AMIS-30623 Datasheet, PDF (58/65 Pages) AMI SEMICONDUCTOR – LIN Microstepping Motordriver

AMIS-30623
3.) Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2)
SetPositionShort Writing Frame
Byte
Content
Structure
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]
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)
SetPosParam()
This command is provided to the circuit by the LIN Master to drive one motor to a given absolute position. It also sets some of the
values for the stepper motor parameters such as minimum and maximum velocity.
SetPosParam corresponds to a Four (4) Data bytes writing LIN frame with specific dynamically assigned identifier (type # 2).
SoftPosParam Writing Frame
Byte
Content
Structure
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
Data 3
Vmax[3:0]
Vmin[3:0]
4
Data 4
AbsThr[3:0]
Acc[3:0]
Where:
(*)
according to parity computation
Broad:
If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration.
ID[5:0]:
Dynamically allocated direct identifier to 4 Data bytes SetPosParam command. There should be as
many dedicated identifiers to this SetPosition command as there are stepper-motors connected to the
LIN bus.
Pos [15:0] : Signed 16-bit position set-point.
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.
Byte
0
1
2
Content
Identifier
Data 1
Data 2
Bit 7
0
Sleep Writing Frame
Structure
Bit 6 Bit 5 Bit 4 Bit 3
0
1
1
1
0x00
0xFF
Bit 2 Bit 1 Bit 0
1
0
0
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