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amis-30521 micro-stepping motor driver data sheet 1.0 introduction t he amis-30521 is a micro-s t epping st epper motor driver for bipolar stepper motors . t h e chip is connected through i/o pins and an spi interface w i t h a n e x ter n al microc ontro l l er. t he amis-305 21 c ontai n s a curre nt-translati on ta ble and tak e s the ne xt micro-st ep dep en din g o n the cl ock sig nal on the ? n xt ? i nput p i n a nd th e status of the ?dir? (= directi on) re gister or inp u t pin. t he chip p rovi des a so-call ed ?sp e e d and l oad a n g l e? outp u t. t h is allo w s the cr eat io n of stall d e tection a l g o rithms and co ntrol loo p s bas ed on lo a d - an gl e to adj ust torque a nd spe ed. it is usin g a pro p rie t ar y pw m alg o r ithm for relia bl e current contr o l. t he amis-305 21 is imp l em en ted i n i2t 100 t e chn o lo g y , e n a b lin g both hi gh -voltag e a nal o g circu i tr y an d digit a l fu nctio n a lit y o n th e same chip. t he chip i s full y com pati b le w i t h the aut omotive vo ltag e requ ireme n ts. t he amis-30521 is id ea ll y s u ited for g e n e ral-p u rpos e ste pper motor ap plicati ons i n th e autom otive, i ndustri a l, med i cal, and m a r in e envir onme n t. 2.0 key features ? dual h-br id ge for 2-phas e ste pper motors ? programm abl e peak-curr ent u p to 1.6a usin g a 5-bit current dac ? on-chip curr en t translator ? spi interface ? spee d an d loa d ang le o u tput ? seven step m o des from full-st ep up to 3 2 mi cro-steps ? f u ll y inte grate d current-se n s e ? pw m current control w i t h auto m atic selecti o n of fast and slo w d e ca y ? lo w emc pw m w i th se lecta b le vo ltag e slo pes ? active fly - back diodes ? f u ll outp u t prot ection a nd d i ag nosis ? t hermal w a r n i ng an d shutd o w n ? comp atibl e w i t h 5v and 3.3v microcontr o ll er s 3.0 ordering information table 1: orde ring information part no. package peak curre nt tem p . ra nge orderi ng c ode tube s orderi ng c ode tapes amis-30521 an a nqfp -32 (7 x 7 mm) 1600ma -40c ? ..125 c 0c521-0 01-x t d 0c521-0 01-x t p 1 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 4.0 block dia g ram te mp . sen s e sp i ot p ti m e ba se po r di do cs clk nxt sla dir err b a nd- ga p lo ad an gle amis-3 05 21 lo gi c & re gi s t er s ch ar gep um p t r a n s l a t o r clr pc 2007 032 2 . 1 vb b p w m i- sen s e em c p w m i- sen s e em c vdd gnd mo t x p mo t x n mo typ mo t y n c p n c pp vcp f i gure 1: b l ock diagram a m i s - 3052 1 5.0 pin description table 2: pin list and description name pin descrip tion do 31 spi data output vdd 32 logic supply inp u t (needs e x ter n al decoupling capacitor) gnd 1 grou nd, heat sin k di 2 spi data in clk 3 spi clock input nxt 4 next micro-step input dir 5 direction input e r r b 6 e r r o r outp u t sla 7 speed load angl e output cpn 9 negative connection of charge pu mp capacitor cpp 10 positive connect i on of charge p u m p capacitor v c p 1 1 charge - p u m p filt e r - c a p a c i t o r clr 12 ?clear? = chip r e set input csb 13 spi chip select in put vbb 14 high voltage su ppl y input mot y p 15, 16 negative end of phase y coil outp u t gnd 17, 18 grou nd, heat sin k mot y n 19, 20 positive end of phase y coil outpu t motxn 21, 22 positive end of phase x coil output gnd 23, 24 grou nd, heat sin k mo txp 25, 26 negative end of phase x coil output vbb 27 high voltage su ppl y input / 8, 28, 30 no function (to b e left open in nor mal operation) tst0 29 test pin (to be ti ed to grou nd in n o rmal operation ) input 2 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 1 2 3 5 4 6 7 8 24 23 22 20 21 19 18 17 91 0 1 1 1 2 1 3 1 4 1 5 1 6 32 3 1 30 29 2 8 2 7 26 25 do di cp n er r mo txp gn d g n d mo tx p mo ty n mo t y p cl k vd d clr cs dir nx t sl a ami s - 3052 1 p c 2007030 9 . 2 gn d gn d gn d mo ty n mo tx n mo tx n mo t y p vb b tst o cp p vc p vb b f i gure 2: p i n out a m i s - 30521 5.1 pack ag e t h e rmal ch ara c ter i stics t he nqf p is d e sig ned to pr o v ide su peri o r thermal perfor m ance, an d us ing a n e x p o se d die pad on the bottom surf ace of the p a c k ag e partly contribut e s to t h is. in or der to take ful l adva n tag e of this th ermal p e r f ormance, th e pcb must hav e feat ures to c ond uct h e a t aw ay from the packa ge. a thermal grou nde d pa d w i t h therma l vias can ach i ev e this. w i th a layo ut as sho w n in f i gur e 3: pcb ground plane la yo ut con d iti on, the therma l resist ance j u n c tion ? to ? am bie n t can be br oug ht do w n to a leve l of 30c/ w . figure 3: pcb gr ound plane layout condition nqfp-3 2 p c 20041128.2 3 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 6.0 electrical specification 6.1 a b so lu te maxi mu m ratin g s stresses abov e those liste d i n table b e l o w ma y ca use im medi ate an d p e rman ent dev i c e failu r e . it is not impl ied th a t more that o ne of these con d iti o n s can be a ppl ie d simulta neo us l y . table 3: absolut e maximum rati ngs sy mbo l parameter min. max. units v bb analog dc suppl y voltage (1 ) -0.3 +40 v v dd logic supply volt age -0.3 +7.0 v ts trg storage temp era t ure -55 +160 c tamb ambient tempera t ure unde r bias -50 +150 c v esd electrostatic discharges on comp onent level (2 ) -2 +2 kv notes: (1) for limited time <0 .5s. (2) human body model (100pf v i a 1.5 k ? , according to jede c e i a- jesd22-a 1 14-b). 6 . 2 re c o mme nd ope r a t ion co nditi ons operatin g ran g e s defin e the li mits for functi onal o perati on a nd par ametric character i sti cs of the devic e. no te that the functi o nal it y of the chip outsi de th ese o per ating r ang es is not g uara n tee d . operatin g o u tside the rec o mme n ded op eratin g rang es for e x te nde d p e rio d s of time may affect device reliabilit y . table 4: operati ng ranges sy mbo l parameter min. max. unites v bb analog dc suppl y +6 +30 v v dd logic supply volt age 4.75 5.25 v iddd d y namic curre nt (1 ) 18 ma t a ambient tempera t ure vbat d +18 -40 +125 c t a ambient tempera t ure vbat d +29 -40 +85 c t j junction tempera t ure +160 c notes: (1) dy namic curren t i s w i th oscilla tor runni ng, all a nalogue cel l s a c tiv e . all o u tpu t s un loaded , n o floa ting inpu ts. 4 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 6 . 3 d c pa ra m e te rs t he dc p a ra meters ar e g i v en for v bb an d temp erature in t heir op era t ing r ang es un less other w i se spec ified. co nventi on: c u rre nts flo w in g in th e circuit are d e fin ed as pos itive. table 5: dc pa r a meters sy mbo l pin(s) parameter remark/ t est co nditi ons min. ty p . max. unit suppl y inp u ts v bb nominal operatin g suppl y rang e 6 30 v i bat vbb total current con s umption unloaded outpu t s 8 ma v dd vdd logic supply volt age 4.75 5 5.25 v po w e r-on-res e t (por ) v ddh internal por co mparato r thresho l d vdd rising 4.0 4.25 4.4 v v ddl vdd internal por co mparato r thresho l d vdd falling 3.68 v motor d ri v e r i mdm a x , peak max cur r ent th ro ugh motor coil in normal oper ation 1 6 0 0 m a i mdm a x , rms max rms cur r en t through coil in normal operation 800 ma i mdabs absolute error on coil current -10 10 % i mdr e l error o n c u rre nt r a ti o i c o ilx / i co il y -7 7 % v bb = 12v, t j = 2 7 c 0.45 0.56 ? r hs on- r esistance high-side driver, cur[4:0] = 0.. . 