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© Semiconductor Components Industries, LLC, 2013 July, 2013 − Rev. 5
1 Publication Order Number:
AMIS−30622/D AMIS-30622 I2C Micro-Stepping Motor Driver INTRODUCTION The AMIS −30622 is a single −chip micro −stepping motor driver with a position controller and control/diagnostic interface. It is ready to build intelligent peripheral systems where up to 32 drivers can be connected to one I 2C master. This significantly reduces system complexity. The chip receives positioning instructions through the bus and subsequently drives the stator coils so the two −phase stepper motor moves to the desired position. The on −chip position controller is configurable (OTP or RAM) for different motor types, positioning ranges and parameters for speed, acceleration and deceleration. Micro −stepping allows silent motor operation and increased positioning resolution. The advanced motion qualification mode enables verification of the complete mechanical system in function of the selected motion parameters. The AMIS −30622 can easily be connected to an I 2C bus where the I2C master can fetch specific status information like actual position, error flags, etc. from each individual slave node. The chip is implemented in I2T100 technology, enabling both high voltage analog circuitry and digital functionality on the same chip. PRODUCT FEATURES Motor Driver
- Micro−Stepping Technology
- Peak Current Up to 800 mA
- Fixed Frequency PWM Current−Control
- Automatic Selection of Fast and Slow Decay Mode
- No external Fly−back Diodes Required
- 14 V/24 V Compliant Controller with RAM and OTP Memory
- Position Controller
- Configurable Speeds and Acceleration
- Input to Connect Optional Motion Switch I2C Interface
- Bi−Directional 2−Wire Bus for Inter IC Control
- Field Programmable Node Addresses
- Full Diagnostics and Status Information Protection
- Overcurrent Protection
- Undervoltage Management
- Open−circuit Detection
- High Temperature Warning and Management
- Low Temperature Flag EMI Compatibility
- High V oltage Outputs with Slope Control
- This is a Pb−Free Device http://onsemi.com See detailed ordering and shipping information in the package dimensions section on page 2 of this data sheet.
ORDERING INFORMATION
SOIC−20 3 or 7 SUFFIX CASE 751AQ NQFP−32
8 SUFFIX
AMIS−30622 http://onsemi.com
APPLICATIONS
The AMIS−30622 is ideally suited for small positioning applications. Target markets include: automotive (headlamp alignment, HV AC, idle control, cruise control), industrial equipment (lighting, fluid control, labeling, process control, XYZ tables, robots) and building automation (HV AC, surveillance, satellite dish, renewable energy systems). Suitable applications typically have multiple axes or require mechatronic solutions with the driver chip mounted directly on the motor. Table 1. ORDERING INFORMATION
38 Rail
1500 Tape & Reel
40 Rail
2500 Tape & Reel
Techniques Reference Manual, SOLDERRM/D. Specification Brochure, BRD8011/D. Table 2. ABSOLUTE MAXIMUM RATINGS BB < 0.5 s, SWI and HW pins <1.0 s.
- The circuit functionality is not guaranteed.
- HBM according to AEC −Q100: EIA−JESD22−A114−B (100 pF via 1.5 k/C0087) and MM according to AEC−Q100: EIA−JESD22−A115−A.
Table 3. OPERATING RANGES
Figure 1. Block Diagram
Figure 2. SOIC−20 and NQFP−32 Pin−out Table 4. PIN DESCRIPTION
currents flowing into the circuit are defined as positive. Table 5. DC PARAMETERS
- Tested in production for 800 mA, 400 mA, 200 mA and 100 mA current settings for both X and Y coil.
- Not measured in production. Guaranteed by design.
- Parameter guaranteed by trimming relevant OTP’s in production test at 143°C (±5°C) and V
- No more than 100 cumulated hours in life time above Tw.
- Thermal shutdown and low temperature warning are derived from thermal warning. Guaranteed by design.
- A buffer capacitor of minimum 100 /C0109F is needed between VBB and GND. Short connections to the power supply are recommended.
10.If input voltages < − 0.3 V, than a resistor between 22 /C0087 to 100 /C0087 needs to be put in series.
- If the I2C−bus is operated in Fast Mode VIHmin = 0.7 * VDD.
14 V ≤ VBB ≤ 30 V VBB + 10 VBB + 15 V
39 K/W
19 K/W
30 K/W
0.95 K/W
13.The RAM content will not be altered above this voltage. current is represented by a minimum resistance seen from the pin.
