AMIS-30622

AMIS-30622 ONSEMI | Alldatasheet

Document overview

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• PDF pages: 42

Technical content

Features

• 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 Controller with RAM and OTP memory
• 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 & groun d Power Saving
• Power-down supply current <50µA
• 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, f luid control, labeling, process, XYZ tables) and buildin g 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 maste r microcontroller. The bus structure simplifies PCB track-layout and/or wiring architectures. Microstepping operation removes the design trade-of f 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 d uring the referencing run and allows semi-closed loop operation when approaching the mechanical end- stops. All these benefits result in reduced system-cost an d time-to-market and improved technical performance.

Rev. 3 | Page 2 of 42 | www.onsemi.com

Ordering Information

Product Name Package Shipping Configuration Temperature Range AMIS30622C6227G SOIC-20 GREEN Tube/Tray -40° C to 125° C AMIS30622C6227RG SOIC-20 GREEN Tape & Reel -40° C to 125° C AMIS30622C6228G NQFP 32 7x7 GREEN Tube/Tray -40° C to 125° C AMIS30622C6228RG NQFP 32 7x7 GREEN Tape & Reel -40° C to 125° C

Rev. 3 | Page 3 of 42 | www.onsemi.com AMIS-30622 Table of contents

Rev. 3 | Page 4 of 42 | www.onsemi.com AMIS-30622

Rev. 3 | Page 5 of 42 | www.onsemi.com AMIS-30622 Document history Version Date of version Modifications / additions

2.0 March 4 th , 2003 First non-preliminary issue including I 2C full update

2.1 April 2 nd , 2003 Full review

2.2 April 3 rd , 2003 Update DC-parameters

2.3 May 28 th , 2003 New layout, replace S 2I by I 2C

3.0 June 27 th , 2008 Update to new ON Semiconductor template; update OPN table

Rev. 3 | Page 6 of 42 | www.onsemi.com AMIS-30622 1. Quick Reference Data 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 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) 1.2. Operating Ranges Parameter Min Max Unit Vbb Supply voltage (1) +6.5 +29 V Vbb ≤ 18V -40 +125 ° C Top Operating temperature range Vbb ≤ 29V -40 +85 ° C Notes (1) Motordriver is disabled when Vbb < 8.9V 2. Block Diagram Oscillator PWM regulator X PWM regulator Y Serial Controller Test Controller Synchronous Voltage regulator Charge pump Reference voltage Thermal monitoring SWI HW TST2 VBAT VDD VCP CP2 CP1 MOTXP MOTXN MOTYP MOTYN Main control & Registers OTP + RAM Decoder Sine wave table DACs Position controller TST1 Interface SCK SDA

Rev. 3 | Page 7 of 42 | www.onsemi.com AMIS-30622 3. Pin-out SOIC-20 Pin name Pin description SOIC-20 SDA Serial I/O 1 SCK Clock for SDA 2 VDD Internal supply (needs external decoupling capa citor) 3 GND Ground, heat sink 4,7,14,17 TST1 test pin (to be tied to ground in normal opera tion) 5 TST2 test pin (to be left open in normal operation) 6 HW Hardwired address bit 8 CPN Negative connection of pump-capacitor (charge p ump) 9 CPP Positive connection of pump-capacitor (charge p ump) 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 4. Package thermal resistance 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 2 × (10mm × 23mm) SDA SCK VDD GND TST1 TST2 GND HW CPN CPP SWI VBB MOTXP GND MOTXN MOTYP GND MOTYN VBB VCP

Rev. 3 | Page 8 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) Parameter Test Conditions Min Typ Max Unit Motordriver IMSmax Peak Max current trough motor coil in normal operation 800 mA IMSmax RMS Max RMS current trough coil in normal operation 570 mA IMSabs Absolute error on coil current -10 10 % IMSrel Error on current ratio Icoilx / Icoily -7 7 % RDSon On resistance for each pin (including bond wire) To be confirmed by characterization 1 Ω IMSL MOTXP MOTXN MOTYP MOTYN 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 Stop voltage high threshold 9.8 V UV2 Stop voltage low threshold 8.0 8.5 9.0 V Ibat VBB 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 Digital current consumption Vbb < UV2 2 m A VddReset Digital supply reset level (4) 4.4 V IddLim VDD Current limitation Pin shorted to ground 40 mA Switch input and hardwire address input Rt_OFF Switch OFF resistance (5) 10 kΩ Rt_ON Switch ON resistance (5) Switch to Gnd or Vbat, 2 kΩ Vbb_sw Vbb range for guaranteed operation of SWI and HW 6 29 V Vmax_sw Maximum voltage T < 1s 40V V Ilim_sw SWI HW 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 VnL Noise margin at the LOW level for each connected device (including hysteresis) 0.1V DD V VnH SDA SCK Noise margin at the HIGH level for each connected device (including hysteresis) 0.2V DD V Charge pump Vbb > 15V Vbb+10 Vbb+12.5 Vbb+15 V Vcp Output voltage Vbb > 8V Vbb+5.8V V Cbuffer VCP External buffer capacitor 220 470 nF Cpump CPP CPN External pump capacitor 220 470 nF Notes (1) No more than 100 cumulated hours in life time above T tsd (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 Ω series resistor (6) If Input voltage ≤ -0.3 Volts, then a resistor of 22 to 100 Ω must be added in series (7) In case 100 kHz ≤ fSCL ≤ 360kHz V IH min = 0.7V DD

