L6482
Programming manual
Doc ID 023768 Rev 1
47/73
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 following parameters:
The FS_SPD threshold speed value over which the step mode is automatically switched to
full-step two-phase on. Its value is expressed in step/tick (format unsigned fixed point 0.18)
and to convert it in step/s the following formula can be used:
Equation 6
If FS_SPD value is set to hFF (max.) the system always works in Microstepping mode
(SPEED must go over the threshold to switch to Full-step mode). Setting FS_SPD to zero
does not have the same effect as setting the step mode to full-step two-phase on: the zero
FS_SPD value is equivalent to a speed threshold of about 7.63 step/s.
The available range is from 7.63 to 15625 step/s with a resolution of 15.25 step/s.
The BOOST_MODE bit sets the amplitude of the voltage squarewave during the full-step
operation (see
).
9.1.10
TVAL_HOLD, TVAL_RUN, TVAL_ACC and TVAL_DEC
The TVAL_HOLD register contains the current value that is assigned to the torque
regulation DAC when the motor is stopped.
The TVAL_RUN register contains the current value that is assigned to the torque regulation
DAC when the motor is running at constant speed.
The TVAL_ACC register contains the current value that is assigned to the torque regulation
DAC during acceleration.
The TVAL_DEC register contains the current value that is assigned to the torque regulation
DAC during deceleration.
The available range is from 31.25 mA to 4 A with a resolution of 31.25 mA, as shown in
Table 14.
FS_SPD register
Bit 11
Bit 10
Bit 9
Bit 8 Bit 7 Bit 6
Bit 5
Bit 4
Bit 3
Bit 2 Bit 1 Bit 0
BOOST_MODE
FS_SPD
step/s
[
]
FS_SPD
0.5
+
(
)
2
18
–
⋅
tick
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