Datasheet
Table Of Contents
- Table 1. Device summary
- 1 Block diagram
- 2 Electrical data
- 3 Electrical characteristics
- 4 Pin connection
- 5 Typical applications
- 6 Functional description
- 6.1 Device power-up
- 6.2 Logic I/O
- 6.3 Charge pump
- 6.4 Microstepping
- 6.5 Absolute position counter
- 6.6 Programmable speed profiles
- 6.7 Motor control commands
- 6.8 Internal oscillator and oscillator driver
- 6.9 Overcurrent detection
- 6.10 Undervoltage lockout (UVLO)
- 6.11 Thermal warning and thermal shutdown
- 6.12 Reset and standby
- 6.13 External switch (SW pin)
- 6.14 Programmable DMOS slew rate, deadtime and blanking time
- 6.15 Integrated analog-to-digital converter
- 6.16 Internal voltage regulator
- 6.17 BUSY\SYNC pin
- 6.18 FLAG pin
- 7 Phase current control
- 8 Serial interface
- 9 Programming manual
- 9.1 Registers and flags description
- Table 9. Register map
- 9.1.1 ABS_POS
- 9.1.2 EL_POS
- 9.1.3 MARK
- 9.1.4 SPEED
- 9.1.5 ACC
- 9.1.6 DEC
- 9.1.7 MAX_SPEED
- 9.1.8 MIN_SPEED
- 9.1.9 FS_SPD
- 9.1.10 KVAL_HOLD, KVAL_RUN, KVAL_ACC and KVAL_DEC
- 9.1.11 INT_SPEED
- 9.1.12 ST_SLP
- 9.1.13 FN_SLP_ACC
- 9.1.14 FN_SLP_DEC
- 9.1.15 K_THERM
- 9.1.16 ADC_OUT
- 9.1.17 OCD_TH
- 9.1.18 STALL_TH
- 9.1.19 STEP_MODE
- 9.1.20 ALARM_EN
- 9.1.21 CONFIG
- Table 22. CONFIG register
- Table 23. Oscillator management
- Table 24. External switch hard stop interrupt mode
- Table 25. Overcurrent event
- Table 26. Programmable power bridge output slew rate values
- Table 27. Motor supply voltage compensation enable
- Table 28. PWM frequency: integer division factor
- Table 29. PWM frequency: multiplication factor
- Table 30. Available PWM frequencies [kHz]: 8-MHz oscillator frequency
- Table 31. Available PWM frequencies [kHz]: 16-MHz oscillator frequency
- Table 32. Available PWM frequencies [kHz]: 24-MHz oscillator frequency
- Table 33. Available PWM frequencies [kHz]: 32-MHz oscillator frequency
- 9.1.22 STATUS
- 9.2 Application commands
- Table 37. Application commands
- 9.2.1 Command management
- 9.2.2 Nop
- 9.2.3 SetParam (PARAM, VALUE)
- 9.2.4 GetParam (PARAM)
- 9.2.5 Run (DIR, SPD)
- 9.2.6 StepClock (DIR)
- 9.2.7 Move (DIR, N_STEP)
- 9.2.8 GoTo (ABS_POS)
- 9.2.9 GoTo_DIR (DIR, ABS_POS)
- 9.2.10 GoUntil (ACT, DIR, SPD)
- 9.2.11 ReleaseSW (ACT, DIR)
- 9.2.12 GoHome
- 9.2.13 GoMark
- 9.2.14 ResetPos
- 9.2.15 ResetDevice
- 9.2.16 SoftStop
- 9.2.17 HardStop
- 9.2.18 SoftHiZ
- 9.2.19 HardHiZ
- 9.2.20 GetStatus
- 9.1 Registers and flags description
- 10 Package information
- 11 Revision history
Programming manual L6470
62/73 DocID16737 Rev 7
9.2.9 GoTo_DIR (DIR, ABS_POS)
The GoTo_DIR command produces a motion to ABS_POS absolute position imposing
a forward (DIR = '1') or a reverse (DIR = '0') rotation. The ABS_POS value is always in
agreement with the selected step mode; the parameter value unit is equal to the selected
step mode (full, half, quarter, etc.).
The GoTo_DIR command keeps the BUSY flag low until the target speed is reached. This
command can be given only when the previous motion command has been completed
(BUSY flag released).
Any attempt to perform a GoTo_DIR command when a previous command is under
execution (BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to
rise (see Section 9.1.22 on page 55).
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 31), the ABS_POS register is reset (if ACT = '0') or the ABS_POS
register value is copied into the MARK register (if ACT = '1'); then the system performs a
SoftStop command.
The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same
format as the SPEED register (see Section 9.1.4 on page 42).
The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED,
otherwise the target speed is imposed at MAX_SPEED or MIN_SPEED respectively.
If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event
causes a HardStop interrupt instead of the SoftStop one (see Section 6.13 and
Section 9.1.21 on page 49).
This command keeps the BUSY flag low until the switch turn-on event occurs and the motor
is stopped. This command can be given anytime and is immediately executed.
Table 45. GoTo_DIR command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0110100DIRFrom host
X X ABS_POS (Byte 2) From host
ABS_POS (Byte 1) From host
ABS_POS (Byte 0) From host
Table 46. GoUntil command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1000ACT01DIR From host
X X X X SPD (Byte 2) From host
SPD (Byte 1) From host
SPD (Byte 0) From host