L6472 STMICROELECTRONICS [STMicroelectronics], L6472 Datasheet - Page 41

• Manufacturer Part Number: L6472
• Description: dSPIN fully integrated microstepping motor driver
• Manufacturer: STMICROELECTRONICS [STMicroelectronics]

L6472
Table 9.
1. R: Readable, WH: writable only when outputs are in high-impedance, WS: writable only when motor is stopped, WR:
2. According to startup conditions.
9.1.1
9.1.2
Address
[Hex]
always writable.
h1A
h1B
h18
h19
RESERVED
RESERVED
Register map (continued)
ABS_POS
The ABS_POS register contains the current motor absolute position in agreement to 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 -2
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
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.
Table 10.
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
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
Register
CONFIG
STATUS
Bit 8
name
STEP
Bit 7
IC configuration
Status
Reserved address
Reserved address
EL_POS register
Register function
Bit 6
Doc ID 022729 Rev 1
Bit 5
Section
Len. [bit]
16
16
9.1.16); otherwise the resulting microstep
Bit 4
XXXX
Reset
2E88
Hex
MICROSTEP
Section
Section
(2)
Bit 3
Internal oscillator, 2 MHz
OSCOUT clock, supply
voltage compensation
disabled, overcurrent
shutdown enabled, slew
rate = 290 V/µs TSW =
40 µs
High-impedance state,
UVLO/reset flag set.
9.1.19).
9.1.19).
Reset Value
Bit 2
Programming manual
21
Bit 1
to +2
21
Remarks
-1.
R, WH
Bit 0
(1)
R
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