AMIS30623 - Micro-stepping Motor Driver

AMIS-30623
Micro-stepping Motor Driver
INTRODUCTION
The AMIS−30623 is a single−chip micro−stepping motordriver with
position controller and control/diagnostic interface. It is ready to build
dedicated mechatronics solutions connected remotely with a LIN master.
The chip receives positioning instructions through the bus and
subsequently drives the motor coils to the desired position. The
on−chip position controller is configurable (OTP or RAM) for
different motor types, positioning ranges and parameters for speed,
acceleration and deceleration. The AMIS−30623 acts as a slave on the
LIN bus and the master can fetch specific status information like
actual position, error flags, etc. from each individual slave node.
An integrated sensor−less step−loss detection prevents the
positioner from loosing steps and stops the motor when running into
stall. This enables silent, yet accurate position calibrations during a
referencing run and allows semi−closed loop operation when
approaching the mechanical end−stops.
The chip is implemented in I2T100 technology, enabling both high
voltage analog circuitry and digital functionality on the same chip.
The AMIS−30623 is fully compatible with the automotive voltage
requirements.
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SOIC−20
8 or 9 SUFFIX
CASE 751AQ
PRODUCT FEATURES
Motordriver
•
•
•
•
•
•
•
•
NQFP−32
A or B SUFFIX
CASE 560AA
Micro−stepping Technology
Sensorless Step−loss Detection
Peak Current up to 800 mA
Fixed Frequency PWM Current−control
Automatic Selection of Fast and Slow Decay Mode
No external Fly−back Diodes Required
ORDERING INFORMATION
See detailed ordering and shipping information in the package
dimensions section on page 2 of this data sheet.
•
•
•
•
•
Compliant with 14 V Automotive Systems and
Industrial Systems up to 24 V
Motion Qualification Mode (Note 1)
Controller with RAM and OTP Memory
• Position Controller
• Configurable Speeds and Acceleration
• Input to Connect Optional Motion Switch
Power Saving
• Powerdown Supply Current < 100 mA
• 5 V Regulator with Wake−up On LIN Activity
LIN Interface
• Physical Layer Compliant to LIN rev. 2.0. Data−link
•
•
•
Open−circuit Detection
High Temperature Warning and Management
Low Temperature Flag
LIN Bus Short−circuit Protection to Supply and Ground
Lost LIN Safe Operation
EMI Compatibility
Layer Compatible with LIN rev. 1.3 (Note 2)
Field−programmable Node Addresses
Dynamically Allocated Identifiers
Diagnostics and Status Information
• LIN Bus Integrated Slope Control
• HV Outputs with Slope Control
Patents
• US 7,271,993
• US 7,288,956
Protection
• Overcurrent Protection
• Undervoltage Management
• This is a Pb−Free Device
1. Not applicable for “Product Versions AMIS30623C6238(R)G, AMIS30623C623B(R)G”
2. Minor exceptions to the conformance of the data−link layer to LIN rev. 1.3.
© Semiconductor Components Industries, LLC, 2009
May, 2009 − Rev. 7
1
Publication Order Number:
AMIS−30623/D
AMIS−30623
APPLICATIONS
surveillance, satellite dish, renewable energy systems).
Suitable applications typically have multiple axes or require
mechatronics solutions with the driver chip mounted
directly on the motor.
The AMIS−30623 is ideally suited for small positioning
applications. Target markets include: automotive (headlamp
alignment, HVAC, idle control, cruise control), industrial
equipment (lighting, fluid control, labeling, process control,
XYZ tables, robots...) and building automation (HVAC,
Table 1. ORDERING INFORMATION
Part No.
Peak Current
AMIS30623C6239G
800 mA
AMIS30623C6239RG
800 mA
Package*
Shipping†
SOIC−20
(Pb−Free)
Tube/Tray
SOIC−20
(Pb−Free)
Tape & Reel
NQFP−32 (7 x 7 mm)
(Pb−Free)
Tube/Tray
End Market/Version
Industrial
High Voltage Version
AMIS30623C623AG
800 mA
AMIS30623C623ARG
800 mA
NQFP−32 (7 x 7 mm)
(Pb−Free)
Tape & Reel
AMIS30623C6238G
800 mA
SOIC−20
(Pb−Free)
Tube/Tray
AMIS30623C6238RG
800 mA
SOIC−20
(Pb−Free)
Tape & Reel
AMIS30623C623BG
800 mA
NQFP−32 (7 x 7 mm)
(Pb−Free)
Tube/Tray
AMIS30623C623BRG
800 mA
NQFP−32 (7 x 7 mm)
(Pb−Free)
Tape & Reel
Automotive
High Temperature
Version
*For additional information on our Pb−Free strategy and soldering details, please download the ON Semiconductor Soldering and Mounting
Techniques Reference Manual, SOLDERRM/D.
†For information on tape and reel specifications, including part orientation and tape sizes, please refer to our Tape and Reel Packaging
Specification Brochure, BRD8011/D.
QUICK REFERENCE DATA
Table 2. ABSOLUTE MAXIMUM RATINGS
Parameter
Min
Max
Unit
VBB, VHW2, VSWI
Supply voltage, hardwired address and SWI pins
−0.3
+40 (Note 3)
V
Vlin
Bus input voltage
−40
+40
V
TJ
Junction temperature range (Note 4)
−50
+175
°C
Tst
Storage temperature
−55
+160
°C
Vesd (Note 5)
HBM Electrostatic discharge voltage on LIN pin
−4
+4
kV
HBM Electrostatic discharge voltage on other pins (Note 6)
−2
+2
kV
MM Electrostatic discharge voltage on other pins (Note 7)
−200
+200
V
Stresses exceeding Maximum Ratings may damage the device. Maximum Ratings are stress ratings only. Functional operation above the
Recommended Operating Conditions is not implied. Extended exposure to stresses above the Recommended Operating Conditions may affect
device reliability.
Table 3. OPERATING RANGES
Parameter
3.
4.
5.
6.
7.
Min
Max
Unit
VBB
Supply voltage
+6.5
+29
V
TJ
Operating temperature range
−40
+165
°C
For limited time: VBB <0.5 s, SWI and HW2 pins <1.0 s.
The circuit functionality is not guaranteed.
HBM according to AEC−Q100: EIA−JESD22−A114−B (100 pF via 1.5 kW) and MM according to AEC−Q100: EIA−JESD22−A115−A.
Tested on AMIS30623C6238(R)G version.
Tested on AMIS30623C623B(R)G version.
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2
AMIS−30623
Table of Contents
Structural Description . . . . . . . . . . . . . . . . . . . . . . . . .
Functions Description . . . . . . . . . . . . . . . . . . . . . . . . .
Position Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Main Control and Register . . . . . . . . . . . . . . . . . . . . . .
Autarkic Functionality in Undervoltage Condition . . .
OTP Register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Priority Encoder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Motordriver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LIN Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LIN Lost Behavior . . . . . . . . . . . . . . . . . . . . . . . . . . . .
LIN Application Commands . . . . . . . . . . . . . . . . . . . .
Application Commands . . . . . . . . . . . . . . . . . . . . . . . .
Package Outlines . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
General Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Product Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Ordering Information . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Quick Reference Data . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Maximum Ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
Block Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Pin Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Package Thermal Resistance . . . . . . . . . . . . . . . . . . . . . 5
DC Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
AC Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Typical Application . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Positioning Parameters . . . . . . . . . . . . . . . . . . . . . . . . 10
13
14
14
21
23
24
29
31
36
41
44
45
59
SWI
AMIS−30623
LIN
BUS
Interface
Position
Controller
HW[2:0]
Controller
I−sense
PWM
regulator
X
MOTXP
MOTXN
TST
Decoder
Main Control
Registers
OTP − ROM
Sinewave
Table
Motion detection
DAC’s
4 MHz
Temp
sense
Vref
Oscillator
I−sense
Voltage
Regulator
VBB
VDD
Charge Pump
CPN CPP VCP
GND
Figure 1. Block Diagram
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3
PWM
regulator
Y
MOTYP
MOTYN
AMIS−30623
GND
GND
YP
YP
XN
XN
GND
GND
32
25
1
20
SWI
HW1
2
19
VBB
XP
1
31 30 29 28 27 26 24
YN
VDD
3
18
MOTXP
XP
2
23
YN
GND
4
17
GND
VBB
3
22
VBB
MOTXN
VBB
4
21
VBB
VBB
5
20
VBB
SWI
6
19
VCP
NC
7
18
CPP
HW0
8
10 11 12 13 14 15 17
CPN
TST
LIN
AMIS−30623
HW0
5
6
GND
7
HW2
16
MOTYP
15
14
GND
8
13
MOTYN
CPN
9
12
VBB
CPP
10
11
VCP
AMIS−30623
(Top View)
9
16
NC
HW2
GND
LIN
TST
GND
VDD
HW1
SOIC−20
Figure 2. SOIC−20 and NQFP−32 Pin−out
Table 4. PIN DESCRIPTION
Pin Name
Pin Description
SOIC−20
NQFP−32
1
8
2
9
3
10
HW0
Bit 0 of LIN−ADD
HW1
Bit 1 of LIN−ADD
VDD
Internal supply (needs external decoupling capacitor)
GND
Ground, heat sink
4, 7, 14, 17
11, 14, 25, 26, 31, 32
TST
Test pin (to be tied to ground in normal operation)
5
12
LIN
LIN−bus connection
6
13
HW2
Bit 2 LIN−ADD
8
15
CPN
Negative connection of pump−capacitor (charge pump)
9
17
CPP
Positive connection of pump−capacitor (charge pump)
10
18
VCP
Charge−pump filter−capacitor
VBB
Battery voltage supply
To be tied to GND or VDD
11
19
12,19
3, 4, 5, 20, 21, 22
MOTYN
Negative end of phase Y coil
13
23, 24
MOTYP
Positive end of phase Y coil
15
27, 28
MOTXN
Negative end of phase X coil
16
29, 30
MOTXP
Positive end of phase X coil
18
1, 2
SWI
Switch input
20
6
NC
Not connected (to be tied to ground)
7, 16
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4
AMIS−30623
PACKAGE THERMAL RESISTANCE
The major thermal resistances of the device are the Rth
from the junction to the ambient (Rthja) and the overall Rth
from the junction to the leads (Rthjp).
The NQFP device is designed to provide superior thermal
performance. Using an exposed die pad on the bottom
surface of the package is mainly contributing to this
performance. In order to take full advantage of the exposed
pad, it is most important that the PCB has features to conduct
heat away from the package. A thermal grounded pad with
thermal vias can achieve this.
In the table below, one can find the values for the Rthja and
Rthjp, simulated according to the JESD−51 norm:
The AMIS−30623 is available in SOIC−20 and optimized
NQFP−32 packages. For cooling optimizations, the NQFP
has an exposed thermal pad which has to be soldered to the
PCB ground plane. The ground plane needs thermal vias to
conduct the head to the bottom layer. Figures 3 and 4 give
examples for good power distribution solutions.
For precise thermal cooling calculations the major
thermal resistances of the devices are given. The thermal
media to which the power of the devices has to be given are:
• Static environmental air (via the case)
• PCB board copper area (via the device pins and
exposed pad)
The thermal resistances are presented in Table 5: DC
Parameters.
Package
Rth
Junction−to−Leads and
Exposed Pad − Rthjp
SOIC−20
NQFP−32
Rth
Junction−to−Leads
Rthjp
Rth
Junction−to−Ambient
Rthja (1S0P)
Rth
Junction−to−Ambient
Rthja (2S2P)
19
62
39
60
30
0,95
The Rthja for 2S2P is simulated conform to JESD−51 as
follows:
• A 4−layer printed circuit board with inner power planes
and outer (top and bottom) signal layers is used
• Board thickness is 1.46 mm (FR4 PCB material)
• The 2 signal layers: 70 mm thick copper with an area of
5500 mm2 copper and 20% conductivity
• The 2 power internal planes: 36 mm thick copper with
ÎÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎ
ÏÏ
ÎÎÎÎÎÎÎÎÎÎÎÎ
ÏÏ
ÎÎÎÎÎÎÎÎÎÎÎÎ
ÏÏ
ÎÎÎÎÎÎÎÎÎÎÎÎ
ÎÎÎÎÎÎÎÎÎÎÎÎ
an area of 5500 mm2 copper and 90% conductivity
The Rthja for 1S0P is simulated conform to JESD−51 as
follows:
• A 1−layer printed circuit board with only 1 layer
• Board thickness is 1.46 mm (FR4 PCB material)
• The layer has a thickness of 70 mm copper with an area
of 5500 mm2 copper and 20% conductivity
SOIC−20
NQFP−32
Figure 3. Example of SOIC−20 PCB Ground Plane
Layout (preferred layout at top and bottom)
Figure 4. Example of NQFP−32 PCB Ground Plane
Layout (preferred layout at top and bottom)
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5
AMIS−30623
DC PARAMETERS
The DC parameters are guaranteed overtemperature and VBB in the operating range, unless otherwise specified. Convention:
currents flowing into the circuit are defined as positive.
Table 5. DC PARAMETERS
Symbol
Pin(s)
Parameter
Test Conditions
Min
Typ
Max
Unit
IMSmax,Peak
Max current through motor
coil in normal operation
VBB = 14 V
800
mA
IMSmax,RMS
Max rms current through
coil in normal operation
VBB = 14 V
570
mA
Absolute error on coil
current (Note 8)
VBB = 14 V
−10
VBB = 14 V
−7
MOTORDRIVER
IMSabs
IMSrel
RDS(on)
MOTXP
MOTXN Matching of X & Y
MOTYP coil currents
MOTYN
On resistance for each
motor pin at IMSmax
(Note 9)
IMSL
Pulldown current
10
%
0
7
%
VBB = 12 V, Tj = 50°C
0.50
1
W
VBB = 8 V, Tj = 50°C
0.55
1
W
VBB = 12 V, Tj = 150°C
0.70
1
W
VBB = 8 V, Tj = 150°C
0.85
1
W
HiZ mode, VBB = 7.8 V
2
mA
LIN TRANSMITTER
Ibus_off
Dominant state, driver off
Vbus = 0 V, VBB = 8 V & 18 V
Ibus_off
Recessive state, driver off
Vbus = Vbat, VBB = 8 V & 18 V
Ibus_lim
LIN
Rslave
−1
mA
20
mA
Current limitation
VBB = 8 V & 18 V
50
75
130
mA
Pullup resistance
VBB = 8 V & 18 V
20
30
47
kW
Receiver dominant state
VBB = 8 V & 18 V
0
0.4 * VBB
V
Receiver recessive state
VBB = 8 V & 18 V
0.6 * VBB
VBB
V
Receiver hysteresis
VBB = 8 V & 18 V
0.05 * VBB
0.175 * VBB
V
152
°C
LIN RECEIVER
Vbus_dom
Vbus_rec
LIN
Vbus_hys
THERMAL WARNING & SHUTDOWN
Ttw
Thermal warning
(Notes 10 and 11)
138
145
Ttsd
Thermal shutdown (Note 12)
Ttw + 10
°C
Tlow
Low temperature warning
(Note 12)
Ttw − 155
°C
SUPPLY AND VOLTAGE REGULATOR
Supply voltage for OTP
zapping (Note 13)
9.0
UV1
Stop voltage high threshold
7.8
UV2
Stop voltage low threshold
7.1
VbbOTP
Ibat
Ibat_s
VBB
10.0
V
8.4
8.9
V
7.5
8.0
V
Total current consumption
Unloaded outputs
VBB = 29 V
3.50
10.0
mA
Sleep mode current
consumption
VBB = 8 V & 18 V
50
100
mA
8. Tested in production for 800 mA, 400 mA, 200 mA and 100 mA current settings for both X and Y coil.
9. Not measured in production. Guaranteed by design.
10. Parameter guaranteed by trimming relevant OTP’s in production test at 143°C (±5°C) and VBB = 14 V.
11. No more than 100 cumulated hours in life time above Tw.
12. Thermal shutdown and low temperature warning are derived from thermal warning. Guaranteed by design.
13. A buffer capacitor of minimum 100 mF is needed between VBB and GND. Short connections to the power supply are recommended.
