AMIS-30624_13 ONSEMI | Alldatasheet
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Semiconductor Components Industries, LLC, 2009 September, 2009 − Rev. 5
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AMIS−30624/D AMIS-30624, NCV70624 I2C Micro-stepping Motor Driver INTRODUCTION The AMIS −30624/NCV70624 is a single −chip micro −stepping motor driver with a position controller and control/diagnostic interface. It is ready to build intelligent peripheral systems where up to 32 drivers can be connected to one I 2C master. This significantly reduces system complexity. The chip receives positioning instructions through the bus and subsequently drives the stator coils so the two −phase stepper motor moves to the desired position. The on −chip position controller is configurable (OTP or RAM) for different motor types, positioning ranges and parameters for speed, acceleration and deceleration. Micro −stepping allows silent motor operation and increased positioning resolution. The advanced motion qualification mode enables verification of the complete mechanical system in function of the selected motion parameters. The AMIS −30624/NCV70624 can easily be connected to an I 2C bus where the I 2C 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 the 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 implemented in I2T100 technology, enabling both high voltage analog circuitry and digital functionality on the same chip. The NCV70624 is fully compatible with the automotive voltage requirements. PRODUCT FEATURES Motor Driver Micro−Stepping Technology Sensorless Step−Loss Detection Peak Current Up to 800 mA Fixed Frequency PWM Current−Control Selectable PWM Frequency Automatic Selection of Fast and Slow Decay Mode No external Fly−back Diodes Required 14 V/24 V Compliant Motion Qualification Mode (Note 1) Controller with RAM and OTP Memory Position Controller Configurable Speeds and Acceleration Input to Connect Optional Motion Switch I2C Interface Bi−Directional 2−Wire Bus for Inter IC Control Field Programmable Node Addresses Full Diagnostics and Status Information Protection Overcurrent Protection Undervoltage Management Open−circuit Detection High Temperature Warning and Management Low Temperature Flag EMI Compatibility High V oltage Outputs with Slope Control Patents US 7,271,993 US 7,288,956 This is a Pb−Free Device NCV Prefix for Automotive and Other Applications Requiring Site and Control Changes 1. Not applicable for “Product Versions NCV70624DW010G, NCV70624DW010R2G” http://onsemi.com See detailed ordering and shipping information in the package dimensions section on page 2 of this data sheet.
ORDERING INFORMATION
SOIC−20 4 or DW010 SUFFIX CASE 751AQ NQFP−32
5 SUFFIX
AMIS−30624, NCV70624 http://onsemi.com
APPLICATIONS
The AMIS−30624/NCV70624 is ideally suited for small positioning applications. Target markets include: automotive (headlamp alignment, HV AC, idle control, cruise control), industrial equipment (lighting, fluid control, labeling, process control, XYZ tables, robots) and building automation (HV AC, surveillance, satellite dish, renewable energy systems). Suitable applications typically have multiple axes or require mechatronic solutions with the driver chip mounted directly on the motor. Table 1. ORDERING INFORMATION Techniques Reference Manual, SOLDERRM/D. Specification Brochure, BRD8011/D. Table 2. ABSOLUTE MAXIMUM RATINGS BB < 0.5 s, SWI and HW pins <1.0 s.
- The circuit functionality is not guaranteed.
- HBM according to AEC −Q100: EIA−JESD22−A114−B (100 pF via 1.5 k/C0087) and MM according to AEC−Q100: EIA−JESD22−A115−A.
Table 3. OPERATING RANGES
Autarkic Functionality in Undervoltage Condition 24... Figure 1. Block Diagram
Figure 2. SOIC−20 and NQFP−32 Pin−out Table 4. PIN DESCRIPTION
currents flowing into the circuit are defined as positive. Table 5. DC PARAMETERS
- Tested in production for 800 mA, 400 mA, 200 mA and 100 mA current settings for both X and Y coil.
- Not measured in production. Guaranteed by design.
