EVAL6470H Datasheet, PDF (27/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
Functional description
The GoUntil command makes the motor run at the constant target speed until the SW input
is forced low (falling edge). When this event occurs, one of the following actions can be
performed:
● The ABS_POS register is set to zero (home position) and the motor decelerates to zero
speed (as a SoftStop command)
● The ABS_POS register value is stored in the MARK register and the motor decelerates
to zero speed (as a SoftStop command).
If the SW_MODE bit of the CONFIG register is set to ‘0’, the motor does not decelerate but
it immediately stops (as a HardStop command).
The ReleaseSW command makes the motor run at the programmed minimum speed until
the SW input is forced high (rising edge). When this event occurs, one of the following
actions can be performed:
● The ABS_POS register is set to zero (home position) and the motor immediately stops
(as a HardStop command)
● The ABS_POS register value is stored in the MARK register and the motor immediately
stops (as a HardStop command).
If the programmed minimum speed is less than 5 step/s, the motor is driven at 5 step/s.
6.8
Internal oscillator and oscillator driver
The control logic clock can be supplied by the internal 16-MHz oscillator, an external
oscillator (crystal or ceramic resonator) or a direct clock signal.
These working modes can be selected by EXT_CLK and OSC_SEL parameters in the
CONFIG register (see Table 23).
At power-up the device starts using the internal oscillator and provides a 2-MHz clock signal
on the OSCOUT pin.
Attention:
In any case, before changing clock source configuration, a
hardware reset is mandatory. Switching to different clock
configurations during operation may cause unexpected
behavior.
6.8.1
6.8.2
Internal oscillator
In this mode the internal oscillator is activated and OSCIN is unused. If the OSCOUT clock
source is enabled, the OSCOUT pin provides a 2, 4, 8 or 16-MHz clock signal (according to
OSC_SEL value); it is otherwise unused (see Figure 12).
External clock source
Two types of external clock source can be selected: crystal/ceramic resonator or direct clock
source. Four programmable clock frequencies are available for each external clock source:
8, 16, 24 and 32 MHz.
When an external crystal/resonator is selected, the OSCIN and OSCOUT pins are used to
drive the crystal/resonator (see Figure 12). The crystal/resonator and load capacitors (C_L)
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