AMIS-30624 Datasheet, PDF (29/56 Pages) AMI SEMICONDUCTOR – I2C Microstepping Motordriver

AMIS-30624
14.2.10. Priority Encoder
The table below describes the state management performed by the main control block.
Table 20: Priority Encoder
State →
Stopped
GotoPos
DualPosition
SoftStop
HardStop
ShutDown
Command
↓
Motor Stopped,
Ihold in Coils
Motor Motion
Ongoing
No Influence on
RAM and
TagPos
Motor
Decelerating
Motor Forced to Motor Stopped,
Stop
H-bridges in
Hi-Z
GetOTPparam
GetFullStatus1
[attempt to clear all
flags] (note 1)
GetFullStatus2
OTP refresh;
I²C slave
response
I²C slave
response
I²C slave
response
OTP refresh;
I²C slave
response
I²C slave
response
I²C slave
response
OTP refresh;
I²C slave
response
I²C slave
response
I²C slave
response
OTP refresh;
I²C slave
response
I²C slave
response
I²C slave
response
OTP refresh;
I²C slave
response
I²C slave
response
I²C slave
response
OTP refresh;
I²C slave
response
I²C slave
response;
if (<TSD> or
<ElFlag> = ‘0’
then → Stopped
I²C slave
response
ResetToDefault
[ ActPos and TagPos
are not altered ]
OTP refresh;
OTP to RAM;
AccShape reset
OTP refresh;
OTP to RAM;
AccShape reset
OTP refresh;
OTP to RAM;
AccShape reset
(note 2)
OTP refresh;
OTP to RAM;
AccShape reset
OTP refresh;
OTP refresh;
OTP to RAM; OTP to RAM;
AccShape reset AccShape reset
SetMotorParam
[ Master takes care
about proper update ]
RAM update
RAM update
(note 5)
RAM update
RAM update
RAM update
RAM update
SetStallParam
RAM update
RAM update
RAM update
RAM update
RAM update
RAM update
ResetPosition
TagPos and
ActPos reset
TagPos and
ActPos reset
SetPosition
TagPos updated;
→ GotoPos
TagPos updated
TagPos updated
RunVelocity
Continuous motion;
→ GotoPos
GotoSecPosition
If <SecEn> = ‘1’
then TagPos =
SecPos;
→ GotoPos
If <SecEn> = ‘1’
then TagPos =
SecPos
If <SecEn> = ‘1’
then TagPos =
SecPos
DualPosition
→ DualPosition
HardStop
→ HardStop; → HardStop; → HardStop;
<StepLoss> = ‘1’ <StepLoss> = ‘1’ <StepLoss> = ‘1’
SoftStop
→ SoftStop
HardStop
[ ⇔ (<CPFail> or
<UV2> or <ElDef>) =
‘1’ ⇒ <HS> = ‘1’ ]
→ Shutdown
→ HardStop
→ HardStop
→ HardStop
Thermal shutdown
[ <TSD> = ‘1’ ]
→ Shutdown
→ SoftStop
→ SoftStop
Motion finished
NA
→ Stopped
→ Stopped
→ Stopped;
→ Stopped;
TagPos =ActPos TagPos =ActPos
NA
With the following color code:
Command ignored
Transition to another state
Master is responsible for proper update (see Note 5)
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