AMIS-30623 LIN Microstepping Motordriver Data Sheet 1.0 General Description The AMIS-30623 is a single-chip microstepping 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 advanced motion qualification mode enables verification of the complete mechanical system in function of the selected motion parameters. 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 sensorless 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. 2.0 Product Features Motordriver • Microstepping technology • Sensorless step-loss detection • Peak current up to 800mA • Fixed frequency PWM current-control • Automatic selection of fast and slow decay mode • No external fly-back diodes required • 14V/24V compliant • Motion Qualification Mode Controller with RAM and OTP memory • Position controller • Configurable speeds, and acceleration • Input to connect optional motion switch LIN interface • Both physical and data-link layers (conform to LIN rev. 1.3) • Field-programmable node addresses • Dynamically allocated identifiers • Full diagnostics and status information Protection • Over-current protection • Under-voltage management • Open circuit detection • High-temp warning and management • Low-temp flag • LIN bus short-circuit protection to supply and ground • Lost LIN safe operation Power Saving • Power-down supply current < 100µA • 5V regulator with wake-up on LIN activity EMI compatibility • LIN bus integrated slope control • HV outputs with slope control AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 1 AMIS-30623 LIN Microstepping Motordriver Data Sheet 3.0 Applications 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, surveillance, satellite dish, renewable energy systems). Suitable applications typically have multiple axes or require mechatronic solutions with the driver chip mounted directly on the motor. 4.0 Ordering Information Table 1: Ordering information AMIS-30623A AGA SOIC-20 800 mA -40°C…..125°C Stop voltage low threshold Typ. 8.5V AMIS-30623B AGA SOIC-20 800 mA -40°C…..125°C Typ. 7.5V N/A N/A AMIS-30623A ANA NQFP-32 (7 x 7 mm) 800 mA -40°C…..125°C Typ. 8.5V N/A N/A AMIS-30623B ANA NQFP-32 (7 x 7 mm) 800 mA -40°C…..125°C Typ. 7.5V N/A N/A Part No. Package Peak Current Temp. Range Ordering Code Tubes N/A Ordering Code Tapes N/A 5.0 Quick Reference Data Table 2: Absolute Maximum Ratings Parameter Vbb Supply voltage Vlin Bus input voltage Tamb Ambient temperature under bias Tst Vesd (3) Min. Max. -0.3 +40 (1) Unit V -80 +80 V -50 +150 °C Storage temperature -55 +160 °C Electrostatic discharge voltage on LIN pin -4 +4 kV Electrostatic discharge voltage on other pins -2 +2 kV (2) Notes : (1) For limited time <0.5s (2) The circuit functionality is not guaranteed. (3) Human body model (100 pF via 1.5 kΩ, according to MIL std. 883E, method 3015.7) Table 3: Operating Ranges Parameter Vbb Supply voltage Top Operating temperature range AMI Semiconductor – June 2006, Rev 3.0 www.amis.com Min +8 Max +29 Unit V Vbb ≤ 18V -40 +125 °C Vbb ≤ 29V -40 +85 °C 2 AMIS-30623 LIN Microstepping Motordriver Data Sheet 6.0 Contents 1.0 General Description.............................................................................................................................................................................. 1 2.0 Product Features .................................................................................................................................................................................. 1 3.0 Applications .......................................................................................................................................................................................... 2 4.0 Ordering Information............................................................................................................................................................................. 2 5.0 Quick Reference Data .......................................................................................................................................................................... 2 6.0 Content................................................................................................................................................................................................. 3 7.0 Block Diagram ...................................................................................................................................................................................... 5 8.0 Pin Out ................................................................................................................................................................................................. 6 9.0 Package Thermal Resistance............................................................................................................................................................... 7 9.1 SOIC-20............................................................................................................................................................................................ 7 9.2 NQFP-32........................................................................................................................................................................................... 7 10.0 DC Parameters................................................................................................................................................................................... 8 11.0 AC Parameters ................................................................................................................................................................................. 10 12.0 Typical Application............................................................................................................................................................................ 12 13.0 Positioning parameters..................................................................................................................................................................... 12 13.1 Stepping Modes ............................................................................................................................................................................ 12 13.2 Maximum Velocity......................................................................................................................................................................... 13 13.3 Minimum Velocity.......................................................................................................................................................................... 13 13.4 Acceleration and Deceleration ...................................................................................................................................................... 14 13.5 Positioning .................................................................................................................................................................................... 14 13.5.1. Position Ranges .................................................................................................................................................................... 15 13.5.2. Secure Position ..................................................................................................................................................................... 15 13.5.3. Shaft...................................................................................................................................................................................... 15 14.0 Structural Description ....................................................................................................................................................................... 16 14.1 Stepper Motordriver ...................................................................................................................................................................... 16 14.2 Control Logic (Position Controller and Main control)..................................................................................................................... 16 14.3 Motion Detection ........................................................................................................................................................................... 16 14.4 LIN Interface ................................................................................................................................................................................. 16 14.5 Miscellaneous ............................................................................................................................................................................... 16 15.0 Functions Description ....................................................................................................................................................................... 17 15.1 Position Controller......................................................................................................................................................................... 17 15.1.1. Positioning and Motion Control.............................................................................................................................................. 17 15.1.2. Dual positioning..................................................................................................................................................................... 19 15.1.3. Position Periodicity ................................................................................................................................................................ 19 15.1.4. Hardwired Address HW2....................................................................................................................................................... 20 15.1.5. External Switch SWI.............................................................................................................................................................. 22 15.2 Main Control and Register, OTP memory + ROM......................................................................................................................... 23 15.2.1. Power-up Phase.................................................................................................................................................................... 23 15.2.2. Reset State............................................................................................................................................................................ 23 15.2.3. Soft Stop ............................................................................................................................................................................... 23 15.2.4. Sleep Mode ........................................................................................................................................................................... 24 15.2.5. Thermal Shutdown Mode ...................................................................................................................................................... 24 15.2.6. Temperature Management .................................................................................................................................................... 24 15.2.7. Autarkic functionality in under-voltage condition.................................................................................................................... 25 15.2.8. OTP register .......................................................................................................................................................................... 26 15.2.9. RAM Registers ...................................................................................................................................................................... 31 15.2.10. Flags Table.......................................................................................................................................................................... 32 15.3 Motordriver.................................................................................................................................................................................... 35 15.3.1. Current waveforms in the coils .............................................................................................................................................. 35 15.3.2. PWM Regulation ................................................................................................................................................................... 36 15.3.3. PWM jitter.............................................................................................................................................................................. 36 15.3.4. Motor Starting Phase............................................................................................................................................................. 36 15.3.5. Motor Stopping Phase........................................................................................................................................................... 36 15.3.6. Charge Pump Monitoring ...................................................................................................................................................... 37 15.3.7. Electrical Defect on Coils, Detection and Confirmation ......................................................................................................... 37 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 3 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.3.8. Motor Shutdown Mode .......................................................................................................................................................... 38 15.4 Motion detection............................................................................................................................................................................ 39 16.0 Lin Controller .................................................................................................................................................................................... 42 16.1 General Description ...................................................................................................................................................................... 