AMIS-30623 Datasheet, PDF (60/67 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30623 LIN Microstepping Motordriver
Data Sheet
SetPositionShort()
This command is provided to the circuit by the LIN Master to drive one, two or four motors to a given absolute position. It applies only
for half stepping mode (StepMode[1:0] = “00”) and is ignored when in other stepping modes. See Positioning. for more details.
The physical address is coded on 4 bits, hence SetPositionShort can only be used with a network implementing a maximum of 16
slave nodes. These 4 bits are corresponding to the bits PA[3:0] in OTP memory (address 0x02) See Physical Address of the Circuit
The priority encoder table (See Priority Encoder) acknowledges the cases where a SetPositionShort command will be ignored.
SetPositionShort corresponds to the following LIN writing frames
1.) Two (2) data bytes frame for one (1) motor, with specific identifier (type #2)
Byte
0
1
2
Where:
(*)
Broad:
ID[5:0]:
Content
Identifier
Data 1
Data 2
SetPositionShort Writing Frame
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3
*
*
0
ID4 ID3
Pos[10:8]
Broad
Pos [7:0]
Bit 2 Bit 1
ID2 ID1
AD [3:0]
Bit 0
ID0
According to parity computation
If broad = ‘0’ all the stepper motors connected to the LIN bus will go to Pos[10:0]..
Dynamically allocated identifier to two data bytes SetPositionShort command.
2.) Four (4) data bytes frame for two (2) motors, with specific identifier (type # 2)
SetPositionShort Writing Frame
Byte
Content
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
Identifier
*
*
1
0
ID3 ID2 ID1 ID0
1
Data 1
Pos1[10:8]
1
AD1[3:0]
2
Data 2
Pos1[7:0]
3
Data 3
Pos2[10:8]
1
AD2[3:0]
4
Data 4
Pos2[7:0]
Where:
(*)
according to parity computation
ID[5:0]:
Dynamically allocated identifier to four data bytes SetPositionShort command.
Adn[3:0]:
Motor #n physical address least significant bits (n ∈ [1,2]).
Posn[10:0]: Signed 11-bit position set point for Motor #n (see RAM Registers)
3.) Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2)
SetPositionShort Writing Frame
Byte
Content
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
0
Identifier
*
*
1
1
ID3 ID2 ID1 ID0
1
Data 1
Pos1[10:8]
1
AD1[3:0]
2
Data 2
Pos1[7:0]
3
Data 3
Pos2[10:8]
1
AD2[3:0]
4
Data 4
Pos2[7:0]
5
Data 5
Pos3[10:8]
1
AD3[3:0]
6
Data 6
Pos3[7 :0]
7
Data 7
Pos4[10 :8]
1
AD4[3:0]
8
Data 8
Pos4[7:0]
Where:
(*)
according to parity computation
ID[5:0]:
Dynamically allocated identifier to eight data bytes SetPositionShort command.
Adn[3:0]:
Motor #n physical address least significant bits (n ∈ [1,4]).
Posn[10:0]: Signed 11-bit position set point for Motor #n (see RAM Registers)
AMI Semiconductor – June 2006, Rev 3.0
60
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