是否可以同时运行菊花链式电机？

简短回答是的。
答案很复杂。
您必须编写自己的代码或脚本，但移动命令是非阻塞的。这意味着您可以在很短的时间内发送一个接一个的移动命令。然后，您可以监控所有四个电机状态，以确定何时完成移动。
我会参考：
http://www.st.com/content/ccc/resource/technical/document/application_note/e8/ca/05/a0/9e/ff/4e/69/DM00039787.pdf/files/DM00039787.pdf/jcr：内容/翻译/ en.DM00039787.pdf
 我使用连接到Nucleo板的IHM02A1做了类似的事情（你只需编写一堆C代码并使用STM的库）。



以下为原文




Short answer yes.
Long answer is more complicated.
You will have to write your own code or script, but the move commands are non blocking. Meaning you can send one move command after another in very short order. You then monitor all four motor status's to decide when your moves are done.
I would refer to:  
http://www.st.com/content/ccc/resource/technical/document/application_note/e8/ca/05/a0/9e/ff/4e/69/DM00039787.pdf/files/DM00039787.pdf/jcr:content/translations/en.DM00039787.pdf
I have done something similar using the IHM02A1 attached to a Nucleo board (you just have to write a bunch of C code and use STM's libraries).

请参阅
http://www.st.com/content/ccc/resource/technical/document/application_note/d7/dd/a8/f3/db/3e/49/6f/DM00082126.pdf/files/DM00082126.pdf/jcr：内容/翻译/ en.DM00082126.pdf
有关通信协议以及如何实现菊花链架构的详细信息，允许MCU通过单个SPI接口驱动多个器件。



以下为原文




Please refer to
http://www.st.com/content/ccc/resource/technical/document/application_note/d7/dd/a8/f3/db/3e/49/6f/DM00082126.pdf/files/DM00082126.pdf/jcr:content/translations/en.DM00082126.pdf
for details on communication protocol and how to implement a daisy chain architecture allowing the MCU to drive multiple devices with a single SPI interface.