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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-659.0664" x="36 42.11 47.11 51.550004 54.050004 59.610006 69.05 77.94 80.44 85.44 90.44 93.770008 96.55 99.33 107.11 111.55 114.05 117.94 120.72 125.16 128.49 131.27 135.16 137.66 142.1 144.88 147.38 150.16 155.16 159.6 162.1 167.1 171.54001 176.54001 179.32 184.32 189.32 192.1 197.1 202.1 204.6 209.6 212.93001 215.43001 219.87001 224.31002 228.75002 233.75002 236.25002 241.81002 251.25002 260.14 262.64 267.64 272.08003 275.41 278.19 283.19 288.19 290.69">The PWM on-time starts at the beginning of each PWM period. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-647.0664" x="36 42.11 47.11 51.550004 54.050004 58.490007 63.490007 66.82001 70.15001 74.59001 79.59001 82.37001 84.87001 88.20001 90.98001 94.87001 99.31001 103.20001 105.70001 108.48001 113.48001 115.98001 118.76001 123.76001 128.20001 130.70001 135.70001 140.70001 145.14002 149.03002 153.47002 155.97002 163.19002 165.97002 170.97002 175.97002 178.75002 183.75002 188.75002 191.25002 196.25002 201.25002 204.03002 206.81002 209.59001 212.09001 214.87001 219.87001 224.31002 226.81002 230.70001 235.14002 240.14002 244.03002 248.47002 250.97002 255.97002 260.97004 263.75004 266.53004 270.97004 275.97004 280.41004">The current rises in the phase winding until the sense voltage </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-635.0664" x="36 39.33 43.770006 48.210008 52.65001 57.65001 62.09001 65.98001 68.48001 71.26001 76.26001 80.70001 83.20001 86.530017 90.97002 95.97002 100.97002 103.750019 107.08002 111.52002 116.52002 119.02002 123.46002 128.46002 131.79003 135.12003 139.56003 144.56003 147.34003 149.84003 152.62003 157.06003 162.06003 166.50003 169.28003 171.78003 173.70503 180.92504 183.70503 186.20503 188.98503 193.98503 196.76503 200.65503 203.15503 208.15503 213.15503 215.93503 220.93503 223.71503 226.21503 228.99503 233.99503 238.43503 240.93503 246.49503 255.93503 264.82505 267.32505 272.32505 275.46803 278.798 282.128 284.908 287.688 295.468 299.908 299.951">reaches the required current level. At this point the PWM off-time  </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-623.0664" x="36 39.89 42.67 47.11 50.440004 53.22 57.11 59.61 64.05 69.05 74.05 76.55 79.33 84.33 88.770008 91.270008 96.270008 99.600009 102.380008 107.380008 112.380008 116.82001 119.32001 122.100009 125.990009 128.49 132.38 139.6 142.38 145.16 149.6 154.6 159.04001 164.04001 166.54001 169.32 174.32 177.1 182.1 184.6 189.6 194.6 199.04001 201.54001 206.54001 209.87001 212.37001 215.15001 222.37001 227.37001 229.87001 234.87001 239.31002 243.75002 248.19002 253.19002 255.69002 263.47004 268.47004 273.47004 277.91004 281.80006 284.30006 286.80006">starts and the bridge is switched into one of two decay modes,  </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-611.0664" x="36 39.89 42.67 47.67 54.34 56.84 61.84 66.28 70.72 75.72">slow decay</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-611.0664" x="80.1553 82.6553 87.6553 90.9853"> or </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-611.0664" x="93.4854 96.265399 101.265399 105.155399 107.935398 110.435398 115.435398 119.8754 124.3154 129.3154">fast decay</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-611.0664" x="133.749">:</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.0664" x="36">&#x2022;</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.0664" x="39.5"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.0664" x="48 53.56 56.34 61.34 68.56 71.06 76.06 80.5 84.94 89.380008 94.380008 96.880008 99.66 103.55 106.05 113.83 118.83 122.72 125.5 128 132.44 135.58301 138.91301 143.35301 147.79302 150.57302 153.35301 158.35301 162.79302 165.29302 172.51302 177.51302 181.95302 186.95302 189.45302 192.23302 197.23302 201.67302 204.17302 208.61302 213.61302 216.94303 220.27303 224.71303 229.71303 232.49303 234.99303 237.77303 241.66303 244.16303 247.49303 250.27303 254.16303 256.94303 261.94303 266.94303">Slow decay is most effective when the current is rising </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-581.0664" x="48 51.33 54.660005 59.660005 67.44 69.94 73.83 76.61 81.05 86.05 88.55 91.33 96.33 98.83 102.72 105.5 109.94 114.94 117.44 119.94 124.380008 129.38 134.38 136.88 139.66 142.44 144.94 149.94 154.38 158.82 163.82 167.15001 171.04001 173.54001 180.76001 185.76001 190.20001 195.20001 197.70001 200.48001 205.48001 209.92002 212.42002 217.42002 222.42002 226.86002 230.75002 235.19002 237.69002 244.91002 247.69002 252.69002 257.69 260.47 265.47 270.47 272.97 275.75 279.64">from step to step, and it occurs when the phase winding is </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-569.0664" x="48 52.440004 55.588006 58.918008 63.35801 67.79801 70.57801 73.35801 78.35801 82.79801 85.57801 90.57801 93.07801 96.96801 101.96801 106.96801 110.29801 113.07801 117.51801 122.51801 125.01801 130.018 135.018 137.518 141.408 148.628 151.408 154.188 158.628 163.628 166.408 171.408 176.408 179.738 184.738 189.738 192.238 196.67801 199.45801 202.238 207.238 211.67801 215.00801 217.50801 222.50801 227.50801 230.28801 235.28801 237.78801 242.78801 245.56801 250.56801 255.56801 258.898 262.78804 265.56803 270.56803 275.00804 277.50804 283.06803 289.178 294.563 298.453">effectively shorted by switching-on either both high-side FETs </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-557.0664" x="48 53 56.33 58.83 63.83 68.83 71.61 76.61 79.11 81.89 86.89 94.11 97.44 101.33 104.11 109.11 113.55 116.05 121.61 127.72 133.127 137.017 139.517 142.297 147.297 149.797 152.577 157.577 162.017 164.517 167.847 172.847 175.627 178.407 180.907 185.907 189.237 192.017 197.017 202.017 206.457">or both low-side FETs in the full bridge.