EVAL6470H Datasheet, PDF (41/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
Programming manual
Table 9. Register map (continued)
Address
Register name Register function
[Hex]
Len. ^Reset
[bit] _Hex
Reset
value
Remarks ⁽¹⁾
h18
CONFIG IC configuration
h19
STATUS Status
h1A RESERVED Reserved address
h1B RESERVED Reserved address
Internal oscillator, 2 MHz
OSCOUT clock, supply voltage
16
2E88
compensation disabled,
overcurrent shutdown enabled,
slew rate = 290 V/µs PWM
frequency = 15.6 kHz.
16
XXXX ⁽²⁾
High impedance state,
UVLO/Reset flag set.
R, WH
R
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.
9.1.1
9.1.2
ABS_POS
The ABS_POS register contains the current motor absolute position in agreement with 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 9.1.22).
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.
Table 10. EL_POS register
Bit 8
Bit 7
Bit 6
Bit 5
STEP
Bit 4
Bit 3
Bit 2
MICROSTEP
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 9.1.19); 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 9.1.22).
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