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L6480 Datasheet(PDF) 22 Page - STMicroelectronics |
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L6480 Datasheet(HTML) 22 Page - STMicroelectronics |
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22 / 73 page  Functional description L6480 22/73 Doc ID 023278 Rev 3 Figure 7. Automatic Full-step switching in Boost mode 6.5 Absolute position counter An internal 22-bit register (ABS_POS) records all the motor motions according to the selected step mode; the stored value unit is equal to the selected step mode (full, half, quarter, etc.). The position range is from -221 to +221-1 steps (see Section 9.1.1). 6.6 Programmable speed profiles The user can easily program a customized speed profile defining independently acceleration, deceleration, maximum and minimum speed values by ACC, DEC, MAX_SPEED and MIN_SPEED registers respectively (see Section 9.1.5, 9.1.6, 9.1.7 and 9.1.8). When a command is sent to the device, the integrated logic generates the microstep frequency profile that performs a motor motion compliant to speed profile boundaries. All acceleration parameters are expressed in step/tick2 and all speed parameters are expressed in step/tick; the unit of measurement does not depend on the selected step mode. Acceleration and deceleration parameters range from 2-40 to (212-2)•2 -40 step/tick2 (equivalent to 14.55 to 59590 step/s2). Minimum speed parameter ranges from 0 to (212-1)•2 -24 step/tick (equivalent to 0 to 976.3 step/s). Maximum speed parameter ranges from 2-18 to (210-1)• 2 -18 step/tick (equivalent to 15.25 to 15610 step/s). Phase A Phase B (2N+1) x π /4 (2N+1) x π/4 Full-Step Microstepping Microstepping V peak V peak AM12850v1 |
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