Rev. 3 | Page 9 of 42 | www.onsemi.com AMIS-30622 6. AC-Parameters The AC parameters are given for Vbb and temperature in their operating ranges 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 ≤ 100kHz 0 100 kHz fSCL SCL clock frequency fSCL ≤ 360kHz 0 360 kHz fSCL ≤ 100kHz 4.0 µs tHD;STA Hold time (repeated) START condition. After this period, the first clock pulse is generated. f SCL ≤ 360kHz 0.6 µs fSCL ≤ 100kHz 4.7 µs tLOW LOW period of the SCK clock fSCL ≤ 360kHz 1.3 µs fSCL ≤ 100kHz 4.0 µs tHIGH HIGH period of the SCK clock fSCL ≤ 360kHz 0.6 µs fSCL ≤ 100kHz 4.7 µs tSU;STA Set-up time for a repeated START condition f SCL ≤ 360kHz 0.6 µs fSCL ≤ 100kHz 250 ns tSU;DAT Data set-up time fSCL ≤ 360kHz 100 ns fSCL ≤ 100kHz 1000 ns tr Rise time of both SDA and SCK signals (1) f SCL ≤ 360kHz 20+0.1C b 300 ns fSCL ≤ 100kHz 300 ns tf Fall time of both SDA and SCK signals (1) f SCL ≤ 360kHz 20+0.1C b 300 ns fSCL ≤ 100kHz 4.0 µs tSU;STO Set-up time for STOP condition fSCL ≤ 360kHz 0.6 µs fSCL ≤ 100kHz 4.7 µs tBUF Bus free time between a STOP and START condition f SCL ≤ 360kHz 1.3 µs tSP SDA SCK 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 Scan pulse period (2) 1024 µs Tsw_on SWI HW Scan pulse duration 1/16 Tsw Motordriver fpwm PWM frequency (2) 18 20 22 kHz Tbrise Turn-on transient time 350 ns Tbfal l MOTxx Turn-off transient time Between 10% and 90% 250 ns Charge pump fCP CPN CPP Charge pump frequency (2) 250 kHz Notes (1) Cb = total capacitance of one bus line in pF (2) Derived from the internal oscillator

Rev. 3 | Page 10 of 42 | www.onsemi.com AMIS-30622 7. Typical application Notes (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 ≤ -0.3 Volts, then a resistor of 22 to 100 Ω must be added in series I2C bus M Vbat SWI MOTYP GND MOTYN GND SDA SCK VBB VDD TST1 MOTXP GND MOTXN GND TST2 HW CPN CPP VCP VBB 1 µ F 100 nF 220 nF 100 µ F 220 nF 100 nF 1 k Ω 1 k Ω AMIS - 30622 Connected to Vbat or GND Connected to Vbat or GND Optional

Rev. 3 | Page 11 of 42 | www.onsemi.com AMIS-30622 8. Positioning data 8.1. 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 1 6 possible values given in the table below. The accuracy of Vmax is derived from the internal o scillator. Under special circumstances it is possib le 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 param eter stays within the same group. Stepping mode Vmax index Vmax (full step/s) Group Half-stepping (half-step/s) 1/4 th micro-stepping (micro-step/s) 1/8 th micro-stepping (micro-step/s) 1/16 th micro-stepping (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 4 213 425 851 1701 3403 5 228 456 912 1823 3647 6 243 B 486 973 1945 3891 7 273 546 1091 2182 4364 8 303 607 1213 2426 4852 9 334 668 1335 2670 5341 10 364 729 1457 2914 5829 11 395 790 1579 3159 6317 12 456 C 912 1823 3647 7294 13 546 1091 2182 4364 8728 14 729 1457 2914 5829 11658 15 973 D 1945 3891 7782 15564 8.3. Minimum velocity Once Vmax is chosen, 16 possible values can be prog rammed for Vmin. The table below provides the obtainable values in Full-step/s. The accuracy of Vmin is derived from the internal oscillator. Vmax (Full-step/s) Vmin index Vmax factor 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 0 1 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 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 5 7 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 11 1 149 6 6/32 18 25 31 36 39 42 45 50 55 61 67 72 84 99 13 4 179 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 15 3 202 271 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

