Datasheet

Programming manual L6470
56/70 Doc ID16737 Rev 5
9.2.1 Command management
The host microcontroller can control motor motion and configure the L6470 through a
complete set of commands.
All commands are composed by a single byte. After the command byte, some bytes of
arguments should be needed (see Figure 20). Argument length can vary from 1 to 3 bytes.
Figure 20. Command with 3-byte argument
By default, the device returns an all zero response for any received byte, the only exceptions
are the GetParam and GetStatus commands. When one of these commands is received,
the following response bytes represent the related register value (see Figure 21). Response
length can vary from 1 to 3 bytes.
Figure 21. Command with 3-byte response
During response transmission, new commands can be sent. If a command requiring a
response is sent before the previous response is completed, the response transmission is
aborted and the new response is loaded into the output communication buffer (see
Figure 22).
HardStop 101 1 1 00 0 Stops motor immediately
SoftHiZ 101 0 0 00 0
Puts the bridges into high impedance status after a
deceleration phase
HardHiZ 101 0 1 00 0 Puts the bridges into 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
Table 37. Application commands (continued)
Command mnemonic
Command binary code
Action
[7..5] [4] [3] [2..1] [0]
3$)
3$/
#OMMANDBYTE
!RGUMENTBYTE
-3"
!RGUMENTBYTE
,3"
!RGUMENTBYTE
X X X X
FROMHOST
TOHOST
3$)
3$/
#OMMANDBYTE
2ESPONSEBYTE
-3"
2ESPONSEBYTE
,3"
2ESPONSEBYTEX
./0 ./0 ./0
FROMHOST
TOHOST