L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
'L6470HTR' PDF : 73 Pages View PDF
L6470
9.1.6
9.1.7
9.1.8
Programming manual
DEC
The DEC register contains the speed profile deceleration expressed in step/tick2 (format
unsigned fixed point 0.40).
In order to convert DEC value in step/s2, the following formula can be used:
Equation 6
step/s2 = D-----E----t-C-i-c----k--2-2---–--4---0-
where DEC 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.
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).
MAX_SPEED
The MAX_SPEED register contains the speed profile maximum speed expressed in
step/tick (format unsigned fixed point 0.18).
In order to convert it in step/s, the following formula can be used:
Equation 7
step/s = M------A----X-----_---S----Pt--i--Ec---k-E----D---------2---–---1--8-
where MAX_SPEED is the integer number stored in the register and tick is 250 ns.
The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.
MIN_SPEED
The MIN_SPEED register contains the following parameters:
Bit 12
LSPD_OPT
Table 11. MIN_SPEED register
Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
MIN_SPEED
The MIN_SPEED parameter contains the speed profile minimum speed. Its value is
expressed in step/tick and to convert it in step/s, the following formula can be used:
Equation 8
step/s = -M-----I--N-----_---S----P-t--i-E-c---Ek----D---------2---–---2--4-
where MIN_SPEED is the integer number stored in the register and tick is the ramp 250 ns.
The available range is from 0 to 976.3 step/s with a resolution of 0.238 step/s.
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