3 1 v bb = 12v, t j = 1 60 c 0.94 1.25 ? v bb = 12v, t j = 2 7 c 0.45 0.56 ? r ls 3 on- r esistance low-side driver, cur[4:0] = 2 3 ... 31 v bb = 12v, t j = 1 60 c 0.94 1.25 ? v bb = 12v, t j = 2 7 c 0.90 1.2 ? r ls 2 on- r esistance low-side driver, cur[4:0] = 1 6 ... 22 v bb = 12v, t j = 1 60 c 1.9 2.5 ? v bb = 12v, t j = 2 7 c 1.8 2.3 ? r ls 1 on- r esistance low-side driver, cur[4:0] = 9.. . 1 5 v bb = 12v, t j = 1 60 c 3.8 5.0 ? v bb = 12v, t j = 2 7 c 3.6 4.5 ? r ls 0 on- r esistance low-side driver, cur[4:0] = 0.. . 8 v bb = 12v, t j = 1 60 c 7.5 10 ? i mpd mo txp motxn moty p moty n pull-dow n curren t hiz mode 0.5 ma logi c inp u ts i leak i n p u t l e a k a g e (3 ) tj = 160 c 1 a v inl logic low thr e shold 1.5 v v inh di, clk nxt, dir clr, csb logic high threshold 3.5 v r pd clr tst0 internal pull-do wn resistor 120 300 k ? therm al w a rni n g an d shu t d o w n t tw t h e r m a l w a rning 1 3 8 1 4 5 1 5 2 c t ts d (1 ) (2 ) thermal shutdo w n t tw + 20 c charge p u m p 6v< v bb < 15v 2 * v bb ? 2.5 v v cp o u t p u t v o l t a g e 15v < v bb < 3 0 v v bb + 1 2 . 5 v bb + 1 4 v bb + 1 5 . 5 v c b u ffe r vcp external buf fer c apacitor 180 220 470 nf c pum p cpp cpn external pu mp capacitor 180 220 470 nf notes: (1) no more than 100 cumula ted h our s in life time abov e tt w. (2) thermal shutdow n and low temper atur e w a rning are deriv ed from thermal w a rning. (3) n o t v a lid fo r pin s w i th in tern al pu ll-dow n re sis t or . 5 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 6 . 4 a c pa ra m e te rs t he ac parameters are giv e n for v bb and te mperatur e in th eir op eratin g ra nges. table 6: ac pa ra meters sy mbo l pin(s) parameter remark/ t est co nditi ons min. ty p . max. unit intern al os cillator f os c freque nc y of int e rnal oscillator 3.6 4 4.4 mhz motor d ri v e r pwm frequenc y 2 0 . 8 2 2 . 8 2 4 . 8 k h z f pw m double pwm fre quenc y freque nc y dep e nds onl y on inter nal oscillator 41.6 45.6 49.6 khz f j pwm jitter frequ enc y tbd hz f d motxx pwm jitter depth tbd % f pw m emc[1:0] = 00 150 v/s emc[1:0] = 01 100 v/s emc[1:0] = 10 50 v/s tb ri se mot x x turn-on voltage sl ope, 10% t o 90 % emc[1:0] = 11 25 v/s emc[1:0] = 00 150 v/s emc[1:0] = 01 100 v/s emc[1:0] = 10 50 v/s tb fa l l motxx turn-off voltage sl ope, 90% t o 10 % emc[1:0] = 11 25 v/s digital o u tp uts t h2l do errb output fall-time from v inh to v in l capacitive load 400pf a nd pull- up resistor of 1.5 k ? 5 0 n s charge p u m p f cp cpn cpp charge p u mp fre quenc y 250 khz t cpu motxx start-up time of c harge pum p spec extern al components c l r fu nc t i on t clr clr hard r e set durati on time 20 90 s 6 . 5 spi timi ng table 7: spi timing paramete rs sy mbo l parameter min. ty p . max. unit t clk spi clock period 1 s t clk_ high spi clock high time 100 ns t clk_ lo w spi clock low tim e 100 ns t set _di di set up time, valid data before r i sing edge of cl k 50 ns t ho ld_di di hold time, hold data afte r rising edge of c l k 50 ns t csb _ high csb high time 2.5 s t set _cs b csb set up time, csb low b e fore rising edge of cl k 100 ns t set _cl k clk set up time, clk low befor e ri sing edge of cs b 100 ns di val i d cl k t set _ c s b p c 20070608 .1 cs t cl k t cl k _ h i t cl k _ l o t set _ d i t ho ld_ d i t set _ c lk 0, 2 v cc 0, 8 v cc 0,2 v cc 0,2 v cc 0, 2 v cc 0,8 v cc f i gure 4: sp i timing 6 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 7.0 typical application schematic am is-3 05 2 1 pc 200 70 604 . 1 1 vcp cpp cp n clr c 7 err gn d cs clk di do nxt di r motxp motxn motyp motyn m 22 0 n f 1 0 0 nf c 5 v ba t vdd vbb vbb 10 0 n f 22 0 n f 100 f c 2 c 3 c 6 c 1 10 0 n f 10 0 n f c 4 sla c 8 r 1 c d 1 v dd f i gure 5: typical a pplication schem a tic a m i s - 30521 table 8: ext e rnal components list and description com p o n en t func tio n ty p . v a l u e tolera n ce unit c 1 v bb buf fer capaci t or (1 ) 100 -20 +80% f c 2 , c 3 v bb decou pling block capacitor 100 -20 +80% nf c 4 v dd buffer capaci t or 220 +/- 20 % nf c 5 v dd buffer capaci t or 100 +/- 20% nf c 6 charge p u mp bu ffer capacitor 220 +/- 20% nf c 7 charge p u mp pu mping capacitor 220 +/- 20% nf c 8 lo w pass filter sla 1 +/- 20% nf r 1 lo w pass filter sla 5.6 +/- 1% k ? d 1 optional reverse protection diode e.g. 1n4003 notes: (1) low esr < 1ohm . 7 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 8.0 functional description 8.1 h-bridge dri v ers a full h- brid ge is inte grate d for eac h of the t w o stator w i ndi ngs. eac h h-brid ge c onsi s ts of t w o lo w - side and t w o hig h -sid e n-t ype mosfet s w itc hes. writing lo gic ?0 ? in b i t < m ot en> disables a ll driv ers (high- impe da nce). w r iting l ogic ? 1 ? in th is bit ena bles bo th brid ges an d cu rrent can flo w i n the motor stator w i nd ings. in order to avoid lar ge curre nts through th e h-brid ge s w i t ches, it is guarantee d that t he top- a n d bot tom-s w i tc hes o f the s a me ha l f - brid ge are nev er cond uctive s i multa neo usl y ( i nterl o ck del a y ) . a t w o-sta ge protection aga in st shorts on m o to r lin es is im plem ented. in a first stage, the curre nt in t he driv er is l i mited. secondly, w hen ex cessive voltage is sensed across the transistor, the transistor is sw itched-off. in order to re d u ce the ra di ate d /cond ucted e m ission, vo ltag e slop e co ntrol is impl ement e d in the outp u t s w itc hes. t he output sl o pe i s defin ed b y the gate-dr ain c a p a cit anc e of o u tput transistor a nd t he ( limite d ) current that dr ives the gate. t here are t w o trimmi ng bits for slop e control ( t able 25: spi contro l param e ter overvie w emc[1:0] ). t he po w e r tra n sistors are eq uip ped w i th so -calle d ?activ e dio des ?: w h en a current is for c ed trou gh the transistor s w it ch in the re v e rse directi on, i.e. from source to d r ain, t hen the transistor is s w it ched o n . t h is ensur es that most of the current flo w s thro ug h the chan nel of the transistor i n stead of thro u gh the in her ent par asitic dr ain - bulk d i od e of the transistor. dep end in g o n the d e sir ed c u rr ent ra nge an d t he micr o-step positi on at ha n d , the r d so n o f the lo w - sid e t r ansistors w i l l be a d a p t ed s u ch that e x ce lle nt current-se n se accurac y is m a inta ine d . t he rds o n of th e hi gh-s i de tra n sistors rem a i n u n cha n g ed, see t able 5: dc parameters for more details. 8 . 2 pwm curre nt control a pw m comp a r ator com pares conti nuo usl y t he actual w i nd i ng c u rrent w i th the r e q uested curre nt an d fe eds back t he i n formatio n to a digit a l reg u lati o n loo p . t h is loop then g e n e r a tes a pw m signa l, w h ich tur n s on/off the h-bridg e s w itch e s . t he s w itchi n g poi nts of the pw m dut y - c y cl e are s y nchr on ized to the o n - c hip pw m cloc k. t he fr equen c y of the pw m control l er can be do ub led a n d an artifici al jit ter can be a dde d ( t able 14: spi contro l reg i ster 1 ). t he pwm frequenc y w i ll not var y w i t h chan ges in the suppl y volta g e . also variatio n s in motor-s pe e d or l o a d -con ditio n s of the motor hav e n o effect. t here are no e x te rnal c o mpo n e n ts requ ire d to ad just the pw m freque nc y . 