Rev. 3 | Page 12 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 F ull-step/s². One observes restrictions for some com bination of acceleration index and maximum speed (gray cells). The accuracy of Acc is derived from the internal oscillator. 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 Vmax (FS/s) →→ →→ Acc index ↓↓ ↓↓ Acceleration (Full-step/s²) 0 49 106 473 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 34925 14785 29570 40047 The formula to compute the number of equivalent Full-step during acceleration phase is: Acc 2 Vmin Vmax Nstep 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 al igned as described in the table below. When using command GotoSecurePosition , data is automatically aligned. Stepping mode Position word: Pos[15:0] Shift 1/16 th S B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB No shift 1/8 th S B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 0 1-bit left ⇔ × 2 1/4 th S B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 0 0 2-bit left ⇔ × 4 Half-stepping S B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 0 0 0 3-bit left ⇔ × 8 SecurePosition S B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 0 0 0 0 0 No shift 8.5.1. Position ranges A position is coded by using the binary two’s compl ement 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 Position range Full range excursion Number of bits Half-stepping -4096 to +4095 8192 half-steps 13 1/4 th micro-stepping -8192 to +8191 16384 micro-steps 14 1/8 th micro-stepping -16384 to +16383 32768 micro-steps 15 SetPosition 1/16 th micro-stepping -32768 to +32767 65536 micro-steps 16

Rev. 3 | Page 13 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 Secure position resolution Half-stepping 4 half-steps 1/4 th micro-stepping 8 micro-steps (1/4 th ) 1/8 th micro-stepping 16 micro-steps (1/8 th ) 1/16 th micro-stepping 32 micro-steps (1/16 th ) 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

Rev. 3 | Page 14 of 42 | www.onsemi.com AMIS-30622 9. 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 co ils 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 flowi ng in X and Y. The torque of the stepper motor when unloade d 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 magnit ude 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 co ils or the charge pump. 9.1.2. Control logic (Position controller and Main control) The control logic block stores the information prov ided by the I 2C interface (in the RAM or OTP memory) and digitally controls the positioning of the Stepper M otor in term of speed and acceleration, by feeding the right signals to the Motordriver state machine. It will take into account the successive positionin g 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 ab out 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 log ic and for the PWM control of the Motordriver.
• an internal trimmed voltage source for precise ref erencing.
• a protection block featuring a Thermal Shutdown an d a Power-on-reset circuit.
• a 5V regulator (from the battery supply) to supply the internal logic circuitry.

Rev. 3 | Page 15 of 42 | www.onsemi.com AMIS-30622 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 illu strated below. A motion starts with an acceleration phase from minimum velocity (Vmin) to maximum velocity (V max), and ends with a symmetrical deceleration. Thi s is defined by the Control logic according to the posit ion required by the application and to the paramete rs programmed by the application during configuration phase. The current in the coils is also programmabl e (see § Error! Reference source not found. ). Parameter Value 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 Velocity Vmax Vmin Acceleration range Deceleration range Pstart Pstop P=0 Position Optional zero switch Zero speed Hold current Pmin Pmax Zero speed Hold current

Rev. 3 | Page 16 of 42 | www.onsemi.com AMIS-30622 Different positioning examples are shown in the table below. Short motion Velocity time New positioning command in same direction, shorter or longer, while a motion is running at maximum velocity Velocity time 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 New positioning command in reverse direction while motion is running at maximum velocity Velocity time New positioning command in reverse direction while in deceleration phase Velocity time New velocity programming while motion is running Velocity time

Rev. 3 | Page 17 of 42 | www.onsemi.com AMIS-30622 9.2.1.2. Position initialization After power-up or when a Vdd reset has been acknowl edged to the master, a position initialization of t he stepper-motor can be requested by the application, by use of the RunInit command (see § 0). The position initialization is performed by the position control ler under the control of the Main control block. Th is operation cannot be interrupted or influenced by any further command. A position initialization can only be inte rrupted 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. The first motion is done with the specified Vmin and Vmax velocities in the RunInit command, with the acceleration (deceleration) parameter already in RA M, to a position Pos1[15:0] also specified in RunInit . The goal here is to perform a motion large enough t o reach a stall position (considered to be the refe rence 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 po sition. Therefore, Pos2 should only be a few half or micro steps further t han 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] . Velocity Vmax Vmin 1st m otion tim e end of INIT 2nd motion 26.6 ms 26.6 ms

Rev. 3 | Page 18 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 app lication 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 fla g <ESW> is raised. The status of this flag can be read by t he application via a GetActualPos or a GetFullStatus1 reading frame. At the falling edge of every curren t pulse (at around 1kHz), the stepper-motor actual po sition is refreshed (register ActPos , see § 9.2.2.9), so that the master node may get synchronous information abo ut the state of the switch together with the positi on of the motor. The position is then given with an accuracy of ± 1 half-step (or micro-step, depending of the progr ammed stepping mode). The block diagram below shows how this function is implemented for HW. With the following truth table: State Sink Source New State HWHi address = "1" Float 1 0 Float HWLo address = "0" 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 note that e.g. if HW is connected to GND, LS- part will report "float" while HS-part w ill report "low resistance detected" Note If HW is detected to be floating, motion to the secure position is performed. source current sink current Tsw Tsw/2 Tsw_on Tsw_on A-m Source Vbb convert I -> R A-m convert I -> R Sink HW GND HW_CMP R threshold Source Sink

