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| AMIS-30623 LIN Micro-Stepping Motor Driver 1.0 General Description The AMIS-30623 is a single-chip micro-stepping motor driver 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 Motor Driver * Micro-stepping 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 (c)2008 SCILLC. All rights reserved. June 2008 - Rev. 4 Publication Order Number: AMIS30623/D AMIS-30623 Power Saving * Power-down supply current < 100A * 5V regulator with wake-up on LIN activity EMI Compatibility * LIN bus integrated slope control * HV outputs with slope control 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 Part Number AMIS30623C6239G AMIS30623C6239RG AMIS30623C623AG AMIS30623C623ARG Package SOIC-20 SOIC-20 NQFP-32 (7 x 7 mm) NQFP-32 (7 x 7 mm) Shipping Configuration Tube/Tray Tape & Reel Tube/Tray Tape & Reel Peak Current 800 mA 800 mA 800 mA 800 mA Temperature Range -40C.....125C -40C.....125C -40C.....125C -40C.....125C Stop Voltage Low Threshold Typ. 8.5V Typ. 7.5V Typ. 8.5V Typ. 7.5V 5.0 Quick Reference Data Table 2: Absolute Maximum Ratings Parameter Vbb Vlin Tamb Tst Vesd (3) Min. -0.3 -80 (2) Max. +40 (1) Unit V V C C kV kV Supply voltage Bus input voltage Ambient temperature under bias Storage temperature Electrostatic discharge voltage on LIN pin Electrostatic discharge voltage on other pins +80 +150 +160 +4 +2 -50 -55 -4 -2 Notes: (1) For limited time <0.5s (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) Table 3: Operating Ranges Parameter Vbb Supply voltage Top Operating temperature range Vbb 18V Vbb 29V Min. +8 -40 -40 Max. +29 +125 +85 Unit V C C Rev. 4 | Page 2 of 65 | www.onsemi.com AMIS-30623 6.0 Block Diagram SWI AMIS-30623 LIN BUS Interface Position Controller HW[2:0] TST Controller PWM regulator X I-sense MOTXP MOTXN Decoder Main Control Registers OTP - ROM Sinewave Table DAC's 4 MHz Motion detection Vref Temp sense Oscillator PWM regulator Y Charge Pump I-sense MOTYP MOTYN Voltage Regulator VBB VDD CPN CPP VCP GND Figure 1: Block Diagram Rev. 4 | Page 3 of 65 | www.onsemi.com AMIS-30623 7.0 Pin Out GND GND GND GND XN YP YP XN HW0 HW1 VDD GND TST LIN GND HW2 CPN CPP 1 2 3 20 19 18 SWI VBB MOTXP GND MOTXN MOTYP GND MOTYN VBB VCP 32 31 30 29 28 27 26 25 XP XP VBB VBB VBB SWI NC HW0 1 2 3 4 5 6 7 8 24 23 22 4 5 6 7 8 9 10 17 16 15 14 13 12 11 YN YN VBB VBB VBB VCP CPP CPN Table 4: Pin Description Pin Name Pin Description HWO HW1 VDD GND TST LIN HW2 CPN CPP VCP VBB MOTYN MOTYP MOTXN MOTXP SWI NC Bit 0 of LIN-ADD Bit 1 of LIN-ADD Internal supply (needs external decoupling capacitor) Ground, heat sink Test pin (to be tied to ground in normal operation) LIN-bus connection Bit 2 LIN-ADD Negative connection of pump capacitor (charge pump) Positive connection of pump-capacitor (charge pump) Charge-pump filter-capacitor Battery voltage supply Negative end of phase Y coil Positive end of phase Y coil Negative end of phase X coil Positive end of phase X coil Switch input Not connected (to be tied to ground) To be tied to GND or VDD AMIS-30623 AMIS-30623 21 20 19 18 17 9 10 11 12 13 14 15 16 HW1 VDD GND TST LIN GND HW2 NC PC20051118.1 Top view NQ32 Figure 2: SOIC 20 and NQFP-32 pin-out PC20051123.1 SOIC-20 1 2 3 4,7,14,17 5 6 8 9 10 11 12,19 13 15 16 18 20 NQFP-32 8 9 10 11, 14, 25, 26, 31, 32 12 13 15 17 18 19 3, 4, 5, 20, 21, 22 23, 24 27, 28 29, 30 1, 2 6 7, 16 Rev. 4 | Page 4 of 65 | www.onsemi.com AMIS-30623 8.0 Package Thermal Resistance 8.1 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, 35m copper thickness, 1.6mm PCB thickness and 1layer, the thermal resistance is 28C/W, leading to a junction-ambient thermal resistance of 63C/W, Figure 3: PCB Ground Plane Layout Condition SOIC-20 PC20041128.1 8.2 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 25C/W. NQFP-32 PC20041128.2 Figure 4: PCB Ground Plane Layout Condition Rev. 4 | Page 5 of 65 | www.onsemi.com AMIS-30623 9.0 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) Parameter Motor Driver IMSmax,Peak IMSmax,RMS IMSabs IMSrel MOTXP MOTXN MOTYP MOTYN Max current through motor coil in normal operation Max RMS current through coil in normal operation Absolute error on coil current Error on current ratio Icoilx / Icoily Vbb = 12V, Tj = 50 C On resistance for each motor pin Vbb = 8V, Tj = 50 C (including bond wire) at IMSmax Vbb = 12V, Tj = 150 C Vbb = 8V, Tj = 150 C IMSL LIN Transmitter Ibus_on Ibus_off Ibus_off Ibus_lim Rslave LIN Receiver Vbus_dom Vbus_rec Vbus_hys Ttw T (1) (2) tsd (2) Test Conditions Min. Typ. 800 570 Max. Unit mA mA -10 -7 0.50 0.55 0.70 0.85 2 40 -1 10 7 1 1 1 1 % % mA mA mA RDSon Pull down current Dominant state, driver on Dominant state, driver off LIN Recessive state, driver off Current limitation Pull-up resistance Receiver dominant state LIN Receiver recessive state Receiver hysteresis Thermal warning Thermal shutdown Low temperature warning Nominal operating supply range VBB Supply voltage for OTP zapping Total current consumption Sleep mode current consumption Internal regulated output VDD (4) (3) HiZ mode Vbus = 1.4V Vbus = 0V Vbus = Vbat 50 20 0 0.6 * Vbb 0.05 * Vbb 138 20 200 30 47 0.4 *Vbb Vbb 0.2 * Vbb 145 Ttw + 10 Ttw - 155 6.5 9.0 18 10.0 3.50 50 4.75 5 2 4.5 42 10 2 6 29 40V 30 10.0 100 5.50 152 A mA k V V V C C C V V mA A V mA V mA k k V V Thermal Warning and Shutdown Tlow Vbb Supply and Voltage Regulator VbbOTP Ibat Ibat_s Vdd IddStop VddReset IddLim Rt_OFF Rt_ON Vbb_sw Vmax_sw Unloaded outputs 8V < Vbb < 18V Digital current consumption Vbb < UV2 Digital supply reset level @ power down (5) Current limitation Switch OFF resistance (6) Pin shorted to ground Switch Input and Hardwire Address Input Switch ON resistance SWI HW2 Vbb range for guaranteed operation of SWI and HW2 Maximum voltage SWI HW2 Current limitation (6) Switch to Gnd or Vbat, T < 1s Short to Gnd or Vbat Switch Input and Hardwire Address Input Ilim_sw mA Rev. 4 | Page 6 of 65 | www.onsemi.com AMIS-30623 Symbol Vlow Vhigh HWhyst Pin(s) Parameter Test Conditions Min. 0.7 * Vdd 0.075 * Vdd Vbb > 15V 8V < Vbb < 15V Vbb+10 2 * Vbb - 5 220 220 TestBemf LIN command Service mode LIN command Service mode LIN command 0 - 4,85 2 0,50 Vbb+12.5 2 * Vbb - 2.5 Vbb+15 2 * Vbb 470 470 Typ. Max. . 