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L6472PDTR View Datasheet(PDF) - STMicroelectronics

Part Name
Description
MFG CO.
'L6472PDTR' PDF : 69 Pages View PDF
Programming manual
L6472
9.2
Application commands
A summary of commands is given in Table 34.
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
Move (DIR,N_STEP)
010 0 0
GoTo (ABS_POS)
011 0 0
GoTo_DIR (DIR,ABS_POS) 011 0 1
00
DIR
Puts the device into step-clock mode and
imposes DIR direction
00
DIR
Makes N_STEP (micro) steps in DIR direction
(non-performable when motor is running)
00
0
Brings motor in ABS_POS position (minimum
path)
00
DIR
Brings motor in ABS_POS position forcing DIR
direction
GoUntil (ACT,DIR,SPD)
ReleaseSW (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 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)
ResetDevice
110 0 0
00
0 Device is reset to power-up conditions
SoftStop
HardStop
SoftHiZ
HardHiZ
101 1 0
00
0 Stops motor with a deceleration phase
101 1 1
00
0 Stops motor immediately
101 0 0
00
0
Puts the bridges in high-impedance status after
a deceleration phase
101 0 1
00
0
Puts the bridges in high-impedance status
immediately
GetStatus
RESERVED
RESERVED
110 1 0
00
0 Returns the STATUS register value
111 0 1
01
1 RESERVED COMMAND
111 1 1
00
0 RESERVED COMMAND
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DocID022729 Rev 5
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