1670693

AN1794
Application note
PractiSPIN evaluation system
configuration and set up guide
Introduction
PractiSPIN is an evaluation and demonstration system that can be used with several
STMicroelectronics motor driver integrated circuit devices. The system consists of a
Graphical User Interface (GUI) program which runs on an IBM-PC under windows, a
common ST7 based interface board that communicates with the PC and the practiSPIN
software via a serial COMM port, and a device specific evaluation or target board that
connects to the ST7 interface board via a standard 34 pin ribbon cable interface, as shown
in Figure 1. The target PCB connects to the motor or motors and to a user supplied DC
power supply generally in the range of 12 to 48 Vdc.
The practiSPIN system is designed to operate the device being evaluated (the target device)
under control of the practiSPIN software. Depending on which target device is being used,
the practiSPIN software can operate the device to drive a stepper motor, 1 or 2 DC motors
or a brushless DC (BLDC) motor.
Figure 1.
January 2008
System block diagram
Rev 2
1/34
www.st.com
Contents
AN1794
Contents
1
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1
Target board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2
Control interface board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Starting practiSPIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Stepper motor drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.1
Constant speed mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.2
Indexing mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
DC motor drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
4.1
BLDC motor drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

5.1
10
BLDC motor control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
EVAL6205N board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6.1
Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6.2
Current scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

7.1
7.2
Current scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
EVAL6206PD board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

8.1
8.2
Current scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

9.1
9.2
Current scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

10.1
2/34
Dual DC motor control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
AN1794
Contents
10.2
11
12
13
Current scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
EVAL6208PD board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

11.1
11.2
Current scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
EVAL6235 board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

12.1
12.2
Current scaling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3/34
List of figures
AN1794
List of figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
4/34
System block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

ST7 interface board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
EVAL6205N schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
EVAL6206 schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
EVAL6206PD schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
EVAL6207N schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
EVAL6208N schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
EVAL6208PD schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
EVAL6235 schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
AN1794
System overview
System overview
To illustrate the operation of the practiSPIN system, we will look at one typical device
supported by the system.
The L6207 includes two independent full or H bridges with separate logic inputs and current
control functions.
The two bridges are designated A and B and their output pins designated as OUT1A,
OUT2A, OUT1B, and OUT2B. These outputs are controlled independently by logic inputs
IN1A, IN2A, IN1B, and IN2B respectively.
A logic high or low on any of these inputs will drive its corresponding output to the positive
supply rail or to ground. Both of the A outputs will be forced to an off (high impedance) state
if the ENA pin is taken logic low, as will the B outputs if ENB is taken low. The L6207 is thus
controlled by six logic inputs: IN1A, IN2A, and ENA controlling bridge A and IN1B, IN2B, and
ENB controlling bridge B. Each bridge also has an analog control signal, VREFA and
VREFB, which control the current.
1.1
Target board
The L6207 target board gives access to the bridge A and B outputs at connectors CN3 and
CN4 respectively.
When driving a stepper motor, the two wires from one of the motor windings will connect to
CN3 and the other winding will connect to CN4. Swapping between the two connectors or
swapping the polarity at a given connector will only reverse the sense of motor direction. DC
supply power in the range of 12 to 48 Vdc is connected at CN1. The polarity marked on the
board silkscreen must be strictly observed! The eight control signals are taken from the 34pin ribbon header (CN5) and are driven by the control interface PCB via a short flat cable.
1.2
Control interface board

The control interface PCB is based on an ST72F264 microcontroller. The micro includes a
UART and communicates with the practiSPIN software via 9 pin D connector P1 employing
a standard RS232 interface.
The micro is based on flash memory and its firmware includes a write protected boot-loader
routine that allows the practiSPIN software to update or change the operating program in the
ST7 as required for different target boards. 5 Vdc power for the board is received via the 34pin ribbon cable from the target board or can be directly supplied at J2 if jumper WJ1 is
removed. The eight control signals for the target board are generated by the ST7 micro. The
six logic signals are generated directly by six of the eight pins of port B while the two analog
current references (VREFA and VREFB) are generated by pulse width modulated (PWM)
signals generated by the ST7 along with an offset adjusting circuit controlled by
potentiometer R18.
5/34
System overview
Figure 2.
6/34
AN1794
ST7 interface board
AN1794
Starting practiSPIN
Starting practiSPIN
Since the practiSPIN system is capable of supporting several driver IC's and driving different
types of motors the user must first select the type of motor to be driven and the driver IC that
will be evaluated.
1.
Target board set up: configure the jumpers/switches on the target board and the ST7
interface board as described in the paragraph for the specific evaluation board being
used.
2.
Control board - PC connection: connect the ST7 interface board to a serial COMM port
of the PC via a standard (straight through) 9 pin D connector cable.
3.
Power up: energize the power supply.
4.
Start practiSPIN software: on the PC, start the practiSPIN program.
5.
Motor type selection: on the first screen of the practiSPIN software, the user can select
the appropriate type of motor for the device under evaluation. Click on the appropriate
motor type.
6.
Communication settings: click the drop down list under "port selection" and select the
COMM port being used. Baud rate and other communication parameters are fixed on
both sides of the link and do not need to be set.
7.
Establish COMM link: click the "Connect With ST7 Hardware". At this point the
practiSPIN software will transmit several commands to the ST7 to initialize the
processor. The practiSPIN software will read the revision code of the firmware currently
stored in the flash memory of the ST7 and determine if the correct version of firmware
resides in the ST7. If the practiSPIN software detects that a firmware update is
necessary, either because there is an old version of firmware or the firmware currently
in the flash memory is not the correct firmware for the motor type selected, one or more
dialogue boxes will appear asking if the program should proceed with the update.
Accept the updates and the practiSPIN software will automatically update the firmware.
The system will then initialize the settings to the last stored settings and open the
appropriate practiSPIN software for the selected motor type.
8.
Calibrate current setting: when communication is established the user has the option to
adjust the offset and maximum current settings. If this is the first time you use the
system, calibration may be needed to adjust out the offset in the reference bias
circuitry. Calibration ensures that the reference voltage provided to L62XX IC follows
the practiSPIN software current settings. Calibration is a two-step process; first the
offset is adjusted then the maximum current is set.
a)
To null out the offset, click on CALIBRATE ZERO then adjust R18 (on ST7 board)
until voltage at Vref pin(s) of the L62XX device is zero. Measurement points on
each board are listed in the set up section for each target board.
b)
The maximum current, corresponding to 100% current setting in the practiSPIN

