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AMIS-30624 i 2 c microstepping motordriver data sheet 1.0 general description t he amis-306 24 is a sin g l e -c hip microste ppi ng m o tordriv e r w i t h a p o sitio n control l er an d control/d i ag nos tic interfac e. it i s re a d y to bu ild intell ig ent per ip hera l s y stems w h er e up to 32 drivers can b e connecte d to one i 2 c master . t h is significa ntl y re duc es s y stem comple xity. t he chip recei v es positi o n i ng instructions th roug h the b u s and s ubse q u e n tl y drives th e stator coils so the t w o - ph as e stepp er mo tor moves to the d e sire d pos ition. t he on-ch ip p o sitio n contro ll er is confi gura b le (ot p or ram) for differe nt motor t y p e s, positio n in g rang es and par ameter s for spe ed, accel e ratio n a nd d e ce lerati o n . microste p p i ng a llo w s si le nt motor o per ation an d i n crease d p o sitio n i n g resol u tion. t he adva n ced m o tion q u a lificati o n mode en abl e s verificati o n of the compl e te mecha n ica l s ystem in functio n of the se lected motion par ame t ers. t he amis-306 24 c an ea sil y b e co nn ected to an i 2 c bu s w her e the i 2 c master c an f e tch sp ecific st atus inf o rmatio n like actu al p o si tion, error flags , etc. from each ind i vid ual sl a v e nod e. an inte grate d sensor less ste p -loss detecti o n prev ents th e positi o n e r fro m loos ing step s and stops th e motor w h e n runn ing into s tall. t h is enab les si lent, yet accur a te pos itio n ca li bratio ns d u ri ng a r e fere ncin g r un an d a llo w s semi-clos e d lo op op eratio n when a p p ro achi n g the mecha n ic al end-stops. t he chip is im plem ented in i 2 t 100 techn o l o g y , en abl in g both h i gh v o lta ge a nal og circ uitr y an d di gita l functio nal it y o n the sam e chip. t he AMIS-30624 is full y com patib le w i th th e automotive vo l t age req u ir eme n ts. 2.0 product features motordri v e r ? mi cro s te pp i n g te ch no l ogy ? sensor less step-loss detection ? peak curre nt up to 800ma ? f i xe d frequ enc y pw m current -control ? selecta b le pw m frequenc y ? automatic sel e ction of fast an d slo w d e ca y mode ? no e x tern al fl y- back di od es re quir ed ? 14v/24v c o mpl i ant ? motion q ual ific ation mo de controller w i th r a m and otp memor y ? position controller ? confi gura b l e spee ds an d acc e ler a tion ? input to conn e c t optiona l moti on s w itch i 2 c in terfac e ? bi-directi on al 2 - w i re bus for inter ic control ? f i eld pr ogram mabl e nod e ad dresses ? f u ll di agn ostic s and status inf o rmatio n prote c t ion ? over-current pr otection ? und e r-volta ge mana geme n t ? open circu i t de tection ? high-t e mp w a r n in g an d mana geme n t ? lo w - temp flag emi compatibi lity ? high v o ltag e o u tputs w i th slo pe contro l ? hv outputs w i t h slop e contro l 1 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 3.0 applications t he AMIS-30624 is i dea ll y su ited for smal l p o sitio n in g ap pli c ati ons. t a rget markets incl u de: aut om otive (head lam p ali gnme n t, hv ac, idle co ntrol, cr uise c ontro l), i ndustri a l equ ip ment (li ghti ng, fluid contro l, l abe lin g, proc e ss control, xy z tables, ro bot s) an d bu i l d i ng automati on (h vac, surveil l a n ce, satell ite di sh, rene w a b l e ener g y s y st ems). suitable ap plicati ons t y p i c a ll y h a ve mu lti p le a x es o r requir e mechatro nic so lutio n s w i th the driver ch i p mo unted d i rectl y o n the motor. 4.0 ordering information table 1: orde ring information part no. package peak curre nt tem p . ra nge orderi ng c ode tube s orderi ng c ode tapes AMIS-30624 p g a soic- 20 800ma -40c ? .. 125 c 0 c 6 2 4 - 0 04-x t d 0c624-0 04-x t p AMIS-30624 pn a nqfp -32 (7 x 7 mm) 800ma -40c ? ..125 c 0c624-0 05-x t d 0c624-0 05-x t p 5.0 quick reference data table 2: absolut e maximum rati ngs parameter min. max. unit v b b s u p p l y v o l t a g e - 0 . 3 + 4 0 (1 ) v tamb ambient tempera t ure unde r bias (2 ) -50 +150 c ts t storage temp era t ure -55 +160 c vesd (3 ) electrostatic discharge voltage on pins -2 +2 kv notes: (1) for limited time <0.5s (2) the cir c ui t fun ctionality is no t gu ara n teed . (3) human body model (10 0pf v i a 1.5 k ? , a cco rding to jedec e i a- jesd2 2 -a114-b) table 3: operati ng ranges parameter min. max. unit v b b s u p p l y v o l t a g e + 8 + 2 9 v vbb 18v -40 +125 c top oper ating tempe r ature range vbb 29v -40 +85 c 2 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 6.0 table of contents 1.0 genera l de scriptio n ............................................................................................................................... ............................................... 1 2.0 product f e atures ............................................................................................................................... ................................................... 1 3.0 appl icati o n s ............................................................................................................................... ........................................................... 2 4.0 orderin g in formation ............................................................................................................................... .............................................. 2 5.0 quick refe rence d a ta ............................................................................................................................... ........................................... 2 6.0 conte n t ............................................................................................................................... .................................................................. 3 7.0 block di agr am ............................................................................................................................... ....................................................... 5 8.0 pin-o u t ............................................................................................................................... ................................................................... 6 9.0 package thermal resistance ............................................................................................................................... ................................ 7 9.1 soic-20 ............................................................................................................................... ............................................................. 7 9.2 nqf p -32 ............................................................................................................................... ............................................................ 7 10.0 dc par a meters ............................................................................................................................... .................................................... 8 11.0 ac parameters ............................................................................................................................... .................................................. 10 12.0 t y pica l applic atio n ............................................................................................................................... ............................................. 12 13.0 positi on in g parameters ............................................................................................................................... ..................................... 12 13.1 step pin g modes ............................................................................................................................... ............................................. 12 13.2 ma xim u m velocit y ............................................................................................................................... .......................................... 13 13.3 minimum veloc i t y ............................................................................................................................... ........................................... 13 13.4 accel e rati on an d dec e ler a tion ............................................................................................................................... ....................... 14 13.5 positi on in g ............................................................................................................................... ..................................................... 14 13.5.1. positi o n ran ges ............................................................................................................................... ..................................... 15 13.5.2. secur e positio n ............................................................................................................................... ...................................... 15 13.5.3. shaft ............................................................................................................................... ....................................................... 15 14.0 structural descripti on ............................................................................................................................... ........................................ 16 14.1 step per motordriv e r ............................................................................................................................... ....................................... 16 14.2 co ntrol l ogic (pos ition contro ller a nd main c ontrol) .................................................................................................................... 16 14.3 motio n de tection ............................................................................................................................... ............................................ 16 14.4 misce lla n eous ............................................................................................................................... ................................................ 16 15.0 f unctio n a l descripti on ............................................................................................................................... ....................................... 17 15.1 positi on c ontrol l er ............................................................................................................................... .......................................... 17 15.1.1. positi o n in g an d motio n contro l ............................................................................................................................... ............... 17 15.1.2. du al p o sitio n in g ............................................................................................................................... ..................................... 19 15.1.3. positi o n perio d icit y ............................................................................................................................... ................................. 19 15.1.4. hard w i r ed addr ess h w ............................................................................................................................... .......................... 20 15.1.5. ext e rna l s w itc h sw i ............................................................................................................................... ............................... 22 15.2 mai n co ntrol an d reg i ste r , ot p memory + rom ......................................................................................................................... 23 15.2.1. po w e r-up phas e ............................................................................................................................... ..................................... 23 15.2.2. res e t state ............................................................................................................................... ............................................. 23 15.2.3. soft stop ............................................................................................................................... ................................................ 23 15.2.4. t hermal shutdo w n mo de ............................................................................................................................... ....................... 23 15.2.5. t e mperature man a g e m ent ............................................................................................................................... ..................... 24 15.2.6. batter y und e r-volta ge mana geme n t ............................................................................................................................... ....... 25 15.2.7. ot p register ............................................................................................................................... ........................................... 25 15.2.8. ram r egisters ............................................................................................................................... ....................................... 29 15.2.9. f l ags t abl e ............................................................................................................................... ............................................. 30 15.2.10. pri o rity enc oder ............................................................................................................................... .................................... 31 15.3 motordr i v e r ............................................................................................................................... ..................................................... 33 15.3.1. curre nt w a v e forms in t he coi l s ............................................................................................................................... ............... 33 15.3.2. pw m regu latio n ............................................................................................................................... .................................... 34 15.3.3. pw m jitter ............................................................................................................................... .............................................. 34 15.3.4. motor starting phas e ............................................................................................................................... .............................. 34 15.3.5. motor stoppi ng ph as e ............................................................................................................................... ............................ 34 15.3.6. ch arge pump monitor i ng ............................................................................................................................... ....................... 35 15.3.7. electric al defect on c o ils, detecti on and c onfirmati on ......................................................................................................... 35 15.3.8. motor shutdo w n mo d e ............................................................................................................................... ........................... 36 15.4 motio n de tection ............................................................................................................................... ............................................ 37 3 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 16.0 i 2 c bus descripti on ............................................................................................................................... ........................................... 39 16.1 gen e ral d e scripti on ............................................................................................................................... ....................................... 39 16.2 co nce p t ............................................................................................................................... ......................................................... 39 16.3 gen e ral c haracter i stics ............................................................................................................................... ................................. 40 16.4 bit t r ansfer ............................................................................................................................... .................................................... 40 16.4.1. data v a lid it y ............................................................................................................................... ........................................... 40 16.4.2. st ar t and st op co nditi ons ............................................................................................................................... ................ 