L6480H datasheet(67/73 Pages) STMICROELECTRONICS

67 / 73 page

L6480

Programming manual

Doc ID 023278 Rev 3

67/73

The GoMark command produces a motion to the MARK position performing the minimum

path.

Note that, this command is equivalent to the “GoTo (MARK)” command. If a motor direction

is mandatory, the GoTo_DIR command must be used.

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

(Section 9.1.24).

9.2.14

ResetPos

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

defined as the HOME position (Section 6.5).

9.2.15

ResetDevice

The ResetDevice command resets the device to power-up conditions (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

(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.

Table 61.

ResetPos command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

from host

Table 62.

ResetDevice command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

from host

Table 63.

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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