AMIS30623C623BRG Datasheet, PDF (30/61 Pages) ON Semiconductor – Micro-stepping Motor Driver

AMIS−30623
27. Leaving <Sleep> state is equivalent to power−on−reset.
28. After power−on−reset, the <Standby> state is entered.
29. A DualPosition sequence runs with a separate set of RAM registers. The parameters that are not specified in a DualPosition command are
loaded with the values stored in RAM at the moment the DualPosition sequence starts. <AccShape> is forced to ‘1’ during second motion.
<AccShape> at ‘0’ will be taken into account after the DualPosition sequence. A GetFullStatus command will return the default
parameters for <Vmax> and <Vmin> stored in RAM.
30. The <Sleep> flag is set to ‘1’ when a LIN timeout or a Sleep command occurs. It is reset by the next LIN command (<Sleep> is cancelled
if not activated yet).
31. Shutdown state can be left only when <TSD> and <HS> flags are reset.
32. Flags can be reset only after the master could read them via a GetStatus or GetFullStatus command, and provided the physical
conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect).
33. A SetMotorParam command sent while a motion is ongoing (state <GotoPos>) should not attempt to modify <Acc> and <Vmin> values.
This can be done during a DualPosition sequence since this motion uses its own parameters, the new parameters will be taken into account
at the next SetPosition or SetPositionShort command.
34. Some transitions like <GotoPos> → <Sleep> are actually done via several states: <GotoPos> → <SoftStop> → <Stopped> →
<Sleep> (see diagram below).
35. Two transitions are possible from state <Stopped> when <Sleep> = ‘1’:
1) Transition to state <Sleep> if (<SecEn> = ‘0’) or ((<SecEn> = ‘1’) and (<ActPos> = <SecPos>)) or <Stop> = ‘1’
2) Otherwise transition to state <GotoPos>, with <TagPos> = <SecPos>
36. <SecEn> = ‘1’ when register <SecPos> is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000
0000”).
37. <Stop> flag allows distinguishing whether state <Stopped> was entered after HardStop/SoftStop or not. <Stop> is set to ‘1’ when leaving
state <HardStop> or <SoftStop> and is reset during first clock edge occurring in state <Stopped>.
38. Command for dynamic assignment of Ids is decoded in all states except <Sleep> and has no effect on the current state.
39. While in state <Stopped>, if <ActPos> → <TagPos> there is a transition to state <GotoPos>. This transition has the lowest priority,
meaning that <Sleep>, <Stop>, <TSD>, etceteras are first evaluated for possible transitions.
40. If <StepLoss> is active, then SetPosition, SetPositionShort and GotoSecurePosition commands are not ignored.
<StepLoss> can only be cleared by a GetStatus or GetFullStatus command.
POR
Referencing
Thermal Shutdown
Soft−stop
HardStop ^HardStop
Dual Positioning Motion finished HardStop
Thermal
ShutDown
SoftStop
Shutdown
HardStop
Thermal Shutdown
Stopped
Motion Finished
GotoSecPos
SetPosition
Motion Finished
HardStop
GotoPos
GetFullStatus
<Sleep>
OR LIN timeout
Any LIN command
Sleep
<Sleep> AND (not <SecEn> OR
<SecEn> AND ActPos = SecPos
OR <Stop>)
Priorities ¹
2
3
4
Motion Finished
Vbb < UV2 or CPFAIL
Vbb < UV2 or CPFAIL
HardUnder
T > 15 sec
Vbb > UV1 and not CPFAIL
ShutUnder
Figure 16. Simplified State Diagram
Remark: IF <SleepEn> = 0, then the arrow from stopped state to sleep state does not exist.
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