L6472PDTR View Datasheet(PDF) - STMicroelectronics

Part Name

Description

MFG CO.

L6472PDTR

dSPIN fully integrated microstepping motor driver with motion engine and SPI

STMicroelectronics 

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L6472

Phase current control

Figure 18. Fast decay tuning during the falling steps

7.4

Torque regulation (output current amplitude regulation)

The output current amplitude can be regulated in two ways: writing the TVAL_ACC,

TVAL_DEC, TVAL_RUN and TVAL_HOLD registers or varying the ADCIN voltage value.

The EN_TQREG bit (CONFIG register) sets the torque regulation method. If this bit is high,

the ADC_OUT prevalue is used to regulate output current amplitude (see Section 9.1.14 on

page 46). Otherwise the internal analog-to-digital converter is at the user’s disposal and the

output current amplitude is managed by the TVAL_HOLD, TVAL_RUN, TVAL_ACC and

TVAL_DEC registers (see Section 9.1.10 on page 44).

The voltage applied to the ADCIN pin is sampled at fS frequency and converted in an NADC

bit digital signal. The analog-to-digital conversion result is available in the ADC_OUT

register.

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