Datasheet

DocID023278 Rev 4 69/75
L6480 Programming manual
75
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
(Section 9.1.24 on page 59).
9.2.14 ResetPos
The ResetPos command resets the ABS_POS register to zero. The zero position is also
defined as the HOME position (Section 6.5 on page 23).
9.2.15 ResetDevice
The ResetDevice command resets the device to power-up conditions (Section 6.1 on page
20). The command can be performed only when the device is in high impedance state.
Note: At power-up the power bridges are disabled.
9.2.16 SoftStop
The SoftStop command causes an immediate deceleration to zero speed and a consequent
motor stop; the deceleration value used is the one stored in the DEC register (Section 9.1.6
on page 46).
When the motor is in high impedance state, a SoftStop command forces the bridges to exit
from high impedance state; no motion is performed.
This command can be given anytime and is immediately executed. This command keeps
the BUSY flag low until the motor is stopped.
Table 61. ResetPos command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
11011000 From host
Table 62. ResetDevice command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
11000000 From host
Table 63. SoftStop command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
10110000 From host