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L6472 Datasheet(PDF) 48 Page - STMicroelectronics

Part # L6472
Description  dSPIN fully integrated microstepping motor driver
PDF  69 Pages
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Manufacturer  STMICROELECTRONICS [STMicroelectronics]
Direct Link  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

L6472 Datasheet(HTML) 48 Page - STMicroelectronics

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Programming manual
L6472
48/69
Doc ID 022729 Rev 1
9.1.16
STEP_MODE
The STEP_MODE register has the following structure:
The STEP_SEL parameter selects one of five 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
register looses meaning and should be reset.
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 9.1.19).
When when SYNC_EN bit is set low, BUSY/SYNC output is forced low during the
commands execution, otherwise, when the SYNC_EN bit is set high, the BUSY/SYNC
output provides a clock signal according to the SYNC_SEL parameter.
Table 18.
STEP_MODE register
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
SYNC_EN
SYNC_SEL
1 (1)
1.
When the register is written this bit should be set to 1.
STEP_SEL
Table 19.
Step mode selection
STEP_SEL[2..0]
Step mode
0
0
0
Full-step
0
0
1
Half-step
0
1
0
1/4 microstep
0
1
1
1/8 microstep
1
X
X
1/16 microstep



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