AMIS-30624

AMIS-30624 AMI | Alldatasheet

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AMIS-30624 I2C Microstepping Motordriver Data Sheet

1.0 General Description

The AMIS-30624 is a single-chip microstepping motordriver 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 I2C master. This significantly reduces system complexity. The chip recei ves positioning instructions through the b us and subsequently drives the stator coils so the t wo-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 spe ed, acceleration a nd d eceleration. Microste pping a llows si lent motor o peration and i ncreased p ositioning resolution. The advanced motion qualification mode enables verification of the complete mechanical system in function of the se lected motion parameters. The AMIS-30624 can easily be connected to an I2C bus where the I2C master can fetch specific status information like actual position, error flags, etc. from each individual slave node. An integrated sensorless step-loss detection prevents the positioner from loosing steps and stops th e motor when running into stall. This enables silent, yet accurate position calibrations during a referencing run and allows semi-closed loop operation when approaching the mechanical end-stops. The chip is im plemented in I2T100 technology, enabling both high voltage analog circuitry and digital functionality on the sam e chip. The AMIS-30624 is fully compatible with the automotive voltage requirements.

2.0 Product Features

• Mi crostepping technology
• Sensorless step-loss detection
• Peak current up to 800mA
• Fixed frequency PWM current-control
• Selectable PWM frequency
• Automatic selection of fast and slow decay mode
• No external fly-back diodes required
• 14V/24V compliant
• Motion qualification mode Controller with RAM and OTP memory
• Position controller
• Configurable speeds and acceleration
• Input to connect optional motion switch I2C interface
• Bi-directi onal 2-wire bus for Inter IC Control
• Field programmable node addresses
• Full diagnostics and status information Protection
• Over-current protection
• Und er-voltage management
• Open circuit detection
• High-temp warning and management
• Lo w-temp flag EMI compatibility
• High voltage outputs with slope control
• HV outputs with slope control 1 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

3.0 Applications

The AMIS-30624 is i deally suited for smal l positioning applications. Target markets incl ude: automotive (headlamp alignment, HVAC, idle co ntrol, cr uise c ontrol), i ndustrial equipment (li ghting, fluid contro l, l abeling, proc ess control, XYZ tables, ro bots) an d bu ilding automation (HVAC, 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.

4.0 Ordering Information

Table 1: Ordering Information Part No. Package Peak Current Temp. Range Ordering Code Tubes Ordering Code Tapes AMIS-30624 PGA SOIC-20 800mA -40°C… ..125°C 0C624-004-XTD 0C624-004-XTP AMIS-30624 PNA NQFP-32 (7 x 7 mm) 800mA -40°C… ..125°C 0C624-005-XTD 0C624-005-XTP

5.0 Quick Reference Data

Table 2: 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 (3) Electrostatic discharge voltage on pins -2 +2 kV Notes: (1) For limited time <0.5s (2) The circuit functionality is not guaranteed. (3) Human body model (100pF via 1.5 kΩ, according to JEDEC EIA-JESD22-A114-B) Table 3: Operating Ranges Parameter Min. Max. Unit Vbb Supply voltage +8 +29 V Vbb ≤ 18V -40 +125 °C Top Operating temperature range Vbb ≤ 29V -40 +85 °C 2 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

6.0 Table of Contents

3 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 4 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

7.0 Block Diagram

Figure 1: Block Diagram I2C-bus Interface OscillatorVref Temp sense Voltage Regulator TST2 VBB VDD GND MOTXP MOTXN Main Control Registers OTP - ROM

4 MHz

Y I-sense PWM regulator X I-sense Decoder Sinewave Table DAC's AMIS-30624 HW SWISDA SCK PC20060925.1 5 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

8.0 Pin-out

Figure 2: SOIC 20 and NQFP-32 Pin-out 201 SDA GND SWI GND SCK MOTXP VBB VDD AMIS-30624 PC20060925.2 GND GND MOTXN MOTYP MOTYN TST1 TST2 HW CPN CPP VBB VCP 9 101 1 121 3 14 15 16 32 31 30 29 28 27 26 25 XP VBB SWI NC SDA XP VBB VBB CPN CPP VCP YN VBB YN VBB VBB YP XN GND GND XN YP GND GND SCK VDD GND TST1 TST2 HW GND NC AMIS-30624 Top view NQ32 PC20050925.3 Table 4: Pin Description Pin Name Pin Description SOIC-20 NQFP-32 SDA I C serial data line 1 8 SCK I C serial clock line 2 9 VDD Internal supply (needs external decoupling capacitor) 3 10 GND Ground, heat sink 4,7,14,17 11, 14, 25, 26, 31, 32 TST1 Test pin (to be tied to ground in normal operation) 5 12 TST2 Test pin (to be left open in normal operation: internally pulled up) 6 13 HW Hard wired address bit 8 15 CPN Negative connection of pump capacitor (charge pump) 9 17 CPP Positive connection of pump capacitor (charge pump) 10 18 VCP Charge-pump filter-capacitor 11 19 VBB Battery voltage supply 12,19 3, 4, 5, 20, 21, 22 MOTYN Negative end of phase Y coil 13 23, 24 MOTYP Positive end of phase Y coil 15 27, 28 MOTXN Negative end of phase X coil 16 29, 30 MOTXP Positive end of phase X coil 18 1, 2 SWI Switch input 20 6 NC Not connected (to be tied to ground) 7, 16 6 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

9.0 Package Thermal Resistance

9.1 SOIC-20

To lower the junction-to-ambient thermal resistance, it is r ecommended to con nect the ground leads to a pri nted circuit board (PCB) ground p lane l ayout as i llustrated in F igure 3. T he junction-to-c ase th ermal res istance is de pendent on the co pper are a, cop per thickness, PCB thickness and number of copper layers. Calculating with a total area of 460 mm2, 35µm copper thickness, 1.6mm PCB thickness and 1 layer, the thermal resistance is 28°C/W; leading to a junction-ambient thermal resistance of 63°C/W. Figure 3: PCB Ground Plane Layout Condition

9.2 NQFP-32

The NQFP is designed to provide superior thermal performance, and using an exposed die pad on the bottom surface of the p ackage partly contributes to this. In order to take full adva ntage of this thermal performance, the PCB must have features to conduct heat away from the pack age. A therm al grou nded p ad with therm al vias can achieve this. W ith a la yout as s hown in F igure 4, the therm al resistance junction – to – ambient can be brought down to a level of 25°C/W. Figure 4: PCB Ground Plane Layout Condition SOIC-20 PC20041128.1 NQFP-32 PC20041128.2 7 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

10.0 DC Parameters

The DC parameters are given for Vbb and temperature in their operating ranges. Currents flowing in the circuit are defined as positive. Table 5: DC Parameters Symbol Pin(s) Parameter Test Conditions Min. Typ. Max. Unit Motordriver IMSmax,Peak Max. current through motor coil in normal operation 800 mA IMSmax,RMS Max. RMS current through coil in normal operation 570 mA IMSabs Absolute error on coil current -10 10 % IMSrel Error on current ratio Icoilx / Icoily -7 7 % Vbb = 12V, Tj = 50 °C 0.50 1 Ω Vbb = 8V, Tj = 50 °C 0.55 1 Ω Vbb = 12V, Tj = 150 °C 0.70 1 Ω RDSon On resistance for each motor pin (including bond wire) at IMSmax Vbb = 8V, Tj = 150 °C 0.85 1 Ω IMSL MOTXP MOTXN MOTYP MOTYN Pull down current HiZ mode 2 mA Thermal Warning & Shutdown Ttw Thermal warning 138 145 152 °C Ttsd (1) (2) Thermal shutdown Ttw + 10 °C Tlow (2) Low temperature warning Ttw - 155 °C Supply and Voltage Regulator Tamb ≤ 125 °C 6.5 18 V Vbb Nominal operating supply range Tamb ≤ 85 °C 6.5 29 V VbbOTP Supply voltage for OTP zapping (3) 9.0 10.0 V Ibat Total current consumption Unloaded outputs 3.50 10.0 mA Ibat_s Sleep mode current consumption 50 100 µA UV1 Stop voltage high threshold 7.8 8.4 8.9 V UV2 VBB Stop voltage low threshold 7.1 7.5 8.0 V Vdd Internal regulated output (4) 8V < Vbb < 29V 4.75 5 5.50 V IddStop Digital current consumption Vbb < UV2 2 mA VddReset Digital supply reset level @ power do wn (5) 4.5 V IddLim VDD Current limitation Pin shorted to ground 42 mA Switch Input and Hardwire Address Input Rt_OFF Switch OFF resistance (6) 10 kΩ Rt_ON Switch ON resistance (6) Switch to Gnd or Vbat, 2 kΩ Vbb_sw Vbb range fo r g uaranteed oper ation 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 I C Serial Interface VIL Input level low (7) - 0.5 0.3 * Vdd V VIH Input level high (8) 0.7 * Vdd Vdd + 0.5 V VnL Noise margin at the LOW level fo r each connected device (including hysteresis) 0.1 * Vdd V VnH SDA SCK Noise margin at the HIGH level for each connected device (including hysteresis) 0.2 * Vdd 8 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet Table 5: DC Parameters (cont.) Charge Pump Vbb > 15V Vbb+10 Vbb+12.5 Vbb+15 V Vcp Output voltage 8V < Vbb < 15V 2 * Vbb – 5 2 * Vbb – 2.5 2 * Vbb V Cbuffer VCP External buffer capacitor 220 470 nF Cpump CPP CPN External pump capacitor 220 470 nF Motion Qualification Mode Output VOUT Output voltage swing TestBemf I2C command 0 - 4,85 V ROUT Output impedance Service mode I2C command 2 kΩ Av SWI Gain = VSWI / VBEMF Service mode I2C command 0,50 Notes: (1) No more than 100 cumulated hours in life time above Ttsd. (2) Thermal shutdown and a low temperature warning are derived from thermal warning. (3) A 10µF buffer capacitor of between VBB and GND is the minimum needed. Short connections to the power supply are recommended. (4) Pin VDD must not be used for any external supply (5) The RAM content will not be altered above this voltage. (6) External resistance value seen from pin SWI or HW, including 1kΩ series resistor. (7) If input voltages < - 0.3V, than a resistor between 22Ω to 100Ω needs to be put in series (8) If the I2C-bus is operated in Fast Mode VIHmin = 0.7 * Vdd 9 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