42 16.2 Slave Operational Range for Proper Self Synchronization ........................................................................................................... 42 16.3 Functional Description .................................................................................................................................................................. 43 16.3.1. Analog Part............................................................................................................................................................................ 43 16.3.2. Protocol Handler.................................................................................................................................................................... 43 16.3.3. Electro Magnetic Compatibility .............................................................................................................................................. 43 16.4 Error Status Register .................................................................................................................................................................... 43 16.5 Physical Address of the Circuit ..................................................................................................................................................... 43 16.6 LIN Frames ................................................................................................................................................................................... 44 16.6.1. Writing frames ....................................................................................................................................................................... 44 16.6.2. Reading frames ..................................................................................................................................................................... 45 16.6.3. Preparing frames................................................................................................................................................................... 45 16.6.4. Dynamic assignment of Identifiers......................................................................................................................................... 46 16.7 Commands table........................................................................................................................................................................... 47 16.8 LIN lost behavior ........................................................................................................................................................................... 47 16.8.1. Introduction............................................................................................................................................................................ 47 16.8.2. Sleep enable ......................................................................................................................................................................... 47 16.8.3. Fail Safe Motion .................................................................................................................................................................... 48 16.8.4. Autonomous motion .............................................................................................................................................................. 48 17.0 LIN Application Commands .............................................................................................................................................................. 51 17.1 Introduction ................................................................................................................................................................................... 51 17.2 Application Commands ................................................................................................................................................................. 52 18.0 Resistance to Electrical and Electromagnetic Disturbances............................................................................................................. 63 18.1 Electrostatic Discharges ............................................................................................................................................................... 63 18.2 Electrical transient conduction along supply lines ......................................................................................................................... 63 18.3 EMC.............................................................................................................................................................................................. 63 18.4 Power Supply Micro-interruptions ................................................................................................................................................. 63 19.0 Package Outline ............................................................................................................................................................................... 64 19.1 SOIC-20: Plastic small outline; 20 leads; body width 300mil. AMIS reference: SOIC300 20 300G ................................. 64 19.2 NQFP-32: No lead Quad Flat Pack; 32 pins; body size 7 x 7 mm. AMIS reference: NQFP-32.............................................. 65 20.0 Soldering .......................................................................................................................................................................................... 66 20.1 Introduction to Soldering Surface Mount Packages ...................................................................................................................... 66 20.2 Re-flow Soldering.......................................................................................................................................................................... 66 20.3 Wave Soldering............................................................................................................................................................................. 66 20.4 Manual Soldering .......................................................................................................................................................................... 66 21.0 Company or Product Inquiries .......................................................................................................................................................... 67 22.0 Document History ............................................................................................................................................................................. 67 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 4 AMIS-30623 LIN Microstepping Motordriver Data Sheet 7.0 Block Diagram SWI AMIS-30623 LIN BUS Interface Position Controller HW[2:0] PWM regulator X Controller TST MOTXP MOTXN I-sense Decoder Main Control Registers OTP - ROM Sinewave Table Motion detection DAC's 4 MHz Vref Temp sense Voltage Regulator VBB VDD Oscillator PWM regulator Y Charge Pump I-sense CPN CPP VCP GND Figure 1: Block Diagram AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 5 MOTYP MOTYN AMIS-30623 LIN Microstepping Motordriver Data Sheet 8.0 Pin Out VDD 3 18 MOTXP 4 TST 5 LIN 6 GND 7 AMIS-30623 GND 4 15 MOTYP VBB 14 GND SWI 6 19 VCP 7 18 CPP 8 17 CPN 10 11 12 13 14 15 16 GND HW2 NC Top view NQ32 PC20051118.1 9 LIN VCP VBB TST 11 VBB 20 GND 10 VBB 5 VDD CPP NC HW0 YN YN 21 AMIS-30623 HW1 VBB 25 22 VBB 12 26 24 3 9 27 23 VBB CPN 28 1 MOTXN MOTYN 29 2 16 13 30 XP GND 8 31 XP 17 HW2 32 GND VBB GND 19 YP 2 YP HW1 XN SWI XN 20 GND 1 GND HW0 PC20051123.1 Figure 2: SOIC 20 and NQFP-32 pin-out Table 4: Pin Description Pin Name Pin Description SOIC-20 1 NQFP-32 2 9 10 HWO Bit 0 of LIN-ADD HW1 Bit 1 of LIN-ADD VDD Internal supply (needs external decoupling capacitor) 3 GND Ground, heat sink 4,7,14,17 11, 14, 25, 26, 31, 32 To be tied to GND or VDD 8 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 19 VCP Charge-pump filter-capacitor 11 VBB Battery voltage supply 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) AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 7, 16 6 AMIS-30623 LIN Microstepping Motordriver Data Sheet 9.0 Package Thermal Resistance 9.1 SOIC-20 To lower the junction-to-ambient thermal resistance, it is recommended to connect the ground leads to a PCB ground plane layout as illustrated in Figure 3. The junction-to-case thermal resistance is depending on the copper area, copper thickness, PCB thickness and number of copper layers. Calculating with a total area of 460 mm2, 35µm copper thickness, 1.6mm PCB thickness and 1layer, the thermal resistance is 28°C/W, leading to a junction-ambient thermal resistance of 63°C/W, SOIC-20 PC20041128.1 Figure 3: PCB Ground Plane Layout Condition 9.2 NQFP-32 The NQFP is designed to provide superior thermal performance. Using an exposed die pad on the bottom surface of the package, is partly contributing to this. In order to take full advantage of this, the PCB must have features to conduct heat away from the package. A thermal grounded pad with thermal vias can achieve this. With a layout as shown in Figure 4 the thermal resistance junction – to – ambient can be brought down to a level of 25°C/W. NQFP-32 PC20041128.2 Figure 4: PCB Ground Plane Layout Condition AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 7 AMIS-30623 LIN Microstepping Motordriver Data Sheet 10.0 DC Parameters The DC parameters are given for Vbb and temperature in their operating ranges. Convention: currents flowing in the circuit are defined as positive. Table 5: DC Parameters Symbol Pin(s) Motordriver Parameter Test Conditions Max current through motor coil in normal operation Max RMS current through coil in IMSmax,RMS normal operation IMSabs MOTXP Absolute error on coil current MOTXN Error on current ratio Icoilx / Icoily IMSrel MOTYP Vbb = 12V, Tj = 50 °C MOTYN On resistance for each motor pin Vbb = 8V, Tj = 50 °C RDSon (including bond wire) at IMSmax Vbb = 12V, Tj = 150 °C Vbb = 8V, Tj = 150 °C IMSL Pull down current HiZ mode LIN Transmitter Ibus_on Dominant state, driver on Vbus = 1.4V Ibus_off Dominant state, driver off Vbus = 0V LIN Ibus_off Recessive state, driver off Vbus = Vbat Ibus_lim Current limitation Rslave Pull-up resistance LIN Receiver Vbus_dom Receiver dominant state LIN Vbus_rec Receiver recessive state Vbus_hys Receiver hysteresis Thermal Warning & Shutdown Ttw Thermal warning Ttsd(1) (2) Thermal shutdown Tlow (2) Low temperature warning Supply and Voltage Regulator Vbb Nominal operating supply range VbbOTP Supply voltage for OTP zapping (3) VBB Ibat Total current consumption Unloaded outputs Sleep mode current consumption Ibat_s Vdd Internal regulated output (4) 8V < Vbb < 18V IddStop Digital current consumption Vbb < UV2 VDD Digital supply reset level @ power VddReset down (5) IddLim Current limitation Pin shorted to ground Switch Input and Hardwire Address Input Rt_OFF Switch OFF resistance (6) Switch to Gnd or Vbat, Rt_ON Switch ON resistance (6) SWI Vbb range for guaranteed operation Vbb_sw HW2 of SWI and HW2 Min. IMSmax,Peak Vmax_sw Maximum voltage AMI Semiconductor – June 2006, Rev 3.0 www.amis.com T < 1s 8 Typ. Max. 800 mA 570 mA -10 -7 0.50 0.55 0.70 0.85 2 10 7 1 1 1 1 40 -1 50 20 30 0 0.6 * Vbb 0.05 * Vbb 138 145 Ttw + 10 Ttw - 155 6.5 9.0 4.75 3.50 50 5 2 % % Ω Ω Ω Ω mA 20 200 47 mA mA µA mA kΩ 0.4 *Vbb Vbb 0.2 * Vbb V V V 152 °C °C °C 18 10.0 10.0 100 5.50 V V mA µA V mA 4.5 V 42 mA 2 kΩ kΩ 29 V 10 6 Unit 40V V AMIS-30623 LIN Microstepping Motordriver Symbol Pin(s) Parameter Switch Input and Hardwire Address Input SWI Ilim_sw Current limitation HW2 Hardwired Address Inputs and Test Pin Vlow Input level high HW0 HW1 Vhigh Input level low TST HWhyst Hysteresis Charge Pump Vcp VCP Output voltage Test Conditions Min. Short to Gnd or Vbat Typ. Max. 30 0.7 * Vdd Vbb > 15V 8V < Vbb < 15V Vbb+10 2 * Vbb – 5 220 Vbb+12.5 2 * Vbb – 2.5 220 TestBemf LIN command Service mode LIN command Service mode LIN command Unit mA . 0.3 * Vdd V V V Vbb+15 2 * Vbb 470 V V nF 470 nF 0.075 * Vdd Cbuffer External buffer capacitor CPP Cpump External pump capacitor CPN Motion Qualification Mode Output VOUT Output voltage swing ROUT Output impedance SWI Av Gain = VSWI / VBEMF Data Sheet 0 - 4,85 2 0,50 V kΩ Notes (1) No more than 100 cumulated hours in life time above Ttsd. (2) Thermal shutdown and low temperature warning are derived from thermal warning. (3) A 10 µF buffer capacitor of between VBB and GND is minimum needed. Short connections to the power supply are recommended. (4) Pin VDD must not be used for any external supply (5) The RAM content will not be altered above this voltage. (6) External resistance value seen from pin SWI or HW2, including 1 kΩ series resistor. Table 6: UV Limits for Different Version Symbol Pin(s) Parameter Supply Thresholds AMIS-30623A UV1 Stop voltage high threshold VBB UV2 Stop voltage low threshold Supply Thresholds AMIS-30623B UV1 Stop voltage high threshold VBB Stop voltage low threshold UV2 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com Test Conditions 9 Min. Typ. Max. Unit 8.8 8.1 9.4 8.5 9.9 9.0 V V 7.8 7.1 8.4 7.5 8.9 8.0 V V AMIS-30623 LIN Microstepping Motordriver Data Sheet 11.0 AC Parameters The AC parameters are given for Vbb and temperature in their operating ranges. The LIN transmitter/receiver parameters conform to LIN Protocol Specification Revision 1.3. Unless otherwise specified 8V < Vbb < 18V, Load for propagation delay = 1kΩ , Load for slope definitions : [L1] = 1nF / 1kΩ ; [L2] = 6.8nF / 660Ω ; [L3] = 10nF / 510Ω. Table 7: AC Parameters Symbol Pin(s) Power-up Tpu Internal Oscillator fosc LIN Transmitter Parameter Test Conditions Power-up time Guaranteed by design T_slope_F/R Slope time falling or rising edge T_slope_Sym LIN T_tr_F T_tr_R Tsym_tr LIN Receiver Slope time symmetry (1) Propagation delay TxD low to bus Propagation delay TxD high to bus Transmitter delay symmetry Frequency of internal oscillator 3.6 Extrapolated between 40% and 60% Vbus_dom T_slope_F – T_slope_R T_tr_F – T_tr_R Propagation delay bus dominant to RxD low Propagation delay bus recessive to T_rec_R LIN RxD high Tsym_rec Receiver delay symmetry T_rec_F – T_rec_R Twake Wake-up delay time Switch Input and Hardwire