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L6470 Run command (relation among MAX_SPPED, MIN_SPPED and SPD values)

SPD
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Hi, I'd like to use Run command for my stepper motor as follows. How can I set values in registers?

  • Maximum speed: 4000step/s
  • Minimum speed:  500step/s 
  • SPD: 1000step/s

According to the data sheet, I can calculate the values for MAX_SPEED, MIN_SPPED and SPD in (Run command) as follows.

  • MAX_SPEED:     4000 x tick / 2^(-18) =4000 x 250 x 10^(-9) / 2^(-18) = 262
  • MIN_SPPED:       500 x tick / 2^(-24)  = 500 x 250 x 10^(-9) / 2^(-24)  = 2087
  • SPD:                    1000 x tick / 2^(-28) = 1000 x 250 x 10^(-9) / 2^(-28) = 67108

In the data sheet, Run command has Note section. According to the statement, MIN_SPPED <= SPD <= MAX_SPPED but my calculated values are MAX_SPEED < MIN_SPEED < SPD. Even though these settings, does motor rotate correctly?

Note: The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED otherwise the Run command is executed at MAX_SPEED or MIN_SPEED respectively.

      https://www.st.com/ja/motor-drivers/l6470.html 

 

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