AMIS30623C623BRG Datasheet, PDF (53/61 Pages) ON Semiconductor – Micro-stepping Motor Driver

AMIS−30623
SetStallParam
This command sets the motion detection parameters and
the related stepper−motor parameters, such as the minimum
and maximum velocity, the run and hold current,
acceleration and step mode. See Motion detection for the
meaning of the parameters sent by the LIN Master.
SetStallParam corresponds to a 0x3C LIN command (type #4).
Table 59. SetStallParam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
AppCMD = 0x80
2
Data 2
1
CMD[6:0] = 0x16
3
Data 3
Broad
AD[6:0]
4
Data 4
Irun[3:0]
Ihold[3:0]
5
Data 5
Vmax[3:0]
Vmin[3:0]
6
Data 6
MinSamples[2:0]
Shaft
Acc[3:0]
7
Data 7
AbsThr[3:0]
DelThr[3:0]
8
Data 8
FS2StallEn[2:0]
AccShape
StepMode[1:0]
DC100StEn PWMJEn
9
Checksum
Checksum over data
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested
SetMotorParam
This command is provided to the circuit by the LIN master
to set the values for the stepper motor parameters (listed
below) in RAM. Refer to RAM Registers to see the meaning
of the parameters sent by the LIN master.
Important: If a SetMotorParam occurs while a motion
is ongoing, it will modify at once the motion parameters (see
Position Controller). Therefore the application should not
change other parameters than <Vmax> and <Vmin> while
a motion is running, otherwise correct positioning cannot be
guaranteed.
SetMotorParam corresponds to the following LIN writing frame with 0x3C identifier (type #4).
Table 60. SetMotorParam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
AppCMD = 0x80
2
Data 2
1
CMD[6:0] = 0x09
3
Data 3
Broad
AD[6:0]
4
Data 4
Irun[3:0]
Ihold[3:0]
5
Data 5
Vmax[3:0]
Vmin[3:0]
6
Data 6
SecPos[10:8]
Shaft
Acc[3:0]
7
Data 7
SecPos[7:0]
8
Data 8
1
PWMfreq
1
AccShape
StepMode[1:0]
1
PWMJEn
9
Checksum
Checksum over data
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested
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