AMIS-30623 Datasheet, PDF (59/67 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30623 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 Positioning for
more details.
The priority encoder table (See Priority Encoder) acknowledges the cases where a SetPosition command will be ignored.
SetPosition corresponds to the following LIN write frames.
1) Two (2) Data bytes frame with a direct ID (type #3)
Byte
0
1
2
Where:
(*)
ID[5:0]:
Content
Identifier
Data 1
Data 2
SetPosition Writing Frame
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3
*
*
0
ID4 ID3
Pos[15 :8]
Pos[7 :0]
Bit 2
ID2
Bit 1
ID1
Bit 0
ID0
According to parity computation
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.
2) Four (4) Data bytes frame with a general purpose identifier (type #1)
Byte
0
1
2
3
4
Where:
(*)
Broad:
Content
Identifier
Data 1
Data 2
Data 3
Data 4
SetPosition Writing Frame
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
*
*
1
0
ID3 ID2
1
CMD[6:0] = 0x0B
Broad
AD[6:0]
Pos[15:8]
Pos[7:0]
Bit 1
ID1
Bit 0
ID0
According to parity computation
If broad = ‘0’ all the stepper motors connected to the LIN will must go to Pos[15:0].
3) Two (2) motors positioning frame with 0x3C identifier (type #4)
SetPosition Writing Frame
Byte
Content
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
0
Identifier
0
0
1
1
1
1
1
Data 1
AppCMD = 0x80
2
Data 2
1
CMD[6:0] = 0x0B
3
Data 3
1
AD1[6:0]
4
Data 4
Pos1[15:8]
5
Data 5
Pos1[7:0]
6
Data 6
1
AD2[6:0]
7
Data 7
Pos2[15:8]
8
Data 8
Pos2[7:0]
Where:
Adn[6:0] : Motor #n physical address (n ∈ [1,2]).
Posn[15:0] : Signed 16-bit position set-point for motor #n.
Bit 1
0
Bit 0
0
AMI Semiconductor – June 2006, Rev 3.0
59
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