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-540.5664" x="36">&#x2022;</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-540.5664" x="39.5"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-540.5664" x="48 53.56 58 61.89 64.67 67.17 72.17 76.61 81.05 85.490009 90.490009 92.990009 95.770008 99.66 102.16 109.94 114.94 118.83 121.61 124.11 128.55 131.69101 135.02101 139.46102 143.90102 146.68102 149.46102 154.46102 158.90102 161.40102 168.62102 173.62102 178.06102 183.06102 185.56102 188.34102 193.34102 197.78102 200.28102 204.72103 209.72103 213.05103 216.38103 220.82103 225.82103 228.60103 231.10103 233.88103 237.77103 240.27103 243.60103 248.04103 250.82103 253.60103 256.38105 261.38105 266.38105 268.88105 272.21104 275.54103 280.54103 288.321">Fast decay is most effective when the current is falling from </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-528.5664" x="48 51.89 54.67 59.11 64.11 66.61 69.39 74.39 76.89 80.78 83.56 88 93 95.5 98 102.44 107.44 112.44 114.94 117.72 120.5 123 128 132.44 136.88 141.88 145.21 149.1 151.6 158.82 163.82 168.26001 173.26001 175.76001 178.54001 183.54001 187.98001 190.48001 195.48001 200.48001 203.26001 206.04001 210.48001 215.48001 219.92002 222.42002 227.42002 232.42002 234.92002 237.70001 242.70001 247.14002 249.64002 254.64002 259.64 264.08003 267.97004 272.41004 274.91004 277.69004 281.58006">step to step, and it occurs when the voltage on the phase is </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-516.5664" x="48 51.33 55.770006 60.770006 65.21001 68.54001 72.43001 76.87001 81.87001">reversed.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-500.0664" x="36 43.22 48.22 52.660005 55.160005 60.160005 62.940004 66.83 71.270008 76.270008 81.270008 85.71001 90.71001 93.490009 97.93001 102.93001 107.37001 109.87001 114.87001 118.20001 120.70001 124.030017 128.47002 132.36002 135.14002 137.64002 142.64002 147.08002 151.52002 155.96002 160.96002 163.46002 166.24002 170.13002 172.63002 175.41002 180.41002 184.85002 187.35002 190.13002 195.13002 199.57003 202.90003 207.34003 211.78003 215.67003 220.11003 225.11003 227.61003 232.05004 237.05004 240.38004 243.71004 248.15004 253.15004 255.93004 258.43006 261.76005 264.54005 269.54005 274.54005 277.32005 281.76005 284.26005 287.04005 292.04005">One disadvantage of fast decay is the increased current ripple in </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-488.0664" x="36 38.78 43.78 48.22 50.72 55.72 60.72 65.16 69.05 73.490009 75.990009 83.21001 85.990009 90.990009 95.990009 98.770008 103.770008 108.770008 111.270008 113.770008 120.990009 125.990009 133.21 137.65001 142.65001 147.09001 150.014 152.514 155.014 157.794 162.794 165.574 169.464 171.964 176.404 180.84401 185.84401 188.34401 193.34401 197.78401 200.28401 203.61402 208.05402 213.05402 218.05402 222.49402 226.93402 231.93402 234.43402 241.65402 246.65402 249.43402 252.21402 256.65403 259.15403 266.93403 271.37403 274.15403">the phase winding. However, this can be reduced while main</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-488.0664" x="279.1348">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-476.0664" x="36 38.78 43.22 46 51 53.78 58.78 63.78 66.28 71.28 76.28 81.28 86.28 88.78 93.22 98.22 101.55 104.880008 109.32001 114.32001 117.100009 119.600009 124.04001 129.04001 134.04001 136.82 140.15001 145.15001 147.93001 150.43001 152.93001 157.93001 162.93001 165.43001 170.43001 174.32 177.1 182.1 187.1 189.6 194.04001 196.54001 200.43001 205.43001 210.43001 213.76001 216.54001 219.04001 221.82 224.6 232.38 236.82 239.32 244.32 247.65001 250.15001 253.48001 257.92 261.81004 264.59004 267.09004 272.09004 276.53004 280.97004 285.41004 290.41004">taining good current control, by using a short time of fast decay </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-464.0664" x="36 39.33 44.33 47.11 49.89 54.89 62.11 66.55 71.55 74.05 79.05 84.05 86.55 90.44 93.22 98.22 105.44 107.94 112.94 117.380008 121.82001 126.26001 131.26001 133.76001 137.09001 142.09001 145.42002 147.92002 150.70001 155.70001 160.14002 162.64002 165.97002 170.41002 178.19002 182.63002 185.41002 190.41002 195.41002 199.85002 203.18003 205.68003 210.68003 214.01003 216.51003 219.29003 224.29003 228.73003 231.23003 236.79003 246.23003 255.12003 257.62004 262.62004 265.751 269.081 272.41099 275.19099 277.97099 285.75099 290.19099 292.69099">followed by slow decay for the remainder of the PWM off-time. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-452.0664" x="36 42.11 47.11 49.89 53.78 56.28 59.059999 63.5 67.94 72.94 77.94 80.72 85.72 90.72 95.16 97.66 100.44 104.33 106.83 111.270008 116.270008 124.05 131.83 136.83 141.83 144.61 149.61 152.11 155.44 159.88 163.21 167.65001 170.98001 174.31002 178.75002 183.75002 186.25002 189.03002 194.03002 196.53002 200.97002 204.86002">This technique is commonly referred to as </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-452.0664" x="207.3379 214.5579 217.3379 221.77791 226.21791">mixed</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-452.0664" x="231.2148 233.7148 238.7148 243.1548 247.5948 252.0348 256.3808"> decay.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-434.0664" x="36 42.11 47.11 51.550004 53.495004 60.715005 65.715007 70.715007 75.715007 80.715007 83.215007 88.215007 91.545009 96.545009 101.545009 104.325008 109.325008 113.76501 117.65501 120.15501 122.935009 130.155 135.155 137.655 145.435 149.875 152.655 157.655 162.655 167.655 171.545 174.045 176.825 181.825 184.325 189.325 193.765 196.545 200.985 204.315 212.095 214.875 219.875 224.315 226.815 229.595 234.595 239.035 241.535 247.095 256.535 265.42503">The A3981 provides two methods to determine the PWM </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-422.0664" x="36 39.33 42.660005 47.100008 52.100008 57.100008 61.54001 66.54001 70.98001 75.98001 78.76001 81.26001 84.59001 87.37001 92.37001 96.81001 101.81001 104.31001 109.31001 112.45001 115.780017 119.110019 121.890018 124.67001 132.45001 136.89002 139.39002 143.83002 148.83002 153.83002 156.33002 159.66002 162.44002 167.44002 171.88002 176.88002 179.38002 182.71002 186.04003 190.48003 195.48003 200.48003 204.92003 209.92003 214.36003 218.69504 221.19504 223.14405 230.36405 233.14405 235.64405 240.64405 245.64405 252.86405 257.30406 260.43403 263.764 268.764 273.764 276.264 279.044 284.044 