AMIS-30624 AMI Semiconductor, Inc., AMIS-30624 Datasheet - Page 19

• Manufacturer Part Number: AMIS-30624
• Description: I2c Microstepping Motordriver
• Manufacturer: AMI Semiconductor, Inc.

AMIS-30624 I
15.1.2. Dual Positioning
A
specified Vmin and Vmax velocities in the
RAM, to a position Pos1[15:0] also specified in
A second relative motion to a position Pos1[15:0] + Pos2[15:0] is done at the specified Vmin velocity in the
command (no acceleration). Once the second motion is achieved, the ActPos register is reset to zero, whereas TagPos register is not
changed.
Remark: This operation cannot be interrupted or influenced by any further command unless the conditions exist to cause a
shutdown
recommended.
Notes:
15.1.3. Position Periodicity
Depending on the stepping mode the position can range from –4096 to +4095 in half-step to –32768 to +32767 in 1/16
mode. One can project all these positions lying on a circle. When executing the command SetPosition, the position controller will
set the movement direction in such a way that the traveled distance is at a minimum.
Figure 9 illustrates that the moving direction going from ActPos = +30000 to TagPos = –30000 is clockwise.
If a counter clockwise motion is required in this example, several consecutive
movements, one could also use the command RunVelocity.
AMI Semiconductor – Apr. 2007, Rev 3.1, M-20664-003
www.amis.com
SetDualPosition
(0)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
The
The last
SetMotorParam
Commands such as
A DualPosition sequence starts by setting TagPos register to SecPos value, provided secure position is enabled otherwise TagPos is reset to zero.
The acceleration/deceleration value applied during a DualPosition sequence is the one stored in RAM before the
same applies for Shaft bit, but not for Irun, Ihold and StepMode, which can be changed during the Dual Positioning sequence.
The Pos1, Pos2, Vmax and Vmin values programmed in a
parameters stored in RAM (programmed for instance by a former
Commands ResetPosition, SetDualPosition, and
A
If for some reason ActPos equals Pos1[15:0] at the moment the
application should check the actual position by a
or by a HardStop command. Sending a
SetMotorParam
priority encoder
SetPosition
and GotoSecurePosition.
command allows the user to perform positioning using two different velocities. The first motion is done with the
Velocity
command should not be sent during a
GetFullStatus1
describes the management of states and commands. All notes below are to be considered illustrative.
Vmax
2
Vmin
command issued during a DualPosition sequence will be kept in memory and executed afterwards. This also applies to the commands
C Microstepping Motordriver
Figure 9: Motion Direction is Function on Difference Between ActPos and TagPos
or
GetFullStatus2
SetDualPosition
+10000
0
First motion
-10000
SetDualPosition
GetFullStatus2
SetDualPosition
SoftStop
SetDualPosition
Figure 8:Dual Positioning
will be executed while a Dual Positioning is running.
SetDualPosition
+20000
SetMotorParam
SetDualPosition
-20000
will be ignored while a DualPosition sequence is ongoing, and will not be executed afterwards.
command prior to send the
19
command, with the acceleration (deceleration) parameter already in
27 ms
.
TagPos = -30000
ActPos = +30000
command while a motion is already ongoing is not
sequence.
Motion direction
Second motion
command).
command apply only for this sequence. All further positioning will use the
command is issued, the circuit will enter in deadlock state. Therefore, the
SetPosition
SetDualPosition
27 ms
commands can be used. For larger
command.
SetDualPosition
PC20070221.1
t
SetDualPosition
Data Sheet
command is sent. The
th
microstepping
motor