AMIS-30622

AMIS-30622 AMI | Alldatasheet

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Technical content

Features

AMI Semiconductor - Rev. 2.3 1www.amis.com

Ordering Information

Part N° AMIS-30622 Package SOIC-20 Peak Current 800mA Temp. Range -40°C…125°C

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 2www.amis.com Table of Contents Document History Version Date of Version

2.0 March 4th, 2003

2.1 April 2nd, 2003

2.2 April 3rd, 2003

2.3 May 28th, 2003

1. Quick Reference Data 3

1.1 Absolute Maximum Ratings 3

1.2 Operating Ranges 3

1. Block Diagram 3 3. Pin-out 4 4. Package Thermal Resistance 4

4.1 SO20 4

1. DC-Parameters 5 6. AC-Parameters 6 7. Typical Application 7 8. Positioning Data 8

8.1 Stepping Modes 8

8.2 Maximum Velocity 8

8.3 Minimum Velocity 8

8.4 Acceleration and Deceleration 9

8.5 Positioning 9

8.5.1 Position Ranges 9

8.5.2 Secure Position 10

8.5.3 Shaft 10

1. Functional Description 10 9.1. Structure Description 10

9.1.1 Stepper Motordriver 10

9.1.2 Control Logic (Position Controller

and Main Control) 10

9.1.3 Miscellaneous 10

9.2 Functions Description 11

9.2.1 Position Controller 11

9.2.1.1 Positioning and Motion Control 11

9.2.1.2 Position Initialization 13

9.2.1.3 External Switch and HW Pin 14

9.2.2 Main Control and Register, OTP

9.2.2.1 Power-up Phase 15

9.2.2.2 Reset State 15

9.2.2.3 Soft Stop 15

9.2.2.4 Thermal Shutdown Mode 15

9.2.2.5 Temperature Management 15

9.2.2.6 Battery Voltage Management 16

9.2.2.7 Motor Shutdown Mode 17

9.2.2.8 RAM Registers 18

9.2.2.9 Flags Table 19

9.2.2.10 Application Commands 20

9.2.2.11 Priority Encoder 21

9.2.2.12 Application Parameters Stored in

9.2.2.13 OTP Memory Structure 24

9.2.3 Motordriver 25

9.2.3.1 Current Waveforms in the Coils 25

9.2.3.2 PWM Regulation 25

9.2.3.3 Motor Starting Phase 25

9.2.3.4 Motor Stopping Phase 26

9.2.3.5 Charge Pump Monitoring 26

9.2.3.6 Electrical Defect on Coils, Detection

9.2.4 Inter-IC Control (I

2C) Bus 27

9.2.4.1 Physical Layer 27

9.2.4.2 Communication on 2-wire Serial Bus

9.2.4.3 Physical Address of the Circuit 28

9.2.4.4 Write Data to AMIS-30622 28

9.2.4.5 Read Data from AMIS-30622 28

9.2.4.6 Timing and Electrical Characteristics

of the Serial Interface 28

9.2.4.7 Description of Application Commands 29

9.2.4.8 Command Overview 29

9.2.4.9 Commands Description 29

1. Features 34

10.1 Position Periodicity 34

1. Resistance to Electrical and Electromagnetic Disturbances 34

11.1 Electrostatic Discharges 34

11.2 Schäffner Pulses 34

11.3 EMC 34

11.4 EMI 35

11.5 Power Supply Micro-Interruptions 35

1. Packages Outline 35 13. Conditioning 35

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 3www.amis.com

1.0 Quick Reference Data

2.0 Block Diagram

1.1. Absolute Maximum Ratings Parameter Min Max Unit Vbb Supply voltage -0.3 +40 (1) V Tamb Ambient temperature under bias (2) -50 +150 °C Tst Storage temperature -55 +160 °C Vesd Electrostatic discharge voltage on all pins (3) -2 +2 kV 1.2. Operating Ranges Parameter Min Max Unit Vbb Supply voltage (1) +6.5 +29 V Top Operating temperature range Vbb ≤ 18V -40 +125 °C Vbb ≤ 29V -40 +85 °C Notes (1) For limited time: < 0.5 s. (2) The circuit functionality is not guaranteed. (3) Human body model (100 pF via 1.5 kΩ, according to MIL std. 883E, method 3015.7). Notes (1) Motordriver is disabled when Vbb < 8.9V.

