AMIS-30621 LIN Micro-stepping Motor Driver
Data Sheet
12.2 Maximum Velocity
For each stepping mode, the maximum velocity Vmax can be programmed to 16 possible values given in Table 7.
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.
Table 7: Maximum Velocity Selection Table
Vmax Index
Stepping Mode
1/4th
1/8th
Micro-stepping
(Micro-step/s)
790
1/16th
Micro-stepping
(Micro-step/s)
1579
Vmax
(Full-step/s)
Group
Half-stepping
(Half-step/s)
Hex Dec
Micro-stepping
(Micro-step/s)
395
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
99
A
197
273
334
395
425
456
486
546
607
668
729
790
912
1091
1457
1945
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
546
668
790
851
912
973
1091
1213
1335
1457
1579
1823
2182
2914
3891
1091
1335
1579
1701
1823
1945
2182
2426
2670
2914
3159
3647
4364
5829
7782
2182
2670
3159
3403
3647
3891
4364
4852
5341
5829
6317
7294
8728
11658
15564
B
9
C
D
10
11
12
13
14
15
12.3 Minimum Velocity
Once the maximum velocity is chosen, 16 possible values can be programmed for the minimum velocity Vmin. Table 8 provides the
obtainable values in full-step/s. The accuracy of Vmin is derived from the internal oscillator.
Table 8: Obtainable Values in Full-step/s for the Minimum Velocity
Vmax (Full-step/s)
Vmin Index
Vmax
Factor
A
99
99
3
6
9
12
15
18
21
24
28
31
34
37
40
43
46
B
C
D
Hex
0
Dec
0
136
136
4
167
167
5
197
197
6
213
213
6
228
228
7
243
243
7
273
273
8
303
303
8
334
334
10
364
364
10
395
395
11
456
456
13
546
546
15
729
729
19
973
973
27
1
1
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
2
2
8
10
15
20
26
31
36
41
47
51
57
62
68
72
78
11
18
24
31
36
43
49
55
61
68
73
80
86
93
12
19
26
32
39
46
52
59
66
72
79
86
93
99
13
21
28
35
42
50
56
64
71
78
85
93
99
107
14
22
30
37
45
52
60
68
75
83
91
98
106
113
15
17
19
21
23
27
31
42
57
3
3
12
16
21
25
30
33
38
42
47
51
55
59
64
25
27
31
32
36
42
50
65
88
4
4
32
36
40
51
61
72
82
93
103
114
124
135
145
156
44
55
67
78
48
61
72
86
55
71
84
99
113
128
141
156
170
185
198
214
65
84
99
88
118
149
179
210
240
271
301
332
362
393
423
454
5
5
42
46
111
134
156
179
202
225
248
271
294
317
340
6
6
50
55
7
7
59
65
118
134
153
168
187
202
221
237
256
8
8
67
74
90
97
9
9
76
84
101
113
124
135
147
158
170
111
122
135
147
160
172
185
A
B
C
D
E
10
11
12
13
14
15
84
93
93
103
113
122
132
141
101
111
118
128
F
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.
AMI Semiconductor – Sept. 2007, Rev 1.5
11
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