Rev. 3 | Page 19 of 42 | www.onsemi.com AMIS-30622 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 10 ms. 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 bein g 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 VddR eset level), the H-bridges will be in high impedance mod e, and the registers and flags will be in a predete rmined 9.2.2.3. Soft Stop A Soft Stop is an immediate interruption of a motio n, but with a deceleration phase. At the end of thi s 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 i n 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 t han Ttw and to get the occurrence of a GetFullStatus1 command. Normal Temp. - < Tinfo > = “00” - < TW > = ‘0’ - < TSD > = ‘0’ T° < Ttw & S2I frame: GetFullStatus1 T° > Ttw Thermal warning - < Tinfo > = “ 10 ” - < TW > = ‘1’ - < TSD > = ‘0’ T° > Ttsd Thermal shutdow n - < Tinfo > = “ 11 ” - < TW > = ‘1’ - < TSD > = ‘1’ - SoftStop if motion ongoing - Motor shutdown (motion disabled) Post thermal warning - < Tinfo > = “ 00 ” - < TW > = ‘1’ - < TSD > = ‘0’ T° > Tlow T° > Ttw T° < Ttsd T° > Ttsd Post thermal shutdown 1 - < Tinfo > = “ 10 ” - < TW > = ‘1’ - < TSD > = ‘1’ - Motor shutdown (motion disabled) Post thermal shutdown 2 - < Tinfo > = “ 00 ” - < TW > = ‘1’ - < TSD > = ‘1’ - Motor shutdown (motion disabled) Low Temp. - < Tinfo > = “ 01 ” - < TW > = ‘0’ - < TSD > = ‘0’ T° < Ttw T° > Ttw T° < Tlow T° < Ttw

Rev. 3 | Page 20 of 42 | www.onsemi.com AMIS-30622 t <Tinfo> = "10" <TW> = '1' <TSD> = '1' <Tinfo> = "10" <TW> = '1' <TSD> = '0' <Tinfo> = "00" <TW> = '1' <TSD> = '0' <Tinfo> = "11" <TW> = '1' <TSD> = '1' <Tinfo> = "00" <TW> = '0' <TSD> = '0' <Tinfo> = "00" <TW> = '0' <TSD> = '0' GetFullStatus1 <Tinfo> = "00" <TW> = '1' <TSD> = '1' Temp Ttsd Ttw Tlow 155 ° C 145 ° C -10 ° C <Tinfo> = "01" <TW> = '0' <TSD> = '0' 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. Normal voltage - < UV2 > = ‘0’ - < StepLoss > = ‘0’ - Motion enabled Vbb > UV1 & S2I frame: GetFullStatus1 Vbb < UV2 & motion ongoing Vbb < U V2 (no motion) Stop mode 1 - < UV2 > = ‘ 1’ - < StepLoss > = ‘0’ - Motor shutdown (motion disabled) Stop mode 2 - < UV2 > = ‘ 1’ - < StepLoss > = ‘ 1’ - HardStop - Motor shutdown (motion disabled)

Rev. 3 | Page 21 of 42 | www.onsemi.com AMIS-30622 t <UV2> = '1' VBB UV1 UV2 9.8 V 8.5 V <UV2> = '0' After GetFullStatus1 no motion: <StepLoss> = '0' motion: <StepLoss> = '1' 9.2.2.7. Motor shutdown mode A motor shutdown occurs when: 1. The chip temperature rises above the thermal shu tdown 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 shutd own 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 GetFullStatus1 command 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. Tj ≥ Tsd or Vbb ≤ UV2 or <ElDef > = ‘1’ or <CpFail > = ‘1’ SetPosition frame GetFullStatus1 GetFullStatus1 ↑ … - The application is aware of a problem - Possible confirmation of the problem - The circuit is driven in motor shutdown mode - The application is not aware of this - The position set-point is updated by the I 2C Master - Motor shutdown mode ⇒ no motion - The application is still unaware - Reset < TW > or < TSD > or < UV2 > or < StepLoss > or < ElDef > or < CPFail > by the application - Possible new detection of over temperature or low voltage or electrical problem ⇒ Circuit sets <TW > or < TSD > or < UV2 > or < StepLoss > or <ElDef > or < CPFail > again at ‘1’ 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 22 of 42 | www.onsemi.com AMIS-30622 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.

