L6472PD datasheet(62/69 Pages) STMICROELECTRONICS

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Programming manual

L6472

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Doc ID 022729 Rev 1

9.2.17

HardStop

The HardStop command causes an immediate motor stop with infinite deceleration.

When the motor is in high-impedance state, a HardStop command forces the bridges to exit

from high-impedance state; no motion is performed.

This command can be given anytime and is immediately executed. This command keeps

the BUSY flag low until the motor is stopped.

9.2.18

SoftHiZ

The SoftHiZ command disables the power bridges (high-impedance state) after a

deceleration to zero; the deceleration value used is the one stored in the DEC register (see

Section 9.1.6). When bridges are disabled the HiZ flag is raised.

When the motor is stopped, a SoftHiZ command forces the bridges to enter high-impedance

state.

This command can be given anytime and is immediately executed. This command keeps

the BUSY flag low until the motor is stopped.

9.2.19

HardHiZ

The HardHiZ command immediately disables the power bridges (high-impedance state) and

raises the HiZ flag.

When the motor is stopped, a HardHiZ command forces the bridges to enter high-

impedance state.

This command can be given anytime and is immediately executed.

This command keeps the BUSY flag low until the motor is stopped.

Table 48.

HardStop command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

Table 49.

SoftHiZ command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

Table 50.

HardHiZ command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

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