SPIN family evaluation software
Contents
1. es 33 Saving and loading application and motor parameters 34 Scripting environment leeren 35 7 1 VNO SCD G usse s ON AE EE EE N ON 36 7 2 Script ExeCution 6 ee ee eee 36 ODUONS 508ccee eee che eee eee tareer deena dea OE EE OIE 37 Daisy chain configuration ss Es EE EE es 38 REVISION HISIOT V wesc coca ke BU OR DIE a Q6 co e a neon 3 0 eee we eee 38 DoclD025040 Rev 1 3 39 List of tables UM1654 List of tables Table 1 Menu items and toolbar buttons of the main form 00 0000000 eee 10 Table 2 PIZ LED INGICALOM MNT RTETCCTTRSTITOT TIT TOT TT heb se RR Eb Ka Eb DR t 14 Table 3 UVLO LED IN GICALON is dei aoe Bin AR One EO OE oe Dee Ai NS RO 15 Table 4 OCD LED indicator Haas ORR Neem ea ad oe Be is d Me Me dee sex c BE es 15 Table 5 Thermal status LED indicator ES ee eee 16 Table 6 Stall LED indicators 0 0 0 000 ee eee ee nes 17 Table 7 Busy LED INGICALO acra EE N OE EE EE ER N EE A RE EE xe 17 Table 8 Motor status indicator SS SS SS Rss 18 Table 9 SW event ED mdi atOf 3 2 221 ER ARE ut Ba nc DS EE Eo hee E RR e m HEDE GE 19 Table 10 SW status LED indicator lille eee 19 Table 11 StepClock mode LED indicator nananana SS SS SS SS SS ees 20 Table 12 Command error LED indicator ES SS RR 20 Table 13 Document revision history lille 38 UM1654 List of figures List2. DoclD025040 Rev 1 33 39 BEMF compensation tool UM1654 In the Application parameters panel motor supply voltage and load currents need to be set e VS is the supply voltage e Holding current is the target r m s current when the motor is stopped e Acceleration target current is the target r m s current when the motor is accelerating e Deceleration target current is the target r m s current when motor is decelerating e Running target current is the target r m s current when the motor is running at constant speed When Keep target currents linked box is checked acceleration deceleration and running target currents are forced to the same value In the Motor parameters panel the motor characteristics need to be set e Ke is the electric constant of the motor e Motor phase inductance is the inductance of the motor phases e Motor phase resistance is the resistance of the motor phases When the application parameters and motor characteristics are inserted the parameters of the voltage mode algorithm can be calculated clicking on the Evaluate button The resulting configuration settings are shown in the respective numeric boxes in hexadecimal format The compensation curves which are implemented by the algorithm are shown on the graph in Figure 16 If the system fails to evaluate the parameters a warning message is displayed This error could be due to wrong application or motor
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4. UM1654 3 q SPINFamily evaluation software SPINFamily evaluation software When the application starts the form is shown in Figure 2 The form is divided into two main sections the command section on the top that collects all the device commands and allows reading writing the absolute position and the speed registers The device status display on the bottom that shows the last information collected from the status register Between the command section and the toolbar the device selection and reset buttons can be found When more devices are driven in daisy chain configuration these buttons can be used to select the device to control All the commands are sent only to the selected device and the application can drive only one device at a time See Section 9 on page 38 for further details The RESET button forces low the STBY RESET line of the communication board after a warning message Clicking on the button again releases the STBY RESET line The menu and toolbar provide access to extra tools and allow opening saving the device configuration The status bar on the bottom side of the form shows the current board status and the SPI communication speed On the right corner the status of BUSY and FLAG lines can be found red text indicates that the respective line is low Figure 2 Main form Ry EA RI Evaluation oa ER selected Sele Ass pos RO wi o I Auot em E r ew Erg Hard Stop Hard Hi i Status UVES
5. User manual SPIN family evaluation software lt 7 UM1654 Yy life augmented Introduction This user manual describes how to use the SPIN family evaluation software The SPIN family evaluation software allows STMicroelectronics customers to easily evaluate functionalities and performances of the devices of dSPIN and cSPIN families This software is designed to work with the IBU universal interface demonstration board STEVAL PCCOO9V2 Before starting please take some time to visit the STMicroelectronics web site There updated datasheets application notes and the latest version of the software can be found See www st com dspin and www st com cspin September 2013 DocIDO25040 Rev 1 1 39 www st com Contents UM1654 Contents 1 INStANGUON 233 3 RT Roa Gub EE OE ET OR ORE EN 6 2 Quick start guide urea ras RE ERE SERE NS a E 7 2 1 STEVAL PCCOO9V2 firmware upgrade 0 000 eee 8 2 2 Drivers installation old firmware revision only 8 3 SPINFamily evaluation software sis ss ss sk Ek es 9 3 1 Menu and toolbar SES EES ES SE SE ee eee 10 3 2 Command section llle 10 3 2 1 Positioning tab lllslleleeele rs 10 3 2 2 Speed tab lllleleleeee eel 11 3 2 3 Advanced tab SS SS SS SS Ee ee SE leer 12 3 2 4 SLOP DUONO MEME 13 3 3 Status display RES EA EE N EE uteke EIE ONE 13 3 3 1 FIZ LED ooo eae ee RE ae ee en NT eee
6. 1 Plug the IBU universal interface board to the PC through the USB cable 2 Connect the interface board 10 pin connector to the SPI IN connector of the first demonstration board 3 Open the termination jumper of the demonstration board 4 Connect the SPI OUT connector of the previous demonstration board to the SPI IN connector of the next one 5 Repeat step 4 and 5 for all the others boards of the chain except for the last which must have the termination jumper closed 6 Check the termination jumpers of all the demonstration boards all the jumpers except for the last one should be opened When chain configuration is set you can connect the interface board to the PC as usual The application automatically identifies the number of demonstration boards connected Information about the position of the termination jumpers and the SPI connectors can be found on the documentation of the specific demonstration board Warning Increasing the number of the devices connected in chain could degrade SPI communication performances If communication issues are found try to reduce SPI clock speed see Section 8 on page 37 10 Revision history Table 13 Document revision history 03 Sep 2013 Initial release 7 38 39 DoclD025040 Rev 1 UM1654 Please Read Carefully Information in this document is provided solely in connection with ST products STMicroelectronics NV and its subsidiaries ST reserve the right to make chan
