AMIS-30624 single-chip microstepping motordriver with position control

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AMIS-30624 single-chip microstepping motordriver with position control

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AMIS-30624 Microstepping Motordriver
AMIS-30624 single-chip microstepping motordriver with position controller control/diagnostic interface. ready build intelligent peripheral systems where drivers connected master. This significantly reduces system complexity. chip receives positioning instructions through subsequently drives stator coils two-phase stepper motor moves desired position. on-chip position controller configurable (OTP RAM) different motor types, positioning ranges parameters speed, acceleration deceleration. Microstepping allows silent motor operation increased positioning resolution. advanced motion qualification mode enables verification complete mechanical system function selected motion parameters. AMIS-30624 easily connected where master fetch specific status information like actual position, error flags, etc. from each individual slave node. integrated sensorless step-loss detection prevents positioner from loosing steps stops motor when running into stall. This enables silent, accurate position calibrations during referencing allows semi-closed loop operation when approaching mechanical end-stops. chip implemented I2T100 technology, enabling both high voltage analog circuitry digital functionality same chip. AMIS-30624 fully compatible with automotive voltage requirements.
Product Features
Motordriver Microstepping technology Sensorless step-loss detection Peak current 800mA Fixed frequency current-control Selectable frequency Automatic selection fast slow decay mode external fly-back diodes required 14V/24V compliant Motion qualification mode Controller with memory Position controller Configurable speeds acceleration Input connect optional motion switch interface Bi-directional 2-wire Inter Control Field programmable node addresses Full diagnostics status information Protection Over-current protection Under-voltage management Open circuit detection High-temp warning management Low-temp flag compatibility High voltage outputs with slope control outputs with slope control
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AMIS-30624 Microstepping Motordriver
Applications
AMIS-30624 ideally suited small positioning applications. Target markets include: automotive (headlamp alignment, HVAC, idle control, cruise control), industrial equipment (lighting, fluid control, labeling, process control, tables, robots) building automation (HVAC, surveillance, satellite dish, renewable energy systems). Suitable applications typically have multiple axes require mechatronic solutions with driver chip mounted directly motor.
Ordering Information
Table Ordering Information Part AMIS-30624 AMIS-30624 Package SOIC-20 NQFP-32 Peak Current 800mA 800mA Temp. Range -40°C.125°C -40°C.125°C Ordering Code Tubes 0C624-004-XTD 0C624-005-XTD Ordering Code Tapes 0C624-004-XTP 0C624-005-XTP
Quick Reference Data
Table Absolute Maximum Ratings Parameter Tamb Vesd
Min. -0.3
Max.
Unit
Supply voltage Ambient temperature under bias Storage temperature Electrostatic discharge voltage pins
+150 +160
Notes: limited time <0.5s circuit functionality guaranteed. Human body model (100pF according JEDEC EIA-JESD22-A114-B)
Table Operating Ranges Parameter Supply voltage Operating temperature range
Min.
Max. +125
Unit
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AMIS-30624 Microstepping Motordriver
Table Contents
General Description. Product Features Applications Ordering Information. Quick Reference Data Content. Block Diagram Pin-out Package Thermal Resistance. SOIC-20. NQFP-32. 10.0 Parameters. 11.0 Parameters 12.0 Typical Application. 13.0 Positioning Parameters 13.1 Stepping Modes 13.2 Maximum Velocity. 13.3 Minimum Velocity. 13.4 Acceleration Deceleration 13.5 Positioning 13.5.1. Position Ranges 13.5.2. Secure Position 13.5.3. Shaft. 14.0 Structural Description 14.1 Stepper Motordriver 14.2 Control Logic (Position Controller Main Control) 14.3 Motion Detection 14.4 Miscellaneous 15.0 Functional Description 15.1 Position Controller. 15.1.1. Positioning Motion Control. 15.1.2. Dual Positioning 15.1.3. Position Periodicity 15.1.4. Hardwired Address 15.1.5. External Switch SWI. 15.2 Main Control Register, Memory ROM. 15.2.1. Power-up Phase. 15.2.2. Reset State. 15.2.3. Soft Stop 15.2.4. Thermal Shutdown Mode 15.2.5. Temperature Management 15.2.6. Battery Under-voltage Management. 15.2.7. register 15.2.8. Registers 15.2.9. Flags Table. 15.2.10. Priority Encoder. 15.3 Motordriver. 15.3.1. Current waveforms coils 15.3.2. Regulation 15.3.3. Jitter. 15.3.4. Motor Starting Phase. 15.3.5. Motor Stopping Phase. 15.3.6. Charge Pump Monitoring 15.3.7. Electrical Defect Coils, Detection Confirmation 15.3.8. Motor Shutdown Mode 15.4 Motion Detection
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AMIS-30624 Microstepping Motordriver
16.0 Description 16.1 General Description 16.2 Concept 16.3 General Characteristics 16.4 Transfer 16.4.1. Data Validity 16.4.2. START STOP Conditions 16.5 Transferring Data 16.5.1. Byte Format. 16.5.2. Acknowledge 16.5.3. Clock Generation. 16.6 Data Formats with 7-bit Addresses 16.6.1. Data Transfer Formats 16.7 7-bit Addressing 16.7.1. Definition Bits First Byte. 16.7.2. General Call Address 17.0 Application Commands. 17.1 Introduction 17.2 Commands Table. 17.3 Application Commands 18.0 Resistance Electrical Electromagnetic Disturbances. 18.1 Electrostatic Discharges 18.2 Electrical Transient Conduction Along Supply Lines. 18.3 EMC. 18.4 Power Supply Micro-interruptions 19.0 Package Outline 20.0 Soldering 20.1 Introduction Soldering Surface Mount Packages 20.2 Re-flow Soldering. 20.3 Wave Soldering. 20.4 Manual Soldering 21.0 Company Product Inquiries 22.0 Document History
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AMIS-30624 Microstepping Motordriver
Block Diagram
AMIS-30624
I2C-bus Interface
Controller
Position Controller regulator
I-sense
TST1 TST2
Decoder Main Control Registers Sinewave Table DAC's
MOTXP MOTXN
Stall detection
Vref
Temp sense
Oscillator regulator Charge Pump
I-sense
MOTYP MOTYN
Voltage Regulator
PC20060925.1
Figure Block Diagram
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AMIS-30624 Microstepping Motordriver
Pin-out
TST1 TST2
MOTXP MOTXN MOTYP MOTYN
AMIS-30624
AMIS-30624
TST1
TST2
view NQ32
Figure SOIC NQFP-32 Pin-out
PC20050925.3
PC20060925.2
Table Description Name Description TST1 TST2 MOTYN MOTYP MOTXN MOTXP serial data line serial clock line Internal supply (needs external decoupling capacitor) Ground, heat sink Test tied ground normal operation) Test left open normal operation: internally pulled Hard wired address Negative connection pump capacitor (charge pump) Positive connection pump capacitor (charge pump) Charge-pump filter-capacitor Battery voltage supply Negative phase coil Positive phase coil Negative phase coil Positive phase coil Switch input connected tied ground)
SOIC-20 4,7,14,17 12,19
NQFP-32
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AMIS-30624 Microstepping Motordriver
Package Thermal Resistance
SOIC-20
lower junction-to-ambient thermal resistance, recommended connect ground leads printed circuit board (PCB) ground plane layout illustrated Figure junction-to-case thermal resistance dependent copper area, copper thickness, thickness number copper layers. Calculating with total area mm2, 35µm copper thickness, 1.6mm thickness layer, thermal resistance 28°C/W; leading junction-ambient thermal resistance 63°C/W.
Figure Ground Plane Layout Condition
SOIC-20
PC20041128.1
NQFP-32 NQFP designed provide superior thermal performance, using exposed bottom surface package partly contributes this. order take full advantage this thermal performance, must have features conduct heat away from package. thermal grounded with thermal vias achieve this. With layout shown Figure thermal resistance junction ambient brought down level 25°C/W.
NQFP-32
PC20041128.2
Figure Ground Plane Layout Condition
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AMIS-30624 Microstepping Motordriver
10.0 Parameters
parameters given temperature their operating ranges. Currents flowing circuit defined positive.
Table Parameters Symbol Pin(s) Motordriver IMSmax,Peak IMSmax,RMS IMSabs IMSrel Max. current through motor coil normal operation Max. current through coil normal operation Absolute error coil current 12V, 12V, IMSL Ttsd
Parameter
Test Conditions
Min.
Typ.
Max.
Unit
RDSon
MOTXP MOTXN Error current ratio Icoilx Icoily MOTYP MOTYN resistance each motor (including bond wire) IMSmax Pull down current Thermal warning Thermal shutdown temperature warning
0.50 0.55 0.70 0.85 Tamb Tamb Unloaded outputs 4.75 3.50
mode
Thermal Warning Shutdown 10.0 10.0 5.50 Short Vbat
Tlow
Supply Voltage Regulator VbbOTP Ibat Ibat_s IddStop VddReset IddLim Rt_OFF Rt_ON Vbb_sw Vmax_sw Ilim_sw Serial Interface Input level
Nominal operating supply range Supply voltage zapping Total current consumption Sleep mode current consumption Stop voltage high threshold Stop voltage threshold Internal regulated output
Digital current consumption Digital supply reset level power down
Current limitation Switch resistance
shorted ground
Switch Input Hardwire Address Input Switch resistance range guaranteed operation Maximum voltage Current limitation
Switch Vbat,
Input level high Noise margin level each connected device (including hysteresis) Noise margin HIGH level each connected device (including hysteresis)
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AMIS-30624 Microstepping Motordriver
Table Parameters (cont.) Charge Pump Cbuffer Cpump Output voltage External buffer capacitor External pump capacitor TestBemf command Service mode command Service mode command
Vbb+10
Vbb+12.5
Vbb+15
Motion Qualification Mode Output VOUT Output voltage swing ROUT Output impedance Gain VSWI VBEMF
Notes:
4,85 0,50
more than cumulated hours life time above Ttsd. Thermal shutdown temperature warning derived from thermal warning. 10µF buffer capacitor between minimum needed. Short connections power supply recommended. must used external supply content will altered above this voltage. External resistance value seen from including series resistor. input voltages 0.3V, than resistor between needs series I2C-bus operated Fast Mode VIHmin
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AMIS-30624 Microstepping Motordriver
11.0 Parameters
parameters given temperature their operating ranges. timing values transceiver referred VIHman VILmax levels (see Figure
Table Parameters Symbol Pin(s) Power-up Internal Oscillator fosc Transceiver (Generic) Capacitive load each line
Parameter Power-up time Frequency internal oscillator
Test Conditions Guaranteed design
Min.
