Datasheet

DocID022729 Rev 3 21/70
L6472 Functional description
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Figure 5. Charge pump circuitry
6.4 Microstepping
The driver is able to divide the single step into up to 16 microsteps. Step mode can be
programmed by the STEP_SEL parameter in the STEP_MODE register (see Table 20 on
page 47).
Step mode can only be changed when bridges are disabled. Every time step mode is
changed, the electrical position (i.e. the point of microstepping sine wave that is generated)
is reset to the first microstep, and the absolute position counter value (see Section 6.5 on
page 23) becomes meaningless.