POWERSTEP01 datasheet(81/92 Pages) STMICROELECTRONICS

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powerSTEP01

Programming manual

11.2.16

SoftStop

The SoftStop command causes an immediate deceleration to zero speed and a consequent

motor stop; the deceleration value used is the one stored in the DEC register

(Section 11.1.6 on page 54).

When the motor is in high impedance state, a SoftStop 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.

11.2.17

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

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.

11.2.18

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

(Section 11.1.6). 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.

Table 75. SoftStop command structure

Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0

10110000

From host

Table 76. HardStop command structure

Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0

10111000

From host

Table 77. SoftHiZ command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

101000

From host

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