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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="WSZTMG+ArialMT"><tspan y="-37.5204" x="427.7316 431.7336 433.0656 434.3976 437.7336 441.0696 443.0676 446.4036 448.0716 453.06959 454.40159 457.40159 459.39958 462.73558 466.73759 469.73759 472.73759 474.40559 477.74159 482.73957 485.73957">Allegro MicroSystems </tspan><tspan y="-30.3204" x="428.0376 431.3736 434.7096 438.0456 439.7136 443.7156 447.0516 449.0496 450.3816 455.37959 458.71559 460.38359 463.71958 465.71757 467.38557 471.71757 475.05357 478.38957 481.72557">955 Perimeter Road </tspan><tspan y="-23.1204" x="428.1096 433.10758 436.44358 439.77958 442.77958 446.11558 449.45158 452.45158 454.11958 457.45558 459.12596 460.79396 462.46195 466.79396 471.12596 472.79396 476.12995 479.46595 482.80195 486.13795 489.47395 491.47193 494.80793 498.14393 501.47993 504.81593 506.48393 510.81593 512.48397 516.48599 518.154 522.156">Manchester, NH 03103-3353 U.S.A.</tspan></text>
<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="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-658.7197" x="36 43.22 46 53.22 61">DIAG.</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="-658.7197" x="63.7783 66.278308 73.49831 76.278308 80.71831 85.71831 90.71831 95.71831 99.60831 102.388309 105.168308 109.60831 112.10831 117.10831 122.10831 124.888309 129.8883 134.8883 137.6683 140.1683 142.6683 148.2283 153.2283 158.2283 162.6683 165.4483 168.2283 173.2283 178.2283 180.7283 184.6183 189.0583 191.8383 196.2783 200.7183 203.4983 207.93831 212.93831 215.43831 220.43831 223.2183 227.65831 230.15831 232.93831 237.93831 242.37831 244.87831 248.76831 253.20832 256.5383 259.3183 263.7583 266.5383 269.0383 271.8183 276.8183 279.5983 284.0383"> Diagnostic output. Function selected via the serial inter</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="-658.7197" x="287.1328">-</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="-646.7197" x="36 39.33 43.770006 48.210008 52.65001 55.15001 57.65001 61.54001 65.98001 68.76001 71.54001 74.32001 79.32001 84.32001 86.82001 93.490009 98.490009 103.490009 106.82001 109.600009 114.600009 119.600009 122.93001 127.37001 130.15001 132.93001 137.93001 142.93001 145.43001 152.1 156.54001 161.54001 164.32 168.21 170.99 175.43001 178.76001 181.26001 186.26001 188.76001 191.26001 198.48001 202.92002 206.25002 210.69002 215.69002 218.47002 221.25002 223.75002 226.53002 230.42002 232.92002 238.48001 242.92002 247.92002 250.70001 253.48001 255.98001 260.98 265.98 268.76 273.76 278.76 281.54">face, setting Configuration Register 1. Default is Fault output.</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="-628.7197" x="36 43.78 50.45 57.670003">OSC.</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="-628.7197" x="60.4482 62.7672 71.8052 74.5852 77.3652 82.3652 84.8652 89.8652 92.645198 95.42519 97.92519 102.92519 107.92519 110.42519 113.20519 118.20519 120.70519 127.37519 132.37519 137.37519 140.70519 143.48519 148.48519 153.48519 156.81519 161.25519 164.03519 166.81519 171.81519 176.81519 179.31519 185.98519 190.42519 195.42519 198.20519 202.09519 204.87519 209.31519 212.64519 215.14519 220.14519 222.64519 226.53519 230.97519 233.75519 236.25519 239.03519 244.03519 246.53519 251.53519 254.03519 256.5352 260.9752 263.7552 266.5352 271.5352 275.9752 279.30519 281.80519 286.24519 291.24519"> With bit 13 in Configuration Register 1 set to 0, either con</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="-628.7197" x="296.2148">-</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="-616.7197" x="36 41 45.440004 49.880006 52.660005 55.160005 57.940004 62.940004 65.72 69.61 72.11 77.11 79.89 84.89 87.39 90.17 95.17 97.108 104.328 111.548007 118.768009 125.98801 128.488 131.268 136.268 138.768 143.768 147.658 152.098 154.598 157.378 162.378 166.81801 169.31801 172.098 177.098 179.878 184.31801 187.64801 192.64801 197.08802 199.86801 202.36801 207.36801 211.25801 215.69802 218.47801 221.25801 224.03801 228.47801 231.25801 236.25801 239.58802 242.08802 245.41802 250.41802 255.41802 260.41804 263.19804 268.19804 273.19804 275.69804 280.13804 282.91804 285.41804 288.19804 293.19804 297.63804">nect this pin to AGND to use the internal oscillator running at 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="-604.7197" x="36 41 45.440004 48.770006 53.210008 58.210008 60.990007 63.770006 66.270008 69.600009 72.93001 77.37001 82.37001 87.37001 91.81001 96.81001 101.250019 106.250019 108.750019 113.750019 117.08002 119.58002">default frequency of 4</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="-604.7197" x="124.58002"> </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="-604.7197" x="127.08002 135.97002 143.19002 147.63002 150.13002 152.63002 157.63002 160.96002 163.46002 167.90003 172.90003 177.90003 182.90003 187.34003 191.78003 194.56003 197.06003 201.50003 204.00003 207.33003 211.77004 215.66004 218.44004 222.33003 225.11003 230.11003 233.44004 235.94004 238.72003 243.72003 246.02004 253.24004 260.46003 267.68003 270.18003 272.96003 277.96003 280.46003 284.35005 288.79005 291.57005">MHz, or connect a resistor to VDD to set </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="-592.7197" x="36 38.78 43.78 48.22 50.72 53.5 58.5 61.28 65.72 69.05 74.05 78.490009 81.270008 83.770008 88.770008 92.66 97.100009 99.880008 102.66 105.44 109.880008 112.66 117.66 120.990009 123.490009 126.82001 130.15001 134.59001 139.59001 144.59001 149.03002 154.03002 158.47002 162.79701 165.29701 167.79701">the internal oscillator 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="-592.7197" x="171.12702"> </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="-592.7197" x="172.2 178.31 183.31 187.75 190.25 194.69 199.69 204.69 208.02 213.02 218.02 220.8 228.58 233.02 235.8 240.24 242.74 246.07 249.40001 253.84001 258.84004 263.84004 268.28004 273.28004 277.72004 282.72004 285.22004 288.00004 291.89006">The approximate frequency 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="-580.7197" x="36 40.440004 44.880006 47.660005 52.100008 57.100008 59.880006 64.32001 67.100009 71.54001 76.54001 79.04001 82.37001 85.70001 90.70001 98.48001">calculated from:</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="-558.7166" x="106.6072">f</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-556.2166" x="109.3855 114.8005 118.5505">OSC</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="-558.7166" x="123.5542 126.0542 132.8042 135.3042 140.3042 145.3042 147.8042 152.8042 157.8042 162.8042 165.3042 168.0842 170.5842 173.9142 178.9142 183.9142 186.4142"> = 10 000 / (48 R</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-556.2166" x="192.519 197.93399 201.68399 206.6865">OSC </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="-558.7166" x="208.5627 213.5627 216.0627 221.0627 226.0627">&#x2013; 20)</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="-542.7133" x="36 43.22 48.22 52.660005 55.990007 60.430009 62.930009">where f</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="-540.2133" x="66.2588 71.6738 75.843799">OSC</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="-542.7133" x="80.8486 83.3486 86.1286 90.0186 92.5186 95.2986 100.2986 104.7386 107.2386 