POWERSTEP01TR datasheet(77/92 Pages) STMICROELECTRONICS

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powerSTEP01

Programming manual

command argument and can by changed by a new StepClock command without exiting

Step-clock mode.

Events that cause bridges to be forced into high impedance state (overtemperature,

overcurrent, etc.) do not cause the device to leave Step-clock mode.

The StepClock command does not force the BUSY flag low. This command can only be

given when the motor is stopped. If a motion is in progress, the motor should be stopped

and it is then possible to send a StepClock command.

Any attempt to perform a StepClock command when the motor is running causes the

command to be ignored and the CMD_ERROR flag to rise (Section 11.1.28 on page 71).

11.2.7

Move (DIR, N_STEP)

The move command produces a motion of N_STEP microsteps; the direction is selected by

the DIR bit ('1' forward or '0' reverse).

The N_STEP 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.).

This command keeps the BUSY flag low until the target number of steps is performed. This

command can only be performed when the motor is stopped. If a motion is in progress the

motor must be stopped and it is then possible to perform a move command.

Any attempt to perform a move command when the motor is running causes the command

to be ignored and the CMD_ERROR flag to rise (Section 11.1.28).

11.2.8

GoTo (ABS_POS)

The GoTo command produces a motion to ABS_POS absolute position through the shortest

path. 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 command keeps the BUSY flag low until the target position is reached.

Table 66. Move command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

100000

DIR

From host

N_STEP (byte 2)

From host

N_STEP (byte 1)

From host

N_STEP (byte 0)

From host

Table 67. GoTo command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0000

From host

ABS_POS (byte 2)

From host

ABS_POS (byte 1)

From host

ABS_POS (byte 0)

From host

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