L6480 datasheet(43/73 Pages) STMICROELECTRONICS

43 / 73 page

L6480

Programming manual

Doc ID 023278 Rev 3

43/73

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 (Section 9.1.24).

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

h18

GATECFG1

Gate driver

configuration

Igate = 4 mA, tCC = 125 ns, no

boost

R, WH

h19

GATECFG2

Gate driver

configuration

tBLANK = 125 ns, tDT = 125 ns

R, WH

h1A

CONFIG

IC configuration

2C88

Internal 16 MHz oscillator

(OSCOUT@2 MHz),

SW event causes HardStop,

motor supply voltage

compensation disabled,

overcurrent shutdown,

VCC = 7.5 V,

UVLO threshold low,

fPWM = fOSC / 1024

R, WH

h1B

STATUS

Status

XXXX(2)

High impedance state,

motor stopped,

reverse direction,

all fault flags released

UVLO/Reset flag set

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 11.

Address

[Hex]

Len.

[bit]

Reset

Hex

Reset

Value

Remarks

(1)

Table 12.

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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