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NCV70627DQ001R2G Datasheet(PDF) 31 Page - ON Semiconductor |
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NCV70627DQ001R2G Datasheet(HTML) 31 Page - ON Semiconductor |
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31 / 61 page  NCV70627 www.onsemi.com 31 Table 23. PRIORITY ENCODER (See table notes on the following page.) State → ShutUn- der HardUnder Sleep ShutDown SoftStopped HardStop SoftStop Dual Position GotoPos Stopped Standby Command ↓ No Pow- er (Note 31) Motor Stopped, H−bridges in Hi−Z Motor Forced to Stop Motor Decelera- ting No Influ- ence on RAM and TagPos Motor Motion Ongoing Motor Stopped, Ihold in Coils Thermal shutdown [<TSD> = ‘1’] → Shutdown → SoftStop → SoftStop → Shutdown → Shutdown Motion finished n.a. → Stopped → Stopped → Stopped; <TagPos> = <Act Pos> → Stopped; <TagPos> = <ActPos> n.a. n.a. With the Following Color Code: Command Ignored Transition to Another State Master is responsible for proper update (see Note 36) 31. Leaving <Sleep> state is equivalent to power−on−reset. 32. After power−on−reset, the <Standby> 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. <AccShape> is forced to ‘1’ during second motion. <AccShape> at ‘0’ will be taken into account after the DualPosition sequence. A GetFullStatus command will return the default parameters for <Vmax> and <Vmin> stored in RAM. 34. The <Sleep> flag is set to ‘1’ when a LIN timeout or a Sleep command occurs. It is reset by the next LIN command (<Sleep> is cancelled if not activated yet). 35. Shutdown state can be left only when <TSD> and <HS> 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 <GotoPos>) should not attempt to modify <Acc> and <Vmin> values. This can be done during a DualPosition sequence since this motion uses its own parameters, the new parameters will be taken into account at the next SetPosition or SetPositionShort command. 38. Some transitions like <GotoPos> → <Sleep> are actually done via several states: <GotoPos> → <SoftStop> → <Stopped> → <Sleep> (see diagram below). 39. Two transitions are possible from state <Stopped> when <Sleep> = ‘1’: 1) Transition to state <Sleep> if (<SecEn> = ‘0’) or ((<SecEn> = ‘1’) and (<ActPos> = <SecPos>)) or <Stop> = ‘1’ 2) Otherwise transition to state <GotoPos>, with <TagPos> = <SecPos> 40. <SecEn> = ‘1’ when register <SecPos> is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000 0000”). 41. <Stop> flag allows distinguishing whether state <Stopped> was entered after HardStop/SoftStop or not. <Stop> is set to ‘1’ when leaving state <HardStop> or <SoftStop> and is reset during first clock edge occurring in state <Stopped>. 42. Command for dynamic assignment of Ids is decoded in all states except <Sleep> and has no effect on the current state. 43. While in state <Stopped>, if <ActPos> → <TagPos> there is a transition to state <GotoPos>. This transition has the lowest priority, meaning that <Sleep>, <Stop>, <TSD>, etceteras are first evaluated for possible transitions. 44. If <StepLoss> is active, then SetPosition, SetPositionShort and GotoSecurePosition commands are not ignored. <StepLoss> can only be cleared by a GetStatus or GetFullStatus command. |
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