The AC parameters are guaranteed for temperature and VBB in the operating range unless otherwise specified. Table 6. AC PARAMETERS this period the first clock pulse is generated. this period the first clock pulse is generated. to still guarantee the rise and fall times of the bus signals. the undefined region of the falling edge of SCL. 17.The maximum tHD,DAT has only to be met if the device does not stretch the LOW period (tLOW) of the SCL signal. 18.A Fast−mode I2C−bus device can be used in a standard−mode I2C bus system, but the requirement tSU,DATA /C0119 250 ns must than be met. standard−mode I2C−bus specification) before the SCL line is released.
Figure 5. I2C Timing Diagrams
Figure 6. Typical Application Diagram for SO Device
- Half−stepping
- 1/4 micro−stepping
- 1/8 micro−stepping
- 1/16 micro−stepping Maximum Velocity For each stepping mode, the maximum velocity 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.
Table 7. MAXIMUM VELOCITY SELECTION TABLE
below provides the obtainable values in full−step/s. The accuracy of Vmin is derived from the internal oscillator. Table 8. OBTAINABLE VALUES IN FULL−STEP/s FOR THE MINIMUM VELOCITY NOTES: The Vmax factor is an approximation. (AccShape = 0) the length of the first step is shorter than 1/Vmin depending of Vmin, Vmax and Acc.
(acceleration and deceleration between Vmin and Vmax).
- One observes restrictions for some
Table 9. ACCELERATION AND DECELERATION SELECTION TABLE , data is automatically aligned. Table 10. POSITION WORD ALIGNMENT
chosen stepping mode, the position range will be as shown in the following table. Table 11. POSITION RANGE Table 12. SECURE POSITION RAM bits SecPos1 and SecPos0 are set to 0.
- Shaft = 0 ⇒ MOTXP is used as positive pin of the X coil, while MOTXN is the negative one.
- Shaft = 1 ⇒ opposite situation STRUCTURAL DESCRIPTION See also the Block Diagram in Figure 1. Stepper Motordriver The Motordriver receives the control signals from the control logic. The main features are:
- Two H−bridges, designed to drive a stepper motor with two separated coils. 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 DAC’s to set the maximum magnitude of the current through X and Y .
- Two DAC’s to set the correct current ratio through X and Y . Battery voltage monitoring is also performed by this block, which provides the required information to the control logic part. The same applies for detection and
to the motordriver state machine. order to reach the set point in a minimum time.
- An internal oscillator, needed for the control logic handler as well as the control logic and 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 5 V regulator (from the battery supply) to supply the internal logic circuitry. FUNCTIONS DESCRIPTION This chapter describes the following functional blocks in more detail:
- Position controller
- Main control and register, OTP memory + ROM
- Motordriver Position Controller Positioning and Motion Control A positioning command will produce a motion as illustrated in Figure 7. 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 the parameters programmed by the application during the configuration phase. The current in the coils is also programmable. Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì ÌÌ ÌÌ ÌÌ ÌÌ ÌÌ ÌÌ ÌÌ ÌÌ ÌÌ ÌÌ Velocity Vmax Vmin Acceleration range Deceleration range Pstart PstopP=0 Position Zero Speed Hold Current Pmin Pmax Zero Speed Hold Current
Figure 7. Positioning and Motion Control
Table 13. POSITION RELATED PARAMETERS Different positioning examples are shown in the table below. Table 14. POSITIONING EXAMPLES is running at maximum velocity. direction while in deceleration phase. deceleration phase. The velocity rounding error will be removed at Vmin (e.g. at end of acceleration or when AccShape=1).
to zero, whereas TagPos register is not changed. flag is set to indicate the AMIS−30622 is referenced. Figure 8. Dual Positioning already ongoing is not recommended. 22.The priority encoder is describing the management of states and commands. executed afterwards. This applies also for the command GotoSecurePosition. 24.Commands such as GetFullStatus1 or GetFullStatus2 will be executed while a Dual Positioning is running. motion is completed, the former Vmin and Vmax become active again. defined in the command, except Vmin and Vmax, become active immediately.
Table 15. STATE DIAGRAM OF THE HW COMPARATOR
- High or address = 1
- Low or address = 0
- Floating As illustrated in the table above (Table 15), the state is depending on the previous state, the condition of the 2 switch controls (DriveLS and DriveHS) and the output of HW_Cmp. Figure 11 shows an example of a practical case where a connection to VBAT is interrupted.
