Micro-stepping Motor Driver
NCV70627
Introduction
The NCV70627 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 NCV70627 acts as a slave on the LIN bus and the
master can fetch specific status information like actual position, error
flags, etc. from each individual slave node.
An integrated sensor−less step−loss detection prevents the positioner
from loosing steps and stops the motor when running into stall. This
enables silent, yet accurate position calibrations during a referencing
run and allows semi−closed loop operation when approaching the
mechanical end−stops.
The chip is implemented in I3T50 technology, enabling both high
voltage analog circuitry and digital functionality on the same chip. The
NCV70627 is fully compatible with the automotive voltage
requirements. Due to the technology, the device is especially suited for
use in applications with fluctuating battery supplies.
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1
SSOP−EP
36 LEAD
CASE 940AB
32
QFN32, 5x5
CASE 488AM
ORDERING INFORMATION
See detailed ordering, marking and shipping information in the
package dimensions section on page 2 of this data sheet.
PRODUCT FEATURES
Motordriver
•
•
•
•
•
•
•
•
•
Micro−stepping Technology
Sensorless Step−loss Detection
Peak Current up to 800 mA
Low Temperature Boost Current up to 1100 mA
Programmable Current Stabilization Phase
Fixed Frequency PWM Current−control
Automatic Selection of Fast and Slow Decay Mode
No External Fly−back Diodes Required
Compliant with 14V Automotive Systems
Protection
•
•
•
•
•
•
•
Controller with RAM and OTP Memory
• Position Controller
• Configurable Speeds and Acceleration
• Input to Connect Optional Motion Switch
Overcurrent Protection
Open−circuit Detection
High Temperature Warning and Management
Low Temperature Flag
LIN Bus Short−circuit Protection to Supply and Ground
Lost LIN Safe Operation
Enhanced Under Voltage Management
Power Saving
• Powerdown Supply Current < 150 mA
• 3.3 V Regulator with Wake−up On LIN Activity
LIN Interface
• Physical Layer Compliant to LIN rev. 2.0. Data−link
EMI Compatibility
Layer Compatible with LIN rev. 1.3 (Note 1)
• LIN Bus Integrated Slope Control
• HV Outputs with Slope Control
• This is a Pb−Free Device
• Field−programmable Node Addresses
• Dynamically Allocated Identifiers
• Diagnostics and Status Information
1. Minor exceptions to the conformance of the data−link layer to LIN rev. 1.3.
© Semiconductor Components Industries, LLC, 2015
April, 2021 − Rev. 3
1
Publication Order Number:
NCV70627/D
NCV70627
Applications
The NCV70627 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
mechatronics solutions with the driver chip mounted
directly on the motor.
Table 1. ORDERING INFORMATION
Part No.
Peak Current
End Market/Version
Package*
Shipping†
NCV70627DQ002AR2G
800/1100 mA (Note 2)
Automotive
High Temperature
Version
SSOP−36EP
(Pb−Free)
1500/Tape & Reel
QFN32
(Pb−Free)
5000 / Tape & Reel
NCV70627MW002AR2G
800/1100 mA (Note 2)
Automotive
*For additional information on our Pb−Free strategy and soldering details, please download the ON Semiconductor Soldering and Mounting
Techniques Reference Manual, SOLDERRM/D.
†For information on tape and reel specifications, including part orientation and tape sizes, please refer to our Tape and Reel Packaging
Specifications Brochure, BRD8011/D.
2. The device boost current. This applies for operation under the thermal warning level only.
MARKING DIAGRAMS
1
NCV70627−2
FAWLYYWWG
N70627−2
FAWLYYWW
G
SSOP
QFN32
F
A
WL
YY
WW
G or G
= Fab Location
= Assembly Location
= Wafer Lot
= Year
= Work Week
= Pb−Free Package
Table 2. ABSOLUTE MAXIMUM RATINGS
Parameter
Min
Max
Unit
Supply voltage, hardwired address pin (Note 4)
−0.3
+40 (Note 3)
V
Bus input voltage (Note 4)
−40
+40
V
TJ
Junction temperature range (Note 5)
−50
+175
°C
Tstg
Storage temperature range (Note 6)
−55
+160
°C
HBM Electrostatic discharge voltage on LIN pin
−4
+4
kV
HBM Electrostatic discharge voltage on other pins
−2
+2
kV
MM Electrostatic discharge voltage on other pins
−200
+200
V
VBB, VHW2
Vlin
Vesd (Note 7)
Stresses exceeding those listed in the Maximum Ratings table may damage the device. If any of these limits are exceeded, device functionality
should not be assumed, damage may occur and reliability may be affected.
NOTE: A mission profile (Note 5) is a substantial part of the operation conditions; hence the Customer must contact ON Semiconductor in
order to mutually agree in writing on the allowed missions profile(s) in the application.
3. For limited time: VBB Ttw
LIN frame:
GetStatus or
GetFullStatus
T° > Ttsd
T° < Ttw
Post thermal
warning
Thermal shutdown
− = “11”
− = ‘1’
− = ‘1’
−SoftStop if
motion ongoing
−Motor shutdown
(motion disabled)
T° > Ttsd
− = “00”
− = ‘1’
− = ‘0’
T° < Tlow
Post thermal
shutdown 1
T° < Ttw
T° > Tlow
Post thermal
shutdown 2
− = “00”
− = ‘1’
− = ‘1’
Low Temp.
− = “01”
− = ‘0’
− = ‘0’
T° < Ttsd
−Motor shutdown
(motion disabled)
− = “10”
− = ‘1’
− = ‘1’
−Motor shutdown
(motion disabled)
T° > Ttw
Figure 13. State Diagram Temperature Management
T shutdown level
T
T warning level
t
T bit
I_Boost_ENB
forced to ‘1’
T bit
T < Ttw and
getstatus or
getfullstatus
T > Ttsd, motor
stops and
shutdown
T < Ttw and
getstatus or
getfullstatus
Figure 14. Illustration of Thermal Management Situation
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NCV70627
Under−Voltage Condition and Autarkic Functionality
Battery Voltage Management
transitions, when supply voltage VBB drops below UV3
level, a 32 ms debouncer is implemented that is derived from
the internal oscillator. For transitions when supply voltage
VBB rises above UV1 level, the NVC70627 reacts after
96 ms debounce time typically (OTP bit UV3debT is not set).
This time is increased to 256 ms when OTP bit UV3debT is
zapped to “1”. Zapping can be done via the SetOTPparam
command.
The NCV70627 monitors the VBB voltage by means of
two under voltage threshold UV3 and UV2 and one
shutdown level. The only condition to go back to normal
operation is to recover by a VBB voltage higher than UV1.
The flags and can only be cleared by receiving
the header of a GetStatus or a GetFullStatus
command after the VBB voltage higher than UV1.
The UV3 and UV1 levels are programmable by a LIN
command. There are 8 levels available for the UV3
threshold voltage. The UV1 level is ratio metric coupled
with UV3. UV2 has only a fixed threshold level. Refer to the
DC parameter table for the different under voltage levels.
When the battery voltage drops below UV3, the
flag will be set and a Soft Stop is performed to stop the
motion. If during this decelerated motion the battery voltage
does not go under the UV2 level, the NCV70627 will go to
state ” and the original Target
Position (TagPos) is saved while the motor is kept in position
by the Hold current*. As soon as the VBB voltage rises above
the UV1 level the NCV70627 will continue the motion the
(TagPos) and will go to the normal state
afterwards.
When during a motion the battery voltage drops below the
UV2 level, the NCV70627 will stop immediately by a Hard
Stop and directly enters the state followed
by . The motor is placed in HiZ and the
flags and are set (see Figure 15).
Note*: In this situation the flag is not set.
Autarkic Function
From above described states the device can enter the state
. When in the state, the
device will perform the Autarkic Function:
• If in this state VBB becomes > UV1 within 15 seconds,
the NCV70627 still will resume the motion to the saved
(TagPos) and will go to the state afterwards.
It accepts updates of the target position by means of the
commands SetPosition, SetPositionShort,
SetPosParam and GotoSecurePosition, even
if the flag and flags are NOT
cleared.
• If however the VBB voltage remains below UV2 level
voltage level for more than 15 seconds, the device will
enter state and the target position is
overwritten by Actual Position. This state can be exited
only if VBB is > UV1 voltage level and an incoming
command GetStatus or GetFullStatus is
received.
Important Notes:
1. In the case of Autarkic positioning, care needs to
be taken because accumulated steploss can cause a
significant deviation between physical and stored
actual position.
2. The SetDualPosition command will only be
executed after clearing the and
flags.
3. RAM reset occurs when Vdd < VddReset (digital
Power−On−Reset level).
4. The Autarkic function remains active as long as
VDD > VddReset.
Remarks:
If VBB voltage drops below the UV2 level while the
NCV70627 is in the motion “stabilization phase”, only the
flag is set; the flag is not set.
When the NCV70627 is in a stopped states or
and the VBB voltage drops below
UV2 level, the device will directly go to the state
, but does not raise the flag.
At the UV3 comparator output, there is implemented an
unsymmetrical debouncer which will filter immediate
actions during unwanted spikes at the battery supply. For
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23
NCV70627
OTP Register
OTP Memory Structure
The table below shows how the parameters to be stored in the OTP memory are located.
Table 19. OTP MEMORY STRUCTURE
Address
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0x00
SecPosA
TSD2
TSD1
TSD0
IREF3
IREF2
IREF1
IREF0
0x01
LIN_BR
ADM
BG5
BG4
BG3
BG2
BG1
BG0
0x02
AbsThr3
AbsThr2
AbsThr1
AbsThr0
PA3
PA2
PA1
PA0
0x03
Irun3
Irun2
Irun1
Irun0
Ihold3
Ihold2
Ihold1
Ihold0
0x04
Vmax3
Vmax2
Vmax1
Vmax0
Vmin3
Vmin2
Vmin1
Vmin0
0x05
SecPos10
SecPos9
SecPos8
Shaft
Acc3
Acc2
Acc1
Acc0
0x06
SecPos7
SecPos6
SecPos5
SecPos4
SecPos3
SecPos2
Failsafe
SleepEn
0x07
UV3debT
UV3Thr2
UV3Thr1
UV3Thr0
StepMode1
StepMode0
LOCKBT
LOCKBG
0x08
SecPos10A
SecPos9A
SecPos8A
OSC4
OSC3
OSC2
OSC1
OSC0
0x09
SecPos7A
SecPos6A
SecPos5A
SecPos4A
SecPos3A
SecPos2A
FailsafeA
SleepEnA
Application Parameters Stored in OTP Memory
Parameters stored at address 0x00 and 0x01 and bit
are already programmed in the OTP memory at
circuit delivery. They correspond to the calibration of the
circuit and are just documented here as an indication.