110.0186 115.0186 117.7986 122.2386 125.5686 130.5686 135.0086 137.7886 140.2886 145.2886 149.1786 153.6186 156.3986 159.1786 161.9586 166.3986 169.1786 174.1786 177.5086 180.0086 183.33861 186.66861 191.10861 196.10861 201.10861 205.54862 210.54862 214.98862 219.98862 222.48862 225.26862 230.26862 232.76862 241.65862 248.87862 253.31862 255.81862 258.3186 262.7586 267.7586 272.7586 275.2586"> is the internal oscillator frequency in MHz, and R</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="-540.2133" x="281.9033 287.3183 291.4883">OSC</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="-542.7133" x="296.4932"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="REIICQ+TimesNewRomanPSMT"><tspan y="-530.7133" x="36 38.78 42.67 45.17 47.949998 52.949998 57.39 59.89 64.89 69.33 72.11 77.11 81.55 84.05 86.55 89.33 94.33 96.83 101.83 109.26 111.76 116.76 120.090007 122.590007 125.37 130.37 134.81 137.31 140.64 145.08 148.97 151.75 155.64 158.42 163.42 166.75 169.25 174.25 178.69 181.47 188.69 193.13 197.57 202.57 205.07 212.29001 217.85 224.52 227.02 231.46 236.46 241.46 243.764 250.98401 258.204 265.424 267.924">is the value, in k&#x03a9; of the resistor between OSC and VDD.)</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="-512.7133" x="36 39.33 42.660005 45.160005 50.160005 52.940004 55.72 58.22 63.22 68.22 70.72 73.5 78.5 81 87.67 92.67 97.67 101 103.78 108.78 113.78 117.11 121.55 124.33 127.11 132.11 137.11 139.61 146.28 150.72 155.72 158.5 162.39 165.17 169.61 172.94 175.44 180.44 182.94 185.72 189.61 192.11 196 200.44 203.22 205.72 208.5 213.5 216 221 223.5 226 228.78 233.78 238.22 243.22 245.72 252.94 258.5 265.17 267.67 270.45 274.34004 276.84004 279.62004 284.62004 289.06004">If bit 13 in Configuration Register 1 is set to 1, then OSC is 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="-500.7133" x="36 38.78 43.78 48.78 53.78 56.559999 59.059999 62.39 67.39 70.72 73.22 77.66 82.66 85.16 89.600009 94.600009 97.380008 101.82001 105.15001 110.15001 114.59001 117.37001 119.87001 123.76001 128.76001 132.65001 135.43001 139.87001 147.65001 150.15001 154.59001 157.37001 162.37001 166.81002 171.81002 174.31002 176.81002 184.03002 189.03002 191.81002 196.25002 201.25002 203.75002 211.53002 216.53002 220.42002 223.20001 225.70001 230.70001 235.14002 240.14002 244.58002 247.08002 251.52002 254.02002 257.35 260.68 265.12 270.12 275.12 279.56 284.56 289 294">input for an external system clock, which must have a 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="-488.7133" x="36 41 45.440004 48.22 55.440004 59.880006 64.32001 69.32001 71.82001">between 3</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="-488.7133" x="76.82001"> </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="-488.7133" x="79.32001 83.76001 88.76001">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="-488.7133" x="93.76001"> </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="-488.7133" x="96.26001">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="-488.7133" x="101.26001"> </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="-488.7133" x="103.76001 112.65001 119.87001 124.31001 126.81001 129.31002 132.64002 137.64002 140.14002 142.92002 147.92002 150.70001 154.59001 157.09001 164.87001 169.87001 174.87001 179.31002 181.81002 186.25002 188.75002 195.97002 200.41002 203.19002 207.63002 212.63002 217.63002 222.63002 227.63002 230.13002 232.91002 236.80002 239.30002 244.30002 247.63002 252.63002 257.63 260.41 265.41 269.85 274.85 277.35 280.13 285.13">MHz. In this mode a watchdog is provided 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="-476.7133" x="36 41 45.440004 48.22 52.660005 57.100008 59.880006 62.380006 65.16 70.16 74.05 77.94 80.44 85.44 88.770008 91.270008 94.05 99.05 103.490009 105.990009 109.880008 114.880008 118.770008 121.55 125.990009 133.77 136.27 140.71 143.49 148.49 152.93001 157.93001 160.43001 162.93001 166.26001 169.59001 172.09001 174.87001 179.87001 184.31002 186.81002 194.03002 199.59001 206.26001 208.76001 213.76001 216.54001 221.54001 224.04001 227.37001 231.81002 239.59001 244.03002 246.81002 251.81002 255.70001 258.2 263.2 265.98 270.98 275.98 278.48 283.48 286.81">detect loss of the system clock. If the OSC pin remains high or </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="-464.7133" x="36 38.78 43.78 51 53.5 56.83 61.83 65.16 67.66 75.44 80.44 83.770008 88.21001 90.71001 93.490009 98.490009 102.93001 107.93001 110.43001 113.21001 118.21001 122.65001 125.15001 132.37001 136.81002 139.59001 144.03002 149.03002 154.03002 159.03002 164.03002 166.53002 169.31002 172.09001 179.87001 184.31002 186.81002 189.31002">low for more than the watchdog time, t</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="-462.2133" x="192.0693 199.1493">WD</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="-464.7133" x="204.5645"> </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="-464.7133" x="205.8145 208.3145 210.8145">, 1</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="-464.7133" x="215.8145"> </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="-464.7133" x="218.3145 224.0745 227.9645 230.4645 233.24449 238.24449 243.24449 246.02449 250.4645 254.9045 257.6845 260.1845 262.6845 265.4645 270.4645 274.9045 279.9045 282.4045 285.1845 290.1845 294.6245">&#x00b5;s typical, then 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="-452.7133" x="36 41.56 46 51 53.78 56.559999 59.059999 65.729999 70.17 75.17 77.95 81.84 84.619998 89.06 92.39 94.89 98.22 101 105.44 110.44 112.94 116.270008 121.270008 124.05 126.83 129.33 134.33 139.33 141.83 144.61 149.61 152.11 154.89 159.89 164.33 166.83 171.83 174.61 179.05 184.05 189.05 194.05 197.94 200.72 203.5 207.94 210.44 213.77 218.21 223.21 225.99 229.88 232.66 237.1 240.43001 244.32 247.65001 250.15001 252.93001 256.82 259.32 263.21003 267.65003 270.43003 272.93003 277.37004 282.37004 287.37004">Fault Register flag (bit 15 in the diagnostic registers) is set 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="-440.7133" x="36 38.78 43.78 48.22 50.72 55.72 60.72 63.5 68.5 73.5 76.28 80.17 82.67 87.11 90.44 94.880008 97.380008 102.380008 105.16 109.05 113.490009 118.490009 121.270008 125.71001 130.71 133.21 138.21 143.21 145.99 148.77 151.55 154.05 156.83 161.83 166.27 168.77 173.21 175.99 180.99 185.43001 190.43001 192.93001 196.26001 200.70001 204.59001 207.37001 211.81002 215.14002 217.92002 221.81002">the outputs are disabled until the clock restarts.</tspan></text>