- Parameter guaranteed by trimming relevant OTP’s in production test at 143C (5C) and V
- No more than 100 cumulated hours in life time above Tw.
- Thermal shutdown and low temperature warning are derived from thermal warning. Guaranteed by design.
10.A buffer capacitor of minimum 100 /C0109F is needed between VBB and GND. Short connections to the power supply are recommended.
- If input voltages < − 0.3 V, than a resistor between 22 /C0087 to 100 /C0087 needs to be put in series.
12.If the I2C−bus is operated in Fast Mode VIHmin = 0.7 * VDD.
14 V VBB 30 V VBB + 10 VBB + 15 V
39 K/W
19 K/W
30 K/W
0.95 K/W
14.The RAM content will not be altered above this voltage. current is represented by a minimum resistance seen from the pin.
The AC parameters are guaranteed for temperature and VBB in the operating range unless otherwise specified. Table 6. AC PARAMETERS this period the first clock pulse is generated. this period the first clock pulse is generated. to still guarantee the rise and fall times of the bus signals. the undefined region of the falling edge of SCL. 19.The maximum tHD,DAT has only to be met if the device does not stretch the LOW period (tLOW) of the SCL signal. 20.A Fast−mode I2C−bus device can be used in a standard−mode I2C bus system, but the requirement tSU,DATA /C0119 250 ns must than be met. standard−mode I2C−bus specification) before the SCL line is released.
Figure 5. I2C Timing Diagrams
Figure 6. Typical Application Diagram for SO Device
be programmed to 16 possible values given in the table below. stays within the same group. Table 7. MAXIMUM VELOCITY SELECTION TABLE
below provides the obtainable values in full−step/s. The accuracy of Vmin is derived from the internal oscillator. Table 8. OBTAINABLE VALUES IN FULL−STEP/s FOR THE MINIMUM VELOCITY NOTES: The Vmax factor is an approximation. (AccShape = 0) the length of the first step is shorter than 1/Vmin depending of Vmin, Vmax and Acc.
(acceleration and deceleration between Vmin and Vmax).
- One observes restrictions for some
Table 9. ACCELERATION AND DECELERATION SELECTION TABLE , data is automatically aligned. Table 10. POSITION WORD ALIGNMENT
chosen stepping mode, the position range will be as shown in the following table. Table 11. POSITION RANGE Table 12. SECURE POSITION RAM bits SecPos1 and SecPos0 are set to 0. coil, while MOTXN is the negative one. or CCW, which is only determined by the motor wiring. See also the Block Diagram in Figure 1. internal current sensing circuitry. magnitude of the current through X and Y .
to the motordriver state machine. order to reach the set point in a minimum time. bigger than the set threshold, the running motor is stopped. current in the coils is also programmable. Figure 7. Positioning and Motion Control
Table 13. POSITION RELATED PARAMETERS Different positioning examples are shown in the table below. Table 14. POSITIONING EXAMPLES is running at maximum velocity. direction while in deceleration phase. deceleration phase. The velocity rounding error will be removed at Vmin (e.g. at end of acceleration or when AccShape=1).
Figure 8. Dual Positioning already ongoing is not recommended. 24.The priority encoder is describing the management of states and commands. executed afterwards. This applies also for the command GotoSecurePosition. 26.Commands such as GetFullStatus1 or GetFullStatus2 will be executed while a Dual Positioning is running. motion is completed, the former Vmin and Vmax become active again. defined in the command, except Vmin and Vmax, become active immediately.
Table 15. STATE DIAGRAM OF THE HW COMPARATOR where a connection to VBAT is interrupted.
Figure 11. Timing Diagram Showing the Change in States for HW Comparator high so based on Table 15 the new state remains unchanged. This high state will be interpreted as HW address = 1. interruptions of the power supply. Low. This low state will be interpreted as HW address = 0. to respectively ESW = 0 and ESW = 1.
