birdcage/docs/A3981-vectors/A3981-datasheet_page_30.svg
Ryan Malloy 5252d1d73c Add hardware reference docs (A3981, K60, RYS352A)
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.
2026-02-14 18:36:42 -07:00

5512 lines
378 KiB (Stored with Git LFS)
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</g>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-659.67" x="36 42.11 46.550004 50.990007 55.990007 58.490007 63.490007 66.82001 69.32001 72.100009 77.100009 81.54001 84.04001 89.04001 94.04001 96.54001 101.54001 105.98001 108.76001 113.76001 118.20001 122.09001 124.59001 131.81002 135.14002 137.92002 140.70001 143.48001 147.92002 152.92002 155.42002 158.20001 163.20001 165.70001 168.48001 173.48001 177.92002 180.42002 185.42002 190.42002 194.86002 198.75002 203.19002 205.69002 208.47002 212.91002 217.91002 220.69002 225.13002 227.63002 230.41002 234.30002 236.80002 241.24002 243.74002 248.74002 252.07003 257.07 259.85 262.63 265.13 270.13 275.13">Each of the 16 values written to the phase table is a 6-bit num</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="-659.67" x="282.875">-</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="-647.67" x="36 41 45.440004 48.770006 51.270006 54.050004 59.050004 63.490007 66.270008 68.770008 73.770008 78.21001 80.990009 85.43001 88.76001 96.54001 99.32001 104.32001 108.76001 112.65001 115.15001 117.93001 122.93001 127.37001 129.87001 134.31002 139.31002 142.64002 145.97002 150.41002 155.41002 158.19002 160.69002 163.47002 166.80002 169.58002 174.58002 177.08002 182.08002 187.08002 189.86002 194.86002 197.64002 200.14002 203.47002 208.47002 211.80002 214.30002 217.08002 222.08002 226.52002 229.02002 233.46002 237.35002 241.24002 246.24002 250.68003 253.46002 257.90003 260.68003 265.12004 270.12004 272.62004 276.51005 279.29005 283.73005 288.73005 291.23005">ber that determines the current trip point for the associated step. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-635.67" x="36 42.11 47.11 51.550004 54.050004 59.050004 61.83 66.83 71.83 76.270008 80.16 82.94 85.44 90.44 94.880008 97.66 102.66 107.100009 109.600009 112.100009 117.100009 122.100009 124.600009 127.100009 130.43001 134.87001 139.87001 143.20001 147.64002 151.53002 155.97002 160.97002 163.75002 167.64002 170.14002 172.92002 177.92002 182.36002 184.86002 192.64002 197.08002 202.08002 204.86002 212.64002 217.64002 225.42002 227.92002 232.92002 237.92002 242.36002 246.25002 250.69002 253.19002 257.63 262.63 265.96 269.28999 273.72999 278.72999 281.50999 284.00999">The highest value, 63, represents the maximum phase current, </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-623.67" x="36">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="-621.17" x="39.3301 43.500104 50.167604 55.582605">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="-621.17" x="60.997606"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-623.67" x="61.9399 64.439899 66.939899 71.939899 76.3799 79.7099 82.4899 87.4899 91.9299 96.9299 99.4299 102.2099 107.2099 109.7099 112.4899 117.4899 121.9299 124.4299 128.3199 132.7599 137.1999 139.9799 142.7599 147.7599 152.7599 155.2599 160.2599 163.5899 166.0899 168.8699 173.8699 178.3099 180.8099 184.6999 189.6999 194.13991 198.57991 201.35991 204.68991 207.46991 211.90991 216.34992 219.12992 221.90991 226.90991 231.90991 234.40991 239.40991 244.40991 246.90991 251.90991 256.9099 261.3499 265.23994 269.67994 272.17994 276.61994 281.61994">, defined in the section of the specification on phase cur</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-623.67" x="284.7183">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-611.67" x="36 