Datasheet

DocID023278 Rev 4 65/75

L6480 Programming manual

This command reads the current PARAM register value; PARAM is the respective register

address listed in Table 11 on page 43.

The command response is the current value of the register (most significant byte first). The

number of bytes composing the command response depends on the length of the target

The returned value is the register one at the moment of GetParam command decoding. If

All registers can be read anytime.

Any attempt to read an inexistent register (wrong address value) causes the command to be

ignored and the WRONG_CMD flag to rise at the end of the command byte as if an

unknown command code were sent.

9.2.5 Run (DIR, SPD)

The Run command produces a motion at SPD speed; the direction is selected by the DIR

bit: '1' forward or '0' reverse. The SPD value is expressed in step/tick (format unsigned fixed

point 0.28) that is the same format as the SPEED register (Section 9.1.4 on page 45).

Note: The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED,

otherwise the Run command is executed at MAX_SPEED or MIN_SPEED respectively.

This command keeps the BUSY flag low until the target speed is reached.

This command can be given anytime and is immediately executed.

9.2.6 StepClock (DIR)

The StepClock command switches the device in Step-clock mode (Section 6.7.5 on page

26) and imposes the forward (DIR = '1') or reverse (DIR = '0') direction.

When the device is in Step-clock mode, the SCK_MOD flag in the STATUS register is raised

and the motor is always considered stopped (Section 6.7.5 and 9.1.24 on page 59).

The device exits Step-clock mode when a constant speed, absolute positioning or motion

command is sent through SPI. Motion direction is imposed by the respective StepClock

command argument and can by changed by a new StepClock command without exiting

Step-clock mode.

Table 52. Run command structure

Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0

0101000DIR From host

XXXX SPD (Byte 2) From host

SPD (Byte 1) From host

SPD (Byte 0) From host

Table 53. StepClock command structure

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0101100DIRFrom host