8.2.1. auto matic f o r w ard and sl ow -f ast decay t he pw m gen eratio n is in st ead y-state usi ng a comb in ation of for w ar d and slo w - d ec a y . t he a b se n c e of fast-dec a y in this m o d e , guar ante e s the lo w e st p o ssib l e curre nt-rip p le ?b y d e si gn?. f o r trans i ents to lo w e r c u rrent l e vels, fast-d ec a y is autom atic all y activated t o allo w hi gh-sp e ed resp onse. t he sel e ction of fast or slo w d e c a y is com p let e l y tra n sp arent for the user and no a dditi on al par amet ers are requ ired for o p e ratio n . ic o i l 0 t for w a r d & slo w dec a y for w a r d & s l ow de cay fast d e cay & for w a r d a c tu a l v a lu e set v a lue t pw m pc200 7060 4 . 1 f i gure 6: f o rward and slow/f ast decay pw m 8 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 8.2.2. auto matic du ty cycle adaptation incase t he s u p p l y v o ltag e is l o w e r tha n 2 * b e mf, then the dut y c y cl e of the pw m is ad apted a u tomati call y t o > 5 0% to mai n tai n th e requ ested aver age c u rrent i n t he co ils. t h is process is com p lete l y aut oma t ic and r equ ire s no a dditi on al param eters fo r oper ati on. t he over-al l curre nt-rippl e is div i de d b y t w o if pw m frequenc y is dou ble d ( t able 14: spi control re gister 1 ). ac t ual val u e du ty cycle < 5 0 % du ty c y cle >50 % duty cycl e < 50% t ic o i l set val u e t pwm p c 20 070 604 . 2 figure 7: automatic duty cycl e ada p tation 8.3 step t r an slato r 8.3.1. step mode t he step translator provi des the contro l of the motor b y m e ans of spi regi ster stepmode : sm[2:0 ], spi register dirc nt rl, and in pu t pins dir a nd n x t . it is translating cons ecutiv e steps in corr espo ndi ng curr ents in bot h motor coils for a give n step mod e . one o u t of s e ven possi bl e s t eppi ng m o d e s can be sel e ct ed thr oug h sp i-bits sm[2:0] ( t able 26: spi co ntrol p a ra meter overvi e w sm[2:0] ) after po w e r-on or h a r d reset, the c o il-curre nt transl a tor is set to th e defa u lt 1/3 2 micro-step pin g at positi on ?0? . u p on ch an gi ng the step m ode , the transl a tor jumps to pos i t ion 0 * of th e corresp ond in g steppi ng m ode . w hen rema i n in g in the s a me step mo de , subse q u ent translator p o siti on s are all in the sa me col u mn and i n cre a sed or decre ase d w i t h 1. t able 1 0 lists the out p u t current vers us the translator position. as sho w n in f i gur e 8 th e o u tput curre nt-pa i rs can b e pr oj ec ted a ppr o x i m atel y o n a c i rcle i n the (i x ,i y ) p l an e . t h e r e i s , h o w e ve r, one exc epti on: unc ompe nsate d h a lf st ep. in this step m ode th e curre nts ar e not re gul ated to a fr action of imax but are i n al l i n ter me di ate steps regu late d at 100 perc e nt. in the (i x ,i y ) pla ne the curre nt-pairs are pr o j ected o n a squ a re. t able 9 lists the output current versus th e translator position for this case. table 9: squa re translator table for uncompensat ed half step sm[ 2 :0] = 101 stepm o d e ( sm[ 2 :0] ) % of imax 101 unco mpe n sa te d half -ste p coil x coil y 0 * 0 100 1 1 0 0 1 0 0 2 100 0 3 1 0 0 - 1 0 0 4 0 -100 5 - 1 0 0 - 1 0 0 6 -100 0 7 - 1 0 0 1 0 0 9 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet table 10: circula r tra n slator tabl e stepm o d e ( sm[ 2 :0] ) % of imax stepm o d e ( sm[ 2 :0] ) % of imax 000 001 010 011 100 110 000 001 010 011 100 110 1/32 1/16 1/8 1/4 1/2 fs coil x coil y 1/32 1/16 1/8 1/4 1/2 fs coil x coil y ?0? 0 * 0 * 0 * 0 * - 0 100 64 32 16 8 4 - 0 -100 1 - - - - - 3.5 98.8 65 - - - - - -3.5 -98.8 2 1 - - - - 8.1 97.7 66 33 - - - - -8.1 -97.7 3 - - - - - 12.7 96.5 67 - - - - - -12.7 - 96.5 4 2 1 - - - 17.4 95.3 68 34 17 - - - -17.4 -95.3 5 - - - - - 22.1 94.1 69 - - - - - -22.1 - 94.1 6 3 - - - - 26.7 93 70 35 - - - - -26.7 -93 7 - - - - - 31.4 91.8 71 - - - - - -31.4 - 91.8 8 4 2 1 - - 34.9 89.5 72 36 18 9 - - -34.9 -89.5 9 - - - - - 38.3 87.2 73 - - - - - -38.3 - 87.2 10 5 - - - - 43 84.9 74 37 - - - - -43 -84.9 1 1 - - - - - 46.5 82.6 75 - - - - - -46.5 - 82.6 12 6 3 - - - 50 79 76 38 19 - - - -50 -79 1 3 - - - - - 54.6 75.5 77 - - - - - -54.6 - 75.5 14 7 - - - - 58.1 72.1 78 39 - - - - -58.1 -72.1 1 5 - - - - - 61.6 68.6 79 - - - - - -61.6 - 68.6 16 8 4 2 1 1 65.1 65.1 80 40 20 10 5 3 -65.1 -65.1 1 7 - - - - - 68.6 61.6 81 - - - - - -68.6 - 61.6 18 9 - - - - 72.1 58.1 82 41 - - - - -72.1 -58.1 1 9 - - - - - 75.5 54.6 83 - - - - - -75.5 - 54.6 20 10 5 - - - 79 50 84 42 21 - - - -79 -50 2 1 - - - - - 82.6 46.5 85 - - - - - -82.6 - 46.5 22 11 - - - - 84.9 43 86 43 - - - - -84.9 -43 2 3 - - - - - 87.2 38.3 87 - - - - - -87.2 - 38.3 24 12 6 3 - - 89.5 34.9 88 44 22 11 - - -89.5 -34.9 2 5 - - - - - 91.8 31.4 89 - - - - - -91.8 - 31.4 26 13 - - - - 93 26.7 90 45 - - - - -93 -26.7 2 7 - - - - - 94.1 22.1 91 - - - - - -94.1 - 22.1 28 14 7 - - - 95.3 17.4 92 46 23 - - - -95.3 -17.4 2 9 - - - - - 96.5 12.7 93 - - - - - -96.5 - 12.7 30 15 - - - - 97.7 8.1 94 47 - - - - -97.7 -8.1 3 1 - - - - - 98.8 3 .5 95 - - - - - -98.8 - 3.5 32 16 8 4 2 - 100 0 96 48 24 12 6 - -100 0 3 3 - - - - - 98.8 - 3.5 97 - - - - - -98.8 3 .5 34 17 - - - - 97.7 -8.1 98 49 - - - - -97.7 8.1 3 5 - - - - - 96.5 - 12.7 99 - - - - - -96.5 12.7 36 18 9 - - - 95.3 -17.4 100 50 25 - - - -95.3 17.4 3 7 - - - - - 94.1 - 22.1 101 - - - - - -94.1 22.1 38 19 - - - - 93 -26.7 102 51 - - - - -93 26.7 3 9 - - - - - 91.8 - 31.4 103 - - - - - -91.8 31.4 40 20 10 5 - - 89.5 -34.9 104 52 26 13 - - -89.5 34.9 4 1 - - - - - 87.2 - 38.3 105 - - - - - -87.2 38.3 42 21 - - - - 84.9 -43 106 53 - - - - -84.9 43 4 3 - - - - - 82.6 - 46.5 107 - - - - - -82.6 46.5 44 22 11 - - - 79 -50 108 54 27 - - - -79 50 4 5 - - - - - 75.5 - 54.6 109 - - - - - -75.5 54.6 46 23 - - - - 72.1 -58.1 110 55 - - - - -72.1 58.1 4 7 - - - - - 68.6 - 61.6 111 - - - - - -68.6 61.6 48 24 12 6 3 2 65.1 -65.1 112 56 28 14 7 0 * -65.1 65.1 4 9 - - - - - 61.6 - 68.6 113 - - - - - -61.6 68.6 50 25 - - - - 58.1 -72.1 114 57 - - - - -58.1 72.1 5 1 - - - - - 54.6 - 75.5 115 - - - - - -54.6 75.5 52 26 13 - - - 50 -79 116 58 29 - - - -50 79 5 3 - - - - - 46.5 - 82.6 117 - - - - - -46.5 82.6 54 27 - - - - 43 -84.9 118 59 - - - - -43 84.9 5 5 - - - - - 38.3 - 87.2 119 - - - - - -38.3 87.2 56 28 14 7 - - 34.9 -89.5 120 60 30 15 - - -34.9 89.5 5 7 - - - - - 31.4 - 91.8 121 - - - - - -31.4 91.8 58 29 - - - - 26.7 -93 122 61 - - - - -26.7 93 5 9 - - - - - 22.1 - 94.1 123 - - - - - -22.1 94.1 60 30 15 - - - 17.4 -95.3 124 62 31 - - - -17.4 95.3 6 1 - - - - - 12.7 - 96.5 125 - - - - - -12.7 96.5 62 31 - - - - 8.1 -97.7 126 63 - - - - -8.1 97.7 6 3 - - - - - 3.5 - 98.8 127 - - - - - -3.5 98.8 10 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet iy ix iy ix uncom pens at ed hal f st ep sm[2 :0 ] = 1 0 1 1/ 4 th mi cr o st e p sm[2 :0] = 0 1 1 st ep 1 st a r t = 0 p c 20070604 . 5 st e p 2 s t ep 3 st art = 0 st ep 2 s t ep 1 st ep 3 f i gure 8: translator table: circular and squ are 8.3.2. directio n t he direction of rotation is selecte d b y m eans of foll o w i ng co mb inati o n of the dir input pi n an d the spi-control l ed dir e ction b it . ( t able 14: spi contro l reg i ster 1 ) 8.3.3. nxt input cha nges on th e nxt input w ill move th e motor current o n e step up/ d o w n in the trans l a tor table. d e p end ing on the nxt - pol arit y bi t ( t able 14: spi control re gister 1 ), the ne xt step is initiat ed eit her on the risi ng e dge or the fa lli ng ed ge of the nxt input. di r nxt pc 20070609 . 