39.33 43.770006 48.770006 51.550004 54.050004 58.490007 63.490007 68.490009 71.270008 74.600009 79.600009 82.380008 84.880008 87.380008 94.600009 97.380008 102.380008 106.82001 110.15001 112.65001 117.65001 122.65001 130.43001 135.43001 139.87001 143.20001 147.09001 149.59001 152.92002 157.36002 162.36002 165.69002 170.13002 174.02002 178.46002 183.46002 186.24002 188.74002 193.18003 195.68003 200.68003 205.12003 208.45003 212.89003 217.33003 222.33003 225.11003 229.55004 234.55004 238.99004 241.49004 246.49004 249.82004 252.32004">rent control. Other numbers represent a percentage 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="-609.17" x="255.624 259.794 266.46153 271.87654">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="-611.67" x="277.2964"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-611.67" x="278.5464 281.0464 283.5464 289.10639 294.10639 297.43638">. 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="-599.67" x="36 40.440004 45.440004 49.880006 57.660005 62.660005 65.44 69.880008 72.380008 74.880008 77.66 82.66 87.100009 89.600009 94.600009 99.600009 107.380008 112.380008 116.82001 120.15001 122.65001 127.65001 132.65001 135.15001 139.04001 143.48001 146.26001 150.15001 152.65001 155.43001 160.43001 164.87001 167.37001 172.37001 177.37001 181.81002 185.70001 190.14002 192.64002 197.08002 202.08002 205.41002 208.74002 213.18003 218.18003 220.96002 223.46002 226.24002 229.57003 232.35002 237.35002 239.85002 244.85002 249.85002 252.63002 257.63 260.41 262.91 265.69 270.69 273.19 278.19 283.19 285.97 290.97 295.97">example, the number 23 sets the phase current trip point to 23/63 </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="-587.67" x="36 41.64 44.14 49.14 54.14 56.64 61.64 66.64 74.97 77.47 82.47 85.8 88.3">= 36.51% 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="-585.17" x="91.6299 95.7999 102.4674 107.8824">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="-587.67" x="113.3022"> </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="-587.67" x="114.5522">.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-569.67" x="36 42.11 47.11 51.550004 54.880006 59.320009 61.820009 66.26001 69.59001 74.030017 76.530017 79.31001 86.530017 91.530017 94.030017 97.360019 101.80002 105.69002 108.47002 111.80002 114.58002 119.02002 121.80002 124.58002 129.58002 134.58002 138.47002 140.97002 148.19002 153.19002 157.63002 162.63002 165.13002 170.13002 174.02002 176.80002 181.80002 186.80002 189.30002 192.08002 197.08002 201.52002 204.02002 209.02002 214.02002 218.46002 222.35002 226.79003 229.29003 232.07003 236.51003 241.51003 244.29003 248.73003 251.23003 254.01003 259.01 263.45 268.45 270.95 275.39 279.83003 284.83003">There are two restrictions when using the phase table load capa</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-569.67" x="289.2373">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-557.67" x="36 41 43.78 46.559999 49.339998 52.119997 57.119997">bility:</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="-539.67" x="36">&#x2022;</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-539.67" x="39.5"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-539.67" x="48 54.11 59.11 63.550004 66.05 69.380008 73.82001 78.82001 83.82001 86.600009 89.93001 94.37001 99.37001 101.87001 106.31001 111.31001 114.640018 117.97002 122.41002 127.41002 130.19002 132.69002 137.69002 141.02002 146.02002 149.35002 152.13002 154.91002 159.35002 161.85002 169.63002 174.63002 178.52002 181.30002 183.80002 188.24002 193.24002 198.24002 201.57003 206.57003 209.90003 