Functional description
Figure 6. Normal mode and microstepping (16 microsteps)
L6472
Automatic full-step mode
When motor speed is greater than a programmable full-step speed threshold, the L6472
switches automatically to full-step mode (see Figure 7); the driving mode returns to
microstepping when motor speed decreases below the full-step speed threshold. The full-
step speed threshold is set through the FS_SPD register (see Section 9.1.9 on page 44).
Figure 7. Automatic full-step switching
*QFBL
1IBTF"
TJO SY*QFBL
1IBTF#
P4UFQQJOH
/YS
'VMM4UFQ
/YS
P4UFQQJOH
22/70
DocID022729 Rev 5