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| AMIS-30622 IC Micro-Stepping Motor Driver General description The AMIS-30622 is a member of a stepper motordriver family with position controller and control/diagnostics interface integrated in one single chip. The family consists of two products: * AMIS-30621 with LIN interface, ready to build dedicated mechatronics solutions connected remotely with a LIN master. * AMIS-30622 with SERIAL interface, ready to act as peripheral device next to a microcontroller. The chip receives high-level positioning instructions through the interface and subsequently drives the motor coils until the desired position is reached. The on-chip position controller is configurable (OTP and Interface) for different motor types, positioning ranges and parameters for speed, acceleration and deceleration. The AMIS-30622 acts as a slave on the bus and the master can fetch specific status information like actual position, error flags, etc. from each individual slave node. Features Motordriver * * * * * * * * * * * * * * * * Microstepping (1/2, 1/4, 1/8, 1/16) Low resonance & noise High resolution Programmable peak current up to 800mA 20kHz PWM current-control Automatic selection of fast & slow decay mode Internal fly-back FETs Fully integrated current sense 8V-29V supply voltage Automotive compliant Full diagnostics and status information Position controller Configurable speeds, acceleration and deceleration Flexible hold-current Movement/position sensor-input Optional stall detection Serial interface * 2-wire serial interface * 5V microcontroller compatible * Up to 32 node addresses * 5V regulator with wake-up on LIN activity Protection * * * * * * Over-current protection Under-voltage management Over-voltage protection High-temp warning and shutdown Low-temp warning LIN bus short-circuit protection to supply & ground Controller with RAM and OTP memory Power Saving * Power-down supply current <50A * 5V regulator with wake-up on LIN activity EMI compatibility * Power drivers with slope control Applications and benefits The AMIS-30622 is ideally suited for small positioning applications. Target markets include: automotive (headlamp alignment, HVAC, idle control, cruise), industrial equipment (lighting, fluid control, labeling, process, XYZ tables) and building automation (HVAC, surveillance, satellite dish positioning). Suitable applications typically have multiple axes or require mechatronic solutions with the driver chip mounted directly on the motor. The high abstraction level of the products' command set reduces the load of the processor on the master side. Scaling of the application towards number of axes is straight-forward: hardware - and software designs are extended in a modular way, without severely effecting the demands on the master microcontroller. The bus structure simplifies PCB track-layout and/or wiring architectures. Microstepping operation removes the design trade-off between minimal operation speed and avoiding the risk of noise and step-loss due to resonance phenomena. The stall-detection feature (optional) offers silent, yet accurate position-calibrations during the referencing run and allows semi-closed loop operation when approaching the mechanical endstops. All these benefits result in reduced system-cost and time-to-market and improved technical performance. (c)2008 SCILLC. All rights reserved. June 2008 - Rev. 3 Publication Order Number: 30622/A AMIS-30622 Ordering Information Product Name AMIS30622C6227G AMIS30622C6227RG AMIS30622C6228G AMIS30622C6228RG Package SOIC-20 GREEN SOIC-20 GREEN NQFP 32 7x7 GREEN NQFP 32 7x7 GREEN Shipping Configuration Tube/Tray Tape & Reel Tube/Tray Tape & Reel Temperature Range -40C to 125 C -40C to 125 C -40C to 125 C -40C to 125 C Rev. 3 | Page 2 of 42 | www.onsemi.com AMIS-30622 Table of contents Quick Reference Data ........................................................................................................... 6 1.1. Absolute Maximum Ratings ............................................................................................. 6 1.2. Operating Ranges............................................................................................................ 6 2. Block Diagram ....................................................................................................................... 6 3. Pin-out .................................................................................................................................... 7 4. Package thermal resistance................................................................................................. 7 4.1. SO20 ................................................................................................................................ 7 5. DC-Parameters ...................................................................................................................... 8 6. AC-Parameters ...................................................................................................................... 9 7. Typical application ..............................................................................................................10 8. Positioning data ..................................................................................................................11 8.1. Stepping modes .............................................................................................................11 8.2. Maximum velocity ..........................................................................................................11 8.3. Minimum velocity ...........................................................................................................11 8.4. Acceleration and deceleration .......................................................................................12 8.5. Positioning .....................................................................................................................12 8.5.1. Position ranges ........................................................................................................12 8.5.2. Secure position ........................................................................................................13 8.5.3. Shaft ........................................................................................................................13 9. Functional description........................................................................................................14 9.1. Structure Description .....................................................................................................14 9.1.1. Stepper motordriver .................................................................................................14 9.1.2. Control logic (Position controller and Main control).................................................14 9.1.3. Miscellaneous ..........................................................................................................14 9.2. Functions description .....................................................................................................15 9.2.1. Position controller ....................................................................................................15 9.2.1.1. Positioning and motion control...........................................................................15 9.2.1.2. Position initialization...........................................................................................17 9.2.1.3. External switch and HW pin ...............................................................................18 9.2.2. Main control and register, OTP memory + RAM .....................................................19 9.2.2.1. Power-up phase .................................................................................................19 9.2.2.2. Reset State ........................................................................................................19 9.2.2.3. Soft Stop ............................................................................................................19 9.2.2.4. Thermal shutdown mode....................................................................................19 9.2.2.5. Temperature management ................................................................................19 9.2.2.6. Battery voltage management .............................................................................20 9.2.2.7. Motor shutdown