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.
2035 lines
179 KiB (Stored with Git LFS)
XML
2035 lines
179 KiB (Stored with Git LFS)
XML
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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>
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<text fill="#0000ff" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="WSZTMG+ArialMT"><tspan y="-15.920399" x="427.99559 432.32759 436.65959 440.99159 442.65959 445.99559 447.32759 448.65959 451.99559 455.33158 457.32957 460.66557 465.66355 466.99555 469.99555 471.99354 475.32954 476.99754 479.99754 483.33354">www.allegromicro.com</tspan></text>
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</g>
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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="-126.3461" x="328.8887 334.9987 337.7787 343.88868 349.99867 353.88868 359.44868 362.22868 367.78868 370.56867 373.34867 380.01869 383.22868 386.4387 391.9987 397.5587 400.88868 403.66868 409.77867 413.10865 415.88865 421.44865 424.77864 430.33863 433.11863 435.89863 438.67863 444.23863 450.3486 456.4586 462.56858 465.34858 468.67857 471.45857 477.56855 483.67854 486.45854 492.5685 498.6785 501.4585 507.0185 513.1285 517.0185 520.9085 526.4685 532.5785 535.9085 538.68856 542.57858 545.3586 550.9186">Figure 3. Effect of stall condition on current rise</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="-658.108" x="36 38.78 42.11 46.550004 51.550004 55.440004 58.22 62.660005 67.66 70.44 74.33 76.83 79.33 82.66 85.44 87.94 92.380008 95.16 99.05 104.05 106.55 111.55 114.880008 119.32001 124.32001 128.76001 133.76001 136.54001 140.43001 142.93001 146.26001 150.70001 153.48001 157.37001 161.81002 164.31002 168.20001 173.20001 178.20001 181.53002 184.31002 186.81002 191.81002 196.25002 199.03002 203.47002 207.91002 210.69002 213.47002 218.47002 223.47002 227.36002 229.86002 233.19002 237.63002 241.52002 246.52002 249.30002 252.08002 254.86002 259.86003 264.86003 267.36003 270.69 274.02 279.02 286.8">transients. It also prevents false short detections resulting from </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="-646.108" x="36 40.440004 45.440004 48.770006 52.100008 56.54001 61.54001 64.32001 66.82001 69.600009 72.93001 77.37001 82.37001 86.26001 89.04001 93.48001 98.48001 101.26001 105.15001 107.65001 112.65001 117.09001 122.09001 126.530017 129.86002 134.30002 137.08002 141.52002 146.52002 149.02002 154.02002 159.02002 161.52002 164.30002 169.30002 173.74002 176.24002 184.02002 189.02002 191.80002 196.80002 200.13002 202.63002 207.63002 210.96002 213.46002 220.68003 223.46002 226.79003 229.57003 234.57003 239.57003 242.07003 246.51003 250.95003 255.95003 260.39 264.83003 267.61003 270.39 274.83003 279.83003 284.27003 288.71003">current transients generated by the motor or wiring capacitance </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="-634.108" x="36 43.22 48.22 52.660005 57.660005 60.160005 64.600009 67.100009 72.66 78.770008 84.69601 87.19601 89.976009 93.866008 96.366008 99.69601 102.476009 105.80601 109.69601 112.476009 114.976009 118.866008 126.086009 128.86602 131.64601 136.08602 141.08602 145.52602 150.52602 153.02602 158.02602 163.02602">when a FET is first switched 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="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-616.108" x="36 42.670003 48.780004 54.890005 58.780004 62.11 64.89 71 76.56 82.67 85.45 88.78 91.56 98.78 104.34 109.899997 115.45999 118.78999 121.56999 127.12999 133.23999 139.34999 142.12999 149.34999 154.90999 158.23999 162.12999">Short Fault Reset and Retry</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="-616.108" x="167.6895 170.0085 179.4485 184.4485 188.8885 193.8885 196.3885 200.8285 203.3285 207.2185 212.2185 217.2185 220.54851 223.3285 225.8285 230.26851 233.04851 236.37851 240.81851 245.81851 248.59851 251.37851 253.87851 258.8785 263.3185 267.20854 269.70854 274.70854 279.14854 283.58854 288.58854"> When a short circuit has been </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="-604.108" x="36 41 45.440004 48.22 52.660005 57.100008 59.880006 64.32001 69.32001 71.82001 76.26001 79.04001 81.82001 84.32001 89.32001 94.32001 97.100009 102.100009 107.100009 109.880008 113.770008 116.270008 119.600009 124.600009 127.93001 130.43001 133.21 138.21 142.65001 145.15001 148.48001 152.92002 157.92002 160.70001 163.48001 168.48001 170.98001 175.98001 180.98001 185.42002 189.31002 193.75002 196.25002 200.69002 204.02002 208.46002 210.96002 215.96002 218.74002 222.63002 227.07003 232.07003 234.85002 239.29003 244.29003 246.79003 251.79003 256.79005 259.57005 262.35005 265.13005 267.63005 270.41004 275.41004 279.85005">detected all outputs for the faulty phase are disabled until the </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="-592.108" x="36 41 45.440004 50.440004 53.22 55.72 60.72 65.16 69.600009 74.600009 77.93001 81.26001 85.70001 90.70001 95.140018 99.58002 102.08002 107.08002 110.41002 113.19002 115.69002 118.47002 123.47002 127.91002 130.41002 135.41002 139.85002 144.85002 147.63002 150.13002 153.46002 156.24002 160.13002 162.91002 167.91002 172.91002 175.41002 179.85002 184.85002 189.85002 194.29003 196.79003 201.79003 206.79003 209.29003 212.07003 217.07003 221.51003 224.01003 229.57003 235.68003 241.79003 246.95203 249.45203 252.23203 257.23204 262.23204 267.23204 270.01203 272.51203 275.01203 277.79203 282.79203 287.23204">next occurrence of: the next rising