7. Ok button the new configuration is written into the selected device and the form is closed Clicking on the Apply button the new configuration is written into the selected device and the form is kept open Clicking on the Cancel button the form is closed without writing the new configuration into the selected device The actual configuration can be loaded clicking on the B button of the toolbar The default device configuration can be set clicking on the button of the toolbar 7 DocIDO25040 Rev 1 UM1654 Device configuration tool 5 1 Speed Profile tab Figure 11 Speed profile tab in device configuration form Device Configuration 3 Phase current control Others Deceleration 2008 164 Step s s Min speed 0 Steps Full Step Speed 995 093 Step s This tab collects all the device parameters that are related to speed profile boundaries and in general to the configuration of the motion engine of the device The values can be changed writing the new value in common format step s for acceleration deceleration and step s for speed or in hexadecimal format using the 0x prefix In the first case the value is rounded to the nearest available For example the Acceleration can be set to 2008 164 step s writing 2010 or Ox8A If the inserted value is out of the range of the parameter the change is ignored Clicking on up and down buttons the parameter value is increased or decreased of one unit
8. A SAFETY CRITICAL APPLICATIONS SUCH AS LIFE SUPPORTING ACTIVE IMPLANTED DEVICES OR SYSTEMS WITH PRODUCT FUNCTIONAL SAFETY REQUIREMENTS B AERONAUTIC APPLICATIONS C AUTOMOTIVE APPLICATIONS OR ENVIRONMENTS AND OR D AEROSPACE APPLICATIONS OR ENVIRONMENTS WHERE ST PRODUCTS ARE NOT DESIGNED FOR SUCH USE THE PURCHASER SHALL USE PRODUCTS AT PURCHASER S SOLE RISK EVEN IF ST HAS BEEN INFORMED IN WRITING OF SUCH USAGE UNLESS A PRODUCT IS EXPRESSLY DESIGNATED BY ST AS BEING INTENDED FOR AUTOMOTIVE AUTOMOTIVE SAFETY OR MEDICAL INDUSTRY DOMAINS ACCORDING TO ST PRODUCT DESIGN SPECIFICATIONS PRODUCTS FORMALLY ESCC QML OR JAN QUALIFIED ARE DEEMED SUITABLE FOR USE IN AEROSPACE BY THE CORRESPONDING GOVERNMENTAL AGENCY Resale of ST products with provisions different from the statements and or technical features set forth in this document shall immediately void any warranty granted by ST for the ST product or service described herein and shall not create or extend in any manner whatsoever any liability of ST ST and the ST logo are trademarks or registered trademarks of ST in various countries Information in this document supersedes and replaces all information previously supplied The ST logo is a registered trademark of STMicroelectronics All other names are the property of their respective owners 2013 STMicroelectronics All rights reserved STMicroelectronics group of companies Australia Belgium Brazil Canada China Czech Republic
9. Evaluation Tool 2 When the application is started the device selection dialog of Figure 1 is shown Figure 1 Device selection dialog Device selection Please select your device Click on the name to make your selection L64 70 L6472 L 6480 16482 3 Click on the target device Plug the STEVAL PCCO009V2 communication board to a free USB port the cable is not included o Wait a few seconds for board initialization 6 Connect the SPI IN connector black of the demonstration board to the 10 pin connector of the IBU universal interface board using the provided cable For connecting more devices to the same board please consult the daisy chain connection paragraph Section 3 7 Power up the demonstration boards 8 Click on the button with the USB symbol to connect the IBU universal interface board to the PC and initialize the evaluation environment The application automatically identifies the number of demonstration boards connected 9 The evaluation environment is ready DoclD025040 Rev 1 7 39 Quick start guide UM1654 2 1 2 2 8 39 STEVAL PCCO009V2 firmware upgrade A tool to update the firmware named IBUUI updater is installed with the application This tool can be also used to check if the firmware mounted on the board is compatible with the evaluation software 1 Start the IBUUI updater tool by default it is in Start menu gt All programs gt STMicroelectronics gt SPINFamily Evaluatio
10. LED status is related to the OCD bit value of the STATUS register according to Table 4 Table 4 OCD LED indicator No failures Overcurrent failure occurred Thermal status LED The Thermal status LED indicates the thermal status of the device e Gray means that the device temperature is below the warning threshold e Yellow indicates that the warning temperature has been reached e Red indicates that a thermal shutdown event occurred the device temperature reached the shutdown threshold e Purple indicates that a device shutdown event occurred L648x only When a device of the dSPIN family is used the LED status is related to TH WRN and TH SD bit values When a device of the cSPIN family is used it is related to the TH STATUS parameter value The relations are described in Table 5 DoclD025040 Rev 1 15 39 SPINFamily evaluation software UM1654 Table 5 Thermal status LED indicator TH WRN TH SD TH STATUS LED L647x L647x L648x Warning temperature exceeded Power stage shutdown temperature exceeded Device shutdown temperature exceeded 3 3 NA amu 3 3 5 Stall LEDs The Stall A and Stall B LEDs indicate a stall detection warning If the LED is on red a stall event occurred in the respective bridge otherwise no fails are present Note This indication is available in the L6470 and L6480 devices only 7 16 39 DocIDO25040 Rev 1 UM1654 3 3 6 SPINFamily evaluation so
11. according to its resolution Warning Considering that the low speed optimization threshold and the minimum speed parameters are determined by the same register the two boxes are always forced to the same value DoclD025040 Rev 1 27 39 q Device configuration tool UM1654 5 2 28 39 Phase current control tab for the voltage mode devices Figure 12 Voltage mode driving tab in device configuration form Device Configuration Arc duty cycle I Intersect Speed 246 048 Step s Dec duty cycle Starting Slope 0 038 s Step Fun duty cycle Arc Final Slope 0 063 4 s Step Hold duty cycle 16 02 z Dec Final Slope 0 063 s Step BEMF Compensation tool PWM Frequency Hinton sel soe oen P 15 625 kHz PWM INT 1 PWM_DEC 3 Integer division Multiplier pe GG e Bj All the parameters related to the voltage mode control are listed in this tab Values in numeric boxes can be changed writing the new value or using up down arrows tt 5 tt The Acc duty cycle Dec duty cycle Run duty cycle and Hold duty cycle boxes show KVAL X register values expressed in percentage format When a new value is written into the boxes the allowed formats are decimal e g 0 25 percentage e g 25 and hexadecimal using the Ox prefix e g 0x40 If the inserted value is out of the range of the parameter the change is ignored The Intersect Speed box contains the INT SPEED register value When
