AMIS-30621 Datasheet, PDF (55/59 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS−30621
2. Four (4) data bytes frame for two (2) motors, with specific identifier (type # 2)
Table 57. SetPositionShort WRITING FRAME TYPE #2
Byte
Content
Structure
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
Pos1[10:8]
1
AD1[3:0]
2
Data 2
Pos1[7:0]
3
Data 3
Pos2[10:8]
1
AD2[3:0]
4
Data 4
Pos2[7:0]
5
Checksum
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated identifier to four data bytes SetPositionShort command.
Adn[3:0]: Motor #n physical address least significant bits (n ∈ [1,2]).
Posn[10:0]: Signed 11−bit position set point for Motor #n (see RAM Registers)
3. Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2)
Table 58. 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
*
*
1
1
ID3
ID2
ID1
ID0
1
Data 1
Pos1[10:8]
1
AD1[3:0]
2
Data 2
Pos1[7:0]
3
Data 3
Pos2[10:8]
1
AD2[3:0]
4
Data 4
Pos2[7:0]
5
Data 5
Pos3[10:8]
1
AD3[3:0]
6
Data 6
Pos3[7:0]
7
Data 7
Pos4[10:8]
1
AD4[3:0]
8
Data 8
Pos4[7:0]
9
Checksum
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated identifier to eight data bytes SetPositionShort command.
Adn[3:0]: Motor #n physical address least significant bits (n ∈ [1,4]).
Posn[10:0]: Signed 11−bit position set point for Motor #n (see RAM Registers)
Sleep
This command is provided to the circuit by the LIN master
to put all the slave nodes connected to the LIN bus into sleep
mode. If this command occurs during a motion of the motor,
TagPos is reprogrammed to SecPos (provided SecPos
is different from “100 0000 0000”), or a SoftStop is
executed before going to sleep mode. See LIN 1.3
specification and Sleep Mode. The corresponding LIN
frame is a master request command frame (identifier 0x3C)
with data byte 1 containing 0x00 while the followings
contain 0xFF.
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