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L6470PD データシート(PDF) 60 Page - STMicroelectronics

部品番号 L6470PD
部品情報  dSPIN fully integrated microstepping motor driver with motion engine and SPI
PDF  70 Pages
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メーカー  STMICROELECTRONICS [STMicroelectronics]
ホームページ  http://www.st.com
Logo STMICROELECTRONICS - STMicroelectronics

L6470PD データシート(HTML) 60 Page - STMicroelectronics

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Programming manual
L6470
60/70
Doc ID16737 Rev 5
9.2.8
GoTo (ABS_POS)
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).
9.2.9
GoTo_DIR (DIR, ABS_POS)
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).
Table 44.
GoTo command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
1
1
0
00
00
from host
X
X
ABS_POS (Byte 2)
from host
ABS_POS (Byte 1)
from host
ABS_POS (Byte 0)
from host
Table 45.
GoTo_DIR command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
01
10
10
0
DIR
from host
X
X
ABS_POS (Byte 2)
from host
ABS_POS (Byte 1)
from host
ABS_POS (Byte 0)
from host



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