Техническая Спецификация для STMicroelectronics Fully integrated stepper motor driver mounting the L6472 in a high power PowerSO package EVAL6472PD EVAL6472PD

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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 -2

21 

to +2

21

-1 (µ) steps (see 

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 

and 

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/tick

2

 

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 (2

12

-2) • 2

-40

 step/tick2 

(equivalent to 14.55 to 59590 step/s2).

Minimum speed parameter ranges from 0 to (2

12

-

1

) • 2

-24

 

step/tick (equivalent to 0 to 976.3 

step/s).

Maximum speed parameter ranges from 2

-18

 

to (2

10

-1) • 2

-18

 

step/tick (equivalent to 15.25 to 

15610 step/s).

When the ACC register value is set to max. (0xFFF), the system works in “infinite 
acceleration mode”: acceleration and deceleration phases are totally skipped, as shown in 

It is not possible to skip the acceleration or deceleration phase independently.