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 4www.amis.com

3.0 Pin-out

4.0 Package Thermal Resistance

Pin Name Pin Description SOIC-20 SDA Serial I/O 1 SCK Clock for SDA 2 VDD Internal supply (needs external decoupling capacitor) 3 GND Ground, heat sink 4,7,14,17 TST1 Test pin (to be tied to ground in normal operation) 5 TST2 Test pin (to be left open in normal operation) 6 HW Hardwired address bit 8 CPN Negative connection of pump-capacitor (charge pump) 9 CPP Positive connection of pump-capacitor (charge pump) 10 VCP Charge-pump filter-capacitor 11 VBB Battery voltage supply 12, 19 MOTYN Negative end of phase Y coil 13 MOTYP Positive end of phase Y coil 15 MOTXN Negative end of phase X coil 16 MOTXP Positive end of phase X coil 18 SWI Switch input 20 SOIC-20 4.1. SO20 The junction-case thermal resistance is 28°C/W, leading to a junction-ambient thermal resistance of 63°C/W, with the PCB ground plane layout condition given on the figure beside, and with:

• PCB thickness = 1.6mm
• 1 layer
• Copper thickness = 35µm

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 5www.amis.com

5.0 DC Parameters

Symbol Pin(s) Parameter Test Conditions Min Typ Max Unit Motordriver IMSmax Peak Max current trough motor 800 mA coil in normal operation IMSmax RMS MOTXP Max RMS current trough 570 mA MOTXN coil in normal operation IMSabs MOTYP Absolute error on coil current -10 10 % IMSrel MOTYN Error on current ratio Icoilx / Icoily -7 7 % RDSon On resistance for each pin To be confirmed by 1 Ω (including bond wire) characterization IMSL Pull down current HZ mode 1 mA Thermal Warning & Shutdown Ttw Thermal warning 138 145 152 °C Ttsd Thermal shutdown (1) Ttw+10 °C Tlow Low temperature warning Ttw-155 °C Supply & Voltage Regulator Vbb Nominal operating supply range (2) 6.5 18 V VbbOTP Supply voltage for OTP zapping 9.0 10.0 V UV1 VBB Stop voltage high threshold 9.8 V UV2 Stop voltage low threshold 8.0 8.5 9.0 V Ibat Total current consumption Unloaded outputs 10 mA Vdd Internal regulated output (3) 8V < Vbb < 18V Cload = 1µF (+100nF cer.) 4.75 5 5.35 V IddStop VDD Digital current consumption Vbb < UV2 2 mA VddReset Digital supply reset level (4) 4.4 V IddLim Current limitation Pin shorted to ground 40 mA Switch Input and Hardwire Address Input Rt_OFF Switch OFF resistance (5) Switch to Gnd or Vbat, 10 k Ω Rt_ON Switch ON resistance (5) 2k Ω Vbb_sw SWI Vbb range for guaranteed 62 9 V HW operation of SWI and HW Vmax_sw Maximum voltage T < 1s 40V V Ilim_sw Current limitation Short to Gnd or Vbat 30 mA Serial Interface Pins VIL Input level low (6) -0.5 0.3 Vdd V VIH Input level high (7) 0.7 Vdd Vdd + 0.5 V Noise margin at the LOW level VnL SDA for each connected device 0.1V DD V SCK (including hysteresis) Noise margin at the HIGH level VnH for each connected device 0.2V DD V (including hysteresis) Charge Pump Vcp VCP Output voltage Vbb > 15V Vbb+10 Vbb+12.5 Vbb+15 V Vbb > 8V Vbb+5.8V V Cbuffer External buffer capacitor 220 470 nF Cpump CPP External pump capacitor 220 470 nF CPN The DC parameters are given for Vbb and temperature in their operating ranges. Convention: currents flowing in the circuit are defined as positive. 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 1kΩ series resistor. (6) If input voltage ≤ 0.3V, then a resistor of 22 to 100 Ω must be added in series. (7) In case 100kHz ≤ f SCL ≤ 360kHz VIH min = 0.7VDD.

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 6www.amis.com

6.0 AC Parameters

Symbol Pin(s) Parameter Test Conditions Min Typ Max Unit Power-up Tpu Power-up time 10 ms Internal Oscillator fosc Frequency of internal oscillator 3.6 4.0 4.4 MHz I2C Transceiver fSCL SCL clock frequency fSCL ≤ 100kHz 0 100 kHz fSCL ≤ 360kHz 0 360 kHz tHD;STA Hold time (repeated) START f SCL ≤ 100kHz 4.0 µs condition. After this period, f SCL ≤ 360kHz 0.6 µs the first clock pulse is generated. tLOW LOW period of the SCK clock fSCL ≤ 100kHz 4.7 µs fSCL ≤ 360kHz 1.3 µs tHIGH HIGH period of the SCK clock fSCL ≤ 100kHz 4.0 µs fSCL ≤ 360kHz 0.6 µs tSU;STA Set-up time for a repeated f SCL ≤ 100kHz 4.7 µs START condition f SCL ≤ 360kHz 0.6 µs tSU;DAT Data set-up time fSCL ≤ 100kHz 250 ns fSCL ≤ 360kHz 100 ns tr SDA Rise time of both SDA and f SCL ≤ 100kHz 1000 ns SCK SCK signals (1) fSCL ≤ 360kHz 20+0.1C b 300 ns tf Fall time of both SDA and f SCL ≤ 100kHz 300 ns SCK signals (1) fSCL ≤ 360kHz 20+0.1C b 300 ns tSU;STO Set-up time for STOP condition fSCL ≤ 100kHz 4.0 µs fSCL ≤ 360kHz 0.6 µs tBUF Bus free time between a STOP f SCL ≤ 100kHz 4.7 µs and START condition f SCL ≤ 360kHz 1.3 µs tSP Pulse width of spikes which must be suppressed by the input filter 50 ns Cb Capacitive load for each bus line 400 pF Ci Capacitance for each I/O pin 10 pF Switch Input and Hardwire Address Input Tsw SWI Scan pulse period (2) 1024 µs Tsw_on HW Scan pulse duration 1/16 Tsw Motordriver fpwm PWM frequency (2) 18 20 22 kHz Tbrise MOTxx Turn-on transient time Between 10% and 90% 350 ns Tbfall Turn-off transient time 250 ns Charge Pump fCP CPN Charge pump frequency (2) 250 kHz CPP The AC parameters are given for Vbb and temperature in their operating ranges. Notes (1) Cb = total capacitance of one bus line in pF. (2) Derived from the internal oscillator.

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 7www.amis.com

7.0 Typical Application

(1) Optionally an external switch to Vbat or GND can be connected to the SWI pin. (2) Resistors tolerance: ± 5%. (3) Depending on the application the ESR value of the 1µF and 100µF capacitors must be carefully chosen. The working voltage of the 100µF 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 ≤ 0.3V, then a resistor of 22 to 100Ω must be added in series.

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 8www.amis.com Vmax Vmax Stepping Mode Index (Full Step/s) Group Half-Stepping 1/4 th Micro-stepping 1/8 th Micro-stepping 1/16 th Micro-stepping (half-step/s) (micro-step/s) (micro-step/s) (micro-step/s) 09 9A 197 395 790 1579 1 136 273 546 1091 2182 2 167 334 668 1335 2670 3 197 B 395 790 1579 3159 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 C 668 1335 2670 5341 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 D 1457 2914 5829 11658 15 973 1945 3891 7782 15564

8.0 Positioning Data

8.1 Stepping Modes

One of four 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.

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. Vmax Vmax Vimax (Full Step/s) Index Factor 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 01 9 9 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 1 1/32 3 4 5 6 6 7 7 8 8 10 10 11 13 15 19 27 2 2/32 6 8 10 11 12 13 14 15 17 19 21 23 27 31 42 57 3 3/32 9 12 15 18 19 21 22 25 27 31 32 36 42 50 65 88 4 4/32 12 16 20 24 26 28 30 32 36 40 44 48 55 65 88 118 5 5/32 15 21 26 31 32 35 37 42 46 51 55 61 71 84 111 149 6 6/32 18 25 31 36 39 42 45 50 55 61 67 72 84 99 134 179 7 7/32 21 30 36 43 46 50 52 59 65 72 78 86 99 118 156 210 8 8/32 24 33 41 49 52 56 60 67 74 82 90 97 113 134 179 240 9 9/32 28 38 47 55 59 64 68 76 84 93 101 111 128 153 202 271 10 10/32 31 42 51 61 66 71 75 84 93 103 113 122 141 168 225 301 11 11/32 34 47 57 68 72 78 83 93 103 114 124 135 156 187 248 332 12 12/32 37 51 62 73 79 85 91 101 113 124 135 147 170 202 271 362 13 13/32 40 55 68 80 86 93 98 111 122 135 147 160 185 221 294 393 14 14/32 43 59 72 86 93 99 106 118 132 145 158 172 198 237 317 423 15 15/32 46 64 78 93 99 107 113 128 141 156 170 185 214 256 340 454 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.

AMIS-30622 I2C Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 2.3 9www.amis.com Stepping Position Word: Pos [15 : 0] Shift Mode 1/16th S B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB No shift 1/8th S B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 0 1-bit left ↔ x2 1/4th S B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 00 2-bit left ↔ x4 Half-stepping S B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 00 0 3-bit left ↔ x8 SecurePosition S B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 00 00 0 No shift Vmax (FS/s) ‘ 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 ACC Index Acceleration (Full Step/s 2) 04 9 106 473 1 218 735 2 1004 3 3609 4 6228 5 8848 6 11409 7 13970 8 16531 9 19092 10 21886 11 24447 12 27008 13 29570 14 29570 34925 15 40047

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 2. One observes restrictions for some combination of acceleration index and maximum speed (gray cells). The accuracy of Accis derived from the internal oscillator.

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.

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. 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. 14785 The formula to compute the number of equivalent Full-step during acceleration phase is: Command Stepping Mode Position Range Full Range Number of Bits Half-stepping -4096 to +4095 8192 half-steps 13 SetPosition 1/4th micro-stepping -8192 to +8191 16384 micro-steps 14 1/8th micro-stepping -16384 to +16383 32768 micro-steps 15 1/16th micro-stepping -32768 to +32767 65536 micro-steps 16

AMI Semiconductor - Rev. 2.3 10www.amis.com

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.Important note The secure position is disabled in case the programmed value is the reserved code “10000000000” (most negative position).

