L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
L6470HTR
STMicroelectronics
'L6470HTR' PDF : 70 Pages View PDF
L6470
Programming manual
9.1.11
9.1.12
9.1.13
9.1.14
INT_SPEED
The INT_SPEED register contains the speed value at which the BEMF compensation curve
changes slope (see Section 7.4 on page 36). Its value is expressed in step/tick and to
convert it in step/s, the following formula can be used:
Equation 10
step s = -I--N----T----–---S-----P--t--Ei--c---Ek----D---------2---–---2--6-
where INT_SPEED is the integer number stored in the register and tick is 250 ns.
The available range is from 0 to 976.5 step/s with a resolution of 0.0596 step/s.
Any attempt to write 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 on page 55).
ST_SLP
The ST_SLP register contains the BEMF compensation curve slope that is used when the
speed is lower than the intersect speed (see Section 7.4). Its value is expressed in s/step
and the available range is from 0 to 0.004 with a resolution of 0.000015.
When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF
compensation is performed.
Any attempt to write 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).
FN_SLP_ACC
The FN_SLP_ACC register contains the BEMF compensation curve slope that is used when
the speed is greater than the intersect speed during acceleration (see Section 7.4). Its value
is expressed in s/step and the available range is from 0 to 0.004 with a resolution of
0.000015.
When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF
compensation is performed.
Any attempt to write 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).
FN_SLP_DEC
The FN_SLP_DEC register contains the BEMF compensation curve slope that is used when
the speed is greater than the intersect speed during deceleration (see Section 7.4). Its value
is expressed in s/step and the available range is from 0 to 0.004 with a resolution of
0.000015.
When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF
compensation is performed.
Any attempt to write 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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