L6472 datasheet(59/69 Pages) STMICROELECTRONICS

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L6472

Programming manual

Doc ID 022729 Rev 1

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9.2.9

GoTo_DIR (DIR, ABS_POS)

The GoTo_DIR command produces a motion to the 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 9.1.19).

9.2.10

GoUntil (ACT, DIR, SPD)

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), the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is

copied into the MARK register (if ACT = '1'); the system then performs a SoftStop command.

The SPD value is expressed in step/tick (format unsigned fixed point 0.28) which is the

same format as the SPEED register (see Section 9.1.4).

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 9.1.18).

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.

Table 41.

GoTo_DIR command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIR

From host

ABS_POS (Byte 2)

From host

ABS_POS (Byte 1)

From host

ABS_POS (Byte 0)

From host

Table 42.

GoUntil command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ACT

DIR

From host

SPD (Byte 2)

From host

SPD (Byte 1)

From host

SPD (Byte 0)

From host

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