8.5.3 Shaft

A shaft bit can be programmed to define whether a positive motion is an outer or an inner motion:

• Shaft = 0 ➞ MOTXP is used as positive pin of the X coil, while MOTXN is the negative one.
• Shaft = 1 ➞ opposite situation. Stepping Mode Secure Position Resoultion Half-stepping 4 half-steps th micro-stepping 8 micro-steps (1/4 th) 1/8th micro-stepping 16 micro-steps (1/8 th) 1/16th micro-stepping 32 micro-steps (1/16 th)

9.0 Functional Description

9.1 Structure Description

9.1.1 Stepper Motordriver

The motordriver receives the control signals from the control logic. It mainly features:

• 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.
• 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)

The control logic block stores the information provided by the I 2C interface (in the RAM or OTP memory) and digitally controls the positioning of the stepper motor in terms 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 internal actions and reporting to the I 2C interface.

9.1.3 Miscellaneous

The AMIS-30622 also implements the followings:

• 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. AMIS-30622 I2C Microstepping Motordriver Data Sheet

Pmax - Pmin See § 8.5 Zero Speed Hold Current See § 9.2.2.12 ( Ihold) Maximum Current See § 9.2.2.12 ( Irun) Acceleration and Deceleration See § 8.4 Vmin See § 8.3 Vmax See § 8.2 AMI Semiconductor - Rev. 2.3 11www.amis.com

9.2 Functions Description

This chapter describes the four most important blocks:

• Position controller
• Main control and register, OTP memory + RAM
• Motordriver
• I 2C controller

9.2.1 Position Controller

9.2.1.1 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. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 12www.amis.com Different positioning examples are shown in the table below. Short motion New positioning command in reverse direction while in deceleration phase New velocity programming while motion is running New positioning command in reverse direction while motion is running at maximum velocity 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. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 13www.amis.com

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 two successive motions, as illustrated below. 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 s ome 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]. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 14www.amis.com

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 Ω external series resistor is used. 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 <ESW>is raised. The status of this flag can be read by the application via a GetActualPos or a GetFullStatus1 reading frame. At the falling edge of every current pulse (at around 1kHz), the stepper motor actual position is refreshed (register ActPos, see § 9.2.2.9), so that the master node may get synchronous information about the state of the switch together with the position of the motor. The position is then given with an accuracy of ± 1 half-step (or micro- step, depending of the programmed stepping mode). The block diagram below shows how this function is implemented for HW. With the following truth table: State Sink Source New State Float 1 0 Float Float 1 0 HWHi Float 0 1 Float Float 0 1 HWLo HWLo 1 0 HWLo HWLo 1 0 HWHi HWLo 0 1 Float HWLo 0 1 HWLo HWHi 1 0 Float HWHi 1 0 HWHi HWHi 0 1 HWHi HWHi 0 1 HWLo HWHi address = "1" HWLo address = "0" Note If HW is detected to be floating, motion to the secure position is performed. note that e.g. if HW is connected to GND, LS-part will report "float" while HS-part will report "low resistance detected". AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 15www.amis.com

9.2.2 Main Control and Register, OTP Memory + RAM

9.2.2.1 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 I 2C 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 <TW> and <TSD> (respectively Thermal Warning and Thermal Shutdown) is to be at a temperature lower than Ttw and to get the occurrence of a GetFullStatus1 command. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 16www.amis.com

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 <UV2> and <StepLoss> is to recover a battery voltage higher than UV1 and to receive a GetFullStatus1 command. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 17www.amis.com

9.2.2.7 Motor Shutdown Mode

A motor shutdown occurs when: 1. The chip temperature rises above the thermal shutdown threshold T tsd (see § 5 DC-Parameters). 2. The battery voltage goes below UV2 (see § 5 DC Parameters). 3. Flag <ElDef> = ‘1’, meaning an electrical problem is detected on one or both coils. 4. Flag <CPFail> = ‘1’, meaning there is a charge pump failure. A motor shutdown leads to the followings:

• H-bridges in high impedance mode.
• The TagPos register is loaded with the ActPos (to avoid any motion after leaving the motor shutdown mode) The I 2C interface remains active, being able to receive orders or send status. The conditions to get out of a motor shutdown mode are:
• Reception of a GetFullStatus1command AND
• The four above causes are no more detected. Which leads to H-bridges in Ihold mode. Hence the circuit is ready to execute any positioning command. This can be illustrated in the following sequence given as an application tip. The Master can check whether there is a problem or not and decide which application strategy to adopt. 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 The application should limit the number of consecutive GetFullStatus1 commands to try to get the AMIS-30622 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 H-bridges. 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. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 18www.amis.com Register Mnemonic Length (bit) Related Commands Comment Reset State GetActualPos Actual Position ActPos 16 GetFullStatus2 - 16-bit signed GotoSecurePos ResetPosition (1) GetFullStatus2 Last Programmed Pos/ GotoSecurePos - 16-bit signed or Position TagPos ResetPosition - 11-bit signed for half stepping SetPosition (see § 8.5) GetFullStatus ‘0’ ➞ normal acceleration from Vmin to Vmax Acceleration Shape AccShape 1 ResetToDefault ‘1’ ➞ motion at Vmin without '0' SetMotorParam acceleration GetFullStatus Coil peak Current Irun 4 ResetToDefault Operating current (see § 9.2.2.12) SetMotorParam GetFullStatus Coil Hold Current Ihold 4 ResetToDefault Standstill current (see § 9.2.2.12) SetMotorParam GetFullStatus Minimum Velocity Vmin 4 ResetToDefault See § 8.3 and § 9.2.2.12 SetMotorParam (look-up table) GetFullStatus Maximum Velocity Vmax 4 ResetToDefault See § 8.2 and § 9.2.2.12 SetMotorParam (look-up table) From OTP GetFullStatus memory Shaft Shaft ResetToDefault Direction of movement for SetMotorParam positive velocity Acceleration/ GetFullStatus Deceleration Acc 4 ResetToDefault See § 8.4 and § 9.2.2.12 SetMotorParam (look-up table) GetFullStatus2 Target position when I2C Secure Position SecPos ResetToDefault connection fails; 11 MSBs SetMotorParam of 16-bit position (LSBs fixed to ‘0’) GetFullStatus Stepping Mode StepMode 2 ResetToDefault See § 8.1 and § 9.2.2.12 SetMotorParam

9.2.2.8 RAM Registers

(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. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor- Rev. 2.3 19www.amis.com Register Mnemonic Length (bit) Related Commands Comment Reset State Charge Pump CPFail 1 GetFullStatus ‘0’ = charge pump OK Failure ‘1’ = charge pump failure ‘0’ reset only after GetFullStatus1 GetActualPos OVC1 > or < OVC2 > or < open Electrical Defect ElDef GetStatus circuit 1 > or < open circuit 2 GetFullStatus1 or < CPFail > ‘1’ resets only after GetFullStatus1 External Switch ESW 1 GetActualPos Status GetStatus ‘0’ = open ‘0’ GetFullStatus1 ‘1’ = close Electrical Flag HS Internal use CPFail > or < UV2 > or < ElDef or <VDDreset> ‘0’ “x00” = Stop “001” = inner motion acceleration “010” = inner motion deceleration Motion Status Motion 3 GetFullStatus1 “011” = inner motion max. speed “000” “101” = outer motion acceleration “110” = outer motion deceleration “111” = outer motion max. speed Over Current in OVC1 GetFullStatus1 ‘1’ = over current Coil X reset only after GetFullStatus1 ‘1’ Over Current in OVC2 1 GetFullStatus1 ‘1’ = over current Coil Y reset only after GetFullStatus1 ‘1’ Secure Position SecEn Internal use ‘0’ if SecPos = “100 0000 0000” Enabled ‘1’ otherwise n.a. GetActualPos Step Loss StepLoss 1 GetStatus ‘1’ = step loss due to under ‘1’ GetFullStatus1 voltage, over current or open circuit Motor Stop Stop Internal use See § 9.2.2.11 ‘0’ GetActualPos “00” = normal temperature range Temperature Info Tinfo 2 GetStatus “01” = low temperature warning “00” GetFullStatus1 “10” = high temperature warning “11” = motor shutdown GetActualPos ‘1’ = shutdown (> 155°C typ.) Thermal Shutdown TSD GetStatus reset only after GetFullStatus1 ‘0’ GetFullStatus1 and if <Tinfo> = “00” GetActualPos ‘1’ = over temp. (> 145°C) Thermal Warning TW 1 GetStatus reset only after GetFullStatus1 ‘0’ GetFullStatus1 and if <Tinfo>= “00” Battery GetActualPos ‘0’ = Vbb > UV2 Stop UV2 GetStatus ‘1’ = Vbb ≤ UV2 ‘0’ Voltage GetFullStatus1 reset only after GetFullStatus1 Set at ‘1’ after power-up of the circuit. GetActualPos If this was due to a supply micro-cut, Digital Supply VddReset 1 GetStatus may have been lost; it warns that the ‘1’ Reset GetFullStatus1 RAM contents can be reset to ‘0’ with a GetFullStatus1command.