288.484">frequency: fixed off-time and fixed frequency. At power-up the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-410.0664" x="36 41 45.440004 48.770006 53.210008 58.210008 60.990007 63.770006 66.270008 74.05 79.05 84.05 88.490009 90.990009 93.770008 97.66 100.16 103.490009 106.270008 111.270008 115.71001 120.71001 123.21001 128.21 131.34702 134.67702 138.00702 140.78702 143.56702 151.34702 155.78702 158.28702 160.78702 166.34702 169.12702 174.12702 178.56702 183.56702 186.06702 189.39702 192.72702 197.16703 202.16703 207.16703 211.60703 216.60703 221.04703 226.04703 228.54703 232.98703 237.42704 242.42704 244.92704 249.92704 254.36704 256.86705 260.75706 265.19706 267.97706 272.41706 276.85707 279.63706 284.07707 289.07707">default mode is fixed off-time. Fixed frequency can be selected </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-398.0664" x="36 38.78 43.78 47.11 52.11 57.11 62.11 67.11 69.61 72.39 77.39 81.83 84.33 88.22 92.66 95.990009 98.770008 103.21001 105.990009 108.490009 111.270008 116.270008 119.05 123.490009 126.82001 130.15001 134.59001 139.03002 143.47002 145.97002 148.47002 154.03002 156.81002 161.81002 166.25002 171.25002 173.75002 178.75002 181.87902 185.20902 188.53902 191.31902 194.09902 201.87902 206.31902 208.81902 213.81902 217.14902 222.14902 227.14902 229.92902 234.92902 239.36902 243.25902 245.75902 250.19902 252.69902 260.47904 264.91905 268.05604 273.05604 275.83604 280.83604 285.27604 288.05604">through the serial interface. Fixed off-time provides a marginal </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-386.0664" x="36 38.78 46.559999 51.559999 54.89 59.89 64.89 69.33 77.11 81.55 86.55 89.33 91.83 94.61 99.61 102.11 106.55 111.55 114.880008 118.21001 122.65001 127.65001 130.43001 132.93001 137.37001 141.81002 146.25002 151.25002 154.58002 159.02002 163.46002 168.46002 170.96002 175.96002 180.96002 185.40003 188.73003 191.23003 195.67003 198.17003 205.39003 208.17003 213.17003 217.61003 220.11003 223.44004 227.88004 232.88004 237.88004 242.32004 244.82004 249.82004 253.15004 255.65004 260.09004 265.09004 268.42 271.75 276.19 281.19 283.97">improvement in current accuracy over a wide range of current </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-374.0664" x="36 38.78 43.22 48.22 52.660005 55.440004 59.33 61.83 64.33 69.89 72.67 77.67 82.11 87.11 89.61 92.94 96.270008 100.71001 105.71001 110.71001 115.15001 120.15001 124.59001 129.59001 132.09001 137.09001 140.42002 145.42002 150.42002 153.20001 158.20001 162.64002 166.53002 169.03002 173.47002 175.97002 179.30002 182.08002 187.08002 191.52002 196.52002 199.02002 202.35002 207.35002 212.35002 217.35002 221.79003 229.57003 234.01003 239.01003 241.79003 246.23003 249.01003 251.51003 254.84003 258.17 262.61003 267.61003 272.61003 277.05003 282.05003 286.49003 291.49003">levels. Fixed frequency provides a fixed fundamental frequency </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-362.0664" x="36 38.78 43.78 46.28 50.72 53.5 56.28 61.28 68.5 71 78.78 83.78 87.11 91.55 94.05 99.05 102.380008 106.82001 111.26001 114.04001 117.93001 122.37001 124.87001 128.76001 133.76001 138.76001 143.76001 146.54001 151.54001 154.04001 157.37001 160.15001 162.93001 165.71 170.15001 173.48001 176.26001 181.26001 186.26001 188.76001 192.09001 197.09001 200.42002 202.92002 209.03002 217.92002 224.59001 227.09001 230.42002 234.86002 239.86002 244.86002 249.30002 252.08002 254.86002 259.86003 264.86003 267.36003 269.86003 273.19 278.19 280.69 285.69 290.69 293.47 298.47">to allow more precise supply filtering for EMC reduction. In both </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-350.0664" x="36 40.440004 44.880006 48.770006 53.210008 57.100008 59.600008 62.380006 67.380008 71.82001 74.32001 79.880008 89.32001 98.21001 100.71001 105.71001 108.85601 112.18601 115.516017 118.29601 121.07601 128.85602 133.29602 135.79602 143.01602 145.79602 148.57602 151.35602 153.85602 158.85602 163.85602 166.63602 169.13602 174.13602 178.57602 181.07602 186.07602 189.40602 193.84603 197.73603 202.17603 207.17603 209.95603 212.45603 215.23603 218.56603 221.06603 223.84603 228.84603 233.28603 235.78603 240.78603 245.22603 249.66603 254.66603 257.16603 261.60603 266.60603 269.936 273.266 277.706 282.706 285.486">cases the PWM off-time will not be present if the peak current </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-338.0664" x="36 38.78 41.559999 49.339998 52.119997 54.899995 57.399995 60.179994 64.06999 66.56999 71.56999 76.56999 79.34999 81.84999 86.28999 89.06999 91.84999 96.28999 99.06999 104.06999 108.509998 113.509998 116.009998 121.009998 126.009998 129.34 132.12 137.12 142.12 144.62 147.4 152.4 156.84 159.34 164.9 174.34 183.23 185.73 190.73 195.73 199.06 201.84 204.62 212.4 216.84">limit is not attained during the PWM on-time.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-315.5664" x="36.1758 43.1958 50.7658 58.3358 65.355808 72.201808 75.15581 82.72581 90.29581 97.86581 105.43581 112.45581 120.02581 126.30981 129.26381 134.98082 142.55083 150.12084 156.58084">PHASE CURRENT TABLE</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-299.0664" x="36 42.11 47.11 51.550004 54.050004 57.380006 61.820009 64.600009 69.04001 71.82001 74.600009 79.600009 84.04001 86.54001 91.54001 96.54001 100.98001 104.87001 109.31001 111.81001 116.250019 121.250019 124.58002 127.91002 132.35002 137.35002 140.13002 144.02002 146.52002 150.96002 154.29003 158.73003 161.23003 166.23003 170.67003 174.00003 176.78003 181.78003 186.22003 191.22003 193.72003 198.72003 203.72003 206.22003 209.00003 214.00003 218.44004 220.94004 226.50003 231.50003 235.94004 239.83003 244.27004 246.77004 253.44004 258.44004 261.77003 265.1 269.54 274.54 277.32 279.82 282.6 287.04 292.04 294.82 299.26">The relative phase currents are defined by the Phase Current table </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-287.0664" x="36 39.33 44.74 49.18 54.18 56.96 61.4 63.9 68.9 72.23 74.73 77.045009 83.15501 88.15501 90.935009 94.825008 97.325008 100.105 104.545009 109.545009 112.325008 116.76501 