AMIS-30624 I2C Microstepping Motordriver
Data Sheet
GetFullStatus2
This command is provided to the circuit by the master to get the actual, target and secure position of the steppermotor. Both the actual
and target position are returned in signed two’s complement 16-bit format. Secure position is coded in 10-bit format. According to the
programmed stepping mode the LSBs of ActPos[15:0]and TagPos[15:0]may have no meaning and should be assumed to be ‘0’.
This command also gives additional information concerning stall detection. Refer to Table 18 and Table 19 to see the meaning of the
parameters sent back to the I2C master.
GetFullStatus2corresponds to the following I2C command frame:
GetFullStatus2 Command Frame
Byte
Content
Structure
Bit 4
Bit 7
1
1
Bit 6
1
1
Bit 5
OTP3
1
Bit 3
Bit 2
OTP0
1
Bit 1
HW
0
Bit 0
0
0
OTP2
1
OTP1
1
0
1
Address
Command
GetFullStatus2 Response Frame
Structure
Byte
Content
Bit 7
1
1
Bit 6
1
1
Bit 5
OTP3
1
Bit 4
OTP2
OTP3
Bit 3
OTP1
OTP2
Bit 2
OTP0
OTP1
Bit 1
HW
OTP0
Bit 0
1
HW
0
1
2
3
4
5
6
7
8
Address
Address
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
ActPos[15:8]
ActPos[7:0]
TagPos[15:8]
TagPos[7:0]
SecPos[7:0]
FS2StallEn[2:0]
1
DC100
SecPos[10:8]
DelStallLo
DelStallHi
DC100StEn
AbsStall
MinSamples[2:0]
PWMJEn
Where:
OTP(n)
HW
ActPos[15:0]
TagPos[15:0]
SecPos[10:0]
OTP address bits PA[3:0]
Hardwired address bit
Actual position
Target position
Secure position
FS2StallEn[2:0] Number of full steps after stall detection is enabled
DC100
Flag indicating PWM is at 100 percent duty cycle
AbsStall
DelStallLo
DelStallHi:
Stall detected because the absolute threshold is not reached
Stall detected because the delta threshold is under crossed
Stall detected because the delta threshold is crossed
MinSamples[2:0] Back-emf sampling delay time
DC100StEn
PWMJEn
Enables the switch off of stall detection when DC100 = 1
PWM jitter enable
AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003
47
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