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DocID022729 Rev 5

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L6472

Programming manual

70

9.2.1 Command

management

The host microcontroller can control motor motion and configure the L6472 device through
a complete set of commands.

All commands are composed by a single byte. After the command byte, some argument
bytes should be needed (see

). Argument length can vary from 1 to 3 bytes.

Figure 21. Command with 3-byte argument

By default the device returns an all zero response for any received byte, the only exceptions
are GetParam and GetStatus commands. When one of these commands is received the
following response bytes represent the related register value (see

).

Response length can vary from 1 to 3 bytes.

Figure 22. Command with 3-byte response

During response transmission, new commands can be sent. If a command requiring
a response is sent before the previous response is completed, the response transmission is
aborted and the new response is loaded into the output communication buffer (see

).

Figure 23. Command response aborted

When a byte that does not correspond to a command is sent to the IC, it is ignored and the
WRONG_CMD flag in the STATUS register is raised (see

Section 9.1.19

).

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Summary of Contents for L6472

Page 1: ...MOS full bridge with all of the power switches equipped with an accurate on chip current sensing circuitry suitable for non dissipative current control and overcurrent protection Thanks to a new current control a 1 16 microstepping is achieved through an adaptive decay mode which outperforms traditional implementations The digital control core can generate user defined motion profiles with acceler...

Page 2: ...ower up 20 6 2 Logic I O 20 6 3 Charge pump 20 6 4 Microstepping 21 Automatic full step mode 22 6 5 Absolute position counter 23 6 6 Programmable speed profiles 23 6 7 Motor control commands 23 6 7 1 Constant speed commands 24 6 7 2 Positioning commands 24 6 7 3 Motion commands 25 6 7 4 Stop commands 25 6 7 5 Step clock mode 26 6 7 6 GoUntil and ReleaseSW commands 26 6 8 Internal oscillator and os...

Page 3: ...ration mode 32 6 18 FLAG pin 32 7 Phase current control 33 7 1 Predictive current control 33 7 2 Auto adjusted decay mode 34 7 3 Auto adjusted fast decay during the falling steps 36 7 4 Torque regulation output current amplitude regulation 37 8 Serial interface 38 9 Programming manual 40 9 1 Register and flag description 40 9 1 1 ABS_POS 41 9 1 2 EL_POS 41 9 1 3 MARK 42 9 1 4 SPEED 42 9 1 5 ACC 42...

Page 4: ... DIR SPD 57 9 2 6 StepClock DIR 57 9 2 7 Move DIR N_STEP 58 9 2 8 GoTo ABS_POS 58 9 2 9 GoTo_DIR DIR ABS_POS 59 9 2 10 GoUntil ACT DIR SPD 59 9 2 11 ReleaseSW ACT DIR 60 9 2 12 GoHome 60 9 2 13 GoMark 61 9 2 14 ResetPos 61 9 2 15 ResetDevice 61 9 2 16 SoftStop 62 9 2 17 HardStop 62 9 2 18 SoftHiZ 62 9 2 19 HardHiZ 63 9 2 20 GetStatus 63 10 Package information 64 10 1 HTSSOP28 package information 6...

Page 5: ...47 Table 21 SYNC output frequency 48 Table 22 SYNC signal source 48 Table 23 ALARM_EN register 49 Table 24 CONFIG register 49 Table 25 Oscillator management 50 Table 26 External switch hard stop interrupt mode 50 Table 27 Overcurrent event 51 Table 28 Programmable power bridge output slew rate values 51 Table 29 External torque regulation enable 51 Table 30 Switching period 51 Table 31 STATUS regi...

Page 6: ... command structure 62 Table 50 HardStop command structure 62 Table 51 SoftHiZ command structure 62 Table 52 HardHiZ command structure 63 Table 53 GetStatus command structure 63 Table 54 HTSSOP28 package mechanical data 66 Table 55 POWERSO36 package mechanical data 68 Table 56 Document revision history 69 ...