12. current and Hold current boxes show TVAL X register values expressed in Amperes or the reference voltage expressed in Volts in case of CSPIN family devices The allowed formats are decimal e g 0 25 and hexadecimal using the Ox prefix e g 0x40 The Minimum ON time box contains the TON MIN register value in microseconds The allowed formats are decimal e g 3 5 and hexadecimal using the Ox prefix e g 0x5 The Minimum OFF time box contains the TOFF MIN register value in microseconds The allowed formats are decimal e g 3 5 and hexadecimal using the Ox prefix e g 0x5 The Max fast decay and Max fast decay step change boxes contain respectively the TOFF FAST and the FAST STEP parameters T FAST register in microseconds The allowed formats are decimal e g 12 and hexadecimal using the Ox prefix e g Ox9 The Target switching time box contains the TSW parameter of the CONFIG register in microseconds The allowed formats are decimal e g 40 and hexadecimal using the Ox prefix e g 0x36 Checking the External torque regulation box the device uses the ADCIN voltage to set the TVAL value instead of the respective registers In this case please check that the ADCIN input is correctly driven Checking the Predictive current control box the predictive mode is enabled Gate driving tab cSPIN N family only Figure 14 Gate driving tab in device configuration form Devi
13. ee EE ENE TE 14 3 3 2 UVLO ED EE ate oo ee EE EG Ried dira UR CR an NOR eae 15 3 3 3 GOED EER 0 sus amp pe Se DR Gand Garam ee Rho ae oe ee 15 3 3 4 Thermal status LED 0 0 0 SS SS SS SS ene 16 3 3 5 od ze EE ER een oan eae hee eo a a aay eae ww ares 16 3 3 6 DUS VLED iss cares Soo os Paes We RAAS LOT ede a eee ER ER 17 3 3 7 Motor status indicator aaa aaa ees 18 3 3 8 Switch event and switch status LEDs lus 19 3 3 9 StepClock mode LED s cm zm RR RADE ued EUR be cc Eb RED ede 20 3 3 10 Command error LED SS aaa SS SS SE SE ee 20 3 4 Opening and saving multiple device configurations 21 4 Register map xc 24 29 EE 3 9 EE he wee AE OE ee es 23 4 1 Writing registers anana aaa ES SE RR I3 24 4 2 Reading registers nnana aaa 25 4 3 Loading and saving configurations SS SE SS SS ee eee 25 2 39 DoclD025040 Rev 1 Ly UM1654 5 10 Contents Device configuration tool is ss EE EE EE es 26 5 1 Speed Profile tab SS SS ee ee ee eee 21 5 2 Phase current control tab for the voltage mode devices 28 5 3 Phase current control tab for the current mode devices 29 5 4 Gate driving tab CSPIN family only SES ESE SE SE SS See 30 5 5 Omens MAO 31 5 6 Load and save configuration 0 cc eee eee 32 BEMF compensation tool
14. on the X button in the toolbar This way all the registers whatever their value has been changed or not will be written according to the current Hex column value Clicking on the button all registers whatever their value has been changed or not will be set to the respective default value Read only registers are indicated with black text on grey background rows 7 DocIDO25040 Rev 1 UM1654 4 2 4 3 Register map Warning If the autorefresh of the ABS POS register in main form is enabled see Section 3 2 1 on page 10 the ABS POS row is updated at the current polling rate This condition makes difficult to set the ABS POS register to the desired value In order to change the ABS POS register value the autorefresh should first be disabled Reading registers Single registers can be read clicking on the RD button The Hex and Value columns will be updated according to the current register value Unwritten changes red text will be rejected black text The whole register map can also be read clicking on the B button This way all the registers will be read updating Hex and Value columns Loading and saving configurations Current device configuration can be saved clicking on the Save button A file selection dialog will be opened to choose if creating a new configuration file or overwriting an existing one Warning Saved values are the Hex column ones whatever they are actually written in
15. the numeric box on the right The allowed formats are decimal e g 112 5 and hexadecimal using the Ox prefix e g Ox3A If the inserted value is out of the range of the parameter the change Is ignored Warning Considering that the low speed optimization threshold and the minimum speed parameters are determined by the same register the two boxes are always forced to the same value The phase resistance thermal drift compensation parameter K THERM can be modified through the Ktherm box The allowed formats are decimal e g 1 16 and hexadecimal using the Ox prefix e g 0x5 If the inserted value is out of the range of the parameter the change is ignored Phase current control tab for the current mode devices Figure 13 Advanced current control driving tab in device configuration form Device Configuration E r Acc cument 13125A si Minimum ON time Dec curent Minimum OFF time Run current 312 38 Max fast decay TOFF FAST Hold curet 13125A Maxfastdecay step change FAST STEP xx xx 4 Extemal torque regulation Predictive curent control Target switching time Mus S All the parameters related to the advanced current control are listed in this tab Values in numeric boxes can be changed writing the new value or using up down arrows DoclD025040 Rev 1 29 39 Device configuration tool UM1654 5 4 30 39 5 17 5 17 The Acc current Dec current Run
16. value goes from O to 4194303 The value can be directly written within the box or it can be adjusted using up and down arrows The Move command can also be sent pushing the return key in the numeric box The Positioning tab also gives quick access to the ABS POS register Clicking on the RD button the current ABS POS value of the selected device is read and it is returned into the numeric box If Autorefresh is checked the absolute position is automatically updated at the selected polling rate Clicking the WR button the ABS POS register is written the desired value must be set into the numeric box 2097152 to 2097151 The same operation can be performed pushing the return key in the numeric box The HOME button resets ABS POS register to home position zero Speed tab The speed tab collects all the motion commands allowing the device to reach a target speed DoclD025040 Rev 1 11 39 SPINFamily evaluation software UM1654 3 2 3 12 39 Figure 4 Speed tab in command section 0 000 SPEED step s C Autorefresh Clicking on the Run button a Run command is sent to the current active device Motion direction is selected through FW forward and BW backward buttons and target speed is set by a numeric box next to the button This value ranges from 0 to 15624 985 expressed in step s and can be directly written in the box or it can be changed using the up and down arrows Pu