41 16.5 t r ansferring data ............................................................................................................................... ........................................... 41 16.5.1. b y t e f o rmat ............................................................................................................................... ............................................ 41 16.5.2. ackno w l e d g e ............................................................................................................................... .......................................... 42 16.5.3. clock generati o n ............................................................................................................................... .................................... 42 16.6 data f o r m ats w i th 7-bit address e s ............................................................................................................................... ................ 42 16.6.1. data t r ansfer f o rmats ............................................................................................................................... ........................... 43 16.7 7-b i t addr essin g ............................................................................................................................... ............................................. 44 16.7.1. defi niti on of bits in the f i rst by te ............................................................................................................................... ............ 44 16.7.2. gener a l call a ddress ............................................................................................................................... ............................. 44 17.0 i 2 c applic ation c o mman d s ............................................................................................................................... ................................ 45 17.1 introd ucti on ............................................................................................................................... .................................................... 45 17.2 comm an ds t able ............................................................................................................................... ........................................... 45 17.3 app lic atio n comma nds ............................................................................................................................... .................................. 46 18.0 res i stanc e to electrical and el ectroma gnetic d i sturba nces ............................................................................................................. 52 18.1 electrost a tic dischar ges ............................................................................................................................... ................................ 52 18.2 electric al t r ansient con ductio n alo ng supp l y lin e s ..................................................................................................................... 52 18.3 emc ............................................................................................................................... ............................................................... 52 18.4 po w e r su ppl y micro- inte rruptio ns ............................................................................................................................... .................. 52 19.0 packa ge outline ............................................................................................................................... ................................................ 53 20.0 sol der ing ............................................................................................................................... ........................................................... 55 20.1 introd ucti on to sold eri n g surface mount packages ...................................................................................................................... 55 20.2 re-fl o w s o ld erin g ............................................................................................................................... ........................................... 55 20.3 w a ve sol deri n g ............................................................................................................................... .............................................. 55 20.4 man u a l sold erin g ............................................................................................................................... ........................................... 55 21.0 com p a n y or product inq u iries ............................................................................................................................... ........................... 56 22.0 doc u me nt histor y ............................................................................................................................... .............................................. 56 4 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 7.0 block dia g ram f i gure 1: b l ock diagram i 2 c- bu s in te rfa c e oscil l a t or vref tem p sen s e vo lt ag e reg u lat o r tst2 vbb vdd g nd mot x p mot x n main cont rol re gist er s ot p - r o m 4 m h z ch ar ge p u mp cpn cpp vcp st all det ec t i o n pos i tion co nt ro lle r cont r o ller tst 1 mot y p mot y n pwm r egu la t o r y i - sens e pwm r egu la t o r x i - sens e dec ode r sinewav e ta bl e dac' s amis-306 24 hw swi sda sck pc 20060925 . 1 5 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 8.0 pin-out f i gure 2: soi c 20 and nqf p - 32 p i n - out 17 18 19 20 1 2 3 4 sda gnd sw i gn d sc k mot x p vb b vd d 16 15 14 13 12 11 ami s -30624 p c 20 060925.2 5 6 7 8 9 10 gnd g n d mot x n mot y p mot y n ts t 1 ts t 2 hw cpn cp p vb b vc p 1 2 3 5 4 6 7 8 24 23 22 20 21 19 18 17 9 1 01 1 1 21 3 1 4 1 5 1 6 3 2 31 30 2 9 28 27 26 25 xp vb b sw i nc sd a xp vbb vb b cp n cpp vcp yn vbb yn vbb vb b yp xn gnd gn d xn yp gnd gnd sck vdd gnd ts t1 ts t2 hw gnd nc a m i s -30624 t op v i ew nq 32 p c 20050925.3 table 4: pin des c ription pin name pin descri p tio n soic- 20 nqfp -32 s d a i 2 c serial data line 1 8 sck i 2 c ser i al clock l i ne 2 9 vdd internal suppl y (n eeds exte rnal de coupling capacit or) 3 10 gnd grou nd, heat sin k 4,7,14,17 11, 14, 25, 26 , 3 1 , 32 tst1 test pin (to be ti ed to grou nd in n o rmal operation ) 5 12 tst2 test pin (to be le ft open in norm a l operation: inter n ally pulled up ) 6 13 hw hard w i re d add re ss bit 8 1 5 cpn negative connection of pump cap a citor (charge pu mp) 9 17 cpp positive connect i on of pum p capa citor (charge pu mp) 10 18 vcp charge -pump filt er-capacitor 11 19 vbb battery voltage s uppl y 12,19 3, 4, 5, 20, 21, 2 2 moty n negative end of phase y coil 13 23, 24 mot y p positive end of phase y coil 1 5 2 7 , 2 8 motxn negative end of phase x coil 16 29, 30 motxp positive end of phase x coil 1 8 1 , 2 swi sw itch input 20 6 nc not connected (t o be tied to gro u nd) 7, 16 6 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 9.0 pack age thermal resistance 9.1 soic-20 t o lo w e r th e j unctio n -to-amb i ent therm a l re sistance, it is r e comme nde d to con nect the grou nd l e a d s to a pri n ted cir c uit bo ard ( pcb ) grou nd p l an e l a yout as i llust rated in f i gur e 3. t he junction-to-c ase th ermal res i stan ce is de pen de nt on the co p per are a , cop p e r thickness, p c b thickn ess a n d numb e r of c o p per l a yers. cal c ulati ng w i th a total ar ea of 4 6 0 mm 2 , 35 m copp er thick n e ss, 1.6mm pc b thickness a nd 1 la yer, the the rmal resista n ce is 28c/w ; le a d in g to a juncti on-am bie n t the rmal resista n ce of 63c/w . figure 3: pcb gr ound plane layout condition 9.2 nqf p -32 t he nqf p is d e sig ned to pro v ide su per ior thermal perfor m ance, a nd us ing a n e x pose d die pa d on t he b o ttom surface of the p a c k a g e partl y c ontri but es to this. in order to take full adva n tag e of th is thermal p e r f ormance, the pcb must have features to cond uct heat a w a y from the pack age. a therm a l grou nd ed p a d w i th therm a l vias can achi eve this. w i th a la yo ut as s h o w n in f i g u r e 4, the therm a l resistanc e jun c tion ? to ? am bie n t can be br oug ht do w n to a leve l of 25c/ w . figure 4: pcb gr ound plane layout condition soic-20 p c 20041128.1 nqfp-3 2 p c 20041128.2 7 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 10.0 dc para meters t he dc param eters are giv e n for vbb and te mperatur e in th eir op er atin g ra nges. curr ents flo w i n g in the circuit are d e fin ed as p os itive. table 5: dc pa r a meters sy mbo l pin(s) parameter test c o n d iti ons min. ty p . max. unit motor d ri v e r i msm a x , peak max. cur r ent th ro ugh motor coil in normal operati on 8 0 0 m a i msm a x , rms max. rms curre nt through coil in normal operation 570 ma i msa b s absolute error on coil current -10 10 % i msr e l error o n c u rre nt r a ti o i c o ilx / i co il y -7 7 % v bb = 12v, t j = 5 0 c 0.50 1 ? v bb = 8v, t j = 50 c 0.55 1 ? v bb = 12v, t j = 1 50 c 0.70 1 ? r dso n on resistance for each motor pin (including bond w i re ) at i msm a x v bb = 8v, t j = 15 0 c 0.85 1 ? i msl mo txp motxn moty p moty n pull dow n cur r en t hiz mode 2 ma therm al w a rni n g & sh utd o w n t tw thermal w a rning 138 145 152 c t tsd (1 ) (2 ) thermal shutdo w n t tw + 10 c t lo w (2 ) lo w tempe r ature w a rning t tw - 1 55 c suppl y an d volt age re gula t or t am b ? 125 c 6.5 18 v v bb nominal operatin g suppl y rang e t am b ? 85 c 6.5 29 v v bbot p suppl y voltage fo r otp zapping (3 ) 9 . 0 1 0 . 0 v i bat total current con s umption unloaded outpu t s 3.50 10.0 ma i bat_s sleep mode curr ent consumption 50 100 a uv 1 stop voltage high threshold 7.8 8.4 8.9 v uv 2 vbb stop voltage low threshold 7.1 7.5 8.0 v v dd internal reg u late d output (4 ) 8v < v bb < 29v 4.75 5 5.50 v i ddst o p digital current consumption v bb < uv 2 2 m a v ddres et digital supply re set level @ power do w n (5 ) 4.5 v i ddl im vdd curre nt limitation pin shorted to gr ound 42 ma sw itch input an d hard w i re a d d r ess inp u t rt_ off sw itch of f r e sistance (6 ) 10 k ? rt_ on sw itch on r e sistance (6 ) sw itch to gnd o r v bat , 2 k ? v bb_s w vbb range fo r g uaranteed oper a t i o n o f swi and hw 6 29 v v m a x_ sw maximum voltag e t < 1s 40v v i lim _s w swi hw curre nt limitation short to gnd o r v bat 30 ma i 2 c serial in terf ace v il input level low (7 ) - 0.5 0.3 * v dd v v ih input level high (8 ) 0.7 * v dd v dd + 0.5 v v nl noise margin at the low level fo r each connected device (inc luding h y steresis) 0.1 * v dd v v nh sda sck noise margin at the hi gh level f o r each connected device (inc luding h y steresis) 0.2 * v dd 8 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet table 5: dc pa r a meters (cont. ) charge p u m p v bb > 15v v bb +10 v bb +12.5 v bb +15 v v cp output voltage 8v < v bb < 15v 2 * v bb ? 5 2 * v bb ? 2.5 2 * v bb v c buf f e r vcp external buf fer c apacitor 220 470 nf c pum p cpp cpn external pu mp capacitor 220 470 nf mo t i on q u a l if i c a t i o n mo de ou tp u t v out output voltage s w ing tes t bemf i 2 c co mmand 0 - 4,85 v r out output imped ance service mode i 2 c command 2 k ? av swi gai n = v sw i / v be mf service mode i 2 c command 0,50 notes: (1) no more than 100 cumula ted h our s in life time abov e t tsd . (2) thermal shutdow n and a low tempera t ure w a rning are der iv ed from thermal w a rning. (3) a 10 f buffer capa cito r o f betw een vb b and gnd i s the minimum needed . short conne ction s to th e pow er supply are re commended . (4) pin vdd mu st no t be u s ed for any ex ternal supply (5) the ram content w ill not be al tered a bov e this v o ltage. (6) ex ternal re sistan ce v a lue seen from pi n s w i or h w , inclu d ing 1 k ? serie s re sisto r . (7) if inpu t v o ltage s < - 0.3v , than a resi sto r be tw een 22 ? to 1 0 0 ? ne eds to be p u t in serie s (8) if th e i 2 c-bus is ope rated in fa st mode v ihmin = 0.7 * vdd 9 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 11.0 ac para meters t he ac param eters are giv e n for v bb and te mperatur e in their oper atin g r ang es. all tim i ng va lu es of th e i 2 c transceiv er are r e ferre d to v ihman and v ilm a x leve ls (see f i gur e 5). table 6: ac pa ra meters sy mbo l pin(s) parameter test c o n d iti ons min. ty p . max. unit po w e r-up t pu power-u p time guar anteed b y d e sign 10 ms intern al os cillator f os c freque nc y of int e rnal oscillator 3.6 4.0 4.4 mhz i 2 c tra n scei v e r (ge n eric) c b capacitive load of each bus line 400 (1 ) pf c i capacitance of sda / sck pin 10 pf t sp sda sck pulse w i dth of spikes w h ich m u st be suppressed b y th e input filter 5 0 n s i 2 c tra n scei v e r (stan d ard m ode ) f scl scl clock frequency 100 khz t hd, st art hold time (repe ated) star t condition. after this period the first clock pulse is generated . 4.0 s t lo w low period of th e sck clock 4.7 s t high high period of t he sck clock 4.0 s t su, s t a rt set-up time fo r a repeat ed start condition 4 . 7 s t hd,dat a data hold time fo r i 2 c bus devices 0 (2 ) 3.45 (3 ) s t su, d at a data set-up time 250 ns t r rise time of sda and sck signals 1.0 s t f fall time of sda and sck signals 0.3 s t su, s t o p set-up time for s t op condition 4.0 s t buf sda sck bus free time bet w een st op and start condition 4.7 s i 2 c tra n scei v e r (fas t mo de) f scl scl clock frequency 360 khz t hd, st art hold time (repe ated) star t condition. after this period the first clock pulse is generated . 0.6 s t lo w low period of th e sck clock 1.3 s t high high period of t he sck clock 0.6 s t su, s t a rt set-up time fo r a repeat ed start condition 0 . 6 s t hd,dat a data hold time fo r i 2 c bus devices 0 (2 ) 0.9 (3 ) s t su, d at a data set-up time 100 (4 ) ns t r rise time of sda and sck signals 20 + 0.1c b 300 ns t f fall time of sda and sck signals 20 + 0.1c b 300 ns t su, s t o p set-up time for s t op condition 0.6 s t buf sda sck bus free time bet w een st op and start condition 1.3 s 10 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet table 6: ac pa ra meters (cont.) sw itch input an d hard w i re a d d r ess inp u t t sw scan pulse period (5 ) 1024 s t s w _on swi hw scan pulse durat ion 128 s motor d ri v e r pwmfreq = 0 (6 ) 2 0 . 6 2 2 . 8 2 5 . 0 k h z f pw m pwm frequenc y (5 ) pwmfreq = 1 (6 ) 4 1 , 2 4 5 , 6 5 0 , 0 k h z f j i t_d epth pwm jitter modulation depth pwmjen = 1 (6 ) 10 % t br is e turn -on tra n sient time 170 ns t bf all turn -off tra n sient time between 10 % an d 90% 140 ns t sta b motxx run cur r e nt stabilization time 29 32 35 ms charge p u m p f cp cpn cpp charge p u mp fr equenc y (5 ) 2 5 0 k h z notes: (1) the ma x i mum num ber of conne cted i 2 c de v i ces is depen dent on the numbe r of av ailable addresse s and the max i mum bus capaci t an ce to still guaran te e the rise and fall time s o f the bus signal s. (2) an i 2 c de v i ce must internally prov ide a hold time of at lea s t 300ns for th e sda signal (re ferred to the v ihmin of the s c l signal) to bri dge the undefi ned regi on of the falling edge o f scl . (3) the max i mum t hd,dat has on ly to be m e t i f the dev ice d o e s no t stre tch the lo w period ( t lo w ) of the scl sign al. (4) a fast-mo de i 2 c-bus dev ice can be u s ed in a standard- mode i 2 c bus sy ste m , but the req u irem ent t su,dat a 250ns must than be me t. this w ill automati c a lly be the case if the dev ice d oes no t st re tch th e lo w p e riod o f the scl signal . if su ch a dev ice does str e tch the lo w peri od of th e scl s i gnal, it must o u tpu t the ne x t data bit to the sd a line t rm ax + t su,dat a = 1000 + 25 0 = 1250n s ( a ccording to the sta ndard-mode i 2 c-bu s spe c ifica t ion) be fore the scl line i s released . (5) deriv ed from in tern al o scill ator . (6) see setmotorpara m and p w m regul a t or . f i gure 5: i 2 c timing diagrams sd a sck t f t hd, s t art t lo w t r t hd, data t su,data t hi g h st art repe at ed st art t su , s t a r t t sp t su , s t o p t buf st art st op p c 20060925.8 v ih m i n v ilm a x 11 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet a m is-30624 v ba t 2 mo t x p p c 20 060 925 .5 10 0 nf mo t x n mo t y p mo t y n 11 vd d vbb 12 vcp sw i cp p cp n 9 8 sda sc k 10 hw 18 m 16 15 13 20 3 vbb 19 1 10 0 n f 22 0 nf 22 0 n f 1 k ? c o nn ect to v ba t or g n d c o nn ec t to v bat o r gnd 1 k ? 