1 vali d t nx t_hi t nxt _ lo t dir _ se t t di r _ hold 0, 5 v cc f i gure 9: nx t- input timing diagra m table 11: timing table nxt pin sy mbo l parameter min. ty p . max. unit t nx t _ hi nxt minimum, high pulse w i dth 2 s t nx t _lo nxt minimum, low p u lse w i dth 2 s t dir_s e t nxt hold time, f o llow i ng change of dir 500 s t dir_hold nxt hold time, b e fore change of dir 500 s 11 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 8.3.4. t r anslator pos i tion t he translator positi on ca n b e rea d in t abl e 30: spi status reg i ster 3 . t h is is a 7-bit numb e r eq uiva lent to the 1/32 th micro-step from t able 10: circu lar t r anslator t abl e . t he translator pos ition is update d imme diate l y fo llo w i n g a n x t trigger . nx t upda t e t r an sl ator po si ti on upd a t e t r an sl ator p o si ti on pc 20070604 .4 f i gure 10: transla tor p o sition timing diagram 8.3.5. synchro n i z a t i o n of step mode and nxt input w hen ste p mo de is re-pr ogr a mmed to an oth e r reso luti on ( t abl e 1 3 : spi c ontrol re gister 0 ), then this is put i n effect i mmediat el y up on the first arrivin g ?nxt ? input. if the micro-steppi ng reso luti o n is incre a sed (see f i gur e 11 ) then the coi l currents w i l l be regul ated to th e near est micro- step, accor d in g to the fi xed gri d of the incr ea s ed res o l u tion. if ho w e v e r the micro-step pin g resol u tio n is d e crea s ed, the n it is possi ble to i n troduc e an off s et (or phase s h ift) in the micr o-step transl a tor table. if the step r e so lutio n is decr e a s ed at a tra n sl ator tab l e posit i on t hat is s har ed both b y the old an d n e w r e soluti on s e tting , t hen th e offse t is zero an d mic r o-stepp ing is proce eds acc o rdin g to the translator tab l e. if the translato r positi on is no t shared both b y the old an d ne w res o luti on settin g , the n the micr o-stepp ing proc ee ds w i th an offse t relativ e to the transl a tor table (see f i gur e 10 right han d sid e ). ix dir iy ix iy di r nx t 1 nx t 2 nx t 3 nx t 4 ha lf s t e p end po s 1/4 th st ep c hange f r om l o w e r t o high er r e s o lut i on sta r t pos pc 20070604 . 6 iy ix iy ix dir nx t 1 nx t 2 nxt3 dir e n d pos ha lfste p 1/8 th st ep cha nge f r om hi gher t o l o we r r e so lut i on star t pos f i gure 11: nx t- step mode synchron ization left: change from lower to higher res o lu tion. the left-hand side depicts th e ending half-step position d u ring wh ich a new step mode resolution was p r o g rammed. the right-hand side dia g r a m shows the effect of subsequent nxt comm ands on th e micro-step position. right: change fro m higher to lower resoluti on. the left-hand side depicts the ending mi cro-step position du ring which a new ste p mode resolution was p r o g rammed. the right-hand side dia g r a m shows the effect of subsequent nxt commands on th e half-step position . note: i t i s adv is ed t o redu c e t h e m i cro-st eppi ng re s o lu t i on only at m i c r o- s t ep po s i t i o n s t h a t ov erlap w i t h desired m i c r o - st ep posit io ns of t h e ne w res o lut i on . 12 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 8.4 pro g r amm a b l e peak- cu rren t t he amplitud e of the current w a v e form in the motor coil s (coil pe ak c u rrent = imax) is adjuste d b y me ans of a n spi paramet er "cur[4:0]" ( t able 13: spi co ntrol r egister 0 ). w henev er this p a rameter i s chan ged, th e coil-curr ents w i ll be upd ate d immed i ate l y at the ne xt pw m peri od. more in formation ca n be foun d in t able 2 4 : spi control param e te r overvie w cu r[4:0] . 8 . 5 spe e d a nd l o a d a ngle out put t he sla-pin provides an output voltage th at indicates the lev e l of the back-e.m.f. vo ltage of the m o tor. t h is back-e.m.f. volta ge i s sampl ed dur in g ever y so-ca l l ed "co il curre nt zero crossin g s ". per coil, t w o zero-curr ent positi ons e x ist per el ectrical p e rio d , y i e l di ng in total four zero- c urrent obs erv a tion p o i n ts pe r electrical peri od. v be m f z oom t v bb v co i l v o l t ag e t r a n s i e n t next m i cr o - ste p p r ev i o us m i cr o - st ep co il curren t zero crossin g cu rre nt deca y ze ro cu r r e n t t t pc20 07 06 04 . 7 i co i l i coil v be mf f i gure 12: p r inciple of b e mf measurement becaus e of the rel a tivel y hi gh recircu l ati o n c u rrents in t he c o il dur ing curr e n t dec a y , the c o il volta g e v coil sho w s a tran sient be havi o r. as this transie nt is not al w a ys desire d in ap plicati on s o ft w a re, t w o op erat ing mo des c a n be sel e cted b y me ans of the bit (see "sla-trans pare n c y " i n t able 1 5 : spi co ntrol regist er 2 ). t he sla pi n s h o w s in "tra nspar ent mo de" full visibi lit y of the voltag e tra n sie n t beh avior. t h is allo w s a san i t y -check of the spee d-settin g versus motor op eratio n an d ch aracteristics a n d supp l y v o ltag e leve ls. if the bit ?slat ? is clear ed, the n onl y t he v o ltag e s a mp les at the e nd of eac h c o il curre nt zero c r ossin g ar e vis i ble on the sla - pin. b e ca us e t h e transie nt be ha vior of the c o il voltag e is n o t visibl e a n y mor e , this mod e g ener ates smoo ther back e.m. f. input for post - processi ng, e. g. by soft w a re. in order to bring the sampled back e. m.f. to a descent output level (0 to 5v), t he sampled coil voltage v coil i s d i vi de d by 2 o r by 4 . th i s divid e r is set throug h an spi b i t . ( t a ble 1 5 : spi control re gister 2 ) table 12: par a m e ter ta ble sla pin sy mbo l pin(s) parameter remark/ t est co nditi ons min. ty p . max. unit v out output voltage ra nge 0.5 4.5 v v of f output of fset the sla pin 0.2v < vsla < vdd - 0,2v -20 20 mv r out output resistance sla pin 1 k ? c loa d load capacitance sla pin 50 pf g sl a sla gain of sla pin = v bemf / v coil slag =0 slag =1 0,5 0,25 13 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet t he follo w i n g d r a w in g il lustrat e s the op er ati o n of the sla-p i n and th e trans pare n c y -bi t. "pw m sh" and "i coil= 0" are int e rnal si gna ls tha t defin e togeth e r w i th s l at the sampli ng a nd h o ld mom ents o f the coil volta g e . pwm s h ico i l = 0 slat sl a - p i n sl at = 0 => sla-pin is no t "tr a nsp a ren t " d u ri n g v be m f s a mp li ng @ co il cu r r e n t z e ro cro s s i ng . sla-pin is up da ted wh en l e avi n g cu r r e n t - less sta t e. sl at = 1 = > sla - p i n i s "t r a n s pa r e nt " du r i ng v be mf s a m p lin g @ c o il c u rren t zero c r o ssi ng . s l a - pi n i s up da t e d " r e a l - t i m e " . la s t sa mp le is r e tained re ta in la st sa m p le pr ev i ous o u tput i s k ept at sla pi n buf ssh s h ch cs h slat n o t ( i c oi l = 0) ic oi l = 0 pwm s h sla - pi n v coi l di v 2 di v 4 v be m f t t pc 200 70604 .8 v co i l f i gure 13: timing diagram of sla - pin 8.6 warning, error detecti on and diagnostics feedback 8.6.1. t hermal w a rni ng an d shutd o w n w hen ju nctio n temperatur e rises ab ove t tw , the thermal w a rni ng b i t is set ( t abl e 27: spi status reg i ste r 0 ). if junction temperatur e in creases a bov e thermal shut do w n leve l, then the circu i t goes i n ?ther mal shutd o w n ? mode ( ) and al l dri v er transistors are dis abl ed ( h i g h imp e d anc e) ( t able 2 9 : s p i status re g i ster 2 ). t he cond itions to r e set fla g i s t o b e a t a temperatur e lo w e r than t tw a nd to clear th e < tsd> flag b y r ead ing it us ing an y spi read c o mman d . 