Motion engine

AN4241

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Doc ID 024193 Rev 1

Figure 3.

Speed tracking using Run command sequences

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

Speed

100

100

200

200

300

300

400

400

500

Time

Run(forward, 100)

Run(forward, 600)

Run(forward, 400)

Run(reverse, 300)

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0

h200000

h3FFFFF

h1FFFFF

h000001

0

h200000

h3FFFFF

h1FFFFF

h000001

Starting position

Starting position

Final position

Move(Reverse)

Move(Forward)

Final position

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