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| AMIS-30621 lin microstepping motordriver d ata sheet the AMIS-30621 is a member of a stepper motordriver family with position controller and control/diagnostics interface integrated in one single chip. the family consists of two products: ?AMIS-30621 with lin interface, ready to build dedicated mechatronics solutions connected remotely with a lin master. ?amis-30622 with serial interface, ready to act as peripheral device next to a microcontroller. the chip receives high-level positioning instructions through the interface and subsequently drives the motor coils until the desired position is reached. the on-chip position controller is configurable (otp and interface) for different motor types, positioning ranges and parameters for speed, acceleration, and deceleration. the AMIS-30621 acts as a slave on the bus and the master can fetch specific status information like actual position, error flags, etc. from each individual slave node. the AMIS-30621 is ideally suited for small positioning applications. target markets include: automotive (headlamp alignment, hvac, idle control, cruise), industrial equipment (lighting, fluid control, labeling, process, xyz tables) and building automation (hvac, surveillance, satellite dish positioning). suitable applications typically have multiple axes or require mechatronic solutions with the driver chip mounted directly on the motor. the high abstraction level of the products?command set reduces the load of the processor on the master side. scaling of the application towards number of axes is straight-forward: hardware - and software designs are extended in a modular way, without severely effecting the demands on the master microcontroller. the bus structure simplifies pcb track-layout and/or wiring architectures. microstepping operation removes the design trade-off between minimal operation speed and avoiding the risk of noise and step-loss due to resonance phenomena. the stall- detection feature (optional) offers silent, yet accurate position-calibrations during the referencing run and allows semi-closed loop operation when approaching the mechanical end-stops. all these benefits result in reduced system-cost and time- to-market and improved technical performance. general description motordriver ?microstepping (1/2, 1/4, 1/8, 1/16) ?low resonance & noise ?high resolution ?programmable peak current up to 800ma ?20khz pwm current-control ?automatic selection of fast & slow decay mode ?internal fly-back fets ?fully integrated current sense ?8v-29v supply voltage ?automotive compliant ?full diagnostics and status information controller with ram and otp memory ?position controller ?configurable speeds, acceleration and deceleration ?flexible hold-current ?movement/position sensor-input ?optional stall detection lin interface ?physical - and data-link-layer (conform to lin rev. 1.3) ?dynamically allocated indentifiers ?up to 128 node addresses protection ?over-current protection ?under-voltage management ?over-voltage protection ?high-temp warning and shutdown ?low-temp warning ?lin bus short-circuit protection to supply & ground power saving ?power-down supply current <50? ?5v regulator with wake-up on lin activity emi compatibility ?power drivers with slope control features applications and benefits ami semiconductor - rev. 1.4 1 www.amis.com ordering information part n AMIS-30621 package soic-20 peak current 800ma temp. range -40??25? AMIS-30621 lin microstepping motordriver d ata sheet
AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 2 www.amis.com t able of contents document history version date of version 1.0 july 16th, 2002 1.1 october 18th, 2002 1.2 january 27th, 2003 1.3 february 19th, 2003 1.4 march 3rd, 2003 1. quick reference data 3 1.1 absolute maximum ratings 3 1.2 operating ranges 3 2. block diagram 3 3. pin-out 4 4. package thermal resistance 4 4.1 so20 4 5. dc parameters 5 6. ac parameters 6 7. typical application 7 8. positioning data 8 8.1 stepping modes 8 8.2 maximum velocity 8 8.3 minimum velocity 8 8.4 acceleration and deceleration 9 8.5 positioning 9 8.5.1 position ranges 9 8.5.2 secure position 12 8.5.3 shaft 12 9. functional description 13 9.1 structure description 13 9.1.1 stepper motordriver 13 9.1.2 control logic (position controller and main control) 13 9.1.3 lin interface 13 9.1.4 miscellaneous 13 9.2 functions description 14 9.2.1 position controller 14 9.2.1.1 positioning and motion control 14 9.2.1.2 position initialization 16 9.2.1.3 external switch and hw pin 16 9.2.2 main control and register, otp memory + ram 17 9.2.2.1 power-up phase 17 9.2.2.2 reset state 18 9.2.2.3 soft stop 18 9.2.2.4 thermal shutdown mode 18 9.2.2.5 temperature management 18 9.2.2.6 battery voltage management 19 9.2.2.7 sleep mode 20 9.2.2.8 motor shutdown mode 20 9.2.2.9 ram registers 21 9.2.2.10 flags table 22 9.2.2.11 application commands 23 9.2.2.12 priority encoder 24 9.2.2.14 application parameters stored in otp memory 26 9.2.2.15 otp memory structure 27 9.2.3 motordriver 28 9.2.3.1 current waveforms in the coils 28 9.2.3.2 pwm regulation 28 9.2.3.3 motor starting phase 28 9.2.3.4 motor stopping phase 29 9.2.3.5 charge pump monitoring 29 9.2.3.6 electrical defect on coils, detection and confirmation 29 9.2.4 lin controller 30 9.2.4.1 general description 30 9.2.4.2 slave operational range for proper self synchronization 30 9.2.4.3 functional description 31 9.2.4.4 error status register 31 9.2.4.5 physical address of the curcuit 31 9.2.4.6 lin frames 32 9.2.4.7 commands table 32 10. features 38 10.1 position periodicity 38 11. resistance to electrical and electromagnetic disturbances 39 11.1 electrostatic discharges 39 11.2 sch?ffner pulses 39 11.3 emc 39 11.4 emi 39 11.5 power supply micro-interruptions 39 12. packages outline 40 13. conditioning 40 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 3 www.amis.com 1.0 quick reference data 2.0 block diagram 1.1 absolute maximum ratings parameter min max unit vbb supply voltage -0.3 +40 1 v vlin bus input voltage -80 +80 v tamb ambient temperature under bias 2 -50 +150 ?c tst storage temperature -55 +160 ?c vesd 3 electrostatic discharge voltage on lin pin -4 +4 kv electrostatic discharge voltage on other pins -2 +2 kv 1.2 operating ranges parameter min max unit vbb supply voltage +8 +29 v top operating temperature range vbb notes (1) for limited time: < 0.5 s. (2) the circuit functionality is not guaranteed. (3) human body model (100 pf via 1.5 k ? , according to mil std. 883e, method 3015.7). AMIS-30621 lin microstepping motordriver d ata sheet AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 4 www.amis.com 3.0 pin-out 4.0 package thermal resistance pin name pin description soic-20 hw0 bit 0 of lin-add to be tied to gnd 1 hw1 bit 1 of lin-add or vdd if not used 2 vdd internal supply (needs external decoupling capacitor) 3 gnd ground, heat sink 4,7,14,17 tst test pin (to be tied to ground in normal operation) 5 lin lin-bus connection 6 hw2 bit 2 of lin-add 8 cpn negative connection of pump-capacitor (charge pump) 9 cpp positive connection of pump-capacitor (charge pump) 10 vcp charge-pump filter-capacitor 11 vbb battery voltage supply 12, 19 motyn negative end of phase y coil 13 motyp positive end of phase y coil 15 motxn negative end of phase x coil 16 motxp positive end of phase x coil 18 swi switch input 20 soic-20 4.1 so20 the junction-case thermal resistance is 28?