L6480 datasheet(65/73 Pages) STMICROELECTRONICS

65 / 73 page

L6480

Programming manual

Doc ID 023278 Rev 3

65/73

This command can be given only when the previous motion command as been completed

(BUSY flag released).

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

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

(Section 9.1.24).

9.2.9

GoTo_DIR (DIR, ABS_POS)

The GoTo_DIR command produces a motion to ABS_POS absolute position imposing a

forward (DIR = '1') or a reverse (DIR = '0') rotation. The ABS_POS value is always in

agreement with the selected step mode; the parameter value unit is equal to the selected

step mode (full, half, quarter, etc.).

The GoTo_DIR command keeps the BUSY flag low until the target speed is reached. This

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

(BUSY flag released).

Any attempt to perform a GoTo_DIR command when a previous command is under

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

rise (Section 9.1.24).

9.2.10

GoUntil (ACT, DIR, SPD)

The GoUntil command produces a motion at SPD speed imposing a forward (DIR = '1') or a

reverse (DIR = '0') direction. When an external switch turn-on event occurs (Section 6.14),

the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is copied into

the MARK register (if ACT = '1'); the system then performs a SoftStop command.

The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same

format as the SPEED register (Section 9.1.4).

The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED,

otherwise the target speed is imposed at MAX_SPEED or MIN_SPEED respectively.

Table 56.

GoTo_DIR command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIR

from host

ABS_POS (Byte 2)

from host

ABS_POS (Byte 1)

from host

ABS_POS (Byte 0)

from host

Table 57.

GoUntil command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ACT

DIR

from host

SPD (Byte 2)

from host

SPD (Byte 1)

from host

SPD (Byte 0)

from host

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