Ryan Malloy
5252d1d73c
Allegro A3981 stepper motor driver: datasheet, KiCad symbols/footprint, 3D model (TSSOP-28). Two per G2 board, SPI-controlled, AUTO microstep. NXP MK60DN512VLQ10 (Kinetis K60): datasheet and 1300-page reference manual. Cortex-M4 96MHz MCU running the G2 firmware. Reyax RYS352A GPS module: datasheet and PAIR command guide. GPS receiver on the G2 board (used for auto-location/satellite lookup). All extracted as markdown + page images + vector SVGs for LLM context. Binary assets (PDFs, PNGs, SVGs, STEP, WRL) stored via git-lfs.
3752 lines
294 KiB (Stored with Git LFS)
XML
3752 lines
294 KiB (Stored with Git LFS)
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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="-642.0755" x="315 321.04 325.97 330.34 330.969 338.119 343.04899 347.97898 352.90898 357.83897 359.01896 361.72895 365.54896 366.72895 371.09895 372.27894 375.53895 378.24894 382.61894 387.54893 390.2589 395.1889 397.8989 402.2689 403.44889 411.15888 413.86888 418.23887 421.49888 426.42887 430.24888 432.95887 437.32887 442.25886 447.18885 449.89884 454.82884 459.75883 460.9388 468.6488 473.5788 476.2888 481.21879 484.4788 485.65879 490.58879 493.8488 496.55879 501.48878 505.85877 509.11878 510.29878 517.4488 520.1588 522.86886 527.7988 528.9788 533.9088 538.8388 541.5488 544.25888 546.9689 550.2289 552.9389 557.9389">The A3981 is a flexible microstepping motor driver with built-in </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="-630.0755" x="315 317.67 320.89 325.22 330.11003 333.89 336.56004 340.89 343.56004 348.45005 351.67005 352.81007 356.03007 360.92008 364.14009 365.2801 369.61009 373.94007 377.72007 382.61009 383.7501 388.6401 393.53013 397.8601 401.0801 405.4101 408.0801 410.75013 415.64015 420.53016 422.92018 424.06019 427.28019 429.9502 431.0902 433.76023 437.54023 438.68025 443.01023 444.15025 447.93025 450.60026 455.49028 460.38029 463.0503 467.38029 470.60029 474.93028 479.82029 482.4903 487.3803 488.52033 492.30033 497.19035 499.86036 504.75038 507.42039 510.0904 514.9804 519.8704 522.26046 523.40048 528.29049 532.6205 536.4005 539.0705 543.9605 548.8505 553.18057 558.18057">translator for easy operation. It is a single-chip solution, designed </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="-618.0755" x="315 317.78 322.78 325.67399 330.67399 335.67399 340.11399 343.44398 347.88398 350.66398 355.10398 357.99397 362.99397 365.77397 370.77397 375.77397 378.55397 382.99397 386.32395 389.21495 393.10496 395.88496 400.32496 405.32496 410.32496 414.76496 418.09495 420.98695 428.76695 433.76695 436.54695 441.54695 444.87693 448.76695 451.66194 454.44194 459.44194 462.3359 465.6659 470.6659 473.4459 476.2259 479.55589 482.05589 484.94789 489.94789 494.38789 497.16789 500.49787 503.82786 506.32786 509.22087 514.2208 519.2208 523.6608 526.99087 529.7709 534.2109 537.3359 540.6659 543.5659 548.0059 553.0059 558.0059">to operate bipolar stepper motors in full-, half-, quarter- and </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="-606.0755" x="315 318.89 321.67 326.67 329.45 333.89 338.33003 343.33003 346.11003 351.11003 354.44 358.33003 361.11003 365.55003 370.55003 373.575 381.355 386.355 391.355 395.795 399.68504 402.18504 405.21504 409.65504 412.43504 415.46504 420.46504 425.46504 428.49504 431.27503 436.27503 439.30503 444.30503">sixteenth-step modes, at up to 28</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="-606.0755" x="449.30503"> </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="-606.0755" x="452.16 459.20103 462.23103 466.67103 471.67103 476.67103 479.70103 485.191 490.191 492.691 497.691 500.17103 507.39103 509.89103 512.745 518.855 523.855 528.295 530.773 537.993 542.993 547.993 552.993 557.993">V and ±1.4 A. The A3981 </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="-594.0755" x="315 319.44 323.88 328.88 333.01203 338.01203 342.45204 346.58604 351.02604 356.02604 