/w, leading to a junction-ambient thermal resistance of 63?/w, with the pcb ground plane layout condition given on the figure beside, and with: ?pcb thickness = 1.6mm ?1 layer ?copper thickness = 35? 2 x (10mm x 23mm) AMIS-30621 lin microstepping motordriver d ata sheet ami semiconducto - rev. 1.4r 5 www.amis.com 5.0 dc parameters symbol pin(s) parameter test conditions min typ max unit motordriver imsmax peak max current trough motor 800 ma coil in normal operation imsmax rms motxp max rms current trough 570 ma motxn coil in normal operation imsabs motyp absolute error on coil current -10 10 % imsrel motyn error on current ratio icoilx / icoily -7 7 % rdson on resistance for each pin to be confirmed by 1 ? ? ? ? notes (1) no more than 100 cumulated hours in life time above ttsd. (2) to be confirmed by measurements. (3) pin vdd must not be used for any external supply. (4) the ram content will not be altered above this voltage. (5) external resistance value seen from pin swi or hw2, including 1kw series resistor. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 6 www.amis.com 6.0 ac parameters symbol pin(s) parameter test conditions min typ max unit power-up tpu power-up time 10 ms internal oscillator fosc frequency of internal oscillator 3.6 4.0 4.4 mhz lin transmitter slope_f/r slope falling (or rising) edge between 40% and 60% 0.1 3 v/s t_slope_f/r lin slope time falling (or rising) edge extrapolated 2.6 22.5 s t_tr_f propagation delay txd low to bus 0.1 1 4 s t_tr_r propagation delay txd high to bus 0.1 1 4 s t_slope_sym slope time symmetry t_slope_f e t_slope_r -4 4 s tsym_tr transmitter delay symmetry t_tr_f e t_tr_r -2 2 s lin receiver t_rec_f propagation delay bus dominant 0.1 4 6 s to txd low t_rec_r lin propagation delay bus recessive 0.1 4 6 s to txd high tsym,rec receiver delay symmetry -2 2 s twake wake-up delay time 50 100 200 s switch input and hardwire address input tsw swi scan pulse period (1) 1024 s tsw_on hw2 scan pulse duration 1/16 tsw motordriver fpwm pwm frequency (1) 18 20 22 khz tbrise motxx turn-on transient time between 10% and 90% 350 ns tbfall turn-off transient time 250 ns charge pump fcp cpn charge pump frequency (1) 250 khz cpp the ac parameters are given for vbb and temperature in their operating ranges. note (1) derived from the internal oscillator. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 7 www.amis.com 7.0 typical application notes (1) the switch can be connected to battery instead of ground. (2) resistors tolerance: 5%. (3) 2.7nf capacitors: 2.7nf is the minimum value, maximum value is 10nf. (4) depending on the application the esr value of the 1f and 100f capacitors must be carefully chosen. (5) 100nf capacitors must be close to pins vbb and vdd. (6) 220nf capacitors must be as close as possible to pins cpn, cpp, vcp and vbb to reduce emc radiation. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 8 www.amis.com vmax vmax stepping mode index (full step/s) group half-stepping 1/4th micro-stepping 1/8th micro-stepping 1/16th micro-stepping (half-step/s) (micro-step/s) (micro-step/s) (micro-step/s) 09 9a 197 395 790 1579 1 136 273 546 1091 2182 2 167 334 668 1335 2670 3 197 b 395 790 1579 3159 4 213 425 851 1701 3403 5 228 456 912 1823 3647 6 243 486 973 1945 3891 7 273 546 1091 2182 4364 8 303 607 1213 2426 4852 9 334 c 668 1335 2670 5341 10 364 729 1457 2914 5829 11 395 790 1579 3159 6317 12 456 912 1823 3647 7294 13 546 1091 2182 4364 8728 14 729 d 1457 2914 5829 11658 15 973 1945 3891 7782 15564 vmax vmax vimax (full-step/s) index factor 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 0199 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 1 1/32 3 4 5 6 6 7 7 8 8 10 10 11 13 15 19 27 2 2/32 6 8 10 11 12 13 14 15 17 19 21 23 27 31 42 57 3 3/32 9 12 15 18 19 21 22 25 27 31 32 36 42 50 65 88 4 4/32 12 16 20 24 26 28 30 32 36 40 44 48 55 65 88 118 5 5/32 15 21 26 31 32 35 37 42 46 51 55 61 71 84 111 149 6 6/32 18 25 31 36 39 42 45 50 55 61 67 72 84 99 134 179 7 7/32 21 30 36 43 46 50 52 59 65 72 78 86 99 118 156 210 8 8/32 24 33 41 49 52 56 60 67 74 82 90 97 113 134 179 240 9 9/32 28 38 47 55 59 64 68 76 84 93 101 111 128 153 202 271 10 10/32 31 42 51 61 66 71 75 84 93 103 113 122 141 168 225 301 11 11/32 34 47 57 68 72 78 83 93 103 114 124 135 156 187 248 332 12 12/32 37 51 62 73 79 85 91 101 113 124 135 147 170 202 271 362 13 13/32 40 55 68 80 86 93 98 111 122 135 147 160 185 221 294 393 14 14/32 43 59 72 86 93 99 106 118 132 145 158 172 198 237 317 423 15 15/32 46 64 78 93 99 107 113 128 141 156 170 185 214 256 340 454 8.0 positioning data 8.1 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 8.2 maximum velocity for each stepping mode, vmax can be programmed to 16 possible values given in the table below. the accuracy of vmax is derived from the internal oscillator. under special circumstances it is possible to change the vmax parameter while a motion is ongoing. all 16 entries for the vmax parameter are divided into four groups. when changing vmax during a motion the application must take care that the new vmax parameter stays within the same group. 8.3 minimum velocity once vmax is chosen, 16 possible values can be programmed for vmin. the table below provides the obtainable values in full-step/s. the accuracy of vmin is derived from the internal oscillator. 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 . AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 9 www.amis.com vmax (fs/s) ? 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 acc index acceleration (full-step/s 2 ) 049 106 473 1 218 735 2 1004 3 3609 4 6228 5 8848 6 11409 7 13970 8 16531 9 19092 10 21886 11 24447 12 27008 13 29570 14 29570 34925 15 40047 8.4 acceleration and deceleration sixteen possible values can be programmed for acc (acceleration and deceleration between vmin and vmax). the table below provides the obtainable values in full- step/s 2 . one observes restrictions for some combination of acceleration index and maximum speed (gray cells). the accuracy of acc is derived from the internal oscillator. 8.5 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 the table below. when using command setpositionshort or gotosecureposition , data is automatically aligned. 