Page 7: ...and examples 25 Figure 11 OSCIN and OSCOUT pin configurations 28 Figure 12 External switch connection 30 Figure 13 Internal 3 V linear regulator 31 Figure 14 Predictive current control 33 Figure 15 Non predictive current control 34 Figure 16 Adaptive decay fast decay tuning 35 Figure 17 Adaptive decay switch from normal to slow fast decay mode and vice versa 36 Figure 18 Fast decay tuning during t...

Page 8: ...WDJH 5HJ W 2VF GULYHU ORFN JHQ 0 2VFLOODWRU KDUJH SXPS 9 63 5HJLVWHUV RQWURO RJLF XUUHQW V RPSDUDWRUV 7HPSHUDWXUH VHQVLQJ XUUHQW VHQVLQJ 67 567 6 6 2 6 86 6 1 6 67 1 9 26 1 26 7 2 2 9 3 5 9 1 7 8 2 1 3 1 3 1 96 96 287 287 96 96 287 287 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 6 9 9ERRW 9ERRW 9ERRW 9ERRW ...

Page 9: ...C Logic inputs voltage range 0 3 to 5 5 V Iout 1 R m s output current 3 A Iout_peak 1 Pulsed output current TPULSE 1 ms 7 A TOP Operating junction temperature 40 to 150 C Ts Storage temperature range 55 to 150 C Ptot Total power dissipation TA 25 C 2 5 W 1 Maximum output current limit is related to metal connection and bonding characteristics Actual limit must satisfy maximum thermal dissipation c...

Page 10: ... HTSSOP28 1 22 C W POWERSO36 2 12 1 HTSSOP28 mounted on the EVAL6472H Rev 1 0 board four layer FR4 PCB with a dissipating copper surface of about 40 cm2 on each layer and 15 via holes below the IC 2 POWERSO36 mounted on the EVAL6472PD Rev 1 0 board four layer FR4 PCB with a dissipating copper surface of about 40 cm2 on each layer and 22 via holes below the IC ...

Page 11: ...65 mA Tj WRN Thermal warning temperature 130 C Tj SD Thermal shutdown temperature 160 C Charge pump Vpump Voltage swing for charge pump oscillator 10 V fpump min Minimum charge pump oscillator frequency 1 660 kHz fpump max Maximum charge pump oscillator frequency 1 800 kHz Iboot Average boot current fsw A fsw B 15 6 kHz POW_SR 10 1 1 1 4 mA Output DMOS transistor RDS on High side switch on resista...

Page 12: ...dtime 1 POW_SR 00 250 ns POW_SR 11 fOSC 16 MHz 375 POW_SR 10 fOSC 16 MHz 625 POW_SR 01 fOSC 16 MHz 875 tblank Blanking time 1 POW_SR 00 250 ns POW_SR 11 fOSC 16 MHz 375 POW_SR 10 fOSC 16 MHz 625 POW_SR 01 fOSC 16 MHz 875 Source drain diodes VSD HS High side diode forward ON voltage Iout 1 A 1 1 1 V VSD LS Low side diode forward ON voltage Iout 1 A 1 1 1 V trrHS High side diode reverse recovery tim...

Page 13: ... oscillator frequency 8 32 MHz VOSCOUTH OSCOUT clock source high level voltage Internal oscillator 3 3 V VREG externally supplied IOSCOUT 4 mA 2 4 V VOSCOUTL OSCOUT clock source low level voltage Internal oscillator 3 3 V VREG externally supplied IOSCOUT 4 mA 0 3 V trOSCOUT tfOSCOUT OSCOUT clock source rise and fall time Internal oscillator 20 ns textosc Internal to external oscillator switching d...

Page 14: ...threshold resolution 0 37 5 A tOCD Flag OCD to flag signal delay time dIout dt 350 A µs 650 1000 ns tOCD SD OCD to shutdown delay time dIout dt 350 A µs POW_SR 10 600 µs Standby IqSTBY Quiescent motor supply current in standby conditions VS 8 V 26 34 µA VS 36 V 30 36 tSTBY min Minimum standby time 10 µs tlogicwu Logic power on and wake up time 38 45 µs tcpwu Charge pump power on and wake up time P...

Page 15: ... C in a restricted range and guaranteed by characterization 3 Rise and fall time depends on motor supply voltage value Refer to SRout values in order to evaluate the actual rise and fall time 4 Not valid for the STBY RST pin which has an internal pull down resistor 5 Not valid for the SW and CS pins which have an internal pull up resistor 6 FLAG BUSY and SYNC open drain outputs included 7 See Figu...

