L6482 datasheet(47/73 Pages) STMICROELECTRONICS

47 / 73 page

L6482

Programming manual

Doc ID 023768 Rev 2

47/73

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

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 6

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

TVAL_HOLD, TVAL_RUN, TVAL_ACC and TVAL_DEC

The TVAL_HOLD register contains the reference voltage that is assigned to the torque

regulation DAC when the motor is stopped.

The TVAL_RUN register contains the reference voltage that is assigned to the torque

regulation DAC when the motor is running at constant speed.

The TVAL_ACC register contains the reference voltage that is assigned to the torque

regulation DAC during acceleration.

The TVAL_DEC register contains the reference voltage that is assigned to the torque

regulation DAC during deceleration.

The available range is from 7.8 mV to 1 V with a resolution of 7.8 mV, 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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