies inverted
OSCIN signal
1 1 1 1
disabled)
Clock source
Supplies inverted
OSCIN signal
Table 24. External switch hard stop interrupt mode
SW_MODE Switch mode
0 HardStop interrupt
1 User disposal
Doc ID 16737 Rev 3 49/67

The OC_SD bit sets if an overcurrent event causes or not the bridges to turn-off; the OCD
flag in status register is forced low anyway:
The POW_SR bits set the slew rate value of power bridge output:
The EN_VSCOMP bit sets if the motor supply voltage compensation is enabled or not.
The F_PWM_INT bits set the integer division factor of PWM frequency generation.
Table 25. Overcurrent event
OC_SD Overcurrent event
1 Bridges shut down
0 Bridges do not shut down
Table 26. Programmable power bridge output slew-rate values
POW_SR
[1..0]
Output Slew-rate
(1)
[V/s]
1. See S
Rout_r
and S
Rout_f
parameters in the electrical characteristics Table 5 for details.
0 0 180
0 1 180
1 0 290
1 1 530
Table 27. Motor supply voltage compensation enable
EN_VSCOMP Motor supply voltage compensation
0 Disabled
1 Enabled
Table 28. 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

50/67 Doc ID 16737 Rev 3
The F_PWM_DEC bits set the multiplication factor of PWM frequency generation.
In the following tables all available PWM frequencies are listed according to oscillator
frequency, F_PWM_INT and F_PWM_DEC values (CONFIG register OSC_SEL parameter
has to be correctly programmed).
Table 29. 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
Table 30. 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
Doc ID 16737 Rev 3 51/67

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
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

52/67 Doc ID 16737 Rev 3
Any attempt to write the CONFIG register when the motor is running causes the command
to be ignored and the NOTPERF_CMD flag to rise (see paragraph 9.1.22).
9.1.22 STATUS
When HiZ flag is high it indicates that the bridges are in high impedance state. Whichever
motion command makes 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 under-voltage lock out or reset events (power-
up included).
The TH_WRN, TH_SD, OCD flags are active low and indicate respectively thermal warning,
thermal shutdown and over-current detection events.
STEP_LOSS_A and STEP_LOSS_B flags are forced low when a stall is detected on bridge
A or bridge B respectively.
The NOTPERF_CMD and WRONG_CMD flags are active high and indicate respectively
that the command received by SPI can't be performed or does not exist at all.
The SW_F report 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).
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
Table 34. STATUS register
SCK_MOD STEP_LOSS_B STEP_LOSS_A OCD TH_SD TH_WRN UVLO WRONG_CMD
NOTPERF_CMD MOT_STATUS DIR SW_EVN SW_F BUSY HiZ
Doc ID 16737 Rev 3 53/67

The UVLO, TH_WRN, TH_SD, OCD, STEP_LOSS_A, STEP_LOSS_B, NOTPERF_CMD,
WRONG_CMD and SW_EVN flags 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
have been completed.
The SCK_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 STCK input pin. The
DIR bit indicates the current motor direction:
MOT_STATUS indicates the current motor status:
Any attempt to write to the register causes the command to be ignored and the
NOTPERF_CMD to rise (see paragraph 9.1.22).
Table 35. STATUS register DIR bit
DIR Motor direction
1 Forward
0 Reverse
Table 36. STATUS register MOT_STATE bits
MOT_STATUS Motor status
0 0 Stopped
0 1 Acceleration
1 0 Deceleration
1 1 Constant speed

54/67 Doc ID 16737 Rev 3
9.2 Application commands
The commands summary is given in the Table 37.

Table 37. Application commands
Command Mnemonic Command binary code Action
[7..5] [4] [3] [2..1] [0]
NOP 000 0 0 00 0 Nothing
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
Put the device in step clock mode and impose 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 Brings motor in ABS_POS position (minimum path)
GoTo_DIR(DIR,ABS_POS) 011 0 1 00 DIR Brings motor in ABS_POS position forcing DIR direction
GoUntil(ACT,DIR,SPD) 100 0 ACT 01 DIR
Perform a motion in DIR direction with speed SPD until
SW is closed, the ACT action is executed then a SoftStop
takes place
ReleseSW(ACT, DIR) 100 1 ACT 01 DIR
Performs a motion in DIR direction at minimum 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 (set 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
Doc ID 16737 Rev 3 55/67

