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POWERSTEP01TR Datasheet(PDF) 62 Page - STMicroelectronics |
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POWERSTEP01TR Datasheet(HTML) 62 Page - STMicroelectronics |
62 / 92 page Programming manual powerSTEP01 62/92 DocID025022 Rev 5 STEP_SEL selects one of eight possible stepping modes: Every time the step mode changes, the electrical position (i.e.: the point of microstepping sinewave that is generated) resets at the first microstep. It is important to note that every time STEP_SEL changes, the value in ABS_POS register loses meaning and then it should be reset. When sync clock is disabled, BUSY/SYNC output is used as BUSY (command state machine busy signaling), otherwise BUSY/SYNC output provides a clock signal according to SYNC_SEL parameter. Any attempt to write to the register, when the motor is running, causes the command to be ignored and the CMD_ERROR to rise (see Section 11.1.28 on page 71). Table 29. Step mode selection STEP_SEL[2 … 0] Step mode (CM_VM = 0) Step mode (CM_VM = 1) 000 Full-step Full-step 0 0 1 Half-step Half-step 0 1 0 1/4 microstep 1/4 microstep 0 1 1 1/8 microstep 1/8 microstep 1 0 0 1/16 microstep 1/16 microstep 1 0 1 1/32 microstep 1/16 microstep 1 1 0 1/64 microstep 1/16 microstep 1 1 1 1/128 microstep 1/16 microstep Table 30. Sync clock enable SYNC_EN Sync clock 0 Disabled 1 Enabled Table 31. Sync clock selection SYNC_SEL[2 … 0] Step information (CM_VM = 0) Step information (CM_VM = 1) 0 0 0 Full-step Full-step 0 0 1 Half-step Half-step 0 1 0 1/4 microstep 1/4 microstep 0 1 1 1/8 microstep 1/8 microstep 1 0 0 1/16 microstep 1/16 microstep 1 0 1 1/32 microstep Always low 1 1 0 1/64 microstep Always low 1 1 1 1/128 microstep Always low |
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