mode........................................................................................21 9.2.2.8. RAM Registers ...................................................................................................23 9.2.2.9. Flags table..........................................................................................................24 9.2.2.10. Application Commands ....................................................................................25 9.2.2.11. Priority encoder ................................................................................................26 1. Rev. 3 | Page 3 of 42 | www.onsemi.com AMIS-30622 9.2.2.12. Application parameters stored in OTP Memory ...............................................28 9.2.2.13. OTP Memory Structure ....................................................................................29 9.2.3. Motordriver...............................................................................................................30 9.2.3.1. Current waveforms in the coils...........................................................................30 9.2.3.2. PWM regulation..................................................................................................30 9.2.3.3. Motor starting phase ..........................................................................................30 9.2.3.4. Motor stopping phase.........................................................................................31 9.2.3.5. Charge pump monitoring....................................................................................31 9.2.3.6. Electrical defect on coils, detection and confirmation ........................................31 9.2.4. Inter-IC Control (IC) bus .........................................................................................32 9.2.4.1. Physical layer .....................................................................................................32 9.2.4.2. Communication on 2-wire serial bus interface ...................................................32 9.2.4.3. Physical Address of the circuit ...........................................................................33 9.2.4.4. Write data to AMIS-30622..................................................................................33 9.2.4.5. Read data from AMIS-30622 .............................................................................33 9.2.4.6. Timing and electrical characteristics of the serial interface ...............................34 9.2.4.7. Description of Application Commands ...............................................................34 9.2.4.8. Command Overview...........................................................................................34 9.2.4.9. Commands Description......................................................................................35 10. Features ...............................................................................................................................40 10.1. Position periodicity .........................................................................................................40 11. Resistance to electrical and electromagnetic disturbances ..........................................41 11.1. Electrostatic discharges .................................................................................................41 11.2. Schaffner pulses ............................................................................................................41 11.3. EMC ...............................................................................................................................41 11.4. EMI.................................................................................................................................41 11.5. Power supply micro-interruptions ..................................................................................41 12. Packages Outline ................................................................................................................42 13. Conditioning ........................................................................................................................42 Rev. 3 | Page 4 of 42 | www.onsemi.com AMIS-30622 Document history Version 2.0 2.1 2.2 2.3 3.0 Date of version March 4th, 2003 nd April 2 , 2003 rd April 3 , 2003 th May 28 , 2003 th June 27 , 2008 Modifications / additions First non-preliminary issue including I2C full update Full review Update DC-parameters 2 2 New layout, replace S I by I C Update to new ON Semiconductor template; update OPN table Rev. 3 | Page 5 of 42 | www.onsemi.com AMIS-30622 1. 1.1. Quick Reference Data Absolute Maximum Ratings Unit V C C kV Parameter Min Max (1) Vbb Supply voltage -0.3 +40 Tamb Ambient temperature under bias (2) -50 +150 Tst Storage temperature -55 +160 Vesd Electrostatic discharge voltage on all pins (3) -2 +2 Notes (1) For limited time: < 0.5 s (2) The circuit functionality is not guaranteed (3) Human body model (100 pF via 1.5 k, according to MIL std. 883E, method 3015.7) 1.2. Operating Ranges Vbb 18V Vbb 29V Min +6.5 -40 -40 Max +29 +125 +85 Unit V C C Parameter Vbb Supply voltage (1) Top Operating temperature range Notes (1) Motordriver is disabled when Vbb < 8.9V 2. Block Diagram SWI SDA SCK HW Position controller Serial Synchronous Interface Controller Decoder PWM regulator X MOTXP MOTXN Sine wave table MOTYP PWM regulator Y TST1 TST2 Test Controller Main control & Registers OTP + RAM DACs MOTYN VBAT Voltage regulator VDD Oscillator Charge pump Reference voltage & Thermal monitoring VCP CP2 CP1 Rev. 3 | Page 6 of 42 | www.onsemi.com AMIS-30622 3. Pin-out 1 2 3 4 5 6 7 8 9 10 SDA SCK VDD GND TST1 TST2 GND HW CPN CPP SWI VBB MOTXP GND MOTXN MOTYP GND MOTYN VBB VCP 20 19 18 17 16 15 14 13 12 11 SOIC-20 Pin name SDA SCK VDD GND TST1 TST2 HW CPN CPP VCP VBB MOTYN MOTYP MOTXN MOTXP SWI Pin description Serial I/O Clock for SDA Internal supply (needs external decoupling capacitor) Ground, heat sink test pin (to be tied to ground in normal operation) test pin (to be left open in normal operation) Hardwired address bit Negative connection of pump-capacitor (charge pump) Positive connection of pump-capacitor (charge pump) Charge-pump filter-capacitor Battery voltage supply Negative end of phase Y coil Positive end of phase Y coil Negative end of phase X coil Positive end of phase X coil Switch input SOIC-20 1 2 3 4,7,14,17 5 6 8 9 10 11 12, 19 13 15 16 18 20 4. 4.1. Package thermal resistance SO20 2 x (10mm x 23mm) The junction-case thermal resistance is 28 C/W, leading to a junction-ambient thermal resistance of 63C/W, with the PCB ground plane layout condition given on the figure beside, and with: * * * PCB thickness = 1.6mm 1 layer Copper thickness = 35m Rev. 3 | Page 7 of 42 | www.onsemi.com AMIS-30622 5. DC-Parameters The DC parameters are given for Vbb and temperature in their operating ranges Convention: currents flowing in the circuit are defined as positive Symbol Pin(s) Motordriver IMSmax Peak IMSmax MOTXP RMS MOTXN IMSabs MOTYP IMSrel MOTYN RDSon Parameter Test Conditions Min Typ 800 570 -10 -7 To be confirmed by characterization HZ mode 138 10 7 1 1 145 Ttw+10 Ttw-155 152 Max Unit mA mA % % mA C C C V V V V mA V mA V mA k k V V mA V V V Max current trough motor coil in normal operation Max RMS current trough coil in normal operation Absolute error on coil current Error on current ratio Icoilx / Icoily On resistance for each pin (including bond wire) IMSL Pull down current Thermal warning & shutdown Ttw Thermal Warning Ttsd Thermal shutdown (1) Tlow Low temperature warning Supply & Voltage regulator Vbb Nominal operating supply range (2) VbbOTP Supply voltage for OTP zapping VBB Stop voltage high threshold UV1 UV2 Stop voltage low threshold Ibat Total current consumption Vdd Internal regulated output (3) 6.5 9.0 8.0 Unloaded outputs 8V < Vbb < 18V Cload = 1F (+100nF cer.) Vbb < UV2 Pin shorted to ground Switch to Gnd or Vbat, 10 4.75 8.5 10 5 2 18 10.0 9.8 9.0 5.35 4.4 40 IddStop VDD Digital current consumption VddReset Digital supply reset level (4) IddLim Current limitation Switch input and hardwire address input Rt_OFF Switch OFF resistance (5) Rt_ON Switch ON resistance (5) SWI Vbb range for guaranteed operation Vbb_sw HW of SWI and HW Vmax_sw Maximum voltage Ilim_sw Current limitation Serial interface pins VIL Input level low (6) VIH Input level high (7) Noise margin at the LOW level for SDA each connected device (including VnL SCK hysteresis) Noise margin at the HIGH level