POWERSTEP01 datasheet(56/92 Pages) STMICROELECTRONICS

56 / 92 page

Programming manual

powerSTEP01

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DocID025022 Rev 5

11.1.10

KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC

These registers are specific for voltage mode driving (see Section 8 on page 38).

The KVAL_HOLD register contains the KVAL value that is assigned to the PWM modulators

when the motor is stopped (compensations excluded).

The KVAL_RUN register contains the KVAL value that is assigned to the PWM modulators

when the motor is running at constant speed (compensations excluded).

The KVAL_ACC register contains the starting KVAL value that can be assigned to the PWM

modulators during acceleration (compensations excluded).

The KVAL_DEC register contains the starting KVAL value that can be assigned to the PWM

modulators during deceleration (compensations excluded).

The available range is from 0 to 0.996 x VS with a resolution of 0.004 x VS, as shown in

Table 16.

11.1.11

INT_SPEED

This register is specific for voltage mode driving (see Section 8).

The INT_SPEED register contains the speed value at which the BEMF compensation curve

changes slope (Section 8.4 on page 40 for details). Its value is expressed in step/tick and to

convert it in [step/s] the following formula can be used:

Equation 10

where INT_SPEED is the integer number stored in the register and tick is 250 ns.

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 CMD_ERROR flag to rise (Section 11.1.28 on page 71).

11.1.12

ST_SLP

This register is specific for voltage mode driving (see Section 8).

The ST_SLP register contains the BEMF compensation curve slope that is used when the

speed is lower than the intersect speed (Section 8.4). Its value is expressed in s/step and

the available range is from 0 to 0.004 with a resolution of 0.000015.

Table 16. Voltage amplitude regulation registers

KVAL_X [7…0]

Output voltage

00000

000

00000

001

VS x (1/256)

11111

110

VS x (254/256)

11111

111

VS x (255/256)

step/s

 INT_SPEED 2

–



tick

--------------------------------------------------

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