AMIS-30622 Datasheet, PDF (32/35 Pages) AMI SEMICONDUCTOR – I2C Microstepping Motordriver

AMIS-30622 I²C Microstepping Motordriver
Data Sheet
RunInit
The Master provides this command to the circuit in order to
initialize positioning of the motor by seeking the zero (or
reference) position.
Once the RunInit command is started it cannot be
interrupted by any other command, except on the
occurrence of a condition leading to a motor shutdown (See
§ 9.2.2.7 Motor Shutdown Mode), or when a HardStop
command is received. Furthermore the master has to check
that the actual position of the stepper motor does not
correspond to the target position of the first motion. This is
very important otherwise the circuit goes into a deadlock
state. Once the circuit is in deadlock state only a hardstop
command followed by a GetFullStatus1 command will
cause the circuit to leave this state.
Byte
0
1
2
3
4
5
6
7
8
Content
Slave Address
RunInit command
N/A
N/A
Vmax Vmin
Position2 byte 1
Position2 byte 2
Position1 byte 1
Position1 byte 2
bit 7
1
1
1
1
RunInit Command
bit 6
bit 5
Structure
bit 4
bit 3
1
OTP3
OTP2
OTP1
0
0
0
1
1
1
1
1
1
1
1
1
Vmax[3:0]
TagPos1[15:8]
TagPos1[7:0]
TagPos2[15:8]
TagPos2[7:0]
bit 2
bit 1
OTP0
HW
0
0
1
1
1
1
Vmin[3:0]
bit 0
0
0
1
1
SetMotorParam
This command is provided to the circuit by the Master to
set the values for the Stepper motor parameters (listed
below) in RAM.
• coil peak current value (Irun)
• coil hold current value (Ihold)
• maximum velocity for the stepper motor (Vmax)
• minimum velocity for the Stepper-motor (Vmin)
• acceleration shape (AccShape)
• stepping mode (StepMode)
• indicator of the stepper motor reference position (Shaft)
• acceleration (deceleration) for the stepper motor (Acc)
• secure position for the stepper motor (SecPos)
Byte
0
1
2
3
4
5
6
7
8
Content
Slave Address
SetMotorParam
N/A
N/A
Irun & I hold
Vmax & Vmin
Status
SecurePos
StepMode
bit 7
1
1
1
1
1
SetMotorParam Command
bit 6
bit 5
Structure
bit 4
bit 3
bit 2
bit 1
1
OTP3
OTP2
OTP1
OTP0
HW
0
0
0
1
0
0
1
1
1
1
1
1
1
1
1
1
1
1
Irun[3:0]
Ihold[3:0]
Vmax[3:0]
Vmin[3:0]
SecPos[10:8] Shaft
Acc[3:0]
SecPos[7:0]
1
1
AccShape StepMode[1:0]
1
bit 0
0
1
1
1
1
SetOTP
The Master provides this command to the circuit in order to
zap the OTP memory.
Byte
0
1
2
3
4
5
Content
Slave Address
ZapOTP
N/A
N/A
OTP Address
Pbit
bit 7
1
1
1
1
1
bit 6
1
0
1
1
1
SetOTP Command
bit 5
Structure
bit 4
bit 3
OTP3
OTP2
OTP1
0
1
0
1
1
1
1
1
1
1
1
1
Pbit[7:0]
bit 2
bit 1
OTP0
HW
0
0
1
1
1
1
OTPA[2:0]
bit 0
0
0
1
1
AMI Semiconductor - Rev. 2.3
www.amis.com
32