361.02604 363.80604 367.13603 372.13603 374.91603 377.696 382.12904 387.12904 391.26905 396.26905 401.26905 405.40406 409.29408 412.07408 419.85408 424.85408 427.63407 432.07408 436.20509 441.76509 444.54508 448.98509 453.98509 458.11909 462.55909 467.55909 472.55909 476.69309 483.9131 486.69309 490.02308 494.46308 498.90309 501.68309 504.46308 509.46308 514.4631 518.5921 521.37216 526.37216 531.37216 536.37216 539.15219 543.0422 545.5422 549.6762 554.6762 558.0062">can be controlled by simple Step and Direction inputs, or </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="-582.0755" x="315 317.78 322.78 326.11 331.11 336.11 341.11 346.11 349.40998 352.18998 357.18998 361.62998 364.92997 370.48997 376.04997 379.37995 382.70994 387.14994 392.14994 399.92994 404.92994 409.36994 412.14994 414.92994 419.92994 422.70994 427.14994 430.4439 434.33393 438.77394 442.1039 444.8839 449.3239 452.1039 455.4039 458.1839 463.1839 465.9639 470.4039 473.7339 477.06388 481.50389 485.94389 490.38389 493.67689 496.45689 501.45689 505.89689 508.67689 511.97688 516.4169 519.1969 523.0869 528.0869 531.3869 535.8269 540.2669 545.2669 548.5669 553.5669 558.0069">through the SPI-compatible serial interface that also can be </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="-570.0755" x="315 320 323.89 328.33003 333.33003 336.25004 339.03004 344.03004 346.95005 351.95005 355.28004 360.28004 365.28004 368.61003 373.05003 380.83003 383.75004 391.53004 395.97004 400.97004 405.97004 408.89006 413.89006 417.22004 420.14006 422.92005 427.92005 432.36006 435.28007 438.06007 443.06007 445.84007 450.28007 455.28007 458.61006 463.05006 465.83006 470.27006 475.27006 478.18107 481.51106 485.95106 490.39106 493.17106 498.17106 501.50105 505.94105 509.83106 512.74606 517.18606 522.18606 527.18606 530.106 532.88607 537.88607 540.806 544.13607 548.57608 553.01608 558.01608">used to program many of the integrated features and to read </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="-558.0755" x="315 320 322.78 327.22 332.22 337.22 342.22 346.11003 348.89 351.67 356.11003 358.61003 361.39 366.39 369.72 374.72 378.05 385.83 390.27 393.05 395.83 400.83 405.83">diagnostic information.</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="-540.0755" x="315 321.11 326.11 330.55 333.11399 337.554 342.554 345.88398 349.21397 353.65397 358.65397 361.43397 363.99797 367.32795 371.76795 376.76795 381.76795 384.54795 388.98796 391.76795 396.76795 400.09794 402.65995 407.09996 411.53996 416.53996 419.10496 424.10496 428.54496 431.11497 436.11497 439.44496 444.44496 449.44496 452.77494 457.21495 464.99494 472.77494 477.21495 482.21495 484.77595 487.55595 492.55595 495.12596 500.12596 505.12596 509.56596 512.89596 517.33596 520.11599 524.55599 527.117 529.89706 534.89706 537.46707 540.79708 543.5771 548.5771 553.0171 558.0171">The current regulator can be programmed to operate in fixed </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="-528.0755" x="315 320 323.149 326.47898 329.80897 332.58897 335.36897 343.14897 347.58897 350.03996 355.03996 358.36994 360.82994 364.1599 366.9399 371.9399 376.3799 381.3799 383.8339 387.16389 390.49388 394.93388 399.93388 404.93388 409.37388 414.37388 418.81388 423.81388 426.26588 431.82588 441.26588 450.15589 452.65589 455.11589 462.33589 465.11589 467.89588 472.89588 475.35087 479.24089 483.68089 488.68089 493.12089 496.45088 500.89088 503.67088 506.12287 511.12287 515.56289 520.00289 524.4429 529.4429 531.8949 539.6749 544.6749 549.6749 554.1149 558.00497">off-time or fixed frequency PWM, with several decay modes </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="-516.0755" x="315 317.78 322.78 326.96 330.28999 334.72999 339.72999 344.72999 349.16999 353.61 357.78999 362.22999 367.22999 372.22999 375.00999 380.00999 382.78999 387.22999 391.40998 399.18998 404.18998 406.96998 411.96998 415.29997 419.47996 424.47996 429.47996 432.25996 436.14997 