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L6470PD 数据表(PDF) 40 Page - STMicroelectronics

部件名 L6470PD
功能描述  dSPIN fully integrated microstepping motor driver with motion engine and SPI
PDF  70 Pages
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制造商  STMICROELECTRONICS [STMicroelectronics]
网页  http://www.st.com
标志 STMICROELECTRONICS - STMicroelectronics

L6470PD 数据表(HTML) 40 Page - STMicroelectronics

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Programming manual
L6470
40/70
Doc ID16737 Rev 5
9
Programming manual
9.1
Registers and flags description
The following is a map of the user registers available (detailed description in respective
paragraphs):
Table 9.
Register map
Address
[Hex]
Register name
Register function
Len.
[bit]
Reset
Hex
Reset
value
Remarks (1)
h01
ABS_POS
Current position
22
000000
0
R, WS
h02
EL_POS
Electrical position
9
000
0
R, WS
h03
MARK
Mark position
22
000000
0
R, WR
h04
SPEED
Current speed
20
00000
0 step/tick (0 step/s)
R
h05
ACC
Acceleration
12
08A
125.5e-12 step/tick2 (2008
step/s2)
R, WS
h06
DEC
Deceleration
12
08A
125.5e-12 step/tick2 (2008
step/s2)
R, WS
h07
MAX_SPEED
Maximum speed
10
041
248e-6 step/tick (991.8 step/s)
R, WR
h08
MIN_SPEED
Minimum speed
13
000
0 step/tick (0 step/s)
R, WS
h15
FS_SPD
Full-step speed
10
027
150.7e-6 step/tick (602.7
step/s)
R, WR
h09
KVAL_HOLD
Holding KVAL
8
29
0.16·VS
R, WR
h0A
KVAL_RUN
Constant speed KVAL
8
29
0.16·VS
R, WR
h0B
KVAL_ACC
Acceleration starting
KVAL
8
29
0.16·VS
R, WR
h0C
KVAL_DEC
Deceleration starting
KVAL
8
29
0.16·VS
R, WR
h0D
INT_SPEED
Intersect speed
14
0408
15.4e-6 step/tick (61.5 step/s)
R, WH
h0E
ST_SLP
Start slope
8
19
0.038% s/step
R, WH
h0F
FN_SLP_ACC
Acceleration final
slope
8
29
0.063% s/step
R, WH
h10
FN_SLP_DEC
Deceleration final
slope
8
29
0.063% s/step
R, WH
h11
K_THERM
Thermal
compensation factor
40
1.0
R, WR
h12
ADC_OUT
ADC output
5
XX (2)
R
h13
OCD_TH
OCD threshold
4
8
3.38A
R, WR
h14
STALL_TH
STALL threshold
7
40
2.03A
R, WR
h16
STEP_MODE
Step mode
8
7
128 microsteps
R, WH
h17
ALARM_EN
Alarm enable
8
FF
All alarms enabled
R, WS



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