Programming manual
L6470
56/64
Doc ID 16737 Rev 2
9.2.7
Move (DIR, N_STEP)
The move command produces a motion of N_STEP microsteps; the direction is selected by
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 can be only performed when the motor is stopped. If a motion is in progress
the motor must be stopped and then it is 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 paragraph
).
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.).
This command can be given when the outputs are in high impedance or the motor is
stopped or running with constant speed.
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
paragraph
Table 42.
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 43.
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
