AMIS-30621 LIN Micro-stepping Motor Driver
Data Sheet
ResetToDefault
This command is provided to the circuit by the LIN master in order to reset the whole slave node into the initial state. ResetToDefault
will, for instance, overwrite the RAM with the reset state of the registers parameters (See RAM Registers). This is another way for the
LIN master to initialize a slave node in case of emergency, or simply to refresh the RAM content.
Note: ActPosand TagPosare not modified by a ResetToDefaultcommand.
Important: Care should be taken not to send a ResetToDefault command while a motion is ongoing, since this could modify the
motion parameters in a way forbidden by the position controller.
ResetToDefaultcorresponds to the following LIN writing frames (type #1).
ResetPosition 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] = 0x07
AD[6:0]
Broad
2
Data
Where:
(*)
Broad:
According to parity computation.
If Broad = ‘0’ all the circuits connected to the LIN bus will reset to default.
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.
Note 1: This sequence cannot be interrupted by another positioning command.
Important: If for some reason ActPosequals Pos1[15:0]at the moment the SetDualPositioncommand 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].
SetDualPositioncorresponds to the following LIN writing frame with 0x3C identifier (type #4).
SetDualPositioning Writing Frame
Byte
Content
Structure
Bit 4 Bit 3
Bit 7
Bit 6
Bit 5
Bit 2
Bit 1
Bit 0
0
0
1
1
1
1
0
0
0
1
2
3
4
5
6
7
Identifier
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Data 8
AppCMD = 0x80
1
CMD[6:0] = 0x08
AD[6:0]
Broad
Vmax[3:0]
Vmin[3:0]
Pos1[15:8]
Pos1[7:0]
Pos2[15:8]
Pos2[7:0]
8
Where:
Broad:
Vmax[3:0]:
Vmin[3:0]:
If Broad = ‘0’ all the circuits connected to the LIN bus will run the dual positioning.
Max velocity for first motion.
Min velocity for first motion and velocity for the second motion.
Pos1[15:0]: Position to be reached during the first motion.
Pos2[15:0]: Position to be reached during the second motion.
AMI Semiconductor – Sept. 2007, Rev 1.5
www.amis.com
48
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