POWERSTEP01 datasheet(26/92 Pages) STMICROELECTRONICS

26 / 92 page

Functional description

powerSTEP01

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DocID025022 Rev 5

7.7

Motor control commands

The powerSTEP01 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 11.2 on page 73.

7.7.1

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

registers). A new constant speed command can be requested anytime.

Figure 9. Constant speed command examples

7.7.2

Positioning commands

An absolute positioning command produces a motion in order to reach a user-defined

position that is sent to the device together with the command. The position can be reached

performing the minimum path (minimum physical distance) or forcing a direction (see

Figure 10).

Performed motor motion is compliant to programmed speed profile boundaries

(acceleration, deceleration, minimum and maximum speed).

Note that with some speed profiles or positioning commands, the deceleration phase can

start before the maximum speed is reached.

AM12856v1

SPD1

SPD2

SPD3

SPD4

Run(SPD2,FW)

time

Speed

(step frequency)

Run(SPD3,FW)

Run(SPD1,FW)

Run(SPD4,BW)

Minimum

speed

Minimum

speed

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