Page 16: ...ID022729 Rev 5 4 Pin connection Figure 2 HTSSOP28 pin connection top view 345 Figure 3 POWERSO36 pin connection top view 1 065 065 74 74 45 345 48 04 04 065 065 1 7 005 74 74 73 065 065 065 74 74 45 4 64 4 1 4 065 4 0 7 74 74 1 065 ...

Page 17: ...l converter input 4 5 2 VSA Power supply Full bridge A power supply pin It must be connected to VSB 33 34 26 15 16 12 VSB Power supply Full bridge B power supply pin It must be connected to VSA 22 23 16 1 27 PGND Ground Power ground pin 19 13 2 3 1 OUT1A Power output Full bridge A output 1 35 36 28 OUT2A Power output Full bridge A output 2 17 18 14 OUT1B Power output Full bridge B output 1 20 21 1...

Page 18: ...pre warning or shutdown UVLO wrong command non performable command 6 3 STBY RST Logic input Standby and reset pin LOW logic level resets the logic and puts the device into standby mode If not used it should be connected to VDD 32 25 STCK Logic input Step clock input EPAD Exposed pad Ground Internally connected to PGND AGND and DGND pins Table 6 Pin description continued Number Name Type Function P...

Page 19: ...ications Figure 4 Bipolar stepper motor control application using the L6472 Table 7 Typical application values Name Value CVS 220 nF CVSPOL 100 µF CREG 100 nF CREGPOL 47 µF CDD 100 nF CDDPOL 10 µF D1 Charge pump diodes CBOOT 220 nF CFLY 10 nF RPU 39 k RSW 100 CSW 10 nF ...

Page 20: ...d SoftStop included 6 2 Logic I O Pins CS CK SDI STCK SW and STBY RST are TTL CMOS 3 3 V 5 V compatible logic inputs Pin SDO is a TTL CMOS compatible logic output The VDD pin voltage sets the logic output pin voltage range when it is connected to VREG or a 3 3 V external supply voltage the output is 3 3 V compatible When VDD is connected to a 5 V supply voltage SDO is 5 V compatible VDD is not int...

Page 21: ...teps Step mode can be programmed by the STEP_SEL parameter in the STEP_MODE register see Table 20 on page 47 Step mode can only be changed when bridges are disabled Every time step mode is changed the electrical position i e the point of microstepping sine wave that is generated is reset to zero and the absolute position counter value see Section 6 5 becomes meaningless ...

Page 22: ...ep speed threshold the L6472 switches automatically to full step mode see Figure 7 the driving mode returns to microstepping when motor speed decreases below the full step speed threshold The full step speed threshold is set through the FS_SPD register see Section 9 1 9 on page 44 Figure 7 Automatic full step switching 1IBTF 1IBTF Y S Y S VMM 4UFQ P4UFQQJOH P4UFQQJOH QFBL TJO S Y QFBL ...

Page 23: ...ed logic generates the microstep frequency profile that performs a motor motion compliant to speed profile boundaries All acceleration parameters are expressed in step tick2 and all speed parameters are expressed in step tick the unit of measurement does not depend on selected step mode Acceleration and deceleration parameters range from 2 40 to 212 2 2 40 step tick2 equivalent to 14 55 to 59590 s...

Page 24: ...time Figure 8 Constant speed command examples 6 7 2 Positioning commands An absolute positioning command produces a motion in order to reach a user defined position that is sent to the device together with the command The position can be reached by performing the minimum path minimum physical distance or forcing a direction see Figure 9 The performed motor motion is compliant to programmed speed p...

Page 25: ...rogrammed speed profile boundaries acceleration deceleration minimum and maximum speed Note that with some speed profiles or motion commands the deceleration phase can start before the maximum speed is reached Figure 10 Motion command examples 6 7 4 Stop commands A stop command forces the motor to stop Stop commands can be sent anytime The SoftStop command causes the motor to decelerate with a pro...

