L6470PD datasheet(61/70 Pages) STMICROELECTRONICS

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L6470

Programming manual

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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'); 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).

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 9.1.21).

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.

Table 46.

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

Table 47.

ReleaseSW command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ACT

DIR

from host

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