Typ.
Max.
Unit
Capacitance Pulse width spikes which must suppressed input filter Transceiver (Standard Mode) fSCL tHD,START tLOW tHIGH tSU,START tHD,DATA tSU,DATA tSU,STOP clock frequency Hold time (repeated) START condition. After this period first clock pulse generated. period clock HIGH period clock Set-up time repeated START condition Data hold time devices Data set-up time Rise time signals Fall time signals
3.45
Set-up time STOP condition free time between STOP tBUF START condition Transceiver (Fast Mode) fSCL tHD,START tLOW tHIGH tSU,START tHD,DATA tSU,DATA tSU,STOP tBUF clock frequency Hold time (repeated) START condition. After this period first clock pulse generated. period clock HIGH period clock Set-up time repeated START condition Data hold time devices Data set-up time Rise time signals Fall time signals Set-up time STOP condition free time between STOP START condition
0.1CB 0.1CB
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AMIS-30624 Microstepping Motordriver
Table Parameters (cont.) Switch Input Hardwire Address Input Tsw_on Motordriver Fpwm Fjit_depth Tbrise Tbfall Tstab Charge Pump
Notes:
Scan pulse period
1024 PWMfreq PWMfreq PWMJen
25.0 50,0
Scan pulse duration 20.6 41,2
frequency MOTxx
22.8 45,6
jitter modulation depth Turn-on transient time Turn-off transient time current stabilization time
Between
Charge pump frequency
maximum number connected devices dependent number available addresses maximum capacitance still guarantee rise fall times signals. device must internally provide hold time least 300ns signal (referred VIHmin signal) bridge undefined region falling edge SCL. maximum tHD,DAT only device does stretch period (tLOW) signal. Fast-mode I2C-bus device used standard-mode system, requirement tSU,DATA 250ns must than met. This will automatically case device does stretch period signal. such device does stretch period signal, must output next data line trmax tSU,DATA 1000 1250ns (according standard-mode I2C-bus specification) before line released. Derived from internal oscillator. SetMotorParam regulator.
START VIHmin VILmax tHD,START tHD,DATA tSU,DATA
REPEATED START
STOP
START
tBUF tSU,START tSU,STOP
tLOW
tHIGH
PC20060925.8
Figure Timing Diagrams
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AMIS-30624 Microstepping Motordriver
12.0 Typical Application
VBAT
MOTXP MOTXN MOTYP MOTYN
Connect VBAT
AMIS-30624
Connect VBAT
TST1
TST2
PC20060925.5
Figure Typical Application Diagram
Notes: resistors Depending application, value working voltage must carefully chosen. must ceramic capacitor assure ESR. must close possible pins CPN, CPP, VCP, reduce radiation. must close pins GND.
13.0 Positioning Parameters
13.1 Stepping Modes four possible stepping modes programmed: Half stepping microstepping microstepping 1/16 microstepping
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AMIS-30624 Microstepping Motordriver
13.2 Maximum Velocity each stepping mode, maximum velocity Vmax programmed possible values given Table
accuracy Vmax derived from internal oscillator. Under special circumstances possible change Vmax parameter while motion ongoing. entries Vmax parameter divided into four groups. When changing Vmax during motion application must take care that Vmax parameter stays within same group, otherwise steps might lost.
Table Maximum Velocity Selection Table Vmax Index Vmax Group (Full-step/s) Stepping Mode Microstepping Microstepping (Micro-step/s) (Micro-step/s) 1091 1335 1579 1701 1823 1945 1091 2182 1213 2426 1335 2670 1457 2914 1579 3159 1823 3647 2182 4364 2914 5829 3891 7782
Half stepping (Half-step/s) 1091 1457 1945
1/16 Microstepping (Micro-step/s) 1579 2182 2670 3159 3403 3647 3891 4364 4852 5341 5829 6317 7294 8728 11658 15564
13.3 Minimum Velocity Once maximum velocity chosen, possible values programmed minimum velocity Vmin. Table provides obtainable values full-step/s. accuracy Vmin derived from internal oscillator.
Table Obtainable Values Full-step/s Minimum Velocity Vmin Index
Notes:
Vmax Factor 1/32 2/32 3/32 4/32 5/32 6/32 7/32 8/32 9/32 10/32 11/32 12/32 13/32 14/32 15/32
Vmax (Full-step/s)
Vmax factor approximation. case motion without acceleration (AccShape length steps 1/Vmin. case accelerated motion (AccShape length first step shorter than 1/Vmin depending Vmin, Vmax Acc.
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AMIS-30624 Microstepping Motordriver
13.4 Acceleration Deceleration
Sixteen possible values programmed (acceleration deceleration between Vmin Vmax). Table provides obtainable values observes restrictions some combination acceleration index maximum speed (gray cells). accuracy derived from internal oscillator.
Table Acceleration Deceleration Selection Table Vmax (FS/s) Index 14785
Acceleration 1004 3609 6228 8848 11409 13970 16531 19092 21886 24447 27008 29570 34925 40047
29570
formula compute number equivalent full-step during acceleration phase
Nstep
Vmax Vmin
13.5 Positioning position programmed command SetPosition given number (micro)steps. According chosen stepping mode, position words must aligned described Table When using command GotoSecurePosition, data automatically aligned.
Table Position Word Alignment Stepping Mode 1/16 Half-stepping SecurePosition
Notes: LSB: Least significant Sign
Position Word: Pos[15:0]
Shift shift 1-bit left 2-bit left 3-bit left shift
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AMIS-30624 Microstepping Motordriver
13.5.1. Position Ranges position coded using binary two's complement format. According positioning commands used chosen stepping mode, position range will shown Table
Table Position Range Command SetPosition Stepping Mode Half stepping microstepping microstepping 1/16 microstepping Position Range -4096 +4095 -8192 +8191 -16384 +16383 -32768 +32767 Full Range Excursion 8192 half-steps 16384 micro-steps 32768 micro-steps 65536 micro-steps Number Bits
When using command SetPosition, although coded bits, position word will have shifted left certain number bits, according stepping mode.
13.5.2. Secure Position secure position programmed. coded 11-bits, thus having lower resolution than normal positions, shown Table also command GotoSecurePosition.
Table Secure Position Stepping Mode Half-stepping microstepping microstepping 1/16 microstepping Secure Position Resolution half-steps micro-steps (1/4 micro-steps (1/8 micro-steps (1/16
Important Notes: secure position disabled case programmed value reserved code "10000000000" (0x400 most negative position). resolution secure position limited start-up. register copied illustrated below. SecPos1 SecPos0
SecPos10
SecPos9
SecPos8
SecPos2
SecPos1
SecPos0
SecPos10
SecPos9
SecPos8
SecPos2
13.5.3. Shaft shaft which programmed with command SetMotorParam, defines whether positive motion clockwise counter-clockwise rotation outer inner motion linear actuators): Shaft MOTXP used positive coil, while MOTXN negative Shaft opposite situation.
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AMIS-30624 Microstepping Motordriver
14.0 Structural Description
also Block Diagram Figure 14.1 Stepper Motordriver motordriver receives control signals from control logic. main features are: H-bridges designed drive stepper motor with separated coils. Each coil driven H-bridge driver controls currents flowing through coils. rotational position rotor, unloaded condition, defined ratio current flowing torque stepper motor when unloaded controlled magnitude currents control block H-bridges including control, synchronous rectification internal current sensing circuitry charge pump allow driving H-bridges' high side transistors pre-scale 4-bit DACs maximum magnitude current through DACs correct current ratio through Battery voltage monitoring also performed this block, which provides information control logic part. same applies detection reporting electrical problem that could occur coils charge pump. 14.2 Control Logic (Position Controller Main Control) control logic block stores information provided interface memory) digitally controls positioning stepper motor terms speed acceleration, feeding right signals motordriver state machine. will take into account successive positioning commands properly initiate stop stepper motor order reach point minimum time. also receives feedback from motordriver part order manage possible problems decide internal actions reporting interface. 14.3 Motion Detection Motion detection based back emf, generated internally running motor. When motor blocked, example when hits end-position, velocity result also generated back emf, disturbed. AMIS-30624 senses back emf, calculates moving average compares value with independent threshold levels. back disturbance bigger than threshold, running motor stopped. 14.4 Miscellaneous AMIS-30624 also contains following: internal oscillator needed control logic control motor driver internal trimmed voltage source precise referencing protection block featuring thermal shutdown power-on-reset circuit regulator (from battery supply) supply internal logic circuitry
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AMIS-30624 Microstepping Motordriver
15.0 Functional Description
This chapter describes following functional blocks more detail: Position controller Main control register, memory Motordriver motion detection control discussed separate chapters. 15.1 Position Controller 15.1.1. Positioning Motion Control positioning command will produce motion illustrated Figure motion starts with acceleration phase from minimum velocity (Vmin) maximum velocity (Vmax), ends with symmetrical deceleration. This defined control logic according position required application parameters programmed application during configuration phase. current coils also programmable.