Address Input Tsw Scan pulse period (2) SWI HW2 Scan pulse duration Tsw_on Motordriver PWMfreq = 0 (3) Fpwm PWM frequency (2) PWMfreq = 1 (3) Fjit_depth PWM jitter modulation depth PWMJen = 1 (3) MOTxx Tbrise Turn-on transient time Between 10% and 90% Tbfall Turn-off transient time Tstab Run current stabilization time Charge Pump CPN fCP Charge pump frequency (2) CPP T_rec_F Notes (1) For loads [L1] and [L2] (2) Derived from the internal oscillator (3) See SetMotorParam and PWM regulator AMI Semiconductor – June 2006, Rev 3.0 www.amis.com Min. 10 Typ. 4.0 3.5 Max. Unit 10 ms 4.4 MHz 22.5 µs -4 0.1 0.1 -2 1 1 4 4 4 2 µs µs µs µs 0.1 4 6 µs 0.1 4 6 µs -2 50 100 2 200 µs µs 1024 128 20.6 41,2 29 22.8 45,6 10 170 140 32 250 µs µsµs 25.0 50,0 35 kHz kHz % ns ns ms kHz AMIS-30623 LIN Microstepping Motordriver Data Sheet TxD 50% 50% t T_tr_F T_tr_R LIN 95% 50% 50% 5% t T_rec_F RxD T_rec_R 50% 50% t PC20051123.2 Figure 5: LIN Delay Measurement LIN VBUSrec 60% VBUSdom 60% 40% 40% t T_slope_F T_slope_R PC20051123.3 Figure 6: LIN Slope Measurement AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 11 AMIS-30623 LIN Microstepping Motordriver Data Sheet C8 C7 100 nF C5 CPN VDD 1 µF C9 HW0 9 1 kΩ C1 HW2 CPP VCP VBB 10 11 12 VBB 19 20 1 AMIS-30623 8 LIN VDR 27V 5 4 7 14 MOTXN Notes: (1) All resistors are ± 5%, ¼ W (2) C1, C2 minimum value is 2.7nF, maximum value is 10nF (3) Depending on the application, the ESR value and working voltage of C7 must be carefully chosen (4) C3 and C4 must be close to pins VBB and GND (5) C5 and C6 must be as close as possible to pins CPN, CPP, VCP, and VBB to reduce EMC radiation (6) C9 must be a ceramic capacitor to assure low ESR 13.0 Positioning Parameters 13.1 Stepping Modes One of four possible stepping modes can be programmed: Half-stepping 1/4 micro-stepping 1/8 micro-stepping 1/16 micro-stepping www.amis.com M MOTYP MOTYN TST Figure 7: Typical Application Diagram AMI Semiconductor – June 2006, Rev 3.0 2,7 nF 17 GND • • • • C2 16 13 6 SWI MOTXP 15 12 Connect to VBAT or GND 1 kΩ 18 2,7 nF LIN bus 100 nF C4 3 HW1 2 Connect to VBAT or GND C3 C6 220 nF 100 µF 220 nF VBAT 100 nF 12.0 Typical Application PC20051118.1 AMIS-30623 LIN Microstepping Motordriver Data Sheet 13.2 Maximum Velocity For each stepping mode, the maximum velocity Vmax can be programmed to 16 possible values given in Table 8 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 8: Maximum Velocity Selection Table Vmax index Hex Dec Vmax (full step/s) 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 Group Half-stepping (half-step/s) A 197 273 334 395 425 456 486 546 607 668 729 790 912 1091 1457 1945 B C D Stepping mode 1/4th 1/8th micro-stepping micro-stepping (micro-step/s) (micro-step/s) 395 790 546 1091 668 1335 790 1579 851 1701 912 1823 973 1945 1091 2182 1213 2426 1335 2670 1457 2914 1579 3159 1823 3647 2182 4364 2914 5829 3891 7782 1/16th micro-stepping (micro-step/s) 1579 2182 2670 3159 3403 3647 3891 4364 4852 5341 5829 6317 7294 8728 11658 15564 13.3 Minimum Velocity Once the maximum velocity is chosen, 16 possible values can be programmed for the minimum velocity Vmin. Table 9 provides the obtainable values in full-step/s. The accuracy of Vmin is derived from the internal oscillator. Table 9: Obtainable Values in Full-step/s for the Minimum Velocity Vmin index Vmax factor Hex Dec 0 0 1 1 1 1/32 2 2 2/32 3 3 3/32 4 4 4/32 5 5 5/32 6 6 6/32 7 7 7/32 8 8 8/32 9 9 9/32 A 10 10/32 B 11 11/32 C 12 12/32 D 13 13/32 E 14 14/32 F 15 15/32 Vmax (Full-step/s) A 99 99 3 6 9 12 15 18 21 24 28 31 34 37 40 43 46 B 136 136 4 8 12 16 21 25 30 33 38 42 47 51 55 59 64 167 167 5 10 15 20 26 31 36 41 47 51 57 62 68 72 78 197 197 6 11 18 24 31 36 43 49 55 61 68 73 80 86 93 C 213 213 6 12 19 26 32 39 46 52 59 66 72 79 86 93 99 228 228 7 13 21 28 35 42 50 56 64 71 78 85 93 99 107 243 243 7 14 22 30 37 45 52 60 68 75 83 91 98 106 113 273 273 8 15 25 32 42 50 59 67 76 84 93 101 111 118 128 303 303 8 17 27 36 46 55 65 74 84 93 103 113 122 132 141 334 334 10 19 31 40 51 61 72 82 93 103 114 124 135 145 156 364 364 10 21 32 44 55 67 78 90 101 113 124 135 147 158 170 395 395 11 23 36 48 61 72 86 97 111 122 135 147 160 172 185 456 456 13 27 42 55 71 84 99 113 128 141 156 170 185 198 214 546 546 15 31 50 65 84 99 118 134 153 168 187 202 221 237 256 D 729 729 19 42 65 88 111 134 156 179 202 225 248 271 294 317 340 973 973 27 57 88 118 149 179 210 240 271 301 332 362 393 423 454 Notes (1) The Vmax factor is an approximation. (2) 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. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 13 AMIS-30623 LIN Microstepping Motordriver Data Sheet 13.4 Acceleration and Deceleration Sixteen possible values can be programmed for Acc (acceleration and deceleration between Vmin and Vmax). Table 10 provides the obtainable values in full-step/s². One observes restrictions for some combination of acceleration index and maximum speed (gray cells). The accuracy of Acc is derived from the internal oscillator. Table 10: Acceleration and Deceleration Selection Table 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 Acceleration (Full-step/s²) 49 106 14785 Vmax (FS/s) → 99 ↓ Acc index Hex Dec 0 0 1 1 2 2 3 3 4 4 5 5 6 6 7 7 8 8 9 9 A 10 B 11 C 12 D 13 E 14 F 15 29570 218 1004 3609 6228 8848 11409 13970 16531 19092 21886 24447 27008 29570 34925 40047 473 735 The formula to compute the number of equivalent full-step during acceleration phase is: Nstep = Vmax 2 − Vmin 2 2 × Acc 13.5 Positioning 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 Table 11. When using command SetPositionShort or GotoSecurePosition, data is automatically aligned. Table 11: Position Word Alignment Stepping mode 1/16th 1/8th 1/4th Half-stepping PositionShort SecurePosition S S S S S S B14 B13 B12 B11 S B9 Position word: Pos[15:0] B13 B12 B11 B10 B9 B8 B7 B6 B5 B12 B11 B10 B9 B8 B7 B6 B5 B4 B11 B10 B9 B8 B7 B6 B5 B4 B3 B10 B9 B8 B7 B6 B5 B4 B3 B2 S B9 B8 B7 B6 B5 B4 B3 B2 B8 B7 B6 B5 B4 B3 B2 B1 LSB Notes (1) LSB: Least Significant Bit (2) S: Sign bit AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 14 B4 B3 B2 B1 LSB B3 B2 B1 LSB 0 0 B2 B1 LSB 0 B1 LSB 0 0 0 0 0 B1 LSB 0 0 0 0 0 0 Shift No shift 1-bit left ⇔ ×2 2-bit left ⇔ ×4 3-bit left ⇔ ×8 No shift No shift AMIS-30623 LIN Microstepping Motordriver Data Sheet 13.5.1. 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 Table 12. Table 12: Position Range Command SetPosition SetPositionShort Stepping mode Half-stepping 1/4th micro-stepping 1/8th micro-stepping 1/16th micro-stepping Half-stepping Position range -4096 to +4095 -8192 to +8191 -16384 to +16383 -32768 to +32767 -1024 to +1023 Full range excursion 8192 half-steps 16384 micro-steps 32768 micro-steps 65536 micro-steps 2048 half-steps Number of bits 13 14 15 16 11 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. 13.5.2. Secure Position A secure position can be programmed. It is coded in 11-bits, thus having a lower resolution than normal positions, as shown in Table 13. See also command GotoSecurePosition and LIN lost behavior. Table 13: Secure Position Stepping mode Half-stepping 1/4th micro-stepping 1/8th micro-stepping 1/16th micro-stepping Secure position resolution 4 half-steps 8 micro-steps (1/4th) 16 micro-steps (1/8th) 32 micro-steps (1/16th) Important Note (1) The secure position is disabled in case the programmed value is the reserved code “10000000000” (0x400 or most negative position). (2) The resolution of the secure position is limited to 9 bit at start-up. The OTP register is copied in RAM as illustrated below. SecPos1 and SecPos0 = 0 SecPos10 SecPos9 SecPos8 SecPos2 SecPos1 SecPos0 RAM SecPos10 SecPos9 SecPos8 SecPos2 FailSafe SleepEn OTP 13.5.3. Shaft A shaft bit which can be programmed in OTP or with command SetMotorParam, defines whether a positive motion is a clockwise or counter-clockwise rotation (an outer or an inner motion for linear actuators): • Shaft = 0 ⇒ MOTXP is used as positive pin of the X coil, while MOTXN is the negative one. • Shaft = 1 ⇒ opposite situation AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 15 AMIS-30623 LIN Microstepping Motordriver Data Sheet 14.0 Structural Description See also the Block Diagram in Figure 1. 14.1 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. • The charge pump to allow driving of the H-bridges’ 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 needed 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. 14.2 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. 14.3 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-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. 14.4 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. 14.5 Miscellaneous The AMIS-30623 also contains the following: • • • • An internal oscillator, needed for the LIN protocol 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 5V regulator (from the battery supply) to supply the internal logic circuitry. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 16 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.0 Functions Description 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. 15.1 Position Controller 15.1.1. Positioning and Motion Control A positioning command will produce a motion as illustrated in Figure 8. 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 configuration phase. The current in the coils is also programmable. Acceleration range Zero speed Hold current Velocity Deceleration range Zero speed Hold current Vmax Vmin Position Pstart Pmin P=0 Pstop Optional zero switch Pmax Figure 8: Positioning and Motion Control Table 14: Position Related Parameters Parameter Pmax – Pmin Zero speed Hold Current Maximum current Acceleration and deceleration Vmin Vmax AMI Semiconductor – June 2006, Rev 3.0 www.amis.com Reference See Positioning See Ihold See Irun See Acceleration and Deceleration See Minimum Velocity See Maximum Velocity 17 AMIS-30623 LIN Microstepping Motordriver Data Sheet Different positioning examples are shown in the table below. Table 15: Positioning Examples Positioning Examples Velocity Short motion time Velocity New positioning command in same direction, shorter or longer, while a motion is running at maximum velocity New positioning command in same direction while in deceleration phase Note: there is no wait time between the deceleration phase and the new acceleration phase. time Velocity time Velocity New positioning command in reverse direction while motion is running at maximum velocity time Velocity New positioning command in reverse direction while in deceleration phase time Velocity New velocity programming while motion is running time AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 18 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.1.2. Dual Positioning 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 position Pos1[15:0] + Pos2[15:0] is done at the specified Vmin velocity in the SetDualPosition command (no acceleration). Once the second motion is achieved, the ActPos register is reset to zero, whereas TagPos register is not changed. Velocity Vm ax 2 st 1 m otion nd m otion Reset ActPos Vm in tim e 26.6 m s 26.6 m s Figure 9: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. Notes (0) The priority encoder is describing the management of states and commands. All notes below are to be considered illustrative. (1) The last SetPosition(Short) command issued during an DualPosition sequence will be kept in memory and executed afterwards. This applies also for the commands Sleep and SetMotorParam and GotoSecurePosition. (2) 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 (3) A DualPosition sequence starts by setting TagPos register to SecPos value, provided secure position is enabled otherwise TagPos is reset to zero. (4) The acceleration/deceleration value applied during a DualPosition sequence is the one stored in RAM before the SetDualPosition command is sent. The same applies for Shaft bit, but not for Irun, Ihold and StepMode, which can be changed during the Dual Positioning sequence. (5) The Pos1, Pos2, Vmax and Vmin values programmed in a SetDualPosition command apply only for this sequence. All further positioning will use the parameters stored in RAM (programmed for instance by a former SetMotorParam command). (6) Commands ResetPosition, SetDualPosition, and SoftStop will be ignored while a DualPosition sequence is ongoing, and will not be executed afterwards. (7) A SetMotorParam command should not be sent during a SetDualPosition sequence. (8) If for some reason ActPos equals Pos1[15:0] at the moment the SetDualPosition command is issued, the circuit will enter in deadlock state. Therefore, the application should check the actual position by a GetPosition or a GetFullStatus command prior to send the SetDualPosition command. 15.1.3. Position Periodicity th Depending on the stepping mode the position can range from –4096 to +4095 in half-step to –32768 to +32767 in 1/16 microstepping 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 minimum. 