AMIS-30624_13 Datasheet, PDF (47/52 Pages) ON Semiconductor – I2C Micro-stepping Motor Driver

AMIS−30624, NCV70624
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 43. 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
Where:
Vmax[3:0]
Vmin[3:0]
Data 7
Max. velocity for first motion
Min. velocity for first motion and
velocity for the second motion
Pos2[7:0]
Pos1[15:0]
Pos2[15:0]
First position to be reached during the
first motion
Relative position of the second motion
SetStallParam
This command sets the motion detection parameters and
the related stepper motor parameters, such as the minimum
and maximum velocity, the run− and hold current,
acceleration and step−mode. See Motion Detection
corresponds to the following I²C command frame for the
meaning of these parameters.
SetStallParam
Table 44. SetStallParam 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
1
0
1
1
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
Irun[3:0]
Ihold[3:0]
5
Data 4
Vmax[3:0]
Vmin[3:0]
6
Data 5
MinSamples[2:0]
Shaft
Acc[3:0]
7
Data 6
8
Data 7
AbsThr[3:0]
FS2StallEn[2:0]
AccSha
pe
DelThr[3:0]
StepMode[1:0]
DC100S
tEn
PWMJE
n
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