EVAL6470H-DISC: Fully Integrated Stepper Motor Driver .
UM1691User manualEVAL6470H-DISC: fully integrated stepper motor driver based onthe L6470 and STM32 IntroductionThe EVAL6470H-DISC can be used together with the STM32 firmware library V1.0 andconstitutes a complete motor control evaluation and a development platform.It is a demonstration board for motor control applications in the range of 8 V to 45 V of DCbus voltage using the STM32F105RB microcontroller with an internal 128 kB Flash size anda 64 kB internal RAM and the L6470 fully integrated solution suitable for driving two-phasebipolar stepper motors up to 1/128 microstepping.The L6470 integrates a dual DMOS full bridge with all of the power switches equipped withan accurate on-chip current sensing circuitry suitable for non dissipative current control andovercurrent protection.With dedicated hardware evaluation features, the EVAL6470H-DISC board is designed tohelp developers evaluate the device and develop their own applications.Figure 1. Board imageApril 2015DocID025486 Rev 21/41www.st.com41
ContentsUM1691Contents1Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41.1Target applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41.2Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Electrical characteristics of the board . . . . . . . . . . . . . . . . . . . . . . . . . . 53Schematics, layout and bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . 64General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114.1Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .114.2L6470 stepper motor driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124.2.1Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134.2.2Voltage mode driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.2.3Overcurrent and stall detection thresholds . . . . . . . . . . . . . . . . . . . . . . 144.2.4Speed profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154.3STM32F105RB microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154.4Firmware loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.54.64.4.1DfuSe installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.4.2Generate a DFU file from a HEX file . . . . . . . . . . . . . . . . . . . . . . . . . . . 174.4.3Board settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194.4.4DFU loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Using the EVAL6470H-DISC with firmware for the GUI . . . . . . . . . . . . . . 244.5.1Sanity check of the board with firmware for the GUI . . . . . . . . . . . . . . . 244.5.2Parameters exportation from the GUI to the FW library . . . . . . . . . . . . . 33Using the EVAL6470H-DISC with the firmware library . . . . . . . . . . . . . . . 344.6.1FW library package contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344.6.2FW L6470 library description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344.6.3Demonstration sequence description . . . . . . . . . . . . . . . . . . . . . . . . . . 354.6.4Create a project using the FW library package . . . . . . . . . . . . . . . . . . . 395References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402/41DocID025486 Rev 2
UM1691List of figuresList of figuresFigure 1.Figure 2.Figure 3.Figure 4.Figure 5.Figure 6.Figure 7.Figure 8.Figure 9.Figure 10.Figure 11.Figure 12.Figure 13.Figure 14.Figure 15.Figure 16.Figure 17.Figure 18.Figure 19.Figure 20.Figure 21.Figure 22.Figure 23.Figure 24.Figure 25.Figure 26.Figure 27.Figure 28.Board image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1Schematic (microcontroller supply part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6Schematic (microcontroller part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7Schematic (motor driver part) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Layout top layer and bottom layer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8Microcontroller supply section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11L6470 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13STM32F105xx and STM32F107xx block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16DFU file manager (action). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17DFU file manager (generation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18Board settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19DFU loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20DFU file (open) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21DFU file (upgrade) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22DFU file (confirmation) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22DFU file ( download OK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23Starting board (boot mode) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24Starting board (motor power supply) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25Starting board (USB connection) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26Starting board (error case) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27Starting board (board OK) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28Starting board (display board ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Starting board (action LEFT key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30Starting board (action RIGHT key) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31Starting board (action RESET key). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32Parameters exportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Parameters exportation (save file) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33DocID025486 Rev 23/4141
Main features1UM1691Main featuresThe characteristics of the EVAL6470H-DISC board are the following:1.1 DC voltage range from 8 V to 45 V Maximum load phase current at 3 Ar.m.s. Footprint for external resonator or crystal Control interface through trimmer - user keys and switch motor input Control through LED indicators Interface control by USB and debug outputs Compatible with SPINFamily evaluation tool Autonomous board due to an embedded firmware Up to 1/128 microstepping Optimized layout on 2-layer board - low cost and high thermal performanceTarget applicationsThe demonstration board is designed to fit all typical stepper motor applications - it is anautonomous board due an embedded firmware.1.2DescriptionThe EVAL6470 DISC is downloaded with an embedded firmware.The possibility with this board is double: Adapt the settings with your specific setup (motor - voltage) by using the dedicated PCapplication.The user is able to save inside the board the specific parameters depending ona user setup. 4/41Using the board (with user parameters) directly on a site - without a connected PC.DocID025486 Rev 2
UM16912Electrical characteristics of the boardElectrical characteristics of the boardTable 1. Electrical specificationsNameValueSupply voltage (VS)8 to 45 VMaximum output current (each phase)3 A r.m.sLogic supply voltage (VREG)3 V (L6470 regulator supply)Logic interface voltage (VDD)3.3 V (USB supply)Low level logic inputs voltage0VHigh level logic input voltageVDDSteppingUp to 1/128 microsteppingOperating temperature0 to 85 CDocID025486 Rev 25/4141
Schematics, layout and bill of material3UM1691Schematics, layout and bill of materialFigure 2. Schematic (microcontroller supply part)9''9''73 8 - 6 (//6 (//6 (//6 (//86%B9&&86%'086%'3,'86%B*1' 9 86%'086%'3 & 1) .( 6721( & 8)8 5 01&928792871&/' ' 7 5& 1) *1'928792879,1 , 2 *1', 2 , 2 9%86, 2 86%'09'' 86%'386%/& 3 5 86%B,7& 1) . 0 6/41DocID025486 Rev 2
UM1691Schematics, layout and bill of materialFigure 3. Schematic (microcontroller part)9''9''9''5 .5 .5 5 5 5 5 5 . . . . .&21 )/ 7 ; 0- 5- 23(1 & 1)9''5(6(7 1)-7 *B7',-7 *B7&.& 1)%227 & 8)-7 *B17657-7 *B7'2& 5 55 . . . /('B63 5(/('B(5525/('B%86 /('B5( ' 5 5 5 5' 5' ' 5('25 1*(6: B02725%87721B %87721B%*5((1 1)67&.& 8) 9''& 670 ) 5%7 3 966B 9'' 3 3 3 3 3& 3& 3% 3% 3% 3% 3% 966B 9''B ' (//2:8 9''*1'9''9''9''*1'5(6(75 59''B 966B 3 3 3 3 3 3 3&3& 3& 3& 3% 3% 3% 3% & 1)3 B70686%'386%'03 B8 57 B5 ;3 B8 57 B7 ;3 B8 57 B& .5 .9''5 .73 73 73 86%B,7%2 5'B,'B %2 5'B,'B %2 5'B,'B %2 5'B,'B 5 5 5 5 .131313%227 )/ *%86 3)5 9% 73& 7 03(5 57&3& 26& B,13& 26& B2873' 26&B,13' 26&B28715673& 3& 3& 3& 966 9'' 3 :.833 3 9'' & 9'' 5 09''B 966B 3%3% %227 3% 3% 3% 3% 3% 3' 3& 3& 3& 3 3 0 ]63,B16663,B1&.63,B0,6263,B026,6:67% B5(6(7 3) & 9''& 5 . 1)5 .5 .5 .& 1)& 1)& & 6 1)6 1) 1) 5- 23(1 6 5 & 0 DocID025486 Rev 27/4141
