STMicroelectronics Fully integrated stepper motor driver mounting the L6472 in a high power PowerSO package EVAL6472PD EVAL6472PD Fiche De Données
Codes de produits
EVAL6472PD
Programming manual
L6472
40/70
DocID022729 Rev 3
9 Programming
manual
9.1
Register and flag description
shows a map of the user registers available (detailed description in respective
paragraphs from
):
Table 9. Register map
Address
[Hex]
Register
name
Register function
Len.
[bit]
Reset
[Hex]
Reset value
Remarks
(1)
h01 ABS_POS Current
position 22
000000
0
R,
WS
h02
EL_POS
Electrical position
9
000
0
R, WS
h03 MARK Mark
position
22
000000
0
R,
WR
h04
SPEED
Current speed
20
00000
0 step/tick (0 step/s)
R
h05 ACC Acceleration
12
08A
125.5e-12 step/tick
2
(2008 step/s
2
)
R, WS
h06 DEC Deceleration
12
08A
125.5e-12 step/tick
2
(2008 step/s
2
)
R, WS
h07 MAX_SPEED Maximum
speed 10 041
248e-6
step/tick (991.8 step/s) R,
WR
h08
MIN_SPEED
Minimum speed
13
000
0 step/tick (0 step/s)
R, WS
h15 FS_SPD Full-step
speed
10
027
150.7e-6 step/tick
(602.7 step/s)
R, WR
h09
TVAL_HOLD
Holding current
7
29
1.3125 A
R, WR
h0A TVAL_RUN
Constant speed
current
7
29
1.3125 A
R, WR
h0B TVAL_ACC
Acceleration
starting current
7
29
1.3125 A
R, WR
h0C TVAL_DEC
Deceleration
starting current
7
29
1.3125 A
R, WR
h0D RESERVED
Reserved
address
16
h0E T_FAST
Fast decay/fall step
time
8
19
1µs / 5 µs
R, WH
h0F
TON_MIN
Minimum ON time
7
29
20.5 µs
R, WH
h10
TOFF_MIN
Minimum OFF time
7
29
20.5 µs
R, WH
h11 RESERVED
Reserved
address
8
h12 ADC_OUT ADC
output 5 XX
(2)
R
h13
OCD_TH
OCD threshold
4
8
3.38 A
R, WR
h14 RESERVED
Reserved
address 8
h16 STEP_MODE Step
mode
8 7
(3)
16 microsteps, no synch.
R, WH
h17
ALARM_EN
Alarms enable
8
FF
All alarms enabled
R, WS