L6470PD datasheet(58/70 Pages) STMICROELECTRONICS

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Programming manual

L6470

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Doc ID16737 Rev 5

9.2.4

GetParam (PARAM)

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

address listed in Table 12.

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

number of bytes making up 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 (see Section 9.1.4).

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.

Table 40.

GetParam command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

PARAM

from host

ANS Byte 2 (if needed)

to host

ANS Byte 1 (if needed)

to host

ANS Byte 0

to host

Table 41.

Run command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIR

from host

SPD (Byte 2)

from host

SPD (Byte 1)

from host

SPD (Byte 0)

from host

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