AMIS-30623 Datasheet, PDF (54/65 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30623
RunVelocity
This command is provided to the circuit by the LIN Master in order to put the motor in continuous motion state.
Note: Continuous LIN communication is required. If not Lost LIN is detected and an autonomous motion will start. See also LIN lost
behavior.
RunVelocity corresponds to the following LIN writing frames (type #1).
Byte
0
1
2
Where:
(*)
Broad:
Content
Identifier
Data 1
Data 2
RunVelocity Writing Frame
Structure
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
*
*
0
ID4 ID3 ID2
1
CMD[6:0] = 0x17
Broad
AD[6:0]
Bit 1
ID1
Bit 0
ID0
according to parity computation
If broad = ‘0’ all the stepper motors connected to the LIN bus will start continuous motion.
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.
Note1 : 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).
SetDualPositioning Writing Frame
Byte
Content
Structure
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]
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]: Relative position of the second motion
SetStallParam()
This commands sets the Motion Detection parameters, and the related Stepper Motor parameters such as the minimum and
maximum velocity, the run- and hold current, acceleration and stepmode See Motion detection for the meaning of the parameters
sent by the LIN Master SetStallParam corresponds to a 0x3C LIN command
Rev. 4 | Page 54 of 65 | www.onsemi.com