AMIS-30621 LIN Micro-stepping Motor Driver
Data Sheet
16.0 LIN Application Commands
16.1 Introduction
The LIN master will have to use commands to manage the different application tasks the AMIS-30621 can feature. The commands
summary is given in Table 24.
Table 24: Commands Summary
Command
Frames
Read
Description
Mnemonic
Code
Prep
Write
Reading Command
GetActualPos
GetFullStatus
GetOTPparam
GetStatus
0x00
7, 8
5, 6
Returns the actual position of the motor
Returns a complete status of the circuit
Returns the OTP memory content
Returns a short status of the circuit
0x01
0x02
0x03
7, 8
7, 8
6
6
5
Writing Commands
GotoSecurePosition
HardStop
0x04
1
1
1
Drives the motor to its secure position
Immediate motor stop
0x05
0x06
0x07
0x08
ResetPosition
ResetToDefault
SetDualPosition
Actual position becomes the zero position
RAM content reset
4
4
Drives the motor to two different positions with different speeds
Programs the motion parameters and values for the current in
the motor’s coils
SetMotorParam
0x09
SetOTPparam
0x10
0x0B
0x0C
0x0D
0x0E
Programs (and zaps) a selected byte of the OTP memory
SetPosition
1, 3, 4 Drives the motor to a given position
SetPositionShort(1 motor)
SetPositionShort(2 motors)
SetPositionShort(4 motors)
Service Commands
Sleep
2
2
2
Drives the motor to a given position (half-step mode only)
Drives two motors to two given positions (half-step only)
Drives four motors to four given positions (half-step only)
1
1
Drives circuit into sleep mode
SoftStop
0x0F
Motor stopping with a deceleration phase
These commands are described hereafter, with their corresponding LIN frames. Refer to LIN Frames for more details on LIN frames,
particularly for what concerns dynamic assignment of identifiers. A color coding is used to distinguish between master and slave parts
within the frames and to highlight dynamic identifiers. An example is in Figure 29.
Light Blue: master
GetStatus Reading Frame
Byte
Content
Structure
Bit 7
*
ESW
Bit 6
*
Bit 5
0
Bit 4 Bit 3 Bit 2
Bit 1
ID1
Bit 0
ID0
ID4
ID3
AD[6:0]
TSD
ID2
0
1
2
Identifier
Data 1
Data 2
VddReset
White: slave in-frame response
StepLoss
ElDef
UV2
TW
Tinfo[1:0]
Red: dynamic identifier
Figure 29: Color Code Used in the Definition of LIN Frames
Usually, the AMIS-30621 makes use of dynamic identifiers for general-purpose 2, 4 or 8 bytes writing frames. If dynamic identifiers are
used for other purpose, this is acknowledged. Some frames implement a Broadbit that allows addressing a command to all the AMIS-
30621 circuits connected to the same LIN bus. Broadis active when at ‘0’, in which case the physical address provided in the frame is
thus not taken into account by the slave nodes.
AMI Semiconductor – Sept. 2007, Rev 1.5
43
www.amis.com
AMI [ AMI SEMICONDUCTOR ]