Each OTP bit is at ‘0’ when not zapped. Zapping a bit will
set it to ‘1’. Thus only bits having to be at ‘1’ must be zapped.
Zapping of a bit already at ‘1’ is disabled. Each OTP byte
will be programmed separately (see command
SetOTPparam). Once OTP programming is completed,
bit can be zapped to disable future zapping,
otherwise any OTP bit at ‘0’ could still be zapped by using
a SetOTPparam command.
Except for the physical address these
parameters, although programmed in a non−volatile
memory can still be overwritten in RAM by a LIN
SetMotorParam writing operation.
PA[3:0] In combination with HW[2:0] it forms the
physical address AD[6:0] of the stepper−motor.
Up to 128 stepper−motors can theoretically be
connected to the same LIN bus.
AbsThr[3:0] Absolute threshold used for the motion
detection
Index
Table 20. OTP OVERWRITE PROTECTION
Lock Bit
Protected Bytes
LOCKBT (factory zapped
before delivery)
0x00[6:0], 0x01[5:0], 0x08[4:0]
LOCKBG
0x00 to 0x09
The command used to load the application parameters via
the LIN bus in the RAM prior to an OTP Memory
programming is SetMotorParam. This allows for a
functional verification before using a SetOTPparam
command to program and zap separately one OTP memory
byte. A GetOTPparam command issued after each
SetOTPparam command allows verifying the correct byte
zapping.
Note: Zapped bits will become active only after a power
cycle. After programming the LIN bits the power cycle has
to be performed first to guarantee further communication
with the device at the new address.
AbsThr
AbsThr level (V) (*)
0
0
0
0
0
Disable
1
0
0
0
1
0.6
2
0
0
1
0
1.3
3
0
0
1
1
1.9
4
0
1
0
0
2.6
5
0
1
0
1
3.2
6
0
1
1
0
3.9
7
0
1
1
1
4.5
8
1
0
0
0
5.1
9
1
0
0
1
5.8
A
1
0
1
0
6.4
B
1
0
1
1
7.1
C
1
1
0
0
7.7
D
1
1
0
1
8.3
E
1
1
1
0
9.0
F
1
1
1
1
9.6
(*) Not tested in production. Values are approximations.
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NCV70627
UV3Thr[2:0] Under voltage threshold voltage for UV3
and UV1.
Index
UV3Thr
UV3 Level
UV1 Level
0
0
0
0
5.90
6.62
1
0
0
1
6.30
7.07
2
0
1
0
6.70
7.52
3
0
1
1
7.10
7.97
4
1
0
0
7.50
8.41
5
1
0
1
7.90
8.86
6
1
1
0
8.30
9.31
7
1
1
1
8.70
9.76
Ihold[3:0] Hold current for each coil of the stepper−motor.
The table below provides the 16 possible values for
.
Index
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 .
Index
Irun
Ihold
Hold Current
(mA)
Hold Boost
Current (mA)
0
0
0
0
0
59
81
1
0
0
0
1
71
98
2
0
0
1
0
84
116
3
0
0
1
1
100
138
4
0
1
0
0
119
164
5
0
1
0
1
141
194
6
0
1
1
0
168
231
7
0
1
1
1
200
275
8
1
0
0
0
238
327
9
1
0
0
1
283
389
Run Current
(mA)
Run Boost
Current (mA)
A
1
0
1
0
336
462
0
0
0
0
0
59
81
B
1
0
1
1
400
550
1
0
0
0
1
71
98
C
1
1
0
0
476
655
2
0
0
1
0
84
116
D
1
1
0
1
566
778
3
0
0
1
1
100
138
E
1
1
1
0
673
925
F
1
1
1
1
0
0
4
0
1
0
0
119
164
5
0
1
0
1
141
194
6
0
1
1
0
168
231
7
0
1
1
1
200
275
8
1
0
0
0
238
327
9
1
0
0
1
283
389
A
1
0
1
0
336
462
B
1
0
1
1
400
550
C
1
1
0
0
476
655
D
1
1
0
1
566
778
Step Mode
Step Mode
E
1
1
1
0
673
925
0
0
1/2 stepping
F
1
1
1
1
800
1100
0
1
1/4 stepping
1
0
1/8 stepping
1
1
1/16 stepping
Note: When the motor is stopped, the current is reduced
from to . In the case of 0 mA hold
current (1111 in the hold current table), the following
sequence is applied:
1. The current is first reduced to 59 mA or 81 mA
during I_Boost function (corresponding to 0000
value in the table).
2. The PWM regulator is switched off; the bottom
transistors of the bridges are grounded.
Step Mode Setting of step modes.
Shaft This bit distinguishes between a clock−wise or
counter−clock−wise rotation.
SecPos[10:2] Secure Position of the stepper−motor. This is
the position to which the motor is driven in case of a LIN
communication loss or when the LIN error−counter
overflows. If = “100 0000 00xx”, secure
positioning is disabled for the FailSafe function and the
SetDualPosition command while it is not disabled for the
GotoSecurePosition and even is still executed for the
position “100 0000 00xx”.
Note: The Secure Position is coded on 11 bits only, providing
actually the most significant bits of the position, the non
coded least significant bits being set to ‘0’. The Secure
Position in OTP has only 9 bits. The two least significant bits
are loaded as ‘0’ to RAM when copied from OTP.
SecPosA If = 0 then ,
and stored in bytes 0x05
and 0x06 are used during operation
If = 1 then ,
and stored in bytes 0x08
and 0x09 are used during operation
Programming SecPosA with “1” makes the OTP bytes
0x05 and 0x06 obsolete. In this case the OTP bytes at 0x08
and 0x09 will be read at the positions of bytes 0x05 and 0x06
when reading the OTP via the GetOTPparam command.
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25
NCV70627
Vmax[3:0] Maximum velocity
Index
Vmax
Vmax(full step/s)
Group
Acc[3:0] Acceleration and deceleration between Vmax and
Vmin.
Acceleration (Full−step/s2)
0
0
0
0
0
99
A
Index
Acc
1
0
0
0
1
136
B
0
0
0
0
0
2
0
0
1
0
167
1
0
0
0
0
0
1
49
(*)
1
218
(*)
0
1004
.
3
0
0
1
1
197
2
4
0
1
0
0
213
3
0
0
1
1
3609
.
5
0
1
0
1
228
4
0
1
0
0
6228
.
6
0
1
1
0
243
5
0
1
0
1
8848
.
7
0
1
1
1
273
6
0
1
1
0
11409
.
8
1
0
0
0
303
7
0
1
1
1
13970
.
1
0
0
0
16531
.
C
9
1
0
0
1
334
8
A
1
0
1
0
364
9
1
0
0
1
19092
(*)
B
1
0
1
1
395
A
1
0
1
0
21886
(*)
C
1
1
0
0
456
B
1
0
1
1
24447
(*)
D
1
1
0
1
546
C
1
1
0
0
27008
(*)
E
1
1
1
0
729
D
1
1
0
1
29570
(*)
973
E
1
1
1
0
34925
(*)
F
1
1
1
1
40047
(*)
F
1
1
1
1
D
Vmin[3:0] Minimum velocity.
Index
Vmin
(*) restriction on speed
SleepEn IF = 1 −> NCV70627 always goes to
low−power sleep mode incase of LIN timeout.
IF = 0, there is no more automatic transition to
low−current sleep mode (i.e. stay in stop mode with applied
hold current, unless there are failures). Exception to this rule
are the states and , in which the
device can enter sleep regardless of the state of SleepEn.
Note: The function acts for the LIN command
“SLEEP” too. When = 1 and the Sleep command
is received the NCV70627 will go into Sleep. In case the
= 0 the NCV70627 will go into stop mode.
FailSafe
Description: see section LIN Lost Behavior.
Vmax Factor
0
0
0
0
0
1
1
0
0
0
1
1/32
2
0
0
1
0
2/32
3
0
0
1
1
3/32
4
0
1
0
0
4/32
5
0
1
0
1
5/32
6
0
1
1
0
6/32
7
0
1
1
1
7/32
8
1
0
0
0
8/32
9
1
0
0
1
9/32
A
1
0
1
0
10/32
B
1
0
1
1
11/32
C
1
1
0
0
12/32
D
1
1
0
1
13/32
E
1
1
1
0
14/32
F
1
1
1
1
15/32
LIN_BR
Setting of LIN Baud rate.
Baud rate
0
19200 Baud
1
9600 Baud
ADM controls how the OTP bits and hardwired
LIN address bits are combined into the LIN node address
(see also LIN Address section).
UV3DepT Debounce time after passing the UV1 level of
the rising battery voltage slope. The debouce time is
specified in the AC parameter table.
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26
NCV70627
Table 21. RAM REGISTERS
Mnemonic
Length
(bit)
ActPos
16
Pos/TagPos
16/11
AccShape
Coil peak current
Register
Actual position
Related Commands
Comment
Reset
State
GetActualPos
GetFullStatus
GotoSecurePos
ResetPosition
16−bit signed
GetFullStatus
GotoSecurePos
ResetPosition
SetPosition
SetPositionShort
SetPosParam
16−bit signed or
11−bit signed for half stepping
(see Positioning)
1
GetFullStatus
SetMotorParam
‘0’ ⇒ normal acceleration from Vmin to Vmax
‘1’ ⇒ motion at Vmin without acceleration
Irun
4
GetFullStatus
SetMotorParam
Operating current
See look−up table Irun
Coil hold current
Ihold
4
GetFullStatus
SetMotorParam
Standstill current
See look−up table Ihold
Minimum Velocity
Vmin
4
GetFullStatus
SetMotorParam
SetPosParam
See Section Minimum Velocity
See look−up table Vmin
Maximum Velocity
Vmax
4
GetFullStatus
SetMotorParam
SetPosParam
See Section Maximum Velocity
See look−up table Vmax
Shaft
Shaft
1
GetFullStatus
SetMotorParam
Direction of movement
Acc
4
GetFullStatus
SetMotorParam
SetPosParam
See Section Acceleration
See look−up table Acc
Secure Position
SecPos
11
GetFullStatus
SetMotorParam
Target position when LIN connection fails; 11
MSB’s of 16−bit position (LSB’s fixed to ‘0’)
Stepping mode
StepMode
2
GetFullStatus
SetStallParam
See Section Stepping Modes
See look−up table StepMode
Stall detection
absolute threshold
AbsThr
4
GetFullStatus
SetStallParam
SetPosParam
The B−emf voltage threshold level at which
stall is detected.
