AMIS-30623 LIN Microstepping Motordriver
SetPosition()
Data Sheet
This command is provided to the circuit by the LIN master to drive one or two motors to a given absolute position. See
for
more details.
The priority encoder table
acknowledges the cases where a
SetPosition
command will be ignored.
SetPosition
corresponds to the following LIN write frames.
1) Two (2) Data bytes frame with a direct ID (type #3)
SetPosition Writing Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
*
*
0
ID4
ID3
Pos[15 :8]
Pos[7 :0]
Byte
0
1
2
Content
Identifier
Data 1
Data 2
Bit 2
ID2
Bit 1
ID1
Bit 0
ID0
Where:
(*)
ID[5:0]:
According to parity computation
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 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
*
*
1
0
ID3
ID2
1
CMD[6:0] = 0x0B
Broad
AD[6:0]
Pos[15:8]
Pos[7:0]
Byte
0
1
2
3
4
Content
Identifier
Data 1
Data 2
Data 3
Data 4
Bit 1
ID1
Bit 0
ID0
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 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
0
0
1
1
1
1
AppCMD = 0x80
1
CMD[6:0] = 0x0B
1
AD1[6:0]
Pos1[15:8]
Pos1[7:0]
1
AD2[6:0]
Pos2[15:8]
Pos2[7:0]
Byte
0
1
2
3
4
5
6
7
8
Content
Identifier
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
Data 8
Bit 1
0
Bit 0
0
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
59
www.amis.com
AMI [ AMI SEMICONDUCTOR ]
