AMIS-30622 Datasheet, PDF (38/42 Pages) AMI SEMICONDUCTOR – I2C Microstepping Motordriver

AMIS-30622
RunInit
The Master provides this command to the circuit in order to initialise 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
RunInit command
Structure
bit 7
bit 6
bit 5
bit 4
bit 3
bit 2
bit 1
bit 0
1
1
OTP3 OTP2 OTP1 OTP0
HW
0
1
0
0
0
1
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
Vmax[3:0]
Vmin[3:0]
TagPos1[15:8]
TagPos1[7:0]
TagPos2[15:8]
TagPos2[7:0]
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
SetMotorParam command
Structure
bit 7 bit 6 bit 5
bit 4
bit 3 bit 2 bit 1 bit 0
1
1
OTP3 OTP2 OTP1 OTP0 HW
0
1
0
0
0
1
0
0
1
1
1
1
1
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
1 AccShape StepMode[1:0] 1
1
Rev. 3 | Page 38 of 42 | www.onsemi.com