for VnH each connected device (including hysteresis) Charge pump Vcp Cbuffer Cpump CPP CPN VCP Output voltage External buffer capacitor External pump capacitor 2 6 29 40V 30 -0.5 0.7 Vdd 0.1VDD 0.3 Vdd Vdd + 0.5 T < 1s Short to Gnd or Vbat 0.2VDD V Vbb > 15V Vbb > 8V Vbb+10 Vbb+12.5 Vbb+5.8V 220 220 Vbb+15 470 470 V V nF nF Notes (1) No more than 100 cumulated hours in life time above Ttsd (2) Communication over serial bus is operating. Motordriver is disabled when Vbb < UV2 (3) Pin VDD must not be used for any external supply (4) The RAM content will not be altered above this voltage (5) External resistance value seen from pin SWI or HW, including 1k series resistor (6) If Input voltage -0.3 Volts, then a resistor of 22 to 100 must be added in series (7) In case 100 kHz fSCL 360kHz VIH min = 0.7VDD Rev. 3 | Page 8 of 42 | www.onsemi.com AMIS-30622 6. AC-Parameters Test Conditions Min Typ Max 10 3.6 fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz fSCL 100kHz fSCL 360kHz 0 0 4.0 0.6 4.7 1.3 4.0 0.6 4.7 0.6 250 100 20+0.1Cb 20+0.1Cb 4.0 0.6 4.7 1.3 50 400 10 1024 1/16 18 20 350 250 250 22 1000 300 300 300 4.0 4.4 100 360 Unit ms MHz kHz kHz s s s s s s s s ns ns ns ns ns ns s s s s ns pF pF s Tsw kHz ns ns kHz The AC parameters are given for Vbb and temperature in their operating ranges Symbol Pin(s) Parameter Power-up Tpu Power-up time Internal oscillator fosc Frequency of internal oscillator I2C Transceiver fSCL SCL clock frequency Hold time (repeated) START condition. After this period, the first clock pulse is generated. LOW period of the SCK clock HIGH period of the SCK clock Set-up time for a repeated START condition Data set-up time Rise time of both SDA and SCK signals (1) Fall time of both SDA and SCK signals (1) Set-up time for STOP condition tHD;STA tLOW tHIGH tSU;STA tSU;DAT tr tf tSU;STO tBUF SDA SCK Bus free time between a STOP and START condition Pulse width of spikes which must tSP be suppressed by the input filter Cb Capacitive load for each bus line Ci Capacitance for each I/O pin Switch input and hardwire address input Tsw SWI Scan pulse period (2) HW Scan pulse duration Tsw_on Motordriver fpwm PWM frequency (2) MOTxx Turn-on transient time Tbrise Between 10% and 90% Tbfall Turn-off transient time Charge pump CPN fCP Charge pump frequency (2) CPP Notes (1) Cb = total capacitance of one bus line in pF (2) Derived from the internal oscillator Rev. 3 | Page 9 of 42 | www.onsemi.com AMIS-30622 7. Typical application Connected to Vbat or GND AMIS - 30622 I2C bus 1 2 3 Optional 1 k SWI VBB 20 19 18 17 16 SDA SCK VDD GND TST1 TST2 GND HW CPN CPP MOTXP GND MOTXN MOTYP GND MOTYN VBB VCP 1 F 4 5 100 nF Connected to Vbat or GND 1 k M 6 7 8 9 15 14 13 12 100 nF Vbat 220 nF 100 F 11 10 220 nF Notes (1) Optionally an external switch to Vbat or GND can be connected to the SWI pin (2) Resistors tolerance: 5% Depending on the application the ESR value of the 1F and 100F capacitors must be carefully chosen. The (3) working voltage of the 100F capacitor depends on the maximum Vbat value. (4) 100nF capacitors must be close to pins VBB and VDD (5) 220nF capacitors must be as close as possible to pins CPN, CPP, VCP and VBB to reduce EMC radiation (6) If SDA and/or SCK input voltage -0.3 Volts, then a resistor of 22 to 100 must be added in series Rev. 3 | Page 10 of 42 | www.onsemi.com AMIS-30622 8. 8.1. Positioning data Stepping modes One of 4 possible stepping modes can be programmed: * Half-stepping * 1/4 micro-stepping * 1/8 micro-stepping * 1/16 micro-stepping 8.2. Maximum velocity For each stepping mode, Vmax can be programmed to 16 possible values given in the table below. The accuracy of Vmax is derived from the internal oscillator. Under special circumstances it is possible to change the Vmax parameter while a motion is ongoing. All 16 entries for the Vmax parameter are divided into four groups. When changing Vmax during a motion the application must take care that the new Vmax parameter stays within the same group. Stepping mode 1/4th 1/8th 1/16th Vmax Vmax Group Half-stepping micro-stepping micro-stepping micro-stepping index (full step/s) (half-step/s) (micro-step/s) (micro-step/s) (micro-step/s) 0 99 A 197 395 790 1579 1 136 273 546 1091 2182 2 167 334 668 1335 2670 3 197 395 790 1579 3159 B 4 213 425 851 1701 3403 5 228 456 912 1823 3647 6 243 486 973 1945 3891 7 273 546 1091 2182 4364 8 303 607 1213 2426 4852 9 334 668 1335 2670 5341 C 10 364 729 1457 2914 5829 11 395 790 1579 3159 6317 12 456 912 1823 3647 7294 13 546 1091 2182 4364 8728 14 729 1457 2914 5829 11658 D 15 973 1945 3891 7782 15564 8.3. Minimum velocity Once Vmax is chosen, 16 possible values can be programmed for Vmin. The table below provides the obtainable values in Full-step/s. The accuracy of Vmin is derived from the internal oscillator. Vmin index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Vmax factor 1 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 99 99 3 6 9 12 15 18 21 24 28 31 34 37 40 43 46 136 136 4 8 12 16 21 25 30 33 38 42 47 51 55 59 64 167 167 5 10 15 20 26 31 36 41 47 51 57 62 68 72 78 197 197 6 11 18 24 31 36 43 49 55 61 68 73 80 86 93 213 213 6 12 19 26 32 39 46 52 59 66 72 79 86 93 99 228 228 7 13 21 28 35 42 50 56 64 71 78 85 93 99 107 Vmax (Full-step/s) 243 273 303 334 243 273 303 334 7 8 8 10 14 15 17 19 22 25 27 31 30 32 36 40 37 42 46 51 45 50 55 61 52 59 65 72 60 67 74 82 68 76 84 93 75 84 93 103 83 93 103 114 91 101 113 124 98 111 122 135 106 118 132 145 113 128 141 156 364 364 10 21 32 44 55 67 78 90 101 113 124 135 147 158 170 395 395 11 23 36 48 61 72 86 97 111 122 135 147 160 172 185 456 456 13 27 42 55 71 84 99 113 128 141 156 170 185 198 214 546 546 15 31 50 65 84 99 118 134 153 168 187 202 221 237 256 729 729 19 42 65 88 111 134 156 179 202 225 248 271 294 317 340 973 973 27 57 88 118 149 179 210 240 271 301 332 362 393 423 454 Rev. 3 | Page 11 of 42 | www.onsemi.com AMIS-30622 Notes (1) The Vmax factor is an approximation (2) In case of motion without acceleration (AccShape = 1) the length of the steps = 1/Vmin. In case of accelerated motion (AccShape = 0) the length of the first step is shorter than 1/Vmin depending of Vmin, Vmax and Acc. 8.4. Acceleration and deceleration Sixteen possible values can be programmed for Acc (acceleration and deceleration between Vmin and Vmax). The table below provides the obtainable values in Full-step/s. One observes restrictions for some combination of acceleration index and maximum speed (gray cells). The accuracy of Acc is derived from the internal oscillator. Vmax (FS/s) Acc index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 Acceleration (Full-step/s) 49 106 473 218 735 1004 3609 6228 8848 11409 13970 16531 19092 21886 24447 27008 29570 34925 29570 40047 14785 The formula to compute the number of equivalent Full-step during acceleration phase is: Nstep = Vmax 2 - Vmin 2 2 x Acc 8.5. Positioning The position programmed in command SetPosition is given as a number of (micro)steps. According to the chosen stepping mode, the position words must be aligned as described in the table below. When using command GotoSecurePosition, data is automatically aligned. Stepping mode th 1/16 th 1/8 1/4th Half-stepping SecurePosition Position word: Pos[15:0] S S S S S Shift B3 B2 B1 LSB No shift B2 B1 LSB 0 1-bit left x2 B1 LSB 0 0 2-bit left x4 LSB 0 0 0 3-bit left x8 0 0 0 0 B14 B13 B12 B11 B13 B12 B11 B10 B12 B11 B10 B9 B11 B10 B9 B8 B10 B9 B8 B7 B9 B8 B7 B6 B8 B7 B6 B5 B7 B6 B5 B4 B6 B5 B4 B3 B5 B4 B3 B2 B4 B3 B2 B1 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 0 No shift 8.5.1. Position ranges A position is coded by using the binary two's complement format. According to the positioning commands which are used (see 9.2.2.10 Application Commands) and to the chosen stepping mode, the position range will be as shown in the table below. Command Stepping mode Half-stepping 1/4th micro-stepping th 1/8 micro-stepping 1/16th micro-stepping Position range -4096 -8192 -16384 -32768 to to to to +4095 +8191 +16383 +32767 Full range excursion 8192 half-steps 16384 micro-steps 32768 micro-steps 65536 micro-steps Number of bits 13 14 15 16 SetPosition Rev. 3 | Page 12 of 42 | www.onsemi.com AMIS-30622 When using the command SetPosition, although coded on 16 bits, the position word will have to be shifted on the left by a certain number of bits, according to the chosen stepping mode. 8.5.2. Secure position A secure position can be programmed. It is coded on 11-bit, thus having a lower resolution than normal positions, as shown in the table below. See command GotoSecurePosition. Stepping mode Half-stepping th 1/4 micro-stepping th 1/8 micro-stepping th 1/16 micro-stepping Secure position resolution 4 half-steps th 8 micro-steps (1/4 ) th 16 micro-steps (1/8 ) th 32 micro-steps (1/16 ) Important note The secure position is disabled in case the programmed value is the reserved code "10000000000" (most negative position). 