software, can be adjusted using the Vref potentiometers on the target board. If the
potentiometers are set to full scale (clockwise) the reference applied to the input of
the device is typically about 0.88 V. The full-scale peak current is equal to
Vref/Rsense where Rsense is the composite value of the sense resistor on the
board. To set the maximum current, click on CALIBRATE MAX and trim the Vref
potentiometer(s) on the EVAL62XX board to set the desired reference. If you plan
to use microstepping, consider reducing the maximum Vref to the real peak value
you will use, allowing setting the software current controls near to 100%, avoiding
poor Vref resolution.
7/34
Stepper motor drive
AN1794
Stepper motor drive

After the system has established the connection to the interface board, it will initialize the
settings to the last stored settings and open the appropriate GUI for the selected motor type.
For the Stepper motor, the system can operate in either a constant speed or positioning
(indexing) mode. The constant speed mode can easily be used to see that the system is
working.
3.1
Constant speed mode

1.
Speed control screen: a large blue button at the bottom of the screen should read,
"switch to INDEXING MODE". If the button reads, "switch to SPEED CONTROL
MODE", click the button once to go to speed control mode.
2.
Stepping mode: in the stepping mode box, select either Normal or Half Step.
Microstepping mode is only available when using the L6208.
3.
Device selection: in the device selection box, select the device being evaluated.
4.
direction: in the direction box, click the toggle switch to pick forward or reverse. This is
somewhat arbitrary since we probably don't know what the direction sense of the motor
will be. Once the motor is running, toggle this switch to reverse the motor direction if
desired. To reverse the meaning of the forward and reverse designations, disable the
motor (orange disable button at bottom of screen) and then swap the motor wires at
either CN3 or CN4.
5.
Decay mode: only the L6208 allows the selection of fast or slow decay. Set the toggle
switch to slow decay.
6.
Accel rate: set the accel rate to about 1000 steps per second per second (steps/sec2).
In the practiSPIN system all motion parameters are given in terms of the basic units of
steps and seconds: position in steps, velocity in steps/sec, and accel/decel in
steps/sec2. In order to relate these settings to rotations, RPM, and RPM/second it is
necessary to know the number of steps (or half steps) per rotation for the stepper motor
being used. A common value is 200 steps or 400 half steps per rotation.
7.
Running speed: set running speed to about 100 steps/sec.
8.
Decel rate: set decel. rate to about 1000 steps/sec2.
9.
Accel current: set accel current to about 25%. This is an initial guess as to the required
setting and may need further adjustment. Generally higher accel rate settings require
higher accel current settings so that the stepper motor does not start to "slip poles" and
fall behind the desired position. Since we have initially set the acceleration rate setting
quite low, 25% is probably adequate.
10. Running current: set the running current to 25%. In practice the running current can
often be set to a lower value than the accel current since the torque requirement is
generally less during the constant speed part of the move. A lower running current
setting can help to keep the device and the motor running cooler.
11. Decel current: set the decel current to 25%. Since friction aids in decelerating the motor
it may also be possible to set the decel current lower.
12. Holding current: set the holding current to 25%. Whenever the motor is stopped (after a
run,) this level of current will circulate in the motor so that it will hold position against
any mechanical disturbance.
8/34
AN1794
Stepper motor drive

In the case of a strong static load (perhaps a gravity load of some sort) it may be necessary
to increase this setting. If not much holding torque is required, then the setting can be
reduced so that operating temperatures can be held to a minimum.
Note:
Holding current will be turned off (bridge completely disabled) whenever the disable button
is clicked.
13. Run: make sure that the motor is free to turn in either direction and click the run button.
The motor should quickly come up to speed ((100 steps/sec) / (1000 steps/sec2) = 0.1
sec.). To change the motor direction, click the direction toggle switch. If the motor does
not run click the stop button, increase all four current settings to 50%, and click run
button. If the motor still does not run an oscilloscope and current probe should be used
to observe the motor current.
14. Stop: click stop to stop the motor.
After the basic operation of the system has been verified, the acceleration rates, top speed,
and current settings can be adjusted to see how the motor responds.
3.2
Indexing mode
The system can be switched to operate in the positioning (indexing) mode by clicking on
"switch to INDEXING MODE". In the indexing mode a new box appears on the right of the
screen. You can enter up to twelve indexed movements in the box and the wait time between
each movement. When started, the software will execute each movement by accelerating up
to the peak speed, moving the required number of steps and then decelerating back to a
stop so that the total distance moved is the number of steps indicated, then wait the
indicated time before starting the next movement. A negative number entered in the relative
position will cause the motor to run in the "reverse" direction.
9/34
DC motor drive
AN1794
DC motor drive
settings to the last stored settings and open the appropriate practiSPIN software for the
selected motor type. For DC motor drive, the system operates in an open loop duty cycle
control mode with cycle-by-cycle current limit.
4.1
Dual DC motor control mode