<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="-420.3133" x="36 44.664 49.332 52.668 59.34 62.676004 70.008 77.340007 80.676 87.34801 90.684009 98.688 102.684009 109.356 116.688 124.020008 130.692 135.36 138.696 148.692 156.024 160.02 167.352">Driving a Stepper Motor</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="-402.3133" x="36 42.670003 45.170003 47.95 55.170003 60.170003 63.5 68.5 73.5 77.94 81.83 86.270008 88.770008 92.66 95.44 99.880008 104.880008 109.880008 114.32001 117.65001 120.15001 127.93001 132.93001 135.71 140.71 144.04001 146.54001 149.32 153.21 155.71 163.49 167.93001 172.93001 177.37001 179.87001 182.65001 187.65001 190.15001 193.48001 198.48001 201.26001 205.70001 208.48001 212.92002 215.42002 220.42002 225.42002 227.92002 231.81002 236.25002 241.25002 246.25002 250.69002 255.69002 260.13 262.91 267.91 272.91">A two-phase stepper motor is made to rotate by sequencing </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="-390.3133" x="36 38.78 43.78 48.22 50.72 54.050004 58.490007 61.270006 65.71001 68.490009 71.270008 76.270008 80.71001 83.21001 87.65001 92.65001 95.98001 99.31001 103.750019 108.750019 111.530017 115.42001 117.92001 120.70001 125.70001 128.20001 132.64002 137.08002 141.52002 146.52002 149.02002 154.02002 159.02002 163.46002 167.35002 171.79003 174.29003 176.79003 180.12003 185.12003 187.62003 190.40003 193.18003 197.07003 199.57003 203.46002 206.24002 214.02002 219.02002 221.80002 226.24002 230.13002 232.91002 235.41002 238.74002 243.74002 247.07003 254.85002 257.35005 259.85005 264.29005 268.73005 273.17005 278.17005">the relative currents in each phase. In its simplest form, 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="-378.3133" x="36 41 46 50.440004 54.33 58.770006 61.270006 64.05 67.94 70.44 74.33 77.11 84.89 89.89 92.67 97.67 100.17 103.5 108.5 111.28 114.06 119.06 121.56 126 131 135.44 138.578 143.578 146.358 150.798 155.238 160.238 162.738 165.518 170.518 173.018 175.798 180.798 184.128 189.128 191.628 196.628 201.628 204.128 208.56801 213.56801 218.56801 221.348 226.348 229.128 234.128 239.128 241.628 246.06801 248.56801 253.56801 258.568 261.348 264.128 268.568 273.568 278.008 280.508 283.288 288.288">phase is simply fully energized in turn by applying a voltage 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="-366.3133" x="36 38.78 43.78 48.22 50.72 57.940004 60.72 65.72 70.72 73.5 78.5 83.5 86 88.5 94.06 99.06 102.39 104.89 112.67 117.67 121 125.44 127.94 132.94 136.27 140.71 145.15001 147.93001 151.82 156.26001 158.76001 163.20001 168.20001 173.20001 175.98001 179.31002 184.31002 187.09001 189.59001 194.59001 197.92002 200.42002 203.20001 208.20001 212.64002 215.14002 222.92002 227.92002 230.70001 235.70001 239.03002 241.53002 244.31002 249.31002 252.64002 257.64 262.64 267.08003 269.58003 274.58003 279.58003 284.02003 287.35">the winding. For more precise control of the motor torque over </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="-354.3133" x="36 38.78 43.22 51 56 60.440004 63.770006 68.21001 70.990009 75.990009 79.32001 83.76001 86.26001 90.70001 95.70001 100.70001 103.20001 108.20001 113.20001 115.98001 118.76001 123.20001 128.20001 132.64002 135.14002 138.47002 142.91002 147.91002 152.91002 157.35002 161.24002 163.74002 166.24002 170.68003 175.68003 179.01003 182.34003 186.78003 191.78003 194.56003 197.06003 201.50003 206.50003 211.50003 214.28003 217.61003 222.61003 225.39003 227.89003 230.67003 234.56003 237.06003 240.39003 244.83003 249.83003 254.83003 257.61006 260.94004 265.38005 270.38005 272.88005 275.38005 280.94004 285.94004 289.27003">temperature and voltage ranges, current control is required. 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="-342.3133" x="36 40.440004 43.588006 46.918008 49.698007 54.13801 56.918008 61.35801 66.35801 70.79801 75.79801 78.29801 81.07801 86.07801 88.85801 92.74801 95.24801 98.02801 101.91801 104.41801 109.41801 113.30801 118.30801 122.74801 125.52801 128.30802 133.30802 135.80802 140.24802 144.68802 149.12802 154.12802 161.90802 166.90802 169.68802 172.46802 176.35802 181.35802 185.79802 190.79802 193.29802 198.29802 202.18802 204.96802 209.96802 214.96802 217.46802 222.46802 227.46802 230.24802 234.13802 238.57802 241.07802 248.29802 251.07802 256.078 258.858 263.858 266.358 274.138 279.138 284.138 289.138 291.918">efficiency this is usually accomplished using pulse width modula</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="-342.3133" x="296.3271">-</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="-330.3133" x="36 38.78 41.559999 46.559999 51.559999 54.059999 57.39 62.95 72.39 81.28 84.61 87.11 89.89 94.33 98.770008 103.770008 108.770008 111.55 116.55 121.55 125.990009 129.88 132.38 134.88 138.21 143.21 145.71 150.15001 155.15001 160.15001 162.93001 165.71 168.49 173.49 178.49 180.99 185.43001 190.43001 193.76001 197.09001 201.53002 206.53002 209.31002 211.81002 216.25002 221.25002 226.25002 229.03002 232.36002 237.36002 240.14002 242.64002 247.08002 249.86002 253.75002 258.75 261.25 265.69 268.47 271.25 276.25 283.47 287.36003">tion (PWM) techniques. In addition current control also allows </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="-318.3133" x="36 38.78 43.78 48.22 50.710004 54.04 58.480005 61.260004 65.700008 68.47401 71.254009 76.254009 80.69401 83.184009 87.62401 92.62401 95.95401 99.28401 103.724018 108.724018 111.50401 113.99401 116.77401 121.77401 124.26401 128.70401 133.14402 137.58402 142.58402 145.07402 150.07402 155.07402 159.51403 163.40402 167.84403 170.33403 173.11403 178.11403 180.60404 185.60404 190.04404 192.53404 196.97405 201.97405 206.97405 209.75405 213.08405 218.08405 220.86405 223.64405 228.08405 233.08405 235.58405 238.06905 243.06905 246.39905 251.39905 256.39906 259.17906 264.17906 266.95906 271.95906 276.95906 279.44905 287.22904 292.22904 295.55903 299.99903">the relative current in each phase to be controlled, providing more </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="-306.3133" x="36 41 44.33 48.770006 53.210008 55.990007 59.880006 64.32001 66.82001 71.26001 76.26001 81.26001 84.04001 87.37001 92.37001 95.15001 97.65001 102.65001 107.65001 112.09001 115.42001 117.92001 120.70001 125.70001 130.14002 132.64002 140.42002 145.42002 148.20001 153.20001 156.53002 159.03002 166.81002 171.81002 176.81002 181.25002 189.03002 193.47002 198.47002 201.25002 203.75002 208.19002 213.19002 218.19002 220.69002 225.69002 230.13002 235.13002 239.57003 244.01003 246.51003 249.29003 257.07005 262.07005 265.40003 270.40003 275.40003">precise control over the motor movement and hence improve</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="-306.3133" x="279.8037">-</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="-294.3133" x="36 43.78 48.22 53.22 56 59.89 62.39 65.17 70.17 72.67 75.45 80.45 83.78 88.78 93.78 98.22 100.72 104.05 106.83 111.83 116.83 119.61 124.05 126.55 130.99 135.99 140.99 143.49 151.27 155.71 160.15001 165.15001 169.59001 174.59001 177.37001 181.81002 186.25002 189.03002 191.53002 196.53002 201.53002 204.31002 208.20001 212.64002 215.14002 217.64002 223.20001 228.20001 231.53002 234.31002 239.31002 243.75002 247.08002 249.58002 254.58002 259.02003 261.80003 266.24003 269.02003 271.80003 275.69004 278.19004 283.19004 286.52003">ments in torque ripple and mechanical noise. Further details 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="-282.3133" x="36 39.89 42.67 47.11 52.11 57.11 61.550004 64.880008 67.380008 75.16 80.16 82.94 87.94 91.270008 93.770008 98.21001 103.21001 108.21001 110.990009 114.32001 119.32001 122.100009 124.600009 129.04001 132.37001 136.81002 139.31002 144.31002 147.64002 152.64002 157.64002 160.42002 165.42002 169.86002 174.86002 177.36002 180.14002 185.14002 187.06902 194.28902 199.28902 204.28902 208.72902 213.72902 218.72902 221.50902 226.50902 228.45603 235.67603">stepper motor control are provided in Appendix 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="-264.3133" x="36 41.56 46.56 