100 f r 2 c 5 c 6 c 3 c 4 c 1 c 2 1 f gnd 7 14 17 ts t2 ts t1 6 5 4 r 1 i 2 c bu s 12.0 typical application f i gure 6: typical a pplication diagr am notes: (1) all re si stor s are 5 % , ? w. (2) depending on the a pplica t ion , the esr v a lue and w o rking v o ltage of c 1 must be carefully c h os en. (3) c 2 m u s t be a cera m i c capa ci tor to as sure low esr . (4) c 3 and c 4 must be as clo s e as po ssibl e to pin s cpn, cp p, vcp, and vbb to redu ce emc radi ation . (5) c 5 and c 6 must be clo s e to pin s vb b a nd gnd. 13.0 positioning parameters 13.1 step p i n g modes one of four po ssible ste ppi ng modes can b e programm ed: ? half stepp in g ? 1/4 microstep p i ng ? 1/8 microstep p i ng ? 1/16 microste p p in g 12 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 13.2 maximu m vel o city f o r each step p i ng mo de, the maximum vel o cit y v max can b e progr ammed to 16 possi bl e valu es give n in t able 7. t he accurac y of v max is der iv ed from the int e rna l osc ill ator. un der s pec ial circumsta n ces it is poss i bl e t o ch an ge th e v max par amete r w h il e a m o tion is on goi ng. a l l 16 e n tries f o r the v max par a m eter ar e divi d ed into four gr oups. w h en ch ang ing v max du ring a m o tio n t h e app licati on mu st take care that the ne w v max parameter sta y s w i th in the s a me gr o up, oth e r w ise ste p s might be l o st. table 7: ma ximu m velocity select ion table vmax in dex steppi ng m ode hex dec vmax (full - ste p /s ) grou p half st ep ping (half - ste p /s) 1/4 th microste ppi ng (micro- s te p/s) 1/8 th microste ppi ng (micro- s te p/s) 1/16 th microste ppi ng (micro- s te p/s) 0 0 99 a 197 395 790 1579 1 1 1 3 6 2 7 3 5 4 6 1 0 9 1 2 1 8 2 2 2 1 6 7 3 3 4 6 6 8 1 3 3 5 2 6 7 0 3 3 1 9 7 3 9 5 7 9 0 1 5 7 9 3 1 5 9 4 4 2 1 3 4 2 5 8 5 1 1 7 0 1 3 4 0 3 5 5 2 2 8 4 5 6 9 1 2 1 8 2 3 3 6 4 7 6 6 2 4 3 b 4 8 6 9 7 3 1 9 4 5 3 8 9 1 7 7 273 546 1091 2182 4364 8 8 303 607 1213 2426 4852 9 9 334 668 1335 2670 5341 a 10 364 729 1457 2914 5829 b 11 395 790 1579 3159 6317 c 12 456 c 912 1823 3647 7294 d 1 3 5 4 6 1 0 9 1 2 1 8 2 4 3 6 4 8 7 2 8 e 1 4 7 2 9 1 4 5 7 2 9 1 4 5 8 2 9 1 1 6 5 8 f 1 5 9 7 3 d 1 9 4 5 3 8 9 1 7 7 8 2 1 5 5 6 4 13.3 min i mu m velocity once the ma xi mum velocit y i s chosen, 1 6 p o ssibl e val ues can be pr ogr a mmed for the minimum ve loc i t y v mi n . t able 8 provid es the obta i na ble va lues i n fu ll-step/s. t he accurac y of v mi n is derive d from the interna l oscill ator. table 8: obtaina b le values in full-step/s for the mi nimum velocity vmax ( full - ste p /s) vmin in dex a b c d hex dec vmax fact or 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 0 0 1 9 9 136 167 197 213 228 2 4 3 2 7 3 3 0 3 3 3 4 3 6 4 3 9 5 4 5 6 546 729 973 1 1 1 / 3 2 3 4 5 6 6 7 7 8 8 1 0 1 0 1 1 1 3 15 19 27 2 2 2 / 3 2 6 8 10 11 12 13 1 4 1 5 1 7 1 9 2 1 2 3 2 7 31 42 57 3 3 3 / 3 2 9 12 15 18 19 21 2 2 2 5 2 7 3 1 3 2 3 6 4 2 50 65 88 4 4 4 / 3 2 1 2 16 20 24 26 28 3 0 3 2 3 6 4 0 4 4 4 8 5 5 65 88 118 5 5 5 / 3 2 1 5 21 26 31 32 35 3 7 4 2 4 6 5 1 5 5 6 1 7 1 84 111 149 6 6 6 / 3 2 1 8 25 31 36 39 42 4 5 5 0 5 5 6 1 6 7 7 2 8 4 99 134 179 7 7 7 / 3 2 2 1 30 36 43 46 50 5 2 5 9 6 5 7 2 7 8 8 6 9 9 118 156 210 8 8 8 / 3 2 2 4 33 41 49 52 56 6 0 6 7 7 4 8 2 9 0 9 7 1 1 3 134 179 240 9 9 9 / 3 2 2 8 38 47 55 59 64 6 8 7 6 8 4 9 3 1 0 1 1 1 1 1 2 8 153 202 271 a 1 0 1 0 / 3 2 3 1 42 51 61 66 71 7 5 8 4 9 3 1 0 3 1 1 3 1 2 2 1 4 1 168 225 301 b 1 1 1 1 / 3 2 3 4 47 57 68 72 78 8 3 9 3 1 0 3 1 1 4 1 2 4 1 3 5 1 5 6 187 248 332 c 1 2 1 2 / 3 2 3 7 51 62 73 79 85 9 1 1 0 1 1 1 3 1 2 4 1 3 5 1 4 7 1 7 0 202 271 362 d 1 3 1 3 / 3 2 4 0 55 68 80 86 93 9 8 1 1 1 1 2 2 1 3 5 1 4 7 1 6 0 1 8 5 221 294 393 e 1 4 1 4 / 3 2 4 3 59 72 86 93 99 1 0 6 1 1 8 1 3 2 1 4 5 1 5 8 1 7 2 1 9 8 237 317 423 f 1 5 1 5 / 3 2 4 6 64 78 93 99 107 1 1 3 1 2 8 1 4 1 1 5 6 1 7 0 1 8 5 2 1 4 256 340 454 notes: (1) the vmax factor i s an approx imation . (2) in ca se o f motion w i thou t accelera tion ( a ccshape = 1 ) the length o f the step s = 1/ vm in . in ca se of accelera ted m o tion ( a ccshape = 0) the length of the first step is shor ter than 1 / vm i n depending o f v m in, vmax a nd ac c . 13 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 13.4 a c c e l e ratio n an d deceler at io n sixte e n p o ssib l e v a lu es c an be progr amme d for acc (acc eler ation a nd dece l erati o n b e t w e e n v mi n a nd v max ). t abl e 9 prov id es t h e obtai na ble va lu es in full-ste p /s2. one obser ves restrictions for some co mbi n ation of acc e ler a tion i n d e x and maxim u m spe ed (gra y ce lls). t he accurac y of acc is derive d from the inter nal osc ill ator. table 9: acceleration and decele ration selection table vmax ( f s/s) 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 a cc i ndex hex dec a c c e lerati on (f ull-step/s 2) 0 0 4 9 106 473 1 1 218 735 2 2 1004 3 3 3609 4 4 6228 5 5 8848 6 6 11409 7 7 13970 8 8 16531 9 9 1 9 0 9 2 a 1 0 2 1 8 8 6 b 1 1 2 4 4 4 7 c 1 2 2 7 0 0 8 d 1 3 2 9 5 7 0 e 14 34925 f 1 5 14785 29570 40047 t he formula to compute the n u mber of eq uiv a le nt full-step d u rin g accel e rati on ph ase is: acc 2 vmin vmax nstep 2 2 ? = 13.5 po sitio n in g t he positio n i s progr ammed in the c o mm and setposi tion and is g i ven as a num ber of (micr o)steps. accordi ng to th e cho s e n steppi ng mo de , the positi on w o rds must be alig ne d as de scribe d in t abl e 10. w h e n us ing c o mman d gotosecureposition , data is automatic all y a lign ed. table 10: position word alignmen t steppi ng m ode positio n w o r d : pos[15:0] shift 1/16 th s b 1 4 b 1 3 b 1 2 b 1 1 b10 b 9 b 8 b 7 b 6 b 5 b 4 b 3 b 2 b 1 l s b no s h i f t 1/8 th s b 1 3 b 1 2 b 1 1 b 1 0 b 9 b 8 b 7 b 6 b 5 b 4 b 3 b 2 b 1 l s b 0 1-bit left ? 2 1/4 th s b 1 2 b 1 1 b 1 0 b 9 b 8 b 7 b 6 b 5 b 4 b 3 b 2 b 1 l s b 0 0 2-bit left ? 4 h a l f - s t e p p i n g s b 1 1 b 1 0 b 9 b 8 b 7 b 6 b 5 b 4 b 3 b 2 b 1 lsb 0 0 0 3-bit left ? 8 s e c u r e p o s i t i o n s b 9 b 8 b 7 b 6 b 5 b 4 b 3 b 2 b 1 lsb 0 0 0 0 0 n o s h i f t notes: (1) lsb: lea st signi ficant bit (2) s: sign bit 14 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 13.5.1. positio n ran g e s a positi on is c ode d b y usi n g the b i nar y t w o?s com p lem e nt forma t. accordi ng to th e positi oni ng c o mmands use d and to the ch osen steppi ng mo de , the positio n rang e w i l l be as sho w n i n t able 11. table 11: position range com m an d steppi ng m ode positio n ra nge full ra nge exc u rsion num b er o f bit s half stepping -4096 to +4 095 8192 half-steps 13 1/4 th microsteppi ng -8192 to +8 191 16384 micro-ste p s 14 1/8 th microsteppi ng -16384 to +163 83 32768 micro-ste p s 15 setposition 1/16 th microstepp ing -32768 to +327 67 65536 micro-ste p s 16 w hen usi ng th e comman d s etposition , a l th ou gh co ded o n 16 b i ts, th e po si ti on w o rd w i l l hav e to be shifte d to the left b y a cert a i n numb e r of bits, accordi ng to the stepp in g mode. 13.5.2. secure pos i tio n a secure pos ition c an be programm ed. it is code d i n 1 1 - bits, t hus h a v i ng a l o w e r r e soluti on th an normal pos itio ns, as sh o w n i n t able 12. see also the comm and gotosecu reposition . table 12: secure position steppi ng m ode secure posi tio n resol u tio n h a l f - s t e p p i n g 4 h a l f - s t e p s 1/4 th microsteppi ng 8 micro-steps (1/ 4 th ) 1/8 th microsteppi ng 16 micro-steps ( 1 /8 th ) 1/16 th microstepp ing 32 micro-steps ( 1 /16 th ) i m por tant notes: (1) t he se cure po siti o n is di sabled in case th e pr ogrammed v a lue is the rese rv e d co de ? 10000000 0 00? (0x 400 or most ne gativ e po siti on ) . (2) the resoluti on o f th e se cur e po si tion is limited to 9 bi t at start-up . the otp re gister i s co pied in r a m as illu strated b e l ow . secp os1 and se cpo s 0 = 0. secpos10 secpos9 secpos8 secpos2 secpos1 secpos0 secpos10 secpos9 secpos8 secpos2 ram ot p 13.5.3. shaft a shaft bit w h i c h can b e pro g r ammed i n otp or w i t h com m and setmot orparam , defi nes w h ether a positiv e motio n is a clock w i s e or counter-c lock w i se rotatio n (an outer or an i n n e r motion for li near actu ators) : ? shaft = 0 ? mot x p is used as positiv e pin of the x coi l , w h ile mot x n is the neg ative o ne ? shaft = 1 ? opposite situ atio n . 15 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 14.0 structural description see als o the bl ock dia gram in f i gure 1. 14.1 stepper motordri v e r t he motordrive r receives the c ontrol si gna ls from the control logic. t he main features are: ? t w o h- brid ges desi gne d to dri v e a stepp er motor w i t h t w o s epar ated co ils. each coi l (x a n d y) is driven b y o ne h-br idg e and the driver co ntrols the curre nts flo w i n g thro u gh the coi l s. t he rotatio n a l p o sitio n of the rotor, in unl oa d ed con d iti on, is de fine d b y th e ratio of current flo w i ng in x and y. t h e torque of the st epper motor w h e n unl oa de d is controll ed b y the ma gnitu d e of the currents in x a nd y. ? t he control bl o ck for the h-br i dges inc l ud in g the pw m c ont rol, the s y nchr ono us rectific ation an d th e i n terna l curr ent s ensi n g circuitr y ? t he charge pu mp to allo w dri v ing of the h-b r idg e s? hi gh si d e transistors ? t w o pr e-sca le 4-bit dacs to s e t the maximu m magnitu de o f the current throug h x a nd y ? t w o da cs to set the correct current ratio thr oug h x a nd y batter y v o ltag e monitori ng is also performe d b y th is bl ock, w h ic h prov ides informatio n to the contro l lo gi c part. t he same ap pl ies for the detectio n an d reporti ng of an electric al pro b l e m t hat could occur on the c o ils or the ch ar ge pum p. 14.2 control log ic (position con t roller and ma in con t rol) t he control lo gic block store s t he informati on provi d e d b y the i 2 c interfa c e (in a ram or a n ot p memor y ) an d dig i tall y c ontrols t h e positi oni ng of the stepp er mot o r in terms of spee d an d accel e ratio n , b y fe e d in g the ri g h t signa ls to the motordriv e r state mach in e. it w i ll take into account the s u ccessiv e p o si tioni ng c o mma nds to pro perl y initi a te or sto p the ste p p e r motor in ord e r to reac h the set poi nt in a mini mum time. it also rece ives feedb ack from the motordr i ve r part in order t o man age pos sible pro b lems and deci de on intern al acti ons and r e p o r ti ng to the i 2 c interf ace. 14.3 mo tion detect io n motion d e tecti on is base d on the back emf, gen erate d i n ter nall y i n th e r u n n in g mot o r. w hen the motor is b l ocke d, for examp l e w h en i t hits the en d-p o sitio n , the vel o cit y and as a result als o the gen erate d b a ck emf, is dis t urbed. t he amis-3062 4 se nses the b a ck e mf, calcul ates a m o vin g av era g e and com pares the va lu e w i t h t w o in de pe n d e n t th re sh ol d l e ve l s . if th e ba ck e m f di stu r ba nce i s b i g g e r than the set thresho l d, the runn in g motor is stopp ed. 14.4 miscellan e o u s t he AMIS-30624 als o conta i n s the follo w i ng: ? an intern al osc illator nee de d for the control l ogic a nd the p w m control of the motor driv er ? an intern al trim med volta ge so urce for precis e referenc in g ? a protection bl ock featurin g a thermal shutd o w n a nd a p o w e r-on-res e t circ uit ? a 5v regul ator (from the batter y sup p l y ) to su ppl y the i n tern al lo gic circu i try 16 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.0 functional description t h is chapter describ es the fol l o w i ng functi on al bl ocks in mo re detai l: ? position controller ? main control and register, otp memor y + rom ? motordriv e r t he motion det ection a nd i 2 c control ar e disc ussed i n sep a r a te chapt ers. 15.1 po sitio n co n t ro ller 15.1.1. positio n in g an d motion c ontr o l a positi oni ng c o mman d w i l l p r oduc e a moti on as i llustrat e d in f i g u re 7. a motion start s w i t h an acce lerati on p has e from minimu m velocit y (vmin) to maximum v e locit y (vmax ) , an d en ds w i t h a s y mmetric al dece l erati on. t h is is d e fin e d b y t he c ontro l lo gic acco rding t o the p o sitio n re quir ed b y the a pplic atio n a nd the p a rameters pr ogr ammed b y the ap plic ati on d u ri ng c onfi gurati on phas e . t he curre nt i n the coils is a l so programm abl e . f i gure 7: p o sitioning and moti on co ntrol ve l o ci t y vm a x vmin a cce le r a t i o n ra n ge dece l e r a t i o n ran ge pstart pstop p=0 po si t i on opti on al z e ro sw i t c h ze ro s p eed hold c u rrent pm i n pm ax zero s pee d ho l d c u rrent table 13: position related param e ters parameter referen ce pmax ? pmin see positioning zero speed hold current see ihold max i mum curren t see irun acceleration and deceleration see acceleration and deceleration vmin see minimum vel o city vmax see max i mum v e locity 17 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet different pos iti oni ng e x ampl e s are sho w n in t able 14. table 14: positioning examples positio n in g exa m ples short motion ve l o c i t y ti m e ne w positioning command in same direction, shorter or longer, w h ile a motion is running at maximum velocity . ve l o c i t y ti m e ne w positioning command in same direction w h ile in deceleration pha se note: ther e is no w a it time bet wee n the deceleration pha se and the ne w acceleration phase. ve l o c i t y ti m e ne w positioning command in reve rse direction w h ile m o tion is running at max i mum velocity . ve l o c i t y ti m e ne w positioning command in reve rse direction w h ile in deceleration pha se. ve l o c i t y ti m e ne w velocity pro g ramming w h ile motion is running. ve l o c i t y ti m e 18 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 19 15.1.2. dual p o sitio n i n g a setdualposition comm and al lo w s the user t o p e rfor m positi o n i ng usin g t w o diffe rent ve lociti es. t he first motio n is do ne w i th the specifi ed vm in and vma x v e l o cities in th e setdualposition comman d , w i th th e acc e ler a tion (dec e l erati on) para m eter alr e a d y i n ram, to a posi t ion pos1[1 5:0] also spec ified in setdualpo sition . a secon d re lat i ve moti on to a pos itio n pos 1 [15:0] + pos 2 [ 15:0] is do n e at the s pec ified vm in v e lo cit y i n th e se tdualposition comman d (n o accel e ratio n ). once the sec o nd m o tio n is a c hiev ed, th e a c tpos reg i ster i s reset to zer o , w h ereas t agpos re gister is no t chan ge d. f i gure 8: dual p o sitioning rem a rk : t h is oper ation c ann ot be interru pte d or influ enc ed b y a n y furth e r comman d unl e ss the conditi o n s e x ist to cau s e a motor shutdo w n or b y a hardstop c o mmand. sen d i ng a setdual position command w h il e a motion is alr e a d y ong oi ng is n o t recommended. notes: (0) the priority encode r d e scribe s the ma nagement of sta t e s and command s. al l notes below are to be con s ider ed il lustrativ e . (1) the last setposition command i s sued during a dual posi tion sequen ce w ill be kept in me mo ry and e x ecuted afte rw ards. thi s al so applie s to the command s setmotorparam a nd gotosecureposition . (2) commands su ch a s getfullstatus1 or getfullstatus2 w ill be ex ecute d w h ile a dual po si tioning i s ru nning . (3) a dualpo sition seq uence star ts by se tting tagpo s regi ster to se cpo s v a lue, p r ov ided secure posi t ion is enabl ed o t he rw ise ta gpos i s re s e t to ze ro. (4) the accelera tion /d ecelera t ion v a lue applied dur ing a du alposi tion seq uen ce is th e one stored in ram be fore th e setdualposition command i s sent. the same a pplie s for s haft bi t, bu t n o t fo r irun, ihol d an d s t ep m ode, w h ich ca n b e ch anged during the dual position ing seq uen ce. (5) the pos1 , po s2 , vmax and vmin values p r ogrammed in a setdualposition command apply onl y for thi s sequen ce . all fu rther po sition ing w ill use the parameter s stored i n ram (pr ogramm ed for in stan ce by a forme r setmotorparam command ). (6) commands resetposition , setdualposition , an d softstop w ill be i gnored w h ile a dua l posi tion se quen ce is o ngoing , a nd w ill not be ex ecu t ed a fterw ards. (7) a setmotorparam command should n o t b e sen t du ring a setdualposition sequen ce . (8) if for some re ason actpos equal s po s1[15 : 0] at the mom ent the setdualposition command is i ssu ed, th e ci rcui t w ill ente r in d eadlock state . the r efore , th e applica t ion should che c k the a c tual po siti on by a getfullstatus2 comma nd prior to send the setdualposition command . 15.1.3. positio n perio d i city dep end in g o n the step pi ng m ode th e p o siti o n can r a n ge fro m ?40 96 to + 4 095 in half-ste p to ? 3 2 768 t o + 3276 7 i n 1/1 6 th microstepp i n g mode. one ca n proj ect all thes e pos itions l y i ng o n a circl e . w hen exec uting the com m and setpos ition , th e p o s i t i o n con t ro l l e r w ill set the movem ent directi on i n such a w a y t h a t the traveled d i stance is at a minimum. f i gure 9 il lustr a tes that t he movin g directi on goi ng from actpos = + 30000 to tagpos = ? 