POWERSTEP01 datasheet(27/92 Pages) STMICROELECTRONICS

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powerSTEP01

Functional description

Figure 10. Positioning command examples

7.7.3

Motion commands

Motion commands produce a motion in order to perform a user-defined number of

microsteps in a user-defined direction that are sent to the device together with the command

(see Figure 11).

Performed motor motion is compliant to programmed speed profile boundaries

(acceleration, deceleration, minimum and maximum speed).

Note that with some speed profiles or motion commands, the deceleration phase can start

before the maximum speed is reached.

Figure 11. Motion command examples

7.7.4

Stop commands

A stop command forces the motor to stop. Stop commands can be sent anytime.

The SoftStop command causes the motor to decelerate with a programmed deceleration

value until MIN_SPEED value is reached and then stops the motor keeping the rotor

position (a holding torque is applied).

AM12857v1

Forward

direction

-2

21-1

-2

21-1

Present

position

Target

position

Present

position

Target

position

GoTo(Target pos)

GoTo_DIR(Target pos,FW)

programmed

ACCELERATION

SPEED

programmed

maximum

speed

programmed

minimum

speed

time

programmed

DECELERATION

programmed number of microsteps

programmed

ACCELERATION

SPEED

programmed

maximum

speed

programmed

minimum

speed

time

programmed

DECELERATION

programmed number of microsteps

Note: with some

acceleration/decelaration profiles

the programmed maximum speed

is never reached

AM15163v1

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