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6
AMIS−30623
Table 5. DC PARAMETERS
Symbol
Pin(s)
Parameter
Test Conditions
Min
Typ
Max
Unit
8 V < VBB < 29 V
4.75
5
5.50
V
4.5
V
45
mA
SUPPLY AND VOLTAGE REGULATOR
Regulated internal supply
(Note 14)
VDD
VddReset
VDD
IddLim
Digital supply reset level @
power down (Note 15)
Current limitation
Pin shorted to ground
VBB = 14 V
SWITCH INPUT AND HARDWIRE ADDRESS INPUT
Switch OPEN resistance
(Note 16)
Rt_OFF
Rt_ON
SWI
HW2
Switch ON resistance
(Note 16)
Vbb_sw
VBB range for guaranteed
operation of SWI and HW2
Ilim_sw
Current limitation
10
kW
Switch to GND or VBB
6
Short to GND or Vbat
VBB = 29 V
20
Input level high
VBB = 14 V
0.7 * Vdd
Input level low
VBB = 14 V
Hysteresis
VBB = 14 V
30
2
kW
29
V
45
mA
HARDWIRED ADDRESS INPUTS AND TEST PIN
Vihigh
Vilow
HWhyst
HW0
HW1
TST
V
0.3 * Vdd
0.075 * Vdd
V
V
CHARGE PUMP
Vcp
Output voltage
Cpump
CPP
CPN
2 * VBB − 2.5
V
VBB + 10
VBB + 15
V
External buffer capacitor
220
470
nF
External pump capacitor
220
470
nF
VCP
Cbuffer
6 V ≤ VBB ≤ 14 V
14 V ≤ VBB ≤ 30 V
MOTION QUALIFICATION MODE OUTPUT (Note 17)
Output voltage swing
VOUT
ROUT
SWI
Av
TestBemf LIN command
0 − 4,85
V
Output impedance
Service mode LIN command
2
kW
Gain = VSWI / VBEMF
Service mode LIN command
0.50
PACKAGE THERMAL RESISTANCE VALUES
Rthja
SO
Thermal resistance junction
to ambient (2S2P)
Rthjp
SO
Thermal resistance junction
to leads
Rthja
NQ
Thermal resistance junction
to ambient (2S2P)
Rthjp
NQ
Thermal resistance junction
to leads and exposed pad
Simulated conform
JEDEC JESD51
39
K/W
19
K/W
30
K/W
0.95
K/W
14. Pin VDD must not be used for any external supply
15. The RAM content will not be altered above this voltage.
16. External resistance value seen from pin SWI or HW2, including 1 kW series resistor. For the switch OPEN, the maximum allowed leakage
current is represented by a minimum resistance seen from the pin.
17. Not applicable for “Product Versions AMIS30623C6238(R)G, AMIS30623C623B(R)G”
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7
AMIS−30623
AC PARAMETERS
The AC parameters are guaranteed for temperature and VBB in the operating range unless otherwise specified.
The LIN transmitter and receiver physical layer parameters are compliant to LIN rev. 2.0 & 2.1.
Table 6. AC PARAMETERS
Symbol
Pin(s)
Parameter
Test Conditions
Min
Typ
Max
Unit
10
ms
4.4
MHz
POWERUP
Power−up time
Tpu
Guaranteed by design
INTERNAL OSCILLATOR
Frequency of internal oscillator
fosc
VBB = 14 V
3.6
4.0
LIN TRANSMITTER CHARACTERISTICS ACCORDING TO LIN v2.0 & v2.1
D1
LIN
D2
Duty cycle 1 = tBus_rec(min) /
(2 x tBit); See Figure 5
THRec(max) = 0.744 x VBB
THDom(max) = 0.581 x VBB;
VBB = 7.0 V...18 V;
tBit = 50 ms
Duty cycle 2 = tBus_rec(max) /
(2 x tBit); See Figure 5
THRec(min) = 0.284 x VBB
THDom(min) = 0.422 x VBB;
VBB = 7.6 V...18 V;
tBit = 50 ms
0.396
0.581
LIN RECEIVER CHARACTERISTICS ACCORDING TO LIN v2.0 & v2.1
trx_pdr
trx_pdf
LIN
trx_sym
Propagation delay bus dominant
to RxD = low
VBB = 7.0 V & 18 V;
See Figure 5
6
ms
Propagation delay bus recessive
to RxD = high
VBB = 7.0 V & 18 V;
See Figure 5
6
ms
Symmetry of receiver propagation
delay
trx_pdr − trx_pdf
+2
ms
−2
SWITCH INPUT AND HARDWIRE ADDRESS INPUT
Tsw
SWI
HW2
Tsw_on
Scan pulse period (Note 18)
VBB = 14 V
1024
ms
Scan pulse duration
(Note 18)
VBB = 14 V
128
ms
MOTORDRIVER
Fpwm
PWM frequency (Note 18)
Fjit_depth
PWM jitter modulation depth
Tbrise
MOTxx Turn−on transient time
Tbfall
Turn−off transient time
Tstab
Run current stabilization time
(Note 18)
PWMfreq = 0 (Note 19)
20.6
22.8
25.0
kHz
PWMfreq = 1 (Note 19)
41.2
45.6
50.0
kHz
PWMJen = 1 (Note 19)
10
%
Between 10% and 90%
140
ns
130
ns
29
32
35
ms
CHARGE PUMP
fCP
CPN
CPP
Charge pump frequency
(Note 18)
VBB = 14 V
18. Derived from the internal oscillator
19. See SetMotorParam and PWM Regulator
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8
250
kHz
AMIS−30623
TxD
tBIT
tBIT
50%
t
tBUS_dom(max)
LIN
tBUS_rec(min)
THRec(max)
THDom(max)
Thresholds
receiver 1
THRec(min)
THDom(min)
Thresholds
receiver 2
t
tBUS_dom(min)
RxD
tBUS_rec(max)
(receiver 2)
50%
trx_pdf
trx_pdr
t
Figure 5. Timing Diagram for AC Characteristics According to LIN 2.0 & 2.1
Typical Application
VBAT
C8
100 nF
C7
100 mF
C5
CPN
VDD
1 mF
C9
HW0
HW1
Connect
to VBAT
or GND
1k
C1
HW2
C6
220 nF
CPP VCP
10
9
3
11
C4
C3
220 nF
VBB
VBB
19
20
12
1
18
AMIS−30623
2
LIN
VDR 27 V
8
15
C10
13
6
5
4
7
1k
SWI
C2
2,7 nF
MOTXP
14
MOTYP
MOTYN
17
TST
GND
Figure 6. Typical Application Diagram for SO Device
NOTES: All resistors are ± 5%, 1/4 W
C1, C2 minimum value is 2.7 nF, maximum value is 10 nF
Depending on the application, the ESR value and working voltage of C7 must be carefully chosen
C3 and C4 must be close to pins VBB and GND
C5 and C6 must be as close as possible to pins CPN, CPP, VCP, and VBB to reduce EMC radiation
C9 must be a ceramic capacitor to assure low ESR
C10 is placed for EMC reasons; value depends on EMC requirements of the application
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9
Connect
to VBAT
or GND
16 MOTXN
2,7 nF
LIN bus
100 nF
100 nF
M
AMIS−30623
POSITIONING PARAMETERS
Stepping Modes
Maximum Velocity
One of four possible stepping modes can be programmed:
• Half−stepping
• 1/4 micro−stepping
• 1/8 micro−stepping
• 1/16 micro−stepping
For each stepping mode, the maximum velocity Vmax can
be programmed to 16 possible values given in the table below.
The accuracy of Vmax is derived from the internal
oscillator. Under special circumstances it is possible to
change the Vmax parameter while a motion is ongoing. All
16 entries for the Vmax parameter are divided into four
groups. When changing Vmax during a motion the
application must take care that the new Vmax parameter
stays within the same group.
Table 7. MAXIMUM VELOCITY SELECTION TABLE
Vmax Index
Stepping Mode
Half−stepping
1/4th
Micro−stepping
1/8th
Micro−stepping
1/16th
Micro−stepping
Hex
Dec
Vmax
(full step/s)
Group
(half−step/s)
(micro−step/s)
(micro−step/s)
(micro−step/s)
0
0
99
A
197
395
790
1579
1
1
136
273
546
1091
2182
2
2
167
334
668
1335
2670
3
3
197
395
790
1579
3159
4
4
213
425
851
1701
3403
5
5
228
456
912
1823
3647
6
6
243
486
973
1945
3891
7
7
273
546
1091
2182
4364
8
8
303
607
1213
2426
4852
9
9
334
668
1335
2670
5341
A
10
364
729
1457
2914
5829
B
11
395
790
1579
3159
6317
C
12
456
912
1823
3647
7294
D
13
546
1091
2182
4364
8728
E
14
729
1457
2914
5829
11658
F
15
973
1945
3891
7782
15564
B
C
D
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AMIS−30623
Minimum Velocity
Once the maximum velocity is chosen, 16 possible values can be programmed for the minimum velocity Vmin. The table
below provides the obtainable values in full−step/s. The accuracy of Vmin is derived from the internal oscillator.
Table 8. OBTAINABLE VALUES IN FULL−STEP/s FOR THE MINIMUM VELOCITY
Vmax (Full−step/s)
Vmin Index
A
Hex
99
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
Vmax
Dec Factor
B
C
D
0
0
1
99
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
1
1
1/32
3
4
5
6
6
7
7
8
8
10
10
11
13
15
19
27
2
2
2/32
6
8
10
11
12
13
14
15
17
19
21
23
27
31
42
57
3
3
3/32
9
12
15
18
19
21
22
25
27
31
32
36
42
50
65
88
4
4
4/32
12
16
20
24
26
28
30
32
36
40
44
48
55
65
88
118
5
5
5/32
15
21
26
31
32
35
37
42
46
51
55
61
71
84
111
149
6
6
6/32
18
25
31
36
39
42
45
50
55
61
67
72
84
99
134
179
7
7
7/32
21
30
36
43
46
50
52
59
65
72
78
86
99
118
156
210
8
8
8/32
24
33
41
49
52
56
60
67
74
82
90
97
113
134
179
240
9
9
9/32
28
38
47
55
59
64
68
76
84
93
101
111
128
153
202
271
A
10
10/32
31
42
51
61
66
71
75
84
93
103
113
122
141
168
225
301
B
11
11/32
34
47
57
68
72
78
83
93
103
114
124
135
156
187
248
332
C
12
12/32
37
51
62
73
79
85
91
101
113
124
135
147
170
202
271
362
D
13
13/32
40
55
68
80
86
93
98
111
122
135
147
160
185
221
294
393
E
14
14/32
43
59
72
86
93
99
106
118
132
145
158
172
198
237
317
423
F
15
15/32
46
64
78
93
99
107
113
128
141
156
170
185
214
256
340
454
NOTES: The Vmax factor is an approximation.
In case of motion without acceleration (AccShape = 1) the length of the steps = 1/Vmin. In case of accelerated motion
(AccShape = 0) the length of the first step is shorter than 1/Vmin depending of Vmin, Vmax and Acc.
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AMIS−30623
Acceleration and Deceleration
combinations of acceleration index and maximum speed
(gray cells).
The accuracy of Acc is derived from the internal
oscillator.
Sixteen possible values can be programmed for Acc
(acceleration and deceleration between Vmin and Vmax).
The table below provides the obtainable values in
full−step/s2. One observes restrictions for some
Table 9. ACCELERATION AND DECELERATION SELECTION TABLE
Vmax (FS/s) "
99
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
O Acc Index
Acceleration (Full−step/s2)
Hex
Dec
0
0
1
1
218
2
2
1004
3
3
3609
4
4
6228
5
5
8848
6
6
11409
7
7
13970
8
8
16531
9
9
19092
A
10
21886
B
11
24447
C
12
D
13
E
14
F
15
49
106
14785
473
735
27008
29570
34925
29570
40047
Positioning
The formula to compute the number of equivalent
full−steps during acceleration phase is:
Nstep +
Vmax 2
2
The position programmed in commands SetPosition
and SetPositionShort is given as a number of
(micro−)steps. According to the chosen stepping mode, the
position words must be aligned as described in the table
below. When using command SetPositionShort or
GotoSecurePosition, data is automatically aligned.
Vmin 2
*
Acc
Table 10. POSITION WORD ALIGNMENT
Stepping Mode
Position Word: Pos[15:0]
Shift
1/16th
S
B14 B13 B12 B11
B10
B9
B8
B7
B6
B5
B4
B3
B2
B1
LSB
No shift
1/8th
S
B13 B12 B11 B10
B9
B8
B7
B6
B5
B4
B3
B2
B1
LSB
0
1−bit left ⇔ ×2
1/4th
S
B12 B11 B10
B9
B8
B7
B6
B5
B4
B3
B2
B1
LSB
0
0
2−bit left ⇔ ×4
Half−stepping
S
B11
B10
B9
B8
B7
B6
B5
B4
B3
B2
B1
LSB
0
0
0
3−bit left ⇔ ×8
PositionShort
S
S
S
B9
B8
B7
B6
B5
B4
B3
B2
B1
LSB
0
0
0
No shift
SecurePosition
S
B9
B8
B7
B6
B5
B4
B3
B2
B1
LSB
0
0
0
0
0
No shift
NOTES: LSB: Least Significant Bit
S: Sign bit
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AMIS−30623
Position Ranges
A position is coded by using the binary two’s complement format. According to the positioning commands used and to the
chosen stepping mode, the position range will be as shown in the following table.
Table 11. POSITION RANGE
Command
SetPosition
Stepping Mode
Position Range
Full Range Excursion
Number of Bits
Half−stepping
−4096 to +4095
8192 half−steps
13
1/4th micro−stepping
−8192 to +8191
16384 micro−steps
14
−16384 to +16383
32768 micro−steps
15
−32768 to +32767
65536 micro−steps
16
−1024 to +1023
2048 half−steps
11
1/8th
micro−stepping
1/16th
micro−stepping
Half−stepping
SetPositionShort
Secure Position
When using the command SetPosition, although
coded on 16 bits, the position word will have to be shifted to
the left by a certain number of bits, according to the stepping
mode.
A secure position can be programmed. It is coded in
11−bits, thus having a lower resolution than normal
positions, as shown in the following table. See also
command GotoSecurePosition and LIN lost behavior.
Table 12. SECURE POSITION
Stepping Mode
Secure Position Resolution
Half−stepping
4 half−steps
1/4th
micro−stepping
8 micro−steps (1/4th)
1/8th micro−stepping
16 micro−steps (1/8th)
1/16th micro−stepping
32 micro−steps (1/16th)
Important
NOTES: The secure position is disabled in case the programmed value is the reserved code “10000000000” (0x400 or most negative
position).
The resolution of the secure position is limited to 9 bit at start−up. The OTP register is copied in RAM as illustrated below. The
RAM bits SecPos1 and SecPos0 are set to 0.
SecPos10
SecPos9
SecPos8
SecPos2
SecPos1
SecPos0
RAM
SecPos10
SecPos9
SecPos8
SecPos2
FailSafe
SleepEn
OTP
• Shaft = 0 ⇒ MOTXP is used as positive pin of the X
Shaft
A shaft bit, which can be programmed in OTP or with
command SetMotorParam, defines whether a positive
motion is a clockwise (CW) or counter−clockwise rotation
(CCW) (an outer or an inner motion for linear actuators):
•
coil, while MOTXN is the negative one.
Shaft = 1 ⇒ opposite situation
Exception: in RunVelocity mode, the shaft bit has no
function. In this mode the rotational direction is always CW
or CCW, which is only determined by the motor wiring.
STRUCTURAL DESCRIPTION
See also the Block Diagram in Figure 1.
Stepper Motordriver
The Motordriver receives the control signals from the
control logic. The main features are:
• Two H−bridges, designed to drive a stepper motor with
two separated coils. Each coil (X and Y) is driven by
one H−bridge, and the driver controls the currents
flowing through the coils. The rotational position of the
•
rotor, in unloaded condition, is defined by the ratio of
current flowing in X and Y. The torque of the stepper
motor when unloaded is controlled by the magnitude of
the currents in X and Y.
The control block for the H−bridges, including the
PWM control, the synchronous rectification and the
internal current sensing circuitry.
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13
AMIS−30623
• The charge pump to allow driving of the H−bridges’
e.g. when it hits the end position, the velocity, and as a result
also the generated back−emf, is disturbed. The
AMIS−30623 senses the back−emf, calculates a moving
average and compares the value with two independent
threshold levels. If the back−emf disturbance is bigger than
the set threshold, the running motor is stopped.
high side transistors.
• Two pre−scale 4−bit DAC’s to set the maximum
magnitude of the current through X and Y.
• Two DAC’s to set the correct current ratio through X
and Y.
Battery voltage monitoring is also performed by this
block, which provides the required information to the
control logic part. The same applies for detection and
reporting of an electrical problem that could occur on the
coils or the charge pump.
LIN Interface
The LIN interface implements the physical layer and the
MAC and LLC layers according to the OSI reference model.
It provides and gets information to and from the control logic
block, in order to drive the stepper motor, to configure the
way this motor must be driven, or to get information such as
actual position or diagnosis (temperature, battery voltage,
electrical status...) and pass it to the LIN master node.
