L6470
Programming manual
Doc ID 16737 Rev 2
57/64
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.).
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_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 paragraph
9.2.10
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 (see paragraph
), the ABS_POS register is reset (if ACT = '0') or the ABS_POS register value is copied
into the MARK register (if ACT = '1'); then the system performs a SoftStop command.
The SPD value is expressed in step/tick (format unsigned fixed point 0.28) that is the same
format that SPEED register (see paragraph
SPD value should be lower than MAX_SPEED and greater than MIN_SPEED, otherwise the
target speed will be imposed at MAX_SPEED or MIN_SPEED respectively.
If SW_MODE bit of CONFIG register is set low, the external switch turn-on event causes a
HardStop interrupt instead of the SoftStop command (see paragraphs
This command can be given anytime and is immediately executed.
Table 44.
GoTo_DIR command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
1
1
0
1
0
0
DIR
from host
X
X
ABS_POS (Byte 2)
from host
ABS_POS (Byte 1)
from host
ABS_POS (Byte 0)
from host
Table 45.
GoUntil command structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
1
0
0
0
ACT
0
1
DIR
from host
X
X
X
X
SPD (Byte 2)
from host
SPD (Byte 1)
from host
SPD (Byte 0)
from host
