L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
'L6470HTR' PDF : 73 Pages View PDF
L6470
9.2.7
9.2.8
Programming manual
Move (DIR, N_STEP)
Bit 7
0
X
Bit 6
1
X
Table 43. Move command structure
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
0
0
0
0
DIR
N_STEP (Byte 2)
N_STEP (Byte 1)
N_STEP (Byte 0)
From host
From host
From host
From host
The Move command produces a motion of N_STEP microsteps; the direction is selected by
the DIR bit ('1' forward or '0' reverse).
The N_STEP value is always in agreement with the selected step mode; the parameter
value unit is equal to the selected step mode (full, half, quarter, etc.).
This command keeps the BUSY flag low until the target number of steps is performed. This
command can only be performed when the motor is stopped. If a motion is in progress, the
motor must be stopped and it is then possible to perform a Move command.
Any attempt to perform a Move command when the motor is running causes the command
to be ignored and the NOTPERF_CMD flag to rise (see Section 9.1.22 on page 55).
GoTo (ABS_POS)
Bit 7
0
X
Bit 6
1
X
Table 44. GoTo command structure
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1
0
0
0
0
0
ABS_POS (Byte 2)
ABS_POS (Byte 1)
ABS_POS (Byte 0)
From host
From host
From host
From host
The GoTo command produces a motion to ABS_POS absolute position through the shortest
path. The ABS_POS value is always in agreement with the selected step mode; the
parameter value unit is equal to the selected step mode (full, half, quarter, etc.).
The GoTo command keeps the BUSY flag low until the target position is reached.
This command can be given only when the previous motion command has been completed
(BUSY flag released).
Any attempt to perform a GoTo command when a previous command is under execution
(BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see
Section 9.1.22).
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