AMIS-30621 LIN Micro-stepping Motor Driver
Data Sheet
GotoSecurePosition
This command is provided by the LIN master to one or all the stepper motors to move to the secure position SecPos[10:0]. It can
also be internally triggered if the LIN bus communication is lost, after an initialization phase, or prior to going into sleep mode. See the
priority encoder description for more details. The priority encoder table also acknowledges the cases where a GotoSecurePosition
command will be ignored.
GotoSecurePositioncorresponds to the following LIN writing frame (type #1).
GotoSecurePosition Writing Frame
Byte
Content
Structure
Bit 7
*
Bit 6
*
Bit 5
0
Bit 4
ID4
Bit 3
ID3
Bit 2
ID2
Bit 1
ID1
Bit 0
ID0
0
1
Identifier
Data
1
CMD[6:0] = 0x04
AD[6:0]
Broad
2
Data
Where:
(*)
Broad:
According to parity computation.
If Broad = ‘0’ all the stepper motors connected to the LIN bus will reach their secure position.
HardStop
This command will be internally triggered when an electrical problem is detected in one or both coils, leading to shutdown mode. If this
occurs while the motor is moving, the <StepLoss> flag is raised to allow warning of the LIN master at the next GetStatuscommand
that steps may have been lost. Once the motor is stopped, ActPosregister is copied into TagPosregister to ensure keeping the stop
position.
A hardstop command can also be issued by the LIN master for some safety reasons. It corresponds then to the following two data
bytes LIN writing frame (type #1).
HardStop Writing Frame
Byte
Content
Structure
Bit 7
*
Bit 6
*
Bit 5
0
Bit 4
ID4
Bit 3
ID3
Bit 2
ID2
Bit 1
ID1
Bit 0
ID0
0
1
Identifier
Data
1
CMD[6:0] = 0x05
AD[6:0]
Broad
2
Data
Where:
(*)
Broad:
According to parity computation.
If Broad = ‘0’ stepper motors connected to the LIN bus will stop.
ResetPosition
This command is provided to the circuit by the LIN master to reset ActPos and TagPos registers to zero. This can be helpful to
prepare for instance a relative positioning.
ResetPositioncorresponds to the following LIN writing frames (type #1).
ResetPosition Writing Frame
Byte
Content
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
*
1
*
0
ID4
ID3
ID2
ID1
ID0
0
1
2
Identifier
Data
Data
CMD[6:0] = 0x06
AD[6:0]
Broad
Where:
(*)
Broad:
According to parity computation.
If Broad = ‘0’ all the circuits connected to the LIN bus will reset their ActPosand TagPosregisters.
AMI Semiconductor – Sept. 2007, Rev 1.5
47
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