300 00 is cl ockw i s e. if a co un te r clo c k w i s e mo tion i s re qu i r ed in th i s ex a m p l e, se ve ra l con s e c u t i v e setpo sition commands c a n be use d . f o r l a rge r moveme nts, one cou l d a l so u s e the comma nd runvelocity . 0 a c tp os = +3 00 00 t a g p os = -300 00 -100 00 - 2 000 0 +1 000 0 +2 000 0 mo ti on direc t ion figure 9: motion direction is functi on on difference b e tween act p os and tagpos ve loc i ty firs t m o tio n sec o nd m o tio n p c 20 070221.1 vm ax vm in 27 ms 27 m s re s e t ac tpo s t pos1 [15:0 ] pos1[ 15:0 ] + pos2[ 15:0 ] a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.1.4. hardw i re d add r ess hw in f i gure 10 a simplifi ed sch e m atic dia g ram i s sho w n of the hw comparato r circuit. t he hw pin is sense d via t w o s w itch es s to p and s bot . t he drivehs a nd d r ivels co ntrol l i nes ar e alter n ativel y cl osin g s to p and s bot , conn ectin g hw pin w i th a curr ent to resistor converter. cl os ing s to p (drive hs = 1) w i l l se nse a curre nt to gnd. in that case the top i ? r converter o u t put is lo w , via the close d pas sing s w itc h s pass_ t this sign al is fed to the ?r ? com parator w h ich o u tput h w _cmp is hi g h . closi ng bottom s w itc h s bot (drivels = 1) w i ll sense a curr ent to vbat. t he corresponding i ? r converte r output is lo w and v i a s pass_b fed to the comparator. t he output hw _cm p w i ll b e hi gh. figure 10: simplified schematic diagram of the h w co mparator p c 20 06 09 26 . 1 com p i ? r i ? r r th l ogic low driv ehs driv els hw _cm p hw "r" - comp sta t e s to p s bo t s pa ss_t s pa ss_b 32 p s de bou nc er fl o a t 64 m s d ebo unc e r hi gh 1 = r 2 g n d 2 = r2 vb at 3 = o p e n t h ree cases can be d i stin gui shed (se e als o f i gure 1 0 ): - hw is connect ed to grou nd: r2gnd or dra w i ng 1 - hw is connect ed to vbat : r2vbat or draw i ng 2 - hw is floating: open or dra w ing 3 table 15: state diagram of the h w comparato r pre v i ous s t ate dri v e l s dri v e h s hw_cm p ne w state con d iti on dra w ing float 1 0 0 float r2gn d or ope n 1 or 3 float 1 0 1 high r2vbat 2 float 0 1 0 float r2vbat or o p e n 2 or 3 float 0 1 1 lo w r2gn d 1 lo w 1 0 0 lo w r2gn d or ope n 1 or 3 lo w 1 0 1 high r2vbat 2 lo w 0 1 0 float r2vbat or o p e n 2 or 3 lo w 0 1 1 lo w r2gn d 1 high 1 0 0 float r2gn d or ope n 1 or 3 high 1 0 1 high r2vbat 2 high 0 1 0 high r2vbat or o p e n 2 or 3 high 0 1 1 lo w r2gn d 1 t he logic is c ontrol lin g the correct seq u e n ce i n cl osi n g the s w itc hes and in int e rp reting t he 32 p s de-b o u n ce d hw _cmp out put accord ing l y . t he output of this sma ll state-ma chin e is corres pon din g to: - high or addr es s = 1 - lo w or a ddr ess = 0 - f l oatin g 20 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet as illustrate d i n t able 15, the state is dep e n d in g on the pre v ious state, the conditi on of th e t w o s w i t ch c ontrols (driv e l s and driv ehs ) and the output of hw _cmp. f i gure 1 1 sho w s a n e x am ple of a practical c a se w h ere a co nnecti on to vb at is interrupte d . t r th t s w = 1024 s dri v e h s "r "-c o mp t t t d r iv els hw _ c m p state t t s w _on = 128 s c ondition r2vb at open hi g h low float hi g h hi g h hi g h hi g h r2vbat r2 gnd float f i gure 11: timing diagram showi ng the change in stat es for hw comparator hi g h float float hi g h hi g h low low t p c 20060926.2 r2vbat a resistor is co nnecte d b e t w e en vbat and hw. ever y 10 2 4 s s bot i s cl ose d fo r a pe ri od o f 12 8 s a n d a curr ent is s e nsed. t he o u tp ut of the i ? r converter is low and the hw _cmp outpu t is high. assuming the previous stat e w a s f l oating, the internal logic w i ll interpr e t this a s a cha nge of state and th e n e w state w i l l b e high (s ee also t able 15). t he ne xt time s bot is close d the s a me co nditi on i s observ ed. t he previ ous state w a s hi gh, so b a sed on t able 15 the ne w sta t e remai n s unc han ge d. t h is high state w i l l b e inter p rete d a s hw address = 1. open in case the h w connecti on i s lost (brok en w i re, b ad co ntact in co nn ecto r) the ne xt time s bot is close d this w i l l b e se nsed. t here w i ll b e no c u rrent, the outp u t of the c o rresp ond in g i ? r co nverter is h i gh a nd th e hw _cm p w i l l be lo w . t he p r evio us state was hi gh. b a se d on t able 15 o ne ca n se e tha t the state ch a nges to float. t h is w i l l trig ger a motio n to s e cure positi on after a d ebo un ce time of 64 ms. t h is prevents false tri gger in g in cas e of micr o interr uptio ns of the p o w e r s upp l y . s ee als o electric al t r ansie nt con duct i on a l on g su p p l y lin e s . r2gnd if a resistor is conn ected b e t w een hw an d th e gnd, a curre nt is sensed ev er y 1 0 2 4 s w h en s to p is clos ed. t he output of the top i ? r converter is lo w a nd as a res u lt the hw _cm p outp u t s w itch es to hig h . aga i n bas ed on th e stated di agr a m in t able 15 one c an se e that the state w i ll c han ge to lo w . t h is lo w stat e w i ll b e inter p ret ed as hw addr ess = 0. 21 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.1.5. external sw itch sw i as illustrate d i n figure 12, th e sw i compar at or is alm o st identic al to hw . t he major diff erenc e is in th e limite d num b e r of sta tes. onl y ope n or clos ed is recogn ised l ead ing to res p ectivel y esw = 0 and esw = 1. figure 12: simplified schematic diagram of the swi comparator com p i ? r i ? r r th logi c c l os ed ope n dri v e h s dri v el s sw i_c m p sw i "r"-com p state s top s bo t s pa ss _t s pa ss _b 32 p s de bou nc e r p c 20 06 092 6 . 3 1 = r2g n d 2 = r2vbat 3 = open as illustrate d i n figure 14, a chan ge i n stat e is al w a ys s y nchro n ize d w i t h drive h s or drivels. t he same s y nchr on i z ation is v a li d for upd atin g the in ternal p o siti on register. t h is means that aft e r ever y curre n t pulse (or cl os ing of s to p or s bot ) the state of positio n s w i t ch together w i t h the corres p o ndi ng pos itio n is memorize d. using th e getactualpos co mmands rea d s back the actpos register a nd the status of esw . in th is w a y the ma ster node ma y get s y nc hro nous i n formation a b o u t the state of th e s w itc h t oget h e r w i t h the pos i t ion of the motor. see f i gure 13. get fulls tat u s1 respo n se fram e by te con t en t struct ure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 a d d r e s s 1 1 otp3 otp2 otp1 otp0 hw 1 1 address 1 1 1 otp3 otp2 otp1 otp0 hw 2 data 1 irun[3:0] ihold[3:0] 3 data 2 vmax[3:0] vmin[3:0] 4 data 3 accshape stepmode[1:0] shaft acc[3:0] 5 data 4 vddreset steploss eldef uv2 tsd tw tinfo[1:0] 6 data 5 motion[2:0] esw ovc1 ovc2 stall cpfail 7 data 6 1 1 1 1 1 1 1 1 8 data 7 absthr[3:0] delthr[3:0] f i gure 13: getfullstatus1 i 2 c commando important remark ; ever y 51 2 p s this information is refreshed. 22 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet f i gure 14: timing diagram showi ng the change in stat es for sw i comparator r th t s w = 1024 s dri v e h s "r "-c o mp t t t d r iv els sw i_cm p esw t t s w _on = 128 s t 01 1 1 ac tpos actp o s actp o s + 1 actp o s + 2 actp o s + 3 t 512 s 120 s p c 20060926.4 1 5 . 2 ma in control a nd re gis t e r , otp me mory + rom 15.2.1. pow e r-up pha s e t he po w e r-u p phas e of the a m is-3062 4 w i ll not e x ce ed 1 0 m s. after th is phase, the ami s -306 24 is in s hutdo w n mo de , read y to rece i ve i 2 c messag e s and e x ecute t he assoc i ate d comman d s. after po w e r-up, t he reg i sters a nd flags ar e in t he reset state; some of them bei ng lo ad ed w i th the ot p memor y co ntent ( s ee t able 18). 15.2.2. reset state after po w e r-u p , or after a reset occurrenc e (e.g. a micro cu t on pin vbb h a s made vd d g o bel o w vd dre s et level), the h-brid ges w i ll be in hi gh imp e d a n ce mod e , and the registers a nd flags w i ll b e in a pred eterm i ne d positi on. t h is is doc umen ted in t able 18 and t able 19. 15.2.3. soft stop a soft stop is an imm edi ate i n terrupti on of a motio n , b u t w i t h a d e cel e r a tion ph ase. a t the e nd of thi s actio n , the r egister tagpo s is loa ded w i t h the value co ntain e d in regist er actpos to avoid an attempt of the circuit to ac hiev e the moti on (see t able 1 8 ). t he circuit is then rea d y t o e x ec ute a n e w p o sitio n in g com m and, prov ide d thermal a nd electric al con d i t ions al lo w for i t. 15.2.4. t hermal sh utd o w n mode w hen therma l shutdo w n occ u rs, the circuit performs a softstop command an d go es to motor shutdo w n m o d e (see f i gure 1 5 ). 23 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.2.5. t e mp erat ur e mana ge me nt t he AMIS-30624 mo nitors te mperatur e b y means of t w o thresh olds an d one s hutd o w n level, as il lustr a ted i n the f i g u re 1 5 . t he on l y cond ition nec e ssar y to r e set flags < tw > and < tsd > (respectivel y therm a l w a rni ng and t herma l s hutd o w n ) is w h en t h e temper ature is lo w e r th an t tw causi ng the oc currenc e of a getfullstatus1 i 2 c frame. f i gure 15: state diagram temperatu r e management < t i n f o > = ' 0 1 ' = ' 0 ' < t s d > = ' 0 ' = ' 0 1' = ' 0 ' = ' 0 ' < t i n f o > = ' 0 1 ' = ' 0 ' < t sd > = ' 0 ' t i n f o> = ' 0 1 ' t w > = ' 0 ' t s d > = ' 0 ' < t i n f o > = ' 0 1' = ' 0 ' < t s d > = ' 0 ' th e r m a l s hut dow n post th e r m a l w a rni ng < t i n f o > = ' 0 1 ' = ' 0 ' < t sd > = ' 0 ' th er m a l w a rni ng po st th er m a l shut do w n 1 = ' 0 1 ' = ' 0 ' = ' 0 ' no rmal te m p po st th er m a l shut do w n 2 low tem p t < t tw & i 2 c f r a m e < g etf u lls ta t u s 1 > t > t tw t > t tw t < t tw t > t ts d t > t ts d t < t ts d t < t tw t > t tw t < t lo w t > t lo w t < t tw & i 2 c f r a m e < g etf u l l s t atu s 1 > p c 2 007 02 19. 1 24 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.2.6. battery under- v oltag e man a g e ment t he AMIS-30624 mon i tors th e batter y volt a ge b y me ans o f one thres hol d and o ne s hutd o w n l e ve l, as il lustrated i n f i g u re 16. t he on l y cond ition nece ssar y to res e t flags < uv2 > and < steploss > is to recover a b a ttery vo ltage hig h e r than uv 1 and to rec e ive a getfullstatus1 command. f i gure 16: state diagram b a ttery v o ltage management p c 2 0060 926 .5 vbb < uv2 no m o tio n vbb < uv 2 & m o t i on ong o ing vbb > uv1 & i 2 c fr am e vbb > uv 1 & i 2 c frame - < u v2 > = ' 1 ' - < s teplo s s > = '0' - mo t o r shutdown - < u v2 > = ' 1 ' - < s teploss > = '1' - ha rd st o p - mo t o r shutdown st op mo de 1 st op mod e 2 - < u v2> = '0' - < s t eploss> = '0' normal volt age 15.2.7. ot p register 15. 2. 7. 1. otp me mory structure t able 16 sho w s w h ere the p a r ameters to be stored in the o t p memor y ar e locate d. table 16: otp m e mor y st ructure a d d r es s bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0x00 osc3 osc2 osc1 osc0 iref3 iref2 iref1 iref0 0x01 tsd2 tsd1 tsd0 bg3 bg2 bg1 bg0 0x02 absthr3 absthr2 absthr1 a b s t h r 0 p a 3 p a 2 p a 1 p a 0 0x03 i r u n 3 i r u n 2 i r u n 1 i r u n 0 i h o l d 3 i h o l d 2 i h o l d 1 i h o l d 0 0x04 v m a x 3 v m a x 2 v m a x 1 v m a x 0 v m i n 3 v m i n 2 v m i n 1 v m i n 0 0x05 s e c p o s 1 0 s e c p o s 9 s e c p o s 8 s h a f t a c c 3 a c c 2 a c c 1 a c c 0 0x06 s e c p o s 7 s e c p o s 6 s e c p o s 5 s e c p o s 4 s e c p o s 3 s e c p o s 2 0x07 delthr3 delthr2 delthr1 d e l t h r 0 s t e p m o d e 1 s t e p m o d e 0 l o c k b t l o c k b g parameters st ored at addr es s 0x00 a nd 0 x 01 a nd b i t lockbt are alr e a d y pr ogramm e d in the ot p memor y at circu i t deliver y. t hey corresp ond to t he cal i brati on o f the circuit and are just docu m ented h e re a s an ind i cati on. each opt bit is at ?0 ? w h en n o t zap ped. z a p p in g a bit w i ll s e t it to ?1 ?. t hus onl y bits havi n g to b e at ? 1 ? m u st be z a p ped. z a ppi ng of a b i t alre ad y at ?1? is disab l ed. each ot p by te w i ll be progr a mmed sep a rat e l y (s ee comm and setotppa ram ). once ot p programmin g is c o mpl e ted, bit l ockbg can be zapp ed, to dis abl e future zap p in g, other w i s e an y ot p bit at ?0? coul d still be zapp ed b y us in g a setotpparam command. table 17: otp overwrite protecti on lock bit protect ed b y t e s lockbt (facto r y zappe d befor e delivery) 0x00 to 0x0 1 lockb g 0x00 to 0x0 7 note: zapped bi ts w ill rea lly be ?activ e? after a getotpparam or a resettodefault command or a f ter a pow er-up. 25 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet t he command used to l oad the a ppl icati o n par ameters via the i 2 c bu s in th e ram prior t o a n ot p memor y progr ammin g i s setmotorparam . t h is allo w s for a functiona l verificatio n be fore usin g a setotpparam comman d to pro g ram an d zap separ atel y on e ot p memor y by t e . a getotpparam command iss ued aft e r each seto tpparam command a llo w s v e rificati on of the correct b y t e zapp ing. 15. 2. 7. 2. a pplication p a ram e ters stored in otp memory exce pt for the ph ysic al ad dre ss pa[3:0], these p a ram e te rs, althoug h pr ogramm ed in a non-vo latil e m e mor y , c an still be overri dd en in r a m by an i 2 c w r iti ng o perati on. pa[3:0] in combi nati o n w i th hire d w i r ed (hw ) a ddr ess, it forms the p h y sic a l ad dress ad[6: 0 ] of the step per- m otor. up t o 32 stepp ermot o rs can theor et icall y b e con n e c ted to the sa me i 2 c bus. absthr[3:0] absol u te thres hol d use d for the motio n dete c tion index ab s t h r a b s t hr le v e l (v) 0 0 0 0 0 d i s a b l e 1 0 0 0 1 0.5 2 0 0 1 0 1 . 0 3 0 0 1 1 1.5 4 0 1 0 0 2 . 0 5 0 1 0 1 2.5 6 0 1 1 0 3 . 0 7 0 1 1 1 3.5 8 1 0 0 0 4 . 0 9 1 0 0 1 4.5 a 1 0 1 0 5 . 0 b 1 0 1 1 5.5 c 1 1 0 0 6 . 0 d 1 1 0 1 6.5 e 1 1 1 0 7 . 0 f 1 1 1 1 7.5 delthr[3:0] delta thres hol d used for the motion d e tectio n index delthr delthr le v e l (v ) 0 0 0 0 0 d i s a b l e 1 0 0 0 1 0.25 2 0 0 1 0 0 . 5 0 3 0 0 1 1 0.75 4 0 1 0 0 1.00 5 0 1 0 1 1.25 6 0 1 1 0 1.50 7 0 1 1 1 1.75 8 1 0 0 0 2.00 9 1 0 0 1 2.25 a 1 0 1 0 2.50 b 1 0 1 1 2.75 c 1 1 0 0 3.00 d 1 1 0 1 3.25 e 1 1 1 0 3.50 f 1 1 1 1 3.75 26 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet irun[3:0] current amp lit ude val ue to b e fed t o e a ch c o il of the st epp ermotor. t he tabl e b e lo w pr o v ides t he 16 p o ssibl e v a lu es for irun . index irun run c u rren t ( m a ) 0 0 0 0 0 5 9 1 0 0 0 1 71 2 0 0 1 0 8 4 3 0 0 1 1 100 4 0 1 0 0 1 1 9 5 0 1 0 1 141 6 0 1 1 0 1 6 8 7 0 1 1 1 200 8 1 0 0 0 2 3 8 9 1 0 0 1 283 a 1 0 1 0 3 3 6 b 1 0 1 1 400 c 1 1 0 0 4 7 6 d 1 1 0 1 566 e 1 1 1 0 6 7 3 f 1 1 1 1 800 ihold[3:0] hold c u rrent fo r each coi l of the stepperm o tor . t he table be l o w prov ides th e 16 poss i b l e v a lu es for ihold . index ihold hold curren t ( m a ) 0 0 0 0 0 5 9 1 0 0 0 1 71 2 0 0 1 0 8 4 3 0 0 1 1 100 4 0 1 0 0 1 1 9 5 0 1 0 1 141 6 0 1 1 0 1 6 8 7 0 1 1 1 200 8 1 0 0 0 2 3 8 9 1 0 0 1 283 a 1 0 1 0 3 3 6 b 1 0 1 1 400 c 1 1 0 0 4 7 6 d 1 1 0 1 566 e 1 1 1 0 6 7 3 f 1 1 1 1 0 stepmode indicator of ste ppi ng mod e to be use d . stepmode step mode 0 0 1/2 s t e p p i n g 0 1 1/4 stepping 1 0 1/8 s t e p p i n g 1 1 1/16 stepping shaft indicator of re ference pos itio n. if shaft = ?0?, the ref e ren c e pos ition is t he ma xim u m inn e r pos itio n, w h er eas if shaft = ?1?, th e referenc e po sition is the ma xim u m outer p o sitio n . secpos[10:0] secure p o sitio n of the steppe rmotor. t h is is the positi on to w h ich th e moto r is driven in c a se hw conn e c tion is lost. if secpos[10:0] = ?100 0 0 0 0 000 0?, this me ans that s e cur e pos ition is d i sabl ed, e.g. th e st epp ermotor w i ll be k ept i n the positi on oc cupi ed at the moment these events occur. t he secure po sition is co de d on 1 1 bits onl y, provi d i ng actu al l y th e most s i gnific ant b i ts of the p o siti on, t he n o n cod ed least sig n ifica n t bits being s e t to ?0?. see als o t able 10. 27 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet vmax[3:0] maximum velocit y index vmax vmax ( f ull s t ep/ s ) grou p 0 0 0 0 0 99 a 1 0 0 0 1 1 3 6 2 0 0 1 0 1 6 7 3 0 0 1 1 1 9 7 4 0 1 0 0 2 1 3 5 0 1 0 1 2 2 8 6 0 1 1 0 2 4 3 b 7 0 1 1 1 273 8 1 0 0 0 303 9 1 0 0 1 334 a 1 0 1 0 364 b 1 0 1 1 395 c 1 1 0 0 456 c d 1 1 0 1 5 4 6 e 1 1 1 0 7 2 9 f 1 1 1 1 9 7 3 d vmin[3:0] minimum veloc i t y index vmin vmax fa ctor 0 0 0 0 0 1 1 0 0 0 1 1/32 2 0 0 1 0 2/32 3 0 0 1 1 3/32 4 0 1 0 0 4/32 5 0 1 0 1 5/32 6 0 1 1 0 6/32 7 0 1 1 1 7/32 8 1 0 0 0 8/32 9 1 0 0 1 9/32 a 1 0 1 0 10/32 b 1 0 1 1 11/32 c 1 1 0 0 12/32 d 1 1 0 1 13/32 e 1 1 1 0 14/32 f 1 1 1 1 15/32 acc[3:0] acceler a tion a nd dec el eratio n bet w e en vm ax and vmi n . index a cc a c c e lerati on (fu ll step/s 2) 0 0 0 0 0 49 (*) 1 0 0 0 1 218 (*) 2 0 0 1 0 1004 . 3 0 0 1 1 3609 . 4 0 1 0 0 6228 . 5 0 1 0 1 8848 . 6 0 1 1 0 11409 . 