Datasheet

DocID022729 Rev 3 47/70

L6472 Programming manual

9.1.15 OCD_TH

The OCD_TH register contains the overcurrent threshold value (see Section 6.9 on page 28

for details). The available range is from 375 mA to 6 A, steps of 375 mA, as shown in

Table 18.

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

sine wave that is generated) is reset to the first microstep.

Warning: Every time STEP_SEL is changed the value in the ABS_POS

Table 18. Overcurrent detection threshold

OCD_TH [3 … 0] Overcurrent detection threshold

0 0 0 0 375 mA

0 0 0 1 750 mA

…

1 1 1 0 5.625 A

1 1 1 1 6 A

Table 19. 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.

When the STEP_MODE register is written, the bit #3 is to be set to 1, otherwise anomalous

behaviors could occur.

STEP_SEL

Table 20. 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