L6472PDTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
L6472PDTR
STMicroelectronics
'L6472PDTR' PDF : 69 Pages View PDF
L6472
Programming manual
Address
[Hex]
Register
name
Table 9. Register map (continued)
Register function
Len.
[bit]
Reset
[Hex]
Reset value
Remarks(1)
Internal oscillator, 2 MHz OSCOUT
clock, supply voltage compensation
h18
CONFIG
IC configuration 16 2E88
disabled, overcurrent shutdown
R, WH
enabled,
slew rate = 290 V/µs TSW = 40 µs
h19
STATUS
Status
16
XXXX(2)
High-impedance state, UVLO/reset
flag set.
R
h1A RESERVED Reserved address
h1B RESERVED Reserved address
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.
3. The bit 3 of the register must be set to one.
9.1.1
ABS_POS
The ABS_POS register contains the current motor absolute position in agreement to 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 9.1.19 on page 52).
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 9.1.16 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 9.1.19 on page 52).
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