Figure 11. Timing Diagram Showing the Change in States for HW Comparator high so based on Table 15 the new state remains unchanged. This high state will be interpreted as HW address = 1. interruptions of the power supply. Low. This low state will be interpreted as HW address = 0. to respectively ESW = 0 and ESW = 1.
Figure 12. Simplified Schematic Diagram of the SWI Comparator with the corresponding position is memorized. state of the switch together with the position of the motor. Table 16. GetFullStatus1 I2C COMMAND
0 Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 1
1 Address 1 1 1 OTP3 OTP2 OTP1 OTP0 HW
2 Data 1 Irun[3:0] Ihold[3:0]
3 Data 2 Vmax[3:0] Vmin[3:0]
4 Data 3 AccShape StepMode[1:0] Shaft Acc[3:0]
5 Data 4 VddReset StepLoss ElDef UV2 TSD TW Tinfo[1:0]
6 Data 5 Motion[2:0] ESW OVC1 OVC2 1 CPFail
7 Data 6 1 1 1 1 1 1 1 1
8 Data 7 1 1 1 1 1 1 1 1
Figure 13. Simplified Timing Diagram Showing the Change in States for SWI Comparator the registers and flags will be in a predetermined position. provided thermal and electrical conditions allow for it.
Figure 14. State Diagram Temperature Management
GetFullStatus1 or GetFullStatus2 command. GetFullStatus1 or GetFullStatus2 command.
- In the case of Stop mode 2, care needs to be taken because the accumulated steploss can cause a significant deviation between physical and stored actual position.
- The SetDualPosition command will only be executed after clearing the <UV2> and <Steploss> flags.
- RAM reset occurs when VDD < VDDReset (digital POR level). OTP Register OTP Memory Structure The table below shows how the parameters to be stored in the OTP memory are located.
Table 17. OTP MEMORY STRUCTURE circuit and are just documented here as an indication. set it to ‘1’. Thus only bits having to be at ‘1’ must be zapped. Table 18. OTP OVERWRITE PROTECTION
AMIS−30622 http://onsemi.com Irun[3:0] Current amplitude value to be fed to each coil of the stepper−motor. The table below provides the 16 possible values for <IRUN>. Index Irun Run Current (mA) 0 0 0 0 0 59 1 0 0 0 1 71 2 0 0 1 0 84 3 0 0 1 1 100 4 0 1 0 0 119 5 0 1 0 1 141 6 0 1 1 0 168 7 0 1 1 1 200 8 1 0 0 0 238 9 1 0 0 1 283 A 1 0 1 0 336 B 1 0 1 1 400 C 1 1 0 0 476 D 1 1 0 1 566 E 1 1 1 0 673 F 1 1 1 1 800 Ihold[3:0] Hold current for each coil of the stepper−motor. The table below provides the 16 possible values for <IHOLD>. Index Ihold Hold Current (mA) 0 0 0 0 0 59 1 0 0 0 1 71 2 0 0 1 0 84 3 0 0 1 1 100 4 0 1 0 0 119 5 0 1 0 1 141 6 0 1 1 0 168 7 0 1 1 1 200 8 1 0 0 0 238 9 1 0 0 1 283 A 1 0 1 0 336 B 1 0 1 1 400 C 1 1 0 0 476 D 1 1 0 1 566 E 1 1 1 0 673 F 1 1 1 1 800 Note: When the motor is stopped, the current is reduced from <IRUN> to <IHOLD>. StepMode Setting of step modes. StepMode Step Mode 0 0 1/2 stepping 0 1 1/4 stepping 1 0 1/8 stepping 1 1 1/16 stepping Shaft This bit distinguishes between a clock−wise or counter−clock−wise rotation. The shaft bit is not working in RunVelocity mode. SecPos[10:0] Secure Position of the stepper−motor. This is the position to which the motor is driven in case of a HW pin connection is lost. If <SecPos[10:0]> = “100 000000 00”, secure positioning is disabled; the stepper−motor will be kept in the position occupied at the moment these events occur.