217.68003 220.18003 222.96002 227.96002 230.46002 233.24002 238.24002 242.68003 245.18003 249.07003 254.07003 261.85005 269.63005 274.07005 276.85005 280.18003 285.18003">The required current profile must conform to the symmetry </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="-527.67" x="48 51.89 56.89 61.89 69.11 74.11 76.61 79.39 84.39 86.89 92.45 95.229999 100.229999 105.229999 108.56 113 115.5 120.5 125.5 128 130.319 136.429 141.429 145.869 148.369 151.699 156.699 160.029 167.24901 171.68901 175.01902 180.01902 182.51902 185.84902 190.84902 195.84902 199.73902 202.51902 205.29901 208.07901 213.07901 217.51902 220.84902 223.34902 227.78902 232.78902 236.11902 239.44902 243.88903 248.88903 251.66902 254.16902 259.169 263.609 266.939 269.719 272.219 279.999 284.999 288.889 291.669">shown in Figure 14. The forward (positive) current part must </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="-515.67" x="48 53 57.440004 59.940004 63.83 68.83 76.61 84.39 88.83 91.61 94.94 97.72 102.16 106.600009 109.380008 111.880008 116.32001 121.32001 126.32001 131.32 134.1 136.6 142.16 144.94 149.38 154.38 156.31 163.53 168.53 173.53 176.31 180.75 183.25 190.47 195.47 203.25 208.25 212.69 216.02 221.02 226.02 228.52 231.85 236.85 240.18001 242.68001 247.68001 252.68001 257.12 261.01 265.45 267.394 274.06404 276.56404 281.00404 286.00404 291.00404">be symmetrical about Step Angle Number16 for phase A 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="-503.67" x="48 52.440004 57.440004 62.440004 67.44 70.22 72.72 77.72 80.22 83.55 88.55 91.880008 94.380008 99.380008 104.380008 108.82001 112.71001 117.15001 119.65001 126.32001 128.82 131.13501 137.24501 142.24501 146.68502 149.18502 152.51502 156.95502 161.95502 166.39502 169.72502 173.61502 178.05503 180.55503 183.88503 188.88503 193.32503 198.32503 202.76503 205.54503 208.32503 213.32503 217.76503 221.09503 223.59503 228.03504 233.03504 236.36504 239.69504 244.13504 249.13504 251.91504 254.41504 259.41505 263.85505 267.18504 269.96504 272.46504 280.24504 285.24504 289.13505 291.91505">about 0 for phase B. The reverse (negative) current part must </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="-491.67" x="48 53 57.440004 59.940004 63.83 68.83 76.61 84.39 88.83 91.61 94.94 97.72 102.16 106.600009 109.380008 111.880008 116.32001 121.32001 126.32001 131.32 134.1 136.6 142.16 144.94 149.38 154.38 156.31 163.53 168.53 173.53 176.31 180.75 183.25 190.47 195.47 203.25 208.25 212.69 216.02 218.52 223.52 228.52 231.02 234.35 239.35 242.68001 245.18001 250.18001 255.18001 259.62 263.51 267.95 269.894 276.56404 279.06404 283.50404 288.50404 293.50404">be symmetrical about Step Angle Number 48 for phase A 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="-479.67" x="48 52.440004 57.440004 62.440004 67.44 70.22 72.72 77.72 82.72 85.22 88.55 93.55 96.880008 99.380008 104.380008 109.380008 113.82001 117.71001 122.15001 124.65001 131.32 133.82 136.13501 142.24501 147.24501 151.68502 154.18502 157.51502 162.51502 165.84502 173.06502 177.50502 180.83502 185.83502 188.33502 192.77503 197.77503 202.77503 205.27503 208.60503 213.04503 218.04503 222.48503 225.81504 229.70503 234.14504 236.64504 241.64504 244.97504 249.97504 253.30504 256.08506 258.86506 263.30506 267.19508 269.69508 273.02507 278.02507 281.35505">about 32 for phase B. The forward and reverse profiles 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="-467.67" x="48 52.440004 56.880006 61.320009 66.32001 68.82001 73.82001 78.82001 83.26001 87.15001 91.59001 94.09001 101.87001 106.87001 110.76001 113.54001 116.04001 121.04001 125.48001 127.98001 130.76001 135.76001 140.20001 142.70001 146.59001 151.03002 158.81002 163.25002">each phase must be the same.