119.26501 123.70501 128.70502 133.70502 136.48502 140.92502 143.70502 148.70502 152.59502 155.09502 160.09502 165.09502 167.59502 170.37502 173.15502 178.15502 182.59502 186.48502 188.98502 193.42502 198.42502 203.42502 205.92502 208.70502 212.59502 215.09502 219.53502 224.53502 229.53502 232.86502 237.30503 241.19503 245.08502 249.52503 254.52503 257.02503 262.02503 267.02503 269.52503 272.30503 277.30503 281.74504">(Table 7). This table contains 64 lines and is addressed by the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-275.0664" x="36 41.56 44.34 48.78 53.78 55.726999 62.947 67.947 72.947 75.727 80.167 82.667 89.887 94.887 102.667 107.667 112.107 115.033008 117.533008 120.033008 127.253009 132.253 136.69301 140.02301 144.46302 146.96302 152.52301 155.30301 159.74301 164.74301 166.68802 173.90802 178.90802 183.90802 186.68802 191.12802 193.62802 200.84803 205.84803 213.62802 218.62802 223.06803 226.39803 228.89803 233.89803 236.39803 240.83803 245.83803 249.16803 252.49803 256.93803 260.82804 265.82804 270.82804 275.82804 280.82804 284.71806 287.21806 289.99806 294.99806">Step Angle Number, where Step Angle Number 0 corresponds to </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-263.0664" x="36 41 45 47.5 52.5 55.83 58.33 63.33 68.33 73.33 77.33 79.83 82.147 88.257 93.257 97.69701 100.19701 105.757 108.537 112.977008 117.977008 119.921009 127.14101 132.141 137.141 139.921 144.36101 146.86101 154.08101 159.08101 166.86101 171.86101 176.30101 179.63101 182.13101 184.91101 188.80101 191.30101 196.30101 200.74102 205.74102 210.18102 213.51102 217.95102 220.73102 225.17102 230.17102 232.67102 235.45102 240.45102 243.23102 247.67102 251.00102 256.00105 260.44105 263.22105 266.00105 271.00105 273.50105 278.50105 283.50105 286.00105 288.78105 293.78105 298.22105">0&#x00b0; or 360&#x00b0;. The Step Angle Number is generated internally by the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-251.0664" x="36 39.89 42.67 47.11 52.11 54.61 58.5 62.940004 67.94 72.94 77.380008 82.380008 86.82001 91.26001 94.18401 96.68401 99.18401 106.404018 111.404018 114.18401 118.624019 123.624019 126.124019 128.90402 132.79402 135.29402 139.73403 144.73403 149.73403 152.51403 155.84403 160.84403 163.62403 166.40402 170.84403 175.84403 178.34403 182.78403 185.56403 188.34403 193.34403 197.78403 201.11403 203.61403 208.61403 213.61403 216.11403 218.89403 223.89403 228.33403 230.83403 236.39403 242.50403 248.61403 253.78302 256.28303 260.72303 265.72303 270.72303 273.22303 280.44303 283.773 290.44303">step sequencer, which is controlled either by the STEP and DIR </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-239.0664" x="36 38.78 43.78 48.78 53.78 56.559999 60.449998 62.949998 67.95 71.28 73.78 78.78 83.78 86.28 89.06 94.06 98.5 101 104.89 107.67 112.11 117.11 119.61 124.05 129.05 133.49 138.49 143.49 147.93001 150.43001 155.43001 159.87001 162.65001 167.65001 172.09001 174.59001 177.92002 181.25002 186.25002 194.03002 196.53002 199.31002 204.31002 208.75002 211.25002 215.14002 219.58002 222.91002 225.69002 230.13002 232.91002 235.41002 238.19002 243.19002 248.19002 253.19002 255.97002 258.47004 260.76103 266.871 271.871 276.311 278.811 284.371 287.151 291.591 296.591">inputs or by the step change value from the serial input. The Step </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-227.0664" x="36 43.22 48.22 53.22 56 60.440004 62.940004 70.16 75.16 82.94 87.94 92.380008 95.71001 98.21001 103.21001 107.65001 110.43001 114.87001 118.20001 125.98001 128.76001 133.76001 138.20001 142.09001 144.59001 147.37001 152.37001 156.81002 159.31002 167.09001 172.09001 174.87001 179.87001 183.20001 185.70001 190.70001 195.70001 199.59001 202.37001 205.15001 207.93001 212.93001 217.93001 220.43001 227.65001 230.43001 233.21 238.21 240.99 245.99 248.49 251.27 256.27003 260.71003 263.21003 268.21003 273.21003 278.21003 282.21003">Angle Number determines the motor position within the 360&#x00b0; </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-215.0664" x="36 40.440004 43.22 47.660005 52.100008 54.880006 58.210008 60.990007 65.43001 69.87001 72.65001 75.15001 79.59001 84.59001 89.030017 91.81001 96.250019 98.750019 103.19002 108.19002 113.19002 115.69002 120.13002 122.63002 126.52002 130.96002 135.96002 140.96002 145.40003 150.40003 154.84003 159.28003 161.78003 166.78003 170.11003 172.61003 178.17003 180.95003 185.39003 190.39003 192.30904 199.52904 204.52904 209.52904 212.30904 216.74904 219.24904 226.46904 231.46904 239.24904 244.24904 248.68904 252.01905 255.90904 258.40907 263.40907 267.84907 270.62907 275.06907">electrical cycle and a sequence of Step Angle Numbers deter</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-215.0664" x="278.1924">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-203.0664" x="36 43.78 46.559999 51.559999 56 59.89 62.38 65.16 70.16 74.600009 77.090007 84.87 89.87 92.65 97.65 100.98 103.47 111.25 116.25 121.25 125.69 133.47 137.91 142.91 145.69 148.19 150.675 157.895 162.895 165.675 170.115 172.60501 175.38501 180.38501 184.82501 187.60501 190.09502 192.87502 197.87502 202.31502 205.64502 210.08502 212.57503 217.01503 220.34503 224.78504 227.27504 230.60504 235.60504 240.60504 243.93505 246.42505 249.75505 254.75505 257.53507 260.31507 262.80506 270.58506 275.02507 279.46507 284.46507 288.90507 293.90507">mines the motor movement. Note that there are four full mechani</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-203.0664" x="296.6699">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-191.0664" x="36 40.440004 44.880006 47.660005 50.160005 54.050004 56.83 61.270006 66.270008 70.16 72.66 77.66 82.100009 85.43001 87.93001 92.93001 97.93001 102.93001 106.93001 109.43001 113.87001 116.65001 121.09001 125.530017 128.31002 131.64002 134.42002 138.86002 143.30002 146.08002 148.58002 153.02002 158.02002 162.46002 165.24002 169.68003">cal steps per 360&#x00b0; electrical cycle.