L6470PD datasheet(25/70 Pages) STMICROELECTRONICS

Part #	L6470PD

Description	dSPIN fully integrated microstepping motor driver with motion engine and SPI

PDF	70 Pages

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Manufacturer	STMICROELECTRONICS [STMicroelectronics]

Direct Link	http://www.st.com

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25 / 70 page

L6470

Functional description

Doc ID16737 Rev 5

25/70

Figure 9.

Constant speed command examples

6.7.2

Positioning commands

An absolute positioning command produces a motion in order to reach a user-defined

position that is sent to the device together with the command. The position can be reached

performing the minimum path (minimum physical distance) or forcing a direction (see

Figure 10).

The performed motor motion is compliant to programmed speed profile boundaries

(acceleration, deceleration, minimum and maximum speed).

Note that with some speed profiles or positioning commands, the deceleration phase can

start before the maximum speed is reached.

Figure 10.

Positioning command examples

6.7.3

Motion commands

Motion commands produce a motion in order to perform a user-defined number of

microsteps in a user-defined direction that are sent to the device together with the command

(see Figure 11).

L6470PD Datasheet(PDF) 25 Page - STMicroelectronics