Programming manual L6470
58/64 Doc ID 16737 Rev 2
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 register is
reset (ACT = '0') or the ABS_POS register value is copied in MARK register (ACT = '1'); then
the system performs a HardStop command.
Note that to resetting the ABS_POS register is equivalent to setting the HOME position.
If minimum speed value is lesser than 5 step/s or low speed optimization is enabled, the
motion is performed at 5 step/s.
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 "GoTo(0…0)" command. If a motor direction is
mandatory the GoTo_DIR command has to be used (see paragraph
9.2.9).
This command can be given when the outputs are in high impedance or the motor is
stopped or running with constant speed. 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 paragraph
9.1.22)
9.2.13 GoMark
The GoMark command produces a motion to MARK position performing the minimum path.
Note that this command is equivalent to "GoTo (MARK)" command. If a motor direction is
mandatory the GoTo_DIR command has to be used.
This command can be given when the outputs are in high impedance or the motor is
stopped or running with constant speed.
Table 46. 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 47. GoHome command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
01110000 from host
Table 48. GoMark command structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
01111000from host
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