1.
Direction: in the direction box for each motor, click the toggle switch to pick forward or
reverse. This is somewhat arbitrary since we probably don't know what the direction
sense of the motor will be. Once the motor is running, toggle this switch to reverse the
motor direction if desired. To reverse the meaning of the forward and reverse
designations, disable the motor (orange disable button at bottom of screen) and then
swap the motor wires at either CN3 or CN4.
2.
Braking: toggle the "Brake when Stop" switch to the OFF position for both motors. This
will cause the motor to coast to rest when stopped, with the bridge placed in a high
impedance state. If desired this function can later be toggled on but some care should
be exercised. Braking will effectively short out the motor armature through two
transistors in the bridge, which could cause excessive current and power dissipation if
the motor and load have a large moment of inertia (thus a large amount or stored
mechanical to be dissipated) or the motor has a very low resistance (resulting in a large
current flow). Most smaller DC motors with several ohms of resistance do not pose a
risk.
3.
Current: set the current for both motors to approximately 25%. This is an initial guess
as to the required setting and may need further adjustment.
4.
Voltage: set the voltage for both motors to approximately 50%.
5.
Run: make sure that the motors are free to turn in either direction and click the run
button. the motors should come up to approximately half of the speed that would be
expected at this supply voltage. To change the motor direction, click the direction toggle
switch. If the motors do not run click the STOP button, increase both current settings to
50%, and click RUN button. If the motors still do not run an oscilloscope and current
probe should be used to observe the motor current
6.
Stop: click stop to stop the motor.
After the basic operation of the system has been verified, adjust voltage, current, direction
and other parameters to evaluate the system.
10/34
AN1794
BLDC motor drive
BLDC motor drive

settings to the last stored settings and open the appropriate practiSPIN software for the
selected motor type. For BLDC motor drive, the system operates in an open loop duty cycle
control mode with cycle-by-cycle current limit.
5.1
BLDC motor control mode

1.
Direction: in the direction box for each motor, click the toggle switch to pick forward or
reverse. This is somewhat arbitrary since we probably don't know what the direction
sense of the motor will be. Once the motor is running, toggle this switch to reverse the
motor direction if desired.
2.
Braking: toggle the "Brake when Stop" switch to the OFF position. This will cause the
motor to coast to rest when stopped, with the bridge placed in a high impedance state.
If desired this function can later be toggled on but some care should be exercised.
Braking will effectively short out the motor armature through three transistors in the
bridge, which could cause excessive current and power dissipation if the motor and
load have a large moment of inertia (thus a large amount or stored mechanical to be
dissipated) or the motor has a very low resistance (resulting in a large current flow).
Most smaller BLDC motors with several ohms of resistance do not pose a risk.
3.
Current: set the current to approximately 25%. This is an initial guess as to the required
setting and may need further adjustment.
4.
Voltage: set the voltage to approximately 50%.
5.
Run: make sure that the motor is free to turn in either direction and click the run button.
The motor should come up to approximately half of the speed that would be expected
at this supply voltage. To change the motor direction, click the direction toggle switch. If
the motor does not run click the stop button, increase the current settings to 50%, and
click run button. If the motor still does not run an oscilloscope and current probe should
be used to observe the motor current.
6.
Stop: click stop to stop the motor.
After the basic operation of the system has been verified, adjust voltage, current, direction
and other parameters to evaluate the system.
11/34
EVAL6205N board configuration
AN1794

The schematic of the EVAL6205N board is shown in Figure 3. To use the EVAL6205N board
with practiSPIN system, the following configuration settings must be made on the
EVAL6205N:
1.
Note:
Component updates: depending on the revision of the board, some or all of the
following changes may be required (or desirable):
a)
To assure safe overcurrent operation: change C6 and C7 to 5.6 nF Change R5

and R6 to 100 k.
b)
To assure an adequate 5 V supply, R2 may need to be changed. The minimum

