ST72141K2 datasheet(59/132 Pages) STMICROELECTRONICS

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ST72141K

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MOTOR CONTROLLER (Cont’d)

Table 20. Step Frequency/Period Range

Table 21. Modes of Accessing MTIM Timer-Related Registers

Step Ratio Bits

ST[3:0]

Maximum

Step Frequency

Minimum

Step Frequency

Minimum

Step Period

Maximum

Step Period

0000

23.5 kHz

7.85 kHz

42.5

µs

127.5

µs

0001

11.7 kHz

3.93 kHz

µs255 µs

0010

5.88 kHz

1.96 kHz

170

µs510 µs

0011

2.94 kHz

980 Hz

340

µs1.02 ms

0100

1.47 kHz

490 Hz

680

µs2.04 ms

0101

735 Hz

245 Hz

1.36 ms

4.08 ms

0110

367 Hz

123 Hz

2.72 ms

8.16 ms

0111

183 Hz

61.3 Hz

5.44 ms

16.32 ms

1000

91.9 Hz

30.7 Hz

10.9 ms

32.6 ms

1001

45.9 Hz

15.4 Hz

21.8 ms

65.2 ms

1010

22.9 Hz

7.66 Hz

43.6 ms

130 ms

1011

11.4 Hz

3.83 Hz

87 ms

261 ms

1100

5.74 Hz

1.92 Hz

174 ms

522 ms

1101

2.87 Hz

0.958 Hz

349 ms

1.04 s

1110

1.43 Hz

0.479 Hz

697 ms

2.08 s

1111

0.718 Hz

0.240 Hz

1.40 s

4.17 s

State of MCRA Register Bits

Access to MTIM Timer Related Registers

RST bit

SWA bit

MOE bit

Mode

Read Only Access

Read / Write Access

Configuration Mode

MTIM, MZPRV, MZREG, MCOMP,

MDREG, ST[3:0]

Switched Mode

MTIM, MZPRV,

MZREG, ST[3:0]

MCOMP, MDREG,

RMI bit of MISR:

0: No action

1: Decrement ST[3:0]

RPI bit of MISR:

0: No action

1: Increment ST[3:0]

Emergency Stop

MTIM, MZPRV, MZREG, MCOMP,

MDREG, ST[3:0]

Autoswitched Mode

MTIM, MZPRV,

MZREG, MCOMP,

ST[3:0]

MDREG,RMI, RPI bit of MISR:

Set by hardware, (increment ST[3:0])

Cleared by software

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