Datasheet

Programming manual L6480

68/75 DocID023278 Rev 4

If the SW_MODE bit of the CONFIG register is set low, the external switch turn-on event

causes a HardStop interrupt instead of the SoftStop one (Section 6.14 and Section 9.1.23

on page 54).

This command keeps the BUSY flag low until the switch turn-on event occurs and the motor

is stopped. This command can be given anytime and is immediately executed.

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

(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 (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

(Section 9.1.24 on page 59).

9.2.13 GoMark

Table 58. 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 59. GoHome command structure

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

01110000 From host

Table 60. GoMark command structure

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

01111000From host