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-173.0664" x="36 42.11 46.550004 50.990007 55.990007 58.490007 61.270006 64.05 69.05 73.490009 75.990009 80.990009 84.32001 86.82001 89.600009 94.600009 99.04001 101.54001 107.100009 112.100009 116.54001 120.43001 124.87001 127.37001 134.04001 139.04001 142.37001 145.70001 150.14002 155.14002 157.92002 160.42002 163.20001 167.64002 172.64002 175.42002 179.86002 182.36002 185.69002 191.07802 195.51802 200.51802 203.29802 207.73802 210.23802 215.23802 218.56803 221.06803 226.06803 230.50803 234.39803 236.89803 241.33803 243.83803 248.83803 252.16803 257.16804 259.94804 262.72804 265.22804 270.22804 274.66804 277.44804 282.44804 286.88804">Each line of the Phase Current table (Table 7) has a 6-bit value </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-161.0664" x="36 41 45.440004 48.770006 51.270006 56.270006 61.270006 65.71001 69.600009 74.04001 76.54001 79.32001 84.32001 86.82001 90.71001 95.15001 97.93001 100.43001 103.21001 108.21001 112.65001 115.15001 122.37001 129.59001 136.26001 138.76001 141.54001 145.98001 150.98001 155.42002 158.20001 160.70001 164.03002 169.03002 172.36002 174.86002 177.64002 182.64002 187.08002 189.86002 192.36002 197.36002 202.36002 206.80002 210.69002 215.13002 217.63002 220.13002 225.13002 227.91002 232.91002 236.80002 239.30002 243.74002 248.74002 251.24002 255.68003 260.68003 265.68003 268.46003 271.24003 274.02003 279.02003 284.02003 288.46003 291.24003">per phase to set the DAC level for that phase, plus an additional </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-149.0664" x="36 41 43.78 46.559999 49.059999 54.059999 58.5 61.83 64.33 69.33 74.33 78.770008 82.66 87.100009 89.600009 92.380008 97.380008 99.880008 104.880008 109.32001 112.100009 116.54001 119.87001 127.65001 130.43001 135.43001 139.87001 142.37001 145.15001 150.15001 154.59001 157.09001 161.53002 166.53002 169.86002 173.19002 177.63002 182.63002 185.41002 187.91002 192.91002 195.69002 199.02002 203.46002 207.90003 210.68003 213.46002 218.46002 223.46002 225.96002 229.29003 234.29003 237.62003 240.12003 242.90003 247.90003 252.34003 255.12003 257.62004 262.62004 267.62004 272.06004 275.95005 280.39006 282.89006">bit per phase to determine the current direction for that phase. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-137.0664" x="36 42.11 47.11 51.550004 54.050004 59.610006 62.390005 66.83 71.83 73.773 80.993007 85.993007 90.993007 93.773 98.213008 100.713008 107.93301 112.93301 120.713008 125.713008 130.153 133.483 135.983 139.873 144.313 147.093 150.983 153.483 156.263 161.263 165.703 168.203 172.643 175.423 179.863 184.30301 187.08301 190.41301 193.19301 197.63301 202.07302 204.85301 207.35301 211.79302 216.79302 221.79302 224.57302 229.01302 231.51302 236.51302 239.84302 242.34302 245.12302 250.12302 254.56302 257.06303 260.95304 263.73304 268.17304 273.17304 278.17304 282.61305 285.94303">The Step Angle Number sets the electrical angle of the stepper </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-125.0664" x="36 43.78 48.78 51.559999 56.559999 59.89 62.39 65.17 70.17 72.67 77.67 82.67 87.11 90.44 94.33 97.11 102.11 104.89 109.33 113.770008 118.770008 121.55 126.55 129.05 136.83 139.61 144.05 147.38 152.38 156.27 159.05 163.49 168.49 172.38 174.88 177.38 181.82 186.82 191.82 195.15001 200.15001 205.15001 207.93001 215.71 220.15001 222.93001 227.37001 230.15001 235.15001 237.65001 242.09001 247.09001 252.09001 254.87001 259.87 264.31 267.09 271.53 276.53 279.31 281.81 284.59 289.59">motor in one-sixteenth microsteps, approximately equivalent to </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-659.0664" x="312 316.44 319.22 323.66 328.1 330.88 334.21 336.99 341.43 345.87 348.65 351.15 355.04 357.82 362.26 367.26 371.15003 373.65003 378.65003 381.98 384.48 389.48 391.98 396.98 401.98 406.98 410.98">electrical steps of 5.625&#x00b0;.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-641.0664" x="312 319.22 324.22 326.72 330.05 332.83 336.15998 340.05 342.83 345.33 350.33 355.33 362.55 366.99 370.11997 373.44996 378.44996 383.44996 385.94996 390.94996 394.27995 396.77995 401.21995 404.54994 407.32994 411.76994 415.0999 417.5999 422.03993 424.3539 431.5739 438.7939 446.01393 448.51393 453.51393 458.51393 465.73393 470.17393 473.3089 476.6389 481.6389 486.6389 489.1389 492.46888 496.90888 500.7989 505.2389 508.0189 510.5189 513.0189 515.79898 520.79898 525.23898 527.73898 533.29898 538.29898 542.73898 546.62899 551.069 553.569 560.23898 565.23898">On first power-up or after a VDD power-on reset, the Phase Cur</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-641.0664" x="568.3623">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-629.0664" x="312 315.33 319.77 324.77 327.55 330.05 332.83 337.27 342.27 345.05 349.49 351.99 356.99 361.43 364.21 369.21 373.65 377.54 380.04 384.48 387.81 392.25 394.75 398.08 402.52 406.41 410.85 413.63 416.13 418.91 423.91 426.41 431.41 435.85 439.18 441.96 446.96 451.4 453.9 458.34 460.84 464.73 467.51 472.51 477.51 481.40003 486.40003 489.18003 494.18003 498.62004 501.40003 503.90003 508.34004 513.34 516.67007 520.00009 524.44009 529.44009 532.2201 534.7201 539.7201 543.0501 548.0501 551.3801 554.16018 556.9402 561.3802">rent table values are reset to define a sinusoidal current profile </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-617.0664" x="312 316.44 321.44 326.44 328.94 331.72 336.72 341.16 343.66 349.22 352 356.44 361.44 363.382 370.602 375.602 380.602 383.382 387.822 390.322 397.542 402.542 410.322 415.322 419.762 423.09199 425.59199 428.37199 432.262 434.762 438.652 443.092 445.872 448.372 451.152 456.152 458.652 463.652 466.152 468.652 473.092 478.092 483.092 485.872 490.872 495.312 498.092 502.532 507.532 510.312 512.812 515.59207 520.59207 523.09207 525.8721 530.8721 535.3121 537.8121 542.2521 545.0321 549.4721 553.9121 556.69216 560.02218">and the Step Angle Number is set to 8, equivalent to the electri</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-617.0664" x="562.7715">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-605.0664" x="312 316.44 320.88 323.66 326.16 330.6 335.6 340.04 342.82 347.26 349.76 354.76 359.76 363.76 366.26 371.26 