value for R2 is (Vs-5)/(0.03+I) . Where: Vs is the supply voltage and I is any
additional load placed on the 5 V supply (in amps).
2.
JP1: place JP1 in the INT position to enable the on-board 5 Vdc supply.
3.
JP2 and JP3: install JP2 and JP3 to assure proper timing operation of the L6205's
internal high side overcurrent protection.
4.
JP4 and JP5: install JP4 and JP5 to configure the Vref circuits.
5.
R17 & R21: adjust multi-turn trim potentiometers R17 and R21 fully clockwise.
A slight click can be heard from the pot when it reaches its end of travel.
6.
R23 Adjust multi-turn trim pot R23 to the middle of its range. This pot sets the
frequency of the cycle-bycycle current controller and can be fine tuned while observing
the motor current on an oscilloscope or by simply adjusting to raise the frequency of the
audible switching noise to an inaudible level if required.
7.
Motor connections: connect the motor coils at CN3 and CN4. When driving a stepper
motor, one winding is connected to CN3 and the second winding is connected to CN4.
For operation with 2 DC motors one motor is connected to each connector.
8.
Power supply: connect, but do not energize, a 12 to 48 Vdc power supply at CN1
(positive to Vin and negative to GND).
9.
Using a 34 pin ribbon cable connect the EVAL6205N board to the control interface
board. The two boards should be placed on the bench so that their 34 pin headers are
side by side with the ribbon cable going straight across. Set the following on the ST7
interface board.
10. WJ1: install WJ1 on the ST7 based control interface board. This allows 5 Vdc power to
be obtained from the target board.
11. JP1 and JP2 and R18: install the JP1 and JP2 jumpers to short the center and left pins
together as shown in Figure 2. This is critical as excessive motor current can result
from misplacement of these jumpers! Set potentiometer R18 to about 50%.
12/34
_4
C10
SENSE_B
SENSE_A
LI MI T_B
LI MI T_A
4 3 2 1
_3
ENB
ENA
R18
C8
R14
R6
R5
JP2
JP3
10
11
20
IN4
IN3
ENB
ENA
IN2
IN1
5
GND
6
C7
C6
GND
16
GND
15
GND
C4
R1
L6205
R8
R9
_2
R4
R10
12
VBOOT
SENSEA
3
19
VCP
SENSEB
8
R11
_1
R3
PullUp
C2
R12
17
C11
VSA
14
PullUp
U1
18
R13
OUT2B
OUT1B
OUT2A
OUT1A
PullUp
VSB
C1
VCC
In1
13
18
L6506Dip
R22
IN1 IN2 I N3 IN4
In2
6
In3
7
R17
SENSE_B
16
R7
D2
SENSE_A
8
In4
D1
_1
_2
_3
_4
14
13
12
11
4
Out1
Out2
Out3
Out4
EN
10
Vsense1
15
1
17
GND
Vref2
Osc_Out
Vsense2
R/C
Vref1
Sync
CW
R23
U2
CW
JP1
PullUp
JP4
+5V
C13
R15
PullUp
C3
ext.
C12
C9
int.
VREFA
VREFB
+5V
PullUp
C5
R20
R16
VCCREF
JP5
VRE F_B
VRE F_A
R21
1
3
5
7
9
11
13
15
17
19
21
23
25
27
OCMPA1
P4.2 29
OCMPB1/ICAPB1 P4.3 31
33
ADC_REF
D3
R2
CN5
R19
TINA1 P2.4
TINB1 P2.5
TOUTA1 P2.6
TOUTB0 P2.3
TINB0 P2.1
TOUTPB1 2.7
TINA0 P2.0
INT3
INT2
INT6
INT0
CW
PullUp
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
GND
2
1
CN4
1
2
CN3
1
2
CN2
2
1
CN1
ENB
I N3
I N2
I N1
I N4
ENA
LIMIT_A
LIMIT_B
Figure 3.
AN1794
EVAL6205N schematic
13/34
6.1
AN1794
Vref offset adjustment (R18)

Using a voltmeter monitor the voltage at jumper JP4 or JP5 the EVAL6205N board with
respect to GND (CN1) when calibrating the offset.
6.2
Current scaling
When potentiometers R17 and R21 are set full clockwise, a 100% current setting on the
practiSPIN software screen corresponds to a Vref of approximately 0.88 Vdc or a peak
motor current of about 2.64 A.
The peak current can be set to a lower value by adjusting R17 and R21. The reference
voltage inputs can be monitored at JP4 and JP5.
14/34
AN1794

EVAL6206N:
1.
Note:
a)
To assure safe overcurrent operation:
Change C6 and C7 to 5.6 nF
Change R5 and R6 to 100 k
b)

