L6470HTR View Datasheet(PDF) - STMicroelectronics

Part Name

Description

MFG CO.

L6470HTR

Fully integrated microstepping motor driver with motion engine and SPI

STMicroelectronics 

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Functional description

Figure 5. Charge pump circuitry

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Microstepping

The driver is able to divide the single step into up to 128 microsteps. Stepping mode can be

programmed by the STEP_SEL parameter in the STEP_MODE register (see Table 18 on

page 48).

Step mode can only be changed when bridges are disabled. Every time the step mode is

changed the electrical position (i.e. the point of microstepping sinewave that is generated) is

reset to zero and the absolute position counter value (see Section 6.5) becomes

meaningless.

Figure 6. Normal mode and microstepping (128 microsteps)

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DocID16737 Rev 7

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