POWERSTEP01TR datasheet(57/92 Pages) STMICROELECTRONICS

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powerSTEP01

Programming manual

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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

ignored and the CMD_ERROR flag to rise (Section 11.1.28 on page 71).

11.1.13

FN_SLP_ACC

This register is specific for voltage mode driving (see Section 8 on page 38).

The FN_SLP_ACC register contains the BEMF compensation curve slope that is used when

the speed is greater than the intersect speed during acceleration (Section 8.4 on page 40

for details). Its value is expressed in s/step and the available range is from 0 to 0.004 with a

resolution of 0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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

ignored and the CMD_ERROR flag to rise (Section 11.1.28).

11.1.14

FN_SLP_DEC

This register is specific for voltage mode driving (see Section 8).

The FN_SLP_DEC register contains the BEMF compensation curve slope that is used when

the speed is greater than the intersect speed during deceleration (Section 8.4 for details). Its

value is expressed in s/step and the available range is from 0 to 0.004 with a resolution of

0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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

ignored and the CMD_ERROR flag to rise (Section 11.1.28).

11.1.15

K_THERM

This register is specific for voltage mode driving (see Section 8).

The K_THERM register contains the value used by the winding resistance thermal drift

compensation system (Section 8.6 on page 42).

The available range is from 1 to 1.46875 with a resolution of 0.03125, as shown in Table 17.

Table 17. Winding resistance thermal drift compensation coefficient

K_THERM [3 … 0]

Compensation coefficient

0000

0001

1.03125

1110

1.4375

1111

1.46875

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