Control Logic (Position Controller and Main Control)
The control logic block stores the information provided by
the LIN interface (in a RAM or an OTP memory) and
digitally controls the positioning of the stepper motor in
terms of speed and acceleration, by feeding the right signals
to the motordriver state machine.
It will take into account the successive positioning
commands to properly initiate or stop the stepper motor in
order to reach the set point in a minimum time.
It also receives feedback from the motordriver part in
order to manage possible problems and decide on internal
actions and reporting to the LIN interface.
Miscellaneous
The AMIS−30623 also contains the following:
• An internal oscillator, needed for the LIN protocol
•
•
•
Motion Detection
Motion detection is based on the back−emf generated
internally in the running motor. When the motor is blocked,
handler as well as the control logic and the PWM
control of the motordriver.
An internal trimmed voltage source for precise
referencing.
A protection block featuring a thermal shutdown and a
power−on−reset circuit.
A 5 V regulator (from the battery supply) to supply the
internal logic circuitry.
FUNCTIONS DESCRIPTION
Position Controller
This chapter describes the following functional blocks in
more detail:
• Position controller
• Main control and register, OTP memory + ROM
• Motordriver
The Motion detection and LIN controller are discussed in
separate chapters.
Ì
Ì
Ì
Ì
Ì
Ì
ÌÌ
ÌÌ
Positioning and Motion Control
A positioning command will produce a motion as
illustrated in Figure 7. A motion starts with an acceleration
phase from minimum velocity (Vmin) to maximum velocity
(Vmax) and ends with a symmetrical deceleration. This is
defined by the control logic according to the position
required by the application and the parameters programmed
by the application during the configuration phase. The
current in the coils is also programmable.
Velocity
Acceleration
range
Deceleration
range
Vmax
Zero Speed
Hold Current
Zero Speed
Hold Current
Vmin
Pstart
P=0
Pmin
ÌÌ
ÌÌ
ÌÌ
ÌÌ
ÌÌ
ÌÌ
ÌÌ
ÌÌ
ÌÌ
ÌÌ
Pstop
Pmax
Figure 7. Positioning and Motion Control
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Position
AMIS−30623
Table 13. POSITION RELATED PARAMETERS
Parameter
Reference
Pmax – Pmin
See Positioning
Zero Speed Hold Current
See Ihold
Maximum Current
See Irun
Acceleration and Deceleration
See Acceleration and Deceleration
Vmin
See Minimum Velocity
Vmax
See Maximum Velocity
Different positioning examples are shown in the table below.
Table 14. POSITIONING EXAMPLES
Short motion.
Velocity
time
New positioning command in same direction, shorter or longer, while a motion
is running at maximum velocity.
Velocity
time
New positioning command in same direction while in deceleration phase
(Note 20)
Note: there is no wait time between the
deceleration phase and the new acceleration phase.
Velocity
New positioning command in reverse
direction while motion is running at maximum velocity.
Velocity
time
time
New positioning command in reverse
direction while in deceleration phase.
Velocity
time
New velocity programming while motion
is running.
Velocity
time
20. Reaching the end position is always guaranteed, however velocity rounding errors might occur after consecutive accelerations during a
deceleration phase. The velocity rounding error will be removed at Vmin (e.g. at end of acceleration or when AccShape=1).
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AMIS−30623
Dual Positioning
acceleration). Once the second motion is achieved, the
ActPos register is reset to zero, whereas TagPos register
is not changed.
When the Secure position is enabled, after the dual
positioning, the secure positioning is executed. The figure
below gives a detailed overview of the dual positioning
function. After the dual positioning is executed an internal
flag is set to indicate the AMIS−30623 is referenced.
A SetDualPosition command allows the user to
perform a positioning using two different velocities. The first
motion is done with the specified Vmin and Vmax velocities
in the SetDualPosition command, with the acceleration
(deceleration) parameter already in RAM, to a position
Pos1[15:0] also specified in SetDualPosition.
Then a second relative motion to a physical position
Pos1[15:0] + Pos2[15:0] is done at the specified
Vmin velocity in the SetDualPosition command (no
When Stall Detection is enabled, this
movement is stopped when a stall is
detected.
A new motion will
start only after
Tstab
Vmax
Profile:
Vmin
second
movement
first movement
Tstab
Motion status:
0
00
0
00
0
5 steps
0 1
xx
Pos: xx
0
00
During one Vmin time the
ActPos is 0
Position:
Tstab
Secure
positioning
(if enabled)
ActPos: 300 ActPos: 0
4 0
ActPos: 0
01
50
ActPos: 50
Assume:
First Position = 300
Second Position = 5
Secure Position = 50
ResetPos
ResetPos
Figure 8. Dual Positioning
Remark: This operation cannot be interrupted or influenced by any further command unless the occurrence of the conditions
driving to a motor shutdown or by a HardStop command. Sending a SetDualPosition command while a motion is
already ongoing is not recommended.
21. The priority encoder is describing the management of states and commands.
22. A DualPosition sequence starts by setting TagPos buffer register to SecPos value, provided secure position is enabled otherwise TagPos
is reset to zero. If a SetPosition(Short) command is issued during a DualPosition sequence, it will be kept in the position buffer memory and
executed afterwards. This applies also for the commands Sleep, SetPosParam and GotoSecurePosition.
23. Commands such as GetActualPos or GetStatus will be executed while a Dual Positioning is running. This applies also for a dynamic ID
assignment LIN frame.
24. The Pos1, Pos2, Vmax and Vmin values programmed in a SetDualPosition command apply only for this sequence. All other motion
parameters are used from the RAM registers (programmed for instance by a former SetMotorParam command). After the DualPosition
motion is completed, the former Vmin and Vmax become active again.
25. Commands ResetPosition, SetDualPosition, and SoftStop will be ignored while a DualPosition sequence is ongoing, and will not be executed
afterwards.
26. Recommendation: a SetMotorParam command should not be sent during a SetDualPosition sequence: all the motion parameters
defined in the command, except Vmin and Vmax, become active immediately.
Position Periodicity
The figure below illustrates that the moving direction
going from ActPos = +30000 to TagPos = –30000 is
clockwise.
If a counter clockwise motion is required in this example,
several consecutive SetPosition commands can be
used. One could also use for larger movements the command
RunVelocity.
Depending on the stepping mode the position can range
from −4096 to +4095 in half−step to −32768 to +32767 in
1/16th micro−stepping mode. One can project all these
positions lying on a circle. When executing the command
SetPosition, the position controller will set the
movement direction in such a way that the traveled distance
is minimal.
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AMIS−30623
+10000
+20000
Hardwired Address HW2
In the drawing below, a simplified schematic diagram is
shown of the HW2 comparator circuit.
The HW2 pin is sensed via 2 switches. The DriveHS and
DriveLS control lines are alternatively closing the top and
bottom switch connecting HW2 pin with a current to resistor
converter. Closing STOP (DriveHS = 1) will sense a current
to GND. In that case the top I³ R converter output is low,
via the closed passing switch SPASS_T this signal is fed to the
“R” comparator which output HW2_Cmp is high. Closing
bottom switch SBOT (DriveLS = 1) will sense a current to
VBAT. The corresponding I ³ R converter output is low and
via SPASS_B fed to the comparator. The output HW2_Cmp
will be high.
ActPos = +30000
0
Motion direction
TagPos = −30000
−10000
−20000
Figure 9. Motion Direction is Function of
Difference between ActPos and TagPos
SPASS_T
I/R
State
1k
STOP
HW2
SBOT
1
2
1 = R2GND
2 = R2VBAT
3 = OPEN
High
DriveHS
Low
LOGIC
Debouncer
DriveLS
64 ms
3
‘‘R”−Comp
I/R
SPASS_B
Debouncer
COMP
Rth
32 ms
HW2_Cmp
Figure 10. Simplified Schematic Diagram of the HW2 Comparator
3 cases can be distinguished (see also Figure 10 above):
• HW2 is connected to ground: R2GND or drawing 1
• HW2 is connected to VBAT: R2VBAT or drawing 2
• HW2 is floating: OPEN or drawing 3
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Float
AMIS−30623
Table 15. STATE DIAGRAM OF THE HW2 COMPARATOR
Previous State
DriveLS
DriveHS
HW2_Cmp
New State
Condition
Drawing
Float
1
0
0
Float
R2GND or OPEN
1 or 3
Float
1
0
1
High
R2VBAT
2
Float
0
1
0
Float
R2VBAT or OPEN
2 or 3
Float
0
1
1
Low
R2GND
1
Low
1
0
0
Low
R2GND or OPEN
1 or 3
Low
1
0
1
High
R2VBAT
2
Low
0
1
0
Float
R2VBAT or OPEN
2 or 3
Low
0
1
1
Low
R2GND
1
High
1
0
0
Float
R2GND or OPEN
1 or 3
High
1
0
1
High
R2VBAT
2
High
0
1
0
High
R2VBAT or OPEN
2 or 3
High
0
1
1
Low
R2GND
1
The logic is controlling the correct sequence in closing the
switches and in interpreting the 32 ms debounced
HW2_Cmp output accordingly. The output of this small
state−machine is corresponding to:
• High or address = 1
• Low or address = 0
• Floating
As illustrated in the table above (Table 15), the state is
depending on the previous state, the condition of the 2
switch controls (DriveLS and DriveHS) and the output of
HW2_Cmp. Figure 11 shows an example of a practical case
where a connection to VBAT is interrupted.
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AMIS−30623
Condition
OPEN
R2 VBAT
R2 VBAT
R2 GND
t
Tsw = 1024 ms
DriveLS
t
Tsw_on = 128 ms
DriveHS
t
“R”−Comp
Rth
t
HW2_Cmp
t
Low
High
Float
High
Float
State
t
Figure 11. Timing Diagram Showing the Change in States for HW2 Comparator
R2VBAT
a motion to secure position after a debounce time of 64 ms,
which prevents false triggering in case of micro−
interruptions of the power supply.
A resistor is connected between VBAT and HW2. Every
1024 ms SBOT is closed and a current is sensed. The output
of the I ⇒ R converter is low and the HW2_Cmp output is
high. Assuming the previous state was floating, the internal
logic will interpret this as a change of state and the new state
will be high (see also Table 15). The next time SBOT is closed
the same conditions are observed. The previous state was
high so based on Table 15 the new state remains unchanged.
This high state will be interpreted as HW2 address = 1.
R2GND
If a resistor is connected between HW2 and the GND, a
current is sensed every 1024 ms when STOP is closed. The
output of the top I ⇒ R converter is low and as a result the
HW2_Cmp output switches to high. Again based on the
stated diagram in Table 15 one can see that the state will
change to Low. This low state will be interpreted as HW2
address = 0.
OPEN
In case the HW2 connection is lost (broken wire, bad
contact in connector) the next time SBOT is closed, this will
be sensed. There will be no current, the output of the
corresponding I ⇒ R converter is high and the HW2_Cmp
will be low. The previous state was high. Based in Table 15
one can see that the state changes to float. This will trigger
External Switch SWI
As illustrated in Figure 12 the SWI comparator is almost
identical to HW2. The major difference is in the limited
number of states. Only open or closed is recognised leading
to respectively ESW = 0 and ESW = 1.
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AMIS−30623
SPASS_T
I/R
State
DriveHS
STOP
Closed
1k
LOGIC
SWI
DriveLS
Open
SBOT
1
2
3
‘‘R”−Comp
1 = R2GND
2 = R2VBAT
3 = OPEN
I/R
SPASS_B
COMP
32 ms Debouncer
SWI_Cmp
Rth
Figure 12. Simplified Schematic Diagram of the SWI Comparator
The GetActualPos command reads back the
<ActPos> register and the status of ESW. In this way the
master node may get synchronous information about the
state of the switch together with the position of the motor.
See Table 16 below.
As illustrated in the drawing above, a change in state is
always synchronised with DriveHS or DriveLS. The same
synchronisation is valid for updating the internal position
register. This means that after every current pulse (or closing
of STOP or SBOT) the state of the position switch together
with the corresponding position is memorised.
Table 16. GetActualPos LIN COMMAND
Reading Frame
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
1
0
Data 1
ESW
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Byte
Content
0
1
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
5
Checksum
VddReset
AD[6:0]
StepLoss
ElDef
UV2
TSD
Checksum over data
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20
TW
Tinfo[1:0]
AMIS−30623
DriveHS
640 ms
Tsw = 1024 ms
t
Tsw_on = 128 ms
DriveLS
t
“R”−Comp
Rth
t
SWI_Cmp
120 ms
t
ESW
0
1
1
1
ActPos + 3
ActPos + 2
ActPos
ActPos
ActPos + 1
t
t
Figure 13. Simplified Timing Diagram Showing the Change in States for SWI Comparator
Main Control and Register, OTP memory + ROM
register <ActPos>, see Table 19: Ram Registers). The
circuit is then ready to execute a new positioning command,
provided thermal and electrical conditions allow for it.
Power−up Phase
Power−up phase of the AMIS−30623 will not exceed
10 ms. After this phase, the AMIS−30623 is in standby
mode, ready to receive LIN messages and execute the
associated commands. After power−up, the registers and
flags are in the reset state, while some of them are being
loaded with the OTP memory content (see Table 19: RAM
Registers).
Sleep Mode
When entering sleep mode, the stepper−motor can be
driven to its secure position. After which, the circuit is
completely powered down, apart from the LIN receiver,
which remains active to detect a dominant state on the bus.
In case sleep mode is entered while a motion is ongoing, a
transition will occur towards secure position as described in
Positioning and Motion Control provided <SecPos> is
enabled. Otherwise, <SoftStop> is performed.
Sleep mode can be entered in the following cases:
• The circuit receives a LIN frame with identifier 0x3C
and first data byte containing 0x00, as required by LIN
specification rev 1.3 and <SleepEn> bit = 1. See also
Sleep in the LIN Application Command section.
• In case the >SleepEn> bit = 1 and the LIN bus remains
inactive (or is lost) during more than 25000 time slots
(1.30 s at 19.2 kbit/s), a time−out signal switches the
circuit to sleep mode.
Reset
After power−up, or after a reset occurrence (e.g. a
micro−cut on pin VBB has made VDD to go below VddReset
level), the H−bridges will be in high−impedance mode, and
the registers and flags will be in a predetermined position.
This is documented in Table 19: RAM Registers and
Table 20: Flags Table.
Soft−stop
A soft−stop is an immediate interruption of a motion, but
with a deceleration phase. At the end of this action, the
register <TagPos> is loaded with the value contained in
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21
AMIS−30623
Temperature Management
The circuit will return to normal mode if a valid LIN frame
is received (this valid frame can be addressed to another
slave).
The AMIS−30623 monitors temperature by means of two
thresholds and one shutdown level, as illustrated in the state
diagram and illustration of Figure 14: State Diagram
Temperature Management below. The only condition to
reset flags <TW> and <TSD> (respectively thermal warning
and thermal shutdown) is to be at a temperature lower than
Ttw and to get the occurrence of a GetStatus or a
GetFullStatus LIN frame.
Thermal Shutdown Mode
When thermal shutdown occurs, the circuit performs a
<SoftStop> command and goes to motor shutdown
mode (see Figure 14: State Diagram Temperature
Management).
Normal Temp.
− <Tinfo> = “00”
− <TW> = ‘0’
− <TSD> = ‘0’
Thermal warning
T° > Ttw
T° > Ttsd
−<Tinfo> = “10”
−<TW> = ‘1’
−<TSD> = ‘0’
T° < Ttw &
T° > Ttw
LIN frame:
GetStatus or
GetFullStatus
T° < Ttw
Post thermal
warning
Thermal shutdown
− <Tinfo> = “11”
− <TW> = ‘1’
− <TSD> = ‘1’
−SoftStop if
motion ongoing
− Motor shutdown
(motion disabled)
T° > Ttsd
−<Tinfo> = “00”
−<TW> = ‘1’
−<TSD> = ‘0’
T° < Tlow
Post thermal
shutdown 1
T° < Ttw
T° > Tlow
Low Temp.
− <Tinfo> = “01”
− <TW> = ‘0’
− <TSD> = ‘0’
Post thermal
shutdown 2
− <Tinfo> = “00”
− <TW> = ‘1’
− <TSD> = ‘1’
− Motor shutdown
(motion disabled)
− <Tinfo> = “10”
− <TW> = ‘1’
− <TSD> = ‘1’
− Motor shutdown
(motion disabled)
T° > Ttw
Figure 14. State Diagram Temperature Management
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22
T° < Ttsd
AMIS−30623
T shutdown level
T
T warning level
t
T <tw> bit
T <tsd> bit
T < Ttw and
getstatus or
getfullstatus
T > Ttsd, motor
stops and
shutdown
T < Ttw and
getstatus or
getfullstatus
Figure 15. Illustration of Thermal Management Situation
Autarkic Functionality in Under−Voltage
Condition
Battery Voltage Management
•
The AMIS−30623 monitors the battery voltage by means
of one threshold and one shutdown level. The only condition
to reset flags <UV2> and <StepLoss> is to recover by a
battery voltage higher than UV1 and to receive a
GetStatus or a GetFullStatus command.
