L6480 datasheet(66/73 Pages) STMICROELECTRONICS

66 / 73 page

Programming manual

L6480

66/73

Doc ID 023278 Rev 3

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 (Section 6.14 and Section 9.1.23).

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.

9.2.11

ReleaseSW (ACT, DIR)

The ReleaseSW command produces a motion at minimum speed imposing a forward (DIR =

'1') or reverse (DIR = '0') rotation. When SW is released (opened) the ABS_POS register is

reset (ACT = '0') or the ABS_POS register value is copied into the MARK register (ACT =

'1'); the system then performs a HardStop command.

Note that, resetting the ABS_POS register is equivalent to setting the HOME position.

If the minimum speed value is less than 5 step/s or low speed optimization is enabled, the

motion is performed at 5 step/s.

The ReleaseSW command keeps the BUSY flag low until the switch input is released and

the motor is stopped.

9.2.12

GoHome

The GoHome command produces a motion to the HOME position (zero position) via the

shortest path.

Note that, this command is equivalent to the “GoTo(0…0)” command. If a motor direction is

mandatory, the GoTo_DIR command must be used (Section 9.2.9).

The GoHome command keeps the BUSY flag low until the home position is reached. This

command can be given only when the previous motion command has been completed. Any

attempt to perform a GoHome command when a previous command is under execution

(BUSY low) causes the command to be ignored and the NOTPERF_CMD to rise

(Section 9.1.24).

9.2.13

GoMark

Table 58.

ReleaseSW command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ACT

DIR

from host

Table 59.

GoHome command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

from host

Table 60.

GoMark command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1111

000

from host

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