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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="WSZTMG+ArialMT"><tspan y="-15.920399" x="427.99559 432.32759 436.65959 440.99159 442.65959 445.99559 447.32759 448.65959 451.99559 455.33158 457.32957 460.66557 465.66355 466.99555 469.99555 471.99354 475.32954 476.99754 479.99754 483.33354">www.allegromicro.com</tspan></text>
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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="-642.4003" x="36 39.33 44.33 46.83 50.72 55.72 63.5 67.94 70.44 78.22 83.22 86 91 94.33 98.22 100.72 103.5 108.5 112.94 115.44 122.66 125.44 130.44 135.44 138.22 143.22 148.22 150.72 155.72 158.5 161.64 164.97 169.41 172.74 177.18001 182.18001 186.62001 191.06002 194.95001 197.45001 201.89002 206.33002 211.33002 213.83002 218.27002 222.71002 227.71002 231.60002 236.04003 238.54003 241.87003 246.31003 249.09003 252.98003 257.42 259.92 263.81004 266.59004 271.03004 273.81004 276.59004">In some motors the winding differences can cause false stall </tspan></text>
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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="-630.4003" x="293.8613">-</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="-618.4003" x="36 40.440004 45.440004 48.22 51 54.89 57.39 60.17 65.17 67.67 72.67 77.67 82.11 85.44 89.880008 92.66 97.100009 99.600009 104.600009 109.600009 112.100009 116.54001 120.98001 125.42001 130.42002 132.92002 137.92002 142.92002 147.36002 151.25002 155.69002 158.19002 160.97002 165.97002 170.97002 175.41002 180.41002 184.85002 189.85002 194.85002 199.29003 204.29003 207.07003 209.85002 214.17403 216.67403 218.99303 225.10303 230.10303 234.54303">cuits to operate on each phase independently. The </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="-618.4003" x="237.04 241.48 246.48 253.7 258.7 263.7 267.22105 271.66105 274.16105 278.60105 283.60105 288.04106 293.04106">compare each </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="-606.4003" x="36 41 46 51 54.89">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="-606.4003" x="59.3301 61.8301 65.7201 70.1601 75.1601 79.600109 87.380107 91.82011 94.32011 97.100109 100.990108 103.490108 107.380107 111.82011 114.600109 119.04011 123.48011 126.26011 130.7001 135.7001 138.2001 145.4201 150.4201 154.8601 159.8601 162.3601 167.9201 174.0301 179.5901 182.9201 187.9201 190.4201 192.9201 197.9201 201.2501 203.7501 209.3901 211.8901 216.8901 221.8901 224.3901"> scheme is selected when STS[1..0] = 01. </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="-588.4003" x="36 45.440004 50.440004 54.880006 59.880006 62.380006 65.16 70.16 72.94 76.83 79.33 83.22 87.66 92.66 97.100009 104.880008 109.32001 111.82001 114.600009 118.490009 120.990009 124.880008 129.32 132.1 136.54001 140.98001 143.76001 148.20001 153.20001 155.70001 158.20001 160.98001 168.20001 173.20001 175.70001 181.26001 190.70001 199.59001 202.09001 206.53002 211.53002 216.53002 221.53002 224.31002 228.75002 232.08002 235.97002 238.47002 240.97002 245.97002 250.97002 255.41002 257.91004 261.24003 266.24003 269.57 272.07 276.51 280.95 285.39 290.39">When this scheme is selected, two PWM counters, one for each </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="-576.4003" x="36 41 46 50.440004 54.33 58.770006 61.270006 63.770006 68.21001 72.65001 77.09001 82.09001 89.87001 94.87001 97.65001 102.09001 104.87001 109.31001 111.81001 114.59001 119.59001 124.030017 126.530017 131.53002 136.53002 144.31002 149.31002 153.75002 157.08002 159.58002 164.58002 167.91002 170.41002 175.97002 185.41002 194.30002 196.80002 201.24002 206.24002 210.68003 213.46002 217.90003 221.79003 224.29003 231.51003 236.51003 240.95003 245.95003 248.45003 251.23003 256.23005 260.67005 263.17005 268.17005 273.17005 277.61006 281.50007 285.94007">phase, accumulate the number of PWM cycles when the 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="-564.4003" x="36 40.440004 45.440004 48.770006 52.100008 56.54001 61.54001 64.32001 66.82001 69.600009 73.490009 75.990009 79.880008 82.66 87.100009 92.100009 97.100009 101.54001 106.54001 109.04001 112.37001 115.70001 120.70001 128.48001 130.98001 135.42002 139.86002 143.19002 148.19002 150.69002 153.47002 158.47002 160.97002 164.30002 169.30002 172.08002 174.86002 178.19002 182.08002 186.52002 190.96002 193.74002 198.18003 200.68003 205.12003 210.12003 213.45003 216.78003 221.22003 226.22003 229.00003 231.50003 