Under voltage UV3
UV3Thr
3
GetFullStatus
SetStallParam
Under voltage UV3 and UV1 level
Sleep Enable
SleepEn
1
SetOTPParam
Enables entering sleep mode after LIN lost.
See also LIN lost behavior
Fail Safe
FailSafe
1
SetOTPParam
Triggers autonomous motion after LIN lost at
POR. See also LIN lost behavior
Stall detection delay
FS2StallEn
3
GetFullStatus
SetStallParam
Delays the stall detection after acceleration
‘000’
Stall detection
sampling
MinSamples
3
GetFullStatus
SetStallParam
Duration of the zero current step in number
of PWM cycles.
‘000’
PWMJEn
1
GetFullStatus
SetStallParam
‘1’ means jitter is added
‘0’
100% duty cycle
Stall Enable
DC100StEn
1
GetFullStatus
SetStallParam
‘1’ means stall detection is enabled in case
PWM regulator runs at d = 100%
‘0’
PWM frequency
PWMFreq
1
GetFullStatus
SetMotorParam
‘0’ means ~ 22.8 KHz,
‘1’ means ~ 45.6 KHz
‘0’
Last programmed
Position
Acceleration shape
Acceleration/
deceleration
PWM Jitter
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27
‘0’
From
OTP
memory
NCV70627
Table 22. FLAGS TABLE
Mnemonic
Length
(bit)
LIN Timeout Error
TimE
1
GetFullStatus
‘1’ if no data (dominant state) was received for more
than T_timeout (~1.3 s)
‘0’
LIN Data Error
DataE
1
GetFullStatus
‘1’ when one of the three errors occurred: checksum
error, stop bit error or length error
‘0’
LIN Header Error
HeadE
1
GetFullStatus
‘1’ when one of the two errors occurred: parity error or
synchronization error
‘0’
BitE
1
GetFullStatus
‘1’ when received bit value is different from the one
being transmitted
‘0’
Overall LIN Error
LIN_E
1
GetActualPos
GetFullStatus
GetStatus
Or function of the TimE, DataE, HeadE
and BitE
‘0’
Electrical defect
ElDef
1
GetActualPos
GetStatus
GetFullStatus
or or ‘open−load on coil X’ or
‘open−load on coil XY
Resets only after Get(Full)Status
‘0’
External switch status
ESW
1
GetActualPos
GetStatus
GetFullStatus
‘0’ = open
‘1’ = close
‘0’
Electrical flag
HS
1
Internal use
or or
Motion status
Motion
3
GetFullStatus
“000” = Stop, last movement was inner (CCW) motion
Flag
LIN Bit Error
Related Commands
Comment
Reset
State
‘0’
“000”
“100” = Stop, last movement was outer (CW) motion
“001” = inner (CCW) motion acceleration
“010” = inner (CCW) motion deceleration
“011” = inner (CCW) motion max. speed
“101” = outer (CW) motion acceleration
“110” = outer (CW) motion deceleration
“111” = outer (CW) motion max. speed
Over current in coil X
OVC1
1
GetFullStatus
‘1’ = over current; reset only after GetFullStatus
‘0’
Over current in coil Y
OVC2
1
GetFullStatus
‘1’ = over current; reset only after GetFullStatus
‘0’
Secure position
enabled
SecEn
1
Internal use
‘0’ if = “100 0000 0000”
‘1’ otherwise
Circuit going to
Sleep mode
Sleep
1
Internal use
‘1’ = Sleep mode
reset by LIN command
‘0’
Step loss
StepLoss
1
GetActualPos
GetStatus
GetFullStatus
‘1’ = step loss due to under voltage, over current, open
circuit or stall; Resets only after GetFullStatus or
GetActualPos
‘1’
Device ID Code
Device ID
4
GetActualPos
Contains the unique device ID
‘4’
AbsStall
1
GetFullStatus
‘1’ = Vbemf < AbsThr
‘0’
Stall
Stall
1
GetFullStatus
GetStatus
‘1’ = Vbemf < AbsThr
‘0’
Motor stop
Stop
1
Internal use
Temperature info
Tinfo
2
GetActualPos
GetStatus
GetFullStatus
“00” = normal temperature range
“01” = low temperature warning
“10” = high temperature warning
“11” = motor shutdown
Thermal shutdown
TSD
1
GetActualPos
GetStatus
GetFullStatus
‘1’ = shutdown (Tj > Ttsd)
Resets only after Get(Full)Status
and if = “00”
‘0’
Thermal warning
TW
1
GetActualPos
GetStatus
GetFullStatus
‘1’ = over temperature (Tj > Ttw)
Resets only after Get(Full)Status
and if = “00”
‘0’
Absolute Stall
n.a.
‘0’
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28
“00”
NCV70627
Table 22. FLAGS TABLE
Flag
Mnemonic
Length
(bit)
Battery decelerated
stop voltage
UV3
1
GetActualPos
GetStatus
GetFullStatus
‘0’ = VBB > UV3
‘1’ = VBB ≤ UV3
Resets only after reception of header of
Get(Full)Status and if VBB > UV1
‘0’
Battery hard stop
voltage
UV2
1
GetActualPos
GetStatus
GetFullStatus
‘0’ = VBB > UV2
‘1’ = VBB ≤ UV2
Resets only after reception of header of
Get(Full)Status and if VBB > UV1
‘0’
Overall UV flag
UV
1
GetActualPos
GetStatus
GetFullStatus
Is the OR function of UV2 and UV3
Resets only after reception of header of
Get(Full)Status and if VBB > UV1
‘0’
VddReset
1
GetActualPos
GetStatus
GetFullStatus
Set at ‘1’ after power−up of the circuit. If this was due
to a supply micro−cut, it warns that the RAM contents
may have been lost; can be reset to ‘0’ with a GetStatus or a Get(Full)Status command
‘1’
Digital supply reset
Related Commands
Comment
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29
Reset
State
NCV70627
Priority Encoder
The table below describes the simplified state management performed by the main control block.
Table 23. PRIORITY ENCODER (See table notes on the following page.)
State →
Standby
Command
↓
Stopped
GotoPos
Motor
Stopped,
Ihold in
Coils
Motor
Motion
Ongoing
Dual
Position
SoftStop
HardStop
No Influence on
RAM and
TagPos
Motor
Decelerating
SoftStopped
ShutDown
Sleep
Motor
Forced to
Stop
Motor
Stopped,
H−bridges
in Hi−Z
No Power (Note
31)
HardUnder
ShutUnder
GetActualPos
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
GetOTPparam
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
GetFullStatus
or GetStatus
[ attempt to
clear
and
flags]
LIN in-frame
response;
if ( or
) = ‘0’
then →
Stopped
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response
LIN
in-frame
response;
if (
or ) =
‘0’ then →
Stopped
LIN
in-frame
response
SetMotorParam
[Master takes
care about
proper update]
RAM
update
RAM
update
RAM
update
RAM
update
RAM
update
RAM
update
RAM
update
RAM
update
RAM
update
kept
and reset
No action;
flag
will be
evaluated
when motor
stops
No action;
flag will be
evaluated
when motor stops
ResetPosition
and reset
SetPosition
updated;
→ GotoPos
updated
updated
SetPositionShort
updated;
→ GotoPos
updated
updated
GotoSec
Position
If = ‘1’
then =
;
→ GotoPos
If = ‘1’
then =
If = ‘1’
then =
DualPosition
→ Dual
Position
SoftStop
Sleep or LIN
timeout
[ ⇒ =
‘1’, reset by
any LIN
command
received later]
→ Sleep
(Note 38)
→ Hard
Under
If = ‘1’
then =
else →
SoftStop
If = ‘1’
then =
;
will be
evaluated
after DualPosition
No action;
flag will be
evaluated
when motor stops
→ Hard
Stop
→ Hard
Stop
→ Hard
Stop
→ Hard
Under
→ Hard
Stop
→ Hard
Under
No action;
flag
will be
evaluated
when motor
stops
VBB < UV2 and
t < 15 seconds
= ‘1’
⇒ = ‘1’
and reset
→ SoftStop
HardStop
VBB < UV2 and
t > 15 seconds
RAM
update
No action;
flag will be
evaluated
when motor
stops
→
Stopped
→
Shutdown
→ HardStop;
= ‘1’
→ Hard
Stop;
= ‘1’
→ Hard
Stop;
= ‘1’
→ Shutdown
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30
→
Shutdown
NCV70627
Table 23. PRIORITY ENCODER (See table notes on the following page.)
State →
Standby
Dual
Position
Stopped
GotoPos
Command
↓
Motor
Stopped,
Ihold in
Coils
Motor
Motion
Ongoing
No Influence on
RAM and
TagPos
Thermal
shutdown
[ = ‘1’]
→
Shutdown
→
SoftStop
→
SoftStop
Motion finished
n.a.
→
Stopped
→
Stopped
SoftStop
HardStop
Motor
Decelerating
Motor
Forced to
Stop
SoftStopped
ShutDown
Sleep
Motor
Stopped,
H−bridges
in Hi−Z
No Power (Note
31)
→ Shutdown
→ Stopped;
=
→
Stopped;
=
HardUnder
ShutUnder
→
Shutdown
n.a.
n.a.
With the Following Color Code:
Command Ignored
Master is responsible for proper update (see Note 36)
Transition to Another State
31. Leaving state is equivalent to power−on−reset.
32. After power−on−reset, the state is entered.
33. A DualPosition sequence runs with a separate set of RAM registers. The parameters that are not specified in a DualPosition command are
loaded with the values stored in RAM at the moment the DualPosition sequence starts. is forced to ‘1’ during second motion.
at ‘0’ will be taken into account after the DualPosition sequence. A GetFullStatus command will return the default
parameters for and stored in RAM.