8.5.3. * * Shaft Shaft = 0 MOTXP is used as positive pin of the X coil, while MOTXN is the negative one. Shaft = 1 opposite situation A shaft bit can be programmed to define whether a positive motion is an outer or an inner motion: Rev. 3 | Page 13 of 42 | www.onsemi.com AMIS-30622 9. 9.1. 9.1.1. * * Functional description Structure Description Stepper motordriver two H-bridges designed to drive a two separated coils stepper motor. Each coil (X and Y) is driven by one H-bridge, and the driver controls the currents flowing through the coils. The rotational position of the rotor, in unloaded condition, is defined by the ratio of current flowing in X and Y. The torque of the stepper motor when unloaded is controlled by the magnitude of the currents in X and Y. the control block for the H-bridges including the PWM control, the synchronous rectification and the internal current sensing circuitry the charge pump to allow driving of the H-bridges' high side transistors. two pre-scale 4-bit DACs to set the maximum magnitude of the current through X and Y. The Motordriver receives the control signals from the control logic. It mainly features: * * * * two DACs to set the correct current ratio through X and Y. Battery voltage monitoring is also performed by this block, which provides needed information to the control logic part. The same applies for detection and reporting of an electrical problem that could occur on the coils or the charge pump. 9.1.2. Control logic (Position controller and Main control) 2 The control logic block stores the information provided by the I C interface (in the RAM or OTP memory) and digitally controls the positioning of the Stepper Motor in term of speed and acceleration, by feeding the right signals to the Motordriver state machine. It will take into account the successive positioning commands to initiate or stop properly the Stepper motor in order to reach the set point in a minimum time. It also receives feedback from the Motordriver part in order to manage possible problems and decide about 2 internal actions and reporting to the I C interface. 9.1.3. * * * * Miscellaneous an internal oscillator, needed for the Control logic and for the PWM control of the Motordriver. an internal trimmed voltage source for precise referencing. a protection block featuring a Thermal Shutdown and a Power-on-reset circuit. a 5V regulator (from the battery supply) to supply the internal logic circuitry. The AMIS-30622 also implements the followings: Rev. 3 | Page 14 of 42 | www.onsemi.com AMIS-30622 9.2. * * * * Functions description Position controller Main control and register, OTP memory + RAM Motordriver I2C controller This chapter describes the four most important blocks: 9.2.1. 9.2.1.1. Position controller Positioning and motion control A positioning command will produce a motion as illustrated below. A motion starts with an acceleration phase from minimum velocity (Vmin) to maximum velocity (Vmax), and ends with a symmetrical deceleration. This is defined by the Control logic according to the position required by the application and to the parameters programmed by the application during configuration phase. The current in the coils is also programmable (see Error! Reference source not found.). Acceleration range Velocity Deceleration range Zero speed Hold current Vmax Zero speed Hold current Vmin Position Pstart Pmin P=0 Optional zero switch Pstop Pmax Value See 8.5 See 9.2.2.12 (Ihold) See 9.2.2.12 (Irun) See 8.4 See 8.3 See 8.2 Parameter Pmax - Pmin Zero speed Hold Current Maximum current Acceleration and deceleration Vmin Vmax Rev. 3 | Page 15 of 42 | www.onsemi.com AMIS-30622 Different positioning examples are shown in the table below. Velocity Short motion time New positioning command in same direction, shorter or longer, while a motion is running at maximum velocity New positioning command in same direction while in deceleration phase Note: there is no wait time between the deceleration phase and the new acceleration phase. Velocity time Velocity time Velocity New positioning command in reverse direction while motion is running at maximum velocity time Velocity New positioning command in reverse direction while in deceleration phase time Velocity New velocity programming while motion is running time Rev. 3 | Page 16 of 42 | www.onsemi.com AMIS-30622 9.2.1.2. Position initialization After power-up or when a Vdd reset has been acknowledged to the master, a position initialization of the stepper-motor can be requested by the application, by use of the RunInit command (see 0). The position initialization is performed by the position controller under the control of the Main control block. This operation cannot be interrupted or influenced by any further command. A position initialization can only be interrupted by the occurrence of the conditions driving to a Motor shutdown (see 9.2.2.7) or by a HardStop command. On the other hand, sending a RunInit command while a motion is already ongoing is not recommended. A position initialization consists of 2 successive motions, as illustrated below. Velocity Vm ax 1 m otion Vm in tim e 26.6 m s 26.6 m s st 2 nd m otion end of IN IT The first motion is done with the specified Vmin and Vmax velocities in the RunInit command, with the acceleration (deceleration) parameter already in RAM, to a position Pos1[15:0] also specified in RunInit. The goal here is to perform a motion large enough to reach a stall position (considered to be the reference position). Then a second motion to a position Pos2[15:0] is done at the specified Vmin velocity in the RunInit command (no acceleration). The purpose of this second motion is to confirm with a low velocity the positioning of the motor at the stall position, assuming that the stepper motor may have bounced against the stall position. Therefore, Pos2 should only be a few half or micro steps further than Pos1, in order to perform a displacement of at least one electrical period. Once the second motion is achieved, the ActPos register (see 0) is reset to zero, to set the reached position as the reference position, whereas TagPos register is not changed. Notes (1) The priority encoder (see 9.2.2.11 Priority encoder) is describing the management of states and commands. The notes below are to be considered illustrative. (2) The last SetPosition command issued during an initialization sequence will be kept in memory and executed afterwards. This applies also for the commands SetMotorParam and GotoSecurePosition. (3) Commands such as GetActualPos or GetStatus will be executed while the position initialization is running. (4) An initialization sequence starts by setting TagPos register to SecPos value, provided secure position is enabled otherwise TagPos is reset to zero. (5) The acceleration/deceleration value applied during an initialization sequence is the one stored in RAM before the RunInit command is sent. The same applies for Shaft bit, but not for Irun, Ihold and StepMode, which can be changed during an initialization sequence. (6) The Pos1, Pos2, Vmax and Vmin values programmed in a RunInit command apply only for this initialization sequence. All further positioning will use the parameters stored in RAM (programmed for instance by a former SetMotorParam command). (7) Commands ResetPosition, RunInit, and SoftStop will be ignored while an initialization sequence is ongoing, and will not be executed afterwards. (8) A SetMotorParam command should not be sent during an initialization sequence. (9) If for some reason ActPos equals Pos1[15:0] at the moment the RunInit command is issued, the circuit will enter in deadlock state. Therefore, the application should check the actual position by a GetPosition or a GetFullStatus command prior to an initialization. Another solution may consist in programming a value out of the stepper motor range for Pos1[15:0]. Rev. 3 | Page 17 of 42 | www.onsemi.com AMIS-30622 9.2.1.3. External switch and HW pin Pin SWI and hardwired address pin HW (see 9.2.4.3 Physical Address) will alternatively attempt to source and sink a current in/from the external switch (see application schematic) to test whether it is ON or OFF. This current is set around 10mA when a 1k external series resistor is used. source current Tsw_on sink current Tsw/2 Tsw Tsw_on This can be represented by the following time diagram (The timings are given in 6). If the switch is detected ON (closed), then the flag Vbb A-m convert I -> R Source HW R threshold + Source HW_CMP Sink Sink A-m GND convert I -> R With the following truth table: State Float Float Float Float HWLo HWLo HWLo HWLo HWHi HWHi HWHi HWHi Sink 1 1 0 0 1 1 0 0 1 1 0 0 Source 0 0 1 1 0 0 1 1 0 0 1 1 New State Float HWHi Float HWLo HWLo HWHi Float HWLo Float HWHi HWHi HWLo HWHi HWLo address = "1" address = "0" note that e.g. if HW is connected to GND, LSpart will report "float" while HS-part will report "low resistance detected" Note If HW is detected to be floating, motion to the secure position is performed. Rev. 3 | Page 18 of 42 | www.onsemi.com AMIS-30622 9.2.2. 