8.5.1 position ranges a position is coded by using the binary two?s complement format. according to the positioning commands which are used (see 9.2.2.11) and to the chosen stepping mode, the position range will be as shown in the table below. when using the command setposition , although coded on 16 bits, the position word will have to be shifted on the left by a certain number of bits, according to the chosen stepping mode. ? setposition half-stepping -4096 to +4095 8192 half-steps 13 1/4 th micro-stepping -8192 to +8191 16384 micro-steps 14 1/8 th micro-stepping -16384 to +16383 32768 micro-steps 15 1/16 th micro-stepping -32768 to +32767 65536 micro-steps 16 setpositionshort half-stepping -1024 to +1023 2048 half-steps 11 stepping position word: pos [15 : 0] shift mode 1/16 th s b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 lsb no shift 1/8 th s b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 lsb 0 1-bit left ? ? ? AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 10 www.amis.com 8.5.2 secure position a secure position can be programmed. it is coded on 11-bit, thus having a lower resolution than normal positions, as shown in the table below. see command gotosecureposition . important note the secure position is disabled in case the programmed value is the reserved code ?0000000000? (most negative position). 8.5.3 shaft a shaft bit can be programmed to define whether a positive motion is an outer or an inner motion: ?shaft = 0 motxp is used as positive pin of the x coil, while motxn is the negative one. ?shaft = 1 opposite situation. stepping mode secure position resoultion half-stepping 4 half-steps 1/4 th micro-stepping 8 micro-steps (1/4 th ) 1/8 th micro-stepping 16 micro-steps (1/8 th ) 1/16 th micro-stepping 32 micro-steps (1/16 th ) 9.0 functional description 9.1 structure description 9.1.1 stepper motordriver the motordriver receives the control signals from the control logic. it mainly features: ? two h-bridges designed to drive a two separated coils stepper motor. 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 dacs to set the maximum magnitude of the current through x and y. two dacs 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. 9.1.2 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 initiate or stop properly 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 about internal actions and reporting to the lin interface. 9.1.3 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. 9.1.4 miscellaneous the AMIS-30621 also implements the followings: ?an internal oscillator, needed for the lin protocol handler as well as for the control logic and for 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. parameter value pmax - pmin see 8.5 zero speed hold current see 9.2.2.13 ( ihold ) maximum current see 9.2.2.13 ( irun ) acceleration and deceleration see 8.4 vmin see 8.3 vmax see 8.2 ami semiconductor - rev. 1.4 11 www.amis.com 9.2 functions description this chapter describes the four most important blocks: position controller main control and register, otp memory + rom motordriver lin controller 9.2.1 position controller 9.2.1.1 positioning and motion control a positioning command will produce a motion as illustrated below. 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 to the parameters programmed by the application during configuration phase. the current in the coils is also programmable. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 12 www.amis.com different positioning examples are shown in the table below. short motion new positioning command in reverse direction while in deceleration phase new velocity programming while motion is running new positioning command in reverse direction while motion is running at maximum 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. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 13 www.amis.com 9.2.1.2 position initialization after power-up or when a vdd reset has been acknowledged to the master, a position initialization of the stepper-motor can be requested by the application, by use of the runinit command (see 9.2.2.11). the position initialization is performed by the position controller under the control of the main control block. this operation cannot be interrupted or influenced by any further command. a position initialization can only be interrupted by the occurrence of the conditions driving to a motor shutdown (see 9.2.2.8) or by a hardstop command. on the other hand, sending a runinit command while a motion is already ongoing is not recommended. a position initialization consists of 2 successive motions, as illustrated below. the first motion is done with the specified vmin and vmax velocities in the runinit command, with the acceleration (deceleration) parameter already in ram, to a position pos1[15:0] also specified in runinit . the goal here is to perform a motion large enough to reach a stall position (considered to be the reference position). then a second motion to a position pos2[15:0] is done at the specified vmin velocity in the runinit command (no acceleration). the purpose of this second motion is to confirm with a low velocity the positioning of the motor at the stall position, assuming that the stepper motor may have bounced against the stall position. therefore, pos2 should only be a few half or micro steps further than pos1 , in order to perform a displacement of at least one electrical period. once the second motion is achieved, the actpos register (see 0) is reset to zero, to set the reached position as the reference position, whereas tagpos register is not changed. notes (0) the priority encoder (see 9.2.2.12) is describing the management of states and commands. the notes below are to be considered illustrative. (1) the last setposition(short) command issued during an initialization 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 the position initialization is running. this applies also for a dynamic id assignment lin frame (see 9.2.4.6.4). (3) an initialization 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 an initialization sequence is the one stored in ram before the runinit command is sent. the same applies for shaft bit, but not for irun , ihold and stepmode , which can be changed during an initialization sequence. (5) the pos1 , pos2 , vmax , and vmin values programmed in a runinit command apply only for a this initialization sequence. all further positioning will use the parameters stored in ram (programmed for instance by a former setmotorparam command). (6) commands resetposition , runinit and softstop will be ignored while an initialization sequence is ongoing, and will not be executed afterwards. (7) a setmotorparam command should not be sent during an initialization sequence. (8) if for s ome reason actpos equals pos1[15:0] at the moment the runinit 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 an initialization. another solution may consist in programming a value out of the stepper motor range for pos1[15:0] . AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 14 www.amis.com 9.2.1.3 external switch and hw2 pin pin swi and hardwired address pin hw2 (see 9.2.4.5) will alternatively attempt to source and sink a current in/from the external switch (see application schematic) to test whether it is on or off. this current is set around 10ma when a 1kw external series resistor is used. this can be represented by the following time diagram (the timings are given in 6). if the switch is detected on (closed), then the flag ami semiconductor - rev. 1.4 15 www.amis.com 9.2.2 main control and register, otp memory + rom 9.2.2.1 power-up phase power-up phase of the AMIS-30621 will not exceed 10ms. after this phase, the AMIS-30621 is in shutdown mode, ready to receive lin messages and to 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 9.2.2.2). 