Rev. 3 | Page 23 of 42 | www.onsemi.com AMIS-30622 9.2.2.8. RAM Registers Register Mnemonic Length (bit) Related commands Comment Reset state Actual position ActPos 16 GetActualPos GetFullStatus2 GotoSecurePos ResetPosition - 16-bit signed Last programmed position Pos/ TagPos 16/11 GetFullStatus2 GotoSecurePos ResetPosition SetPosition - 16-bit signed or - 11-bit signed for half stepping (see § 8.5) (1) Acceleration shape AccShape 1 GetFullStatus1 ResetToDefault SetMotorParam ‘0’ ⇒ normal acceleration from Vmin to Vmax ‘1’ ⇒ motion at Vmin without acceleration ‘0’ Coil peak current Irun 4 GetFullStatus1 ResetToDefault SetMotorParam Operating current (see § 9.2.2.12) Coil hold current Ihold 4 GetFullStatus ResetToDefault SetMotorParam Standstill current (see § 9.2.2.12) Minimum Velocity Vmin 4 GetFullStatus1 ResetToDefault SetMotorParam See § 8.3 and § 9.2.2.12 (look-up table) Maximum Velocity Vmax 4 GetFullStatus11 ResetToDefault SetMotorParam See § 8.2 and § 9.2.2.12 (look-up table) Shaft Shaft 1 GetFullStatus1 ResetToDefault SetMotorParam Direction of movement for positive velocity Acceleration/ deceleration Acc 4 GetFullStatus1 ResetToDefault SetMotorParam See § 8.4 and § 9.2.2.12 (look-up table) Secure Position SecPos 11 GetFullStatus2 ResetToDefault SetMotorParam Target position when I 2C connection fails; 11 MSBs of 16-bit position (LSBs fixed to ‘0’) Stepping mode StepMode 2 GetFullStatus1 ResetToDefault SetMotorParam See § 8.1 and § 9.2.2.12 From OTP memory Note (1) A ResetToDefault command will act as a reset of the RAM content, ex cept for ActPos and TagPos registers that are not modified. Therefore, the app lication should not send a ResetToDefault during a motion, to avoid any unwanted change of parameter

Rev. 3 | Page 24 of 42 | www.onsemi.com AMIS-30622 9.2.2.9. Flags table Flag Mnemonic Length (bit) Related Commands Comment Reset State Charge pump failure CPFail 1 GetFullStatus ‘0’ = charge pump OK ‘1’ = charge pump failure reset only after GetFullStatus1 ‘0’ Electrical defect ElDef 1 GetActualPos GetStatus GetFullStatus1 <OVC1> or < OVC2> or <open circuit 1> or <open circuit 2> or <CPFail> resets only after GetFullStatus1 ‘1’ External switch status ESW 1 GetActualPos GetStatus GetFullStatus1 ‘0’ = open ‘1’ = close ‘0’ <VDDreset > ‘0’ Motion status Motion 3 GetFullStatus1 “x00” = Stop “001” = inner motion acceleration “010” = inner motion deceleration “011” = inner motion max. speed “101” = outer motion acceleration “110” = outer motion deceleration “111” = outer motion max. speed “000” Over current in coil X OVC1 1 GetFullStatus1 ‘1’ = over current reset only after GetFullStatus1 ‘1’ Over current in coil Y OVC2 1 GetFullStatus1 ‘1’ = over current reset only after GetFullStatus1 ‘1’ Secure position enabled SecEn 1 Internal use ‘0’ if SecPos = “100 0000 0000” ‘1’ otherwise n.a. Step loss StepLoss 1 GetActualPos GetStatus GetFullStatus1 ‘1’ = step loss due to under voltage, over current or open circuit ‘1’ Motor stop Stop 1 Internal use See § 9.2.2.11 ‘0’ Temperature info Tinfo 2 GetActualPos GetStatus GetFullStatus1 “00” = normal temperature range “01” = low temperature warning “10” = high temperature warning “11” = motor shutdown “00” Thermal shutdown TSD 1 GetActualPos GetStatus GetFullStatus1 ‘1’ = shutdown. (> 155° C typ.) reset only after GetFullStatus1 and if < Tinfo > = “00” ‘0’ Thermal warning TW 1 GetActualPos GetStatus GetFullStatus1 ‘1’ = over temp. (> 145° C) reset only after GetFullStatus1 and if < Tinfo > = “00” ‘0’ Battery stop voltage UV2 1 GetActualPos GetStatus GetFullStatus1 ‘0’ = Vbb > UV2 ‘1’ = Vbb ≤ UV2 reset only after GetFullStatus1 ‘0’ Digital supply reset VddReset 1 GetActualPos GetStatus GetFullStatus1 Set at ‘1’ after power-up of the circuit. If this was due to a supply micro-cut, it warns that the RAM contents may have been lost; can be reset to ‘0’ with a GetFullStatus1 command. ‘1’

Rev. 3 | Page 25 of 42 | www.onsemi.com AMIS-30622 9.2.2.10. Application Commands The I 2C Master will have to use commands to manage the di fferent 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

