powerSTEP01
Programming manual
11
Programming manual
11.1
Register and flag description
Following a map of the user available registers (detailed description in respective
paragraphs):
Table 11. Register map
Address
[Hex]
Length Reset
Reset
value
Register
name
Register function
Remarks(1)
[bit]
22
9
Hex
000000
000
h01
h02
h03
ABS_POS
EL_POS
MARK
Current position
Electrical position
Mark position
0
0
0
R, WS
R, WS
R, WR
22
000000
0 step/tick (0
step/s)
h04
h05
SPEED
ACC
Current speed
Acceleration
20
12
00000
08A
R
125.5e-12
step/tick2 (2008
step/s2)
R, WS
125.5e-12
step/tick2 (2008
step/s2)
h06
DEC
Deceleration
12
08A
R, WS
248e-6 step/tick
(991.8 step/s)
h07
h08
h15
MAX_SPEED
MIN_SPEED
Maximum speed
Minimum speed
10
12
10
041
000
027
R, WR
R, WS
R, WR
0 step/tick (0
step/s)
150.7e-6 step/tick
(602.7 step/s)
FS_SPD
Full-step speed
Holding KVAL
KVAL_HOLD
TVAL_HOLD
0.16·VS
h09
h0A
8
8
29
29
R, WR
R, WR
Holding reference
voltage
328 mV
Constant speed
KVAL
KVAL_RUN
TVAL_RUN
KVAL_ACC
TVAL_ACC
KVAL_DEC
TVAL_DEC
0.16·VS
328 mV
0.16·VS
328 mV
0.16·VS
328 mV
Constant speed
reference voltage
Acceleration
starting KVAL
h0B
h0C
8
8
29
29
R, WR
R, WR
Acceleration
reference voltage
Deceleration
starting
K
VAL
Deceleration
reference voltage
DocID025022 Rev 1
51/90
STMICROELECTRONICS [ ST ]