Page 26: ... position of the stepper motor is undefined so an initialization algorithm driving the motor to a known position is necessary The GoUntil and ReleaseSW commands can be used in combination with external switch input see Section 6 13 on page 30 to easily initialize the motor position The GoUntil command makes the motor run at the target constant speed until the SW input is forced low falling edge Wh...

Page 27: ...k signal according to the OSC_SEL value otherwise it is unused see Figure 11 6 8 2 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 ...

Page 28: ...63 The overcurrent event expires when all the power MOSFET currents fall below the programmed overcurrent threshold The overcurrent threshold can be programmed through the OCD_TH register in one of 16 available values ranging from 375 mA to 6 A with steps of 375 mA see Table 18 on page 47 It is possible to set if an overcurrent event causes or not the MOSFET turn off bridges in high impedance stat...

Page 29: ...e thermal shutdown threshold Tj OFF is reached the device goes into the thermal shutdown condition the TH_SD bit in the STATUS register is forced low the power bridges are disabled bridges in high impedance state and the HiZ bit in the STATUS register is raised see Section 9 1 19 The thermal shutdown condition only expires when the temperature goes below the thermal warning threshold Tj WRN On exi...

Page 30: ...STATUS register is raised when a switch turn on event SW input falling edge is detected see Section 9 1 19 A GetStatus command releases the SW_EVN flag see Section 9 2 20 on page 63 By default a switch turn on event causes a HardStop interrupt SW_MODE bit of the CONFIG register set to 0 Otherwise SW_MODE bit of the CONFIG register set to 1 switch input events do not cause interrupts and the switch...

Page 31: ... internal voltage regulator can be used to supply the VDD pin in order to make the device digital output range 3 3 V compatible Figure 13 A digital output range 5 V compatible can be obtained connecting the VDD pin to an external 5 V voltage source In both cases a 10 µF capacitance should be connected to the VDD pin in order to obtain a correct operation The internal voltage regulator is able to s...

Page 32: ...7 2 SYNC operation mode The pin works as a synchronization signal when the SYNC_EN bit is set high In this mode a step clock signal is provided on the output according to a SYNC_SEL and STEP_SEL parameter combination see Section 9 1 16 on page 47 6 18 FLAG pin By default an internal open drain transistor pulls the FLAG pin to ground when at least one of the following conditions occur Power up or s...

Page 33: ...d when the motor is stopped through the TVAL_ACC TVAL_DEC TVAL_RUN and TVAL_HOLD registers see Section 7 4 on page 37 The output current amplitude can also be regulated by the ADCIN voltage value see Section 6 15 Each bridge is driven by an independent control system that shares the control parameters only with other bridges 7 1 Predictive current control Unlike a classical peak current control sy...

Page 34: ...lassic peak current control setting the PRED_EN bit in the CONFIG register low default condition In this case after the sense phase tSENSE the power stage is set in the OFF state as shown in Figure 15 Figure 15 Non predictive current control 7 2 Auto adjusted decay mode During the current control the device automatically selects the better decay mode in order to follow the current profile reducing...

Page 35: ... end of every OFF time keeping the OFF state duration constant tOFF is split into tOFF SLOW and tOFF FAST When the current threshold is increased by a microstep change rising step the system returns to normal decay mode slow decay only and the tFAST value is halved Stopping the motor or reaching the current sine wave zero crossing causes the current control system to return to the reset state 0 W ...

Page 36: ...ays reducing the current ripple At reset the fast decay value tFALL is set to FALL_STEP 4 T_FAST register The tFALL value is doubled every time within the same falling step an extra fast decay is necessary to obtain an ON time greater than TON_MIN The maximum tFALL value is equal to FALL_STEP At the next falling step the system uses the last tFALL value of the previous falling step Stopping the mo...

Page 37: ...gister sets the torque regulation method If this bit is high the ADC_OUT prevalue is used to regulate output current amplitude see Section 9 1 14 on page 46 Otherwise the internal analog to digital converter is at the user s disposal and the output current amplitude is managed by the TVAL_HOLD TVAL_RUN TVAL_ACC and TVAL_DEC registers see Section 9 1 10 on page 44 The voltage applied to the ADCIN p...