34. The flag is set to ‘1’ when a LIN timeout or a Sleep command occurs. It is reset by the next LIN command ( is cancelled
if not activated yet).
35. Shutdown state can be left only when and flags are reset.
36. Flags can be reset only after the master could read them via a GetStatus or GetFullStatus command, and provided the physical
conditions allow for it (normal temperature, correct battery voltage and no electrical defect).
37. A SetMotorParam command sent while a motion is ongoing (state ) should not attempt to modify and values.
This can be done during a DualPosition sequence since this motion uses its own parameters, the new parameters will be taken into account
at the next SetPosition or SetPositionShort command.
38. Some transitions like → are actually done via several states: → → →
(see diagram below).
39. Two transitions are possible from state when = ‘1’:
1) Transition to state if ( = ‘0’) or (( = ‘1’) and ( = )) or = ‘1’
2) Otherwise transition to state , with =
40. = ‘1’ when register is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000
0000”).
41. flag allows distinguishing whether state was entered after HardStop/SoftStop or not. is set to ‘1’ when leaving
state or and is reset during first clock edge occurring in state .
42. Command for dynamic assignment of Ids is decoded in all states except and has no effect on the current state.
43. While in state , if → there is a transition to state . This transition has the lowest priority,
meaning that , , , etceteras are first evaluated for possible transitions.
44. If is active, then SetPosition, SetPositionShort and GotoSecurePosition commands are not ignored.
can only be cleared by a GetStatus or GetFullStatus command.
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31
NCV70627
Vbb > UV1
Vbb < UV2
StoppedUnder
UV1
Vbb < UV3
Motion Finished
and
Vbb < UV1
POR
Thermal Shutdown
Vbb < UV3
RunInit
HardStop
RunInit
Motion finished
ShutDown
HardStop
SetPosition
Motion Finished
Stopped
Thermal
Shutdown
SoftStop
Vbb < UV3
HardStop
Motion Finished
GotoSecPos
HardStop
Thermal Shutdown
Vbb < UV2
SoftStop
HardStop
GotoPos
GetFullStatus
Motion Finished and Vbb > UV1
OR LIN
timeout
Any LIN command
Priorities
Sleep
1
2
Vbb < UV2
3
AND (not
OR AND ActPos =
SecPos OR )
4
HardUnder
Vbb < UV2
Vbb > UV1 & T < 15 sec
ShutUnder
T > 15 sec
Figure 15. Simplified State Diagram
Remark: IF = 0, then the arrow from stopped state to sleep state does not exist.
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32
NCV70627
Motordriver
Current Waveforms in the Coils
Figure 16 below illustrates the current fed to the motor coils by the motor driver in half−step mode.
Ix
Coil X
Iy
t
Coil Y
Figure 16. Current Waveforms in Motor Coils X and Y in Halfstep Mode
Whereas Figure 17 below shows the current fed to the coils in 1/16th micro stepping (1 electrical period).
Coil X
Iy
Ix
t
Coil Y
Figure 17. Current Waveforms in Motor Coils X and Y in 1/16th Micro−Step Mode
Motor Current Boost Function
PWM Regulation
Under certain conditions it can happen that the normal
motor currents are not sufficiently high enough to achieve
the proper torque for bursting out the motor axis (Especially
under cold conditions). For this reason the NCV70627 can
be forced to boost mode by setting the
bit to ‘0’ via the SetMotorParam command. The boost
function increases the current as described in the Irun and
Ihold tables. It can only be activated if the junction
temperature is lower than tlow. When the temperature rises
above ttw,, the bit is automatically set
back to ‘1’ causing that the current is switched back to the
normal current set point values.
In order to force a given current (determined by
or and the current position of the rotor) through
the motor coil while ensuring high energy transfer
efficiency, a regulation based on PWM principle is used. The
regulation loop performs a comparison of the sensed output
current to an internal reference, and features a digital
regulation generating the PWM signal that drives the output
switches. The zoom over one micro−step in the Figure17
above shows how the PWM circuit performs this regulation.
To reduce the current ripple, a higher PWM frequency is
selectable. The RAM register PWMfreq is used for this.
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33
NCV70627
Motor Starting Phase
Table 24. PWM FREQUENCY SELECTION
PWMfreq
Applied PWM Frequency
0
22,8 kHz
1
45,6 kHz
At motion start, the currents in the coils are directly
switched from to with a new
sine/cosine ratio corresponding to the first half (or micro−)
step of the motion.
Motor Stopping Phase
PWM Jitter
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. The stabilization
time tstab is programmable via a LIN command. There are 4
values possible that can be set dependant the requirement of
the motor application.
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 is used
for this.
Table 25. PWM JITTER SELECTION
PWMJEn
Status
0
Single PWM frequency
1
Added jitter to PWM frequency
ly
lx
t
Figure 18. Motor Stopping Phase
tstab
Electrical Defect on Coils, Detection and Confirmation
Motor Shutdown Mode
The principle relies on the detection of a voltage drop on
at least one transistor of the H−bridge. Then the decision is
taken to open the transistors of the defective bridge.
This allows the detection the following short circuits:
• External coil short circuit
• Short between one terminal of the coil and Vbat or Gnd
A motor shutdown occurs when:
• The chip temperature rises above the thermal shutdown
threshold Ttsd (see Thermal Shutdown Mode).
• The battery voltage goes below UV2 for longer than 15
seconds (see Under−Voltage Condition and Autarkic
Functionality).
• Flag = ‘1’, meaning an electrical problem is
detected on one or both coils, e.g. a short circuit.
One cannot detect an internal short in the motor.
Open circuits are detected by 100% PWM duty cycle
value during one electrical period with duration, determined
by Vmin.
A motor shutdown leads to the following:
• H−bridges in high impedance mode.
• The register is loaded with the ,
Table 26. ELECTRICAL DEFECT DETECTION
Pins
except in autarkic states.
Fault Mode
Yi or Xi
Short−circuit to GND
Yi or Xi
Short−circuit to Vbat
Yi or Xi
Open
Y1 and Y2
Short circuited
X1 and X2
Short circuited
Xi and Yi
Short circuited
• The LIN interface remains active, being able to receive
orders or send status.
The conditions to get out of a motor shutdown mode are:
• Reception of a GetStatus or GetFullStatus
command AND
• The four above causes are no longer detected
This leads to H−bridges going in Ihold mode. Hence, the
circuit is ready to execute any positioning command.
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34
NCV70627
This can be illustrated in the following sequence given as an application example. The master can check whether there is
a problem or not and decide which application strategy to adopt.
Table 27. EXAMPLE OF POSSIBLE SEQUENCE USED TO DETECT AND DETERMINE CAUSE OF MOTOR SHUTDOWN
Tj ≥Ttsd or VBB ≤ UV2 (>15s) or
= ‘1’
↓
SetPosition
frame
↓
GetFullStatus or GetStatus frame
↓
GetFullStatus or GetStatus frame
↓...
− The circuit is driven in motor
shutdown mode
− The application is not aware
of this
− The position set−
point is updated by
the LIN Master
− Motor shutdown
mode ⇒ no motion
− The application is
still unaware
− The application is aware
of a problem
− Possible confirmation
of the problem
− Reset or or or by the application
− Possible new detection of over temperature or low voltage or electrical problem ⇒ Circuit sets or or or
or again at ‘1’
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 NCV70627.
Motion Detection
If the LIN communication is lost while in shutdown mode,
the circuit enters the sleep mode immediately.
Note: The Priority Encoder is describing the management of
states and commands.
Warning: The application should limit the number of
consecutive GetStatus or GetFullStatus commands to try to
get the NCV70627 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.
Motion detection is based on the back emf generated
internally in the running motor. When the motor is blocked,
e.g. when it hits the end−stop, the velocity and as a result also
the generated back emf, is disturbed. The NCV70627 senses
the back emf and compares the value with an absolute
threshold (AbsThr[3:0]). Instructions for correct use of this
level in combination with three additional parameters
(, and )
are available in a dedicated Application Note “Robust
Motion Control with AMIS−3062x Stepper Motor Drivers”.
When the motor is blocked and the velocity is zero after
the acceleration phase, the back emf is low or zero. When
this value is below the Absolute threshold, is set.
Velocity
Vmax
Motor speed
Vmin
t
Vbemf
VABSTH
Back emf
t
Stall
t
Figure 19. Triggering of the Stall Flag as Function of the Measured Backemf
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35
NCV70627
MinSamples
By design, the motion will only be detected when the
motor is running at the maximum velocity, not during
acceleration or deceleration.
If the motor is positioning when Stall is detected, an
(internal) HardStop of the motor is generated and the
and flags are set. These flags can
only be reset by sending a GetFullStatus command.
If Stall appears during DualPosition then the first phase is
cancelled (via internal hardstop) and after timeout Tstab (see
AC table) the second phase at Vmin starts.
When the flag is set, the position controller will
generate an internal HardStop. As a consequence also the
flag will be set. The position in the internal
counter will be copied to the register. All flags
can be read out with the GetStatus or
GetFullStatus command.
is a programmable delay timer. After
the zero crossing is detected, the delay counter is started.
After the delay time−out (tdelay) the back−emf sample is
taken. For more information please refer to the Application
Note “Robust Motion Control with AMIS−3062x Stepper
Motor Drivers”.
Table 29. BACK EMF SAMPLE DELAY TIME
Important Remark
(limited to motion detection flags / parameters):
Using GetFullStatus will read AND clear the
following flags: ,
and
. New positioning is possible and the
register will be further updated.
Using GetStatus will read AND clear ONLY the
flag. The and
flags are NOT cleared. New positioning is possible and the
register will be further updated.
Motion detection is disabled when the RAM registers
is zero. The level can be programmed
using the LIN command SetStallParam in the register
.
Also
the
OTP
register
can be set using the LIN command
SetOTPParam. These values are copied in the RAM
registers during power on reset.
Index
MinSamples[2:0]
tDELAY (ms)
0
000
87
1
001
130
2
010
174
3
011
217
4
100
304
5
101
391
6
110
521
7
111
694
FS2StallEn
If 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 30.
