Functional description L6470
20/64 Doc ID 16737 Rev 2
Figure 4. Charge pump circuitry
6.4 Microstepping
The driver is able to divide the single step into up to 128 microsteps. Stepping mode can be
programmed by STEP_SEL parameter in STEP_MODE register (see Ta bl e 17).
Step mode can be only changed when motor is stopped. Every time the step mode is
changed the electrical position (i.e. the point of microstepping sinewave that is generated) is
reset to first microstep and the absolute position counter value (see Section 6.5) becomes
meaningless.
Figure 5. Normal mode and microstepping (128 microsteps)
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.ORMALDRIVING -ICROSTEPPING
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0(!3%"CURRENT
0(!3%!CURRENT
0(!3%"CURRENT
MICROSTEPS
ª STEPS
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ª STEPS
ª STEPS
2ESET
POSITION
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