Autarkic Function
The device enters states <HardUnder> (see Figure 16),
followed by <ShutUnder> when VBB is below the UV2
level or <CPFail> = 1. The motion is stopped immediately
and Target Position (TagPos) is kept and not overwritten by
Actual Position (ActPos). The motor is in HiZ state and the
flags <UV2> and <Steploss> are set to inform the master
that the voltage has dropped below UV2 or the charge pump
voltage has dropped below the level of the charge pump
comparator and loss of steps is possible.
• If in this state VBB becomes > UV1 within 15 seconds,
then AMIS−30623 returns to <Stopped> state. From
there, it resumes the interrupted motion and accepts
updates of the target position by means of the
commands SetPosition, SetPositionShort,
SetPosParam and GotoSecurePosition, even
if the <UV2> flag, the <CPFail> flag and
<Steploss> flags are NOT cleared.
If however the VBB voltage remains below UV2 level
or the charge pump voltage level is below the charge
pump comparator for more than 15 seconds, then the
device will enter <Shutdown> state and the target
position is overwritten by Actual Position. This state
can be exited only if VBB is > UV1, the charge pump
voltage is above the charge pump comparator voltage
and an incoming command GetStatus or
GetFullStatus is received.
Important Notes:
1. In the case of Autarkic positioning, care needs to
be taken because accumulated steploss can cause a
significant deviation between physical and stored
actual position.
2. The SetDualPosition command will only be
executed after clearing the <UV2>, CPFail and
<Steploss> flags.
3. RAM reset occurs when Vdd < VddReset (digital
Power−On−Reset level).
4. The Autarkic function remains active as long as
VDD > VddReset.
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23
AMIS−30623
OTP Register
OTP Memory Structure
The table below shows how the parameters to be stored in the OTP memory are located.
Table 17. OTP MEMORY STRUCTURE
Address
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0x00
OSC3
OSC2
OSC1
OSC0
IREF3
IREF2
IREF1
IREF0
0x01
EnableLIN
TSD2
TSD1
TSD0
BG3
BG2
BG1
BG0
0x02
AbsThr3
AbsThr2
AbsThr1
AbsThr0
PA3
PA2
PA1
PA0
0x03
Irun3
Irun2
Irun1
Irun0
Ihold3
Ihold2
Ihold1
Ihold0
0x04
Vmax3
Vmax2
Vmax1
Vmax0
Vmin3
Vmin2
Vmin1
Vmin0
0x05
SecPos10
SecPos9
SecPos8
Shaft
Acc3
Acc2
Acc1
Acc0
0x06
SecPos7
SecPos6
SecPos5
SecPos4
SecPos3
SecPos2
Failsafe
SleepEn
0x07
DelThr3
DelThr2
DelThr1
DelThr0
StepMode1
StepMode0
LOCKBT
LOCKBG
PA[3:0] In combination with HW[2:0] it forms the
physical address AD[6:0] of the stepper−motor.
Up to 128 stepper−motors can theoretically be
connected to the same LIN bus.
AbsThr[3:0] Absolute threshold used for the
motion detection
Parameters stored at address 0x00 and 0x01 and bit
<LOCKBT> are already programmed in the OTP memory at
circuit delivery. They correspond to the calibration of the
circuit and are just documented here as an indication.
Each OTP bit is at ‘0’ when not zapped. Zapping a bit will
set it to ‘1’. Thus only bits having to be at ‘1’ must be zapped.
Zapping of a bit already at ‘1’ is disabled. Each OTP byte
will be programmed separately (see command
SetOTPparam). Once OTP programming is completed, bit
<LOCKBG> can be zapped to disable future zapping,
otherwise any OTP bit at ‘0’ could still be zapped by using
a SetOTPparam command.
Index
0
0
0
0
Disable
1
0
0
0
1
0.5
2
0
0
1
0
1.0
3
0
0
1
1
1.5
4
0
1
0
0
2.0
5
0
1
0
1
2.5
6
0
1
1
0
3.0
7
0
1
1
1
3.5
8
1
0
0
0
4.0
9
1
0
0
1
4.5
A
1
0
1
0
5.0
B
1
0
1
1
5.5
C
1
1
0
0
6.0
D
1
1
0
1
6.5
E
1
1
1
0
7.0
F
1
1
1
1
7.5
Protected Bytes
LOCKBT (factory zapped
before delivery)
0x00 to 0x01
LOCKBG
0x00 to 0x07
The command used to load the application parameters via
the LIN bus in the RAM prior to an OTP Memory
programming is SetMotorParam. This allows for a
functional verification before using a SetOTPparam
command to program and zap separately one OTP memory
byte. A GetOTPparam command issued after each
SetOTPparam command allows verifying the correct byte
zapping.
Note: Zapped bits will become active only after a power
cycle. After programming the LIN bits the power cycle has
to be performed first to guarantee further communication
with the device.
AbsThr level (V) (*)
0
Table 18. OTP OVERWRITE PROTECTION
Lock Bit
AbsThr
(*) Not tested in production. Values are approximations.
Application Parameters Stored in OTP Memory
Except for the physical address <PA[3:0]> these
parameters, although programmed in a non−volatile
memory can still be overridden in RAM by a LIN writing
operation.
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AMIS−30623
DelThr[3:0] Relative threshold used for the
motion detection
Index
DelThr
Ihold[3:0] Hold current for each coil of the
stepper−motor. The table below provides the 16
possible values for <IHOLD>.
DelThr Level (V) (*)
0
0
0
0
0
Disable
Index
Ihold
Hold Current (mA)
1
0
0
0
1
0.25
0
0
0
0
0
59
2
0
0
1
0
0.50
1
0
0
0
1
71
0
0
1
0
84
3
0
0
1
1
0.75
2
4
0
1
0
0
1.00
3
0
0
1
1
100
5
0
1
0
1
1.25
4
0
1
0
0
119
6
0
1
1
0
1.50
5
0
1
0
1
141
7
0
1
1
1
1.75
6
0
1
1
0
168
8
1
0
0
0
2.00
7
0
1
1
1
200
1
0
0
0
238
9
1
0
0
1
2.25
8
A
1
0
1
0
2.50
9
1
0
0
1
283
B
1
0
1
1
2.75
A
1
0
1
0
336
C
1
1
0
0
3.00
B
1
0
1
1
400
D
1
1
0
1
3.25
C
1
1
0
0
476
E
1
1
1
0
3.50
D
1
1
0
1
566
3.75
E
1
1
1
0
673
F
1
1
1
1
0
F
1
1
1
1
(*) Not tested in production. Values are approximations.
Note: When the motor is stopped, the current is reduced
from <IRUN> to <IHOLD>. In the case of 0 mA hold
current (1111 in the hold current table), the following
sequence is applied:
1. The current is first reduced to 59 mA
(corresponding to 0000 value in the table).
2. The PWM regulator is switched off; the bottom
transistors of the bridges are grounded.
Irun[3:0] Current amplitude value to be fed to
each coil of the stepper−motor. The table below
provides the 16 possible values for <IRUN>.
Index
Irun
Run Current (mA)
0
0
0
0
0
59
1
0
0
0
1
71
2
0
0
1
0
84
3
0
0
1
1
100
4
0
1
0
0
119
StepMode
Step Mode
5
0
1
0
1
141
0
0
1/2 stepping
6
0
1
1
0
168
0
1
1/4 stepping
7
0
1
1
1
200
1
0
1/8 stepping
8
1
0
0
0
238
1
1
1/16 stepping
9
1
0
0
1
283
A
1
0
1
0
336
B
1
0
1
1
400
C
1
1
0
0
476
D
1
1
0
1
566
E
1
1
1
0
673
F
1
1
1
1
800
StepMode Setting of step modes.
Shaft This bit distinguishes between a clock−wise
or counter−clock−wise rotation. The shaft bit is
not working in RunVelocity mode.
SecPos[10:2] Secure Position of the
stepper−motor. This is the position to which the
motor is driven in case of a LIN communication
loss or when the LIN error−counter overflows.
If <SecPos[10:2]> = “100 0000 00xx”,
secure positioning is disabled; the
stepper−motor will be kept in the position
occupied at the moment these events occur.
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25
AMIS−30623
Note: The Secure Position is coded on 11 bits only,
providing actually the most significant bits of the position, the
non coded least significant bits being set to ‘0’. The Secure
Position in OTP has only 9 bits. The two least significant bits
are loaded as ‘0’ to RAM when copied from OTP.
Vmax[3:0] Maximum velocity
Index
Vmax
Vmax(full step/s)
Group
A
0
0
0
0
0
99
1
0
0
0
1
136
2
0
0
1
0
167
3
0
0
1
1
197
4
0
1
0
0
213
5
0
1
0
1
228
6
0
1
1
0
243
7
0
1
1
1
273
8
1
0
0
0
303
9
1
0
0
1
334
A
1
0
1
0
364
B
1
0
1
1
395
C
1
1
0
0
456
D
1
1
0
1
546
E
1
1
1
0
729
F
1
1
1
1
973
Acc[3:0] Acceleration and deceleration between
Vmax and Vmin.
Index
B
C
Vmin
0
0
0
0
0
49
(*)
1
0
0
0
2
0
0
1
1
218
(*)
0
1004
.
3
0
0
1
1
3609
.
4
0
1
0
0
6228
.
5
0
1
0
1
8848
.
6
0
1
1
0
11409
.
7
0
1
1
1
13970
.
8
1
0
0
0
16531
.
9
1
0
0
1
19092
(*)
A
1
0
1
0
21886
(*)
B
1
0
1
1
24447
(*)
C
1
1
0
0
27008
(*)
D
1
1
0
1
29570
(*)
E
1
1
1
0
34925
(*)
F
1
1
1
1
40047
(*)
(*) restriction on speed
SleepEn IF <SleepEn> = 1 −> AMIS−30623
always goes to low−power sleep mode incase of
LIN timeout.
IF <SleepEn> = 0, there is no more
automatic transition to low−current sleep mode
(i.e. stay in stop mode with applied hold
current, unless there are failures). Exception to
this rule are the states <Standby> and
<Shutdown>, in which the device can enter
sleep regardless of the state of SleepEn.
Note: The <SleepEn> function acts for the LIN command
“SLEEP” too. When <SleepEn> = 1 and the Sleep command
is received the 30623 will go into Sleep. In case the
<SleepEn> = 0 the 30623 will go into stop mode.
FailSafe
Description: see section LIN Lost Behavior.
D
Vmin[3:0] Minimum velocity.
Index
Acceleration (Full−step/s2)
Acc
Vmax Factor
0
0
0
0
0
1
1
0
0
0
1
1/32
2
0
0
1
0
2/32
3
0
0
1
1
3/32
4
0
1
0
0
4/32
5
0
1
0
1
5/32
6
0
1
1
0
6/32
7
0
1
1
1
7/32
8
1
0
0
0
8/32
9
1
0
0
1
9/32
A
1
0
1
0
10/32
B
1
0
1
1
11/32
C
1
1
0
0
12/32
D
1
1
0
1
13/32
E
1
1
1
0
14/32
F
1
1
1
1
15/32
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26
AMIS−30623
Table 19. RAM REGISTERS
Mnemonic
Length
(bit)
ActPos
16
Pos/TagPos
16/11
AccShape
Coil peak current
Register
Actual position
Related Commands
Comment
Reset
State
GetActualPos
GetFullStatus
GotoSecurePos
ResetPosition
16−bit signed
GetFullStatus
GotoSecurePos
ResetPosition
SetPosition
SetPositionShort
SetPosParam
16−bit signed or
11−bit signed for half stepping
(see Positioning)
1
GetFullStatus
SetMotorParam
‘0’ ⇒ normal acceleration from Vmin to Vmax
‘1’ ⇒ motion at Vmin without acceleration
Irun
4
GetFullStatus
SetMotorParam
Operating current
See look−up table Irun
Coil hold current
Ihold
4
GetFullStatus
SetMotorParam
Standstill current
See look−up table Ihold
Minimum Velocity
Vmin
4
GetFullStatus
SetMotorParam
SetPosParam
See Section Minimum Velocity
See look−up table Vmin
Maximum Velocity
Vmax
4
GetFullStatus
SetMotorParam
SetPosParam
See Section Maximum Velocity
See look−up table Vmax
Shaft
Shaft
1
GetFullStatus
SetMotorParam
Direction of movement
Acc
4
GetFullStatus
SetMotorParam
SetPosParam
See Section Acceleration
See look−up table Acc
Secure Position
SecPos
11
GetFullStatus
SetMotorParam
Target position when LIN connection fails; 11
MSB’s of 16−bit position (LSB’s fixed to ‘0’)
Stepping mode
StepMode
2
GetFullStatus
SetStallParam
See Section Stepping Modes
See look−up table StepMode
Stall detection
absolute threshold
AbsThr
4
GetFullStatus
SetStallParam
SetPosParam
Stall detection delta
threshold
DelThr
4
GetFullStatus
SetStallParam
Sleep Enable
SleepEn
1
SetOTPParam
Enables entering sleep mode after LIN lost.
See also LIN lost behavior
Fail Safe
FailSafe
1
SetOTPParam
Triggers autonomous motion after LIN lost at
POR. See also LIN lost behavior
Stall detection delay
FS2StallEn
3
GetFullStatus
SetStallParam
Delays the stall detection after acceleration
‘000’
Stall detection
sampling
MinSamples
3
GetFullStatus
SetStallParam
Duration of the zero current step in number
of PWM cycles.
‘000’
PWMJEn
1
GetFullStatus
SetStallParam
‘1’ means jitter is added
‘0’
100% duty cycle
Stall Enable
DC100StEn
1
GetFullStatus
SetStallParam
‘1’ means stall detection is enabled in case
PWM regulator runs at d = 100%
‘0’
PWM frequency
PWMFreq
1
GetFullStatus
SetMotorParam
‘0’ means ~ 22 KHz,
‘1’ means ~ 44 KHz
‘0’
Last programmed
Position
Acceleration shape
Acceleration/
deceleration
PWM Jitter
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27
‘0’
From
OTP
memory
AMIS−30623
Table 20. FLAGS TABLE
Flag
Mnemonic
Length
(bit)
Charge pump failure
CPFail
1
GetFullStatus
‘0’ = charge pump OK
‘1’ = charge pump failure
Resets only after GetFullStatus
‘0’
Electrical defect
ElDef
1
GetActualPos
GetStatus
GetFullStatus
<OVC1> or <OVC2> or
‘open−load on coil X’ or ‘open−load on
coil XY or <CPFail>
Resets only after Get(Full)Status
‘0’
External switch
status
ESW
1
GetActualPos
GetStatus
GetFullStatus
‘0’ = open
‘1’ = close
‘0’
Electrical flag
HS
1
Internal use
<CPFail> or <UV2> or <ElDef> or <VDDreset>
‘0’
Motion status
Motion
3
GetFullStatus
“x00” = Stop
“001” = inner (CCW) motion acceleration
“010” = inner (CCW) motion deceleration
“011” = inner (CCW) motion max. speed
“101” = outer (CW) motion acceleration
“110” = outer (CW) motion deceleration
“111” = outer (CW) motion max. speed
Related Commands
Comment
Reset
State
“000”
Over current in coil X
OVC1
1
GetFullStatus
‘1’ = over current; reset only after GetFullStatus
‘0’
Over current in coil Y
OVC2
1
GetFullStatus
‘1’ = over current; reset only after GetFullStatus
‘0’
Secure position
enabled
SecEn
1
Internal use
‘0’ if <SecPos> = “100 0000 0000”
‘1’ otherwise
Circuit going to
Sleep mode
Sleep
1
Internal use
‘1’ = Sleep mode
reset by LIN command
Step loss
StepLoss
1
GetActualPos
GetStatus
GetFullStatus
‘1’ = step loss due to under voltage, over current,
open circuit or stall; Resets only after
GetFullStatus or GetActualPos
‘1’
Delta High Stall
DelStallHi
1
GetFullStatus
‘1’ = Vbemf > Ubemf + DeltaThr
‘0’
Delta Low Stall
DelStallLo
1
GetFullStatus
‘1’ = Vbemf < Ubemf − DeltaThr
‘0’
Absolute Stall
AbsStall
1
GetFullStatus
‘1’ = Vbemf < AbsThr
‘0’
Stall
1
GetFullStatus
GetStatus
Motor stop
Stop
1
Internal use
Temperature info
Tinfo
2
Stall
Thermal shutdown
Thermal warning
Battery stop voltage
Digital supply reset
TSD
TW
UV2
VddReset
1
1
1
1
n.a.
