AMIS30623C623BRG Datasheet, PDF (45/61 Pages) ON Semiconductor – Micro-stepping Motor Driver

AMIS−30623
Some frames implement a <Broad> bit that allows
addressing a command to all the AMIS−30623 circuits
connected to the same LIN bus. <Broad> is active when at
‘0’, in which case the physical address provided in the frame
is thus not taken into account by the slave nodes.
Application Commands
GetActualPos
This command is provided to the circuit by the LIN master
to get the actual position of the stepping−motor. This
position (<ActPos[15:0]>) is returned in signed two’s
complement 16−bit format. One should note that according
to the programmed stepping mode, the LSB’s of
<ActPos[15:0]> may have no meaning and should be
assumed to be ‘0’, as prescribed in Position Ranges.
GetActualPos also provides a quick status of the circuit
and the stepper−motor, identical to that obtained by
command GetStatus (see further).
Note: A GetActualPos command will not attempt to
reset any flag.
GetActualPos corresponds to the following LIN reading
frames.
1. four data bytes in−frame response with direct ID (type #5)
Table 38. READING FRAME TYPE #5
Structure
Byte
Content
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
ESW
AD[6:0]
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
VddReset StepLoss
ElDef
UV2
TSD
TW
Tinfo[1:0]
5
Checksum
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated direct identifier. There should be as many dedicated identifiers to this GetActualPos
command as there are stepper−motors connected to the LIN bus.
Note: Bit 5 and bit 4 in byte 0 indicate the number of data bytes.
2. The master sends either a type#7 or type#8 preparing frame. After the type#7 or #8 preparing frame, the master sends
a reading frame type#6 to retrieve the circuit’s in−frame response.
Table 39. GetActualPos PREPARING FRAME TYPE #7
Byte
0
1
2
3
Content
Identifier
Data 1
Data 2
Checksum
Bit 7
*
1
1
Bit 6
*
Bit 5
0
Structure
Bit 4
Bit 3
Bit 2
ID4
ID3
ID2
CMD[6:0] = 0x00
AD[6:0]
Checksum over data
Bit 1
ID1
Bit 0
ID0
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