AMIS-30621 LIN Micro-stepping Motor Driver
Data Sheet
SetPosition
This command is provided to the circuit by the LIN master to drive one or two motors to a given absolute position. See Positioning for
more details.
The priority encoder table (See Priority Encoder) acknowledges the cases where a SetPositioncommand will be ignored.
SetPositioncorresponds to the following LIN write frames.
1) Two data bytes frame with a direct ID (type #3)
SetPosition 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
Pos[15 :8]
Pos[7 :0]
2
Data 2
Where:
(*)
According to parity computation.
ID[5:0]:
Dynamically allocated direct identifier. There should be as many dedicated identifiers to this
SetPosition command as there are stepper motors connected to the LIN bus.
2) Four data bytes frame with a general purpose identifier (type #1)
SetPosition Writing Frame
Structure
Bit 4 Bit 3
ID3
Byte
Content
Bit 7
*
1
Bit 6
*
Bit 5
1
Bit 2
ID2
Bit 1
ID1
Bit 0
ID0
0
0
1
2
3
Identifier
Data 1
Data 2
Data 3
Data 4
CMD[6:0] = 0x0B
AD[6:0]
Pos[15:8]
Broad
Pos[7:0]
4
Where:
(*)
Broad:
According to parity computation.
If Broad = ‘0’ all the stepper motors connected to the LIN will must go to Pos[15:0].
3) Two motors positioning frame with 0x3C identifier (type #4)
SetPosition Writing Frame
Structure
Bit 4 Bit 3
Byte
Content
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
1
CMD[6:0] = 0x0B
AD1[6:0]
Pos1[15:8]
Pos1[7:0]
1
AD2[6:0]
Pos2[15:8]
Pos2[7:0]
8
Where:
Adn[6:0] :
Motor #n physical address (n ∈ [1,2]).
Posn[15:0] : Signed 16-bit position set-point for motor #n.
AMI Semiconductor – Sept. 2007, Rev 1.5
www.amis.com
50
AMI [ AMI SEMICONDUCTOR ]
