AMIS-30623 LIN Microstepping Motordriver
SetPositionShort()
Data Sheet
This command is provided to the circuit by the LIN Master to drive one, two or four motors to a given absolute position. It applies only
for half stepping mode (StepMode[1:0] = “00”) and is ignored when in other stepping modes. See
for more details.
The physical address is coded on 4 bits, hence
SetPositionShort
can only be used with a network implementing a maximum of 16
slave nodes. These 4 bits are corresponding to the bits
PA[3:0]
in OTP memory (address
0x02)
See
The priority encoder table
acknowledges the cases where a
SetPositionShort
command will be ignored.
SetPositionShort
corresponds to the following LIN writing frames
1.) Two (2) data bytes frame for one (1) motor, with specific identifier (type #2)
SetPositionShort Writing Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
*
*
0
ID4
ID3
Pos[10:8]
Broad
Pos [7:0]
Byte
0
1
2
Content
Identifier
Data 1
Data 2
Bit 2
Bit 1
ID2
ID1
AD [3:0]
Bit 0
ID0
Where:
(*)
Broad:
ID[5:0]:
According to parity computation
If broad = ‘0’ all the stepper motors connected to the LIN bus will go to
Pos[10:0]..
Dynamically allocated identifier to two data bytes
SetPositionShort
command.
2.) Four (4) data bytes frame for two (2) motors, with specific identifier (type # 2)
SetPositionShort Writing Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
*
*
1
0
ID3
Pos1[10:8]
1
Pos1[7:0]
Pos2[10:8]
1
Pos2[7:0]
Byte
0
1
2
3
4
Content
Identifier
Data 1
Data 2
Data 3
Data 4
Bit 2
Bit 1
ID2
ID1
AD1[3:0]
AD2[3:0]
Bit 0
ID0
Where:
(*)
ID[5:0]:
Adn[3:0]:
Posn[10:0]:
according to parity computation
Dynamically allocated identifier to four data bytes
SetPositionShort
command.
Motor #n physical address least significant bits (n
∈
[1,2]).
Signed 11-bit position set point for Motor #n (see
RAM Registers)
3.) Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2)
SetPositionShort Writing Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
*
*
1
1
ID3
Pos1[10:8]
1
Pos1[7:0]
Pos2[10:8]
1
Pos2[7:0]
Pos3[10:8]
1
Pos3[7 :0]
Pos4[10 :8]
1
Pos4[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 2
Bit 1
ID2
ID1
AD1[3:0]
AD2[3:0]
AD3[3:0]
AD4[3:0]
Bit 0
ID0
Where:
(*)
ID[5:0]:
Adn[3:0]:
Posn[10:0]:
according to parity computation
Dynamically allocated identifier to eight data bytes
SetPositionShort
command.
Motor #n physical address least significant bits (n
∈
[1,4]).
Signed 11-bit position set point for Motor #n (see
AMI Semiconductor
– June 2006, Rev 3.0
60
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AMI [ AMI SEMICONDUCTOR ]