11.0 AC Parameters

The AC parameters are given for Vbb and temperature in their operating ranges. All timing values of the I2C transceiver are referred to VIHman and VILmax levels (see Figure 5). Table 6: AC Parameters Symbol Pin(s) Parameter Test Conditions Min. Typ. Max. Unit Power-up Tpu Power-up time Guaranteed by design 10 ms Internal Oscillator fosc Frequency of internal oscillator 3.6 4.0 4.4 MHz I C Transceiver (Generic) CB Capacitive load of each bus line 400 (1) pF CI Capacitance of SDA / SCK pin 10 pF tSP SDA SCK Pulse w idth of spikes w hich m ust be suppressed by the input filter 50 ns I C Transceiver (Standard Mode) fSCL SCL clock frequency 100 kHz tHD,START Hold time (repe ated) STAR T condition. After this period the first clock pulse is generated. 4.0 µs tLOW LOW period of the SCK clock 4.7 µs tHIGH HIGH period of the SCK clock 4.0 µs tSU,START Set-up time fo r a repeat ed START condition 4.7 µs tHD,DATA Data hold time for I2C bus devices 0 (2) 3.45 (3) µs tSU,DATA Data set-up time 250 ns tR Rise time of SDA and SCK signals 1.0 µs tF Fall time of SDA and SCK signals 0.3 µs tSU,STOP Set-up time for STOP condition 4.0 µs tBUF SDA SCK Bus free time bet ween ST OP and START condition 4.7 µs I C Transceiver (Fast Mode) fSCL SCL clock frequency 360 kHz tHD,START Hold time (repe ated) STAR T condition. After this period the first clock pulse is generated. 0.6 µs tLOW LOW period of the SCK clock 1.3 µs tHIGH HIGH period of the SCK clock 0.6 µs tSU,START Set-up time fo r a repeat ed START condition 0.6 µs tHD,DATA Data hold time for I2C bus devices 0 (2) 0.9 (3) µs tSU,DATA Data set-up time 100 (4) ns tR Rise time of SDA and SCK signals 20 + 0.1CB 300 ns tF Fall time of SDA and SCK signals 20 + 0.1CB 300 ns tSU,STOP Set-up time for STOP condition 0.6 µs tBUF SDA SCK Bus free time bet ween ST OP and START condition 1.3 µs 10 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet Table 6: AC Parameters (cont.) Switch Input and Hardwire Address Input Tsw Scan pulse period (5) 1024 µs Tsw_on SWI HW Scan pulse duration 128 µs Motordriver PWMfreq = 0 (6) 20.6 22.8 25.0 kHz Fpwm PWM frequency (5) PWMfreq = 1 (6) 41,2 45,6 50,0 kHz Fjit_depth PWM jitter modulation depth PWMJen = 1 (6) 10 % Tbrise Turn-on transient time 170 ns Tbfall Turn-off transient time Between 10% and 90% 140 ns Tstab MOTxx Run current stabilization time 29 32 35 ms Charge Pump fCP CPN CPP Charge pump frequency (5) 250 kHz Notes: (1) The maximum number of connected I2C devices is dependent on the number of available addresses and the maximum bus capacitance to still guarantee the rise and fall times of the bus signals. (2) An I2C device must internally provide a hold time of at least 300ns for the SDA signal (referred to the VIHmin of the SCL signal) to bridge the undefined region of the falling edge of SCL. (3) The maximum tHD,DAT has only to be met if the device does not stretch the LOW period (tLOW) of the SCL signal. (4) A Fast-mode I2C-bus device can be used in a standard-mode I2C bus system, but the requirement tSU,DATA ≥ 250ns must than be met. This will automatically be the case if the device does not stretch the LOW period of the SCL signal. If such a device does stretch the LOW period of the SCL signal, it must output the next data bit to the SDA line trmax + tSU,DATA = 1000 + 250 = 1250ns (according to the standard-mode I2C-bus specification) before the SCL line is released. (5) Derived from internal oscillator. (6) See SetMotorParam and PWM regulator. Figure 5: I2C Timing Diagrams SDA SCK tF tHD,START tLOW tR tHD,DATA tSU,DATA tHIGH START REPEATED START tSU,START tSP tSU,STOP tBUF STARTSTOP PC20060925.8 VIHmin VILmax 11 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet AMIS-30624 VBAT MOTXP PC20060925.5 100 nF MOTXN MOTYP MOTYN 11VDD VBB VCP SWI CPPCPN SDA SCK HW M 203 VBB 100 nF 220 nF 220 nF 1 kΩ Connect to VBAT or GND Connect to VBAT or GND 1 kΩ 100 µF C5 C6 C4C1 C21 µF GND 7 14 17 TST2TST1 65 4 I2C bus

12.0 Typical Application

Figure 6: Typical Application Diagram Notes: (1) All resistors are ± 5%, ¼ W. (2) Depending on the application, the ESR value and working voltage of C1 must be carefully chosen. (3) C 2 must be a ceramic capacitor to assure low ESR. (4) C 3 and C4 must be as close as possible to pins CPN, CPP, VCP, and VBB to reduce EMC radiation. (5) C 5 and C6 must be close to pins VBB and GND.

13.0 Positioning Parameters

13.1 Stepping Modes

One of four possible stepping modes can be programmed:

• Half stepping
• 1/4 microstepping
• 1/8 microstepping
• 1/16 microstepping 12 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

13.2 Maximum Velocity

For each stepping mode, the maximum velocity Vmax can be programmed to 16 possible values given in Table 7. 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, otherwise steps might be lost. Table 7: Maximum Velocity Selection Table Vmax Index Stepping Mode Hex Dec Vmax (Full-step/s) Group Half stepping (Half-step/s) th Microstepping (Micro-step/s) th Microstepping (Micro-step/s) th Microstepping (Micro-step/s) 0 0 99 A 197 395 790 1579 1 1 136 273 546 1091 2182 2 2 167 334 668 1335 2670 3 3 197 395 790 1579 3159 4 4 213 425 851 1701 3403 5 5 228 456 912 1823 3647 6 6 243 B 486 973 1945 3891 7 7 273 546 1091 2182 4364 8 8 303 607 1213 2426 4852 9 9 334 668 1335 2670 5341 A 10 364 729 1457 2914 5829 B 11 395 790 1579 3159 6317 C 12 456 C 912 1823 3647 7294 D 13 546 1091 2182 4364 8728 E 14 729 1457 2914 5829 11658 F 15 973 D 1945 3891 7782 15564

13.3 Minimum Velocity

Once the maximum velocity is chosen, 16 possible values can be programmed for the minimum velocity Vmin. Table 8 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 Vmax (Full-step/s) Vmin Index A B C D Hex Dec Vmax Factor 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 0 0 1 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 1 1 1/32 3 4 5 6 6 7 7 8 8 10 10 11 13 15 19 27 2 2 2/32 6 8 10 11 12 13 14 15 17 19 21 23 27 31 42 57 3 3 3/32 9 12 15 18 19 21 22 25 27 31 32 36 42 50 65 88 4 4 4/32 12 16 20 24 26 28 30 32 36 40 44 48 55 65 88 118 5 5 5/32 15 21 26 31 32 35 37 42 46 51 55 61 71 84 111 149 6 6 6/32 18 25 31 36 39 42 45 50 55 61 67 72 84 99 134 179 7 7 7/32 21 30 36 43 46 50 52 59 65 72 78 86 99 118 156 210 8 8 8/32 24 33 41 49 52 56 60 67 74 82 90 97 113 134 179 240 9 9 9/32 28 38 47 55 59 64 68 76 84 93 101 111 128 153 202 271 A 10 10/32 31 42 51 61 66 71 75 84 93 103 113 122 141 168 225 301 B 11 11/32 34 47 57 68 72 78 83 93 103 114 124 135 156 187 248 332 C 12 12/32 37 51 62 73 79 85 91 101 113 124 135 147 170 202 271 362 D 13 13/32 40 55 68 80 86 93 98 111 122 135 147 160 185 221 294 393 E 14 14/32 43 59 72 86 93 99 106 118 132 145 158 172 198 237 317 423 F 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. 13 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

13.4 Acceleration and Deceleration

Sixteen p ossible v alues c an be programmed for Acc (acc eleration a nd deceleration b etween V min a nd V max). T able 9 prov ides t he obtainable values in full-step/s². One observes restrictions for some combination of acceleration index and maximum speed (gray cells). The accuracy of Acc is derived from the internal oscillator. Table 9: Acceleration and Deceleration Selection Table Vmax (FS/s) → 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 ↓ Acc Index Hex Dec Acceleration (Full-step/s²) 0 0 49 106 473 1 1 218 735 2 2 1004 3 3 3609 4 4 6228 5 5 8848 6 6 11409 7 7 13970 8 8 16531 9 9 19092 A 10 21886 B 11 24447 C 12 27008 D 13 29570 E 14 34925 F 15 14785 29570 40047 The formula to compute the number of equivalent full-step during acceleration phase is: Acc2 VminVmaxNstep

13.5 Positioning

The positio n i s progr ammed in the c ommand SetPosition and is g iven as a number of (micr o)steps. Accordi ng to th e cho sen stepping mode, the position words must be aligned as described in T able 10. When using command GotoSecurePosition, data is automatically aligned. Table 10: Position Word Alignment Stepping Mode Position Word: Pos[15:0] Shift 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 ⇔ ×2 1/4th 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 Notes: (1) LSB: Least significant bit (2) S: Sign bit 14 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

stepping mode, the position range will be as shown in Table 11. number of bits, according to the stepping mode. Table 12. See also the command GotoSecurePosition. (1) The secure position is disabled in case the programmed value is the reserved code “10000000000” (0x400 or most negative position). (2) The resolution of the secure position is limited to 9 bit at start-up. The OTP register is copied in RAM as illustrated below. SecPos1 and SecPos0 = 0.