440.58998 444.76997 449.20997 454.20997 459.20997 463.38996 466.16996 471.16996 475.60997 478.93995 483.37995 487.81996 491.70997 496.14997 500.32997 504.21998 506.99998 511.43998 516.43997 520.61996 525.05996 529.49996 533.93997 538.93997 542.26998 546.70999 551.14999 555.493 557.993">to reduce audible motor noise and increase step accuracy. </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="-504.0755" x="315 318.33 323.33 326.50999 330.94999 335.94999 340.94999 343.72999 346.50999 349.283 354.283 359.283 362.46299 365.24299 370.24299 374.68299 377.86299 382.86299 387.86299 392.30299 396.193 400.633 403.813 408.253 413.253 416.58299 419.91297 424.35298 429.35298 432.13298 435.31297 438.09297 442.53297 447.53297 450.31297 454.75297 458.64299 461.82298 466.26298 470.70298 475.70298 478.88298 483.88298 488.32298 491.50297 496.50297 499.83296 504.83296 509.83296 513.16299 517.60299 525.383 533.163 537.603 542.603 545.783 550.783 553.56307 558.00308">In addition the phase current tables can be programmed via </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="-504.0755" x="558"> </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="-492.0755" x="315 317.78 322.78 327.22 329.342 333.23204 337.67204 341.002 343.782 348.22203 351.002 353.12303 355.903 360.903 363.683 368.12303 371.453 374.783 379.223 383.663 388.103 390.219 392.999 397.999 400.123 404.563 407.89299 412.33299 416.77299 419.55299 423.99299 426.111 431.111 436.111 438.891 443.891 448.891 453.331 455.453 463.233 466.013 470.453 473.783 478.783 482.673 485.453 489.893 494.893 497.01203 501.45204 506.45204 509.782 513.112 517.552 522.552 525.33206 527.45309 532.45309 535.7831 540.7831 544.1131 546.8931 549.67318 554.11318 558.0032">the serial interface to create unique microstep current profiles </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="-480.0755" x="315 317.745 322.715 323.935 327.235 332.205 335.50498 338.24998 343.21998 347.62498 350.92497 352.14497 354.89497 362.63996 367.60997 370.90995 375.87995 380.84996 385.25495 386.47496 394.22496 399.19496 401.93995 406.90995 410.20994 411.42994 416.39994 420.80494 424.10493 427.4049 432.3749 435.6749 443.4199 447.8299 452.7999 457.2049 461.6149 462.8349 466.1349 471.1049 474.40489 475.62489 479.48487 484.45487 488.85987 493.26988 496.01487 499.31486 502.06486">to further improve motor performance for specific</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="-480.0755" x="506.36"> </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="-480.0755" x="507.58 511.99 516.95999 521.92996 524.6749 527.4249 531.8299 536.23989 538.98489 541.73489 546.70486 551.6748 555.5348">applications.</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="-462.0755" x="315 321.11 326.11 330.55 332.645 337.085 342.085 345.41499 348.74497 353.18498 358.18498 360.96498 363.05998 365.83998 370.83998 372.93998 377.37998 381.81999 386.25999 391.25999 393.35398 398.35398 403.35398 407.79399 411.684 416.124 418.224 423.224 426.554 428.654 431.434 436.434 440.874 442.969 450.749 455.749 458.529 463.529 466.85899 468.95899 471.73899 475.629 477.729 482.169 487.169 492.169 494.949 498.279 503.279 506.059 508.839 513.279 518.279 520.36898 523.149 528.149 531.479 536.479 541.479 546.479 551.479 553.579 558.019">The current in each phase of the motor is controlled through a </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="-450.0755" x="315 322.22 331.11003 338.33003 343.89 345.40003 348.73 353.73 356.51 359.29 360.79203 365.79203 369.122 371.902 376.902 381.902 386.342 388.842 390.34504 395.34504 399.23506 402.01506 407.01506 412.01506 413.52006 417.41007 422.41007 427.41007 431.85008 436.85008 440.18006 445.18006 450.18006 455.18006 460.18006 464.07008 465.58009 468.91007 473.35008 477.79008 480.57008 483.35008 486.68006 489.46006 493.90007 498.34007 501.12007 503.90007 508.90007 513.9 515.39108 518.1711 523.1711 524.6751 527.45516 535.23519 540.23519 