Datasheet

DocID16737 Rev 7 65/73
L6470 Programming manual
73
9.2.17 HardStop
The HardStop command causes an immediate motor stop with infinite deceleration.
When the motor is in high impedance state, a HardStop command forces the bridges to exit
from high impedance state; no motion 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 on page 43). 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.
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 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.
Table 53. HardStop command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
10111000 From host
Table 54. SoftHiZ command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
10100000 From host
Table 55. HardHiZ command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
10101000 From host