AMIS−30622 http://onsemi.com Note: 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 Index Vmax Vmax(full step/s) Group 0 0 0 0 0 99 A 1 0 0 0 1 136 B 2 0 0 1 0 167 3 0 0 1 1 197 4 0 1 0 0 213 5 0 1 0 1 228 6 0 1 1 0 243 7 0 1 1 1 273 C 8 1 0 0 0 303 9 1 0 0 1 334 A 1 0 1 0 364 B 1 0 1 1 395 C 1 1 0 0 456 D 1 1 0 1 546 DE 1 1 1 0 729 F 1 1 1 1 973 Vmin[3:0] Minimum velocity. Index Vmin Vmax Factor 0 0 0 0 0 1 1 0 0 0 1 1/32 2 0 0 1 0 2/32 3 0 0 1 1 3/32 4 0 1 0 0 4/32 5 0 1 0 1 5/32 6 0 1 1 0 6/32 7 0 1 1 1 7/32 8 1 0 0 0 8/32 9 1 0 0 1 9/32 A 1 0 1 0 10/32 B 1 0 1 1 11/32 C 1 1 0 0 12/32 D 1 1 0 1 13/32 E 1 1 1 0 14/32 F 1 1 1 1 15/32 Acc[3:0] Acceleration and deceleration between Vmax and Vmin. Index Acc Acceleration (Full−step/s2) 0 0 0 0 0 49 (*) 1 0 0 0 1 218 (*) 2 0 0 1 0 1004 . 3 0 0 1 1 3609 . 4 0 1 0 0 6228 . 5 0 1 0 1 8848 . 6 0 1 1 0 11409 . 7 0 1 1 1 13970 . 8 1 0 0 0 16531 . 9 1 0 0 1 19092 (*) A 1 0 1 0 21886 (*) B 1 0 1 1 24447 (*) C 1 1 0 0 27008 (*) D 1 1 0 1 29570 (*) E 1 1 1 0 34925 (*) F 1 1 1 1 40047 (*) (*) restriction on speed
Table 19. RAM REGISTERS modified. Therefore, the application should not send a ResetToDefault during a motion, to avoid any unwanted change of parameter.
Table 20. FLAGS TABLE
The table below describes the simplified state management performed by the main control block. Table 21. PRIORITY ENCODER NOTE: See table notes on the following page.
30.After power−on−reset, the <Standby> state is entered. loaded with the values stored in RAM at the moment the DualPosition sequence starts. <AccShape> is forced to ‘1’ during second motion. parameters for <Vmax> and <Vmin> stored in RAM. 32.Shutdown state can be left only when <TSD> and <HS> flags are reset. for it (normal temperature, correct battery voltage and no electrical or charge pump defect). 34.A SetMotorParam command sent while a motion is ongoing (state <GotoPos>) should not attempt to modify <Acc> and <Vmin> values. at the next SetPosition command. state <HardStop> or <SoftStop> and is reset during first clock edge occurring in state <Stopped>. meaning that <Stop>, <TSD>, etceteras are first evaluated for possible transitions. by a GetFullStatus1 command. Figure 17. Simplified State Diagram
positioning order can then be executed. Figure 20. Motor Stopping Phase flag <StepLoss> is also raised. taken to open the transistors of the defective bridge.
- External coil short circuit
- Short between one terminal of the coil and Vbat or GND One cannot detect an internal short in the motor. Open circuits are detected by 100% PWM duty cycle value during one electrical period with duration, determined by Vmin.
Table 22. ELECTRICAL DEFECT DETECTION
- The chip temperature rises above the thermal shutdown threshold Ttsd (see Thermal Shutdown Mode).
- The battery voltage goes below UV2 for longer than 15 seconds (see Battery V oltage Management
- The charge pump voltage goes below the charge pump comparator level for more than 15 seconds.
- Flag <ElDef> = ‘1’, meaning an electrical problem is detected on one or both coils, e.g. a short circuit. A motor shutdown leads to the following:
- H−bridges in high impedance mode.
- The <TagPos> register is loaded with the <ActPos>, except in autarkic states. The conditions to get out of a motor shutdown mode are:
- Reception of a GetFullStatus1 command AND
- The four above causes are no longer detected This leads to H −bridges going in Ihold mode. Hence, the circuit is ready to execute any positioning command.
a problem or not and decide which application strategy to adopt. Table 23. Example of Possible Sequence used to Detect and Determine Cause of Motor Shutdown which indeed cannot be flagged by the AMIS−30622. to disable the protection of the H−bridges.
