L6472 STMICROELECTRONICS [STMicroelectronics], L6472 Datasheet - Page 54

• Manufacturer Part Number: L6472
• Description: dSPIN fully integrated microstepping motor driver
• Manufacturer: STMICROELECTRONICS [STMicroelectronics]

Programming manual
9.2
Table 33.
54/69
SetParam(PARAM,VALUE)
GoTo_DIR(DIR,ABS_POS)
GoUntil(ACT,DIR,SPD)
Command Mnemonic
ReleseSW(ACT, DIR)
Move(DIR,N_STEP)
GetParam(PARAM)
GoTo(ABS_POS)
StepClock(DIR)
Run(DIR,SPD)
ResetDevice
RESERVED
RESERVED
GetStatus
ResetPos
HardStop
GoHome
SoftStop
HardHiZ
GoMark
SoftHiZ
NOP
Any attempt to write to the register causes the command to be ignored and the
NOTPERF_CMD to rise (see
Application commands
A summary of commands is given in
Application commands
[7..5] [4]
000
000
001
010
010
010
011
011
100
100
011
011
110
110
101
101
101
101
110
111
111
Command binary code
0
1
1
0
0
0
0
1
1
1
1
0
1
1
0
0
1
0
1
ACT
ACT
[3]
0
0
0
1
0
0
1
1
1
0
0
1
0
1
0
1
1
[PARAM]
[PARAM]
Section
Doc ID 022729 Rev 1
[2..1]
00
00
00
00
00
00
01
01
00
00
00
00
00
00
00
00
00
01
00
Table
9.1.19).
DIR Sets the target speed and the motor direction
DIR
DIR
DIR
DIR
DIR
[0]
0
0
0
0
0
0
0
0
0
0
1
0
0
33.
Nothing
Puts the device into step-clock mode and imposes
DIR direction
Makes N_STEP (micro) steps in DIR direction (non-
performable when motor is running)
Brings motor in ABS_POS position forcing DIR
direction
Performs a motion in DIR direction with speed SPD
until SW is closed, the ACT action is executed then a
SoftStop takes place
Performs a motion in DIR direction at minimum
speed until the SW is released (open), the ACT
action is executed then a HardStop takes place
Brings the motor in HOME position
Brings the motor in MARK position
Resets the ABS_POS register (set HOME position)
Device is reset to power-up conditions.
Puts the bridges in high-impedance status after a
deceleration phase
Puts the bridges in high-impedance status
immediately
Returns the STATUS register value
RESERVED COMMAND
RESERVED COMMAND
Writes VALUE in the PARAM register
Returns the stored value in the PARAM register
Brings motor in ABS_POS position (minimum path)
Stops motor with a deceleration phase
Stops motor immediately
Action
L6472