Datasheet

Functional description L6472
24/70 DocID022729 Rev 3
6.7 Motor control commands
The L6472 can accept different types of commands:
 constant speed commands (Run, GoUntil, ReleaseSW)
 absolute positioning commands (GoTo, GoTo_DIR, GoHome, GoMark)
 motion commands (Move)
 stop commands (SoftStop, HardStop, SoftHiz, HardHiz).
For detailed command descriptions refer to Section 9.2 on page 54.
6.7.1 Constant speed commands
A constant speed command produces a motion in order to reach and maintain a user
defined target speed starting from the programmed minimum speed (set in the MIN_SPEED
register) and with the programmed acceleration/deceleration value (set in the ACC and DEC
registers). A new constant speed command can be requested anytime.
Figure 9. Constant speed command examples
6.7.2 Positioning commands
An absolute positioning command produces a motion in order to reach a user-defined
position that is sent to the device together with the command. The position can be reached
by performing the minimum path (minimum physical distance) or forcing a direction (see
Figure 10).
The performed motor motion is compliant to programmed speed profile boundaries
(acceleration, deceleration, minimum and maximum speed).
Note that with some speed profiles or positioning commands, the deceleration phase can
start before the maximum speed is reached.