the different application tasks the AMIS−30622 can feature. The commands summary is given in Table 25. Table 25. I2C COMMANDS WITH CORRESPONDING ROM POINTER Figure 33. Color Code Used in the Definition of I2C Frames
get a complete status of the circuit and of the stepper motor. Table 26. GetFullStatus1 COMMAND FRAME
0 Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0
1 Command 1 0 0 0 0 0 0 1
Table 27. GetFullStatus1 RESPONSE FRAME
Table 28. GetFullStatus2 COMMAND FRAME
1 Command 1 1 1 1 1 1 0 0
Table 29. GetFullStatus2 RESPONSE FRAME
2 Data 1 ActPos[15:8]
3 Data 2 ActPos[7:0]
4 Data 3 TagPos[15:8]
5 Data 4 TagPos[7:0]
6 Data 5 SecPos[7:0]
7 Data 6 1 1 1 1 1 SecPos[10:8]
following I2C command frame:. Table 30. GetOTPParam COMMAND FRAME
1 Command 1 0 0 0 0 0 1 0
Table 31. GetOTPParam RESPONSE FRAME
1 OTP byte 0 OTP byte @0x00
2 OTP byte 1 OTP byte @0x01
3 OTP byte 2 OTP byte @0x02
4 OTP byte 3 OTP byte @0x03
5 OTP byte 4 OTP byte @0x04
6 OTP byte 5 OTP byte @0x05
7 OTP byte 6 OTP byte @0x06
8 OTP byte 7 OTP byte @0x07
Table 32. GotoSecurePosition COMMAND FRAME
1 Command 1 0 0 0 0 1 0 0
Table 33. HardStop COMMAND FRAME
1 Command 1 0 0 0 0 1 0 1
helpful to prepare for instance a relative positioning. Table 34. ResetPosition COMMAND FRAME
1 Command 1 0 0 0 0 1 1 0
in order to reset the whole slave node into the initial state. with the reset state of the registers parameters (see Table 19). forbidden by the position controller. Table 35. ResetToDefault COMMAND FRAME
1 Command 1 0 0 0 0 1 1 1
in order to put the motor in continuous motion state. Table 36. RunVelocity COMMAND FRAME
1 Command 1 0 0 1 0 1 1 1
command is issued, the circuit will enter in deadlock state. a value out of the stepper motor range for Pos1[15:0]. Table 37. SetDualPosition COMMAND FRAME
1 Command 1 0 0 0 1 0 0 0
2 Data 1 1 1 1 1 1 1 1 1
3 Data 2 1 1 1 1 1 1 1 1
4 Data 3 Vmax[3:0] Vmin[3:0]
5 Data 4 Pos1[15:8]
6 Data 5 Pos1[7:0]
7 Data 6 Pos2[15:8]
8 Data 7 Pos2[7:0]
Table 38. SetMotorParam COMMAND FRAME
1 Command 1 0 0 0 1 0 0 1
4 Data 3 Irun[3:0] Ihold[3:0]
5 Data 4 Vmax[3:0] Vmin[3:0]
6 Data 5 SecPos[10:8] Shaft Acc[3:0]
7 Data 6 SecPos[7:0]
8 Data 7 1 1 1 AccShape StepMode[1:0] 1 1
is a mandatory condition to ensure reliable zapping. Table 39. SetOTPParam COMMAND FRAME
1 Command 1 0 0 1 0 0 0 0
4 Data 3 1 1 1 1 1 OTPA[2:0]
5 Data 4 D[7:0]
SetPosition command will be ignored. Table 40. SetPosition COMMAND FRAME
1 Command 1 0 0 0 1 0 1 1
4 Data 3 Pos[15:8]
5 Data 4 Pos[7:0]
Pos [15:0] Signed 16 −bit position set−point for motor. safety reasons can also issue a SoftStop command. Table 41. SoftStop COMMAND FRAME
1 Command 1 0 0 0 1 1 1 1
AMIS−30622 http://onsemi.com PACKAGE DIMENSIONS SOIC 20 W CASE 751AQ ISSUE O
AMIS−30622 http://onsemi.com PACKAGE DIMENSIONS NQFP−32, 7x7 CASE 560AA ISSUE O
AMIS−30622 http://onsemi.com NQFP−32, 7x7 CASE 560AA ISSUE O ON Semiconductor and are registered trademarks of Semiconductor Components Industries, LLC (SCILLC). SCILLC owns the rights to a numb er of patents, trademarks, reserves the right to make changes without further notice to any products herein. SCILLC makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does SCILLC assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation special, consequential or incidental damages. “Typical” parameters which may be provided in SCILLC data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. All operating parameters, including “Typicals” must be validated for each customer application by customer’s technical experts. SCILLC does not convey any license under 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 application 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 unauthorized application, Buyer shall indemnify and hold SCILLC and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that SCILLC was negligent regarding the design 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 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: 81−3−5817−1050 AMIS−30622/D 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 ON Semiconductor Website: www.onsemi.com Order Literature: http://www.onsemi.com/orderlit For additional information, please contact your local Sales Representative