L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
'L6470HTR' PDF : 73 Pages View PDF
L6470
Programming manual
Address
[Hex]
Register name
Table 9. Register map (continued)
Register function
Len. Reset
[bit] Hex
Reset
value
Remarks(1)
h18
CONFIG IC configuration
h19
STATUS Status
h1A
RESERVED Reserved address
h1B
RESERVED Reserved address
Internal oscillator, 2 MHz
OSCOUT clock, supply voltage
16
2E88
compensation disabled,
overcurrent shutdown enabled,
slew rate = 290 V/µs PWM
frequency = 15.6 kHz.
16
XXXX(2)
High impedance state,
UVLO/Reset flag set.
R, WH
R
1. R: readable, WH: writable only when outputs are in high impedance, WS: writable only when motor is stopped, WR: always
writable.
2. According to startup conditions.
9.1.1
ABS_POS
The ABS_POS register contains the current motor absolute position in agreement with the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The value is in 2's complement format and it ranges from -221 to +221-1.
At power-on the register is initialized to “0” (HOME position).
Any attempt to write the register when the motor is running causes the command to be
ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22 on page 55).
9.1.2
EL_POS
The EL_POS register contains the current electrical position of the motor. The two MSbits
indicate the current step and the other bits indicate the current microstep (expressed in
step/128) within the step.
Bit 8
Bit 7
STEP
Bit 6
Table 10. EL_POS register
Bit 5
Bit 4
Bit 3
MICROSTEP
Bit 2
Bit 1
Bit 0
When the EL_POS register is written by the user, the new electrical position is instantly
imposed. When the EL_POS register is written, its value must be masked in order to match
with the step mode selected in the STEP_MODE register in order to avoid a wrong
microstep value generation (see Section 9.1.19 on page 47); otherwise the resulting
microstep sequence is incorrect.
Any attempt to write the register when the motor is running causes the command to be
ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).
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