Schematics, layout and bill of materialUM1691Figure 4. Schematic (motor driver part)5 96 .96 5 .& % 9 ' 1)5 13 '&,16: 67&.67% B5(6(7 )/ * %86 26&,1- 26&2878 / 96 96 96%96%287 287 & & 1) 1)& 8) 9- '&,16:67&.67% B5(6)/ *%86 B6 1&&6&.6',6'2287 %287 % 63,B16663,B1&.63,B026,63,B0,62&39''95(* 1) & 73 & 1) 8)(3 '9''96 5 .73 & 9%227& 1)& 5 13'*1' 9- *1'3*1'3*1' .( 6721( ' 73 1) 0 Figure 5. Layout top layer and bottom layer8/41DocID025486 Rev 2
UM1691Schematics, layout and bill of materialTable 2. Bill of materialItemQuantityReferenceValuePackageC1, C162Cap. cer. 10 µF 10 V X7R 080510 F0805C21Cap. cer. 1 µF 10 V X7R 08051 F0805C3, C4, C10 C13, C17 C19, C21,C22, C25 C2714Cap. cer. 100 nF 50 V X7R 0603100 nF0603C51Cap. cer. 3.3 nF 50 V X7R 06033.3 nF0603C61Cap. cer. 220 nF 35 V X7R 0603220 nF0603C71Cap. cer. 4.7 nF 50 V X7R 06034.7 nF0603C8, C15, C20,C284Cap. cer. 10 nF 50 V X7R 060310 nF0603C91Cap. tant. 47 F 6.3 V 10% PACK-A47 F3216C141Cap. elec. 100 F 63 V100 FCAPES-R10HXXC23, C242CAP. CER. 20pF 50V COG 060320 pF0603D11Zener regulator3.6 VSOD 523D21Double diode - high speedswitching diodeBAV99SOT23D31LED red - 0805 -2 mcd - 621 nmRed0805D41LED green - 0805 -6 mcd - 569 nmGreen0805D51LED yellow - 0805 -6 mcd - 588 nmYellow0805D61LED orange - 0805 -2 mcd - 602 nmOrange0805FIX1 - FIX44Hole3 mn-J1 - J33Screw connector 2 poles MKDSN1.5/2 - 5.08MKDSN 1.5/2 - 5.08MKDSN 1.5/2 - 5.08J41JTAG CON-FLAT-10 x 2 - 180 MJ51USB B MINI AMP 1734035-1CN-USBCMS Mini USBJ6, J72JUMP254P-M-2OPENSTRIP 2 x 2.54MIRE1 MIRE33OPTICAL TARGETOPTICAL TARGETDiam. 1 mnR11Trimmer 200 K 200 K Trimm. 100 x 50 x 110R2127 K 5% 1/10 W27 K 0603R31Res. 7.5 K 5% 1/10 W 0603 SMD7.5 K 0603R4, R132Res. 1 M 1/10 W 5% 0603 SMD1 M 0603R51Res. 1.5 K 1/10 W 5% 0603 SMD1.5 K 0603R6, R8 - R11,R14, R19,R30 - R3210Res. 10 K 5% 1/10 W 0603 SMD10 K 0603CON-FLAT-10 x 2 - 180 M CON-FLAT-10 x 2 -180 MDocID025486 Rev 29/4141
Schematics, layout and bill of materialUM1691Table 2. Bill of materialItemQuantityReferenceValuePackageR7, R122Res. 100 5% 1/10 W100 0603R15 - R184Res. 470 5% 1/10 W 0603470 0603R20, R332Res. 1 K 5% 1/10 W 0603 SMD1 K 0603R21 - R23,R344Res. NP 0603NP0603R24 - R274Res. 4.7 K 5% 1/10 W 0603 SMD4.7 K 0603R281Res. 100 K 5% 1/10 W 0603 SMD100 K 0603R291Res. NP 0805NP0805S1 - S33Switch button SMDEVQQ2D03WCMS 6.5 x 6 x 3.1TP1, TP2,TP4 - TP76Test point redKEYSTONE-5000THTP31Test point blackKEYSTONE-5001THU11IC REG 1300MA LN 3.3 VLD1117D33TRSO8U21USBLC6-2P6USBLC6-2P6SOT 666U31L6470 microstepping motor drivenL6470HTSSOP28U41IC, MCU, RISC, 72 MHz, 3.6 V,32-bit, 64-pin, LQFPSTM32F105RBT6LQFP64 10 x 10Y11XTAL 8 MHz-30 PPM-20 pF8 MHzHC49/US-SM10/41DocID025486 Rev 2
UM1691General description4General description4.1Power supplyThe EVAL6470H-DISC board is designed to be powered via: Connector J1: power of the motor and also motor control driver. USB connector J5: power of the microcontroller and logic control.The USB cable supplies the digital part through a dedicated LDO (U1) providing 3.3 V.The motor power must be set according to the voltage required by the user motor.Note:Both the supply sources (USB connector and J1 connector) must be present to makethe board operative.Figure 6. Microcontroller supply section9''9''73 8 - 6 (//6 (//6 (//6 (//86%B9&&86%'086%'3,'86%B*1' 9 86%'086%'3 & 1) .( 6721( & 8)8 5 01&928792871&/' ' 7 5& 1) *1'928792879,1 , 2 *1', 2 , 2 9%86, 2 86%'09'' 86%'386%/& 3 5 86%B,7& 1) . 0 DocID025486 Rev 211/4141
General description4.2UM1691L6470 stepper motor driverThe L6470 is an advanced fully integrated solution suitable for driving two-phase bipolarstepper motors with microstepping. It integrates a dual low RDS(on) DMOS full bridge.Features Operating voltage: 8 - 45 V 7.0 A out peak current (3.0 A r.m.s.) Low RDS(on) 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 Two levels of overtemperature protectionFigure 7. L6470 block diagram12/41DocID025486 Rev 2