• Shaft = 0 ⇒ MOTXP is used as positive pin of the X coil, while MOTXN is the negative one
• Shaft = 1 ⇒ opposite situation. 15 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

14.0 Structural Description

See also the Block Diagram in Figure 1.

14.1 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 PW M 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 information to the control logic part. The same applies for the detection and reporting of an electrical problem that could occur on the coils or the charge pump.

14.2 Control Logic (Position Controller and Main Control)

The control logic block stores the information provided by the I 2C interface (in a RAM or an 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 properly initiate or stop the ste pper motor in order to reac h the set point in a minimum time. It also receives feedback from the motordriver part in order to manage possible problems and decide on internal actions and reporting to the I2C interface.

14.3 Motion Detection

Motion detection is based on the back emf, generated internally in the running motor. When the motor is blocked, for example when it hits the en d-position, the vel ocity and as a result als o the generated back emf, is dis turbed. The AMIS-30624 senses the b ack emf, calculates a moving average and compares the value with two independent threshold levels. If the back emf disturbance is bigger than the set threshold, the running motor is stopped.

14.4 Miscellaneous

The AMIS-30624 also contains the following:

• An internal oscillator needed for the control logic and the PWM control of the motor driver
• 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 16 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

15.0 Functional Description

This chapter describes the following functional blocks in more detail:

• Position controller
• Main control and register, OTP memory + ROM
• Motordriv er The motion detection and I2C control are discussed in separate chapters.

15.1 Position Controller

15.1.1. Positioning and Motion Control A positi oning c ommand will p roduce a moti on as i llustrated in F igure 7. A motion start s with an acceleration p hase from minimu m 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 configuration phase. The current in the coils is also programmable. Figure 7: Positioning and Motion Control Velocity Vmax Vmin Acceleration range Deceleration range Pstart Pstop P=0 Position Optional zero switch Zero speed Hold current Pmin Pm ax Zero speed Hold current Table 13: Position Related Parameters Parameter Reference Pmax – Pmin See Positioning Zero speed hold current See Ihold Maximum current See Irun Acceleration and deceleration See Acceleration and deceleration Vmin See Minimum velocity Vmax See Maximum velocity 17 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet Different positioning examples are shown in Table 14. Table 14: Positioning Examples Positioning Examples 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 18 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.1.4. Hardwired Address HW In Figure 10 a simplified schematic diagram is shown of the HW comparator circuit. The HW pin is sensed via two switches STOP and SBOT. The DriveHS and DriveLS control lines are alternatively closing STOP and SBOT , connecting HW pin with a current to resistor converter. Closing STOP (DriveHS = 1) will sense a current to GND. In that case the top IÆ R converter output is low, via the closed passing switch SPASS_T this signal is fed to the “R” comparator which output HW_Cmp is high. Closing bottom switch SBOT (DriveLS = 1) will sense a current to VBAT. The corresponding IÆ R converter output is low and via SPASS_B fed to the comparator. The output HW_Cmp will be high. Figure 10: Simplified Schematic Diagram of the HW Comparator PC20060926.1 COMP IÎ R IÎ R Rth LOGIC Low DriveHS DriveLS HW_Cmp HW "R"-Comp State STOP SBOT SPASS_T SPASS_B 32 µs Debouncer Float 64 ms Debouncer High 1 = R2GND 2 = R2VBAT 3 = OPEN Three cases can be distinguished (see also Figure 10): - HW is connected to ground: R2GND or Drawing 1 - HW is connected to VBAT: R2VBAT or Drawing 2 - HW is floating: OPEN or Drawing 3 Table 15: State Diagram of the HW Comparator Previous State DriveLS DriveHS HW_Cmp New State Condition Drawing Float 1 0 0 Float R2GND or OPEN 1 or 3 Float 1 0 1 High R2VBAT 2 Float 0 1 0 Float R2VBAT or OPEN 2 or 3 Float 0 1 1 Low R2GND 1 Low 1 0 0 Low R2GND or OPEN 1 or 3 Low 1 0 1 High R2VBAT 2 Low 0 1 0 Float R2VBAT or OPEN 2 or 3 Low 0 1 1 Low R2GND 1 High 1 0 0 Float R2GND or OPEN 1 or 3 High 1 0 1 High R2VBAT 2 High 0 1 0 High R2VBAT or OPEN 2 or 3 High 0 1 1 Low R2GND 1 The logic is c ontrolling the correct seq uence i n cl osing the s witches and in int erpreting t he 32µs de-b ounced HW _Cmp output accordingly. The output of this small state-machine is corresponding to: - High or address = 1 - Low or address = 0 - F loating 20 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet As illustrated in Table 15, the state is depending on the previous state, the condition of the two 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. t Rth Tsw = 1024 µsDriveHS "R"-Comp t t t DriveLS HW_Cmp State t Tsw_on = 128 µs Condition R2VBAT OPEN High Low Float High High High High R2VBAT R2GND Float Figure 11: Timing Diagram Showing the Change in States for HW Comparator High Float Float High High Low Low t PC20060926.2 R2VBAT A resistor is connected between VBAT and HW. Every 1024µs SBOT is closed for a period of 128µs and a current is sensed. The output of the I Æ R converter is low and the HW _Cmp output is high. Assuming the previous stat e was f loating, the internal LOGIC will interpret this as a change of state and the new state will be High (see also Table 15). The next time SBOT is closed the same condition is observed. The previous state was high, so based on Table 15 the new state remains unchanged. This high state will be interpreted as HW address = 1. OPEN In case the HW connection is lost (broken wire, bad contact in connector) the next time SBOT is closed this will be sensed. There will be no current, the output of the corresponding I Æ R converter is high and the HW_Cmp will be low. The previous state was High. Based on Table 15 one can see that the state ch anges to float. This will trigger a motion to s ecure position after a debounce time of 64 ms. This prevents false triggering in case of micro interruptions of the power supply. See also Electrical Transient Conduction Along Supply Lines. R2GND If a resistor is connected between HW and the GND, a current is sensed every 1024µs when STOP is closed. The output of the top I Æ R converter is low and as a result the HW_Cmp output switches to high. Again based on the stated diagram in Table 15 one can see that the state will change to low. This low state will be interpreted as HW address = 0. 21 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.1.5. External Switch SWI As illustrated in Figure 12, the SWI comparator is almost identical to HW. The major difference is in th e limited number of states. Only open or closed is recognised leading to respectively ESW = 0 and ESW = 1. Figure 12: Simplified Schematic Diagram of the SWI Comparator COMP IÎ R IÎ R Rth LOGIC Closed Open DriveHS DriveLS SWI_Cmp SWI "R"-Comp State STOP SBOT SPASS_T SPASS_B 32 µs Debouncer PC20060926.3 1 = R2GND 2 = R2VBAT 3 = OPEN As illustrated in Figure 14, a change in state is al ways synchronized with DriveHS or DriveLS. The same s ynchronization is v alid for updating the internal position register. This means that after every current pulse (or closing of STOP or SBOT) the state of position switch together with the corresponding position is memorized. Using th e GetActualPos co mmands rea ds back the ActPos register and the status of ESW . In th is way the ma ster node ma y get synchronous information about the state of the switch together with the position of the motor. See Figure 13. GetFullStatus1 Response Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

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 Stall CPFail

7 Data 6 1 1 1 1 1 1 1 1

8 Data 7 AbsThr[3:0] DelThr[3:0]

Figure 13: GetFullStatus1 I2C Commando Important remark; Every 512µs this information is refreshed. 22 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet Figure 14: Timing Diagram Showing the Change in States for SWI Comparator Rth Tsw =1024 µs DriveHS "R"-Comp t t t DriveLS SWI_Cmp ESW t Tsw_on = 128 µs t 01 1 1 ActPos ActPos ActPos + 1 ActPos + 2 ActPos + 3 t 512 µs 120 µs PC20060926.4