9.2.2.2 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 0 and 9.2.2.10. 9.2.2.3 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 0). the circuit is then ready to execute a new positioning command, provided thermal and electrical conditions allow for it. 9.2.2.4 thermal shutdown mode when thermal shutdown occurs, the circuit performs a softstop command and goes to motor shutdown mode (see below). 9.2.2.5 temperature management the AMIS-30621 monitors temperature by mean 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. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 16 www.amis.com 9.2.2.6 battery voltage management the AMIS-30621 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. 9.9.2.7 sleep mode when entering in 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 9.2.1. 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 1.2. - the lin bus remains inactive (or is lost) during more than 25000 time slots (1.30 s at 19.2 kbit/s), after which a time- out signal switches the circuit to sleep mode. 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). AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 17 www.amis.com 9.2.2.8 motor shutdown mode a motor shutdown occurs when: - the chip temperature rises above the thermal shutdown threshold ttsd (see 5) - the battery voltage goes below uv2 (see 5) - 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 followings: - 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. 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-30621. warning the application should limit the number of consecutive getstatus or getfullstatus commands to try to get the AMIS-30621 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. note (0) the priority encoder (see 9.2.2.12) 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. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 18 www.amis.com register mnemonic length (bit) related commands comment reset state getactualpos actual position actpos 16 getfullstatus - 16-bit signed gotosecurepos resetposition note 1 getfullstatus last programmed pos/ 16/11 gotosecurepos - 16-bit signed or position tagpos resetposition - 11-bit signed for half stepping setpositionshort (see 8.5) getfullstatus ?0? ? accshape 1 resettodefault 1 ?1? ? setmotorparam acceleration getfullstatus coil peak current irun 4 resettodefault 1 operating current (see 9.2.2.13) setmotorparam getfullstatus coil hold current ihold 4 resettodefault 1 standstill current (see 9.2.2.13) setmotorparam getfullstatus minimum velocity vmin 4 resettodefault 1 see 8.3 and 9.2.2.13 setmotorparam (look-up table) getfullstatus maximum velocity vmax 4 resettodefault 1 see 8.2 and 9.2.2.13 setmotorparam (look-up table) from otp getfullstatus memory shaft shaft 1 resettodefault 1 direction of movement for setmotorparam positive velocity acceleration/ getfullstatus deceleration acc 4 resettodefault 1 see 8.4 and 9.2.2.13 setmotorparam (look-up table) getfullstatus target position when lin secure position secpos 11 resettodefault 1 connection fails; 11 msbs setmotorpara of 16-bit position (lsbs fixed to ?0?) getfullstatus stepping mode stepmode 2 resettodefault 1 see 8.1 and 9.2.2.13 setmotorparam 9.2.2.9 ram registers 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. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 19 www.amis.com register mnemonic length (bit) related commands comment reset state charge pump cpfail 1 getfullstatus ?0? = charge pump ok failure ?1? = charge pump failure ?0? reset only after getfullstatus getactualpos < ovc1 > or < ovc2 > or < open electrical defect eldef 1 getstatus circuit 1 > or < open circuit 2 > getfullstatus or < cpfail > ?0? resets only after get(full)status external switch esw 1 getactualpos status getstatus ?0? = open ?0? getfullstatus ?1? = close electrical flag hs 1 internal use < cpfail > or < uv2 > or < eldef > or < vddreset > ?0? x00 = stop 001 = inner motion acceleration 010 = inner motion deceleration motion status motion 3 getfullstatus 011 = inner motion max. speed 000 101 = outer motion acceleration 110 = outer motion deceleration 111 = outer motion max. speed over current in ovc1 1 getfullstatus ?1? = over current coil x reset only after getfullstatus ?0? over current in ovc2 1 getfullstatus ?1? = over current coil y reset only after getfullstatus ?0? secure position secen 1 internal use ?0? if secpos = 100 0000 0000 enabled ?1? otherwise n.a. circuit going to sleep 1 internal use ?1? = sleep mode sleep mode reset by lin command ?0? getactualpos step loss steploss 1 getstatus ?1? = step loss due to under ?1? getfullstatus voltage, over current or open circuit motor stop stop 1 internal use see 9.2.2.12 ?0? getactualpos 00 = normal temperature range temperature info tinfo 2 getstatus 01 = low temperature warning 00 getfullstatus 10 = high temperature warning 11 = motor shutdown getactualpos ?1? = shutdown (> 155?c typ.) thermal shutdown tsd 1 getstatus reset only after get(full)status ?0? getfullstatus and if < tinfo > = 00 getactualpos ?1? = over temp. (> 145?c) thermal warning tw 1 getstatus reset only after get(full)status ?0? getfullstatus and if < tinfo > = 00 battery getactualpos ?0? = vbb > uv2 stop uv2 1 getstatus ?1? = vbb getfullstatus reset only after get(full)status set at ?1? after power-up of the circuit. getactualpos if this was due to a supply micro-cut, digital supply vddreset 1 getstatus it warns that the ram contents may reset getfullstatus have been lost; can be reset to ?0? ?1? with a getstatus or a getfullstatus command. 