Rev. 3 | Page 26 of 42 | www.onsemi.com AMIS-30622 9.2.2.11. Priority encoder The table below describes the state management performed by the Main control block. State → Stopped GotoPos RunInit SoftStop HardStop ShutDown Command motor stopped, Ihold in coils motor motion ongoing no influence on RAM and TagPos motor decelerating motor forced to stop motor stopped, H-bridges in Hi-Z GetActualPos I2C in-frame response I2C in-frame response I2C in-frame response I2C in-frame response I2C in-frame response I2C in-frame response GetOTPparam OTP refresh; I2C in-frame response OTP refresh; I2C in-frame response OTP refresh; I2C in-frame response OTP refresh; I2C in-frame response OTP refresh; I2C in-frame response OTP refresh; I2C in-frame response GetFullStatus1 [ attempt to clear <TSD> and <HS> flags ] I2C in-frame response I2C in-frame response I2C in-frame response I2C in-frame response I2C in-frame response I2C in-frame response; if ( <TSD> or <HS> ) = ‘0’ then →→ →→ Stopped ResetToDefault [ ActPos and TagPos are not altered ] OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset OTP refresh; OTP to RAM; AccShape reset SetMotorParam [ Master takes care about proper update ] RAM update RAM update RAM update RAM update RAM update RAM update ResetPosition TagPos and ActPos reset TagPos and ActPos reset SetPosition TagPos updated; →→ →→ GotoPos TagPos updated TagPos updated GotoSecPosition If <SecEn> = ‘1’ then TagPos = SecPos ; →→ →→ GotoPos If <SecEn> = ‘1’ then TagPos = SecPos If <SecEn> = ‘1’ then TagPos = SecPos RunInit →→ →→ RunInit HardStop →→ →→ HardStop ; <StepLoss> = ‘1’ →→ →→ HardStop ; <StepLoss> = ‘1’ →→ →→ HardStop ; <StepLoss> = ‘1’ SoftStop →→ →→ SoftStop HardStop [ ⇔ ( <CPFail> or <UV2> or <ElDef> ) = Thermal shutdown [ <TSD> = ‘1’ ] Motion finished n.a. →→ →→ Stopped →→ →→ Stopped →→ →→ Stopped ; TagPos = ActPos →→ →→ Stopped ; TagPos = ActPos n.a . With the following color code: Command ignored Transition to another state Master is responsible for proper update (see note 5)

Rev. 3 | Page 27 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 <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 i n RAM at the moment the RunInit sequence st arts. 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 RunIni t 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 fo r it (normal temperature, correct battery voltage a nd 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 sequ ence 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 w as entered after HardStop/SoftStop or not. <Stop> is set to ‘1’ when leaving state HardStop or SoftSt op and is reset during first clock edge occurring i n state Stopped. (8) While in state Stopped, if ActPos ≠ TagPos there is a transition to state GotoPos. Thi s 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. Priorities highest lowest Stopped HardStop ShutDown SoftStop RunInit GotoPos

Rev. 3 | Page 28 of 42 | www.onsemi.com AMIS-30622 9.2.2.12. Application parameters stored in OTP Mem ory 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 I 2C writing operation. AD[4:0] Physical address of the stepper-motor. Up to 32 Ste pper-motors can theoretically be connected to the same I 2C bus. Peak current value to be fed to each coil of the st epper-motor. The table below provides the 16 possible values for IRUN . Irun Peak current (mA) 0 0 0 0 59 0 0 0 1 71 0 0 1 0 84 0 0 1 1 100 0 1 0 0 119 0 1 0 1 141 0 1 1 0 168 0 1 1 1 200 1 0 0 0 238 1 0 0 1 283 1 0 1 0 336 1 0 1 1 400 1 1 0 0 476 1 1 0 1 566 1 1 1 0 673 1 1 1 1 800 Irun[3:0] Hold current for each coil of the stepper- motor. The table below provides the 16 possible values for IHOLD . Ihold Hold current (mA) 0 0 0 0 59 0 0 0 1 71 0 0 1 0 84 0 0 1 1 100 0 1 0 0 119 0 1 0 1 141 0 1 1 0 168 0 1 1 1 200 1 0 0 0 238 1 0 0 1 283 1 0 1 0 336 1 0 1 1 400 1 1 0 0 476 1 1 0 1 566 1 1 1 0 673 1 1 1 1 800 Ihold[3:0] Indicator of stepping mode to be used. StepMode Step mode 0 0 Half stepping 0 1 1/4 micro step 1 0 1/8 micro step 1 1 1/16 micro step StepMode 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 29 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 d riven 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 Secu re 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 Parameter index 0 0 0 0 0 0 0 0 1 1 0 0 1 0 2 0 0 1 1 3 0 1 0 0 4 0 1 0 1 5 0 1 1 0 6 0 1 1 1 7 1 0 0 0 8 1 0 0 1 9 1 0 1 0 10 1 0 1 1 11 1 1 0 0 12 1 1 0 1 13 1 1 1 0 14 1 1 1 1 15 Vmax[3:0] Vmin[3:0] Acc[3:0] 9.2.2.13. OTP Memory Structure The table below shows how the parameters to be stored in the OTP memory are located. OTP address 7 6 5 4 3 2 1 0 0x00 OSC3 OSC2 OSC1 OSC0 IREF3 IREF2 IREF1 IREF0 0x01 TSD2 TSD1 TSD0 BG3 BG2 BG1 BG0 0x02 PA3 PA2 PA1 PA0 0x03 Irun3 Irun2 Irun1 Irun0 Ihold3 Ihold2 Ihold1 I hold0 0x04 Vmax3 Vmax2 Vmax1 Vmax0 Vmin3 Vmin2 Vmin1 Vmin 0 0x05 SecPos10 SecPos9 SecPos8 Shaft Acc3 Acc2 Acc1 Acc0 0x06 SecPos7 SecPos6 SecPos5 SecPos4 SecPos3 SecPos 2 SecPos1 SecPos0 0x07 StepMode1 StepMode0 LOCKBT LOCKBG 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 b it 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, otherwis e using a SetOTPparam command could still zap any OTP bit at ‘0’. Lock bit Protected byte LOCKBT (zapped before delivery) 0x00 to 0x01 LOCKBG 0x00 to 0x07 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

