ST L6472 User manual

This is information on a product in full production.
March 2015 DocID022729 Rev 5 1/70
L6472
Fully integrated microstepping motor driver
Datasheet -production data
Features
Operating voltage: 8 - 45 V
7.0 A output peak current (3.0 A r.m.s.)
Low RDS(on) power MOSFETs
Programmable speed profile
Programmable power MOSFET slew rate
Up to 1/16 microstepping
Predictive current control with adaptive decay
Non dissipative current sensing
SPI interface
Low quiescent and standby currents
Programmable non dissipative overcurrent
protection on all power MOSFETs
Two levels of overtemperature protection
Applications
Bipolar stepper motor
Description
The L6472 device, 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 RDS(on) 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. Thanks to a new current control,
a 1/16 microstepping is achieved through an
adaptive decay mode which outperforms
traditional implementations. The digital control
core can generate user defined motion profiles
with acceleration, deceleration, speed or target
position, easily programmed through a dedicated
register set.
All application commands and data registers,
including those used to set analog values
(i.e.: current control value, current protection trip
point, deadtime, etc.) are sent through a standard
5-Mbit/s SPI.
A very rich set of protections (thermal, low bus
voltage, overcurrent) makes the L6472 device
“bullet proof”, as required by the most demanding
motor control applications.
HTSSOP28 POWERSO36
Table 1. Device summary
Order codes Package Packing
L6472H HTSSOP28 Tube
L6472HTR HTSSOP28 Tape and reel
L6472PD POWERSO36 Tube
L6472PDTR POWERSO36 Tape and reel
www.st.com

Contents L6472
2/70 DocID022729 Rev 5
Contents
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4 Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Pin list . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
5 Typical applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.1 Device power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.2 Logic I/O . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.3 Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.4 Microstepping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Automatic full-step mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
6.5 Absolute position counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.6 Programmable speed profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7 Motor control commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
6.7.1 Constant speed commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.2 Positioning commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
6.7.3 Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7.4 Stop commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
6.7.5 Step-clock mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.7.6 GoUntil and ReleaseSW commands . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
6.8 Internal oscillator and oscillator driver . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.8.1 Internal oscillator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.8.2 External clock source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.9 Overcurrent detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

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70
6.10 Undervoltage lockout (UVLO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.11 Thermal warning and thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.12 Reset and standby . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
6.13 External switch (SW pin) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
6.14 Programmable DMOS slew rate, deadtime and blanking time . . . . . . . . . 30
6.15 Integrated analog-to-digital converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.16 Internal voltage regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.17 BUSY\SYNC pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.17.1 BUSY operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.17.2 SYNC operation mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
6.18 FLAG pin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
7 Phase current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.1 Predictive current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
7.2 Auto-adjusted decay mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
7.3 Auto-adjusted fast decay during the falling steps . . . . . . . . . . . . . . . . . . . 36
7.4 Torque regulation (output current amplitude regulation) . . . . . . . . . . . . . . 37
8 Serial interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
9 Programming manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1 Register and flag description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
9.1.1 ABS_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1.2 EL_POS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
9.1.3 MARK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.4 SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.5 ACC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.6 DEC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
9.1.7 MAX_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.8 MIN_SPEED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
9.1.9 FS_SPD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
9.1.10 TVAL_HOLD, TVAL_RUN, TVAL_ACC and TVAL_DEC . . . . . . . . . . . . 44
9.1.11 T_FAST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.12 TON_MIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
9.1.13 TOFF_MIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
9.1.14 ADC_OUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

Contents L6472
4/70 DocID022729 Rev 5
9.1.15 OCD_TH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.16 STEP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
9.1.17 ALARM_EN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.18 CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
9.1.19 STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
9.2 Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
9.2.1 Command management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
9.2.2 NOP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.14 ResetPos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.15 ResetDevice . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
9.2.16 SoftStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.17 HardStop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.18 SoftHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
9.2.19 HardHiZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
9.2.20 GetStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
10 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
10.1 HTSSOP28 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
10.2 POWERSO36 package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
11 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

