AMIS-30622_13 Datasheet, PDF (42/50 Pages) ON Semiconductor – I2C Micro-Stepping Motor Driver

AMIS−30622
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 Tables 19
and 20 to see the meaning of the parameters sent back to the
I²C master.
GetFullStatus2 corresponds to the following I2C command frame:
Table 28. GetFullStatus2 COMMAND FRAME
Structure
Byte
0
Content
Address
Bit 7
1
Bit 6
1
Bit 5
OTP3
Bit 4
OTP2
Bit 3
OTP1
Bit 2
OTP0
Bit 1
HW
Bit 0
0
1
Command
1
1
1
1
1
1
0
0
Table 29. GetFullStatus2 RESPONSE FRAME
Byte
Content
Bit 7
Bit 6
0
Address
1
1
1
Address
1
1
2
Data 1
3
Data 2
4
Data 3
5
Data 4
6
Data 5
7
Data 6
1
1
8
Data 7
1
1
Where:
OTP(n)
OTP address bits PA[3:0]
HW
Hardwired address bit
ActPos[15:0] Actual position
Bit 5
OTP3
1
1
1
Structure
Bit 4
Bit 3
OTP2
OTP1
OTP3
OTP2
ActPos[15:8]
ActPos[7:0]
TagPos[15:8]
TagPos[7:0]
SecPos[7:0]
1
1
1
1
Bit 2
OTP0
OTP1
Bit 1
HW
OTP0
Bit 0
1
HW
SecPos[10:8]
1
1
1
TagPos[15:0] Target position
SecPos[10:0] Secure position
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