2.
3.
JP2 and JP3: install JP2 and JP3 to enable the L6206's internal high side overcurrent
protection.
4.
JP4 and JP5: install JP4 and JP5 to set internal overcurrent threshold to maximum. If
desired, these jumpers can be left out and the overcurrent levels may be set using
potentiometers R7 and R8.
5.
JP6 and JP7: install JP6 and JP7 to configure the Vref circuits.
6.
R20 and R26 adjust multi-turn trim pots R20 and R26 fully clockwise.
7.
R29: adjust multi-turn trim pot R29 to the middle of its range. This pot sets the chopping
frequency of the L6506 current controller and can be fine tuned while observing the
motor current on an oscilloscope or by simply adjusting to raise the frequency of the
8.
9.
10. Using a 34 pin ribbon cable connect the EVAL6205N board to the control interface
interface board.
11. WJ1: install WJ1 on the ST7 based Control Interface Board. This allows 5 Vdc power to
from misplacement of these jumpers! Set potentiometer R18 to about 50% .
15/34
SENSE_B
SENSE_A
PROGCLB
PROGCLA
OCDB
OCDA
4 3 2 1
_4
_3
ENB
ENA
_2
C14
R27
C12
R24
R6
R5
JP2
R21
JP3
12
11
14
23
R15
IN4
IN3
ENB
ENA
IN2
6
GND
OCDA
4
R18
R22
C7
C6
18
GND
7
GND
19
GND
OCDB
9
CW
C8
15
VBOOT
PROGCLA
JP4
24
CW
22
VCP
PROGCLB
C10
JP5
13
IN1
R8
20
VSA
SENSEA
3
R10
17
VSB
SENSEB
10
R13
R1
OUT2B
OUT1B
OUT2A
OUT1A
R14
_1
R4
R7
C4
16
21
U1
L6206
PullU p
18
PullUp
C11
R16
C3
VCC
In1
R20
R28
JP6
CW
PullU p
R17
JP1
PullU p
ext.
+5V
IN1 IN2 I N3 IN4
C2
SENSE_A
10
R3
PullUp
C1
SENSE_B
D2
_1
_2
_3
_4
14
13
12
11
4
In2
Out1
Out2
Out3
Out4
EN
In3
R29
2
17
GND
Vref2
Osc_Out
15
Vsense1
8
In4
Vsense2
R/C
16
Vref1
Sync
16/34
CW
C15
U2
L6506Dip
+5V
PullUp
C5
VCCREF
PROGCLA
PROGCLB
VREFA
VREFB
int.
C13
C9
JP7
R25
R19
1
3
5
7
9
11
13
15
17
19
21
23
25
27
OCMPA1
P4.2 29
31
OCMPB1/ICAPB1 P4.3
33
ADC_REF
D3
R2
CN5
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
P2.0
TINA1 P2.4
TINB1 P2.5
TOUTA1 P2.6
TOUTB0 P2.3
TINB0 P2.1
TOUTPB1 2.7
TINA0
INT3
INT2
INT6
INT0
R26
CW
PullU p
VREF_B
VREF_A
R23
GND
2
1
CN4
1
2
CN3
1
2
CN2
2
1
CN1
ENB
IN3
IN2
IN1
IN4
ENA
OCDA
OCDB
Figure 4.
D1

AN1794
EVAL6206 schematic
R12
R11
R9
AN1794
7.1

Using a voltmeter monitor the voltage at jumper JP6 or JP7 the EVAL6206N board with
respect to GND (CN1) when calibrating the offset.
7.2
Current scaling
voltage inputs can be monitored at JP6 and JP7.
17/34
EVAL6206PD board configuration
AN1794

The schematic of the EVAL6206PD board is shown in Figure 5. To use the EVAL6206PD
board with practiSPIN system, the following configuration settings must be made on the
EVAL6206PD:
1.
Note:
a)
b)

2.
3.
JP2 and JP3: install JP2 and JP3 to enable the L6206's internal high side overcurrent
protection.
4.
JP4 and JP5: install JP4 and JP5 to set internal overcurrent threshold to maximum. If
desired, these jumpers can be left out and the overcurrent levels may be set using
potentiometers R6 and R7.
5.
R16 and R22: adjust multi-turn trim pots R16 and R22 fully clockwise.
6.
R25 Adjust multi-turn trim pot R25 to the middle of its range. This pot sets the chopping
frequency of the L6506 current controller and can be fine tuned while observing the
motor current on an oscilloscope or by simply adjusting to raise the frequency of the
7.
8.
9.
side by side with the ribbon cable going straight across.
Set the following on the ST7 interface board
18/34
WJ1: Install WJ1 on the ST7 based control interface board. This allows 5 Vdc power to
JP1 and JP2 and R18: install the JP1 and JP2 jumpers to short the center and left pins
C15
SENSE_B
C12
SENSE_A
PROGCLB
PROGCLA
OCDB
OCDA
_4
_3
R23
R21
R5
ENB
R3
R4
R2
ENA
_2
_1
PullU p
JP2
R17
JP3
27
26
29
11
10
R18
R13
IN4
IN3
ENB
ENA
IN2
IN1
1
C7
C6
R15
GND
18
GND
19
C2
GND
36
GND
OCDA
13
C4
C8
CW
JP4
R6
CW
L6206PD
PROGCLA
9
OCDB
24
30
VBOOT
2
7
VCP
C10
JP5
R7
PROGCLB
28
4
U1
VSA
SENSEA
12
R8
33
VSB
SENSEB
25
R11
C1
PullU p
20
11
10
U2
R26
21
23
31
34
35
22
32
17
20
15
5
2
3
6
14
16
C11
PullU p
NC
NC
NC
NC
NC
OUT1B
OUT2B
NC
NC
OUT1A
OUT2A
NC
NC
NC
NC
NC
VCC
NC
NC
SENSE_A
12
D1
In1
R24
IN1 IN2 IN3 IN4
R16
GND
CW
R25
CW
JP1
C14
PullUp
ext.
+5V
PullU p
R12
C3
SENSE_B
18
_1
_2
_3
_4
16
15
14
13
4
Out1
Out2
Out3
Out4
EN
In2
6
In3
7
19
Vref2
Osc_Out
17
Vsense1
In4
8
Vsense2
R/C
1
Vref1
Sync
3
C13
C5
VCCREF
C9
PROGCLA
PROGCLB
VREFB
VREFA
+5V
SENSE_B
PullU p
SENSE_A
int.
STMicroelectronics
R19
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
P2.0
VREF_B
VREF_A
TINA1 P2.4
TINB1 P2.5
TOUTA1 P2.6
TOUTB0 P2.3
TINB0 P2.1
TOUTPB1 2.7
TINA0
INT3
INT2
INT6
INT0
2
1
CN4
1
2
CN3
1
2
CN2
2
1
Industrial&Power Supply Application LAB
CW
PullUp
R20
R14
CN5
R22
1
3
5
7
9
11
13
15
17
19
21
23
25
27
OCMPA1
P4.2 29
31
OCMPB1/ICAPB1 P4.3
33
A1IN6 P8.1
ADC_REF
A0IN6 P7.6
D2
R1
CN1
ENB
IN3
IN2
IN1
IN4
ENA
OCDA
OCDB
Figure 5.
AN1794
EVAL6206PD schematic
19/34
2
R10
R9
8.1
AN1794