233.42203 240.64203 243.42203 245.92203 248.70203 253.70203 258.14204 260.64204 265.08204 270.08204 275.08204 277.58204 282.58204 285.91203">current is stepped from zero to full-scale current. At the end of </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="-552.4003" x="36 40.440004 44.880006 49.320009 54.320009 56.820009 61.820009 66.82001 71.26001 75.15001 79.59001 82.09001 86.530017 91.530017 94.860019 98.19002 102.63002 107.63002 110.41002 112.91002 116.24002 119.02002 122.91002 127.35002 129.85002 132.35002 135.13002 140.13002 144.57003 147.07003 151.51003 156.51003 161.51003 166.51003 169.29003 173.73003 177.06003 179.56003 182.89003 187.89003 191.22003 193.72003 196.50003 201.50003 205.94004 208.72003 211.22003 216.22003 221.22003 225.66004 229.55004 233.99004 236.49004 239.27004 243.16004 245.66004 250.10004 255.10004 262.88005 267.88005 272.32005 275.65003 280.09004 285.09004 287.59004 290.37004 295.37004">each phase current rise, the counter for that phase is compared 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="-540.4003" x="36 38.78 43.78 48.22 50.72 55.160005 60.160005 65.16 70.16 72.94 75.44 78.770008 83.21001 87.100009 92.100009 94.880008 97.66 100.16 103.490009 108.490009 111.82001 114.32001 117.100009 122.100009 126.54001 129.04001 134.04001 137.37001 141.81002 146.81002 149.59001 154.59001 159.59001 163.48001 165.98001 170.42002 175.42002 178.75002 182.08002 186.52002 191.52002 194.30002 196.80002 200.13002 202.91002 206.80002 211.24002 213.74002 216.52002 221.52002 224.02002 226.80002 231.80002 236.24002 238.74002 242.63002 247.07003 254.85002 259.29 261.79 266.79 271.79 276.23 280.12004 284.56004 287.06004">the count result for the previous current rise in the same 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="-659.2469" x="312 316.44 320.33003 322.83003 326.72004 331.72004 336.72004 343.94004 348.94004 351.44004 354.22004 359.22004 361.72004 367.28004 370.06004 375.06004 380.06004 383.39 387.83003 390.33003 395.33003 397.83003 400.33003 403.66 406.99 409.49 412.27 417.27 421.71 424.21 429.21 431.99 435.13499 438.46498 442.90498 446.23497 450.67497 455.67497 460.11497 464.55497 467.05497 469.83497 473.72499 476.22499 481.22499 484.55497 488.99497 493.43498 496.21498 500.65498 503.98497 506.48497 509.26496 514.26498 518.70498 523.70498 526.20498 528.985 533.985 538.425 540.925 546.485 555.925 564.815">as shown in Figure 5. If the difference is greater than 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="-647.2469" x="312 316.44 321.44 326.44 331.44 334.22 336.72 341.72 344.5 347.64399 350.97398 355.41398 358.74397 363.18397 368.18397 372.62397 377.06398 379.56398 382.34397 387.34397 389.84397 392.62397 397.62397 402.06398 404.56398 411.23399 418.45399 425.67399 431.23399 434.56398 441.78398 446.78398 449.28398 452.61396 457.05397 462.05397 464.83396 468.72398 471.50398 475.94398 479.27397 481.77397 485.10395 491.77397 498.99397 502.32395 507.32395 510.10395 515.10397 518.43399 521.764 524.264 526.764 529.544 534.544 538.984 543.984 546.484 549.26406 554.26406 558.70407 561.20407 566.76406 572.679">count difference in the CONFIG1 register (CD[7:0]), then the ST </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="-635.2469" x="312 317 319.78 322.56 325.06 327.84 332.84 335.34 338.12 343.12 347.56 350.06 355.06 357.84 362.28 367.28 372.28 377.28 381.17 383.95 386.73 391.17 393.67 397 401.44 406.44 409.22 413.11003 415.89 420.33003 423.66 427.55003 430.05003 432.83003 436.72004 439.22004 443.11006 447.55006 450.33006 452.83006 455.33006 458.66004 463.66004 466.16004 470.60005 475.60005 480.60005 483.38005 486.16004 488.94004 493.94004 498.94004 501.44004 503.94004 506.72004 510.05003 512.55007 515.3301 520.3301 524.7701 527.2701 532.8301 538.72909 541.22909 545.1191 547.8991 552.8991 557.8991 562.3391 565.11917 567.61917 570.3992 574.2892">bit in the diagnostic registers is set. In addition, if the ST signal 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="-623.2469" x="312 315.89 320.33003 323.11003 327.55003 331.99003 334.77003 339.21003 344.21003 346.71003 351.15003 355.04005 357.54005 360.32005 365.32005 369.76005 372.26005 377.26005 382.26005 385.04005 390.04005 395.04005 397.82005 400.32005 405.32005 410.32005 412.82005 415.60005 420.60005 425.04005 427.54005 434.76005 438.09004 445.31004 452.53004 455.03004 460.03004 462.81004 467.81004 470.31004 472.81004 475.59004 480.59004 485.03004 490.03004 492.53004 495.31004 500.31004 504.75004 507.25004 512.25 515.03 520.03 522.53 529.75 532.53 535.31008 538.0901 540.5901 545.5901 550.5901 553.0901 555.8701 560.8701 567.4151">selected as the output on the DIAG pin, then the pin will go low.