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L6470PD Datasheet(PDF) 22 Page - STMicroelectronics

Part # L6470PD
Description  dSPIN fully integrated microstepping motor driver with motion engine and SPI
PDF  70 Pages
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Manufacturer  STMICROELECTRONICS [STMicroelectronics]
Direct Link  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

L6470PD Datasheet(HTML) 22 Page - STMicroelectronics

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Functional description
L6470
22/70
Doc ID16737 Rev 5
Figure 5.
Charge pump circuitry
6.4
Microstepping
The driver is able to divide the single step into up to 128 microsteps. Stepping mode can be
programmed by the STEP_SEL parameter in the STEP_MODE register (see Table 18).
Step mode can only be changed when bridges are disabled. Every time the step mode is
changed the electrical position (i.e. the point of microstepping sinewave that is generated) is
reset to the first microstep and the absolute position counter value (see Section 6.5)
becomes meaningless.
Figure 6.
Normal mode and microstepping (128 microsteps)



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