9.2.1 Command management
The host microcontroller can control motor motion and configure the L6470 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 19). Argument length can vary from 1 to 3 bytes.
Figure 19. Command with three byte argument
By default the device returns an all zeroes response for any received byte, the only
exceptions are GetParam and GetStatus commands. When one of these commands is
received the following response bytes represents the related register value (see Figure 20).
Response length can vary from 1 to 3 bytes.
Figure 20. Command with three byte responset
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 output communication buffer (see Figure 21).
Figure 21. Command response aborted
When a byte that does not correspond to a command is sent to the IC it is ignored and the
WRONG_CMD flag in STATUS register is raised (see paragraph 9.1.22).
9.2.2 Nop
Nothing is performed.
SD
SDO
Command byte
Argument byte 2
(MSB)
Argument byte 0
(LSB)
Argument byte 1
0x00 0x00 0x00 0x00
(from host)
(to host)
SD
SDO
Command byte
Response byte 2
(MSB)
Response byte 0
(LSB)
Response byte 1 0x00
NOP NOP NOP
(from host)
(to host)
SD
SDO
Command 1
(3 byte resp expected)
Command 3
(2 byte resp expected)
Response byte 2
(MSB)
Response byte 1
(MSB)
Response byte 1 0x00
Command 2
(no resp. expected)
Response byte 0
(LSB)
(from host)
(to host)
Command 4
(no resp. expected)
Command 5
(no resp. expected)
Command 1 response
is aborted
Table 38. Nop command structure
0 0 0 0 0 0 0 0 From host

56/67 Doc ID 16737 Rev 3
9.2.3 SetParam (PARAM, VALUE)
The SetParam command sets the PARAM register value equal to VALUE; PARAM is the
respective register address listed in Table 12.
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 12).
Some registers cannot be written (see Table 12); any attempt to write one of those registers
causes the command to be ignored and the WRONG_CMD flag to rise at the end of
command byte as like as unknown command code is sent (see paragraph 9.1.22).
Some registers can only be written in particular conditions (see Table 12); any attempt to
write one of those registers when the conditions are not satisfied causes the command to be
ignored and the NOTPERF_CMD flag to rise at the end of last argument byte (see
paragraph 9.1.22).
Any attempt to set an inexistent register (wrong address value) causes the command to be
ignored and WRONG_CMD flag to rise at the end of command byte as like as unknown
command code is sent.
9.2.4 GetParam (PARAM)
This command reads the current PARAM register value; PARAM is the respective register
address listed in Table 12.
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 12).
Table 39. SetParam command structure
0 0 0 PARAM
From host
VALUE Byte 2 (if needed)
VALUE Byte 1 (if needed)
VALUE Byte 0
Table 40. GetParam command structure
0 0 1 PARAM from host
ANS Byte 2 (if needed) to host
ANS Byte 1 (if needed) to host
ANS Byte 0 to host
Doc ID 16737 Rev 3 57/67

Returned value is the register one at the moment of GetParam command decoding. If
register values changes after this moment the response will not be 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 WRONG_CMD flag to rise at the end of command byte as like as unknown
command code is sent.
9.2.5 Run (DIR, SPD)
The Run command produces a motion at SPD speed; the direction is selected by 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 that SPEED register (see paragraph 9.1.4).
Note: The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED
otherwise the Run command will be 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)
The StepClock command switches the device in step clock mode (see paragraph 6.7.5) and
impose the forward (DIR = '1') or reverse (DIR = '0') direction.
When the device is in step clock mode the SCK_MOD flag in STATUS register is raised and
the motor is always considered stopped (see paragraphs 6.7.5 and 9.1.22).
Device exits from 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 the
step clock mode.
Events that cause bridges to be forced in high impedance state (overtemperature,
overcurrent, etc.) do not cause the device to leave step clock mode.
Table 41. Run command structure
0 1 0 1 0 0 0 DIR from host
X X X X SPD (Byte 2) from host
SPD (Byte 1) from host
Table 42. Stepclock command structure

58/67 Doc ID 16737 Rev 3
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 then
it is 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 NOTPERF_CMD flag to rise (see paragraph 9.1.22).
9.2.7 Move (DIR, N_STEP)

The move command produces a motion of N_STEP microsteps; the direction is selected by
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 be only performed when the motor is stopped. If a motion is in progress the
motor must be stopped and then it is 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 NOTPERF_CMD flag to rise (see paragraph 9.1.22).
9.2.8 GoTo (ABS_POS)

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.).
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).
Table 43. Move command structure
X X N_STEP (Byte 2) from host
N_STEP (Byte 1) from host
N_STEP (Byte 0) from host
Table 44. GoTo command structure
0 1 1 0 0 0 0 0 from host
X X ABS_POS (Byte 2) from host
ABS_POS (Byte 1) from host
Doc ID 16737 Rev 3 59/67

Any attempt to perform a GoTo command when a previous command is under execution
(BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see
paragraph 9.1.22)
9.2.9 GoTo_DIR (DIR, ABS_POS)

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.).
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
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 NOTPERF_CMD flag to
rise (see paragraph 9.1.22)
9.2.10 GoUntil (ACT, DIR, SPD)
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 (see paragraph
6.13), the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is copied
into the MARK register (if ACT = '1'); then the system performs a SoftStop command.
The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same
format that SPEED register (see paragraph 9.1.4).
SPD value should be lower than MAX_SPEED and greater than MIN_SPEED, otherwise the
target speed will be imposed at MAX_SPEED or MIN_SPEED respectively.
If SW_MODE bit of CONFIG register is set low, the external switch turn-on event causes a
HardStop interrupt instead of the SoftStop one (see paragraphs 6.13 and 9.1.21).
Table 45. GoTo_DIR command structure
X X ABS_POS (Byte 2) from host
Table 46. GoUntil command structure
1 0 0 0 ACT 0 1 DIR from host
X X X X SPD (Byte 2) from host