‘0’
‘0’
‘0’
GetActualPos
GetStatus
GetFullStatus
“00” = normal temperature range
“01” = low temperature warning
“10” = high temperature warning
“11” = motor shutdown
GetActualPos
GetStatus
GetFullStatus
‘1’ = shutdown (Tj > Ttsd)
Resets only after Get(Full)Status
and if <Tinfo> = “00”
‘0’
GetActualPos
GetStatus
GetFullStatus
‘1’ = over temperature (Tj > Ttw)
Resets only after Get(Full)Status
and if <Tinfo> = “00”
‘0’
GetActualPos
GetStatus
GetFullStatus
‘0’ = VBB > UV2
‘1’ = VBB ≤ UV2
Resets only after Get(Full)Status
‘0’
GetActualPos
GetStatus
GetFullStatus
Set at ‘1’ after power−up of the circuit. If this was due to
a supply micro−cut, it warns that the RAM contents
may have been lost; can be reset to ‘0’ with a
GetStatus or a Get(Full)Status command
‘1’
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“00”
AMIS−30623
Priority Encoder
The table below describes the simplified state management performed by the main control block.
Table 21. PRIORITY ENCODER
State "
Standby
Command
O
Stopped
GotoPos
DualPosition
SoftStop
HardStop
ShutDown
Sleep
No Power
(Note 27)
Motor
Stopped,
Ihold in Coils
Motor Motion
Ongoing
No Influence
on RAM and
TagPos
Motor
Decelerating
Motor Forced
to Stop
Motor
Stopped,
H−bridges in
Hi−Z
HardUnder
ShutUnder
GetActualPos
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
GetOTPparam
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
GetFullStatus
or GetStatus
[ attempt to clear
<TSD> and
<HS> flags]
LIN in-frame
response;
if (<TSD> or
<HS>) = ‘0’
then
→ Stopped
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response
LIN in-frame
response;
if (<TSD> or
<HS>) = ‘0’
then
→ Stopped
LIN in-frame
response
SetMotorParam
[Master takes
care about
proper update]
RAM update
RAM update
RAM update
RAM update
RAM update
RAM update
RAM update
RAM update
ResetPosition
<TagPos> and
<ActPos> reset
SetPosition
<TagPos>
updated;
→ GotoPos
<TagPos>
updated
<TagPos>
updated
SetPositionShort
<TagPos>
updated;
→ GotoPos
<TagPos>
updated
<TagPos>
updated
GotoSecPosition
If <SecEn> =
‘1’ then
<TagPos> =
<SecPos>;
→ GotoPos
If <SecEn> =
‘1’ then
<TagPos> =
<SecPos>
If <SecEn> =
‘1’ then
<TagPos> =
<SecPos>
DualPosition
→ DualPosition
SoftStop
Sleep or LIN
timeout
[ ⇒ <Sleep> =
‘1’, reset by any
LIN command
received later]
<TagPos> and
<ActPos>
reset
RAM update
<TagPos> and
<ActPos>
reset
→ SoftStop
→ Sleep
(Note 35)
If <SecEn> =
‘1’ then
<TagPos> =
<SecPos>
else
→ SoftStop
If <SecEn> =
‘1’ then
<TagPos> =
<SecPos>;
will be
evaluated after
DualPosition
→ HardStop
→ HardStop
→ HardStop
→ HardUnder
→ HardUnder
→ HardStop
→ HardUnder
HardStop
VBB < UV2 and
t > 15 seconds
No action;
<Sleep> flag
will be
evaluated
when motor
stops
No action;
<Sleep> flag
will be
evaluated
when motor
stops
No action;
<Sleep> flag
will be
evaluated
when motor
stops
No action;
<Sleep> flag
will be
evaluated
when motor
stops
VBB < UV2 and
t < 15 seconds
→ Stopped
<ElDef> = ‘1’ ⇒
<HS> = ‘1’
→ Shutdown
→ HardStop;
<StepLoss> =
‘1’
→ HardStop;
<StepLoss> =
‘1’
Thermal
shutdown
[<TSD> = ‘1’]
→ Shutdown
→ SoftStop
→ SoftStop
Motion finished
n.a.
→ Stopped
→ Stopped
→ HardStop;
<StepLoss> =
‘1’
→ Shutdown
→ Shutdown
→ Stopped;
<TagPos> =
<ActPos>
→ Stopped;
<TagPos> =
<ActPos>
n.a.
n.a.
With the Following Color Code:
Command Ignored
NOTE:
Transition to Another State
Master is responsible for proper update (see Note 33)
See table notes on the following page.
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AMIS−30623
27. Leaving <Sleep> state is equivalent to power−on−reset.
28. After power−on−reset, the <Standby> state is entered.
29. A DualPosition sequence runs with a separate set of RAM registers. The parameters that are not specified in a DualPosition command are
loaded with the values stored in RAM at the moment the DualPosition sequence starts. <AccShape> is forced to ‘1’ during second motion.
<AccShape> at ‘0’ will be taken into account after the DualPosition sequence. A GetFullStatus command will return the default
parameters for <Vmax> and <Vmin> stored in RAM.
30. The <Sleep> flag is set to ‘1’ when a LIN timeout or a Sleep command occurs. It is reset by the next LIN command (<Sleep> is cancelled
if not activated yet).
31. Shutdown state can be left only when <TSD> and <HS> flags are reset.
32. Flags can be reset only after the master could read them via a GetStatus or GetFullStatus command, and provided the physical
conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect).
33. A SetMotorParam command sent while a motion is ongoing (state <GotoPos>) should not attempt to modify <Acc> and <Vmin> values.
This can be done during a DualPosition sequence since this motion uses its own parameters, the new parameters will be taken into account
at the next SetPosition or SetPositionShort command.
34. Some transitions like <GotoPos> → <Sleep> are actually done via several states: <GotoPos> → <SoftStop> → <Stopped> →
<Sleep> (see diagram below).
35. Two transitions are possible from state <Stopped> when <Sleep> = ‘1’:
1) Transition to state <Sleep> if (<SecEn> = ‘0’) or ((<SecEn> = ‘1’) and (<ActPos> = <SecPos>)) or <Stop> = ‘1’
2) Otherwise transition to state <GotoPos>, with <TagPos> = <SecPos>
36. <SecEn> = ‘1’ when register <SecPos> is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000
0000”).
37. <Stop> flag allows distinguishing whether state <Stopped> was entered after HardStop/SoftStop or not. <Stop> is set to ‘1’ when leaving
state <HardStop> or <SoftStop> and is reset during first clock edge occurring in state <Stopped>.
38. Command for dynamic assignment of Ids is decoded in all states except <Sleep> and has no effect on the current state.
39. While in state <Stopped>, if <ActPos> → <TagPos> there is a transition to state <GotoPos>. This transition has the lowest priority,
meaning that <Sleep>, <Stop>, <TSD>, etceteras are first evaluated for possible transitions.
40. If <StepLoss> is active, then SetPosition, SetPositionShort and GotoSecurePosition commands are not ignored.
<StepLoss> can only be cleared by a GetStatus or GetFullStatus command.
POR
Thermal Shutdown
Referencing
HardStop
Shutdown
HardStop
Thermal
ShutDown
SoftStop
HardStop
Dual Positioning Motion finished
Motion Finished
GotoSecPos
HardStop
Thermal Shutdown
Soft−stop
HardStop
SetPosition
Stopped
Motion Finished
GotoPos
GetFullStatus
<Sleep>
OR LIN timeout
Motion Finished
Any LIN command
Priorities
1
2
3
Sleep
<Sleep> AND (not <SecEn> OR
<SecEn> AND ActPos = SecPos
OR <Stop>)
Vbb < UV2 or CPFAIL
4
Vbb < UV2 or CPFAIL
Vbb > UV1 and not CPFAIL
T > 15 sec
Figure 16. Simplified State Diagram
Remark: IF <SleepEn> = 0, then the arrow from stopped state to sleep state does not exist.
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HardUnder
ShutUnder
AMIS−30623
Motordriver
Current Waveforms in the Coils
Figure 17 below illustrates the current fed to the motor coils by the motordriver in half−step mode.
Ix
Coil X
Iy
t
Coil Y
Figure 17. Current Waveforms in Motor Coils X and Y in Halfstep Mode
Whereas Figure 18 below shows the current fed to the coils in 1/16th micro stepping (1 electrical period).
Coil X
Iy
Ix
t
Coil Y
Figure 18. Current Waveforms in Motor Coils X and Y in 1/16th Micro−Step Mode
PWM Regulation
Table 22. PWM FREQUENCY SELECTION
In order to force a given current (determined by <Irun>
or <Ihold> and the current position of the rotor) through
the motor coil while ensuring high energy transfer
efficiency, a regulation based on PWM principle is used. The
regulation loop performs a comparison of the sensed output
current to an internal reference, and features a digital
regulation generating the PWM signal that drives the output
switches. The zoom over one micro−step in the Figure 18
above shows how the PWM circuit performs this regulation.
To reduce the current ripple, a higher PWM frequency is
selectable. The RAM register PWMfreq is used for this.
PWMfreq
Applied PWM Frequency
0
22,8 kHz
1
45,6 kHz
PWM Jitter
To lower the power spectrum for the fundamental and
higher harmonics of the PWM frequency, jitter can be added
to the PWM clock. The RAM register <PWMJEn> is used
for this.
Table 23. PWM JITTER SELECTION
PWMJEn
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31
Status
0
Single PWM frequency
1
Added jitter to PWM frequency
AMIS−30623
Motor Starting Phase
Motor Stopping Phase
At motion start, the currents in the coils are directly
switched from <Ihold> to <Irun> with a new
sine/cosine ratio corresponding to the first half (or micro−)
step of the motion.
At the end of the deceleration phase, the currents are
maintained in the coils at their actual DC level (hence
keeping the sine/cosine ratio between coils) during the
stabilization time tstab (see AC Table). The currents are then
set to the hold values, respectively Ihold x sin(TagPos)
and Ihold x cos(TagPos), as illustrated below. A new
positioning order can then be executed.
Iy
Ix
t
Figure 19. Motor Stopping Phase
t stab
Charge Pump Monitoring
Motor Shutdown Mode
If the charge pump voltage is not sufficient for driving the
high side transistors (due to failure), an internal HardStop
command is issued. This is acknowledged to the master by
raising flag <CPFail> (available with command
GetFullStatus).
In case this failure occurs while a motion is ongoing, the
flag <StepLoss> is also raised.
A motor shutdown occurs when:
• The chip temperature rises above the thermal shutdown
threshold Ttsd (see Thermal Shutdown Mode).
• The battery voltage goes below UV2 for longer than 15
seconds (see Battery Voltage Management).
• The charge pump voltage goes below the charge pump
comparator level for more than 15 seconds.
• Flag <ElDef> = ‘1’, meaning an electrical problem is
detected on one or both coils, e.g. a short circuit.
Electrical Defect on Coils, Detection and Confirmation
The principle relies on the detection of a voltage drop on
at least one transistor of the H−bridge. Then the decision is
taken to open the transistors of the defective bridge.
This allows the detection the following short circuits:
• External coil short circuit
• Short between one terminal of the coil and Vbat or Gnd
A motor shutdown leads to the following:
• H−bridges in high impedance mode.
• The <TagPos> register is loaded with the <ActPos>,
except in autarkic states.
• The LIN interface remains active, being able to receive
orders or send status.
One cannot detect an internal short in the motor.
Open circuits are detected by 100% PWM duty cycle
value during one electrical period with duration, determined
by Vmin.
The conditions to get out of a motor shutdown mode are:
• Reception of a GetStatus or GetFullStatus
•
Table 24. ELECTRICAL DEFECT DETECTION
Pins
Fault Mode
Yi or Xi
Short−circuit to GND
Yi or Xi
Short−circuit to Vbat
Yi or Xi
Open
Y1 and Y2
Short circuited
X1 and X2
Short circuited
Xi and Yi
Short circuited
command AND
The four above causes are no longer detected
This leads to H−bridges going in Ihold mode. Hence, the
circuit is ready to execute any positioning command.
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AMIS−30623
This can be illustrated in the following sequence given as an application example. The master can check whether there is
a problem or not and decide which application strategy to adopt.
Table 25. Example of Possible Sequence used to Detect and Determine Cause of Motor Shutdown
Tj ≥ Tsd or
VBB ≤ UV2 (>15s) or
<ElDef> = ‘1’ or
<CPFail> = ‘1’ (>15s)
↓
− The circuit is driven in motor shutdown
mode
− The application is not aware of this
SetPosition
frame
↓
GetFullStatus or
GetStatus frame
↓
GetFullStatus or
GetStatus frame
↓...
− The position set−point is
updated by the LIN Master
− Motor shutdown mode
⇒ no motion
− The application is still
unaware
− The application is aware
of a problem
− Possible confirmation of
the problem
Important: While in shutdown mode, since there is no hold
current in the coils, the mechanical load can cause a step loss,
which indeed cannot be flagged by the AMIS−30623.
If the LIN communication is lost while in shutdown mode,
the circuit enters the sleep mode immediately.
Note: The Priority Encoder is describing the management of
states and commands.
Warning: The application should limit the number of
consecutive GetStatus or GetFullStatus commands to try to
get the AMIS−30623 out of shutdown mode when this
proves to be unsuccessful, e.g. there is a permanent defect.
The reliability of the circuit could be altered since
Get(Full)Status attempts to disable the protection of the
H−bridges.
− Reset <TW> or <TSD> or <UV2> or <StepLoss> or
<ElDef> or <CPFail> by the application
− Possible new detection of over temperature or low
voltage or electrical problem ⇒ Circuit sets <TW> or
<TSD> or <UV2> or <StepLoss> or <ElDef> or
<CPFail> again at ‘1’
senses the back emf, calculates a moving average and
compares the value with two independent threshold levels:
Absolute threshold (AbsThr[3:0]) and Delta threshold
(<DelThr[3:0]>). Instructions for correct use of these
two levels in combination with three additional parameters
(<MinSamples>, <FS2StallEn> and <DC100StEn>)
are available in a dedicated Application Note “Robust
Motion Control with AMIS−3062x Stepper Motor Drivers”.
If the motor is accelerated by a pulling or propelling force
and the resulting back emf increases above the Delta
threshold (+DTHR), then <DelStallHi> is set. When the
motor is slowing down and the resulting back emf decreases
below the Delta threshold (−DTHR), then <DelStallLo>
is set. When the motor is blocked and the velocity is zero
after the acceleration phase, the back emf is low or zero.
When this value is below the Absolute threshold,
<AbsStall> is set. The <Stall> flag is the OR function
of <DelStallLo> OR <DelStallHi> OR
<AbsStall>.
Motion Detection
Motion detection is based on the back emf generated
internally in the running motor. When the motor is blocked,
e.g. when it hits the end−stop, the velocity and as a result also
the generated back emf, is disturbed. The AMIS−30623
Velocity
Vbemf
+DTHR
Vmax
Motor speed
Vmin
Vbemf
−DTHR
t
t
Vbemf
Vbemf
DeltaStallHi
VABSTH
Back emf
t
t
DeltaStallLo
AbsStall
t
t
Figure 20. Triggering of the Stall Flags in Function of Measured Backemf and the Set Threshold Levels
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AMIS−30623
Table 26. TRUTH TABLE
Condition
<DelStallLo>
<DelStallHi>
<AbsStall>
<Stall>
Vbemf < Average − DelThr
1
0
0
1
Vbemf > Average + DelThr
0
1
0
1
Vbemf < AbsThr
0
0
1
1
By design, the motion will only be detected when the
motor is running at the maximum velocity, not during
acceleration or deceleration.
If the motor is positioning when Stall is detected, an
(internal) hardstop of the motor is generated and the
<StepLoss> and <Stall> flags are set. These flags can
only be reset by sending a GetFullStatus command.
If Stall appears during DualPosition then the first phase is
cancelled (via internal hardstop) and after timeout Tstab (see
AC table) the second phase at Vmin starts.
When the <Stall> flag is set the position controller will
generate an internal HardStop. As a consequence also the
<Steploss> flag will be set. The position in the internal
counter will be copied to the <ActPos> register. All flags
can be read out with the GetStatus or GetFullStatus
command.
Table 27.
