Freescale Semiconductor M68HC08 series, Designer Reference Manual

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LIN Stepper Software Description
Designer Reference Manual DRM047 — Rev 0
64 LIN Stepper Software Description MOTOROLA
• clears system errors
• provides position and speed control application initialization
NOTE:
The application initialization state App. Init. does not set actual motor
position positionAct.
6.2.3 App.Run
In the Application Run state, the application controls the actual position
positionAct to the required position positionReq with current limited to
the Run or Block current. The positionReq is set according to the to
l_u16_rd_positionReq signal. The motor is in the block state if the
positionAct = positionReq after stop timeout. The LIN signals are also
tested in this state. If there are any of the requests shown in Figure 6-6 ,
the state is left.
6.2.4 App.Position Reset
Functionality of the Position Reset state is very similar to the App Run
state, but in this state the application controls the motor to the motor
down to
positionReq = sParameterRAM.positionResetRqValue . So
the positionReq is not set according to the l_u16_rd_positionReq.
This state is used with the App Position Reset Set Stall for position
initialization.
6.2.5 App.Position Reset Set Stall
Provides setting positionAct = sParameterRAM.positionStall and so
provides the actual position reset.
6.2.6 App. Prepare Sleep
Application prepares for sleep. In case the motor is spinning it is
decelerated and stopped. This is provided in order not to lose position by
going to sleep.
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