9.2.2.10 flags table AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 20 www.amis.com 9.2.2.11 application commands the lin master will have to use commands to manage the different application tasks the AMIS-30621 can feature. the commands summary is given in the table below. these commands are described hereafter, with their corresponding lin frames. one should also refer to 9.2.4.6 for more details on lin frames, particularly for what concerns dynamic assignment of identifiers. a gray scale coding is used to distinguish between master and slave parts within the frames and to highlight dynamic identifiers. an example is shown below. usually, the AMIS-30621 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-30621 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. command mnemonic feature getactualpos returns the actual position of the motor getfullstatus returns a complete status of the circuit getotpparam returns the otp memory content getstatus returns a short status of the circuit gotosecureposition drives the motor to its secure position hardstop immediate motor stop resetposition actual position becomes the zero position resettodefault ram content reset runinit initialization sequence setmotorparam programs the motion parameters and values for the current in the motor?s coils setotpparam programs (and zaps) a selected byte of the otp memory setposition drives the motor to a given position setpositionshort (1 motor) drives the motor to a given position (half stepping mode only) setpositionshort (2 motors) drives 2 motors to 2 given positions (half stepping mode only) setpositionshort (4 motors) drives 4 motors to 4 given positions (half stepping mode only) sleep drives circuit into sleep mode softstop motor stopping with a deceleration phase AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 21 www.amis.com 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 at ?0?, as described in 8.5. getactualpos provides also a quick status of the circuit and of 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. *) according to parity computation id[5:0] : dynamically allocated direct identifier. there should be as many dedicated identifiers to the 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. *) according to parity computation 1) 4 data bytes in-frame response with direct id (type #5). bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 1 0 id3 id2 id1 id0 esw ad[6:0] actpos[15:8] actpos[7:0] vddreset steploss eldef uv2 tsd tw tinfo[1:0] identifier data1 data2 data3 data4 preparing frame (type #7 or #8) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x00 1 ad[6:0] in-frame response (type #6) 01 1 1 1101 esw ad[6:0] actpos[15:8] actpos[7:0] vddreset steploss eldef uv2 tsd tw tinfo[1:0] 0xff 0xff 0xff 0xff identifier data1 data2 identifier data1 data2 data3 data4 data5 data6 data7 data8 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 22 www.amis.com getfullstatus this command is provided to the circuit by the lin master to get a complete status of the circuit and of the stepper- motor. refer to 0 and 9.2.2.10 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 two successive lin in-frame responses with 0x3d indirect id. *) 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. preparing frame (type #7 or #8) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x01 1 ad[6:0] in-frame response 1 (type #6) 01 1 1 1101 1 ad[6:0] irun[3:0] ihold[3:0] vmax[3:0] vmin[3:0] accshape stepmode[1:0] shaft acc[3:0] vddreset steploss eldef uv2 tsd tw tinfo[1:0] motion[2:0] esw ovc1 ovc2 1 cpfail lin error status register (see 9.2.4.4) 0xff in-frame response 2 (type #6) 01 1 1 1101 1 ad[6:0] actpos[15:8] actpos[7:0] tagpos[15:8] tagpos[7:0] secpos[7:0] 11 11 1 secpos[10:8] 0xff identifier data1 data2 identifier data1 data2 data3 data4 data5 data6 data7 data8 identifier data1 data2 data3 data4 data5 data6 data7 data8 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 23 www.amis.com getotpparam this command is provided to the circuit by the lin master after a preparation frame (see 9.2.4.6.3) 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. *) according to parity computation hw[2:0] : although not stored in the otp memory, the hardwired address is returned by getotpparam as if stored at address 0x02 of the otp memory. preparing frame (type #7 or #8) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x02 1 ad[6:0] in-frame response (type #6) 01 1 1 1101 otp byte @0x00 otp byte @0x01 adm hw2 hw1 hw0 pa3 pa2 pa1 pa0 otp byte @0x03 otp byte @0x04 otp byte @0x05 otp byte @0x06 otp byte @0x07 identifier data1 data2 identifier data1 data2 data3 data4 data5 data6 data7 data8 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 9.2.2.10 to see the meaning of the parameters sent to the lin master. note a getstatus command will attempt to reset flags < tw >, < tsd >, < uv2 >, ami semiconductor - rev. 1.4 24 www.amis.com 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, or after an initialization phase or prior to going into sleep mode. see the priority encoder description for more details ( 9.2.1.2). 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). *) according to parity computation if broad = ?0? all the stepper motors connected to the lin bus will reach their secure position. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x04 broad ad[6:0] identifier data1 data2 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 2 data bytes lin writing frame (type #1). *) according to parity computation if broad = ?0? all the stepper motors connected to the lin bus will stop. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x05 broad ad[6:0] identifier data1 data2 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). *) according to parity computation if broad = ?0? all the circuits connected to the lin bus will reset their actpos and tagpos registers. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x06 broad ad[6:0] identifier data1 data2 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 25 www.amis.com 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 overload the ram with the reset state of the registers parameters (see 0). 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). *) according to parity computation if broad = ?0? all the circuits connected to the lin bus will reset to default. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x07 broad ad[6:0] identifier data1 data2 runinit this command is provided to the circuit by the lin master in order to initialize positioning of the motor by seeking the zero (or reference) position. see 9.2.1.2 for a detailed description or the initialization phase. note1: this sequence cannot be interrupted by another positioning command. important: if for some reason actpos equals pos1[15:0] at the moment the runinit 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 an initialization. another solution may consist in 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] . runinit corresponds to the following lin writing frame with 0x3c identifier (type #4). if broad = ?0? all the circuits connected to the lin bus will run the init sequence. vmax[3:0] : max velocity for first motion of the init run vmin[3:0] : min velocity for first motion of the init run and velocity for the second motion of the init run pos1[15:0] : first position to be reached during the init run pos2[15:0] : second position to be reached during the init run bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 00 1 1 1100 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] identifier data1 data2 data3 data4 data5 data6 data7 data8 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor- rev. 1.4 26 www.amis.com 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 0 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 9.2.1.1). 