ST EVAL6470H-DISC User manual

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 motor control applications in the range of 8 V to 45 V of DC bus voltage using the STM32F105RB

microcontroller with an internal 128 kB Flash size and a 64 kB internal RAM and the L6470 fully integrated solution suitable for

driving two-phase bipolar stepper motors up to 1/128 microstepping.

The L6470 integrates a dual 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 protection.

With dedicated hardware evaluation features, the EVAL6470H-DISC board is designed to help developers evaluate the device

and develop their own applications.

Figure 1. EVAL6470H-DISC board

EVAL6470H-DISC: fully integrated stepper motor driver based on the L6470 and

STM32™

UM1691

User manual

UM1691 - Rev 3 - November 2021

For further information contact your local STMicroelectronics sales office.

www.st.com

1Main features

The characteristics of the EVAL6470H-DISC board are the following:

• 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 performance

1.1 Target applications

The demonstration board is designed to fit all typical stepper motor applications - it is an autonomous board due

an embedded firmware.

1.2 Description

The 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 PC application.

– The user is able to save inside the board the specific parameters depending on a user setup.

• Using the board (with user parameters) directly on a site - without a connected PC.

UM1691

Main features

UM1691 - Rev 3 page 2/33

2Electrical characteristics of the board

Table 1. Electrical specifications

Name Value

Supply voltage (VS)8 to 45 V

Maximum output current (each phase) 3 A r.m.s

Logic supply voltage (VREG)3 V (L6470 regulator supply)

Logic interface voltage (VDD)3.3 V (USB supply)

Low level logic inputs voltage 0 V

High level logic input voltage VDD

Stepping Up to 1/128 microstepping

Operating temperature 0 to 85 °C

UM1691

Electrical characteristics of the board

UM1691 - Rev 3 page 3/33

3Schematics, layout and bill of material

Figure 2. Schematic (microcontroller supply part)

VDD

USBD M

USBD P

USBD M

5V0

USB_ IT

USBD P

VDD

100N F

4.7NF

LD1117D33T R

VIN

4NC 5

VOUT 6

GND

VOUT

3VOUT 7

NC 8

1734035- 1

USB_VC C 1

USBDM 2

USBDP 3

USB_ GND 5

SHEL L

ID 4

SHEL L

10U F

TP 1

KEYSTONE5000

USBLC6 -2 P6

I/O1#1

GND

2VBUS 5

I/O2#4 4

I/O1#6 6

I/O2#3

1.5K

100N F

Figure 3. Schematic (microcontroller part)

SW MOTOR LEFT RI GHTRESET

BOOT

SPARE BUSYERROR READY

START/STOP

STCK

GND

STBY_RESET

BOARD_ID_0

SPI_NSS

SPI_NCK

BOARD_ID_1

SPI_MISO

BOARD_ID_2

SPI_MOSI

BOARD_ID_3

PA8_UART1_CK

PA9_UART1_TX

PA10_UART1_RX

USBDM

USBDP

PA13_TMS

BOOT1

RESET

JTAG_NTSRT

JTAG_TDO

JTAG_TCK

JTAG_TDI

BOOT0

SW _MOTOR

BUTTON_A

BUTTON_B

USB_IT

FLAG

BUSY

LED_READY

LED_BUSY

LED_ERROR

LED_SPARE

VDD

VDDVDD

VDD

VDD VDD

VDD

R10

10K

R31

10K

C19

100NF

R12

100R

1UF

R28

100K

R20

C25

100NF

R17

470R

TP5

C20

10NF

R19

10K

TP6

R21

C26

100NF

YELLOW

R25

4.7K

10K

RED

R13

STM32F105RBT6

PD2 54

PC12 53

PC11 52

PC10 51

PA15 50

PA14 49

VDD_2 48

VSS_2 47

PA13 46

PA12 45

PA11 44

PA10 43

PA9 42

PA8 41

PC9 40

PC8 39

PC7 38

PC6 37

VBAT

PC13-TAMPER-RTC

PC14-OSC32_IN

PC15-OSC32_OUT

PD0 OSC_IN

PD1 OSC_OUT

PC0

8NRST

VSSA

PC1

VDD-4

PC2

PC3

VDDA

PA0-WKUP

PA1

PA2

PA3

VSS_4

PA4

PA5

PA6

PA7

PC4

PC5

PB0

PB1

PB2

PB6 58

PB15 36

PB14 35

PB13 34

PB12 33

VSS_1

31 PB11

VDD_1

PB10

PB5 57

PB4 56

PB3 55

BOOT0 60

PB7 59

PB8 61

PB9 62

VSS_3 63

VDD_3 64

R24

4.7K

GREEN

C18

100NF

C23

20PF

ORANGE

R26

4.7K

R22

OPEN

22-28-4023

C24

20PF

C16

10UF

C22

100NF

C28

10NF

R27

4.7K

R18

470R

1 3

R16

470R

1 3

C21

100NF

CON-FLAT-10X2-180M

R15

470R

R14

10K

R23

100R

OPEN

R11

10K

C27

100NF

R33

C15

10NF

R32

10K

8MHz

10K

C17

100NF

R30

10K

1 3

TP4

UM1691

Schematics, layout and bill of material

UM1691 - Rev 3 page 4/33

Figure 4. Schematic (motor driver part)