UM1691General descriptionTable 3. L6470 recommended operating conditionsSymbolParameterValueUnitVDDLogic Interface supply voltage3.3VVSMotor supply voltageVSA VSB VS8 45VVOUT diffDifferential between voltage VSA, OUTI1A, OUT2A,PGND and VSB, OUT1B, OUT2B, PGND pinsVSA VSB VSUp to 45VVREG inLogic supply voltageVREG internal3VVADCIntegrated ADC input voltage range (ADCIN pin)0 VREGV4.2.1Test conditionCharge pumpThe L6470 device uses an internal charge pump for driving correctly the integratedMOSFETs, a voltage higher than the motor power supply. The charge pump is obtainedthrough an oscillator and few external components.Figure 8. Charge pump circuitry96& Q)' % 9 & Q ) 9%227&38 96 96 96% 96%/ 0 DocID025486 Rev 213/4141
General description4.2.2UM1691Voltage mode drivingThe configuration parameters of the voltage mode driving can be obtained through theBEMF compensation tool embedded into the SPINFamily software.A wrong setup of these parameters could cause several issues, in particular: The phase current decreases with the speed and the motor will stall. The wrong voltage is applied to the motor and the system is very noisy. The phase current reaches the overcurrent limit.The BEMF compensation form uses the application parameters as inputs in order toevaluate the proper device setup.The required inputs are: Supply voltage. Target phase current (r.m.s. value) at different motion conditions (acceleration,deceleration, constant speed and holding). Target operating speed (maximum speed). Motor characteristics.The motor characteristics are: electrical constant (Ke), phase inductance and resistance.The inductance and the resistance of the phase are given in the motor datasheet. The Ke israrely given in the specification and must be measured.In the help section of the SPINFamily software a step by step procedure is explained. Thesame procedure can also be found in the application note “AN4144: Voltage mode controloperation and parameter optimization” on www.st.com.Click on the “evaluate” button to get the suggested setup for the voltage mode driving. Thenclick on “write” button to copy the data in the registers of the device.4.2.3Overcurrent and stall detection thresholdsThe overcurrent protection and the stall detection are implemented measuring the currentflowing into each integrated MOSFET.The overcurrent protection threshold should be set just above the current rating of themotor:IOCDth Imax,r.m.s. 2For example: if the maximum phase current of the motor is 2 Ar.m.s., the overcurrentprotection should be set to about 3 A.Warning:Important - it is strongly discouraged to disable theovercurrent shutdown. It may result in critical failures.The stall detection threshold should be just above the operating peak current of theapplication. During the preliminary stages of evaluation, it can be set to the maximum value.14/41DocID025486 Rev 2
UM16914.2.4General descriptionSpeed profileThe max. speed parameter is the maximum speed the motor will run. By default, it is about1000 step/s. That means, if you send a command to run at 2000 step/s, the motor speed islimited at 1000 step/s.This is an important safety feature in the final application, but not necessarily useful toevaluate the device performances. Setting the parameter to high values (e.g. 6000 step/s)allows evaluating the maximum speed which can be achieved by the application under testthrough the speed tracking command (Run), but it probably limits the possibility to usepositioning commands (Move, GoTo, etc.).The Full-step speed parameter indicates the speed at which the system switches frommicrostepping to full step operation.In voltage mode driving devices it is always recommended to operate in microstepping andnot to switch to full step. Hence, this parameter should be greater than the maximum speed.4.3STM32F105RB microcontrollerThe STM32F105xx incorporates the high-performance ARM Cortex -M3 32-bit RISCcore operating at a 72 MHz frequency, high-speed