Acceleration range
Velocity
Deceleration range
Zero speed Hold current
Vmax
Zero speed Hold current
Vmin Position Pstart Pmin
Optional zero switch
Pstop Pmax
Figure Positioning Motion Control
Table Position Related Parameters Parameter Pmax Pmin Zero speed hold current Maximum current Acceleration deceleration Vmin Vmax
Reference Positioning Ihold Irun Acceleration deceleration Minimum velocity Maximum velocity
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AMIS-30624 Microstepping Motordriver
Different positioning examples shown Table
Table Positioning Examples Positioning Examples
Velocity
Short motion
time Velocity
positioning command same direction, shorter longer, while motion running maximum velocity.
time
Velocity
positioning command same direction while deceleration phase Note: there wait time between deceleration phase acceleration phase.
Velocity
time
positioning command reverse direction while motion running maximum velocity.
time
Velocity
positioning command reverse direction while deceleration phase.
time
Velocity
velocity programming while motion Running.
time
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AMIS-30624 Microstepping Motordriver
15.1.2. Dual Positioning
SetDualPosition command allows user perform positioning using different velocities. first motion done with specified Vmin Vmax velocities SetDualPosition command, with acceleration (deceleration) parameter already RAM, position Pos1[15:0] also specified SetDualPosition second relative motion position Pos1[15:0] Pos2[15:0] done specified Vmin velocity SetDualPosition command acceleration). Once second motion achieved, ActPos register reset zero, whereas TagPos register changed.
Pos1[15:0] Pos2[15:0] Reset ActPos Pos1[15:0] First motion
Figure 8:Dual Positioning
Velocity Vmax
Vmin
Second motion
PC20070221.1
Remark: This operation cannot interrupted influenced further command unless conditions exist cause motor shutdown HardStop command. Sending SetDualPosition command while motion already ongoing recommended.
Notes: priority encoder describes management states commands. notes below considered illustrative. last SetPosition command issued during DualPosition sequence will kept memory executed afterwards. This also applies commands SetMotorParam GotoSecurePosition. Commands such GetFullStatus1 GetFullStatus2 will executed while Dual Positioning running. DualPosition sequence starts setting TagPos register SecPos value, provided secure position enabled otherwise TagPos reset zero. acceleration/deceleration value applied during DualPosition sequence stored before SetDualPosition command sent. same applies Shaft bit, Irun, Ihold StepMode, which changed during Dual Positioning sequence. Pos1, Pos2, Vmax Vmin values programmed SetDualPosition command apply only this sequence. further positioning will parameters stored (programmed instance former SetMotorParam command). Commands ResetPosition, SetDualPosition, SoftStop will ignored while DualPosition sequence ongoing, will executed afterwards. SetMotorParam command should sent during SetDualPosition sequence. some reason ActPos equals Pos1[15:0] moment SetDualPosition command issued, circuit will enter deadlock state. Therefore, application should check actual position GetFullStatus2 command prior send SetDualPosition command.
15.1.3. Position Periodicity
Depending stepping mode position range from -4096 +4095 half-step -32768 +32767 1/16 microstepping mode. project these positions lying circle. When executing command SetPosition, position controller will movement direction such that traveled distance minimum.
Figure illustrates that moving direction going from ActPos +30000 TagPos -30000 clockwise. counter clockwise motion required this example, several consecutive SetPosition commands used. larger movements, could also command RunVelocity.
+10000
+20000 ActPos +30000
Motion direction TagPos -30000
-10000
-20000
Figure Motion Direction Function Difference Between ActPos TagPos
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AMIS-30624 Microstepping Motordriver
15.1.4. Hardwired Address Figure simplified schematic diagram shown comparator circuit.
sensed switches STOP SBOT. DriveHS DriveLS control lines alternatively closing STOP SBOT connecting with current resistor converter. Closing STOP (DriveHS will sense current GND. that case converter output low, closed passing switch SPASS_T this signal comparator which output HW_Cmp high. Closing bottom switch SBOT (DriveLS will sense current VBAT. corresponding converter output SPASS_B comparator. output HW_Cmp will high.
SPASS_T
State
STOP SBOT
DriveHS LOGIC DriveLS
"R"-Comp
Debouncer
High Float
R2GND
R2VBAT
OPEN
SPASS_B
COMP
Debouncer
HW_Cmp
PC20060926.1
Figure Simplified Schematic Diagram Comparator
Three cases distinguished (see also Figure 10): connected ground: R2GND Drawing connected VBAT: R2VBAT Drawing floating: OPEN Drawing
Table State Diagram Comparator Previous State DriveLS DriveHS HW_Cmp Float Float Float Float High High High High State Float High Float High Float Float High High Condition R2GND OPEN R2VBAT R2VBAT OPEN R2GND R2GND OPEN R2VBAT R2VBAT OPEN R2GND R2GND OPEN R2VBAT R2VBAT OPEN R2GND Drawing
logic controlling correct sequence closing switches interpreting 32µs de-bounced HW_Cmp output accordingly. output this small state-machine corresponding High address address Floating
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AMIS-30624 Microstepping Motordriver
illustrated Table state depending previous state, condition switch controls (DriveLS DriveHS) output HW_Cmp. Figure shows example practical case where connection VBAT interrupted.
Condition R2VBAT DriveHS
1024
OPEN
R2VBAT
R2GND
DriveLS
Tsw_on
"R"-Comp HW_Cmp State Float Float Float Float High High High High High High High High
PC20060926.2
Figure Timing Diagram Showing Change States Comparator
R2VBAT resistor connected between VBAT Every 1024µs SBOT closed period 128µs current sensed. output converter HW_Cmp output high. Assuming previous state floating, internal LOGIC will interpret this change state state will High (see also Table 15). next time SBOT closed same condition observed. previous state high, based Table state remains unchanged. This high state will interpreted address OPEN case connection lost (broken wire, contact connector) next time SBOT closed this will sensed. There will current, output corresponding converter high HW_Cmp will low. previous state High. Based Table that state changes float. This will trigger motion secure position after debounce time This prevents false triggering case micro interruptions power supply. also Electrical Transient Conduction Along Supply Lines. R2GND resistor connected between GND, current sensed every 1024µs when STOP closed. output converter result HW_Cmp output switches high. Again based stated diagram Table that state will change low. This state will interpreted address
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AMIS-30624 Microstepping Motordriver
15.1.5. External Switch illustrated Figure comparator almost identical major difference limited number states. Only open closed recognised leading respectively
SPASS_T
State STOP SBOT DriveHS LOGIC DriveLS
"R"-Comp
Closed
Open
R2GND
R2VBAT
OPEN
SPASS_B
COMP
Debouncer
SWI_Cmp
PC20060926.3
Figure Simplified Schematic Diagram Comparator
illustrated Figure change state always synchronized with DriveHS DriveLS. same synchronization valid updating internal position register. This means that after every current pulse closing STOP SBOT) state position switch together with corresponding position memorized. Using GetActualPos commands reads back ActPos register status ESW. this master node synchronous information about state switch together with position motor. Figure
Byte
Content
GetFullStatus1 Response Frame Structure
Address Address Data Data Data Data Data Data Data
OTP3 Irun[3:0] Vmax[3:0] AccShape StepMode[1:0] VddReset StepLoss ElDef Motion[2:0] AbsThr[3:0]
OTP2 OTP3
OTP1 OTP2
Shaft
OVC1
OTP0 OTP1 OTP0 Ihold[3:0] Vmin[3:0] Acc[3:0] Tinfo[1:0] OVC2 Stall CPFail DelThr[3:0]
Figure GetFullStatus1 Commando
Important remark; Every 512µs this information refreshed.
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AMIS-30624 Microstepping Motordriver
DriveHS
=1024
DriveLS
Tsw_on
"R"-Comp
SWI_Cmp
ActPos
ActPos
ActPos
ActPos
ActPos
PC20060926.4
Figure Timing Diagram Showing Change States Comparator
15.2 Main Control Register, Memory 15.2.1. Power-up Phase power-up phase AMIS-30624 will exceed 10ms. After this phase, AMIS-30624 shutdown mode, ready receive messages execute associated commands. After power-up, registers flags reset state; some them being loaded with memory content (see Table 18). 15.2.2. Reset State After power-up, after reset occurrence (e.g. micro made below VddReset level), H-bridges will high impedance mode, registers flags will predetermined position. This documented Table Table 15.2.3. Soft Stop soft stop immediate interruption motion, with deceleration phase. this action, register TagPos loaded with value contained register ActPos avoid attempt circuit achieve motion (seeTable 18). circuit then ready execute positioning command, provided thermal electrical conditions allow 15.2.4. Thermal Shutdown Mode When thermal shutdown occurs, circuit performs SoftStop command goes motor shutdown mode (see Figure 15).
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AMIS-30624 Microstepping Motordriver
15.2.5. Temperature Management
AMIS-30624 monitors temperature means thresholds shutdown level, illustrated Figure only condition necessary reset flags <TW> <TSD> (respectively thermal warning thermal shutdown) when temperature lower than causing occurrence GetFullStatus1 frame.
