L6470 Functional description
Doc ID 16737 Rev 2 23/64
Figure 8. Positioning command examples
6.7.3 Motion commands
Motion commands produce a motion in order to perform a user-defined number of
microsteps in a user-defined direction that are sent to the device together with the command
(see Figure 9).
Performed motor motion is compliant to programmed speed profile boundaries
(acceleration, deceleration, minimum and maximum speed).
Note that with some speed profiles or motion commands, the deceleration phase can start
before the maximum speed is reached.
Figure 9. Motion commands examples
6.7.4 Stop commands
A stop command forces the motor to stop. Stop commands can be sent anytime.
SoftStop command causes the motor to decelerate with programmed deceleration value
until MIN_SPEED value is reached and then stops the motor keeping the rotor position (a
holding torque is applied).
HardStop command stops the motor instantly ignoring deceleration constrain and keeping
the rotor position (a holding torque is applied).
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