ABSOLUTE AND DELTA THRESHOLD SETTINGS
AbsThr
Index
AbsThr
Level (V) (*)
DelThr
Index
DelThr
Level (V) (*)
0
Disable
0
Disable
1
0.5
1
0.25
2
1.0
2
0.50
3
1.5
3
0.75
4
2.0
4
1.00
5
2.5
5
1.25
6
3.0
6
1.50
7
3.5
7
1.75
8
4.0
8
2.00
9
4.5
9
2.25
Important Remark (limited to motion detection flags /
parameters):
A
5.0
A
2.50
B
5.5
B
2.75
Using GetFullStatus will read AND clear the following
flags:
<Steploss>,
<Stall>,
<AbsStall>,
<DelStallLo> and <DelStallHi>. New positioning is
possible and the <ActPos> register will be further updated.
Using GetStatus will read AND clear ONLY the
<Steploss> flag. The <Stall>, <AbsStall>,
<DelStallLo> and <DelStallHi> flags are NOT
cleared. New positioning is possible and the <ActPos>
register will be further updated.
Motion detection is disabled when the RAM registers
<AbsThr[3:0]> and <DelThr[3:0]> are zero. Both
levels can be programmed using the LIN command
SetStallParam in the registers <AbsThr[3:0]> and
<DelThr[3:0]>.
Also
the
OTP
register
<AbsThr[3:0]> and <DelThr[3:0]> can be set
using the LIN command SetOTPParam. These values are
copied in the RAM registers during power on reset.
C
6.0
C
3.00
D
6.5
D
3.25
E
7.0
E
3.50
F
7.5
F
3.75
(*) Not tested in production. Values are approximations.
MinSamples
<MinSamples[2:0]> is a programmable delay timer.
After the zero crossing is detected, the delay counter is
started. After the delay time−out (tdelay) the back−emf
sample is taken. For more information please refer to the
Application Note “Robust Motion Control with
AMIS−3062x Stepper Motor Drivers”.
Table 28. BACK EMF SAMPLE DELAY TIME
Index
MinSamples[2:0]
tDELAY (ms)
0
000
87
1
001
130
2
010
174
3
011
217
4
100
261
5
101
304
6
110
348
7
111
391
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AMIS−30623
FS2StallEn
high as 100%. This indicates that the supply is too low to
generate the required torque and might also result in
erroneously triggering the stall detection. The bit
<DC100StEn> enables stall detection when duty cycle is
100%. For more information please refer to the Application
Note “Robust Motion Control with AMIS−3062x Stepper
Motor Drivers”.
If <AbsThr> or <DelThr> <> 0 (i.e. motion detection
is enabled), then stall detection will be activated AFTER the
acceleration ramp + an additional number of full−steps,
according to the following table:
Table 29.
ACTIVATION DELAY OF MOTION DETECTION
Index
FS2StallEn[2:0]
Delay (Full Steps)
0
000
0
1
001
1
2
010
2
3
011
3
4
100
4
5
101
5
6
110
6
7
111
7
Motion Qualification Mode (*)
This mode is useful to debug motion parameters and to
verify the stability of stepper motor systems. The motion
qualification mode is entered by means of the LIN command
TestBemf. The SWI pin will be converted into an
analogue output on which the Back EMF integrator output
can be measured. Once activated, it can only be stopped after
a POR. During the Back emf observation, reading of the
SWI state is internally forbidden.
(*) Note: Not applicable for product versions
AMIS30623C6238(R)G and AMIS30623C623B(R)G.
More information is available in the Application Note
“Robust Motion Control with AMIS−3062x Stepper Motor
Drivers”.
DC100StEn
When a motor with large bemf is operated at high speed
and low supply voltage, then the PWM duty cycle can be as
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AMIS−30623
LIN CONTROLLER
• selectable length of Message Frame: 2, 4, and 8 bytes
• configuration flexibility
• data checksum (classic checksum, cf. LIN1.3) security
General Description
The LIN (local interconnect network) is a serial
communications protocol that efficiently supports the
control of mechatronics nodes in distributed automotive
applications. The physical interface implemented in the
AMIS−30623 is compliant to the LIN rev. 2.0 & 2.1
specifications. It features a slave node, thus allowing for:
• single−master / multiple−slave communication
• self synchronization without quartz or ceramics
resonator in the slave nodes
• guaranteed latency times for signal transmission
• single−signal−wire communication
• transmission speed of 19.2 kbit/s
and error detection
• detection of defective nodes in the network
It includes the analog physical layer and the digital
protocol handler.
The analog circuitry implements a low side driver with a
pull−up resistor as a transmitter, and a resistive divider with
a comparator as a receiver. The specification of the line
driver/receiver follows the ISO 9141 standard with some
enhancements regarding the EMI behavior.
VBB
30 kW
RxD
to
control
block
LIN
protocol
handler
Filter
TxD
LIN
Slope
Control
LIN address
HW0
from OTP
HW1
HW2
Figure 21. LIN Interface
Slave Operational Range for Proper Self
Synchronization
the characteristics of the transmitted and received signal.
See AC Parameters for timing values.
The LIN interface will synchronize properly in the
following conditions:
• Vbat ≥ 8 V
• Ground shift between master node and slave node < ±1 V
It is highly recommended to use the same type of reverse
battery voltage protection diode for the Master and the Slave
nodes.
Functional Description
Protocol Handler
This block implements:
• Bit synchronization
• Bit timing
• The MAC layer
• The LLC layer
• The supervisor
Error Status Register
Analog Part
The LIN interface implements a register containing an
error status of the LIN communication. This register is as
follows:
The transmitter is a low−side driver with a pull−up resistor
and slope control. The receiver mainly consists of a
comparator with a threshold equal to VBB/2. Figure 5 shows
Table 30. LIN ERROR REGISTER
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Not
used
Not
used
Not
used
Not
used
Time
Data
Header
Bit
out error
error Flag
error Flag
error Flag
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36
Bit 2
Bit 1
Bit 0
AMIS−30623
LIN Frames
With:
Data error flag: (= Checksum error + StopBit error + Length
error)
Header error flag: (= Parity error + SynchField error)
Time out flag: The message frame is not fully completed
within the maximum length
Bit error flag: Difference in bit sent and bit monitored on the
LIN bus
A GetFullStatus frame will reset the error status register.
The LIN frames can be divided in writing and reading
frames. A frame is composed of an 8−bit Identifier followed
by 2, 4 or 8 data−bytes and a checksum byte.
Note: The checksum is conform LIN1.3, classic checksum
calculation over only data bytes. (Checksum is an inverted
8−bit sum with carry over all data bytes.)
Writing frames will be used to:
• Program the OTP Memory;
• Configure the component with the stepper−motor
parameters (current, speed, stepping−mode, etc.);
• Provide set−point position for the stepper−motor;
• Control the motion state machine.
Physical Address of the Circuit
The circuit must be provided with a physical address in order
to discriminate this circuit from other ones on the LIN bus. This
address is coded on 7 bits, yielding the theoretical possibility
of 128 different circuits on the same bus. It is a combination of
4 OTP memory bits and of the 3 hardwired address bits (pins
HW[2:0]). However the maximum number of nodes in a LIN
network is also limited by the physical properties of the bus
line. It is recommended to limit the number of nodes in a LIN
network to not exceed 16. Otherwise the reduced network
impedance may prohibit a fault free communication under
worst case conditions. Every additional node lowers the
network impedance by approximately 3%.
Whereas reading frames will be used to:
• Get the actual position of the stepper−motor;
• Get status information such as error flags;
• Verify the right programming and configuration of the
component.
Writing Frames
The LIN master sends commands and/or information to
the slave nodes by means of a writing frame. According to
the LIN specification, identifiers are to be used to determine
a specific action. If a physical addressing is needed, then
some bits of the data field can be dedicated to this, as
illustrated in the example below.
AD6 AD5 AD4 AD3 AD2 AD1 AD0 Physical address
↑
↑
PA3
↑
PA2
PA1 PA0 OTP memory
HW0 HW1 HW2
NOTE:
Hardwired bits
Pins HW0 and HW1 are 5 V digital inputs, whereas pin
HW2 is compliant with a 12 V level, e.g. it can be
connected to Vbat or Gnd via a terminal of the PCB. For
SetPositionShort it is recommended to set HW0, HW1
and HW2 to ’1’.
Identifier Byte
ID0
ID1
ID2
ID3
ID4
Data Byte 1
ID5
ID6
Data Byte 2
ID7
phys. address
command parameters (e.g. position)
Another possibility is to determine the specific action
within the data field in order to use less identifiers. One can
for example use the reserved identifier 0x3C and take
advantage of the 8 byte data field to provide a physical
address, a command and the needed parameters for the
action, as illustrated in the example below.
<ID6> and <ID7> are used for parity check over <ID0>
to <ID5>, conform LIN1.3 specification. <ID6> = <ID0> ⊗
<ID1> ⊗ <ID2> ⊗ <ID4> (even parity) and <ID7> =
NOT(<ID1> ⊗ <ID3> ⊗ <ID4> ⊗ <ID5>) (odd parity).
ID
0x3C
Data Byte 1
00
Data Byte 3
command
physical address
Data Byte 4
Data Byte 5
Data Byte 6
Data Byte 7
Data Byte 8
1
AppCmd
NOTE:
Data Byte 2
parameters
Bit 7 of Data byte 1 must be at ‘1’ since the LIN specification requires that contents from 0x00 to 0x7F must be reserved for
broadcast messages (0x00 being for the “Sleep” message). See also LIN command Sleep
(<Broad> = ‘0’). If <Broad> = ‘1’, the
physical address of the slave node is provided
by the 7 remaining bits of DATA2. DATA1 will
contain the command code (see Dynamic
assignment of Identifiers), while, if present,
DATA3 to DATA4 will contain the command
parameters, as shown below.
The writing frames used with the AMIS−30623 are the
following:
Type #1: General purpose 2 or 4 data bytes writing
frame with a dynamically assigned identifier.
This type is dedicated to short writing actions
when the bus load can be an issue. They are
used to provide direct command to one
(<Broad> = ‘1’) or all the slave nodes
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AMIS−30623
Data1
ID
ID0
ID1
NOTE:
ID2
ID3
ID4
ID5
ID6
ID7
Data2
command
Physical address
Data3...
Broad
Parameters...
<ID4> and <ID5> indicate the number of data bytes.
ID5
ID4
Ndata (number of data fields)
0
0
2
0
1
2
1
0
4
1
1
8
1. A reading frame with indirect ID must always be
consecutive to a preparing frame. It will otherwise
not be taken into account.
2. A reading frame will always return the physical
address of the answering slave node in order to
ensure robustness in the communication.
The reading frames, used with the AMIS−30623, are the
following:
Type #5: two, four or eight Data bytes reading frame
with a direct identifier dynamically assigned to
a particular slave node together with an
application command. A preparing frame is not
needed.
Type #6: eight Data bytes reading frame with 0x3D
identifier. This is intrinsically an indirect type,
needing therefore a preparation frame. It has the
advantage to use a reserved identifier. (Note:
because of the parity calculation done by the
master, the identifier becomes 0x7D as physical
data over the bus).
Type #2: two, four or eight data bytes writing frame
with an identifier dynamically assigned to an
application command, regardless of the
physical address of the circuit.
Type #3: two data bytes writing frame with an
identifier dynamically assigned to a particular
slave node together with an application
command. This type of frame requires that
there are as many dynamically assigned
identifiers as there are AMIS−30623 circuits
using this command connected to the LIN bus.
Type #4: eight data bytes writing frame with 0x3C
identifier.
Preparing Frames
A preparing frame is a frame from the master that warns
a particular slave node that it will have to answer in the next
frame (being a reading frame). A preparing frame is needed
when a reading frame does not use a dynamically assigned
direct ID. Preparing and reading frames must be
consecutive. A preparing frame will contain the physical
address of the LIN slave node that must answer in the
reading frame and will also contain a command indicating
which kind of information is awaited from the slave.
The preparing frames used with the AMIS−30623 can be
of type #7 or type #8 described below.
Type #7: two data bytes writing frame with
dynamically assigned identifier. The identifier
of the preparing frame has to be assigned to
ROM pointer 1000, see Table 34.
Reading Frames
A reading frame uses an in−frame response mechanism.
That is: the master initiates the frame (synchronization field
+ identifier field), and one slave sends back the data field
together with the check field. Hence, two types of identifiers
can be used for a reading frame:
• Direct ID, which points at a particular slave node,
indicating at the same time which kind of information is
awaited from this slave node, thus triggering a specific
command. This ID provides the fastest access to a read
command but is forbidden for any other action.
• Indirect ID, which only specifies a reading command,
the physical address of the slave node that must answer
having been passed in a previous writing frame, called
a preparing frame. Indirect ID gives more flexibility
than a direct one, but provides a slower access to a read
command.
Table 31. PREPARING FRAME #7
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
2
Data 2
1
3
Checksum
CMD[6:0]
AD[6:0]
Checksum over data
Where:
(*) According to parity computation
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AMIS−30623
Type #8: eight data bytes preparing frame with 0x3C identifier.
Table 32. PREPARING FRAME #8
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
3
Data 3
1
4
Data 4
Data4[7:0] FF
5
Data 5
Data5[7:0] FF
6
Data 6
Data6[7:0] FF
7
Data 7
Data7[7:0] FF
AppCMD = ...
CMD[6:0]
AD[6:0]
8
Data 8
Data8[7:0] FF
9
Checksum
Checksum over data
Where:
AppCMD: If = ‘0x80’ this indicates that Data 2 contains an application command
CMD[6:0]: Application Command “byte”
AD[6:0]: Slave node physical address
Data[7:0]: Data transmitted
Dynamic Assignment of Identifiers
frame with identifier 0x3C issued by the LIN master will
write dynamic identifiers into the RAM. One writing frame
is able to assign 4 identifiers; therefore 3 frames are needed
to assign all identifiers. Each ROM pointer <ROMp_x
[3:0]> place the corresponding dynamic identifier
<Dyn_ID_x [5:0]> at the correct place in the RAM (see
Table below: LIN – Dynamic Identifiers Writing Frame).
When setting <Broad> to zero broadcasting is active and
each slave on the LIN bus will store the same dynamic
identifiers, otherwise only the slave with the corresponding
slave address is programmed.
The identifier field in the LIN datagram denotes the
content of the message. Six identifier bits and two parity bits
are used to represent the content. The identifiers 0x3C and
0x3F are reserved for command frames and extended
frames. Slave nodes need to be very flexible to adapt itself
to a given LIN network in order to avoid conflicts with slave
nodes from different manufacturers. Dynamic assignment
of the identifiers will fulfill this requirement by writing
identifiers into the circuits RAM. ROM pointers are linking
commands and dynamic identifiers together. A writing
Table 33. DYNAMIC IDENTIFIERS WRITING FRAME
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
0
Identifier
0x3C
1
AppCMD
0x80
2
CMD
1
3
Address
Broad
4
Data
5
Data
6
Data
7
Data
8
Data
9
Checksum
Bit 2
Bit 1
Bit 0
AD2
AD1
AD0
0x11
AD6
AD5
AD4
AD3
DynID_1[3:0]
ROMp_1[3:0]
DynID_2[1:0]
ROMp_2[3:0]
DynID_1[5:4]
ROMp_3[3:0]
DynID_2[5:2]
ROMp_4[1:0]
DynID_3[5:0]
DynID_4[5:0]
ROMp_4[3:2]
Checksum over data
Where:
CMD[6:0]: 0x11, corresponding to dynamic assignment of four LIN identifiers
Broad: If <Broad> = ‘0’ all the circuits connected to the LIN bus will share the same dynamically assigned identifiers.
Dyn_ID_x [5:0]: Dynamically assigned LIN identifier to the application command which ROM pointer is <ROMp_x [3:0]>
One frame allows only assigning of four identifiers. Therefore, additional frames could be needed in order to assign more
identifiers (maximum three for the AMIS−30623).
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AMIS−30623
Dynamic ID
ROM pointer
Application Command
User Defined
0010
GetActualPos
User Defined
0011
GetStatus
User Defined
0100
SetPosition
User Defined
0101
SetPositionShort (1 m)
User Defined
0110
SetPositionShort (2 m)
User Defined
0111
SetPositionShort (4 m)
User Defined
0000
GeneralPurpose 2 bytes
User Defined
0001
GeneralPurpose 4 bytes
User Defined
1000
Preparation Frame
Command assignment via Dynamic ID during operation
Figure 22. Principle of Dynamic Command Assignment
Commands Table
Table 34. LIN COMMANDS WITH CORRESPONDING ROM POINTER
Command Mnemonic
Command Byte (CMD)
Dynamic ID (example)
ROM Pointer
0010
GetActualPos
000000
0x00
100xxx
GetFullStatus
000001
0x01
n.a.