Rev. 3 | Page 30 of 42 | www.onsemi.com AMIS-30622 command to program and zap separately one OTP memor y 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. 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. Whereas the figure below shows the current fed to one coil in 1/16 th microstepping (1 electrical period). 9.2.3.2. PWM regulation In order to force a given current (determined by Ir un or Ihold and the current position of the rotor) through the motor coil while ensuring high energy transfer effi ciency, a regulation based on PWM principle is used . The regulation loop performs a comparison of the sensed output current to an internal reference, and featu res a digital regulation generating the PWM signal that d rives 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 dire ctly switched from Ihold to Irun with a new sine/cos ratio corresponding to the first half (or micro) step of the motion. Irun run I Coil X Coil Y Icoil t Icoil t

Rev. 3 | Page 31 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 leve l (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 value s, respectively Ihold ×× ×× sin ( TagPos ) and Ihold ×× ×× 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 dr iving the high side transistors (due to a failure), an internal HardStop command is issued. This is acknowledged to the mas ter 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. Th en 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 Icoil t

Rev. 3 | Page 32 of 42 | www.onsemi.com AMIS-30622 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 su pply voltage via a current source or pull-up resist or. 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 interfa ce 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 transit ion on the SDA line while SCK is high defines a Sta rt condition. A low to high transition on the SDA line while SCK is high defines a Stop condition. (see f igure “Start / Stop conditions” below). The master always generates the SCK clock. On every rising transitio n 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 data line stable, data valid data change allowed SCK SDA Start / Stop Conditions Bit transfer on 2-wire seri al bus interface Every byte sent on SDA must be 8-bit, with the most significant bit (MSB) transferred first. The numbe r of bytes that can be transmitted to the AMIS-30622 is restri cted to 8 bytes. Each byte is followed by an acknow ledge bit, which is issued by the receiving node (figure below). STOP condition 1 2 7 8 9 9 1 START condition MSB ACK ACK SCK SDA SDA line SCK line AMIS-30622 SCK_IN SCK_OUT SDA_IN SDA_OUT Master SCK_IN SCK_OUT SDA_IN SDA_OUT + 5V

Rev. 3 | Page 33 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 inter nally hardwired to ‘1’), yielding the theoretical p ossibility of 32 different circuits on the same bus. It is a combina tion 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 co rrect functionality of the positioner is not guaran teed. The motor will be driven to the programmed Secure Position. ( see § 9.2.2.12 Application parameters SecPos [10:0] ) AD6 AD5 AD4 AD3 AD2 AD1 AD0 Physical address ‘1’ ‘1’ PA3 PA2 PA1 PA0 OTP memory HW Hardwired bit (to Gnd or Vbat) The AMIS-30622 supports a “general call” address. T herefore 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 re ad/write bit (‘0’ = write, ‘1’ = read), and an acknowledge bit. Any further databytes are followed by an acknowledg e bit. The acknowledge bit is used to signal a correct recepti on 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 S CK signal. To finish the transmission the master has t o transmit a Stop condition. Some commands for the AMIS- 30622 are supporting 8 bytes of data, other commands are transmitting 2 bytes of data. S Slave address R/W A Data A Data A H ‘0’ (write) N Bytes + acknowledge Master to slave S : Start condition H : Stop condition Slave to master A : 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 ar e needed. The first transmission consists of 2 byte s of data. The first byte contains the slave address and the write bit. The second byte contains the addres s of an internal register in the AMIS-30622. The internal r egister address is stored in the circuit RAM. The s econd 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 s lave knows the end of transmission. Dump internal address to slave S Slave address R/W A Internal address A H ‘0’ (write) Read data from slave S Slave address R/W A Data A Data Ab H ‘1’ (read) N Bytes + acknowledge Master to slave S : Start condition H : Stop condition Slave to master A : SDA = ‘0’ ⇔ acknowledge (A) SDA = ‘1’ ⇔ no acknowledge (Ab)

Rev. 3 | Page 34 of 42 | www.onsemi.com AMIS-30622 9.2.4.6. Timing and electrical characteristics of t he serial interface 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 (m ax/min speed, acceleration, stepping mode, etc.)
• Provide target positions to the Stepper motor 9.2.4.8. Command Overview Command byte Command mnemonic Function 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 SDA SCK tf START tHD;STA tLOW tr tHIGH tf tHD;DAT tSU;DAT tHD;STA tSU;STA tr tBUF tSU;STO START STOP START

Rev. 3 | Page 35 of 42 | www.onsemi.com AMIS-30622 9.2.4.9. Commands Description GetFullStatus1 This command is provided to the circuit by the Mast er to get a complete status of the circuit and of t he 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-mot or ( Vmax and Vmin )
• direction of movement clockwise / counter clockwis e ( 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> GetFullStatus1 command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0

