L6472PDTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
L6472PDTR
STMicroelectronics
'L6472PDTR' PDF : 69 Pages View PDF
Programming manual
L6472
9.2.16
SoftStop
Bit 7
1
Bit 6
0
Table 49. SoftStop command structure
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1
1
0
0
0
0
From host
9.2.17
The SoftStop command causes an immediate deceleration to zero speed and a consequent
motor stop; the deceleration value used is the one stored in the DEC register (see
Section 9.1.6 on page 42).
When the motor is in high-impedance state, a SoftStop command forces the bridges to exit
from high-impedance state; no motion is performed.
This command can be given anytime and is immediately executed. This command keeps
the BUSY flag low until the motor is stopped.
HardStop
Bit 7
1
Bit 6
0
Table 50. HardStop command structure
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1
1
1
0
0
0
From host
9.2.18
The HardStop command causes an immediate motor stop with infinite deceleration.
When the motor is in high-impedance state, a HardStop command forces the bridges to exit
from high-impedance state; no motion is performed.
This command can be given anytime and is immediately executed. This command keeps
the BUSY flag low until the motor is stopped.
SoftHiZ
Bit 7
1
Bit 6
0
Table 51. SoftHiZ command structure
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
1
0
0
0
0
Bit 0
0
From host
The SoftHiZ command disables the power bridges (high-impedance state) after
a deceleration to zero; the deceleration value used is the one stored in the DEC register
(see Section 9.1.6). When bridges are disabled the HiZ flag is raised.
When the motor is stopped, a SoftHiZ command forces the bridges to enter high-impedance
state.
This command can be given anytime and is immediately executed. This command keeps
the BUSY flag low until the motor is stopped.
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DocID022729 Rev 5
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