17. 40 Rev 1 UM1654 3 4 SPINFamily evaluation software Opening and saving multiple device configurations From main form it is possible to save and set the configuration of all the devices in the chain at the same time Clicking on the Open button or selecting the File Open menu item the dialog is shown in Figure 8 Figure 8 Open configuration group form EF Open configuration group X V Dee a oes L Device dac E In order to load the configuration of multiple devices daisy chain only the following procedure should be used 1 Select which devices have to be configured checking the related box 2 Write the target file path in the text box or browse it clicking on the button 3 Click on the Ok button If one or more of the file does not exist an error message is shown The new configurations are immediately written into the devices Warning The information included into a configuration file is strictly related to the respective device L6470 L6472 L6480 or L6482 Any attempt to open a configuration file of a device type into another one will cause an error DoclD025040 Rev 1 21 39 SPINFamily evaluation software UM1654 22 39 Clicking on the Save button or selecting the File Save menu item the dialog is shown in Figure 9 Figure 9 Save configuration group form Save configuration group Device 1 EETEAETE e os gons m FI Deve m Device 5 Device
18. GED ie Stall A Stal B m e Switch StepClack Command status mode emar Autorefresh 5 amp s G Board Connection Status BUSY FLAG Matar status DoclD025040 Rev 1 9 39 SPINFamily evaluation software UM1654 3 1 Menu and toolbar Table 1 lists the content of the menu of the main form and the toolbar buttons with a brief description of each item Table 1 Menu items and toolbar buttons of the main form Toolbar Description button E File Open E Load a group of configuration files and write them into the devices FilelSave rl Save the setup of the devices in a group of configuration files File Exit Close the application Tools Connect board Connect and disconnect the IBU universal interface board from the PC Tools Register map T4 Open tho Register map tool see Section don pago 23 Open the Register map tool see Open tho Register map too see Section 40n pago 23 4 on page 23 Tools Device configuration Fi Open the Device configuration tool see Section 5 on page 26 ed the BEMF compensation evaluator tool for the voltage mode driving see Section 6 on page 33 Tools Script editor ri Open the scripting environment see Section 7 on page 35 Tess omn open te aplcatn onton dog se Secon Bon page S Wep C 0000000000 Wee Sou eta iomatn about Bea pwo nent Trot webpage 3 2 Command section Tools BEMF compensation Command section collects all commands and allow
19. Warning Reading writing buttons are only displayed when the IBU universal interface board is correctly connected to the PC They will be hidden also when a script code is running The colors of the rows are used to identify register status e Black text on white background indicates that the register is writable and that the displayed value is updated A GetParam or SetParam command refreshed the Hex column value e Red text on white background indicates that the Hex column value has been changed by the user but it is not written yet into the device e Black text on grey background indicates read only registers Writing registers Single registers can be written changing their value in the Hex column hexadecimal format and clicking on the WR button When the Hex value is changed the Value column is immediately updated showing the new decoded value but the register is not written This situation is indicated by the row text color in red This way the GUI shows a preview of how new register value will affect the device configuration without make this change effective In order to set if a specific register has to be automatically written every time the Hex value is changed checking the respective AWR column box Warning When auto write AWR is enabled any accidental change in the Hex column will cause the respective register to be written The whole register map can also be written clicking
20. a dec Device 6 Deviceb dsc Device 7 Device 8 Device8 dsc In order to save the configuration of multiple devices daisy chain only the following procedure should be used 1 Select which device configurations have to be saved checking the related box 2 Write the target file path in the text box or browse it clicking on the button 3 Click on the Ok button If one or more of the file already exists warning message is shown If one or more of the file is read only or the user is not allowed to write on the target folder an error message is shown All the writable registers of the selected devices are updated through a GetParam command before saving the configuration 7 DocIDO25040 Rev 1 UM1654 Register map 4 Register map The register map tool gives an overview of the current device register values It can be opened from the application main form clicking on the respective toolbar button or selecting Register map in the Tools menu lf more than one device is connected to the communication board daisy chain configuration Section 9 on page 38 the active device can be selected through the drop list on the top right corner of the toolbar Figure 10 Register map form Register Map Address Description Value Hex Defaut AWR WR RD DEF ABS Current Position 418 Step pus E E E EL POS 2 Electrical Position jo lo o z wR RD JES MARK o3 Mark Position Step l
21. a new value is written into the box the allowed formats are decimal e g 230 5 and hexadecimal using the Ox prefix e g 0x53A If the inserted value is out of the range of the parameter the change is ignored The BEMF compensation slopes ST SLP FN SLP ACC and FN SLP DEC are shown in etarting Slope Acc Final Slope and Dec Final Slope boxes When a new value is written into the box the allowed formats are decimal e g 0 00048 and hexadecimal using the Ox prefix e g Ox1F If the inserted value is out of the range of the parameter the change is ignored Clicking on the BEMF Compensation tool button the BEMF compensation tool is immediately opened see Section 6 on page 33 The PWM frequency can be selected using Integer division and Multiplier lists corresponding to F PWM INT and F PWM DEC parameters of the CONFIG register or directly from the PWM Frequency list This list contains all the available PWM frequencies according to the current clock configuration DoclD025040 Rev 1 Ly UM1654 5 3 q Device configuration tool Checking the Motor Supply Voltage Compensation box the respective compensation is enabled In this case the VS resistor divider on the demonstration board must be correctly configured see the DS6582 and DS9080 device datasheets for details Checking Low speed opt box the low speed optimization feature is enabled The speed threshold can be set using