DocID022729 Rev 5 5/70
L6472 List of tables
70
List of tables
Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 3. Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 4. Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 5. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Table 6. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Table 7. Typical application values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Table 8. CL values according to external oscillator frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Table 9. Register map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Table 10. EL_POS register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Table 11. MIN_SPEED register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Table 12. Torque regulation by TVAL_HOLD, TVAL_ACC, TVAL_DEC and TVAL_RUN
registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
Table 13. T_FAST register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 14. Maximum fast decay times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 15. Minimum ON time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Table 16. Minimum OFF time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 17. ADC_OUT value and torque regulation feature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Table 18. Overcurrent detection threshold . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 19. STEP_MODE register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 20. Step mode selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Table 21. SYNC output frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 22. SYNC signal source . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
Table 23. ALARM_EN register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 24. CONFIG register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Table 25. Oscillator management. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 26. External switch hard stop interrupt mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
Table 27. Overcurrent event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 28. Programmable power bridge output slew rate values. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 29. External torque regulation enable. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 30. Switching period . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
Table 31. STATUS register. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 32. STATUS register DIR bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
Table 33. STATUS register MOT_STATUS bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Table 34. Application commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
Table 35. NOP command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 36. SetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 37. GetParam command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
Table 38. Run command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 39. StepClock command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
Table 40. Move command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 41. GoTo command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Table 42. GoTo_DIR command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 43. GoUntil command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
Table 44. ReleaseSW command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 45. GoHome command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
Table 46. GoMark command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 47. ResetPos command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

List of tables L6472
6/70 DocID022729 Rev 5
Table 48. ResetDevice command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
Table 49. SoftStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 50. HardStop command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 51. SoftHiZ command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
Table 52. HardHiZ command structure. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 53. GetStatus command structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
Table 54. HTSSOP28 package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Table 55. POWERSO36 package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
Table 56. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

DocID022729 Rev 5 7/70
L6472 List of figures
70
List of figures
Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Figure 2. HTSSOP28 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 3. POWERSO36 pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 4. Bipolar stepper motor control application using the L6472 . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 5. Charge pump circuitry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 6. Normal mode and microstepping (16 microsteps) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 7. Automatic full-step switching . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 8. Constant speed command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Figure 9. Positioning command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 10. Motion command examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Figure 11. OSCIN and OSCOUT pin configurations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Figure 12. External switch connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Figure 13. Internal 3 V linear regulator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Figure 14. Predictive current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Figure 15. Non-predictive current control. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Figure 16. Adaptive decay - fast decay tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Figure 17. Adaptive decay switch from normal to slow + fast decay mode and vice-versa . . . . . . . . . 36
Figure 18. Fast decay tuning during the falling steps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Figure 19. SPI timings diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Figure 20. Daisy chain configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
Figure 21. Command with 3-byte argument. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 22. Command with 3-byte response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 23. Command response aborted . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Figure 24. HTSSOP28 package outline. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
Figure 25. POWERSO36 package outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

Block diagram L6472
8/70 DocID022729 Rev 5
1 Block diagram
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DocID022729 Rev 5 9/70
L6472 Electrical data
70
2 Electrical data
2.1 Absolute maximum ratings
2.2 Recommended operating conditions
Table 2. Absolute maximum ratings
Symbol Parameter Test condition Value Unit
VDD Logic interface supply voltage 5.5 V
VSMotor supply voltage VSA = VSB = VS48 V
VGND, diff Differential voltage between AGND, PGND and DGND ±0.3 V
Vboot Bootstrap peak voltage 55 V
VREG Internal voltage regulator output pin and logic supply voltage 3.6 V
VADCIN Integrated ADC input voltage range (ADCIN pin) -0.3 to +3.6 V
VOSC OSCIN and OSCOUT pin voltage range -0.3 to +3.6 V
Vout_diff Differential voltage between VSA, OUT1A, OUT2A, PGND and
VSB, OUT1B, OUT2B, PGND pins VSA = VSB = VS48 V
VLOGIC Logic inputs voltage range -0.3 to +5.5 V
Iout(1) R.m.s. output current 3 A
Iout_peak(1) Pulsed output current TPULSE < 1 ms 7 A
TOP Operating junction temperature -40 to 150 °C
TsStorage temperature range -55 to 150 °C
Ptot Total power dissipation (TA= 25 °C) (2) 5W
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 the EVAL6472H.
Table 3. Recommended operating conditions
Symbol Parameter Test condition Value Unit
VDD Logic interface supply voltage
3.3 V logic outputs 3.3 V
5 V logic outputs 5
VSMotor supply voltage VSA = VSB = VS8 45 V
Vout_diff
Differential voltage between VSA, OUT1A, OUT2A,
PGND and VSB, OUT1B, OUT2B, PGND pins VSA = VSB = VS45 V
VREG,in Logic supply voltage VREG voltage imposed by
external source 3.2 3.3 V
VADC Integrated ADC input voltage (ADCIN pin) 0 VREG V

Electrical data L6472
10/70 DocID022729 Rev 5
2.3 Thermal data
Table 4. Thermal data
Symbol Parameter Package Typ. Unit
RthJA Thermal resistance junction ambient
HTSSOP28(1) 22
°C/W
POWERSO36(2) 12
1. HTSSOP28 mounted on the EVAL6472H Rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about 40
cm2on each layer and 15 via holes below the IC.
2. POWERSO36 mounted on the EVAL6472PD Rev 1.0 board: four-layer FR4 PCB with a dissipating copper surface of about
40 cm2on each layer and 22 via holes below the IC.

