L6472 datasheet(23/69 Pages) STMICROELECTRONICS

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L6472

Functional description

Doc ID 022729 Rev 1

23/69

6.6.1

Infinite acceleration/deceleration mode

When the ACC register value is set to max. (0xFFF), the system works in “infinite

acceleration mode”: acceleration and deceleration phases are totally skipped, as shown in

Figure 8.

It is not possible to skip the acceleration or deceleration phase independently.

Figure 8.

Speed profile in infinite acceleration/deceleration mode

6.7

Motor control commands

The L6472 can accept different types of commands:

●

constant speed commands (Run, GoUntil, ReleaseSW)

●

absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark)

●

motion commands (Move)

●

stop commands (SoftStop, HardStop, SoftHiz, HardHiz).

For detailed command descriptions refer to Section 9.2.

6.7.1

Constant speed commands

A constant speed command produces a motion in order to reach and maintain a user

defined target speed starting from the programmed minimum speed (set in the MIN_SPEED

registers). A new constant speed command can be requested anytime.

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