AMIS-30623 LIN Microstepping Motordriver
Data Sheet
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.
Note1 : 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
8
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]
Where:
Broad:
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
Vmax[3:0]:
Vmin[3:0]:
Pos1[15:0]: First position to be reached during the first motion
Pos2[15:0]: Relative position of the second motion
SetStallParam()
This commands sets the Motion Detection parameters, and the related Stepper Motor parameters such as the minimum and
maximum velocity, the run- and hold current, acceleration and stepmode See Motion detection for the meaning of the parameters
sent by the LIN Master
SetStallParamcorresponds to a 0x3C LIN command
SetStallParam Writing Frame
Byte
Content
Structure
Bit 3
Bit 7
Bit
6
Bit
5
Bit 4
Bit 2
Bit 1
Bit 0
0
0
1
1
1
1
0
0
0
1
2
3
4
5
6
6
Identifier
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Data 8
AppCMD = 0x80
1
CMD[6:0] = 0x16
AD[6:0]
Broad
Irun[3:0]
Vmax[3:0]
Ihold[3:0]
Vmin[3:0]
Acc[3:0]
RelThr[3:0]
DC100StEn
MinSamples[2:0]
AbsThr[3:0]
MinZCross[2:0]
Shaft
AccShape
StepMode[1:0]
PWMJEn
8
Where:
Broad:
If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as
requested
AMI Semiconductor – June 2006, Rev 3.0
57
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