Page 38: ...evice through the SDI input most significant bit first The SDI is sampled on the rising edges of the CK All output data bytes are shifted out of the device through the SDO output most significant bit first The SDO is latched on the falling edges of the CK When a return value from the device is not available an all zero byte is sent After each byte transmission the CS input must be raised and be ke...

Page 39: ...DocID022729 Rev 5 39 70 L6472 Serial interface 70 Figure 20 Daisy chain configuration ...

Page 40: ...tep s2 R WS h07 MAX_SPEED Maximum speed 10 041 248e 6 step tick 991 8 step s R WR h08 MIN_SPEED Minimum speed 13 000 0 step tick 0 step s R WS h15 FS_SPD Full step speed 10 027 150 7e 6 step tick 602 7 step s R WR h09 TVAL_HOLD Holding current 7 29 1 3125 A R WR h0A TVAL_RUN Constant speed current 7 29 1 3125 A R WR h0B TVAL_ACC Acceleration starting current 7 29 1 3125 A R WR h0C TVAL_DEC Deceler...

Page 41: ...st 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 16 on page 47 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 19 on page 52 h18 CONFIG IC config...

Page 42: ...limited by the MAX_SPEED parameter Any attempt to write the register causes the command to be ignored and the NOTPERF_CMD flag to rise see Section 9 1 19 on page 52 9 1 5 ACC The ACC register contains the speed profile acceleration expressed in step tick2 format unsigned fixed point 0 40 In order to convert ACC value in step s2 the following formula can be used Equation 2 where ACC is the integer ...

Page 43: ...4 where MAX_SPEED is the integer number stored in the register and tick is 250 ns The available range is from 15 25 to 15610 step s with a resolution of 15 25 step s 9 1 8 MIN_SPEED The MIN_SPEED register contains the following parameters The MIN_SPEED parameter contains the speed profile minimum speed Its value is expressed in step tick and to convert it in step s the following formula can be use...

Page 44: ... 63 to 15625 step s with a resolution of 15 25 step s 9 1 10 TVAL_HOLD TVAL_RUN TVAL_ACC and TVAL_DEC The TVAL_HOLD register contains the current value that is assigned to the torque regulation DAC when the motor is stopped The TVAL_RUN register contains the current value that is assigned to the torque regulation DAC when the motor is running at constant speed The TVAL_ACC register contains the cu...

Page 45: ...12 TON_MIN The TON_MIN register contains the minimum ON time value used by the current control system see Section 7 2 on page 34 The available range for both parameters is from 0 5 µs to 64 µs Any attempt to write to the register when the motor is running causes the command to be ignored and the NOTPERF_CMD to rise see Section 9 1 19 Table 13 T_FAST register Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit...

Page 46: ... see Section 9 1 19 on page 52 9 1 14 ADC_OUT The ADC_OUT register contains the result of the analog to digital conversion of the ADCIN pin voltage Any attempt to write to the register causes the command to be ignored and the NOTPERF_CMD flag to rise see Section 9 1 19 Table 16 Minimum OFF time TOFF_MIN 6 0 Time 0 0 0 0 0 0 0 0 5 µs 0 0 0 0 0 0 1 1 µs 1 1 1 1 1 1 0 63 5 µs 1 1 1 1 1 1 1 64 µs Tabl...

Page 47: ...is reset to the first microstep Warning Every time STEP_SEL is changed the value in the ABS_POS register looses meaning and should be reset Table 18 Overcurrent detection threshold OCD_TH 3 0 Overcurrent detection threshold 0 0 0 0 375 mA 0 0 0 1 750 mA 1 1 1 0 5 625 A 1 1 1 1 6 A Table 19 STEP_MODE register Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 SYNC_EN SYNC_SEL 1 1 1 When the register i...

Page 48: ... information EL_POS register according to Table 22 Table 21 SYNC output frequency STEP_SEL fFS is the full step frequency 000 001 010 011 100 101 110 111 SYNC_SEL 000 fFS 2 fFS 2 fFS 2 fFS 2 fFS 2 fFS 2 fFS 2 fFS 2 001 NA fFS fFS fFS fFS fFS fFS fFS 010 NA NA 2 fFS 2 fFS 2 fFS 2 fFS 2 fFS 2 fFS 011 NA NA NA 4 fFS 4 fFS 4 fFS 4 fFS 4 fFS 100 NA NA NA NA 8 fFS 8 fFS 8 fFS 8 fFS 101 NA NA NA NA NA NA...

