EVAL6470H Datasheet, PDF (55/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
Programming manual
Table 36. STATUS register MOT_STATE bits
MOT_STATUS
0
0
0
1
1
0
1
1
Motor status
Stopped
Acceleration
Deceleration
Constant speed
Any attempt to write to the register causes the command to be ignored and the
NOTPERF_CMD flag to rise (see Section 9.1.22).
9.2
Application commands
The command summary is given in Table 37.
Table 37. Application commands
Command mnemonic
Command binary code
[7..5] [4] [3] [2..1] [0]
Action
NOP
000 0 0 00 0 Nothing
SetParam(PARAM,VALUE) 000
[PARAM]
Writes VALUE in PARAM register
GetParam(PARAM)
001
[PARAM]
Returns the stored value in PARAM register
Run(DIR,SPD)
StepClock(DIR)
010 1 0
010 1 1
00 DIR Sets the target speed and the motor direction
00
DIR
Puts the device into Step-clock mode and imposes DIR
direction
Move(DIR,N_STEP)
GoTo(ABS_POS)
010 0 0
011 0 0
Makes N_STEP (micro)steps in DIR direction
00 DIR
(Not performable when motor is running)
00 0 Brings motor into ABS_POS position (minimum path)
GoTo_DIR(DIR,ABS_POS) 011 0 1
00
DIR
Brings motor into ABS_POS position forcing DIR
direction
GoUntil(ACT,DIR,SPD)
Performs a motion in DIR direction with speed SPD until
100 0 ACT 01 DIR SW is closed, the ACT action is executed then a SoftStop
takes place.
ReleseSW(ACT, DIR)
Performs a motion in DIR direction at minimum speed
100 1 ACT 01 DIR until the SW is released (open), the ACT action is
executed then a HardStop takes place.
GoHome
GoMark
011 1 0 00 0 Brings the motor into HOME position
011 1 1 00 0 Brings the motor into 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
101 1 0 00 0 Stops motor with a deceleration phase
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