L6472 STMICROELECTRONICS [STMicroelectronics], L6472 Datasheet - Page 22

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

Functional description
6.4.1
6.5
6.6
22/69
Automatic full-step mode
When motor speed is greater than a programmable full-step speed threshold, the L6472
switches automatically to full-step mode (see
microstepping when motor speed decreases below the full-step speed threshold. The full-
step speed threshold is set through the FS_SPD register (see
Figure 7.
Absolute position counter
An internal 22-bit register (ABS_POS) keeps track of the motor motion according to the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The position range is from -2
Programmable speed profiles
The user can easily program a customized speed profile, independently defining
acceleration, deceleration, maximum and minimum speed values through the ACC, DEC,
MAX_SPEED and MIN_SPEED registers respectively (see
9.1.8).
When a command is sent to the device, the integrated logic generates the microstep
frequency profile that performs a motor motion compliant to speed profile boundaries.
All acceleration parameters are expressed in step/tick
expressed in step/tick; the unit of measurement does not depend on selected step mode.
Acceleration and deceleration parameters range from 2
(equivalent to 14.55 to 59590 step/s2).
Minimum speed parameter ranges from 0 to (2
step/s).
Maximum speed parameter ranges from 2
15610 step/s).
Automatic full-step switching
Doc ID 022729 Rev 1
-18
21
to (2
to +2
Figure
12
-
1
10
21
)•2
-1)• 2
-1 (µ) steps (see
7); the driving mode returns to
-24
2
and all speed parameters are
-40
step/tick (equivalent to 0 to 976.3
-18
to (2
step/tick (equivalent to 15.25 to
Section
Section
12
-2)•2
9.1.5, 9.1.6,
Section
-40
9.1.9).
step/tick2
9.1.1).
9.1.7
L6472
and