L6472
6.5
6.6
6.7
Functional description
Absolute position counter
An internal 22-bit register (ABS_POS) keeps track of the motor motion according to the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The position range is from -221 to +221-1 (µ) steps (see Section 9.1.1 on page
41).
Programmable speed profiles
The user can easily program a customized speed profile, independently defining
acceleration, deceleration, maximum and minimum speed values through the ACC, DEC,
MAX_SPEED and MIN_SPEED registers respectively (see Section 9.1.5 on page 42, 9.1.6
on page 42, 9.1.7 on page 43 and 9.1.8 on page 43).
When a command is sent to the device, the integrated logic generates the microstep
frequency profile that performs a motor motion compliant to speed profile boundaries.
All acceleration parameters are expressed in step/tick2 and all speed parameters are
expressed in step/tick; the unit of measurement does not depend on selected step mode.
Acceleration and deceleration parameters range from 2-40 to (212-2) • 2-40 step/tick2
(equivalent to 14.55 to 59590 step/s2).
Minimum speed parameter ranges from 0 to (212-1) • 2-24 step/tick (equivalent to 0 to 976.3
step/s).
Maximum speed parameter ranges from 2-18 to (210-1) • 2-18 step/tick (equivalent to 15.25 to
15610 step/s).
Motor control commands
The L6472 can accept different types of commands:
constant speed commands (Run, GoUntil, ReleaseSW)
absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark)
motion commands (Move)
stop commands (SoftStop, HardStop, SoftHiz, HardHiz).
For detailed command descriptions refer to Section 9.2 on page 54.
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