April 2015 DocID025486 Rev 2 1/41
41
UM1691
User manual
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 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. Board image
www.st.com
Contents UM1691
2/41 DocID025486 Rev 2
Contents
1 Main features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Target applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2 Electrical characteristics of the board . . . . . . . . . . . . . . . . . . . . . . . . . . 5
3 Schematics, layout and bill of material . . . . . . . . . . . . . . . . . . . . . . . . . . 6
4 General description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4.1 Power supply . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
4.2 L6470 stepper motor driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.2.1 Charge pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
4.2.2 Voltage mode driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4.2.3 Overcurrent and stall detection thresholds . . . . . . . . . . . . . . . . . . . . . . 14
4.2.4 Speed profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.3 STM32F105RB microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
4.4 Firmware loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.4.1 DfuSe installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.4.2 Generate a DFU file from a HEX file . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
4.4.3 Board settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.4.4 DFU loading . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.5 Using the EVAL6470H-DISC with firmware for the GUI . . . . . . . . . . . . . . 24
4.5.1 Sanity check of the board with firmware for the GUI . . . . . . . . . . . . . . . 24
4.5.2 Parameters exportation from the GUI to the FW library . . . . . . . . . . . . . 33
4.6 Using the EVAL6470H-DISC with the firmware library . . . . . . . . . . . . . . . 34
4.6.1 FW library package contents . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.6.2 FW L6470 library description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4.6.3 Demonstration sequence description . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.6.4 Create a project using the FW library package . . . . . . . . . . . . . . . . . . . 39
5 References . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40