Page 49: ...utput down 9 1 18 CONFIG The CONFIG register has the following structure Table 23 ALARM_EN register ALARM_EN bit Alarm condition 0 LSB Overcurrent 1 Thermal shutdown 2 Thermal warning 3 Undervoltage 4 UNUSED 5 UNUSED 6 Switch turn on event 7 MSB Wrong or non performable command Table 24 CONFIG register Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 PRED_EN TSW POW_SR Bit 7 Bit 6 Bit 5 Bit 4...

Page 50: ...r resonator 8 MHz Crystal resonator driving Crystal resonator driving 0 1 0 1 External crystal or resonator 16 MHz Crystal resonator driving Crystal resonator driving 0 1 1 0 External crystal or resonator 24 MHz Crystal resonator driving Crystal resonator driving 0 1 1 1 External crystal or resonator 32 MHz Crystal resonator driving Crystal resonator driving 1 1 0 0 Ext clock source 8 MHz Crystal ...

Page 51: ...or is running causes the command to be ignored and the NOTPERF_CMD flag to rise see Section 9 1 19 Table 27 Overcurrent event OC_SD Overcurrent event 1 Bridges shut down 0 Bridges do not shut down Table 28 Programmable power bridge output slew rate values POW_SR 1 0 Output slew rate 1 V s 1 1 See SRout_r and SRout_f parameters in Table 5 on page 11 for details 0 0 320 0 1 75 1 0 110 1 1 270 Table ...

Page 52: ...igh and indicates a switch turn on event SW input falling edge The UVLO TH_WRN TH_SD OCD NOTPERF_CMD WRONG_CMD and SW_EVN flags are latched when the respective conditions make them active low or high they remain in that state until a GetStatus command is sent to the IC The BUSY bit reflects the BUSY pin status The BUSY flag is low when a constant speed positioning or motion command is under execut...

Page 53: ... indicates the current motor status Any attempt to write to the register causes the command to be ignored and the NOTPERF_CMD to rise Table 33 STATUS register MOT_STATUS bits MOT_STATUS Motor status 0 0 Stopped 0 1 Acceleration 1 0 Deceleration 1 1 Constant speed ...

Page 54: ... DIR direction GoUntil ACT DIR SPD 100 0 ACT 01 DIR Performs a motion in DIR direction with speed SPD until SW is closed the ACT action is executed then a SoftStop takes place ReleaseSW ACT DIR 100 1 ACT 01 DIR Performs a motion in DIR direction at minimum speed until the SW is released open the ACT action is executed then a HardStop takes place GoHome 011 1 0 00 0 Brings the motor in HOME positio...

Page 55: ... are GetParam and GetStatus commands When one of these commands is received the following response bytes represent the related register value see Figure 22 Response length can vary from 1 to 3 bytes Figure 22 Command with 3 byte response During response transmission new commands can be sent If a command requiring a response is sent before the previous response is completed the response transmissio...

Page 56: ...en in particular conditions see Table 9 any attempt to write one of these registers when the conditions are not satisfied causes the command to be ignored and the NOTPERF_CMD flag to rise at the end of last argument byte see Section 9 1 19 on page 52 Any attempt to set an inexistent register wrong address value causes the command to be ignored and the WRONG_CMD flag to rise at the end of the comma...

Page 57: ...which is the same format as the SPEED register see Section 9 1 4 on page 42 Note The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED otherwise the Run command is executed at MAX_SPEED or MIN_SPEED respectively This command keeps the BUSY flag low until the target speed is reached This command can be given anytime and is immediately executed 9 2 6 StepClock DIR The StepClock com...

Page 58: ...d step mode full half quarter etc This command keeps the BUSY flag low until the target number of steps is performed This command can only be performed when the motor is stopped If a motion is in progress the motor must be stopped and it is then possible to perform a Move command Any attempt to perform a Move command when the motor is running causes the command to be ignored and the NOTPERF_CMD fl...