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). 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 ?5. this is a mandatory condition to ensure reliable zapping. setmotorparam corresponds to a 0x3c lin writing frames (type #4). if broad = ?0? all the circuits connected to the lin bus will set the parameters in their otp memories as requested. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 00 1 1 1100 appcmd = 0x80 1 cmd[6:0] = 0x10 broad ad[6:0] 11 11 1 otpa[2:0] d[7:0] 0xff 0xff 0xff identifier data1 data2 data3 data4 data5 data6 data7 data8 identifier data1 data2 data3 data4 data5 data6 data7 data8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 00 1 1 1100 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] 11 1 accshape stepmode[1:0] 1 1 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 27 www.amis.com 3) two motors positioning frame with 0x3c identifier (type #4) adn[6:0] : motor #n physical address (n [1,2]). posn[15:0] : signed 16-bit position set-point for motor #n. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 00 1 1 1100 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] identifier data1 data2 data3 data4 data5 data6 data7 data8 setposition() this command is provided to the circuit by the lin master to drive one or two motors to a given absolute position. see 8.5 for more details. the priority encoder table ( 9.2.2.12) acknowledges the cases where a setposition command will be ignored. setposition corresponds to the following lin write frames. *) according to parity computation id[5:0] : dynamically allocated direct identifier. there should be as many dedicated identifiers to this setposition command as there are stepper motors connected to the lin bus. 2) 4 data bytes frame with a general purpose identifier (type #1) 1) 2 data bytes frame with a direct id (type #3) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 pos[15:8] pos[7:0] identifier data1 data2 *) according to parity computation if broad = ?0? all the stepper motors connected to the lin will must go to pos[15:0] . bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 1 0 id3 id2 id1 id0 1 cmd[6:0] = 0x0b broad ad[6:0] pos[15:8] pos[7:0] identifier data1 data2 data3 data4 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 28 www.amis.com adm ad[3] pin hw0 pin hw1 pin hw2 bit pa0 in otp memory 0x tied to vbb ad[0] 10 tied to vdd tied to gnd 1 11 tied to vbat 1 3) 8 data bytes frame for 4 motors, with specific identifier (type #2) *) according to parity computation id[5:0] : dynamically allocated identifier to 8 data bytes setpositionshort command. adn[3:0] : motor #n physical address least significant bits (n posn[10:0] : signed 11-bit position set point for motor #n (see 0). identifier data1 data2 data3 data4 data5 data6 data7 data8 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 8.5 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 normally corresponding to the bits pa[3:0] in otp memory (address 0x00 ), while bits ad[6:4] must be at ?1?. two different cases must in fact be considered, depending on the programmed value of bit adm in the otp memory (see 9.2.4.5): *) according to parity computation if broad = ?0? all the stepper motors connected to the lin bus will go to pos[10:0] . id[5:0] :d ynamically allocated identifier to 2 data bytes setpositionshort command. the priority encoder table ( 9.2.2.12) acknowledges the cases where a setpositionshort command will be ignored. setpositionshort corresponds to the following lin writing frames. 2) 4 data bytes frame for two motors, with specific identifier (type # 2) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 pos[10:8] broad ad[3:0] pos[7:0] identifier data1 data2 *) according to parity computation id[5:0] : dynamically allocated identifier to 4 data bytes setpositionshort command. adn[3:0] : motor #n physical address least significant bits (n posn[10:0] : signed 11-bit position set point for motor #n bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 1 0 id3 id2 id1 id0 pos1[10:8] 1 ad1[3:0] pos1[7:0] pos2[10:8] 1 ad2[3:0] pos2[7:0] identifier data1 data2 data3 data4 1) 2 data bytes frame for 1 motor, with specific identifier (type #2) bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 1 1 id3 id2 id1 id0 pos1[10:8] 1 ad1[3:0] pos1[7:0] pos2[10:8] 1 ad2[3:0] pos2[7:0] pos3[10:8] 1 ad3[3:0] pos3[7:0] pos4[10:8] 1 ad4[3:0] pos4[7:0] AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 29 www.amis.com 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 1.2 specification and 9.2.2.7. the corresponding lin frame is a master request command frame (identifier 0x3c) with data byte 1 containing 0x00 while the followings contain 0xff. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 00 1 1 1100 0x00 0xff identifier data1 data2 softstop if a softstop command occurs during a motion of the stepper motor, it provokes an immediate deceleration to vmin (see 8.3) 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 runinit sequence is not taken into account. command softstop occurs in the following cases: - the chip temperature rises above the thermal shutdown threshold (see 5 and 9.2.2.5); - the lin master requests a softstop . hence softstop will correspond to the following 2 data bytes lin writing frame (type #1). *) according to parity computation if broad = ?0? all the stepper motors connected to the lin bus will stop with deceleration. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] = 0x0f broad ad[6:0] identifier data1 data2 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 30 www.amis.com 9.2.2.12 priority encoder the table below describes the state management performed by the main control block. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor- rev. 1.4 31 www.amis.com notes: 1 leaving sleep state is equivalent to power-on-reset. 2 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). 3 a runinit sequence runs with a separate set of ram registers. the parameters that are not specified in a runinit command are loaded with the values stored in ram at the moment the runinit sequence starts. accshape is forced to ?1? during second motion even if a resettodefault command is issued during a runinit sequence, in which case accshape at ?0? will be taken into account after the runinit sequence. a getfullstatus command will return the default parameters for vmax and vmin stored in ram. 4 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). 5 shutdown state can be left only when < tsd > and < hs > flags are reset. 6 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). 