9.2.2.1. Main control and register, OTP memory + RAM Power-up phase Power up phase of the AMIS-30622 will not exceed 10ms. After this phase, the AMIS-30622 is in Shutdown mode, ready to receive I2C messages and to execute the associated commands. After power-up, the registers and flags are in the Reset state, some of them being loaded with the OTP memory content (see 9.2.2.13 OTP Memory Structure) 9.2.2.2. Reset State After power-up, or after a reset occurrence (e.g. a micro cut on pin VBB has made Vdd to go below VddReset level), the H-bridges will be in high impedance mode, and the registers and flags will be in a predetermined position. See also 9.2.2.7 Motor shutdown mode and digital supply reset in 9.2.2.9 Flags table. 9.2.2.3. Soft Stop A Soft Stop is an immediate interruption of a motion, but with a deceleration phase. At the end of this action, the register TagPos is loaded with the value contained in register ActPos to avoid an attempt of the circuit to achieve the motion (see 9.2.2.9 Flags table). The circuit is then ready to execute a new positioning command, provided thermal and electrical conditions allow for it. 9.2.2.4. Thermal shutdown mode When thermal shutdown occurs, the circuit performs a SoftStop command and goes to Motor shutdown mode (see below). 9.2.2.5. Temperature management The AMIS-30622 monitors temperature by mean of two thresholds and one shutdown level, as illustrated in the state diagram below. The only condition to reset flags Normal Temp. - T < Ttw & 2 T > Ttw S I frame: GetFullStatus1 T < Ttw Post thermal warning - T > Ttsd T < Ttsd Post thermal shutdown 1 Low Temp. - T > Ttw Rev. 3 | Page 19 of 42 | www.onsemi.com AMIS-30622 Temp Ttsd Ttw 155 C 145 C GetFullStatus1 t Tlow -10 C 9.2.2.6. Battery voltage management The AMIS-30622 monitors the battery voltage by mean of one threshold and one shutdown level, as illustrated in the state diagram below. The only condition to reset flags Normal voltage - Stop mode 1 - Stop mode 2 Rev. 3 | Page 20 of 42 | www.onsemi.com AMIS-30622 VBB After GetFullStatus1 UV1 UV2 9.8 V 8.5 V t 9.2.2.7. Motor shutdown mode A motor shutdown occurs when: 1. The chip temperature rises above the thermal shutdown threshold Ttsd (see 5 DC-Parameters) 2. The battery voltage goes below UV2 (see 5 DC-Parameters) 3. Flag SetPosition frame GetFullStatus1 GetFullStatus1 - The circuit is driven in motor shutdown mode - The application is not aware of this - The position set-point 2 is updated by the I C Master - Motor shutdown mode no motion - The application is still unaware - The application is aware of a problem ... - Possible confirmation of the problem - Reset Important While in shutdown mode, since there is no hold current in the coils, the mechanical load can cause a step loss, which indeed cannot be flagged by the AMIS-30622. Warning Rev. 3 | Page 21 of 42 | www.onsemi.com AMIS-30622 The application should limit the number of consecutive GetFullStatus1 commands to try to get the AMIS30622 out of Shutdown mode when this proves to be unsuccessful, e.g. there is a permanent defect. The reliability of the circuit could be altered since GetFullStatus1 attempts to disable the protection of the Hbridges. Note The priority encoder (see 9.2.2.11 Priority encoder) is describing the management of states and commands. The table above is to be considered illustrative. Rev. 3 | Page 22 of 42 | www.onsemi.com AMIS-30622 9.2.2.8. RAM Registers Mnemonic ActPos Length Related commands (bit) GetActualPos GetFullStatus2 16 GotoSecurePos ResetPosition GetFullStatus2 GotoSecurePos 16/11 ResetPosition SetPosition 1 GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus 1 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault1 SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam GetFullStatus21 ResetToDefault SetMotorParam GetFullStatus11 ResetToDefault SetMotorParam Comment - 16-bit signed - 16-bit signed or - 11-bit signed for half stepping (see 8.5) `0' normal acceleration from Vmin to Vmax `1' motion at Vmin without acceleration Operating current (see 9.2.2.12) Standstill current (see 9.2.2.12) See 8.3 and 9.2.2.12 (look-up table) See 8.2 and 9.2.2.12 (look-up table) Direction of movement for positive velocity See 8.4 and 9.2.2.12 (look-up table) 2 Target position when I C connection fails; 11 MSBs of 16-bit position (LSBs fixed to `0') See 8.1 and 9.2.2.12 (1) Reset state Register Actual position Last programmed position Pos/ TagPos Acceleration shape AccShape `0' Coil peak current Coil hold current Minimum Velocity Maximum Velocity Shaft Acceleration/ deceleration Secure Position Stepping mode Irun Ihold Vmin Vmax Shaft Acc SecPos StepMode 4 4 4 4 1 4 11 2 From OTP memory Note (1) A ResetToDefault command will act as a reset of the RAM content, except for ActPos and TagPos registers that are not modified. Therefore, the application should not send a ResetToDefault during a motion, to avoid any unwanted change of parameter Rev. 3 | Page 23 of 42 | www.onsemi.com AMIS-30622 9.2.2.9. Flag Charge pump failure Flags table Mnemonic CPFail Length Related Commands (bit) 1 GetFullStatus GetActualPos GetStatus GetFullStatus1 GetActualPos GetStatus GetFullStatus1 Internal use Comment `0' = charge pump OK `1' = charge pump failure reset only after GetFullStatus1 Electrical defect External switch status Electrical flag ElDef 1 `1' ESW HS 1 1 `0' `0' Motion status Motion 3 GetFullStatus1 "000" Over current in coil X Over current in coil Y Secure position enabled Step loss Motor stop Temperature info OVC1 OVC2 SecEn StepLoss Stop Tinfo 1 1 1 1 1 2 GetFullStatus1 GetFullStatus1 Internal use GetActualPos GetStatus GetFullStatus1 Internal use GetActualPos GetStatus GetFullStatus1 GetActualPos GetStatus GetFullStatus1 GetActualPos GetStatus GetFullStatus1 GetActualPos GetStatus GetFullStatus1 GetActualPos GetStatus GetFullStatus1 `1' `1' n.a. `1' `0' "00" Thermal shutdown TSD 1 `0' Thermal warning Battery stop voltage TW 1 `0' UV2 1 `0' Digital supply reset VddReset 1 `1' Rev. 3 | Page 24 of 42 | www.onsemi.com AMIS-30622 9.2.2.10. 2 Application Commands The I C Master will have to use commands to manage the different application tasks the AMIS-30622 can feature. The commands summary is given in the table below. Command mnemonic GetFullStatus1 GetFullStatus2 GetOTPParam GotoSecurePosition HardStop ResetPosition ResetToDefault RunInit SetMotorParam SetOTP SetPosition SoftStop Function Returns complete status of the chip Returns actual, target and secure position Returns OTP parameters Drives motor to secure position Immediate full stop Sets actual position to zero Overwrites the chip RAM with OTP contents Reference Search Sets motor parameter Zaps the OTP memory Programmes a target Motor stopping with deceleration phase Rev. 3 | Page 25 of 42 | www.onsemi.com AMIS-30622 9.2.2.11. Priority encoder Stopped motor stopped, Ihold in coils I2C in-frame response OTP refresh; I2C in-frame response I C in-frame response 2 The table below describes the state management performed by the Main control block. State Command GetActualPos GetOTPparam GetFullStatus1 [ attempt to clear 2 GotoPos motor motion ongoing I2C in-frame response OTP refresh; I2C in-frame response RunInit no influence on RAM and TagPos I2C in-frame response OTP refresh; I2C in-frame response I C in-frame response 2 SoftStop motor decelerating I2C in-frame response OTP refresh; I2C in-frame response I C in-frame response 2 HardStop motor forced to stop I2C in-frame response OTP refresh; I2C in-frame response I C in-frame response 2 ShutDown motor stopped, H-bridges in Hi-Z