9.2.2.9 Flags Table

AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 20www.amis.com

9.2.2.10 Application Commands

The I2C 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 Function GetFullStatus1 Returns complete status of the chip GetFullStatus2 Returns actual, target and secure position GetOTPParam Returns OTP parameters GotoSecurePosition Drives motor to secure position HardStop Immediate full stop ResetPosition Sets actual position to zero ResetToDefault Overwrites the chip RAM with OTP contents RunInit Reference Search SetMotorParam Sets motor parameter SetOTP Zaps the OTP memory SetPosition Programmes a target SoftStop Motor stopping with deceleration phase AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 21www.amis.com

9.2.2.11 Priority Encoder

The table below describes the state management performed by the Main control block. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 22www.amis.com 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 <VddReset> flag). (2) A RunInit sequence runs with a separate set of RAM registers. The parameters that are not specified in a RunInit command are loaded with the values stored in RAM at the moment the RunInit sequence starts. AccShape is forced to ‘1’ during second motion even if a ResetToDefault command is issued during a RunInit sequence, in which case AccShape at ‘0’ will be taken into account after the RunInit sequence. A GetFullStatus1 command will return the default parameters for Vmax and Vmin stored in RAM. (3) Shutdown state can be left only when < TSD> and < HS> flags are reset. (4) Flags can be reset only after the master could read them via a GetFullStatus1 command, and provided the physical conditions allow for it (normal temperature, correct battery voltage and no electrical or charge pump defect). (5) A SetMotorParam command sent while a motion is ongoing (state GotoPos) should not attempt to modify Acc and Vmin values. This can be done during a RunInit sequence since this motion uses its own parameters, the new parameters will be taken into account at the next SetPosition command. (6) <SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000 0000”). (7) <Stop> flag allows distinguishing whether state Stopped was entered after HardStop/SoftStop or not. < Stop> is set to ‘1’ when leaving state HardStop or SoftStop and is reset during first clock edge occurring in state Stopped. (8) While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. This transition has the lowest priority, meaning that < Stop>, < TSD>, etc. are first evaluated for possible transitions. (9) If <StepLoss> is active, then SetPosition and GotoSecurePosition commands are ignored (they will not modify TagPos register whatever the state), and motion to secure position is forbidden. Other command like RunInit or ResetPosition will be executed if allowed by current state. < StepLoss > can only be cleared by a GetFullStatus1 command. AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 23www.amis.com

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] Physical address of the stepper motor. Up to 32 Stepper-motors can theoretically be connected to the same I 2C bus. Irun[3:0] Peak current value to be fed to each coil of the stepper motor. The table to the right provides the 16 possible values for IRUN. Irun Peak current (mA) 000 0 5 9 000 1 7 1 001 0 8 4 001 1 100 010 0 119 010 1 141 011 0 168 011 1 200 100 0 238 100 1 283 101 0 336 101 1 400 110 0 476 110 1 566 111 0 673 111 1 800 Ihold[3:0] Hold current for each coil of the stepper motor. The table to the right provides the 16 possible values for IHOLD. Ihold Hold current (mA) 000 0 5 9 000 1 7 1 001 0 8 4 001 1 100 010 0 119 010 1 141 011 0 168 011 1 200 100 0 238 100 1 283 101 0 336 101 1 400 110 0 476 110 1 566 111 0 673 111 1 800 StepMode Indicator of stepping mode to be used. StepMode Step mode

00 Half stepping

AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor- Rev. 2.3 24www.amis.com 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. 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 steppermotor 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’. Vmax[3:0] Maximum velocity, minimum velocity and Vmin[3:0] acceleration of the stepper motor are Acc[3:0] programmed by coding the respective Vmax, Vmin and Acc parameters index as defined in § 8 Positioning Data. 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’. The command used to load the application parameters via the I 2C bus in the RAM prior to an OTP Memory programming is SetMotorParam . This allows for a functional verification before using a SetOTPparam 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.

9.2.2.13 OTP Memory Structure

The table below shows how the parameters to be stored in the OTP memory are located. Code Parameter Index 000 0 0 000 1 1 001 0 2 001 1 3 010 0 4 010 1 5 011 0 6 011 1 7 100 0 8 100 1 9 101 0 1 0 101 1 1 1 110 0 1 2 110 1 1 3 111 0 1 4 111 1 1 5 OSC3 OSC2 OSC1 OSC0 IREF3 IREF2 IREF1 IREF0 TSD2 TSD1 TSD0 BG3 BG2 BG1 BG0 PA3 PA2 PA1 PA0 Irun3 Irun2 Irun1 Irun0 Ihold3 Ihold2 Ihold1 Ihold0 Vmax3 Vmax2 Vmax1 Vmax0 Vmin3 Vmin2 Vmin1 Vmin0 SecPos10 SecPos9 SecPos8 Shaft Acc3 Acc2 Acc1 Acc0 SecPos7 SecPos6 SecPos5 SecPos4 SecPos3 SecPos2 SecPos1 SecPos0 StepMode1 StepMode0 LOCKBT LOCKBG OTP Address 7 6 5 4 3 2 1 0 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 Lock Bit Protected Byte LOCKBT (zapped before delivery) 0x00 to 0x01 LOCKBG 0x00 to 0x07 AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 25www.amis.com

9.2.3 Motordriver

9.2.3.1 Current Waveforms in the Coils

The figure below illustrates the current fed to the motor coils by the motordriver in half-step mode.