15.2 Main Control and Register, OTP Memory + ROM

15.2.1. Power-up Phase The power-up phase of the AMIS-30624 will not exceed 10ms. After this phase, the AMIS-30624 is in shutdown mode, ready to receive I2C messages and execute the associated commands. After po wer-up, the registers and flags ar e in t he reset state; some of them being loaded with the OTP memory content (see Table 18). 15.2.2. Reset State After power-up, or after a reset occurrence (e.g. a micro cut on pin VBB has made Vdd go below VddReset level), the H-bridges will be in high impedance mode, and the registers and flags will be in a predetermined position. This is documented in Table 18 and Table 19. 15.2.3. Soft Stop A soft stop is an immediate interruption of a motion, but with a deceleration phase. At the e nd of this action, the r egister TagPos is loaded with the value contained in register ActPos to avoid an attempt of the circuit to ac hieve the motion (seeTable 18). The circuit is then ready to execute a new positioning command, provided thermal and electrical conditions allow for it. 15.2.4. Thermal Shutdown Mode When thermal shutdown occurs, the circuit performs a SoftStop command and goes to motor shutdown mode (see Figure 15). 23 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.2.5. Temperature Management The AMIS-30624 mo nitors temperature by means of two thresholds and one shutdown level, as illustrated in the F igure 15. The only condition necessary to r eset flags < TW> and <TSD> (respectively thermal warning and thermal shutdown) is when the temperature is lower than Ttw causing the occurrence of a GetFullStatus1 I2C frame. Figure 15: State Diagram Temperature Management <Tinfo> = '01' <TW> = '0' <TSD> = '0' <Tinfo> = '01' <TW> = '0' <TSD> = '0' <Tinfo> = '01' <TW> = '0' <TSD> = '0' Tinfo> = '01' TW> = '0' TSD> = '0' <Tinfo> = '01' <TW> = '0' <TSD> = '0' THERMAL SHUTDOWN POST THERMAL WARNING <Tinfo> = '01' <TW > = '0' <TSD> = '0' THERMAL WARNING POST THERMAL SHUT DOWN <Tinfo> = '01' <TW > = '0' <TSD> = '0' NORMAL TEMP POST THERMAL SHUT DOWN LOW TEMP T° < Ttw & I2C frame <GetFullStatus1> T° > Ttw T° > Ttw T° < Ttw T° > Ttsd T° > Ttsd T° < T tsd T° < TtwT° > Ttw T° < Tlow T° > Tlow T° < Ttw & I2C frame <GetFullStatus1> PC20070219.1 24 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.2.6. Battery Under-voltage Management The AMIS-30624 monitors the battery voltage by means of one threshold and one shutdown level, as illustrated in Figure 16. The only condition necessary to res et flags < UV2> and < StepLoss> is to recover a b attery vo ltage higher than UV 1 and to rec eive a GetFullStatus1 command. Figure 16: State Diagram Battery Voltage Management PC20060926.5 Vbb < UV2 No Motion Vbb < UV2 & Motion Ongoing Vbb > UV1 & I2C frame <GetFullStatus1> Vbb > UV1 & I2C frame <GetFullStatus1> - <UV2> = '1' - <Steploss> = '0' - Motor Shutdown - <UV2> = '1' - <Steploss> = '1' - HardStop - Motor Shutdown STOP MODE STOP MODE - <UV2> = '0' - <Steploss> = '0' NORMAL VOLTAGE 15.2.7. OTP Register 15.2.7.1. OTP Memory Structure Table 16 shows where the parameters to be stored in the OTP memory are located. Table 16: OTP Memory Structure Address Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x00 OSC3 OSC2 OSC1 OSC0 IREF3 IREF2 IREF1 IREF0 0x01 TSD2 TSD1 TSD0 BG3 BG2 BG1 BG0 0x02 AbsThr3 AbsThr2 AbsThr1 AbsThr0 PA3 PA2 PA1 PA0 0x03 Irun3 Irun2 Irun1 Irun0 Ihold3 Ihold2 Ihold1 Ihold0 0x04 Vmax3 Vmax2 Vmax1 Vmax0 Vmin3 Vmin2 Vmin1 Vmin0 0x05 SecPos10 SecPos9 SecPos8 Shaft Acc3 Acc2 Acc1 Acc0 0x06 SecPos7 SecPos6 SecPos5 SecPos4 SecPos3 SecPos2 0x07 DelThr3 DelThr2 DelThr1 DelThr0 StepMode1 StepMode0 LOCKBT LOCKBG Parameters stored at address 0x00 a nd 0x01 and bit LOCKBT are alr eady programmed in the OT P memory at circu it 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 any OTP bit at ‘0’ could still be zapped by using a SetOTPparam command. Table 17: OTP Overwrite Protection Lock Bit Protected Bytes LOCKBT (factory zapped before delivery) 0x00 to 0x01 LOCKBG 0x00 to 0x07 Note: Zapped bits will really be “active” after a GetOTPparam or a ResetToDefault command or after a power-up. 25 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet The command used to l oad the application par ameters via the I 2C bu s in th e RAM prior t o a n OTP memor y programming i s SetMotorParam. This allows for a functional verification before using a SetOTPparam command to program and zap separately one OTP memor y by te. A GetOTPparam command iss ued aft er each SetOTPparam command a llows v erification of the correct b yte zapping. 15.2.7.2. Application Parameters Stored in OTP Memory Except for the physical address PA[3:0], these parameters, although programmed in a non-volatile memory, can still be overridden in RAM by an I2C writing operation. PA[3:0] In combi nation with hired wired (HW ) a ddress, it forms the p hysical address AD[6: 0] of the step per-motor. Up to 32 steppermotors can theoretically be connected to the same I2C bus. AbsThr[3:0] Absolute threshold used for the motion detection Index AbsThr AbsThr level (V) 0 0 0 0 0 Disable 1 0 0 0 1 0.5 2 0 0 1 0 1.0 3 0 0 1 1 1.5 4 0 1 0 0 2.0 5 0 1 0 1 2.5 6 0 1 1 0 3.0 7 0 1 1 1 3.5 8 1 0 0 0 4.0 9 1 0 0 1 4.5 A 1 0 1 0 5.0 B 1 0 1 1 5.5 C 1 1 0 0 6.0 D 1 1 0 1 6.5 E 1 1 1 0 7.0 F 1 1 1 1 7.5 DelThr[3:0] Delta threshold used for the motion detection Index DelThr DelThr level (V) 0 0 0 0 0 Disable 1 0 0 0 1 0.25 2 0 0 1 0 0.50 3 0 0 1 1 0.75 4 0 1 0 0 1.00 5 0 1 0 1 1.25 6 0 1 1 0 1.50 7 0 1 1 1 1.75 8 1 0 0 0 2.00 9 1 0 0 1 2.25 A 1 0 1 0 2.50 B 1 0 1 1 2.75 C 1 1 0 0 3.00 D 1 1 0 1 3.25 E 1 1 1 0 3.50 F 1 1 1 1 3.75 26 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet Irun[3:0] Current amplitude value to be fed to each coil of the steppermotor. 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 steppermotor. 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 0 StepMode Indicator of stepping mode to be used. StepMode Step Mode 0 0 1/2 stepping 0 1 1/4 stepping 1 0 1/8 stepping 1 1 1/16 stepping Shaft Indicator of reference pos ition. If Shaft = ‘0’, the reference pos ition is the ma ximum inner pos ition, whereas if Shaft = ‘1’, the reference position is the maximum outer position. SecPos[10:0] Secure position of the steppermotor. This is the position to which the motor is driven in case HW connection is lost. 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’. See also Table 10. 27 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 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 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 B 7 0 1 1 1 273 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 C D 1 1 0 1 546 E 1 1 1 0 729 F 1 1 1 1 973 D 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 28 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.2.8. RAM Registers Table 18: RAM Registers Register Mnemonic Length (Bit) Related Commands Comment Reset State Actual position ActPos 16 GetFullStatus2 GotoSecurePos ResetPosition 16-bit signed Last programmed position Pos/ TagPos 16 GetFullStatus2 GotoSecurePos ResetPosition SetPosition 16-bit signed (see Positioning) Note 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 look-up table Irun Coil hold current Ihold 4 GetFullStatus1 ResetToDefault SetMotorParam Standstill current See look-up table Ihold Minimum velocity Vmin 4 GetFullStatus1 ResetToDefault SetMotorParam See Section 13.3 Minimum Velocity See look-up table Vmin Maximum velocity Vmax 4 GetFullStatus1 ResetToDefault SetMotorParam See Section 13.2 Maximum Velocity See look-up table Vmax Shaft Shaft 1 GetFullStatus1 ResetToDefault SetMotorParam Direction of movement for positive velocity Acceleration/ deceleration Acc 4 GetFullStatus1 ResetToDefault SetMotorParam See Section 13.4 Acceleration See look-up table Acc Secure position SecPos 11 GetFullStatus2 ResetToDefault SetMotorParam Target position when LIN connection fails; 11 MSBs of 16-bit position (LSBs fixed to ‘0’) Stepping mode StepMode 2 GetFullStatus1 SetStallParam See Section 13.1 Stepping Modes See look-up table StepMode Stall detection absolute threshold AbsThr 4 GetFullStatus1 SetStallParam See Section 15.4 Motion detection Stall detection delta threshold DelThr 4 GetFullStatus1 SetStallParam See Section 15.4 Motion detection From OTP memory Stall detection delay FS2StallEn 3 GetFullStatus2 SetStallParam See Section 15.4 Motion detection ‘000’ Stall detection sampling MinSamples 3 GetFullStatus2 SetStallParam See Section 15.4 Motion detection ‘000’ PWM jitter PWMJEn 1 GetFullStatus2 SetStallParam ‘1’ means jitter is added ‘0’ 100% duty cycle stall disable DC100SDis 1 GetFullStatus2 SetStallParam ‘1’ means stall detection is disabled in case PWM regulator runs at δ = 100% ‘0’ PWM frequency PWMFreq 1 SetMotorParam ‘1’ means 44 kHz is selected ‘0’ Note: A ResetToDefault command will act as a reset of the RAM content, except for ActPos and TagPos, which are registers that are not modified. Therefore, the application should not send a ResetToDefault during a motion, to avoid any unwanted change of parameter. 29 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.2.9. Flags Table Table 19: Flags Table Flag Mnemonic Length (Bit) Related Commands Comment Reset State Charge pump failure CPFail 1 GetFullStatus1 ‘0’ = charge pump OK ‘1’ = charge pump failure reset only after GetFullStatus ‘0’ Electrical defect ElDef 1 GetFullStatus1 <OVC1> or <OVC2> or <open circuit 1> or <open circuit 2> or <CPFail> resets only after GetFullStatus1 ‘0’ External switch status ESW 1 GetFullStatus1 ‘0’ = open ‘1’ = close ‘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 ‘0’ Over current in coil Y OVC2 1 GetFullStatus1 ‘1’ = over current reset only after GetFullStatus1 ‘0’ Secure position enabled SecEn 1 Internal use ‘0’ if SecPos = “100 0000 0000” ‘1’ otherwise NA Step loss StepLoss 1 GetFullStatus1 ‘1’ = step loss due to under voltage, over current or open circuit ‘1’ Delta high stall DelStallHi 1 GetFullStatus2 ‘1’ = Vbemf > Average + DeltaThr ‘0’ Delta low stall DelStallLo 1 GetFullStatus2 ‘1’ = Vbemf < Average – DeltaThr ‘0’ Absolute stall AbsStall 1 GetFullStatus2 ‘1’ = Vbemf > AbsThr ‘0’ Stall Stall 1 GetFullStatus1 Stall detected ‘0’ Temperature info Tinfo 2 GetFullStatus1 “00” = normal temperature range “01” = low temperature warning “10” = high temperature warning “11” = motor shutdown “00” Thermal shutdown TSD 1 GetFullStatus1 ‘1’ = shutdown (> 155°C typ.) reset only after GetFullStatus1 and if <Tinfo> = “00” ‘0’ Thermal warning TW 1 GetFullStatus1 ‘1’ = over temp (> 145°C) reset only after GetFullStatus1 and if <Tinfo> = “00” ‘0’ Battery stop voltage UV2 1 GetFullStatus1 ‘0’ = Vbb > UV2 ‘1’ = Vbb ≤ UV2 reset only after GetFullStatus1 ‘0’ Digital supply reset VddReset 1 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’ 30 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.2.10. Priority Encoder The table below describes the state management performed by the main control block. Table 20: Priority Encoder State → Stopped GotoPos DualPosition 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 GetOTPparam OTP refresh; I2C slave response OTP refresh; I2C slave response OTP refresh; I2C slave response OTP refresh; I2C slave response OTP refresh; I2C slave response OTP refresh; I2C slave response GetFullStatus1 [attempt to clear all flags] (note 1) I2C slave response I2C slave response I2C slave response I2C slave response I2C slave response I2C slave response; if (<TSD> or <ElFlag> = ‘0’ then → Stopped GetFullStatus2 I2C slave response I2C slave response I2C slave response I2C slave response I2C slave response I2C slave response 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 (note 2) 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 (note 5) RAM update RAM update RAM update RAM update SetStallParam 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 RunVelocity Continuous motio n; → GotoPos GotoSecPosition If <SecEn> = ‘1’ then TagPos = SecPos; → GotoPos If <SecEn> = ‘1’ then TagPos = SecPos If <SecEn> = ‘1’ then TagPos = SecPos DualPosition → DualPosition HardStop → HardStop; <StepLoss> = ‘1’ → HardStop; <StepLoss> = ‘1’ → HardStop; <StepLoss> = ‘1’ SoftStop → SoftStop HardStop [ ⇔ (<CPFail> or <UV2> or <ElDef>) = → Shutdown → HardStop → HardStop → HardStop Thermal shutdown [ <TSD> = ‘1’ ] → Shutdown → SoftStop → SoftStop Motion finished NA → Stopped → Stopped → Stopped; TagPos =ActPos → Stopped; TagPos =ActPos NA With the following color code: Command ignored Transition to another state Master is responsible for proper update (see Note 5) 31 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet Notes: 1) <ElFlag> = <CPFail> or <UV2> or <ElDef> or <VDDreset> 2) After po wer-on-reset, the Shutdow n state is entered. The shutdo wn state can only be left after GetFullStatus1 command (so that the master could read the <VddReset> flag). 3) A DualPosition sequence runs with a separate se t of RAM regist ers. The par ameters that are not specified in a Du alPosition command are loaded with the values stored in RAM at the moment the DualPosition sequence starts. AccShape is forced to ‘1’ during second motion even if a ResetToDefault command is issued during a DualPosition sequence, in which case AccShape at ‘0’ will be taken into account af ter the DualPosition sequence. A GetFullStatus1 command will return the default parameters for Vmax and Vmin stored in RAM. 4) Shutdown state can be left only when <TSD> and <ElFlag> flags are reset. 5) 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). 6) A SetMotorParam command sent while a motion is ongoing (sta te GotoPos) should not attempt to modify Acc and Vmin values. This can be done during a DualPosition sequence since this motion uses its own parameters, the new parameters will be taken into account at the next SetPosition command. 7) < SecEn> = ‘1’ when register SecPos is loaded with a value different from the most negative value (i.e. different from 0x400 = “100 0000 0000”) 8) < Stop> flag allows user to distinguish w hether state stopped w as entered after H ardStop/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. 9) 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. 10) If <StepLoss> is active, then SetPosition and GotoSecurePosition commands are igno red (the y will not modif y TagPos registe r whatever the state). Other command like DualPosition or ResetPosition will be executed if allowed by current state. <StepLoss> can only be cleared by a GetFullStatus1 command. Figure 17: State Diagram PC20070323.1 GOTOPOS SOFTSTOP SHUTDOWN POWER ON DUAL- POSITION HARDSTOP STOPPED Thermal shutdown Thermal Shutdown SoftStop Thermal shutdown HardStop HardStopHardStop HardStop Motion Finished Motion Finished Motion Finished GetFullStatus1 GotoSecPos SetPos Motion FinishedDualPosition Priorities 32 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet t PC20051123.4 Coil X Coil Y Ix Iy t PC20051205.1 Coil X Coil Y Ix Iy

