Datasheet

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L6470 Programming manual
73
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 (see Section 9.2.9).
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 (see
Section 9.1.22 on page 55).
9.2.13 GoMark
The GoMark command produces a motion to the MARK position performing the minimum
path.
Note that this command is equivalent to the “GoTo (MARK)” command. If a motor direction
is mandatory, the GoTo_DIR command must be used.
Table 47. 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 48. GoHome command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
01110000 From host
Table 49. GoMark command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
01111000From host