1 GetFullStatus1 1 0 0 0 0 0 0 1

GetFullStatus1 command (Response) Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

0 Slave Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 1

1 Address 1 1 1 1 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 1 1 1 1 1 1 1 1

8 N/A 1 1 1 1 1 1 1 1

Rev. 3 | Page 36 of 42 | www.onsemi.com AMIS-30622 GetFullStatus2 This command is provided to the circuit by the Mast er to get the actual position of the Stepper-motor. The position is provided by the circuit in 16-bit forma t, with the 3 LSBs at ‘0’ when in half stepping mod e ( 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])> GetFullStatus2 command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 GetFullStatus2 1 1 1 1 1 1 0 0

GetFullStatus2 command (Response) Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

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]

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 . GetOTPParam command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 GetOTPParam 1 0 0 0 0 0 1 0

GetOTPParam command (Response) Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

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

Rev. 3 | Page 37 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 Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 GotoSecurePosition 1 0 0 0 0 1 0 0

This command is internally triggered when an electr ical problem is detected in one or both coils, lead ing to switch off the H-bridges. If this problem is detect ed while the motor is moving, the <StepLoss> flag i s raised allowing warning the Master that steps may have bee n lost at the next GetStatus command. The Master fo r some safety reasons can also issue a HardStop command. HardStop command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 HardStop 1 0 0 0 0 1 0 1

This command is provided to the circuit by the Mast er to reset ActPos and TagPos registers, in order to allow a positioning for an initialisation of the Stepper-motor position. ResetPosition command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 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 initia l 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 th e RAM content. ResetToDefaults command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 ResetToDefaults 1 0 0 0 0 1 1 1

Rev. 3 | Page 38 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 see king 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 shutdo wn ( 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 mot ion. 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 Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 RunInit command 1 0 0 0 1 0 0 0

2 N/A 1 1 1 1 1 1 1 1

3 N/A 1 1 1 1 1 1 1 1

4 Vmax Vmin 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]

This command is provided to the circuit by the Mast er to set the values for the Stepper motor paramete rs (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 Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 SetMotorParam 1 0 0 0 1 0 0 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

Rev. 3 | Page 39 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 Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 ZapOTP 1 0 0 1 0 0 0 0

4 OTP Address 1 1 1 1 1 OTPA[2:0]

5 Pbit Pbit[7:0]

This command is provided to the circuit by the Mast er to the motors to a given position relative to th e 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 > SetPosition command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 SetPosition 1 0 0 0 1 0 1 1

4 Position byte1 TagPos[15:8]

5 Position byte2 TagPos[7:0]

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 t hreshold.
• The Master requests a SoftStop. SoftStop command Structure Byte Content bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

1 SoftStop 1 0 0 0 1 1 1 1

Rev. 3 | Page 40 of 42 | www.onsemi.com AMIS-30622 10. Features 10.1. Position periodicity Depending on the stepping mode the position can ran ge between –4096 to +4095 in half-step mode to –32 768 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 dire ction 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

Rev. 3 | Page 41 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. Schäffner pulses Shäffner pulses are applied to the power supply wir es of the equipment implementing the AMIS-30622 (se e application schematic), according to Renault 36-00-808/--E document. Pulse amplitude rise time pulse duration Rs operati ng class #1 -100V ≤ 1µs 2ms 10 Ω C #2a +100V ≤ 1µs 50µs 2Ω 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 ≤ 1 Ω C 11.3. EMC Bulk current injection (BCI), according to Renault 36-00-808/--E document (p61). current operating class 60mA A 100mA B 200mA 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 d ocument 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 operating class 10µs micro-interruptions (1) A 100µs micro-interruptions B 5ms micro-interruptions B 50ms micro-interruptions C 300ms micro-interruptions C Note 1: To achieve Class A a 100nF capacitor betwee n Vbat and ground is needed in case HW is connected to Vbat. ( see § 7 typical application )

Rev. 3 | Page 42 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 Componen ts Industries, LLC (SCILLC). SCILLC reserves the ri ght to make changes without further notice to any products herein. SCILLC makes no warranty, represe ntation or guarantee regarding the suitability of i ts products for any particular purpose, nor does SC ILLC assume any liability arising out of the application or use of any product or cir cuit, and specifically disclaims any and all liabil ity, including without limitation special, conseque ntial or incidental damages. “Typical” parameters which may be provided in SCILLC data she ets and/or specifications can and do vary in differ ent applications and actual performance may vary ov er time. All operating parameters, including “Typicals” must be validated for each customer application by customer's technic al experts. SCILLC does not convey any license und er 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 applicati on 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 unau thorized application, Buyer shall indemnify and hol d SCILLC and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and ex penses, and reasonable attorney fees arising out of , directly or indirectly, any claim of personal inj ury or death associated with such unintended or unauthorized use, even if such claim alleges that SCILLC was negligent regarding the des ign 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 ON Semiconductor Website: www.onsemi.com Order Literature: http://www.onsemi.com/orderlit For additional information, please contact your local Sales Representative