How to calculate time of MOVE command with L6470

[PSalm]

Hello all!

We are using L6470 in our product for stepper motor control. We are using the SPI mode control with MOVE command.

I would like to know the time (relative to given external clock) it takes to run the motor for given distance, given max speed and given acc = deacc.

Is the speed profile simple linear acceleration to the max - speed (if distance is great enough) and then simple linear deacceleartion to zero speed?

Where would i find more information about the speed / acceleration profile of the command.

We did try the full control with "sync" pin, but the trouble is that its without the bemf-compensation that caused loose of torque.

[Kurtnelle]

The speed profile is a simple linear acceleration and deceleration. You could calculate it by calculating the steps per second, or you could hook up an oscilloscope to the busy pin and check the length of time is µs that it takes to go from high to low back to high.