0.3 * Vdd Unit V V V V V nF nF V k Hardwired Address Inputs and Test Pin Input level high HW0 Input level low HW1 TST Hysteresis Charge Pump Vcp Cbuffer Cpump VCP Output voltage External buffer capacitor CPP CPN External pump capacitor Motion Qualification Mode Output VOUT Output voltage swing ROUT Output impedance SWI Av Gain = VSWI / VBEMF 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 F 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 k series resistor. Table 6: UV Limits for Different Version Symbol Pin(s) Parameter Supply Thresholds AMIS-30623A UV1 UV2 UV1 UV2 VBB Stop voltage high threshold Stop voltage low threshold Stop voltage high threshold Stop voltage low threshold Test Conditions Min. 8.8 8.1 7.8 7.1 Typ. 9.4 8.5 8.4 7.5 Max. 9.9 9.0 8.9 8.0 Unit V V V V Supply Thresholds AMIS-30623B VBB Rev. 4 | Page 7 of 65 | www.onsemi.com AMIS-30623 10.0 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 = 1k , Load for slope definitions : [L1] = 1nF / 1k ; [L2] = 6.8nF / 660 ; [L3] = 10nF / 510. Table 7: AC Parameters Symbol Pin(s) Power-up Tpu Internal Oscillator fosc LIN Transmitter T_slope_F/R T_slope_Sym T_tr_F T_tr_R Tsym_tr LIN Receiver T_rec_F T_rec_R Tsym_rec Twake Tsw Tsw_on Motor Driver Fpwm Fjit_depth Tbrise Tbfall Tstab Charge Pump fCP CPN CPP Charge pump frequency (2) Parameter Power-up time Frequency of internal oscillator Test Conditions Guaranteed by design Min. Typ. Max. 10 Unit ms MHz 3.6 Extrapolated between and 60% Vbus_dom T_slope_F - T_slope_R 40% 4.0 4.4 Slope time falling or rising edge Slope time symmetry LIN (1) 3.5 -4 0.1 0.1 1 1 22.5 4 4 4 2 s s s s s Propagation delay TxD low to bus Propagation delay TxD high to bus Transmitter delay symmetry T_tr_F - T_tr_R -2 LIN Propagation delay bus dominant to RxD low Propagation delay bus recessive to RxD high Receiver delay symmetry T_rec_F - T_rec_R Wake-up delay time Scan pulse period (2) 0.1 0.1 -2 50 4 4 6 6 2 s s s s s ss 100 1024 128 200 Switch Input and Hardwire Address Input SWI HW2 Scan pulse duration PWMfreq = 0 (3) PWMfreq = 1 (3) PWMJen = 1 (3) Between 10% and 90% 29 20.6 41,2 PWM frequency MOTxx (2) 22.8 45,6 10 170 140 32 25.0 50,0 kHz kHz % ns ns PWM jitter modulation depth Turn-on transient time Turn-off transient time Run current stabilization time 35 ms 250 kHz Notes: (1) For loads [L1] and [L2] (2) Derived from the internal oscillator (3) See SetMotorParam and PWM regulator Rev. 4 | Page 8 of 65 | www.onsemi.com AMIS-30623 TxD 50% 50% t T_tr_F LIN 95% 50% 50% 5% t RxD T_rec_F 50% T_rec_R 50% t PC20051123.2 T_tr_R Figure 5: LIN Delay Measurement LIN VBUSrec 60% VBUSdom 40% 60% 40% t T_slope_F T_slope_R PC20051123.3 Figure 6: LIN Slope Measurement Rev. 4 | Page 9 of 65 | www.onsemi.com AMIS-30623 11.0 Typical Application VBAT C8 100 nF C7 220 nF 100 F CPN VDD 9 3 220 nF C5 C6 100 nF C3 VBB 12 C4 VBB 100 nF CPP 10 VCP 11 19 20 1 k SWI C2 2,7 nF 1 F C9 HW0 Connect to VBAT or GND 1 18 MOTXP MOTXN MOTYP MOTYN HW1 2 Connect to VBAT or GND LIN bus VDR 27V AMIS-30623 16 1 k C1 2,7 nF HW2 8 M 15 13 5 4 7 14 17 LIN 6 TST GND Figure 7: Typical Application Diagram PC20051118.1 Notes: (1) All resistors are 5%, 1/4 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 12.0 Positioning Parameters 12.1 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 Rev. 4 | Page 10 of 65 | www.onsemi.com AMIS-30623 12.2 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 Vmax Group (ull step/s) Dec Hex Stepping Mode th th 1/4 1/8 Micro-stepping Micro-stepping (micro-step/s) (micro-step/s) Half-stepping (half-step/s) 1/16 Micro-stepping (micro-step/s) th 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 A B C D 197 273 334 395 425 456 486 546 607 668 729 790 912 1091 1457 1945 395 546 668 790 851 912 973 1091 1213 1335 1457 1579 1823 2182 2914 3891 790 1091 1335 1579 1701 1823 1945 2182 2426 2670 2914 3159 3647 4364 5829 7782 1579 2182 2670 3159 3403 3647 3891 4364 4852 5341 5829 6317 7294 8728 11658 15564 12.3 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 Hex 0 1 2 3 4 5 6 7 8 9 A B C D E F Dec 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Vmax Factor 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 93 213 213 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 C 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 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 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. Rev. 4 | Page 11 of 65 | www.onsemi.com AMIS-30623 12.4 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/s. 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 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 14785 167 197 213 228 243 273 303 334 364 395 456 546 729 973 Acceleration (Full-step/s) 49 218 1004 3609 6228 8848 11409 13970 16531 19092 21886 24447 27008 29570 34925 40047 106 473 735 29570 The formula to compute the number of equivalent full-step during acceleration phase is: Nstep = Vmax 2 - Vmin 2 2 x Acc 12.5 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 th 1/16 S B14 th 1/8 S B13 th 1/4 S B12 Half-stepping S B11 PositionShort S S SecurePosition S B9 Notes: (1) LSB: Least Significant Bit (2) S: Sign bit B13 B12 B11 B10 S B8 B12 B11 B10 B9 B9 B7 B11 B10 B9 B8 B8 B6 Position Word: Pos[15:0] B10 B9 B8 B7 B6 B5 B9 B8 B7 B6 B5 B4 B8 B7 B6 B5 B4 B3 B7 B6 B5 B4 B3 B2 B7 B6 B5 B4 B3 B2 B5 B4 B3 B2 B1 LSB B4 B3 B2 B1 B1 0 B3 B2 B1 LSB B2 B1 LSB 0 B1 LSB 0 0 LSB 0 0 0 LSB 0 0 0 0 0 0 0 Shift No shift 1-bit left x2 2-bit left x4 3-bit left x8 No shift No shift Rev. 4 | Page 12 of 65 | www.onsemi.com AMIS-30623 12.5.1. 