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. Whereas the figure below shows the current fed to one coil in 1/16 th microstepping (1 electrical period). AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 26www.amis.com

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 1/4 th of an electrical period at minimum velocity (thus 2 half-steps). 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.

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 < CPFail > (available with command GetFullStatus1). In case this failure occurs while a motion is ongoing, the flag <StepLoss> is also raised.

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 Fault Mode Yi or Xi Short circuit to GND Yi or Xi Short circuit to Vbat Yi or Xi Open Y1 and Y2 Short circuited X1 and X2 Short circuited Xi and Yi Short circuited AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 27www.amis.com

9.2.4 Inter-IC Control (I2C) Bus

The I2C interface enabled in the AMIS-30622 uses pins 1 and 2 as Data I/O and Serial Clock respectively.

9.2.4.1 Physical Layer

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.

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. 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). Bit Transfer on 2-wire Serial Bus Interface Start / Stop Conditions AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 28www.amis.com

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 I 2C 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 four 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]) 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 AMIS-30622 are supporting 8 bytes of data, other commands are transmitting 2 bytes of data.

9.2.4.5 Read Data from AMIS-30622

When reading data from a slave two transmissions are needed. The first transmission consists of two 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. See § 5 and § 6 for DC and AC parameter values.

9.2.4.6 Timing and Electrical Characteristics of the Serial Interface

AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 29www.amis.com

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

9.2.4.9 Commands Description

This command is provided to the circuit by the Master to get a complete status of the circuit and of the stepper motor. 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 (Vmaxand 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 <Motion [2:0]>
• over current flags for coil #1 <OVC1> and coil #2 <OVC2>
• digital supply reset <VddReset>
• charge pump status <CPFail>
• external switch status <ESW>
• step loss <StepLoss>
• electrical defect <ElDef>
• under voltage <UV2>
• temperature information <Tinfo>
• temperature warning <TW>
• temperature shutdown <TSD>

9.2.4.8 Command Overview

Command Mnemonic Function Command Byte Binary Hexadecimal GetFullStatus1 Returns complete status of the chip “1000 0001” 0x81 GetFullStatus2 Returns actual, target and secure position “1111 1100” 0xFC GetOTPParam Returns OTP parameter “1000 0010” 0x82 GotoSecurePosition Drives motor to secure position “1000 0100” 0x84 HardStop Immediate full stop “1000 0101” 0x85 ResetPosition Sets actual position to zero “1000 0110” 0x86 ResetToDefault Overwrites the chip RAM with OTP contents “1000 0111” 0x87 RunInit Reference search “1000 1000” 0x88 SetMotorParam Sets motor parameter “1000 1001” 0x89 SetOTP Zaps the OTP memory “1001 0000” 0x90 SetPosition Programmes a target and secure position “1000 1011” 0x8B SoftStop Motor stopping with deceleration phase “1000 1111” 0x8F GetFullStatus1Command Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 GetFullStatus1 1 0 0 0 0 0 0 1

GetFullStatus1Command (Response) Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 1

1 Address 11 11 OTP3 OTP2 OTP1 OTP0

2 Irun& Ihold Irun [3:0] Ihold [3:0]

3 Vmax& Vmin Vmax [3:0] Vmin [3:0]

4 Status 1 AccShape StepMode[1:0] Shaft ACC[3:0]

5 Status 2 VDDReset StepLoss ElDef UV2 TSD TW Tinfo[1:0]

6 Status 3 Motion[2:0] ESW OVC1 OVC2 1 CPFail

7 N/A 111 11111

8 N/A 111 11111

AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 30www.amis.com GetFullStatus2Command Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 GetFullStatus2 1 1 1 1 1 1 0 0

GetFullStatus2Command (Response) Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 1

2 Actual Position 1 ActPos[15:8]

3 Actual Position 2 ActPos[7:0]

4 Target Position 1 TagPos[15:0]

5 Target Position 2 TagPos[7:0]

6 Secure Position SecPos[7:0]

7 Secure Position 1 1 1 1 1 SecPos[10:8]

8 N/A 111 11 1 11

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 three 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 <ActPos [15:0]>
• target position of the stepper motor <TagPos [15:0]>
• secure position of the stepper motor <SecPos[10:0])> 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. GetOTPParamCommand Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 GetOTPParam 1 0 0 0 0 0 1 0

GetOTPParamCommand (Response) Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 1

1 OTP byte 0 OTP@0x00

2 OTP byte 1 OTP@0x01

3 OTP byte 2 OTP@0x02

4 OTP byte 3 OTP@0x03

5 OTP byte 4 OTP@0x04

6 OTP byte 5 OTP@0x05

7 OTP byte 6 OTP@0x06

OTP byte 7 OTP@0x07 AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 31www.amis.com GotoSecurePosition The Master provides this command to one or all the Stepper-motors to move to the secure position SecPos[10:0]. GotoSecurePositionCommand Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 GotoSecurePosition1 0 0 0 0 1 0 0

