L6470PD datasheet(54/70 Pages) STMICROELECTRONICS

54 / 70 page

Programming manual

L6470

54/70

Doc ID16737 Rev 5

Any attempt to write the CONFIG register when the motor is running causes the command

to be ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22).

9.1.22

STATUS

When the HiZ flag is high, it indicates that the bridges are in high impedance state. Any

motion command makes the device exit from High Z state (HardStop and SoftStop

included), unless error flags forcing a High Z state are active.

The UVLO flag is active low and is set by an undervoltage lockout or reset events (power-up

included).

The TH_WRN, TH_SD, OCD flags are active low and indicate, respectively, thermal

warning, thermal shutdown and overcurrent detection events.

STEP_LOSS_A and STEP_LOSS_B flags are forced low when a stall is detected on bridge

A or bridge B respectively.

The NOTPERF_CMD and WRONG_CMD flags are active high and indicate, respectively,

that the command received by SPI cannot be performed or does not exist at all.

The SW_F flag reports the SW input status (low for open and high for closed).

The SW_EVN flag is active high and indicates a switch turn-on event (SW input falling

edge).

The UVLO, TH_WRN, TH_SD, OCD, STEP_LOSS_A, STEP_LOSS_B, NOTPERF_CMD,

WRONG_CMD and SW_EVN flags are latched: when the respective conditions make them

active (low or high), they remain in that state until a GetStatus command is sent to the IC.

The BUSY bit reflects the BUSY pin status. The BUSY flag is low when a constant speed,

positioning or motion command is under execution and is released (high) after the command

has been completed.

The SCK_MOD bit is an active high flag indicating that the device is working in Step-clock

mode. In this case the step-clock signal should be provided through the STCK input pin. The

DIR bit indicates the current motor direction:

MOT_STATUS indicates the current motor status:

Table 34.

STATUS register

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

SCK_MOD

STEP_LOSS_B

STEP_LOSS_A

OCD

TH_SD

TH_WRN

UVLO

WRONG_CMD

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

NOTPERF_CMD

MOT_STATUS

DIR

SW_EVN

SW_F

BUSY

HiZ

Table 35.

STATUS register DIR bit

DIR

Motor direction

1Forward

0Reverse

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