AMIS-30623 LIN Microstepping Motordriver
Data Sheet
15.2.9. RAM Registers
Table 19: RAM Registers
Length
(bit)
Register
Mnemonic
Related commands
Comment
Reset state
GetActualPos
GetFullStatus
GotoSecurePos
ResetPosition
GetFullStatus
GotoSecurePos
ResetPosition
SetPosition
ActPos
Actual position
16
16-bit signed
Note 1
16-bit signed or
11-bit signed for half stepping
(see Positioning)
Last programmed
position
Pos/
TagPos
16/11
1
SetPositionShort
‘0’ ⇒ normal acceleration from Vmin to
Vmax
‘1’ ⇒ motion at Vmin without acceleration
GetFullStatus
ResetToDefault²
SetMotorParam
AccShape
Acceleration shape
‘0’
GetFullStatus
ResetToDefault²
SetMotorParam
GetFullStatus
ResetToDefault²
SetMotorParam
GetFullStatus
ResetToDefault²
SetMotorParam
GetFullStatus
ResetToDefault²
SetMotorParam
GetFullStatus
ResetToDefault²
SetMotorParam
GetFullStatus
ResetToDefault²
SetMotorParam
Operating current
See look-up table Irun
Irun
Ihold
Vmin
Coil peak current
Coil hold current
Minimum Velocity
Maximum Velocity
Shaft
4
4
Standstill current
See look-up table Ihold
See Section 13.3 Minimum Velocity
See look-up table Vmin
4
See Section 13.2 Maximum Velocity
See look-up table Vmax
Vmax
4
Direction of movement
for positive velocity
Shaft
Acc
1
From OTP
memory
Acceleration/
deceleration
See Section 13.4 Acceleration
See look-up table Acc
4
Target position when LIN connection fails;
11 MSBs of 16-bit position (LSBs fixed to
‘0’)
GetFullStatus
ResetToDefault²
SetMotorParam
SecPos
Secure Position
11
See Section 13.1 Stepping Modes
See look-up table StepMode
GetFullStatus
SetStallParam
StepMode
AbsThr
Stepping mode
2
4
4
Stall detection absolute
threshold
Stall detection delta
threshold
GetFullStatus
SetStallParam
GetFullStatus
SetStallParam
DelThr
Enables entering sleep mode after LIN lost
See also 16.8 LIN lost behavior
Triggers autonomous motion after LIN lost
at POR See also 16.8 LIN lost behavior
SleepEn
SetOTPParam
SetOTPParam
Sleep Enable
FailSafe
FS2StallEn
MinSamples
PWMJEn
Fail Safe
GetFullStatus
SetStallParam
GetFullStatus
SetStallParam
GetFullStatus
SetStallParam
GetFullStatus
SetStallParam
Stall detection delay
3
3
1
1
1
Delays the stall detection after acceleration
‘000’
‘000’
‘0’
Stall detection
sampling
PWM Jitter
‘1’ means jitter is added
‘1’ means stall detection is disabled in
case PWM regulator runs at δ = 100%
100% duty cycle Stall
Disable
DC100SDis
PWMFreq
‘0’
GetFullStatus
SetMotorParam
PWM frequency
‘0’
Note 1: A ResetToDefaultcommand will act as a reset of the RAM content, except for ActPosand TagPosregisters that are not modified.
Therefore, the application should not send a ResetToDefaultduring a motion, to avoid any unwanted change of parameter.
AMI Semiconductor – June 2006, Rev 3.0
31
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