OSCIN

OSCOUT

VS GND

XTAL

ADCIN

BUSY

SPI_MOSI

SPI_NCK

SPI_NSS

SPI_MISO

STBY_RESET

STCK

ADCIN

FLAG

VDD

3.3NF

C10

100NF

TP2

TP3

3.6V

TP7

KEYSTONE5000

D2 BAV9 9

2 1

C12

100NF

R29

27K

R34

10NF

C14

100UF

63V

200K

7.5K

C13

100NF

C11

100NF

L6470H

VDD 17

VREG 6

OSCIN

OSCOUT

CP 10

VBOOT 11

ADCIN

VSA 2

VSA 26

VSB 12

VSB 16

PGND

OUT1A 1

OUT2A 28

OUT1B 14

OUT2B 15

AGND

DGND

BUSY_SYNC

22 FLAG

SDO

18 SDI

20 CK

19 CS

STBY_RES

3STCK

EPAD

47UF

220NF

Figure 5. Layout top layer and bottom layer

UM1691

Schematics, layout and bill of material

UM1691 - Rev 3 page 5/33

Table 2. Bill of material

Item Quantity Reference Value Package

C1, C16 2 Cap. cer. 10 µF 10 V X7R 10 µF 0805

C2 1 Cap. cer. 1 µF 10 V X7R 1 µF 0805

C3, C4, C10,

C13, C17, C19,

C21, C22, C25,

C27

14 Cap. cer. 100 nF 50 V X7R 100 nF 0603

C5 1 Cap. cer. 3.3 nF 50 V X7R 3.3 nF 0603

C6 1 Cap. cer. 220 nF 35 V X7R 220 nF 0603

C7 1 Cap. cer. 4.7 nF 50V X7R 4.7 nF 0603

C8, C15, C20,

C28 4 Cap. cer. 10 nF 50 V X7R 10 nF 0603

C9 1 Cap. tant. 47 µF 6.3 V 10% 47 µF 3216

C14 1 Cap. elec. 100 µF 63 V 100 µF CAPES-R10HXX

C23, C24 2 Cap. Cer. 20 pF 50 V COG 20 pF 0603

D1 1 Zener regulator 3.6 V SOD 523

D2 1 Double diode - high speed switching diode BAV99 SOT23

D3 1 LED red - 2 mcd - 621 nm Red 0805

D4 1 LED green - 6 mcd - 569 nm Green 0805

D5 1 LED yellow - 6 mcd - 588 nm Yellow 0805

D6 1 LED orange - 2 mcd - 602 nm Orange 0805

FIX1, FIX4 4 Hole 3 mm -

J1, J3 3 Screw connector 2 poles MKDSN 1.5/2 - 5.08 MKDSN 1.5/2 - 5.08

J4 1 JTAG connector CON-FLAT-10 x2 - 180 M CON-FLAT-10 x2 -180

J5 1 USB_B_MINI_AMP_1734035-1 CN-USB CMS Mini USB

J6, J7 2 Jumper OPEN STRIP 2x 2.54

R1 1 Trimmer 200 kΩ 200 kΩ Trimm. 100 x 50 x 110

R2 1 27 kΩ 5% 1/10 W 27 kΩ 0603

R3 1 Res. 7.5 kΩ 5% 1/10 W 7.5 kΩ 0603

R4, R13 2 Res. 1 MΩ 1/10 W 5% 1 MΩ 0603

R5 1 Res. 1.5 kΩ 1/10 W 5% 1.5 kΩ 0603

R6, R8, R11,

R14, R19, R30,

R32

10 Res. 10 kΩ 5% 1/10 W 10 kΩ 0603

R7, R12 2 Res. 100 Ω 5% 1/10 W 100 Ω 0603

R15, R18 4 Res. 470 Ω 5% 1/10 W 0603 470 Ω 0603

R20, R33 2 Res. 1 kΩ 5% 1/10 W 1 kΩ 0603

R21, R23, R34 4 Resistor N.M. 0603

R24, R27 4 Res. 4.7 kΩ 5% 1/10 W 4.7 kΩ 0603

R28 1 Res. 100 kΩ 5% 1/10 W 100 kΩ 0603

R29 1 Resistor N.M. 0805

S1, S3 3 Switch button SMD EVQQ2D03W CMS 6.5 x 6 x 3.1

UM1691

Schematics, layout and bill of material

UM1691 - Rev 3 page 6/33

Item Quantity Reference Value Package

TP1, TP2, TP4,

TP7 6 Test point red KEYSTONE-5000 TH

TP3 1 Test point black KEYSTONE-5001 TH

U1 1 REG 1300mA LN 3.3 V LD1117D33TR SO8

U2 1 USBLC6-2P6 USBLC6-2P6 SOT 666

U3 1 L6470 microstepping motor driver L6470 HTSSOP28

U4 1 MCU, RISC, 72MHz, 3.6 V,

32-bit, 64-pin, LQFP STM32F105RBT6 LQFP64 10 x 10

Y1 1 XTAL 8 MHz-30 PPM-20 pF 8 MHz HC49/US-SM

UM1691

Schematics, layout and bill of material

UM1691 - Rev 3 page 7/33

4General description

4.1 Power supply

The 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 make the board

operative.

Figure 6. Microcontroller supply section

VDD

USBD M

USBD P

USBD M

5V0

USB_ IT

USBD P

VDD

100N F

4.7NF

LD1117D33T R

VIN

4NC 5

VOUT 6

GND

VOUT

3VOUT 7

NC 8

1734035- 1

USB_VC C 1

USBDM 2

USBDP 3

USB_ GND 5

