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Muneeb Ahmed
Muneeb Ahmed
Associate
October 26, 2017
Question

L6470: Getting problem with the number of steps in move command

  • October 26, 2017
  • 1 reply
  • 1286 views
Posted on October 26, 2017 at 17:26

Hello! I am using l6470 on X-Nucleo IHM02A1 with the STM32F4 discovery board with the SPI interface (daisy chaining). I am working on the precision of an autonomous robot with the four mecanum wheels of 10 cm. I am using 128 usteps step mode. When I am giving move command less than 38535 micro steps, it is working fine but for more than ~39000 usteps, the motor is not reacting.

If I change the step mode from 128 usteps to 64 usteps then the value is half of the max number of steps e.g. 19267 usteps.

I have also an issue with the torque of the motor as I can't increase much torque.

I am using BYG42 2 phase stepper motor with 1.7A current and 12V.

I have attached dspin_config file where all the parameters are configured. 

Please tell me, how can I solve this problem.

Thanks in advance,

Muneeb Ahmed

#l6470
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1 reply

Enrico Poli
Enrico Poli
ST Employee
October 27, 2017
Posted on October 27, 2017 at 14:02

Hi,

did you tried to check the L6470 configuration using the

http://www.st.com/en/development-tools/stsw-spin002.html

?

In this software you have a tool named 'BEMF configuration' generating the configuration parameters according to the motor characteristics.

Enrico

Muneeb Ahmed
Muneeb AhmedAuthor
Associate
October 31, 2017
Posted on October 31, 2017 at 12:01

Hi,

Thanks for the reply. Yes, the attached header file is generated from the spin family evaluation tool. But I have changed some parameters because with the move command there was so much acceleration in the motor. So, I could not control the motor speed with the move command.

Can you tell me on which parameters move command depends on?

Thanks

Muneeb Ahmed

Enrico Poli
Enrico Poli
ST Employee
October 31, 2017
Posted on October 31, 2017 at 15:43

All the motion commands are executed according to the acceleration, deceleration, maximum and minimum speed.

The motor torque is regulated according to the voltage mode driving parameters (KVAL_xxx, ST_SLP, FN_SLP_xxx, INT_SPD). There are the values that must be tuned according to target current (i.e. torque), supply voltage and motor characteristics using the 'BEMF compensation tool' of the SPINFamily software.

You can also use the 'wizard' in order to configure all the other parameters according to your needs.

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