edge on the STEP input, the </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="-580.108" x="36 42.670003 48.780004 54.340005 60.450006 66.560009 71.560009 74.060009 76.840007 81.840007 86.840007 91.840007 94.62 97.12 99.9 103.79 106.29 111.29 116.29 119.07 122.96 127.4 132.4 134.9 137.68 142.68 149.24199 151.74199 154.24199 159.24199 162.57199 165.07199 170.07199 175.07199 177.85199 180.63199 183.41199 185.91199 188.69199 193.69199 198.13199 200.63199 205.63199 208.41199 212.85199 217.85199 222.85199 227.85199 231.74199 234.52199 237.30199 241.74199 244.24199 247.57199 252.012 257.012 259.792 263.682 266.462 270.902 274.232 278.122">RESETn input is pulsed low, or until the diagnostic registers </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="-568.108" x="36 40.440004 43.770006 48.210008 50.710008 54.04001 58.48001 62.37001 66.81001 69.59001 72.09001 77.09001 82.09001 84.59001 91.81001 95.140018 97.92001 100.70001 103.48001 108.48001 113.48001 115.98001 118.76001 123.76001 126.26001 131.26001 136.26001 140.70001 143.20001 148.20001 151.53002 154.03002 156.81002 161.81002 166.25002 168.75002 172.08002 176.52002 181.52002 184.30002 188.19002 190.97002 195.41002 198.74002 202.63002 205.13002 207.91002 212.91002 216.24002 221.24002 226.24002 231.24002 236.24002 238.74002 241.52002 246.52002 250.96002 253.46002 257.35005 261.79005 265.12004 267.90003 272.34004 275.12004">are reset by writing to one of the registers through the serial </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="-556.108" x="36 38.78 43.78 46.559999 51 54.33 57.660005 62.100008 66.54001 70.98001 73.48001 75.419017 82.639019 85.419017 87.919017 90.69901 95.69901 100.139019 102.639019 107.639019 112.07902 117.07902 119.85902 122.35902 127.919017 134.029 140.139 145.321 147.821 152.261 157.261 165.041 172.821 177.261 182.261 187.261 189.761 194.761 198.091 200.591 205.031 208.36101 211.141 215.58101 218.91101 221.41101 225.85102 228.35102 231.68102 236.12102 241.12102 243.90102 246.68102 249.18102 252.51102 256.95103 260.84104 265.28105 268.06105 270.56105 273.06105 275.84104 280.84104 285.28105">interface. At the next STEP command or after a fault reset, the </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="-544.108" 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 98.22 101 105.44 110.44 112.94 115.72 119.61 122.11 126.55 129.33 133.77 138.21 141.54001 145.98001 150.98001 153.48001 155.98001 158.76001 163.76001 168.20001 170.70001 175.70001 180.70001 183.48001 188.48001 193.48001 196.26001 200.15001 202.65001 207.09001 210.42002 214.86002 217.36002 220.69002 225.13002 228.46002 232.90003 237.90003 242.34003 247.34003 250.12003 254.56003 259.56004 262.06004 264.56004 269.00004 274.00004 279.00004 281.50004 284.28004 289.28004 293.72004">Fault Register flag is cleared, the outputs are re-enabled, and the </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="-532.108" x="36 41 46 48.78 51.559999 56 61 65.44 67.94 72.380008 76.82001 80.15001 85.15001 89.04001 92.93001 95.43001 98.21001 103.21001 107.65001 110.15001 115.71001 121.82001 127.73801 130.238 133.018 136.908 139.408 142.738 147.17801 151.06801 155.50801 163.28801 168.28801 171.06801 175.50801 180.50801 183.00801 185.50801 192.72801 197.72801 200.50801 204.94802 207.44802 210.22801 215.22801 219.66802 222.44802 224.94802 227.72801 232.72801 237.16802 239.66802 244.66802 247.44802 251.88802 256.888 261.888 266.888 270.778 273.558 276.338 280.778">voltage across the FET is resampled. Note that the diagnostic </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="-520.108" x="36 39.33 43.770006 48.770006 51.550004 55.440004 58.22 62.660005 65.990009 69.880008 72.380008 76.82001 80.15001 84.59001 87.09001 92.09001 97.09001 99.87001 102.37001 106.81001 109.59001 114.030017 118.47002 121.80002 126.24002 131.24002 133.74002 138.74002 143.74002 146.24002 149.02002 154.02002 158.46002 160.96002 164.29003 167.07003 170.96002 173.74002 178.74002 183.74002 186.24002 190.68003 195.68003 200.68003 205.12003 207.62003 212.62003 215.95003 218.45003 221.23003 226.23003 230.67003 233.17003 238.73003 244.84003 250.95003 256.11204 258.61204 261.39204 266.39204 271.39204 276.39204 279.17204">registers are not cleared by the rising edge of the STEP input.</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="-502.108" x="36 45.440004 50.440004 53.22 56 60.440004 62.940004 65.72 70.72 75.16 77.66 80.990009 85.43001 90.43001 93.21001 95.990009 98.490009 103.490009 107.93001 111.26001 115.15001 117.93001 121.82001 124.600009 128.49 130.99 133.77 138.77 143.21 145.141 152.36101 157.36101 162.36101 167.36101 172.36101 174.86101 182.08101 184.86101 187.641 190.421 192.921 197.36101 202.36101 207.36101 210.141 212.921 217.921 222.921 227.36101 229.86101 232.641 237.641 240.421 244.311 246.811 251.251 256.251 260.691 263.471 267.911 270.411">While the fault persists the A3981 will continue this cycle, </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="-490.108" x="36 40.440004 45.440004 49.880006 54.880006 57.660005 60.440004 65.44 70.44 72.94 75.72 80.72 85.16 87.66 92.66 97.66 100.44 105.44 110.44 113.22 117.11 119.61 122.94 127.94 131.27 133.77 138.21 140.71 144.6 149.6 154.6 157.93001 160.71 163.21 168.21 172.65001 175.98001 178.76001 183.76001 188.76001 191.26001 194.04001 199.04001 203.48001 208.48001 210.98001 215.98001 218.76001 222.65001 227.09001 232.09001 234.87001 237.65001 242.65001 247.65001 250.15001 252.93001 257.93 262.37 264.87 269.87 274.87">enabling