49.89 52.39 57.39 60.17 65.17 70.17 72.95 77.39 80.72 83.22 87.11 89.89 94.33 99.33 104.33 108.770008 112.100009 114.600009 122.380008 127.380008 130.16 135.16 138.49 142.38 144.88 147.66 152.66 157.1 159.6 164.04001 169.04001 172.37001 175.70001 180.14002 185.14002 187.92002 190.42002 195.42002 198.20001 201.53002 205.97002 210.41002 213.19002 215.97002 220.97002 225.97002 228.47002 231.25002 235.14002 237.64002 241.53002 244.31002 249.31002 254.31002 257.09004 260.42 263.2 267.64 272.08003 277.08003 279.86003 282.36003">For bipolar stepper motors the current direction is significant, </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="-252.3133" x="36 39.89 44.89 47.39 50.17 55.17 59.61 62.11 67.11 72.11 74.89 77.67 82.11 87.11 91.55 94.05 98.490009 103.490009 108.490009 111.270008 114.05 118.490009 123.490009 125.990009 128.77 133.77 136.27 140.71 145.15001 149.59001 154.59001 157.09001 162.09001 167.09001 171.53002 175.42002 179.86002 182.36002 190.14002 195.14002 199.03002 201.81002 204.31002 209.31002 213.75002 216.25002 219.58002 224.02002 229.02002 233.46002 236.79003 240.68003 243.46002 248.46002 251.24002 255.68003 258.18003 260.46803 266.578 271.578 274.358 278.24803">so the voltage applied to each phase must be reversible. This </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="-240.3133" x="36 39.33 43.770006 48.770006 53.770006 56.550004 59.880006 64.32001 68.21001 70.71001 73.490009 78.490009 82.93001 85.43001 90.43001 94.32001 98.76001 101.26001 106.26001 109.59001 112.09001 116.530017 119.030017 122.360019 127.360019 130.14002 132.92002 135.42002 140.42002 143.75002 146.53002 151.53002 156.53002 160.97002 163.47002 166.80002 171.24002 174.02002 177.91002 182.91002 185.41002 190.41002 195.41002 200.41002 207.63002 212.63002 215.13002 219.57003 223.46002 225.96002 230.40003 235.40003 237.90003 245.12003 248.45003 253.45003 256.78004 259.56004 264.56004 269.56004 274.00004 277.33003">requires the use of a full bridge (also known as an H-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="-228.3133" x="36 43.22 48.22 51 55.440004 60.440004 62.940004 67.380008 71.82001 76.82001 79.32001 83.21001 90.43001 93.21001 95.990009 100.43001 105.43001 107.93001 112.37001 116.81001 121.250019 126.250019 128.75002 133.75002 138.75002 143.19002 147.08002 151.52002 154.02002 158.46002 163.46002 168.46002 173.46002 177.90003 182.34003 185.12003 187.90003 192.90003 197.90003 200.40003 203.18003 208.18003 210.68003 214.57003 219.57003 224.57003 229.57003 232.35002 237.35002 239.85002 244.85002 248.18003 250.68003 253.46002 258.46003 260.96003 265.96003 269.29 274.29 279.29 284.29 289.29">which can switch each phase connection to supply or to ground.</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="-205.8133" 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 136.83382 144.96382 152.53383 158.99384 166.56385 174.69385">PHASE CURRENT CONTROL</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="-189.3133" x="36 39.33 44.33 46.83 49.61 54.61 59.050004 60.995004 68.215007 73.215007 78.215007 83.215007 88.215007 90.715007 93.215007 97.65501 102.65501 105.98501 109.31501 113.75501 118.75501 121.53501 124.03501 126.81501 131.815 134.315 138.755 143.195 147.63501 152.63501 155.13501 160.13501 165.13501 169.57501 173.46501 177.90502 180.40502 185.40502 188.73502 191.23502 194.01502 199.01502 203.45502 205.95502 208.73502 215.95502 220.95502 224.28502 229.28502 234.28502 238.72502 242.61502 247.05503 249.55503 254.55503 257.33503 262.33503 267.33503 270.11503 274.55503 277.885">In the A3981, current to each phase of the two-phase bipolar </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="-177.3133" x="36 39.89 42.67 47.11 52.11 57.11 61.550004 64.880008 67.380008 75.16 80.16 82.94 87.94 91.270008 93.770008 96.55 100.44 102.94 107.380008 112.380008 117.380008 120.16 123.490009 128.49 131.27 134.05 138.49 143.49 145.99 148.77 153.77 157.1 162.1 167.1 172.1 177.1 179.6 184.04001 186.54001 189.32 194.32 201.54001 204.04001 206.82 214.6 219.6 224.04001 229.04001 233.48001 238.48001 242.92002 247.36002 249.86002 257.08003 260.41 264.85 269.85 274.29 279.29 284.29 288.73 291.51">stepper motor is controlled through a low impedance N-channel </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="-165.3133" x="36 43.22 52.11 59.33 64.89 67.39 70.72 75.72 78.5 81.28 83.78 88.78 92.11 94.89 99.89 104.89 109.33 111.83 114.149 120.259 125.259 128.039 131.929 134.429 138.869 141.649 144.429 149.429 156.649 160.539 163.039 167.479 170.62401 173.95401 176.73401 181.17401 183.95401 188.39402 193.39402 196.17401 198.67401 203.11402 208.11402 213.11402 215.61402 220.61402 223.94402 228.38402 232.82402 235.60402 239.49402 243.93402 246.43402 250.87403 255.87403 260.87403 263.65403 266.984 271.984 274.764 277.264 282.264 285.594">DMOS full bridge. This allows efficient and precise control 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="-153.3134" x="36 38.78 43.78 48.22 50.72 55.72 60.72 65.16 69.05 73.490009 75.990009 80.43001 85.43001 88.76001 92.09001 96.530017 101.530017 104.31001 106.81001 111.81001 115.70001 118.48001 123.48001 128.48001 130.98001 136.54001 145.98001 154.87001 157.37001 161.26001 168.48001 171.26001 174.04001 178.48001 183.48001 186.26001 191.26001 196.26001 198.76001 201.06801 207.17801 212.17801 216.61801 219.11801 222.44802 227.44802 230.22801 233.00801 236.33802 241.33802 244.66802 247.44802 252.44802 257.448 261.888 264.388 268.828 273.828">the phase current using PWM switching. The full-bridge con</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="-153.3134" x="278.8174">-</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="-141.3134" x="36 39.33 42.11 47.11 52.11 55.440004 59.880006 62.660005 65.44 70.44 75.44 77.94 82.94 86.270008 91.270008 96.270008 99.05 104.05 108.490009 112.380008 114.880008 118.21001 123.21001 125.990009 128.77 131.27 135.71 140.71 145.71 148.49 151.82 156.82 159.6 162.1 167.1 172.1 176.54001 179.87001 182.37001 185.15001 190.15001 194.59001 197.09001 201.53002 206.53002 209.86002 213.19002 217.63002 222.63002 225.41002 227.91002 232.91002 235.69002 239.02002 243.46002 247.90003 250.68003 253.46002 258.46003 263.46003 265.96003 270.96003 275.96003 279.29 282.07 287.07 292.07">figuration provides full control over the current direction during </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="-129.3134" x="36 38.78 43.78 48.22 50.72 56.280004 65.72 74.61 77.11 82.11 87.11 90.44 93.22 96 103.78 108.22 110.72 113.22 117.66 122.66 127.66 130.16 135.16 140.16 144.6 147.93001 150.43001 153.21 158.21 162.65001 165.15001 169.59001 174.59001 177.92002 181.25002 185.69002 190.69002 193.47002 195.97002 200.97002 205.41002 209.85002 214.29003 219.29003 221.79003 229.57003 234.57003 239.57003 244.01003 246.51003 251.51003 256.51 259.84 262.62 267.62 272.62 275.12 277.9 282.9 287.34">the PWM on-time, and over the current decay mode during 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="-117.3134" x="36 41.56 51 59.89 62.39 67.39 70.541 73.871 77.201007 79.981 82.761 90.541 94.981 97.481 99.981 107.201007 112.201007 116.64101 119.14101 121.921009 126.921009 129.421 132.201 137.201 141.641 144.141 147.47101 150.251 154.69101 159.69101 162.47101 167.47101 170.251 