L6470PD datasheet(45/70 Pages) STMICROELECTRONICS

45 / 70 page

L6470

Programming manual

Doc ID16737 Rev 5

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The available range is from 0 to 976.5 step/s with a resolution of 0.0596 step/s.

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 9.1.22).

9.1.12

ST_SLP

The ST_SLP register contains the BEMF compensation curve slope that is used when the

speed is lower than the intersect speed (see Section 7.4). Its value is expressed in s/step

and the available range is from 0 to 0.004 with a resolution of 0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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 9.1.22).

9.1.13

FN_SLP_ACC

The FN_SLP_ACC register contains the BEMF compensation curve slope that is used when

the speed is greater than the intersect speed during acceleration (see Section 7.47.4). Its

value is expressed in s/step and the available range is from 0 to 0.004 with a resolution of

0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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 9.1.22).

9.1.14

FN_SLP_DEC

The FN_SLP_DEC register contains the BEMF compensation curve slope that is used when

the speed is greater than the intersect speed during deceleration (see Section 7.47.4). Its

value is expressed in s/step and the available range is from 0 to 0.004 with a resolution of

0.000015.

When ST_SLP, FN_SLP_ACC and FN_SLP_DEC parameters are set to zero, no BEMF

compensation is performed.

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 9.1.22).

9.1.15

K_THERM

The K_THERM register contains the value used by the winding resistance thermal drift

compensation system (see Section 7.6).

The available range is from 1 to 1.46875 with a resolution of 0.03125, as shown in Table 13.

Table 13.

Winding resistance thermal drift compensation coefficient

K_THERM [3..0]

Compensation coeff.

1.03125

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