Tlow
<Tinfo> '01' <TW> <TSD>
PC20070219.1
TEMP
Tlow
<Tinfo> '01' <TW> <TSD>
NORMAL TEMP
frame
<GetFullStatus1>
<Tinfo> '01' <TW> <TSD>
frame
<GetFullStatus1>
THERMAL WARNING
<Tinfo> '01' <TW> <TSD>
POST THERMAL SHUTDOWN
<Tinfo> '01' <TW> <TSD>
POST THERMAL WARNING
<Tinfo> '01' <TW> <TSD>
POST THERMAL SHUTDOWN
THERMAL SHUTDOWN
Tinfo> '01' TSD>
Figure State Diagram Temperature Management
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AMIS-30624 Microstepping Motordriver
15.2.6. Battery Under-voltage Management AMIS-30624 monitors battery voltage means threshold shutdown level, illustrated Figure only condition necessary reset flags <UV2> <StepLoss> recover battery voltage higher than receive GetFullStatus1 command.
<UV2> <Steploss>
NORMAL VOLTAGE
frame <GetFullStatus1> Motion frame <GetFullStatus1> Motion Ongoing
<UV2> <Steploss> Motor Shutdown
STOP MODE
<UV2> <Steploss> HardStop Motor Shutdown
STOP MODE
PC20060926.5
Figure State Diagram Battery Voltage Management
15.2.7. Register
15.2.7.1. Memory Structure
Table shows where parameters stored memory located.
Table Memory Structure Address 0x00 OSC3 0x01 0x02 AbsThr3 0x03 Irun3 0x04 Vmax3 0x05 SecPos10 0x06 SecPos7 0x07 DelThr3 OSC2 TSD2 AbsThr2 Irun2 Vmax2 SecPos9 SecPos6 DelThr2 OSC1 TSD1 AbsThr1 Irun1 Vmax1 SecPos8 SecPos5 DelThr1 OSC0 TSD0 AbsThr0 Irun0 Vmax0 Shaft SecPos4 DelThr0 IREF3 Ihold3 Vmin3 Acc3 SecPos3 StepMode1 IREF2 Ihold2 Vmin2 Acc2 SecPos2 StepMode0 IREF1 Ihold1 Vmin1 Acc1 LOCKBT IREF0 Ihold0 Vmin0 Acc0 LOCKBG
Parameters stored address 0x00 0x01 LOCKBT already programmed memory circuit delivery. They correspond calibration circuit just documented here indication. Each when zapped. Zapping will `1'. Thus only bits having must zapped. Zapping already disabled. Each byte will programmed separately (see command SetOTPparam). Once programming completed, LOCKBG zapped, disable future zapping, otherwise could still zapped using SetOTPparam command.
Table Overwrite Protection Lock LOCKBT (factory zapped before delivery) LOCKBG
Protected Bytes 0x00 0x01 0x00 0x07
Note: Zapped bits will really "active" after GetOTPparam ResetToDefault command after power-up.
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command used load application parameters prior memory programming SetMotorParam. This allows functional verification before using SetOTPparam command program separately memory byte. GetOTPparam command issued after each SetOTPparam command allows verification correct byte zapping.
15.2.7.2. Application Parameters Stored Memory
Except physical address PA[3:0], these parameters, although programmed non-volatile memory, still overridden writing operation. PA[3:0] combination with hired wired (HW) address, forms physical address AD[6:0] stepper-motor. steppermotors theoretically connected same bus. Absolute threshold used motion detection
Index AbsThr AbsThr level Disable
AbsThr[3:0]
DelThr[3:0]
Delta threshold used motion detection
Index DelThr DelThr level Disable 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00 2.25 2.50 2.75 3.00 3.25 3.50 3.75
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Irun[3:0]
Current amplitude value each coil steppermotor. table below provides possible values IRUN.
Index Irun Current (mA)
Ihold[3:0]
Hold current each coil steppermotor. table below provides possible values IHOLD.
Index Ihold Hold Current (mA)
StepMode
Indicator stepping mode used.
StepMode Step Mode stepping stepping stepping 1/16 stepping
Shaft
Indicator reference position. Shaft `0', reference position maximum inner position, whereas Shaft `1', reference position maximum outer position.
SecPos[10:0] Secure position steppermotor. This position which motor driven case connection lost. SecPos[10:0] "100 0000 0000", this means that secure position disabled, e.g. steppermotor will kept position occupied moment these events occur. secure position coded bits only, providing actually most significant bits position, coded least significant bits being `0'. also Table
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AMIS-30624 Microstepping Motordriver
Vmax[3:0] Maximum velocity
Index Vmax Vmax (full step/s) Group
Vmin[3:0]
Minimum velocity
Index Vmin Vmax factor 1/32 2/32 3/32 4/32 5/32 6/32 7/32 8/32 9/32 10/32 11/32 12/32 13/32 14/32 15/32
Acc[3:0]
Acceleration deceleration between Vmax Vmin.
Index Acceleration (full 1004 3609 6228 8848 11409 13970 16531 19092 21886 24447 27008 29570 34925 40047
restriction speed
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15.2.8. Registers
Table Registers Register Actual position Last programmed position Acceleration shape Coil peak current Coil hold current Minimum velocity Maximum velocity Shaft Acceleration/ deceleration Secure position Stepping mode Stall detection absolute threshold Stall detection delta threshold Stall detection delay Stall detection sampling jitter 100% duty cycle stall disable frequency Mnemonic ActPos Pos/ TagPos AccShape Irun Ihold Vmin Vmax Shaft SecPos StepMode AbsThr DelThr FS2StallEn MinSamples PWMJEn DC100SDis PWMFreq Length (Bit) Related Commands GetFullStatus2 GotoSecurePos ResetPosition GetFullStatus2 GotoSecurePos ResetPosition SetPosition GetFullStatus1 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus1 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus1 ResetToDefault SetMotorParam GetFullStatus21 ResetToDefault SetMotorParam GetFullStatus1 SetStallParam GetFullStatus1 SetStallParam GetFullStatus1 SetStallParam GetFullStatus2 SetStallParam GetFullStatus2 SetStallParam GetFullStatus2 SetStallParam GetFullStatus2 SetStallParam SetMotorParam Comment 16-bit signed 16-bit signed (see Positioning)
Reset State
Note
normal acceleration from Vmin Vmax motion Vmin without acceleration Operating current look-up table Irun Standstill current look-up table Ihold Section 13.3 Minimum Velocity look-up table Vmin Section 13.2 Maximum Velocity look-up table Vmax Direction movement positive velocity Section 13.4 Acceleration look-up table Target position when connection fails; MSBs 16-bit position (LSBs fixed `0') Section 13.1 Stepping Modes look-up table StepMode Section 15.4 Motion detection Section 15.4 Motion detection Section 15.4 Motion detection Section 15.4 Motion detection means jitter added means stall detection disabled case regulator runs 100% means selected
From memory
`000' `000'
Note: ResetToDefault command will reset content, except ActPos TagPos, which registers that modified. Therefore, application should send ResetToDefault during motion, avoid unwanted change parameter.
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15.2.9. Flags Table
Table Flags Table Flag Charge pump failure Electrical defect External switch status Mnemonic CPFail Length (Bit) Related Commands GetFullStatus1 Comment charge pump charge pump failure reset only after GetFullStatus <OVC1> <OVC2> <open circuit <open circuit <CPFail> resets only after GetFullStatus1 open close "x00" Stop "001" inner motion acceleration "010" inner motion deceleration "011" inner motion max. speed "101" outer motion acceleration "110" outer motion deceleration "111" outer motion max. speed over current reset only after GetFullStatus1 over current reset only after GetFullStatus1 SecPos "100 0000 0000" otherwise step loss under voltage, over current open circuit Vbemf Average DeltaThr Vbemf Average DeltaThr Vbemf AbsThr Stall detected "00" normal temperature range "01" temperature warning "10" high temperature warning "11" motor shutdown shutdown 155°C typ.) reset only after GetFullStatus1 <Tinfo> "00" over temp 145°C) reset only after GetFullStatus1 <Tinfo> "00" reset only after GetFullStatus1 after power-up circuit. this supply micro-cut, warns that contents have been lost; reset with GetFullStatus1 command. Reset State
ElDef
GetFullStatus1 GetFullStatus1
Motion status
Motion
GetFullStatus1
"000"
Over current coil Over current coil Secure position enabled Step loss Delta high stall Delta stall Absolute stall Stall Temperature info
OVC1 OVC2 SecEn StepLoss DelStallHi DelStallLo AbsStall Stall Tinfo
GetFullStatus1 GetFullStatus1 Internal GetFullStatus1 GetFullStatus2 GetFullStatus2 GetFullStatus2 GetFullStatus1 GetFullStatus1
"00"
Thermal shutdown Thermal warning Battery stop voltage
GetFullStatus1
GetFullStatus1
GetFullStatus1
Digital supply reset
VddReset
GetFullStatus1
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15.2.10. Priority Encoder table below describes state management performed main control block.
