AMIS-30623 LIN Microstepping Motordriver
GotoSecurePosition
Data Sheet
This command is provided by the LIN master to one or all the stepper-motors to move to the secure position
SecPos[10:0].
It can
also be internally triggered if the LIN bus communication is lost, after an initialization phase, or prior to going into sleep mode. See the
description for more details. The priority encoder table also acknowledges the cases where a
GotoSecurePosition
command will be ignored.
GotoSecurePosition
corresponds to the following LIN writing frame (type #1).
GotoSecurePosition Writing Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
*
*
0
ID4
ID3
ID2
1
CMD[6:0] = 0x04
Broad
AD[6:0]
Byte
0
1
2
Content
Identifier
Data
Data
Bit 1
ID1
Bit 0
ID0
Where:
(*)
Broad:
according to parity computation
If Broad = ‘0’ all the stepper motors connected to the LIN bus will reach their secure position
HardStop
This command will be internally triggered when an electrical problem is detected in one or both coils, leading to shutdown mode. If this
occurs while the motor is moving, the <StepLoss> flag is raised to allow warning of the LIN master at the next
GetStatus
command
that steps may have been lost. Once the motor is stopped,
ActPos
register is copied into
TagPos
register to ensure keeping the stop
position.
A
hardstop
command can also be issued by the LIN master for some safety reasons. It corresponds then to the following two data
bytes LIN writing frame (type #1).
HardStop Writing Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
*
*
0
ID4
ID3
ID2
1
CMD[6:0] = 0x05
Broad
AD[6:0]
Byte
0
1
2
Content
Identifier
Data
Data
Bit 1
ID1
Bit 0
ID0
Where:
(*)
Broad:
according to parity computation
If broad = ‘0’ stepper motors connected to the LIN bus will stop
ResetPosition
This command is provided to the circuit by the LIN master to reset
ActPos
and
TagPos
registers to zero. This can be helpful to
prepare for instance a relative positioning.
ResetPosition
corresponds to the following LIN writing frames (type #1).
ResetPosition Writing Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
*
*
0
ID4
ID3
ID2
1
CMD[6:0] = 0x06
Broad
AD[6:0]
Byte
0
1
2
Content
Identifier
Data
Data
Bit 1
ID1
Bit 0
ID0
Where:
(*)
Broad:
according to parity computation
If broad = ‘0’ all the circuits connected to the LIN bus will reset their
ActPos
and
TagPos
registers
AMI Semiconductor
– June 2006, Rev 3.0
55
www.amis.com
AMI [ AMI SEMICONDUCTOR ]
