AMIS-30621 Datasheet, PDF (31/43 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30621 LIN Microstepping Motordriver
Data Sheet
Notes:
1 Leaving Sleep state is equivalent to Power-on-reset.
2 After Power-on reset, the Shutdown state is entered. The
Shutdown state can only be left after GetFullStatus
command (so that the Master could read the <VddReset>
flag).
3 A RunInit sequence runs with a separate set of RAM
registers. The parameters that are not specified in a RunInit
command are loaded with the values stored in RAM at the
moment the RunInit sequence starts. AccShape is forced to
‘1’ during second motion even if a ResetToDefault
command is issued during a RunInit sequence, in which
case AccShape at ‘0’ will be taken into account after the
RunInit sequence. A GetFullStatus command will return
the default parameters for Vmax and Vmin stored in RAM.
4 The <Sleep> flag is set to ‘1’ when a LIN timeout or a
Sleep command occurs. It is reset by the next LIN command
(<Sleep> is cancelled if not activated yet).
5 Shutdown state can be left only when <TSD> and <HS>
flags are reset.
6 Flags can be reset only after the master could read them via
a GetStatus or GetFullStatus command, and
provided the physical conditions allow for it (normal
temperature, correct battery voltage and no electrical or
charge pump defect).
7 A SetMotorParam command sent while a motion is
ongoing (state GotoPos) should not attempt to modify Acc
and Vmin values. This can be done during a RunInit
sequence since this motion uses its own parameters, the
new parameters will be taken into account at the next
SetPosition or SetPositionShort command.
8 Some transitions like GotoPos ➔ Sleep are actually done via
several states: GotoPos ➔ SoftStop ➔ Stopped ➔ Sleep (see
diagram below).
9 Two transitions are possible from state Stopped when
<Sleep> = ‘1’:
1) Transition to state Sleep if (<SecEn> = ‘0’) or
((<SecEn> = ‘1’) and (ActPos = SecPos)) or
<Stop> = ‘1’.
2) Otherwise transition to state GotoPos, with
TagPos = SecPos.
10 <SecEn> = ‘1’ when register SecPos is loaded with a value
different from the most negative value (i.e. different from
0x400 = “100 0000 0000”).
11 <Stop> flag allows to distinguish whether state Stopped
was entered after HardStop/SoftStop or not. <Stop> is set
to ‘1’ when leaving state HardStop or SoftStop and is
reset during first clock edge occurring in state Stopped.
12 Command for dynamic assignment of IDs is decoded in all
states except Sleep and has not effect on the current state.
13 While in state Stopped, if ActPos ≠ TagPos there is a
transition to state GotoPos. This transition has the lowest
priority, meaning that <Sleep>, <Stop>, <TSD>, etc. are
first evaluated for possible transitions.
14 If <StepLoss> is active, then SetPosition, SetPositionShort
and GotoSecurePosition commands are ignored (they
will not modify TagPos register whatever the state), and
motion to secure position is forbidden after a Sleep
command or a LIN timeout (the circuit will go into Sleep
state immediately, without positioning to secure position).
Other command like RunInit or ResetPosition will
be executed if allowed by current state. <StepLoss> can
only be cleared by a GetStatus or GetFullStatus
command.
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