22. atus is related to the SW EVN bit value of the STATUS register according to Table 9 Table 9 SW event LED indicator The SW Status LED indicates the SW input status if it is on green the SW input is low switch closed otherwise the SW input is high switch open The LED status is related to the SW F bit value of the STATUS register according to Table 10 Table 10 SW status LED indicator SW input is high SW input is low DoclD025040 Rev 1 19 39 SPINFamily evaluation software UM1654 3 3 9 3 3 10 20 39 StepClock mode LED If the StepClock mode LED is on green the device is operating in StepClock mode otherwise the device is operating in standard mode The LED status is related to the SCK MOD bit value of the STATUS register according to Table 11 Table 11 StepClock mode LED indicator Normal operation StepClock mode operation Command error LED If the Command error LED is on yellow a wrong or a not performable command has been sent to device otherwise all sent commands have been correctly executed When a device of the dSPIN family is used the LED status is related to WRONG CMD and NOTPERF_CMD bit values When a device of the cSPIN family is used it is related to the CMD ERROR parameter value The relations are described in Table 12 Table 12 Command error LED indicator A wrong command was received A not performable command was received 7 DocIDO250
23. ce Configuration Speed Profile Phase current control Gate driving Others Gate current Tum OFF boost time VCC Value Controlled current time UVLO Thresholds 7 V amp V on boot w Blanking time Dead time This tab is used to configure the gate driving circuitry of the device 7 DocIDO25040 Rev 1 UM1654 9 9 q Device configuration tool The Gate current drop box selects the gate current between the available values IGATE parameter The Controlled current time Blanking time and Dead time boxes contain the TCC TBLANK and TDT parameters respectively The parameters can be changed writing the new value or using up down arrows The allowed formats for the new value are decimal e g 250 and hexadecimal using the Ox prefix e g 0x1 The Turn OFF boost time drop box enables the respective feature and selects the duration of the boost time TBOOST parameter The VCC value and UVLO thresholds drop boxes select the output voltage of the VCC voltage regulator and set the UVLO protection thresholds Others tab Figure 15 Others tab in device configuration form Device Configuration o be E H Speed Profile Phase current control Others Overcurrent threshold 3 375 A z Step Mode 1 128 step w Owver curment shutdown Synch Mode Disabled WE Stall Threshold 2 03125 A p Slew ate Medium m Alarm enabled Clock settings Over cument detecti
24. d clicking on the Open button in the toolbar A file selection dialog will be opened to choose the configuration file Warning The loaded configuration is NOT written into the device To write the new values the Ok or Apply buttons should be used 7 DocIDO25040 Rev 1 6 UM1654 q BEMF compensation tool BEMF compensation tool This tool helps the user to set the BEMF compensation parameters according to your application settings It can be opened from the application main form clicking on the respective toolbar button or selecting BEMF compensation in Tools menu If more than one device is connected to the communication board daisy chain configuration Section 9 on page 38 the active device can be selected through the drop list on the top right corner of the toolbar Figure 16 BEMF compensation form BEMF compensation curve 7700 2400 2100 Device configuration values KVAL HOLD 2 B Holding current 0 200 Arms Acceleration target current Motor phase RE Motor phase resistance 10 A ohm KVAL aa F amp el KVAL DEC F amp 1 000 Arms Deceleration target current KVAL RUN FN SLP DEC MEO Arms Fr amp Ma i Waming Maximum current 3000 Step s is 0 563 Arms nan E Keep the target caes RYE The BEMF compensation algorithm is based on the application requirements as supply voltage target current and motor characteristics
25. data for example you cannot obtain a holding current of 1 5 A with a supply voltage of 10 V and a phase resistance of 10 Q maximum current value is 1 A The voltage mode algorithm setup can be written into the device registers clicking on the Write button Warning The compensation parameters COULD BE NOT the optimal ones Better performances can be obtained with fine tuning of the parameters Please refer to the AN4144 application note dedicated to voltage mode driving for furthers details Saving and loading application and motor parameters 34 39 The current application and motor parameters can be saved clicking on the Save button A file selection dialog will be opened to choose if creating a new BEMF setup file or overwriting an existing one The BEMF setup files can be loaded clicking on the Open button A file selection dialog will be opened to choose the target file When the selected file is loaded the new voltage mode algorithm parameters are immediately evaluated but the new setup is NOT written into the device 7 DocIDO25040 Rev 1 UM1654 7 Scripting environment Scripting environment The application includes a scripting environment which allows the user to implement complex command sequences The script language is a tailor made Python extension for the dSPIN and cSPIN devices The scripting environment is based on IronPython an open source implementation of the Python programming language for th
26. e Script menu or clicking on the respective toolbar button Stopping the code execution a HardHiZ command is sent to all devices Warning At the end of script execution all the variables are kept in memory If needed variable initialization is mandatory at each script execution 7 DocIDO25040 Rev 1 UM1654 Options 8 Options The option dialog allows setting some application options It can be opened from the main form selecting Options on the Tools menu Figure 18 Options dialog ptions System palling Palling Time ms Registers ABS POS SPEED STATUS Signals BUSY FLAG Interface Board SPlfreg 4 MHz The application can be configured to cyclically refresh the value of ABS POS SPEED and STATUS registers The refresh time can be selected from the Polling Time list and the registers can be selected through relative checkboxes or from the main form The autorefresh cycle can also update the BUSY FLAG lines values In this case the line values are shown in the main form status bar In the interface board section the SPI speed SPI freq list can be selected The default value is 4 MHz DoclD025040 Rev 1 37 39 Daisy chain configuration UM1654 9 Daisy chain configuration More demonstration boards can be connected in daisy chain mode This way you can control up to eight motors using a single communication board To drive two or more boards in daisy chain configuration
