Datasheet

Programming manual L6472
40/70 DocID022729 Rev 3
9 Programming manual
9.1 Register and flag description
Table 9 shows a map of the user registers available (detailed description in respective
paragraphs from Section 9.1.1 on page 41 to Section 9.1.19 on page 52):
Table 9. Register map
Address
[Hex]
Register
name
Register function
Len.
[bit]
Reset
[Hex]
Reset value Remarks
(1)
h01 ABS_POS Current position 22 000000 0 R, WS
h02 EL_POS Electrical position 9 000 0 R, WS
h03 MARK Mark position 22 000000 0 R, WR
h04 SPEED Current speed 20 00000 0 step/tick (0 step/s) R
h05 ACC Acceleration 12 08A
125.5e-12 step/tick
2
(2008 step/s
2
)
R, WS
h06 DEC Deceleration 12 08A
125.5e-12 step/tick
2
(2008 step/s
2
)
R, WS
h07 MAX_SPEED Maximum speed 10 041 248e-6 step/tick (991.8 step/s) R, WR
h08 MIN_SPEED Minimum speed 13 000 0 step/tick (0 step/s) R, WS
h15 FS_SPD Full-step speed 10 027
150.7e-6 step/tick
(602.7 step/s)
R, WR
h09 TVAL_HOLD Holding current 7 29 1.3125 A R, WR
h0A TVAL_RUN
Constant speed
current
7 29 1.3125 A R, WR
h0B TVAL_ACC
Acceleration
starting current
7 29 1.3125 A R, WR
h0C TVAL_DEC
Deceleration
starting current
7 29 1.3125 A R, WR
h0D RESERVED Reserved address 16
h0E T_FAST
Fast decay/fall step
time
8 19 1µs / 5 µs R, WH
h0F TON_MIN Minimum ON time 7 29 20.5 µs R, WH
h10 TOFF_MIN Minimum OFF time 7 29 20.5 µs R, WH
h11 RESERVED Reserved address 8
h12 ADC_OUT ADC output 5 XX
(2)
R
h13 OCD_TH OCD threshold 4 8 3.38 A R, WR
h14 RESERVED Reserved address 8
h16 STEP_MODE Step mode 8 7
(3)
16 microsteps, no synch. R, WH
h17 ALARM_EN Alarms enable 8 FF All alarms enabled R, WS