Figure 12. Simplified Schematic Diagram of the SWI Comparator with the corresponding position is memorized. state of the switch together with the position of the motor. Table 16. GetFullStatus1 I2C COMMAND
0 Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 1
1 Address 1 1 1 OTP3 OTP2 OTP1 OTP0 HW
2 Data 1 Irun[3:0] Ihold[3:0]
3 Data 2 Vmax[3:0] Vmin[3:0]
4 Data 3 AccShape StepMode[1:0] Shaft Acc[3:0]
5 Data 4 VddReset StepLoss ElDef UV2 TSD TW Tinfo[1:0]
6 Data 5 Motion[2:0] ESW OVC1 OVC2 Stall CPFail
7 Data 6 1 1 1 1 1 1 1 1
8 Data 7 AbsThr[3:0] DelThr[3:0]
Figure 13. Simplified Timing Diagram Showing the Change in States for SWI Comparator 2C messages and execute the associated commands. content (see Table 19: RAM Registers). the registers and flags will be in a predetermined position. provided thermal and electrical conditions allow for it.
Figure 14. State Diagram Temperature Management
Figure 15. Illustration of Thermal Management Situation voltage by means of one threshold and one shutdown level. comparator and loss of steps is possible.
- In the case of Autarkic positioning, care needs to
- RAM reset occurs when Vdd < VddReset (digital
- The Autarkic function remains active as long as
The table below shows how the parameters to be stored in the OTP memory are located. Table 17. OTP MEMORY STRUCTURE circuit and are just documented here as an indication. set it to ‘1’. Thus only bits having to be at ‘1’ must be zapped. Table 18. OTP OVERWRITE PROTECTION (*) Not tested in production. Values are approximations.
AMIS−30624, NCV70624 http://onsemi.com DelThr[3:0] Relative 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 (*) Not tested in production. Values are approximations. Irun[3:0] Current amplitude value to be fed to each coil of the stepper−motor. The table below provides the 16 possible values for <IRUN>. Index Irun Run Current (mA) 0 0 0 0 0 59 1 0 0 0 1 71 2 0 0 1 0 84 3 0 0 1 1 100 4 0 1 0 0 119 5 0 1 0 1 141 6 0 1 1 0 168 7 0 1 1 1 200 8 1 0 0 0 238 9 1 0 0 1 283 A 1 0 1 0 336 B 1 0 1 1 400 C 1 1 0 0 476 D 1 1 0 1 566 E 1 1 1 0 673 F 1 1 1 1 800 Ihold[3:0] Hold current for each coil of the stepper−motor . The table below provides the 16 possible values for <IHOLD>. Index Ihold Hold Current (mA) 0 0 0 0 0 59 1 0 0 0 1 71 2 0 0 1 0 84 3 0 0 1 1 100 4 0 1 0 0 119 5 0 1 0 1 141 6 0 1 1 0 168 7 0 1 1 1 200 8 1 0 0 0 238 9 1 0 0 1 283 A 1 0 1 0 336 B 1 0 1 1 400 C 1 1 0 0 476 D 1 1 0 1 566 E 1 1 1 0 673 F 1 1 1 1 0 Note: When the motor is stopped, the current is reduced from <IRUN> to <IHOLD>. In the case of 0 mA hold current (1111 in the hold current table), the following sequence is applied: 1. The current is first reduced to 59 mA (corresponding to 0000 value in the table). 2. The PWM regulator is switched off; the bottom transistors of the bridges are grounded. StepMode Setting of step modes. StepMode Step Mode 0 0 1/2 stepping 0 1 1/4 stepping 1 0 1/8 stepping 1 1 1/16 stepping Shaft This bit distinguishes between a clock−wise or counter−clock−wise rotation. The shaft bit is not working in RunVelocity mode. SecPos[10:2] Secure Position of the stepper−motor . This is the position to which the motor is driven in case of a HW pin connection is lost. If <SecPos[10:2]> = “100 0000 00xx”, secure positioning is disabled; the stepper−motor will be kept in the position occupied at the moment these events occur.