173.031 175.811 178.591 183.591 186.091 191.091 194.421 196.921 199.701 204.701 209.141 211.06401 218.28401 223.28401 228.28401 233.28401 238.28401 240.78401 243.56401 248.56401 253.00402 256.894 261.334 263.834 268.27403 273.27403 278.27403 281.05403 284.384 289.384 292.164">PWM off-time. Due to the flexibility of the A3981 these control </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="312 314.78 319.22 323.66 328.66 333.66 336.44 341.44 346.44 350.88 354.77003 357.27003 361.71003 366.15003 371.15003 373.65003 378.65003 383.09004 385.59004 390.03004 395.03004 402.81004 407.81004 410.59004 415.03004 417.81004 422.25004 425.03004 430.03004 432.53004 435.31004 438.64 443.08003 448.08003 451.97004 456.97004 461.41004 464.74003 469.18003 474.18003 476.96003 479.46003 482.24003 487.24003 489.74003 492.52003 497.52003 501.96003 504.46003 509.46003 513.35006 517.79006 521.12008 523.62008 528.62008 531.9501 534.4501 538.8901 543.3301 548.3301 550.8301 555.8301 560.2701">techniques can be completely transparent to the user or can be </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="312 317 321.44 324.77 327.55 330.33 334.77 337.55 340.33 345.33 348.65998 351.15998 356.15998 359.48997 361.98997 365.31996 370.31996 373.09996 375.87995 380.87995 384.20994 389.20994 392.53993 397.53993 402.53993 405.8699 410.3099 418.0899 425.8699 430.3099 435.3099 437.8099 440.5899 445.5899 448.9199 453.9199 458.9199 463.9199 468.9199 471.4199 474.1999 479.1999 483.6399 486.1399 490.0299 494.4699 497.7999 500.5799 505.0199 507.7999 510.2999 513.0799 518.0799 520.8599 525.2999 528.62997 531.95999 536.39999 540.83999 545.27999">partially- or fully-programmed through the serial interface.</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="312 318.01 322.35 326.69 331.59 333.99 336.66999 341.00999 345.90998 348.30998 351.53999 356.43998 359.11997 364.01997 368.91996 372.14997 375.93998 378.61997 383.51997 387.85997 390.25996 392.65995 395.33995 400.23994 407.35993 410.58995 414.37995 417.05995 421.95994 426.29994 428.69993 433.5999 437.9399 440.6199 443.8499 447.07994 449.47993 454.3799 457.60993 460.00993 464.3499 466.7499 471.6499 474.8799 477.5599 482.4599 487.3599 491.6999 494.09989 496.77989 500.5699 502.96989 507.86988 511.09989 515.9999 518.6799 523.0199 527.3599 530.0399 534.37997 539.27999 541.68 544.91 548.13998 553.04 560.818">Each leg (high-side, low-side pair) of a bridge is protected 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="-617.0664" x="312 315.79 320.69 325.59 330.49 333.16999 336.4 339.08 343.97999 347.21 352.11 357.00999 361.90998 366.80998 369.20997 374.10997 379.00996 381.40995 385.74995 388.14994 391.37995 394.05995 398.95994 403.29994 408.19993 410.5999 415.4999 419.8399 424.1799 429.0799 431.4799 434.15989 436.83988 444.51988 448.85987 451.25987 453.47886 459.48887 464.38887 467.06886 470.85887 473.25886 475.93885 479.72886 482.12886 484.80885 489.70884 494.04884 496.44883 499.1288 501.8088 509.4888 513.8288 516.2288 521.12887 525.4689 528.14889 535.26889 539.6089 543.9489 548.9489">shoot-through by a fixed dead time. This is the time between </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="312 315.79 322.91 325.59 328.27 332.61 337.50999 340.18998 345.08998 349.98997 352.38996 357.28996 360.33897 363.56898 365.96897 370.86897 375.76896 380.10896 382.50895 387.96894 393.97895 399.80595 402.20594 406.54594 411.44593 416.34593 418.7459 422.53593 429.6559 432.3359 435.0159 439.3559 444.2559 446.93589 451.83589 456.73588 459.13587 464.03587 468.93586 471.33586 474.01585 478.91584 483.25584 485.65583 489.99583 494.8958 502.5758 507.4758 510.1558 514.4958 522.1758 526.5158 531.41586 534.0958 538.43588 541.66586 546.56588 548.9659 554.4259 560.4359 565.7019 568.2019">switching off one FET and switching on the complementary FET. </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="312 318.57 321.80003 326.7 330.49003 334.28004 337.51005 341.85005 346.75004 351.65003 356.55003 361.45 365.79 368.47 371.15 376.05 380.94999 383.34999 386.02998 389.81999 392.21998 397.11997 400.34999 404.68998 409.58998 413.92997 418.82997 421.50996 425.84996 430.74995 433.14994 438.04994 442.94993 445.3499 448.0299 452.9299 457.2699 462.1699 465.3999 470.2999 475.1999 477.87989 480.27989 482.95988 487.85987 492.75987 495.43986 499.77986 502.17985 504.85984 509.75984 512.15988 516.4999 520.8399 525.17996 530.07998 532.48 537.38 540.61 543.29 548.19 552.53 555.76 558.16006 563.06008 567.4001 570.0801 572.75808">Cross-conduction is prevented by lock-out logic in each driver pair.</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="-575.0664" x="312 318.11 323.11 327.55 330.05 335.05 340.05 344.49 348.38 352.82 355.32 359.76 364.76 368.09 371.41999 375.86 380.86 383.63999 387.53 390.03 394.47 399.47 404.47 406.97 409.75 414.75 417.25 422.25 426.69 430.02 432.8 435.58 440.02 445.02 447.8 452.24 455.56999 458.06999 460.84999 465.84999 470.28999 472.78999 476.11997 480.55998 483.33998 487.77998 490.55998 493.33998 498.33998 502.77998 505.27998 510.27998 515.27999 519.72 523.61 528.05 530.55 534.99 539.99 543.32 546.65 551.09 556.09 558.87008 562.7601">The phase currents and in particular the relative phase currents </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="-563.0664" x="312 316.44 319.77 324.21 326.71 331.71 336.15 339.47999 342.25999 347.25999 351.69999 356.69999 359.19999 361.97999 366.97999 369.47999 372.25999 377.25999 381.69999 384.19999 389.75999 394.75999 399.19999 403.09 407.53 410.03 416.7 421.7 425.03 428.36 432.8 437.8 440.58 443.08 445.86 450.3 455.3 458.08 462.52 465.02 468.34999 471.12998 475.56999 480.56999 483.34999 487.78999 490.28999 495.28999 498.61997 501.11997 503.41096 509.52095 514.52096 517.30099 521.191 523.691 526.471 530.911 535.911 538.69107 543.13107 545.63107 550.63107 555.07107 558.40109 561.1811 566.1811 570.6211 574.5111">are defined in the Phase Current table (table 7). This table defines </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="-551.0664" x="312 314.78 319.78 324.22 326.72 329.5 336.72 341.72 344.22 349.22 354.22 358.66 362.55003 366.99003 369.49003 373.93003 378.93003 382.26 385.59 390.03 395.03 397.81 401.7 404.2 408.64 411.42 413.92 418.36003 422.80003 427.24003 432.24003 434.74003 442.52003 445.30003 449.74003 453.07 458.07 461.96003 464.74003 469.18003 474.18003 476.68003 481.68003 486.68003 490.57005 493.35005 496.13005 498.91004 503.91004 508.91004 511.41004 513.91006 519.47006 524.47006 527.80007 530.30007 534.74008 539.18008 543.62008 548.62008 551.12008 556.12008 559.4501 561.9501 564.7301 569.7301 574.1701">the two phase currents at each microstep position. For each of 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="-539.0664" x="312 314.78 322 327 329.5 334.5 339.5 343.94 347.83003 352.27003 356.16004 358.66004 361.16004 363.94004 368.94004 373.38005 375.88005 380.32005 385.32005 388.65003 391.98 396.42 401.42 404.2 408.09004 410.59004 415.03004 418.36003 422.80003 425.30003 433.08003 437.52003 441.96003 445.85005 450.85005 454.18003 458.62004 463.62004 466.12004 471.12004 475.01005 477.79005 482.79005 487.79005 490.29005 494.73005 497.23005 501.12007 505.56007 510.56007 514.4501 518.8901 521.3901 524.7201 529.1601 533.0501 