GetOTPparam
000010
0x02
n.a.
GetStatus
000011
0x03
000xxx
GotoSecurePosition
000100
0x04
n.a.
HardStop
000101
0x05
n.a.
ResetPosition
000110
0x06
n.a.
RunVelocity
010111
0x17
n.a.
SetDualPosition
001000
0x08
n.a.
SetMotorParam
001001
0x09
n.a.
SetOTPparam
010000
0x10
n.a.
SetStallParam
010110
0x16
n.a.
SetPosition (16−bit)
001011
0x0B
010xxx
0100
SetPositionShort (1 motor)
001100
0x0C
001001
0101
SetPositionShort (2 motors)
001101
0x0D
101001
0110
SetPositionShort (4 motors)
001110
0x0E
111001
0111
SetPosParam
101111
0x2F
110xxx
1001
n.a.
Sleep
0011
n.a.
SoftStop
001111
0x0F
n.a.
TestBemf
011111
0x1F
n.a.
Dynamic ID assignment
010001
0x11
n.a.
General purpose 2 Data bytes
011000
0000
General purpose 4 Data bytes
101000
0001
Preparing frame
011010
1000
NOTE:
“xxx” allows addressing physically a slave node. Therefore, these dynamic identifiers cannot be used for more than eight stepper
motors. Only ten ROM pointers are needed for the AMIS−30623.
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AMIS−30623
LIN Lost Behavior
communication occurred at (or before) power on reset or in
normal powered operation.
Introduction
When the LIN communication is broken for a duration of
25000 consecutive frames (= 1,30s @ 19200 kbit/s)
AMIS−30623 sets an internal flag called “LIN lost”. The
functional behavior depends on the state of OTP bits
<SleepEn> and <FailSafe>, and if this loss in LIN
Sleep Enable
The OTP bit <SleepEn> enables or disables the
entering in low−power sleep mode in case of LIN time−out.
Default the entering of the sleep−mode is disabled.
Table 35. SLEEP ENABLE SELECTION
<SleepEn>
Behavior
0
Entering low−power sleep mode is disabled except from <Standby> and <Shutdown>
1
Entering low−power sleep mode enabled
Fail Safe Motion
The OTP bit <FailSafe> enables or disables an automatic motion to a predefined secure position. See also Autonomous Motion.
Table 36. FAIL SAFE ENABLE SELECTION
<FailSafe>
Behavior
0
NO reference motion in case of LIN – lost
1
ENABLES reference motion to a secure position in case of LIN–lost (if the device has not been yet referenced
with SetDualPosition)
If OTP bit <FailSafe> = 1, the reaction is the following:
If the device has already been referenced, it is assumed
that <ActPos> register contains the “real” actual position.
At LIN – lost an absolute positioning to the stored secure
position SecPos is done (identical to the case, when OTP bit
<FailSafe> = 0).
If the device was not referenced yet, the <ActPos>
register does not contain a valid position. At LIN – lost a
referencing is started using DualPositioning. A first
negative motion of half the positioner range is initiated until
the stall position is reached. The motion parameters stored
in OTP will be used for this. After this mechanical
end−position is reached, <ActPos> will be reset to zero. A
second motion of 10 Fullsteps is executed to assure that the
motion is really at the end position. After the second motion,
a third motion is executed to the Secure Position also stored
in OTP; if <SecPos> = 0x400, this second motion is not
executed.
Following sequence will be followed. See Figure 24.
1. <SecPos[10:0]> from RAM register will be
used. This can be different from OTP register if
earlier LIN master communication has updated this.
See also Secure Position and command
SetMotorParam.
I. If <SecPos[10:0]> = 0x400: No Secure
Positioning will be performed
II. If <SecPos[10:0]> ≠ 0x400: Perform a
Secure Positioning. This is an absolute
positioning (slave knows its ActPos.
<SecPos[10:0]> will be copied in
<TagPos>)
Depending on <Sleep> AMIS−30623 will enter the
<Stop> state or the <Sleep> state. See Table 35.
AMIS−30623 is able to perform an Autonomous Motion
to a preferred position. This positioning starts after the
detection of lost LIN communication and depends on:
− the OTP bit <FailSafe> = 1.
− RAM register <SecPos[10:0]> ≠ 0x400
The functional behavior depends if LIN communication
is lost during normal operation (see figure below case A) or
at (or before) startup (case B):
Power Up
OTP content is
copied in RAM
No
LIN Bus OK
B
Yes
A
Figure 23. Flow Chart Power−Up of AMIS−30623
(Case A: LIN lost during operation and Case B: LIN
lost at startup)
LIN Lost During Normal Operation
If the LIN communication is lost during normal operation,
it is assumed that AMIS−30623 is referenced (by Dual
postioning or Resetposition). In other words the <ActPos>
register contains the “real” actual position. At LIN – lost an
absolute positioning to the stored secure position SecPos is
done. This is further called Secure Positioning.
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AMIS−30623
Important Remarks:
1. The Secure Position has a resolution of 11 bit.
2. Same behavior in case of HW2 float (= lost LIN address), except for entering Sleep mode. If HW2 is floating, but there
is LIN communication, Sleep mode is not entered. See also Hardwired Address HW2.
A
Normal Operation
GetFullStatus
SetMotorParam
(RAM content is overwritten)
Yes
No
LIN bus OK
FailSafe = 1
No
Yes
Reference done?
Yes
No
First motion of DualPosition
Half the position range
Negative direction
At Stall −> ActPos = ’0000’
No
SecPos ≠ 0x400
Yes
STOP
Secure Positioning
to SecPos stored in RAM
SleepEn = 1
No
Yes
SLEEP
STOP
Figure 24. Case A: LIN Lost During Normal Operation
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AMIS−30623
LIN Lost Before or At Power On
positioner range is initiated until the stall position is reached.
The motion parameters stored in OTP will be used for this.
After this mechanical end position is reached, <ActPos>
will be reset to zero. A second motion will start to the Secure
Position also stored in OTP. More details are given below.
If the LIN communication is lost before or at power on, the
<ActPos> register does not reflect the “real” actual
position. So at LIN – lost a referencing is started using
DualPositioning. A first negative motion for half the
B
No
FailSafe = 1
Yes
First motion of DualPosition
Half the position range
Negative direction
At Stall −> ActPos = ‘0000’
No
SecPos ≠ 0x400
Yes
STOP
Secure Positioning
to SecPos stored in RAM,
copied from OTP
SleepEn = 1
No
Yes
STOP
SLEEP
Figure 25. Case B: LIN Lost at or During Start−Up
− If <SecPos[10:0]> ≠ 0x400:
A second motion to <SecPos> is performed.
The direction is given by <SecPos[10]> in
combination with <Shaft>. Motion is done
with parameters from OTP.
Depending on SleepEn AMIS−30623 will enter the
<Stop> state or <Sleep> state. See Table 35.
If LIN is lost before or at power on, following sequence
will be followed. See Figure 25.
1. If the LIN communication is lost AND
<FailSafe> = 0, secure positioning will be
done at absolute position (stored secure position
<SecPos>.) Depending on SleepEn
AMIS−30623 will enter the <Stop> state or
<Sleep> state. See Table 35.
2. If the LIN communication is lost AND
<FailSafe> = 1 a referencing is started using
DualPositioning, meaning a negative motion for
half the positioner range is initiated until the stall
position is reached. The motion parameters stored
in OTP will be used for this. After this mechanical
end position is reached <ActPos> will be reset to
zero. The direction of the motion is given by the
Shaft bit.
− If <SecPos[10:0]> = 0x400:
No Second Motion will be performed.
Important Remarks:
1. The Secure Position has only a resolution of 9 bit
because only the 9 MSB’s will be copied from
OTP to RAM. See also Secure Position
2. The motion direction to SecPos is given by the
Shaft bit in OTP.
3. In case of HW2 float (= lost LIN address), the
behavior is the same as described above, except
for going to sleep mode. In that case failsafe
operation due to HW2 float is not leading to the
sleep state, otherwise the LIN communication will
wake−up the node and cycling through POR will
occur. See also Hardwired Address HW2.
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AMIS−30623
LIN APPLICATION COMMANDS
Introduction
The LIN Master will have to use commands to manage the different application tasks the AMIS−30623 can feature. The
commands summary is given in Table 37 below.
Table 37. COMMANDS SUMMARY
Command
Mnemonic
Frames
Code
Prep #
Read #
Write #
GetActualPos
0x00
7, 8
5, 6
Returns the actual position of the motor
GetFullStatus
0x01
7, 8
6
Returns a complete status of the circuit
GetOTPparam
0x02
7, 8
6
Returns the OTP memory content
GetStatus
0x03
5
Returns a short status of the circuit
Description
READING COMMAND
WRITING COMMANDS
GotoSecurePosition
0x04
1
Drives the motor to its secure position
HardStop
0x05
1
Immediate motor stop
ResetPosition
0x06
1
Actual position becomes the zero position
RunVelocity
0x17
1
Drives motor continuously
SetDualPosition
0x08
4
Drives the motor to 2 different positions with different speeds
SetMotorParam
0x09
4
Programs the motion parameters and values for the
current in the motor’s coils
SetOTPparam
0x10
4
Programs (and zaps) a selected byte of the OTP memory
SetStallparam
0x16
4
Programs the motion detection parameters
SetPosition
0x0B
1, 3, 4
SetPositionShort (1 m.)
0x0C
2
Drives the motor to a given position (half step mode only)
SetPositionShort (2 m.)
0x0D
2
Drives two motors to 2 given positions (half step only)
SetPositionShort (4 m.)
0x0E
2
Drives four motors to 4 given positions (half step only)
SetPosParam
0x2F
2
Drives the motor to a given position and programs some
of the motion parameters.
1
Drives circuit into sleep mode if <SleepEn> = 1
Drives circuit into stopped mode if if <SleepEn> = 0
Drives the motor to a given position
SERVICE COMMANDS
Sleep
SoftStop
0x0F
1
Motor stopping with a deceleration phase
TestBemf
0x1F
1
Outputs Bemf voltage on pin SWI
distinguish between master and slave parts within the frames
and to highlight dynamic identifiers. An example is shown
below.
These commands are described hereafter, with their
corresponding LIN frames. Refer to LIN Frames for more
details on LIN frames, particularly for what concerns
dynamic assignment of identifiers. A color coding is used to
Figure 26. Color Code Used in the Definition of LIN Frames
Usually, the AMIS−30623 makes use of dynamic identifiers for general−purpose 2, 4 or 8 bytes writing frames. If dynamic
identifiers are used for other purposes, this is acknowledged.
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AMIS−30623
position (<ActPos[15:0]>) is returned in signed two’s
complement 16−bit format. One should note that according
to the programmed stepping mode, the LSB’s of
<ActPos[15:0]> may have no meaning and should be
assumed to be ‘0’, as prescribed in Position Ranges.
GetActualPos also provides a quick status of the circuit
and the stepper−motor, identical to that obtained by
command GetStatus (see further).
Note: A GetActualPos command will not attempt to
reset any flag.
Some frames implement a <Broad> bit that allows
addressing a command to all the AMIS−30623 circuits
connected to the same LIN bus. <Broad> is active when at
‘0’, in which case the physical address provided in the frame
is thus not taken into account by the slave nodes.
Application Commands
GetActualPos
This command is provided to the circuit by the LIN master
to get the actual position of the stepping−motor. This
GetActualPos corresponds to the following LIN reading
frames.
1. four data bytes in−frame response with direct ID (type #5)
Table 38. READING FRAME TYPE #5
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
1
0
Data 1
ESW
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Byte
Content
0
1
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
5
Checksum
VddReset
AD[6:0]
StepLoss
ElDef
UV2
TSD
TW
Tinfo[1:0]
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated direct identifier. There should be as many dedicated identifiers to this GetActualPos
command as there are stepper−motors connected to the LIN bus.
Note: Bit 5 and bit 4 in byte 0 indicate the number of data bytes.
2. The master sends either a type#7 or type#8 preparing frame. After the type#7 or #8 preparing frame, the master sends
a reading frame type#6 to retrieve the circuit’s in−frame response.
Table 39. GetActualPos PREPARING FRAME TYPE #7
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x00
2
Data 2
1
AD[6:0]
3
Checksum
Checksum over data
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AMIS−30623
Table 40. GetActualPos PREPARING FRAME TYPE #6
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
ESW
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
5
Data 5
0xFF
6
Data 6
0xFF
7
Data 7
0xFF
VddReset
AD[6:0]
StepLoss
ElDef
UV2
TSD
8
Data 8
0xFF
9
Checksum
Checksum over data
TW
Tinfo[1:0]
Where:
(*) According to parity computation
Table 41. GetActualPos PREPARING FRAME TYPE #8
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x00
3
Data 3
1
AD[6:0]
4
Data 4
Data4[7:0] FF
5
Data 5
Data5[7:0] FF
6
Data 6
Data6[7:0] FF
7
Data 7
Data7[7:0] FF
8
Data 8
Data8[7:0] FF
9
Checksum
Checksum over data
AppCMD =80
Table 42. GetActualPos READING FRAME TYPE #6
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
ESW
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
5
Data 5
0xFF
6
Data 6
0xFF
7
Data 7
0xFF
VddReset
AD[6:0]
StepLoss
ElDef
UV2
TSD
8
Data 8
0xFF
9
Checksum
Checksum over data
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TW
Tinfo[1:0]
AMIS−30623
GetFullStatus
The master sends either type#7 or type#8 preparing frame.
GetFullStatus corresponds to 2 successive LIN
in−frame responses with 0x3D indirect ID.
Note: It is not mandatory for the LIN master to initiate the
second in−frame response if the data in the second response
frame is not needed by the application.
This command is provided to the circuit by the LIN master
to get a complete status of the circuit and the stepper−motor.
Refer to RAM Registers and Flags Table to see the meaning
of the parameters sent to the LIN master.
Note: A GetFullStatus command will attempt to reset flags
<TW>, <TSD>, <UV2>, <ElDef>, <StepLoss>,
<CPFail>, <OVC1>, <OVC2>, <VddReset>, <Stall>,
<AbsStall>, <DelStallLo> and <DelStallHi>.
1. The master sends a type #7 preparing frame. After the type#7 preparing frame, the master sends a reading frame
type#6 to retrieve the circuit’s in−frame response.
Table 43. GetFullStatus PREPARING FRAME TYPE #7
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x01
2
Data 2
1
AD[6:0]
3
Checksum
Checksum over data
Table 44. GetFullStatus READING FRAME TYPE #6 (1)
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
Data 1
1
1
1
0
1
2
Data 2
Irun[3:0]
Ihold[3:0]
3
Data 3
Vmax[3:0]
Vmin[3:0]
4
Data 4
AccShape
5
Data 5
VddReset
6
Data 6
7
Data 7
8
Data 8
9
Checksum
AD[6:0]
StepMode[1:0]
StepLoss
Shaft
ElDef
Motion[2:0]
1
1
1
Acc[3:0]
UV2
TSD
TW
ESW
OVC1
OVC2
Stall
CPFail
1
TimeE
DataE
HeadE
BitE
AbsThr[3:0]
Tinfo[1:0]
DelThr[3:0]
Checksum over data
Table 45. GetFullStatus READING FRAME TYPE #6 (2)
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
1
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
TagPos[15:8]
5
Data 5
TagPos[7:0]
6
Data 6
SecPos[7:0]
7
Data 7
8
Data 8
9
Checksum
AD[6:0]
FS2StallEn[2:0]
AbsStall
DelStallLo
1
DelStallHi
DC100
SecPos[10:8]
MinSamples[2:0]
DC100StEn
Checksum over data
Where:
(*) According to parity computation
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47
PWMJEn
AMIS−30623
2. The master sends a type #8 preparing frame. After the type#8 preparing frame, the master sends a reading frame
type#6 to retrieve the circuit’s in−frame response.
