AMIS-30621 Datasheet, PDF (30/59 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS−30621
26. Leaving sleep state is equivalent to POR.
27. After POR, the shutdown state is entered. The shutdown state can only be left after GetFullStatus command (so that the master could
read the <V_DDReset> flag).
28. A DualPosition sequence runs with a separate set of RAM registers. The parameters that are not specified in a DualPosition command are
loaded with the values stored in RAM at the moment the DualPosition sequence starts. AccShape is forced to ‘1’ during second motion even
if a ResetToDefault command is issued during a DualPosition sequence, in which case AccShape at ‘0’ will be taken into account after
the DualPosition sequence. A GetFullStatus command will return the default parameters for Vmax and Vmin stored in RAM.
29. 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).
30. Shutdown state can be left only when <TSD> and <HS> flags are reset.
31. 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).
32. 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 DualPosition sequence since this motion uses its own parameters, the new parameters will be taken into account at the
next SetPosition or SetPositionShort command.
33. Some transitions like GotoPos → sleep are actually done via several states: GotoPos → SoftStop → Stopped → Sleep (see diagram below).
34. 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
35. <SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000
0000”)
36. <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.
37. Command for dynamic assignment of Ids is decoded in all states except sleep and has not effect on the current state.
38. 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.
39. 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 DualPosition or ResetPosition will
be executed if allowed by current state. <StepLoss> can only be cleared by a GetStatus or GetFullStatus command
POR
Dual Position
Referencing
Thermal Shutdown
HardStop ^HardStop
SoftStop
Set Dual Position Motion finished HardStop
Thermal
ShutDown
SoftStop
Shutdown
HardStop
Thermal Shutdown
GetFullStatus
Stopped
Motion Finished
GotoSecPos
SetPosition
Motion Finished
HardStop
GotoPos
<Sleep>
OR LIN timeout
Any LIN command
Sleep
<Sleep> AND (not <SecEn> OR
<SecEn> AND ActPos = SecPos
OR <Stop>)
Priorities ¹
2
3
4
Motion Finished
Figure 17. Simplified State Diagram
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