STMicroelectronics Fully integrated stepper motor driver mounting the L6472 in a high power PowerSO package EVAL6472PD EVAL6472PD Data Sheet

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DocID022729 Rev 3

StepClock command argument and can by changed by a new StepClock command without 
exiting step-clock mode.

Events that cause bridges to be forced into high-impedance state (overtemperature, 
overcurrent, etc.) do not cause the device to leave step-clock mode. StepClock command 
does not force the BUSY flag low. This command can only be given when the motor is 
stopped. If a motion is in progress the motor should be stopped and it is then possible to 
send a StepClock command.

Any attempt to perform a StepClock command when the motor is running causes the 
command to be ignored and the NOTPERF_CMD flag to rise (see 

         

The move command produces a motion of N_STEP microsteps; the direction is selected by 
the DIR bit ('1' forward or '0' reverse). 

The N_STEP value is always in agreement with the selected step mode; the parameter 
value unit is equal to the selected step mode (full, half, quarter, etc.). 

This command keeps the BUSY flag low until the target number of steps is performed. This 
command can only be performed when the motor is stopped. If a motion is in progress the 
motor must be stopped and it is then possible to perform a Move command. 

Any attempt to perform a Move command when the motor is running causes the command 
to be ignored and the NOTPERF_CMD flag to rise (see 

         

The GoTo command produces a motion to the ABS_POS absolute position through the 
shortest path. The ABS_POS value is always in agreement with the selected step mode; the 
parameter value unit is equal to the selected step mode (full, half, quarter, etc.). 

The GoTo command keeps the BUSY flag low until the target position is reached. 

0 1 0 0 0 0 0 

DIR 

From 

host 

X 

X 

N_STEP (Byte 2) 

From host 

N_STEP (Byte 1) 

From host 

N_STEP (Byte 0) 

From host 

0 1 1 0 0 0 0 0 From 

host 

X 

X 

ABS_POS (Byte 2) 

From host 

ABS_POS (Byte 1) 

From host 

ABS_POS (Byte 0) 

From host