543.5652 548.5652 553.5652 558.0052">DMOS full bridge, using synchronous rectification to improve </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="-438.0755" x="315 320 325 332.22 336.66 339.99 342.61 347.61 350.38999 354.28 358.17 360.95 365.95 370.39 373.17 375.95 380.945 385.945 388.445 391.065 394.395 399.395 402.175 406.615 409.94499 414.94499 419.38499 422.16499 424.77998 429.21998 431.99998 435.32997 439.76997 444.76496 447.54496 450.32496 454.21498 456.83497 461.27497 466.27497 471.27497 473.89497 476.67497 479.45497 487.23497 491.67497 495.00495 498.89497 501.51496 506.51496 509.84495 514.2849 519.2849 523.7249 528.7249 531.50497 534.12496 538.56497 541.89498 546.89498 550.785 554.675">power dissipation. Internal circuits and timers prevent cross-</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="-426.0755" x="315 319.44 324.44 329.44 334.44 339.44 343.88 346.66 349.44 354.44 359.44 361.19203 365.63203 370.63203 375.63203 377.39204 381.28205 386.28205 391.28205 396.28205 399.06205 402.39204 405.17204 410.17204 413.502 418.502 423.502 428.502 433.502 436.002 437.75703 444.97703 449.97703 454.41703 459.41703 461.17704 465.06706 472.28706 475.06706 477.84706 482.28706 487.28706 490.06706 495.06706 500.06706 501.82206 506.82206 511.26206 514.04208 521.262 525.702 530.142 535.142 536.89608 541.89608 544.6761 549.6761 554.6761">conduction and shoot-through, when switching between high-</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="-414.0755" x="315 318.89 321.67 326.67 331.11003 333.61003 338.05003 343.05003 348.05003 350.55003 353.33003 358.33003 365.55003 368.88 372.77003 375.55003 380.55003 384.99003 387.49003 392.49003 395.82 398.6 403.6 408.04 411.93003">side and low-side drives.</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="-396.0755" x="315 321.11 326.11 330.55 334.44 339.44 344.44 347.22 352.22 357.22 360 363.89 367.78004 372.22004 375.55003 379.99003 383.88005 388.88005 392.21003 397.21003 399.99003 404.43003 408.87004 411.65003 416.09004 421.09004 424.97505 428.30503 431.635 436.635 444.415 448.30503 452.19505 457.19505 462.19505 465.52503 468.30503 472.19505 476.63505 479.41505 482.74504 487.18504 492.18504 494.96504 497.74504 501.63505 504.13505 508.02507 512.465 517.465 522.465 526.35507 529.68508 534.12509 538.56509 541.3451 546.3451 549.6751 554.1151 558.0051">The outputs are protected from short circuits, and features </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="-384.0755" x="315 318.33 323.33 326.65998 329.43998 332.21998 337.21998 344.43998 347.21998 349.99998 354.99998 359.43998 364.43998 367.21998 371.65998 376.65998 379.98997 383.31996 387.75996 392.75996 395.53996 398.31996 402.75996 407.75996 412.75996 415.53996 419.42997 422.20997 426.64997 429.42997 432.20997 436.64997 441.64997 444.42497 447.75495 452.75495 455.53495 460.53495 463.86494 466.64494 471.64494 476.08494 478.86494 483.30494 487.74494 490.52494 493.30494 498.30494 503.30494 506.07795 510.51795 513.84799 518.28799 521.068 523.848 528.848 533.288 536.06808 541.06808 546.06808 550.50808 555.50808 558.00808">for low load current and stalled rotor detection are included. </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="-372.0755" x="315 321.67 326.67 329.45 334.45 337.78 340.56 345 350 354.44 357.22 359.038 364.038 367.36799 372.36799 375.14799 379.58799 384.02799 386.80799 389.58799 394.58799 399.58799 401.40998 404.18998 409.18998 413.62998 416.40998 421.40998 426.40998 430.84999 434.74 436.56098 441.56098 446.56098 449.34098 451.16596 455.60597 460.60597 465.60597 467.43095 471.87095 476.87095 479.65095 484.65095 486.47395 489.25395 494.25395 498.69395 502.02394 509.80393 514.2439 517.0239 518.84298 526.0629 530.5029 533.83297 538.83297 541.613 546.613 551.613 555.503 558.003">Chip-level protection includes hot and cold thermal warnings, </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="-360.0755" x="315 320 325 