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AN4355 Datasheet(PDF) 8 Page - STMicroelectronics |
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AN4355 Datasheet(HTML) 8 Page - STMicroelectronics |
8 / 25 page Motion engine control AN4355 8/25 DocID025240 Rev 2 2.2 Positioning commands The motion engine, integrated into the devices, allows the position of the motor in a target position based on integrated ABS_POS register. The ABS_POS register traces all the motion performed by the motor adding a unit to each microstep completed in forward direction and subtracting a unit when the microstep is performed in reverse direction. The target positioning can be directly imposed indicating the ABS_POS register value (absolute position) or the distance between the current position and the target one (relative position). The relative positioning command is Move. The motion engine executes this command only when the motor is stopped in order to avoid unexpected behaviors (e.g.: the target of number of steps is not enough to allow the speed profile compliance). Figure 4. Relative positioning command example The absolute positioning commands are GoTo and GoTo_DIR. The former moves the motor to the position target choosing the rotation direction according to a minimum path algorithm (i.e.: the lower number of microsteps is executed) whereas the latter imposes the direction directly. Figure 5. Absolute positioning command example 0 h200000 h3FFFFF h1FFFFF h000001 0 h200000 h3FFFFF h1FFFFF h000001 Starting position Starting position Final position Move(Reverse) Move(Forward) Final position AM16590v1 0 h200000 h3FFFFF h1FFFFF h000001 0 h200000 h3FFFFF h1FFFFF h000001 Starting position Starting position Target position Target position GoTo GoTo_DIR(Forward) AM16591v1 |
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