L6472PDTR View Datasheet(PDF) - STMicroelectronics

Part Name

Description

MFG CO.

L6472PDTR

dSPIN fully integrated microstepping motor driver with motion engine and SPI

STMicroelectronics 

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L6472

9.2.1

Programming manual

Command management

The host microcontroller can control motor motion and configure the L6472 device through

a complete set of commands.

All commands are composed by a single byte. After the command byte, some argument

bytes should be needed (see Figure 21). Argument length can vary from 1 to 3 bytes.

Figure 21. Command with 3-byte argument

By default the device returns an all zero response for any received byte, the only exceptions

are GetParam and GetStatus commands. When one of these commands is received the

following response bytes represent the related register value (see Figure 22).

Response length can vary from 1 to 3 bytes.

Figure 22. Command with 3-byte response

During response transmission, new commands can be sent. If a command requiring

a response is sent before the previous response is completed, the response transmission is

aborted and the new response is loaded into the output communication buffer (see

Figure 23).

Figure 23. Command response aborted

When a byte that does not correspond to a command is sent to the IC, it is ignored and the

WRONG_CMD flag in the STATUS register is raised (see Section 9.1.19).

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