AMIS-30622_13 Datasheet, PDF (45/50 Pages) ON Semiconductor – I2C Micro-Stepping Motor Driver

AMIS−30622
SetDualPosition
This command is provided to the circuit by the I²C master
in order to perform a positioning of the motor using two
different velocities. See Section Dual Positioning.
Note: This sequence cannot be interrupted by another
positioning command.
Important: If for some reason ActPos equals
Pos1[15:0] at the moment the SetDualPosition
command is issued, the circuit will enter in deadlock state.
Therefore, the application should check the actual position
by a GetFullStatus2 corresponds to the following I²C
command frame command prior to starting a dual
positioning. Another solution may consist of programming
a value out of the stepper motor range for Pos1[15:0].
For the same reason Pos2[15:0] should not be equal to
Pos1[15:0].
SetDualPosition
Table 37. SetDualPosition 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
0
0
0
1
0
0
0
2
Data 1
1
1
1
1
1
1
1
1
3
Data 2
1
1
1
1
1
1
1
1
4
Data 3
Vmax[3:0]
Vmin[3:0]
5
Data 4
Pos1[15:8]
6
Data 5
Pos1[7:0]
7
Data 6
Pos2[15:8]
8
Data 7
Pos2[7:0]
Where:
Vmax[3:0]
Vmin[3:0]
Max. velocity for first motion
Min. velocity for first motion and
velocity for the second motion
Pos1[15:0]
Pos2[15:0]
First position to be reached during the
first motion
Relative position of the second motion
http://onsemi.com
45