EVAL6470H Datasheet, PDF (64/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

Programming manual
L6470
9.2.19
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 into 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.
HardHiZ
Table 55. HardHiZ command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3
1
0
1
0
1
Bit 2
0
Bit 1
0
Bit 0
0
from host
9.2.20
The HardHiZ command immediately disables the power bridges (high impedance state) and
raises the HiZ flag.
When the motor is stopped, a HardHiZ command forces the bridges to enter into 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.
GetStatus
Table 56. GetStatus command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
1
1
0
1
0
0
Bit 1
0
Bit 0
0
from host
STATUS MSByte
STATUS LSByte
to host
to host
The GetStatus command returns the STATUS register value.
The GetStatus command resets the STATUS register warning flags. The command forces
the system to exit from any error state. The GetStatus command DOES NOT reset the HiZ
flag.
64/70
Doc ID16737 Rev 5