7 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 runinit sequence since this motion uses its own parameters, the new parameters will be taken into account at the next setposition or setpositionshort command. 8 some transitions like gotopos sleep are actually done via several states: gotopos softstop stopped sleep (see diagram below). 9 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. 10 < secen > = ?1? when register secpos is loaded with a value different from the most negative value (i.e. different from 0x400 = 100 0000 0000). 11 < 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. 12 command for dynamic assignment of ids is decoded in all states except sleep and has not effect on the current state. 13 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. 14 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 runinit or resetposition will be executed if allowed by current state. < steploss > can only be cleared by a getstatus or getfullstatus command. AMIS-30621 lin microstepping motordriver d ata sheet 9.2.2.13 application parameters stored in otp memory except for the physical address ad[3:0] and for bit adm , these parameters, although programmed in a non-volatile memory can still be overridden in ram by a lin writing operation. ad[6:0] physical address of the stepper motor. up to 128 stepper motors can theoretically be connected to the same lin bus. adm addressing mode bit (see 9.2.4.5) irun[3:0] peak current value to be fed to each coil of the stepper-motor. the table to the right provides the 16 possible values for irun . ami semiconductor - rev. 1.4 32 www.amis.com irun peak current (ma) 0000 59 0001 71 0010 84 0011 100 0100 119 0101 141 0110 168 0111 200 1000 238 1001 283 1010 336 1011 400 1100 476 1101 566 1110 673 1111 800 ihold[3:0] hold current for each coil of the stepper- motor. the table to the right provides the 16 possible values for ihold . ihold hold current (ma) 0000 59 0001 71 0010 84 0011 100 0100 119 0101 141 0110 168 0111 200 1000 238 1001 283 1010 336 1011 400 1100 476 1101 566 1110 673 1111 800 stepmode indicator of stepping mode to be used. stepmode step mode 00 half stepping 01 1/4 micro step 10 1/8 micro step 11 1/16 micro step AMIS-30621 lin microstepping motordriver d ata sheet 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?. vmax[3:0] maximum velocity, minimum velocity and vmin[3:0] acceleration of the stepper motor are acc[3:0] programmed by coding the respective vmax, vmin and acc parameters index as defined in 8 positioning data. ami semiconductor - rev. 1.4 33 www.amis.com 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. 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. 9.2.2.14 otp memory structure the table below shows how the parameters to be stored in the otp memory are located. code parameter index 0000 0 0001 1 0010 2 0011 3 0100 4 0101 5 0110 6 0111 7 1000 8 1001 9 1010 10 1011 11 1100 12 1101 13 1110 14 1111 15 osc3 osc2 osc1 osc0 iref3 iref2 iref1 iref0 enablelin tsd2 tsd1 tsd0 bg3 bg2 bg1 bg0 adm pa3 pa2 pa1 pa0 irun3 irun2 irun1 irun0 ihold3 ihold2 ihold1 ihold0 vmax3 vmax2 vmax1 vmax0 vmin3 vmin2 vmin1 vmin0 secpos10 secpos9 secpos8 shaft acc3 acc2 acc1 acc0 secpos7 secpos6 secpos5 secpos4 secpos3 secpos2 secpos1 secpos0 stepmode1 stepmode0 lockbt lockbg otp address 7 6 5 4 3 2 1 0 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 lock bit protected byte lockbt (zapped before delivery) 0x00 to 0x01 lockbg 0x00 to 0x07 AMIS-30621 lin microstepping motordriver d ata sheet 9.2.3 motordriver 9.2.3.1 current waveforms in the coils the figure below illustrates the current fed to the motor coils by the motordriver in half-step mode. 9.2.3.2 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. 9.2.3.3 motor starting phase at motion start, the currents in the coils are directly switched from ihold to irun with a new sine/cos ratio corresponding to the first half (or micro) step of the motion. whereas the figure below shows the current fed to one coil in 1/16 th microstepping (1 electrical period). ami semiconductor- rev. 1.4 34 www.amis.com AMIS-30621 lin microstepping motordriver d ata sheet 9.2.3.4 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/cos ratio between coils) during 1/4 th of an electrical period at minimum velocity (thus 2 half-steps). 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. 9.2.3.5 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. 9.2.3.6 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. 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 - rev. 1.4 35 www.amis.com AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 36 www.amis.com 9.2.4 lin controller 9.2.4.1 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-30621 is compliant with the lin rev. 1.2 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. 9.4.2.4 slave operational range for proper self synchronization the lin interface will synchronize properly in the following conditions: - vbb ami semiconductor - rev. 1.4 37 www.amis.com 9.2.4.3 functional description 9.2.4.3.1 analog part the transmitter is a low-side driver with a pull-up resistor and slope control. the figure below shows the characteristics of the transmitted signal, including the delay between internal txd signal and lin signal. see 6 for timing values. the receiver mainly consists of a comparator which threshold is equal to vbb/2. the figure below shows the delay between the received signal and the internal rxd signal. see 6 for timing values. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 38 www.amis.com 9.2.4.3.2 protocol handler this block implements: - bit synchronization - bit timing - the mac layer - the llc layer - the supervisor 9.2.4.3.3 electro magnetic compatibility emc behavior fulfills requirements defined by lin specification, rev. 1.2. 9.2.4.4 error status register the lin interface implements a register containing an error status of the lin communication. this register is as follows: 9.2.4.6 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. with: - data error flag = checksum error + stopbit error + length error - header error flag = parity + synchfield error a getfullstatus frame will reset the error status register. 9.2.4.5 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 (see 9.2.2.14) and of the 3 hardwired address bits (pins hw[2:0]). bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 not used not used not used not used time out data error header error bit error error flag flag flag the otp memory contains also an extra bit, adm, which allows for the following combinations: 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 9.2.1.3). AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 39 www.amis.com 9.2.4.6.1 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. 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. 