</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="-451.17" x="36">&#x2022;</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-451.17" x="39.5"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-451.17" x="48 54.11 59.11 63.550004 66.05 71.05 76.05 80.490009 84.380008 88.82001 91.32001 95.76001 100.76001 104.09001 107.42001 111.860019 116.860019 119.640018 122.140018 129.92002 134.92002 138.81002 141.59001 144.09001 149.09001 153.53002 156.03002 160.47002 164.91002 168.24002 173.24002 175.74002 180.18003 182.96002 185.46002 191.02002 193.80002 198.24002 203.24002 205.16802 212.38802 217.38802 222.38802 225.16802 229.60802 232.10802 239.32802 244.32802 252.10802 257.10804 261.54804 264.87803 268.76805 271.26805 276.26805 278.76805 283.20805 288.20805 293.20805">The phase current must be zero at Step Angle Numbers 0 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="-439.17" x="48 53 58 60.5 63.83 68.83 72.16 74.66 79.66 84.66 89.100009 92.990009 97.43001 99.37701 106.047008 108.547008 112.98701 117.98701 122.98701 125.48701 131.04701 133.82701 138.26702 143.26702 145.21202 152.43202 157.43202 162.43202 165.21202 169.65203 172.15203 179.37203 184.37203 192.15203 197.15203 201.59203 204.92203 208.81203 211.31203 216.31203 221.31203 223.81203 228.25203 233.25203 238.25203 240.75203 245.75203 250.75203 253.25203 256.58204 261.58204 264.91203 267.41203 272.41203 277.41203 281.85203 285.74205 290.18205">32 for phase A and Step Angle Numbers 16 and 48 for 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="-427.17" x="48 54.670003">B.</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="-659.3234" x="312.1758 319.1958 326.7658 334.33583 341.3558 348.20179 350.6518 358.2218 365.7918 373.36183 380.93183 387.9518 395.52183 401.80583 404.25584 409.97383 417.54383 425.11384 431.57383 438.41883 440.86885 447.88883 455.45884 463.58885 471.71885 479.28886 486.85887 495.53886 504.21885 507.34886 514.9188 522.8728 525.3228 532.34286 539.36288 546.93289 555.61288 562.6329 569.0929">PHASE CURRENT TABLE PROGRAMMING 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="-642.8234" x="312 319.22 323.11003 325.61003 330.05003 335.05003 337.55003 341.99003 346.99003 351.43003 359.21003 364.21003 366.99003 371.43003 373.93003 378.93003 382.26 384.76 389.76 393.09 398.09 403.09 406.41999 410.86 418.63999 426.41999 429.19999 434.19999 439.19999 441.69999 444.47999 449.47999 453.91999 456.41999 461.41999 466.41999 470.86 474.75 479.19 481.69 486.13 491.13 494.46 497.78999 502.22999 507.22999 510.00999 512.51 515.29006 519.73007 524.73007 527.5101 531.9501 534.4501 536.9501 541.3901 546.3901 551.3901 555.2801 558.0601 563.0601 567.5001 570.83016">As an example of programming the phase current table, consider </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="-630.8234" x="312 314.78 319.78 324.22 326.72 331.16 336.16 339.49 342.81999 347.25999 352.25999 355.03999 357.53999 362.53999 365.86997 370.86997 374.19996 376.97996 379.75996 384.19996 386.69996 390.58998 395.58998 400.58998 407.80998 412.80998 415.30998 418.08998 423.08998 425.58998 431.14997 433.92997 438.92997 443.92997 447.25996 451.69996 454.19996 459.19996 464.19996 466.69996 469.00697 475.11695 480.11695 482.89695 486.78697 489.28697 493.17698 498.17698 503.17698 510.39698 514.287 516.787 521.227 523.727 528.727 532.057 537.057 540.387 543.16708 545.9471 550.3871">the current profile shown in Figure 14. This shows a profile </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-618.8234" x="312 