535.83016 539.72018 542.5002 547.5002 550.4132 552.9132 555.4132">two phases, the currents are measured using a sense resistor, R</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="-536.5664" x="562.083">S</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="-539.0664" x="566.2542 568.7542">, </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="312 319.22 322 324.78 329.78 332.28 337.28 342.28 345.06 347.84 352.28 357.28 361.72 364.22 367.55 371.99 376.43 381.43 386.43 390.87 395.31 400.31 402.81 405.59 410.59 413.09 415.87 420.87 425.31 427.81 431.13999 435.58 439.47 444.47 448.91 453.35 456.13 458.91 463.91 468.35 470.85 476.41 482.52 489.74 495.3 500.3 502.8 507.8 510.58 515.57998 518.07998 520.37399 526.48397 531.48397 535.92398 538.42398 541.204 545.644 548.787 553.787 558.227 561.007">with voltage feedback to the respective SENSx pin. The target </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="312 316.44 321.44 324.77 328.09999 332.53999 337.53999 340.31999 342.81999 345.59999 350.03999 355.03999 359.47999 362.25999 364.75999 367.53999 371.43 373.93 378.93 383.37 386.69999 389.47999 394.47999 398.91999 403.91999 406.41999 411.41999 416.41999 418.91999 421.69999 426.69999 431.13999 433.63999 438.63999 443.63999 446.41999 449.19999 453.63999 458.63999 463.08 465.58 468.90998 472.23997 477.23997 485.01997 487.51997 490.29997 495.29997 499.73997 502.23997 507.23997 510.01997 515.01998 517.8 520.58 525.02 527.80007 531.13009 533.9101 538.9101 542.2401 546.6801 551.6801 556.1201 558.90017 563.90017 568.90017">current level is defined by the voltage from the digital-to-analog </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="312 316.44 321.44 326.44 331.44 335.88 339.21 341.99 346.43 349.75999 352.25999 355.58998 362.80998 370.02998 376.69999 380.02998 382.52998 385.85997 390.85997 394.18995 396.68995 399.46995 404.46995 408.90995 411.68995 414.18995 419.18995 424.18995 428.62995 432.51997 436.95997 439.45997 441.76997 447.87995 452.87995 457.31996 459.81996 463.70997 468.14997 473.14997 477.03999 481.47999 483.97999 488.97999 493.97999 496.75999 499.53999 503.97999 508.97999 513.42 515.92 518.7 522.59 525.09 529.53 537.31008 542.31008 545.0901 547.8701 551.20016 553.98019 558.42019 563.42019 565.92019 570.92019 575.92019">converter (DAC) for that phase. The sense voltage is amplified by </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="312 316.44 318.94 322.27 325.05 330.05 334.49 339.49 341.99 346.99 351.43 354.21 359.21 361.71 366.15 371.15 376.15 378.65 383.09 388.09 395.87 400.87 405.31 408.63999 413.08 418.08 420.58 423.36 428.36 430.86 433.63999 438.63999 443.08 445.58 450.58 455.58 458.36 463.36 468.36 471.13999 473.63999 478.63999 481.96998 484.46998 487.24998 492.24998 496.68998 499.18998 506.40998 513.62997 520.2999">a fixed gain and compared to the output of the DAC.</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="-473.0664" x="312 318.11 323.11 327.55 330.87998 335.31999 337.81999 342.25999 345.58998 350.02998 352.52998 355.30998 362.52998 367.52998 370.02998 372.80998 377.80998 382.80998 387.24998 391.13999 393.63999 398.63999 401.96998">There are two types of </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="-473.0664" x="404.4609 411.6809 416.6809 421.1209 423.9009 431.1209 436.1209 443.3409 445.8409 450.2809 455.2809 459.17094 462.69294 467.13294 472.13294">maximum 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="-473.0664" x="474.9102 477.6902 480.1902 482.97019 487.97019 492.4102 494.9102 499.3502 504.3502 508.2402 513.24026 516.02029 521.02029 523.8003 528.2403 530.7403 538.5203 542.9603 547.9603 550.74038 558.5204 563.5204 571.3004 573.8004">: the absolute maximum, </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="-461.0664" x="312">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="-458.5664" x="315.3301 319.50013 326.16764 331.58265">SMAX</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="-458.5664" x="336.99766"> </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="-461.0664" x="337.9399 340.4399 342.9399 345.7199 350.7199 355.1599 357.6599 365.4399 369.8799 374.8799 377.6599 385.4399 390.4399 398.2199 400.7199 405.7199 410.7199 414.60993 418.49995 421.27995 426.27995 429.05995 433.49995 435.99995 440.43995 445.43995 448.76994 452.0999 456.53993 461.53993 464.31993 466.81993 471.81993 476.25993 479.5899 482.3699 487.3699 491.8099 496.8099 499.3099 504.3099 509.3099 511.8099 514.5899 519.5899 524.0299 526.5299 530.4199 534.8599 539.8599 543.74996 548.18997 550.68997 554.01998 558.45999 562.35 565.13">, the maximum possible current defined by the sense resis</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="-461.0664" x="568.9946">-</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="-449.0664" x="312 314.78 319.78 323.11 325.61 330.05 335.05 340.05 342.55 345.33 350.33 354.77 357.27 360.59999 365.03999 368.36997 372.80998 376.13996 380.57997 385.57997 390.01997 394.45997 396.95997 399.73997 404.73997 409.73997 414.73997 417.51997 420.29997 422.79997 427.23997 432.23997 437.23997 439.73997 442.51997 447.51997 451.95997 454.45997 459.45997 464.45997 468.89997 472.78999 477.22999 479.72999 487.50999 491.94999 496.94999 499.72999 507.50999 512.51 520.29006 522.79006 525.29006">tor and the reference input; and the phase maximum, 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="-446.5664" x="528.5869 532.7569 539.4244 544.83938">PMAX</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="-446.5664" x="550.25436"> </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="-449.0664" x="551.1968 553.6968 556.1968 558.9768 563.9768 568.4168">, 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="-437.0664" x="312 319.78 324.22 329.22 332 339.78 344.78 352.56 355.06 359.5 364.5 367.83 371.15998 375.59999 380.59999 383.37998 385.87998 390.87998 395.31999 398.09999 400.87998 405.87998 410.31999 413.64997 418.08998 423.08998 425.58998 428.36997 433.36997 435.86997 440.30998 442.80998 450.58998 455.58998 458.36997 463.36997 466.69996 469.19996 474.19996 479.19996 483.63996 487.52998 491.96998">maximum current delivered to a motor 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="-419.0664" x="312 318.11 323.11 327.55 330.05 334.49 339.49 343.38 348.38 351.16 356.16 358.94 363.38 365.88 373.66 378.1 383.1 385.88 393.66 398.66 406.44 408.94 413.38 418.38 421.71 425.03999 429.47999 434.47999 437.25999 439.75999 442.25999">The absolute maximum current, 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="-416.5664" x="445.5693 449.73933 456.40684 461.82185">SMAX</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="467.2417 469.7417 472.2417 475.0217 478.9117 481.4117 486.4117 490.8517 494.1817 496.9617 501.9617 506.4017 511.4017 513.90176 518.34176 522.23178">, is defined 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="-397.0632" x="393.776">I</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-394.5632" x="397.1061 400.8561 407.1036 411.6861">SMAX</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="-397.0632" x="416.2662 418.7662 425.5162 428.0162"> = V</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-394.5632" x="434.1227 438.7052 443.2877 447.87019">REF </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="-397.0632" x="449.7416 