8.6.2. over-current detectio n t he over-curre nt detectio n cir c uit mon i tors the l oad c u rre nt in e a ch activ a t ed o u tput stag e. if the loa d c u rrent e x c e e d s the ov er-c urrent detectio n thres hol d, then the over-curre nt flag is set and the drivers are s w itc h e d off to reduc e th e po w e r d i ssip a tio n a nd to pr otect th e integr ated circ uit. eac h drive r transistor h a s an in div i du al d e tection b i t in t he t able 2 8 : s p i status r egi ster 1 an d t abl e 2 9 : spi statu s regist er 2 ( and ). error cond ition is latched a nd th e microco n troll e r nee ds to cle an the status b i ts to reactivate the drivers. 14 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 8.6.3. open co il det e ction open co il dete c tion is bas ed on the obs erva tion of 100 per cent dut y c y c l e of the pw m r egu lator. if in a coi l 1 00 perc ent dut y cy cl e is detected for l o nger t han 20 0 m s then th e r e late d dr iver tr ansistors are disa ble d (h igh- impe danc e) a n d an a ppro p ria t e bit i n the sp i status register i s set ( or ). ( t able 27: spi status register 0 ) 8.6.4. char ge pu mp f a ilure t he charge pu mp is an impor tant circuit that guara n tees lo w r d son for al l drivers, espec i a ll y for lo w su p p l y v o lta ges. if supp ly vo l t ag e is too l o w or e x tern al c o mpo nents ar e n o t prop erl y co n n e c ted to gu ara n t ee rds on of the dr ivers, the n the b i t is set in the t able 27: spi status reg i ster 0 . also after po w e r- on-r e s e t the char ge pump v o ltag e w i ll nee d som e time to e x c e ed the r equ ire d thresho l d. duri ng that time w i ll be set to ?1?. 8.6.5. error output t h is is a d i gita l outp u t to fla g a pro b l e m to th e e x ter nal micr ocontro ller. t he sig n a l o n this outp u t is activ e lo w a nd t he l o g ic c o mb inati o n of: not ( errb) = or or or < ov cyij> or or 8.7 clr pin (=hard reset) log ic 0 on c l r pi n al lo w s n o rmal oper atio n of the c h ip. t o reset the compl e te di gita l insi de amis-3 052 1, the i n p u t clr nee ds to be pull ed to lo gic 1 duri ng min i m u m time give n b y t cl r . ( t able 6: ac parameters ) t h is reset function cle a r s all intern al re gisters w i th out the ne ed of a po w e r-c y c le. t he operatio n of all a nal og ci rcuits is de pen din g on th e re set state of the dig i tal, ch arg e pump r e mains active. log ic 0 on cl r pin res u mes norm a l o perati on a gai n. 8.8 sleep mo d e t he bit in t able 15: spi control re gi ster 2 is provid ed to enter a so-call ed ?sl eep mode? . t h is mode a llo w s r e d u ction of curre nt- consum ption w hen the mot o r i s not in op erati on. t he effect of sleep mo de i s as follo w s : ? t he drivers are put in hiz ? all an alo g circu i ts are disa ble d and in l o w - p o w e r mod e ? all inter nal re gi sters are maint a ini ng th eir lo gi c content ? nxt and dir i nputs are for b i dde n ? spi communic a tion rem a ins possi ble (sl i ght current incre a s e duri ng spi communic a tio n ) ? reset of chip i s possib l e thro ugh c l r pi n ? oscillator and digit a l clocks are silen t, ex cept during spi communicati on normal o per ati on is resume d after w r iti ng lo gic ?0? to bit < slp> . a start-up time is nee ded for the ch arge p u mp to stabiliz e. after thi s time, nxt commands ca n be i ssued. 15 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 9.0 spi interf ace t he serial p e ri pher al interfac e (spi) is us ed to a l l o w e x ter nal microc ontr o ller (mcu) to communic a te w i t h th e devic e . t he impl e men t ed spi block is fle x i b le en oug h to interfac e dire ctl y w i t h num er ous microc ontr o llers from sev e ral ma nufactu rers. amis-305 21 acts a lw ay s as a sl ave a n d it can?t i n itiate an y transm i ss ion. t he op era t ion of the dev i c e is co nfi gur e d an d contr o ll e d b y me ans of spi reg isters, w h ich are obs e r vabl e for read and/ or w r ite from the master. 9 . 1 spi tra n s f e r forma t a nd pin signa ls durin g a n spi transfer, data is simultan eo usl y transm i tted ( s hi fted o u t seri all y ) a nd rec e iv ed (shifte d in s e rial l y ). a seria l clock line ( c lk) s y nc hro n izes s h ifting a nd s a mplin g of the i n formatio n on t he t w o s e ria l d a ta l i nes (do and di). do s i gna l is the o u tput from th e s l ave, and di sig nal i s the o u tput from the mast er. a slave s e lec t line ( c sb) al l o w s i ndiv i du al selecti on of a slave spi devi c e in a m ul ti p l e- slave s y stem. t he csb line is active lo w . if amis-3052 1 is not selected, do is in high i m ped ance stat e and it does n o t interfe re w i t h spi bus activities. since ami s -30521 al w a ys clocks data out on the falling edge and samples data in on rising edge of clock, th e m c u spi port must be confi gur ed to match this op eratio n. spi clock idles l o w bet w e e n the trans ferred b y tes. t he diagr am b e lo w is b o th a master an d a s l ave tim i ng di a g ram si nce c l k, do and di pins are dire ctl y c onn ected b e t w e e n the m a st er and the sl ave. 8 7 6 5 4 3 2 1 ms b 6 5 4 3 2 1 ls b ms b 6 5 4 3 2 1 ls b c l k ( i dl es lo w ) d i (f ro m m a s t e r ) d o (f rom s l a v e ) cs b (1 ) note (1 ): msb of data stored on t he ne w add ress ( s ee transfer packet). the inter nal data-out shift buf fer of amis-3 052 1 is updated w i th ne w content onl y at the last (eve r y eighth) falling edge of the clk sig nal. f i gure 14: timing diagram of an sp i transfer 9.2 t r an sfer pa ck et serial data tran sfer is assume d to follo w ms b first rule. t h e transfer pack e t contains one or more 8-bit c haracters (b yte s ). msb lsb c o mma nd a nd ad d r e ss msb lsb data by te c m d 2 c m d 1 c m d 0 a d d r 4 a d d r 3 a d d r 2 addr1 addr0 data7 - data 0 t he first b y te c ontai ns comma nd a nd spi r e gister a ddr ess and w i l l b e se n t upfront of th e packet to ind i c a te to amis-30 521 th e c ho sen register a nd th e t y p e of oper a t ion. t here are t w o possi ble comm ands for the m a ster in norm a l operati on mo d e of amis-305 21: ? read from spi register: cmd2 = 0 ? wri t e to sp i register: cmd2 = 1 16 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet w r it e command e x ec uted for rea d -o nl y r e gister w i ll n o t affect t he re gis t er an d the d e v ice o per ation. in cas e of re ad comma nd th e data b y te is o p tion al. if a b y te i s transmitted a fter read comm and it is als o interpr e ted as a comman d (see e x am ples b e lo w ) . if the master reads data fr o m a status reg i ster ( spi status re gister d e scripti on ), the n the most si g n ifica n t bit (da t a 7) repr esent s a parit y of data 6 to data 0 b i ts. if the num ber of log i ca l o nes in the d a ta is o dd th en th e p a r i t y bit e q u a ls 1. if the n u mber o f lo gica l o nes is even th en th e parit y b i t equ als 0. t h is is a simple mec h a n ism to protect agai nst no ise and to ver i f y th e correct trans missi on op