AMIS-30621 Datasheet, PDF (21/43 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30621 LIN Microstepping Motordriver
Data Sheet
GetActualPos
This command is provided to the circuit by the LIN Master
to get the actual position of the Stepper-motor. This
position (ActPos[15:0]) is returned in signed two’s
complement 16-bit format. One should note that according
to the programmed stepping mode, the LSBs of
ActPos[15:0] may have no meaning and should be
assumed to be at ‘0’, as described in § 8.5.
GetActualPos provides also a quick status of the circuit
and of the Stepper-motor, identical to that obtained by
command GetStatus (see further).
Note
A GetActualPosition command will not attempt to
reset any flag.
GetActualPos corresponds to the following LIN reading
frames.
1) 4 data bytes in-frame response with direct ID (type #5).
bit 7
*
ESW
bit 6
*
bit 5
1
VddReset StepLoss
ElDef
*) according to parity computation
bit 4
0
UV2
bit 3
ID3
AD[6:0]
ActPos[15:8]
ActPos[7:0]
TSD
bit 2
ID2
TW
ID[5:0] :
Dynamically allocated direct identifier. There
should be as many dedicated identifiers to
the GetActualPos command as there are
stepper motors connected to the LIN bus.
2) One preparing frame prior 4 data bytes in-frame
response with 0x3D indirect ID.
Preparing Frame (type #7 or #8)
bit 7
*
bit 6
*
bit 5
0
1
1
In-frame Response (type #6)
0
1
1
ESW
VddReset StepLoss ElDef
bit 4
bit 3
ID4
ID3
CMD[6:0] = 0x00
AD[6:0]
bit 2
ID2
1
1
1
AD[6:0]
ActPos[15:8]
ActPos[7:0]
UV2
TSD
TW
0xFF
0xFF
0xFF
0xFF
*) according to parity computation
bit 1
ID1
bit 0
ID0
Tinfo[1:0]
Identifier
Data1
Data2
Data3
Data4
bit 1
ID1
bit 0
ID0
0
1
Tinfo[1:0]
Identifier
Data1
Data2
Identifier
Data1
Data2
Data3
Data4
Data5
Data6
Data7
Data8
AMI Semiconductor - Rev. 1.4
www.amis.com
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