Using a voltmeter monitor the voltage at the junction of R12 and R16 or the Junction of R20
and R22 on the EVAL626PD board with respect to GND (CN1) when calibrating the offset.
8.2
Current scaling
motor current of about 4.4 A. The peak current can be set to a lower value by adjusting R16
and R22.
20/34
AN1794

EVAL6207N:
1.
Note:
a)
b)

2.
3.
JP2 and JP3: install JP2 and JP3 to assure proper timing operation of the L6207's
internal high side overcurrent protection.
4.
5.
R6 and R7: adjust multi-turn trim pots R6 and R7 to the middle of their range. These
pots set the off time of the cycle by cycle current controller and can be fine tuned while
observing the motor current on an oscilloscope or by simply adjusting to raise the
frequency of the audible switching noise to an inaudible level if required.
6.
motor connections: connect the motor coils at CN3 and CN4. When driving a stepper
7.
8.
Board. The two boards should be placed on the bench so that their 34 pin headers are
interface board
9.
WJ1: install WJ1 on the ST7 based Control Interface Board. This allows 5 Vdc power to
21/34
RCA/INH
VRE F_B
VRE F_A
R4
C6
JP 2
R8
R3
IN4
IN3
R1 7
C7
R15
JP 3
LIMITB
IN2
IN1
CW
R5
R1 8
PullUp
LI MIT_B
LI MIT_A
LIMITA
ENA
CW
R1 6
PullUp
IN2B
IN1B
ENB
ENA
IN2A
IN1A
VRE F A
C8
12
11
14
23
6
GND
VRE F A
24
18
C9
VRE F B
GND
7
GND
C1
C2
C4
R1
C10
C1 1
CW
L6207
RCA/INH
4
19
GND
VRE F B
13
15
VBOOT
22
VCP
RCB
9
R7
20
VSA
SENSEA
SEN SEA
3
R9
17
VSB
D2
R10
D1
R1 1
SENSEB
10
R12
22/34
SENSEB
OUT2B
OUT1B
OUT2A
OUT1A
R1 3
16
21
U1
SEN SE_B
LIMIT_A
LIMIT_B
VRE FA
VRE FB
+5V
SEN SE_A
C3
JP 1
PullUp
1
2
OCMPA 0/ICAPA0 P3.2

OCMPB 0 P3.3
OCMPA 1 P4.2
OCMPB 1/ICAPB1 P4.3
A1IN6 P8.1
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
CN 5
int.
ADC_R EF
A0IN6 P7.6
VCCREF
+5V
ext.
C5
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
VCCREF
TOUTA 1 P2.6
TINPB 0 P2.1
TOUTB 1 P2.7
TINPA O P2.0
INT0
TOUTA O P2.2
INT2
D3
R2
2
1
CN4
1
2
CN3
ENB
IN3
IN2
IN1
IN4
ENA
LIMIT_A
RC A/INH
LIMIT_B
GND
1
2
CN 2
2
1
CN 1
Figure 6.
R14
ENB

AN1794
EVAL6207N schematic
R6
AN1794
9.1

Using a voltmeter monitor the voltage at the VrefA or VrefB test point on the EVAL6207N
board with respect to GND (CN1) when calibrating the offset.
9.2
Current scaling
voltage inputs can be monitored at the VrefA or VrefB test point.
23/34
10
AN1794

EVAL620A:
1.
2.
Note:
a)
Change C6 to 5.6 nF
Change R9 to 100 k
b)

3.
Switches place all four of the switches in the right (toward the L6208) position.
4.
5.
R11 and R12: adjust multi-turn trim pots R11 and R12 to the middle of their range.
These pots set the off time of the cycle by cycle current controller and can be fine tuned
while observing the motor current on an oscilloscope or by simply adjusting to raise the
6.
7.
8.
Board. The two boards should be placed on the bench so that their 34 pin headers are
interface board.
9.
WJ1: install WJ1 on the ST7 based control interface board. This allows 5 Vdc power to
24/34
DIAG
RESET
EN
HALF/FULL
CONTROL
CW/CCW
CLOCK
VREFB
VREFA
DIAG
CLOCK
R3
15
2
R22
13
R9
CW
R10
14
R20
12
5
SLOW
CCW
16
R13
PullUp
R5
HALF
FAST
3
R6
11
6
R7
C6
23
14
12
EN
R24
C7
CW
R21
PullUp
VREF A
RESET
EN
HALF/FULL
CONTROL
CW/CCW
CLOCK
10
7
1
9
8
13
CW
R8
FULL
1
R4
PullUp
7
19
VREF B
GND
C1
18
GND
PullUp
6
GND
VREF A
24
CW
R11
C2
15
C8
RCA
C9
C10
RCA
D2
CW
R12
RCB
C4
R1
L6208N
VBOOT
RCA
4
GND
VREFB
11
22
VCP
RCB
9
20
VSA
SENSEA
3
R14
17
C3
VSB
SENSEB
10
R17
D1
U1
OUT2B
OUT1B
OUT2A
JP1
+5V
PullUp
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
VCCREF
C5
CN5
int.
PullUp
CLOCK
VREFA
VREFB
16
21
ext.
+5V
OUT1A
R18
S1
R19
D3
R2
HALF/FULL
CONTROL
CW/CCW
RESET
CLOCK
EN
RCA
DI AG
2
1
CN4
1
2
CN3
GND
1
2
CN2
2
1
CN1
Figure 7.
PullUp
AN1794
EVAL6208N schematic
25/34
R16
R15
10.1
AN1794

