AMIS-30624_13 Datasheet, PDF (44/52 Pages) ON Semiconductor – I2C Micro-stepping Motor Driver

AMIS−30624, NCV70624
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 34. 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 35. GetFullStatus2 RESPONSE FRAME
Byte
Content
Bit 7
Bit 6
Bit 5
0
Address
1
1
OTP3
1
Address
1
1
1
2
Data 1
3
Data 2
4
Data 3
5
Data 4
6
Data 5
7
Data 6
FS2StallEn[2:0]
8
Data 7
AbsStall DelStallLo DelStallHi
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
Structure
Bit 4
Bit 3
Bit 2
OTP2 OTP1 OTP0
OTP3 OTP2 OTP1
ActPos[15:8]
ActPos[7:0]
TagPos[15:8]
TagPos[7:0]
SecPos[7:0]
1
DC100
MinSamples[2:0]
Bit 1
HW
OTP0
Bit 0
1
HW
SecPos[10:8]
DC100StEn
PWMJEn
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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