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 th 1/4 micro-stepping th 1/8 micro-stepping th 1/16 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. 12.5.2. 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 th 1/4 micro-stepping th 1/8 micro-stepping th 1/16 micro-stepping Secure Position Resolution 4 half-steps th 8 micro-steps (1/4 ) th 16 micro-steps (1/8 ) th 32 micro-steps (1/16 ) 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 12.5.3. 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 Rev. 4 | Page 13 of 65 | www.onsemi.com AMIS-30623 13.0 Structural Description See Figure 1. 13.1 Stepper Motor Driver The motor driver 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. 13.2 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 motor driver 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 motor driver part in order to manage possible problems and decide on internal actions and reporting to the LIN interface. 13.3 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. 13.4 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. 13.5 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 motor driver. 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. Rev. 4 | Page 14 of 65 | www.onsemi.com AMIS-30623 14.0 Functions Description This chapter describes the following functional blocks in more detail: * Position controller * Main control and register, OTP memory + ROM * Motor driver The Motion detection and LIN controller are discussed in separate chapters. 14.1 Position Controller 14.1.1. 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 Velocity Deceleration range Zero speed Hold current Vmax Zero speed Hold current Vmin Position Pstart Pmin P=0 Optional zero switch Pstop 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 Reference See Positioning See Ihold See Irun See Acceleration and Deceleration See Minimum Velocity See Maximum Velocity Rev. 4 | Page 15 of 65 | www.onsemi.com AMIS-30623 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 time 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. Velocity time 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 Rev. 4 | Page 16 of 65 | www.onsemi.com AMIS-30623 14.1.2. 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 1 m otion Vm in tim e 26.6 m s st 2 nd m otion Reset ActPos 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. 14.1.3. Position Periodicity Depending on the stepping mode the position can range from -4096 to +4095 in half-step to -32768 to +32767 in 1/16th micro-stepping mode. One can project all these positions lying on a circle. When executing the command SetPosition, the position controller will set the movement direction in such a way that the traveled distance is 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 Rev. 4 | Page 17 of 65 | www.onsemi.com AMIS-30623 +10000 +20000 ActPos = +30000 0 Motion direction TagPos = -30000 -10000 -20000 Figure 10: Motion Direction is Function of Difference between ActPos and TagPos 14.1.4. 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 STOP SBOT DriveHS LOGIC DriveLS "R"-Comp I R Debouncer 64 ms High Low Float 1 2 1 = R2GND 2 = R2VBAT 3 = OPEN 3 SPASS_B Rth COMP Debouncer 32 s HW2_Cmp Figure 11: Simplified Schematic Diagram of the HW2 Comparator Three 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 Rev. 4 | Page 18 of 65 | www.onsemi.com AMIS-30623 Table 16: State Diagram of the HW2 Comparator Previous State DriveLS DriveHS Float 1 0 Float 1 0 Float 0 1 Float 0 1 Low 1 0 Low 1 0 Low 0 1 Low 0 1 High 1 0 High 1 0 High 0 1 High 0 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 s debounced HW2_Cmp output accordingly. The output of this small state-machine is corresponding to: High or address = 1 Low or address = 0 Floating As illustrated in 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 R2VBAT DriveHS Tsw = 1024 s OPEN R2VBAT R2GND t t DriveLS Tsw_on = 128 s t "R"-Comp Rth t HW2_Cmp t State Float Float Float Float High High High High High High High High Low Low Low t Figure 12: Timing Diagram Showing the Change in States for HW2 Comparator R2VBAT A resistor is connected between VBAT and HW2. Every 1024 s 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 Rev. 4 | Page 19 of 65 | www.onsemi.com AMIS-30623 state and the new state will be High. (see 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 s 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. Rev. 4 | Page 20 of 65 | www.onsemi.com AMIS-30623 14.1.5. 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 STOP SBOT DriveHS LOGIC DriveLS "R"-Comp I R Closed Open 1 2 1 = R2GND 2 = R2VBAT 3 = OPEN 3 SPASS_B Rth COMP 32 s Debouncer SWI_Cmp 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 0 1 2 3 4 Content 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 Bit 1 ID1 Bit 0 ID0 TW Tinfo[1:0] Figure 14: GetActualPos LIN commando Important remark. Every 512s this information is refreshed. Rev. 4 | Page 21 of 65 | www.onsemi.com AMIS-30623 DriveHS Tsw =1024 s 512 s DriveLS Tsw_on = 128 s t t "R"-Comp Rth t SWI_Cmp 120 s t ESW 0 ActPos + 1 1 ActPos + 2 1 ActPos + 3 1 t ActPos ActPos t Figure 15: Timing Diagram Showing the Change in States for SWI comparator 14.2 Main Control and Register, OTP Memory + ROM 14.2.1. 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 19). 14.2.2. 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 19 and Table 20. 14.2.3. 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 19). The circuit is then ready to execute a new positioning command, provided thermal and electrical conditions allow for it. Rev. 4 | Page 22 of 65 | www.onsemi.com AMIS-30623 14.2.4. 