AMIS-30623 LIN Microstepping Motordriver
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 (2) 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 (4) 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 (2) 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 – June 2006, Rev 3.0
www.amis.com
59
AMI [ AMI SEMICONDUCTOR ]
