L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
L6470HTR
STMicroelectronics
'L6470HTR' PDF : 70 Pages View PDF
Functional description
L6470
6.7
6.7.1
6.7.2
Motor control commands
The L6470 device can accept different types of commands:
constant speed commands (Run, GoUntil, ReleaseSW)
absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark)
motion commands (Move)
stop commands (SoftStop, HardStop, SoftHiz, HardHiz).
For detailed command descriptions refer to Section 9.2 on page 56.
Constant speed commands
A constant speed command produces a motion in order to reach and maintain a user-
defined target speed starting from the programmed minimum speed (set in the MIN_SPEED
register) and with the programmed acceleration/deceleration value (set in the ACC and DEC
registers). A new constant speed command can be requested anytime.
Figure 8. Constant speed command examples
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Positioning commands
An absolute positioning command produces a motion in order to reach a user-defined
position that is sent to the device together with the command. The position can be reached
performing the minimum path (minimum physical distance) or forcing a direction (see
Figure 9).
The performed motor motion is compliant to programmed speed profile boundaries
(acceleration, deceleration, minimum and maximum speed).
Note that with some speed profiles or positioning commands, the deceleration phase can
start before the maximum speed is reached.
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