7 0 1 1 1 13970 . 8 1 0 0 0 16531 . 9 1 0 0 1 19092 (* ) a 1 0 1 0 21886 (* ) b 1 0 1 1 24447 (* ) c 1 1 0 0 27008 (* ) d 1 1 0 1 29570 (* ) e 1 1 1 0 34925 (* ) f 1 1 1 1 40047 (* ) (*) restriction on speed 28 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.2.8. ram regist ers table 18: ram r egisters regist er mnem onic leng th (bit ) relate d co mm a nds com m en t reset s t ate actual position actpos 16 getfullstatus2 gotosecurepos resetposition 16-bit signed last progra mme d position pos/ tagpos 16 getfullstatus2 gotosecurepos resetposition setposition 16-bit signed (see positioning ) note 1 acceleration shape accshape 1 getfullstatus1 resettodefault 1 setmotorparam ?0? ? normal acceleration from v m in to vmax ?1? ? motion at vmin w i thout acceleration ?0? coil peak current irun 4 getfullstatus1 resettodefault 1 setmotorparam oper ating curren t see look-up tabl e irun coil hold current ihold 4 getfullstatus1 resettodefault 1 setmotorparam standstill current see look-up tabl e ihold minimum velocity vmin 4 getfullstatus1 resettodefault 1 setmotorparam see section 13.3 minimum velocit y see look-up tabl e vmin max i mum velocity vmax 4 getfullstatus1 resettodefault 1 setmotorparam see section 13.2 max i mum velocit y see look-up tabl e vmax shaft shaft 1 getfullstatus1 resettodefault 1 setmotorparam direction of movement for positive veloci ty acceler a tion/ deceleration acc 4 getfullstatus1 resettodefault 1 setmotorparam see section 13.4 acceleration see look-up tabl e acc secure position secpos 11 getfullstatus2 resettodefault 1 setmotorparam target position when lin connecti on fails; 11 msbs of 16-bit p o sition (lsbs fixed to ?0?) stepping mode stepmode 2 getfullstatus1 setstallparam see section 13.1 stepping modes see look-up tabl e stepmode stall detection absolute threshold absthr 4 getfullstatus1 setstallparam see section 15.4 motion detection stall detection delta threshold delthr 4 getfullstatus1 setstallparam see section 15.4 motion detection from otp memory stall detection delay fs2stallen 3 getfullstatus2 setstallparam see section 15.4 motion detection ?000? stall detection sa mpling minsamples 3 getfullstatus2 setstallparam see section 15.4 motion detection ?000? pwm jitter pwmjen 1 getfullstatus2 setstallparam ?1? means jitter is added ?0? 100% dut y c y cle stall disable dc100sdis 1 getfullstatus2 setstallparam ?1? means stall d e tection is disabled in case pwm regulator r uns at = 10 0% ?0? pwm frequenc y pwmfreq 1 setmotorparam ?1? means 44 khz is selected ?0? note : a resettodefaul t command w ill act as a re set o f the ram con t en t, ex cept for actpos and ta gpos, which are regi ste r s that are not mod i fied . therefore , the appli c ati on shoul d no t send a resettodefault during a mo tion, to av oid any u n w anted cha nge o f parameter . 29 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.2.9. f l ags t abl e table 19: flags table flag mnem onic leng th (bit ) relate d co mm a nds com m en t reset s t ate charge p u mp failure cpfail 1 getfullstatus1 ?0? = charge pump ok ?1? = charge pump failure reset onl y afte r g etfullstatus ?0? electrical defect eldef 1 getfullstatus1 or < ovc2> or or or resets onl y afte r getfullstatus1 ?0? external s w itch status esw 1 getfullstatus1 ?0? = open ?1? = clo s e ?0? motion status motion 3 getfullstatus1 ?x00 ? = stop ?001? = inne r mot i on acceleration ?010? = inne r mot i on deceleration ?011? = inne r mot i on max. speed ?101? = ou ter mo tion acceleration ?110? = ou ter mo tion deceleration ?111? = ou ter mo tion max. speed ?000? over cur r ent in coil x ovc1 1 getfullstatus1 ?1? = over current reset onl y afte r g etfullstatus1 ?0? over cur r ent in coil y ovc2 1 getfullstatus1 ?1? = over current reset onl y afte r g etfullstatus1 ?0? secure position enabled secen 1 internal use ?0? if secpos = ? 100 0000 00 00? ?1? other w i se na step loss steploss 1 getfullstatus1 ?1? = step loss due to under voltag e, over curre nt or open circuit ?1? delta high stall delstallhi 1 getfullstatus2 ?1? = vbemf > average + delta t hr ?0? delta low stall delstalllo 1 getfullstatus2 ?1? = vbemf < average ? deltathr ?0? absolute stall absstall 1 getfullstatus2 ?1? = vbemf > absthr ?0? stall stall 1 getfullstatus1 stall detected ?0? temper ature info tinfo 2 getfullstatus1 ?00? = no rmal te mperatu r e ran g e ?01? = lo w tem p e r ature warning ?10? = high tem p erature warning ?11? = moto r shut do w n ?00? thermal shutdo w n tsd 1 getfullstatus1 ?1? = shutdow n (> 155c t y p.) reset onl y afte r g etfullstatus1 and if < tinfo > = ?00? ?0? t her mal w a r n ing tw 1 getfullstatus1 ?1? = over temp ( > 145c) reset onl y afte r g etfullstatus1 and if < tinfo > = ?00? ?0? battery stop voltage uv2 1 getfullstatus1 ?0? = vbb > uv2 ?1? = vbb uv2 reset onl y afte r g etfullstatus1 ?0? digital supply r e set vddreset 1 getfullstatus1 set at ?1? after po w e r-u p of the circ uit. if this w a s due to a suppl y micro-cut, it w a rn s that the ram contents ma y have been lost; can be reset to ?0? w i th a getfullstatus1 command. ?1? 30 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.2.10. priority enco de r t he table bel o w d e scri bes th e state mana g e m ent perform ed b y the mai n control bl ock. table 20: priorit y encoder state stop ped go top o s dualposi tio n softst op hardst op shutd o w n com m an d motor s t op pe d, ihold i n c o ils motor m o ti on on goi ng no in flue nce on ra m a n d tagpos motor decelerati ng motor force d t o stop motor s t op pe d, h-brid ges i n hi-z getotpparam otp refresh; i 2 c slave response otp refresh; i 2 c slave response otp refresh; i 2 c slave response otp refresh; i 2 c slave response otp refresh; i 2 c slave response otp refresh; i 2 c slave response getfullstatus1 [attempt to clear all flags] (note 1) i 2 c slave response i 2 c slave response i 2 c slave response i 2 c slave response i 2 c slave response i 2 c slave response; if ( or = ?0? then stop ped getfullstatus2 i 2 c slave response i 2 c slave response i 2 c slave response i 2 c slave response i 2 c slave response i 2 c slave response resettodefault [ actpos and ta gpos are not alter ed ] otp refresh; otp to ra m; accshape reset otp refresh; otp to ra m; accshape reset otp refresh; otp to ra m; accshape reset (note 2) otp refresh; otp to ra m; accshape reset otp refresh; otp to ra m; accshape reset otp refresh; otp to ra m; accshape res e t setmotorparam [ master takes car e about pro per up d a te ] ram update ram update (note 5) ram update ram update ram update ram update setstallparam ram update ram update ram update ram update ram update ram update resetposition tagpos and actpos reset tagpos and actpos reset setposition tagpos updated ; got o p o s tagpos updated tagpos updated runvelocity continuou s motio n ; got o p o s gotosecposition if = ?1? then tagpos = secpos ; got o p o s if = ?1? then tagpos = secpos if = ?1? then tagpos = secpos dualposition dualposi tion hardstop hardsto p ; = ?1? hardsto p ; = ?1? hardsto p ; = ?1? softstop softst op hardstop [ ? ( or or ) = ?1? ? = ?1? ] shutd o w n hardsto p hardsto p hardsto p thermal shutdo w n [ = ?1? ] shutd o w n softst op softst op motion finished na stoppe d stoppe d stoppe d ; tagpos = actpos stoppe d ; tagpos = actpos na with the follow i n g color code: command igno r ed transition to an other state master is responsible for proper update (see note 5) 31 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet notes: 1) = or or or 2) after po w e r - on- r e set, the shutdow n state is entered. the shutdo w n state can only be left after getfullstatus1 command (so that the master could rea d the < vddreset > flag). 3) a dualposition sequence runs w i th a separate se t of ram regist ers. the par amet ers that are not specified in a du alposition c omm and ar e loaded w i th the values stored in r a m at t he moment the dualposition sequence starts. accshape is forced to ?1? during second motion even if a resettodefa ult command is issued during a dualpo sition sequence, in w h ich case accshape at ?0? w ill be take n into account af ter th e dualposition sequence. a getfullstatus1 command w ill return the default pa rameters for vma x and vmin stor ed in ram. 4) shutdo w n state c an be left onl y w hen < tsd > and < elflag > flags are reset. 5) flags can be reset only afte r t he master could read them via a getfullstatus1 command, and pr ovided the phy si cal condit i ons allow fo r it (normal temp erat ure, corr ect batte r y voltage an d no electrical or charge pump defect ) . 6) a setmotorparam command se nt w h ile a motio n is ongoing (sta te gotopos ) sho u ld not attempt t o modif y acc an d vmin values. this can be done during a dualposition sequence since th is motion uses its o w n p a ramet e rs , the ne w pa ram e ters w ill be take n into account at the ne xt setposition command. 7) < secen > = ?1? w hen register sec pos is loaded w i t h a value differen t from the most n egative value (i.e. different f r o m 0x400 = ?100 0000 0000 ?) 8) < stop > flag allo w s user to distinguish w hethe r state stopped w a s entered after h a rdstop/softstop or not. < stop > is set to ?1 ? w hen leaving state hardstop o r softstop and is reset during first clock edge occur r ing in state stop ped. 9) while in state stopped, if actpos ta gpos ther e is a transition to state gotopos. t h is transition has the lo w e st p r iority, meaning that < stop >, < tsd >, etc. are first evaluat ed for possible transitio ns. 10) if < steploss > is active, then setposition and gotosecureposition commands are igno red (the y w ill not modif y tagpos registe r w h atever the sta t e). othe r command like dualpo sition or resetposition w ill be ex ecuted if allowed by curr ent state. < steploss > can onl y be cleared b y a getfullsta tus1 command. f i gure 17: state diagram pc200 7 0 3 23 .1 gotopos softstop shut dow n po we r on dual - positio n hardstop stoppe d t her mal shut do wn t h e r mal s h u t dow n so ftsto p th erm a l shut do wn ha r d s t op har d stop ha rdstop har d stop mot i on fi ni s h ed m o t i o n fi ni s h ed mot i on fi ni s h ed get f ull s ta tu s 1 go t o s e c p o s setpo s mo ti on fi nish ed dua l posi t i on pri o ri ti e s 1 2 3 32 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet t p c 200511 23.4 c o il x c o il y ix iy t p c 200512 05.1 c o il x c o il y ix iy 15.3 motordri v e r 15.3.1. current w a vef o rms i n the co i l s f i gure 1 8 ill ustrates the curre nt fed to the mo tor coils by the motord riv e r i n half step mo de. f i gure 18: curren t w a veforms in motorcoils x and y in halfstep mode w hereas f i g u r e 19 be lo w s h o w s th e current fed to one co il i n 1/16 th micro steppi ng (o ne electric al per io d). f i gure 19: curren t w a veforms in motorcoils x and y in 1/16 th microstep mode 33 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.3.2. pw m regul ati on in order to forc e a g i ve n curre nt (determi ne d b y ir un or i hol d and th e curr en t positio n of th e rotor) thro ug h the mot o r coi l w h i l e ensur in g hig h en erg y tra n sfer efficie n c y , a regul atio n b a sed on pw m prin ci pl e is use d . t he regulati on lo op perfor m s a compar is on of the se ns ed output c u rrent t o a n i n terna l re ference, and fe atures a d i gita l regu lati on ge n e ratin g the pw m sign al th at d r ives the o u tpu t s w i tches. t h e zoom ov er o n e micro-ste p i n f i gure 19 sho w s ho w the p w m circuit per forms this re g u lati on. t o red u ce th e curre n t rippl e, a hig h er pw m frequenc y sh oul d be se l e ctabl e. t he r a m register p w mfreq is used for this (bit 6 in data 7 of se tmotorparam ). table 21: pwm freque nc y selection pwmfreq a p p lie d pw m fr eque nc y 0 2 2 . 8 k h z 1 45.6 khz 15.3.3. pw m jitter t o lo w e r the p o w e r sp ectrum for the funda m ental a nd h i g her harm onics of the pw m fre que nc y , j i tter can be add ed to the pw m clock . t he ram register pw mjen is used for this. (bit 0 in data 7 of setmotorparam or setstallparam ). rea dout w i t h getfullstatus1 . table 22: pwm jitter selection pwmjen status 0 single pwm frequenc y 1 added jitter to p w m frequenc y 15.3.4. motor starting phase at motion start, the c u rrents in the c o ils are di rectl y s w itch ed from ihold to irun w i th a n e w si ne/cos i ne ratio c o rres p o ndi ng to the fir s t half (or micro) step of the motion. 15.3.5. motor stoppi ng phase at the en d of the d e cel e rati o n ph ase, t he c u rrents ar e ma intai ned in th e coils at th eir a c tual dc lev e l (henc e kee p i n g the si ne /cosine ratio b e t w ee n coils) d u ri ng th e stabi lizati on t i me t stab (see t abl e 6). t he currents are th en set to the h o ld valu es, respec tivel y , ihold x sin (tagpos) and ihold x cos( tagpos ) as illustrate d bel o w . a ne w positi oni ng ord e r ca n then b e e x ec uted. f i gure 20: motor stoppi ng p hase 34 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.3.6. char ge pu mp monitori ng if the charge p u mp volt age is not sufficie n t for drivi ng th e hig h sid e trans istors (du e to a fail ure), an i n terna l hards top command is issue d . t h is is ackno w l e dg ed to the master by rais in g the fla g < cpfail > (a vaila bl e w i th co mmand getfu llstatus1 ). in case this fail ure occurs w h il e a motion is o ngo ing, the fla g < steploss > is also rais ed. 15.3.7. electrical d e fe ct on co ils, det e ction a nd c o n f irmati on t he princi ple r e lies o n the de tection of a vo l t age drop on a t least o ne tra n s istor of the h- brid ge. t hen th e dec isi on is ta ken to op en th e transistors of the defectiv e bri dge. t h is allo w s the detection of the follo w i ng short circuits: ? exter nal co il sh ort circuit ? short bet w e en one termi nal of the coil an d v bat or gnd open circu i ts are detected b y a 100 p e rce n t pw m dut y c y c l e valu e duri ng a lon g time. table 23: electrical defect detection pins fault mo de y i or xi short circuit to gnd yi o r x i short circuit to vbat y i or xi open y 1 an d y 2 short circuited x1 and x2 short circuited xi and y i short circuited rem a rk : one cann ot detect an inter nal s h o r t in the motor. 35 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.3.8. motor shutdow n mode a motor shutdo w n occurs w h e n : ? t he chip temperature ris e s a bove the th erm a l shutd o w n thr e sho l d t t sd (see t hermal sh utdo w n m o d e ) ? t he batter y vol t age go es be lo w uv 2 (see ba tter y volta ge m ana geme n t ) ? f l ag < eldef > = ?1?, meani ng an el ectrical pr obl em is detect ed on o ne or b o th coils, e.g. a short circuit ? f l ag < cpfail > = ?1?, meanin g there is a ch arge p u mp fail ure a motor shutdo w n le ads to the follo w i ng: ? h-brid ges i n hi gh imp eda nce mode ? t he tagpos re gister is loaded w i th the actpos (to avoid an y motio n after l eavi ng the mot o r shutdo w n m ode) t he i 2 c interfa c e remai n s acti ve, bein g ab le to receiv e order s or send statu s . t he conditio n s to get out of a motor shutdo wn mode ar e: ? rece ption of a getfullstatus1 command and ? t he four cause s above ar e no long er detecte d t h is leads to h-bridg e s in iho l d mode, he nce the circuit is re ad y to e x ec ute an y pos itio nin g command. t h is can b e ill ustrated in the foll o w i ng s e q u ence giv e n as an ap p lic ation tip. t he master can c heck w h ether th ere is a pr obl em or n o t and d e ci de w h i c h app licati on strateg y to a d o p t. tj t s d or vbb uv2 or < eldef > = ?1 ? o r < cpfail > = ?1 ? setposition frame getfullstatus1 frame getfullstatus1 frame ? - t he applicati o n is a w ar e of a pro b lem - possib l e confir mation of the probl em - t he circuit is driven i n motor shutdo wn mode - t he applicati o n is not a w ar e of this - t he position se t-point is upd ated b y t he i 2 c master - reset < tw > o r < tsd > o r < uv2 > o r < steplos s > or < eldef > o r < cpfail > by t he ap plic atio n - motor shutdo wn mode ? no mo tion - t he applicati o n is still una w a re - possib l e ne w d e tection of ov e r temperature or lo w volt age or electric al pro b l e m ? circuit sets < tw > o r < tsd > o r < uv2 > or < steploss > o r < eldef > or < cpfail > aga in at ?1 ? f i gure 21: e x ample of p o ssible sequence used to detect and determine cause of motor sh utdown importa nt: w h ile i n sh utdo w n m ode, s i nc e ther e is n o hol d curr ent in the c o ils, t he mecha n ica l l o a d ca n ca use a step loss, w h i c h cann ot be flag ged b y th e amis-306 24. wa rning: t h e appl icatio n sh oul d limit the n u mber of cons ecutive getfu llstatus1 comman d s to try to get the a m is-3062 4 out of shutdo w n m o d e . w hen t h is p r oves to be un successful, for examp l e if ther e is a p e rman e n t defect, the r e lia bi lit y of th e circuit co ul d b e altere d since g etfullstatus1 attempts to disa ble th e pro t ection of the h - bridg e s. 36 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 