the outputs for a short period then disabling the out</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="-490.108" x="277.6211">-</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="-478.108" x="36 41 46 48.78 52.67 55.17 57.489 63.599 68.599 71.379 75.269 77.769 82.209 84.989 87.769 92.769 99.989 103.879 106.379 109.159 114.159 118.599 120.541 127.761 132.761 137.761 142.761 147.761 150.261 153.041 158.041 160.541 165.541 169.981 174.981 179.981 182.761 187.201 189.701 194.141 196.641 201.08101 206.08101 211.08101 213.86101 216.641 221.641 226.641 231.641 236.641 240.531 243.031 246.921 251.921 256.92103 260.251 263.031 265.531 269.971 272.751 276.081 280.521 285.521 288.301 291.081">puts. This allows the A3981 to handle a continuous short circuit </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="-466.108" x="36 43.22 46 48.78 53.78 58.78 63.78 66.56 69.06 74.06 78.5 86.28 90.72 95.72 100.16 102.66 105.16 108.490009 111.82001 114.32001 116.82001 124.04001 129.04001 131.82 134.6 139.04001 141.54001 145.43001 148.21 152.65001 157.65001 162.65001 165.43001 170.43001 175.43001 177.93001 181.26001 185.70001 190.70001 193.48001 198.48001 201.26001 205.59001 208.09001 210.59001 215.03002 217.53002 221.42002 226.42002 231.42002 234.75002 237.53002 240.03002 244.47002 247.25002 250.58002 255.02002 260.02003 262.80003 265.58003 268.08003 272.52003 277.52003 282.52003 286.96003 291.40003 294.73 298.62004">without damage. If, while stepping rapidly, a short circuit appears </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="-454.108" x="36 40.440004 45.440004 50.440004 52.940004 57.940004 62.940004 65.44 69.880008 74.32001 77.100009 79.880008 84.880008 89.880008 92.380008 95.16 99.05 101.55 104.33 108.770008 113.770008 118.21001 123.21001 125.71001 128.21 130.99 135.99 140.43001 142.93001 146.26001 150.70001 155.70001 160.14002 164.58002 167.36002 171.80002 176.80002 179.30002 183.19002 188.19002 193.19002 196.52002 199.30002 201.80002 206.24002 209.02002 212.35002 216.79003 221.79003 224.57003 227.35002 229.85002 234.29003 239.29003 242.62003 245.95003 250.39003 255.39003 258.17005 260.67005 265.67005 270.67005 273.45005 277.34007 281.78007 285.67008">and no action is taken, the repeated short circuit current pulses </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="-442.108" x="36 43.22 46 48.78 51.559999 54.059999 58.5 63.5 67.94 72.94 75.72 80.72 85.16 87.94 90.72 95.72 98.22 102.66 107.100009 112.100009 115.990009 120.43001 122.93001 125.71001 130.71 135.15001 137.65001 140.43001 144.87001 152.65001 157.65001 162.09001 165.42002 169.86002 172.64002 177.64002 180.97002 185.41002 187.91002 192.91002 196.24002 198.74002 201.52002 206.52002 210.96002 212.87502 220.09502 225.09502 230.09502 235.09502 240.09502 242.59502 245.37502 250.37502 252.87502 256.20503 258.98503 262.87504 267.31504 269.81504 274.25505 279.25505 284.25505 286.75505 291.19505 296.19505">will eventually cause the temperature of the A3981 to rise and an </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="-430.108" x="36 41 46 50.440004 53.770006 56.550004 60.990007 68.770008 73.770008 78.21001 81.54001 85.98001 88.76001 93.76001 97.09001 101.530017 104.030017 107.360019 111.80002 116.80002 119.58002 122.360019 124.860019 132.08002 134.86002 137.64002 140.42002 142.92002 147.92002 152.36002 156.80002 161.80002 164.55503">overtemperature fault will occur.</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="-412.108" x="36 43.78 49.89 55.45 61.56 64.340007 70.450008 76.560009 82.12 88.23 91.01 98.23 103.79 107.12 112.68 118.24 121.57 124.35 130.45999">Open Load Detection</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="-412.108" x="136.5615 139.0615 146.2815 151.2815 155.7215 160.7215 163.2215 166.0015 171.0015 175.4415 180.4415 182.9415 187.3815 192.3815 197.3815 202.3815 205.1615 207.9415 210.7215 215.7215 220.7215 224.6115 227.1115 231.5515 234.8815 239.3215 241.8215 246.8215 251.2615 254.0415 258.4815 262.9215 265.7015 270.1415 275.1415"> Open load conditions are detected </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="-400.108" x="36 41 46 48.5 56.28 61.28 66.28 69.06 71.84 76.84 80.17 82.95 87.95 92.95 95.45 98.229999 103.229999 107.67 110.17 115.17 120.17 124.61 128.5 132.94 135.44 139.88 144.88 148.21 151.54001 155.98001 160.98001 163.76001 166.26001 173.48001 178.48001 182.92002 187.92002 190.42002 193.20001 198.20001 202.64002 205.14002 210.14002 215.14002 219.58002 223.47002 227.91002 230.41002 237.63002 244.85002 251.52002 254.02002 259.02003 263.46003 266.24003 271.24003 275.68003">by monitoring the phase current when the phase DAC value </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="-388.108" x="36 38.78 42.67 45.17 50.17 53.5 57.940004 62.380006 65.16 69.600009 72.93001 75.43001 78.21001 83.21001 87.65001 92.65001 95.15001 100.15001 105.15001 107.65001 109.96001 116.07001 121.07001 125.51001 128.01001 135.23001 140.23001 144.67002 149.67002 152.17002 158.28002 163.28002 167.72002 172.72002 175.22002 181.89002 186.89002 190.22002 193.55002 197.99002 202.99002 205.77002 208.08002 214.19002 219.19002 222.52002 226.96002 230.85002 235.85002 240.85002 243.63002 248.63002 251.13002 253.63002">is greater than 31. The Open Load Current Threshold, I</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="-385.608" x="256.957 262.372">OL</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="-388.108" x="266.6763"> </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="-388.108" x="267.9263 