L6472PD datasheet(34/69 Pages) STMICROELECTRONICS

Part #	L6472PD

Description	dSPIN fully integrated microstepping motor driver

PDF	69 Pages

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Manufacturer	STMICROELECTRONICS [STMicroelectronics]

Direct Link	http://www.st.com

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34 / 69 page

Phase current control

L6472

34/69

Doc ID 022729 Rev 1

As shown in Figure 15, the system is able to center the triangular wave on the desired

reference value improving dramatically the accuracy of the current control system: in fact the

average value of a triangular wave is exactly equal to the middle point of each of its

segments and at steady-state the predictive current control tends to equalize the duration of

the tSENSE and the tPRED time.

Furthermore, the tOFF value is recalculated each time a new current value is requested

(microstep change) in order to keep the PWM frequency as near as possible to the

programmed one (TSW parameter in the CONFIG register).

The device can be forced to work using a classic peak current control setting the PRED_EN

bit in the CONFIG register low (default condition). In this case, after the sense phase

(tSENSE) the power stage is set in the OFF state, as shown in Figure 16.

Figure 16.

Non-predictive current control

L6472PD Datasheet(PDF) 34 Page - STMicroelectronics