AMIS-30621 Datasheet, PDF (25/43 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30621 LIN Microstepping Motordriver
Data Sheet
ResetToDefault
This command is provided to the circuit by the LIN Master
in order to reset the whole Slave node into the initial state.
ResetToDefault will for instance overload the RAM with
the Reset state of the Registers parameters (see § 0). This is
another way for the LIN Master to initialize a slave node in
case of emergency, or simply to refresh the RAM content.
Note
ActPos and TagPos are not modified by a
ResetToDefault command.
Important:
Care should be taken not to send a ResetToDefault
command while a motion is ongoing, since this could modify
the motion parameters in a way forbidden by the position
controller.
ResetToDefault corresponds to the following LIN writing
frames (type #1).
bit 7
*
1
Broad
bit 6
*
bit 5
0
*) according to parity computation
bit 4
ID4
bit 3
ID3
CMD[6:0] = 0x07
AD[6:0]
bit 2
ID2
bit 1
bit 0
ID1
ID0
Identifier
Data1
Data2
If Broad = ‘0’ all the circuits connected to the LIN bus will
reset to default.
RunInit
This command is provided to the circuit by the LIN Master
in order to initialize positioning of the motor by seeking the
zero (or reference) position. See § 9.2.1.2 for a detailed
description or the initialization phase.
Note1:
This sequence cannot be interrupted by another positioning
command.
Important:
If for some reason ActPos equals Pos1[15:0] at the
moment the RunInit command is issued, the circuit will
enter in deadlock state. Therefore, the application should
check the actual position by a GetPosition or a
GetFullStatus command prior to an initialization. Another
solution may consist in programming a value out of the
stepper motor range for Pos1[15:0]. For the same reason
Pos2[15:0] should not be equal to Pos1[15:0].
RunInit corresponds to the following LIN writing frame
with 0x3C identifier (type #4).
bit 7
0
1
Broad
bit 6
0
bit 5
1
Vmax[3:0]
bit 4
1
bit 3
1
bit 2
1
AppCMD = 0x80
CMD[6:0] = 0x08
AD[6:0]
Vmin[3:0]
Pos1[15:8]
Pos1[7:0]
Pos2[15:8]
Pos2[7:0]
If Broad = ‘0’ all the circuits connected to the LIN bus will
run the init sequence.
Vmax[3:0] :
Vmin[3:0] :
Pos1[15:0] :
Pos2[15:0] :
Max velocity for first motion of the init run
Min velocity for first motion of the init run
and velocity for the second motion of the
init run
First position to be reached during the init
run
Second position to be reached during the
init run
bit 1
bit 0
0
0
Identifier
Data1
Data2
Data3
Data4
Data5
Data6
Data7
Data8
AMI Semiconductor - Rev. 1.4
www.amis.com
25