L6470 datasheet(56/70 Pages) STMICROELECTRONICS

56 / 70 page

Programming manual

L6470

56/70

Doc ID16737 Rev 4

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

Stops motor immediately

SoftHiZ

101

Puts the bridges into high impedance status after a

deceleration phase

HardHiZ

101

Puts the bridges into high impedance status immediately

GetStatus

110

Returns the STATUS register value

RESERVED

111

RESERVED COMMAND

RESERVED

111

RESERVED COMMAND

Table 37.

Application commands (continued)

Command mnemonic

Command binary code

Action

[7..5] [4]

[3]

[2..1]

[0]

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