270.4263 272.9263 275.7063 279.5963">, 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="-376.108" x="36 41 45.440004 48.770006 51.550004 56.550004 60.990007 65.990009 68.490009 73.490009 78.490009 80.990009 83.770008 88.770008 93.21001 95.71001 102.93001 109.04001 114.04001 116.54001 120.98001 125.98001 130.98001 133.48001 140.70001 146.81002 151.81002 154.31002 159.31002 162.09001 164.87001 168.76001 171.26001 174.04001 179.04001 181.54001 184.32 189.32 193.76001 196.26001 202.93001 207.93001 212.93001 215.43001 218.76001 223.20001 228.20001 230.98001 234.87001 237.65001 242.09001 245.42002 247.92002 252.36002 256.25004 258.75004 263.19004 265.69004 270.69004 275.13005 278.46003 282.90003 287.34004 292.34004">defined by the OL0 and OL1 bits in the Run register as a percent</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="-376.108" x="295.0918">-</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="-364.108" x="36 40.440004 45.440004 49.880006 52.380006 57.380006 60.710008 63.210008 65.990009 70.990009 75.43001 77.93001 85.71001 90.15001 95.15001 97.93001 105.71001 110.71001 118.490009 120.990009 124.32001 129.32 134.32 139.32 147.65001 150.98001 153.48001 158.48001 163.48001 167.92002 171.81002 176.25002 178.75002 183.19002 188.19002 191.52002 194.85002 199.29003 204.29003 207.07003 209.57003 212.07003">age of the maximum (100%) phase current, I</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="-361.608" x="215.3799 219.5499 226.21739 231.63239">PMAX</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="-364.108" x="237.0522"> </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="-364.108" x="238.3022 240.8022 243.3022 248.3022 252.7422 256.0722 258.8522 263.8522 268.2922 273.2922 275.7922 278.5722 283.5722 286.0722 288.8522 293.8522 298.2922">, defined in the </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="-352.108" x="36 41.56 46.56 51 54.89 59.33 61.83 68.5 73.5 76.83 80.16 84.600009 89.600009 92.380008 94.880008 97.66 102.100009 107.100009 109.880008 114.32001 116.82001 119.130008 125.240009 130.24 134.68001 137.18001 142.18001 147.18001 152.18001 160.51001 163.01001 165.79001 170.23001 175.23001 179.67002 182.45001 184.95001 187.73001 192.73001 195.23001 198.01001 203.01001 207.45001 209.95001 215.51001 220.51001 224.95001 228.84001 233.28002 235.78002 242.45001 247.45001 250.78002 254.11002 258.55003 263.55003 266.33003 268.83003 271.61003 276.05003 281.05003 283.83003 288.27003 290.77003 293.55003 297.44004">Phase Current table. The 100% level in the Phase Current table 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="-340.108" x="36 41 45.440004 48.770006 51.550004 56.550004 60.990007 65.990009 68.490009 73.490009 78.490009 80.990009 83.770008 88.770008 93.21001 95.71001 99.600009 104.04001 109.04001 112.93001 117.37001 119.87001 123.20001 127.640018 131.53002 134.31002 138.20001 140.98001 145.98001 149.31002 151.81002 156.81002 161.25002 164.03002 169.03002 173.47002 175.97002 180.41002 185.41002 190.41002 192.91002 195.69002 200.69002 205.13002 207.63002 212.07003 217.07003 222.07003 224.85002 229.29003 234.29003 237.07003 240.96002 243.46002 248.46002 251.79003 254.29003 257.07005 262.07005 266.51005 269.01005 277.90007 285.12007 288.45005 293.45005">defined by the sense resistor value and the contents of the MXI0 </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="-328.108" x="36 40.440004 45.440004 50.440004 52.940004 61.83 69.05 72.380008 77.380008 79.880008 84.880008 87.66 90.44 94.33 96.83 99.61 104.61 107.11 113.78 118.78 123.78 127.11 129.89 134.89 139.89 143.22 147.66 150.44 153.22 158.22 163.22 165.72 172.39 176.83 181.83 184.61 188.5 191.28 195.72 199.05 201.55 206.55">and MXI1 bits in Configuration Register 0.</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="-310.108" x="36 41.56 46.56 49.89 52.39 56.83 61.83 66.270008 74.05 79.05 81.83 86.270008">For example:</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="-292.108" x="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="-292.108" x="39.5"> </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="-292.108" x="48 50.78 54.11 56.61">if 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="-289.608" x="63.2783">S</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="-292.108" x="67.4495 69.9495 75.5895 78.0895 83.0895 88.0895 93.0895 95.5895 103.3695 110.7995 113.2995 117.7395 122.7395 127.7395 130.0565"> = 180 mΩ and V</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="-289.608" x="137.2786 142.2811 146.8636">REF</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="-292.108" x="151.0334 153.5334 159.1734 161.6734 166.6734 168.9924 174.9254"> = 2 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="-292.108" x="177.4254"> </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="-292.108" x="180.0034 182.7834 187.7834 192.2234 197.2234 199.7234">then I</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="-289.608" x="203.0469 207.2169 213.8844 219.2994">SMAX</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="-292.108" x="224.7192 227.2192 232.85919 235.35919 240.35919 245.35919"> = 694</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="-292.108" x="250.35919"> </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="-292.108" x="252.85919 260.6392">mA</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="-275.608" x="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="-275.608" x="39.5"> </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="-275.608" x="48 