erati o n and the c onsist enc y of the sta t us data. if a p a rit y check err o r occurs, th e master co uld i n itiate an ad diti ona l rea d co mmand t o o b ta i n the status aga i n . t he csb li ne i s active l o w an d ma y rema in l o w bet w e en e a c h succ essive read c o mma nds. t here is o n l y one e x c epti on of this rul e : if error con d itio n is latche d in status register ( spi status register descri p ti on ) an d the master nee ds to clear the statu s bits then e x a c tl y after read co mmand of a lat c hed status re gister csb li ne shoul d go fro m lo w to hig h . t h is is expl ain ed in the fo llo wing n o te: note: t he stat us reg i sters a n d errb pi n ( s p i status reg i ster descri p tio n ) are updated by the inter n al system clock only w hen cs b line is h i gh. it is recomme n ded to ke ep th e csb lin e hig h alw a ys w hen the spi bus is idle. if the master sends w r it e comman d , then the incom i ng d a ta w i ll b e stored in the corr e s pon din g reg i ster onl y if csb goes from lo w t o hig h . t he w r iti ng to th e re gist er is o n l y en abl ed if e x actl y 16 bits ar e trans mitted w i th in o ne transf e r p a c k et. if more or l e ss clock pulses are cou n ted w i t h in o ne p a cket the compl e te p a cket is ign o re d. amis-3052 1 re spon ds on eve r y inc o min g b y t e b y sh ifting o u t t he data stored on the l a st addr ess s ent vi a the bus. after por the initial addr ess is unk no w n . t he follo w i ng e x amp l es illustrate com m unic a tion ses s ions b e t w e en the master an d amis-30521: r ead da t a wr i t e da t a a da t a c da t a b r ead da t a b cs b ma s t e r 305x x a ddr a a ddr b a ddr b a ddr a a dd r b a ddr b las t a d d r d a ta c i s w r i tten i n a d dr b on r i s i ng e dge of c s b r ead a ddr b da t a c a ddr b f i gure 15: e x ample sp i transfer in this exam pl e, the master reads first t he status from addra and then w r ites control b y t e in addrb. after w r ite o pera t ion the master coul d initi a te a read b a ck com m and i n ord e r to verif y the da ta just w r itten. note that the firs t verificatio n read o per ation r eturns the o l d content of addr b, the second r ead comm and returns the n e w ad drb data. note: t he inte rnal data out s h ift buffer of a m is-3052 1 is upd ated w i th the c ontent of t he s e le cte d s p i register on ly at the last (every eig h th) falli ng edg e of the cl k signa l ( spi t r ansfer f o rmat and pin si g nals ). as a result, new data for transmissio n c ann ot be w r itten to the shift buffer at the be gin n in g of the transfer packet and the first b y te shifted out mi ght repr esen t old data. t h is rule also app lies w h en t he master devi c e w a nts to init iate an spi transfer to rea d th e status reg i ste r s. becaus e th e i n ter na l sy stem cl o ck u p d a t e s th e sta t u s reg i ste r s o n ly w hen c sb l i n e i s hig h , th e fi rst rea d o u t by te mig h t rep r e s e n t a n o l d sta t u s (se e fig u r e 16 and f i gure 1 7 be lo w ) . 17 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet r ead da t a r ead s t at usa csb ma s t e r 305xx s t at us r s t at us r s t at us last ad d r ead s t at usa rea d st at u s b s t at us r st a t us r st a t us s t at us s t at us r egi st er s ar e upd at e d f i gure 16: e x ample sp i transfer t he last case illust rat e s dat a poll i n g f r om several re gist ers of t he spi regist er bank: cs b r ead re a d r ead ma s t e r a ddr a a ddr b a ddr c da t a da t a a da t a b 305x x a ddr a las t a ddr a ddr b f i gure 17: e x ample sp i transfer 18 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 9.3 spi co n t ro l reg i sters all spi cont rol regist ers h a ve rea d / w rit e access and d e f a u l t t o "0" af t e r po w e r-o n or har d reset . table 13: spi co ntrol register 0 con t rol re gist e r 0 (cr0 ) a d d r es s struct ure con t en t bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 access r/w r/w r/w r/w r/w r/w r/w r/w reset 0 0 0 0 0 0 0 0 01h data sm[2:0] cur[4:0] where : r/w rea d an d writ e access reset : st at us af t e r po w e r-on or har d reset sm[2:0] : st ep mode cur[4:0] : current am plit ude table 14: spi co ntrol register 1 con t rol re gist e r 1 (cr1 ) a d d r es s struct ure con t en t bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 access r/w r/w r/w r/w r/w r/w r/w r/w reset 0 0 0 0 0 0 0 0 02h data dirctrl nxtp - - pwmf pwmj emc[1:0] where : r/w rea d an d writ e access r e se t:: sta t u s a fte r p o w e r-o n o r h a r d re se t dirctrl direct io n cont r o l nxtp next polar it y pwmf pwm f r equenc y pwmj pwm jitte r emc[1:0] emc slop e con t rol table 15: spi co ntrol register 2 con t rol re gist e r 2 (cr2 ) a d d r es s struct ure con t en t bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 access r/w r/w r/w r/w r/w r/w r/w r/w reset 0 0 0 0 0 0 0 0 03h data moten slp slag slat - - - - where : r/w rea d an d writ e access reset : st at us af t e r po w e r-on or har d reset moten mot o r ena bl e slp slee p slag spee d lo ad an gle g a in slat spee d lo ad an gle t r ans par en c y table 16: spi co ntrol paramete r overvie w slat sy mbo l descrip tion status beha v i or = 0 sla is transpare n t slat speed load angl e transpa renc y bit = 1 sla is not tra n s parent 19 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet table 17: spi co ntrol paramete r overvie w slag sy mbo l descrip tion status value = 0 gain = 0. 5 slag speed load angl e gain setting = 1 gain = 0. 25 table 18: spi co ntrol paramete r overvie w pwmf sy mbo l descrip tion status value = 0 f pw m = 22.8khz pwmf enables doubling of the pwm freq uenc y = 1 f pw m = 45.6khz table 19: spi co ntrol paramete r overvie w pwmj sy mbo l descrip tion status beha v i or = 0 jitter disabled pwmj enables jittery p w m = 1 jitter enabled table 20: spi co ntrol paramete r overvie w slp sy mbo l descrip tion status beha v i or = 0 active mode slp enables sleep mode = 1 sleep mode table 21: spi co ntrol paramete r overvie w mote n sy mbo l descrip tion status value = 0 drivers disabled moten activates the motor driver out puts = 1 drivers enabled table 22: spi co ntrol paramete r overvie w dir c t r l sy mbo l descrip tion status value = 0 cw motion = 0 = 1 ccw motion = 0 ccw motion dirct rl controls the dire ction of rotation (in combination w i th logic level on input dir) = 1 = 1 cw motion table 23: spi co ntrol paramete r overvie w nxtp sy mbo l descrip tion status value = 0 trigger on rising edge nxtp selects if nxt triggers on rising o r falling edge = 1 trigger on falling edge cur[4:0] select s i m cma x p eak. t h is is t he peak or am plit u de of t he r egu lat e d curre nt w a vef o rm in t he mot o r coils. table 24: spi co ntrol paramete r overvie w cu r[4 : 0] index cur[4 : 0] current (m a ) index cur[4 : 0] current (m a ) 0 0 0 0 0 0 3 0 1 0 1 0 0 0 0 3 6 5 1 0 0 0 0 1 60 11 1 0 0 0 1 400 2 0 0 0 1 0 9 0 1 2 1 0 0 1 0 4 4 0 3 0 0 0 1 1 100 13 1 0 0 1 1 485 4 0 0 1 0 0 1 1 0 1 4 1 0 1 0 0 5 3 5 5 0 0 1 0 1 120 15 1 0 1 0 1 595 6 0 0 1 1 0 1 3 5 1 6 1 0 1 1 0 6 5 0 7 0 0 1 1 1 150 17 1 0 1 1 1 725 8 0 1 0 0 0 1 6 0 1 8 1 1 0 0 0 8 0 0 9 0 1 0 0 1 180 19 1 1 0 0 1 885 a 0 1 0 1 0 2 0 0 1 a 1 1 0 1 0 9 7 0 b 0 1 0 1 1 220 1b 1 1 0 1 1 1070 c 0 1 1 0 0 2 4 0 1 c 1 1 1 0 0 1 1 9 0 d 0 1 1 0 1 270 1d 1 1 1 0 1 1300 e 0 1 1 1 0 3 0 0 1 e 1 1 1 1 0 1 4 5 0 f 0 1 1 1 1 325 1f 1 1 1 1 1 1600 20 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet emc[1:0] adjust s t he dv/ d t of t he pwm volt ag e slo pes on t he mot o r p i ns. table 25: spi co ntrol paramete r overvie w emc[1 : 0] index emc[1:0 ] slope (v/ s) remark 0 0 0 150 turn -on and t u rn -off voltage slope 10% to 90 % 1 0 1 100 ? 