ACTIVATION DELAY OF MOTION DETECTION
Table 28. ABSOLUTE THRESHOLD SETTINGS
Index
FS2StallEn[2:0]
Delay (Full Steps)
0
000
0
1
001
1
2
010
2
3
011
3
AbsThr Index
AbsThr Level (V) (*)
4
100
4
0
Disabled
5
101
5
1
0.64
6
110
6
2
1.28
7
111
7
3
1.92
4
2.56
DC100StEn
5
3.19
6
3.83
7
4.47
8
5.11
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
enables stall detection when duty cycle is
100%. For more information please refer to the Application
Note “Robust Motion Control with AMIS−3062x Stepper
Motor Drivers”.
NOTE:
9
5.75
A
6.38
B
7.03
C
7.67
D
8.30
E
8.94
F
9.58
(*) Not tested in production. Values are typical levels with
spread of 0,48V.
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36
NCV70627
Lin Controller
General Description
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.
The LIN (local interconnect network) is a serial
communications protocol that efficiently supports the
control of mechatronics nodes in distributed automotive
applications. The physical interface implemented in the
NCV70627 is compliant to the LIN rev. 2.0 & 2.1
specifications. It features a slave node, thus allowing for:
• single−master / multiple−slave communication
• self synchronization without quartz or ceramics
resonator in the slave nodes
• guaranteed latency times for signal transmission
• single−signal−wire communication
• transmission speed selectable between 9.6 and
19.2 kbit/s
• selectable length of Message Frame: 2, 4, and 8 bytes
• configuration flexibility
• data checksum (classic checksum, cf. LIN1.3) security
and error detection
• detection of defective nodes in the network
It includes the analog physical layer and the digital
protocol handler.
Slave Operational Range for Proper Self
Synchronization
The LIN interface will synchronize properly in the
following conditions:
• Vbat ≥ 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.
Functional Description
Analog Part
The transmitter is a low−side driver with a pull−up resistor
and slope control. The receiver mainly consists of a
comparator with a threshold equal to VBB/2. Figure 4 shows
the characteristics of the transmitted and received signal.
See AC Parameters for timing values.
VBB
Protocol Handler
This block implements:
• Bit synchronization
• Bit timing
• The MAC layer
• The LLC layer
• The supervisor
30 kW
RxD
to
control
block
LIN
protocol
handler
Filter
TxD
LIN
Slope
Control
Error Status Register
LIN address
The LIN interface implements a register containing an
error status of the LIN communication. This register is as
follows:
HW0
from OTP
HW1
HW2
Figure 20. LIN Interface
Table 31. LIN ERROR REGISTER
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
Not
used
Not
used
Not
used
Not
used
Time
out error
Data
error Flag
Header
error Flag
Bit
error Flag
With:
Data error flag: (= Checksum error + StopBit error + Length error)
Header error flag: (= Parity error + SynchField error)
Time out flag: The message frame is not fully completed within the maximum length
Bit error flag: Difference in bit sent and bit monitored on the LIN bus
A GetFullStatus frame will reset the error status register.
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37
NCV70627
Physical Address of the Circuit
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%.
The node address is a combination of 4 OTP memory bits
and 3 hardwired address bits (pins HW[2:0]). Depending on
the Addressing Mode (ADM–bit in OTP) the bits of the
address are combined as illustrated below.
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
MSB
= 0
LSB
HW0
HW1
PA3
HW2
PA2
PA1
OTP memory
Hardwired
MSB
= 1
PA0
LSB
HW0
PA0
OTP memory
HW2
HW1
PA3
PA2
PA1
OTP memory
Hardwired
Figure 21. Combination of OTP and Hardwired Address Bits in Function of ADM (Address Mode)
NOTE:
Pins HW0 and HW1 are 3.3V 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. For SetPositionShort it is recommended to set HW0, HW1 and HW2 to ’1’.
LIN Frames
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.
The LIN frames can be divided in writing and reading
frames. A frame is composed of an 8−bit Identifier followed
by 2, 4 or 8 data−bytes and a checksum byte.
Note: The checksum is conform LIN1.3, classic checksum
calculation over only data bytes. (Checksum is an inverted
8−bit sum with carry over all data bytes.)
Writing frames will be used to:
• Program the OTP Memory;
• Configure the component with the stepper−motor
parameters (current, speed, stepping−mode, etc.);
• Provide set−point position for the stepper−motor;
• Control the motion state machine.
Identifier Byte
ID0
ID1
ID2
ID3
ID4
ID5
Writing Frames
The LIN master sends commands and/or information to
the slave nodes by means of a writing frame. According to
the LIN specification, identifiers are to be used to determine
a specific action. If a physical addressing is needed, then
some bits of the data field can be dedicated to this, as
illustrated in the example below.
Data Byte 1
ID6
Data Byte 2
ID7
phys. address
command parameters (e.g. position)
and are used for parity check over to , conform LIN1.3 specification. = ⊗
⊗ ⊗ (even parity) and = NOT( ⊗ ⊗ ⊗ ) (odd parity).
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NCV70627
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
ID
0x3C
Data Byte 1
00
Data Byte 3
command
physical address
Data Byte 4
Data Byte 5
Data Byte 7
Data Byte 8
parameters
Bit 7 of Data byte 1 must be at ‘1’ since the LIN specification requires that contents from 0x00 to 0x7F must be reserved for
broadcast messages (0x00 being for the “Sleep” message). See also LIN command Sleep
The writing frames used with the NCV70627 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
( = ‘1’) or all the slave nodes
( = ‘0’). If = ‘1’, the
ID
ID0
Data Byte 6
1
AppCmd
NOTE:
Data Byte 2
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.
ID1
NOTE:
ID2
ID3
ID4
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.
Data1
ID5
ID6
ID7
Data2
command
Physical address
Data3...
Broad
Parameters...
and indicate the number of data bytes.
ID5
ID4
Ndata (number of data fields)
0
0
2
0
1
2
1
0
4
1
1
8
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.
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 NCV70627, are the
following:
Type #5: two, four or eight Data bytes reading frame
with a direct identifier dynamically assigned to
a particular slave node together with an
application command. A preparing frame is not
needed.
Type #6: eight Data bytes reading frame with 0x3D
identifier. This is intrinsically an indirect type,
needing therefore a preparation frame. It has the
advantage to use a reserved identifier. (Note:
because of the parity calculation done by the
master, the identifier becomes 0x7D as physical
data over the bus).
Type #2: two, four or eight data bytes writing frame
with an identifier dynamically assigned to an
application command, regardless of the
physical address of the circuit.
Type #3: two data bytes writing frame with an
identifier dynamically assigned to a particular
slave node together with an application
command. This type of frame requires that
there are as many dynamically assigned
identifiers as there are NCV70627 circuits
using this command connected to the LIN bus.
Type #4: eight data bytes writing frame with 0x3C
identifier.
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
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NCV70627
Preparing Frames
reading frame and will also contain a command indicating
which kind of information is awaited from the slave.
The preparing frames used with the NCV70627 can be of
type #7 or type #8 described below.
A preparing frame is a frame from the master that warns
a particular slave node that it will have to answer in the next
frame (being a reading frame). A preparing frame is needed
when a reading frame does not use a dynamically assigned
direct ID. Preparing and reading frames must be
consecutive. A preparing frame will contain the physical
address of the LIN slave node that must answer in the
Type #7: two data bytes writing frame with
dynamically assigned identifier. The identifier
of the preparing frame has to be assigned to
ROM pointer 1000, see Table 35.
Table 32. PREPARING FRAME #7
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0]
2
Data 2
1
AD[6:0]
3
Checksum
Checksum over data
Where:
(*) According to parity computation
Type #8: eight data bytes preparing frame with 0x3C identifier.
Table 33. PREPARING FRAME #8
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0]
3
Data 3
1
AD[6:0]
4
Data 4
Data4[7:0] FF
5
Data 5
Data5[7:0] FF
6
Data 6
Data6[7:0] FF
7
Data 7
Data7[7:0] FF
8
Data 8
Data8[7:0] FF
9
Checksum
Checksum over data
AppCMD = ...
Where:
AppCMD: If = ‘0x80’ this indicates that Data 2 contains an application command
CMD[6:0]: Application Command “byte”
AD[6:0]: Slave node physical address
Data[7:0]: Data transmitted
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NCV70627
Dynamic Assignment of Identifiers
frame with identifier 0x3C issued by the LIN master will
write dynamic identifiers into the RAM. One writing frame
is able to assign 4 identifiers; therefore 3 frames are needed
to assign all identifiers. Each ROM pointer place the corresponding dynamic identifier
at the correct place in the RAM (see
Table below: LIN – Dynamic Identifiers Writing Frame).
When setting to zero broadcasting is active and
each slave on the LIN bus will store the same dynamic
identifiers, otherwise only the slave with the corresponding
slave address is programmed.
The identifier field in the LIN datagram denotes the
content of the message. Six identifier bits and two parity bits
are used to represent the content. The identifiers 0x3C and
0x3F are reserved for command frames and extended
frames. Slave nodes need to be very flexible to adapt itself
to a given LIN network in order to avoid conflicts with slave
nodes from different manufacturers. Dynamic assignment
of the identifiers will fulfill this requirement by writing
identifiers into the circuits RAM. ROM pointers are linking
commands and dynamic identifiers together. A writing
Table 34. DYNAMIC IDENTIFIERS WRITING FRAME
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Byte
Content
0
Identifier
0x3C
1
AppCMD
0x80
2
CMD
1
3
Address
Broad
4
Data
5
Data
6
Data
7
Data
8
Data
9
Checksum
Bit 2
Bit 1
Bit 0
AD2
AD1
AD0
0x11
AD6
AD5
AD4
AD3
DynID_1[3:0]
ROMp_1[3:0]
DynID_2[1:0]
ROMp_2[3:0]
DynID_1[5:4]
ROMp_3[3:0]
DynID_2[5:2]
ROMp_4[1:0]
DynID_3[5:0]
DynID_4[5:0]
ROMp_4[3:2]
Checksum over data
Where:
CMD[6:0]: 0x11, corresponding to dynamic assignment of four LIN identifiers
Broad: If = ‘0’ all the circuits connected to the LIN bus will share the same dynamically assigned identifiers.
Dyn_ID_x [5:0]: Dynamically assigned LIN identifier to the application command which ROM pointer is
One frame allows only assigning of four identifiers. Therefore, additional frames could be needed in order to assign more
identifiers (maximum three for the NCV70627).
