L6470HTR View Datasheet(PDF) - STMicroelectronics
Part Name
Description
MFG CO.
'L6470HTR' PDF : 73 Pages View PDF
Programming manual
L6470
9.2.9
GoTo_DIR (DIR, ABS_POS)
Bit 7
0
X
Bit 6
1
X
Table 45. GoTo_DIR command structure
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
1
0
1
0
0
DIR
ABS_POS (Byte 2)
ABS_POS (Byte 1)
ABS_POS (Byte 0)
From host
From host
From host
From host
9.2.10
The GoTo_DIR command produces a motion to ABS_POS absolute position imposing
a forward (DIR = '1') or a reverse (DIR = '0') rotation. 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_DIR command keeps the BUSY flag low until the target speed 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_DIR 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 on page 55).
GoUntil (ACT, DIR, SPD)
Bit 7
1
X
Bit 6
0
X
Table 46. GoUntil command structure
Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
0
ACT
0
1
DIR
X
X
SPD (Byte 2)
SPD (Byte 1)
SPD (Byte 0)
From host
From host
From host
From host
The GoUntil command produces a motion at SPD speed imposing a forward (DIR = '1') or
a reverse (DIR = '0') direction. When an external switch turn-on event occurs (see
Section 6.13 on page 31), the ABS_POS register is reset (if ACT = '0') or the ABS_POS
register value is copied into the MARK register (if ACT = '1'); then the system performs a
SoftStop command.
The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same
format as the SPEED register (see Section 9.1.4 on page 42).
The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED,
otherwise the target speed is imposed at MAX_SPEED or MIN_SPEED respectively.
If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event
causes a HardStop interrupt instead of the SoftStop one (see Section 6.13 and
Section 9.1.21 on page 49).
This command keeps the BUSY flag low until the switch turn-on event occurs and the motor
is stopped. This command can be given anytime and is immediately executed.
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