Page 59: ... causes the command to be ignored and the NOTPERF_CMD flag to rise see Section 9 1 19 9 2 10 GoUntil ACT DIR SPD The GoUntil command produces a motion at SPD speed imposing a forward DIR 1 or a reverse DIR 0 direction When an external switch turn on event occurs see Section 6 13 on page 30 the ABS_POS register is reset if ACT 0 or the ABS_POS register value is copied into the MARK register if ACT ...

Page 60: ...e is less than 5 step s or low speed optimization is enabled the motion is performed at 5 step s The ReleaseSW command keeps the BUSY flag low until the switch input is released and the motor is stopped 9 2 12 GoHome The GoHome command produces a motion to the HOME position zero position via the shortest path Note that this command is equivalent to the GoTo 0 0 command If a motor direction is mand...

Page 61: ... BUSY low causes the command to be ignored and the NOTPERF_CMD flag to rise see Section 9 1 19 on page 52 9 2 14 ResetPos The ResetPos command resets the ABS_POS register to zero The zero position is also defined as HOME position see Section 6 5 on page 23 9 2 15 ResetDevice The ResetDevice command resets the device to power up conditions see Section 6 1 on page 20 Note At power up the power bridg...

Page 62: ...ion is performed This command can be given anytime and is immediately executed This command keeps the BUSY flag low until the motor is stopped 9 2 18 SoftHiZ 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 mot...

Page 63: ... BUSY flag low until the motor is stopped 9 2 20 GetStatus 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 Table 52 HardHiZ command structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 1 0 1 0 1 0 0 0 From host Tabl...

Page 64: ...In order to meet environmental requirements ST offers these devices in different grades of ECOPACK packages depending on their level of environmental compliance ECOPACK specifications grade definitions and product status are available at www st com ECOPACK is an ST trademark ...

Page 65: ...DocID022729 Rev 5 65 70 L6472 Package information 70 10 1 HTSSOP28 package information Figure 24 HTSSOP28 package outline ...

Page 66: ...09 0 2 D 1 1 Dimension D does not include mold flash protrusions or gate burrs Mold flash protrusions or gate burrs do not exceed 0 15 mm per side 9 6 9 7 9 8 D1 5 5 E 6 2 6 4 6 6 E1 2 2 Dimension E1 does not include interlead flash or protrusions Interlead flash or protrusions do not exceed 0 25 mm per side 4 3 4 4 4 5 E2 2 8 e 0 65 L 0 45 0 6 0 75 L1 1 0 K 0 8 aaa 0 1 ...

Page 67: ...D022729 Rev 5 67 70 L6472 Package information 70 10 2 POWERSO36 package information Figure 25 POWERSO36 package outline H D D 362 0 7 K Û 7 OHDG VOXJ D 6 DJH 3ODQH 7 7 23 1 5 7 6 7 1 3 1 H F 1 1 0 E 27720 9 ...

Page 68: ...0 10 0 30 a2 3 30 a3 0 0 10 b 0 22 0 38 c 0 23 0 32 D 1 1 Dimension D E1 does not include mold flash protrusions or gate burrs Mold flash protrusions or gate burrs do not exceed 0 15 mm per side 15 80 16 00 D1 9 40 9 80 E 13 90 14 50 E1 1 10 90 11 10 E2 2 90 E3 5 8 6 2 e 0 65 e3 11 05 G 0 0 10 H 15 50 15 90 h 1 10 L 0 80 1 10 N 10 S 0 8 ...

Page 69: ...difications throughout document 19 May 2014 4 Updated Section 6 4 on page 21 replaced the first microstep by zero Removed Section Infinite acceleration deceleration mode from page 23 Updated Section 9 1 5 on page 42 replaced When the ACC value is set to 0xFFF the device works in infinite acceleration mode by The 0xFFF value of the register is reserved and it should never be used Updated Section 9 ...

Page 70: ...asers are solely responsible for the choice selection and use of ST products and ST assumes no liability for application assistance or the design of Purchasers products No license express or implied to any intellectual property right is granted by ST herein Resale of ST products with provisions different from the information set forth herein shall void any warranty granted by ST for such product S...

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