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41
NCV70627
Dynamic ID
ROM pointer
Application Command
User Defined
0010
GetActualPos
User Defined
0011
GetStatus
User Defined
0100
SetPosition
User Defined
0101
SetPositionShort (1 m)
User Defined
0110
SetPositionShort (2 m)
User Defined
0111
SetPositionShort (4 m)
User Defined
0000
GeneralPurpose 2 bytes
User Defined
0001
GeneralPurpose 4 bytes
User Defined
1000
Preparation Frame
Command assignment via Dynamic ID during operation
Figure 22. Principle of Dynamic Command Assignment
Commands Table
Table 35. LIN COMMANDS WITH CORRESPONDING ROM POINTER
Command Mnemonic
Command Byte (CMD)
Dynamic ID (example)
ROM Pointer
0010
GetActualPos
000000
0x00
100xxx
GetFullStatus
000001
0x01
n.a.
GetOTPparam
000010
0x02
n.a.
GetStatus
000011
0x03
000xxx
GotoSecurePosition
000100
0x04
n.a.
HardStop
000101
0x05
n.a.
ResetPosition
000110
0x06
n.a.
SetDualPosition
001000
0x08
n.a.
SetMotorParam
001001
0x09
n.a.
SetOTPparam
010000
0x10
n.a.
SetStallParam
010110
0x16
n.a.
SetPosition (16−bit)
001011
0x0B
10xxxx
0100
SetPositionShort (1 motor)
001100
0x0C
001001
0101
SetPositionShort (2 motors)
001101
0x0D
101001
0110
SetPositionShort (4 motors)
001110
0x0E
111001
0111
SetPosParam
101111
0x2F
110xxx
1001
n.a.
Sleep
0011
n.a.
SoftStop
001111
0x0F
n.a.
Dynamic ID assignment
010001
0x11
n.a.
General purpose 2 Data bytes
011000
0000
General purpose 4 Data bytes
101000
0001
Preparing frame
011010
1000
NOTE:
“xxx” allows addressing physically a slave node. Therefore, these dynamic identifiers cannot be used for more than eight stepper
motors. Only ten ROM pointers are needed for the NCV70627.
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NCV70627
LIN Lost Behavior
Introduction
LIN Lost During Normal Operation
When the LIN communication is broken for a duration of
25000 consecutive frames (= 1,30s @ 19200 kbit/s)
NCV70627 sets an internal flag called “LIN lost”. The
functional behavior depends on the state of OTP bits
and , and if this loss in LIN
communication occurred at (or before) power on reset or in
normal powered operation.
If the LIN communication is lost during normal operation,
it is assumed that NCV70627 is referenced (by Dual
postioning or Resetposition). In other words the
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.
If OTP bit = 1, the reaction is the
following:
If the device has already been referenced, it is assumed
that register contains the “real” actual position.
At LIN – lost an absolute positioning to the stored secure
position SecPos is done (identical to the case, when OTP bit
= 0).
If the device was not referenced yet, the
register does not contain a valid position. At LIN – lost a
referencing is started using DualPositioning. A first
negative motion of half the positioner range is initiated until
the stall position is reached. The motion parameters stored
in OTP will be used for this. After this mechanical
end−position is reached, will be reset to zero. A
second motion of 10 Fullsteps is executed to assure that the
motion is really at the end position. After the second motion,
a third motion is executed to the Secure Position also stored
in OTP; if = 0x400, this second motion is not
executed.
Following sequence will be followed. See Figure 22.
1. from RAM register will be
used. This can be different from OTP register if
earlier LIN master communication has updated
this. See also Secure Position and command
SetMotorParam.
I.
If = 0x400: No Secure
Positioning will be performed
II. If ≠ 0x400: Perform a
Secure Positioning. This is an absolute
positioning (slave knows its ActPos.
will be copied in
)
Depending on NCV70627 will enter the
state or the state. See Table 36.
Sleep Enable
The OTP bit enables or disables the
entering in low−power sleep mode in case of LIN time−out.
Default the entering of the sleep−mode is disabled.
Table 36. SLEEP ENABLE SELECTION
Behavior
0
Entering low−power sleep mode is disabled
except from and
1
Entering low−power sleep mode enabled
Fail Safe Motion
The OTP bit enables or disables an
automatic motion to a predefined secure position. See also
Autonomous Motion.
Table 37. FAIL SAFE ENABLE SELECTION
Behavior
0
NO reference motion in case of LIN – lost
1
ENABLES reference motion to a secure position in case of LIN–lost (if the device has not
been yet referenced with SetDualPosition)
NCV70627 is able to perform an Autonomous Motion to
a preferred position. This positioning starts after the
detection of lost LIN communication and depends on:
− the OTP bit = 1.
− RAM register ≠ 0x400
The functional behavior depends if LIN communication
is lost during normal operation (see figure below case A) or
at (or before) startup (case B):
Power Up
Important Remarks:
1. The Secure Position has a resolution of 11 bit (2Fs
resolution on positions).
2. Same behavior in case of HW2 float (= lost LIN
address), except for entering Sleep mode. If HW2
is floating, but there is LIN communication, Sleep
mode is not entered. See also Hardwired Address
HW2
OTP content is
copied in RAM
No
B
LIN Bus OK
Yes
A
Figure 23. Flow Chart Power−Up of NCV70627 (Case A:
LIN lost during operation and Case B: LIN lost at startup)
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43
NCV70627
A
Normal Operation
GetFullStatus
SetMotorParam
(RAM content is overwritten)
Yes
LIN bus OK
No
FailSafe = 1
No
Yes
Reference done?
Yes
No
First motion of DualPosition
Half the position range
Negative direction
At Stall −> ActPos = ‘0000’
No
SecPos ≠ 0x400
Yes
STOP
Secure Positioning
to SecPos stored in RAM
SleepEn = 1
No
Yes
SLEEP
STOP
Figure 24. Case A: LIN Lost During Normal Operation
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NCV70627
LIN Lost Before or At Power On
If LIN is lost before or at power on, following sequence
will be followed. See Figure 23.
1. If the LIN communication is lost AND
= 0, secure positioning will be
done at absolute position (stored secure position
.) Depending on SleepEn NCV70627
will enter the state or state.
See Table 36.
2. If the LIN communication is lost AND
= 1 a referencing is started using
DualPositioning, meaning a negative motion for
half the positioner range is initiated until the stall
position is reached. The motion parameters stored
in OTP will be used for this. After this mechanical
end position is reached will be reset to
zero. The direction of the motion is given by the
Shaft bit.
−If = 0x400:
No Second Motion will be performed.
If the LIN communication is lost before or at power on, the
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,
will be reset to zero. A second motion will start to the Secure
Position also stored in OTP. More details are given below.
B
FailSafe = 1
No
Yes
First motion of DualPosition
Half the position range
Negative direction
At Stall −> ActPos = ‘0000’
No
SecPos ≠ 0x400
Yes
STOP
Secure Positioning
to SecPos stored in RAM,
copied from OTP
SleepEn = 1
No
Yes
SLEEP
STOP
Figure 25. Case B: LIN Lost at or During Sart−Up
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NCV70627
LIN Application Commands
Introduction
The LIN Master will have to use commands to manage the different application tasks the NCV70627 can feature. The
commands summary is given in Table 38 below.
Table 38. COMMANDS SUMMARY
Command
Frames
Mnemonic
Code
Prep #
Read #
Write #
GetActualPos
0x00
7, 8
5, 6
Returns the actual position of the motor
GetFullStatus
0x01
7, 8
6
Returns a complete status of the circuit
GetOTPparam
0x02
7, 8
6
Returns the OTP memory content
GetStatus
0x03
5
Returns a short status of the circuit
Description
READING COMMAND
WRITING COMMANDS
GotoSecurePosition
0x04
1
Drives the motor to its secure position
HardStop
0x05
1
Immediate motor stop
ResetPosition
0x06
1
Actual position becomes the zero position
SetDualPosition
0x08
4
Drives the motor to 2 different positions with different speeds
SetMotorParam
0x09
4
Programs the motion parameters and values for the
current in the motor’s coils
SetOTPparam
0x10
4
Programs (and zaps) a selected byte of the OTP memory
SetStallparam
0x16
4
Programs the motion detection parameters
SetPosition
0x0B
1, 3, 4
Drives the motor to a given position
SetPositionShort (1 m.)
0x0C
2
Drives the motor to a given position
(11 bits 1/2step resolution)
SetPositionShort (2 m.)
0x0D
2
Drives two motors to 2 given positions
(11 bits 1/2step resolution)
SetPositionShort (4 m.)
0x0E
2
Drives four motors to 4 given positions
(11 bits 1/2step resolution)
SetPosParam
0x2F
2
Drives the motor to a given position and programs some
of the motion parameters.
1
Drives circuit into sleep mode if = 1
Drives circuit into stopped mode if if = 0
1
Motor stopping with a deceleration phase
SERVICE COMMANDS
Sleep
0x0F
SoftStop
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.
Table 39. COLOR CODE USED IN THE DEFINITION OF LIN FRAMES
GetStatus Reading Frame
Byte
Content
Structure
Bit 7
Bit 6
Bit 5
Bit 4
*
0
ID4
0
Identifier
*
1
Data 1
ESW
2
Data 2
VddReset
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
AD[6:0]
StepLoss
ElDef
UV
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46
TSD
TW
Tinfo[1:0]
NCV70627
Application Commands
The Identifier is always sent by the LIN master.
Convention:
The Identifier and Data sent by the master are in gray
presented.
The Data sent by the slave is in white presented.
Usually, the NCV70627 makes use of dynamic identifiers
for general−purpose 2, 4 or 8 bytes writing frames. If
dynamic identifiers are used for other purposes, this is
acknowledged.
Some frames implement a bit that allows
addressing a command to all the NCV70627 circuits
connected to the same LIN bus. 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.
GetActualPos
This command is provided to the circuit by the LIN master
to get the actual position of the stepper−motor. This position
() is returned in signed two’s complement
16−bit format. One should note that according to the
programmed stepping mode, the LSB’s of
may have no meaning and should be assumed to be ‘0’, as
prescribed in Position Ranges. GetActualPos also provides
a quick status of the circuit and the stepper−motor, identical
to that obtained by command GetStatus (see further).
Note: A GetActualPos command will not attempt to reset
any flag.
GetActualPos corresponds to the following LIN reading
frames.