Using a voltmeter monitor the voltage at the VrefA or VrefB test point on the EVAL6208N
10.2
Current scaling
voltage inputs can be monitored at the VrefA or VrefB test point
After tube recognition the microcontroller will set the right run frequency for the connected
lamp.
26/34
AN1794
11

The schematic of the EVAL6208PD board is shown in Figure 8. To use the EVAL6208PD
board with practiSPIN system, the following configuration settings must be made on the
EVAL6208PD:
1.
2.
Note:
a)
Change C12 to 5.6 nF
Change R21 to 100 k
b)

3.
Switches: place all four of the switches in the right (toward the L6208) position.
4.
5.
R10 and R11: adjust multi-turn trim pots R10 and R11 to the middle of their range.
These pots set the off time of the cycle by cycle current controller and can be fine tuned
while observing the motor current on an oscilloscope or by simply adjusting to raise the
6.
7.
8.
Using a 34 pin ribbon cable connect the EVAL6208PD board to the control interface
interface board.
9.
WJ1: install WJ1 on the ST7 based control interface board. This allows 5 Vdc power to
27/34
RCA
VREF_B
VREF_A
DIAG
RESET
EN
HALF/FULL
CONTROL
CW/ CCW
CLOCK
R3
R2
15
16
R19
R8
12
CCW
14
R16
PullUp
R4
FULL
R9
HALF
CLOCK
FAST
R5
11
SLOW
CW
R17
R6
13
R21
CW
8
29
27
28
R20
PullUp
CW
VREF A
RESET
EN
HALF/FULL
CONTROL
CW/CCW
CLOCK
10
7
11
C12
R7
9
8
10
EN
GND
C6
36
C2
C9
VRE F B
GND
PullUp
C1
D1
C4
CW
R10
C7
C8
L6208PD
VREFB
26
PullUp
RCA
13
GND
VREF A
9
24
18
GND
19
GND
30
VBOOT
2
7
R11
R18
CW
VCP
RCB
4
VSA
SENSEA
SENSEA
12
R12
S1
R13
33
VSB
SENSEB
25
28/34
R14
SENSEB
NC
NC
NC
NC
NC
OUT1B
OUT2B
NC
NC
OUT1A
OUT2A
NC
NC
NC
NC
NC
21
23
31
34
35
22
32
17
20
15
5
2
3
6
14
16
U1
VIN
CLOCK
VREFA
VREFB
+5V
PullUp
C3
2
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
TINA1 P2.4
TINB1 P2.5
TOUTA 1 P2.6
TOUTB1 P2.7
TINA0 P2.0
TOUTB 0 P2.3
TOUTA 0 P2.2
C5
VCCREF
D2
R1
HALF/FULL
CONTROL
CW/CCW
RESET
CLOCK
EN
RCA
DIAG
2
1
CN4
1
2
CN3
1
2
CN2
Industria l&Power Supply Ap plicatio n LAB
int.
CON34A
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
CN5
STMic roelectr onics
OCMPA 1
P4.2
OCMPB1/ICAPB1 P4.3
ADC_R EF
PullUp
JP 1
JUMPER 3x1
ext.
+5V
2
1
CN1
Figure 8.
R15
PullUp

AN1794
EVAL6208PD schematic
AN1794
11.1

Using a voltmeter monitor the voltage at the VrefA or VrefB test point on the EVAL6208PD
11.2
Current scaling
motor current of about 4.4 A. The peak current can be set to a lower value by adjusting R15
and R18. The reference voltage inputs can be monitored at the VrefA or VrefB test point.
29/34
EVAL6235 board configuration
12
AN1794

The schematic of the EVAL6235 board is shown in Figure 9. To use the EVAL6235 board
EVAL6235:
1.
2.
Note:
Note:
a)
Change R6 to 100 k and remove R2
b)

