L6470 datasheet(62/70 Pages) STMICROELECTRONICS

62 / 70 page

Programming manual

L6470

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Doc ID16737 Rev 4

9.2.12

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 (see Section 9.2.9).

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 NOTPERF_CMD to rise (see

Section 9.1.22).

9.2.13

GoMark

The GoMark command produces a motion to the MARK position performing the minimum

path.

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

mandatory, the GoTo_DIR command must be used.

The GoMark command keeps the BUSY flag low until the MARK 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 GoMark 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).

9.2.14

ResetPos

The ResetPos command resets the ABS_POS register to zero. The zero position is also

defined as HOME position (see Section 6.5).

Table 48.

GoHome command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

from host

Table 49.

GoMark command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

1111

000

from host

Table 50.

ResetPos command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

from host

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