1. four data bytes in−frame response with direct ID (type #5)
Table 40. READING FRAME TYPE #5
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
0
ID3
ID2
ID1
ID0
1
Data 1
ESW
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
5
Checksum
VddReset
AD[6:0]
StepLoss
ElDef
UV
TSD
TW
Tinfo[1:0]
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated direct identifier. There should be as many dedicated identifiers to this GetActualPos
command as there are stepper−motors connected to the LIN bus.
Note: Bit 5 and bit 4 in byte 0 indicate the number of data bytes.
2. The master sends either a type#7 or type#8 preparing frame. After the type#7 or #8 preparing frame, the master sends
a reading frame type#6 to retrieve the circuit’s in−frame response.
Table 41. GetActualPos PREPARING FRAME TYPE #7
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x00
2
Data 2
1
AD[6:0]
3
Checksum
Checksum over data
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NCV70627
Table 42. GetActualPos PREPARING FRAME TYPE #6
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
ESW
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
5
Data 5
6
Data 6
0xFF
7
Data 7
0xFF
VddReset
AD[6:0]
StepLoss
ElDef
UV
TSD
TW
1
UV2
UV3
LIN_E
Device ID Code
8
Data 8
0xFF
9
Checksum
Checksum over data
Tinfo[1:0]
Where:
(*) According to parity computation
Table 43. GetActualPos PREPARING FRAME TYPE #8
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x00
3
Data 3
1
AD[6:0]
4
Data 4
Data4[7:0] FF
5
Data 5
Data5[7:0] FF
6
Data 6
Data6[7:0] FF
7
Data 7
Data7[7:0] FF
8
Data 8
Data8[7:0] FF
9
Checksum
Checksum over data
AppCMD =80
Table 44. GetActualPos READING FRAME TYPE #6
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
1
1
1
1
1
0
1
1
Data 1
ESW
2
Data 2
ActPos[15:8]
3
Data 3
ActPos[7:0]
4
Data 4
TSD
TW
5
Data 5
1
UV2
6
Data 6
0xFF
7
Data 7
0xFF
8
Data 8
0xFF
9
Checksum
Checksum over data
VddReset
AD[6:0]
StepLoss
ElDef
UV
Device ID Code
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48
Tinfo[1:0]
UV3
LIN_E
NCV70627
GetFullStatus
The master sends either type#7 or type#8 preparing frame.
GetFullStatus corresponds to 2 successive LIN
in−frame responses with 0x3D indirect ID.
Note: It is not mandatory for the LIN master to initiate the
second in−frame response if the data in the second response
frame is not needed by the application.
1. The master sends a type #7 preparing frame. After
the type#7 preparing frame, the master sends a
reading frame type#6 to retrieve the circuit’s
in−frame response.
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,,,,, flag
will be cleared after the GetStatus command. If
is set due to a short on one of the coils, the
can only be cleared via a GetFullStatus
command.
GetStatus corresponds to a 2 data bytes LIN in−frame response with a direct ID (type #5).
This command is provided to the circuit by the LIN master
to get a quick status (compared to that of GetFullStatus
command) of the circuit and of the stepper−motor. Refer to
Flags Table to see the meaning of the parameters sent to the
LIN master.
Table 55. GetStatus READING FRAME TYPE #5
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
ESW
2
Data 2
VddReset
3
Checksum
AD[6:0]
StepLoss
ElDef
UV
TSD
TW
Tinfo[1:0]
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated direct identifier. There should be as many dedicated identifiers to this GetStatus command
as there are stepper−motors connected to the LIN bus.
GotoSecurePosition
This command is provided by the LIN master to one or all
of the stepper−motors to move to the secure position
. It can also be internally triggered if
the LIN bus communication is lost, after an initialization
phase, or prior to going into sleep mode. See the priority
encoder description for more details. The priority encoder
table also acknowledges the cases where a
GotoSecurePosition command will be ignored.
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
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52
NCV70627
GotoSecurePosition corresponds to the following LIN writing frame (type #1).
Table 56. GotoSecurePosition WRITING FRAME TYPE #1
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
0
ID4
Data
1
CMD[6:0] = 0x04
2
Data
Broad
AD[6:0]
3
Checksum
Byte
Content
0
1
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Checksum over data
Where:
(*) according to parity computation
Broad: If Broad = ‘0’ all the stepper motors connected to the LIN bus will reach their secure position
HardStop
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
A hardstop command can also be issued by the
LIN master for some safety reasons. It corresponds then to
the following two data bytes LIN writing frame (type #1).
This command will be internally triggered when an
electrical problem is detected in one or both coils, leading to
shutdown mode. If this occurs while the motor is moving,
the flag is raised to allow warning of the LIN
master at the next GetStatus command that steps may
have been lost. Once the motor is stopped,
register is copied into register to ensure keeping
the stop position.
Table 57. HardStop WRITING FRAME TYPE #1
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
ID5
ID4
Data
1
CMD[6:0] = 0x05
2
Data
Broad
AD[6:0]
3
Checksum
Byte
Content
0
1
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all stepper motors connected to the LIN bus will stop
ResetPosition
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer, i.e. ‘0000’.
The command is decoded only from the command data.
This command is provided to the circuit by the LIN master
to reset and registers to zero. This
can be helpful to prepare for instance a relative positioning.
The reset position command sets the internal flag
“Reference done”.
ResetPosition corresponds to the following LIN writing frames (type #1).
Table 58. ResetPosition WRITING FRAME TYPE #1
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Identifier
*
*
ID5
ID4
Data
1
CMD[6:0] = 0x06
2
Data
Broad
AD[6:0]
3
Checksum
Byte
Content
0
1
Bit 3
Bit 2
Bit 1
Bit 0
ID3
ID2
ID1
ID0
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the circuits connected to the LIN bus will reset their and registers
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53
NCV70627
SetDualPosition
Note: This sequence cannot be interrupted by another
positioning command.
This command is provided to the circuit by the LIN master
in order to perform a positioning of the motor using two
different velocities. See Dual Positioning. After Dual
positioning the internal flag “Reference done” is set.
SetDualPosition corresponds to the following LIN writing frame with 0x3C identifier (type #4).
Table 59. SetDualPositioning WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x08
3
Data 3
Broad
AD[6:0]
4
Data 4
5
Data 5
Pos1[15:8]
6
Data 6
Pos1[7:0]
7
Data 7
Pos2[15:8]
8
Data 8
Pos2[7:0]
9
Checksum
Checksum over data
AppCMD = 0x80
Vmax[3:0]
Vmin[3:0]
Where:
Broad: If broad = ‘0’ all the circuits connected to the LIN bus will run the dual positioning
Vmax[3:0]: Max velocity for first motion
Vmin[3:0]: Min velocity for first motion and velocity for the second motion
Pos1[15:0]: First position to be reached during the first motion
Pos2[15:0]: Relative position of the second motion
SetStallParam
This command sets the motion detection parameters and
the related stepper−motor parameters, such as the minimum
and maximum velocity, the run and hold current,
acceleration and step mode. See Motion detection for the
meaning of the parameters sent by the LIN Master.
SetStallParam corresponds to a 0x3C LIN command (type #4).
Table 60. SetStallParam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x16
3
Data 3
Broad
AD[6:0]
4
Data 4
Irun[3:0]
Ihold[3:0]
5
Data 5
Vmax[3:0]
Vmin[3:0]
6
Data 6
7
Data 7
8
Data 8
9
Checksum
AppCMD = 0x80
MinSamples[2:0]
Shaft
AbsThr[3:0]
FS2StallEn[2:0]
Acc[3:0]
0
AccShape
StepMode[1:0]
UV3Thr[2:0]
DC100StEn
PWMJEn
Checksum over data
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested
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54
NCV70627
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 and while
a motion is running, otherwise correct positioning cannot be
guaranteed.
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.
SetMotorParam corresponds to the following LIN writing frame with 0x3C identifier (type #4).
Table 61. SetMotorParam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x09
3
Data 3
Broad
AD[6:0]
4
Data 4
Irun[3:0]
Ihold[3:0]
5
Data 5
Vmax[3:0]
Vmin[3:0]
6
Data 6
7
Data 7
8
Data 8
9
Checksum
AppCMD = 0x80
SecPos[10:8]
Shaft
Acc[3:0]
SecPos[7:0]
TStab[1]
PWMfreq
TStab[0]
AccShape
StepMode[1:0]
I_BOOST_ENB
PWMJEn
Checksum over data
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their RAMs as requested
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.
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[3]#, OTPA[2:0] and to zap it.
SetOTPparam corresponds to a 0x3C LIN writing frames (type #4).
Table 62. SetOTPparam WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
3
Data 3
Broad
4
Data 4
1
5
Data 5
D[7:0]
6
Data 6
0xFF
7
Data 7
0xFF
8
Data 8
0xFF
9
Checksum
Checksum over data
AppCMD = 0x80
CMD[6:0] = 0x10
AD[6:0]
1
1
1
OTPA[3]#
OTPA[2:0]
Where:
Broad: If Broad = ‘0’ all the circuits connected to the LIN bus will set the parameters in their OTP memories as requested
NOTE:
OTPA[3]# is inverted bit.
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55
NCV70627
SetPosition
The priority encoder table (See Priority Encoder)
describes the cases where a SetPosition command will
be ignored.
SetPosition corresponds to the following LIN write frames.
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.
1. Two (2) Data bytes frame with a direct ID (type #3)
Table 63. SetPosition WRITING FRAME TYPE #3
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
Pos[15 :8]
2
Data 2
Pos[7 :0]
3
Checksum
Checksum over data
Where:
(*) According to parity computation
ID[5:0]: Dynamically allocated direct identifier. There should be as many dedicated identifiers to this SetPosition command
as there are stepper−motors connected to the LIN bus.
2. Four (4) Data bytes frame with general purpose identifier (type #1).
Note: The dynamic ID allocation has to be assigned to ‘General Purpose 4 Data bytes’ ROM pointer, i.e. ‘0001’.
Table 64. SetPosition WRITING FRAME TYPE #1
Structure
Bit 7
Bit 6
Bit 5
Identifier
*
*
1
Data 1
1
CMD[6:0] = 0x0B
2
Data 2
Broad
AD[6:0]
3
Data 3
Pos[15:8]
4
Data 4
Pos[7:0]
5
Checksum
Checksum over data
Byte
Content
0
1
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
ID3
ID2
ID1
ID0
Where:
(*) According to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN will must go to Pos[15:0].