Table 46. GetFullStatus PREPARING FRAME TYPE#8
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x01
3
Data 3
1
AD[6:0]
4
Data 4
Data4[7:0] FF
5
Data 5
Data5[7:0] FF
6
Data 6
Data6[7:0] FF
7
Data 7
Data7[7:0] FF
8
Data 8
Data8[7:0] FF
9
Checksum
Checksum over data
AppCMD =80
Table 47. GetFullStatus READING FRAME TYPE #6 (1)
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
1
2
Data 2
Irun[3:0]
Ihold[3:0]
3
Data 3
Vmax[3:0]
Vmin[3:0]
4
Data 4
AccShape
5
Data 5
VddReset
6
Data 6
7
Data 7
8
Data 8
6
Checksum
AD[6:0]
StepMode[1:0]
StepLoss
Shaft
ElDef
Motion[2:0]
1
1
1
Acc[3:0]
UV2
TSD
TW
ESW
OVC1
OVC2
Stall
CPFail
1
TimeE
DataE
HeadE
BitE
AbsThr[3:0]
Tinfo[1:0]
DelThr[3:0]
Checksum over data
Table 48. GetFullStatus READING FRAME TYPE #6 (2)
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
1
2
Data 2
3
Data 3
ActPos[7:0]
4
Data 4
TagPos[15:8]
5
Data 5
TagPos[7:0]
6
Data 6
SecPos[7:0]
7
Data 7
8
Data 8
9
Checksum
AD[6:0]
ActPos[15:8]
FS2StallEn[2:0]
AbsStall
DelStallLo
1
DelStallHi
DC100
MinSamples[2:0]
Checksum over data
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48
SecPos[10:8]
DC100StEn
PWMJEn
AMIS−30623
GetOTPparam
This command is provided to the circuit by the LIN master
after a preparing frame (see Preparing frames), to read the
content of an OTP memory segment which address was
specified in the preparation frame.
GetOTPparam corresponds to a LIN in−frame response with 0x3D indirect ID.
1. The master sends a type #7 preparing frame. After the type#7 preparing frame, the master sends a reading frame
type#6 to retrieve the circuit’s in−frame response.
Table 49. GetOTPparam PREPARING FRAME TYPE #7
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x02
2
Data 2
1
AD[6:0]
3
Checksum
Checksum over data
Table 50. GetOTPparam READING FRAME TYPE #6
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
OTP byte @0x00
2
Data 2
OTP byte @0x01
3
Data 3
OTP byte @0x02
4
Data 4
OTP byte @0x03
5
Data 5
OTP byte @0x04
6
Data 6
OTP byte @0x05
7
Data 7
OTP byte @0x06
8
Data 8
OTP byte @0x07
9
Checksum
Checksum over data
Where:
(*) According to parity computation
2.) The master sends a type #8 preparing frame. After the type#8 preparing frame, the master sends a reading frame type#6
to retrieve the circuit’s in−frame response.
Table 51. GetOTPparam PREPARING FRAME TYPE #8
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x02
3
Data 3
1
AD[6:0]
4
Data 4
Data4[7:0] FF
5
Data 5
Data5[7:0] FF
6
Data 6
Data6[7:0] FF
7
Data 7
Data7[7:0] FF
8
Data 8
Data8[7:0] FF
9
Checksum
Checksum over data
AppCMD =80
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AMIS−30623
Table 52. GetOTPparam READING FRAME TYPE #6
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
OTP byte @0x00
2
Data 2
OTP byte @0x01
3
Data 3
OTP byte @0x02
4
Data 4
OTP byte @0x03
5
Data 5
OTP byte @0x04
6
Data 6
OTP byte @0x05
7
Data 7
OTP byte @0x06
8
Data 8
OTP byte @0x07
9
Checksum
Checksum over data
GetStatus
Note: A GetStatus command will attempt to reset flags
<TW>, <TSD>, <UV2>, <ElDef>, <StepLoss> and
<VddReset>.
This command is provided to the circuit by the LIN master
to get a quick status (compared to that of GetFullStatus
command) of the circuit and of the stepper−motor. Refer to
Flags Table to see the meaning of the parameters sent to the
LIN master.
GetStatus corresponds to a 2 data bytes LIN in−frame response with a direct ID (type #5).
Table 53. GetStatus READING FRAME TYPE #5
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
ESW
2
Data 2
VddReset
3
Checksum
AD[6:0]
StepLoss
ElDef
UV2
TSD
TW
Tinfo[1:0]
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated direct identifier. There should be as many dedicated identifiers to this GetStatus command
as there are stepper−motors connected to the LIN bus.
GotoSecurePosition
This command is provided by the LIN master to one or all
of 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 priority
encoder description for more details. The priority encoder
table also acknowledges the cases where a
GotoSecurePosition command will be ignored.
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
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AMIS−30623
GotoSecurePosition corresponds to the following LIN writing frame (type #1).
Table 54. GotoSecurePosition WRITING FRAME TYPE #1
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data
1
CMD[6:0] = 0x04
2
Data
Broad
AD[6:0]
3
Checksum
Checksum over data
Where:
(*) according to parity computation
Broad: If Broad = ‘0’ all the stepper motors connected to the LIN bus will reach their secure position
HardStop
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
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).
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.
Table 55. HardStop WRITING FRAME TYPE #1
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
ID5
ID4
Data
1
CMD[6:0] = 0x05
2
Data
Broad
AD[6:0]
3
Checksum
Byte
Content
0
1
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all stepper motors connected to the LIN bus will stop
ResetPosition
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
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.
The reset position command sets the internal flag
“Reference done”.
ResetPosition corresponds to the following LIN writing frames (type #1).
Table 56. ResetPosition WRITING FRAME TYPE #1
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
ID5
ID4
Data
1
CMD[6:0] = 0x06
2
Data
Broad
AD[6:0]
3
Checksum
Byte
Content
0
1
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the circuits connected to the LIN bus will reset their <ActPos> and <TagPos> registers
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AMIS−30623
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
Note: Continuous LIN communication is required. If not,
Lost−LIN is detected and an autonomous motion will start.
See also LIN lost behavior.
RunVelocity
This command is provided to the circuit by the
LIN Master in order to put the motor in continuous motion
state. Note: in this mode (RunVelocity), the shaft bit has no
impact on the direction of movement.
RunVelocity corresponds to the following LIN writing frames (type #1).
Table 57. RunVelocity WRITING FRAME TYPE #1
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
ID5
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x17
2
Data 2
Broad
AD[6:0]
3
Checksum
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will start continuous motion.
SetDualPosition
Note: This sequence cannot be interrupted by another
positioning command.
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 Dual Positioning. After Dual
positioning the internal flag “Reference done” is set.
SetDualPosition corresponds to the following LIN writing frame with 0x3C identifier (type #4).
Table 58. SetDualPositioning WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
3
Data 3
Broad
4
Data 4
5
Data 5
Pos1[15:8]
6
Data 6
Pos1[7:0]
7
Data 7
Pos2[15:8]
8
Data 8
Pos2[7:0]
9
Checksum
Checksum over data
AppCMD = 0x80
CMD[6:0] = 0x08
AD[6:0]
Vmax[3:0]
Vmin[3:0]
Where:
Broad: If broad = ‘0’ all the circuits connected to the LIN bus will run the dual positioning
Vmax[3:0]: Max velocity for first motion
Vmin[3:0]: Min velocity for first motion and velocity for the second motion
Pos1[15:0]: First position to be reached during the first motion
Pos2[15:0]: Relative position of the second motion
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AMIS−30623
SetStallParam
This command 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 step mode. See Motion detection for the
meaning of the parameters sent by the LIN Master.
SetStallParam corresponds to a 0x3C LIN command (type #4).
Table 59. SetStallParam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
3
Data 3
Broad
4
Data 4
Irun[3:0]
Ihold[3:0]
5
Data 5
Vmax[3:0]
Vmin[3:0]
6
Data 6
7
Data 7
8
Data 8
9
Checksum
AppCMD = 0x80
CMD[6:0] = 0x16
AD[6:0]
MinSamples[2:0]
Shaft
Acc[3:0]
AbsThr[3:0]
DelThr[3:0]
FS2StallEn[2:0]
AccShape
StepMode[1:0]
DC100StEn
PWMJEn
Checksum over data
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested
SetMotorParam
Position Controller). Therefore the application should not
change other parameters than <Vmax> and <Vmin> while
a motion is running, otherwise correct positioning cannot be
guaranteed.
This command is provided to the circuit by the LIN master
to set the values for the stepper motor parameters (listed
below) in RAM. Refer to RAM Registers to see the meaning
of the parameters sent by the LIN master.
Important: If a SetMotorParam occurs while a motion
is ongoing, it will modify at once the motion parameters (see
SetMotorParam corresponds to the following LIN writing frame with 0x3C identifier (type #4).
Table 60. SetMotorParam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x09
3
Data 3
Broad
AD[6:0]
4
Data 4
Irun[3:0]
Ihold[3:0]
5
Data 5
Vmax[3:0]
Vmin[3:0]
6
Data 6
7
Data 7
1
PWMJEn
8
Data 8
9
Checksum
AppCMD = 0x80
SecPos[10:8]
Shaft
Acc[3:0]
SecPos[7:0]
1
PWMfreq
1
AccShape
StepMode[1:0]
Checksum over data
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested
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53
AMIS−30623
SetOTPparam
Important: This command must be sent under a specific
VBB voltage value. See parameter VBBOTP in DC
Parameters. This is a mandatory condition to ensure reliable
zapping.
This command is provided to the circuit by the LIN master
to program the content D[7:0] of the OTP memory byte
OTPA[2:0] and to zap it.
SetMotorParam corresponds to a 0x3C LIN writing frames (type #4).
Table 61. SetOTPparam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
3
Data 3
Broad
4
Data 4
1
5
Data 5
D[7:0]
6
Data 6
0xFF
7
Data 7
0xFF
8
Data 8
0xFF
9
Checksum
Checksum over data
AppCMD = 0x80
CMD[6:0] = 0x10
AD[6:0]
1
1
1
1
OTPA[2:0]
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their OTP memories as requested
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)
describes 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)
Table 62. SetPosition WRITING FRAME TYPE #3
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
Pos[15 :8]
2
Data 2
Pos[7 :0]
3
Checksum
Checksum over data
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.
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AMIS−30623
2. Four (4) Data bytes frame with general purpose identifier (type #1).
Note: The dynamic ID allocation has to be assigned to ‘General Purpose 4 Data bytes’ ROM pointer, i.e. ‘0001’.
Table 63. SetPosition WRITING FRAME TYPE #1
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
0
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x0B
2
Data 2
Broad
AD[6:0]
3
Data 3
Pos[15:8]
4
Data 4
Pos[7:0]
5
Checksum
Checksum over data
Where:
(*) According to parity computation
Broad: 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)
Table 64. SetPosition WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
3
Data 3
1
4
Data 4
Pos1[15:8]
5
Data 5
Pos1[7:0]
6
Data 6
7
Data 7
Pos2[15:8]
8
Data 8
Pos2[7:0]
9
Checksum
Checksum over data
AppCMD = 0x80
CMD[6:0] = 0x0B
AD1[6:0]
1
AD2[6:0]
Where:
Adn[6:0] : Motor #n physical address (n ∈ [1,2]).
Posn[15:0] : Signed 16−bit position set−point for motor #n.
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AMIS−30623
SetPositionShort
are corresponding to the bits PA[3:0] in OTP memory
(address 0x02) See Physical Address of the Circuit. For
SetPositionShort it is recommended to set HW0,
HW1 and HW2 to ’1’.
The priority encoder table (See Priority Encoder)
describes the cases where a SetPositionShort
command will be ignored.
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
Positioning 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
SetPositionShort corresponds to the following LIN writing frames:
1. Two (2) data bytes frame for one (1) motor, with specific identifier (type #2)
Table 65. SetPositionShort WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
2
Data 2
Pos [7:0]
3
Checksum
Checksum over data
Pos[10:8]
Broad
AD [3:0]
Where:
(*) According to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will go to Pos[10:0].
ID[5:0]: Dynamically allocated identifier to two data bytes SetPositionShort command.
2. Four (4) data bytes frame for two (2) motors, with specific identifier (type # 2)
Table 66. SetPositionShort WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
0
ID3
ID2
ID1
ID0
1
Data 1
2
Data 2
3
Data 3
4
Data 4
Pos2[7:0]
5
Checksum
Checksum over data
Pos1[10:8]
1
AD1[3:0]
Pos1[7:0]
Pos2[10:8]
1
AD2[3:0]
Where:
(*) according to parity computation
ID[5:0]: Dynamically allocated identifier to four data bytes SetPositionShort command.
Adn[3:0]: Motor #n physical address least significant bits (n ∈ [1,2]).
Posn[10:0]: Signed 11−bit position set point for Motor #n (see RAM Registers)
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AMIS−30623
3. Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2)
Table 67. SetPositionShort WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
1
ID3
ID2
ID1
ID0
1
Data 1
2
Data 2
3
Data 3
4
Data 4
5
Data 5
6
Data 6
7
Data 7
8
Data 8
Pos4[7:0]
9
Checksum
Checksum over data
Pos1[10:8]
1
AD1[3:0]
Pos1[7:0]
Pos2[10:8]
1
AD2[3:0]
Pos2[7:0]
Pos3[10:8]
1
AD3[3:0]
Pos3[7:0]
Pos4[10:8]
1
AD4[3:0]
Where:
(*) according to parity computation
ID[5:0]: Dynamically allocated identifier to eight data bytes SetPositionShort command.
Adn[3:0]: Motor #n physical address least significant bits (n ∈ [1,4]).
Posn[10:0]: Signed 11−bit position set point for Motor #n (see RAM Registers)
SetPosParam
This command is provided to the circuit by the
LIN Master to drive one motor to a given absolute position.
It also sets some of the values for the stepper motor
parameters such as minimum and maximum velocity.
SetPosParam corresponds to a four (4) data bytes writing LIN frame with specific dynamically assigned identifier (type # 2).
Table 68. SetPosParam WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
0
ID3
ID2
ID5
ID4
1
Data 1
Pos[15:8]
2
Data 2
Pos[7:0]
3
Data 3
Vmax[3:0]
Vmin[3:0]
4
Data 4
AbsThr[3:0]
Acc[3:0]
5
Checksum
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration.
ID[5:0]: Dynamically allocated direct identifier to 4 Data bytes SetPosParam command. There should be as many
dedicated identifiers to this SetPosParam command as there are stepper−motors connected to the LIN bus.
Pos [15:0]: Signed 16−bit position set−point.
Sleep
frame is a master request command frame (identifier 0x3C)
with data byte 1 containing 0x00 while the followings
contain 0xFF.
Note: SleepEnable needs to be set to 1 in order to allow the
device to go to sleep. If SleepEnable is 0 the device will go
into “stopped state”
This command is provided to the circuit by the LIN master
to put all the slave nodes connected to the LIN bus into sleep
mode. If this command occurs during a motion of the motor,
TagPos is reprogrammed to SecPos (provided SecPos
is different from “100 0000 0000”), or a SoftStop is
executed before going to sleep mode. See LIN 1.3
specification and Sleep Mode. The corresponding LIN
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AMIS−30623
Table 69. SLEEP WRITING FRAME
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
0x00
2
Data 2
0xFF
3
Checksum
Checksum over data
SoftStop
Note: A SoftStop command occurring during a
DualPosition sequence is not taken into account.
Command SoftStop occurs in the following cases:
• The chip temperature rises above the thermal shutdown
threshold (see DC Parameters and Temperature
Management);
• The LIN master requests a SoftStop. Hence
SoftStop will correspond to the following two data
bytes LIN writing frame (type #1).
If a SoftStop command occurs during a motion of the
stepper motor, it provokes an immediate deceleration to
Vmin (see Minimum Velocity) followed by a stop,
regardless of the position reached. Once the motor is
stopped, TagPos register is overwritten with value in
ActPos register to ensure keeping the stop position.
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer ‘0000’. The
command is decoded only from the command data.
Table 70. SoftStop WRITING FRAME TYPE #1
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
2
Data 2
Broad
3
Checksum
CMD[6:0] = 0x0F
AD[6:0]
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration.
TestBemf (not applicable for “Product Versions PGA & PNA”)
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
TestBemf corresponds to the following LIN writing frames
(type #1).
This command is provided to the circuit by the
LIN Master in order to output the Bemf integrator output to
the SWI output of the chip. Once activated, it can be stopped
only after POR. During the Bemf observation, reading of the
SWI state is internally forbidden.
Table 71. TestBemf WRITING FRAME
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
0
ID4
Data 1
1
CMD[6:0] = 0x1F
2
Data 2
Broad
AD[6:0]
3
Checksum
Byte
Content
0
1
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will be affected.
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AMIS−30623
PACKAGE DIMENSIONS
SOIC 20 W
CASE 751AQ−01
ISSUE O
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AMIS−30623
PACKAGE DIMENSIONS
NQFP−32, 7x7
CASE 560AA−01
ISSUE O
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60
AMIS−30623
NQFP−32, 7x7
CASE 560AA−01
ISSUE O
The products described herein (AMIS−30623) may be covered by the following U.S. patents: 7,271,993 and 7,288,956. There may be other patents pending.
ON Semiconductor and
are registered trademarks of Semiconductor Components Industries, LLC (SCILLC). SCILLC reserves the right to make changes without further notice
to any products herein. SCILLC makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does SCILLC assume any liability
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AMIS−30623/D