319.22 324.22 328.66 331.99 336.43 338.93 341.71 346.71 351.15 353.65 356.43 361.43 364.75999 369.75999 374.75999 379.19999 381.69999 385.02998 388.35997 393.35997 401.13996 403.63996 408.07997 412.51997 416.95997 421.95997 424.45997 429.45997 434.45997 438.89997 442.78999 447.22999 449.72999 452.50999 456.4 458.9 462.22999 466.66999 471.66999 476.66999 479.44999 482.77998 487.21998 492.21998 494.71998 497.49998 502.49998 504.99998 509.99998 514.43997 516.93997 520.26998 524.70999 527.49 531.93 534.71 537.49008 542.49008 546.93008 549.7101 554.7101">where the torque from each phase is required to be relatively </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-606.8234" x="312 317 319.78 324.78 329.78 334.22 337.55 340.05 344.49 347.27 349.77 352.55 357.55 361.99 364.49 369.49 373.93 376.71 381.15 386.15 388.93 391.43 396.43 401.43 404.21 409.21 411.99 415.88 418.38 420.88 423.66 428.66 433.1 435.88 438.38 441.16 445.05003 447.55003 450.05003 452.83003 457.83003 462.27003 464.77003 469.77003 474.77003 477.55003 482.55003 485.33003 489.22004 491.72004 498.94004 503.94004 508.38005 511.71003 516.15 518.65 523.65 528.65 531.43008 536.43008 538.93008 543.93008 548.93008 553.37008">higher at the detent points, that is, the points where only one </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="-594.8234" x="312 317 322 326.44 330.33003 334.77003 337.27003 340.05003 343.94004 346.44004 350.88005 355.32005 358.10005 360.88005 365.88005 370.32005 372.82005 375.32005 378.65003 384.76 389.76 392.54 396.43003 398.93003 403.37004 408.37004 411.7 415.03 419.47 424.47 427.25 429.75 434.75 438.08 443.08 446.40998 449.18998 451.96998 456.40998 458.90998 463.90998 468.90998 473.34999 477.24 479.74 484.74 489.74 492.52 495.02 498.34999 502.78999 505.56999 510.00999 512.79 517.23 519.73 522.51 527.51 530.01 534.45 539.45 544.45 546.95 550.84 555.84">phase is active. (This current profile does not relate to any spe</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="-594.8234" x="560.2471">-</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="-582.8234" x="312 316.44 319.22 322.55 325.33 329.77 332.27 340.05 345.05 347.83 352.83 355.74998 358.24998 360.74998 363.52998 366.30998 368.80998 371.58998 375.47999 377.97999 382.97999 387.97999 390.75999 395.75999 398.25999 402.15 407.15 412.15 419.37 424.37 426.87 431.31 435.2 437.7 442.14 447.14 449.64 454.08003 459.08003 463.52003 471.30003 476.30003 479.08003 483.52003 486.02003">cific motor, it is only shown as an 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="-564.8234" x="312 317.56 320.34 325.34 330.34 333.66999 338.11 340.61 345.61 350.61 353.11 357 362 367 374.22 378.11003 380.61003 383.39 388.39 392.83003 395.33003 398.66 403.1 408.1 413.1 415.88 419.21 423.65 428.65 431.15 435.59 440.59 443.91999 447.24998 451.68998 456.68998 459.46998 461.96998 465.29997 470.29997 473.62995 476.12995 480.56996 485.00996 489.44996 494.44996 496.94996 501.94996 506.94996 511.38996 515.27999 519.72 522.22 526.66 529.44 531.94 536.38 540.82 545.26 550.26">Figure 14 shows the required current for each phase at 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="-552.8234" x="312 317.56 320.34 324.78 329.78 331.727 338.947 343.947 348.947 351.727 356.167 358.667 365.887 370.887 378.667 383.667 388.107 391.43699 393.93699 398.37699 402.267 404.767 409.207 411.707 416.707 421.147 424.477 428.917 433.357 438.357 441.137 445.577 450.577 455.017 457.517 462.517 465.847 468.347 471.12699 476.12699 480.567 483.067 490.847 495.287 500.287 503.067 510.847 515.847 523.627 526.127 531.127 536.127 