AMIS−30624, NCV70624 http://onsemi.com Note: The Secure Position is coded on 11 bits only, providing actually the most significant bits of the position, the non coded least significant bits being set to ‘0’. The Secure Position in OTP has only 9 bits. The two least significant bits are loaded as ‘0’ to RAM when copied from OTP. Vmax[3:0] Maximum velocity Index Vmax Vmax(full step/s) Group 0 0 0 0 0 99 A 1 0 0 0 1 136 B 2 0 0 1 0 167 3 0 0 1 1 197 4 0 1 0 0 213 5 0 1 0 1 228 6 0 1 1 0 243 7 0 1 1 1 273 C 8 1 0 0 0 303 9 1 0 0 1 334 A 1 0 1 0 364 B 1 0 1 1 395 C 1 1 0 0 456 D 1 1 0 1 546 DE 1 1 1 0 729 F 1 1 1 1 973 Vmin[3:0] Minimum velocity. Index Vmin Vmax Factor 0 0 0 0 0 1 1 0 0 0 1 1/32 2 0 0 1 0 2/32 3 0 0 1 1 3/32 4 0 1 0 0 4/32 5 0 1 0 1 5/32 6 0 1 1 0 6/32 7 0 1 1 1 7/32 8 1 0 0 0 8/32 9 1 0 0 1 9/32 A 1 0 1 0 10/32 B 1 0 1 1 11/32 C 1 1 0 0 12/32 D 1 1 0 1 13/32 E 1 1 1 0 14/32 F 1 1 1 1 15/32 Acc[3:0] Acceleration and deceleration between Vmax and Vmin. Index Acc Acceleration (Full−step/s2) 0 0 0 0 0 49 (*) 1 0 0 0 1 218 (*) 2 0 0 1 0 1004 . 3 0 0 1 1 3609 . 4 0 1 0 0 6228 . 5 0 1 0 1 8848 . 6 0 1 1 0 11409 . 7 0 1 1 1 13970 . 8 1 0 0 0 16531 . 9 1 0 0 1 19092 (*) A 1 0 1 0 21886 (*) B 1 0 1 1 24447 (*) C 1 1 0 0 27008 (*) D 1 1 0 1 29570 (*) E 1 1 1 0 34925 (*) F 1 1 1 1 40047 (*) (*) restriction on speed
Table 19. RAM REGISTERS modified. Therefore, the application should not send a ResetToDefault during a motion, to avoid any unwanted change of parameter.
Table 20. FLAGS TABLE
The table below describes the simplified state management performed by the main control block. Table 21. PRIORITY ENCODER NOTE: See table notes on the following page.
32.After power−on−reset, the <Standby> state is entered. loaded with the values stored in RAM at the moment the DualPosition sequence starts. <AccShape> is forced to ‘1’ during second motion. parameters for <Vmax> and <Vmin> stored in RAM. 34.Shutdown state can be left only when <TSD> and <HS> flags are reset. for it (normal temperature, correct battery voltage and no electrical or charge pump defect). 36.A SetMotorParam command sent while a motion is ongoing (state <GotoPos>) should not attempt to modify <Acc> and <Vmin> values. at the next SetPosition command. state <HardStop> or <SoftStop> and is reset during first clock edge occurring in state <Stopped>. meaning that <Stop>, <TSD>, etceteras are first evaluated for possible transitions. by a GetFullStatus1 command. Figure 16. Simplified State Diagram
Figure 17 below illustrates the current fed to the motor coils by the motordriver in half−step mode. Figure 17. Current Waveforms in Motor Coils X and Y in Halfstep Mode Whereas Figure 18 below shows the current fed to the coils in 1/16th micro stepping (1 electrical period). Figure 18. Current Waveforms in Motor Coils X and Y in 1/16th Micro−Step Mode above shows how the PWM circuit performs this regulation. selectable. The RAM register PWMfreq is used for this. Table 22. PWM FREQUENCY SELECTION Table 23. PWM JITTER SELECTION
0 Single PWM frequency
1 Added jitter to PWM frequency
positioning order can then be executed. Figure 19. Motor Stopping Phase flag <StepLoss> is also raised. taken to open the transistors of the defective bridge. One cannot detect an internal short in the motor. Table 24. ELECTRICAL DEFECT DETECTION threshold Ttsd (see Thermal Shutdown Mode). seconds (see Battery V oltage Management). comparator level for more than 15 seconds. detected on one or both coils, e.g. a short circuit. H−bridges in high impedance mode. circuit is ready to execute any positioning command.