Table Priority Encoder State Command GetOTPparam
Stopped Motor Stopped, Ihold Coils refresh; slave response slave response slave response refresh; RAM; AccShape reset update update TagPos ActPos reset
GotoPos Motor Motion Ongoing refresh; slave response slave response slave response refresh; RAM; AccShape reset update (note update
DualPosition Influence TagPos refresh; slave response slave response slave response refresh; RAM; AccShape reset (note update update
SoftStop Motor Decelerating refresh; slave response slave response slave response refresh; RAM; AccShape reset update update
HardStop
ShutDown
Motor Forced Motor Stopped, Stop H-bridges Hi-Z refresh; slave response slave response slave response refresh; RAM; AccShape reset update update
refresh; slave response slave response; (<TSD> <ElFlag> then Stopped slave response refresh; RAM; AccShape reset update update TagPos ActPos reset
GetFullStatus1 [attempt clear flags] (note
GetFullStatus2 ResetToDefault ActPos TagPos altered SetMotorParam Master takes care about proper update SetStallParam ResetPosition SetPosition RunVelocity
TagPos updated; TagPos updated GotoPos
Continuous motion;
TagPos updated
GotoPos <SecEn> then TagPos SecPos; GotoPos DualPosition HardStop; HardStop; HardStop; <StepLoss> <StepLoss> <StepLoss> SoftStop Shutdown HardStop HardStop HardStop <SecEn> then TagPos SecPos <SecEn> then TagPos SecPos
GotoSecPosition
DualPosition HardStop SoftStop HardStop (<CPFail> <UV2> <ElDef>) <HS> Thermal shutdown <TSD> Motion finished
Shutdown
SoftStop Stopped
SoftStop Stopped Stopped; Stopped; TagPos =ActPos TagPos =ActPos
With following color code: Command ignored Transition another state Master responsible proper update (see Note
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Notes:
<ElFlag> <CPFail> <UV2> <ElDef> <VDDreset> After power-on-reset, Shutdown state entered. shutdown state only left after GetFullStatus1 command that master could read <VddReset> flag). DualPosition sequence runs with separate registers. parameters that specified DualPosition command loaded with values stored moment DualPosition sequence starts. AccShape forced during second motion even ResetToDefault command issued during DualPosition sequence, which case AccShape will taken into account after DualPosition sequence. GetFullStatus1 command will return default parameters Vmax Vmin stored RAM. Shutdown state left only when <TSD> <ElFlag> flags reset. Flags reset only after master could read them GetFullStatus1 command, provided physical conditions allow (normal temperature, correct battery voltage electrical charge pump defect). SetMotorParam command sent while motion ongoing (state GotoPos) should attempt modify Vmin values. This done during DualPosition sequence since this motion uses parameters, parameters will taken into account next SetPosition command. <SecEn> when register SecPos loaded with value different from most negative value (i.e. different from 0x400 "100 0000 0000") <Stop> flag allows user distinguish whether state stopped entered after HardStop/SoftStop not. <Stop> when leaving state HardStop SoftStop reset during first clock edge occurring state Stopped. While state stopped, ActPos TagPos there transition state GotoPos. This transition lowest priority, meaning that <Stop>, <TSD>, etc. first evaluated possible transitions.
<StepLoss> active, then SetPosition GotoSecurePosition commands ignored (they will modify TagPos register whatever state). Other command like DualPosition ResetPosition will executed allowed current state. <StepLoss> only cleared GetFullStatus1 command.
Thermal shutdown
POWER
DUALPOSITION
SOFTSTOP
HardStop
HardStop
DualPosition
Motion Finished
HARDSTOP
Thermal Shutdown SoftStop
Motion Finished GetFullStatus1 GotoSecPos
HardStop
SHUTDOWN
Thermal shutdown HardStop
STOPPED
SetPos
GOTOPOS
Motion Finished
Priorities Motion Finished
PC20070323.1
Figure State Diagram
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AMIS-30624 Microstepping Motordriver
15.3 Motordriver 15.3.1. Current Waveforms Coils Figure illustrates current motor coils motordriver half step mode.
Coil
Coil
PC20051205.1
Figure Current Waveforms Motorcoils Halfstep Mode
Whereas Figure below shows current coil 1/16 micro stepping (one electrical period).
Coil
Coil
PC20051123.4
Figure Current Waveforms Motorcoils 1/16 Microstep mode
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15.3.2. Regulation
order force given current (determined Irun Ihold current position rotor) through motor coil while ensuring high energy transfer efficiency, regulation based principle used. regulation loop performs comparison sensed output current internal reference, features digital regulation generating signal that drives output switches. zoom over micro-step Figure shows circuit performs this regulation. reduce current ripple, higher frequency should selectable. register PWMfreq used this (Bit Data SetMotorParam).
Table Frequency Selection PWMfreq
Applied Frequency 22.8 45.6
15.3.3. Jitter lower power spectrum fundamental higher harmonics frequency, jitter added clock. register PWMJEn used this. (Bit Data SetMotorParam SetStallParam). Readout with GetFullStatus1.
Table Jitter Selection PWMJEn Status Single frequency Added jitter frequency
15.3.4. Motor Starting Phase motion start, currents coils directly switched from Ihold Irun with sine/cosine ratio corresponding first half micro) step motion.
15.3.5. Motor Stopping Phase deceleration phase, currents maintained coils their actual level (hence keeping sine/cosine ratio between coils) during stabilization time tstab (see Table currents then hold values, respectively, Ihold sin(TagPos) Ihold cos(TagPos) illustrated below. positioning order then executed.
Figure Motor Stopping Phase
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15.3.6. Charge Pump Monitoring
charge pump voltage sufficient driving high side transistors (due failure), internal HardStop command issued. This acknowledged master raising flag <CPFail> (available with command GetFullStatus1). case this failure occurs while motion ongoing, flag <StepLoss> also raised. 15.3.7. Electrical Defect Coils, Detection Confirmation principle relies detection voltage drop least transistor H-bridge. Then decision taken open transistors defective bridge. This allows detection following short circuits: External coil short circuit Short between terminal coil Vbat Open circuits detected percent duty cycle value during long time.
Table Electrical Defect Detection Pins
Fault Mode Short circuit Short circuit Vbat Open Short circuited Short circuited Short circuited
Remark: cannot detect internal short motor.
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15.3.8. Motor Shutdown Mode motor shutdown occurs when: chip temperature rises above thermal shutdown threshold Ttsd (see Thermal Shutdown Mode) battery voltage goes below (see Battery Voltage Management) Flag <ElDef> `1', meaning electrical problem detected both coils, e.g. short circuit Flag <CPFail> `1', meaning there charge pump failure motor shutdown leads following: H-bridges high impedance mode TagPos register loaded with ActPos avoid motion after leaving motor shutdown mode) interface remains active, being able receive orders send status. conditions motor shutdown mode are: Reception GetFullStatus1 command four causes above longer detected This leads H-bridges Ihold mode, hence circuit ready execute positioning command. This illustrated following sequence given application tip. master check whether there problem decide which application strategy adopt.
<ElDef> <CpFail>
SetPosition frame
GetFullStatus1 frame
GetFullStatus1 frame
circuit driven motor shutdown mode application aware this
position set-point updated Master Motor shutdown mode motion application still unaware
application Possible confirmation aware problem problem Reset <TW> <TSD> <UV2> <StepLoss> <ElDef> <CPFail> application Possible detection over temperature voltage electrical problem Circuit sets <TW> <TSD> <UV2> <StepLoss> <ElDef> <CPFail> again
Figure Example Possible Sequence Used Detect Determine Cause Motor Shutdown
Important: While shutdown mode, since there hold current coils, mechanical load cause step loss, which cannot flagged AMIS-30624. Warning: application should limit number consecutive GetFullStatus1 commands AMIS-30624 shutdown mode. When this proves unsuccessful, example there permanent defect, reliability circuit could altered since GetFullStatus1 attempts disable protection H-bridges.
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15.4 Motion Detection
Motion detection based back generated internally running motor. When motor blocked, example when hits end-position, velocity result also generated back emf, disturbed. AMIS-30624 senses back emf, calculates moving average compares value with independent threshold levels: Absolute threshold (AbsThr[3:0] Delta threshold (DelThr[3:0] Instructions correct these levels combination with three additional parameters (MinSamples, FS2StallEn DC100SDis) outside scope this datasheet. Detailed information available dedicated white paper "Robust Motion Control with AMIS-3062x Stepper Motor Drivers", available http://www.amis.com/. motor accelerated pulling propelling force resulting back increases above Delta threshold THR), then <DelStallHi> set. When motor slowing down resulting back decreases below Delta threshold THR), then <DelStallLo> set. When motor blocked velocity zero after acceleration phase, back zero. When this value below Absolute threshold, <AbsStall> set. <Stall> flag function <DelStallLo> <DelStallHi> <AbsStall>.
Velocity Vbemf Vmax Motor speed Vmin Vbemf
Vbemf
Vbemf
DeltaStallHi VABSTH Back AbsStall DeltaStallLo
Figure 22:Triggering Stall Flags Function Measured Back Threshold Levels Table Truth Table Condition Vbemf Average DelThr Vbemf Average DelThr Vbemf AbsThr
<DelStallLo>
<DelStallHi>
<AbsStall>
<Stall>
motion will only detected when motor running maximum velocity, during acceleration deceleration. during positioning mechanical obstacle detected (stall), (internal) hardstop generated. motor will stop immediately consequence <StepLoss> <Stall> flags set. position internal counter will copied ActPos register. flags read with GetFullStatus1. Stall appears during DualPosition then first phase cancelled (via internal Hardstop) after timeout (26.6ms) second phase Vmin starts. Important Remark: Using GetFullStatus1 will read clear following flags: <Steploss>, <Stall>, <AbsStall>, <DelStallLo>, <DelStallHi>. positioning possible ActPos register will further updated. Motion detection disabled when registers AbsThr[3:0] DelThr[3:0] empty zero. Both levels programmed using command SetStallParam registers AbsThr[3:0] DelThr[3:0]. Also register AbsThr[3:0] DelThr[3:0] using command SetOTPParam. These values copied registers during power reset.