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). 14.2.5. Thermal Shutdown Mode When thermal shutdown occurs, the circuit performs a SoftStop command and goes to Motor shutdown mode (see below). 14.2.6. 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 Normal Temp. - Thermal warning - Thermal shutdown T < Ttw & T > Ttw LIN frame: GetStatus or GetFullStatus T < Ttw Post thermal warning - T > Ttsd T < Ttsd T < Tlow Post thermal shutdown 1 T < Ttw T > Tlow Post thermal shutdown 2 - Low Temp. - T > Ttw Figure 16: State Diagram Temperature Management Rev. 4 | Page 23 of 65 | www.onsemi.com AMIS-30623 14.2.7. Autarkic Functionality in Under-voltage Condition 14.2.7.1. 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 Normal voltage - < UV2 > = `0' - < StepLoss > = `0' Vbb < UV2 (no motion) Vbb < UV2 & motion ongoin g Vbb > UV1 & LIN frame: GetStatus or GetFullStatus Stop mode 1 Stop mode 2 - - Figure 17: State Diagram Battery Voltage Management 14.2.7.2. Autarkic Function In Stop mode 1 the motor is put in shutdown state. The 14.2.7.3. Logical Implementation Autarkic Function The logic uses the Rev. 4 | Page 24 of 65 | www.onsemi.com AMIS-30623 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 Stopped ShutDown HS to Positioner GetStatus GetFullStatus Vbb > UV1 PWM disabled Motor in HiZ 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. 14.2.8.1. OTP Memory Structure The table below shows how the parameters to be stored in the OTP memory are located. Table 17: OTP Memory Structure Address Bit 7 0x00 OSC3 0x01 EnableLIN 0x02 AbsThr3 0x03 Irun3 0x04 Vmax3 0x05 SecPos10 0x06 SecPos7 0x07 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 StepMode1 Bit 2 IREF2 BG2 PA2 Ihold2 Vmin2 Acc2 SecPos2 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. Rev. 4 | Page 25 of 65 | www.onsemi.com AMIS-30623 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. 14.2.8.2. 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 Absolute and Relative threshold used for the motion detection Index 0 1 2 3 4 5 6 7 8 9 A B C D E F AbsThr 00 00 01 01 10 10 11 11 00 00 01 01 10 10 11 11 AbsThr Level (V) Disable 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 AbsThr[3:0] 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 DelThr[3:0] Absolute and Relative threshold used for the motion detection Index 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 DelThr 00 00 01 01 10 10 11 11 00 00 01 01 10 10 11 11 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 DelThr Level (V) Disable 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00 2.25 2.50 2.75 3.00 3.25 3.50 3.75 Rev. 4 | Page 26 of 65 | www.onsemi.com AMIS-30623 Irun[3:0] Current amplitude value to be fed to each coil of the stepper-motor. The table below provides the 16 possible values for IRUN. Index 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Irun 00 00 01 01 10 10 11 11 00 00 01 01 10 10 11 11 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 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Ihold 00 00 01 01 10 10 11 11 00 00 01 01 10 10 11 11 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Hold Current (mA) 59 71 84 100 119 141 168 200 238 283 336 400 476 566 673 0 StepMode Indicator of stepping mode to be used. Step Mode 0 0 0 1 1 0 1 1 Step Mode 1/2 stepping 1/4 stepping 1/8 stepping 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'. Rev. 4 | Page 27 of 65 | www.onsemi.com AMIS-30623 Vmax[3:0] Maximum velocity Index 0 1 2 3 4 5 6 7 8 9 A B C D E F Vmax 00 00 01 01 10 10 11 11 00 00 01 01 10 10 11 11 Vmax (full step/s) 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 Group A 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 B C D Vmin[3:0] Minimum velocity Index 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Vmin 00 00 01 01 10 10 11 11 00 00 01 01 10 10 11 11 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 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 Acc[3:0] Acceleration and deceleration between Vmax and Vmin. Index 0 1 2 3 4 5 6 7 8 9 A B C D E F 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Acc 00 00 01 01 10 10 11 11 00 00 01 01 10 10 11 11 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Acceleration (Full-step/s) 49 (*) 218 (*) 1004 . 3609 . 6228 . 8848 . 11409 . 13970 . 16531 . 19092 (*) 21886 (*) 24447 (*) 27008 (*) 29570 (*) 34925 (*) 40047 (*) (*) restriction on speed SleepEn 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 Rev. 4 | Page 28 of 65 | www.onsemi.com AMIS-30623 14.2.9. RAM Registers Table 19: RAM Registers Register Mnemonic ActPos Length (bit) Related Commands GetActualPos GetFullStatus GotoSecurePos ResetPosition GetFullStatus GotoSecurePos ResetPosition SetPosition SetPositionShort GetFullStatus ResetToDefault SetMotorParam GetFullStatus ResetToDefault SetMotorParam GetFullStatus ResetToDefault SetMotorParam GetFullStatus ResetToDefault SetMotorParam GetFullStatus ResetToDefault SetMotorParam GetFullStatus ResetToDefault SetMotorParam GetFullStatus ResetToDefault SetMotorParam GetFullStatus ResetToDefault SetMotorParam GetFullStatus SetStallParam GetFullStatus SetStallParam GetFullStatus SetStallParam SetOTPParam SetOTPParam Comment Reset State Actual position 16 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 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 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 Note 1 Last programmed position Acceleration shape Coil peak current Coil hold current Minimum Velocity Maximum Velocity Shaft Acceleration/ deceleration Secure Position Stepping mode Stall detection absolute threshold Stall detection delta threshold Sleep Enable Fail Safe Stall detection delay Stall detection sampling PWM Jitter 100% duty cycle Stall Disable PWM frequency Pos/ TagPos 16/11 AccShape Irun Ihold Vmin Vmax Shaft