L6472 STMICROELECTRONICS [STMicroelectronics], L6472 Datasheet - Page 55

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

L6472
9.2.1
9.2.2
Command management
The host microcontroller can control motor motion and configure the L6472 through a
complete set of commands.
All commands are composed by a single byte. After the command byte, some argument
bytes should be needed (see
Figure 22. Command with 3-byte argument
By default the device returns an all zeroes response for any received byte, the only
exceptions are GetParam and GetStatus commands. When one of these commands is
received the following response bytes represents the related register value (see
Response length can vary from 1 to 3 bytes.
Figure 23. Command with 3-byte response
During response transmission, new commands can be sent. If a command requiring a
response is sent before the previous response is completed, the response transmission is
aborted and the new response is loaded into the output communication buffer (see
Figure
Figure 24. Command response aborted
When a byte that does not correspond to a command is sent to the IC, it is ignored and the
WRONG_CMD flag in the STATUS register is raised (see
Nop
Table 34.
Nothing is performed.
Bit 7
0
24).
Bit 6
NOP command structure
0
Bit 5
0
Figure
Doc ID 022729 Rev 1
Bit 4
0
22). Argument length can vary from 1 to 3 bytes.
Bit 3
0
Bit 2
0
Section
Bit 1
0
9.1.19).
Bit 0
Programming manual
0
From host
Figure
55/69
23).