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,