AMIS-30624 Datasheet, PDF (46/56 Pages) AMI SEMICONDUCTOR – I2C Microstepping Motordriver

AMIS-30624
16.3.2. GetFullStatus2
This command is provided to the circuit by the master to get the actual, target and secure position of the stepper motor. Both the actual
and target position are returned in signed two’s complement 16-bit format. Secure position is coded in 10-bit format. According to the
programmed stepping mode the LSBs of ActPos[15:0] and TagPos[15:0] may have no meaning and should be assumed to be ‘0’.
This command also gives additional information concerning stall detection. Refer to Table 18 and Table 19 to see the meaning of the
parameters sent back to the I²C master.
GetFullStatus2 corresponds to the following I²C command frame:
Byte Content
0
Address
1
Command
Bit 7
1
1
GetFullStatus2 Command Frame
Structure
Bit 6
Bit 5
Bit 4 Bit 3
1
OTP3
OTP2 OTP1
1
1
1
1
Bit 2
OTP0
1
Bit 1
HW
0
Bit 0
0
0
GetFullStatus2 Response Frame
Byte Content
Structure
Bit 7
Bit 6
Bit 5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0
Address
1
1
OTP3
OTP2 OTP1 OTP0
HW
1
1
Address
1
1
1
OTP3 OTP2 OTP1 OTP0
HW
2
Data 1
ActPos[15:8]
3
Data 2
ActPos[7:0]
4
Data 3
TagPos[15:8]
5
Data 4
TagPos[7:0]
6
Data 5
SecPos[7:0]
7
Data 6
FS2StallEn[2:0]
1
DC100
SecPos[10:8]
8
Data 7
AbsStall DelStallLo DelStallHi
MinSamples[2:0]
DC100StEn PWMJEn
Where:
OTP(n)
OTP address bits PA[3:0]
HW
Hardwired address bit
ActPos[15:0]
Actual position
TagPos[15:0]
Target position
SecPos[10:0]
Secure position
FS2StallEn[2:0] Number of full steps after stall detection is enabled
DC100
Flag indicating PWM is at 100 percent duty cycle
AbsStall
Stall detected because the absolute threshold is not reached
DelStallLo
Stall detected because the delta threshold is under crossed
DelStallHi:
Stall detected because the delta threshold is crossed
MinSamples[2:0] Back-emf sampling delay time
DC100StEn
Enables the switch off of stall detection when DC100 = 1
PWMJEn
PWM jitter enable
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