50.78 54.11 56.61 65.5 72.72 76.05 81.05 83.55 89.19 91.69 96.69 99.19 103.630008 108.630008 113.630008 116.130008 125.020008 132.24 135.57 140.57 143.07 148.71 151.21 156.21 158.71 161.21 163.99 168.99 173.43001 178.43001 180.93001">if MXI1 = 1 and MXI0 = 0, then I</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="-273.108" x="184.2598 188.4298 195.09729 200.51229">PMAX</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="-275.608" x="205.9321 208.4321 214.0721 216.5721 221.5721 226.5721 231.5721 234.0721 241.8521"> = 520 mA</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="-259.108" x="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="-259.108" x="39.5"> </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="-259.108" x="48 50.78 54.11 56.61 63.83 69.94 74.94 80.58 85.58 88.08 92.520008 97.520008 102.520008 105.020008 112.240009 118.350009 123.350009 128.99 133.99 136.49 138.99 141.77 146.77 151.21 156.21 158.71">if OL1=0 and OL0=1, then I</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="-256.608" x="162.0332 167.4482">OL</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="-259.108" x="171.7524 174.2524 179.8924 182.3924 187.3924 192.3924 197.3924 199.8924 207.6724"> = 156 mA</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="-242.608" x="36 42.11 47.11 51.550004 54.050004 59.050004 64.05 68.490009 73.490009 75.990009 78.770008 83.770008 88.21001 93.21001 95.71001 100.15001 105.15001 108.48001 111.81001 116.250019 121.250019 124.030017 126.530017 134.31002 139.31002 144.31002 147.09001 149.87001 154.87001 158.20001 160.70001 163.48001 167.37001 169.87001 174.87001 179.87001 182.65001 187.65001 190.15001 194.59001 199.03002 201.81002 204.59001 209.59001 214.03002 216.53002 220.97002 224.30002 227.08002 231.52002 234.85002 237.35002 241.79003 244.29003 249.29003 252.07003 256.51 261.51 266.51">The open load current monitor is only active after a blank </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="-230.608" x="36 38.78 41.559999 49.339998 53.78 56.28 59.61 62.940004 67.94 75.72 78.22 81 86 90.44 92.94 96.83 99.61 104.05 107.380008 110.16 112.66 117.66 120.990009 123.490009 127.93001 130.43001 135.99 145.43001 154.32 156.82 161.26001 166.26001 170.70001 173.48001 177.92002 180.42002 182.348 189.56801 194.56801 197.06801 202.06801 207.06801 211.50801 216.50801 219.00801 221.78801 226.78801 231.22801 236.22801 238.72801 243.16802 247.60802 252.60802 255.10802 260.10804 265.10804 267.88804 272.88804 275.38804 280.38804 284.82804">time from the start of a PWM cycle. An open load can only 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="-218.608" x="36 41 45.440004 48.22 52.660005 57.100008 59.880006 64.32001 69.32001 71.82001 74.600009 77.93001 80.43001 83.21001 88.21001 92.65001 95.15001 102.37001 109.59001 116.26001 118.76001 123.76001 128.20001 130.98001 135.98001 140.42002 142.92002 146.25002 151.25002 154.58002 157.08002 159.86002 164.86002 169.30002 171.80002 176.80002 181.80002 186.24002 190.13002 194.57003 197.07003 199.85002 203.74002 206.24002 211.24002 214.57003 219.01003 223.45003 226.23003 230.67003 234.00003 236.50003 239.28003 244.28003 248.72003 253.72003 256.22004 261.22004 266.22004 268.72004 273.16004 278.16004 283.16004 285.66004 288.44004 293.44004 297.88005">detected if the DAC value for the phase is greater than 31 and the </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="-206.608" x="36 40.440004 45.440004 48.770006 52.100008 56.54001 61.54001 64.32001 66.82001 71.82001 76.26001 80.15001 82.65001 87.65001 92.65001 95.43001 97.93001 102.37001 107.37001 111.81001 116.250019 120.69002 125.69002 130.13002 135.13002 137.63002 140.41002 145.41002 149.85002 152.35002 159.57003 164.57003 169.01003 174.01003 176.51003 182.62003 187.62003 192.06003 197.06003 199.56003 206.23003 211.23003 214.56003 217.89003 222.33003 227.33003 230.11003 232.40604 238.51604 243.51604 246.84604 251.28604 255.17604 260.17604 265.17604 267.95603 272.95603 275.45603 278.786 283.786 287.116">current has not exceeded the Open Load Current Threshold for </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="-194.608" x="36 43.78 48.78 52.11 56.550004 59.050004 61.83 66.83 71.270008 76.270008 78.770008 83.770008 88.770008 91.270008 96.83 106.270008 115.16 117.66 122.100009 127.100009 131.54001 134.32 138.76001 142.65001">more than 15 PWM cycles.</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="-176.608" x="36 42.11 47.11 51.550004 53.495004 60.715005 65.715007 70.715007 75.715007 80.715007 83.215007 87.65501 92.65501 97.65501 100.435009 103.215007 108.215007 113.215007 117.65501 121.545009 124.045009 126.825008 131.82501 134.32501 139.32501 142.65502 145.43502 150.43502 154.87502 157.37502 160.15502 165.15502 169.59502 172.09502 177.09502 180.42502 183.20502 188.20502 193.20502 197.64502 200.14502 205.14502 210.14502 212.92502 217.92502 222.92502 225.70502 229.59502 232.09502 237.09502 242.09502 247.09502 251.53502 254.86502 257.36503 261.80503 266.80503 269.30503 274.30503 279.30503 283.74504 288.74504">The A3981 continues to drive the bridge outputs under an open </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="-164.608" x="36 38.78 43.78 48.22 53.22 55.72 60.160005 65.16 70.16 75.16 77.94 80.72 83.5 88.5 93.5 96 100.44 105.44 110.44 112.94 117.380008 120.16 124.600009 129.04001 132.37001 136.26001 138.76001 141.54001 146.54001 150.98001 153.48001 159.04001 163.48001 168.48001 171.26001 