a problem or not and decide which application strategy to adopt. Table 25. Example of Possible Sequence used to Detect and Determine Cause of Motor Shutdown proves to be unsuccessful, e.g. there is a permanent defect. ) and Delta threshold ( <DelThr[3:0]>). Motion Control with AMIS−3062x Stepper Motor Drivers”. after the acceleration phase, the back emf is low or zero. Figure 20. Triggering of the Stall Flags in Function of Measured Backemf and the Set Threshold Levels
Table 26. TRUTH TABLE acceleration or deceleration. AC table) the second phase at Vmin starts. possible and the <ActPos> register will be further updated. copied in the RAM registers during power on reset.
0 Disable 0 Disable
(*) Not tested in production. Values are approximations. <MinSamples[2:0]> is a programmable delay timer. AMIS−3062x Stepper Motor Drivers”. Table 28. BACK EMF SAMPLE DELAY TIME
Table 29. ACTIVATION DELAY OF MOTION SWI state is internally forbidden.
can feature. The commands summary is given in Table 31. Table 31. I2C COMMANDS WITH CORRESPONDING ROM POINTER Figure 33. Color Code Used in the Definition of I2C Frames
get a complete status of the circuit and of the stepper motor. Table 32. GetFullStatus1 COMMAND FRAME
0 Address 1 1 OTP3 OTP2 OTP1 OTP0 HW 0
1 Command 1 0 0 0 0 0 0 1
Table 33. GetFullStatus1 RESPONSE FRAME
Table 34. GetFullStatus2 COMMAND FRAME
1 Command 1 1 1 1 1 1 0 0
Table 35. GetFullStatus2 RESPONSE FRAME
2 Data 1 ActPos[15:8]
3 Data 2 ActPos[7:0]
4 Data 3 TagPos[15:8]
5 Data 4 TagPos[7:0]
6 Data 5 SecPos[7:0]
7 Data 6 FS2StallEn[2:0] 1 DC100 SecPos[10:8]
8 Data 7 AbsStall DelStallLo DelStallHi MinSamples[2:0] DC100StEn PWMJEn
following I2C command frame:. Table 36. GetOTPParam COMMAND FRAME
1 Command 1 0 0 0 0 0 1 0
Table 37. GetOTPParam RESPONSE FRAME
1 OTP byte 0 OTP byte @0x00
2 OTP byte 1 OTP byte @0x01
3 OTP byte 2 OTP byte @0x02
4 OTP byte 3 OTP byte @0x03
5 OTP byte 4 OTP byte @0x04
6 OTP byte 5 OTP byte @0x05
7 OTP byte 6 OTP byte @0x06
8 OTP byte 7 OTP byte @0x07
Table 38. GotoSecurePosition COMMAND FRAME
1 Command 1 0 0 0 0 1 0 0
Table 39. HardStop COMMAND FRAME
1 Command 1 0 0 0 0 1 0 1
helpful to prepare for instance a relative positioning. Table 40. ResetPosition COMMAND FRAME
1 Command 1 0 0 0 0 1 1 0
in order to reset the whole slave node into the initial state. with the reset state of the registers parameters (see Table 19). forbidden by the position controller. Table 41. ResetToDefault COMMAND FRAME
1 Command 1 0 0 0 0 1 1 1
in order to put the motor in continuous motion state. Table 42. RunVelocity COMMAND FRAME
1 Command 1 0 0 1 0 1 1 1
command is issued, the circuit will enter in deadlock state. a value out of the stepper motor range for Pos1[15:0]. Table 43. SetDualPosition COMMAND FRAME
1 Command 1 0 0 0 1 0 0 0
2 Data 1 1 1 1 1 1 1 1 1
3 Data 2 1 1 1 1 1 1 1 1
4 Data 3 Vmax[3:0] Vmin[3:0]
5 Data 4 Pos1[15:8]
6 Data 5 Pos1[7:0]
7 Data 6 Pos2[15:8]
8 Data 7 Pos2[7:0]
meaning of these parameters. Table 44. SetStallParam COMMAND FRAME
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] AccSha
Table 45. SetMotorParam COMMAND FRAME
