AMIS-30622_13 Datasheet, PDF (47/50 Pages) ON Semiconductor – I2C Micro-Stepping Motor Driver

AMIS−30622
SetPosition
This command is provided to the circuit by the I²C master
to drive the motor to a given absolute position. See
Positioning (see Priority Encoder) for more details. The
priority encoder table acknowledges the cases where a
SetPosition command will be ignored.
SetPosition corresponds to the following I²C command frame:
Table 40. SetPosition COMMAND FRAME
Structure
Byte
Content
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
0
1
Command
1
0
0
0
1
0
1
1
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
Pos[15:8]
5
Data 4
Pos[7:0]
Where:
Pos [15:0]
Signed 16−bit position set−point for motor.
SoftStop
This command will be internally triggered when the chip
temperature rises above the thermal shutdown threshold (see
Table 5 and the Temperature Management Section). It
provokes an immediate deceleration to Vmin (see
Minimum Velocity corresponds to the following I²C
command frame:) followed by a stop, regardless of the
position reached. Once the motor is stopped, TagPos
register is overwritten with value in ActPos register to
ensure keeping the stop position. The I²C Master for some
safety reasons can also issue a SoftStop command.
SoftStop
Table 41. SoftStop COMMAND FRAME
Structure
Byte
0
1
Content
Address
Command
Bit 7
1
1
Bit 6
1
0
Bit 5
OTP3
0
Bit 4
OTP2
0
Bit 3
OTP1
1
Bit 2
OTP0
1
Bit 1
HW
1
Bit 0
0
1
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