AMIS-30622 I2C Microstepping Motordriver
Data Sheet
8.0 Positioning Data
8.1 Stepping Modes
8.2 Maximum Velocity
One of four possible stepping modes can be programmed:
• Half-stepping
For each stepping mode, Vmax can be programmed to 16
possible values given in the table below.
• 1/4 micro-stepping
• 1/8 micro-stepping
• 1/16 micro-stepping
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.
Vmax
Index
Vmax
(Full Step/s)
Stepping Mode
1
1
1
Group
Half-Stepping
(half-step/s)
197
/
th Micro-stepping
/
th Micro-stepping
(micro-step/s)
790
/
th Micro-stepping
16
(micro-step/s)
4
8
(micro-step/s)
395
0
1
2
3
4
5
6
7
8
99
A
1579
2182
2670
3159
3403
3647
3891
4364
4852
5341
5829
6317
7294
8728
11658
15564
136
167
197
213
228
243
273
303
334
364
395
456
546
729
973
273
334
395
425
456
486
546
607
668
729
790
912
1091
1457
1945
546
668
790
851
912
973
1091
1213
1335
1457
1579
1823
2182
2914
3891
1091
1335
1579
1701
1823
1945
2182
2426
2670
2914
3159
3647
4364
5829
7782
B
9
C
D
10
11
12
13
14
15
8.3 Minimum Velocity
obtainable values in Full-step/s. The accuracy of Vmin is
derived from the internal oscillator.
Once Vmax is chosen, 16 possible values can be
programmed for Vmin. The table below provides the
Vmax
Vmax
Vimax (Full Step/s)
Index Factor 99
136
136
4
167
167
5
197
197
6
213
213
6
228
228
7
243
243
7
273
273
8
15
25
32
42
50
59
67
76
84
93
101
111
118
128
303
303
8
17
27
36
46
55
65
74
84
93
103
113
122
132
141
334
334
10
19
31
40
51
61
72
364
364
10
21
32
44
55
67
78
395
395
11
23
36
48
61
72
86
456 546 729 973
0
1
1
99
3
456 546 729
973
27
57
1/32
2/32
3/32
4/32
5/32
6/32
7/32
8/32
9/32
10/32
11/32
12/32
13/32
14/32
15/32
13
27
42
55
71
84
99
15
31
50
65
84
99
19
42
65
88
111
134
2
6
8
10
15
20
26
31
36
41
47
51
57
62
68
72
78
11
18
24
31
36
43
49
55
61
68
73
80
86
93
12
19
26
32
39
46
52
59
66
72
79
86
93
99
13
21
28
35
42
50
56
64
71
78
85
93
99
107
14
22
30
37
45
52
60
68
75
83
91
98
106
113
3
9
12
16
21
25
30
33
38
42
47
51
55
59
64
88
4
5
6
7
8
9
10
11
12
13
14
15
12
15
18
21
24
28
31
34
37
40
43
46
118
149
179
210
240
271
301
332
362
393
423
454
118 156
82
93
90
97
113 134 179
128 153 202
141 168 225
156 187 248
170 202 271
185 221 294
198 237 317
214 256 340
101
113
124
135
147
158
170
111
122
135
147
160
172
185
103
114
124
135
145
156
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/Vmindepending of Vmin, Vmaxand Acc.
AMI Semiconductor - Rev. 2.3
8
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