Manualshelf

Datasheet

ManualsBrandsSTMICROELECTRONICS ManualsDev KitsPCB design board
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Functional description L6472
22/70 DocID022729 Rev 3
Figure 6. Normal mode and microstepping (16 microsteps)
Automatic full-step mode
When motor speed is greater than a programmable full-step speed threshold, the L6472
switches automatically to full-step mode (see Figure 7); the driving mode returns to
microstepping when motor speed decreases below the full-step speed threshold. The full-
step speed threshold is set through the FS_SPD register (see Section 9.1.9 on page 43).
Figure 7. Automatic full-step switching