I2C in-frame response OTP refresh; I2C in-frame response I2C in-frame response; if ( ResetToDefault [ ActPos and TagPos are not altered ] OTP refresh; OTP to RAM; AccShape reset RAM update OTP refresh; OTP to RAM; AccShape reset RAM update OTP refresh; OTP to RAM; AccShape reset RAM update OTP refresh; OTP to RAM; AccShape reset RAM update OTP refresh; OTP to RAM; AccShape reset RAM update SetMotorParam [ Master takes care about proper update ] ResetPosition SetPosition TagPos and ActPos reset TagPos updated; GotoPos TagPos updated If TagPos and ActPos reset TagPos updated If If RunInit HardStop SoftStop HardStop [ ( RunInit HardStop; HardStop; HardStop; Thermal shutdown [ Shutdown n.a. SoftStop Stopped SoftStop Stopped Stopped; Stopped; TagPos =ActPos TagPos =ActPos n.a. Motion finished With the following color code: Command ignored Transition to another state Master is responsible for proper update (see note 5) Rev. 3 | Page 26 of 42 | www.onsemi.com AMIS-30622 Notes (1) After Power on reset, the Shutdown state is entered. The Shutdown state can only be left after GetFullStatus1 command (so that the Master could read the RunInit SoftStop ShutDown HardStop Stopped GotoP os Priorities highest lowest Rev. 3 | Page 27 of 42 | www.onsemi.com AMIS-30622 9.2.2.12. Application parameters stored in OTP Memory Except for the physical address AD[3:0] these parameters, although programmed in a non-volatile memory can still be overridden in RAM by a I2C writing operation. AD[4:0] Irun[3:0] Physical address of the stepper-motor. Up to 32 Stepper-motors can theoretically be 2 connected to the same I C bus. Peak current value to be fed to each coil of the stepper-motor. The table below provides the 16 possible values for IRUN. Irun 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Peak current (mA) 59 71 84 100 119 141 168 200 238 283 336 400 476 566 673 800 Ihold[3:0] Hold current for each coil of the stepper-motor. The table below provides the 16 possible values for IHOLD. 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 Ihold 0 0 0 0 0 1 0 1 1 0 1 0 1 1 1 1 0 0 0 0 0 1 0 1 1 0 1 0 1 1 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Hold current (mA) 59 71 84 100 119 141 168 200 238 283 336 400 476 566 673 800 StepMode Indicator of stepping mode to be used. StepMode 0 0 1 1 0 1 0 1 Step mode Half stepping 1/4 micro step 1/8 micro step 1/16 micro step Shaft Indicator of Reference Position. If Shaft = `0', the reference position is the maximum inner position, whereas if Shaft = `1', the reference position is the maximum outer position Rev. 3 | Page 28 of 42 | www.onsemi.com AMIS-30622 SecPos[10:0] Secure Position of the stepper-motor. This is the position to which the motor is driven in case of a GotoSecurePosition command, or if the HW-pin is disconnected from Vbat or Gnd. If SecPos[10:0] = "100 0000 0000", this means that Secure Position is disabled, e.g. the stepper-motor will be kept in the position occupied at the moment these events occur. The Secure Position is coded on 11 bits only, providing actually the most significant bits of the position, the non coded least significant bits being set to `0'. Maximum velocity, minimum velocity and acceleration of the stepper-motor are programmed by coding the respective Vmax, Vmin and Acc parameters index as defined in 8 Positioning data. Code 0 0 0 0 0 0 0 0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 0 1 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 Parameter index 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Vmax[3:0] Vmin[3:0] Acc[3:0] 9.2.2.13. OTP Memory Structure 0 IREF0 BG0 PA0 Ihold0 Vmin0 Acc0 SecPos0 LOCKBG The table below shows how the parameters to be stored in the OTP memory are located. OTP 7 6 5 4 3 2 1 address 0x00 OSC3 OSC2 OSC1 OSC0 IREF3 IREF2 IREF1 0x01 TSD2 TSD1 TSD0 BG3 BG2 BG1 0x02 PA3 PA2 PA1 0x03 Irun3 Irun2 Irun1 Irun0 Ihold3 Ihold2 Ihold1 0x04 Vmax3 Vmax2 Vmax1 Vmax0 Vmin3 Vmin2 Vmin1 0x05 SecPos10 SecPos9 SecPos8 Shaft Acc3 Acc2 Acc1 0x06 SecPos7 SecPos6 SecPos5 SecPos4 SecPos3 SecPos2 SecPos1 StepMode1 StepMode0 0x07 LOCKBT Parameters stored at address 0x00 and 0x01 and bit LOCKBT are already programmed in the OTP memory at circuit delivery, they correspond to the calibration of the circuit and are just documented here as an indication. Each OPT bit is at `0' when not zapped. Zapping a bit will set it to `1'. Thus only bits having to be at `1' must be zapped. Zapping of a bit already at `1' is disabled. Each OTP byte will be programmed separately (see command SetOTPparam). Once OTP programming is completed, bit LOCKBG can be zapped, to disable future zapping, otherwise using a SetOTPparam command could still zap any OTP bit at `0'. LOCKBT LOCKBG Lock bit (zapped before delivery) Protected byte 0x00 to 0x01 0x00 to 0x07 2 The command used to load the application parameters via the I C bus in the RAM prior to an OTP Memory programming is SetMotorParam. This allows for a functional verification before using a SetOTPparam Rev. 3 | Page 29 of 42 | www.onsemi.com AMIS-30622 command to program and zap separately one OTP memory byte. A GetOTPparam command issued after each SetOTPparam command allows verifying the correct byte zapping. Note Zapped bits will really be "active" after a GetOTPparam or a ResetToDefault command or after a power-up. 9.2.3. 9.2.3.1. Icoil Motordriver Current waveforms in the coils The figure below illustrates the current fed to the motor coils by the motordriver in half-step mode. Coil X Coil Y Irun I run 2 t Whereas the figure below shows the current fed to one coil in 1/16 microstepping (1 electrical period). th Icoil t 9.2.3.2. PWM regulation In order to force a given current (determined by Irun or Ihold and the current position of the rotor) through the motor coil while ensuring high energy transfer efficiency, a regulation based on PWM principle is used. The regulation loop performs a comparison of the sensed output current to an internal reference, and features a digital regulation generating the PWM signal that drives the output switches. The zoom over one micro-step in the figure above shows how the PWM circuit performs this regulation. 9.2.3.3. Motor starting phase At motion start, the currents in the coils are directly switched from Ihold to Irun with a new sine/cos ratio corresponding to the first half (or micro) step of the motion. Rev. 3 | Page 30 of 42 | www.onsemi.com AMIS-30622 9.2.3.4. Motor stopping phase At the end of the deceleration phase, the currents are maintained in the coils at their actual DC level (hence keeping the sine/cos ratio between coils) during 1/4th of an electrical period at minimum velocity (thus 2 halfsteps). The currents are then set to the hold values, respectively Ihold x sin (TagPos) and Ihold x cos (TagPos) as illustrated below. A new positioning order can then be executed. Icoil t 9.2.3.5. Charge pump monitoring If the charge pump voltage is not sufficient for driving the high side transistors (due to a failure), an internal HardStop command is issued. This is acknowledged to the master by raising flag 9.2.3.6. Electrical defect on coils, detection and confirmation The principle relies on the detection of a voltage drop on at least one transistor of the H-bridge. Then the decision is taken to open the transistors of the defective bridge. This allow to detect the following short circuits: * * External coil short circuit Short between one terminal of the coil and Vbat or Gnd * One cannot detect internal short in the motor Open circuits are detected by 100% PWM duty cycle value during a long time Pins Yi or Xi Yi or Xi Yi or Xi Y1 and Y2 X1 and X2 Xi and Yi Fault mode Short circuit to GND Short circuit to Vbat Open Short circuited Short circuited Short circuited Rev. 3 | Page 31 of 42 | www.onsemi.com AMIS-30622 9.2.4. 2 Inter-IC Control (IC) bus Physical layer The I C interface enabled in the AMIS-30622 uses pins 1 and 2 as Data I/O and Serial Clock respectively. 