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>. +10000 +20000 ActPos = +30000 0 Motion direction TagPos = -30000 -10000 -20000 Figure 10: Motion Direction is Function of Difference between ActPos and TagPos AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 19 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.1.4. Hardwired Address HW2 In Figure 11 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 I R convertor 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 R converter output is low and via SPASS_B fed to the comparator. The output HW2_Cmp will be high. SPASS_T I R State HW2 DriveHS STOP High Low LOGIC SBOT 1 2 Debouncer DriveLS Float 64 ms "R"-Comp 3 I R SPASS_B 1 = R2GND Rth 2 = R2VBAT COMP Debouncer 32 µs HW2_Cmp 3 = OPEN Figure 11: Simplified Schematic Diagram of the HW2 Comparator 3 cases can be distinguished (see also Figure 11): 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 Table 16: State Diagram of the HW2 Comparator Previous State Float Float Float Float Low Low Low Low High High High High DriveLS 1 1 0 0 1 1 0 0 1 1 0 0 DriveHS 0 0 1 1 0 0 1 1 0 0 1 1 HW2_Cmp 0 1 0 1 0 1 0 1 0 1 0 1 New State Float High Float Low Low High Float Low Float High High Low Condition R2GND or OPEN R2VBAT R2VBAT or OPEN R2GND R2GND or OPEN R2VBAT R2VBAT or OPEN R2GND R2GND or OPEN R2VBAT R2VBAT or OPEN R2GND Drawing 1 or 3 2 2 or 3 1 1 or 3 2 2 or 3 1 1 or 3 2 2 or 3 1 The logic is controlling the correct sequence in closing the switches and in interpreting the 32 µs debounced HW2_Cmp output accordingly. The output of this small state-machine is corresponding to: High or address = 1 Low or address = 0 Floating AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 20 AMIS-30623 LIN Microstepping Motordriver Data Sheet As illustrated in Table 16 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 12 is showing an example of a practical case where a connection to VBAT is interrupted. Condition OPEN R2VBAT R2VBAT R2GND t Tsw = 1024 µs DriveHS t DriveLS Tsw_on = 128 µs t "R"-Comp Rth t HW2_Cmp t Low Low Low High High Float Float Float High High High High High High Float State t Figure 12: Timing Diagram Showing the Change in States for HW2 Comparator R2VBAT A resistor is connected between VBAT and HW2. Every 1024 µs SBOT is closed 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 16). The next time SBOT is closed the same conditions are observed. The previous state was High, so based on Table 16 the new state remains unchanged. This high state will be interpreted as HW2 address = 1 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 16 one can see that the state changes to float. This will trigger a motion to secure position after a debounce time of 64 ms. This prevents false triggering in case of false micro interruptions of the power supply. See also Electrical transient conduction along supply lines R2GND If a resistor is connected between HW2 and the GND, a current is sensed every 1024 µs whet 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 1 one can see that the state will change to Low. This low state will be interpreted as HW2 address = 0. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 21 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.1.5. External Switch SWI As illustrated in Figure 13 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. SPASS_T I R State SWI DriveHS STOP Closed LOGIC SBOT Open DriveLS "R"-Comp 1 2 3 I R 1 = R2GND SPASS_B COMP Rth 2 = R2VBAT 32 µs Debouncer SWI_Cmp 3 = OPEN Figure 13: Simplified Schematic Diagram of the SWI Comparator As illustrated in Figure 15 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 position switch together with the corresponding position is memorised. Using the GetActualPos commands 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 Figure 14 below: Byte Content 0 1 2 3 4 Identifier Data 1 Data 2 Data 3 Data 4 Bit 7 * ESW VddReset Reading Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 * 1 0 ID3 AD[6:0] ActPos[15:8] ActPos[7:0] StepLoss ElDef UV2 TSD Figure 14: GetActualPos LIN commando Important remark. Every 512µs this information is refreshed. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 22 Bit 2 ID2 TW Bit 1 ID1 Bit 0 ID0 Tinfo[1:0] AMIS-30623 LIN Microstepping Motordriver DriveHS Tsw =1024 µs Data Sheet 512 µs t Tsw_on = 128 µs DriveLS t "R"-Comp Rth t 120 µs SWI_Cmp t ESW 0 1 1 1 ActPos + 3 ActPos + 2 ActPos ActPos ActPos + 1 t t Figure 15: Timing diagram showing the change in states for SWI comparator 15.2 Main Control and Register, OTP memory + ROM 15.2.1. Power-up Phase Power up phase of the AMIS-30623 will not exceed 10ms. After this phase, the AMIS-30623 is in shutdown mode, ready to receive LIN messages and execute the associated commands. After power-up, the registers and flags are in the reset state, some of them being loaded with the OTP memory content (see Table 22: RAM registers). 15.2.2. Reset State 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 22: RAM registers and Table 23: Flags Table. 15.2.3. 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 register ActPos to avoid an attempt of the circuit to achieve the motion (see Table 22: RAM registers). The circuit is then ready to execute a new positioning command, provided thermal and electrical conditions allow for it. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 23 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.2.4. 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 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. See Sleep • In case the SleepEn bit =1 and the LIN bus remains inactive (or is lost) during more than 25000 time slots (1.30s at 19.2kbit/s), a time-out signal switches the circuit to sleep mode. See also The circuit will return to normal mode if a valid LIN frame is received while entering the sleep mode (this valid frame can be addressed to another slave). 15.2.5. Thermal Shutdown Mode When thermal shutdown occurs, the circuit performs a SoftStop command and goes to Motor shutdown mode (see below). 15.2.6. Temperature Management The AMIS-30623 monitors temperature by means of two thresholds and one shutdown level, as illustrated in the state diagram 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 warning Normal Temp. - <Tinfo> = “00” - <TW> = ‘0’ - <TSD> = ‘0’ T° > Ttw - <Tinfo> = “10” - <TW> = ‘1’ - <TSD> = ‘0’ T° < Ttw & T° > Ttw LIN frame: GetStatus or GetFullStatus T° > Ttsd T° < Ttw Post thermal warning T° < Tlow <Tinfo> = “11” <TW> = ‘1’ <TSD> = ‘1’ SoftStop if motion ongoing - Motor shutdown (motion disabled) - <Tinfo> = “00” - <TW> = ‘1’ - <TSD> = ‘0’ T° > Tlow - <Tinfo> = “01” - <TW> = ‘0’ - <TSD> = ‘0’ - T° > Ttsd Post thermal shutdown 2 - <Tinfo> = “00” <TW> = ‘1’ <TSD> = ‘1’ Motor shutdown (motion disabled) - www.amis.com 24 <Tinfo> = “10” <TW> = ‘1’ <TSD> = ‘1’ Motor shutdown (motion disabled) T° > Ttw Figure 16: State Diagram Temperature Management AMI Semiconductor – June 2006, Rev 3.0 T° < Ttsd Post thermal shutdown 1 T° < Ttw Low Temp. Thermal shutdown AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.2.7. 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, as illustrated in the state diagram below. The only condition to reset flags <UV2> and <StepLoss> is to recover a battery voltage higher than UV1 and to receive a GetStatus or a GetFullStatus command. Normal voltage - < UV2 > = ‘0’ - < StepLoss > = ‘0’ Vbb < UV2 & motion ongoin g Vbb < UV2 (no motion) Vbb > UV1 & LIN frame: GetStatus or GetFullStatus Stop mode 1 - < UV2 > = ‘ 1 ’ - < StepLoss > = ‘0’ - Motor shutdown (motion disabled) Stop mode 2 - < UV2 > = ‘ 1 ’ < StepLoss > = ‘ 1 ’ HardStop Motor shutdown (motion disabled) Figure 17: State Diagram Battery Voltage Management Autarkic function In Stop mode 1 the motor is put in shutdown state. The <UV2> flag is set. In case Vbb > UV1 AMIS-30623 accepts updates of the target position by means of the reception of SetPosition, SetPositionShort, SetPosParam and GotoSecurePosition commands, even if the <UV2> flag is NOT prior cleared. In Stop mode 2 the motor is stopped immediately and put in shutdown state. The <UV2> and <Steploss> flags are set. In case Vbb > UV1 AMIS-30623 autonomously resumes the motion to the original target position using the stored motor parameters (minimum and maximum velocity, acceleration, step-mode, run- and hold current) in case no RAM reset occurred. The flags are only cleared after receiving a GetStatus or GetFullStatus command. Updates of the target position by means of the reception of SetPosition, SetPositionShort, SetPosParam and GotoSecurePosition commands is accepted, even if the <UV2> and <Steploss> flags are NOT prior cleared. Important notes: 1. In the case of Stop mode 2 care needs to be taken because the 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> 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 Logical implementation Autarkic function The logic uses the <UV2>, <CPFail> and <Steploss> signal NOT the state. The state is set one clock after the signal and would therefore slow down the reaction time. Also the state can only be cleared after a GetStatus or GetFullStatus command which prevents the autonomous function. Only <UV2> and <CPFail> are applicable for finishing the motion to the original target position: <UV2> needs to be cleared to leave the Shutdown State <CPFail> needs to be cleared to avoid a new HardStop after entering the GotoPos state AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 25 AMIS-30623 LIN Microstepping Motordriver Data Sheet The <StepLoss> signal is used to block successive motions. Also this signal will be cleared after Vbb > UV1, making updates of TagPos possible. The implementation is illustrated in the state diagram below. HS = f (UV2SIG, OVC1, OVC2, CPFail, …) If UV2SIG = 1 THEN TagPos ≠ ActPos ELSE copy TagPos = ActPos GotoPos HardStop ShutDown Stopped GetStatus GetFullStatus HS to Positioner PWM disabled Motor in HiZ Vbb > UV1 TagPos ≠ ActPos Figure 18: State Diagram Autarkic Under-voltage Handling In Stop mode 1 AMIS-30623 is in the Stopped state. Because Vbb < UV2 it enters the ShutDown state. Once Vbb > UV1 the Stopped state will be entered again. In Stop mode 2 AMIS-30623 is in the GotoPos state. Because Vbb < UV2 the UV2SIG is set and the HardStop state is entered. After the hardstop motion is finished (HS to Positioner) it enters the Stopped state. UV2SIG = 1 so the TagPos is not copied in Actpos, and the shutdown stated is entered. Once Vbb > UV1 the Stopped state will be entered again and because TagPos = Actpos C623 moves to GotoPos again. <UV2SIG>, <CPFail> and <Steploss> are cleared when Vbb > UV1 so HardStop is not entered again. 15.2.8. 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 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 Bit 7 OSC3 EnableLIN AbsThr3 Irun3 Vmax3 SecPos10 SecPos7 DelThr3 Bit 6 OSC2 TSD2 AbsThr2 Irun2 Vmax2 SecPos9 SecPos6 DelThr2 Bit 5 OSC1 TSD1 AbsThr1 Irun1 Vmax1 SecPos8 SecPos5 DelThr1 Bit 4 OSC0 TSD0 AbsThr0 Irun0 Vmax0 Shaft SecPos4 DelThr0 Bit 3 IREF3 BG3 PA3 Ihold3 Vmin3 Acc3 SecPos3 Bit 2 IREF2 BG2 PA2 Ihold2 Vmin2 Acc2 SecPos2 StepMode1 StepMode0 Bit 1 IREF1 BG1 PA1 Ihold1 Vmin1 Acc1 Failsafe LOCKBT Bit 0 IREF0 BG0 PA0 Ihold0 Vmin0 Acc0 SleepEn LOCKBG 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 OPT 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. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 26 AMIS-30623 LIN Microstepping Motordriver Data Sheet Table 18: OTP Overwrite Protection LOCKBT LOCKBG Lock bit (factory zapped before delivery) Protected bytes 0x00 to 0x01 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 to verify the correct byte zapping. Note: zapped bits will really be “active” after a GetOTPparam or a ResetToDefault command or after a power-up. 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. 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 and Relative threshold used for the motion detection Index AbsThr AbsThr level (V) 0 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 DelThr[3:0] Absolute and Relative threshold used for the motion detection Index DelThr DelThr level (V) 0 0 0 0 0 Disable 1 0 0 0 1 0.25 2 0 0 1 0 0.50 3 0 0 1 1 0.75 4 0 1 0 0 1.00 5 0 1 0 1 1.25 6 0 1 1 0 1.50 7 0 1 1 1 1.75 8 1 0 0 0 2.00 9 1 0 0 1 2.25 A 1 0 1 0 2.50 B 1 0 1 1 2.75 C 1 1 0 0 3.00 D 1 1 0 1 3.25 E 1 1 1 0 3.50 F 1 1 1 1 3.75 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 27 AMIS-30623 LIN Microstepping Motordriver Irun[3:0] Current amplitude value to for IRUN. Index Irun 0 0 0 0 1 0 0 0 2 0 0 1 3 0 0 1 4 0 1 0 5 0 1 0 6 0 1 1 7 0 1 1 8 1 0 0 9 1 0 0 A 1 0 1 B 1 0 1 C 1 1 0 D 1 1 0 E 1 1 1 F 1 1 1 Data Sheet be fed to each coil of the stepper-motor. The table below provides the 16 possible values 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Run current (mA) 59 71 84 100 119 141 168 200 238 283 336 400 476 566 673 800 Ihold[3:0] Hold current for each coil of the stepper-motor. The table below provides the 16 possible values for IHOLD. Index Ihold Hold 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 5 0 1 0 1 141 6 0 1 1 0 168 7 0 1 1 1 200 8 1 0 0 0 238 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 0 StepMode Indicator of stepping mode to be used. StepMode Step mode 0 0 1/2 stepping 0 1 1/4 stepping 1 0 1/8 stepping 1 1 1/16 stepping Shaft Indicator of Reference Position. If Shaft = ‘0’, the reference position is the maximum inner position, whereas if Shaft = ‘1’, the reference position is the maximum outer position SecPos[10:0]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[10:0] = “100 0000 0000”, this means that Secure Position is disabled, e.g. the stepper-motor will be kept in the position occupied at the moment these events occur. 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’. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 28 AMIS-30623 LIN Microstepping Motordriver Vmax[3:0] Vmin[3:0] Acc[3:0] Maximum velocity Index Vmax 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 5 0 1 0 1 6 0 1 1 0 7 0 1 1 1 8 1 0 0 0 9 1 0 0 1 A 1 0 1 0 B 1 0 1 1 C 1 1 0 0 D 1 1 0 1 E 1 1 1 0 F 1 1 1 1 Vmax(full step/s) 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 Minimum velocity. Index Vmin 0 0 0 0 0 1 0 0 0 1 2 0 0 1 0 3 0 0 1 1 4 0 1 0 0 5 0 1 0 1 6 0 1 1 0 7 0 1 1 1 8 1 0 0 0 9 1 0 0 1 A 1 0 1 0 B 1 0 1 1 C 1 1 0 0 D 1 1 0 1 E 1 1 1 0 F 1 1 1 1 Vmax factor 1 1/32 2/32 3/32 4/32 5/32 6/32 7/32 8/32 9/32 10/32 11/32 12/32 13/32 14/32 15/32 B C D Acceleration and deceleration between Vmax and Vmin. Index Acc Acceleration (Full-step/s²) 0 0 0 0 0 49 (*) 1 0 0 0 1 218 (*) 2 0 0 1 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 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com Group A 29 Data Sheet AMIS-30623 LIN Microstepping Motordriver SleepEn Data Sheet IF SleepEn=1 -> AMIS-30623 always go to low-power sleep mode incase 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). FailSafe IF FailSafe=1 -> in case of LIN lost at POR start a motion to a safe position IF FailSafe =0 -> no motion in case of LIN lost AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 30 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.2.9. RAM Registers Table 19: RAM Registers Register Mnemonic Length (bit) Actual position ActPos Last programmed position Pos/ TagPos 16/11 AccShape 1 Coil peak current Irun 4 Coil hold current Ihold 4 Minimum Velocity Vmin 4 Maximum Velocity Vmax 4 Shaft 1 Acc 4 Secure Position SecPos 11 Stepping mode StepMode 2 AbsThr 4 DelThr 4 Acceleration shape Shaft Acceleration/ deceleration Stall detection absolute threshold Stall detection delta threshold Sleep Enable Fail Safe 16 SetOTPParam Stall detection sampling MinSamples 3 PWMJEn 1 DC100SDis 1 PWMFreq 1 Comment 16-bit signed 16-bit signed or 11-bit signed for half stepping (see Positioning) ‘0’ ⇒ normal acceleration from Vmin to Vmax ‘1’ ⇒ motion at Vmin without acceleration www.amis.com Note 1 ‘0’ Operating current See look-up table Irun Standstill current