Datasheet

DocID022729 Rev 3 41/70
L6472 Programming manual
70
9.1.1 ABS_POS
The ABS_POS register contains the current motor absolute position in agreement to the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The value is in 2's complement format and it ranges from -2
21
to +2
21
-1.
At power-on the register is initialized to “0” (HOME position).
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).
9.1.2 EL_POS
The EL_POS register contains the current electrical position of the motor. The two MSbits
indicate the current step and the other bits indicate the current microstep (expressed in
step/128) within the step.
When the EL_POS register is written by the user the new electrical position is instantly
imposed. When the EL_POS register is written its value must 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 configuration 16 2E88
Internal oscillator, 2 MHz OSCOUT
clock, supply voltage compensation
disabled, overcurrent shutdown
enabled,
slew rate = 290 V/µs TSW = 40 µs
R, WH
h19 STATUS Status 16 XXXX
(2)
High-impedance state, UVLO/reset
flag set.
R
h1A RESERVED Reserved address
h1B RESERVED Reserved address
1. R: Readable, WH: writable only when outputs are in high-impedance, WS: writable only when motor is stopped, WR: always
writable.
2. According to startup conditions.
3. The bit 3 of the register must be set to one.
Table 9. Register map (continued)
Address
[Hex]
Register
name
Register function
Len.
[bit]
Reset
[Hex]
Reset value Remarks
(1)
Table 10. EL_POS register
Bit 8 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
STEP MICROSTEP