L6472 STMICROELECTRONICS [STMicroelectronics], L6472 Datasheet - Page 40

• Manufacturer Part Number: L6472
• Description: dSPIN fully integrated microstepping motor driver
• Manufacturer: STMICROELECTRONICS [STMicroelectronics]

Programming manual
9
9.1
Table 9.
40/69
Address
[Hex]
h0C
h0D
h0A
h0B
h0E
h0F
h01
h02
h03
h04
h05
h06
h07
h08
h15
h09
h10
h11
h12
h13
h14
h16
h17
MAX_SPEED Maximum speed
STEP_MODE Step mode
MIN_SPEED Minimum speed
TVAL_HOLD Holding current
RESERVED
RESERVED
RESERVED
ALARM_EN
TVAL_RUN
TVAL_ACC
TVAL_DEC
TOFF_MIN
ABS_POS
ADC_OUT
Programming manual
Register and flag description
Table 9
paragraphs):
Register map
TON_MIN
OCD_TH
Register
EL_POS
FS_SPD
T_FAST
SPEED
MARK
name
DEC
ACC
shows a map of the user registers available (detailed description in respective
Current position
Electrical position
Mark position
Current speed
Acceleration
Deceleration
Full-step speed
Constant speed current
Acceleration starting
current
Deceleration starting
current
Reserved address
Fast decay/fall step time
Minimum ON time
Minimum OFF time
Reserved address
ADC output
OCD threshold
Reserved address
Alarms enable
Register function
Doc ID 022729 Rev 1
Len. [bit]
22
12
12
22
20
10
13
10
16
9
7
7
7
7
8
7
7
8
5
4
8
8
8
000000
000000
Reset
00000
XX
Hex
08A
08A
000
027
041
000
FF
29
29
29
29
19
29
29
8
7
(2)
0
0
0
0 step/tick (0 step/s)
125.5e-12 step/tick
step/s
125.5e-12 step/tick
step/s
248e-6 step/tick (991.8
step/s)
0 step/tick (0 step/s)
150.7e-6 step/tick (602.7
step/s)
1.3125 A
1.3125 A
1.3125 A
1.3125 A
1µs / 5 µs
20.5 µs
20.5 µs
3.38 A
16 microsteps, no synch
All alarms enabled
2
2
)
)
Reset Value
2
2
(2008
(2008
Remarks
R, WS
R, WS
R, WR
R, WS
R, WS
R, WR
R, WS
R, WR
R, WR
R, WR
R, WR
R, WR
R, WH
R, WH
R, WH
R, WR
R, WH
R, WS
L6472
(1)
R
R