174.04001 176.54001 183.21 187.65001 192.65001 195.43001 199.32 202.1 206.54001 209.87001 212.37001 215.70001 218.48001 222.92002 227.92002 230.42002 234.86002 238.75002 241.25002 245.14002 250.14002 255.14002 260.14 262.64 267.08003 270.97004 273.47004 276.25004 281.25004 285.69004">load condition and clears the Fault Register flag as soon as the </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="-152.608" x="36 41 46 50.440004 54.33 58.770006 61.270006 65.71001 70.71001 74.04001 77.37001 81.81001 86.81001 89.59001 92.09001 96.530017 101.530017 105.97002 110.41002 114.85002 119.85002 123.74002 126.24002 129.02002 134.02002 138.46002 140.96002 148.18003 153.18003 157.62003 162.62003 165.12003 171.23003 176.23003 180.67003 185.67003 188.17003 194.84003 199.84003 203.17003 206.50003 210.94004 215.94004 218.72003 221.02004 227.13004 232.13004 235.46004 239.90004 243.79004 248.79004 253.79004 256.57005 261.57005 264.07005 269.07005 272.40003 274.90003 277.68003 282.68003 287.12004">phase current exceeds the Open Load Current Threshold or the </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="-140.608" x="36 43.22 50.440004 57.110006 59.610006 64.61 69.05 71.83 76.83 81.270008 83.770008 86.55 90.44 92.94 95.72 100.16 104.05 107.94 110.44 113.22 118.22 122.66 127.66 130.16 135.16 140.16 142.66 144.975 151.085 156.085 160.52501 163.02501 168.02501 170.80501 175.24501 180.24501 185.24501 190.24501 194.13501 196.91501 199.695 204.13501 206.63501 209.96501 214.40502 219.40502 222.18502 226.07501 228.85501 233.29502 236.62502 240.51502 243.01502 246.34502 250.78502 253.56502 258.005 260.785 265.785 268.285 271.065 276.065 280.505">DAC value is less than 32. The diagnostic registers retain the </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="-658.108" x="312 317 322 326.44 331.44 333.94 336.72 341.72 346.16 351.16 353.66 356.99 361.43 366.43 369.21 371.99 374.49 379.49 382.27 385.05 388.94 391.44 393.94 401.16 407.27 413.929 416.429 420.869 425.869 430.869 433.369 440.589 446.69898 453.369 455.869 458.369 462.809 467.809 472.809 475.309 482.529 485.309 488.089 490.869 493.369 498.369 503.369 506.149 508.649 513.649 518.089 520.589 525.029 527.809 532.249 536.689 540.01907 544.45907 549.45907 551.95907 556.95907 561.95907 564.7391 567.5191 570.29916">open load fault bits, OLA and OLB, and will not be cleared until </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="-646.108" x="312 318.67 324.78 330.34 336.44999 342.55998 347.55998 350.04496 352.82496 356.71498 359.20497 364.20497 369.20497 371.98497 375.87498 380.31498 385.31498 387.80497 390.58497 395.58497 402.80497 405.29496 410.29496 413.62495 416.11494 421.11494 426.11494 430.55494 433.04493 438.04493 441.3749 443.8649 446.6449 451.6449 456.0849 458.5699 463.5699 466.34989 470.7899 475.7899 480.7899 485.7899 489.6799 492.4599 495.2399 499.6799 502.1619 505.49189 509.9319 514.9319 517.7119 521.6019 524.38198 528.82199 532.152 536.042 538.532 541.312 545.202 547.692 554.912 558.242 561.02206 563.80209 566.5821 571.0221 576.0221">RESETn is pulsed low or one of the diagnostic registers is written </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="-634.108" x="312 314.78 319.78 323.11 328.11 333.11 338.11 343.11 345.61 348.38999 353.38999 357.83 360.33 364.22 368.66 371.99 374.77 379.21 381.99 384.49 387.27 392.27 395.05 399.49 402.81999 406.14997 410.58998 415.02998 419.46998">through the serial interface.</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="-616.108" x="312 318.67 322 327.56 330.34 333.12 335.9 343.12 348.68 352.00999 357.56999 363.12998 366.45997 369.23997 375.34996">Stall Detection</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="-616.108" x="381.458 383.958 389.518 394.518 397.848 400.348 404.788 407.568 410.348 412.848 420.628 425.628 428.408 433.408 436.73799 440.628 443.128 445.908 448.688 451.188 453.968 457.858 460.358 465.358 470.358 474.24803 478.13804 480.91804 485.91804 488.69804 493.13804 495.63804 498.41804 503.41804 505.91804 510.91804 515.35806 518.13809 522.57809 525.9081 533.6881 536.46817 541.46817 545.90817 548.40817 551.1882 556.1882 560.6282"> For all motors it is possible to determine the </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="-604.108" x="312 319.78 324.22 328.66 333.66 338.1 343.1 345.88 350.32 354.76 357.54 360.04 363.93003 366.71003 371.15003 373.93003 378.37004 380.87004 385.87004 389.2 391.7 394.48 399.48 403.92 406.42 414.2 419.2 421.98 426.98 430.31 432.81 437.81 442.81 445.31 453.09 458.09 463.09 465.87 468.65 473.65 476.97999 479.75999 484.75999 489.75999 492.25999 495.03999 500.03999 504.47999 506.97999 511.97999 516.42 520.86 525.86 529.19 535.3 544.19 549.75">mechanical state of the motor by monitoring the back-EMF </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="-592.108" x="312 315.33 322 328.11 337 342.56 345.88999 348.38999 353.38999 357.83 362.83 367.27 370.59999 375.03999 377.81999 382.25999 387.25999 389.75999 392.53999 397.53999 400.03999 402.81999 407.81999 412.25999 414.75999 422.53999 427.53999 430.31999 435.31999 438.64997 441.14997 446.14997 451.14997 455.58998 459.47999 463.91999 466.41999 473.63999 476.41999 481.41999 486.41999 489.19999 494.19999 499.19999 503.09 505.59 507.522 514.192 516.692 520.58206 523.36209 527.80209 530.5821 533.3621 537.8021 542.8021 545.3021 553.08218 558.08218 560.8622 565.8622 569.1922">(BEMF) generated in the motor phase windings. A stalled motor </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="-580.108" x="312 