AMIS-30624 I2C Microstepping Motordriver
Data Sheet
ResetToDefault
This command is provided to the circuit by the I2C master in order to reset the whole slave node into the initial state. ResetToDefault
will, for instance, overwrite the RAM with the reset state of the registers parameters (see Table 18). This is another way for the I2C
master to initialize a slave node in case of emergency, or simply to refresh the RAM content.
Note: ActPosand TagPosare not modified by a ResetToDefaultcommand.
Important: Care should be taken not to send a ResetToDefault command while a motion is ongoing, since this could modify the
motion parameters in a way forbidden by the position controller.
ResetToDefaultcorresponds to the following I2C command frame:
ResetToDefault Command Frame
Byte
Content
Structure
Bit 7
1
1
Bit 6
1
0
Bit 5
OTP3
0
Bit 4
OTP2
0
Bit 3
OTP1
0
Bit 2
OTP0
1
Bit 1
HW
1
Bit 0
0
1
0
1
Address
Command
RunVelocity
This command is provided to the circuit by the I2C master in order to put the motor in continuous motion state.
RunVelocitycorresponds to the following I2C command frame:
RunVelocity Command Frame
Byte
Content
Structure
Bit 7
1
1
Bit 6
1
0
Bit 5
OTP3
0
Bit 4
OTP2
1
Bit 3
OTP1
0
Bit 2
OTP0
1
Bit 1
HW
1
Bit 0
0
1
0
1
Address
Command
SetDualPosition
This command is provided to the circuit by the I2C master in order to perform a positioning of the motor using two different velocities.
See Section Dual Positioning.
Note1: This sequence cannot be interrupted by another positioning command.
Important: If for some reason ActPosequals Pos1[15:0]at the moment the SetDualPositioncommand is issued, the circuit will
enter in deadlock state. Therefore, the application should check the actual position by a GetFullStatus2 command prior to starting
a dual positioning. Another solution may consist of programming a value out of the steppermotor range for Pos1[15:0]. For the same
reason Pos2[15:0]should not be equal to Pos1[15:0].
SetDualPositioncorresponds to the following I2C command frame;
SetDualPosition Command Frame
Byte
Content
Structure
Bit 4
Bit 7
Bit 6
Bit 5
Bit 3
OTP1
1
1
1
Bit 2
OTP0
0
1
1
Bit 1
HW
0
1
1
Bit 0
1
1
1
1
1
0
1
1
OTP3
OTP2
0
0
1
1
0
1
2
3
4
5
6
7
8
Address
Command
Data 1
Data 2
Data 3
Data 4
Data 5
Data 6
Data 7
0
1
1
0
1
1
Vmax[3:0]
Vmin[3:0]
Pos1[15:8]
Pos1[7:0]
Pos2[15:8]
Pos2[7:0]
Where:
Vmax[3:0] Max. velocity for first motion
Vmin[3:0] Min. velocity for first motion and velocity for the second motion
Pos1[15:0]First position to be reached during the first motion
Pos2[15:0]Relative position of the second motion
AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003
www.amis.com
49
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