329.44 332.77 335.55 339.99 347.77 352.77 357.21 360.53999 364.97999 367.75999 372.75999 376.08998 380.52998 382.07899 385.969 390.969 395.969 398.749 403.749 408.749 415.969 420.969 423.469 425.029 429.469 434.469 439.469 441.029 446.029 451.029 455.469 458.79899 463.79899 468.79899 471.57899 474.35899 478.79899 483.79899 488.23899 489.79298 494.23298 499.23298 504.23298 505.79298 510.79298 515.79299 520.79299 525.233 528.563 533.563 538.563 541.343 544.12307 548.56307 553.56307 558.00308">overtemperature shutdown, and overvoltage and undervoltage </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="-348.0755" x="315 317.78 322.78 327.22 332.22 337.22 342.22 345">lockout.</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="-330.0755" x="315 321.11 326.11 330.55 331.68699 338.90699 343.90699 348.90699 353.90699 358.90699 360.597 363.37699 367.267 368.957 372.84703 377.84703 382.84703 387.84703 390.627 393.407 397.84703 402.84703 404.53703 407.31703 412.31703 414.00703 418.44703 420.13703 425.13703 430.13703 433.467 438.467 441.247 446.247 447.75703 453.867 459.427 464.987 472.207 477.4 479.09 484.09 489.09 496.31 500.75 504.08 505.77 510.77 515.20999 519.64999 524.64999 529.08999 534.08999 538.52999 540.21499 547.43496 550.21499 552.995 557.995">The A3981 is supplied in a 28-pin TSSOP power package with </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="-318.0755" x="315 319.44 324.44 327.55 331.99 336.99 341.99 346.99 350.88 355.32 360.32 363.43 366.21 371.21 375.65 378.97999 386.75498 391.19499 393.97499 397.08497 402.08497 406.52497 411.52497 414.63496 417.96495 422.96495 427.40495 431.84495 436.84495 441.28495 446.28495 450.72496 453.83494 456.61494 461.61494 466.61494 471.05494 474.16493 480.2749 485.8349 489.1649 491.6649 494.59489 500.70487 505.70487 508.48487 512.3749 515.48489 520.48489 524.92489 529.36489 534.36489 538.8049 543.8049 548.2449 551.3489 554.1289 558.0189">an exposed thermal pad (package type LP). This package is </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="-306.0755" x="315 317.78 322.22 326.66 331.66 334.16 337.49 343.05 348.05 351.37998 353.87998 357.20997 360.53996 364.97996 369.41996 371.91996 379.13996 381.91996 384.69996 389.69996 392.19996 397.19996 402.19996 407.19996 415.52995 418.02995 425.80995 430.24995 433.02995 435.80995 440.24995 443.57994 446.35993 449.13993 454.13993 456.63993 459.41993 463.85993 468.29994 473.29994 476.6299 479.9599 484.3999 492.1799 496.6199 499.1199 504.1199 506.8999 511.3399 514.11996 516.89999 521.89999 526.89999">lead (Pb) free with 100% matte-tin leadframe plating.</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-38.1758" x="54 59.336 63.784 68.232 72.68 77.128 79.792 85.568 90.904 93.128 95.352 101.128 105.576 108.988 111.212 113.436">A3981-DS, Rev. 9</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8" font-family="XDGNIE+ArialMT"><tspan y="-28.5758" x="54 60.664 66.44 72.664 75.328 79.776 84.224 88.672 93.119998 97.56799 102.01599">MCO-0000738</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="-642.0756" x="54">•</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="-642.0756" x="57.5"> </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="-642.0756" x="66 71.56 76 80.44 85.44 87.94 95.72 100.72 103.5 108.5 111.83 114.33 118.770008 123.770008 127.100009 130.43001 134.87001 139.87001 142.65001 145.15001 150.15001 155.15001 157.65001 160.43001 165.43001 167.93001 173.42002 178.42002 180.92002 185.92002 187.85501 195.07501 197.57501 200.07501 205.07501">Peak motor current up to ±1.4 A, 28</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="-642.0756" x="210.07501"> </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="-642.0756" x="212.40001">V</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="-630.0756" x="54">•</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="-630.0756" x="57.5"> </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="-630.0756" x="66 