ST L6470H User Manual

Programming manual L6470
36/64 Doc ID 16737 Rev 2
9 Programming manual
9.1 Registers and flags description
Following a map of the user registers available (detailed description in respective
paragraphs):
Table 8. Registers map
Address
[Hex]
Register name Register function
Len.
[bit]
Reset
Hex
Reset
Value
Remarks
(1)
h01 ABS_POS Current position 22 000000 0 R, WS
h02 EL_POS Electrical position 9 000 0 R, WS
h03 MARK Mark position 22 000000 0 R, WR
h04 SPEED Current speed 20 00000
0 step/tick
(0 step/s)
R
h05 ACC Acceleration 12 08A
125.5e-12 step/tick
2
(2008 step/s
2
)
R, WS
h06 DEC Deceleration 12 08A
125.5e-12 step/tick
2
(2008 step/s
2
)
R, WS
h07 MAX_SPEED Maximum speed 10 041
248e-6 step/tick
(991.8 step/s)
R, WR
h08 MIN_SPEED Minimum speed 13 000
0 step/tick
(0 step/s)
R, WS
h15 FS_SPD Full step speed 10 027
150.7e-6 step/tick
(602.7 step/s)
R, WR
h09 KVAL_HOLD
Holding K
VAL
8290.16·VS R, WR
h0A KVAL_RUN
Constant speed K
VAL
8 29 0.16·VS R, WR
h0B KVAL_ACC
Acceleration starting K
VAL
8 29 0.16·VS R, WR
h0C KVAL_DEC
Deceleration starting K
VAL
8 29 0.16·VS R, WR
h0D INT_SPD Intersect speed 14 0408 61.5e-6 step/tick (246 step/s) R, WH
h0E ST_SLP Start slope 8 19 0.038% s/step R, WH
h0F FN_SLP_ACC Acceleration final slope 8 29 0.063% s/step R, WH
h10 FN_SLP_DEC Deceleration final slope 8 29 0.063% s/step R, WH
h11 K_THERM
Thermal compensation
factor
401.0 R, WR
h12 ADC_OUT ADC output 5 XX
(2)
R
h13 OCD_TH OCD threshold 4 8 3.38A R, WR
h14 STALL_TH STALL threshold 7 40 2.03A R, WR
h16 STEP_MODE Step mode 8 7 128 microsteps R, WH
h17 ALARM_EN Alarms enables 8 FF All alarms enabled R, WS

ST L6470H Specifications

General

Brand	ST
Model	L6470H
Category	Computer Hardware
Language	English