AN4241

Motion engine

Doc ID 024193 Rev 1

7/18

2.1

Speed tracking commands

During the speed tracking, the device dynamically changes the motor speed according to

the application requirements. The Run command can be used to achieve this result.

The Run command sets the speed target and direction which the motor has to reach. Both

speed target and direction can be changed in real time through a new Run command (see

Figure 3).

GoUntil

4 (including 3

of arguments)

Reaching the speed target in the requested

direction and stopping when SW input is

forced low (falling edge).

Always accepted and

immediately executed

(if present, the previous

command is aborted)

ReleaseSW

1

Runnig the motor at low speed in the

requested direction and stopping when SW

input is forced high (rising edge).

Always accepted and

immediately executed

(if present, the previous

command is aborted)

SoftStop

1

Stopping the motor in accordance to the

programmed speed profile.

Always accepted and

immediately executed

(if present, the previous

command is aborted)

HardStop

1

Stopping the motor immediately (infinite

deceleration).

Always accepted and

immediately executed

(if present, the previous

command is aborted)

SoftHiZ

1

Stopping the motor in accordance to the

programmed speed profile and then

disabling the power bridges.

Always accepted and

immediately executed

(if present, the previous

command is aborted)

HardHiz

1

Disabling the power bridges immediately.

Always accepted and

immediately executed

(if present, the previous

command is aborted)

Table 1.

Command list (continued)

Name

Length

(bytes)

Description

Notes