27. e NET framework The application provides a detailed help file including some Phyton basics to write custom automatic routines Detailed information on Phyton can be found at the Python Programming Language Official Website www python org Figure 17 Scripting environment form Output box L6470 Evaluation Tool script file Sunday 16 August 1981 Script box Error box Scripting environment tool is divided into three text boxes e Script box here the script code can be written e Output box here the script messages will be found e Error box here error messages will be displayed At the top of the window a menu and a toolbar can be found The menu bar allows to manage script files File start and stop scripting Script and quickly access to this help file The toolbar provides shortcuts to the most common commands as Open n Save d Run script j and Stop script DoclD025040 Rev 1 35 39 Scripting environment UM1654 7 1 Note 7 2 36 39 Writing scripts The scripting environment is based on Phyton The application provides a detailed help file including some Phyton basics and a description of all the functions used to control the devices Detailed information on Phyton can be found at the Python Programming Language official website When the tool is started a new scripting file named Untitled py is generated You can create a new scripting file anytim
28. e through the New command in the File menu You can load an existing script code py files selecting Open in the File menu or clicking on the respective toolbar button The script code is shown in the script box here you can edit it Standard copy cut paste and undo commands can be used writing the script Python scripts are simple ASCII text files which can be edited with many different tools it is not mandatory to write them used the scripting environment Changes can be saved selecting Save in the File menu or clicking on the respective toolbar button If you want to save the script as a different file keeping the original one unchanged you can do it selecting SaveAs in the File menu If you are working on a new i e unsaved scripting file Save and SaveAs act in the same way You can restore the current script file to its last saved version using the Reload command in the File menu Script execution When the script code is ready it can be executed selecting Run script in the Script menu or clicking on the respective toolbar button When the script is started the script box is disabled and the j button is checked During the script execution output messages are displayed on the output box At the end of the script execution the result message is shown in the error box the script box is enabled and the j button is unchecked The script execution can be stopped selecting Stop script in th
29. ftware The LED statuses are related to the STEP LOSS A and STEP LOSS B bit values of the STATUS register according to Table 6 Table 6 Stall LED indicators STEP LOSS X L6470 and L6480 No failures Stall failure occurred BUSY LED The BUSY LED is turned on yellow during a command execution When it is off gray the last command has been executed and the device is idle The LED status is related to the BUSY bit value of the STATUS register according to Table 7 Table 7 Busy LED indicator DoclD025040 Rev 1 17 39 SPINFamily evaluation software UM1654 3 3 7 Motor status indicator The Motor status icon indicates the current status of the motor Different icons represent the acceleration deceleration constant speed and holding status in both directions The displayed icon depends on DIR and MOT STATUS parameters of the STATUS register according to Table 8 Table 8 Motor status indicator Stopped Accelerating in forward direction Decelerating in forward direction Accelerating in backward direction Decelerating in backward direction Running in backward direction Running in forward direction m t t 7 18 39 DoclD025040 Rev 1 UM1654 3 3 8 SPINFamily evaluation software Switch event and switch status LEDs If the SW Event LED is on yellow the SW input has been forced low switch turn on event otherwise no falling edges has been detected on the input The LED st
30. ges corrections modifications or improvements to this document and the products and services described herein at any time without notice All ST products are sold pursuant to ST s terms and conditions of sale Purchasers are solely responsible for the choice selection and use of the ST products and services described herein and ST assumes no liability whatsoever relating to the choice selection or use of the ST products and services described herein No license express or implied by estoppel or otherwise to any intellectual property rights is granted under this document If any part of this document refers to any third party products or services it shall not be deemed a license grant by ST for the use of such third party products or services or any intellectual property contained therein or considered as a warranty covering the use in any manner whatsoever of such third party products or services or any intellectual property contained therein UNLESS OTHERWISE SET FORTH IN ST S TERMS AND CONDITIONS OF SALE ST DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND OR SALE OF ST PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND THEIR EQUIVALENTS UNDER THE LAWS OF ANY JURISDICTION OR INFRINGEMENT OF ANY PATENT COPYRIGHT OR OTHER INTELLECTUAL PROPERTY RIGHT ST PRODUCTS ARE NOT AUTHORIZED FOR USE IN WEAPONS NOR ARE ST PRODUCTS DESIGNED OR AUTHORIZED FOR USE IN
31. ion The software requirements are the following e Computer mounting Windows 7 OS e A free USB port e IBU universal interface board STEVAL PCCOO09V2 e One or more demonstration boards compatible with the software environment check on the STEVAL PCCO009V2 board documentation To install the software 1 Unzip the archive content 2 Start software installation using SPINFamily Setup msi file 3 Follow the guided installation instructions A link to the application is created inte the START menu All Programs STMicroelectronics SPINFamily Evaluation Tool a Some old version of the STEVAL PCCOO9V2 firmware works on Windows XP OS only In this case please refer to Section 2 1 for the firmware upgrade instructions DoclD025040 Rev 1 Ly UM1654 2 3 Quick start guide Quick start guide Before start working with the evaluation software the firmware mounted on the IBU universal interface board must be checked in order to verify if it is compatible with the application and eventually update it to the last revision See Section 2 1 for the details The software is designed to work in demonstration mode so all functionalities can be explored even if no demonstration boards are present neither the STEVAL PCCOO09V2 nor the demonstration boards of the devices are required in this case 1 Start the SPINFamily Evaluation Tool by default it is in Start menu gt All programs gt STMicroelectronics gt SPINFamily