15.3 Motordriver

15.3.1. Current Waveforms in the Coils Figure 18 illustrates the current fed to the motor coils by the motordriver in half step mode. Figure 18: Current Waveforms in Motorcoils X and Y in Halfstep Mode Whereas Figure 19 below shows the current fed to one coil in 1/16th micro stepping (one electrical period). Figure 19: Current Waveforms in Motorcoils X and Y in 1/16th Microstep mode 33 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.3.2. 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 Figure 19 shows how the PWM circuit per forms this re gulation. To reduce the current ripple, a higher PWM frequency should be selectable. The RAM register PWMfreq is used for this (Bit 6 in Data 7 of SetMotorParam). Table 21: PWM Frequency Selection PWMfreq Applied PWM Frequency 0 22.8 kHz 1 45.6 kHz 15.3.3. PWM Jitter To lower the power spectrum for the funda mental and higher harmonics of the PWM frequency, jitter can be added to the PWM clock. The RAM register PWMJEn is used for this. (Bit 0 in Data 7 of SetMotorParam or SetStallParam). Readout with GetFullStatus1. Table 22: PWM Jitter Selection PWMJEn Status

0 Single PWM frequency

Added jitter to PWM frequency 15.3.4. Motor Starting Phase At motion start, the currents in the coils are directly switched from Ihold to Irun with a new sine/cosine ratio corresponding to the first half (or micro) step of the motion. 15.3.5. Motor Stopping Phase At the en d of the d eceleration phase, the currents are maintained in the coils at th eir actual DC level (hence keeping the si ne/cosine ratio between coils) during the stabilization time tstab (see Table 6). 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. Figure 20: Motor Stopping Phase 34 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.3.6. Charge Pump Monitoring If the charge pump voltage is not sufficie nt for drivi ng the high side transistors (due to a fail ure), an internal HardStop command is issued. This is acknowledged to the master by raising the flag <CPFail> (available with command GetFullStatus1). In case this failure occurs while a motion is ongoing, the flag <StepLoss> is also raised. 15.3.7. 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 allows the detection of the following short circuits:

• External coil short circuit
• Short between one terminal of the coil and Vbat or Gnd Open circuits are detected by a 100 percent PWM duty cycle value during a long time. Table 23: Electrical Defect Detection 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 Remark: One cannot detect an internal short in the motor. 35 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 15.3.8. Motor Shutdown Mode A motor shutdown occurs when:

• The chip temperature rises above the thermal shutdown threshold Ttsd (see Thermal Shutdown Mode)
• The battery voltage goes below UV2 (see Battery Voltage Management)
• F lag <ElDef> = ‘1’, meaning an electrical problem is detected on one or both coils, e.g. a short circuit
• F lag <CPFail> = ‘1’, meaning there is a charge pump failure A motor shutdown leads to the following:
• H-bridges in high impedance mode
• T he TagPos register is loaded with the ActPos (to avoid any motion after leaving the motor shutdown mode) The I2C interface remains active, being able to receive orders or send status. The conditions to get out of a motor shutdown mode are:
• Rece ption of a GetFullStatus1 command AND
• The four causes above are no longer detected This 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 frame GetFullStatus1 frame - 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 I2C Master - Reset <TW> or <TSD> or <UV2> or <StepLoss> or <ElDef> or <CPFail> by the application - Motor shutdown mode ⇒ no motion - The application is still unaware - 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’ Figure 21: Example of Possible Sequence Used to Detect and Determine Cause of Motor Shutdown Important: While i n shutdown m ode, since there is n o hold current in the coils, t he mechanical l oad can cause a step loss, which cannot be flagged by the AMIS-30624. Warning: The application should limit the number of cons ecutive GetFullStatus1 commands to try to get the A MIS-30624 out of shutdown mode. When this proves to be unsuccessful, for example if there is a permanent defect, the reliability of the circuit could be altered since GetFullStatus1 attempts to disable the protection of the H-bridges. 36 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

15.4 Motion Detection

Motion detection is based on the back emf generated internally in the running motor. When the motor is blocked, for example when it hits the en d-position, the vel ocity and as a result als o the generated back emf, is dis turbed. The AMIS-30624 senses the b ack emf, calculates a moving average and c ompares the val ue with two i ndependent threshold levels: Absolute threshold (AbsThr[3:0] ) and Delta thres hold ( DelThr[3:0] ). Instructions for the correct us e of these two levels in c ombination with three a dditional p arameters (MinSamples, FS2StallEn and DC100SDis) are o utside the scope of th is datasheet. Detailed information is available in a dedicated white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”, available on http://www.amis.com/. If the motor is accelerated by a pulli ng or pr opelling force and the resulting back emf in creases above the Delta thre shold (+ ∆THR), then <DelStallHi> is set. W hen the motor is slo wing do wn a nd th e resulti ng b ack emf decrea ses bel ow the Delta thresh old (- ∆THR), then <DelStallLo> is set. When the motor is blocked and the velocity is zero after the acceleration phase, the back emf is low or z ero. When this va lue is b elow the Abs olute t hreshold, <AbsStall> is set. The < Stall> flag is th e OR functio n of <DelStallLo> OR <DelStallHi> OR <AbsStall>. AbsStall t Velocity Vmax Vmin t Motor speed Vbemf VABSTH t Back emf Vbemf DeltaStallHi t Vbemf Vbemf + ∆THR - ∆THR t DeltaStallLo t Figure 22:Triggering of the Stall Flags in Function of Measured Back emf and the Set Threshold Levels Table 24: Truth Table Condition <DelStallLo> <DelStallHi> <AbsStall> <Stall> Vbemf < Average - DelThr 1 0 0 1 Vbemf > Average + DelThr 0 1 0 1 Vbemf < AbsThr 0 0 1 1 The motion will only be detected when the motor is running at the maximum velocity, not during acceleration or deceleration. If during positioning a mechanical obstacle is detected (stall), an (internal) hardstop is generated. The motor will stop immediately and as a consequence the <StepLoss> and <Stall> flags are set. The position in the internal counter will be copied to the ActPos register. All flags can be read out with the GetFullStatus1. If Stall app ears durin g Du alPosition then t he first phas e is cance lled (v ia inter nal Har dstop) a nd after timeout (2 6.6ms) the s econd phase at Vmin starts. Important Remark: Using GetFullStatus1 w ill read AND c lear the foll owing flags: < Steploss>, < Stall>, <AbsStall>, <DelStallLo>, and <DelStallHi>. New positioning is possible and the ActPos register will be further updated. Motion detection is disabled when the RAM registers AbsThr[3:0] and DelThr[3:0] are empty or zero. Both levels can be programmed using the I 2C command SetStallParam in the re gisters AbsT hr[3:0] and De lThr[3:0]. Also in th e OTP register AbsThr[3:0] an d DelThr[3:0] can be set using the I2C command SetOTPParam. These values are copied in the RAM registers during power on reset. 37 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet Value Table: Table 25: Absolute Threshold Settings Table 26: Delta Threshold Settings AbsThr Index AbsThr Level (V) DelThr Index DelThr Level (V)