SHELL

ID 4

SHELL

10U F

TP 1

KEYSTONE5000

USBLC6 -2P6

I/O1#1

GND

2VBUS 5

I/O2#4 4

I/O1#6 6

I/O2#3

1.5K

100N F

UM1691

General description

UM1691 - Rev 3 page 8/33

4.2 L6470 stepper motor driver

The L6470 is an advanced fully integrated solution suitable for driving two-phase bipolar stepper 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 protection

Figure 7. L6470 block diagram

3 V

Voltage Reg.

ADC

Ext. Osc. driver

Clock gen.

16MHz

Oscillator

Charge

pump

VDD

SPI Registers

Control

Logic

Current DACs

Comparators

Temperature

sensing

Current

sensing

STBY

FLAG

SDO

SDI

BUSY

STCK

DGND

VDD OSCIN OSCOUT ADCIN VREG CP VBOOT

AGND

PGND

VSA

OUT1A

OUT2A

VSB

OUT1B

OUT2B

HS A1

LS A1

HS A2

LS A2

HS B1

LS B1

HS B2

LS B2

HS A1

LS A1

HS A2

LS A2

HS B1

LS B1

HS B2

LS B2

VDD

Vboot

Vboot Vboot

Vboot

Table 3. L6470 recommended operating conditions

Symbol Parameter Test condition Value Unit

VDD Logic Interface supply voltage 3.3 V

VSMotor supply voltage VSA = VSB = VS8 ÷ 45 V

VOUT_diff Differential between voltage VSA, OUTI1A, OUT2A,PGND and VSB, OUT1B,

OUT2B, PGND pins VSA = VSB =VSUp to 45 V

VREG in Logic supply voltage VREG internal 3 V

VADC Integrated ADC input voltage range (ADCIN pin) 0 ÷ VREG V

UM1691

L6470 stepper motor driver

UM1691 - Rev 3 page 9/33

4.2.1 Charge pump

The L6470 device uses an internal charge pump for driving correctly the integrated MOSFETs, a voltage higher

than the motor power supply. The charge pump is obtained through an oscillator and few external components.

Figure 8. Charge pump circuitry

D2 BAV9 9

2 1

10 n F

U3 L6470H

VBOOT

VSA

VSB

220 nF

4.2.2 Voltage mode driving

The configuration parameters of the voltage mode driving can be obtained through the BEMF compensation tool

embedded into the SPINFamily software.

A wrong setup of these parameters could cause several issues, in particular:

• The phase current decreases with the speed and the motor will stall.

• The wrong voltage is applied to the motor and the system is very noisy.

• The phase current reaches the overcurrent limit.

The BEMF compensation form uses the application parameters as inputs in order to evaluate the proper device

setup.

The required inputs are:

• Supply voltage.

• Target phase current (r.m.s. value) at different motion conditions (acceleration, deceleration, constant speed

and holding).

• Target operating speed (maximum speed).

• Motor characteristics.

The motor characteristics are: electrical constant (Ke), phase inductance and resistance.

The inductance and the resistance of the phase are given in the motor datasheet. The Ke is rarely given in the

specification and must be measured.

In the help section of the SPINFamily software a step by step procedure is explained. The same procedure can

also be found in the application note “AN4144: Voltage mode control operation and parameter optimization” on .

Click on the “evaluate” button to get the suggested setup for the voltage mode driving. Then click on “write” button

to copy the data in the registers of the device.

UM1691

L6470 stepper motor driver

UM1691 - Rev 3 page 10/33

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