</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="-605.2469" x="312 315.33 320.33 322.83 327.27 332.27 337.27 340.05 342.83 345.61 350.61 355.61 358.11 360.88999 365.88999 368.38999 373.38999 377.28 380.06 385.06 390.06 392.56 395.34 400.34 404.78 407.28 410.06 415.06 417.84 422.28 427.28 430.61 435.05 437.83 442.27 447.27 449.77 453.09999 457.53999 461.97999 464.75999 469.75999 473.08998 477.52998 481.41999 483.91999 488.91999 492.24998 494.74998 497.52998 502.52998 506.96998 508.88999 516.11 521.11 526.11 531.11 536.11 538.61 541.11 543.89 546.67007 549.17007 551.9501 555.8401">In addition to using the integrated features of the A3981, it 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="-593.2469" x="312 316.44 319.22 323.11003 328.11003 330.61003 335.61003 340.61003 344.50004 348.39006 351.17005 356.17005 358.95005 363.39006 365.89006 368.67005 373.67005 376.17005 381.17005 385.61006 388.94004 392.27003 397.27003 400.6 408.38 410.88 414.77003 417.55003 421.99003 424.77003 427.55003 430.05003 435.05003 439.49003 442.27003 446.71003 451.15003 453.93003 456.71003 461.71003 466.71003 469.21003 474.21003 479.21003 481.71003 486.15003 491.15003 495.59004 503.37004 506.15003 511.15003 513.93008 518.93008 523.93008 526.43008 529.2101 534.2101 538.6501 541.1501 546.7101 556.1501 565.0401">also possible to perform stall detection by examining 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="-581.2469" x="312 317 322 325.33 328.11 330.88999 338.66999 343.11 345.61 348.93998 353.93998 357.26997 359.76997 364.20997 366.70997 370.59999 373.37998 378.37998 383.37998 386.15998 390.59999 393.09999 398.09999 403.09999 407.53999 411.43 415.87 418.37 423.37 427.26 430.04 435.04 440.04 442.54 446.98 451.98 454.48 458.92 463.92 466.7 471.14 474.47 479.47 483.91 486.69 489.19 496.97 499.75 504.19 507.52 512.52 516.96 521.96 526.96 529.74008 533.07009 538.07009 540.8501 543.6301 548.0701 550.8132 553.3132 555.8132 559.1432 564.1432">on-time for a single phase using an external microcontroller. 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="-569.2469" x="312 314.78 319.78 324.22 326.165 333.385 338.385 343.385 348.385 353.385 355.885 358.665 363.665 368.105 370.605 376.165 385.605 394.49504 397.825 402.825 407.825 410.325 414.21504 416.99504 421.99504 426.99504 431.43504 434.21504 436.71504 440.045 445.045 448.375 450.875 455.875 460.875 465.315 469.20503 473.64503 475.58903 482.25904 484.75904 489.19905 493.63905 498.63905 501.13905 506.13905 510.57905 513.07907 516.96908 521.40908 524.1891 528.6291 533.0691 535.8491 540.2891 545.2891 547.7891 552.2291 556.11917 558.61917 561.3992 566.3992 570.8392">the A3981 the PWM-on signal for phase A can be selected as 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="-557.2469" x="312 317 322 324.78 329.78 334.78 337.56 340.06 345.06 350.06 352.56 355.34 360.34 364.78 367.28 374.5 377.83 385.05 392.27 394.77 399.77 402.55 407.55 410.05 415.05 420.05 422.55 427.55 431.44 434.22 439.22 444.22 446.72 449.5 454.5 458.94 461.44 465.33003 469.77003 473.1 475.88 480.32 483.1 485.6 488.38 493.38 496.16 500.6 503.93 507.25999 511.69999 516.13998 520.57998">output on the DIAG pin by using the serial interface.</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="-203.1428" x="92.0254 98.1354 100.9154 107.0254 113.1354 117.0254 122.585399 125.365398 130.9254 134.2554 137.0354 143.7054 147.0354 152.5954 155.3754 158.1554 160.9354 168.1554 173.7154 177.0454 182.6054 188.16539 191.49539 194.27539 200.38539 205.94539 208.72539 215.39539 224.83539 233.16539 235.94539 243.16539 249.27539 255.38539 261.4954 264.82539 267.60539 274.82539 280.93537 289.82539 295.93537 301.49537 305.38539 308.16539 314.27537 320.38536 323.16535 329.83537 335.39537 340.95536 347.06535 349.84535 356.51536 362.62535 368.18534 373.74534 379.30534 382.08534 384.86534 390.9753 397.0853 402.6453 408.75529 414.31529 420.42527 426.53526 432.09526 438.20524 441.53523 444.31523 449.1102 451.8902 454.6702 461.3402 467.4502 474.1202 477.4502 483.0102 485.7902 488.5702 494.1302 497.46018 500.24018 506.08018 508.86018 514.42019">Figure 5: Stall Detect by PWM Count Comparing Each Phase Independently, STS[1..0] = 01</tspan></text>
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