Datasheet

DocID023278 Rev 4 51/75
L6480 Programming manual
75
The STEP_SEL parameter selects one of eight 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
register loses meaning and should be reset.
Any attempt to write the register when the motor is running causes the command to be
ignored and the NOTPERF_CMD flag to rise (Section 9.1.24 on page 59).
When when SYNC_EN bit is set low, BUSY
/SYNC output is forced low during command
execution, otherwise, when the SYNC_EN bit is set high, BUSY
/SYNC output provides
a clock signal according to the SYNC_SEL parameter.
The synchronization signal is obtained starting from electrical position information (EL_POS
register) according to Table 22:
Table 21. Step mode selection
STEP_SEL[2…0] Step mode
000 Full-step
001 Half-step
0 1 0 1/4 microstep
0 1 1 1/8 microstep
1 0 0 1/16 microstep
1 0 1 1/32 microstep
1 1 0 1/64 microstep
1 1 1 1/128 microstep
Table 22. SYNC signal source
SYNC_SEL[2…0] Source
0 0 0 EL_POS[7]
0 0 1 EL_POS[6]
0 1 0 EL_POS[5]
0 1 1 EL_POS[4]
1 0 0 EL_POS[3]
1 0 1 EL_POS[2]
1 1 0 EL_POS[1]
1 1 1 EL_POS[0]