L6470 datasheet(55/70 Pages) STMICROELECTRONICS

55 / 70 page

L6470

Programming manual

Doc ID16737 Rev 4

55/70

Any attempt to write to the register causes the command to be ignored and the

NOTPERF_CMD flag to rise (see Section 9.1.22).

9.2

Application commands

The command summary is given in Table 37.

Table 36.

STATUS register MOT_STATE bits

MOT_STATUS

Motor status

Stopped

Acceleration

Deceleration

Constant speed

Table 37.

Application commands

Command mnemonic

Command binary code

Action

[7..5] [4]

[3]

[2..1]

[0]

NOP

000

Nothing

SetParam(PARAM,VALUE)

000

[PARAM]

Writes VALUE in PARAM register

GetParam(PARAM)

001

[PARAM]

Returns the stored value in PARAM register

Run(DIR,SPD)

010

DIR Sets the target speed and the motor direction

StepClock(DIR)

010

DIR

Puts the device into Step-clock mode and imposes DIR

direction

Move(DIR,N_STEP)

010

DIR

Makes N_STEP (micro)steps in DIR direction

(Not performable when motor is running)

GoTo(ABS_POS)

011

Brings motor into ABS_POS position (minimum path)

GoTo_DIR(DIR,ABS_POS)

011

DIR

Brings motor into ABS_POS position forcing DIR

direction

GoUntil(ACT,DIR,SPD)

100

ACT

DIR

Performs a motion in DIR direction with speed SPD until

SW is closed, the ACT action is executed then a SoftStop

takes place.

ReleseSW(ACT, DIR)

100

ACT

DIR

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.

GoHome

011

Brings the motor into HOME position

GoMark

011

Brings the motor into MARK position

ResetPos

110

Resets the ABS_POS register (set HOME position)

ResetDevice

110

Device is reset to power-up conditions.

SoftStop

101

Stops motor with a deceleration phase

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