AMIS-30621 LIN Micro-stepping Motor Driver
Data Sheet
SetPositionShort
This command is provided to the circuit by the LIN Master to drive one, two or four motors to a given absolute position. It applies only
for half stepping mode (StepMode[1:0]= “00”) and is ignored when in other stepping modes. See Positioning for more details. The
physical address is coded on four bits, hence SetPositionShortcan only be used with a network implementing a maximum of 16
slave nodes. These four address bits are corresponding to bits AD[3:0].See Physical Address of the Circuit.
The priority encoder table (See Priority Encoder) acknowledges the cases where a SetPositionShortcommand will be ignored.
SetPositionShortcorresponds to the following LIN writing frames
1) Two data bytes frame for one motor, with specific identifier (type #2)
SetPositionShort 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[10:8]
Broad
AD [3:0]
Pos [7:0]
2
Data 2
Where:
(*)
According to parity computation.
Broad:
ID[5:0]:
If Broad = ‘0’ all the stepper motors connected to the LIN bus will go to Pos[10:0].
Dynamically allocated identifier to two data bytes SetPositionShortcommand.
2) Four data bytes frame for two motors, with specific identifier (type # 2)
SetPositionShort Writing Frame
Structure
Bit 4 Bit 3
ID3
Byte
Content
Bit 7
*
Bit 6
*
Bit 5
1
Bit 2
ID2
AD1[3:0]
AD2[3:0]
Bit 1
ID1
Bit 0
ID0
0
0
1
2
3
Identifier
Data 1
Data 2
Data 3
Data 4
Pos1[10:8]
1
Pos1[7:0]
1
Pos2[10:8]
Pos2[7:0]
4
Where:
(*)
According to parity computation.
ID[5:0]:
Adn[3:0]:
Posn[10:0]:
Dynamically allocated identifier to four data bytes SetPositionShortcommand.
Motor #n physical address least significant bits (n ∈ [1,2]).
Signed 11-bit position set point for Motor #n (see RAM Registers).
3) Eight data bytes frame for four motors, with specific identifier (type #2)
SetPositionShort Writing Frame
Structure
Bit 4 Bit 3
ID3
Byte
Content
Bit 7
*
Bit 6
*
Bit 5
1
Bit 2
ID2
AD1[3:0]
Bit 1
ID1
Bit 0
ID0
1
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
Pos1[10:8]
1
Pos1[7:0]
Pos2[10:8]
Pos3[10:8]
Pos4[10 :8]
1
AD2[3:0]
AD3[3:0]
AD4[3:0]
Pos2[7:0]
1
Pos3[7 :0]
1
Pos4[7:0]
8
Where:
(*)
According to parity computation.
ID[5:0]:
Adn[3:0]:
Posn[10:0]:
Dynamically allocated identifier to eight data bytes SetPositionShortcommand.
Motor #n physical address least significant bits (n ∈ [1,4]).
Signed 11-bit position set point for motor #n (see RAM Registers).
AMI Semiconductor – Sept. 2007, Rev 1.5
51
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