Acc SecPos StepMode AbsThr DelThr SleepEn FailSafe FS2StallEn MinSamples PWMJEn DC100SDis PWMFreq 1 4 4 4 4 1 4 11 2 4 4 `0' From OTP memory 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 `000' `000' `1' means jitter is added `1' means stall detection is disabled in case PWM regulator runs at = 100% `0' `0' `0' 3 3 1 1 1 GetFullStatus SetStallParam GetFullStatus SetStallParam GetFullStatus SetStallParam GetFullStatus SetStallParam GetFullStatus SetMotorParam 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. Rev. 4 | Page 29 of 65 | www.onsemi.com AMIS-30623 14.2.10. Flags Table Table 20: Flags Table Flag Mnemonic CPFail Length (bit) Related Commands GetFullStatus GetActualPos GetStatus GetFullStatus GetActualPos GetStatus GetFullStatus Comment Reset State Charge pump failure Electrical defect External switch status Electrical flag 1 1 1 1 ElDef `0' = charge pump OK `1' = charge pump failure reset only after GetFullStatus `0' `0' `0' `0' ESW HS Internal use Motion status Motion 3 GetFullStatus "000" Over current in coil X Over current in coil Y OVC1 OVC2 1 1 1 1 1 1 1 1 1 1 2 GetFullStatus GetFullStatus `0' `0' n.a. `0' `1' `0' `0' `0' `0' `0' Secure position enabled SecEn Circuit going to Sleep Sleep mode Step loss Delta High Stall Delta Low Stall Absolute Stall Stall Motor stop Temperature info StepLoss DelStallHi DelStallLo AbsStall Stall Stop Tinfo Internal use Internal use GetActualPos GetStatus GetFullStatus GetFullStatus GetFullStatus GetFullStatus GetFullStatus GetStatus Internal use GetActualPos GetStatus GetFullStatus GetActualPos GetStatus GetFullStatus GetActualPos GetStatus GetFullStatus GetActualPos GetStatus GetFullStatus `1' = step loss due to under voltage, over current or open circuit `1' = Vbemf > bemf + DeltaThr `1' = Vbemf > bemf - DeltaThr `1' = Vbemf > AbsThr Thermal shutdown Thermal warning Battery stop voltage TSD 1 1 1 TW UV2 Digital supply reset VddReset 1 GetActualPos GetStatus GetFullStatus "00" = normal temperature range "01" = low temperature warning "10" = high temperature warning "11" = motor shutdown `1' = shutdown. (> 155C typ.) reset only after Get(Full)Status and if "00" `0' `0' `0' `1' 14.2.10.1. Priority Encoder The table below describes the state management performed by the main control block. Rev. 4 | Page 30 of 65 | www.onsemi.com AMIS-30623 Table 21: Priority Encoder State Command GetActualPos Stopped Motor Stopped, Ihold in Coils GotoPos Motor Motion Ongoing DualPosition No Influence on RAM and TagPos SoftStop Motor Decelerating HardStop ShutDown Sleep Motor Forced to Motor Stopped, No Power Stop H-bridges in (note 1) Hi-Z LIN in-frame response OTP refresh; LIN in-frame response LIN in-frame response LIN in-frame response OTP refresh; LIN in-frame response LIN in-frame response LIN in-frame response OTP refresh; LIN in-frame response LIN in-frame response OTP refresh; OTP to RAM; AccShape reset (note 3) RAM update LIN in-frame response OTP refresh; LIN in-frame response LIN in-frame response LIN in-frame response OTP refresh; LIN in-frame response LIN in-frame response LIN in-frame response OTP refresh; LIN in-frame response LIN in-frame response; if ( TagPos and ActPos reset GetOTPparam GetFullStatus or GetStatus [ attempt to clear OTP refresh; OTP to RAM; AccShape reset RAM update TagPos and ActPos reset OTP refresh; OTP to RAM; AccShape reset RAM update OTP refresh; OTP to RAM; AccShape reset RAM update OTP refresh; OTP to RAM; AccShape reset RAM update TagPos updated; TagPos updated GotoPos TagPos updated TagPos updated SetPositionShort TagPos updated; TagPos updated [ half-step mode only) ] GotoPos GotoSecPosition If DualPosition If If DualPosition HardStop SoftStop Sleep or LIN timeout [ HardStop; HardStop; HardStop; See note 9 If If HardStop HardStop Sleep Shutdown HardStop Thermal shutdown [ Shutdown SoftStop Stopped SoftStop Stopped Stopped; Stopped; TagPos =ActPos TagPos =ActPos n.a. n.a. n.a. With the following color code: Command ignored Transition to another state Master is responsible for proper update (see note 7) Rev. 4 | Page 31 of 65 | www.onsemi.com AMIS-30623 Notes: 1) 2) 3) 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 4) 5) 6) 7) 8) 9) 10) 11) 12) 13) 14) POR RunInit Thermal Shutdown SoftStop HardStop HardStop RunInit Motion finished HardStop HardStop Thermal ShutDown SoftStop HardStop Thermal Shutdown Motion Finished GotoSecPos ShutDown Stopped SetPosition Motion Finished GotoPos Any LIN command Priorities Motion Finished 1 2 Sleep 3 4 Figure 19: State Diagram Remark: IF "SleepEn"=0, then the red arrow from stopped state to sleep state does not exist. Rev. 4 | Page 32 of 65 | www.onsemi.com AMIS-30623 14.3 Motor Driver 14.3.1. Current Waveforms in the Coils The figure below illustrates the current fed to the motor coils by the motor driver 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 Figure 21: Current Waveforms in Motorcoils X and Y in 1/16th Microstep Mode 14.3.2. 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 Rev. 4 | Page 33 of 65 | www.onsemi.com AMIS-30623 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 Applied PWM Frequency 0 22.8 kHz 1 45.6 kHz 14.3.3. 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 Status 0 Single PWM frequency 1 Added jitter to PWM frequency 14.3.4. 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. 14.3.5. 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 PC20051123.5 14.3.6. 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 Rev. 4 | Page 34 of 65 | www.onsemi.com AMIS-30623 14.3.7. 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 Yi or Xi Yi or Xi Y1 and Y2 X1 and X2 Xi and Yi Short circuit to GND Short circuit to Vbat Open Short circuited Short circuited Short circuited Rev. 4 | Page 35 of 65 | www.onsemi.com AMIS-30623 14.3.8. 