POWERSTEP01 datasheet(54/92 Pages) STMICROELECTRONICS

54 / 92 page

Programming manual

powerSTEP01

54/92

DocID025022 Rev 5

Any attempt to write the register causes the command to be ignored and the CMD_ERROR

flag to rise (Section 11.1.28 on page 71).

11.1.5

ACC

The ACC register contains the speed profile acceleration expressed in step/tick2 (format

unsigned fixed point 0.40).

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

Equation 5

where ACC 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.

The 0xFFF value of the register is reserved and it should never be used.

Any attempt to write to the register when the motor is running causes the command to be

ignored and the CMD_ERROR flag to rise (Section 11.1.28).

11.1.6

DEC

The DEC register contains the speed profile deceleration expressed in step/tick2 (format

unsigned fixed point 0.40).

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

Equation 6

where DEC is the integer number stored in the register and tick is 250 ns.

The available range is from 14.55to 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 CMD_ERROR flag to rise (Section 11.1.28).

11.1.7

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 7

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.

step/s

 ACC 2

–



tick

-----------------------------

step/s

 DEC 2

–



tick

-----------------------------

step/s

 MAX_SPEED 2

–



tick

-----------------------------------------------------

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