See look-up table Ihold See Section 13.3 Minimum Velocity See look-up table Vmin See Section 13.2 Maximum Velocity See look-up table Vmax Direction of movement for positive velocity See Section 13.4 Acceleration See look-up table Acc From OTP memory Target position when LIN connection fails; 11 MSBs of 16-bit position (LSBs fixed to ‘0’) See Section 13.1 Stepping Modes See look-up table StepMode GetFullStatus SetStallParam GetFullStatus SetStallParam GetFullStatus SetStallParam GetFullStatus SetStallParam GetFullStatus SetMotorParam Enables entering sleep mode after LIN lost See also 16.8 LIN lost behavior Triggers autonomous motion after LIN lost at POR See also 16.8 LIN lost behavior Delays the stall detection after acceleration 31 ‘000’ ‘000’ ‘1’ means jitter is added ‘0’ ‘1’ means stall detection is disabled in case PWM regulator runs at δ = 100% ‘0’ Note 1: A ResetToDefault command will act as a reset of the RAM content, except for ActPos and TagPos registers that are not modified. Therefore, the application should not send a ResetToDefault during a motion, to avoid any unwanted change of parameter. AMI Semiconductor – June 2006, Rev 3.0 Reset state GetFullStatus SetStallParam GetFullStatus SetStallParam FailSafe 3 PWM frequency SetStallParam SetOTPParam FS2StallEn 100% duty cycle Stall Disable GetActualPos GetFullStatus GotoSecurePos ResetPosition GetFullStatus GotoSecurePos ResetPosition SetPosition SetPositionShort GetFullStatus ResetToDefault² SetMotorParam GetFullStatus ResetToDefault² SetMotorParam GetFullStatus ResetToDefault² SetMotorParam GetFullStatus ResetToDefault² SetMotorParam GetFullStatus ResetToDefault² SetMotorParam GetFullStatus ResetToDefault² SetMotorParam GetFullStatus ResetToDefault² SetMotorParam GetFullStatus ResetToDefault² SetMotorParam GetFullStatus SleepEn Stall detection delay PWM Jitter Related commands ‘0’ AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.2.10. Flags Table Table 20: Flags Table Length (bit) Flag Mnemonic Charge pump failure CPFail 1 Electrical defect ElDef 1 Related Commands GetFullStatus GetActualPos GetStatus GetFullStatus GetActualPos GetStatus GetFullStatus External switch status ESW 1 Electrical flag HS 1 Internal use Motion status Motion 3 GetFullStatus Over current in coil X OVC1 1 GetFullStatus Over current in coil Y OVC2 1 GetFullStatus 1 Internal use Secure position SecEn enabled Circuit going to Sleep Sleep mode 1 Step loss StepLoss 1 Delta High Stall Delta Low Stall Absolute Stall DelStallHi DelStallLo AbsStall 1 1 1 Stall Stall 1 Motor stop Stop 1 Internal use GetActualPos GetStatus GetFullStatus GetFullStatus GetFullStatus GetFullStatus GetFullStatus GetStatus Internal use Temperature info Tinfo 2 GetActualPos GetStatus GetFullStatus Thermal shutdown TSD 1 GetActualPos GetStatus GetFullStatus Thermal warning TW 1 GetActualPos GetStatus GetFullStatus Battery stop voltage UV2 1 GetActualPos GetStatus GetFullStatus Digital supply reset VddReset 1 GetActualPos GetStatus GetFullStatus AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 32 Comment ‘0’ = charge pump OK ‘1’ = charge pump failure reset only after GetFullStatus <OVC1> or <OVC2> or <open circuit 1> or <open circuit 2> or <CPFail> resets only after Get(Full)Status ‘0’ = open ‘1’ = close <CPFail> or <UV2> or <ElDef> or <VDDreset> “x00” = Stop “001” = inner motion acceleration “010” = inner motion deceleration “011” = inner motion max. speed “101” = outer motion acceleration “110” = outer motion deceleration “111” = outer motion max. speed ‘1’ = over current reset only after GetFullStatus ‘1’ = over current reset only after GetFullStatus ‘0’ if SecPos = “100 0000 0000” ‘1’ otherwise ‘1’ = Sleep mode reset by LIN command Reset State ‘0’ ‘0’ ‘0’ ‘0’ “000” ‘0’ ‘0’ n.a. ‘0’ ‘1’ = step loss due to under voltage, over current or open circuit ‘1’ ‘1’ = Vbemf > Ūbemf + DeltaThr ‘1’ = Vbemf > Ūbemf – DeltaThr ‘1’ = Vbemf > AbsThr ‘0’ ‘0’ ‘0’ ‘0’ ‘0’ “00” = normal temperature range “01” = low temperature warning “10” = high temperature warning “11” = motor shutdown ‘1’ = shutdown. (> 155°C typ.) reset only after Get(Full)Status and if <Tinfo> = “00” ‘1’ = over temp. (> 145°C) reset only after Get(Full)Status and if <Tinfo> = “00” ‘0’ = Vbb > UV2 ‘1’ = Vbb ≤ UV2 reset only after Get(Full)Status 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 GetFullStatus command. “00” ‘0’ ‘0’ ‘0’ ‘1’ AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.2.10.1. Priority Encoder The table below describes the state management performed by the main control block. Table 21: Priority Encoder State → Stopped GotoPos DualPosition SoftStop motor stopped, Ihold in coils motor motion ongoing no influence on RAM and TagPos motor decelerating 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 GetOTPparam OTP refresh; LIN in-frame response OTP refresh; LIN in-frame response OTP refresh; LIN in-frame response OTP refresh; LIN in-frame response OTP refresh; LIN in-frame response OTP refresh; LIN in-frame response GetFullStatus or GetStatus [ attempt to clear <TSD> and <HS> flags ] 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 ResetToDefault [ ActPos and TagPos are not altered ] OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset (note 3) OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset SetMotorParam [ Master takes care about proper update ] RAM update RAM update RAM update RAM update RAM update RAM update ResetPosition TagPos and ActPos reset Command ↓ TagPos updated SetPositionShort TagPos updated; TagPos updated [ half-step mode only) ] → GotoPos TagPos updated GotoSecPosition If <SecEn> = ‘1’ then TagPos = SecPos; → GotoPos DualPosition → DualPosition Sleep If <SecEn> = ‘1’ then TagPos = SecPos If <SecEn> = ‘1’ then TagPos = SecPos → HardStop; → HardStop; → HardStop; <StepLoss> = ‘1’ <StepLoss> = ‘1’ <StepLoss> = ‘1’ HardStop SoftStop → SoftStop Sleep or LIN timeout [ ⇒ <Sleep> = ‘1’, reset by any LIN command received later ] See note 9 If <SecEn> = ‘1’ then TagPos = SecPos else → SoftStop HardStop [ ⇔ (<CPFail> or <UV2> or <ElDef>) = ‘1’ ⇒ <HS> = ‘1’ ] → Shutdown → HardStop → HardStop Thermal shutdown [ <TSD> = ‘1’ ] → Shutdown → SoftStop → SoftStop Motion finished n.a. → Stopped → Stopped If <SecEn> = ‘1’ No action; No action; then TagPos = <Sleep> flag will <Sleep> flag will SecPos; be evaluated be evaluated will be evaluated when motor stops when motor stops after DualPosition With the following color code: Command ignored Transition to another state Master is responsible for proper update (see note 7) AMI Semiconductor – June 2006, Rev 3.0 www.amis.com ShutDown TagPos and ActPos reset TagPos updated; TagPos updated → GotoPos SetPosition HardStop motor forced to motor stopped, no power stop H-bridges in (note 1) Hi-Z 33 → Sleep → HardStop → Stopped; → Stopped; TagPos =ActPos TagPos =ActPos n.a. n.a. AMIS-30623 LIN Microstepping Motordriver Notes: 1) 2) 3) 4) 5) 6) 7) 8) 9) 10) 11) 12) 13) 14) Data Sheet Leaving sleep state is equivalent to power-on-reset. After power-on-reset, the shutdown state is entered. The shutdown state can only be left after GetFullStatus command (so that the master could read the <VddReset> flag). 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 even if a ResetToDefault command is issued during a DualPosition sequence, in which case 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. 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). Shutdown state can be left only when <TSD> and <HS> flags are reset. 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). 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. Some transitions like GotoPos → Sleep are actually done via several states: GotoPos → SoftStop → Stopped → Sleep (see diagram below). 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 <SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000 0000”) <Stop> flag allows to distinguish 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. Command for dynamic assignment of Ids is decoded in all states except sleep and has not effect on the current state 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>, etc. are first evaluated for possible transitions. If <StepLoss> is active, then SetPosition, SetPositionShort and GotoSecurePosition commands are ignored (they will not modify TagPos register whatever the state), and motion to secure position is forbidden after a Sleep command or a LIN timeout (the circuit will go into Sleep state immediately, without positioning to secure position). Other command like DualPosition or ResetPosition will be executed if allowed by current state. <StepLoss> can only be cleared by a GetStatus or GetFullStatus command. POR RunInit Thermal Shutdown HardStop HardStop RunInit ShutDown Thermal ShutDown HardStop Motion finished Motion Finished GotoSecPos HardStop Thermal Shutdown SoftStop SoftStop HardStop SetPosition Stopped GotoPos Motion Finished <Sleep> OR LIN timeout Motion Finished Any LIN command Priorities Sleep 1 2 <Sleep> AND (not<SecEn> OR <SecEn> AND ActPos = SecPos OR <Stop>) 3 4 Figure 19: State Diagram Remark: IF “SleepEn”=0, then the red arrow from stopped state to sleep state does not exist. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 34 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.3 Motordriver 15.3.1. Current Waveforms in the Coils The figure below illustrates the current fed to the motor coils by the motordriver in half-step mode. Ix Iy Coil X t Coil Y PC20051205.1 Figure 20: Current Waveforms in Motorcoils X and Y in Halfstep Mode th Whereas the figure below shows the current fed to one coil in 1/16 micro stepping (1 electrical period). Ix Iy Coil X t Coil Y PC20051123.4 th Figure 21: Current Waveforms in Motorcoils X and Y in 1/16 Microstep Mode AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 35 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.3.2. PWM Regulation 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 above shows how the PWM circuit performs this regulation. To reduce the current ripple, a higher PWM frequency should be selectable. The RAM register PWMfreq is used for this (Bit 0 in Data 8 of SetMotorParam). Table 22: PWM Frequency Selection PWMfreq 0 1 Applied PWM Frequency 22,8 kHz 45,6 kHz 15.3.3. 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. (Bit 0 in Data 8 of SetStallParam). Readout with GetFullStatus (Bit 0 Data 8 IFR 2). Table 23: PWM Jitter Selection PWMJEn 0 1 Status Single PWM frequency Added jitter to PWM frequency 15.3.4. Motor Starting 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. 15.3.5. Motor Stopping Phase 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. Ix Iy t tstab Figure 22: Motor Stopping Phase AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 36 PC20051123.5 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.3.6. Charge Pump Monitoring If the charge pump voltage is not sufficient for driving the high side transistors (due to a 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. 15.3.7. 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 allow to detect the following short circuits: • External coil short circuit • Short between one terminal of the coil and Vbat or Gnd • One cannot detect internal short in the motor Open circuits are detected by 100% PWM duty cycle value during a long time 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 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 37 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.3.8. Motor Shutdown Mode 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 (see Battery voltage management) • Flag <ElDef> = ‘1’, meaning an electrical problem is detected on one or both coils, e.g. a short circuit. • Flag <CPFail> = ‘1’, meaning there is a charge pump failure A motor shutdown leads to the following: • H-bridges in high impedance mode • The TagPos register is loaded with the ActPos (to avoid any motion after leaving the motor shutdown mode) The LIN interface remains active, being able to receive orders or send status. The conditions to get out of a motor shutdown mode are: • Reception of a GetStatus or GetFullStatus command AND • The four above causes are no more detected Which leads to H-bridges in Ihold mode. Hence, the circuit is ready to execute any positioning command. This can be illustrated in the following sequence given as an application tip. The master can check whether there is a problem or not and decide which application strategy to adopt. Tj ≥ Tsd or Vbb ≤ UV2 or <ElDef> = ‘1’ or <CpFail> = ‘1’ SetPosition frame GetFullStatus or GetStatus frame GetFullStatus or GetStatus frame ↓ ↑ ↑ ↑… - The circuit is driven in motor shutdown mode - The application is not aware of this - The position set-point is updated by the LIN Master - Motor shutdown mode ⇒ no motion - The application is still unaware - The application is - Possible confirmation aware of a problem of the problem - 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’ Figure 23:Example of Possible Sequence used to Detect and Determine Cause of Motor Shutdown 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. Warning: The application should limit the number of consecutive GetStatus or GetFullStatus commands to try to get the AMIS30623 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. Notes (0) The Priority Encoder is describing the management of states and commands. The note below is to be considered illustrative. (1) If the LIN communication is lost while in shutdown mode, the circuit enters the sleep mode immediately AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 38 AMIS-30623 LIN Microstepping Motordriver Data Sheet 15.4 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-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: 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 DC100SDis) are outside the scope of this datasheet. Detailed information is available in a dedicated white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”, available on http://www.amis.com/. If the motor is accelerated by a pulling or propelling force and the resulting back emf increases above the Delta threshold (+ ∆THR), then <DelStallHi> is set. When the motor is slowing down and the resulting back emf decreases below the Delta threshold (- ∆THR), 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>. Velocity Vbemf + ∆THR Vmax Motor speed Vmin Vbemf t Vbemf - ∆THR t Vbemf DeltaStallHi VABSTH Back emf t t DeltaStallLo AbsStall t t Figure 24:Triggering of the Stall Flags in Function of Measured Back emf and the set Threshold Levels Table 25: Truth Table Condition Vbemf < Average - DelThr Vbemf > Average + DelThr Vbemf < AbsThr <DelStallLo> 1 0 0 <DelStallHi> 0 1 0 <AbsStall> 0 0 1 <Stall> 1 1 1 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 (26.6 ms) 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. Important remark: 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. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 39 AMIS-30623 LIN Microstepping Motordriver Data Sheet Motion detection is disabled when the RAM registers AbsThr[3:0] and DelThr[3:0] are empty or zero. Both levels can be programmed using the LIN command SetStallParam in the registers AbsThr[3:0] and DelThr[3:0]. Also in 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. Value Table: Table 26: Absolute Threshold Settings AbsThr index AbsThr level (V) 0 Disable 1 0.5 2 1.0 3 1.5 4 2.0 5 2.5 6 3.0 7 3.5 8 4.0 9 4.5 A 5.0 B 5.5 C 6.0 D 6.5 E 7.0 F 7.5 Table 27: Delta Threshold Settings DelThr index DelThr level (V) 0 Disable 1 0.25 2 0.50 3 0.75 4 1.00 5 1.25 6 1.50 7 1.75 8 2.00 9 2.25 A 2.50 B 2.75 C 3.00 D 3.25 E 3.50 F 3.75 MinSamples MinSamples[2:0] is a Bemf sampling delay time expressed in number of PWM cycles, for more information please refer to the white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”, Table 28: Back EMF Sample Delay Time Index MinSamples[2:0] 0 1 2 3 4 5 6 7 000 001 010 011 100 101 110 111 tDELAY (µs) PWMfreq = 0 PWMfreq = 1 87 43 130 65 174 87 217 109 261 130 304 152 348 174 391 196 FS2StallEn 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 For more information please refer to the white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”, DC100SDis When a motor with large bemf is operated at high speed and low supply voltage, then the PWM duty cycle can be as 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 “DC100SDis” disables stall detection when duty cycle is 100%. For more information please refer to the white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”, AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 40 AMIS-30623 LIN Microstepping Motordriver Data Sheet 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 Bemf 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. More information is available in the white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 41 AMIS-30623 LIN Microstepping Motordriver Data Sheet 16.0 Lin Controller 16.1 General Description The LIN (local interconnect network) is a serial communications protocol that efficiently supports the control of mechatronic nodes in distributed automotive applications. The interface implemented in the AMIS-30623 is compliant with the LIN rev. 1.3 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-wire communication • transmission speed of 19.2 kbit/s • selectable length of Message Frame: 2, 4, and 8 bytes • configuration flexibility • data checksum security 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 kΩ RxD to control block LIN protocol handler Filter TxD LIN Slope Control LIN address HW0 HW1 from OTP HW2 PC20051124.1 Figure 25:LIN Interface 16.2 Slave Operational Range for Proper Self Synchronization The LIN interface will synchronize properly in the following conditions: • Vbb ≥ 8 V • Ground shift between master node and slave node < ±1V It is highly recommended to use the same type of reverse battery voltage protection diode for the Master and the Slave nodes. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 42 AMIS-30623 LIN Microstepping Motordriver Data Sheet 16.3 Functional Description 16.3.1. Analog Part The transmitter is a low-side driver with a pull-up resistor and slope control. Figure 5 shows the characteristics of the transmitted signal, including the delay between internal TxD – and LIN signal. See AC Parameters for timing values. The receiver mainly consists of a comparator with a threshold equal to Vbb/2. Figure 5 also shows the delay between the received signal and the internal RXD signal. See also AC Parameters for timing values. 16.3.2. Protocol Handler This block implements: • bit synchronization • bit timing • the MAC layer • the LLC layer • the supervisor 16.3.3. Electro Magnetic Compatibility EMC behavior fulfills requirements defined by LIN specification, rev. 1.3. 16.4 Error Status Register The LIN interface implements a register containing an error status of the LIN communication. This register is as follows: Table 30: LIN Error Register Bit 7 Bit 6 Bit 5 Not used Not used Not used Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Not used Time out error Data error Flag Header error Flag Bit error Flag With: Time out error: Data error flag = Checksum error + StopBit error + Length error Header error flag = Parity + SynchField error Bit error flag : A GetFullStatus frame will reset the error status register. 16.5 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%. AD6 AD5 AD4 AD3 AD2 AD1 AD0 Physical address ↑ ↑ ↑ PA3 PA2 PA1 PA0 OTP memory HW0 HW1 HW2 Hardwired bits Note: Pins HW0 and HW1 are 5V digital inputs, whereas pin HW2 is compliant with a 12V level, e.g. it can be connected to Vbat or Gnd via a terminal of the PCB. To provide cleaning current for this terminal, the system used for pin SWI is also implemented for pin HW2 (see Hardwired Address HW2). AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 43 AMIS-30623 LIN Microstepping Motordriver Data Sheet 16.6 LIN Frames 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. 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. 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. 16.6.1. Writing Frames A writing frame is sent by the LIN master to send commands and/or information to the slave nodes. 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. Identifier byte Data byte 1 Data byte 2 ID0 ID1 ID2 ID3 ID4 ID5 ID6 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. ID 0x3C Data1 00 Data2 Data3 command physical address Data4 Data5 Data6 Data7 Data8 1 AppCmd parameters Note: Bit 7 of byte Data1 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 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 (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. ID Data1 ID0 ID1 ID2 ID3 ID4 ID5 ID6 ID7 command Data2 Physical address Data3… Broad parameters… • Type #2: 2, 4 or 8 data bytes writing frame with an identifier dynamically assigned to an application command, regardless of the physical address of the circuit. • Type #3: 2 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: 8 data bytes writing frame with 0x3C identifier. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 44 AMIS-30623 LIN Microstepping Motordriver Data Sheet 16.6.2. 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. Notes (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: 2, 4 or 8 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: 8 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. 16.6.3. Preparing Frames A preparing frame is a writing frame that warns a particular slave node that it will have to answer in the next frame (hence 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. Byte Content 0 1 2 Identifier Data 1 Data 2 Bit 7 * 1 1 Preparing Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * 0 ID4 ID3 ID2 CMD[6:0] AD[6:0] Bit 1 ID1 Bit 0 ID0 Bit 1 0 Bit 0 0 Where: (*) According to parity computation • Type #8: eight data bytes writing frame with 0x3C identifier. Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 SetDualPositioning Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 0 1 1 1 1 AppCMD = 0x80 1 CMD[6:0] 1 AD[6:0] Data4[7:0] Data5[7:0] Data6[7:0] Data7[7:0] Data8[7:0] Where: AppCMD: CMD[6:0]: AD[6:0]: Datan[7:0]: If = ‘0x80’ this indicates that Data 2 contains an application command Application Command “byte” Slave node physical address Data transmitted AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 45 AMIS-30623 LIN Microstepping Motordriver Data Sheet 16.6.4. Dynamic Assignment of Identifiers 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 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 1: 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. Byte Content 0 1 2 3 4 5 6 7 8 Identifier AppCmnd CMD Address Data Data Data Data Data Dynamic Identifiers Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x3C 0x80 1 0x11 Broad AD6 AD5 AD4 AD3 AD2 AD1 AD0 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[2:0] DynID_3[5:0] DynID_4[5:0] ROMp_4[3:2] Where: CMD[6:0]: Broad: 0x11, corresponding to dynamic assignment of four LIN identifiers If broad = ‘0’ all the circuits connected to the LIN bus will share the same dynamically assigned identifiers. DynID_x[5:0]: Dynamically assigned LIN identifier to the application command which ROM pointer is ROMp_x[3:0] One frame allows only to assign four identifiers. Therefore, additional frames could be needed in order to assign more identifiers (maximum three for the 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 4bytes User Defined 1000 Preparation Frame User Defined 1001 SetPosParam Command assignement done at start-up Command assignement via Dynamic ID during operation Figure 26:Principle of Dynamic Command Assignment AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 46 AMIS-30623 LIN Microstepping Motordriver Data Sheet 16.7 Commands Table Table 31: LIN Commands with Corresponding ROM Pointer Command mnemonic GetActualPos GetFullStatus GetOTPparam GetStatus GotoSecurePosition HardStop ResetPosition ResetToDefault RunVelocity SetDualPosition SetMotorParam SetOTPparam SetStallparam SetPosition (16-bit) SetPositionShort (1 motor) SetPositionShort (2 motors) SetPositionShort (4 motors) SetPosParam Sleep SoftStop TestBemf Dynamic ID assignment General purpose 2 Data bytes General purpose 4 Data bytes Preparation frame Command byte (CMD) 0x00 000000 0x01 000001 0x02 000010 0x03 000011 0x04 000100 0x05 000101 0x06 000110 0x07 000111 010111 0x17 0x08 001000 0x09 001001 0x10 010000 010110 0x16 0x0B 001011 0x0C 001100 0x0D 001101 0x0E 001110 Dynamic ID (example) 100xxx n.a. n.a. 000xxx n.a. n.a. n.a. n.a. n.a. n.a. n.a. n.a. n.a. 010xxx 001001 101001 111001 n.a. n.a. n.a. n.a. n.a. 011000 101000 011010 001111 011111 010001 0x0F 0x1F 0x11 ROM pointer 0010 0011 0100 0101 0110 0111 1001 0000 0001 1000 xxx allows to address physically a slave node. Therefore, these dynamic Ids cannot be used for more than eight stepper motors. Only ten ROM pointers are needed for the AMIS-30623. 16.8 LIN Lost Behavior 16.8.1. Introduction When the LIN communication is broken for a duration of 25000 consecutive frames ( = 1,30 s @ 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 communication occurred at (or before) power on reset or in normal powered operation. 16.8.2. 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 32: Sleep Enable Selection <SleepEn> 0 1 Behavior Entering low-power sleepmode @ LIN – lost DISABLED Entering low-power sleepmode @ LIN – lost ENABLED AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 47 AMIS-30623 LIN Microstepping Motordriver Data Sheet 16.8.3. Fail Safe Motion The OTP bit <FailSafe> enables or disables an automatic motion to a predefined safe position. See also Autonomous Motion. Table 33: Fail Safe Enable Selection <FailSafe> 0 1 Behavior NO motion in case of LIN – lost ENABLES motion to a safe position in case of LIN – lost 16.8.4. Autonomous Motion AMIS-30623 is able to perform an Autonomous Motion to a preferred position. This positioning starts after the detection of lost LIN communication and in case: - 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 27 case A) or at (or before) start-up (See Figure 27 case B): Power Up OTP content is copied in RAM GetFullStatus (LIN communication ON) No LIN bus OK B Yes A Figure 27: Flow chart power-up of AMIS-30623. 2 cases are illustrated; Case A: LIN lost during operation and Case B: LIN lost at start-up LIN Lost During Normal Operation If the LIN communication is lost during normal operation, it is assumed that AMIS-30623 is referenced. 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. Following sequence will be followed. See also Figure 28 1. 2. 3. “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. If the LIN communication is lost AND FailSafe = 0 there will be no secure positioning. Depending on SleepEn AMIS-30623 will enter the STOP state or the SLEEP state. See Table 32. If the LIN communication is lost AND FailSafe = 1 there are 2 possibilities: I. If SecPos[10:0] = 0x400: no Secure Positioning will be performed Depending on SleepEn AMIS-30623 will enter the STOP state or the SLEEP state. See Table 32. 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) Important remarks: (1) The Secure Position has a resolution of 11 bit (2) Same behavior in case of HW2 float (= lost LIN address). See also Hardwired Address HW2 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 48 AMIS-30623 LIN Microstepping Motordriver Data Sheet A SetMotorParam (RAM content is overwritten) LIN bus OK No FailSafe = 1 No Yes Yes SecPos ≠ 0x400 No Yes SleepEn = 1 No Yes Secure Positioning to TagPos Normal Function SLEEP STOP Figure 28: Case A: LIN Lost During Normal Operation LIN Lost Before or at Power-on 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 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. B No FailSafe = 1 Yes First motion of DualPosition Half the position range Negative direction At Stall -> ActPos = '0000' No STOP SecPos ≠ 0x400 SleepEn = 1 Yes Yes Secure Positioning to SecPos stored in OTP SLEEP Figure 29: Case B: LIN Lost at or During Start-up AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 49 No STOP AMIS-30623 LIN Microstepping Motordriver Data Sheet If LIN is lost before or at power on, following sequence will be followed. See also Figure 29 1. 2. If the LIN communication is lost AND FailSafe = 0 there will be no secure positioning. Depending on SleepEn AMIS-30623 will enter the STOP state or the SLEEP state. See Table 32. If the LIN communication is lost AND FailSafe = 1 a referencing is started using DualPositioning. 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. Depending on SleepEn AMIS-30623 will enter the STOP state or the SLEEP state. See Table 32. 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. 