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L6470 Wrong final position with "Goto" command

Manu42
Associate

I have an issue with the "Goto" command of the L6470 driver.

Sometimes (rarely) I send a "Goto" command to the driver with an absolute target positon, and the driver goes a few steps (1 to 3) further.

The driver is set to work in 1/128 steps.

After each move I correct the current absolute position of the driver (by writing the ABS_POS register). Before doing that I check that driver is not Busy (Busy flag is high).

After each move, once the driver is no more busy, I read the absolute position from the driver (ABS_POS register), and compare it to the desired target, sent with the "Goto" command.

And sometimes I notice that both values are a few different (of 1 to 3 µsteps more than expected). 

The driver does not have any error flag active in the status register.

Each time I have noticed the default the amplitude (between current position and target) of the move if very small (between 1 to 30 µSteps).

I only got the issue around 3 or 4 times for maybe several thousands of moves in total.

But I don't want to have something wrong behind that...

 

Is there something that can cause the driver to go a few steps further like that ?

Can I do something wrong in the use of the driver ?

 

Thank you for your help

3 REPLIES 3
lavanya
Associate III

try with  L6470_Move command 

Manu42
Associate

Thanks for your answer, but I really need to do an absolute move...

lavanya
Associate III

For Absolute move only use L6470_Move command this gives absolute position