AMIS-30623 Datasheet, PDF (51/67 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30623 LIN Microstepping Motordriver
Data Sheet
17.0 LIN Application Commands
17.1 Introduction
The LIN Master will have to use commands to manage the different application tasks the AMIS-30623 can feature. The commands
summary is given in the table below.
Table 34: Commands Summary
Command
Mnemonic
Code
Frames
Prep Read Write ^Description
Reading command
GetActualPos
0x00
7, 8
5, 6
Returns the actual position of the motor
GetFullStatus
0x01
7, 8
6
Returns a complete status of the circuit
GetOTPparam
0x02
7, 8
6
Returns the OTP memory content
GetStatus
0x03
5
Returns a short status of the circuit
Writing commands
GotoSecurePosition
0x04
1
Drives the motor to its secure position
HardStop
0x05
1
Immediate motor stop
ResetPosition
0x06
1
Actual position becomes the zero position
ResetToDefault
0x07
RAM content reset
RunVelocity
0x17
1
Drives motor continuously
SetDualPosition
SetMotorParam
SetOTPparam
0x08
0x09
0x10
4
Drives the motor to 2 different positions with different
speeds
4
Programs the motion parameters and values for the
current in the motor’s coils
Programs (and zaps) a selected byte of the OTP memory
SetStallparam
0x16
4
Programs the motion detection parameters
SetPosition
0x0B
1, 3, 4 Drives the motor to a given position
SetPositionShort (1 m.)
0x0C
2
Drives the motor to a given position (half step mode only)
SetPositionShort (2 m.)
0x0D
2
Drives two motors to 2 given positions (half step only)
SetPositionShort (4 m.)
0x0E
2
Drives four motors to 4 given positions (half step only)
SetPosParam
0x2F
2
Drives the motor to a given position and programs some
of the motion parameters.
Service commands
Sleep
1
Drives circuit into sleep mode
SoftStop
0x0F
1
Motor stopping with a deceleration phase
TestBemf
0x1F
1
Outputs Bemf voltage on pin SWI
These commands are described hereafter, with their corresponding LIN frames. Refer to LIN Frames for more details on LIN frames,
particularly for what concerns dynamic assignment of identifiers. A color coding is used to distinguish between master and slave parts
within the frames and to highlight dynamic identifiers. An example is shown below.
Light Blue : master
GetStatus Reading Frame
Byte
Content
Structure
Bit 7
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
Identifier
*
*
0
ID4 ID3 ID2 ID1 ID0
1
Data 1
ESW
AD[6:0]
2
Data 2
VddReset StepLoss ElDef UV2 TSD TW Tinfo[1:0]
White : slave in-frame response
Yellow : dynamic identifier
Figure 30: Color Code Used in the Definition of LIN Frames
AMI Semiconductor – June 2006, Rev 3.0
51
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