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

9.1.7

9.1.8

Programming manual

In order to convert the DEC value in step/s2 the following formula can be used:

Equation 3

step  s = 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 9.1.19 on page 52).

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 4

step  s = M------A----X-----S----P--t--iE--c---Ek----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:

Table 11. MIN_SPEED register

Bit12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

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 5

step  s = -M-----I--N-----S----P---t-E-i--c--E-k---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.

Any attempt to write the register when the motor is running causes the NOTPERF_CMD flag

to rise.

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