32. n Tool If the communication board mounts an early version of the firmware the first time the communication board is connected to the PC driver installation procedure could be required see Section 2 2 Click on the start button Follow the guided procedure Drivers installation old firmware revision only This procedure is used to install STEVAL PCCOO9V2 drivers which are required by the early version of the firmware This operation is requested only the first time the board is connected to the PC if they are already installed this procedure can be skipped 1 Qr d O9 Iw Connect the board to the PC through a USB cable oystem should start the assisted driver installation procedure Chose No not this time option and click Next Chose to install the device driver automatically recommended If the drivers are not found a Chose to install the device driver from a specific location b Select the first option and check Include this location in the search C Select the driver path clicking on the Browse button drivers are installed into the Updater DriversWinXP subfolder in the SPINFamily Evaluation Tool folder by default it is Program Files STMicroelectronics SPINFamily Evaluation Tool Updater Drivers WinXP When the driver certification warning is shown click on the Continue Anyway option Driver installation is completed and the communication board is now operative DoclD025040 Rev 1 Ly
33. o n O walle RO DEE em u maa pes a p tr ef m LLL 1 Acceleration 2008 164 Steps BA r1 Pan wr RD J DEF 06 Deceleration 2008 164 See BA BA dra Maximum speed 991 821 step s Are D steps Low 3 inimum speed and low speed optimization speed pe C J ws ro a Disabled ad Full step speed 585 093 NE WR ee The registers are represented as rows of a table with information stored in different columns e Name column contains the register mnemonic name e Address column indicates the register address in hexadecimal format e Description column contains a brief description of the register content e Value column shows the current register decoded value e Hex column shows the value of the register in hexadecimal format This is the only writable column and it can be used to change the register value e Default column shows the default value of the register in hexadecimal format There are also columns that allow reading writing registers e Clicking on WR column buttons the register value is written e Clicking on RD column buttons the register value is read e Clicking on DEF column buttons the register value is set to its default value e Checking AWR boxes the register value is automatically written every time its value in Hex column is changed DoclD025040 Rev 1 23 39 q Register map UM1654 4 1 24 39
34. of figures Figure 1 Device selection dialog EE SE eee nne 7 Figure 2 MEEL ie ea acai aoe eee caste EE EE EE EE eee oe Gee ee eee ae 9 Figure 3 Positioning tab in command section 1 SEE SE SE SE eee es 11 Figure 4 Speed tab in command section EES SS SS ee er 12 Figure 5 Advanced tab in command secCtON EES EE SE SE ee ee 12 Figure 6 Stop buttons in command secCtON naaa aaa SS SE SS ee ee ee 13 Figure 7 DIAS CISDIAY MEI aus OE EE EE ER EE ER EE earen Seeks 14 Figure 8 Open configuration group form a a aaa aa aaaea e rn 21 Figure 9 Save configuration group form 2 eee ee 22 Figure 10 Register map form 0 cc ee Ee Ee Ee Es es es ee 23 Figure 11 Speed profile tab in device configuration form SES ES EE ES SE eee 27 Figure 12 Voltage mode driving tab in device configuration form n anasa aaa 0c eee 28 Figure 13 Advanced current control driving tab in device configuration form 6 29 Figure 14 Gate driving tab in device configuration form n aaa ee 30 Figure 15 Others tab in device configuration form SS SE SS SS eee 31 Figure 16 BEMF compensation form 0 0 00 SE SS SS Se eee re 33 Figure 17 Scripting environment form 2 0 0 0 aaa aaea a eens 35 Figure 1G Options dialog a issie Soe ne Ge ncm bee Boros nee eb ahs woes taeda ce ER Ie N Shas 37 Ly DoclD025040 Rev 1 5 39 Installation 1 6 39 UM1654 Installat
35. ommand is used to get STATUS value instead of GetStatus command Failure conditions can be cleared using the button in the lower right corner which sends a GeStatus command to the selected device Detailed differences between GetParam and GetStatus command can be found on the DS6582 DS8858 DS9080 and DS9306 device datasheets or AN4241 AN4290 application notes on st com HiZ LED The HiZ LED indicates the high impedance status if it is lit green the device outputs are disabled otherwise the outputs are active The LED status is related to the HiZ bit value of the STATUS register according to Table 2 Table 2 HiZ LED indicator Power stage disabled Power stage enabled UVLO LED When the UVLO LED is red an undervoltage or the reset power up event occurred If it is off gray no fails are present If a device of the cSPIN family is used L648x the LED reports the UVLO ADOC failure through a yellow light The LED status is related to the UVLO bit and eventually to the UVLO ADG bit values of the STATUS register according to Table 3 DoclD025040 Rev 1 Ly UM1654 3 3 3 3 3 4 SPINFamily evaluation software Table 3 UVLO LED indicator UVLO ADC Operative conditions Undervoltage on ADC input Undervoltage condition OCD LED The OCD LED indicates that an overcurrent has been detected if it is on red an overcurrent event occurred otherwise no fails are present The
36. on Clock source Intemal C Extemal wl Th shutd Eie pura Extemal source type Direct tal Reson Linder voltage lock out Stall detection on bridge Clock frequency 16 MHz Stall detection on bridge B Switch tum on event SW falling edge OSCOUT clock frequency 2 MHz v Wrong or nat performable command Swith tum on causes HardStop This tab is used to configure the various device features The Overcurrent threshold and Stall threshold can be set through the respective numeric boxes writing the new value in decimal format or in hexadecimal using the Ox prefix Up and down arrows can also be used The values are expressed in Amperes in case of dSPIN family devices or in millivolts in case of cSPIN family devices If the Overcurrent shutdown box is checked the overcurrent events causes the power stage bridges to turn off In the Step Mode list the step resolution can be selected and the Synch Mode list allows enabling and configuring the synchronization signal DoclD025040 Rev 1 31 39 Device configuration tool UM1654 5 6 32 39 The output slew rate is selected using the Slew rate list dSPIN family devices only The Alarm enabled check list selects the error events which causes the FLAG output to be forced low In order to enable the HardStop interrupt on the SW input falling edge the Switch turn on causes HardStop box needs to be checked otherwise the SW input does not in