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Value Table:
Table Absolute Threshold Settings AbsThr Index AbsThr Level Disable Table Delta Threshold Settings DelThr DelThr Level Index Disable 0.25 0.50 0.75 1.00 1.25 1.50 1.75 2.00 2.25 2.50 2.75 3.00 3.25 3.50 3.75
MinSamples MinSamples[2:0] Bemf sampling delay time expressed number cycles, more information please refer white paper "Robust Motion Control with AMIS-3062x Stepper Motor Drivers".
Table Back Sample Delay Time Index MinSamples[2:0] tDELAY (µs) PWMfreq PWMfreq
FS2StallEn AbsThr DelThr (i.e. motion detection enabled), then stall detection will activated AFTER acceleration ramp additional number full-steps, according following table:
Table Activation Delay Motion Detection Index FS2StallEn[2:0] Delay (Full Steps)
more information please refer white paper "Robust Motion Control with AMIS-3062x Stepper Motor Drivers". DC100StEn When motor with large back e.m.f. operated high velocity supply voltage, then duty cycle high percent. This indicates that supply generate required torque might also result erroneously triggering stall detection. "DC100StEn" (Bit Data SetStallParam) enables function where stall detection switched when duty cycle equals percent. more information white paper "Robust Motion Control with AMIS-3062x Stepper Motor Drivers". Motion Qualification Mode This mode useful debug motion parameters verify stability stepper motor systems. motion qualification mode entered means command TestBemf. will converted into analog output which Bemf integrator output measured. Once activated, only stopped after POR. During back observation, reading state internally forbidden. More information available white paper "Robust Motion Control with AMIS-3062x Stepper Motor Drivers".
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16.0 Description
16.1 General Description AMIS-30624 uses simple bi-directional 2-wire efficient inter-ic control. This called Inter I2C-bus. Features include: Only lines required; serial data line (SDA) serial clock line (SCK). Each device connected software addressable unique address simple master/slave relationships exists times; master operate master-transmitter master receiver. Serial, 8-bit oriented, bi-directional data transfers made kbit/s. On-chip filtering rejects spikes data line preserve data integrity. need design interfaces because C-bus interface already integrated on-chip. IC's added removed from system without affecting other circuits bus. 16.2 Concept I2C-bus consists wires, serial data (SDA) serial clock (SCK), carrying information between devices connected bus. Each device connected recognized unique address operates either transmitter receiver, depending function device. AMIS-30624 both receive transmit data. addition transmitters receivers, devices also considered masters slaves when performing data transfers. AMIS-30624 slave device. Table
Table Definition -bus Terminology Term Description Transmitter device which sends data Receiver device which receives data from Master device which initiates transfer, generates clock signals terminates transfer Slave devices addressed master Synchronization Procedure synchronizer clock signals more devices
Microcontroller
Motordriver_2 AMIS-30624
Motordriver_4 AMIS-30624
Motordriver_1 AMIS-30624
Motordriver_3 AMIS-30624
PC20070217.1
Figure Example I2C-bus Configuration Using Microcontroller Four Slaves
Figure highlights master-slave receiver-transmitter relationships found C-bus. should noted that these relationships permanent only depend direction data transfer that time. transfer data would proceed follows: Suppose microcontroller wants send information motordriver_1: Microcontroller (master) addresses motordriver_1 (slave) Microcontroller (master-transmitter) sends data motordriver_1 (slave-receiver) Microcontroller terminates transfer
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AMIS-30624 Microstepping Motordriver
microcontroller wants receive information from motordriver_2:
Microcontroller (master) addresses motordriver_2 (slave) Microcontroller (master-receiver) receives data from motordriver_2 (slave-transmitter) Microcontroller terminates transfer Even this case master generates timing terminates transfer. Generation signals C-bus always responsibility master device. generates clock signal when transferring data bus. clock signals from master only altered when they stretched slow slave device holding-down clock line. 16.3 General Characteristics
Serial Data Line Serial Clock Line
Clock Clock Data Data
Clock Clock
Data Data
AMIS-30624
MASTER
PC20060925.7
Figure Connection Device I2C-bus
Both bi-directional lines connected positive supply voltage pull-up resistor (see Figure 24). When free both lines HIGH. output stages devices connected must have open drain perform wired-AND function. Data C-bus transferred 400kbits/s fast mode. number interfaces connected dependent maximum capacitance limit (See Table available number addresses. 16.4 Transfer
levels logic (LOW) (HIGH) fixed standard dependent used level. Using AMIS-30624, levels specified Table clock pulse generated each data transferred.
16.4.1. Data Validity data line must stable during HIGH period clock. HIGH state data line only change when clock signal line (See Figure 25).
Data line stable Data valid
Change data allowed
PC20070217.2
Figure Transfer C-bus
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16.4.2. START STOP Conditions
Within procedure I2C-bus, unique situations arise, which defined START STOP conditions (See Figure 26). HIGH transition line while HIGH such unique case. This situation indicates START condition. HIGH transition line while HIGH defines STOP condition. START STOP conditions always generated master. considered busy after START condition. considered free again certain time after STOP condition. free situation specified tBUF Table stays busy repeated START (Sr) generated instead STOP condition. this respect, START repeated START (Sr) conditions functionally identical (See Figure 27). symbol will used represent START repeated START, unless otherwise noted.
START
STOP
PC20070217.3
START condition
STOP condition
Figure START STOP Conditions
16.5 Transferring Data 16.5.1. Byte Format Every byte line must 8-bits long. number bytes that transmitted transfer AMIS-30624 restricted eight. Each byte followed acknowledge bit. Data transferred with most significant (MSB) first (See Figure 27). slave can't receive transmit another complete byte data, hold clock line force master into wait state. Data transfer then continues when slave ready another byte data releases clock line SCK.
START STOP
Acknowledgement signal from slave
Clock line held slave
START condition
STOP condition
Aknowledge related clock puse from master
PC20070217.4
Figure Data Transfer I2C-bus
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16.5.2. Acknowledge
Data transfer with acknowledge obligatory. acknowledge-related clock pulse generated master. transmitter releases line (HIGH) during acknowledge clock pulse. receiver must pull down line during acknowledge clock pulse that remains stable during HIGH period this clock pulse (see Figure 28). course, set-up hold times must also taken into account (see Table When AMIS-30624 doesn't acknowledge slave address, data line will left HIGH. master than generate either STOP condition abort transfer, repeated START condition start transfer. AMIS-30624 slave-receiver does acknowledge slave address later transfer cannot receive more data bytes, this indicated generating not-acknowledge first byte follow. master generates than STOP repeated START condition. master-receiver involved transfer, must signal data slave-transmitter generating acknowledge last byte that clocked slave. AMIS-30624 slave-transmitter shall release data line allow master generate STOP repeated START condition.
START master transmitter slave receiver acknowledged Master releases Data line
from master
Acknowledged
Slave pulls data line Acknowledged
START condition
Aknowledge related clock puse from master
PC20070217.5
Figure Acknowledge I2C-bus
16.5.3. Clock Generation master generates clock line transfer messages I2C-bus. Data only valid during HIGH period clock. 16.6 Data Formats with 7-bit Addresses Data transfers follow format shown Figure After START condition (S), slave address sent. This address 7-bit long followed eighth which data direction (R/W) `zero' indicates transmission (WRITE), `one' indicates request data (READ). data transfer always terminated STOP condition generated master.
START
PC20070217.6
STOP
START condition
ADDRESS
DATA
DATA
STOP condition
Figure Complete Data Transfer
However, master still wishes communicate bus, generate repeated START (Sr) address another slave without first generating STOP condition. Various combinations read/write formats then possible within such transfer.
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16.6.1. Data Transfer Formats
16.6.1.1. Writing Data AMIS-30624
When writing AMIS-30624, master-transmitter transmits slave-receiver transfer direction changed. complete transmission consists Start condition slave address (7-bit) Read/Write (`0' write) Acknowledge further data bytes followed acknowledge bit. acknowledge used signal correct reception data transmitter. this case AMIS-30624 pulls line `0'. AMIS-30624 reads incoming data every rising edge signal Stop condition finish transmission
Slave Address
Data
Data
WRITE Master AMIS-30624 AMIS-30624 Master
bytes Acknowledge Start condition Stop condition Acknowledge (SDA LOW) Acknowledge (SDA HIGH)
PC20070219.3
Figure Master Writing Data AMIS-30624
Some commands AMIS-30624 supporting eight bytes data, other commands transmitting bytes data. Table
16.6.1.2. Reading Data from AMIS-30624
When reading data from AMIS-30624 transmissions needed: first transmission consists bytes data: first byte contains slave address write bit. second byte contains address internal register AMIS-30624. This internal register address stored circuit RAM.
Slave Address
Internal Address
WRITE
PC20070219.5
Figure Master Reading Data from AMIS-30624: First Transmission Addressing
second transmission consists slave address read bit. Then master read data bits line every rising edge signal SCK. After each byte data master acknowledge correct data reception pulling LOW. last byte acknowledged master therefore slave knows transmission.
Slave Address
Data
Data
WRITE Master AMIS-30624 AMIS-30624 Master
bytes Acknowledge Start condition Stop condition Acknowledge (SDA LOW) Acknowledge (SDA HIGH)
PC20070219.3
Figure Master Reading Data from AMIS-30624: Second Transmission Reading Data
Notes:
Each byte followed acknowledgment indicated sequence.
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I2C-bus compatible devices must reset their logic receipt START condition such that they anticipate sending slave address, even these START conditions positioned according proper format. START condition immediately followed STOP condition (void message) illegal format.
