EVAL6470H Datasheet, PDF (25/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

L6470
6.7.2
Functional description
Figure 9.
Constant speed command examples
3PEED
STEPFREQUENCY
30$
30$
30$
-INIMUM
SPEED
-INIMUM
SPEED
30$
2UN30$"7
2UN30$&7
2UN30$&7
TIME
2UN30$&7
!-V
Positioning commands
An absolute positioning command produces a motion in order to reach a user-defined
position that is sent to the device together with the command. The position can be reached
performing the minimum path (minimum physical distance) or forcing a direction (see
Figure 10).
The performed motor motion is compliant to programmed speed profile boundaries
(acceleration, deceleration, minimum and maximum speed).
Note that with some speed profiles or positioning commands, the deceleration phase can
start before the maximum speed is reached.
Figure 10. Positioning command examples

&ORWARD
DIRECTION

6.7.3
0RESENT
POSITION
 ^  ^ 
'O4O4ARGETPOS
4ARGET
POSITION
0RESENT
POSITION
 ^  ^ 
'O4O?$)24ARGETPOS&7
4ARGET
POSITION
!-V
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).
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