[L6470] Absolut Positioning

[mario2399]

Posted on May 22, 2014 at 17:52

Hello,

I tried to poistioning my motor with the SPI command GoTo_DIR(DIR,ABS_POS). But then the motor turns a long time. So i run the command GetAbsPos, drive one step and run the command again. I wonder that one step changes the AbsPos value over 100.000 (I tried with full-step and 128-uStep).

How can I understand the value from the AbsPos-register?

#l6470-abs_pos

[Enrico Poli]

Posted on May 26, 2014 at 10:43

Hi,

the ABS_POS register is a counter storing the munber of microsteps performed by the IC; it is increased at each forward step and decreased at reverse  steps.

When you send a GoToDIR command you impose both the direction and the final position of the motion, so if you send for example a GoTo(REV, 100000) command when the absolute position is 0 the sistem will perform an high number of steps before stop.

Reagdrs

Enrico