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

If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event 
causes a HardStop interrupt instead of the SoftStop one (see 

 and 

).

This command keeps the BUSY flag low until the switch turn-on event occurs and the motor 
is stopped. This command can be given anytime and is immediately executed.

         

The ReleaseSW command produces a motion at minimum speed imposing a forward 
(DIR = '1') or reverse (DIR = '0') rotation. When SW is released (opened) the ABS_POS 
register is reset (ACT = '0') or the ABS_POS register value is copied into the MARK register 
(ACT = '1'); the system then performs a HardStop command.

Note that resetting the ABS_POS register is equivalent to setting the HOME position.

If the minimum speed value is less than 5 step/s or low speed optimization is enabled, the 
motion is performed at 5 step/s.

The ReleaseSW command keeps the BUSY flag low until the switch input is released and 
the motor is stopped.

         

The GoHome command produces a motion to the HOME position (zero position) via the 
shortest path.

Note that this command is equivalent to the “GoTo(0…0)” command. If a motor direction is 
mandatory the GoTo_DIR command must be used (see 

The GoHome command keeps the BUSY flag low until the home position is reached. This 
command can only be given when the previous motion command has been completed. Any 
attempt to perform a GoHome command when a previous command is under execution 
(BUSY low) causes the command to be ignored and the NOTPERF_CMD to rise (see 

).

1 0 0 1 

ACT 

0 1 

DIR 

From 

host 

0 1 1 1 0 0 0 0 From 

host