Datasheet

L6474 Functional description
Doc ID 022529 Rev 3 21/52
6.5 Absolute position counter
An internal 22 bit register (ABS_POS) takes memory of motor motion according to the
selected step mode; the stored value unit is equal to the selected step mode (full, half,
quarter, etc.). The position range is from -2
21
to +2
21
-1 (µ) steps (see Section 9.1.1).
6.6 Step sequence control
The motor movement is defined by the step clock signal applied to the STCK pin. At each
step clock rising edge, the motor is moved by one microstep in the direction selected by DIR
input (high for forward direction and low for reverse direction) and absolute position is
consequently updated.
6.7 Enable and disable commands
The power stage of the device can be enabled and disabled through the respective SPI
commands.
The enable command turns on the power outputs and starts the current control algorithm.
The phase currents are controlled according to present EL_POS value. If a fault condition
requires the power stage to be disabled, the command is ignored.
The disable command immediately forces the power outputs in a high impedance condition.