L6470 datasheet(60/70 Pages) STMICROELECTRONICS

60 / 70 page

Programming manual

L6470

60/70

Doc ID16737 Rev 4

9.2.8

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.

This command can be given only when the previous motion command has 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 9.1.22).

9.2.9

GoTo_DIR (DIR, ABS_POS)

The GoTo_DIR command produces a motion to ABS_POS absolute position imposing a

forward (DIR = '1') or a reverse (DIR = '0') rotation. 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_DIR command keeps the BUSY flag low until the target speed is reached. This

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

(BUSY flag released).

Any attempt to perform a GoTo_DIR 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 9.1.22).

Table 44.

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

Table 45.

GoTo_DIR command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

DIR

from host

ABS_POS (Byte 2)

from host

ABS_POS (Byte 1)

from host

ABS_POS (Byte 0)

from host

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