embedded memories (a Flash memoryup to 256 Kbytes and an SRAM 64 Kbytes), and an extensive range of enhanced I/O andperipherals connected to two APB buses. All devices offer two 12-bit ADCs, four generalpurpose 16-bit timers plus a PWM timer, as well as standard and advanced communicationinterfaces: up to two I2Cs, three SPIs, two I2Ss, five USARTs, a USB OTG FS and twoCANs.The STM32F105xx device operates in the -40 to 105 C temperature range, from a 2.0 to3.6 V power supply. A comprehensive set of power saving mode allows the design of lowpower applications.The STM32F105xx offers devices in three different package types: from 64 pins to 100 pins.Depending on the device chosen, different sets of peripherals are included.These features make the STM32F105xx and STM32F107xx connectivity linemicrocontroller family suitable for a wide range of applications such as motor drives andapplication control, medical and handheld equipment, industrial applications, PLCs,inverters, printers and scanners, alarm systems, video intercom, and HVAC and home audioequipment.Please refer to the STM32F105xx datasheet for an overview of the complete range ofperipherals proposed in this family.Please refer to the STM32F105xx reference manual to get more information on themicrocontroller operation.The STM32F105RBT6 has a 64-pin LQFP package with a 128-KByte Flash memory andoperates in the -40 to 85 C temperature range.DocID025486 Rev 215/4141
General descriptionUM1691Figure 9 shows the general block diagram of the STM32F105xx and STM32F107xx family.Figure 9. STM32F105xx and STM32F107xx block diagram16/41DocID025486 Rev 2
UM16914.4General descriptionFirmware loadingThis section describes how to load firmware to the board by using the DfuSe demonstrationsoftware.4.4.1DfuSe installationYou need first to download the DfuSe demonstration software from: www.st.com.The DfuSe tool is referenced under the development suite STSW-STM32080.Once downloaded, run the setup.exe file.More details on the DfuSe are given in the UM0412 user manual.4.4.2Generate a DFU file from a HEX fileIf the file you want to download to the discovery board is not a DFU file but a HEX file, youwill need first to convert it.In this purpose: Start the DFU file manager (V3.0.3 or greater) which has been installed with the DfuSe. Choose “I want to GENERATE a DFU file from S19, HEX or BIN files”.Figure 10. DFU file manager (action) Click “S19 or HEX” button. Select in the open dialog box the file of type “hex Files”, select the HEX file and click“OK”. Click on the “Generate ” button. Give a name to the *.DFU file and click on the “Save” button.DocID025486 Rev 217/4141
General descriptionUM1691Figure 11. DFU file manager (generation)18/41DocID025486 Rev 2
UM16914.4.3General descriptionBoard settingsTo be able to download firmware, the discovery board should be started in the “DFU” mode.In this purpose:1.Remove the jumper from the BOOT pins.2.Plug a USB cable between the discovery board and the PC.It does not matter if the VS connector is plugged or not to a supply voltage.Figure 12. Board settingsDocID025486 Rev 219/4141
General description4.4.4UM1691DFU loadingAt this step, you are now ready to perform the firmware upgrade.1.Start the “DfuSeDemo.exe”.2.You must have an “STM Device in DFU Mode” in the list of the “Available DFUDevices”. Else, it means that your board is not correctly configured or not connected tothe PC.Figure 13. DFU loading3.20/41In the “Upgrade or Verify Action” group, click on the “Choose ” button.DocID025486 Rev 2
UM1691General description4.Select the *.dfu file of your choice in the open dialog box and click on the “Open”button.Figure 14. DFU file (open)DocID025486 Rev 221/4141
General description5.UM1691Click on the “Upgrade” button.Figure 15. DFU file (upgrade)6.If this dialog box appears, click “Yes”.Figure 16. DFU file (confirmation)22/41DocID025486 Rev 2
UM1691General description7.Once the download is performed, you should have:Figure 17. DFU file ( download OK)8.Do no forget to put the jumper back on the BOOT pins in order to restart the discoveryboard to the normal mode!DocID025486 Rev 223/4141