316.44 321.44 326.44 331.44 334.22 337 339.78 344.78 349.78 352.28 355.06 358.95 361.45 368.67 373.67 378.11003 383.11003 385.61003 388.39 393.39 397.83003 400.33003 405.33003 410.33003 414.77003 418.66004 423.10005 425.60005 430.04005 435.04005 438.37004 441.7 446.14 451.14 453.92 457.81004 460.31004 464.75004 468.08003 472.52003 475.02003 480.02003 484.46003 487.24003 492.24003 497.24003 499.74003 503.63005 508.07005 513.07009 518.07009 522.5101 527.5101 531.9501 536.3901 541.3901 543.8901 546.6701 551.6701 554.1701 558.0601 560.84017 565.28018 570.28018">condition is when the phase currents are being sequenced to step </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="-568.108" x="312 314.78 319.78 324.22 326.72 334.5 339.5 342.28 347.28 350.61 353.11 358.11 363.11 365.88999 368.38999 371.16999 376.16999 380.61 383.11 390.88999 395.88999 398.66999 403.66999 406.99998 409.49998 412.82997 417.26997 425.04997 429.48997 432.26997 437.26997 441.15998 443.65998 447.55 450.33 454.77 457.55 460.33 465.33 470.33 474.77 478.09999 482.425 484.925 487.244 493.35398 498.35398 501.13398 505.024 507.524 511.964 516.404 521.404 523.904 528.904 533.344 535.844 540.844 545.844 550.284 552.784 555.564 560.564">the motor but the motor remains stationary. This can be due to </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="-556.108" x="312 316.44 318.94 326.72 331.16 335.6 340.6 345.04 350.04 352.82 357.26 361.7 364.48 366.98 371.98 374.76 379.76 384.2 389.2 393.64 398.64 403.08003 405.58003 409.47004 414.47004 418.91004 423.91004 426.41004 430.85005 434.74006 437.24006 441.68006 446.68006 449.18006 453.62007 458.62007 463.62007 466.12007 470.01008 472.79008 477.79008 482.79008 485.29008 490.29008 493.62007 496.12007 498.90007 503.90007 508.34007 510.84007 514.73007 517.5101 521.9501 526.9501 529.4501 533.3401 537.7801 542.7801 547.7801 552.2201 557.2201 561.6601 566.1001">a mechanical blockage such as an end stop or the step sequence </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="-526.108" x="312 318.67 321.17 326.73 336.17 345.06004 347.56004 355.34004 360.34004 365.34004 368.12004 370.90003 375.90003 379.23 381.73 385.06 389.5 393.94 396.72 401.72 405.05 409.49 411.99 414.77 418.66 421.16 423.94 428.94 433.38 436.16 441.16 446.16 450.6 455.6 458.1 460.88 465.88 468.38 471.16 476.16 480.6 482.527 489.747 494.747 499.747 504.747 509.747 512.247 515.02706 520.02706 522.52706 526.96707 530.85708 534.7471 537.5271 541.4171 544.19717 546.69717 549.4772 554.4772">A PWM monitor feature is included in the A3981 to assist 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="-514.108" x="312 317 321.44 324.22 328.66 333.1 335.88 338.66 343.66 348.66 351.16 353.94 358.94 363.38 365.88 369.77003 372.55003 376.99003 379.77003 382.55003 385.05003 389.49003 394.49003 399.49003 404.49003 407.27003 410.05003 412.83003 417.83003 422.83003 425.33003 430.33003 433.66 436.16 438.94 443.94 448.38 450.88 454.77003 457.55003 461.99003 466.99003 471.99003 476.43003 479.76 482.26 490.04 495.04 497.82 502.82 505.564 508.064 510.384 516.494 521.494 524.27407 528.16409 530.66409 533.9941 538.4341 542.8741 545.6541 550.6541 553.98416 558.42416">detecting the stall condition of the stepper motor. This feature </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="-502.108" x="312 317 320.89 325.33003 329.22004 331.72004 334.50004 339.50004 343.94004 346.44004 350.88005 354.02604 357.35603 361.79603 366.23603 369.01603 371.51603 376.51603 379.846 382.346 385.126 390.126 394.566 397.066 403.73603 409.846 418.73603 424.29603 426.79603 431.79603 436.79603 439.29603 442.07603 447.07603 451.51603 454.01603 458.45603 463.45603 466.786 470.116 474.556 479.556 482.336 484.836 488.166 490.94599 494.836 499.276 501.776 504.556 507.336 515.116 519.556 522.056 527.056 532.056 534.556 538.99606 543.99606 551.77609 556.77609 561.21609">uses the effect of the BEMF on the current rise time by compar</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="-502.108" x="564.3193">-</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="-490.108" x="312 314.78 319.78 324.78 327.28 330.06 335.06 339.5 342 347.56 357 365.89 368.39 372.83003 377.83003 382.83003 387.83003 390.61003 393.11003 398.11003 403.11003 406.44 409.22 414.22 419.22 421.72 424.5 429.5 433.94 436.44 440.88 445.88 449.21 452.53999 456.97999 461.97999 464.75999 467.25999 470.58998 473.36997 477.25999 481.69999 484.19999 489.19999 494.19999 498.63999 503.63999 506.96998 511.40998 516.41 519.19 521.69 524.47006 529.47006 531.97006 536.97006 541.41006 544.19009 548.63009 551.9601 559.7401 562.52017 567.52017 571.96017">ing the PWM count during the current rise quadrant to determine </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="-478.108" x="312 314.78 319.78 324.22 326.72 331.72 336.72 339.5 344.5 347.28 349.78 354.22 357 359.5 366.72 371.72 374.5 378.94 383.94 386.44 390.88 393.38 397.27003 400.05003 404.49003 407.27003 410.05003 412.55003 417.55003 421.99003 426.43003 431.43003 434.76 438.65003 441.15003 443.65003 450.32005 454.76005 457.54005 460.32005 464.76005 469.76005 472.54005 476.98005 479.48005 483.37007 486.15007 490.59007 493.37007 496.15007 498.65007 503.65007 508.09007 510.87007 515.31008 519.75009 522.5301 525.3101 530.3101 535.3101 537.8101 540.59017 545.59017 548.09017 552.53018">the point at which a stall occurs. Reliable stall detection in 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="-466.108" x="312 315.89 318.67 