Programming manual L6470
50/64 Doc ID 16737 Rev 2
Any attempt to write the CONFIG register when the motor is running causes the command
to be ignored and the NOTPERF_CMD flag to rise (see paragraph
9.1.22).
9.1.22 STATUS
When HiZ flag is high it indicates that the bridges are in high impedance state. Whichever
motion command makes 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 under-voltage lock out or reset events (power-
up included).
The TH_WRN, TH_SD, OCD flags are active low and indicate respectively thermal warning,
thermal shutdown and over-current detection events.
STEP_LOSS_A and STEP_LOSS_B flags are forced low when a stall is detected on bridge
A or bridge B respectively.
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 report 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).
Table 32. Available PWM frequencies [kHz]: 32 MHz oscillator frequency
F_PWM_DEC
F_PWM_
INT
000 001 010 011 100 101 110 111
000 39.1 46.9 54.7 62.5 78.1 93.8 109.4 125.0
001 19.5 23.4 27.3 31.3 39.1 46.9 54.7 62.5
010 13.0 15.6 18.2 20.8 26.0 31.3 36.5 41.7
011 9.8 11.7 13.7 15.6 19.5 23.4 27.3 31.3
100 7.8 9.4 10.9 12.5 15.6 18.8 21.9 25.0
101 6.5 7.8 9.1 10.4 13.0 15.6 18.2 20.8
110 5.6 6.7 7.8 8.9 11.2 13.4 15.6 17.9
Table 33. STATUS register
Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8
SCK_MOD STEP_LOSS_B STEP_LOSS_A 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
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