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 PWMfre
1 AccSha
is a mandatory condition to ensure reliable zapping. Table 46. SetOTPParam COMMAND FRAME
1 Command 1 0 0 1 0 0 0 0
4 Data 3 1 1 1 1 1 OTPA[2:0]
5 Data 4 D[7:0]
SetPosition command will be ignored. Table 47. SetPosition COMMAND FRAME
1 Command 1 0 0 0 1 0 1 1
4 Data 3 Pos[15:8]
5 Data 4 Pos[7:0]
Pos [15:0] Signed 16 −bit position set−point for motor. safety reasons can also issue a SoftStop command. Table 48. SoftStop COMMAND FRAME
1 Command 1 0 0 0 1 1 1 1
state is internally forbidden. Table 49. TestBemf COMMAND FRAME
1 Command 1 0 0 1 1 1 1 1
AMIS−30624, NCV70624 http://onsemi.com PACKAGE DIMENSIONS SOIC 20 W CASE 751AQ−01 ISSUE O
AMIS−30624, NCV70624 http://onsemi.com PACKAGE DIMENSIONS NQFP−32, 7x7 CASE 560AA−01 ISSUE O
AMIS−30624, NCV70624 http://onsemi.com NQFP−32, 7x7 CASE 560AA−01 ISSUE O ON Semiconductor and are registered trademarks of Semiconductor Components Industries, LLC (SCILLC). SCILLC reserves the right to make changes without further notice to any products herein. SCILLC makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does SCILLC assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation special, consequential or incidental damages. “Typical” parameters which may be provided in SCILLC data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. All operating parameters, including “Typicals” must be validated for each customer application by customer’s technical experts. SCILLC does not convey any license under its patent rights nor the rights of others. SCILLC products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the SCILLC product could create a situation where personal injury or death may occur. Should Buyer purchase or use SCILLC products for any such unintended or unauthorized application, Buyer shall indemnify and hold SCILLC and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expenses, and reasonable attorney fees arising out of, direct ly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that SCILLC was negligent regarding the design or manufacture of the part. SCILLC is an Equal Opportunity/Affirmative Action Employer. This literature is subject to all applicable copyright laws and is not for resale in any manner. PUBLICATION ORDERING INFORMATION N. American Technical Support: 800−282−9855 Toll Free USA/Canada Europe, Middle East and Africa Technical Support: Phone: 421 33 790 2910 Japan Customer Focus Center Phone: 81−3−5773−3850 AMIS−30624/D The products described herein (AMIS−30624, NCV70624) may be covered by the following U.S. patents: 7,271,993 and 7,288,956. There may be other patents pending. LITERATURE FULFILLMENT: Literature Distribution Center for ON Semiconductor P.O. Box 5163, Denver, Colorado 80217 USA Phone: 303−675−2175 or 800−344−3860 Toll Free USA/Canada Fax: 303−675−2176 or 800−344−3867 Toll Free USA/Canada Email: orderlit@onsemi.com ON Semiconductor Website: www.onsemi.com Order Literature: http://www.onsemi.com/orderlit For additional information, please contact your local Sales Representative