EVAL6470H Datasheet, PDF (24/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

Functional description
L6470
6.6.1
Infinite acceleration/deceleration mode
When the ACC register value is set to max. (0xFFF), the system works in “infinite
acceleration mode”: acceleration and deceleration phases are totally skipped, as shown in
Figure 8.
It is not possible to skip the acceleration or deceleration phase independently.
Figure 8. Speed profile in infinite acceleration/deceleration mode
30%%$
0ROGRAMMED
MAXIMUM
SPEED
0ROGRAMMEDNUMBEROFMICROSTEPS
)NDEXINGMODE
TIME
#ONSTANTSPEEDMODE
TIME
!-6
6.7
6.7.1
Motor control commands
The L6470 can accept different types of commands:
● constant speed commands (Run, GoUntil, ReleaseSW)
● absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark)
● motion commands (Move)
● stop commands (SoftStop, HardStop, SoftHiz, HardHiz).
For detailed command descriptions refer to Section 9.2 on page 55.
Constant speed commands
A constant speed command produces a motion in order to reach and maintain a user-
defined target speed starting from the programmed minimum speed (set in the MIN_SPEED
register) and with the programmed acceleration/deceleration value (set in the ACC and DEC
registers). A new constant speed command can be requested anytime.
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