2 1 0 50 ? 3 1 1 25 ? sm[2:0] select s t he mic r o-st epp ing mo de. table 26: spi co ntrol paramete r overvie w sm[2:0 ] index sm[2:0] step mode remark 0 0 0 0 1 / 32 m i c r o - s t e p 1 0 0 1 1 / 16 micro-step 2 0 1 0 1 / 8 micro-step 3 0 1 1 ? micro-step 4 1 0 0 ? uncompensated half-step 5 1 0 1 ? compensated ha lf-step 6 1 1 0 f u ll f u ll step 7 1 1 1 n/a for futu re use 9 . 4 spi sta t us re gis t e r de sc ription all f our spi st at us regist ers h a ve re ad acce ss and are d e f ault t o "0" af t e r po w e r- on or h a rd reset . table 27: spi st atus register 0 status regi ster 0 (sr0) a d d r es s struct ure con t en t bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 access r r r r r r r r reset 0 0 0 0 0 0 0 0 04h data par tw cpfail - openx openy - - where : r read onl y mode access reset st at us af t e r po w e r-pn or hard reset par parit y check tw t hermal w a r n i ng cpfail char ge pum p f a ilur e openx open co il x de t e ct ed openy open co il y de t e ct ed remark : d a ta is not lat c hed table 28: spi st atus register 1 status regi ster 1 (sr1) a d d r es s struct ure con t en t bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 access r r r r r r r r reset 0 0 0 0 0 0 0 0 05h data par ovcxpt ovcxpb ovcxnt ovcxnb - - - where : r read onl y mode access reset st at us af t e r po w e r-on or hard reset par parit y check ovxpt over-current d e t e ct ed o n x h - bridg e : mot xp t e rminal, t op t r ansist o r ovxpb over-current d e t e ct ed o n x h - bridg e : mot xp t e rminal, bot t o m t r ansist o r ovxnt over-current d e t e ct ed o n x h - bridg e : mot x n t e rminal, t op t r ansist o r ovxnb ove r-cu rre n t de te cte d on x h-b r id ge : mo txn te rmin a l , bo tto m tra n s isto r remark : d a ta is la tche d 21 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet table 29: spi st atus register 2 status regi ster 2 (sr2) a d d r es s struct ure con t en t bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 access r r r r r r r r reset 0 0 0 0 0 0 0 0 06h data par ovcypt ovcypb ovcyynt ovcynb tsd - - where : r read onl y mode access reset st at us af t e r po w e r-on or hard reset par parit y check ovcypt over-current d e t e ct ed o n y h-bridg e : mot yp t e rminal, t op t r ansist o r ovcypb over-current d e t e ct ed o n y h-bridg e : mot yp t e rminal, bot t o m t r ansist o r ovcynt over-current d e t e ct ed o n y h-bridg e : mot y n t e rminal, t op t r ansist o r ovcynb ove r-cu rre n t de te cte d on y h - b r id ge : mo tyn te rmin a l , bo tto m tra n s isto r tsd t hermal shut d o w n remark : d a ta is la tche d table 30: spi st atus register 3 status regi ster 3 (sr3) a d d r es s struct ure con t en t bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0 access r r r r r r r r reset 0 0 0 0 0 0 0 0 07h data par msp[6:0] where : r read onl y mode access reset st at us af t e r po w e r-pn or hard reset par parit y check msp[6:0] t r anslat o r micro-st ep pos it io n remark : d a ta is not lat c hed 22 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet table 31: spi st atus flags overv i ew flag mnem onic leng th (bit ) relate d spi reg i ster com m en t reset s t ate charge p u mp failure cpfail 1 st at us regist e r 0 ?0? = no failur e ?1? = fa ilure: indicates that the charge pump does not reach the req u ired voltage level. note 1 ?0? micro-step position msp[6:0] 7 st at us regist e r 3 translator micro - step position ?0000000? o pen coil x openx 1 st at us regist e r 0 ?1? = open coil detected ?0? o pen coil y openy 1 st at us regist e r 0 ?1? = open coil detected ?0? ov er c urr ent on x h-bridge; m o t xn terminal; b ottom tran. ovcxnb 1 st at us regist e r 1 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at botto m transistor xn-t erminal ?0? ov er c urr ent on x h-bridge; m o t xn terminal; t op t r a n sist. ovcxnt 1 st at us regist e r 1 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at top t r ansistor xn-term i nal ?0? ov er c urr ent on x h-bridge; m o t xp terminal; b ottom tran. ovcxpb 1 st at us regist e r 1 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at botto m transistor xp-t e rminal ?0? ov er c urr ent on x h-bridge; m o t xp terminal; t op t r a n sist. ovcxpt 1 st at us regist e r 1 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at top t r ansistor xp-terminal ?0? ov er c urr ent on y h-bridge; m o t yn terminal; b ottom tran. ovcynb 1 st at us regist e r 2 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at botto m transistor y n -t erminal ?0? ov er c urr ent on y h-bridge; m o t yn terminal; t op t r a n sist. ovcynt 1 st at us regist e r 2 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at top t r ansistor y n - t erm i nal ?0? ov er c urr ent on y h-bridge; m o t yp terminal; b ottom tran. ovcypb 1 st at us regist e r 2 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at botto m transistor y p -t erminal ?0? ov er c urr ent on y h-bridge; m o t yp terminal; t op t r a n sist. ovcypt 1 st at us regist e r 2 ?0? = no failur e ?1? = failure: indicates that o v er current i s detected at top t r ansistor y p -te r minal ?0? thermal shutdo w n tsd 1 st at us regist e r 2 ?0? t her mal w a r n ing tw 1 st at us regist e r 0 ?0? 23 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 10.0 pack age outline dimensions: dim min nom max unit a 0 . 8 0 . 9 m m a 1 0 0 . 0 2 0 . 0 5 m m a 2 0 . 5 7 6 0 . 6 1 5 0 . 6 5 4 m m a 3 0 . 2 0 3 m m b 0 . 2 5 0 . 3 0 . 3 5 m m c 0 . 2 4 0 . 4 2 0 . 6 m m d 7 m m d 1 6 . 7 5 m m e 7 m m e 1 6 . 7 5 m m e 0 . 6 5 m m j 5 . 3 7 5 . 4 7 5 . 5 7 m m k 5 . 3 7 5 . 4 7 5 . 5 7 m m l 0 . 3 5 0 . 4 0 . 4 5 m m p 4 5 d e g r e e r 2 . 1 8 5 2 . 3 8 5 m m notes : 2 dimensions apply to plated te rmi nal and are mea s ured bet w e en 0 . 2 and 0.25 mm from t e r m inal tip. 3 the pin #1 indication must be placed on the top surface of the pa ckage b y using indentat ion mark or othe r feature of package bod y. 4 exact shape an d size of this feat ure is optional 5 applied for exposed pad and termi nals. excl ude embe dding part of exposed pa d fro m measuring. 6 applied only to t e rminals 7 exact shape of each corner is op tional 7x7 nqfp f i gure 18: nqf p -32: no lead quad f l at p a ck; 32 p i n s ; b ody size 7x7mm ( a mi s reference: nqf p - 32) 24 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 11.0 soldering 11.1 introduction t o sold ering s u rface mount packages t h is t e xt g i ves a v e r y brief in sight t o a com p le x t e ch nol og y. a more i n -d ept h acco unt o f sold erin g i c s can b e f o und i n t h e ami s ?dat a han dbo ok i c 2 6 ; i n t egrat e d c i rcuit pack ages ? (docum ent or der n u mber 93 98 6 52 90 011). t here is no s o ld erin g met h o d t hat is i d e a l fo r all surf ace mo unt i c pack a g e s. wave s o l d erin g is n o t a l w a ys s u it ab le f o r surf ac e m o unt i c s, or f o r print e d-circu i t boar ds (pcb) wi t h hig h po pul at io n densit i e s. i n t hese sit uat i ons r e -f lo w so lder in g is of t en use d . 