additional load (such as Hall sensors) placed on the5 V supply (in amps).
JP1 and JP2: install JP1 and JP2 to enable the on-board 5 Vdc supply.
3.
Switches: place all four switches in the down (away from U2) position.
4.
R22: adjust multi-turn trim pot R22 fully clockwise.
5.
R10: adjust multi-turn pot R10 to the middle of its range. This pot sets the off time of the
cycle by cycle current controller and can be fine tuned while observing the motor
current on an oscilloscope or by simply adjusting to raise the frequency of the audible
switching noise to an inaudible level if required.
6.
Hall sensors: connect the hall sensors of the BLDC motor at CN5. Connect the power
supply wires from the hall sensors at pins GND and P5V. Hall sensors are notorious for
being destroyed by reversed polarity! Know, don't guess, the proper polarity! Connect
H1, H2, and H3 signals to their respective pins.
7.
Motor connections: connect the three motor armature wires at CN3 being careful to
match the phasing to the hall sensor connections. Please refer to the L6235 data sheet
for a description of the proper phase relationship between the motor phases and the
Hall sensors.
There are six possible ways to connect the three armature wires to CN3. While only one
connection will give proper performance, one or two of the other possible connection may
cause the motor to turn but with very poor performance and, perhaps, high motor currents
even if the system is unloaded.
8.
9.
Using a 34 pin ribbon cable connect the EVAL6208PD board to the control interface
interface board.
10. WJ1: install WJ1 on the ST7 based control interface board. This allows 5 Vdc power to
together. This is critical as excessive motor current can result from misplacement of
these jumpers! Set potentiometer R18 to about 50%.
30/34
HALL CON
1
2
3
4
5
CN5
H3
H2
H1
FRW/REV
BRAKE
ENABLE
15
2
16
+5V
13
4
14
3
R2
11
12
H1
H2
H3
9
VREF
FW
10
REV
7
EN
BRAKE
C6
H3
6
GND
SPEED
1
DIAG
24
R20
C7
C8
R22
CW
R17
PullUp
7
GND
8
R4
R9
H2
18
GND
5
PullUp
R8
23
H1
FWR/REW
BRAKE
ENABLE
C11
R15
Pullup
CW
R10
R18
C9
L6235
R11
CW
DIAG
2
19
GND
6
R3
R7
11
14
12
C4
R5
VREF
13
C2
RCOFF
4
VBOOT
15
D2
22
VCP
TACHO
8
C1
D1
20
VSA
RCPULSE
9
TRQ
R6
S1
17
VSB
SENSE1
3
3
C10
R16
R12
SENSE2
10
C12
+5V
R19
OUT3
OUT2
OUT1
U1
L6235
U2A
LM358
R14
PullUp
R13
4
+
16
21
R21
VREF
+5V
SENSE
C3
H1
VCCREF
TP
CN4
ADC_R EF
A0IN6 P7.6 1
3
5
7
9
11
13
15
17
19
21
23
P3.1
25
27
29
OCMPA 1 P4.2
31
33
VCCREF
+5V PullUp
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
TP
C5
+5V
P2.4
P2.5
P2.6
P2.1
P2.7
LM358
U2B
TINA0 P2.0
P2.2
INT3
INT2
D3
R1
JP2
JP1
TP
1
2
3
CN3
1
2
CN2
2
1
CN1
H2
H3
FRW/REW
H1
BRAKE
ENABLE
RC/INH
DIAG
Figure 9.
AN1794
EVAL6235 schematic
31/34
12.1
AN1794

Using a voltmeter monitor the voltage at the junction of R17 and R20 on the EVAL6235N
12.2
Current scaling
When potentiometer R22 is set full clockwise, a 100% current setting on the practiSPIN
software screen corresponds to a Vref of approximately 0.88 Vdc or a peak motor current of
about 4.4 A. The peak current can be set to a lower value by adjusting R22. The reference
voltage inputs can be monitored at the junction of R17 and R20.
32/34
AN1794
13
Revision history
Revision history
Table 1.
Document revision history
Date
Revision
Changes
21-Jun-2004
Initial release
29-Jan-2008
Document reformatted. No content change
33/34
AN1794
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AN1794

System block diagram

Control interface board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Stepper motor drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Constant speed mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

BLDC motor drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

BLDC motor control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

EVAL6205N board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

EVAL6206N board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

EVAL6206PD board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

EVAL6207N board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

EVAL6208N board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Dual DC motor control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

EVAL6208PD board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

EVAL6235 board configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

Vref offset adjustment (R18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

System block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Control interface board

Power up: energize the power supply.

Start practiSPIN software: on the PC, start the practiSPIN program.

The maximum current, corresponding to 100% current setting in the practiSPIN

Stepper motor drive

Stepper motor drive

Constant speed mode

Running speed: set running speed to about 100 steps/sec.

Decel rate: set decel. rate to about 1000 steps/sec2.

Stepper motor drive

Dual DC motor control mode

Voltage: set the voltage for both motors to approximately 50%.

Stop: click stop to stop the motor.

BLDC motor drive

BLDC motor drive

BLDC motor control mode

Voltage: set the voltage to approximately 50%.

Stop: click stop to stop the motor.

EVAL6205N board configuration

EVAL6205N board configuration

To assure safe overcurrent operation: change C6 and C7 to 5.6 nF Change R5

To assure an adequate 5 V supply, R2 may need to be changed. The minimum

IN1 IN2 I N3 IN4

EVAL6205N board configuration

Vref offset adjustment (R18)

EVAL6206N board configuration

EVAL6206N board configuration

To assure safe overcurrent operation:

Change C6 and C7 to 5.6 nF

Change R5 and R6 to 100 k

To assure an adequate 5 V supply, R2 may need to be changed. The minimum

IN1 IN2 I N3 IN4

EVAL6206N board configuration

EVAL6206N board configuration

Vref offset adjustment (R18)

EVAL6206PD board configuration

EVAL6206PD board configuration

To assure safe overcurrent operation:

Change C6 and C7 to 5.6 nF

Change R4 and R5 to 100 k

To assure an adequate 5 V supply, R1 may need to be changed. The minimum