Datasheet

DocID022729 Rev 3 61/70

L6472 Programming manual

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.

The GoMark command keeps the BUSY flag low until the MARK position is reached. This

command can only be given when the previous motion command has been completed

(BUSY flag released).

Any attempt to perform a GoMark command when a previous command is under execution

(BUSY low) causes the command to be ignored and the NOTPERF_CMD flag to rise (see

Section 9.1.19 on page 52).

9.2.14 ResetPos

The ResetPos command resets the ABS_POS register to zero. The zero position is also

defined as HOME position (see Section 6.5 on page 23).

9.2.15 ResetDevice

The ResetDevice command resets the device to power-up conditions (see Section 6.1 on

page 20).

Note: At power-up the power bridges are disabled.

Table 46. GoMark command structure

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 1 1 1 1 0 0 0 From host

Table 47. ResetPos command structure

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 1 0 1 1 0 0 0 From host

Table 48. ResetDevice command structure

Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 1 0 0 0 0 0 0 From host