AMIS-30621 Datasheet, PDF (27/43 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30621 LIN Microstepping Motordriver
Data Sheet
SetPosition()
This command is provided to the circuit by the LIN Master
to drive one or two motors to a given absolute position.
See § 8.5 for more details.
The priority encoder table (§ 9.2.2.12) acknowledges the
cases where a SetPosition command will be ignored.
SetPosition corresponds to the following LIN write
frames.
1) 2 Data bytes frame with a direct ID (type #3)
bit 7
*
bit 6
*
bit 5
0
*) according to parity computation
bit 4
bit 3
ID4
ID3
Pos[15:8]
Pos[7:0]
ID[5:0] :
Dynamically allocated direct identifier.
There should be as many dedicated
identifiers to this SetPosition command as
there are stepper motors connected to the
LIN bus.
bit 2
ID2
bit 1
ID1
bit 0
ID0
Identifier
Data1
Data2
2) 4 Data bytes frame with a general purpose identifier
(type #1)
bit 7
*
1
Broad
bit 6
*
bit 5
1
bit 4
0
bit 3
ID3
CMD[6:0] = 0x0B
AD[6:0]
Pos[15:8]
Pos[7:0]
bit 2
ID2
*) according to parity computation
If Broad = ‘0’ all the Stepper motors connected to the LIN
will must go to Pos[15:0].
bit 1
ID1
bit 0
ID0
Identifier
Data1
Data2
Data3
Data4
3) Two motors positioning frame with 0x3C identifier (type #4)
bit 7
0
1
1
1
bit 6
0
bit 5
1
bit 4
bit 3
1
1
AppCMD = 0x80
CMD[6:0] = 0x0B
AD1[6:0]
Pos1[15:8]
Pos1[7:0]
AD2[6:0]
Pos2[15:8]
Pos2[7:0]
ADn[6:0] : Motor #n physical address (n ∈ [1,2]).
bit 2
1
Posn[15:0] : Signed 16-bit position set-point for Motor #n.
bit 1
bit 0
0
0
Identifier
Data1
Data2
Data3
Data4
Data5
Data6
Data7
Data8
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