Datasheet

DocID023278 Rev 4 43/75
L6480 Programming manual
75
9 Programming manual
9.1 Register and flag description
The following section shows the user registers available (detailed description in respective
paragraphs from Section 9.1.1 on page 44 to Section 9.1.24 on page 59):
Table 11. 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 12 000
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 KVAL_HOLD Holding K
VAL
8 29 0.16 · V
S
R, WR
h0A KVAL_RUN Constant speed K
VAL
8 29 0.16 · V
S
R, WR
h0B KVAL_ACC
Acceleration starting
K
VAL
8 29 0.16 · V
S
R, WR
h0C KVAL_DEC
Deceleration starting
K
VAL
8 29 0.16 · V
S
R, WR
h0D INT_SPEED Intersect speed 14 0408 15.4e-6 step/tick (61.5 step/s) R, WH
h0E ST_SLP Start slope 8 19 250.038% s/step R, WH
h0F FN_SLP_ACC Acceleration final slope 8 29 0.063% s/step 25 R, WH
h10 FN_SLP_DEC Deceleration final slope 8 29 0.063% s/step 25 R, WH
h11 K_THERM
Thermal compensation
factor
40 1.0 R, WR
h12 ADC_OUT ADC output 5 XX
(2)
0R
h13 OCD_TH OCD threshold 5 8 281.25 mV R, WR
h14 STALL_TH STALL threshold 5 10 531.25 mV R, WR
h16 STEP_MODE Step mode 4 7
BUSY/SYNC output used as
BUSY, 128 steps
R, WH