AMIS-30622 Datasheet, PDF (22/35 Pages) AMI SEMICONDUCTOR – I2C Microstepping Motordriver

AMIS-30622 I²C Microstepping Motordriver
Data Sheet
Notes
(1) After Power-on-reset, the Shutdown state is entered. The
Shutdown state can only be left after GetFullStatus1
command (so that the Master could read the <VddReset>
flag).
(2) A RunInit sequence runs with a separate set of RAM
registers. The parameters that are not specified in a
RunInit command are loaded with the values stored in
RAM at the moment the RunInit sequence starts.
AccShape is forced to ‘1’ during second motion even if a
ResetToDefault command is issued during a RunInit
sequence, in which case AccShape at ‘0’ will be taken
into account after the RunInit sequence. A
GetFullStatus1 command will return the default
parameters for Vmax and Vmin stored in RAM.
(3) Shutdown state can be left only when <TSD> and <HS>
flags are reset.
(4) Flags can be reset only after the master could read them
via a GetFullStatus1 command, and provided the
physical conditions allow for it (normal temperature,
correct battery voltage and no electrical or charge pump
defect).
(5) 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 RunInit
sequence since this motion uses its own parameters, the
new parameters will be taken into account at the next
SetPosition command.
(6) <SecEn> = ‘1’ when register SecPos is loaded with a
value different from the most negative value (i.e. different
from 0x400 = “100 0000 0000”).
(7) <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.
(8) While in state Stopped, if ActPos ≠ TagPos there is a
transition to state GotoPos. This transition has the lowest
priority, meaning that <Stop>, <TSD>, etc. are first
evaluated for possible transitions.
(9) If <StepLoss> is active, then SetPosition and
GotoSecurePosition commands are ignored (they will
not modify TagPos register whatever the state), and
motion to secure position is forbidden. Other command
like RunInit or ResetPosition will be executed if
allowed by current state. <StepLoss> can only be
cleared by a GetFullStatus1 command.
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