L6472PD datasheet(58/69 Pages) STMICROELECTRONICS

58 / 69 page

Programming manual

L6472

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Doc ID 022729 Rev 1

9.2.7

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 NOTPERF_CMD flag to rise (see Section 9.1.19).

9.2.8

GoTo (ABS_POS)

The GoTo command produces a motion to the 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.

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 (see

Section 9.1.19).

Table 39.

Move command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIR

From host

N_STEP (Byte 2)

From host

N_STEP (Byte 1)

From host

N_STEP (Byte 0)

From host

Table 40.

GoTo command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

ABS_POS (Byte 2)

From host

ABS_POS (Byte 1)

From host

ABS_POS (Byte 0)

From host

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