16.7 7-bit Addressing addressing procedure I2C-bus such that first byte after START condition usually determines which slave will selected master. exception general call address which call devices. When this address used devices should respond with acknowledge. second byte general call address then defines action taken. 16.7.1. Definition Bits First Byte first seven bits first byte make slave address. eighth least significant (LSB). determines direction message. "zero" means that master will write information selected slave. "one" this position means that master will read information from slave. When address sent, each device system compares first seven bits after START condition with address. they match, device considers itself addressed master slave-receiver slave-transmitter, depending bit.
SLAVE ADDRESS
PC20070219.2
Figure First Byte after START Procedure
AMIS-30624 provided with physical address order discriminate this circuit from other circuits bus. This address coded seven bits (two bits being internally hardwired `1'), yielding theoretical possibility different circuits same bus. combination four memory bits (OTP Memory Structure) externally hardwired address bits (pin HW). must either connected ground Vbat. When connected left floating, correct functionality positioner guaranteed. motor will driven programmed secure position (See Hardwired Address OPEN).
PC20070219.3
memory
Hardwired Address
Figure First Byte After START Procedure
16.7.2. General Call Address AMIS-30624 supports also "general call" address "000 0000", which address devices. When this address used devices should respond with acknowledge. second byte general call address then defines action taken.
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17.0 Application Commands
17.1 Introduction
Communications between AMIS-30624 2-wire serial interface master takes place large commands. Reading commands used actual status information, e.g. error flags actual position steppermotor Verify right programming configuration AMIS-30624 Writing commands used Program memory Configure positioner with motion parameters (max/min speed, acceleration, stepping mode, etc.) Provide target positions Stepper motor I2C-bus master will have commands manage different application tasks AMIS-30624 feature. commands summary given Table
17.2 Commands Table
Table Commands with Corresponding Pointer
Command Mnemonic GetFullStatus1 GetFullStatus2 GetOTPParam GotoSecurePosition HardStop ResetPosition ResetToDefault SetDualPosition SetMotorParam SetOTP SetPosition SetStallParam SoftStop Runvelocity TestBemf Function Command Byte Binary Hexadecimal "1000 0001" 0x81 "1111 1100" 0xFC "1000 0010" 0x82 "1000 0100" 0x84 "1000 0101" 0x85 "1000 0110" 0x86 "1000 0111" 0x87 "1000 1000" 0x88 "1000 1001" 0x89 "1001 0000" 0x90 "1000 1011" 0x8B "1001 0110" 0x96 "1000 1111" 0x8F "1001 0111" 0x97 "1001 1111" 0x9F
Returns complete status chip Returns actual, target secure position Returns parameter Drives motor secure position Immediate full stop Sets actual position zero Overwrites chip with contents Drives motor different positions with different speed Sets motor parameter Zaps memory Programs target secure position Sets stall parameters Motor stopping with deceleration phase Drives motor continuously Outputs Bemf voltage
These commands described hereafter, with their corresponding frames. Refer Data Transfer Formats more details. color coding used distinguish between master slave parts within frames. example shown below. Light Blue Master data
Byte Content
Address Address Data
GetFullStatus1 Response Frame Structure OTP3 OTP2 OTP1 Irun[3:0] OTP3 OTP2
OTP0
OTP1 OTP0 Ihold[3:0]
White: Slave response
Figure Color Code Used Definition Frames
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17.3 Application Commands
GetFullStatus1
This command provided circuit master complete status circuit steppermotor. Refer Table Table meaning parameters sent back master.
Note: GetFullStatus1 command will attempt reset flags <TW>, <TSD>, <UV2>, <ElDef>, <StepLoss>, <CPFail>, <OVC1>, <OVC2>, <VddReset>. GetFullStatus1 corresponds following command frame:
GetFullStatus1 Command Frame Structure OTP3 OTP2 OTP1 GetFullStatus1 Response Frame Structure OTP3 OTP2 OTP1 Irun[3:0] Vmax[3:0] OTP3 OTP2
Byte
Content
Address Command
OTP0
Byte
Content
Address Address Data Data Data Data Data Data Data
OTP0
AccShape VddReset
StepMode[1:0]
StepLoss
ElDef
Motion[2:0] AbsThr[3:0]
Shaft
OVC1
OTP1 OTP0 Ihold[3:0] Vmin[3:0] Acc[3:0] Tinfo[1:0] OVC2 Stall CPFail DelThr[3:0]
Where:
OTP(n) Irun[3:0] Ihold[3:0] Vmax[3:0] Vmin[3:0] AccShape StepMode[1:0] Shaft Acc[3:0] VddReset StepLoss ElDef Tinfo[1:0] Motion[2:0] OVC1 OVC2 Stall CPFail AbsThr[3:0] DelThr[3:0]
address bits PA[3:0] Hardwired address Operating current motor coil Standstill current motor coil Maximum velocity Minimum velocity Enables motion without acceleration Step mode definition Direction movement Acceleration form minimum maximum velocity Reset digital supply Step loss occurred Electrical defect Battery under voltage detected Thermal shutdown Thermal warning Temperature Info Motion status External switch status Over current X-coil detected Over current Y-coil detected Stall detected Charge pump failure Stall detection absolute threshold Stall detection delta threshold
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GetFullStatus2
This command provided circuit master actual, target secure position steppermotor. Both actual target position returned signed two's complement 16-bit format. Secure position coded 10-bit format. According programmed stepping mode LSBs ActPos[15:0] TagPos[15:0] have meaning should assumed `0'. This command also gives additional information concerning stall detection. Refer Table Table meaning parameters sent back master. GetFullStatus2 corresponds following command frame:
Byte
Content
Address Command
GetFullStatus2 Command Frame Structure OTP3 OTP2 OTP1
OTP0
Byte
Content
Address Address Data Data Data Data Data Data Data
GetFullStatus2 Response Frame Structure OTP3 OTP2 OTP1 OTP0 OTP3 OTP2 OTP1 OTP0 ActPos[15:8] ActPos[7:0] TagPos[15:8] TagPos[7:0] SecPos[7:0] FS2StallEn[2:0] DC100 SecPos[10:8] DelStallLo DelStallHi DC100StEn AbsStall MinSamples[2:0] PWMJEn
Where:
OTP(n) ActPos[15:0] TagPos[15:0] SecPos[10:0] FS2StallEn[2:0] DC100 AbsStall DelStallLo DelStallHi: MinSamples[2:0] DC100StEn PWMJEn
address bits PA[3:0] Hardwired address Actual position Target position Secure position Number full steps after stall detection enabled Flag indicating percent duty cycle Stall detected because absolute threshold reached Stall detected because delta threshold under crossed Stall detected because delta threshold crossed Back-emf sampling delay time Enables switch stall detection when DC100 jitter enable
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GetOTPParam
This command provided circuit master read content memory. More information found Memory Structure. GetOTPParam corresponds following command frame:
Byte Content GetOTPParam Command Frame Structure OTP3 OTP2 OTP1 GetOTPParam Response Frame Structure OTP3 OTP2 OTP1 byte @0x00 byte @0x01 byte @0x02 byte @0x03 byte @0x04 byte @0x05 byte @0x06 byte @0x07
Address Command
OTP0
Byte
Content
Address byte byte byte byte byte byte byte byte
OTP0
GotoSecurePosition
This command provided master steppermotors move secure position SecPos[10:0]. priority encoder description more details. priority encoder table also acknowledges cases where GotoSecurePosition command will ignored. GotoSecurePosition corresponds following command frame:
Byte Content GotoSecurePosition Command Frame Structure OTP3 OTP2 OTP1
Address Command
OTP0
HardStop
This command will internally triggered when electrical problem detected both coils, leading shutdown mode. this occurs while motor moving, <StepLoss> flag raised allow warning master next GetStatus1 command that steps have been lost. Once motor stopped, ActPos register copied into TagPos register ensure keeping stop position. master some safety reasons also issue HardStop command. HardStop corresponds following command frame:
Byte Content HardStop Command Frame Structure OTP3 OTP2 OTP1
Address Command
OTP0
ResetPosition
This command provided circuit master reset ActPos TagPos registers zero. This helpful prepare instance relative positioning. ResetPosition corresponds following command frame:
Byte Content ResetPosition Command Frame Structure OTP3 OTP2 OTP1
Address Command
OTP0
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ResetToDefault
This command provided circuit master order reset whole slave node into initial state. ResetToDefault will, instance, overwrite with reset state registers parameters (see Table 18). This another master initialize slave node case emergency, simply refresh content.
Note: ActPos TagPos modified ResetToDefault command. Important: Care should taken send ResetToDefault command while motion ongoing, since this could modify motion parameters forbidden position controller. ResetToDefault corresponds following command frame:
Byte Content ResetToDefault Command Frame Structure OTP3 OTP2 OTP1
Address Command
OTP0
RunVelocity
This command provided circuit master order motor continuous motion state.
RunVelocity corresponds following command frame:
RunVelocity Command Frame Structure OTP3 OTP2 OTP1
Byte
Content
Address Command
OTP0
SetDualPosition
This command provided circuit master order perform positioning motor using different velocities. Section Dual Positioning.
Note1: This sequence cannot interrupted another positioning command. Important: some reason ActPos equals Pos1[15:0] moment SetDualPosition command issued, circuit will enter deadlock state. Therefore, application should check actual position GetFullStatus2 command prior starting dual positioning. Another solution consist programming value steppermotor range Pos1[15:0]. same reason Pos2[15:0] should equal Pos1[15:0]. SetDualPosition corresponds following command frame;
Byte Content SetDualPosition Command Frame Structure OTP3 OTP2 OTP1 Vmax[3:0] Pos1[15:8] Pos1[7:0] Pos2[15:8] Pos2[7:0]
Address Command Data Data Data Data Data Data Data
OTP0 Vmin[3:0]
Where:
Vmax[3:0] Vmin[3:0] Pos1[15:0] Pos2[15:0]
Max. velocity first motion Min. velocity first motion velocity second motion First position reached during first motion Relative position second motion
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SetStallParam
This command sets motion detection parameters related steppermotor parameters, such minimum maximum velocity, run- hold current, acceleration step-mode. Motion Detection meaning these parameters.
