DocID025240 Rev 2

7/25

AN4355

Motion engine control

25

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).

Figure 3. Speed tracking using Run command sequences

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

Speed

100

100

200

200

300

300

400

400

500

Time

Run(forward, 100)

Run(forward, 600)

Run(forward, 400)

Run(reverse, 300)

AM16589v1