POWERSTEP01 datasheet(79/92 Pages) STMICROELECTRONICS

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powerSTEP01

Programming manual

If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event

causes a HardStop interrupt instead of the SoftStop one (Section 7.14 on page 33 and

Section 11.1.27 on page 66).

This command keeps the BUSY flag low until the switch turn-on event occurs and the motor

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

11.2.11

ReleaseSW (ACT, DIR)

The ReleaseSW command produces a motion at minimum speed imposing a forward

(DIR = '1') or reverse (DIR = '0') rotation. When SW is released (opened) the ABS_POS

(ACT = '1'); the system then performs a HardStop command.

Note that, resetting the ABS_POS register is equivalent to setting the HOME position.

If the minimum speed value is less than 5 step/s or low speed optimization is enabled, the

motion is performed at 5 step/s.

The ReleaseSW command keeps the BUSY flag low until the switch input is released and

the motor is stopped.

11.2.12

GoHome

The GoHome command produces a motion to the HOME position (zero position) via the

shortest path.

Note that, this command is equivalent to the “GoTo(0…0)” command. If a motor direction is

mandatory, the GoTo_DIR command must be used (Section 11.2.9 on page 78).

The GoHome command keeps the BUSY flag low until the home position is reached. This

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

attempt to perform a GoHome command when a previous command is under execution

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

(Section 11.1.28 on page 71).

Table 70. ReleaseSW command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ACT

DIR

From host

Table 71. GoHome command structure

Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0

01110000

From host

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