72.11 77.11 84.33 86.83">Low R</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-627.5756" x="93.5 98.915 103.085 105.5825 109.3325 113.0825">DS(on)</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="REIICQ+TimesNewRomanPSMT"><tspan y="-630.0756" x="115.5825 118.0825 123.0825 128.08249 130.86249 135.86249 140.86249 143.64249 147.53249 150.03249 152.53249 157.53249 160.03249"> outputs, 0.5</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="REIICQ+TimesNewRomanPSMT"><tspan y="-630.0756" x="165.03249"> </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="REIICQ+TimesNewRomanPSMT"><tspan y="-630.0756" x="167.53249 174.9625 177.4625 181.3525 186.3525 191.3525 194.6825 199.1225 203.5625 206.0625 210.5025 215.5025 220.5025 223.0025 226.8925 229.6725 234.6725 239.6725 242.1725 244.6725 247.4525 252.4525 257.4525 260.2325 264.67253 269.11253">Ω source and sink, typical</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="-618.0756" x="54">•</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="-618.0756" x="57.5"> </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="-618.0756" x="66 73.22 78.22 81 86 93.78 98.22 101 103.78 108.22 110.72 115.16 120.16 123.490009 126.82001 131.26001 136.26001 139.04001 141.54001 146.54001 150.98001 155.42002 159.86002 164.86002 167.36002 175.14002 180.14002 185.14002 189.58002 192.08002 197.08002 201.52002 204.30002 208.74002 213.18003 215.96002 218.74002 223.74002 228.74002 231.52002 235.41002 239.85002 242.63002 247.07003 251.51003 254.29003 257.07005 262.07005">Automatic current decay mode detection/selection</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="-606.0756" x="54">•</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="-606.0756" x="57.5"> </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="-606.0756" x="66 74.89 77.67 82.67 87.11 92.11 94.61 97.11 102.67 107.11 111 113.78 116.28 118.78 123.22 128.22 133.22 135.72 141.28 144.06 149.06 156.28 158.78 163.22 168.22 171.55 174.88 179.32 184.32 187.1 189.6 194.6 199.04001 203.48001 207.92002 212.92002 215.42002 223.20001 228.20001 233.20001 237.64002">Mixed, Fast, and Slow current decay modes</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="-594.0756" x="54">•</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="-594.0756" x="57.5"> </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="-594.0756" x="66 71.56 76.56 81.56 86 91 94.33 99.33 104.33 109.33 114.33 118.22 120.72 124.05 128.49 132.93001 135.71 138.49 141.82 144.6 149.04001 153.48001 156.26001 159.04001 164.04001 169.04001 171.54001 174.87001 179.87001 183.20001 185.70001 188.48001 193.48001 200.70001 203.20001 208.20001 213.20001 220.42002 224.86002 228.19002 230.69002 235.69002 238.47002 242.36002 246.25002 249.03002 254.03002 258.47 261.25 264.03 269.03">Synchronous rectification for low power dissipation</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="-582.0756" x="54">•</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="-582.0756" x="57.5"> </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="-582.0756" x="66 69.33 74.33 77.11 81.55 84.880008 89.880008 94.32001 97.100009 99.600009 106.82001 114.04001 120.15001 127.37001 129.87001 132.37001 139.59001 146.81002 152.92002 160.14002 162.64002 165.14002 169.58002 174.58002 179.58002 181.89801 188.00801 193.00801 197.44802 200.77802 208.55802 212.99802 215.77802 218.27802 223.83802 228.83802 233.83802 236.61801 241.61801 246.61801 253.83802 258.838 261.338 265.778 268.558 271.888 276.328 281.328 284.108 286.888 290.218">Internal OVLO, UVLO, and Thermal Shutdown circuitry</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="-570.0756" x="54">•</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="-570.0756" x="57.5"> </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="-570.0756" x="66 72.67 76 81 84.89 88.78 93.78 98.78 103.22 106.352008 109.68201 114.12201 119.12201 