60/67 Doc ID 16737 Rev 3
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)

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 in MARK register (ACT = '1'); then
the system performs a HardStop command.
Note that to resetting the ABS_POS register is equivalent to setting the HOME position.
If minimum speed value is lesser than 5 step/s or low speed optimization is enabled, the
motion is performed at 5 step/s.
ReleaseSW command keeps the BUSY flag low until the switch input is released and the
motor is stopped.
9.2.12 GoHome

The GoHome command produces a motion to the HOME position (zero position) via the
shortest path.
Note that this command is equivalent to "GoTo(00)" command. If a motor direction is
mandatory the GoTo_DIR command has to be used (see paragraph 9.2.9).
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 NOTPERF_CMD to rise (see
paragraph 9.1.22)
9.2.13 GoMark

The GoMark command produces a motion to MARK position performing the minimum path.
Note that this command is equivalent to "GoTo (MARK)" command. If a motor direction is
mandatory the GoTo_DIR command has to be used.
Table 47. ReleaseSW command structure
1 0 0 1 ACT 0 1 DIR from host
Table 48. GoHome command structure
0 1 1 1 0 0 0 0 from host
Table 49. GoMark command structure
0 1 1 1 1 0 0 0 from host
Doc ID 16737 Rev 3 61/67

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
Any attempt to perform a GoMark command when a previous command is under execution
(BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see
paragraph 9.1.22)
9.2.14 ResetPos
The ResetPos command resets the ABS_POS register to zero. The zero position is also
defined as HOME position (see paragraph 6.5).
9.2.15 ResetDevice
The ResetDevice command resets the device to power-up conditions (see paragraph 6.1).
Note: At power-up the power bridges are disabled.
9.2.16 SoftStop
The SoftStop command causes an immediate deceleration to zero speed and a consequent
motor stop; the deceleration value used is the one stored in DEC register (see paragraph
9.1.6).
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.
Table 50. ResetPos command structure
1 1 0 1 1 0 0 0 from host
Table 51. ResetDevice command structure
1 1 0 0 0 0 0 0 from host
Table 52. SoftStop command structure
1 0 1 1 0 0 0 0 from host

62/67 Doc ID 16737 Rev 3
9.2.17 HardStop
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
from high impedance state; no motion is performed.
9.2.18 SoftHiZ

The SoftHiZ command disables the power bridges (high-impedance state) after a
deceleration to zero; the deceleration value used is the one stored in DEC register (see
paragraph 9.1.6). When bridges are disabled the HiZ flag is raised.
When the motor is stopped, a SoftHiZ command forces the bridges to enter in high-
impedance state.
9.2.19 HardHiZ

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 in 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.
Table 53. HardStop command structure
1 0 1 1 1 0 0 0 from host
Table 54. SoftHiZ command structure
1 0 1 0 0 0 0 0 from host
Table 55. HardHiZ command structure
1 0 1 0 1 0 0 0 from host
Doc ID 16737 Rev 3 63/67

9.2.20 GetStatus

The GetStatus command returns the Status register value.
GetStatus command resets the STATUS register warning flags. The command forces the
system to exit from any error state. The GetStatus command DO NOT reset HiZ flag.
Table 56. GetStatus command structure
1 1 0 1 0 0 0 0 from host
STATUS MSByte to host
STATUS LSByte to host

Package mechanical data L6470
64/67 Doc ID 16737 Rev 3
10 Package mechanical data
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.
Table 57. HTSSOP28 mechanical data
Dim
mm
Min Typ Max
A 1.2
A1 0.15
A2 0.8 1.0 1.05
b 0.19 0.3
c 0.09 0.2
D
(1)
1. Dimension "D" does not include mold flash, protrusions or gate burrs. Mold flash, protrusions or gate burrs
shall not exceed 0.15 mm per side.
9.6 9.7 9.8
D1 5.5
E 6.2 6.4 6.6
E1
(2)
2. Dimension "E1" does not include interlead flash or protrusions. Interlead flash or protrusions shall not
exceed 0.25 mm per side.
4.3 4.4 4.5
E2 2.8
E 0.65
L 0.45 0.6 0.75
L1 1.0
K 0 8
Aaa 0.1
L6470 Package mechanical data
Doc ID 16737 Rev 3 65/67

Figure 22. HTSSOP28 mechanical data
AM02392v1

Revision history L6470
66/67 Doc ID 16737 Rev 3
11 Revision history

Table 58. Document revision history
Date Revision Changes
06-Nov-2009 1 Initial release
05-Nov-2010 2 Document status promoted from preliminary data to datasheet
18-May-2011 3
Updated: Table 4, Table 5
Added: Section 6.7.6, Section 6.4.1
L6470
Doc ID 16737 Rev 3 67/67

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dSPIN Fully Integrated Microstepping Motor Driver With Motion Engine and SPI

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