AMIS30623C623BRG Datasheet, PDF (57/61 Pages) ON Semiconductor – Micro-stepping Motor Driver

AMIS−30623
3. Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2)
Table 67. SetPositionShort WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
1
ID3
ID2
ID1
ID0
1
Data 1
Pos1[10:8]
1
AD1[3:0]
2
Data 2
Pos1[7:0]
3
Data 3
Pos2[10:8]
1
AD2[3:0]
4
Data 4
Pos2[7:0]
5
Data 5
Pos3[10:8]
1
AD3[3:0]
6
Data 6
Pos3[7:0]
7
Data 7
Pos4[10:8]
1
AD4[3:0]
8
Data 8
Pos4[7:0]
9
Checksum
Checksum over data
Where:
(*) according to parity computation
ID[5:0]: Dynamically allocated identifier to eight data bytes SetPositionShort command.
Adn[3:0]: Motor #n physical address least significant bits (n ∈ [1,4]).
Posn[10:0]: Signed 11−bit position set point for Motor #n (see RAM Registers)
SetPosParam
This command is provided to the circuit by the
LIN Master to drive one motor to a given absolute position.
It also sets some of the values for the stepper motor
parameters such as minimum and maximum velocity.
SetPosParam corresponds to a four (4) data bytes writing LIN frame with specific dynamically assigned identifier (type # 2).
Table 68. SetPosParam WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
0
ID3
ID2
ID5
ID4
1
Data 1
Pos[15:8]
2
Data 2
Pos[7:0]
3
Data 3
Vmax[3:0]
Vmin[3:0]
4
Data 4
AbsThr[3:0]
Acc[3:0]
5
Checksum
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration.
ID[5:0]: Dynamically allocated direct identifier to 4 Data bytes SetPosParam command. There should be as many
dedicated identifiers to this SetPosParam command as there are stepper−motors connected to the LIN bus.
Pos [15:0]: Signed 16−bit position set−point.
Sleep
This command is provided to the circuit by the LIN master
to put all the slave nodes connected to the LIN bus into sleep
mode. If this command occurs during a motion of the motor,
TagPos is reprogrammed to SecPos (provided SecPos
is different from “100 0000 0000”), or a SoftStop is
executed before going to sleep mode. See LIN 1.3
specification and Sleep Mode. The corresponding LIN
frame is a master request command frame (identifier 0x3C)
with data byte 1 containing 0x00 while the followings
contain 0xFF.
Note: SleepEnable needs to be set to 1 in order to allow the
device to go to sleep. If SleepEnable is 0 the device will go
into “stopped state”
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