AMIS-30621 Datasheet, PDF (51/59 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS−30621
ResetToDefault will correspond to the following LIN writing frames (type #1).
Table 49. ResetToDefault WRITING FRAME TYPE #1
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x07
2
Data 2
Broad
AD[6:0]
3
Checksum
Checksum over data
Where:
(*) According to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will reset to default.
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. After
Dual positioning the internal flag “Reference done” is set.
Note: 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).
Table 50. SetDualPositioning WRITING FRAME TYPE #4
Structure
Byte
Content
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]
9
Checksum
Checksum over data
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]: Position of the second motion
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