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). the writing frames used with the AMIS-30621 are the followings: 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 9.2.4.7), while, if present, data3 to data4 will contain the command parameters, as shown below. 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-30621 circuits using this command connected to the lin bus. type #4 : 8 data bytes writing frame with 0x3c identifier. the structure is similar to type #1 but uses the reserved id 0x3c. type #1 has the advantage to be shorter than type #4. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 40 www.amis.com 9.2.4.6.3 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-30621 can be of type #7 or type #8 described below. bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 ** 0 id4 id3 id2 id1 id0 1 cmd[6:0] 1 ad[6:0] identifier data1 data2 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 00 1 1 1100 appcmd = 0x80 1 cmd[6:0] 1 ad[6:0] 0xff identifier data1 data2 data3 data4-8 *) according to parity computation type #8 : 8 data bytes writing frame with 0x3c identifier. type #7 : 2 data bytes writing frame with dynamically assigned identifier. appcmd : 0x80 indicates that data2 contains an application command byte cmd[6:0] :c ommand byte ad[6:0] : slave node?s physical address 9.2.4.6.2 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-30621 are the followings: type #5 : 2, 4 or 8 data bytes reading frame with a direct ids 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. AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 41 www.amis.com 9.2.4.7 commands table xxx allows to address physically a slave node. therefore, these dynamic ids cannot be used for more than 8 stepper motors. only 9 rom pointers are needed for the AMIS-30621. 9.2.4.6.4 dynamic assignment of identifiers apart from identifiers 0x3c to 0x3f, the lin rev 1.2 specification does not indicate how identifiers can be allocated. therefore, slave nodes need to be flexible enough to adapt themselves to a given lin network. one solution proposed by bmw is to implement a dynamic assignment of the identifiers by the lin master. this is done at start-up of the system by writing identifiers in the slave?s ram to make them correspond to commands pointers located in the slave?s rom. this is the strategy adopted for the AMIS-30621. dynamic assignment must be done by a writing frame with identifier 0x3c. with: cmd[6:0] : 0x11, corresponding to dynamic assignment of 4 lin identifiers. broad if broad = ?0? all the circuits connected to the lin bus will share the same dynamically assigned identifiers. idn[5:0] : dynamically assigned lin identifier to the application command which rom pointer is rompn[3:0] (see 9.2.4.7). one frame allows only to assign 4 identifiers. therefore, additional frames could be needed in order to assign more identifiers (maximum 3 for the AMIS-30621). bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 00 1 1 1100 appcmd = 0x80 1 cmd[6:0] = 0x11 broad ad6 ad5 ad4 ad3 ad2 ad1 ad0 id1[3:0] romp1[3:0] id2[1:0] romp2[3:0] id1[5:4] romp3[3:0] id2[5:2] romp4[1:0] id3[5:0] id4[5:0] romp4[3:2] identifier data1 data2 data3 data4 data5 data6 data7 data8 command mnemonic command byte dynamic id (cmd) (example) rom pointer getactualpos 000000 0x00 100 xxx 0010 getfullstatus 000001 0x01 n.a. getotpparam 000010 0x02 n.a. getstatus 000011 0x03 000 xxx 0011 gotosecureposition 000100 0x04 n.a. hardstop 000101 0x05 n.a. resetposition 000110 0x06 n.a. resettodefault 000111 0x07 n.a. runinit 001000 0x08 n.a. setmotorparam 001001 0x09 n.a. setotpparam 010000 0x10 n.a. setposition (16-bit) 001011 0x0b 010 xxx 0100 setpositionshort (1 motor) 001100 0x0c 001001 0101 setpositionshort (2 motors) 001101 0x0d 101001 0110 setpositionshort (4 motors) 001110 0x0e 111001 0111 sleep n.a. n.a. softstop 001111 0x0f n.a. dynamic id assignment 010001 0x11 n.a. general purpose 2 data bytes 011000 0000 general purpose 4 data bytes 101000 0001 preparation frame 011010 1000 AMIS-30621 lin microstepping motordriver d ata sheet ami semiconductor - rev. 1.4 42 www.amis.com 10.0 features 10.1 position periodicity depending on the stepping mode the position can range between e4096 to +4095 in half-step mode to e32768 to +32767 in 1/16th microstepping mode (see 8.5.1) 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. as an example in the figure below is illustrated the moving direction going from actpos = +32700 to setpos = e32700 is counter clockwise. if a clockwise motion is required in this example, several consecutive setposition commands can be used. 11.0 resistance to electrical and electromagnetic disturbances 11.1 electrostatic discharges see. 1.1 absolute maximum ratings 11.3 emc bulk current injection (bci), according to renault 36-00- 808/--e document (p61). 11.2 sch?ffner pulses sh?ffner pulses are applied to the power supply wires of the equipment implementing the AMIS-30621 (see application schematic), according to renault 36-00-808/--e document. pulse amplitude rise time pulse duration rs operating class #1 -100v ? ? ? ? ? d ata sheet to be documented. 12.0 package outlines 13.0 conditioning 11.4 emi emi requirement is given here as a target, since it is also pcb dependent. any emi issue will have to be solved on common basis with the customer. radiated disturbance electromagnetic quietness test, according to renault 36-00-808/--e document: permanent broadband limit (renault 36-00-808/--e document diagram p98) narrow band limit (renault 36-00-808/--e document diagram p99) 11.5. power supply micro-interruptions according to renault 36-00-808/--e (p47 and followings). note: see variations ac for dimensions d and n. test operating class 10s micro-interruptions (1) a 100s micro-interruptions b 5ms micro-interruptions b 50ms micro-interruptions c 300ms micro-interruptions c ? copyright 2003 ami semiconductor e all rights reserved. information furnished is believed to be accurate and reliable. howeve r, ami semiconductor assumes no responsibility for errors or omissions in the information and for the consequences of use of such information. ami semiconductor reserves the right to change the information contained herein at any time without notice. this information is provided as is without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability, fitness for a particular purpose, or non-infringement of intellectual property. all title and intellectual property rights including, without limitation, copyrights, trademarks, in and to this information an d products are owned by ami semiconductor, and are protected by applicable laws. no license under any patent or other intellectual property of ami semiconductor is granted, by implication, estoppel or otherwise. ami semiconductor - rev. 1.4 www.amis.com note 1: to achieve class a a 100nf capacitor between vbat and ground is needed in case hw is connected to vbat. (see 7 typical application) AMIS-30621 lin microstepping motordriver d ata sheet |
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