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) Same behavior in case of HW2 float (= lost LIN address). See also Hardwired Address HW2 AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 50 AMIS-30623 LIN Microstepping Motordriver Data Sheet 17.0 LIN Application Commands 17.1 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 the table below. Table 34: Commands Summary Command Mnemonic Reading command GetActualPos GetFullStatus GetOTPparam GetStatus Writing commands GotoSecurePosition HardStop ResetPosition ResetToDefault RunVelocity Code 0x00 0x01 0x02 0x03 Prep 7, 8 7, 8 7, 8 Frames Read Write 5, 6 6 6 5 Returns the actual position of the motor Returns a complete status of the circuit Returns the OTP memory content Returns a short status of the circuit 0x04 0x05 0x06 0x07 0x17 0x08 1 1 1 0x09 4 SetPosParam 0x10 0x16 0x0B 0x0C 0x0D 0x0E 0x2F 4 1, 3, 4 2 2 2 2 Service commands Sleep SoftStop TestBemf 0x0F 0x1F 1 1 1 SetDualPosition SetMotorParam SetOTPparam SetStallparam SetPosition SetPositionShort (1 m.) SetPositionShort (2 m.) SetPositionShort (4 m.) Description 1 4 Drives the motor to its secure position Immediate motor stop Actual position becomes the zero position RAM content reset Drives motor continuously Drives the motor to 2 different positions with different speeds Programs the motion parameters and values for the current in the motor’s coils Programs (and zaps) a selected byte of the OTP memory Programs the motion detection parameters Drives the motor to a given position Drives the motor to a given position (half step mode only) Drives two motors to 2 given positions (half step only) Drives four motors to 4 given positions (half step only) Drives the motor to a given position and programs some of the motion parameters. Drives circuit into sleep mode Motor stopping with a deceleration phase Outputs Bemf voltage on pin SWI 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 distinguish between master and slave parts within the frames and to highlight dynamic identifiers. An example is shown below. Light Blue : master Byte 0 1 2 GetStatus Reading Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 * * 0 ID4 ID3 ID2 ID1 ID0 Identifier ESW AD[6:0] Data 1 VddReset StepLoss ElDef UV2 TSD TW Tinfo[1:0] Data 2 White : slave in-frame response Yellow : dynamic identifier Content Figure 30: Color Code Used in the Definition of LIN Frames AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 51 AMIS-30623 LIN Microstepping Motordriver Data Sheet 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 purpose, this is acknowledged. Some frames implement a Broad bit that allows to address 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. 17.2 Application Commands GetActualPos This command is provided to the circuit by the LIN master to get the actual position of the stepper-motor. This 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 LSBs of ActPos[15:0] may have no meaning and should be assumed to be ‘0’, as described 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 GetActualPosition command will not attempt to reset any flag. GetActualPos corresponds to the following LIN reading frames. 1.) 4 data bytes in-frame response with direct ID (type #5) Byte Content 0 1 2 3 4 Identifier Data 1 Data 2 Data 3 Data 4 Bit 7 * ESW VddReset Reading Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 * 1 0 ID3 AD[6:0] ActPos[15:8] ActPos[7:0] StepLoss ElDef UV2 TSD Bit 2 ID2 TW Bit 1 ID1 Bit 0 ID0 Tinfo[1:0] Where: (*) ID[5:0]: According to parity computation 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. 2.) One preparing frame prior 4 data bytes in-frame response with 0x3D indirect ID Byte Content 0 1 2 Identifier Data 1 Data 2 Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Bit 7 * 1 1 Bit 7 0 ESW VddReset Preparing Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * 0 ID4 ID3 ID2 CMD[6:0] = 0x00 AD[6:0] Reading Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 1 1 1 1 AD[6:0] ActPos[15:8] ActPos[7:0] StepLoss ElDef UV2 TSD 0xFF 0xFF 0xFF 0xFF Where: (*) According to parity computation AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 52 Bit 2 1 TW Bit 1 ID1 Bit 0 ID0 Bit 1 0 Bit 0 1 Tinfo[1:0] AMIS-30623 LIN Microstepping Motordriver Data Sheet GetFullStatus 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> and <VddReset>. GetFullStatus corresponds to 2 successive LIN in-frame responses with 0x3D indirect ID. Byte Content 0 1 2 Identifier Data 1 Data 1 Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Bit 7 * 1 1 Bit 6 * Preparing Frame Structure Bit 5 Bit 4 Bit 3 Bit 2 0 ID4 ID3 ID2 CMD[6:0] = 0x01 AD[6:0] Reading Frame 1 Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 0 1 1 1 1 1 AD[6:0] Irun[3:0] Vmax[3:0] AccShape StepMode[1:0] Shaft VddReset StepLoss ElDef UV2 TSD Motion[2:0] ESW OVC1 TimeE 0 0 0 0 AbsThr[3:0] Bit 2 1 Bit 1 ID1 Bit 0 ID0 Bit 1 0 Bit 0 1 Ihold[3:0] Vmin[3:0] Acc[3:0] TW Tinfo[1:0] OVC2 Stall CPFail DataE HeadE BitE DelThr[3:0] Reading Frame 2 Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 1 1 1 1 1 0 1 1 AD[6:0] ActPos[15:8] ActPos[7:0] TagPos[15:8] TagPos[7:0] SecPos[7:0] MinZCross[2:0] 1 DC100 SecPos[10:8] DelStallLo DelStallHi DC100StEn AbsStall MinSamples[2:0] PWMJEn Where: (*) According to parity computation Important: it is not mandatory for the LIN master to initiate the second in-frame response if ActPos, TagPos and SecPos are not needed by the application. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 53 AMIS-30623 LIN Microstepping Motordriver Data Sheet GetOTPparam This command is provided to the circuit by the LIN master after a preparation frame (see Preparing frames) was issued, 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. Byte Content 0 1 2 Identifier Data 1 Data 2 Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Bit 7 * 1 1 Bit 7 0 Preparing Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * 0 ID4 ID3 ID2 CMD[6:0] = 0x02 AD[6:0] Reading Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 1 1 1 1 1 OTP byte @0x00 OTP byte @0x01 OTP byte @0x02 OTP byte @0x03 OTP byte @0x04 OTP byte @0x05 OTP byte @0x06 OTP byte @0x07 Bit 1 ID1 Bit 0 ID0 Bit 1 0 Bit 0 1 Where: (*) According to parity computation GetStatus 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. Note: A GetStatus command will attempt to reset flags <TW>, <TSD>, <UV2>, <ElDef>, <StepLoss> and <VddReset>. GetStatus corresponds to a 2 data bytes LIN in-frame response with a direct ID (type #5). Byte Content 0 1 2 Identifier Data 1 Data 2 Bit 7 * ESW VddReset GetStatus Reading Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 * 0 ID4 ID3 AD[6:0] StepLoss ElDef UV2 TSD Bit 2 ID2 TW Bit 1 ID1 Bit 0 ID0 Tinfo[1:0] Where: (*) ID[5:0]: According to parity computation 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. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 54 AMIS-30623 LIN Microstepping Motordriver Data Sheet GotoSecurePosition This command is provided by the LIN master to one or all the stepper-motors to move to the secure position SecPos[10:0]. It can also be internally triggered if the LIN bus communication is lost, after an initialization phase, or prior to going into sleep mode. See the priority encoder description for more details. The priority encoder table also acknowledges the cases where a GotoSecurePosition command will be ignored. GotoSecurePosition corresponds to the following LIN writing frame (type #1). Byte Content 0 1 2 Identifier Data Data GotoSecurePosition Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 0 ID4 ID3 ID2 1 CMD[6:0] = 0x04 Broad AD[6:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: according to parity computation If Broad = ‘0’ all the stepper motors connected to the LIN bus will reach their secure position HardStop This command will be internally triggered when an electrical problem is detected in one or both coils, leading to shutdown mode. If this occurs while the motor is moving, the <StepLoss> flag is raised to allow warning of the LIN master at the next GetStatus command that steps may have been lost. Once the motor is stopped, ActPos register is copied into TagPos register to ensure keeping the stop position. A hardstop command can also be issued by the LIN master for some safety reasons. It corresponds then to the following two data bytes LIN writing frame (type #1). Byte Content 0 1 2 Identifier Data Data HardStop Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 0 ID4 ID3 ID2 1 CMD[6:0] = 0x05 Broad AD[6:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: according to parity computation If broad = ‘0’ stepper motors connected to the LIN bus will stop ResetPosition This command is provided to the circuit by the LIN master to reset ActPos and TagPos registers to zero. This can be helpful to prepare for instance a relative positioning. ResetPosition corresponds to the following LIN writing frames (type #1). Byte Content 0 1 2 Identifier Data Data ResetPosition Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 0 ID4 ID3 ID2 1 CMD[6:0] = 0x06 Broad AD[6:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: according to parity computation If broad = ‘0’ all the circuits connected to the LIN bus will reset their ActPos and TagPos registers AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 55 AMIS-30623 LIN Microstepping Motordriver Data Sheet ResetToDefault This command is provided to the circuit by the LIN master in order to reset the whole slave node into the initial state. ResetToDefault will, for instance, overwrite the RAM with the reset state of the registers parameters (See RAM Registers). This is another way for the LIN master to initialize a slave node in case of emergency, or simply to refresh the RAM content. Note: ActPos and TagPos are not modified by a ResetToDefault command. Important: Care should be taken not to send a ResetToDefault command while a motion is ongoing, since this could modify the motion parameters in a way forbidden by the position controller. ResetToDefault corresponds to the following LIN writing frames (type #1). Byte Content 0 1 2 Identifier Data Data ResetPosition Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 0 ID4 ID3 ID2 1 CMD[6:0] = 0x07 Broad AD[6:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: according to parity computation If broad = ‘0’ all the circuits connected to the LIN bus will reset to default RunVelocity This command is provided to the circuit by the LIN Master in order to put the motor in continuous motion state. Note: Continuous LIN communication is required. If not Lost LIN is detected and an autonomous motion will start. See also LIN lost behavior. RunVelocity corresponds to the following LIN writing frames (type #1). Byte Content 0 1 2 Identifier Data 1 Data 2 RunVelocity Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 0 ID4 ID3 ID2 1 CMD[6:0] = 0x17 Broad AD[6:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: according to parity computation If broad = ‘0’ all the stepper motors connected to the LIN bus will start continuous motion. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 56 AMIS-30623 LIN Microstepping Motordriver Data Sheet SetDualPosition 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 Section Dual Positioning. Note1 : This sequence cannot be interrupted by another positioning command. Important: If for some reason ActPos equals Pos1[15:0] at the moment the SetDualPosition command is issued, the circuit will enter in deadlock state. Therefore, the application should check the actual position by a GetPosition or a GetFullStatus command prior to start a dual positioning. Another solution may consist of programming a value out of the stepper motor range for Pos1[15:0]. For the same reason Pos2[15:0] should not be equal to Pos1[15:0]. SetDualPosition corresponds to the following LIN writing frame with 0x3C identifier (type #4). Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 SetDualPositioning Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 0 0 1 1 1 1 0 AppCMD = 0x80 1 CMD[6:0] = 0x08 Broad AD[6:0] Vmax[3:0] Vmin[3:0] Pos1[15:8] Pos1[7:0] Pos2[15:8] Pos2[7:0] Bit 0 0 Where: Broad: Vmax[3:0]: Vmin[3:0]: Pos1[15:0]: Pos2[15:0]: If broad = ‘0’ all the circuits connected to the LIN bus will run the dual positioning Max velocity for first motion Min velocity for first motion and velocity for the second motion First position to be reached during the first motion Relative position of the second motion SetStallParam() This commands 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 stepmode See Motion detection for the meaning of the parameters sent by the LIN Master SetStallParam corresponds to a 0x3C LIN command Byte 0 1 2 3 4 5 6 6 8 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 SetStallParam Writing Frame Structure Bit 7 Bit Bit Bit 4 Bit 3 Bit 2 Bit 1 6 5 0 0 1 1 1 1 0 AppCMD = 0x80 1 CMD[6:0] = 0x16 Broad AD[6:0] Irun[3:0] Ihold[3:0] Vmax[3:0] Vmin[3:0] MinSamples[2:0] Shaft Acc[3:0] AbsThr[3:0] RelThr[3:0] AccShape MinZCross[2:0] StepMode[1:0] DC100StEn Bit 0 0 PWMJEn Where: Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 57 AMIS-30623 LIN Microstepping Motordriver Data Sheet SetMotorParam() 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 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. SetMotorParam corresponds to the following LIN writing frame with 0x3C identifier (type #4). Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 SetMotorParam Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 0 0 1 1 1 1 0 AppCMD = 0x80 1 CMD[6:0] = 0x09 Broad AD[6:0] Irun[3:0] Ihold[3:0] Vmax[3:0] Vmin[3:0] SecPos[10:8] Shaft Acc[3:0] SecPos[7:0] AccShape PWMfreq 1 1 StepMode[1:0] 1 Bit 0 0 PWMJEn Where: Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested SetOTPparam() 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. 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. SetMotorParam corresponds to a 0x3C LIN writing frames (type #4). Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 HardStop Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0 0 1 1 1 1 0 0 AppCMD = 0x80 1 CMD[6:0] = 0x10 Broad AD[6:0] 1 1 1 1 1 OTPA[2:0] D[7:0] 0xFF 0xFF 0xFF Where: Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their OTP memories as requested AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 58 AMIS-30623 LIN Microstepping Motordriver Data Sheet SetPosition() This command is provided to the circuit by the LIN master to drive one or two motors to a given absolute position. See Positioning for more details. The priority encoder table (See Priority Encoder) acknowledges the cases where a 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) Byte Content 0 1 2 Identifier Data 1 Data 2 SetPosition Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 * * 0 ID4 ID3 Pos[15 :8] Pos[7 :0] Bit 2 ID2 Bit 1 ID1 Bit 0 ID0 Where: (*) ID[5:0]: According to parity computation Dynamically allocated direct identifier. There should be as many dedicated identifiers to this SetPosition command as there are stepper-motors connected to the LIN bus. 2) Four (4) Data bytes frame with a general purpose identifier (type #1) Byte Content 0 1 2 3 4 Identifier Data 1 Data 2 Data 3 Data 4 SetPosition Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 1 0 ID3 ID2 1 CMD[6:0] = 0x0B Broad AD[6:0] Pos[15:8] Pos[7:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: According to parity computation If broad = ‘0’ all the stepper motors connected to the LIN will must go to Pos[15:0]. 3) Two (2) motors positioning frame with 0x3C identifier (type #4) Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 SetPosition Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 0 0 1 1 1 1 AppCMD = 0x80 1 CMD[6:0] = 0x0B 1 AD1[6:0] Pos1[15:8] Pos1[7:0] 1 AD2[6:0] Pos2[15:8] Pos2[7:0] Where: Adn[6:0] : Motor #n physical address (n ∈ [1,2]). Posn[15:0] : Signed 16-bit position set-point for motor #n. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 59 Bit 1 0 Bit 0 0 AMIS-30623 LIN Microstepping Motordriver Data Sheet SetPositionShort() 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 are corresponding to the bits PA[3:0] in OTP memory (address 0x02) See Physical Address of the Circuit The priority encoder table (See Priority Encoder) acknowledges the cases where a SetPositionShort command will be ignored. SetPositionShort corresponds to the following LIN writing frames 1.) Two (2) data bytes frame for one (1) motor, with specific identifier (type #2) Byte Content 0 1 2 Identifier Data 1 Data 2 SetPositionShort Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 * * 0 ID4 ID3 Pos[10:8] Broad Pos [7:0] Bit 2 Bit 1 ID2 ID1 AD [3:0] Bit 0 ID0 Where: (*) Broad: ID[5:0]: According to parity computation If broad = ‘0’ all the stepper motors connected to the LIN bus will go to Pos[10:0].. Dynamically allocated identifier to two data bytes SetPositionShort command. 2.) Four (4) data bytes frame for two (2) motors, with specific identifier (type # 2) Byte Content 0 1 2 3 4 Identifier Data 1 Data 2 Data 3 Data 4 SetPositionShort Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 * * 1 0 ID3 Pos1[10:8] 1 Pos1[7:0] Pos2[10:8] 1 Pos2[7:0] Bit 2 Bit 1 ID2 ID1 AD1[3:0] Bit 0 ID0 AD2[3:0] Where: (*) ID[5:0]: Adn[3:0]: Posn[10:0]: according to parity computation Dynamically allocated identifier to four data bytes SetPositionShort command. Motor #n physical address least significant bits (n ∈ [1,2]). Signed 11-bit position set point for Motor #n (see RAM Registers) 3.) Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2) Byte Content 0 1 2 3 4 5 6 7 8 Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 SetPositionShort Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 * * 1 1 ID3 Pos1[10:8] 1 Pos1[7:0] Pos2[10:8] 1 Pos2[7:0] Pos3[10:8] 1 Pos3[7 :0] Pos4[10 :8] 1 Pos4[7:0] Bit 2 Bit 1 ID2 ID1 AD1[3:0] Bit 0 ID0 AD2[3:0] AD3[3:0] AD4[3:0] Where: (*) ID[5:0]: Adn[3:0]: Posn[10:0]: according to parity computation Dynamically allocated identifier to eight data bytes SetPositionShort command. Motor #n physical address least significant bits (n ∈ [1,4]). Signed 11-bit position set point for Motor #n (see RAM Registers) AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 60 AMIS-30623 LIN Microstepping Motordriver Data Sheet 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). Byte Content 0 1 2 3 4 Identifier Data 1 Data 2 Data 3 Data 4 SoftPosParam Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 * * 0 ID4 ID3 Pos[15:8] Pos[7:0] Vmax[3:0] AbsThr[3:0] Bit 2 ID2 Bit 1 ID1 Bit 0 ID0 Vmin[3:0] Acc[3:0] Where: (*) Broad: ID[5:0]: Pos [15:0] : according to parity computation If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration. Dynamically allocated direct identifier to 4 Data bytes SetPosParam command. There should be as many dedicated identifiers to this SetPosition command as there are stepper-motors connected to the LIN bus. Signed 16-bit position set-point. Sleep 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 frame is a master request command frame (identifier 0x3C) with data byte 1 containing 0x00 while the followings contain 0xFF. Byte Content 0 1 2 Identifier Data 1 Data 2 Bit 7 0 Sleep Writing Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 0 1 1 1 0x00 0xFF Bit 2 1 Bit 1 0 Bit 0 0 SoftStop 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: 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). Byte Content 0 1 2 Identifier Data 1 Data 2 SoftStop Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 0 ID4 ID3 ID2 1 CMD[6:0] = 0x0F Broad AD[6:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: according to parity computation If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 61 AMIS-30623 LIN Microstepping Motordriver Data Sheet TestBemf 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. TestBemf corresponds to the following LIN writing frames (type #1). Byte Content 0 1 2 Identifier Data 1 Data 2 TestBemf Writing Frame Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * * 0 ID4 ID3 ID2 1 CMD[6:0] = 0x1F Broad AD[6:0] Bit 1 ID1 Bit 0 ID0 Where: (*) Broad: according to parity computation If broad = ‘0’ all the stepper motors connected to the LIN bus will be affected. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 62 AMIS-30623 LIN Microstepping Motordriver Data Sheet 18.0 Resistance to Electrical and Electromagnetic Disturbances 18.1 Electrostatic Discharges Table 35: Absolute Maximum Ratings Parameter 1 Vesd Min. Max. Unit Electrostatic discharge voltage on LIN pin -4 +4 kV Electrostatic discharge voltage on other pins -2 +2 kV Notes: (1) Human body model (100 pF via 1.5 kΩ, according to MIL std. 883E, method 3015.7) 18.2 Electrical Transient Conduction Along Supply Lines Test pulses are applied to the power supply wires of the equipment implementing the AMIS-30623 (see application schematic), according to ISO 7637-1 document. Operating Classes are defined in ISO 7637-2. Table 36: Test Pulses and Test Levels According to ISO 7637-1 Pulse Amplitude Rise Time Pulse Duration #1 -100V ≤ 1µs #2a +100V ≤ 1µs #3a -150V (from +13.5V) 5ns #3b +100V (from +13.5V) 5ns #5b (load dump) +21.5V (from +13.5V) ≤ 10ms Rs Operating Class 10Ω C 50µs 2Ω B 100ns (burst) 50Ω A 100ns (burst) 50Ω A 400ms ≤ 1Ω C 2ms 18.3 EMC Bulk current injection (BCI), according to ISO 11452-4. Operating Classes are defined in ISO 7637-2. Table 37: Bulk Current Injection Operation Classes Current Operating Class 60mA envelope A 100mA envelope B 200mA envelope C 18.4 Power Supply Micro-interruptions According to ISO 16750-2 Table 38: Immunity to Power Supply Micro-interruptions Test Operating Class 10µs micro-interruptions A 100µs micro-interruptions B 5ms micro-interruptions B 50ms micro-interruptions C 300ms micro-interruptions C AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 63 AMIS-30623 LIN Microstepping Motordriver Data Sheet 19.0 Package Outline 19.1 SOIC-20: Plastic small outline; 20 leads; body width 300mil. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 64 AMIS reference: SOIC300 20 300G AMIS-30623 LIN Microstepping Motordriver 19.2 NQFP-32: No lead Quad Flat Pack; 32 pins; body size 7 x 7 mm. Dimensions: Dim Min A 0.8 A1 0 A2 0.576 A3 b 0.25 C 0.24 D D1 E E1 e J 5.37 K 5.37 L 0.35 P R 2.185 Nom 0.02 0.615 0.203 0.3 0.42 7 6.75 7 6.75 0.65 5.47 5.47 0.4 45 Max 0.9 0.05 0.654 0.35 0.6 5.57 5.57 0.45 2.385 Unit mm mm mm mm mm mm mm mm mm mm mm mm mm mm Degree mm www.amis.com AMIS reference: NQFP-32 Notes 2) Dimensions applies to plated terminal and is measured between 0.2 and 0.25 mm from terminal tip. 3) The pin #1 indication must be placed on the top surface of the package by using identation mark or other feature of package body. 4) Exact shape and size of this feature is optional 5) Applied for exposed pad and terminals. Exclude embedding part of exposed pad from measuring. 6) Applied only to terminals 7) Exact shape of each corner is optional 7x7 NQFP AMI Semiconductor – June 2006, Rev 3.0 Data Sheet 65 AMIS-30623 LIN Microstepping Motordriver Data Sheet 20.0 Soldering 20.1 Introduction to Soldering Surface Mount Packages This text gives a very brief insight to a complex technology. A more in-depth account of soldering ICs can be found in the AMIS “Data Handbook IC26; Integrated Circuit Packages” (document order number 9398 652 90011). There is no soldering method that is ideal for all surface mount IC packages. Wave soldering is not always suitable for surface mount ICs, or for printed-circuit boards with high population densities. In these situations reflow soldering is often used. 20.2 Re-flow Soldering Re-flow soldering requires solder paste (a suspension of fine solder particles, flux and binding agent) to be applied to the printed-circuit board by screen printing, stencilling or pressure-syringe dispensing before package placement. Several methods exist for reflowing; for example, infrared/convection heating in a conveyor type oven. Throughput times (preheating, soldering and cooling) vary between 100 and 200 seconds depending on heating method. Typical re-flow peak temperatures range from 215 to 250°C. The top-surface temperature of the packages should preferably be kept below 230°C. 20.3 Wave Soldering Conventional single wave soldering is not recommended for surface mount devices (SMDs) or printed-circuit boards with a high component density, as solder bridging and non-wetting can present major problems. To overcome these problems the double-wave soldering method was specifically developed. If wave soldering is used the following conditions must be observed for optimal results: • Use a double-wave soldering method comprising a turbulent wave with high upward pressure followed by a smooth laminar wave. • For packages with leads on two sides and a pitch (e): o Larger than or equal to 1.27mm, the footprint longitudinal axis is preferred to be parallel to the transport direction of the printed-circuit board; o Smaller than 1.27mm, the footprint longitudinal axis must be parallel to the transport direction of the printed-circuit board. The footprint must incorporate solder thieves at the downstream end. • For packages with leads on four sides, the footprint must be placed at a 45º angle to the transport direction of the printedcircuit board. The footprint must incorporate solder thieves downstream and at the side corners. During placement and before soldering, the package must be fixed with a droplet of adhesive. The adhesive can be applied by screen printing, pin transfer or syringe dispensing. The package can be soldered after the adhesive is cured. Typical dwell time is four seconds at 250°C. A mildly-activated flux will eliminate the need for removal of corrosive residues in most applications. 20.4 Manual Soldering Fix the component by first soldering two diagonally-opposite end leads. Use a low voltage (24V or less) soldering iron applied to the flat part of the lead. Contact time must be limited to 10 seconds at up to 300°C. When using a dedicated tool, all other leads can be soldered in one operation within two to five seconds between 270 and 320°C. Table 39: Soldering Process Package Soldering Method Wave Reflow(1) BGA, SQFP Not suitable Suitable HLQFP, HSQFP, HSOP, HTSSOP, SMS Not suitable (2) Suitable PLCC (3) , SO, SOJ Suitable Suitable LQFP, QFP, TQFP Not recommended (3)(4) Suitable SSOP, TSSOP, VSO Not recommended (5) Suitable AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 66 AMIS-30623 LIN Microstepping Motordriver Data Sheet Notes: (1) All surface mount (SMD) packages are moisture sensitive. Depending upon the moisture content, the maximum temperature (with respect to time) and body size of the package, there is a risk that internal or external package cracks may occur due to vaporization of the moisture in them (the so called popcorn effect). For details, refer to the drypack information in the “Data Handbook IC26; Integrated Circuit Packages; Section: Packing Methods.” (2) These packages are not suitable for wave soldering as a solder joint between the printed-circuit board and heatsink (at bottom version) can not be achieved, and as solder may stick to the heatsink (on top version). (3) If wave soldering is considered, then the package must be placed at a 45° angle to the solder wave direction. The package footprint must incorporate solder thieves downstream and at the side corners. (4) Wave soldering is only suitable for LQFP, TQFP and QFP packages with a pitch (e) equal to or larger than 0.8mm; it is definitely not suitable for packages with a pitch (e) equal to or smaller than 0.65mm. (5) Wave soldering is only suitable for SSOP and TSSOP packages with a pitch (e) equal to or larger than 0.65mm; it is definitely not suitable for packages with a pitch (e) equal to or smaller than 0.5mm. 21.0 Company or Product Inquiries For more information about AMI Semiconductor, our technology and our product, visit our Web site at: http://www.amis.com. HTU UTH North America Tel: +1.208.233.4690 Fax : +1.208.234.6795 Europe Tel : +32 (0) 55.33.22.11 Fax : +32 (0) 55.31.81.12 22.0 Document History Table 40: Document history Version Date of Version 1.0 July 16, 2002 th 2.1 December 5 , 2005 3.0 June 19, 2006 P P Modifications/Additions First non-preliminary issue Complete review Public release Devices sold by AMIS are covered by the warranty and patent indemnification provisions appearing in its Terms of Sale only. AMIS makes no warranty, express, statutory, implied or by description, regarding the information set forth herein or regarding the freedom of the described devices from patent infringement. AMIS makes no warranty of merchantability or fitness for any purposes. AMIS reserves the right to discontinue production and change specifications and prices at any time and without notice. AMI Semiconductor's products are intended for use in commercial applications. Applications requiring extended temperature range, unusual environmental requirements, or high reliability applications, such as military, medical life-support or life-sustaining equipment, are specifically not recommended without additional processing by AMIS for such applications. Copyright ©2006 AMI Semiconductor, Inc. AMI Semiconductor – June 2006, Rev 3.0 www.amis.com 67