General description4.5UM1691Using the EVAL6470H-DISC with firmware for the GUIBy default the discovery board is loaded with firmware offering the capability to connect theboard with the SPINFamily evaluation tool. This GUI provides direct access to all L6470registers and allows sending application commands.4.5.1Sanity check of the board with firmware for the GUIAt the startup of the FWGUI, a sanity check is performed to confirm the discovery board isworking correctly. The status is returned via the board LEDs.To have a correct execution of the sanity check, please follow the steps below:1.Place a jumper on the BOOT pins (bottom left corner of the board):Figure 18. Starting board (boot mode)24/41DocID025486 Rev 2
UM1691General description2.Connect the board to a 5 V - 45 V DC power supply:Figure 19. Starting board (motor power supply)DocID025486 Rev 225/4141
General description3.UM1691Plug a USB cable (which must at least provide a power supply).Figure 20. Starting board (USB connection)4.26/41The board should switch on automatically.DocID025486 Rev 2
UM1691General description5.At this step:a)If a problem is detected, the “ready” LED (green) and the “error” LED (red) willswitch on without blinking. This means that:–either the board ID is not recognized by the FW (bad FW versions used)–or there is a problem with the SPI (no connection between the MCU and the L6470via the SPI)–or there is no 5 V - 45 V DC power supply.Figure 21. Starting board (error case)DocID025486 Rev 227/4141
General descriptionb)UM1691If no problem is detected, the LEDs will start an infinite two-step loop:In the first step, the four LEDs will switch on one after the other by starting by thegreen one and ending by the yellow one.Figure 22. Starting board (board OK)28/41DocID025486 Rev 2
UM1691General descriptionIn the second step, only the LEDs which correspond to the board ID are switchedon all at the same time.For the L6470 device, there are green, orange, red LEDs.Figure 23. Starting board (display board ID)DocID025486 Rev 229/4141
General description6.UM1691Press the LEFT button and check the two-step loop stops after a few seconds. Onlygreen LED remains switched on.Figure 24. Starting board (action LEFT key)30/41DocID025486 Rev 2
UM1691General description7.Press the RIGHT button and check the two-step loops restarts.Figure 25. Starting board (action RIGHT key)DocID025486 Rev 231/4141
General description8.UM1691Press the RESET button and check that the LEDs restart there two-step loop after theboard reset.Figure 26. Starting board (action RESET key)Note:32/41Please note that once you have connected the discovery board to the GUI, the LEDsmeaning is different. You then need to restart the board to perform a new auto-check and tohave a valid status from the LEDs.DocID025486 Rev 2
UM16914.5.2General descriptionParameters exportation from the GUI to the FW libraryOnce you have customized the L6470 parameters with the GUI, you can export them toa header file in order to use it with the FW library.In this purpose:1.Press the “header file” button on the main window of the GUI.Figure 27. Parameters exportation2.Replace the existing “dspin config.h” of your current FW library by the new one.Figure 28. Parameters exportation (save file)3.Then you only need to recompile your project as usual to use the exported parameters.DocID025486 Rev 233/4141
General description4.6UM1691Using the EVAL6470H-DISC with the firmware libraryThe L6470 firmware library is supplied as an IAR workspace with a source include andproject files. If you are using an IAR design environment, you just need to load the“dspin.eww” file and use the fwlibrairies dspin discoverykit project which is already active.If you are using a different design environment, you will find instructions in this user manualto build a new project on your preferred IDE.The L6470 firmware library is also supplied as an executable file in a HEX and in a DFUformat. It can be loaded into the EVAL6470H-DISC board as explained in Section 4.4 onpage 17.4.6.1FW