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 Tj Tsd or Vbb UV2 or 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 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 Rev. 4 | Page 36 of 65 | www.onsemi.com AMIS-30623 14.4 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 Velocity Vbemf + THR Vmax Motor speed Vmin Vbemf t - THR t Vbemf Vbemf DeltaStallHi VABSTH Back emf t AbsStall DeltaStallLo t 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 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 Rev. 4 | Page 37 of 65 | www.onsemi.com AMIS-30623 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] tDELAY (s) PWMfreq = 0 PWMfreq = 1 87 43 130 65 174 87 217 109 261 130 304 152 348 174 391 196 0 1 2 3 4 5 6 7 000 001 010 011 100 101 110 111 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", Rev. 4 | Page 38 of 65 | www.onsemi.com AMIS-30623 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". Rev. 4 | Page 39 of 65 | www.onsemi.com AMIS-30623 15.0 Lin Controller 15.1 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 k RxD to control block LIN protocol handler TxD Filter LIN Slope Control LIN address HW0 from OTP PC20051124.1 HW1 HW2 Figure 25: LIN Interface 15.2 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. Rev. 4 | Page 40 of 65 | www.onsemi.com AMIS-30623 15.3 Functional Description 15.3.1. 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. 15.3.2. Protocol Handler This block implements: * Bit synchronization * Bit timing * The MAC layer * The LLC layer * The supervisor 15.3.3. Electromagnetic Compatibility EMC behavior fulfills requirements defined by LIN specification, rev. 1.3. 15.4 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 Not used Bit 3 Time out error Bit 2 Data error Flag Bit 1 Header error Flag Bit 0 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. 15.5 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). Rev. 4 | Page 41 of 65 | www.onsemi.com AMIS-30623 15.6 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. 15.6.1. 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 ID0 ID1 ID2 ID3 ID4 ID5 ID6 ID7 Data byte 1 phys. address Data byte 2 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 1 Data2 command Data3 physical address Data4 Data5 Data6 parameters Data7 Data8 AppCmd 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 ID0 ID1 ID2 ID3 ID4 ID5 ID6 ID7 Data1 command Data2 Physical address Broad Data3... 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. Rev. 4 | Page 42 of 65 | www.onsemi.com AMIS-30623 15.6.2. 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. 15.6.3. 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 0 1 2 Content 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 Where: (*) According to parity computation * Type #8: eight data bytes writing frame with 0x3C identifier. Byte 0 1 2 3 4 5 6 7 8 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 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] Bit 1 0 Bit 0 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 Rev. 4 | Page 43 of 65 | www.onsemi.com AMIS-30623 15.6.4. 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 Where: 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 User Defined User Defined User Defined User Defined User Defined User Defined User Defined User Defined User Defined User Defined ROM pointer 0010 0011 0100 0101 0110 0111 0000 0001 1000 1001 Application Command GetActualPos GetStatus SetPosition SetPositionShort (1 m) SetPositionShort (2 m) SetPositionShort (4 m) GeneralPurpose 2 bytes GeneralPurpose 4bytes Preparation Frame SetPosParam CMD[6:0]: Broad: Command assignement done at start-up Command assignement via Dynamic ID during operation Figure 26: Principle of Dynamic Command Assignment Rev. 4 | Page 44 of 65 | www.onsemi.com AMIS-30623 15.7 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 Command Byte (CMD) Dynamic ID (example) ROM Pointer 000000 000001 000010 000011 000100 000101 000110 000111 010111 001000 001001 010000 010110 001011 001100 001101 001110 n.a. 001111 011111 010001 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 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. 0010 0011 0x17 0x08 0x09 0x10 0x16 0x0B 0x0C 0x0D 0x0E 0100 0101 0110 0111 1001 0x0F 0x1F 0x11 n.a. n.a. n.a. 011000 101000 011010 0000 0001 1000 Dynamic ID assignment General purpose 2 Data bytes General purpose 4 Data bytes Preparation frame 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. 15.8 LIN Lost Behavior 15.8.1. 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 Table 32: Sleep Enable Selection Rev. 4 | Page 45 of 65 | www.onsemi.com AMIS-30623 15.8.3. Fail Safe Motion The OTP bit Table 33: Fail Safe Enable Selection 15.8.4. 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 Power Up OTP content is copied in RAM GetFullStatus (LIN communication ON) No B LIN bus OK 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 15.8.4.1. 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 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) Rev. 4 | Page 46 of 65 | www.onsemi.com AMIS-30623 Important remarks: (1) The Secure Position has a resolution of 11 bit (2) Same behavior in case of HW2 float (= lost LIN address). See also Hardwired Address HW2 A SetMotorParam (RAM content is overwritten) LIN bus OK No FailSafe = 1 Yes Yes No SecPos 0x400 No Yes SleepEn = 1 Yes No Normal Function Secure Positioning to TagPos SLEEP STOP Figure 28: Case A: LIN Lost During Normal Operation 15.8.4.2. 