376.26 380.15003 382.93003 385.71003 388.49003 393.49003 398.49003 400.99003 403.294 409.404 414.404 417.184 421.074 423.574 428.574 433.574 437.46403 440.24403 443.02403 445.80403 450.80403 455.80403 458.30403 461.084 464.97404 467.47404 472.47404 476.91404 480.24403 483.02403 488.02403 492.46403 497.46403 499.96403 504.40403 508.29405 510.79405 513.57406 518.57406 523.01406 525.51406 529.95407 534.95407 539.95407 547.7341 552.1741 556.6141">cal cycle 45&#x00b0; position. This position is defined as the &#x201c;home&#x201d; </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.0664" x="312 317 322 325.89 328.67 331.45 334.23 339.23 344.23 346.73 349.04603 355.156 360.156 364.596 367.096 374.876 379.316 384.316 387.096 394.876 399.876 407.656 410.156 414.596 419.596 422.926 426.25599 430.69599 435.69599 438.47599 440.97599 443.75599 448.75599 451.25599 455.69599 460.136 464.576 469.576 472.076 477.076 482.076 486.516 490.406 494.846 497.346 499.846">position. The maximum current in each phase, I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-590.5664" x="503.1523 507.32234 513.9898 519.4048">PMAX</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.0664" x="524.8247"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.0664" x="526.0747 528.5747 531.0747 533.85476 537.74478 540.24478 545.24478 549.68478 553.0148 555.7948 560.7948 565.2348 570.2348">, is defined </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-581.0664" x="312 317 322 324.5 327.28 332.28 336.72 339.22 343.11003 347.55003 352.55003 356.44004 360.88005 363.38005 366.71003 371.15003 375.04005 377.82005 381.71006 384.49006 389.49006 392.82005 395.32005 399.76005 404.76005 409.76005 412.26005 415.04005 420.04005 424.48005 426.98005 435.87007 440.31007 445.31007 448.09007 455.87007 460.87007 468.65007 471.15007 477.82008 482.82008 486.15007 489.48005 493.92005 498.92005 501.70005 504.20005 508.09007 512.53 515.31008 518.0901 520.8701 525.8701 530.8701 533.3701 536.70016 541.70016 544.48019 547.2602 551.1502">by the sense resistor and the Maximum Current setting (bits </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-569.0664" x="312 320.89 328.11003 331.44 334.77 339.77 342.27 344.77 349.77 353.09999 356.42997 358.92997 361.70997 366.70997 369.20997 375.87998 380.87998 385.87998 389.20997 391.98997 396.98997 401.98997 405.31996 409.75996 412.53996 415.31996 420.31996 425.31996 427.81996 434.48997 438.92997 443.92997 446.70997 450.59999 453.37998 457.81999 461.14997 463.64997 468.64997 471.14997 473.45997 479.56996 484.56996 489.00996 491.50996 496.50996 501.50996 505.94996 509.83998 514.27999 516.77999 521.22 526.22 529.55 532.88 537.32 542.32 545.10006 548.99008 551.49008 554.82009 559.82009 563.1501">MXI[0..1]) in Configuration Register 0. The phase currents for </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-557.0664" x="312 316.44 320.88 325.32 330.32 332.82 337.26 342.26 345.04 348.37 353.37 355.87 358.65 363.65 366.15 368.93 373.93 378.37 380.87 386.43 391.43 395.87 399.76 404.2 406.7 413.37004 418.37004 421.7 425.03 429.47 434.47 437.25 439.75 442.53 446.97 451.97 454.75 459.19 461.69 466.13 469.46 473.9 476.4 480.84 485.84 490.84 494.16999 498.61 502.5 506.39 510.83003 515.83 518.33 522.77 526.66006 529.16006 533.60006 536.10006 541.10006 545.54006 548.87008 553.31008 557.75009 562.75009">each entry in the Phase Current table are expressed as a percent</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-557.0664" x="565.4961">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-545.0664" x="312 316.44 321.44 325.88 328.38 333.38 336.71 339.21 341.99 346.99 349.77 353.66 356.16 363.94 368.38 373.38 376.16 383.94 388.94 396.72 399.22 404.22 409.22 413.66 417.55003 421.99003 424.49003 428.93003 433.93003 437.26 440.59 445.03 450.03 452.81">age of this maximum phase current.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-527.0664" x="312 321.44 326.44 330.88 335.88 338.38 343.38 347.27003 350.05003 355.05003 360.05003 362.55003 365.33003 370.33003 374.77003 377.27003 382.83003 388.94 395.05 400.232 402.732 407.172 412.172 417.172 419.672 426.892 430.222 436.892 439.392 442.172 447.172 452.172 457.172 459.952 463.842 466.342 469.122 474.122 476.622 481.062 486.062 491.062 493.842 497.172 502.172 504.952 507.452 510.232 515.232 519.672 522.172 526.062 528.84207 533.28207 538.28207 543.28207 547.72207 551.05209">When using the STEP and DIR inputs to control the stepper </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-515.0664" x="312 319.78 324.78 327.56 332.56 335.486 337.986 340.486 343.266 348.266 352.706 354.651 361.871 366.871 371.871 376.871 381.871 384.371 388.811 393.811 396.591 401.591 409.371 413.811 416.591 419.371 423.811 428.251 431.031 433.811 438.811 441.311 444.091 449.091 453.531 456.861 461.301 465.741 469.631 474.071 477.96104 480.46104 485.46104 488.79103 491.29103 496.29103 500.73103 505.17103 508.501 512.941 517.381 521.271 525.711 529.601 532.101 534.88107 539.88107 544.32107 546.82107 552.38107 555.1611 559.6011 564.6011">motor, the A3981 automatically increases or decreases the Step </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-503.0664" x="312 319.22 324.22 329.22 332 336.44 338.94 346.16 351.16 358.94 363.94 368.38 371.71 374.21 378.65 383.09 387.53 392.53 395.86 400.86 403.63999 408.63999 413.63999 416.13999 418.91999 423.91999 426.41999 429.19999 434.19999 438.63999 441.13999 445.03 447.81 452.25 457.25 459.75 463.64 468.08003 473.08003 478.08003 482.52003 487.52003 491.96003 496.40003 498.90003 503.34004 507.23005 511.12007 516.12008 520.56008 523.3401 527.7801 530.5601 535.0001 540.0001 542.5001 549.7201 552.5001 555.28018 560.28018">Angle Number according to the step sequence associated with </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-491.0664" x="312 314.78 319.78 324.22 326.72 330.61003 335.05003 337.83003 342.27003 346.71003 349.49003 353.93003 358.93003 361.43003 365.32005 368.10005 372.54005 377.54005 380.04005 387.82005 392.82005 397.82005 402.26005 404.76005 407.06306 413.17304 418.17304 422.61305 