37. s reading and writing ABS POS MARK and SPEED registers For a detailed description of the command set of the device please refer to the DS6582 DS8858 DS9080 and DS9306 device datasheets and AN4241 AN4290 application notes on st com 3 2 1 Positioning tab The positioning tab collects all the motion commands allowing the device to reach target positions 7 10 39 DocIDO25040 Rev 1 UM1654 3 2 2 SPINFamily evaluation software Figure 3 Positioning tab in command section ABS POS 0 E ERGE GoTo and GoTo DIR commands can be sent to the selected device clicking on the GoTo button If the AUTO button is selected the GoTo command is sent and the motion direction is selected by the device using the minimum path algorithm FW and BW buttons force a forward backward direction sending a GoTo DIR command Position argument is set by a numeric box next to the button and can vary within 2097152 and 2097151 the absolute position is expressed in a 2 s complement format The target position can be written directly or it can be changed using up and down arrows positioned on the right side of the box GoTo or GoTo DIR command can also be sent pushing the return key in this numeric box Clicking on the Move button a Move command is sent to the current active device The motion direction is selected through FW forward and BW backward buttons and the number of steps is set by a numeric box next to the button This
38. shing the return key in the number box sends a Run command also In the Speed tab is also allowed reading the current SPEED register value by clicking on the RD button If Autorefresh is checked the speed value is automatically updated at the selected polling rate Advanced tab Figure 5 Advanced tab in command section Positioning Speed Advanced MARK 0 Eal Position initalization Go Until 0 000 sd FW BW HOME MARK ka Release SV The GoMark and GoHome buttons in the Advanced tab send the respective command to the selected device In this tab quick access to MARK register is also provided Clicking on the RD button or the current MARK value of the selected device is read and it is returned into the numeric box The register can be written setting the desired value into the numeric box 2097152 to 2097151 and pushing the return key or clicking on the WR button DoclD025040 Rev 1 Ly UM1654 SPINFamily evaluation software 3 2 4 3 3 q The GoUntil button sends the respective command using the parameters indicated by the adjacent controls e henumeric box defines the target speed expressed in step s Its value ranges from 0 to 15624 985 and can be set directly or by means of the up and down arrows e The FW lBW buttons select the motion direction e he HOME MARK buttons select the action performed at the SW falling edge If HOME is selected
39. terfere with the motor motion Device clock configuration is shown on a dedicated panel Here all possible clock configuration can be set Setting the Clock source as Internal the integrated 16 MHz oscillator is enabled If it is set as External the device is forced to use the external clock source defined by the External source type selection Direct if clock is directly applied to OSCIN input Xtal Reson if a resonator or a crystal is connected between the OSCIN and OSCOUT pins The Clock frequency list selects the current clock frequency When the internal oscillator is used this value is forced to 16 MHz The OSCOUT clock frequency list selects the frequency that will be supplied by the OSCOUT pin available only when the internal oscillator is enabled In case of CSPIN family devices the External clock watchdog checkbox is available when it is checked the device is protected from the failures of the external clock source Load and save configuration Current device configuration can be saved clicking on the Save button in the toolbar A file selection dialog will be opened where you can choose to create a new configuration file or overwrite an existing one Warning Configuration file includes ALL writable registers ABS POS EL POS MARK etc Make sure that the value of these registers is coherent with the desired one before saving the configuration Configuration files can be loade
40. the ABS POS register is set to zero home position otherwise its value is stored into the MARK register Pushing the return key in the numeric box DOES NOT SEND a GoUntil command the GoUntil button has to be used The ReleaseSW button sends a ReleaseSW command using the parameters indicated by the same controls used for the GoUntil command In this case the HOME MARK buttons select the action performed at the SW rising edge as described in the DS6582 DS8858 DS9080 and DS9306 device datasheets on st com Stop buttons Figure 6 Stop buttons in command section At the bottom of the command section the stop commands can be found Clicking on HardStop HardHiZ SoftStop or SoftHiZ buttons the respective command is sent to the current active device Status display The status display shows the last STATUS register value of the current active device This display is updated every time the STATUS register is read through a GetStatus or a GetParam command Figure 7 Status display DoclD025040 Rev 1 13 39 SPINFamily evaluation software UM1654 3 3 1 3 3 2 14 39 The status display shows the last STATUS register value of the current active device This display is updated every time the STATUS register is read through a GetStatus or a GetParam command If the Autorefresh box is checked the display is automatically updated at selected polling rate but error failure flags are not cleared GetParam c
41. to the device or not Configuration files can be loaded clicking on the Open button A file selection dialog will be opened to choose the configuration file When it is loaded the Hex column is updated but no value is written into the device changed registers will be highlighted with red text even if the respective AWR box is checked To write the configuration the E or the WR buttons must be used DoclD025040 Rev 1 25 39 Device configuration tool UM1654 5 26 39 Device configuration tool This form allows an easy configuration of the IC All registers content is displayed through a user friendly interface and the parameters are converted in a common format e g speeds are expressed in step s current thresholds in Amperes etc The device configuration form can be opened from the application main form clicking on the respective toolbar button or selecting Device configuration in Tools menu If more than one device is connected to the communication board daisy chain configuration Section 9 on page 38 the active device can be selected through the drop list on the top right corner of the toolbar Changing the form control values does not modify the actual value of the device registers Configuration is written into the device and changes are made effective clicking on the button of the toolbar or clicking on Ok or Apply buttons in the bottom right corner of the form Clicking on the
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