Programming manual
L6472
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DocID022729 Rev 5
StepClock command argument and can by changed by a new StepClock command without
exiting step-clock mode.
Events that cause bridges to be forced into high-impedance state (overtemperature,
overcurrent, etc.) do not cause the device to leave step-clock mode. StepClock command
does not force the BUSY flag low. This command can only be given when the motor is
stopped. If a motion is in progress the motor should be stopped and it is then possible to
send a StepClock command.
Any attempt to perform a StepClock command when the motor is running causes the
command to be ignored and the NOTPERF_CMD flag to rise (see
9.2.7
Move (DIR, N_STEP)
The move command produces a motion of N_STEP microsteps; the direction is selected by
the DIR bit ('1' forward or '0' reverse).
The N_STEP 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.).
This command keeps the BUSY flag low until the target number of steps is performed. This
command can only be performed when the motor is stopped. If a motion is in progress the
motor must be stopped and it is then possible to perform a Move command.
Any attempt to perform a Move command when the motor is running causes the command
to be ignored and the NOTPERF_CMD flag to rise (see
9.2.8 GoTo
(ABS_POS)
The GoTo command produces a motion to the 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.
Table 40. Move command structure
Bit
7 Bit
6 Bit
5 Bit
4 Bit 3
Bit 2
Bit 1
Bit 0
0 1 0 0 0 0 0
DIR
From
host
X
X
N_STEP (Byte 2)
From host
N_STEP (Byte 1)
From host
N_STEP (Byte 0)
From host
Table 41. GoTo command structure
Bit
7 Bit
6 Bit
5 Bit
4 Bit 3
Bit 2
Bit 1
Bit 0
0 1 1 0 0 0 0 0 From
host
X
X
ABS_POS (Byte 2)
From host
ABS_POS (Byte 1)
From host
ABS_POS (Byte 0)
From host