11.2 re-flo w so ld erin g re-f lo w sol der i ng re qu ires s o lder past e (a s u spe n sio n of f i ne s o ld er p a rt i c les, f l u x an d bin d in g a g e n t ) t o be a ppl ied t o t he p c b b y screen pr int i n g , st encill in g or pressur e -s yring e disp ens i ng bef ore p a c k age p l ac eme n t . several m e t hods e x ist f o r re-f lo w i ng; f o r examp l e, inf r ar ed/ conv ect i o n heat i ng i n a co nve y or t y pe ov en. t h roughp ut t i mes (pre he at in g, sold eri ng an d cooli ng) var y b e t w e e n 1 00 an d 2 00 s e con d s dep en din g o n t he heat i n g m e t hod. t y p i cal re- f l o w pe ak t e mp erat ures ra ng e f r om 215 t o 26 0c. t he t op-surf ace t e mper a t ure of t he pac kages sh ou ld p r ef erab l y be ke pt belo w 23 0 c. 11.3 w a v e so ld erin g conv ent io na l singl e w a v e sol deri ng is not re commen ded f o r surf ace m oun t devices (smd s) or pcbs w i t h a hig h comp one nt dens it y , a s sold er bri d g i ng and no n- w e t t i ng ca n pr ese n t major pr ob le ms. t o overco me t hese pro b l ems, t he dou b l e- w a v e so ld eri ng met h od w a s specif ic all y d e v e lo ped. i f w a ve so lder i ng is use d t he f o llo w i n g con d it i ons must be o b serve d f o r opt imal resu lt s: ? use a do ub le- w a v e so lder in g met hod compr i sing a t u rbul en t w a v e w i t h hi g h up w a rd pr essure f o ll o w e d b y a smo o t h lam i nar w a ve. ? for packag e s w i t h le ads o n t w o s i d e s an d a pit c h (e): ? larg e r t han or equ al t o 1. 27m m, t he f oot print long it udi na l a x is is pref erre d t o be par all e l t o t he t r ansport d i rect io n of t he p cb; ? smaller t h an 1 . 27mm, t he f oot print lon g it u d i nal a x is must be par all e l t o t he t r ansp o rt di rect ion of t he pcb. t he f oot print must incor porat e so l der t h iev e s at t he do w n st re a m end. ? for packa ges w i t h l eads on f our sid e s, t h e f oot print m u st be p l ac ed at a 45o ang le t o t he t r ans port direct i on of t h e pcb. t h e f oot print must i n corp orat e sol der t h iev e s do w n st ream a nd at t he side cor ners. durin g pl acem ent and b e f o re solderi ng, t he packa ge must be f i xed w i t h a dropl et of adh esive. t he adh esive ca n be a ppli ed b y scr een print i ng, p i n t r a n sf er or s y rin g e d i spe n si ng. t he pack age ca n b e s o ld ered af t e r t h e ad hes ive is cur ed. t y pical d w e l l t i m e is f o u r se co nds at 250c. a mil d l y -act iv at ed f l ux w i ll e limi nat e t he ne ed f o r remova l of corrosive res i du es in most app lica t ions. 1 1 . 4 ma nua l sol d e r ing fix t he com p o nent b y f i rst sol deri ng t w o d i ag ona ll y-o p p o sit e end le ads. us e a lo w vo lt ag e (24v or less) s o ld erin g iro n a p pli ed to th e fla t part of t he lea d . cont act t i me must be limit e d t o 10 secon d s at up t o 300 c. when usi ng a ded icat e d t ool, all ot h e r lea d s can be so ld ere d in on e op erat ion w i t h in t w o t o f i ve secon d s bet w e en 2 70 a nd 32 0c. table 32: solderi ng process solderin g met h od package wav e re-fl o w (1 ) bg a, sqfp not suitable suitable hlqfp, hs q f p, hso p , htssop, sms not suitable (2 ) suitable plcc (3 ) , so, s o j suitable suitable lqfp, qfp, t q fp n o t r e co m m e n ded (3 ) (4 ) suitable sso p, tss o p, vso not recommend e d (5 ) s u i t a b l e notes: (1) all s u r f a c e m ount ( s m d ) pac k a ges a r e m o is t u re s e n s i t iv e. depending upo n t he m o ist u re c o n t e n t , t he m a x i m u m t e m perat ure (w it h re spec t t o t i m e ) and b ody s i z e of t he pa c k a ge, t h e r e is a risk t h a t int e rnal or ex t e rnal pack age c r acks m a y oc c u r due t o v aporiz at ion of t he m o ist u r e in t hem (t he s o called popc or n ef fect ). for det ail s , re f e r t o t he dry pac k in f o rm a t ion in t h e ?data handb ook i c 26 ; i n t egra t e d circ u i t pa c k a ges; se c t ion : pa c k i n g m e t hod s . ? (2) thes e pa c k a ges a r e not s u itable for wav e s o ldering as a s o lder jo int be t w een t he pcb and hea t s in k (a t bo t t om v e r s ion) c an n o t be a c hiev ed, and as s o ld er m a y s t i c k t o t h e hea ts in k ( on t o p v e rs ion). (3) i f w a v e s o ldering i s c o n s ide r ed, t hen t he pack age m u s t be pl ac ed a t a 45 angle t o t he s o l d er w a v e direc t ion. the pac k a ge f oo t p rint m u st in c o rpora t e s o ld er t h iev e s dow ns t r ea m and a t t h e s i de corners. (4) wav e s o ldering is only s u it able f o r lq fp, tqfp and qf p pack age s w i t h a pit c h (e) equ al t o o r larger than 0.8m m ; it i s de f i n i t ely not s u itable f o r pa c k ag es w i t h a pit c h (e ) eq ual t o or s m alle r t han 0.65 m m . (5) wav e s o ldering i s only s u it able for s s op and tsso p pack age s w i t h a pitc h (e) eq ual t o or l a rger t h a n 0. 6 5 m m ; it i s de f i ni t e ly not s u itable for pa c k a g e s w i t h a pit c h (e ) eq ual t o or s m alle r t han 0.5m m . 25 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com
amis-30521 micro-stepping motor driver data sheet 12.0 company or product inquiries for more inf o r m at ion a b o u t ami semicond u c t o r?s prod uct s o r se rvice s visit o u r we b site a t h ttp :// w w w . amis.co m . 13.0 documen t h i s t o r y table 33: revision histor y version date modifi cati on 0 . 1 1 8 - j a n - 0 6 i n i t i a l d r a f t 0.2 24-jan-06 draft : changed pwm description, added sla pin d e scription, changed por a nd wd paragr aphs. 0.3 9-feb-0 6 cen->cenb, n x t pin timing, spi i/f, 30521 sec t ion 8.5, 8.6,8.7, 30522 section 8.4,8.5 0.4 9-mar - 06 updated pin-o u t & added dra w i n g , cenb->clr , e rr- >errb, rem o ved swp bits, updated spi bits, added package details 0.5 22-mar - 06 renamed cs -> csb, swapped p i ns clr and cs b 0.6 24-ma y-06 updated pins, a c &dc tables, sl a specs, sm[2:0] decoding 1 . 0 2 - j u n e - 0 7 f i n a l v e r s i o n dev i c e s s o ld by am i s are cov e red by t he w a rrant y and pat en t indem ni f i c a t i on prov is ions appe aring in its term s o f sale only . am i s m a k e s no w a rrant y , ex pres s, st atut ory , im plied or by des c r i p t i on , rega rding t h e inf o rm a t ion s e t f o r t h herein or r egardi ng t h e freedom o f the de s c r i bed dev ices f r om pa t e n t in f r i ngem ent. am i s m a k e s no w a rrant y of m e rc han t abili t y or f i t n e s s for any purp o s e s . am i s re s e r v es t he right t o di sc ontinue produ c t io n and c hange s p e c if i c a t ion s and p rices at any t i m e and w i t hout no t i c e . am i sem i c ondu ct or's pr oduct s are i n t end e d f o r use in c o m m e rc ial appli c at i ons. applic a t ion s r equiri ng ex t ended tem p e r at ure range , u nu sual env ironm ent al r equirem ents, or hig h reliabilit y applica t io ns, such as m ilit a r y , m edical lif e-sup p o rt or lif e- su stainin g equipm ent, are speci f ica lly not recom m ended w i t hout addit i ona l proc e s s i ng by am i s f o r s u c h applic a t ion s . copyright ?2007 am i se m i c ondu c t o r , i n c. 26 a m i se m i co nd uc t o r ? june 2 007 , m-20683 -001 www.amis.com

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