L6482H datasheet(23/73 Pages) STMICROELECTRONICS

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L6482

Functional description

Doc ID 023768 Rev 2

23/73

Figure 8.

Speed profile in infinite acceleration/deceleration mode

6.7

Motor control commands

The L6482 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 9.2.

6.7.1

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

6.7.2

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

SPEED

Indexing mode

Constant speed mode

time

Programmed number of microsteps

time

AM15038v1

Programmed

maximum

speed

AM15039v1

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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