0 Disable 0 Disable

1 0.5 1 0.25 2 1.0 2 0.50 3 1.5 3 0.75 4 2.0 4 1.00 5 2.5 5 1.25 6 3.0 6 1.50 7 3.5 7 1.75 8 4.0 8 2.00 9 4.5 9 2.25 A 5.0 A 2.50 B 5.5 B 2.75 C 6.0 C 3.00 D 6.5 D 3.25 E 7.0 E 3.50 F 7.5 F 3.75 MinSamples MinSamples[2:0] is a Bemf s ampling delay time expressed in number of PWM cycles, for more inf ormation please refer to the white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”. Table 27: Back emf Sample Delay Time tDELAY (µs) Index MinSamples[2:0] PWMfreq = 0 PWMfreq = 1 0 000 87 43 1 001 130 65 2 010 174 87 3 011 217 109 4 100 261 130 5 101 304 152 6 110 348 174 7 111 391 196 FS2StallEn If AbsThr or DelT hr <>0 (i.e. motion detection is enabled), then stall detection will be activated AFTER the acc eleration ramp + an additional number of full-steps, according to the following table: Table 28: Activation Delay of Motion Detection Index FS2StallEn[2:0] Delay (Full Steps) 0 000 0 1 001 1 2 010 2 3 011 3 4 100 4 5 101 5 6 110 6 7 111 7 For more information please refer to the white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”. DC100StEn When a motor with large back – e.m.f. is opera ted at high velocity and low supply voltage, then the PWM duty cycle can be as high as 100 percent. This indicates that the supply is too low to generate the required torque and might also result in erroneously triggering the stall detection. T he bit “DC100StEn” (Bit 1 in Data 7 of SetStallParam) enables the function where stall detection is s witched off when PWM duty cycle equals 100 perc ent. For more infor mation the white paper “Robust Motion Co ntrol with AMIS-3062x Stepper Motor Drivers”. Motion Qualification Mode This mode is useful to debug motion parameters and to verify the stability of stepper motor systems. The motion qualification mode is entered by means of the I2C command TestBemf. The SWI pin will be converted into an analog output on which the Bemf integrator output can be measured. Once activated, it can only be stopped after a POR. During t he back emf observation, reading of the S WI state is internally forbidden. More information is available in the white paper “Robust Motion Control with AMIS-3062x Stepper Motor Drivers”. 38 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

16.0 I2C Bus Description

16.1 General Description

AMIS-30624 uses a simple bi-directional 2-wire bus for efficient inter-ic control. This bus is called the Inter IC or I2C-bus. Features include:

• Only two bus lines are required; a serial data line (SDA) and a serial clock line (SCK).
• Each device connected to the bus is software addressable by a unique address and simple master/slave relationships exists at all times; master can operate as master-transmitter or as master receiver.
• Serial, 8-bit oriented, bi-directional data transfers can be made up to 400 kbit/s.
• On-chip filtering rejects spikes on the bus data line to preserve data integrity.
• No need to design bus interfaces because I2C-bus interface is already integrated on-chip.
• IC’s can be added to or removed from a system without affecting any other circuits on the bus.

16.2 Concept

The I2C-bus consists of two wires, serial data (SDA) and serial clock (SCK), carrying information between the devices connected on the bus. Each device connected to the bus is recognized by a unique address and operates as either a transmitter or receiver, depending on the functi on of the device. AMIS-30624 c an both rec eive and transm it data. In addition to transmitters and rec eivers, devices can also be considered as masters or slaves when performing data transfers. AMIS-30624 is a slave device. See Table 30. Table 29: Definition of I2C –bus Terminology Term Description Transmitter The device which sends data on the bus Receiver The device which receives data from the bus Master The device which initiates a transfer, generates clock signals and terminates a transfer Slave The devices addressed by a master Synchronization Procedure to synchronizer the clock signals of two or more devices Figure 23: Example of an I2C-bus Configuration Using One Microcontroller and Four Slaves Micro- controller Motordriver_1 AMIS-30624 Motordriver_2 AMIS-30624 Motordriver_3 AMIS-30624 Motordriver_4 AMIS-30624 SDA SCL PC20070217.1 Figure 23 highlights the mast er-slave and receiver-transmitter relationships to be foun d on the I 2C-bus. It should b e noted that the se relationships are not p ermanent but o nly depend on the d irection of data transfer at that time. The transfer of data would proceed as follows: 1) Suppose the microcontroller wants to send information to motordriver_1:

• Microcontroller (master) addresses motordriver_1 (slave)
• Microcontroller (master-transmitter) sends data to motordriver_1 (slave-receiver)
• Microcontroller terminates the transfer 39 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 40 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com 2) If the microcontroller wants to receive information from motordriver_2:

• Microcontroller (master) addresses motordriver_2 (slave)
• Microcontroller (master-receiver) receives data from motordriver_2 (slave-transmitter)
• Microcontroller terminates the transfer Even in this case the master generates the timing and terminates the transfer. Generation of the signals on the I 2C-bus is al ways the r esponsibility of the master d evice. It gen erates its o wn c lock sign al when transferring da ta on the bus. Bus clock sig nals from a master c an on ly be altere d when the y are stretched b y a sl ow s lave d evice holding-down the clock line.

16.3 General Characteristics

Figure 24: Connection of a Device to the I2C-bus Both SDA and SCK are bi-directional lines connected to a positive supply voltage via a pull-up resistor (see Figure 24). When the bus is free both lines are HIGH. T he output sta ges of the d evices connected to the b us must have an open drain to perform the wired-AND function. D ata on the I 2C-bus can be tra nsferred u p to 4 00kbits/s in fast m ode. T he number of i nterfaces co nnected to the b us i s dependent on the maximum bus capacitance limit (See CB in Table 6) and the available number of addresses.

16.4 Bit Transfer

The levels for logic ‘0’ (LOW) and ‘1’ (HIGH) are not fixed in the I2C standard but dependent on the used VDD level. Using AMIS-30624, the levels are specified in Table 5. One clock pulse is generated for each data bit transferred. 16.4.1. Data Validity The data on the SDA line must be stable during the HIGH period of the clock. The HIGH or LOW state of the data line can only change when the clock signal on the SCL line is LOW (See Figure 25). Figure 25: Bit Transfer on the I2C-bus Serial Clock Line Serial Data Line PC20060925.7 Rp +5 V Clock IN Clock OUT Data IN Data OUT AMIS-30624 SDASCK SCL SDA Clock IN Clock OUT Data IN Data OUT MASTER Rp PC20070217.2 SCK Data line stable -> Data valid SDA Change of data allowed

AMIS-30624 I2C Microstepping Motordriver Data Sheet 16.4.2. START and STOP Conditions Within the procedure of the I2C-bus, unique situations arise, which are defined as START (S) and STOP (P) conditions (See Figure 26). A HIGH to LOW transition on the SDA line while SCK is HIGH is one such unique case. This situation i ndicates a START condition. LOW to HIGH transition on the SDA line while SCK is HIGH defines a STOP condition. START and ST OP conditions are al ways generated by the master. The bus is cons idered to be b usy after the ST ART condition. The bus is considered to be free again a certain time after the STOP condition. The bus free situation is specified as tBUF in Table 6. The bus stays busy if a repeated START (Sr) is g enerated instead of a STOP condition. In this respect, the START (S) and repeated START (Sr) conditions are functionally identical (See Figure 27). The symbol S will be used to represent START and repeated START, unless otherwise noted. Figure 26: START and STOP Conditions START STOP SCK START condition STOP condition SDA PC20070217.3

16.5 Transferring Data

16.5.1. Byte Format Every byte put on the SDA l ine must b e 8 -bits lon g. T he number of b ytes that can b e transmitt ed per transfer to AMIS-30624 is restricted to eight. Each byte has to be followed by an acknowledge bit. Data is transferred with the most significant bit (MSB) first (See Figure 27). If a slave can’t receive or trans mit another co mplete byte of data, it can hol d the clock line SCK LOW to force the master into a wait state. Data transfer then continues when the slave is ready for another byte of data and releases clock line SCK. Figure 27: Data Transfer on the I2C-bus SDA START STOP SCK PC20070217.4 2 78 9 12 3-8 9 Acknowledgement signal from slave Clock line held low by slave Aknowledge related clock puse from master START condition ACK MSB STOP condition 41 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 16.5.2. Acknowledge Data transfer w ith ackn owledge is ob ligatory. T he ackno wledge-related clock puls e is gen erated by the master . The transmitter releases the SDA line (HIGH) during the acknowledge clock pulse. The receiver must pull down the SDA line during the acknowledge clock pulse so that it remains stable LOW during the HIGH period of this clock pulse (see Figure 28). Of course, set-up and hold times must also taken into account (see Table 6). When AMIS-30624 doesn’t acknowledge the slave address, the data line will be left HIGH. The master can than generate either a STOP condition to abort the transfer, or a repeated START condition to start a new transfer. If AMIS-30624 as slave-receiver does acknowledge the slave address but later in the transfer cannot receive any more data bytes, this is indicated by generating a not-acknowledge on the first byte to follow. The master g enerates than a STOP or a r epeated START condition. If a master-receiver is involved in the tr ansfer, it must signal the en d of data to the slave-transmitter by not generating an acknowledge on the last b yte that was clocked out of the slave. AMIS-3062 4 as slave-transmitter shall release the d ata line to allo w the master to generate STOP or repeated START condition. Figure 28: Acknowledge on the I2C-bus 16.5.3. Clock Generation The master generates the clock on the SCK line to transfer messages on the I2C-bus. Data is only valid during the HIGH period of the clock.