library package contents FW L6470 library– Described in Section 4.6.2.CMSIS library– stm32f10x/CMSISLibrary used by the L6470 FW librarySTM32F10x standard peripherals library drivers– /stm32f10x/STM32F10x StdPeriph Driver Library used by the L6470 FW libraryIAR workspace files–/user motion/project/ewarm6/fwlibraries/dspin/dspin.eww- a workspace file–/user spin.wsdt- a workspace settings file–/user it- a directory containing the L6470 discovery board project files and subdirectories–/user it/Debug/Exe/- a directory containing the *.HEX and *.DFU executable files–/user motion/project/ewarm6/fwlibraries/dspin/pcc009v2- a directory containing the PCC009V2 board project files and subdirectories.4.6.2FW L6470 library descriptionThe FW L6470 library has the following features:34/41 Register read, write and check Register values conversion Device configuration Motion commands FLAG and BUSY interrupts management Button interrupts management Step “Clock mode” management Initialization routine using “GoUntil” and “ReleaseSW” commands “Daisy Chain” modeDocID025486 Rev 2
UM1691General descriptionThe FW L6470 library has been tested on the L6470H DISCOVERY board R1. The mainprogram contains a commented demonstration sequence which uses all the FW L6470library supported features. This sequence is interactive and to proceed to the end someuser action is necessary.For the “GoUntil” feature demonstration, when the LED SPARE is blinking for the first time,the user shall close the SW MOTOR jumper J8. This triggers a switch turn on event at theL6470 SW pin.For the “ReleaseSW” feature demonstration, when the LED SPARE is blinking again, theuser shall open the SW MOTOR jumper J8. This triggers a L6470 SW pin release.At the end of the demonstration sequence, the GPIO connected to LEFT and RIGHTbuttons are configured to trigger interrupts on the microcontroller:On a LEFT button press, the microcontroller starts the motor at quarter of max. speed if it isstopped or doubles the motor speed if it is already running.On a LEFT button press, the microcontroller disables the power bridges after a smooth stopif the motor is running at minimum speed or halves the motor speed if the motor is runningabove minimum speed.Even if the “Daisy Cha
EVAL6470H-DISC: fully integrated stepper motor driver based on the L6470 and STM32 Introduction The EVAL6470H-DISC can be used together with the STM32 firmware library V1.0 and constitutes a complete motor control evaluation and a development platform. It is a demonstration board for m
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About Stepper Motor Linear Actuators Stepper Motor Linear Actuators (SMLA) are stepper motor -based actuator assemblies. The main components of SMLA assemblies are: 1. Stepper motor 2. Lead screw 3. Lead nut Motion is achieved by supplying controlled, electrical pulses to the internal stepper motor coils.
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Figure 1. Stepper motor configuration The advantage of the bipolar circuit is that there is only one winding, with a good bulk factor (low winding resistance). The main disadvantage is the more complex drive circuit needing the two changeover switches for each phase. This is implemented as a full H-bridge for eachFile Size: 1MBPage Count: 23Explore furtherStepper Motor Driver (Circuit Diagram & Schematic .www.electrical4u.comStepper motor driver - The complete explanation PoLabs.comblog.poscope.comHow to Use a Stepper Motor : 12 Steps (with Pictures .www.instructables.comDIY Stepper Motor Controller : 6 Steps (with Pictures .www.instructables.comAN2974, Quick Start for Beginners to Drive a Stepper Motor .www.nxp.comRecommended to you b
The stepper motor option features an adjustable slip clutch system so the focuser can be used manually or operated on motor at the same time. The stepper motor's 9-pin DBA connector is compatible with other stepper motor controllers such as ROBO focus, as well as MoonLite's controllers. A controller of some type must be used; the stepper .
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