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 <StepLoss> flag is raised allowing warning the Master that steps may have been lost at the next GetStatus command. The Master for some safety reasons can also issue a HardStop command. HardStopCommand Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 HardStop 1 0 0 0 0 1 0 1

This command is provided to the circuit by the Master to reset ActPosand TagPosregisters, in order to allow a positioning for an initialisation of the stepper motor position. ResetPositionCommand Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 ResetPosition 1 0 0 0 0 1 1 0

The Master provides this command to the circuit in order to reset the whole Slave node into the initial state. ResetToDefaultswill 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. ResetToDefaultsCommand Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 ResetToDefaults 1 0 0 0 0 1 1 1

AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 32www.amis.com RunInit The Master provides this command to the circuit in order to initialize 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. 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) SetOTP The Master provides this command to the circuit in order to zap the OTP memory. RunInitCommand Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 RunInitcommand 1000 1 00 0

2 N/A 1111 1 11 1

3 N/A 1111 1 11 1

4 VmaxVmin Vmax[3:0] Vmin[3:0]

5 Position2 byte 1 TagPos1[15:8]

6 Position2 byte 2 TagPos1[7:0]

7 Position1 byte 1 TagPos2[15:8]

8 Position1 byte 2 TagPos2[7:0]

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 SetMotorParam 1 0 0 0 1 0 0 1

2 N/A 11111 11 1

3 N/A 11111 11 1

4 Irun & I hold Irun[3:0] Ihold[3:0]

5 Vmax & Vmin Vmax[3:0] Vmin[3:0]

6 Status SecPos[10:8] Shaft Acc[3:0]

7 SecurePos SecPos[7:0]

8 StepMode 1 1 1 AccShape StepMode[1:0] 1 1

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 ZapOTP

2 N/A 11 1 1 1 111

3 N/A

OTP Address 1 1 1 1 1 OTPA[2:0] Pbit Pbit[7:0] AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 33www.amis.com 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 <TSD>
• under voltage <UV2>
• step loss <StepLoss>
• electrical defect <ElDef> 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. SetPositionCommand Byte Content Structure bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 SetPosition 1 0 0 0 1 0 1 1

2 N/A 111 11 11 1

3 N/A 111 11 11 1

4 Position byte1 TagPos[15:8]

5 Position byte2 TagPos[7:0]

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 0S lave Address 11 OTP3 OTP2 OTP1 OTP0 HW 0

1 SoftStop 1 0 0 0 1 1 1 1

AMIS-30622 I2C Microstepping Motordriver Data Sheet

AMI Semiconductor - Rev. 2.3 34www.amis.com

10.0 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 1/16 th 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 SetPositioncommands can be used.

11.0 Resistance to Electrical and Electromagnetic Disturbances

11.1 Electrostatic Discharges

See. § 1.1 Absolute Maximum Ratings

11.3 EMC

Bulk current injection (BCI), according to Renault 36-00- 808/--E document (p61).

11.2 Schäffner Pulses

Shäffner 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 Amplitude Rise Time Pulse Duration Rs Operating Class #1 -100V ≤ 1µs 2ms 10 Ω C #2a +100V ≤ 1µs 50µs 2 Ω B #3a -150V (from +13.5V) 5ns 100ns (burst) 50 Ω A #3b +100V (from +13.5V) 5ns 100ns (burst) 50 Ω A #5b (load dump) +21.5V (from +13.5V) ≤ 10ms 400ms ≤ 1Ω C Current Opertaing Class 60mA A 100mA B 200mA C AMIS-30622 I2C Microstepping Motordriver Data Sheet

To be documented.

12.0 Package Outlines

13.0 Conditioning

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). Note: See variations AC for dimensions D and N. Test Operating Class 10µs micro-interruptions (1) A 100µs micro-interruptions B 5ms micro-interruptions B 50ms micro-interruptions C 300ms micro-interruptions C © Copyright 2003 AMI Semiconductor – All rights reserved. Information furnished is believed to be accurate and reliable. However, AMI Semiconductor assumes no responsibility for errors or omissions in the information and for the consequences of use of such information. AMI Semiconductor reserves the right to change the information contained herein at any time without notice. This information is provided “AS IS” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability, fitness for a particular purpose, or non-infringement of intellectual property. All title and intellectual property rights including, without limitation, copyrights, trademarks, in and to this information and products are owned by AMI Semiconductor, and are protected by applicable laws. No license under any patent or other intellectual property of AMI Semiconductor is granted, by implication, estoppel or otherwise. AMI Semiconductor - Rev. 2.3 www.amis.com 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). AMIS-30622 I2C Microstepping Motordriver Data Sheet