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L6470PD 数据表(PDF) 24 Page - STMicroelectronics |
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L6470PD 数据表(HTML) 24 Page - STMicroelectronics |
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24 / 70 page  Functional description L6470 24/70 Doc ID16737 Rev 5 6.6.1 Infinite acceleration/deceleration mode When the ACC register value is set to max. (0xFFF), the system works in “infinite acceleration mode”: acceleration and deceleration phases are totally skipped, as shown in Figure 8. It is not possible to skip the acceleration or deceleration phase independently. Figure 8. Speed profile in infinite acceleration/deceleration mode 6.7 Motor control commands The L6470 can accept different types of commands: ● constant speed commands (Run, GoUntil, ReleaseSW) ● absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark) ● motion commands (Move) ● stop commands (SoftStop, HardStop, SoftHiz, HardHiz). For detailed command descriptions refer to Section 9.2 on page 55. 6.7.1 Constant speed commands A constant speed command produces a motion in order to reach and maintain a user- defined target speed starting from the programmed minimum speed (set in the MIN_SPEED register) and with the programmed acceleration/deceleration value (set in the ACC and DEC registers). A new constant speed command can be requested anytime. |
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