326.45 331.45 334.23 338.67 341.17 345.06004 347.84004 352.28004 357.28004 362.28004 366.72004 370.05003 372.55003 377.55003 380.88 383.66 388.66 393.1 396.43 398.93 401.71 405.6 408.1 413.1 418.1 420.88 425.88 428.38 433.38 438.38 442.27003 446.16004 448.94004 453.94004 456.72004 461.16004 463.66004 468.66004 473.66004 476.16004 480.60005 485.60005 493.38005 498.38005 501.16004 506.16004 508.94004 513.94009 518.94009 521.44009 524.2201 529.2201 533.6601 536.1601 541.7201 551.1601 560.0501">simple stepper driver is only possible by combining the PWM </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="-454.108" x="312 319.78 324.78 329.78 332.56 335.34 340.34 343.66999 346.16999 353.38999 356.16999 358.94999 363.94999 366.44999 370.88999 373.38999 377.83 382.83 387.83 390.61 393.38999 398.38999 403.38999 408.38999 413.38999 417.28 419.78 423.67 426.45 430.89 435.89 438.39 442.28004 446.72004 451.72004 456.72004 461.16004 466.16004 470.60005 475.04005 477.54005 481.98005 484.76005 487.26005 491.70005 494.20005 498.09007 503.09007 506.21907 509.54905 512.32907 516.76907 519.5491 523.9891 528.9891 531.7691 534.54916 539.54916 542.04916 547.04916 549.82919 554.82919 559.82919">monitor with a continuous step sequence at a sufficiently 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="-442.108" x="312 315.89 318.67 323.11003 328.11003 330.61003 333.94 338.38 341.16 345.6 348.1">step rate. </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="-424.108" x="312 321.44 326.44 330.88 335.88 338.38 342.82 345.32 353.1 358.1 360.88 365.88 369.21 371.71 374.49 378.38 380.88 384.21 389.21 394.21 399.21 401.99 406.99 411.99 414.49 419.49 424.49 427.81999 435.59999 440.03999 442.81999 445.59999 449.93498 452.43498 454.93498 459.37498 462.15498 464.65498 468.54499 473.54499 477.985 482.425 487.425 489.925 492.425 495.205 500.205 504.645 507.145 513.815 519.925 528.815 533.567 536.067 538.567 543.567 548.007">When a motor is running normally, at speed, the BEMF, gen</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="-424.108" x="553.0059">-</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="-412.108" x="312 316.44 319.77 324.21 326.99 331.43 336.43 338.93 343.93 348.93 351.43 354.21 359.21 363.65 366.15 373.93 378.37 383.37 388.37 392.81 395.59 398.37 402.81 405.31 410.31 415.31 418.09 422.53 426.42 428.92 431.7 436.7 439.2 441.98 446.98 451.42 453.92 461.7 466.7 469.48 474.48 477.81 480.31 485.31 489.75 493.64 497.53004 500.31004 505.31004 510.31004 512.81008 515.5901 520.5901 525.0301 527.5301 532.5301 537.5301 541.9701 545.8601 550.3001">erated by the magnetic poles in the motor passing the phase </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="-400.108" x="312 319.22 322 327 332 334.78 339.78 344.78 348.67 351.17 353.67 358.11003 362.55003 365.33003 369.22004 371.72004 376.16004 381.16004 385.60005 388.38005 393.38005 397.27006 400.05006 402.55006 405.33006 410.33006 414.77006 417.27006 421.16007 426.16007 431.16007 436.16007 438.94007 443.94007 446.44007 451.44007 456.44007 459.22007 462.00007 466.44007 471.44007 475.88008 478.38008 482.82008 487.82008 492.82008 495.32008 498.65007 503.09007 508.09007 513.0901 517.5301 521.9701 525.8601 528.3601 531.14016 536.14016 540.58016 543.08016 546.41018 549.1902 553.0802 557.5202">windings, acts against the supply voltage and reduces the rise </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="-388.108" x="312 315.33 319.77 322.55 326.99 329.49 334.49 337.81999 340.31999 343.09999 348.09999 352.53999 355.03999 360.03999 365.03999 369.47999 373.37 377.81 380.31 384.75 389.75 393.08 396.40998 400.84999 405.84999 408.62998 411.12998 413.62998 418.06999 421.96 424.46 428.35 433.35 438.35 445.57 450.57 453.07 455.85 460.85 463.35 468.91 471.69 476.69 481.69 485.02 489.46 491.96 496.96 499.46 501.766 507.87599 512.876 517.316 519.816 525.376 534.816 543.706 546.206 550.646 555.646 558.976 562.306 566.74606 571.74606 574.52609">rate of the phase current, as shown in Figure 3. The PWM current </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="-376.108" x="312 316.44 321.44 326.44 329.22 332.55 337.55 340.33 342.83 347.83 352.83 357.27 361.16 363.66 368.66 373.66 376.44 378.94 383.38 387.82 390.6 393.38 398.38 402.82 405.6 410.04 412.54 417.54 422.54 425.32 428.1 430.88 433.38 436.16 441.16 445.6 448.1 452.54 457.54 460.87 464.19999 468.63999 473.63999 476.41999 478.91999 482.24998 486.68998 491.12998 495.56999 500.56999 505.00999 508.9 511.4 514.18 519.18 523.62 526.12 530.01 534.45 537.23007 539.73007 542.5101 545.8401 548.6201 553.6201 556.1201 558.90017 563.34017 568.34017 572.78018 575.5602">control does not activate until the current reaches the set trip level </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="-364.108" x="312 315.33 320.33 323.65998 326.15998 328.93998 333.93998 338.37998 340.87998 348.65998 351.43998 355.87998 359.20997 364.20997 368.09999 370.87998 375.31999 380.31999 382.81999 387.81999 392.81999 396.71 399.49 402.27 405.05 410.05 415.05 417.55 419.856 429.296 434.296 438.736 443.736 446.236 450.676 453.176 460.956 465.956 468.736 473.736 477.06599 479.56599 482.34599 486.236 488.736 492.626 495.406 500.406 505.406 510.406 514.846 519.846 522.346 524.846 529.286 533.176 535.676 538.45608 543.45608 545.95608 550.39608 552.89608 556.7861 559.5661 564.0061 566.78616 569.56619">for the microstep position. When a motor is stopped, as in a stall </tspan></text>
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