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. Rev. 4 | Page 47 of 65 | www.onsemi.com AMIS-30623 B FailSafe = 1 Yes First motion of DualPosition Half the position range Negative direction At Stall -> ActPos = '0000' No No SecPos 0x400 Yes Secure Positioning to SecPos stored in OTP SleepEn = 1 Yes No STOP SLEEP STOP Figure 29: Case B: LIN Lost at or During Start-up 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 Rev. 4 | Page 48 of 65 | www.onsemi.com AMIS-30623 16.0 LIN Application Commands 16.1 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 SetDualPosition SetMotorParam SetOTPparam SetStallparam SetPosition SetPositionShort (1 m.) SetPositionShort (2 m.) SetPositionShort (4 m.) SetPosParam Service Commands Sleep SoftStop TestBemf Code Prep Frames Read Write Description 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x17 0x08 0x09 0x10 0x16 0x0B 0x0C 0x0D 0x0E 0x2F 7, 8 7, 8 7, 8 5, 6 6 6 5 1 1 1 1 4 4 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 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 4 1, 3, 4 2 2 2 2 1 0x0F 0x1F 1 1 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 Content 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 Figure 30: Color Code Used in the Definition of LIN Frames Rev. 4 | Page 49 of 65 | www.onsemi.com AMIS-30623 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. 16.2 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 0 1 2 3 4 Content Identifier Data 1 Data 2 Data 3 Data 4 Bit 7 * ESW 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 Bit 1 ID1 Bit 0 ID0 VddReset TW 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 0 1 2 Byte 0 1 2 3 4 5 6 7 8 Content Identifier Data 1 Data 2 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Bit 7 0 ESW Bit 7 * 1 1 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 Bit 1 ID1 Bit 0 ID0 Bit 2 1 Bit 1 0 Bit 0 1 VddReset TW Tinfo[1:0] Where: (*) According to parity computation Rev. 4 | Page 50 of 65 | www.onsemi.com AMIS-30623 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 Bit 1 ID1 Bit 0 ID0 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 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 According to parity computation Where: 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. 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 0 1 Content Identifier Data 1 Bit 7 * 1 Preparing Frame Structure Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 * 0 ID4 ID3 ID2 CMD[6:0] = 0x02 Bit 1 ID1 Bit 0 ID0 Rev. 4 | Page 51 of 65 | www.onsemi.com AMIS-30623 2 Byte 0 1 2 3 4 5 6 7 8 Data 2 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Bit 7 0 1 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 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 Table 20 to see the meaning of the parameters sent to the LIN master. Note: A GetStatus command will attempt to reset flags 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. 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 0 1 2 Content 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 Rev. 4 | Page 52 of 65 | www.onsemi.com AMIS-30623 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 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 0 1 2 Content 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 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 0 1 2 Content 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 Rev. 4 | Page 53 of 65 | www.onsemi.com AMIS-30623 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 0 1 2 Content 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. 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 0 1 2 3 4 5 6 7 8 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 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 Rev. 4 | Page 54 of 65 | www.onsemi.com AMIS-30623 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 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 0 1 2 3 4 5 6 7 8 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 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). Rev. 4 | Page 55 of 65 | www.onsemi.com AMIS-30623 Byte 0 1 2 3 4 5 6 7 8 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 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 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 0 1 2 Content 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 0 1 2 3 4 Content 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]. Rev. 4 | Page 56 of 65 | www.onsemi.com AMIS-30623 3) Two (2) motors positioning frame with 0x3C identifier (type #4) Byte 0 1 2 3 4 5 6 7 8 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 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] Bit 1 0 Bit 0 0 Where: Adn[6:0] : Motor #n physical address (n [1,2]). Posn[15:0] : Signed 16-bit position set-point for motor #n. 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 0 1 2 Content 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 0 1 2 3 4 Content 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] AD2[3:0] Bit 0 ID0 Where: (*) ID[5:0]: Adn[3:0]: Posn[10:0]: according to parity computation Dynamically allocated identifier to four data bytes SetPositionShort command. Motor #n physical address least significant bits (n [1,2]). Signed 11-bit position set point for Motor #n (see RAM Registers) Rev. 4 | Page 57 of 65 | www.onsemi.com AMIS-30623 3.) Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2) Byte 0 1 2 3 4 5 6 7 8 Content Identifier Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 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] AD2[3:0] AD3[3:0] AD4[3:0] Bit 0 ID0 Where: (*) ID[5:0]: Adn[3:0]: Posn[10:0]: according to parity computation Dynamically allocated identifier to eight data bytes SetPositionShort command. Motor #n physical address least significant bits (n [1,4]). Signed 11-bit position set point for Motor #n (see RAM Registers) SetPosParam() This command is provided to the circuit by the LIN Master to drive one motor to a given absolute position. It also sets some of the values for the stepper motor parameters such as minimum and maximum velocity. SetPosParam corresponds to a Four (4) Data bytes writing LIN frame with specific dynamically assigned identifier (type # 2). 