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POWERSTEP01 Datasheet(PDF) 27 Page - STMicroelectronics |
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POWERSTEP01 Datasheet(HTML) 27 Page - STMicroelectronics |
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27 / 92 page  DocID025022 Rev 5 27/92 powerSTEP01 Functional description 92 Figure 10. Positioning command examples 7.7.3 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 11). 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 11. Motion command examples 7.7.4 Stop commands A stop command forces the motor to stop. Stop commands can be sent anytime. The SoftStop command causes the motor to decelerate with a programmed deceleration value until MIN_SPEED value is reached and then stops the motor keeping the rotor position (a holding torque is applied). AM12857v1 Forward direction 0 -2 21 +2 21-1 0 -2 21 +2 21-1 Present position Target position Present position Target position GoTo(Target pos) GoTo_DIR(Target pos,FW) programmed ACCELERATION SPEED programmed maximum speed programmed minimum speed time programmed DECELERATION programmed number of microsteps programmed ACCELERATION SPEED programmed maximum speed programmed minimum speed time programmed DECELERATION programmed number of microsteps Note: with some acceleration/decelaration profiles the programmed maximum speed is never reached AM15163v1 |
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