122.45201 125.78201 130.22202 135.22202 138.00202 140.50202 145.50202 148.83202 153.83202 156.61202 161.05202 165.49202 168.27202 171.05202 176.05202">Crossover-current protection</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="-558.0756" x="54">•</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="-558.0756" x="57.5"> </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="-558.0756" x="66 71.56 76.56 81.56 84.89 87.67 91 95.44 98.22 101.55 105.990009 110.990009 113.770008 116.55 119.05 123.490009 128.49 133.49 135.99 140.99 145.99 150.43001 155.43001 158.76001 161.54001 166.54001 170.98001 175.98001 178.48001 183.48001 186.26001 190.70001 195.70001 200.70001 205.70001 209.59001 212.37001 215.15001 219.59001">Short-circuit and open-load diagnostics</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="-546.0756" x="54">•</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="-546.0756" x="57.5"> </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="-546.0756" x="66 73.22 78.22 81 83.5 87.94 92.94 97.94 100.44 104.880008 109.880008 112.66 117.66 120.16 122.94 127.94 132.38 135.71 143.49 147.93001 150.71 153.21 160.43001 164.87001 168.20001 173.20001 175.98001 180.98001">Hot and cold thermal warning</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="-534.0756" x="54">•</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="-534.0756" x="57.5"> </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="-534.0756" x="66 71.56 74.34 78.78 81.56 84.34 86.84 91.84 96.28 99.06 103.5 107.94 110.72 113.22 116.55 120.990009 125.43001 128.21 133.21 136.54001 140.98001">Stall detect features</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="-522.0756" x="54">•</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="-522.0756" x="66 71.48 76.96001 80.21001 83.46001 87.82001 92.740009 100.44 105.36 109.72 112.42 115.119998 120.03999 122.73999 127.09999 129.51999 134.43999 137.68999 140.10999 143.91999 146.61998 154.31998 159.23998 161.93997 166.29998 168.71997 174.19997 176.89997 181.25997 186.17996 188.59996 192.95996 197.87996 202.79996 205.21996 212.35996 215.05995 218.30995 222.66996 227.02996 229.72995 232.42995 237.34995 242.26995 244.68994 252.38994 257.30995 260.00996 262.70997 267.62998 272.62998">SPI-compatible or simple Step and Direction motion </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="-510.0756" x="66 70.36 75.28 80.2 82.899997 86.149997 91.06999">control</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="-498.0756" x="54">•</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="-498.0756" x="57.5"> </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="-498.0756" x="66 73.22 76 81 86 88.78 93.78 96.28 100.72 105.72 110.72 114.05 116.83 121.83 126.83 130.16 134.6 139.6 142.38 146.82 149.32 154.32 157.1 161.54001 164.04001 169.6 175.16 178.49 181.82 186.26001 191.26001 199.04001 204.04001 208.48001 211.26001 214.04001 219.04001 221.82 226.26001 228.76001 232.65001 237.09001 240.42002 243.20001 247.64002 250.42002 252.92002 255.70001 260.7 263.48 267.92 271.25 274.58 279.02 283.46">Highly configurable via SPI-compatible serial interface</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="12" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-472.9637" x="54.211 63.295 71.719 80.143009 87.895008 91.651 100.735 108.9322 116.6842 120.44019 130.1962 139.2802">APPLICATIONS</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="-460.9637" x="54">•</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="-460.9637" x="57.5"> </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="-460.9637" x="66 73.22 78.22 81 86 93.78 98.78 101.56 104.34 109.34 113.78 116.28 120.17 122.95 127.39 132.39 137.39 141.83 145.16 147.66 155.44 160.44 163.22 168.22 171.55">Automotive stepper motors</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="-448.9637" x="54">•</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="-448.9637" x="57.5"> </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="-448.9637" x="66 