Programming manual
L6482
66/73
Doc ID 023768 Rev 1
If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event
causes a HardStop interrupt instead of the SoftStop one (
).
This command keeps the BUSY flag low until the switch turn-on event occurs and the motor
is stopped. This command can be given anytime and is immediately executed.
9.2.11
ReleaseSW (ACT, DIR)
The ReleaseSW command produces a motion at minimum speed imposing a forward (DIR =
'1') or reverse (DIR = '0') rotation. When SW is released (opened) the ABS_POS register is
reset (ACT = '0') or the ABS_POS register value is copied into the MARK register (ACT =
'1'); the system then performs a HardStop command.
Note that, resetting the ABS_POS register is equivalent to setting the HOME position.
If the minimum speed value is less than 5 step/s or low speed optimization is enabled, the
motion is performed at 5 step/s.
The ReleaseSW command keeps the BUSY flag low until the switch input is released and
the motor is stopped.
9.2.12 GoHome
The GoHome command produces a motion to the HOME position (zero position) via the
shortest path.
Note that, this command is equivalent to the “GoTo(0…0)” command. If a motor direction is
mandatory, the GoTo_DIR command must be used (
).
The GoHome command keeps the BUSY flag low until the home position is reached. This
command can be given only when the previous motion command has been completed. Any
attempt to perform a GoHome command when a previous command is under execution
(BUSY low) causes the command to be ignored and the NOTPERF_CMD to rise
(
9.2.13 GoMark
Table 57.
ReleaseSW command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1
0
0
1
ACT
0
1
DIR
from host
Table 58.
GoHome command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
1
1
1
0
0
0
0
from host
Table 59.
GoMark command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
1
1
1
1
0
0
0
from host