16.6 Data Formats with 7-bit Addresses

PC20070217.5 2 89 Master releases the Data line Slave pulls data line low if Acknowledged Aknowledge related clock puse from master START condition Acknowledged MSB SDA by slave receiver Not acknowledged Data transfers follow the format shown in Figure 29. After the ST ART condition (S), a slave ad dress is sent. This address is 7- bit long followed by an eighth bit which is a data direction bit (R/W) – a ‘zero’ indicates a transmission (WRITE), a ‘one’ indicates a request for data (READ). A data transfer is always terminated by a STOP condition (P) generated by the master. Figure 29: A Complete Data Transfer START STOP SCK PC20070217.6 START condition STOP condition 1 - 7 8 9 1 - 7 89 1 - 7 8 9 ACKR/WADDRESS DATA ACK DATA ACK SDA However, if a master still wishes to communicate on the bus, it can generate a repeated START (Sr) and address another slave without first generating a STOP condition. Various combinations of read/write formats are then possible within such a transfer. 42 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

17.0 I2C Application Commands

17.1 Introduction

Communications between the AMIS-30624 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 steppermotor
• Verify the right programming and configuration of the AMIS-30624 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 The I2C-bus master will have to use commands to manage the different application tasks the AMIS-30624 can feature. The commands summary is given in Table 30.

17.2 Commands Table

Table 30: I2C Commands with Corresponding ROM Pointer These commands are described hereafter, with their corresponding I2C frames. Refer to Data Transfer Formats for more details. A color coding is used to distinguish between master and slave parts within the frames. An example is shown below. GetFullStatus1 Response Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

0 Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0

Figure 35: Color Code Used in the Definition of I2C Frames 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 SetDualPosition Drives the motor to two different positions with different speed “1000 1000” 0x88 SetMotorParam Sets motor parameter “1000 1001” 0x89 SetOTP Zaps the OTP memory “1001 0000” 0x90 SetPosition Programs a target and secure position “1000 1011” 0x8B SetStallParam Sets stall parameters “1001 0110” 0x96 SoftStop Motor stopping with deceleration phase “1000 1111” 0x8F Runvelocity Drives motor continuously “1001 0111” 0x97 TestBemf Outputs Bemf voltage on pin SWI “1001 1111” 0x9F White: Slave response Light Blue : Master data 45 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet

17.3 Application Commands

This command is provided to the circuit by the master to get a complete status of the circuit and of the steppermotor. Refer to Table 18 and Table 19 to see the meaning of the parameters sent back to the I2C master. Note: A GetFullStatus1 command will attempt to reset flags <TW>, <TSD>, <UV2>, <ElDef>, <StepLoss>, <CPFail>, <OVC1>, <OVC2>, and <VddReset>. GetFullStatus1 corresponds to the following I2C command frame: GetFullStatus1 Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 0 0 0 1

GetFullStatus1 Response Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Where: OTP(n) OTP address bits PA[3:0] HW Hardwired address bit Irun[3:0] Operating current in the motor coil Ihold[3:0] Standstill current in the motor coil Vmax[3:0] Maximum velocity Vmin[3:0] Minimum velocity AccShape Enables motion without acceleration StepMode[1:0] St ep mode definition Shaft Direction of movement Acc[3:0] Acceleration form minimum to maximum velocity VddReset Reset of digital supply StepLoss Step loss occurred ElDef Electrical defect UV2 Battery under voltage detected TSD Thermal shutdown TW Thermal warning Tinfo[1:0] T emperature Info Motion[2:0] Mot ion status ESW External switch status OVC1 Over current in X-coil detected OVC2 Over current in Y-coil detected Stall Stall detected CPFail Charge pump failure AbsThr[3:0] Stall detection absolute threshold DelThr[3:0] Stall detection delta threshold 46 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet GetFullStatus2 This command is provided to the circuit by the master to get the actual, target and secure position of the steppermotor. Both the actual and target position are returned in signed two’s complement 16-bit format. Secure position is coded in 10-bit format. According to the programmed stepping mode the LSBs of ActPos[15:0] and TagPos[15:0] may have no meaning and should be assumed to be ‘0’. This command also gives additional information concerning stall detection. Refer to Table 18 and Table 19 to see the meaning of the parameters sent back to the I2C master. GetFullStatus2 corresponds to the following I2C command frame: GetFullStatus2 Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 1 1 1 1 1 0 0

GetFullStatus2 Response Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

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 FS2StallEn[2:0] 1 DC100 SecPos[10:8]

8 Data 7 AbsStall DelStallLo DelStallHi MinSamples[2:0] DC100StEn PWMJEn

Where: OTP(n) OTP address bits PA[3:0] HW Hardwired address bit ActPos[15:0] Act ual position TagPos[15:0] T arget position SecPos[10:0] Secure position FS2StallEn[2:0] Number of full steps after stall detection is enabled DC100 Flag indicating PWM is at 100 percent duty cycle AbsStall Stall detected because the absolute threshold is not reached DelStallLo Stall detected because the delta threshold is under crossed DelStallHi: Stall detected because the delta threshold is crossed MinSamples[2:0] Back-emf sampling delay time DC100StEn Enables the switch off of stall detection when DC100 = 1 PWMJEn PWM jitter enable 47 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

AMIS-30624 I2C Microstepping Motordriver Data Sheet 48 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com GetOTPParam This command is provi ded to the circuit by the I2C master to read the content of the OTP memory. More information can be found in OTP Memory Structure. GetOTPParam corresponds to the following I2C command frame: GetOTPParam Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 0 0 1 0

GetOTPParam Response Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

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

This command is provided by the I2C master to one or a ll the steppermotors to move to the secure position SecPos[10:0]. See the priority encoder description for more details. The priority encoder table also acknowledges the cases where a GotoSecurePosition command will be ignored. GotoSecurePosition corresponds to the following I2C command frame: GotoSecurePosition Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 0 1 0 0

This command will be internally triggered when an electrical problem is detected in one or both coils, leading to shutdown mode. If this occurs while the motor is moving, the <StepLoss> flag is raised to allow warning of the I2C master at the next GetStatus1 command that steps may have been lost. Once the motor is stopped, ActPos register is copied into TagPos register to ensure keeping the stop position. The I2C master for some safety reasons can also issue a HardStop command. HardStop corresponds to the following I2C command frame: HardStop Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 0 1 0 1

This command is provided to the circuit by the I2C master to reset ActPos and TagPos registers to zero. This can be helpful to prepare for instance a relative positioning. ResetPosition corresponds to the following I2C command frame: ResetPosition Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 0 1 1 0

AMIS-30624 I2C Microstepping Motordriver Data Sheet 49 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com ResetToDefault This command is provided to the circuit by the I2C master in order to reset the whole slave node into the initial state. ResetToDefault will, for instance, overwrite the RAM with the reset state of the registers parameters (see Table 18). This is an other way for the I2C master to initialize a slave node in case of emergency, or simply to refresh the RAM content. Note: ActPos and TagPos are not modified by a ResetToDefault command. Important: Care should be taken not to send a ResetToDefault command while a motion is ongoing, since this could modify the motion parameters in a way forbidden by the position controller. ResetToDefault corresponds to the following I2C command frame: ResetToDefault Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 0 1 1 1

This command is provided to the circuit by the I2C master in order to put the motor in continuous motion state. RunVelocity corresponds to the following I2C command frame: RunVelocity Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 1 0 1 1 1

This command is provided to the circuit by the I2C master in order to perform a positioning of the motor using two different velocities. See Section Dual Positioning. Note1: This sequence cannot be interrupted by another positioning command. Important: If for some reason ActPos equals Pos1[15:0] at the moment the SetDualPosition command is issued, the circuit will enter in deadlock state. Therefore, the application should check the actual position by a GetFullStatus2 command prior to starting a dual positioning. Another solution may consist of programming a value out of the steppermotor range for Pos1[15:0]. For the same reason Pos2[15:0] should not be equal to Pos1[15:0]. SetDualPosition corresponds to the following I2C command frame; SetDualPosition Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

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]

Where: Vmax[3:0] Max. velocity for first motion Vmin[3:0] Min. velocity for first motion and velocity for the second motion Pos1[15:0] First position to be reached during the first motion Pos2[15:0] Relative position of the second motion

AMIS-30624 I2C Microstepping Motordriver Data Sheet 50 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com SetStallParam This command sets the motion detection parameters and the related steppermotor parameters, such as t he minimum and maximum velocity, the run- and hold current, acceleration and step-mode. See Motion Detection for the meaning of these parameters. SetStallParam corresponds to the following I2C command frame: SetStallParam Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 1 0 1 1 0

4 Data 3 Irun[3:0] Ihold[3:0]

5 Data 4 Vmax[3:0] Vmin[3:0]

6 Data 5 MinSamples[2:0] Shaft Acc[3:0]

7 Data 6 AbsThr[3:0] DelThr[3:0]

8 Data 7 FS2StallEn[2:0] AccShape StepMode[1:0] DC100StEn PWMJEn

This command is pr ovided to the circuit by the I2C master to set the values for the stepper motor parameters (listed below) in RAM. Refer to Table 18 to see the meaning of the parameters sent by the I2C master. Important: If a SetMotorParam occurs while a mot ion is o ngoing, it will mod ify at once t he m otion parameters (see Position Controller). Therefore the application should not change parameters other than Vmax and Vmin while a mot ion is running, otherwise correct positioning cannot be guaranteed. SetMotorParam corresponds to the following I2C command frame: SetMotorParam Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 1 0 0 1

6 Data 5 SecPos[10:8] Shaft Acc[3:0]

7 Data 6 SecPos[7:0]

8 Data 7 1 PWMfreq 1 AccShape StepMode[1:0] 1 PWMJEn

This command is provided to the circuit by the I2C master to program and zap the OTP data D[7:0] in OTP address OTPA[2:0]. Important: This command must be sent under a specific Vbb voltage value. See parameter VbbOTP in Table 5. This is a mandatory condition to ensure reliable zapping. SetOTPParam corresponds to the following I2C command frame: SetOTPParam Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

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]

