Datasheet

Programming manual L6470
62/70 Doc ID16737 Rev 5
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).
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 be given only 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 9.1.22).
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).
Table 48. GoHome command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 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
Table 50. ResetPos command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
11011000 from host