SetStallParam corresponds following command frame:
Byte Content SetStallParam Command Frame Structure OTP3 OTP2 OTP1 OTP0 Irun[3:0] Ihold[3:0] Vmax[3:0] Vmin[3:0] MinSamples[2:0] Shaft Acc[3:0] AbsThr[3:0] DelThr[3:0] FS2StallEn[2:0] AccShape StepMode[1:0] DC100StEn
Address Command Data Data Data Data Data Data Data
PWMJEn
SetMotorParam
This command provided circuit master values stepper motor parameters (listed below) RAM. Refer Table meaning parameters sent master.
Important: SetMotorParam occurs while motion ongoing, will modify once motion parameters (see Position Controller). Therefore application should change parameters other than Vmax Vmin while motion running, otherwise correct positioning cannot guaranteed. SetMotorParam corresponds following command frame:
Byte Content SetMotorParam Command Frame Structure OTP3 OTP2 OTP1 OTP0 Irun[3:0] Ihold[3:0] Vmax[3:0] Vmin[3:0] SecPos[10:8] Shaft Acc[3:0] SecPos[7:0] AccShape PWMfreq StepMode[1:0]
Address Command Data Data Data Data Data Data Data
PWMJEn
SetOTPParam
This command provided circuit master program data D[7:0] address OTPA[2:0].
Important: This command must sent under specific voltage value. parameter VbbOTP Table This mandatory condition ensure reliable zapping. SetOTPParam corresponds following command frame:
Byte Content SetOTPParam Command Frame Structure OTP3 OTP2 OTP1 D[7:0]
Address Command Data Data Data Data
OTP0
OTPA[2:0]
Where:
OTPA[2:0]: address D[7:0]: Corresponding data
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SetPosition
This command provided circuit master drive motor given absolute position. Positioning more details. priority encoder table (see Priority Encoder) acknowledges cases where SetPosition command will ignored.
SetPosition corresponds following command frame:
Byte Content SetPosition Command Frame Structure OTP3 OTP2 OTP1 Pos[15:8] Pos[7:0]
Address Command Data Data Data Data
OTP0
Where:
[15:0] Signed 16-bit position set-point motor.
SoftStop
This command will internally triggered when chip temperature rises above thermal shutdown threshold (see Table Section 15.2.5). provokes immediate deceleration Vmin (see Minimum Velocity) followed stop, regardless position reached. Once motor stopped, TagPos register overwritten with value ActPos register ensure keeping stop position. Master some safety reasons also issue SoftStop command. SoftStop corresponds following command frame:
Byte Content SoftStop Command Frame Structure OTP3 OTP2 OTP1
Address Command
OTP0
TestBemf
This command provided circuit master order output Bemf integrator output output chip. Once activated, stopped only after POR. During Bemf observation, reading state internally forbidden. TestBemf corresponds following command frame:
Byte Content TestBemf Command Frame Structure OTP3 OTP2 OTP1
Address Command
OTP0
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18.0 Resistance Electrical Electromagnetic Disturbances
18.1 Electrostatic Discharges
Table Absolute Maximum Ratings
Parameter Min. Max. Unit
Vesd
Notes:
Electrostatic discharge voltage pins
Human body model (100pF according JEDEC EIA-JESD22-A114-B.)
18.2 Electrical Transient Conduction Along Supply Lines
Test pulses applied power supply wires equipment implementing AMIS-30624 (see application schematic), according 7637-1 document. Operating Classes defined 7637-2.
Table Test Pulses Test Levels According 7637-1 Pulse Amplitude (load dump) -100V +100V -150V (from +13.5V) +100V (from +13.5V) +21.5V (from +13.5V)
Rise Time
Pulse Duration
Operating Class
50µs 100ns (burst) 100ns (burst) 400ms
10ms
18.3
Bulk current injection (BCI), according 11452-4. Operating Classes defined 7637-2.
Table Bulk Current Injection Operating Classes Current 60mA envelope 100mA envelope 200mA envelope
Operating Class
18.4 Power Supply Micro-interruptions
According 16750-2
Table Immunity Power Supply Micro-interruptions Test 10µs micro-interruptions 100µs micro-interruptions micro-interruptions 50ms micro-interruptions 300ms micro-interruptions
Operating Class
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19.0 Package Outline
Figure SOIC-20: Plastic Small Outline; leads; Body Width 300mil. AMIS reference: SOIC300 300G
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Dimensions: 0.576 0.25 0.24 5.37 5.37 0.35 2.185
0.02 0.615 0.203 0.42 6.75 6.75 0.65 5.47 5.47
0.05 0.654
0.35
5.57 5.57 0.45 2.385
Unit Degree
Notes
Dimensions apply plated terminal measured between 0.25 from terminal tip. indication must placed surface package using indentation mark other feature package body. Exact shape size this feature optional Applied exposed terminals. Exclude embedding part exposed from measuring. Applied only terminals Exact shape each corner optional
NQFP
Figure NQFP-32: lead Quad Flat Pack; pins; body size AMIS reference: NQFP-32
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20.0 Soldering
20.1 Introduction Soldering Surface Mount Packages
This text gives very brief insight complex technology. more in-depth account soldering found AMIS "Data Handbook IC26; Integrated Circuit Packages" (document order number 9398 90011). There soldering method that ideal surface mount packages. Wave soldering always suitable surface mount ICs, printed-circuit boards with high population densities. these situations re-flow soldering often used.
20.2 Re-flow Soldering
Re-flow soldering requires solder paste suspension fine solder particles, flux binding agent) applied screen printing, stencilling pressure-syringe dispensing before package placement. Several methods exist reflowing; example, infrared/convection heating conveyor type oven. Throughput times (preheating, soldering cooling) vary between seconds depending heating method. Typical reflow peak temperatures range from 260°C. top-surface temperature packages should preferably kept below 230°C.
20.3 Wave Soldering
Conventional single wave soldering recommended surface mount devices (SMDs) PCBs with high component density, solder bridging non-wetting present major problems. overcome these problems, double-wave soldering method specifically developed. wave soldering used following conditions must observed optimal results: double-wave soldering method comprising turbulent wave with high upward pressure followed smooth laminar wave. packages with leads sides pitch (e): Larger than equal 1.27mm, footprint longitudinal axis preferred parallel transport direction PCB; Smaller than 1.27mm, footprint longitudinal axis must parallel transport direction PCB. footprint must incorporate solder thieves downstream end. packages with leads four sides, footprint must placed angle transport direction PCB. footprint must incorporate solder thieves downstream side corners. During placement before soldering, package must fixed with droplet adhesive. adhesive applied screen printing, transfer syringe dispensing. package soldered after adhesive cured. Typical dwell time four seconds 250°C. mildly-activated flux will eliminate need removal corrosive residues most applications.
20.4 Manual Soldering
component first soldering diagonally-opposite leads. voltage (24V less) soldering iron applied flat part lead. Contact time must limited seconds 300°C. When using dedicated tool, other leads soldered operation within five seconds between 320°C.
Table Soldering Process
Package Soldering Method Wave Re-flow(1)
BGA, SQFP HLQFP, HSQFP, HSOP, HTSSOP, PLCC LQFP, QFP, TQFP SSOP, TSSOP,
Notes:
suitable suitable Suitable (3)(4) recommended recommended
Suitable Suitable Suitable Suitable Suitable
surface mount (SMD) packages moisture sensitive. Depending upon moisture content, maximum temperature (with respect time) body size package, there risk that internal external package cracks occur vaporization moisture them (the called popcorn effect). details, refer drypack information "Data Handbook IC26; Integrated Circuit Packages; Section: Packing Methods." These packages suitable wave soldering solder joint between printed-circuit board heatsink bottom version) achieved, solder stick heatsink version). wave soldering considered, then package must placed angle solder wave direction. package footprint must incorporate solder thieves downstream side corners. Wave soldering only suitable LQFP, TQFP packages with pitch equal larger than 0.8mm; definitely suitable packages with pitch equal smaller than 0.65mm. Wave soldering only suitable SSOP TSSOP packages with pitch equal larger than 0.65mm; definitely suitable packages with pitch equal smaller than 0.5mm.
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21.0 Company Product Inquiries
more information about Semiconductor's motordrivers, please send email 30624@amis.com. more information about Semiconductor's products services visit site http://www.amis.com.
22.0 Document History
Table Document History Version Date Version July 2002 December 2005 February 2007 March 2007
Modifications/Additions First non-preliminary issue Complete review Public release UpdateI commands, adding links
Devices sold AMIS covered warranty patent indemnification provisions appearing Terms Sale only. AMIS makes warranty, express, statutory, implied description, regarding information forth herein regarding freedom described devices from patent infringement. AMIS makes warranty merchantability fitness purposes. AMIS reserves right discontinue production change specifications prices time without notice. Semiconductor's products intended commercial applications. Applications requiring extended temperature range, unusual environmental requirements, high reliability applications, such military, medical life-support life-sustaining equipment, specifically recommended without additional processing AMIS such applications. Copyright ©2007 Semiconductor, Inc.
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AMIS-30624 single-chip microstepping motordriver with position control

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