15.4 mo tion detect io n motion det ecti on is b a se d o n the back emf gen erate d i n ter nall y i n the ru n n in g motor. w hen the motor is bl ocke d, for examp l e w h e n i t hits the en d-p o sitio n , the vel o cit y and as a result als o the gen erate d b a ck emf, is dis t urbed. t he amis-3062 4 se nses the b a ck e mf, calcul ates a movin g aver ag e and c o mp are s the val ue w i t h t w o i n d epe n dent thres h o l d leve ls: absol u te thresho l d ( abst hr[3:0] ) and delta thres h o l d ( delt hr[3:0] ). instructions for the correct us e of these t w o leve ls in c o mbi natio n w i t h three a dditi o nal p a ram e ter s (minsamp l es, f s 2stallen an d dc 100s dis) are o u tsid e th e scop e of th i s datash eet. d e tail ed i n forma tion is ava ila bl e in a d edic a t e d w h ite p a p e r ?robust motio n c ontrol w i t h amis-306 2 x stepp er motor driver s?, availa ble o n http:// w w w . amis.com/ . if the motor is accel e rated b y a pulli ng or pr ope lli ng force and t he res u lti ng back emf in creases a bove the delta thre shol d (+ ? th r ) , then is set. w hen the motor is slo w i n g do w n a nd th e resulti ng b a ck emf decrea s es bel o w the delta thresh o l d (- ? t hr), then is set. w hen the motor is block ed an d the velocit y is ze ro after the acceler a tion p has e, the back emf is lo w or z e ro. w hen this va l ue is b e l o w the abs o lute t h resh old, is set. t he < stall> flag is th e or functio n of or or . abs sta ll t ve locity v ma x v mi n t m o tor s p e e d v bemf v ab st h t b a ck e m f v bemf de ltas tall hi t v be m f v bem f + ? th r - ? th r t d elta stal llo t figure 22:triggeri ng of the stall flags in function of measured back em f and the set threshold levels table 24: t r uth t able con d iti on < a b s stall> vbemf < averag e - delth r 1 0 0 1 vbemf > averag e + delthr 0 1 0 1 vbemf < absthr 0 0 1 1 t he motion w i ll onl y be d e tect ed w h en the m o tor is runn ing at t he maximu m velocit y , not duri ng acce ler a tion or d e ce le ration. if durin g positi oni ng a m e cha n ical o b stacl e i s detecte d (sta ll), a n (i ntern a l) har dstop is ge nerate d . t he motor w i ll stop immed ia te ly an d as a c ons equ e n ce th e < s tep loss> an d < s tall> fla g s ar e s e t. t he positio n in the inter n a l cou n ter w i ll b e cop i e d to th e actpos re gi ste r . all flags ca n be read out w i th t h e getfulls tatus1 . if stall app ear s durin g du al positio n then t he first phas e is cance l l ed (v ia inter n a l har d stop) a nd aft e r timeout (2 6.6ms) the s e c ond phas e at v mi n starts. importa nt re ma rk : using getful lstatus1 w i ll read an d c l ear the foll o w i ng flags: < steploss> , < s tall> , , , and . ne w pos itio nin g is possi bl e and th e actpos register w i ll be further u pda ted . motion detecti on is disa bl ed w h e n the ram registers a b s t hr[3:0] and d e lt hr[3:0] are empt y or zer o . both lev e ls c a n be pro g ram m e d usin g the i 2 c command setstallparam in the re gisters abst hr[3:0] and de lt hr[3:0]. also in th e ot p register abst hr[3:0] an d delt hr[3:0] can be set usi ng the i 2 c command setotpparam . t hese valu es are cop i e d i n the ram regi sters durin g po w e r on res e t. 37 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet valu e t able: table 25: absolu te threshold sett ings table 26: delta t h reshold setting s a b s t hr in dex a b s t hr le v e l (v ) delthr index delthr le v e l (v) 0 d i s a b l e 0 d i s a b l e 1 0 . 5 1 0.25 2 1 . 0 2 0 . 5 0 3 1 . 5 3 0.75 4 2 . 0 4 1 . 0 0 5 2 . 5 5 1.25 6 3 . 0 6 1 . 5 0 7 3 . 5 7 1.75 8 4 . 0 8 2 . 0 0 9 4 . 5 9 2.25 a 5 . 0 a 2 . 5 0 b 5 . 5 b 2.75 c 6 . 0 c 3 . 0 0 d 6 . 5 d 3.25 e 7 . 0 e 3 . 5 0 f 7 . 5 f 3.75 minsam ples minsam ples[2: 0 ] is a bemf s a mpli ng del a y time e x pr esse d in numb e r of pw m c y cles, for more inf o r m ation ple a se refer to the w h ite pap er ?rob ust motion c ontrol w i t h amis-306 2x ste pper mot o r drivers?. table 27: back e m f sample dela y time t del a y ( s ) index minsam ples[ 2:0 ] pwmfreq = 0 pwmfreq = 1 0 0 0 0 8 7 4 3 1 001 130 65 2 0 1 0 1 7 4 8 7 3 011 217 109 4 1 0 0 2 6 1 1 3 0 5 101 304 152 6 1 1 0 3 4 8 1 7 4 7 111 391 196 fs2stallen if abst hr or delt hr < > 0 (i.e. motion detecti on is ena bl ed) , then stall det ection w i l l be activated af t e r the acc e le ration r a mp + an add ition a l n u m ber of full-step s, acco rding to the follo w i ng table: table 28: activation dela y of motion detection index fs2stallen [ 2: 0] dela y (full s t e p s) 0 0 0 0 0 1 001 1 2 0 1 0 2 3 011 3 4 1 0 0 4 5 101 5 6 1 1 0 6 7 111 7 f o r more infor m ation p l eas e refer to the w h i t e paper ?r ob u s t motion contr o l w i th amis-3 062 x step per motor drivers?. dc100sten when a m o tor w i t h lar ge back ? e.m.f. is opera ted at high v e locit y and lo w supply volt age, then the pw m dut y c y c l e c an be as hi gh a s 100 p e rce n t. t h is in dicates th at the supp l y is too lo w to ge n e rate the re qui red torqu e an d might also res u lt in erro ne ou sl y tri g geri ng t h e stall d e tectio n. t he bit ?d c1 00sten? (b it 1 in d a ta 7 of s etstallparam ) ena bl es the functio n w h er e stall d e tectio n is s w i t che d of f w h e n pw m dut y c y c l e eq uals 100 perc ent. f o r more infor m ation t he w h i t e paper ?ro b u st motion co ntrol w i th amis-306 2 x stepp er motor drivers?. motion qua lific ation mo de t h is mode is u s eful to de bu g motion par ame t ers an d to v e ri f y th e stab ilit y of stepp er mot o r s y st ems. t he motio n qua lif icatio n m o de is entere d b y me ans of the i 2 c command tes tbemf . t he sw i pin w i ll b e converte d i n to an ana lo g o u tp ut on w h ich th e bemf integr a t or output ca n be measur ed. on ce activate d, it can on l y be s t oppe d after a por. during t he back emf o b servati on, rea d in g of the s w i state is inter n a l l y for b id de n. more i n formati on is av ail a b l e in the w h ite p aper ?ro bust motion co ntrol w i th amis-30 6 2 x ste p p e r mo to r drivers?. 38 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 16.0 i 2 c bus description 16.1 general descriptio n amis-3062 4 u s es a simpl e bi -directio n a l 2- w i re bus for effici ent inter-ic co n t rol. t h is bus is calle d the inte r ic or i 2 c-bus. f eatures inc l u de: ? onl y t w o bus li nes are re qu ire d ; a serial d a ta line (sda) a n d a serial cl ock li ne (sck). ? each dev ice c o nnecte d to the bus is s o ft w a re ad dress abl e b y a un iqu e ad d r ess a n d simp l e master/sl a ve relati onsh i ps e x ists at all times; master can op erate as maste r-transmitter or as master receiv er. ? serial, 8- bit ori ented, bi- d ir ection al dat a tran sfers can be m ade u p to 400 kbit/s. ? on-chip filter in g rejects spik e s on the bus d a ta lin e to pres erve data i n teg r it y . ? no ne ed to des ign b u s interfac es beca u se i 2 c-bus interfac e i s alrea d y inte g r ated on-c h i p . ? ic?s can be a d ded to or remo ved from a s y st em w i t h o u t affecting an y ot her circuits on the bus. 16.2 co n cep t t he i 2 c-bus co nsists of t w o w i res, seri al data (sda) a n d ser i al c l ock (sck) , carr yin g i n for m ation bet w e e n the dev ices c onn ected on th e bus. eac h devi c e co nn ected t o the b u s is re cogn ized b y a uni que a ddres s an d oper ates as eith er a tra n smitter or rec e iver, dep en d i ng on the functi on of the device. AMIS-30624 c an both rec e iv e and transm i t data. in additi on to transmitters and rec e iv ers, device s c an also b e cons id ered as master s or slaves w h en perform ing data transfers. amis-3062 4 is a slave dev ice . see t able 30. table 29: definition of i 2 c ? bus t e rminolog y term descrip tion t r a n s m i t t e r t h e device w h ic h sends data on t he bus receiver the device w h ich receives data fr om the bus master the device w h ich initiates a transfer, gene rates clock signals and t e rminates a tran sfer slave the devices addr essed b y a mast er s y nchronization procedure to s y n c hronizer t he clock signals of tw o or more devices f i gure 23: e x ample of an i 2 c- bus configurati on using one microcontroll er and f our slaves mi c r o - cont rol l er m o tordriver_1 a m is -30624 m o tordriv e r_2 am i s - 3 0624 m o tordriv e r _ 3 am is -30624 m o t o rd ri ve r _ 4 am is -3 0 6 2 4 sda scl p c 20070217.1 f i gure 2 3 hi ghl ights the mast er-slave and r e ceiv e r-transm i tter relatio n shi p s to be foun d on the i 2 c-bu s. it should b e noted that the s e relati onsh i ps a r e not p e rman ent but o n l y de pen d o n the d i rection of data transfer at tha t time. t he transfer of data w oul d proc ee d a s follo w s : 1) supp ose the microcontro lle r w a nts to send information to motordriv e r_1: ? microcontr o ll er (master) addr esses motordr i ver_1 (sl a ve) ? microcontr o ll er (master-transmitter) sends d a ta to motordri ve r_1 (sl a ve-re ceiver) ? microcontr o ll er terminates the transfer 39 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com
AMIS-30624 i 2 c microstepping motordriver data sheet 40 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.amis.com 2) if the microcontrol l er w a nts to rece ive i n for m ation from motordriv e r_2: ? microcontr o ll er (master) addr esses motordr i ver_2 (sl a ve) ? microcontr o ller (master-receiv er) receiv es data from motordrive r_2 (slave-t ransmitter) ? microcontr o ll er terminates the transfer even in this ca se the master gen erates the t i ming and term inates the tra n s fer. generati on of the sig nals on the i 2 c-bus is al w a ys the r e spons ibi lit y of the master d e v ice. it gen era t es its o w n c l o ck sign al w h e n transferrin g da ta on the bus. bus clock sig nals from a master c an on l y be altere d w h en the y are stretched b y a sl o w s l ave d e vic e hol din g -d o w n t he clock l i ne. 16.3 gen e ral ch ar acte r istics f i gure 24: connection of a device to the i 2 c- bus both sda and sck are bi- d ir ection al li nes c onn ected to a posit iv e supp l y voltage vi a a p u ll-u p resistor ( s ee f i gur e 24). w hen t he bus is free bot h li nes are high. t he output sta ges of the d e vices conn ected to the b u s must h a ve a n o p e n d r ain to perform the w i r ed-a n d function. d a ta on the i 2 c-b u s can be tra n sf erred u p to 4 0 0 kbits/s in fast m ode. t he number of i n terfaces co nnecte d to the b u s i s dep en dent o n the ma xim u m b u s capac itanc e limit (see c b in t able 6) and the avai la ble n u mber of ad dre sses. 16.4 bit t r an sfer t he levels for l ogic ?0? ( l ow ) and ?1? ( h igh) are n o t fixed in the i 2 c stand a r d but d e p end e n t on the use d vdd lev e l. us i ng amis-30 6 2 4 , the leve ls are s pecifi ed in t abl e 5. one clo ck puls e is ge nera t ed for each d a t a bit transferre d. 16.4.1. data val i dity t he data on the sda lin e mu st be stable d u r ing the high peri od of the cl ock. t he high or low state of the data li ne can onl y ch an ge w h e n the clock signa l on the scl li ne is lo w (see f i gure 25). f i gure 25: b it tra n sfer on the i 2 c- bus ser i al clo c k lin e ser i al d a ta line pc2006 0 925. 7 r p +5 v clock i n c l o ck o u t d a ta in da t a out a m is -3 0624 sd a sc k scl s da c l o ck in clock ou t d a ta in d a ta o u t ma s t e r r p 21 p c 2007 0217 . 2 sck d a ta line stab le -> data v a lid sda c h an ge of data a llow e d
AMIS-30624 i 2 c microstepping motordriver data sheet 16.4.2. st art and st op conditi ons w i thin the proc edur e of the i 2 c-bus, un iqu e situatio ns arise , w h ic h are d e fi ned as st art (s) and st op (p) conditio n s (see f i gur e 26 ). a high to low transition o n the sda lin e w h il e sck is high is on e s u ch u n iq ue c a se. t h is situation i ndic a tes a st ar t condition. low to high transiti on on th e sda lin e w h i l e sck is high defines a st op conditi on. st ar t and st op condition s are al w a ys g ener ated b y th e master. t he bus is cons ider ed to be b u s y after the st ar t conditio n . t h e bus is cons ider ed to be free a gai n a certai n time after the st op condition. t he bus free situatio n is spec ified as t bu f in t able 6. t he bus sta y s bus y if a r epe a t ed st art (sr) is g e n e rate d i n stead of a st op cond ition. i n this resp ect, the st art (s) an d re pe at ed st ar t (sr) conditi ons are f u nction all y id ent ical (s ee f i gur e 2 7 ). t he s y m bol s w i ll be us ed to repr ese n t st ar t and re peate d st a rt, unl ess other w i se noted. f i gure 26: sta r t and stop conditi ons st a r t st op sck st a r t co nd itio n st op co nd it io n sd a p c 200 70 217 .3 16.5 t r an sfer rin g data 16.5.1. byte f o rmat ever y b y t e put on the sda l i ne must b e 8 - bits lon g . t he number of b y tes that can b e transmitt ed per transfer to AMIS-30624 i s restricted to e i ght. eac h b y te has to b e fo llo w e d b y an ack n o w l e dge bit. data is transferred w i th t he m o st sig n ifica n t bit (msb ) first ( s ee f i gure 2 7 ). if a slave can?t re ceive or trans mit another co mplete b y te of data, it can hol d the clock lin e sck low to force the master into a w a it state. data transfe r then cont in ue s w h en the sl a v e is read y for anoth e r b y t e of data an d rele a s es clock li ne sck. f i gure 27: data transfer on the i 2 c-bus sd a sta r t st o p sc k 1 p c 2 0070 217 .4 2 78 9 12 3-8 9 ac k now ledgem ent si gnal f r om sla v e c l o c k line held low by s l ave ak now ledg e rela t e d clo c k pus e from m a s t er st ar t c ondition ac k ms b st o p c ondition 41 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om
AMIS-30624 i 2 c microstepping motordriver data sheet 16.5.2. acknow led ge data transfer w i t h ackn o w l e dge is ob li gat or y . t he ackno w le dg e -rel a te d clock puls e is gen erated b y the master . t he transmitter rele ases th e s d a li ne ( h igh) duri n g the ack n o w l e d ge c l oc k puls e . t he re ceiver m u st p u ll d o w n the sd a lin e duri ng t he ackno w l e dg e clock p u lse so that it rema ins stable low du ring th e high peri od of this c l ock p u lse (see f i gure 28). of course, s e t-up and ho l d tim e s must also take n into acco unt (see t able 6 ). w hen amis-30 624 d oes n?t ac kno w l e d ge the sl ave a ddress, the data li ne w i ll be l e ft high. t he master can than g ener ate eit her a st op conditi on to abort the transf e r, or a repeat ed st ar t conditio n to start a ne w transf er. if AMIS-30624 as slav e-rece iv er do es ack n o w l e d ge t he sl a v e ad dress but later i n the tra n sfer can not re ceive an y m o r e data b y tes , t h is is in dic a ted b y ge nerati n g a not-ackn o w l e d ge on t he first b y t e to foll o w . t he master g ener ates th an a st op or a r epe ated st art cond ition. if a master-receiver is involved in the tr ansfer, it must signal the en d of dat a to the slav e-trans mitter by not generating an ackn o w l edg e on the last b y t e that w a s clo ck ed out of the slave. amis-3062 4 as slave- transmitter sha ll rele ase the d a ta lin e to allo w the ma ster t o gen erate st op or repeate d st ar t conditi on. f i gure 28: a cknowledge on the i 2 c- bus 16.5.3. clock gen e rati on t he master ge nerates the c l o ck on th e s c k lin e to tra n sfer messag e s on the i 2 c-bus. d a ta is on l y va li d d u rin g the hi gh peri od of t h e clock. 16.6 data f o rmat s w i th 7-bit a d d r es ses sd a b y m a s t e r trans mitter sta r t sc k fro m master 1 p c 2 007 0217 .5 2 89 m a ster releases th e d a ta line slav e pulls data line low if a cknow ledged a k now ledge relate d clock puse from master st ar t cond i t io n a cknow ledged ms b sd a by slav e rec e i v er n o t acknow ledge d data transfers follo w th e format sho w n i n f i gure 2 9 . after the st ar t con d itio n (s), a slave ad dress is sent. t h is address is 7- bit lo n g follo w e d b y an eig h th b i t w h ic h is a d a ta d i re ction b i t (r/w ) ? a ?zero ? i ndic a tes a tra n smi ssion (w rit e ), a ? one ? i ndic a tes a r equ est fo r data (read). a data transfer is al w a ys term inate d b y a st op conditio n (p) gener ated b y the master. f i gure 29: a complete data transfer st a r t st o p sck pc20 07 02 1 7 .6 st art cond ition st op condition 1 - 7 8 9 1 - 7 89 1 - 7 8 9 ac k r/ w a ddres s da ta ac k da ta ac k sda ho w e v e r, if a master still w i s hes to comm u n icate o n the b u s, it ca n ge ne rate a re peate d st ar t (sr) and ad dress an other s l ave w i t hou t first generati n g a st op condition. vari ous co mbin ations of r ead/ w r ite formats are then p o ssible w i t h i n su ch a transfer. 42 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om
