L6480 datasheet(47/73 Pages) STMICROELECTRONICS

47 / 73 page

L6480

Programming manual

Doc ID 023278 Rev 3

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9.1.11

INT_SPEED

The INT_SPEED register contains the speed value at which the BEMF compensation curve

changes slope (Section 7.4 for details). Its value is expressed in step/tick and to convert it in

[step/s] the following formula can be used:

Equation 10

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

The available range is from 0 to 976.5 step/s with a resolution of 0.0596 step/s.

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

ignored and the NOTPERF_CMD flag to rise (Section 9.1.24).

9.1.12

ST_SLP

The ST_SLP register contains the BEMF compensation curve slope that is used when the

speed is lower than the intersect speed (Section 7.4). Its value is expressed in s/step and

the available range is from 0 to 0.004 with a resolution of 0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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

ignored and the NOTPERF_CMD flag to rise (Section 9.1.24).

9.1.13

FN_SLP_ACC

The FN_SLP_ACC register contains the BEMF compensation curve slope that is used when

the speed is greater than the intersect speed during acceleration (Section 7.4 for details). Its

value is expressed in s/step and the available range is from 0 to 0.004 with a resolution of

0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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

ignored and the NOTPERF_CMD flag to rise (Section 9.1.24).

Table 15.

Voltage amplitude regulation registers

KVAL_X [7..0]

Output voltage

00000

000

00000

001

VS x (1/256)

11111

110

VS x (254/256)

11111

111

VS x (255/256)

step/s

[] INT_SPEED 2

–

⋅

tick

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