L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
'L6470HTR' PDF : 73 Pages View PDF
Programming manual
MOT_STATUS indicates the current motor status:
Table 36. STATUS register MOT_STATUS bits
MOT_STATUS
Motor status
0
0
Stopped
0
1
1
0
1
1
Acceleration
Deceleration
Constant speed
Any attempt to write to the register causes the command to be ignored and the
NOTPERF_CMD flag to rise.
L6470
9.2
Application commands
The command summary is given in Table 37.
Table 37. Application commands
Command mnemonic
Command binary code
[7 .… 5] [4] [3] [2 .… 1] [0]
Action
NOP
000
SetParam(PARAM,VALUE) 000
00
00
[PARAM]
0 Nothing
Writes VALUE in PARAM register
GetParam(PARAM)
001
[PARAM]
Returns the stored value in PARAM register
Run(DIR,SPD)
StepClock(DIR)
010 1 0
010 1 1
00 DIR Sets the target speed and the motor direction
00
DIR
Puts the device into Step-clock mode and
imposes DIR direction
Move(DIR,N_STEP)
010 0 0
GoTo(ABS_POS)
011 0 0
GoTo_DIR(DIR,ABS_POS) 011 0 1
00
DIR
Makes N_STEP (micro)steps in DIR direction
(Not performable when motor is running)
00
0
Brings motor into ABS_POS position (minimum
path)
00
DIR
Brings motor into ABS_POS position forcing DIR
direction
GoUntil(ACT,DIR,SPD)
ReleseSW(ACT, DIR)
GoHome
Performs a motion in DIR direction with speed
100 0 ACT 01 DIR SPD until SW is closed, the ACT action is
executed then a SoftStop takes place.
Performs a motion in DIR direction at minimum
100 1 ACT 01 DIR speed until the SW is released (open), the ACT
action is executed then a HardStop takes place.
011 1 0
00
0 Brings the motor into HOME position
GoMark
011 1 1
00
0 Brings the motor into MARK position
ResetPos
110 1 1
00
0
Resets the ABS_POS register (set HOME
position)
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DocID16737 Rev 7
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