EVAL6470H Datasheet, PDF (60/70 Pages) STMicroelectronics – dSPIN fully integrated microstepping motor driver with motion engine and SPI

Programming manual
L6470
9.2.8
GoTo (ABS_POS)
Table 44. GoTo command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1
0
1
1
0
0
0
0
X
X
ABS_POS (Byte 2)
ABS_POS (Byte 1)
ABS_POS (Byte 0)
Bit 0
0
from host
from host
from host
from host
9.2.9
The GoTo command produces a motion to ABS_POS absolute position through the shortest
path. The ABS_POS value is always in agreement with the selected step mode; the
parameter value unit is equal to the selected step mode (full, half, quarter, etc.).
The GoTo command keeps the BUSY flag low until the target 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 GoTo 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).
GoTo_DIR (DIR, ABS_POS)
Table 45. GoTo_DIR command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1
0
1
1
0
1
0
0
X
X
ABS_POS (Byte 2)
ABS_POS (Byte 1)
ABS_POS (Byte 0)
Bit 0
DIR
from host
from host
from host
from host
The GoTo_DIR command produces a motion to ABS_POS absolute position imposing a
forward (DIR = '1') or a reverse (DIR = '0') rotation. The ABS_POS value is always in
agreement with the selected step mode; the parameter value unit is equal to the selected
step mode (full, half, quarter, etc.).
The GoTo_DIR command keeps the BUSY flag low until the target speed is reached. This
command can be given only when the previous motion command has been completed
(BUSY flag released).
Any attempt to perform a GoTo_DIR 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).
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