L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
L6470HTR
STMicroelectronics
'L6470HTR' PDF : 70 Pages View PDF
Programming manual
L6470
The STEP_SEL parameter selects one of eight possible stepping modes:
Table 18. Step mode selection
STEP_SEL[2 .… 0]
Step mode
0
0
0
Full-step
0
0
1
0
1
0
0
1
1
1
0
0
Half-step
1/4 microstep
1/8 microstep
1/16 microstep
1
0
1
1
1
0
1
1
1
1/32 microstep
1/64 microstep
1/128 microstep
Every time the step mode is changed, the electrical position (i.e. the point of microstepping
sinewave that is generated) is reset to the first microstep.
Warning: Every time STEP_SEL is changed, the value in the ABS_POS
register loses meaning and should be reset.
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).
When the SYNC_EN bit is set low, BUSY/SYNC output is forced low during command
execution, otherwise, when the SYNC_EN bit is set high, BUSY/SYNC output provides
a clock signal according to the SYNC_SEL parameter.
Table 19. SYNC output frequency
STEP_SEL (fFS is the full-step frequency)
000
001
010
011
100
101
110
111
000
fFS /2
fFS /2
fFS /2
fFS /2
fFS /2
fFS /2
fFS /2
fFS /2
001
NA
fFS
fFS
fFS
fFS
fFS
fFS
fFS
010
NA
NA
2· fFS
2· fFS
2· fFS
2· fFS
2· fFS
2· fFS
011
NA
NA
NA
4· fFS 4· fFS
4· fFS
4· fFS
4· fFS
100
NA
NA
NA
NA
8· fFS
8· fFS
8· fFS
8· fFS
101
NA
NA
NA
NA
NA
16· fFS 16· fFS 16· fFS
110
NA
NA
NA
NA
NA
NA
32· fFS 32· fFS
111
NA
NA
NA
NA
NA
NA
NA
64· fFS
48/73
DocID16737 Rev 7
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