L6472 STMICROELECTRONICS [STMicroelectronics], L6472 Datasheet - Page 59

• Manufacturer Part Number: L6472
• Description: dSPIN fully integrated microstepping motor driver
• Manufacturer: STMICROELECTRONICS [STMicroelectronics]

L6472
9.2.9
9.2.10
GoTo_DIR (DIR, ABS_POS)
Table 41.
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
GoUntil (ACT, DIR, SPD)
Table 42.
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
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
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
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.
Bit 7
Bit 7
0
X
X
1
6.13), the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is
Section
Bit 6
GoTo_DIR command structure
GoUntil command structure
X
0
Bit 6
X
1
9.1.19).
Bit 5
X
0
Doc ID 022729 Rev 1
Bit 4
ABS_POS (Byte 1)
ABS_POS (Byte 0)
SPD (Byte 1)
SPD (Byte 0)
X
0
Bit 5
1
Bit 3
ACT
Section
ABS_POS (Byte 2)
Bit 4
9.1.4).
Bit 2
0
SPD (Byte 2)
0
Bit 3
1
Bit 1
1
Bit 2
Section 6.13
0
Programming manual
Bit 1
Bit 0
DIR
0
Bit 0
and 9.1.18).
DIR
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