Where: OTPA[2:0]: OT P address D[7:0]: Corresponding OTP data

AMIS-30624 I2C Microstepping Motordriver Data Sheet 51 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com SetPosition This command is provided to the circuit by the I2C master to drive the motor to a given absolute position. See Positioning for more details. The priority encoder table (see Priority Encoder) acknowledges the cases where a SetPosition command will be ignored. SetPosition corresponds to the following I2C command frame: SetPosition Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 1 0 1 1

4 Data 3 Pos[15:8]

5 Data 4 Pos[7:0]

Where: Pos [15:0] Signed 16-bit position set-point for motor. SoftStop This command will be int ernally triggered when the chip temperature rises above t he thermal shutdown threshold (see Table 5 and Section 15.2.5). It provokes an immedi ate deceleration to Vmin (see Minimum Velocity) followed by a stop, regardless of the position reached. Once the motor is stopped, TagPos register is overwritten with value in ActPos register to ensure keeping the stop position. The I2C Master for some safety reasons can also issue a SoftStop command. SoftStop corresponds to the following I2C command frame: SoftStop Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 0 1 1 1 1

This command is provided to the circuit by the I2C master in order t o output the Bemf integrator output to the SWI output of the chip. Once activated, it can be stopped only after POR. During the Bemf observation, reading of the SWI state is internally forbidden. TestBemf corresponds to the following I2C command frame: TestBemf Command Frame Byte Content Structure Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0

1 Command 1 0 0 1 1 1 1 1

AMIS-30624 I2C Microstepping Motordriver Data Sheet 52 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

18.0 Resistance to Electrical and Electromagnetic Disturbances

Table 34: Immunity to Power Supply Micro-interruptions Test Operating Class 10µs micro-interruptions A 100µs micro-interruptions B 5ms micro-interruptions B 50ms micro-interruptions C 300ms micro-interruptions C

18.4 Power Supply Micro-interruptions

Bulk current injection (BCI), according to ISO 11452-4. Operating Classes are defined in ISO 7637-2. Table 33: Bulk Current Injection Operating Classes Current Operating Class 60mA envelope A 100mA envelope B 200mA envelope C

18.3 EMC

Table 31: Absolute Maximum Ratings Parameter Min. Max. Unit Vesd (1) Electrostatic discharge voltage on all pins -2 +2 kV Notes: (1) Human body model (100pF via 1.5 kΩ, according to JEDEC EIA-JESD22-A114-B.) Test pulses are app lied t o t he po wer su pply wires of t he equ ipment i mplementing t he AMI S-30624 (see a pplication schem atic), according to ISO 7637-1 document. Operating Classes are defined in ISO 7637-2. Table 32: Test Pulses and Test Levels According to ISO 7637-1 Pulse Amplitude Rise Time Pulse Duration Rs Operating Class #1 -100V ≤ 1µs 2ms 10Ω C #2a +100V ≤ 1µs 50µs 2Ω B #3a -150V (from +13.5V) 5ns 100ns (burst) 50Ω A #3b +100V (from +13.5V) 5ns 100ns (burst) 50Ω A #5b (load dump) +21.5V (from +13.5V) ≤ 10ms 400ms ≤ 1Ω C

18.2 Electrical Transient Conduction Along Supply Lines

18.1 Electrostatic Discharges

AMIS-30624 I2C Microstepping Motordriver Data Sheet 53 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

19.0 Package Outline

Figure 36: SOIC-20: Plastic Small Outline; 20 leads; Body Width 300mil. AMIS reference: SOIC300 20 300G

AMIS-30624 I2C Microstepping Motordriver Data Sheet 54 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com Dimensions: Dim Min Unit Nom Max A 0. 8 mm 0.9 A1 0 0. mm 02 0.05 A2 0. 576 0. mm 615 0.654 A3 0. mm 203 b 0. 25 0. mm 3 0.35 C 0. 24 0. mm 42 0.6 D mm 7 D1 6.75 mm E 7 mm E1 6.75 mm e 0.65 mm J 5. 37 5.47 5.57 mm K 5. 37 5.47 5.57 mm L 0. 35 0.4 0.45 mm P 45 Degree R 2. 185 2.385 mm 2) D imensions a pply to pl ated te rminal a nd a re me asured b etween 0.2 and 0.25 mm from terminal tip. 3) T he pin #1 indic ation m ust be plac ed on t he t op sur face of t he package by using indentation mark or other feature of package body. 4) Exact shape and size of this feature is optional 5) Applied for exposed pad and terminals. Exclude embedding part of exposed pad from measuring. 6) Applied only to terminals 7) Exact shape of each corner is optional 7x7 NQFP Figure 37: NQFP-32: No lead Quad Flat Pack; 32 pins; body size 7 x 7 mm. AMIS reference: NQFP-32 Notes

AMIS-30624 I2C Microstepping Motordriver Data Sheet 55 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com

20.0 Soldering

20.1 Introduction to Soldering Surface Mount Packages

20.2 Re-flow Soldering

20.3 Wave Soldering

20.4 Manual Soldering

This text gives a ver y brief insight to a complex technology. A more in-depth account of soldering ICs can be f ound in the AMIS “Data Handbook IC26; Integrated Circuit Packages” (document order number 9398 652 90011). There is no soldering method that is ideal for all surface mount I C packages. Wave sold ering is not a lways suitable f or surface mount I Cs, or f or printed-circuit boards with high population densities. In these situations re-flow soldering is often used. Re-flow soldering r equires solder paste (a s uspension of f ine s older particles, f lux an d binding agent) t o b e a pplied t o t he PC B by screen printing, stencilling or pressure-syringe dispensing before package placement. Several methods exist for reflowing; for example, infrared/convection heating in a conveyor type oven. Throughput times (preheating, soldering and cooling) vary between 100 and 200 seconds depending on the heating method. Typical re- flow peak temperatures range from 215 to 260°C. The top-surface temperature of the packages should preferably be kept below 230°C. Conventional single wave soldering is not recommended for surface mount devices (SMDs) or PCBs with a high component density, as solder bridging and non-wetting can present major problems. To overcome these problems, the double-wave soldering method was specifically developed. If wave soldering is used the following conditions must be observed for optimal results:

• Use a double-wave soldering method comprising a turbulent wave with high upward pressure followed by a smooth laminar wave.
• For packages with leads on two sides and a pitch (e): o Larger than or equal to 1.27mm, the footprint longitudinal axis is preferred to be parallel to the transport direction of the PCB; o Smaller than 1.27mm, the footprint longitudinal axis must be p arallel to the transport direction of the PCB. The footprint must incorporate solder thieves at the downstream end.
• For packages with l eads on four sides, t he f ootprint m ust be placed at a 45º angle t o t he t ransport direction of t he PCB. T he footprint must incorporate solder thieves downstream and at the side corners. During placement and before soldering, the package must be fixed with a droplet of adhesive. The adhesive can be applied by screen printing, pin transfer or syringe dispensing. The package can be soldered after the adhesive is cured. Typical dwell time is four seconds at 250°C. A mildly-activated flux will eliminate the need for removal of corrosive residues in most applications. Fix the component by first soldering two diagonally-opposite end leads. Use a low voltage (24V or less) soldering iron applied to the flat part of the lead. Contact time must be limited to 10 seconds at up to 300°C. When using a dedicated tool, all other leads can be soldered in one operation within two to five seconds between 270 and 320°C. Table 35: Soldering Process Soldering Method Package Wave Re-flow(1) BGA, SQFP Not suitable Suitable HLQFP, HSQFP, HSOP, HTSSOP, SMS Not suitable(2) Suitable PLCC (3) , SO, SOJ Suitable Suitable LQFP, QFP, TQFP Not recommended(3)(4) Suitable SSOP, TSSOP, VSO Not recommended(5) Suitable Notes: (1) All surface mount (SMD) packages are moisture sensitive. Depending upon the moisture content, the maximum temperature (with respect to time) and body size of the package, there is a risk that internal or external package cracks may occur due to v aporization of the moistur e in them (the so called popcor n effect). For details, refer to the drypack information in the “Data Handbook IC26; Integrated Circuit Packages; Section: Packing Methods.” (2) These packages are not suitable for wave soldering as a solder joint between the printed-circuit board and heatsink (at bottom version) can not be achieved, and as solder may stick to the heatsink (on top version). (3) If wave soldering i s considered, then the package mu st be pl aced at a 45 ° angle to th e solder wave direction. The package footprint must incorpora te solder thieves downstream and at the side corners. (4) Wave soldering is only suitable for LQFP, TQFP and QFP packages with a pitch (e) equal to or larger than 0.8mm; it i s definitely not suitable for packages with a pitch (e) equal to or smaller than 0.65mm. (5) Wave soldering i s only suitable fo r SSOP and TSSOP packages with a pitch (e) equ al to o r larger than 0.65mm; it i s definitely not suitable for pa ckages with a pitch (e) equal to or smaller than 0.5mm.

AMIS-30624 I2C Microstepping Motordriver Data Sheet

21.0 Company or Product Inquiries

For more information about AMI Semiconductor’s motordrivers, please send an email to 30624@amis.com. For more information about AMI Semiconductor’s products or services visit our Web site at http://www.amis.com.

22.0 Document History

Table 36: Document History Version Date of Version Modifications/Additions

1.0 July 16, 2002 First non-preliminary issue

2.1 December 5th , 2005 Complete review

3.0 February 21, 2007 Public release

3.1 March 23, 2007 UpdateI2C commands, adding links

Devices sold by AMIS are covered by the warranty and patent indemnification provisions appearing in its Terms of Sale only. AMIS makes no warranty, express, statutory, y description, regarding the in formation set forth herein or regarding the freedom of the described dev ices from patent infringement. AMIS makes no warranty of merchantability or fitness for any purposes. AMIS re serves the right to discontinue production and change specifications and prices at any time and w ithout n otice. AM I Semi conductor's products are in tended for use in commercial applica tions. App lications requiri ng extended tempera ture range , unusual e nvironmental requ irements, or high reliab ility applic ations, s uch as mili tary, medic al li fe-support or lif e-sustaining eq uipment, are specifically not recommended without additional processing by AMIS for such applications. Copyright ©2007 AMI Semiconductor, Inc. implied or b 56 AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003 www.amis.com