L6470 Programming manual
Doc ID 16737 Rev 2 59/64
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
paragraph
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 paragraph
6.5).
9.2.15 ResetDevice
The ResetDevice command resets the device to power-up conditions (see paragraph 6.1).
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 DEC register (see paragraph
9.1.6).
When the motor is in high-impedance state, a SoftStop command forces the bridges to exit
from high impedance state; no motion is performed.
9.2.17 HardStop
The HardStop command causes an immediate motor stop with infinite deceleration.
Table 49. ResetPos command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
11011000 from host
Table 50. ResetDevice command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
11000000 from host
Table 51. SoftStop command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
10110000 from host
Table 52. HardStop command structure
Bit 7Bit 6Bit 5Bit 4Bit 3Bit 2Bit 1Bit 0
10111000 from host
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