EVAL6470H Datasheet, PDF (40/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

Programming manual
9
Programming manual
L6470
9.1
Registers and flags description
The following is a map of the user registers available (detailed description in respective
paragraphs):
Table 9. Register map
Address
Register name
[Hex]
Register function
Len. ^Reset
[bit] _Hex
Reset
value
Remarks ⁽¹⁾
h01
ABS_POS Current position
22 000000 0
h02
EL_POS Electrical position
9
000 0
h03
MARK
Mark position
22 000000 0
h04
SPEED Current speed
h05
ACC
Acceleration
h06
DEC
Deceleration
20 00000 0 step/tick (0 step/s)
12
08A
125.5e-12 step/tick² (2008
step/s²)
12
08A
125.5e-12 step/tick² (2008
step/s²)
h07 MAX_SPEED Maximum speed
10 041 248e-6 step/tick (991.8 step/s)
h08 MIN_SPEED Minimum speed
13 000 0 step/tick (0 step/s)
h15
FS_SPD Full-step speed
10
027
150.7e-6 step/tick (602.7
step/s)
h09 KVAL_HOLD Holding K_VAL
8
29 0.16·VS
h0A
KVAL_RUN Constant speed K_VAL 8
29 0.16·VS
h0B
KVAL_ACC
Acceleration starting
K_VAL
8
29 0.16·VS
h0C
KVAL_DEC
Deceleration starting
K_VAL
8
29 0.16·VS
h0D INT_SPEED Intersect speed
14 0408 15.4e-6 step/tick (61.5 step/s)
h0E
ST_SLP Start slope
8
19 0.038% s/step
h0F
FN_SLP_ACC
Acceleration final
slope
8
29 0.063% s/step
h10
FN_SLP_DEC
Deceleration final
slope
8
29 0.063% s/step
h11
K_THERM
Thermal
compensation factor
4
0 1.0
h12
ADC_OUT ADC output
5 XX ⁽²⁾
h13
OCD_TH OCD threshold
4
8 3.38A
h14
STALL_TH STALL threshold
7
40 2.03A
h16 STEP_MODE Step mode
8
7 128 microsteps
h17
ALARM_EN Alarm enable
8
FF All alarms enabled
R, WS
R, WS
R, WR
R
R, WS
R, WS
R, WR
R, WS
R, WR
R, WR
R, WR
R, WR
R, WR
R, WH
R, WH
R, WH
R, WH
R, WR
R
R, WR
R, WR
R, WH
R, WS
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Doc ID16737 Rev 5