540.567 544.45706 548.89706">Step Angle Number as a percentage of the maximum 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="-540.8234" x="312 316.44 321.44 324.77 328.09999 332.53999 337.53999 340.31999 342.81999 345.31999">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="-538.3234" x="348.6455 352.81553 359.48304 364.89805">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="-540.8234" x="370.3179"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-540.8234" x="371.5679 374.0679 376.5679 381.5679 386.0079 389.3379 392.1179 397.1179 401.5579 406.5579 409.0579 413.4979 418.4979 423.4979 428.4979 432.9379 435.4379 437.7499 443.8599 448.8599 453.2999 455.7999 463.0199 467.4599 472.4599 476.8999 480.2299 485.2299 488.55989 496.33988 498.83988 503.27989 508.27989 513.2799 516.6099 521.6099 524.93997 532.72 536.61 539.11 541.89 546.89 549.39 552.17007 557.17007 561.61007">, defined above. The waveform conforms 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="-528.8234" x="312 315.33 319.77 324.77 329.77 332.55 335.87998 340.31999 345.31999 347.81999 351.71 356.71 364.49 372.27 376.71 379.49 382.81999 387.81999 390.31999 394.75999 399.75999 404.75999 407.25999 411.69999 416.13999 419.46998 424.46998 426.96998 431.40998 434.73997 439.73997 443.62998 447.52 450.3 455.3 460.3 462.8 466.12998 470.56999 474.46 477.24 480.56999 483.34999 487.78999 490.56999 493.34999 498.34999 503.34999 507.24 509.74 512.24 516.13 521.13 523.63 526.41006 531.41006 535.85006 538.35006 543.35006 546.68008 551.68008 555.0101 557.7901 560.5701 565.01016">required symmetry and zero crossing restrictions, so the profile </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-516.8234" x="312 315.33 320.33 323.65998 326.15998 331.15998 336.15998 340.59999 344.49">for 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="-516.8234" x="348.93"> </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-516.8234" x="350.88 357.55003 360.05003 363.38 368.38 371.71 374.21 379.77 382.55 386.99 391.99 393.93699 401.15699 406.15699 411.15699 413.93699 418.37699 420.87699 428.097 433.097 440.87699 445.87699 450.317 453.64698 457.537 460.037 463.36698 466.69697 471.69697 479.47697 481.97697 486.97697 489.47697 492.25697 497.25697 499.75697 504.75697 509.75697 512.25698 515.587 520.587 525.587 528.367 531.14706 533.92709 538.92709 543.36709 548.36709 550.86709 555.30709 560.30709 565.30709">A for Step Angle Numbers from 0 to 16 (outlined 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="-504.8234" x="312 315.89 320.89 325.33003 330.33003 334.77003 339.77003 343.1 345.6 350.04 354.48 359.48 361.98 366.98 371.42 373.92 378.92 382.81004 387.25004 392.25004 394.75004 397.53004 402.53004 405.03004 410.03004 414.47004 417.25004 421.69004 425.02003 432.80003 435.58003 440.58003 445.02003 447.52003 450.30003 455.30003 459.74003 462.24003 467.24003 472.24003 476.68003 480.57005 485.01005 487.51005 490.29005 494.73005 499.73005 502.51005 506.95005 509.45005 513.89 518.89 523.89 526.67007 531.11007 536.11007 538.8901 542.7801">shaded) can be used to determine the phase table 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="-486.8234" x="312 318.11 323.11 327.55 330.05 333.37998 336.15998 339.48997 343.37998 346.15998 348.65998 352.55 355.33 359.77 364.77 367.27 370.05 373.94 376.44 379.22 384.22 386.72 391.72 394.5 399.5 402.28 405.06 407.84 412.28 416.72 419.22 422 427 431.44 433.94 438.94 442.27 447.27 450.59999 453.37998 456.15998 460.59999 463.09999 465.87998 470.87998 473.65998 478.65998 481.15998 488.93998 491.71998 496.15998 499.48997 504.48997 508.37998 511.15998 