L6472PD datasheet(61/69 Pages) STMICROELECTRONICS

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L6472

Programming manual

Doc ID 022729 Rev 1

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The GoMark command keeps the BUSY flag low until the MARK position is reached. This

command can be given only when the previous motion command has been completed

(BUSY flag released).

Any attempt to perform a GoMark command when a previous command is under execution

(BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see

Section 9.1.19).

9.2.14

ResetPos

The ResetPos command resets the ABS_POS register to zero. The zero position is also

defined as HOME position (see Section 6.5).

9.2.15

ResetDevice

The ResetDevice command resets the device to power-up conditions (see Section 6.1).

Note:

At power-up the power bridges are disabled.

9.2.16

SoftStop

The SoftStop command causes an immediate deceleration to zero speed and a consequent

motor stop; the deceleration value used is the one stored in the DEC register (see

Section 9.1.6).

When the motor is in high-impedance state, a SoftStop command forces the bridges to exit

from high-impedance state; no motion is performed.

This command can be given anytime and is immediately executed. This command keeps

the BUSY flag low until the motor is stopped.

Table 45.

ResetPos command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

Table 46.

ResetDevice command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

Table 47.

SoftStop command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

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