L6470HTR View Datasheet(PDF) - STMicroelectronics

Part Name

Description

MFG CO.

L6470HTR

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

STMicroelectronics 

Prev 21 22 23 24 25 26 27 28 29 30 Next

L6470

Functional description

Figure 9. Positioning command examples

)RUZDUG

GLUHFWLRQ





6.7.3

6.7.4

3UHVHQW

SRVLWLRQ

   

*R7R7DUJHWSRV

7DUJHW

SRVLWLRQ

3UHVHQW

SRVLWLRQ

   

*R7RB',57DUJHWSRV):

7DUJHW

SRVLWLRQ

$0Y

Motion commands

Motion commands produce a motion in order to perform a user-defined number of

microsteps in a user-defined direction that are sent to the device together with the command

(see Figure 10).

The performed motor motion is compliant to programmed speed profile boundaries

(acceleration, deceleration, minimum and maximum speed).

Note that with some speed profiles or motion commands, the deceleration phase can start

before the maximum speed is reached.

Figure 10. Motion command examples

63(('

SURJUDPPHG

PD[LPXP

VSHHG

SURJUDPPHGQXPEHURIPLFURVWHSV

SURJUDPPHG

PLQLPXP

VSHHG

SURJUDPPHG

$&&(/(5$7,21

SURJUDPPHG

'(&(/(5$7,21

63(('

SURJUDPPHG

PD[LPXP

VSHHG

SURJUDPPHGQXPEHURIPLFURVWHSV

SURJUDPPHG

$&&(/(5$7,21

1RWHZLWKVRPH

$FFHOHUDWLRQ'HFHODUDWLRQSURILOHV

WKHSURJUDPPHGPD[LPXPVSHHG

LVQHYHUUHDFKHG

SURJUDPPHG

PLQLPXP

VSHHG

WLPH

SURJUDPPHG

'(&(/(5$7,21

WLPH

$0Y

Stop commands

A stop command forces the motor to stop. Stop commands can be sent anytime.

The SoftStop command causes the motor to decelerate with programmed deceleration

value until the MIN_SPEED value is reached and then stops the motor keeping the rotor

position (a holding torque is applied).

The HardStop command stops the motor instantly, ignoring deceleration constraints and

keeping the rotor position (a holding torque is applied).

DocID16737 Rev 7

25/73

73

Share Link: