參數(shù)資料
型號(hào)： L6470HTR
廠商： STMICROELECTRONICS
元件分類： 運(yùn)動(dòng)控制電子
英文描述： STEPPER MOTOR CONTROLLER, 7 A, PDSO28
封裝： ROHS COMPLIANT, HTSSOP-28
文件頁(yè)數(shù)： 24/64頁(yè)
文件大?。?/td> 814K
代理商： L6470HTR
Phase current control
L6470
30/64
Doc ID 16737 Rev 2
7
Phase current control
The L6470 controls the phase current applying a sinusoidal voltage to motor windings.
Phase current amplitude is not directly controlled but depends on phase voltage amplitude,
load torque, motor electrical characteristics and rotation speed. Sinewave amplitude is
proportional to the motor supply voltage multiplied by a coefficient (KVAL). KVAL ranges from
0 to 100% and the sinewave amplitude can be obtained through the following formula:
Equation 1
Different KVAL values can be programmed for acceleration, deceleration and constant speed
phases and when motor is stopped (HOLD phase) through KVAL_ACC, KVAL_DEC,
KVAL_RUN and KVAL_HOLD registers (see paragraph 9.1.10). KVAL value is calculated
according following formula:
Equation 2
Where KVAL_X is the starting KVAL value programmed for present motion phase
(KVAL_ACC, KVAL_DEC, KVAL_RUN or KVAL_HOLD), BEMF_COMP is the BEMF
compensation curve value, VSCOMP and K_THERM are the motor supply voltage and
winding resistance compensation factors and microstep is the current microstep value
(fraction of target peak current).
L6470 offers various methods to guarantee a stable current value, allowing the
compensation of:
●
low speed optimization (see paragraph 7.3)
●
back electromotive force value (see paragraph 7.4);
●
motor supply voltage variation (see paragraph 7.5);
●
windings resistance variation (see paragraph 7.6).
7.1
PWM sinewave generators
The two voltage sinewaves applied to stepper motor phases are generated by two PWM
modulators.
The PWM frequency (fPWM) is proportional to the oscillator frequency (fOSC) and can be
obtained through the following formula:
Equation 3
'N' is the integer division factor and 'm' is the multiplication factor. 'N' and 'm' values can be
programmed by F_PWM_INT and F_PWM_DEC parameters in CONFIG register (see
Available PWM frequencies are listed in paragraph 9.1.21 from Table 29 to Table 32.
VAL
S
OUT
K
V
=
(
)
(
) microstep
THERM
_
K
VSCOMP
COMP
_
BEMF
K
VAL_X
VAL
×
+
=
m
N
512
f
OSC
PWM
=
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