425.11305 430.11305 434.55305 437.88304 442.32304 447.32304 450.10304 452.88304 455.38304 459.27305 462.05305 466.49305 471.49305 473.99305 481.77305 486.77305 491.77305 496.21305 498.71305 501.21305 504.54304 508.98304 512.87307 517.31307 520.0931 522.5931 527.0331 529.8131 532.3131 537.3131 542.3131 549.5331 553.9731 557.0831">the selected step mode. The default step mode, reset at power-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-479.0664" x="312 317 322 324.5 329.5 332.83 335.33 339.77 343.09999 345.87998 350.31999 353.64997 356.14997 360.58998 363.08998 368.08998 373.08998 380.30998 384.74998 388.07997 390.57997 395.57997 400.57997 403.07997 406.40995 410.84996 414.73997 419.17997 421.95997 424.45997 426.95997 429.73997 433.62998 436.12998 439.45997 444.45997 447.23997 450.01997 452.51997 456.40998 459.18998 463.62998 468.62998 471.12998 473.62998 480.84999 485.28999 488.06999 491.39997 494.72996 497.22996 499.72996 504.72996 509.72996 514.1699 517.49996 520.27999 524.72 527.83 531.16006 533.66006 536.16006 540.60006 545.60006 550.60006">up or after a power on reset, is full step. Half-, quarter-, and </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-467.0664" x="312 315.89 318.67 323.67 326.45 330.89 335.33003 340.33003 343.11003">sixteenth</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-467.0664" x="348.11003">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-467.0664" x="351.44 355.33003 358.11003 362.55003 367.55003 370.05003 373.94004 378.38005 383.38005 388.38005 392.82005 397.82005 402.26005 406.70005 410.59007 413.09007 417.53007 420.86006 425.30006 427.80006 432.24006 435.02006 438.91007 443.91007 446.41007 450.85008 455.85008 460.29008 463.07008 465.85008 470.29008 475.29008 478.07008 482.51008 485.01008 492.23008 497.23008 501.67008 506.67008 509.17008 514.17007 518.06008 520.8401 525.8401 530.8401 533.3401 536.1201 541.1201 545.5601 548.0601 553.6201 559.7301 565.8401 570.9991">step sequences are also available when using the STEP </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-455.0664" x="312 316.44 321.44 326.44 328.94 336.16 339.49 346.16 348.66 351.44 356.44 361.44 366.44 369.22 373.11003 375.61003 378.11003 382.55003 387.55003 392.55003 395.05003 399.49003 402.82 407.26 409.76 413.65003 418.09004 420.87004 425.31004 429.75004 432.53004 436.97004 441.97004 444.47004 449.47004 453.36006 456.14006 461.14006 466.14006 468.64006 471.42005 476.42005 480.86006 483.36006 486.14006 491.14006 496.14006 498.92005 503.36006 507.80006 510.58006 513.0801 520.30007 526.97006 529.47006 534.47006 537.80007 540.30007 543.0801 548.0801 552.5201 555.0201 563.9101 569.4701 574.4701">and DIR inputs, and are selected using the logical OR of the MS0 </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-443.0664" x="312 316.44 321.44 326.44 328.94 337.83003 343.39 348.39 350.89 353.67 358.67 363.67 368.67 371.45 375.34004 377.84004 382.28004 387.28004 392.28004 394.78004 397.56004 402.56004 407.00004 409.50004 418.39006 423.95005 428.95005 431.45005 435.89006 440.89006 445.89006 448.39006 457.28007 462.84007 467.84007 470.34007 475.34007 478.12007 480.90007 484.79008 487.29008 490.07008 495.07008 497.57008 504.24009 509.24009 514.2401 517.5701 520.35018 525.35018 530.35018 533.6802 538.1202 540.9002 543.68026 548.68026 553.68026 556.18026 562.8502 567.2902">and MS1 inputs and the MS0 and MS1 bits in Configuration Reg</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-443.0664" x="572.2783">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-431.0664" x="312 314.78 318.67 321.45 325.89">ister</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-431.0664" x="329.22"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-431.0664" x="331.72 336.72 339.22 341.536 347.646 352.646 357.086 359.586 364.026 366.806 371.806 376.806 379.586 384.586 387.916 391.806 394.586 399.026 404.026 406.526 410.41603 414.85603 419.85603 424.85603 429.29603 434.29603 438.73603 443.17604 445.67604 448.45603 452.34605 454.84605 458.73606 463.73606 468.73606 475.95606 480.95606 483.45606 486.23606 491.23606 493.73606 496.51606 501.51606 505.95606 508.45606 514.01608 519.01608 523.45608 527.34609 531.7861 534.2861 540.95608 545.95608 549.2861 552.6161 557.0561 562.0561 564.8361">0. The eighth-step sequence is shown in the Phase Current </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-419.0664" x="312 314.78 319.22 324.22 327 331.44 333.94 337.27 342.27 345.59999 348.09999 351.42997 355.86997 359.19996 363.63996 366.96995 371.40995 376.40995 380.84996 385.28996 387.78996 392.78996 397.78996 400.56996 404.90495">table for reference only.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-401.0664" x="312 321.44 326.44 330.88 335.88 338.38 343.38 347.27003 350.05003 355.05003 360.05003 362.55003 365.33003 370.33003 374.77003 377.27003 381.16004 385.60005 388.93003 391.71003 396.15003 398.93003 401.43003 404.21003 409.21003 411.99003 416.43003 419.76 423.09 427.53 431.97 436.41 438.91 441.69 446.69 449.19 453.63 458.63 463.63 466.41 469.74 474.74 477.52 480.02 482.8 487.8 492.24 494.74 498.63 501.41 505.85 510.85 515.85 520.29 523.62 526.12 533.9 538.9 541.68008 546.68008 549.57308 552.07308 554.57308 559.01309">When using the serial interface to control the stepper motor, a </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-389.0664" x="312 315.89 318.67 323.11003 328.11003 330.61003 335.05003 340.05003 344.49003 349.49003 354.49003 358.93003 361.43003 366.43003 370.87004 373.65003 378.65003 383.09004 385.59004 388.92 393.92 397.25 402.25 405.03 407.81 411.13999 413.63999 416.41999 420.31 422.81 425.59 430.59 435.59 440.59 443.37 445.87 448.65 453.65 456.97999 461.97999 466.97999 471.97999 476.97999 479.47999 482.25999 487.25999 491.69999 494.19999 498.09 502.53 505.86 508.63999 513.07998 515.86 518.36 521.14 526.14 528.92007 533.36007 536.69009 540.0201 544.4601 548.9001 553.3401 555.8401 558.6201 563.6201">step change value (6-bit) is input through the serial interface to </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-377.0664" x="312 