L6470PD datasheet(41/70 Pages) STMICROELECTRONICS

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L6470

Programming manual

Doc ID16737 Rev 5

41/70

9.1.1

ABS_POS

The ABS_POS register contains the current motor absolute position in agreement with the

selected step mode; the stored value unit is equal to the selected step mode (full, half,

quarter, etc.). The value is in 2's complement format and it ranges from -221 to +221-1.

At power-on the register is initialized to “0” (HOME position).

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

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

9.1.2

EL_POS

The EL_POS register contains the current electrical position of the motor. The two MSbits

indicate the current step and the other bits indicate the current microstep (expressed in

step/128) within the step.

When the EL_POS register is written by the user, the new electrical position is instantly

imposed. When the EL_POS register is written, its value must be masked in order to match

with the step mode selected in the STEP_MODE register in order to avoid a wrong

microstep value generation (see Section 9.1.19); otherwise the resulting microstep

sequence is incorrect.

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

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

h18

CONFIG

IC configuration

2E88

Internal oscillator, 2 MHz

OSCOUT clock, supply voltage

compensation disabled,

overcurrent shutdown enabled,

slew rate = 290 V/µs PWM

frequency = 15.6 kHz.

R, WH

h19

STATUS

Status

XXXX (2)

High impedance state,

UVLO/Reset flag set.

h1A

RESERVED

Reserved address

h1B

RESERVED

Reserved address

R: readable, WH: writable only when outputs are in high impedance, WS: writable only when motor is stopped, WR: always

writable.

According to startup conditions.

Table 9.

Address

[Hex]

Len.

[bit]

Reset

Hex

Reset

value

Remarks (1)

Table 10.

EL_POS register

Bit 8

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

STEP

MICROSTEP

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