L6472 datasheet(53/69 Pages) STMICROELECTRONICS

53 / 69 page

L6472

Programming manual

Doc ID 022729 Rev 1

53/69

9.1.19

STATUS

When the HiZ flag is high it indicates that the bridges are in high-impedance state. Any

motion command causes the device to exit from High Z state (HardStop and SoftStop

included), unless error flags forcing a High Z state are active.

The UVLO flag is active low and is set by an undervoltage lockout or reset event (power-up

included). The TH_WRN, TH_SD, OCD flags are active low and indicate respectively

thermal warning, thermal shutdown and overcurrent detection events.

The NOTPERF_CMD and WRONG_CMD flags are active high and indicate, respectively,

that the command received by SPI can't be performed or does not exist at all. The SW_F

reports the SW input status (low for open and high for closed).

The SW_EVN flag is active high and indicates a switch turn-on event (SW input falling

edge).

The UVLO, TH_WRN, TH_SD, OCD, NOTPERF_CMD, WRONG_CMD and SW_EVN flags

are latched: when the respective conditions make them active (low or high) they remain in

that state until a GetStatus command is sent to the IC.

The BUSY bit reflects the BUSY pin status. The BUSY flag is low when a constant speed,

positioning or motion command is under execution and is released (high) after the command

has been completed.

The SCK_MOD bit is an active high flag indicating that the device is working in step-clock

mode. In this case the step-clock signal should be provided through the STCK input pin. The

DIR bit indicates the current motor direction:

MOT_STATUS indicates the current motor status:

Table 30.

STATUS register

Bit 15

Bit 14

Bit 13

Bit 12

Bit 11

Bit 10

Bit 9

Bit 8

SCK_MOD

OCD

TH_SD

TH_WRN

UVLO

WRONG_CMD

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

NOTPERF_CMD

MOT_STATUS

DIR

SW_EVN

SW_F

BUSY

HiZ

Table 31.

STATUS register DIR bit

DIR

Motor direction

Forward

Reverse

Table 32.

STATUS register MOT_STATE bits

MOT_STATUS

Motor status

Stopped

Acceleration

Deceleration

Constant speed

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