L6472 datasheet(60/69 Pages) STMICROELECTRONICS

60 / 69 page

Programming manual

L6472

60/69

Doc ID 022729 Rev 1

9.2.11

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 register is

reset (ACT = '0') or the ABS_POS register value is copied into the MARK register (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.

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 9.1.19).

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.

Table 43.

ReleaseSW command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ACT

DIR

From host

Table 44.

GoHome command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

GoMark command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

From host

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