Functional description
L6482
22/73
Doc ID 023768 Rev 1
Figure 7.
Automatic Full-step switching in Boost mode
6.5 Absolute
position
counter
An internal 22-bit register (ABS_POS) records all the motor motions according to the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The position range is from -2
21
to +2
21
6.6 Programmable
speed
profiles
The user can easily program a customized speed profile defining independently
acceleration, deceleration, and maximum and minimum speed values by ACC, DEC,
MAX_SPEED and MIN_SPEED registers respectively (see
,
and
).
When a command is sent to the device, the integrated logic generates the microstep
frequency profile that performs a motor motion compliant to speed profile boundaries.
All acceleration parameters are expressed in step/tick
2
and all speed parameters are
expressed in step/tick; the unit of measurement does not depend on the selected step
mode. Acceleration and deceleration parameters range from 2
-40
to (2
12
-2)
•
2
-40
step/tick
2
(equivalent to 14.55 to 59590 step/s
2
).
Minimum speed parameter ranges from 0 to (2
12
-
1
)
•
2
-24
step/tick (equivalent to 0 to 976.3
step/s).
Maximum speed parameter ranges from 2
-18
to (2
10
-1)
•
2
-18
step/tick (equivalent to 15.25 to
15610 step/s).
6.6.1 Infinite
acceleration/deceleration
mode
When the ACC register value is set to max. (0xFFF), the system works in “infinite
acceleration mode”: acceleration and deceleration phases are totally skipped, as shown in
It is not possible to skip the acceleration or deceleration phase independently.
Ph
as
e A
Ph
as
e B
(2N+1) x
π
/4
(2N+1) x
π
/4
F
u
ll-
S
tep
Micro
s
tepping
Micro
s
tepping
V
pe
a
k
V
pe
a
k
AM150
3
7v1
