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AMIS-30621 Datasheet(PDF) 9 Page - AMI SEMICONDUCTOR |
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AMIS-30621 Datasheet(HTML) 9 Page - AMI SEMICONDUCTOR |
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9 / 43 page  AMIS-30621 LIN Microstepping Motordriver Data Sheet AMI Semiconductor - Rev. 1.4 9 www.amis.com Vmax (FS/s) ‘ 99 136 167 197 213 228 243 273 303 334 364 395 456 546 729 973 ACC Index Acceleration (Full-step/s2) 049 106 473 1 218 735 2 1004 3 3609 4 6228 5 8848 6 11409 7 13970 8 16531 9 19092 10 21886 11 24447 12 27008 13 29570 14 29570 34925 15 40047 8.4 Acceleration and Deceleration Sixteen possible values can be programmed for Acc (acceleration and deceleration between Vmin and Vmax). The table below provides the obtainable values in Full- step/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. 8.5 Positioning The position programmed in commands SetPosition and SetPositionShort is given as a number of (micro)steps. According to the chosen stepping mode, the position words must be aligned as described in the table below. When using command SetPositionShort or GotoSecurePosition, data is automatically aligned. 8.5.1 Position Ranges A position is coded by using the binary two’s complement format. According to the positioning commands which are used (see § 9.2.2.11) and to the chosen stepping mode, the position range will be as shown in the table below. When using the command SetPosition, although coded on 16 bits, the position word will have to be shifted on the left by a certain number of bits, according to the chosen stepping mode. The formula to compute the number of equivalent Full-step during acceleration phase is: Command Stepping Mode Position Range Full Range Number SetPosition Half-stepping -4096 to +4095 8192 half-steps 13 1/4th micro-stepping -8192 to +8191 16384 micro-steps 14 1/8th micro-stepping -16384 to +16383 32768 micro-steps 15 1/16th micro-stepping -32768 to +32767 65536 micro-steps 16 SetPositionShort Half-stepping -1024 to +1023 2048 half-steps 11 Stepping Position Word: Pos [15 : 0] Shift Mode 1/16th S B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB No shift 1/8th S B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 0 1-bit left ↔ x2 1/4th S B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 00 2-bit left ↔ x4 Half-stepping S B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 00 0 3-bit left ↔ x8 PositionShort S S S B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 00 0 No shift SecurePosition S B9 B8 B7 B6 B5 B4 B3 B2 B1 LSB 00 00 0 No shift |
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