AMIS-30623 AMI Semiconductor, Inc., AMIS-30623 Datasheet - Page 19

• Manufacturer Part Number: AMIS-30623
• Description: Lin Microstepping Motordriver
• Manufacturer: AMI Semiconductor, Inc.

AMIS-30623 LIN Microstepping Motordriver
15.1.2. Dual Positioning
A
specified Vmin and Vmax velocities in the
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
TagPos register is not changed.
Remark: This operation cannot be interrupted or influenced by any further command unless the occurrence of the conditions driving to
a
recommended.
Notes
(0) The
(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
(2) Commands such as GetActualPos or GetStatus will be executed while a Dual Positioning is running. This applies also for a dynamic
(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
(5) The Pos1, Pos2, Vmax and Vmin values programmed in a
(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
(8) If for some reason ActPos equals Pos1[15:0] at the moment the
15.1.3. Position Periodicity
Depending on the stepping mode the position can range from –4096 to +4095 in half-step to –32768 to +32767 in 1/16
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>.
AMI Semiconductor – June 2006, Rev 3.0
motor shutdown
SetDualPosition
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and SetMotorParam and GotoSecurePosition.
applies for Shaft bit, but not for Irun, Ihold and StepMode, which can be changed during the Dual Positioning sequence.
stored in RAM (programmed for instance by a former SetMotorParam command).
should check the actual position by a GetPosition or a
priority encoder
Vm ax
Vm in
is describing the management of states and commands. All notes below are to be considered illustrative.
or by a HardStop command. Sending a
command (no acceleration). Once the second motion is achieved, the ActPos register is reset to zero, whereas
command allows the user to perform a positioning using two different velocities. The first motion is done with the
Velocity
Figure 10: Motion Direction is Function of Difference between ActPos and TagPos
+10000
0
SetDualPosition
-10000
GetFullStatus
SetDualPosition
1
SetDualPosition
st
m otion
SetDualPosition
Figure 9:Dual Positioning
+20000
-20000
SetDualPosition
command prior to send the
sequence.
19
command, with the acceleration (deceleration) parameter already in
command apply only for this sequence. All further positioning will use the parameters
TagPos = -30000
command is issued, the circuit will enter in deadlock state. Therefore, the application
ActPos = +30000
Motion direction
26.6 m s
2
nd
command while a motion is already ongoing is not
m otion
SetDualPosition
SetDualPosition
26.6 m s
Reset ActPos
command.
ID
assignment LIN frame
command is sent. The same
tim e
Data Sheet
th
microstepping