dSPIN Future in motion

dL6470dSPIN: breakthrough in motor control
 ST is universally acknowledged as
one of the leading semiconductor
suppliers for motor control applications
 ST is a pioneer and leader in smart
power monolithic and integrated
solutions for motor driver applications

dSPIN represents the breakthrough solution
for stepper motors in terms of performancewith fast & easy design

The 3 key benefits of dSPIN

Voltage mode
driving

Outstanding position accuracy & smooth motion:- Resolution up to 128 microsteps/step- Very accurate sine-wave profileDigital core

Fully digital motion management:- User-defined motion profiles easily programmablethrough SPI interface- No need of complex MCU routines

Full set ofprotection
features

High level of robustness against system faults:- Thermal, low bus voltage, overcurrent,
stall detection- Easy design, reduced external components

Monolithic digital microstepping driver
BCD 0.35 m, multi-power technology

3V voltage
regulator
16MHz
oscillator

ADC

dSPIN

ChargepumpcorePowerstage

DAC andcomparator

Current
sensing

SPI
ThermalprotectionDriving multi-purpose bipolar stepper motors
Factory
automation,
sewing machine

Stage lighting

Professional andlabel printers

ATM, POS,
vending machines,
gamingMedical, security

Consumer,toys & robotics

Voltage driving versus current driving
Without dSPINStandard current mode driving

Noisy and jerky motion
 Mechanical vibrations from abrupt
current changes
Inaccurate positioning Peak current different from target
Torque ripple and EMI difficult to control
 Non constant switching frequency

With dSPIN

Innovative voltage mode driving

Resolution up to 128 steps/stepVery accurate and smooth sine-wave profile
Reduced resonances, mechanical noiseand vibrations at low speed
Reduced torque and speed ripple at lowspeeds

Outstanding position resolution and smooth motion

Standard current mode – more details
1. Abrupt current changes cause high mechanical vibrations

2. Peak current isCurrent mode tries to follow even non –ideal steps (reference
voltage quantization and sampling)
Noisy and jerky motion

controlled; average
current value is different
from target
Inaccurate positioning

3. Non-constant switching frequency
Torque ripple and EMI are difficult to control

dSPIN innovative control – more details
Smooth current transient reduces
mechanical vibrations
Motor movement is soft and silent

Constant switching frequency
Torque ripple and EMI are controlled

Average current is controlled
Accurate positioning

Digital core
Without dSPIN

 Speed and position
profiles requiredcomplex MCU routines

With dSPIN

 dSPIN does the tricky
part, following simple
high-level SPI commands
Fully digital motion management with simple commands

Integration of digital coredSPIN manages the full motion profile
Target speed, acceleration, deceleration

Maximum speed
from 15.25 to 15610 step/s(15.25 step/s resolution)

Absolute/ relative positioning

Integrated 22-bit
registerFor up to 32768 full steps@128 µstep

Acceleration and decelerationfrom 14.55 to 59590 step/s2(14.55 step/s2 resolution)

Advanced set of protection features
 Programmable non
dissipative overcurrent
protection
 Internal sensing of highand low-side power Two levels of overtemperature protection
 Under voltage protection
 Stall detection

Example of stall detection

VphaseSTALL
thresholdIphaseBEMF
Normal operation

High level of robustness against system faults

StallHigh configurability for easy design
 3 slew-rate levels programmable through SPI
 180 V/μs, 290 V/μs and 530 V/μs
 SPI daisy-chain configuration

 4 clock configurations
 Logic supply management

Fully-digital control through SPI
Absolute-position
register can be set
Speed profile
parameters
Torque control
parameters
BEMF compensation
Phase resistance driftcompensation
ADC conversion result
Overcurrent threshold

Stall detection threshold
Device configuration andstatus

Motor electrical
position (currentmicrostep)
can be set

L6470 - Benefits summaryVoltage mode driving



Digital core

Full set of protections



128 µsteps/ step is the best motion resolution everreached in monolithic stepper motor drivers
Smoothness of motion is like never before
All with a single chip, avoiding more expensive andspace consuming discrete solutions

Fully digital motion control allows the user to set a varietyof features: target speed, acceleration/ deceleration,
absolute and relative position, just to name a few
SPI interface allows user to easily insert desired
parameters with no need for external microcontroller

A full set of protection functions confers robustness tothe system and helps to further reduce the number ofexternal components, the cost and complexity

Outstanding performance with fast & easy designMotor control
system-on-chiperw
Po pinSinD

dSp

inps

Advanced control
driving

CPerformance & Integration

Motor control ICs

C-SPIN digital
controller + driverconceived to enable a wide
variety of implementations

Making your designs easier
Packages
HTSSOP28 package (H type) – mass production
PowerSO36 (PD Type) – samples already available

Support
Full design support: evaluation board,
software, USB and IBU interface boards,
application notes, available at:www.st.com/dspin

Tools and documentation
Sales codes L6470H
 L6470HTR
 L6470PD- HTSSOP28 - Tray
- HTSSOP28 - Tape & Reel
- PowerSO36 (Samples available now)

L6470 Documentation:
 L6470 webpage
 Datasheet
 Application Note (AN3103)

Software: L6470 Evaluation tool softwareEvaluation boards
 EVAL6470H
 EVAL6470PD



Control boards
 STEVAL-PCC009V2 (and –V1)

dSPIN firmware library Available at http://www.st.com/dspin