L6470HTR View Datasheet(PDF) - STMicroelectronics

Part Name

Description

MFG CO.

L6470HTR

dSPIN™ fully integrated microstepping motor driver with motion engine and SPI

STMicroelectronics 

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L6470

Functional description

Automatic full-step mode

When motor speed is greater than a programmable full-step speed threshold, the L6470

device switches automatically to Full-step mode (see Figure 7); the driving mode returns to

microstepping when motor speed decreases below the full-step speed threshold. The full-

step speed threshold is set through the FS_SPD register (see Section 9.1.9 on page 44).

Figure 7. Automatic full-step switching

I

peak

Phase A

sin(π/4) x I

peak

Phase B

μStepping

(2N+1) x π/4

Full-Step

(2N+1) x π/4

μStepping

6.5

Absolute position counter

An internal 22-bit register (ABS_POS) records 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 -221to +221-1 (µ)steps (see Section 9.1.1 on page 41).

6.6

Programmable speed profiles

The user can easily program a customized speed profile defining independently

acceleration, deceleration, maximum and minimum speed values by the ACC, DEC,

MAX_SPEED and MIN_SPEED registers respectively (see Section 9.1.5 on page 42,

Section 9.1.6 on page 43, Section 9.1.7 on page 43 and Section 9.1.8 on page 43).

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/tick2 and all speed parameters are

expressed in step/tick; the unit of measurement does not depend on the selected step

mode. Acceleration and deceleration parameters range from 2-40 to (212 - 2) 2-40 step/tick2

(equivalent to 14.55 to 59590 step/s2).

The minimum speed parameter ranges from 0 to (212-1) 2-24 step/tick (equivalent to 0 to

976.3 step/s).

The maximum speed parameter ranges from 2-18 to (210 - 1) 2-18 step/tick (equivalent to

15.25 to 15610 step/s).

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