EVAL6470H Datasheet, PDF (45/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
Programming manual
9.1.12
9.1.13
9.1.14
9.1.15
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 (see Section 9.1.22).
ST_SLP
The ST_SLP register contains the BEMF compensation curve slope that is used when the
speed is lower than the intersect speed (see 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 (see Section 9.1.22).
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 (see Section 7.47.4). 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 (see Section 9.1.22).
FN_SLP_DEC
The FN_SLP_DEC register contains the BEMF compensation curve slope that is used when
the speed is greater than the intersect speed during deceleration (see Section 7.47.4). 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 (see Section 9.1.22).
K_THERM
The K_THERM register contains the value used by the winding resistance thermal drift
compensation system (see Section 7.6).
The available range is from 1 to 1.46875 with a resolution of 0.03125, as shown in Table 13.
Table 13. Winding resistance thermal drift compensation coefficient
K_THERM [3..0]
Compensation coeff.
0
0
0
0
1
0
0
0
1
1.03125
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