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AMIS-30621 Datasheet, PDF (53/59 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver | |||
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AMISâ30621
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)
describes 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)
Table 53. SetPosition WRITING FRAME TYPE #3
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
Pos[15 :8]
2
Data 2
Pos[7 :0]
3
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 SetPosition command
as there are stepperâmotors connected to the LIN bus.
2. Four (4) Data bytes frame with general purpose identifier (type #1). Note: the dynamic ID allocation has to be
assigned to âGeneral Purpose 4 Data bytesâ ROM pointer, i.e. â0001â.
Table 54. SetPosition 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
*
*
1
0
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x0B
2
Data 2
Broad
AD[6:0]
3
Data 3
Pos[15:8]
4
Data 4
Pos[7:0]
5
Checksum
Checksum over data
Where:
(*) According to parity computation
Broad: If broad = â0â 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)
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