72.11 77.11 82.11 84.89 89.89 94.33 96.83 104.61 109.05 114.05 118.490009 123.490009 127.93001 135.71 140.15001 145.15001">Engine management</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="-436.9637" x="54">•</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="-436.9637" x="57.5"> </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="-436.9637" x="66 73.22 77.66 82.100009 87.100009 89.880008 94.32001 102.100009 107.100009 109.600009 114.600009 119.600009 123.490009 126.270008 129.05 131.83 136.83 141.83 144.61 149.61">Headlamp positioning</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="18" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-699.0478" x="216.3347 228.8807 239.42871 244.97272 255.52072 271.07273 281.62074 287.16474 291.71873 301.27674 310.83476 315.38874 326.94474 333.49674 344.04475 354.59275 361.14476 370.70277 386.25477 401.80677 411.36479 421.91279 426.46678 436.02479 440.57878 452.13478 457.67878 467.2368 477.7848 488.3328 497.8908 504.4428 508.9968 521.5428 528.0948 532.6488 542.2068 551.7648">Automotive Programmable Stepper Driver</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="12" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-414.2637" x="54.211 61.7458 70.8298 79.9138 88.9978 98.0818 107.8378 116.053">PACKAGE:</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="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-399.2818" x="77.2334 82.793399 88.35339 91.683399 98.35339 101.13339 107.24339 110.02339 116.13339 122.80339 129.47339 137.25339 143.73738 146.51738 154.29738 157.07738 160.40738 166.51738 169.29738 175.96738 181.52738 187.63738 193.74738 199.30738 204.86737 210.97737 213.75737 219.86737 225.97737 231.53737 235.42737 244.31737 249.87737 252.65737 255.43737 262.10737 267.66737">28-Pin TSSOP with Exposed Thermal Pad</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="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-399.2818" x="273.7666"> </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="FCFJQO+Arial-BoldMT" font-weight="bold"><tspan y="-384.3" x="151.1909 154.5209 160.0809 166.1909 169.24758 172.30425 175.3609 180.9209 183.7009 189.8109 196.4809">(suffix LP)</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="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-58.9126" x="257.686 263.052 268.612 274.722 277.50199 283.06199 288.62199 291.40199 293.81199 301.03199 307.14198 313.25196 316.03196 318.81196 324.37196 329.93196 333.26194 336.04194 342.15193 348.2619">Typical Applications</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="9" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-298.851" x="118.375 124.378 128.87799 131.37999 133.62999 136.13199 140.63199 142.88199 146.383 150.379 154.879 157.381">Not to scale</tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="20" font-family="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-741.4395" x="499.8644 514.10446 525.0244 535.9444 546.8644">A3981</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="8.5454" font-family="ETRYCQ+ArialMT"><tspan y="-201.6088" x="88.3125 95.43936 97.344989 101.62623 104.48039 109.24018">Micro-</tspan><tspan y="-191.35431" x="88.3125 92.5852 97.33644 102.087688 104.4633 107.30892 112.060169 113.957248 115.854328 120.60557">controller</tspan><tspan y="-179.99747" x="101.89114 106.63384">or</tspan><tspan y="-163.74411" x="96.61864 102.31842 108.4882">ECU</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6.4251" font-family="ETRYCQ+ArialMT"><tspan y="-227.0258" x="206.5564 211.56798 215.86637">OAP</tspan><tspan y="-119.09055" x="201.67333 205.97815 210.98973 215.6158 220.24187">PGND </tspan><tspan y="-244.18724" x="207.39168 211.6965 216.00131">VBB</tspan><tspan y="-128.2142" x="165.17877 170.1775 174.46305">OSC</tspan></text>
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