AMIS-30623 Datasheet, PDF (57/67 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30623 LIN Microstepping Motordriver
Data Sheet
SetDualPosition
This command is provided to the circuit by the LIN master in order to perform a positioning of the motor using two different velocities.
See Section Dual Positioning.
Note1 : This sequence cannot be interrupted by another positioning command.
Important: If for some reason ActPos equals Pos1[15:0] at the moment the SetDualPosition 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 start a dual positioning. Another solution may consist of 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].
SetDualPosition corresponds to the following LIN writing frame with 0x3C identifier (type #4).
SetDualPositioning Writing Frame
Byte
Content
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
AppCMD = 0x80
2
Data 2
1
CMD[6:0] = 0x08
3
Data 3
Broad
AD[6:0]
4
Data 4
Vmax[3:0]
Vmin[3:0]
5
Data 5
Pos1[15:8]
6
Data 6
Pos1[7:0]
7
Data 7
Pos2[15:8]
8
Data 8
Pos2[7:0]
Where:
Broad:
If broad = ‘0’ all the circuits connected to the LIN bus will run the dual positioning
Vmax[3:0]: Max velocity for first motion
Vmin[3:0]: Min velocity for first motion and velocity for the second motion
Pos1[15:0]: First position to be reached during the first motion
Pos2[15:0]: Relative position of the second motion
SetStallParam()
This commands sets the Motion Detection parameters, and the related Stepper Motor parameters such as the minimum and
maximum velocity, the run- and hold current, acceleration and stepmode See Motion detection for the meaning of the parameters
sent by the LIN Master
SetStallParam corresponds to a 0x3C LIN command
SetStallParam Writing Frame
Byte Content
Structure
Bit 7 Bit Bit Bit 4
Bit 3 Bit 2
Bit 1
Bit 0
65
0
Identifier
0
01
1
1
1
0
0
1
Data 1
AppCMD = 0x80
2
Data 2
1
CMD[6:0] = 0x16
3
Data 3 Broad
AD[6:0]
4
Data 4
Irun[3:0]
Ihold[3:0]
5
Data 5
Vmax[3:0]
Vmin[3:0]
6
Data 6 MinSamples[2:0] Shaft
Acc[3:0]
6
Data 7
AbsThr[3:0]
RelThr[3:0]
8
Data 8
MinZCross[2:0] AccShape StepMode[1:0] DC100StEn PWMJEn
Where:
Broad:
If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as
requested
AMI Semiconductor – June 2006, Rev 3.0
57
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