452.5216 455.0216 458.3516 463.3516 468.3516 470.8516 477.6016 480.1016">/ (16 &#x00d7; R</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-394.5632" x="486.2064">S</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="7.5" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-394.5632" x="489.9564"> </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="-397.0632" x="490.8939">)</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="-381.06" x="312 319.22 324.22 328.66 331.99 336.43 338.75">where V</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="-378.56" x="345.9697 350.9722 355.5547">REF</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="-381.06" x="359.7246 362.2246 365.0046 368.89463 371.39463 374.17463 379.17463 383.61463 386.11463 391.11463 396.11463 398.89463 401.67463 406.11463 411.11463 415.55464 418.05464 422.49464 425.27464 427.77464 430.55464 435.55464 439.99464 442.49464 449.16465 455.27464 460.83464 463.33464 468.33464 471.11463 476.11463 478.61463 481.11463 485.55464 490.55464 495.55464 498.05464"> is the voltage at the REF pin, and R</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="-378.56" x="504.7051">S</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="-381.06" x="508.8762 511.3762 514.1562 518.0462 520.5462 523.32626 528.32626 532.76626 535.26626 539.15628 543.59628 548.59628 552.48629 556.9263"> is the sense </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="-369.06" x="312 315.33 319.77 323.66 326.44 330.33003 333.11003 338.11003 341.44 343.94 348.94 353.38 356.16 361.16 365.6">resistor 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="-351.06" x="312 318.11 323.11 327.55 330.05 335.05 340.05 344.49 348.38 352.82 355.32 363.1 367.54 372.54 375.32 383.1 388.1 395.88 398.38 400.88">The phase maximum, 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="-348.56" x="404.1973 408.3673 415.03483 420.44984">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="-351.06" x="425.8696"> </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="-351.06" x="427.1196 429.6196 432.1196 434.8996 438.7896 441.2896 444.0696 449.0696 453.5096 456.0096 461.0096 466.0096 471.0096 479.3396 481.8396 485.1696 489.6096 492.93959 497.37959 500.70957 505.14958 510.14958 514.58956 519.02957 521.52957 524.3096 528.7496 533.7496 538.1896 540.9696 543.4696 546.7996 551.7996 555.12966 557.62966 560.40969 565.40969 569.8497">, is the 100% reference level for 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="-339.06" x="312 317 322 326.44 330.33003 334.77003 337.27003 341.71003 346.71003 350.04 353.37 357.81 362.81 365.59 368.09 370.87 375.31 380.31 383.09 387.53 390.03 394.47 399.47 404.47 406.97 414.75 419.19 424.19 426.69 431.69 436.13 438.63 443.07 445.57 448.9 452.22999 456.66999 461.11 463.88999 466.66999 471.66999 476.66999 479.16999 484.16999 487.49998 489.99998 492.77998 497.77998 502.21998 504.71998 509.15998 514.16 518.05 523.05 525.83 530.83 533.61007 538.05007 540.55007 548.3301 552.7701 557.7701">phase current table and may be a fraction of the absolute maxi</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="-339.06" x="560.5107">-</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="-327.06" x="312 319.78 324.78 332.56 335.06 339.5 344.5 347.83 351.15998 355.59999 360.59999 363.37998 365.87998 368.37998">mum current, 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="-324.56" x="371.7021 375.8721 382.5396 387.95463">SMAX</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="-327.06" x="393.3745"> </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="-327.06" x="394.6245 397.1245 399.6245 404.6245 409.0645 414.0645 418.50453 423.50453 428.50453 431.28453 436.28453 441.28453 443.78453 448.78453 453.78453 456.28453 459.0645 464.0645 468.50453 471.00453 476.00453 480.44453 483.22453 488.22453 492.66453 495.16453 500.16453 503.4945 505.9945 508.7745 513.77456 518.21456 520.71456 529.60458 536.8245 540.15457 545.15457 547.65457 552.09457 557.09457 562.09457">, depending on the value of the MXI0 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="-315.06" x="312 320.89 328.11003 331.44 336.44 338.94 343.94 346.72 349.5 353.39 355.89 358.67 363.67 366.17 372.84004 377.84004 382.84004 386.17 388.95 393.95 398.95 402.28 406.72 409.5 412.28 417.28 422.28 424.78 431.45 435.89 440.89 443.67 447.56004 450.34004 454.78004 458.11003 460.61003 465.61003">MXI1 bits in Configuration Register 0.</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="-297.06" x="312 317.56 322.56 325.88999 328.38999 332.83 337.83 342.27 350.05 355.05 357.83 362.27">For example:</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="-279.06" x="312">&#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="-279.06" x="315.5"> </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="-279.06" x="324 326.78 330.11 332.61">if R</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="-276.56" x="339.2783">S</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="REIICQ+TimesNewRomanPSMT"><tspan y="-279.06" x="343.4495 345.9495 351.5895 354.0895 359.0895 364.0895"> = 180</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="REIICQ+TimesNewRomanPSMT"><tspan y="-279.06" x="369.0895"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="REIICQ+TimesNewRomanPSMT"><tspan y="-279.06" x="371.5895 379.3695 386.7995 389.2995 393.7395 398.7395 403.7395 406.0565">m&#x03a9; and V</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="-276.56" x="413.2786 418.2811 422.8636">REF</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="-279.06" x="427.0334 429.5334 435.1734 437.6734 442.6734 444.9924 450.9254 453.4254 455.9254 458.7054 463.7054 468.14543 473.14543 475.64543"> = 2 V, then 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="-276.56" x="478.9719 483.1419 489.80943 495.22444">SMAX</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="-279.06" x="500.6443 503.1443 508.7843 511.2843 516.2843 521.2843"> = 694</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="-279.06" x="526.2843"> </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="-279.06" x="528.7843 536.56436">mA</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="-262.56" x="312">&#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="-262.56" x="315.5"> </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="-262.56" x="324 326.78 330.11 332.61 341.5 348.72 352.05 357.05 362.69 365.19 370.19 372.69 377.13 382.13 387.13 389.63 398.52003 405.74003 409.07 414.07 416.57 422.21003 424.71003 429.71003 432.21003 434.71003 437.49003 442.49003 446.93003 451.93003 454.43003">if MXI1= 1 and MXI0 = 0, then 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="-260.06" x="457.7598 461.9298 468.59733 474.01234">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="-262.56" x="479.4321 481.9321 487.5721 490.0721 495.0721 500.0721"> = 520</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="-262.56" x="505.0721"> </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="-262.56" x="507.5721 515.3521">mA</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="-246.06" x="312 318.11 323.11 327.55 330.05 334.49 338.93 341.71 346.71 351.15 353.93 356.43 360.87 365.87 369.19999 372.52998 376.96998 