L6470PD datasheet(43/70 Pages) STMICROELECTRONICS

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L6470

Programming manual

Doc ID16737 Rev 5

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where DEC is the integer number stored in the register and tick is 250 ns.

The available range is from 14.55 to 59590 step/s2 with a resolution of 14.55 step/s2.

When the device is working in infinite acceleration mode, this value is ignored.

Any attempt to write the register when the motor is running causes the command to be

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.7

MAX_SPEED

The MAX_SPEED register contains the speed profile maximum speed expressed in

step/tick (format unsigned fixed point 0.18).

In order to convert it in step/s, the following formula can be used:

Equation 7

where MAX_SPEED is the integer number stored in the register and tick is 250 ns.

The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.

9.1.8

MIN_SPEED

The MIN_SPEED register contains the following parameters:

The MIN_SPEED parameter contains the speed profile minimum speed. Its value is

expressed in step/tick and to convert it in step/s, the following formula can be used:

Equation 8

where MIN_SPEED is the integer number stored in the register and tick is the ramp 250 ns.

The available range is from 0 to 976.3 step/s with a resolution of 0.238 step/s.

When the LSPD_OPT bit is set high, the low speed optimization feature is enabled and the

MIN_SPEED value indicates the speed threshold below which the compensation works. In

this case the minimum speed of the speed profile is set to zero.

An attempt to write the register when the motor is running causes the NOTPERF_CMD flag

to rise.

9.1.9

FS_SPD

The FS_SPD register contains the threshold speed. When the actual speed exceeds this

value, the step mode is automatically switched to full-step two-phase on. Its value is

step/s

[]

MAX_SPEED

–

⋅

tick

--------------------------------------------------------

Table 11.

MIN_SPEED register

Bit 12

Bit 11

Bit 10

Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

LSPD_OPT

MIN_SPEED

step/s

[]

MIN_SPEED

–

⋅

tick

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