POWERSTEP01 datasheet(78/92 Pages) STMICROELECTRONICS

78 / 92 page

Programming manual

powerSTEP01

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This command can be given only when the previous motion command as 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 CMD_ERROR flag to rise

(Section 11.1.28 on page 71).

11.2.9

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 CMD_ERROR flag to

rise (Section 11.1.28).

11.2.10

GoUntil (ACT, DIR, SPD)

The GoUntil command produces a motion at SPD speed imposing a forward (DIR = '1') or

a reverse (DIR = '0') direction. When an external switch turn-on event occurs (Section 7.14

on page 33), the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is

copied into the MARK register (if ACT = '1'); the system then performs a SoftStop command.

The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same

format as the SPEED register (Section 11.1.4 on page 53).

The SPD value should be lower than MAX_SPEED and greater than MIN_SPEED,

otherwise the target speed is imposed at MAX_SPEED or MIN_SPEED respectively.

Table 68. GoTo_DIR command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

0110100

DIRFrom host

ABS_POS (byte 2)

From host

ABS_POS (byte 1)

From host

ABS_POS (byte 0)

From host

Table 69. GoUntil command structure

Bit 7

Bit 6

Bit 5

Bit 4

Bit 3

Bit 2

Bit 1

Bit 0

ACT

DIR

From host

SPD (byte 2)

From host

SPD (byte 1)

From host

SPD (byte 0)

From host

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