L6472PDTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
L6472PDTR
STMicroelectronics
'L6472PDTR' PDF : 69 Pages View PDF
Programming manual
9
Programming manual
L6472
9.1
Register and flag description
Table 9 shows a map of the user registers available (detailed description in respective
paragraphs from Section 9.1.1 on page 41 to Section 9.1.19 on page 52):
Address
[Hex]
Register
name
Table 9. Register map
Register function
Len.
[bit]
Reset
[Hex]
Reset value
h01
ABS_POS Current position 22 000000
h02
EL_POS Electrical position 9
000
h03
MARK
Mark position
22 000000
h04
SPEED
Current speed 20 00000
h05
ACC
Acceleration
12 08A
h06
DEC
Deceleration
12 08A
h07 MAX_SPEED Maximum speed 10 041
h08 MIN_SPEED Minimum speed 13 000
h15
FS_SPD
Full-step speed 10 027
h09 TVAL_HOLD Holding current 7
29
h0A
TVAL_RUN
Constant speed
current
7
29
h0B
TVAL_ACC
Acceleration
starting current
7
29
h0C
TVAL_DEC
Deceleration
starting current
7
29
h0D RESERVED Reserved address 16
h0E
T_FAST
Fast decay/fall step
time
8
19
h0F
TON_MIN Minimum ON time 7
29
h10
TOFF_MIN Minimum OFF time 7
29
h11 RESERVED Reserved address 8
h12
ADC_OUT
ADC output
5
XX(2)
h13
OCD_TH
OCD threshold
4
8
h14 RESERVED Reserved address 8
h16 STEP_MODE
Step mode
8
7(3)
h17 ALARM_EN Alarms enable
8
FF
0
0
0
0 step/tick (0 step/s)
125.5e-12 step/tick2
(2008 step/s2)
125.5e-12 step/tick2
(2008 step/s2)
248e-6 step/tick (991.8 step/s)
0 step/tick (0 step/s)
150.7e-6 step/tick
(602.7 step/s)
1.3125 A
1.3125 A
1.3125 A
1.3125 A
1µs / 5 µs
20.5 µs
20.5 µs
3.38 A
16 microsteps, no synch.
All alarms enabled
Remarks(1)
R, WS
R, WS
R, WR
R
R, WS
R, WS
R, WR
R, WS
R, WR
R, WR
R, WR
R, WR
R, WR
R, WH
R, WH
R, WH
R
R, WR
R, WH
R, WS
40/70
DocID022729 Rev 5
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