Programming manual
L6470
60/64
Doc ID 16737 Rev 2
When the motor is in high-impedance state, a HardStop command forces the bridges to exit
from high impedance state; no motion is performed.
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 DEC register (see
paragraph
). When bridges are disabled the HiZ flag is raised.
When the motor is stopped, a SoftHiZ command forces the bridges to enter in high-
impedance state.
9.2.19 HardHiZ
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 in high-
impedance state.
9.2.20 GetStatus
The GetStatus command returns the Status register value.
GetStatus command resets the STATUS register warning flags. The command forces the
system to exit from any error state. The GetStatus command DO NOT reset HiZ flag.
Table 53.
SoftHiZ command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1
0
1
0
0
0
0
0
from host
Table 54.
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
Table 55.
GetStatus command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1
1
0
1
0
0
0
0
from host
STATUS MSByte
to host
STATUS LSByte
to host