3. Two (2) motors positioning frame with 0x3C identifier (type #4)
Table 65. SetPosition WRITING FRAME TYPE #4
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
2
Data 2
1
CMD[6:0] = 0x0B
3
Data 3
1
AD1[6:0]
4
Data 4
5
Data 5
6
Data 6
7
Data 7
Pos2[15:8]
8
Data 8
Pos2[7:0]
9
Checksum
Checksum over data
AppCMD = 0x80
Pos1[15:8]
Pos1[7:0]
1
AD2[6:0]
Where:
Adn[6:0] : Motor #n physical address (n ∈ [1,2]).
Posn[15:0] : Signed 16−bit position set−point for motor #n.
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56
NCV70627
SetPositionShort
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. For
SetPositionShort it is recommended to set HW0,
HW1 and HW2 to ‘1’.
The priority encoder table (See Priority Encoder)
describes the cases where a SetPositionShort
command will be ignored.
This command is provided to the circuit by the LIN Master
to drive one, two or four motors to a given absolute position.
The Short Position is only 11 bits and mapped as half steps
over the position range. The positioner still perform the
motion with the programmed StepMode[1:0], but due
to the reduced number of bits, the end position is always
taken at a multiple of half steps (resolution). See Positioning
for more details.
SetPositionShort corresponds to the following LIN writing frames:
1. Two (2) data bytes frame for one (1) motor, with specific identifier (type #2)
Table 66. SetPositionShort WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
2
Data 2
Pos [7:0]
3
Checksum
Checksum over data
Pos[10:8]
Broad
AD [3:0]
Where:
(*) According to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will go to Pos[10:0].
ID[5:0]: Dynamically allocated identifier to two data bytes SetPositionShort command.
2. Four (4) data bytes frame for two (2) motors, with specific identifier (type # 2)
Table 67. SetPositionShort WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
0
ID3
ID2
ID1
ID0
1
Data 1
2
Data 2
3
Data 3
4
Data 4
Pos2[7:0]
5
Checksum
Checksum over data
Pos1[10:8]
1
Pos2[10:8]
1
AD1[3:0]
Pos1[7:0]
AD2[3:0]
Where:
(*) according to parity computation
ID[5:0]: Dynamically allocated identifier to four data bytes SetPositionShort command.
Adn[3:0]: Motor #n physical address least significant bits (n ∈ [1,2]).
Posn[10:0]: Signed 11−bit position set point for Motor #n (see RAM Registers)
3. Eight (8) data bytes frame for four (4) motors, with specific identifier (type #2)
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57
NCV70627
Table 68. SetPositionShort WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
1
ID3
ID2
ID1
ID0
1
Data 1
2
Data 2
3
Data 3
4
Data 4
5
Data 5
6
Data 6
7
Data 7
Pos1[10:8]
1
Pos2[10:8]
1
AD1[3:0]
Pos1[7:0]
AD2[3:0]
Pos2[7:0]
Pos3[10:8]
1
AD3[3:0]
Pos3[7:0]
Pos4[10:8]
1
AD4[3:0]
8
Data 8
Pos4[7:0]
9
Checksum
Checksum over data
Where:
(*) according to parity computation
ID[5:0]: Dynamically allocated identifier to eight data bytes SetPositionShort command.
Adn[3:0]: Motor #n physical address least significant bits (n ∈ [1,4]).
Posn[10:0]: Signed 11−bit position set point for Motor #n (see RAM Registers)
SetPosParam
This command is provided to the circuit by the LIN Master to drive one motor to a given absolute position. It also sets some
of the values for the stepper motor parameters such as minimum and maximum velocity.
SetPosParam corresponds to a four (4) data bytes writing LIN frame with specific dynamically assigned identifier (type # 2).
Table 69. SetPosParam WRITING FRAME TYPE #2
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
1
0
ID3
ID2
ID5
ID4
1
Data 1
Pos[15:8]
2
Data 2
Pos[7:0]
3
Data 3
Vmax[3:0]
Vmin[3:0]
4
Data 4
AbsThr[3:0]
Acc[3:0]
5
Checksum
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration.
ID[5:0]: Dynamically allocated direct identifier to 4 Data bytes SetPosParam command. There should be as many
dedicated identifiers to this SetPosParam command as there are stepper−motors connected to the LIN bus.
Pos [15:0]: Signed 16−bit position set−point.
Sleep
frame is a master request command frame (identifier 0x3C)
with data byte 1 containing 0x00 while the followings
contain 0xFF.
Note: SleepEnable needs to be set to 1 in order to allow the
device to go to sleep. If SleepEnable is 0 the device will go
into “stopped state”
This command is provided to the circuit by the LIN master
to put all the slave nodes connected to the LIN bus into sleep
mode. If this command occurs during a motion of the motor,
TagPos is reprogrammed to SecPos (provided SecPos
is different from “100 0000 0000”), or a SoftStop is
executed before going to sleep mode. See LIN 1.3
specification and Sleep Mode. The corresponding LIN
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58
NCV70627
Table 70. SLEEP WRITING FRAME
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
0
0
1
1
1
1
0
0
1
Data 1
0x00
2
Data 2
0xFF
3
Data 3
0xFF
4
Data 4
0xFF
5
Data 5
0xFF
6
Data 6
0xFF
7
Data 7
0xFF
8
Data 8
0xFF
3
Checksum
Checksum over data
SoftStop
Command SoftStop occurs in the following cases:
If a SoftStop command occurs during a motion of the
stepper motor, it provokes an immediate deceleration to
Vmin (see Minimum Velocity) followed by a stop,
regardless of the position reached. Once the motor is
stopped, TagPos register is overwritten with value in
ActPos register to ensure keeping the stop position.
Note: The dynamic ID allocation has to be assigned to
‘General Purpose 2 Data bytes’ ROM pointer ‘0000’. The
command is decoded only from the command data.
Note: A SoftStop command occurring during a
DualPosition sequence is not taken into account.
• The chip temperature rises above the thermal shutdown
•
•
threshold (see DC Parameters and Temperature
Management);
The VBB drops under the UV3 level; (see DC
Parameters and Battery Voltage Management);
The LIN master requests a SoftStop. Hence
SoftStop will correspond to the following two data
bytes LIN writing frame (type #1).
Table 71. SoftStop WRITING FRAME TYPE #1
Structure
Byte
Content
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Identifier
*
*
0
ID4
ID3
ID2
ID1
ID0
1
Data 1
1
CMD[6:0] = 0x0F
2
Data 2
Broad
AD[6:0]
3
Checksum
Checksum over data
Where:
(*) according to parity computation
Broad: If broad = ‘0’ all the stepper motors connected to the LIN bus will stop with deceleration.
www.onsemi.com
59
MECHANICAL CASE OUTLINE
PACKAGE DIMENSIONS
SSOP36 EP
CASE 940AB
ISSUE A
DATE 19 JAN 2016
SCALE 1:1
0.20 C A-B
D
4X
36
E1
1
X = A or B
e/2
E
DETAIL B
36X
0.25 C
18
e
36X
B
b
0.25
TOP VIEW
A
H
X
19
ÉÉÉ
ÉÉÉ
ÉÉÉ
PIN 1
REFERENCE
D
DETAIL B
A
NOTES:
1. DIMENSIONING AND TOLERANCING PER
ASME Y14.5M, 1994.
2. CONTROLLING DIMENSION: MILLIMETERS.
3. DIMENSION b DOES NOT INCLUDE DAMBAR
PROTRUSION. ALLOWABLE DAMBAR
PROTRUSION SHALL BE 0.13 TOTAL IN
EXCESS OF THE b DIMENSION AT MMC.
4. DIMENSION b SHALL BE MEASURED BETWEEN 0.10 AND 0.25 FROM THE TIP.
5. DIMENSIONS D AND E1 DO NOT INCLUDE
MOLD FLASH, PROTRUSIONS OR GATE
BURRS. DIMENSIONS D AND E1 SHALL BE
DETERMINED AT DATUM H.
6. THIS CHAMFER FEATURE IS OPTIONAL. IF
IT IS NOT PRESENT, A PIN ONE IDENTIFIER
MUST BE LOACATED WITHIN THE INDICATED AREA.
T A
M
S
B
S
NOTE 6
h
A2
DETAIL A
c
h
0.10 C
36X
SIDE VIEW
A1
END VIEW
SEATING
PLANE
C
D2
M1
DIM
A
A1
A2
b
c
D
D2
E
E1
E2
e
h
L
L2
M
M1
MILLIMETERS
MIN
MAX
--2.65
--0.10
2.15
2.60
0.18
0.30
0.23
0.32
10.30 BSC
5.70
5.90
10.30 BSC
7.50 BSC
3.90
4.10
0.50 BSC
0.25
0.75
0.50
0.90
0.25 BSC
0_
8_
5_
15 _
GENERIC
MARKING DIAGRAM*
M
GAUGE
PLANE
E2
L2
C
SEATING
PLANE
36X
XXXXXXXXXX
XXXXXXXXXX
XXXXXXXXXX
AWLYYWWG
L
DETAIL A
SOLDERING FOOTPRINT
BOTTOM VIEW
5.90
4.10
36X
1.06
10.76
XXXX
A
WL
YY
WW
G
= Specific Device Code
= Assembly Location
= Wafer Lot
= Year
= Work Week
= Pb−Free Package
*This information is generic. Please refer
to device data sheet for actual part
marking.
1
0.50
PITCH
36X
0.36
DIMENSIONS: MILLIMETERS
DOCUMENT NUMBER:
DESCRIPTION:
98AON46215E
SSOP36 EXPOSED PAD
Electronic versions are uncontrolled except when accessed directly from the Document Repository.
Printed versions are uncontrolled except when stamped “CONTROLLED COPY” in red.
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PUBLICATION ORDERING INFORMATION
LITERATURE FULFILLMENT:
Email Requests to: orderlit@onsemi.com
onsemi Website: www.onsemi.com
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TECHNICAL SUPPORT
North American Technical Support:
Voice Mail: 1 800−282−9855 Toll Free USA/Canada
Phone: 011 421 33 790 2910
Europe, Middle East and Africa Technical Support:
Phone: 00421 33 790 2910
For additional information, please contact your local Sales Representative