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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Programming manual

L6470

9.1.3

9.1.4

Note:

9.1.5

MARK

The MARK register contains an absolute position called MARK according to the selected

step mode; the stored value unit is equal to the selected step mode (full, half, quarter, etc.).

It is in 2's complement format and it ranges from -221 to +221-1.

SPEED

The SPEED register contains the current motor speed, expressed in step/tick (format

unsigned fixed point 0.28).

In order to convert the SPEED value in step/s, the following formula can be used:

Equation 4

step/s = -S----P----E-----Et--i--Dc---k------2---–---2--8-

where SPEED is the integer number stored in the register and tick is 250 ns.

The available range is from 0 to 15625 step/s with a resolution of 0.015 step/s.

The range effectively available to the user is limited by the MAX_SPEED parameter.

Any attempt to write the register causes the command to be ignored and the

NOTPERF_CMD flag to rise (see Section 9.1.22 on page 55).

ACC

The ACC register contains the speed profile acceleration expressed in step/tick2 (format

unsigned fixed point 0.40).

In order to convert ACC value in step/s2, the following formula can be used:

Equation 5

step/s2 = A-----C----t-C-i-c----k--2-2---–--4---0-

where ACC is the integer number stored in the register and tick is 250 ns.

The available range is from 14.55 to 59590 step/s2 with a resolution of 14.55 step/s2.

The 0xFFF value of the register is reserved and it should never be used.

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

ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

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DocID16737 Rev 7

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