AMIS-30624 i 2 c microstepping motordriver data sheet 16.6.1. data t r ansfer f o rmats 16. 6. 1. 1. w r iting data to ami s - 30624 w hen w r itin g t o amis-30 624, the mast er-tra nsmitter trans mits to slav e-r e ceiv er a nd th e transfer dir e ction is n o t ch ang ed. a c o m plete transmission consists of: ? start conditio n ? t he slave addr ess (7-bit) ? read/write bit (?0? = w r ite) ? ackno w ledge bit ? an y further d a ta b y tes ar e fo ll o w e d b y a n ac kno w l e d g e bit. t he ackn o w l e dge bit is use d to si gn al a c o rrect rece ption of th e data to the tran smitter. in this case the amis -306 24 p u lls th e sda lin e to ? 0 ?. t he amis-3 062 4 rea d s the incomi ng d a ta at sda on ever y ris i ng edg e of the sc k signa l ? stop cond itio n to finish the tra n smissio n f i gure 30: master w r iting data to ami s - 30624 some comma n d s for the amis-306 24 ar e supp orting eig h t b y tes of dat a, other comma n d s are trans mit t ing t w o b y tes of data. see t able 30. 16. 6. 1. 2. r e ading data fro m a m i s - 30624 w hen rea d in g data from amis-306 24 t w o transmissi ons ar e nee de d: 1) t he first transmission c onsi s ts of t w o b y t e s of data: ? t he first b y te c ontai ns the sla v e addr ess an d the w r ite bit. ? t he second b y te contai ns the addr ess of a n intern al re giste r in the amis-3 062 4. t h is inte rnal re gister ad dress is stor ed in th e circuit ram. f i gure 31: master r e ading data fro m a m i s - 30624: f i rst transmission is a ddressing 2) t he second transmissio n c onsists of the s l ave a ddr ess a nd the re ad bit. t hen the mast er can re ad th e data bits on t he sda l i ne on ever y ris i ng e d ge of sig nal s c k. after eac h b y t e of data the mast er h a s to ackn o w l e d ge c o rrect d a ta rece ptio n b y pull i n g sda l o w. t he last b y te is not ackno w l e d ged b y th e ma ster and ther efore the slav e kno w s the e nd o f transmission. f i gure 32: master r e ading data fro m a m i s - 30624: se cond transmissio n is r e ading data pc 2 00702 19. 5 s s l av e a ddr ess r/w a i n te rnal a ddre s s "0" = w r i t e a p n bytes + acknowledge p c 2007021 9 . 3 master to amis -30624 AMIS-30624 to master s = start condit i on p = stop condi tion a = ack nowledge (sda = lo w ) a = no acknowl e dge (sda = hig h ) s slave address r/w a data a dat a a p "0 " = w r i t e n bytes + a cknowledg e p c 20070219 . 3 maste r to AMIS-30624 a m is -30 624 to ma s t e r s = s t a r t condition p = s t o p condition a = a ckno w led ge (s da = low) a = no a cknowled ge (s da = high) s s l ave a ddress r/ w a dat a a dat a a p "0 " = w r i t e notes: (1) each by te i s follow ed by an a c know ledgment bit a s in dicated by the a or ? i n th e sequen ce . 43 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om
AMIS-30624 i 2 c microstepping motordriver data sheet (2) i 2 c-bus compatible dev ices mu st re se t their b u s logi c on receip t o f a start condi tion su ch tha t they all anti c ipa t e the sen d ing o f a sl av e address, ev en if the s e start condi tion s are no t posi t ione d according to the pr oper format. (3) a start condi tion immediate l y follo w ed by a stop cond ition (v oid message ) is an illegal forma t. 16.7 7-b i t a d d r essi n g t he addressin g proce dure fo r the i 2 c-bus i s such that the first by te after the st ar t co nditi on usu a ll y determi nes w h i c h slave w i ll b e selecte d b y th e master. t he exc epti on is th e ge nera l cal l addr ess w h ich can ca ll a ll d e v ices. w hen th is ad dress is u s ed a ll d e v ices shou ld resp on d w i t h an ack n o w le dg e. t he secon d b y t e of t he ge ner al cal l addr ess then d e fines the actio n to be taken. 16.7.1. definiti on of bit s in the f i rst byte t he first seven bits of the first b y te make up the slav e a ddre ss. t he eighth bit is the least signific a nt bit (lsb). it determi n e s the directi on of the message. if th e lsb is a ?zero? it means tha t t he master w i l l w r it e informati on to a selecte d slave. a ?one ? i n this positio n means th at the master w i ll re a d inform atio n from the sl ave. w hen a n a ddr ess is se nt, ea ch dev ice in a s y stem c o mpar es the first se ven bits after th e s t ar t conditio n w i th its addr e ss. if the y m a tc h, the devic e c onsi ders itself addr e ssed b y t he m a ster as a slave- r e ce iver or slave-tra n smitter, depe nd ing on the r/ bit. w f i gure 33: f i rst byte after star t p r ocedure amis-3062 4 is provid ed w i th a ph ys ical add ress in or der t o discrim inat e this circuit fro m other circu i ts on the i 2 c b u s. t h is addre ss is code d o n sev e n bits (t w o b i ts bei ng inter nal l y hard w i r e d to ?1?) , yi el din g t he th eoretic al possi bil i t y of 3 2 differ ent circ uits on the s a me bus. it is a combin ation of fo ur ot p memory bits ( ot p m e mor y str u ctur e ) and of the e x tern al l y hard wired a ddress bi ts (pin hw ). hw must either be conn ected to g r oun d or to vbat. w hen hw is not connecte d and is l e ft fl oating, correct functi o nal it y of the pos i tion er i s not guar ante e d . t he motor w i ll be drive n to the pr ogr ammed secure p o sitio n (see hard w i re d address ? o pen ). f i gure 34: f i rst byte a fter sta r t procedure r/ w ms b ls b s l ave ad dr es s p c 2007 0219.2 r/ w ms b ls b otp m e m o r y p c 200702 19.3 1 1 pa3 pa2 pa1 pa0 h w hard w i red addre s s b i t 16.7.2. genera l cal l address t he AMIS-30624 sup ports al so a ?gen eral call? a ddress ? 000 0 0 0 0 ?, w h i c h can ad dres s all dev ices. w hen this ad d r ess is used a l l devic es sho u ld respon d w i th a n ackno w l e dg e . t he second b y te of the g ene ral call addr ess then defi nes the actio n to be taken. 44 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om
AMIS-30624 i 2 c microstepping motordriver data sheet 17.0 i 2 c application commands 1 7 . 1 introd uc tion commun i cat i o n s bet w e en t h e ami s -30624 a nd a 2- w i re ser i al b u s int e rf ac e mast er t a kes place vi a a lar ge set of commands. rea d in g comm ands ar e use d t o : ? get act ual st at us inf o rmat i on, e. g. error f l ags ? get act ual pos i t ion of t he st ep permot o r ? verif y t h e right progr ammin g a nd conf i gur at io n of t he ami s -306 24 writ ing comma nds are us ed t o : ? program t he o t p memor y ? conf i gure t h e posit i oner w i t h mot i on p a rame t e rs (max/ m in spee d, accel e r a t i on, st ep pin g mode, et c. ) ? provid e t a rget posit i ons t o t h e st epper mot o r t he i 2 c-bus m a st er w i ll h a ve t o use comm a nds t o ma na ge t h e dif f e re nt a pplic at io n t a sk s t he ami s -30 624 ca n f e at ur e. t he comma nd s summar y is giv en in t able 3 0 . 1 7 . 2 comma nds ta ble tabl e 30: i 2 c co mmands w i th co rrespondi ng r o m poi n ter t hese commands are d e scri bed h e re af t e r, w i t h t heir corr e s pon din g i 2 c fr a m e s . r e fe r to d a ta t r a n s fe r fo rma t s f o r more det ai ls. a colo r codi ng is us ed t o dist ing u is h b e t w e e n mast er and slav e part s w i t h in t he f r a m es. an exam ple is sh o w n b e lo w . get fulls tat u s1 respo n se fram e by te con t en t struct ure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 a d d r e s s 1 1 otp3 otp2 otp1 otp0 hw 0 1 address 1 1 1 otp3 otp2 otp1 otp0 hw 2 data 1 irun[3:0] ihold[3:0] f i gure 35: color code used in the definition of i 2 c frames com m an d b y t e com m an d mn e m oni c func tio n binar y hexadec imal getfullstatus1 returns compl e t e status of the chi p ?1000 0001? 0x81 getfullstatus2 returns actual , t a rget and secur e posi t i on ?1111 1100? 0xfc getotpparam returns o t p pa rameter ?1000 0010? 0x82 gotosecureposition dri v es motor to s e cure posi t i on ?1000 0100? 0x84 hardstop immedi ate ful l stop ?1000 0101? 0x85 resetposition sets actual posi t ion to zero ?1000 0110? 0x86 resettodefault over wri t es the chi p ram w i th ot p contents ?1000 0111? 0x87 setdualposition dri v es the motor to t w o di fferen t p o si ti ons w i th di fferent speed ?1000 1000? 0x88 setmotorparam sets motor par a m eter ?1000 1001? 0x89 setotp zaps the otp m e mor y ?1001 0000? 0x90 setposition programs a ta rg et and secure po si ti on ?1000 1011? 0x8b setstallparam sets stal l parameters ?1001 0110? 0x96 softstop motor stoppi ng wi th decel erati on phase ?1000 1111? 0x8f runvelocity dri v es motor con t i nuousl y ?1001 0111? 0x97 testbemf outputs bemf vol t age on pi n swi ?1001 1111? 0x9f whit e: slave re spons e lig h t blue : ma st er dat a 45 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om
AMIS-30624 i 2 c microstepping motordriver data sheet 1 7 . 3 a p plic a t ion comma nds getfulls ta tus 1 t h is command is pr ovid ed t o t he circu i t b y t h e mast er t o get a com p let e st at us of t h e circ uit an d of t he s t epperm o t o r. r e f e r t o t able 1 8 and t able 1 9 t o see t he me a n in g of t he par amet ers sent b a ck t o t he i 2 c mast er. note: a getfullstatus1 co mma nd w i ll a tte mp t to re se t fla g s < tw >, < tsd >, < uv2 >, < eldef >, < s teploss >, < c pfail >, < ovc 1 >, < ovc2 > , and < vddreset >. getfullstatus1 co rre sp ond s to th e fo llo w i n g i 2 c comma nd f r ame: get fulls tat u s1 com m an d fra m e by te con t en t struct ure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 a d d r e s s 1 1 otp3 otp2 otp1 otp0 hw 0 1 command 1 0 0 0 0 0 0 1 get fulls tat u s1 respo n se fram e by te con t en t struct ure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 a d d r e s s 1 1 otp3 otp2 otp1 otp0 hw 1 1 address 1 1 1 otp3 otp2 otp1 otp0 hw 2 data 1 irun[3:0] ihold[3:0] 3 data 2 vmax[3:0] vmin[3:0] 4 data 3 accshape stepmode[1:0] shaft acc[3:0] 5 data 4 vddreset steploss eldef uv2 tsd tw tinfo[1:0] 6 data 5 motion[2:0] esw ovc1 ovc2 stall cpfail 7 data 6 1 1 1 1 1 1 1 1 8 data 7 absthr[3:0] delthr[3:0] whe r e : otp(n) ot p address b i t s pa[ 3: 0] hw hard w i re d add ress bit irun[3:0] operat in g curr ent in t he mot o r coil ihold[3:0] st andst i l l curre nt in t he mot o r coil vmax[3:0] maximum vel o cit y vmin[3:0] minimum veloc i t y accshape en a b le s mo tion w i t h ou t a cce le ra tion stepmode[1:0] st ep mode def i n it io n shaft direct io n of mo vement acc[3:0] acceler a tion form minimum to max i m u m vel o cit y vddreset reset of dig i t a l suppl y steploss st ep loss occu rred eldef elect r ical def ec t uv2 bat t e r y u n d e r volt ag e det ect e d tsd t hermal shut d o w n tw t hermal w a r n i ng tinfo[1:0] t e mperat ure i n f o motion[2:0] mot i on st at us esw ext e r nal s w it c h st at us ovc1 over current in x-coi l det ect e d ovc2 over current in y-coil det ect e d stall st all det ect e d cpfail char ge pum p f a ilur e absthr[3:0] st all det ect i on abso l ut e t h res hol d delthr[3:0] st all det ect i on delt a t h res h o l d 46 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om
AMIS-30624 i 2 c microstepping motordriver data sheet getfulls ta tus 2 t h is command is pr ovid ed t o t he circu i t b y t h e mast er t o g e t t he act ual, t a r get a nd s e cure posit i on of t h e st epp ermot o r. bot h t he act u a l and t a rget pos i t ion are r e t u rn ed in s i gn ed t w o ? s c o mp lem ent 1 6 -bit f o rmat . secure p o si t i on is co de d i n 1 0 -bit f o rm at . accordi n g to the progr ammed st epp ing mo de t he lsbs of ac tpos[15:0] and tagpos[1 5:0] ma y h a v e n o me ani ng and sho u l d b e assume d t o be ?0? . t h is command also g i ves a d d it io nal i n f o rm at ion co ncer ni ng st all det ect i on. ref e r t o t abl e 18 a nd t abl e 19 t o se e t he mean in g o f t he param et ers se nt back t o t he i 2 c mast er. getfullstatus2 co rre sp ond s to th e fo llo w i n g i 2 c comma nd f r ame: get fulls tat u s2 com m an d fra m e by te con t en t struct ure 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 1 1 1 1 1 0 0 get fulls tat u s2 respo n se fram e by te con t en t struct ure 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 1 1 address 1 1 1 otp3 otp2 otp1 otp0 hw 2 data 1 actpos[15:8] 3 data 2 actpos[7:0] 4 data 3 tagpos[15:8] 5 data 4 tagpos[7:0] 6 data 5 secpos[7:0] 7 data 6 fs2stallen[2:0] 1 dc100 secpos[10:8] 8 data 7 absstall delstalllo delstallhi minsamples[2:0] dc100sten pwmjen whe r e : otp(n) ot p address b i t s pa[ 3: 0] hw hard w i re d add ress bit actpos[15:0] act ual pos it io n tagpos[15:0] t a rget posit ion secpos[10:0] secure position fs2stallen[2:0] numb er of f u ll st eps af t e r st all det ect i on is en abl ed dc100 f l ag in dicat i ng pwm is at 100 perce nt dut y c ycle absstall st all det ect e d beca u se t he a b sol u t e t h resh old is n o t reach ed delstalllo st all det ect e d beca u se t he d e lt a t h resh ol d i s under cross e d delstallhi : st all det ect e d beca u se t he d e lt a t h resh ol d i s crossed minsamples[2:0] back-emf samplin g de la y t i m e dc100sten enab les t he s w it ch of f of st all det ect i o n w h en dc10 0 = 1 pwmjen pwm jit t e r ena ble 47 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om
AMIS-30624 i 2 c microstepping motordriver data sheet 48 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om getotpp a r a m t h is command is provi d e d t o t he circu i t b y t he i 2 c mast er t o rea d t he c o n t ent of t he ot p memor y . m o re inf o rm at ion can b e f o u nd i n ot p memor y structure . getotpparam co rre sp on d s to th e fo llo w i ng i 2 c comman d f r ame: get o tppara m com m an d fra m e by te con t en t struct ure 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 0 0 1 0 get o tppara m respo n se fram e by te con t en t struct ure 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 1 1 o t p b y te 0 otp byte @0x00 2 o t p b y te 1 otp byte @0x01 3 o t p b y te 2 otp byte @0x02 4 o t p b y te 3 otp byte @0x03 5 o t p b y te 4 otp byte @0x04 6 o t p b y te 5 otp byte @0x05 7 o t p b y te 6 otp byte @0x06 8 o t p b y te 7 otp byte @0x07 gotosecurep osition t h is command is provid ed b y t he i 2 c mast er t o one or a ll t he st ep permot o rs t o move t o t he secure p o s it ion secpos [10:0] . se e th e p r i o ri t y en co der descript i on f o r more det ai ls. t he priorit y e n c oder t a b l e als o ackno w l e dg e s t he cases w h ere a gotosecureposition comman d w i l l be ig nore d . gotosecureposition co rre sp o n d s to th e fo llo w i ng i 2 c command f r ame: go tosec u repos i tion co mma nd frame by te con t en t struct ure 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 0 1 0 0 hard stop t h is command w i ll b e int e r n a l l y t r i gger ed w h en a n el ect r ical probl em is d e t e ct ed i n on e or bot h coi l s, lea d in g t o shut d o w n mod e . if th is occurs w h ile t h e mot o r is movi ng, t he < steploss > f l ag is raise d t o all o w w a rni ng of t he i 2 c mast er at t he n e x t getstatus1 comma nd t hat st eps ma y have be en los t . once t he mo t o r is st opped, actpos regist er is copie d int o tagpos regi st er t o ensure keep ing t he st o p posit i on. t he i 2 c mast er f o r some saf e t y r e a s ons can a l so i ssue a har d st op comma nd. hardstop co rre sp on d s to th e fo llo w i n g i 2 c co mma nd fra m e: hardst op c o m m an d fra m e by te con t en t struct ure 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 0 1 0 1 reset p osi t ion t h is command is provide d t o t he circuit b y t h e i 2 c master to reset actpos and tagpos re gist ers t o zero. t h is can be h e lpf u l t o prepar e f o r inst ance a r e lat i v e posit i o n i ng. resetposition co rre sp on ds to th e fo llo w i n g i 2 c comma nd f r ame: resetp o siti on c o m m an d fra m e by te con t en t struct ure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 address 1 1 otp 3 otp 2 otp 1 otp 0 hw 0 1 command 1 0 0 0 0 1 1 0
AMIS-30624 i 2 c microstepping motordriver data sheet 49 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om resett od ef au l t t h is command is prov ide d t o t he circ uit b y t h e i 2 c mast er in order t o r e set t he w h ol e sl ave nod e i n t o t he i n it ial st at e. resettodefault w i ll, f o r i n st anc e, over w r it e t h e ram w i t h t h e res e t st at e o f t he re gist ers param et ers (s ee t a b l e 18 ). t h is is an ot her w a y f o r t h e i 2 c mast er t o init ia l i ze a slav e no d e in case of em erge nc y , or si mpl y t o ref r esh t he ram cont ent . note: actpos and tagpos ar e not modif i ed b y a resettodefault command. importa nt: ca re sh oul d b e t a ken not t o se nd a resetto default com m and w h ile a mot i on is ong o i ng, si nce t h is coul d mo dif y t h e mot i on p a rame t e rs in a w a y f o rbid den b y t h e posit i on co nt rol l er. resettodefault co rre sp ond s to th e fo llo w i n g i 2 c comma nd f r ame: reset tode f aul t com m an d fra m e by te con t en t struct ure 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 0 1 1 1 run v el oci t y t h is command is provid ed t o t he circu i t b y t h e i 2 c mast er in order t o put t h e mot o r in cont inu ous mot i o n st at e. runvelocity co rre sp on d s to th e fo llo w i ng i 2 c comman d f r ame: runvel ocit y co mma nd frame by te con t en t struct ure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 address 1 1 otp 3 otp 2 otp 1 otp 0 hw 0 1 command 1 0 0 1 0 1 1 1 setdualp ositi o n t h is command is pr ovid ed t o t he circu i t b y t he i 2 c mast er i n ord e r t o perf o rm a posit i oni ng of t h e mot o r usin g t w o dif f erent ve loc i t i es . see sect io n d ual pos i t i on in g . no te1: t h is seque nce ca nnot be int e rru pt ed b y anot h e r pos it ioni ng comm a nd. importa nt: if for some reason actpos e qua l s pos1[15: 0] at t he mom ent t he setdu alposition comman d is iss ued, t he c i rcuit w i ll ent er in de ad lo ck st at e. t here f ore, t h e ap plic at ion sh oul d c h eck t h e act u al posit i on b y a g etfullstatus2 command prior t o st art i ng a d ual pos it io ni ng. an ot her s o l u t i on ma y c ons ist of pro g ram m ing a v a lu e o u t of t h e st epp ermot o r ra ng e f o r pos1[15:0] . fo r th e sa me reaso n pos2[15:0] shoul d not be e qua l t o pos1[15:0]. setdualposition correspo nds t o t he f o ll o w i ng i 2 c comm and f r ame; setdualp ositi o n com m an d fra m e by te con t en t struct ure 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 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] whe r e : vmax[3:0] ma x . ve lo cit y fo r first mo tio n vmin[3:0] min. veloc i t y f o r f i rst mot i on and vel o cit y f o r t he seco nd mot i on pos1[15:0] f i rst posit ion t o be reach ed d u r ing t he f i rst mot i on pos2[15:0] relat i v e pos it io n of t he secon d mot i on
AMIS-30624 i 2 c microstepping motordriver data sheet 50 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om sets tallp ara m t h is command set s t he m o t i on det ect i o n p a ramet e rs an d t he re lat e d st epp ermot o r pa ramet e rs, suc h as t h e min i m u m an d m a xi mum velocit y , t he ru n- and h o l d cur r ent , acceler a t i on an d st ep-m ode. see mo tion d e te ction f o r t he mean in g of t hese param et ers. setstallparam co rre sp on ds to th e fo llo w i n g i 2 c comma nd f r ame: setstallpara m com m an d fra m e by te con t en t struct ure 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 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] ihol d[3:0] 5 data 4 vmax[3:0] vmin[3:0] 6 data 5 minsamples[2:0] shaft acc[3:0] 7 data 6 absthr[3:0] delthr[3:0] 8 data 7 fs2stallen[2:0] accshape stepmode[1:0] dc100sten pwmjen setmotor par a m t h is command is pr ovid ed t o t he circ uit b y t he i 2 c mast er t o set t h e val ues f o r t h e st e pper m o t o r p a r a met e rs (l ist e d bel o w ) in ra m. ref e r t o t able 18 t o see t he mean ing of t h e paramet ers se nt b y t he i 2 c mast er. importa nt: if a setmotorp aram occurs w h il e a mot i o n is o n g o in g, it w i ll mod i f y at once t he m o t i on par amet ers (see po s i ti o n cont ro ller ). t heref ore t h e a p p licat i on s h o u l d not c han ge param et ers ot h e r t han vmax and vmin w h il e a mot i on is r unn ing, ot her w i s e correct posit i o n i ng ca nn ot be guar ant e ed. setmotorparam co rre sp on ds to th e fo llo w i n g i 2 c comma nd f r ame: setmot orparam com m an d fra m e by te con t en t struct ure 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 0 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 irun[3:0] ihold[3:0] 5 data 4 vmax[3:0] vmin[3:0] 6 data 5 secpos[10:8] shaft acc[3:0] 7 data 6 secpos[7:0] 8 data 7 1 pwmfreq 1 accshape stepmode[1:0] 1 pwmjen setotpp a r a m t h is command is provid ed t o t he circu i t b y t h e i 2 c mast er t o program a nd z ap t he ot p data d[7:0] in ot p address ot pa[2:0] . importa nt: t h is comman d m u st be s ent un der a sp ecif ic vbb v o lt ag e v a lue. s ee para m et er vb bot p in t abl e 5 . t h is is a ma nd at o r y cond it ion t o e n s ure reli ab le za ppi ng. setotpparam co rre sp on d s to th e fo llo w i ng i 2 c comman d f r ame: setotpparam command fra m e by te con t en t struct ure 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 1 0 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 1 1 1 1 1 otpa[2:0] 5 data 4 d[7:0] whe r e : otpa[2:0] : ot p address d[7:0] : corresp on din g ot p dat a
AMIS-30624 i 2 c microstepping motordriver data sheet 51 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om setpo s ition t h is command is provi d e d t o t he c i rcuit b y t he i 2 c mast er t o dr ive t he m o t o r t o a give n abs olut e p o sit i on. s e e posit i oni ng fo r m o re det ai ls. t he priorit y e n co der t abl e (see prior i t y enco der) ac kno w l e d ges t h e cases w h ere a setposition command w i ll b e ig nore d . setposition co rre sp on d s to th e fo llo w i ng i 2 c comman d f r ame: setpositi on co mma nd frame by te con t en t struct ure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0 address 1 1 otp 3 otp 2 otp 1 otp 0 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] whe r e : pos [15:0] sig n e d 16 -b it po sition se t-p o i nt fo r mo to r. softs t op t h is command w i l l be int e rn a l l y t r ig ger ed w hen t he chi p t e mper at ure ris e s above t he t hermal sh ut do w n t h r e sho l d (see t able 5 an d sect ion 15. 2. 5) . it provokes an immedi at e d e cel e rat i o n t o vmin (see minimum veloc i t y ) f o llo w e d b y a st op, regardl es s of t he posit ion reach ed. once t he mot o r is st opp ed, tagpo s regist er is ov er w r it t en w i t h v a lu e in actpo s regist er t o e n sure k eep in g t he st op p o sit i o n . t he i 2 c mast er f o r some saf e t y reas ons ca n also iss ue a so f t s t op comman d . softstop co rre sp on d s to th e fo llo w i n g i 2 c co mma nd fra m e: softst op co mm and frame by te con t en t struct ure 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 1 1 1 testbemf t h is command is provid ed t o t he circuit b y t he i 2 c mast er in order t o o u t p ut t he bemf int egrat or o u t put t o t he swi output of t he chip. once act i vat e d , it can be st op ped o n l y af t e r por. during t h e bemf observ a t i on, rea d i ng of t he swi st ate is int e rn all y f o rbi dde n . testbemf co rre sp on d s to th e fo llo w i n g i 2 c co mma nd fra m e: testb e m f co m m an d fra m e by te con t en t struct ure 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 1 1 1 1 1
AMIS-30624 i 2 c microstepping motordriver data sheet 52 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om 18.0 resistance to el ectrical and el ectromag n etic dist urbances accordi ng t o i s o 16750- 2 tabl e 34: immun i ty t o po w e r sup p l y mi cro-i n ter r u p ti ons test opera t in g class 10s mi cro-i n terr upti ons a 100s mi cro-i n terrupti ons b 5ms mi cro-i n terr upti ons b 50ms mi cro-i n ter r upti ons c 300ms mi cro-i n terrupti ons c 1 8 . 4 po w e r s upp ly mic r o-inte rruptio ns bulk curre nt inj e ct ion (bci ), a ccordi ng t o i s o 11452- 4. operat in g class e s are def in ed i n i s o 7637-2. tabl e 33: bul k c u rrent i n j e cti on operati ng cl asses current opera t in g class 60ma envel ope a 100ma envel ope b 200ma envel ope c 18.3 emc tabl e 31: absol u te maxi mum ra ti ngs parameter min. max. unit vesd (1 ) el ectrostati c di scharge vol t age on al l pi ns -2 +2 kv notes: (1) human body model (100pf v i a 1.5 k ? , according to jede c e i a- jesd22-a 1 14-b.) t e st pulses are app li ed t o t he po w e r su p p l y w i r e s of t he equ ipm ent i m pleme n t i n g t he ami s -30 6 2 4 (see a ppl ica t ion schem at ic ), accord ing t o i s o 7637-1 d o cu ment . operat in g class e s are def in ed i n i s o 763 7-2. tabl e 32: t e st pul s es and test level s accordi ng t o iso 763 7-1 pulse a m pl it ud e rise ti me pulse dur a tio n rs opera t in g class #1 -100v d 1s 2ms 10 : c #2a +100v d 1s 50s 2 : b #3a -150v (f rom +13. 5v) 5ns 100ns (burst ) 50 : a #3b +100v (from +1 3 . 5v) 5ns 100ns (burst ) 50 : a #5b (l oad dum p) +21.5v (from +1 3.5v) d 10ms 400ms d 1 : c 1 8 . 2 ele c t ric a l trans i e n t cond u c tion a l ong supply line s 18.1 electro static disch arg e s
AMIS-30624 i 2 c microstepping motordriver data sheet 53 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om 19.0 pack age outline figure 36: soic-2 0: plastic small o u tline; 20 leads ; body w i dth 300mil. amis reference : s o ic300 20 300g
AMIS-30624 i 2 c microstepping motordriver data sheet 54 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om dimens io ns: dim min unit nom max a 0. 8 mm 0. 9 a1 0 0. mm 02 0. 05 a2 0. 576 0. mm 615 0. 654 a3 0. mm 203 b 0. 25 0. mm 3 0. 35 c 0. 24 0. mm 42 0. 6 d mm 7 d1 6. 75 mm e 7 mm e1 6. 75 mm e 0. 65 mm j 5. 37 5. 47 5. 57 mm k 5. 37 5. 47 5. 57 mm l 0. 35 0. 4 0. 45 mm p 45 degr ee r 2. 185 2. 385 mm 2 ) d i me n s io n s a p p l y to pl a t ed te rmin a l a nd a r e me a s u r e d b e t w een 0. 2 and 0. 25 m m f r om t e rminal t i p. 3) t he pin #1 indic a t i on m u st be plac ed on t he t op sur f ace of t he packa ge b y us i ng in de nt at ion mark or ot her f eat ure of p a ck age b o d y . 4) exact shap e and size of t h i s f eat ure is opt i ona l 5) app l i ed f o r expos ed pa d a nd t e rmi n a l s. excl ud e em bed din g p a rt o f expos ed p ad f r om measur ing. 6) appl ied onl y t o t e rminals 7) exact shap e of each corn er is opt ion a l 7x7 nqfp f i gure 37: nqf p -32: no lead quad f l at p a ck; 32 pi ns; body size 7 x 7 mm. a m i s reference: n q f p - 32 not e s
AMIS-30624 i 2 c microstepping motordriver data sheet 55 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om 20.0 soldering 20.1 introduction t o sold ering s u rface mount packages 20.2 re-flo w so ld erin g 20.3 w a v e so ld erin g 2 0 . 4 ma nua l sol d e r ing t h is t e xt gives a ver y bri e f insight t o a comple x t e ch nol og y. a more in-d ept h acco unt o f solderin g i c s can be f oun d i n t he ami s ?dat a han dbo ok i c 2 6 ; i n t egrat e d c i rcuit pack ag es ? (docum ent or der n u mb er 9 3 98 6 52 90 01 1). t here is n o s o ld erin g met h o d t hat is id eal fo r all surf ac e mo unt i c packa g e s. wave sold erin g is not a l w a ys suit a b l e f o r surf ace mo unt i c s, or f o r print ed-c i rcuit boards w i t h hi gh pop ulat i on d e n s it ies. i n t hese sit uat io ns re-f lo w so ld erin g is of t en use d . re-f lo w so lder i ng r equ ires s o lder past e (a s u spe n sio n of f i ne s o ld er p a rt i c les, f l u x an d bin d in g age nt ) t o b e a p p lie d t o t h e pc b by screen pr inti ng , stencilli ng or pressur e -s y r in ge dis p e n sin g before packa g e plac eme n t. severa l meth o d s exist for reflo w i ng; for e x am ple, inf r are d / c onve c t i on he at in g in a conve y or t y p e oven. t h roughp ut t i mes (pr ehe at in g, sol deri ng an d cooli ng) var y b e t w e e n 1 0 0 a n d 2 00 s e co nds dep en din g o n t he heat i n g met hod. t y p i cal re- f l o w pe ak t e mp erat ures ra ng e f r om 215 t o 26 0c. t he t op-surf ace t e mper a t ure of t he pac kages sh ou ld p r ef erab l y be ke pt belo w 23 0 c. conv ent io na l singl e w a v e sol deri ng is n o t recommen ded f o r surf ace m oun t devices (smd s) or pcbs w i t h a hig h comp one nt dens it y , a s sold er bri d g i ng and n on- w e t t i ng ca n prese n t major prob le ms. t o overco me t hes e pr ob lems, t he do ub le- w av e so ld eri ng met hod w a s specif ic all y d e v e lo ped. i f w a ve so lder i ng is use d t he f o llo w i n g con d it i ons must be o b serve d f o r opt imal resu lt s: ? use a do ub le- w a v e so lder in g met hod compr i sing a t u rbul en t w a v e w i t h hi g h up w a rd pr essure f o ll o w e d b y a smo o t h lam i nar w a ve. ? f o r packag e s w i t h le ads o n t w o s i d e s an d a pit c h (e): o larg e r t h a n or equ al t o 1. 2 7 mm, t he f oot pr int lo ng it udi na l a x is is pr ef err ed t o be par all e l t o t h e t r a n s port dir e ct io n o f t h e pcb; o smaller t han 1 . 27mm, t he f o ot print l ong it ud inal a x is m u st be p a ral l el t o t he t r ans port di rect ion of t he pcb. t he f oot prin t must incorp ora t e solder t h i e ve s at t he do w n st ream en d. ? f o r packa ges w i t h l eads on f our sid e s, t h e f oot print m u st be plac ed at a 45o an gle t o t he t r ans port direct i on of t he pcb. t h e f oot print must i n corp orat e sol der t h iev e s do w n st ream a nd at t he side cor ners. durin g pl acem ent and b e f o re solderi ng, t he packa ge must be f i xed w i t h a dropl et of adh esive. t he adh esive ca n be a ppli ed b y scr een print i ng, pin t r a n sf er or s y ri ng e disp ensi ng. t he pack age ca n be sold ere d af t e r t he adhes ive is cured. t y pical d w e l l t i me is f o ur second s at 250c. a mil d l y -act iv at ed f l ux w i ll e limi nat e t he ne ed f o r remova l of corrosive res i du es in most app lica t ions. f i x t he com p o nent b y f i rst sol deri ng t w o d i a g ona ll y-o p p o sit e end l eads. us e a lo w v o lt a g e (24v or less) s o ld erin g iro n a ppli ed to the fla t part of t he lea d . cont act t i me must be limit e d t o 10 secon d s at up t o 300 c. when usi ng a ded icat e d t ool, all ot h e r lea d s can be so ld ere d in on e op erat ion w i t h in t w o t o f i ve secon d s bet w e en 2 70 a nd 32 0c. tabl e 35: sol der i ng process solderin g met h od package wav e re-fl o w (1) bg a, sqfp not sui t abl e sui t abl e hlqfp, hs q f p, hso p , htssop, sms not sui t abl e (2 ) sui t abl e plcc (3 ) , so, s o j sui t abl e sui t abl e lqfp, qfp, t q fp n o t r e co m m e n ded (3 )(4 ) sui t abl e sso p, tss o p, vso not recommend e d (5 ) sui t abl e notes: (1) all sur f ace mount ( s md) packa ges ar e mo istur e sen s i t ive. depending upon the moisture conte n t, the max i mum temperature (w ith re spect to time ) and b ody size of the pa ckag e , th e r e is a risk that in te rnal or ex ternal pack age cr acks may o ccu r due to v aporizat ion of the moistur e in them (the so called popcor n effe ct). for detail s , re fer to the dry pack in forma t ion in the ?data handb ook ic26 ; in tegra t e d circu i t pa cka ges; se ction : pa ckin g method s.? (2) these package s ar e not sui t able for w a v e soldering as a so lder join t be tw een the prin ted- cir c uit board and heatsin k (at bo t tom v e rsion) can no t be achie v ed, and as solde r may stick to the h eatsin k (on top v e rsion) . (3) if w a v e soldering i s con s ider ed, then the package mu st be pl aced at a 45 angle to th e sold er w a v e direction . the packa ge f oo tp rint must incorpora t e sold er thiev e s dow nstr ea m and a t the side corners. (4) w a v e soldering i s only suitable for lq fp, tqfp and qf p package s w i th a pitch (e) equal to o r larger than 0.8mm; it i s de fin itely not sui t able for pa cka ges w i th a pitch (e ) eq ual to or smalle r than 0.65 mm. (5) w a v e soldering i s only suitable fo r s s op and tssop package s w i th a pitch (e) equ al to o r l a rger tha n 0.65mm ; it i s de fini te ly not suitable for pa ckag e s w i th a pitch (e ) eq ual to or smalle r than 0.5mm.
AMIS-30624 i 2 c microstepping motordriver data sheet 21.0 company or product inquiries f o r more inf o r m at ion a b o u t ami semicond u c t o r?s mot o rdri vers, pleas e se nd an em ail t o 306 24@ amis. c om. f o r more inf o r m at ion a b o u t ami semicond u c t o r?s prod uct s o r se rvice s visit o u r we b site a t h ttp :// w w w . amis.co m . 2 2 . 0 documen t h i s t o r y tabl e 36: docu ment hi stor y version d a t e of ve rs io n modifi cati ons/ a dditi ons 1.0 jul y 16, 2002 fi rst non-p r el i m i nar y i ssue 2.1 december 5 th , 2 005 complete revie w 3.0 februa r y 21, 200 7 publ i c rel ease 3.1 march 23, 2007 updatei 2 c comm ands, addi ng l i n ks dev i ces sold by amis are cov e red b y the w a rranty and paten t indem ni fi cati on prov isions appe aring in i t s terms o f sale only . am is makes no w a rranty , ex press, s t at ut o r y, y descrip tion, re garding the in form ation se t for t h here i n or regarding the freedom of the described dev ices fro m pa tent infringem ent. amis makes no w a rranty of mer c han tabili ty or fi tne ss for a n y purpose s . amis re serv es the righ t to di sco ntinu e produ ctio n and change spe c ification s an d pri c e s a t a n y time and w i thout n o tice. am i semi conductor' s produ cts are in tende d for use in commer c ial applica t ion s . app lica t ion s requiri ng ex tended tempera t ure range , unus ual e n v i ronment al requ irements, or high reliab ilit y applic a t ion s , s u ch as mili t a ry , medic a l li f e - s uppor t or lif e- s u st aini ng eq uipment, are spe c i f ica lly not recommended w i thout additional pro c e ssi ng by amis for such appl i c ati ons. c opy right ?2007 am i semi cond uctor , in c. implied or b 56 a m i se m i co nd uc t o r ? ap r. 2007, rev 3.1, m-20 66 4-003 www.ami s .c om

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