Datasheet

Programming manual L6472
54/70 DocID022729 Rev 3
9.2 Application commands
A summary of commands is given in Table 34.
Table 34. 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 the PARAM register
GetParam (PARAM) 001 [PARAM] Returns the stored value in the 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
(non-performable when motor is running)
GoTo (ABS_POS) 011 0 0 00 0
Brings motor in ABS_POS position (minimum
path)
GoTo_DIR (DIR,ABS_POS) 011 0 1 00 DIR
Brings motor in 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
ReleaseSW (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 in HOME position
GoMark 011 1 1 00 0 Brings the motor in MARK position
ResetPos 110 1 1 00 0
Resets the ABS_POS register (set HOME
position)
ResetDevice 110 0 0 00 0 Device is reset to power-up conditions
SoftStop 101 1 0 00 0 Stops motor with a deceleration phase
HardStop 101 1 1 00 0 Stops motor immediately
SoftHiZ 101 0 0 00 0
Puts the bridges in high-impedance status after
a deceleration phase
HardHiZ 101 0 1 00 0
Puts the bridges in high-impedance status
immediately
GetStatus 110 1 0 00 0 Returns the STATUS register value
RESERVED 111 0 1 01 1 RESERVED COMMAND
RESERVED 111 1 1 00 0 RESERVED COMMAND