Datasheet

DocID022729 Rev 3 43/70
L6472 Programming manual
70
Equation 3
where DEC is the integer number stored in the register and tick is 250 ns.
The available range is from 14.55 to 59590 step/s
2
with a resolution of 14.55 step/s
2
.
When the device is working in infinite acceleration mode this value is ignored.
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 on page 52).
9.1.7 MAX_SPEED
The MAX_SPEED register contains the speed profile maximum speed expressed in
step/tick (format unsigned fixed point 0.18).
In order to convert it in step/s the following formula can be used:
Equation 4
where MAX_SPEED is the integer number stored in the register and tick is 250 ns.
The available range is from 15.25 to 15610 step/s with a resolution of 15.25 step/s.
9.1.8 MIN_SPEED
The MIN_SPEED register contains the following parameters:
The MIN_SPEED parameter contains the speed profile minimum speed. Its value is
expressed in step/tick and to convert it in step/s the following formula can be used:
Equation 5
where MIN_SPEED is the integer number stored in the register and tick is the ramp 250 ns.
The available range is from 0 to 976.3 step/s with a resolution of 0.238 step/s.
Any attempt to write the register when the motor is running causes the NOTPERF_CMD flag
to rise.
9.1.9 FS_SPD
The FS_SPD register contains the threshold speed. When the actual speed exceeds this
value the step mode is automatically switched to full-step two-phase on. Its value is
step s
DEC 2
40
tick
2
---------------------------- -=
step s
MAXSPEED 2
18
tick
---------------------------------------------------=
Table 11. MIN_SPEED register
Bit12 Bit 11 Bit 10 Bit 9 Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0 MIN_SPEED
step s
MINSPEED 2
24
tick
-------------------------------------------------=