Datasheet

Programming manual L6470
56/73 DocID16737 Rev 7
MOT_STATUS indicates the current motor status:
Any attempt to write to the register causes the command to be ignored and the
NOTPERF_CMD flag to rise.
9.2 Application commands
The command summary is given in Table 37 .
Table 36. STATUS register MOT_STATUS bits
MOT_STATUS Motor status
0 0 Stopped
0 1 Acceleration
10 Deceleration
1 1 Constant speed
Table 37. Application commands
Command mnemonic
Command binary code
Action
[7 .… 5] [4] [3] [2 .… 1] [0]
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) 010 1 0 00 DIR Sets the target speed and the motor direction
StepClock(DIR) 010 1 1 00 DIR
Puts the device into Step-clock mode and
imposes DIR direction
Move(DIR,N_STEP) 010 0 0 00 DIR
Makes N_STEP (micro)steps in DIR direction
(Not performable when motor is running)
GoTo(ABS_POS) 011 0 0 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) 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.
ReleseSW(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 into HOME position
GoMark 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)