L6470PD datasheet(47/70 Pages) STMICROELECTRONICS

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L6470

Programming manual

Doc ID16737 Rev 5

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9.1.19

STEP_MODE

The STEP_MODE register has the following structure:

The STEP_SEL parameter selects one of eight possible stepping modes:

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.

Warning:

Every time STEP_SEL is changed, the value in the ABS_POS

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).

Table 16.

Stall detection threshold

STALL_th [6..0]

Stall detection threshold

31.25 mA

62.5 mA

……

………

……

…

3.969 A

4 A

Table 17.

STEP_MODE register

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

SYNC_EN

SYNC_SEL

0 (1)

When the register is written, this bit should be set to 0.

STEP_SEL

Table 18.

Step mode selection

STEP_SEL[2..0]

Step mode

Full-step

Half-step

1/4 microstep

1/8 microstep

1/16 microstep

1/32 microstep

1/64 microstep

1/128 microstep

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