STMicroelectronics Fully integrated stepper motor driver mounting the L6472 in a high power PowerSO package EVAL6472PD EVAL6472PD Fiche De Données
Codes de produits
EVAL6472PD
Programming manual
L6472
54/70
DocID022729 Rev 3
9.2 Application
commands
A summary of commands is given in
.
Table 34. Application commands
Command mnemonic
Command binary code
Action
[7 … 5] [4]
[3]
[2 …1] [0]
NOP 000
0
0
00
0
Nothing
SetParam (PARAM, VALUE)
000
[PARAM]
Writes VALUE in the PARAM register
GetParam (PARAM)
001
[PARAM]
Returns the stored value in the PARAM register
Run (DIR, SPD)
010
1
0
00
DIR Sets the target speed and the motor direction
StepClock (DIR)
010
1
1
00
DIR
Puts the device into step-clock mode and
imposes DIR direction
imposes DIR direction
Move (DIR,N_STEP)
010
0
0
00
DIR
Makes N_STEP (micro) steps in DIR direction
(non-performable when motor is running)
(non-performable when motor is running)
GoTo (ABS_POS)
011
0
0
00
0
Brings motor in ABS_POS position (minimum
path)
path)
GoTo_DIR (DIR,ABS_POS)
011
0
1
00
DIR
Brings motor in ABS_POS position forcing DIR
direction
direction
GoUntil (ACT,DIR,SPD)
100
0 ACT
01
DIR
Performs a motion in DIR direction with speed
SPD until SW is closed, the ACT action is
executed then a SoftStop takes place
SPD until SW is closed, the ACT action is
executed then a SoftStop takes place
ReleaseSW (ACT, DIR)
100
1 ACT
01
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
speed until the SW is released (open), the ACT
action is executed then a HardStop takes place
GoHome
011
1
0
00
0 Brings the motor in HOME position
GoMark
011
1
1
00
0 Brings the motor in MARK position
ResetPos 110
1
1
00
0
Resets the ABS_POS register (set HOME
position)
position)
ResetDevice
110
0
0
00
0 Device is reset to power-up conditions
SoftStop
101
1
0
00
0 Stops motor with a deceleration phase
HardStop 101
1
1
00
0
Stops
motor
immediately
SoftHiZ 101
0
0
00
0
Puts the bridges in high-impedance status after
a deceleration phase
a deceleration phase
HardHiZ 101
0
1
00
0
Puts the bridges in high-impedance status
immediately
immediately
GetStatus
110
1
0
00
0 Returns the STATUS register value
RESERVED 111
0
1
01
1
RESERVED
COMMAND
RESERVED 111
1
1
00
0
RESERVED
COMMAND