AMIS-30621 Datasheet, PDF (54/59 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS−30621
Table 55. SetPosition WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
0
Identifier
0
0
1
1
1
1
0
1
Data 1
AppCMD = 0x80
2
Data 2
1
CMD[6:0] = 0x0B
3
Data 3
1
AD1[6:0]
4
Data 4
Pos1[15:8]
5
Data 5
Pos1[7:0]
6
Data 6
1
AD2[6:0]
7
Data 7
Pos2[15:8]
8
Data 8
Pos2[7:0]
9
Checksum
Checksum over data
Where:
Adn[6:0]: Motor #n physical address (n ∈ [1,2]). Posn[15:0]: Signed 16−bit position set−point for motor #n.
Bit 0
0
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. For
SetPositionShort operation: It is recommended to set
HW0 and HW1 to ’1’. If the ADM bit is set to ’1’ the PA0
bit in OTP has to programmed to ’1’. If the ADM bit is set
to ’0’, HW2 has to be set to ’1’.
Two different cases must be considered, depending on the programmed value of the ADMbit in the OTP memory.
ADM
AD[3]
Pin HW0
Pin HW1
Pin HW2
Bit PA0 in OTP
memory
0
X
Tied to V_BB
AD[0]
1
0
Tied to V_DD
Tied to GND
1
1
1
Tied to V_BB
1
The priority encoder table (See Priority Encoder) describes 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)
Table 56. SetPositionShort WRITING FRAME TYPE #2
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[10:8]
Broad
AD [3:0]
2
Data 2
Pos [7:0]
3
Checksum
Checksum over data
Where:
(*) According to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will go to Pos[10:0].
ID[5:0]: Dynamically allocated identifier to two data bytes SetPositionShort command.
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