AMIS-30623 LIN Microstepping Motordriver
Data Sheet
17.0 LIN Application Commands
17.1 Introduction
The LIN Master will have to use commands to manage the different application tasks the AMIS-30623 can feature. The commands
summary is given in the table below.
Table 34: Commands Summary
Frames
Read
Command
Description
Code
0x00
Prep
7, 8
Write
Mnemonic
Reading command
GetActualPos
GetFullStatus
GetOTPparam
5, 6
6
Returns the actual position of the motor
Returns a complete status of the circuit
Returns the OTP memory content
Returns a short status of the circuit
0x01
0x02
0x03
7, 8
7, 8
6
5
GetStatus
Writing commands
GotoSecurePosition
HardStop
0x04
0x05
0x06
0x07
0x17
0x08
1
Drives the motor to its secure position
Immediate motor stop
1
1
ResetPosition
ResetToDefault
RunVelocity
Actual position becomes the zero position
RAM content reset
1
4
Drives motor continuously
Drives the motor to 2 different positions with different
speeds
Programs the motion parameters and values for the
current in the motor’s coils
SetDualPosition
SetMotorParam
0x09
4
0x10
0x16
0x0B
0x0C
0x0D
0x0E
0x2F
SetOTPparam
Programs (and zaps) a selected byte of the OTP memory
Programs the motion detection parameters
4
SetStallparam
1, 3, 4
SetPosition
Drives the motor to a given position
2
2
2
2
SetPositionShort(1 m.)
SetPositionShort(2 m.)
SetPositionShort(4 m.)
Drives the motor to a given position (half step mode only)
Drives two motors to 2 given positions (half step only)
Drives four motors to 4 given positions (half step only)
Drives the motor to a given position and programs some
of the motion parameters.
SetPosParam
Service commands
Sleep
1
1
1
Drives circuit into sleep mode
0x0F
0x1F
SoftStop
Motor stopping with a deceleration phase
Outputs Bemf voltage on pin SWI
TestBemf
These commands are described hereafter, with their corresponding LIN frames. Refer to LIN Frames for more details on LIN frames,
particularly for what concerns dynamic assignment of identifiers. A color coding is used to distinguish between master and slave parts
within the frames and to highlight dynamic identifiers. An example is shown below.
Light Blue : master
GetStatus Reading Frame
Byte
Content
Structure
Bit 7
*
ESW
Bit 6
*
Bit 5
0
Bit 4 Bit 3 Bit 2
Bit 1
ID1
Bit 0
ID0
ID4
ID3
AD[6:0]
TSD
ID2
0
1
2
Identifier
Data 1
Data 2
VddReset
White : slave in-frame response
StepLoss
ElDef
UV2
TW
Tinfo[1:0]
Yellow : dynamic identifier
Figure 30: Color Code Used in the Definition of LIN Frames
AMI Semiconductor – June 2006, Rev 3.0
51
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