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] Byte 0 1 2 3 4 Content Identifier Data 1 Data 2 Data 3 Data 4 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 0 1 2 Content 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 Rev. 4 | Page 58 of 65 | www.onsemi.com AMIS-30623 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 0 1 2 Content 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. 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 0 1 2 Content 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. Rev. 4 | Page 59 of 65 | www.onsemi.com AMIS-30623 17.0 Resistance to Electrical and Electromagnetic Disturbances 17.1 Electrostatic Discharges Table 35: Absolute Maximum Ratings Parameter Vesd 1 Min. Max. Unit Electrostatic discharge voltage on LIN pin Electrostatic discharge voltage on other pins -4 -2 +4 +2 kV kV Note: (1) Human body model (100 pF via 1.5 k, according to MIL std. 883E, method 3015.7) 17.2 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 #2a #3a #3b #5b (load dump) -100V +100V -150V (from +13.5V) +100V (from +13.5V) +21.5V (from +13.5V) 1s 1s Rs Operating Class 2ms 50s 100ns (burst) 100ns (burst) 400ms 10 2 50 50 1 C B A A C 5ns 5ns 10ms 17.3 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 100mA envelope 200mA envelope A B C 17.4 Power Supply Micro-interruptions According to ISO 16750-2 Table 38: Immunity to Power Supply Micro-interruptions Test Operating Class 10s micro-interruptions 100s micro-interruptions 5ms micro-interruptions 50ms micro-interruptions 300ms micro-interruptions A B B C C Rev. 4 | Page 60 of 65 | www.onsemi.com AMIS-30623 18.0 Package Outline 18.1 SOIC-20: Plastic small outline; 20 leads; body width 300mil. AMIS reference: SOIC300 20 300G Rev. 4 | Page 61 of 65 | www.onsemi.com AMIS-30623 18.2 NQFP-32: No lead Quad Flat Pack; 32 pins; body size 7 x 7 mm. AMIS reference: NQFP-32 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 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 indentation 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 Rev. 4 | Page 62 of 65 | www.onsemi.com AMIS-30623 19.0 Soldering 19.1 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. 19.2 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 250C. The top-surface temperature of the packages should preferably be kept below 230C. 19.3 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): * 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; * 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 45 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 250C. A mildly-activated flux will eliminate the need for removal of corrosive residues in most applications. 19.4 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 300C. When using a dedicated tool, all other leads can be soldered in one operation within two to five seconds between 270 and 320C. Rev. 4 | Page 63 of 65 | www.onsemi.com AMIS-30623 Table 39: Soldering Process Package Soldering Method Wave Re-flow (2) (1) BGA, SQFP HLQFP, HSQFP, HSOP, HTSSOP, SMS PLCC (3) Not suitable Not suitable Suitable Not recommended Not recommended (3)(4) (5) Suitable Suitable Suitable Suitable Suitable , SO, SOJ LQFP, QFP, TQFP SSOP, TSSOP, VSO 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. Rev. 4 | Page 64 of 65 | www.onsemi.com AMIS-30623 20.0 Company or Product Inquiries For more information about ON Semiconductor's products or services visit our Web site at http://onsemi.com. 21.0 Document History Table 40: Document history Version Date 1.0 July 16, 2002 2.1 December 5, 2005 3.0 June 19, 2006 4.0 June 27, 2008 Modifications/Additions First non-preliminary issue Complete review Public release Move content to ON Semiconductor template; update OPN table ON Semiconductor and are registered trademarks of Semiconductor Components Industries, LLC (SCILLC). SCILLC reserves the right to make changes without further notice to any products herein. SCILLC makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does SCILLC assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation special, consequential or incidental damages. "Typical" parameters which may be provided in SCILLC data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. All operating parameters, including "Typicals" must be validated for each customer application by customer's technical experts. SCILLC does not convey any license under its patent rights nor the rights of others. SCILLC products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the SCILLC product could create a situation where personal injury or death may occur. Should Buyer purchase or use SCILLC products for any such unintended or unauthorized application, Buyer shall indemnify and hold SCILLC and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that SCILLC was negligent regarding the design or manufacture of the part. SCILLC is an Equal Opportunity/Affirmative Action Employer. This literature is subject to all applicable copyright laws and is not for resale in any manner. PUBLICATION ORDERING INFORMATION LITERATURE FULFILLMENT: Literature Distribution Center for ON Semiconductor P.O. Box 5163, Denver, Colorado 80217 USA Phone: 303-675-2175 or 800-344-3860 Toll Free USA/Canada Fax: 303-675-2176 or 800-344-3867 Toll Free USA/Canada Email: orderlit@onsemi.com N. American Technical Support: 800-282-9855 Toll Free USA/Canada Europe, Middle East and Africa Technical Support: Phone: 421 33 790 2910 Japan Customer Focus Center Phone: 81-3-5773-3850 ON Semiconductor Website: www.onsemi.com Order Literature: http://www.onsemi.com/orderlit For additional information, please contact your local Sales Representative Rev. 4 | Page 65 of 65 | www.onsemi.com |
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