EVAL6470H Datasheet, PDF (63/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
Programming manual
9.2.15 ResetDevice
Table 51. ResetDevice command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
1
1
0
0
0
0
Bit 1
0
Bit 0
0
from host
Note:
9.2.16
The ResetDevice command resets the device to power-up conditions (see Section 6.1).
At power-up the power bridges are disabled.
SoftStop
Table 52. SoftStop command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
1
0
1
1
0
0
Bit 1
0
Bit 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).
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
Table 53. HardStop command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
1
0
1
1
1
0
Bit 1
0
Bit 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
Table 54. SoftHiZ command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3
1
0
1
0
0
Bit 2
0
Bit 1
0
Bit 0
0
from host
Doc ID16737 Rev 5
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