381.96998 384.74998 387.24998 392.24998 396.68998 399.46998 402.24998 407.24998 411.68998 415.01997 419.45997 424.45997 426.95997 429.73997 434.73997 437.23997 441.67997 446.11997 450.55998 455.55998 458.05998 463.05998 468.05998 472.49998 476.38999 480.83 483.33 487.77 490.55 493.05 497.49 501.93 506.37 511.37 513.87 519.43 522.21 526.65 531.65 533.55807 540.778 545.778 550.778 553.55807 557.99807">The actual current delivered to each phase at each Step Angle </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="-234.06" x="312 319.22 324.22 332 337 341.44 344.77 347.27 350.05 353.94 356.44 361.44 365.88 368.66 373.1 376.43 384.21 386.99 391.99 396.43 401.43 403.93 408.93 413.93 416.43 419.21 424.21 428.65 431.15 436.15 440.59 443.37 448.37 452.81 455.31 460.31 463.63999 466.13999">Number is determined by the value of 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="-231.56" x="469.4512 473.62123 480.28874 485.70375">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="-234.06" x="491.1235 493.6235 498.0635 503.0635 508.0635 510.5635 513.3435 518.3435 522.7835 525.2835 529.7235 534.7235 539.7235 542.50357 546.94357 551.94357 554.7236 558.6136"> and the contents </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="-222.06" x="312 317 320.33 322.83 325.61 330.61 335.05 337.55 343.11 348.11 352.55 356.44 360.88 363.38 370.05003 375.05003 378.38 381.71 386.15 391.15 393.93 396.43 399.21 403.65 408.65 411.43 415.87 418.37 420.87 426.43 431.43 434.75999 437.25999 441.69999 446.13999 450.58 455.58 458.08 463.08 468.08 472.52 476.41 480.85 483.35 485.85 488.63 493.63 498.07 500.57 505.57 510.01 512.79006 517.79006 522.23007 524.73007 527.5101 532.5101 535.0101 537.7901 542.7901 547.2301 549.7301 552.51016 556.95016 561.95016 564.73019 569.17019">of the Phase Current table. For each phase, the value in the 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="-210.06" x="312 314.78 318.67 321.17 326.17 330.61003 334.50004 338.39006 342.83006 347.83006 350.33006 353.11006 358.11006 360.61006 363.39006 368.39006 372.83006 375.33006 382.55006 389.77006 396.44007 398.94007 401.44007 408.66007 413.66007 416.44007 420.88008 425.88008 428.38008 433.38008 437.27009 441.71009 445.6001 448.1001">is passed to the DAC, which uses 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="-207.56" x="451.4287 455.59873 462.26625 467.68125">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="-210.06" x="473.1011 475.6011 480.0411 483.93113 486.43113 489.21113 494.21113 498.65113 501.15113 504.4811 508.9211 512.2511 516.6911 520.0211 524.4611 529.4611 533.9011 538.3411 540.8411 545.8411 550.8411 555.8411 564.17117"> as the reference 100% </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="-198.06" x="312 314.78 319.22 324.22 328.66 331.44 333.94 337.27 341.71 346.71 351.71">level (code</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="-198.06" x="356.15"> </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="-198.06" x="358.65 363.65 368.65 371.97999 374.47999 378.91999 383.91999 388.91999 391.41999 394.74998 399.18998 404.18998 409.18998 413.62998 418.06999 421.96 424.46 427.24 432.24 436.68 439.18 443.62 448.62 451.94999 455.27998 459.71998 464.71998 467.49998 469.99998 472.77998 477.21998 480.34498 485.34498 489.78498 492.56498 495.06498 500.06498 504.50498 509.50498 513.94497 518.94497 523.94497 526.725 531.725 536.725 539.225 544.225 549.225 551.725 554.505 559.505 563.945">63) and reduces the current target depending on 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="-186.06" x="312 319.22 326.44 333.11003 335.61003 340.05003 345.05003 350.05003 354.49003 356.99003 359.31004 365.42 370.42 374.86003 377.36003 382.36003 387.36003 390.14 395.14 400.14 402.92 405.42 408.75 412.08 417.08 424.86 427.36 430.13999 435.13999 439.58 442.08 449.3 456.52 463.19 465.69 468.47 472.36003 474.86003 479.86003 483.75004 488.19004 493.19004 495.69004 500.13005 504.02006 506.52006 509.30006 514.30007 518.74008 521.24008 524.0201 529.0201 534.0201 539.0201 541.8001 544.3001 547.08016 552.08016 554.58016 557.36019 562.36019 566.8002">DAC code. The output from the DAC is used as the input to 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="-174.06" x="312 316.44 321.44 324.77 328.09999 332.53999 337.53999 340.31999 342.81999 347.25999 352.25999 360.03999 365.03999 369.47999 372.80998 377.24998 380.02998 385.02998 388.35997 392.24998">current comparators.</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="-156.06" x="312 318.11 323.11 327.55 330.05 334.49 339.49 342.81999 346.14997 350.58998 355.58998 358.36997 360.86997 365.30998 370.30998 378.08998 383.08998 387.52998 390.85997 393.63996 397.52998 402.52998 407.52998 410.02998 412.80998 416.69999 419.19999 421.97999 426.97999 431.97999 436.97999 440.30998 444.74998 449.74998 452.24998 456.68998 459.46998 461.96998 464.74998 469.74998 474.18998 476.68998 480.58 483.36 487.8 491.12998 493.90998 496.40998 501.40998 504.73997 507.23997 510.01997 515.01998 519.45999 521.95999 527.51998 536.95999 545.85">The current comparison is ignored at the start of 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="-144.06" x="312 317">on</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="-144.06" x="322">-</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="-144.06" x="325.33 328.11 330.88999 338.66999 343.11 345.61 348.93998 353.93998 357.26997 359.76997 364.20997 366.70997 371.70997 376.70997 380.03996 384.47996 387.25996 390.03996 395.03996 400.03996 402.53996 405.86994 410.30995 413.63993 418.07994 421.4099 424.7399 429.1799 434.1799 436.6799 439.4599 444.4599 446.9599 451.3999 455.28993 457.78993 460.56993 465.56993 470.00993">time for a duration referred to as 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="-144.06" x="472.4883 477.4883 480.2683 485.2683 490.2683 494.7083 497.2083 499.9883 502.7683 509.9883">blank 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="-144.06" x="514.4219 516.9219 519.2419 525.35189 530.35189 534.7919 537.2889 542.2889 545.0689 549.5089 554.5089 559.5089">. The blank </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="-132.06" x="312 314.78 317.56 325.34 329.78 332.28 335.06 338.95 341.45 346.45 350.89 355.33003 359.77003 363.66004 367.55006 371.99006 375.32005 380.32005 382.82005 385.60005 390.60005 393.10005 398.10005 401.43003 405.87004 410.87004 415.31004 420.31004 423.09004 425.59004 430.03004 435.03004 440.03004 442.53004 446.97004 451.41004 456.41004 460.85005 465.29005 468.07005 470.85005 473.63005 478.63005 483.07005 485.57005 489.46006 496.68006 499.46006 502.24006 506.68006 511.68006 514.4601 519.4601 524.4601 526.9601 531.4001 536.4001 539.7301 543.0601 547.5001 552.5001 555.28018 559.17019">time is necessary to prevent any capacitive switching currents </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="-120.06" x="312 315.33 318.65998 323.65998 331.43998 333.93998 338.37998 342.81999 347.81999 351.71 354.49 359.49 364.49 366.99 371.43 373.93 378.93 383.37 387.81 392.81 395.31 399.75 404.75 408.08 411.40998 415.84999 420.84999 423.62998 426.12998 431.12998 435.56999 438.34999 442.78999 447.22999 450.00999 452.78999 457.78999 462.78999">from causing a peak current detection.</tspan></text>
</svg>