DocID022729 Rev 5 11/70
L6472 Electrical characteristics
70
3 Electrical characteristics
VSA = VSB = 36 V; VDD = 3.3 V; internal 3 V regulator; TJ= 25 °C, unless otherwise
specified.
Table 5. Electrical characteristics
Symbol Parameter Test condition Min. Typ. Max. Unit
General
VSthOn VSUVLO turn-on threshold 7.5 8.2 8.9 V
VSthOff V
SUVLO turn-off threshold 6.6 7.2 7.8 V
VSthHyst VSUVLO threshold hysteresis 0.7 1 1.3 V
IqQuiescent motor supply current Internal oscillator selected;
VREG = 3.3 V ext; CP floating 0.5 0.65 mA
Tj(WRN) Thermal warning temperature 130 °C
Tj(SD) Thermal shutdown temperature 160 °C
Charge pump
Vpump Voltage swing for charge pump
oscillator 10 V
fpump,min Minimum charge pump oscillator
frequency(1) 660 kHz
fpump,max Maximum charge pump oscillator
frequency(1) 800 kHz
Iboot Average boot current fsw,A = fsw,B = 15.6 kHz
POW_SR = ‘10’ 1.1 1.4 mA
Output DMOS transistor
RDS(on)
High-side switch on-resistance
Tj= 25 °C, Iout = 3 A 0.37

Tj= 125 °C,(2) Iout = 3 A 0.51
Low-side switch on-resistance
Tj= 25 °C, Iout = 3 A 0.18
Tj= 125 °C,(2) Iout = 3 A 0.23
IDSS Leakage current
OUT = VS 3.1
mA
OUT = GND -0.3
trRise time(3)
POW_SR = '00', Iout = +1 A 100
ns
POW_SR = '00', Iout = -1 A 80
POW_SR = ‘11’, Iout = ±1 A 100
POW_SR = ‘10’, Iout = ±1 A 200
POW_SR = ‘01’, Iout = ±1 A 300

Electrical characteristics L6472
12/70 DocID022729 Rev 5
tf Fall time (3)
POW_SR = '00'; Iout = +1 A 90
ns
POW_SR = '00'; Iout = -1 A 110
POW_SR = ‘11’, Iout = ±1 A 110
POW_SR = ‘10’, Iout = ±1 A 260
POW_SR = ‘01’, Iload = ±1 A 375
SRout_r Output rising slew rate
POW_SR = '00', Iout = +1 A 285
V/µs
POW_SR = '00', Iout = -1 A 360
POW_SR = ‘11’, Iout = ±1 A 285
POW_SR = ‘10’, Iout = ±1 A 150
POW_SR = ‘01’, Iout = ±1 A 95
SRout_f Output falling slew rate
POW_SR = '00', Iout = +1 A 320
V/µs
POW_SR = '00', Iout = -1 A 260
POW_SR = ‘11’, Iout = ±1 A 260
POW_SR = ‘10’, Iout = ±1 A 110
POW_SR = ‘01’, Iout = ±1 A 75
Deadtime and blanking
tDT Deadtime(1)
POW_SR = '00' 250
ns
POW_SR = ‘11’, fOSC = 16 MHz 375
POW_SR = ‘10’, fOSC = 16 MHz 625
POW_SR = ‘01’, fOSC = 16 MHz 875
tblank Blanking time(1)
POW_SR = '00' 250
ns
POW_SR = ‘11’, fOSC = 16 MHz 375
POW_SR = ‘10’, fOSC = 16 MHz 625
POW_SR = ‘01’, fOSC = 16 MHz 875
Source-drain diodes
VSD,HS High-side diode forward ON voltage Iout = 1 A 1 1.1 V
VSD,LS Low-side diode forward ON voltage Iout = 1 A 1 1.1 V
trrHS
High-side diode reverse recovery
time Iout = 1 A 30 ns
trrLS Low-side diode reverse recovery time Iout = 1 A 100 ns
Logic inputs and outputs
VIL Low logic level input voltage 0.8 V
VIH High logic level input voltage 2 V
IIH High logic level input current(4) VIN = 5 V 1 µA
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit

DocID022729 Rev 5 13/70
L6472 Electrical characteristics
70
IIL Low logic level input current(5) VIN = 0 V -1 µA
VOL Low logic level output voltage (6) VDD = 3.3 V, IOL = 4 mA 0.3
V
VDD = 5 V, IOL = 4 mA 0.3
VOH High logic level output voltage
VDD = 3.3 V, IOH = 4 mA 2.4
V
VDD = 5 V, IOH = 4 mA 4.7
RPU RPD CS pull-up and STBY pull-down
resistors CS = GND; STBY/RST = 5 V 335 430 565 k
Ilogic Internal logic supply current 3.3 V VREG externally supplied,
internal oscillator 3.7 4.3 mA
Ilogic,STBY Standby mode internal logic supply
current 3.3 V VREG externally supplied 2 2.5 µA
fSTCK Step-clock input frequency 2 MHz
Internal oscillator and external oscillator driver
fosc,i Internal oscillator frequency Tj= 25 °C, VREG = 3.3 V -3% 16 +3% MHz
fosc,e Programmable external oscillator
frequency 8 32 MHz
VOSCOUTH OSCOUT clock source high level
voltage
Internal oscillator 3.3 V VREG
externally supplied; IOSCOUT = 4 mA 2.4 V
VOSCOUTL OSCOUT clock source low level
voltage
Internal oscillator 3.3 V VREG
externally supplied; IOSCOUT = 4 mA 0.3 V
trOSCOUT
tfOSCOUT
OSCOUT clock source rise and fall
time Internal oscillator 20 ns
textosc Internal to external oscillator
switching delay 3 ms
tintosc
External to internal oscillator
switching delay 1.5 µs
SPI
fCK,MAX Maximum SPI clock frequency(7) 5 MHz
trCK
tfCK SPI clock rise and fall time(7) CL= 30 pF 25 ns
thCK
tlCK
SPI clock high and low time(7) 75 ns
tsetCS Chip select setup time(7) 350 ns
tholCS Chip select hold time(7) 10 ns
tdisCS De-select time(7) 800 ns
tsetSDI Data input setup time(7) 25 ns
tholSDI Data input hold time(7) 20 ns
tenSDO Data output enable time(7) 38 ns
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit

Electrical characteristics L6472
14/70 DocID022729 Rev 5
tdisSDO Data output disable time(7) 47 ns
tvSDO Data output valid time(7) 57 ns
tholSDO Data output hold time(7) 37 ns
Switch input (SW)
RPUSW SW input pull-up resistance SW = GND 60 85 110 k
Current control
ISTEP,max
Max. programmable reference
current 4 A
ISTEP,min Min. programmable reference current 31 mA
Overcurrent protection
IOCD,MAX
Maximum programmable overcurrent
detection threshold OCD_TH = ‘1111’ 6 A
IOCD,MIN
Minimum programmable overcurrent
detection threshold OCD_TH = ‘0000’ 0.37 5 A
IOCD,RES
Programmable overcurrent detection
threshold resolution
0.37
5 A
tOCD,Flag OCD to flag signal delay time dIout/dt= 350 A/µs 650 1000 ns
tOCD,SD OCD to shutdown delay time dIout/dt= 350 A/µs POW_SR = '10' 600 µs
Standby
IqSTBY Quiescent motor supply current in
standby conditions
VS= 8 V 26 34
µA
VS= 36 V 30 36
tSTBY,min Minimum standby time 10 µs
tlogicwu Logic power-on and wake-up time 38 45 µs
tcpwu
Charge pump power-on and wake-up
time
Power bridges disabled, Cp= 10 nF,
Cboot = 220 nF 650 µs
Internal voltage regulator
VREG Voltage regulator output voltage 2.9 3 3.2 V
IREG Voltage regulator output current 40 mA
VREG, drop Voltage regulator output voltage drop IREG = 40 mA 50 mV
IREG,STBY Voltage regulator standby output
current 10 mA
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit

DocID022729 Rev 5 15/70
L6472 Electrical characteristics
70
Integrated analog-to-digital converter
NADC Analog-to-digital converter resolution 5 bit
VADC,ref Analog-to-digital converter reference
voltage VREG V
fS
Analog-to-digital converter sampling
frequency
fOSC/
512 kHz
1. Accuracy depends on oscillator frequency accuracy.
2. Tested at 25 °C in a restricted range and guaranteed by characterization.
3. Rise and fall time depends on motor supply voltage value. Refer to SRout values in order to evaluate the actual rise and fall
time.
4. Not valid for the STBY/RST pin which has an internal pull-down resistor.
5. Not valid for the SW and CS pins which have an internal pull-up resistor.
6. FLAG, BUSY and SYNC open drain outputs included.
7. See Figure 19: SPI timings diagram on page 38 for details.
Table 5. Electrical characteristics (continued)
Symbol Parameter Test condition Min. Typ. Max. Unit

Pin connection L6472
16/70 DocID022729 Rev 5
4 Pin connection
Figure 2. HTSSOP28 pin connection (top view)
345
Figure 3. POWERSO36 pin connection (top view)
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DocID022729 Rev 5 17/70
L6472 Pin connection
70
Pin list
Table 6. Pin description
Number
Name Type Function
POWERSO HTSSOP
24 17 VDD Power Logic output supply voltage (pull-up reference)
9 6 VREG Power
Internal 3 V voltage regulator output and 3.3 V
external logic supply
10 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.
11 8 OSCOUT Analog output
Oscillator pin 2. To connect an external oscillator.
When the internal oscillator is used this pin can
supply 2/4/8/16 MHz. If this pin is unused, it should
be left floating.
13 10 CP Output Charge pump oscillator output
14 11 Vboot Supply voltage
Bootstrap voltage needed for driving the high-side
power DMOS of both bridges (A and B).
8 5 ADCIN Analog input Internal analog-to-digital converter input
4, 5 2
VSA Power supply
Full bridge A power supply pin. It must be connected
to VSB.
33, 34 26
15, 16 12
VSB Power supply
Full bridge B power supply pin. It must be connected
to VSA.
22, 23 16
127
PGND Ground Power ground pin
19 13
2, 3 1 OUT1A Power output Full bridge A output 1
35, 36 28 OUT2A Power output Full bridge A output 2
17, 18 14 OUT1B Power output Full bridge B output 1
20, 21 15 OUT2B Power output Full bridge B output 2
12 9 AGND Ground Analog ground.
7 4 SW Logical input
External switch input pin. If not used the pin should
be connected to VDD.
28 21 DGND Ground Digital ground
29 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.
25 18 SDO Logic output Data output pin for serial interface
27 20 SDI Logic input Data input pin for serial interface
26 19 CK Logic input Serial interface clock
30 23 CS Logic input Chip select input pin for serial interface

Pin connection L6472
18/70 DocID022729 Rev 5
31 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).
6 3 STBY\RST Logic input
Standby and reset pin. LOW logic level resets the
logic and puts the device into standby mode. If not
used, it should be connected to VDD
32 25 STCK Logic input Step-clock input
EPAD Exposed pad Ground Internally connected to PGND, AGND and DGND
pins
Table 6. Pin description (continued)
Number
Name Type Function
POWERSO HTSSOP

DocID022729 Rev 5 19/70
L6472 Typical applications
70
5 Typical applications
Figure 4. Bipolar stepper motor control application using the L6472
Table 7. Typical application values
Name Value
CVS 220 nF
CVSPOL 100 µF
CREG 100 nF
CREGPOL 47 µF
CDD 100 nF
CDDPOL 10 µF
D1 Charge pump diodes
CBOOT 220 nF
CFLY 10 nF
RPU 39 k
RSW 100 
CSW 10 nF

Functional description L6472
20/70 DocID022729 Rev 5
6 Functional description
6.1 Device power-up
At the end of power-up, the device state is the following:
Registers are set to default
Internal logic is driven by the internal oscillator and a 2 MHz clock is provided by the
OSCOUT pin
Bridges are disabled (High Z)
UVLO bit in the 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:
VSis greater than VSthOn
VREG is greater than VREGth = 2.8 V (typ.)
Internal oscillator is operative.
Any motion command causes the device to exit 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 3.3 V - 5 V compatible logic
inputs.
Pin SDO is a TTL/CMOS compatible logic output. The VDD pin voltage sets the logic output
pin voltage range; when it is connected to VREG or a 3.3 V external supply voltage, the
output is 3.3 V compatible. When VDD is connected to a 5 V supply voltage, SDO is 5 V
compatible.
VDD is not internally connected to VREG
, an external connection is always needed.
A 10 µF capacitor should be connected to the VDD 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 Vboot is obtained through an oscillator and a few external components
realizing a charge pump (see Figure 5).