9.2.4.1. Both SDA and SCK lines are connected to positive supply voltage via a current source or pull-up resistor. When there is no traffic on the bus both lines are high. Analog glitch filters are implemented to suppress spikes with a length up to 50 ns. + 5V SDA line SCK line SCK_IN SDA_IN SCK_IN SDA_IN SCK_OUT SDA_OUT SCK_OUT SDA_OUT AMIS-30622 Master 9.2.4.2. Communication on 2-wire serial bus interface Each communication starts with a Start condition and ends with a Stop condition. Both conditions are unique and cannot be confused with data. A high to low transition on the SDA line while SCK is high defines a Start condition. A low to high transition on the SDA line while SCK is high defines a Stop condition. (see figure "Start / Stop conditions" below). The master always generates the SCK clock. On every rising transition of SCK the data on SDA is valid. Data on SDA line is only allowed to change as long as SCK is low. SDA SCK START condition STOP condition SDA SCK data line stable, data valid data change allowed Start / Stop Conditions Bit transfer on 2-wire serial bus interface Every byte sent on SDA must be 8-bit, with the most significant bit (MSB) transferred first. The number of bytes that can be transmitted to the AMIS-30622 is restricted to 8 bytes. Each byte is followed by an acknowledge bit, which is issued by the receiving node (figure below). SDA SCK START condition MSB 1 2 7 8 ACK 9 1 ACK 9 STOP condition Rev. 3 | Page 32 of 42 | www.onsemi.com AMIS-30622 9.2.4.3. Physical Address of the circuit The circuit is provided with a physical address in order to discriminate this circuit from other ones on the I2C bus. This address is coded on 7 bits (2 bits being internally hardwired to `1'), yielding the theoretical possibility of 32 different circuits on the same bus. It is a combination of 4 OTP memory bits (see 9.2.2.13 OTP Memory Structure) and of the externally hardwired address bits (pin HW). HW must either be connected to Ground or to Vbat. When HW is not connected and left floating correct functionality of the positioner is not guaranteed. The motor will be driven to the programmed Secure Position. (see 9.2.2.12 Application parameters SecPos [10:0]) AD6 `1' AD5 `1' AD4 PA3 AD3 PA2 AD2 PA1 AD1 PA0 AD0 HW Physical address OTP memory Hardwired bit (to Gnd or Vbat) The AMIS-30622 supports a "general call" address. Therefore the circuit is addressable with either the physical slave address or with address "000 0000". 9.2.4.4. Write data to AMIS-30622 A complete transmission consists of the followings: a Start condition, the slave address (7-bit), a read/write bit (`0' = write, `1' = read), and an acknowledge bit. Any further databytes are followed by an acknowledge bit. The acknowledge bit is used to signal a correct reception of the data to the transmitter. In this case the AMIS-30622 pulls the SDA line to `0'. The AMIS-30622 reads the incoming data at SDA on every rising edge of the SCK signal. To finish the transmission the master has to transmit a Stop condition. Some commands for the AMIS30622 are supporting 8 bytes of data, other commands are transmitting 2 bytes of data. S Slave address R/W `0' (write) Master to slave Slave to master S: H: A: A Data A Data A H N Bytes + acknowledge Start condition Stop condition SDA = `0' acknowledge (A) SDA = `1' no acknowledge (Ab) 9.2.4.5. Read data from AMIS-30622 When reading data from a slave two transmissions are needed. The first transmission consists of 2 bytes of data. The first byte contains the slave address and the write bit. The second byte contains the address of an internal register in the AMIS-30622. The internal register address is stored in the circuit RAM. The second transmission consists of the slave address and the read bit. Then the master can read the data bits on the SDA line on every rising edge of signal SCK. After each byte of data the master has to acknowledge correct data reception by pulling SDA to `0'. The last byte is not to acknowledge by the master and therefore the slave knows the end of transmission. Dump internal address to slave S Slave address R/W `0' (write) Read data from slave S Slave address R/W `1' (read) Master to slave Slave to master S: H: A: A Data A Data Ab H A Internal address A H N Bytes + acknowledge Start condition Stop condition SDA = `0' acknowledge (A) SDA = `1' no acknowledge (Ab) Rev. 3 | Page 33 of 42 | www.onsemi.com AMIS-30622 9.2.4.6. START Timing and electrical characteristics of the serial interface START STOP START SDA tf tLOW tr tSU;DAT tf tHD;STA tr tBUF SCK tHD;STA tHD;DAT tHIGH tSU;STA tSU;STO See 5 and 6 for DC and AC parameter values 9.2.4.7. Description of Application Commands Communications between the AMIS-30622 and a 2-wire Serial Bus Interface Master takes place via a large set of commands. Reading commands are used to: * * Get actual status information, e.g. error flags Get actual position of the Stepper Motor * Verify the right programming and configuration of the AMIS-30622 Writing commands are used to: * * * Program the OTP Memory Configure the positioner with motion parameters (max/min speed, acceleration, stepping mode, etc.) Provide target positions to the Stepper motor 9.2.4.8. Command Overview Function Command byte Binary Hexadecimal GetFullStatus1 "1000 0001" 0x81 Returns complete status of the chip GetFullStatus2 "1111 1100" 0xFC Returns actual, target and secure position GetOTPParam "1000 0010" 0x82 Returns OTP parameter "1000 0100" GotoSecurePosition Drives motor to secure position 0x84 HardStop "1000 0101" 0x85 Immediate full stop ResetPosition "1000 0110" 0x86 Sets actual position to zero ResetToDefault 0x87 Overwrites the chip RAM with OTP contents "1000 0111" RunInit "1000 1000" 0x88 Reference Search SetMotorParam "1000 1001" 0x89 Sets motor parameter SetOTP "1001 0000" 0x90 Zaps the OTP memory SetPosition "1000 1011" 0x8B Programmes a target and secure position SoftStop "1000 1111" 0x8F Motor stopping with deceleration phase Command mnemonic Rev. 3 | Page 34 of 42 | www.onsemi.com AMIS-30622 9.2.4.9. Commands Description GetFullStatus1 This command is provided to the circuit by the Master to get a complete status of the circuit and of the Steppermotor. The parameters sent via the 2-wire serial bus to the Master are: * * * * * * * coil peak and hold currents value (Irun and Ihold) maximum and minimum velocities for the Stepper-motor (Vmax and Vmin) direction of movement clockwise / counter clockwise (Shaft) stepping mode (StepMode) acceleration (deceleration) for the Stepper motor (Acc) acceleration shape (AccShape) status information (see further) * * * * * * * * * * * motion status Byte 0 1 Content Slave Address GetFullStatus1 bit 2 OTP0 0 bit 1 HW 0 bit 0 0 1 Byte 0 1 2 3 4 5 6 7 8 Content Slave Address Address Irun & Ihold Vmax & Vmin Status 1 Status 2 Status 3 N/A N/A bit 2 bit 1 bit 0 OTP0 HW 1 OTP2 OTP1 OTP0 Ihold [3:0] Vmin [3:0] ACC[3:0] TW Tinfo[1:0] OVC2 1 CPFail 1 1 1 1 1 1 Rev. 3 | Page 35 of 42 | www.onsemi.com AMIS-30622 GetFullStatus2 This command is provided to the circuit by the Master to get the actual position of the Stepper-motor. The position is provided by the circuit in 16-bit format, with the 3 LSBs at `0' when in half stepping mode (StepMode = "00"). Furthermore programmed target position and secure position are also provided. Notations: * * * actual position of the stepper motor Byte 0 1 Content Slave Address GetFullStatus2 bit 2 OTP0 1 bit 1 HW 0 bit 0 0 0 Byte 0 1 2 3 4 5 6 7 8 Content Slave Address Address Actual Position 1 Actual Position 2 Target Position 1 Target Position 2 Secure Position Secure Position N/A bit 2 OTP0 OTP2 bit 1 HW OTP1 bit 0 1 OTP0 1 SecPos[10:8] 1 1 GetOTPParam This command is provided to the circuit by to read the content of an OTP Memory. For more information refer to see 9.2.2.13 OTP Memory Structure. Byte 0 1 Content Slave Address GetOTPParam GetOTPParam command Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 1 0 0 0 0 bit 2 OTP0 0 bit 1 HW 1 bit 0 0 0 Byte 0 1 2 3 4 5 6 7 Content Slave Address OTP byte 0 OTP byte 1 OTP byte 2 OTP byte 3 OTP byte 4 OTP byte 5 OTP byte 6 OTP byte 7 GetOTPParam command (Response) Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 OTP@0x00 OTP@0x01 OTP@0x02 OTP@0x03 OTP@0x04 OTP@0x05 OTP@0x06 OTP@0x07 bit 2 OTP0 bit 1 HW bit 0 1 Rev. 3 | Page 36 of 42 | www.onsemi.com AMIS-30622 GotoSecurePosition The Master provides this command to one or all the Stepper-motors to move to the secure position SecPos[10:0]. GotoSecurePosition command Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 1 0 0 0 0 Byte 0 1 Content Slave Address GotoSecurePosition bit 2 OTP0 1 bit 1 HW 0 bit 0 0 0 HardStop This command is internally triggered when an electrical problem is detected in one or both coils, leading to switch off the H-bridges. If this problem is detected while the motor is moving, the ResetPosition This command is provided to the circuit by the Master to reset ActPos and TagPos registers, in order to allow a positioning for an initialisation of the Stepper-motor position. ResetPosition command Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 1 0 0 0 0 Byte 0 1 Content Slave Address ResetPosition bit 2 OTP0 1 bit 1 HW 1 bit 0 0 0 ResetToDefaults The Master provides this command to the circuit in order to reset the whole Slave node into the initial state. ResetToDefaults will for instance overload the RAM with the Reset state of the Registers parameters. This is another way for the Master to initialise a slave node in case of emergency, or simply to refresh the RAM content. ResetToDefaults command Structure bit 7 bit 6 bit 5 bit 4 bit 3 1 1 OTP3 OTP2 OTP1 1 0 0 0 0 Byte 0 1 Content Slave Address ResetToDefaults bit 2 OTP0 1 bit 1 HW 1 bit 0 0 1 Rev. 3 | Page 37 of 42 | www.onsemi.com AMIS-30622 RunInit The Master provides this command to the circuit in order to initialise positioning of the motor by seeking the zero (or reference) position. Once the RunInit command is started it cannot be interrupted by any other command, except on the occurrence of a condition leading to a motor shutdown (See 9.2.2.7 Motor shutdown mode), or when a HardStop command is received. Furthermore the master has to check that the actual position of the stepper motor does not correspond to the target position of the first motion. This is very important otherwise the circuit goes into a deadlock state. Once the circuit is in deadlock state only a hardstop command followed by a GetFullStatus1 command will cause the circuit to leave this state. RunInit command Byte 0 1 2 3 4 5 6 7 8 Content Slave Address RunInit command N/A N/A Vmax Vmin Position2 byte 1 Position2 byte 2 Position1 byte 1 Position1 byte 2 bit 7 1 1 1 1 bit 6 bit 5 1 OTP3 0 0 1 1 1 1 Vmax[3:0] Structure bit 4 bit 3 OTP2 OTP1 0 1 1 1 1 1 TagPos1[15:8] TagPos1[7:0] TagPos2[15:8] TagPos2[7:0] bit 2 bit 1 OTP0 HW 0 0 1 1 1 1 Vmin[3:0] bit 0 0 0 1 1 SetMotorParam This command is provided to the circuit by the Master to set the values for the Stepper motor parameters (listed below) in RAM. * * * * * * * * * coil peak current value (Irun) coil hold current value (Ihold) maximum velocity for the Stepper-motor (Vmax) minimum velocity for the Stepper-motor (Vmin) acceleration shape (AccShape) stepping mode (StepMode) indicator of the Stepper-motor reference position (Shaft) acceleration (deceleration) for the Stepper-motor (Acc) secure position for the Stepper-motor (SecPos) SetMotorParam command Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 1 1 OTP3 OTP2 OTP1 OTP0 HW 1 0 0 0 1 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Irun[3:0] Ihold[3:0] Vmax[3:0] Vmin[3:0] SecPos[10:8] Shaft Acc[3:0] SecPos[7:0] 1 1 1 1 AccShape StepMode[1:0] Byte 0 1 2 3 4 5 6 7 8 Content Slave Address SetMotorParam N/A N/A Irun & I hold Vmax & Vmin Status SecurePos StepMode bit 0 0 1 1 1 1 Rev. 3 | Page 38 of 42 | www.onsemi.com AMIS-30622 SetOTP The Master provides this command to the circuit in order to zap the OTP memory. SetOTP command Byte 0 1 2 3 4 5 Content Slave Address ZapOTP N/A N/A OTP Address Pbit bit 7 1 1 1 1 1 bit 6 1 0 1 1 1 bit 5 OTP3 0 1 1 1 Structure bit 4 bit 3 OTP2 OTP1 1 0 1 1 1 1 1 1 Pbit[7:0] bit 2 OTP0 0 1 1 bit 1 bit 0 HW 0 0 0 1 1 1 1 OTPA[2:0] SetPosition This command is provided to the circuit by the Master to the motors to a given position relative to the zero position, defined in number of half or micro steps, according to StepMode[1:0] value. SetPosition will not be performed if one of the following flags is set to one: * * * * temperature shutdown Byte 0 1 2 3 4 5 Content Slave Address SetPosition N/A N/A Position byte1 Position byte2 bit 7 1 1 1 1 bit 2 OTP0 0 1 1 bit 1 HW 1 1 1 bit 0 0 1 1 1 SoftStop If a SoftStop command occurs during a motion of the Stepper motor, it provokes an immediate deceleration to Vmin followed by a stop, regardless of the position reached. This command occurs in the following cases: * * The chip temperature raises the Thermal shutdown threshold. The Master requests a SoftStop. SoftStop command Byte 0 1 Content Slave Address SoftStop bit 7 1 1 bit 6 1 0 bit 5 OTP3 0 Structure bit 4 bit 3 OTP2 OTP1 0 1 bit 2 OTP0 1 bit 1 HW 1 bit 0 0 1 Rev. 3 | Page 39 of 42 | www.onsemi.com AMIS-30622 10. Features 10.1. Position periodicity Depending on the stepping mode the position can range between -4096 to +4095 in half-step mode to -32768 to +32767 in 1/16th microstepping mode (see 8.5.1 Position ranges) one can project all these positions lying on a circle. When executing the command SetPosition the position controller will set the movement direction in such a way that the traveled distance is minimum. As an example in the figure below is illustrated the moving direction going from ActPos = +32700 to SetPos = - 32700 is counter clockwise. If a clockwise motion is required in this example, several consecutive SetPosition commands can be used. -32700 +32700 0 Rev. 3 | Page 40 of 42 | www.onsemi.com AMIS-30622 11. Resistance to electrical and electromagnetic disturbances 11.1. Electrostatic discharges See. 1.1 Absolute Maximum Ratings 11.2. Schaffner pulses Shaffner pulses are applied to the power supply wires of the equipment implementing the AMIS-30622 (see application schematic), according to Renault 36-00-808/--E document. Pulse #1 #2a #3a #3b #5b (load dump) amplitude -100V +100V -150V (from +13.5V) +100V (from +13.5V) +21.5V (from +13.5V) rise time 1s 1s 5ns 5ns 10ms pulse duration 2ms 50s 100ns (burst) 100ns (burst) 400ms Rs 10 2 50 50 1 operating class C B A A C 11.3. EMC Bulk current injection (BCI), according to Renault 36-00-808/--E document (p61). current 60mA 100mA 200mA operating class A B C 11.4. EMI EMI requirement is given here as a target, since it is also PCB dependent. Any EMI issue will have to be solved on common basis with the customer. Radiated disturbance electromagnetic quietness test, according to Renault 36-00-808/--E document: * * Permanent broadband limit (Renault 36-00-808/--E document diagram p98) Narrow band limit (Renault 36-00-808/--E document diagram p99) 11.5. Power supply micro-interruptions According to Renault 36-00-808/--E (p47 and followings). test 10s micro-interruptions (1) 100s micro-interruptions 5ms micro-interruptions 50ms micro-interruptions 300ms micro-interruptions operating class A B B C C Note 1: To achieve Class A a 100nF capacitor between Vbat and ground is needed in case HW is connected to Vbat. (see 7 typical application) Rev. 3 | Page 41 of 42 | www.onsemi.com AMIS-30622 12. Packages Outline Note: see variations AC for dimensions D and N. 13. Conditioning To be documented ON Semiconductor and are registered trademarks of Semiconductor Components Industries, LLC (SCILLC). SCILLC reserves the right to make changes without further notice to any products herein. SCILLC makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does SCILLC assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation special, consequential or incidental damages. "Typical" parameters which may be provided in SCILLC data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. All operating parameters, including "Typicals" must be validated for each customer application by customer's technical experts. SCILLC does not convey any license under its patent rights nor the rights of others. SCILLC products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the SCILLC product could create a situation where personal injury or death may occur. Should Buyer purchase or use SCILLC products for any such unintended or unauthorized application, Buyer shall indemnify and hold SCILLC and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that SCILLC was negligent regarding the design or manufacture of the part. SCILLC is an Equal Opportunity/Affirmative Action Employer. This literature is subject to all applicable copyright laws and is not for resale in any manner. PUBLICATION ORDERING INFORMATION LITERATURE FULFILLMENT: Literature Distribution Center for ON Semiconductor P.O. Box 5163, Denver, Colorado 80217 USA Phone: 303-675-2175 or 800-344-3860 Toll Free USA/Canada Fax: 303-675-2176 or 800-344-3867 Toll Free USA/Canada Email: orderlit@onsemi.com N. American Technical Support: 800-282-9855 Toll Free USA/Canada Europe, Middle East and Africa Technical Support: Phone: 421 33 790 2910 Japan Customer Focus Center Phone: 81-3-5773-3850 For additional information, please contact your local Sales Representative Order Literature: http://www.onsemi.com/orderlit ON Semiconductor Website: www.onsemi.com Rev. 3 | Page 42 of 42 | www.onsemi.com |
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