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L6470PD 数据表(PDF) 22 Page - STMicroelectronics |
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L6470PD 数据表(HTML) 22 Page - STMicroelectronics |
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22 / 70 page  Functional description L6470 22/70 Doc ID16737 Rev 5 Figure 5. Charge pump circuitry 6.4 Microstepping The driver is able to divide the single step into up to 128 microsteps. Stepping mode can be programmed by the STEP_SEL parameter in the STEP_MODE register (see Table 18). Step mode can only be changed when bridges are disabled. Every time the step mode is changed the electrical position (i.e. the point of microstepping sinewave that is generated) is reset to the first microstep and the absolute position counter value (see Section 6.5) becomes meaningless. Figure 6. Normal mode and microstepping (128 microsteps) |
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