314.78 319.78 324.22 327.55 331.99 336.43 340.32 344.76 347.26 352.26 355.59 358.09 363.09 367.53 371.97 375.3 379.74 384.18 388.07 392.51 395.01 397.79 402.79 407.23 409.73 415.29 418.07 422.51 427.51 429.441 436.661 441.661 446.661 449.441 453.881 456.381 463.601 468.601 476.381 481.381 485.821 488.59703 491.09703 493.41603 499.526 504.526 508.966 511.466 515.356 518.13607 522.57608 527.57608 530.07608 534.51608 539.51608 543.95608 548.95608 553.95608 558.39608">increase or decrease the Step Angle Number. The step change </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-365.0664" x="312 317 321.44 324.22 329.22 333.66 336.16 338.94 342.83003 345.33003 349.77003 352.27003 355.05003 362.27003 367.27003 370.042 373.932 376.432 380.872 385.872 393.652 398.652 401.432 405.872 413.652 418.092 423.092 425.872 428.372 431.702 436.702 439.47099 443.361 450.031 453.361 455.861 460.861 465.861 473.641 478.641 483.081 486.00898 488.50898 491.00898 498.22898 503.22898 507.66899 510.99897 515.43899 517.93899 522.37899 524.87899 529.87899 534.87899 538.769 541.549 544.32907 547.1091 552.1091 556.5491">value is a two&#x2019;s complement (2&#x2019;sC) number, where a positive </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-353.0664" x="312 317 321.44 324.22 329.22 333.66 336.16 338.94 343.94 348.38 351.71 356.15 360.59 364.48 368.92 372.81004 375.31004 378.09004 383.09004 387.53004 390.03004 393.92005 396.70005 401.14006 406.14006 408.64006 413.08006 418.08006 423.08006 425.86006 430.30006 432.80006 437.24006 442.24006 447.24006 449.74006 454.18006 456.68006 461.68006 466.12007 471.12007 475.56007 478.34007 481.12007 486.12007 490.56007 493.06007 498.06007 502.50007 505.28007 510.28007 514.72006 517.22006 522.22006 526.66006 531.10006 534.43008 538.87008 543.31008 547.2001 551.6401 555.5301">value increases the step angle and a negative value decreases </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-341.0664" x="312 314.78 319.78 324.22 326.72 330.61003 333.39 337.83003 342.83003 345.33003 349.77003 354.77003 359.77003 362.55003 366.99003 369.49003 371.42903 378.09904 380.59904 384.48905 387.26905 392.26905 397.26905 400.04905 404.48905 406.98905 410.87907 413.65907 418.09907 423.09907 425.59907 430.03907 435.03907 439.47908 444.47908 449.47908 453.91908 456.41908 459.19908 464.19908 466.69908 469.47908 474.47908 478.91908 481.41908 486.97908 489.75907 494.19908 499.19908 501.13108 508.35108 513.3511 518.3511 521.1311 525.5711 528.0711 535.2911 540.2911 548.0711 553.0711 557.5111 560.8411 563.3411 566.12118 570.01119">the step angle. A single step change in the Step Angle Number is </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-329.0664" x="312 316.44 321.44 326.44 329.22 334.22 338.66 341.44 345.88 350.88 353.66 356.16 358.94 363.94 366.44 370.88 373.38 377.27003 380.05003 385.05003 390.05003 392.83003 397.27003 399.77003 404.77003 409.77003 414.21003 417.54 421.43003 424.21003 429.21003 431.99003 436.43003 440.87004 445.87004 448.65003 453.65003 456.15003 463.93003 466.71003 471.15003 474.48 479.48 483.37004 486.15003 490.59004 495.59004 498.09004 500.37904 506.489 511.489 515.929 519.25906 523.69906 527.02908 532.02908 535.3591 539.7991 542.2991 544.7991 548.1291 553.1291 556.4591 558.9591 563.3991 568.3991">equivalent to a single one-sixteenth microstep. Therefore, for cor</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-329.0664" x="571.5215">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-317.0664" x="312 315.33 319.77 324.21 326.99 329.49 337.27 342.27 345.05 350.05 353.37998 355.87998 363.65998 368.65998 373.65998 378.09999 385.87998 390.31999 395.31999 398.09999 400.59999 403.09999 405.87998 410.87998 415.31999 417.81999 421.71 424.49 428.93 433.93 436.43 440.87 445.87 450.31 455.31 460.31 464.75 467.25 472.25 476.69 479.47 484.47 488.91 491.41 495.30003 500.30003 505.30003 510.30003 513.08 518.08 520.58 525.58 530.02 532.52 535.85006 540.29006 544.18008 546.9601 550.2901 553.0701 557.51016 560.29019 564.73019 569.73019">rect motor movement, the step change value should be restricted </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-305.0664" x="312 314.78 319.78 322.28 327.28 332.28 334.78 339.78 343.11 347.55 351.99 354.77 359.21 362.53999 365.03999 367.81999 372.81999 377.25999 382.25999 384.75999 389.75999 394.75999 397.25999 401.15 403.93 408.37 413.37 417.26 419.76 422.26 427.26 432.26 436.15003 438.93003 441.71003 444.49003 449.49003 453.93003 456.43003 461.43003 464.76 467.26 472.26 476.7 481.7 486.14 488.92 491.7 496.7 501.14">to no greater than 16 steps, positive or negative.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-287.0664" x="312 318.11 323.11 325.88999 329.78 332.28 335.61 340.05 344.49 347.27 350.05 352.83 355.61 360.61 363.11 367.55 372.55 376.99 381.99 384.77 389.21 393.1 395.6 398.93 403.93 406.71 409.49 411.99 416.43 421.43 426.43 429.21 432.53999 437.53999 440.31999 442.81999 447.81999 451.14997 453.64997 456.42997 461.42997 465.86997 468.36997 472.25999 475.03999 479.47999 484.47999 489.47999 493.91999 497.24998 499.74998 507.52998 512.52999 515.31 520.31 523.64 526.14 530.58 533.36007 535.86007 540.30007 545.30007 550.30007">This facility enables full control of the stepper motor at any </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-275.0664" x="312 319.78 322.56 327 330.33 335.33 339.22 342 346.44 351.44 353.94 357.27 361.71 365.6 370.6 373.38 378.38 381.16 383.94 388.94 393.94 396.44 401.44 406.44 408.94 411.72 416.72 419.22 423.66 428.66 433.66 436.16 438.94 443.94 448.38 451.16 456.16 461.16 463.94 468.94 473.94 476.44 480.33003 483.11003 488.11003 490.89 495.33003 499.77003 504.77003 507.55003">microstep resolution up to and including sixteenth</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-275.0664" x="512.55007">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-275.0664" x="515.88009 519.7701 522.5501 526.9901 531.9901 534.4901 536.9901 541.9901 544.77017 549.77017 553.66018">step, plus </tspan></text>
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