L6480 datasheet(46/73 Pages) STMICROELECTRONICS

46 / 73 page

Programming manual

L6480

46/73

Doc ID 023278 Rev 3

The available range is from 0 to 976.3 step/s with a resolution of 0.238 step/s.

When the LSPD_OPT bit is set high, low speed optimization feature is enabled and the

MIN_SPEED value indicates the speed threshold below which the compensation works. In

this case the minimum speed of the speed profile is set to zero.

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

to rise.

9.1.9

FS_SPD

The FS_SPD register contains the following parameters:

The FS_SPD threshold speed value over which the step mode is automatically switched to

full-step two-phase on. Its value is expressed in step/tick (format unsigned fixed point 0.18)

and to convert it in step/s the following formula can be used:

Equation 9

If FS_SPD value is set to hFF (max.) the system always works in Microstepping mode

(SPEED must go over the threshold to switch to Full-step mode). Setting FS_SPD to zero

does not have the same effect as setting the step mode to full-step two-phase on: the zero

FS_SPD value is equivalent to a speed threshold of about 7.63 step/s.

The available range is from 7.63 to 15625 step/s with a resolution of 15.25 step/s.

The BOOST_MODE bit sets the amplitude of the voltage squarewave during the full-step

operation (see Section 6.4.1).

9.1.10

KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC

The KVAL_HOLD register contains the KVAL value that is assigned to the PWM modulators

when the motor is stopped (compensations excluded).

The KVAL_RUN register contains the KVAL value that is assigned to the PWM modulators

when the motor is running at constant speed (compensations excluded).

The KVAL_ACC register contains the starting KVAL value that can be assigned to the PWM

modulators during acceleration (compensations excluded).

The KVAL_DEC register contains the starting KVAL value that can be assigned to the PWM

modulators during deceleration (compensations excluded).

The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS, as shown in

Table 15.

Table 14.

FS_SPD register

Bit 11

Bit 10

Bit 9

Bit 8 Bit 7 Bit 6

Bit 5

Bit 4

Bit 3

Bit 2 Bit 1 Bit 0

BOOST_MODE

FS_SPD

step/s

[]

FS_SPD

0.5

() 2

–

⋅

tick

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