515.6 520.6 524.49 526.99 531.43 536.43 541.43 543.93 546.71 551.71 556.15">The first step is to digitize the profile into microsteps and 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="-474.8234" x="312 317 321.44 324.77 329.21 333.65 338.65 341.43 345.87 350.87 355.31 357.81 362.81 367.25 370.03 375.03 379.47 383.36003 385.86003 388.64 393.64 396.42 401.42 403.92 408.92 412.25 417.25 420.03 422.81 425.31 430.31 435.31 443.09 448.09 452.53 455.86 459.75 462.25 464.75 469.19 473.08003 475.58003 479.47004 484.47004 489.47004 496.69004 501.69004 504.19004 506.97004 511.97004 514.47006 520.03 522.81008 527.81008 532.81008 536.1401 540.5801 543.0801 548.0801 553.0801">percentage values into 6-bit numbers, as shown in Figure 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="-456.8234" x="312 319.22 322 324.5 328.94 333.38 337.82 342.82 345.32 350.32 353.65 356.15 358.93 363.93 368.37 370.87 375.87 380.87 385.31 388.63999 392.53 395.31 400.31 403.09 407.53 411.97 416.97 419.75 424.75 427.25 435.03 437.81 442.25 445.58 450.58 454.47 457.25 461.69 466.69 470.58003 473.08003 475.58003 478.36003 483.36003 487.80003 492.80003 495.58003 498.36003 501.69 504.47 508.91 513.91006 516.41006 521.41006 526.41006 528.91006 534.47006 537.25009 541.69009 546.69009 548.6061 555.82608 560.82608 565.82608 568.6061 573.0461">At each of the one-sixteenth microsteps, identified by 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="-444.8234" x="312 319.22 324.22 332 337 341.44 344.36799 346.86799 349.36799 352.14799 357.14799 361.58799 364.08799 369.08799 373.52799 376.30799 381.30799 385.748 388.248 393.248 396.57798 399.07798 401.85798 406.85798 411.29798 413.79798 418.79798 423.79798 428.23799 432.128 436.568 439.068 443.508 448.508 451.83799 455.16798 459.60798 464.60798 467.38798 469.88798 472.38798 476.82798 480.718 483.218 487.658 490.158 495.158 499.598 502.92799 507.36799 511.80799 516.808 519.588 524.028 529.028 533.468 535.968 540.968 544.29806 546.79806 549.57809 554.57809 559.01809">Number, the value of the phase current, as a percentage 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="-432.8234" x="312 319.78 324.22 329.22 332 339.78 344.78 352.56 355.06 360.06 365.06 369.5 373.39 377.83003 380.33003 384.77003 389.77003 393.1 396.43 400.87 405.87 408.65 411.15 413.65">maximum phase 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="-430.3234" x="416.9658 421.1358 427.8033 433.21833">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="-432.8234" x="438.6382"> </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="-432.8234" x="439.8882 442.3882 444.8882 447.6682 451.55824 454.05824 459.05824 461.83824 466.83824 469.61824 472.39823 475.17823 479.61824 484.05824 489.05824 491.55824 494.33824 499.33824 501.83824 506.27824 508.77824 513.7782 517.1082 522.1082 524.88827 527.6683 530.1683 535.1683 539.6083 542.3883 547.3883 551.8283 554.3283 557.6583 560.98837 565.98837 573.7684">, is digitized to a 6-bit value 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="FCFJQO+Arial-BoldMT" font-weight="bold"><tspan y="-141.447" x="85.7563 91.8663 94.6463 100.7563 106.8663 110.7563 116.3163 119.0963 124.656299 130.2163 133.5463 136.3263 142.99629 148.55629 154.11629 163.00629 169.11629 171.89629 177.45629 180.23628 187.45629 193.56629 197.45629 201.34629 206.90628 213.01628 216.34629 219.12628 225.79628 229.68628 235.79628 238.85128 241.90628 244.68628">Figure 14: Example Current Profile</tspan></text>
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<path transform="matrix(1,0,0,-1,0,792)" d="M328.446 229.126H318.97303V297.876H328.446Z" fill="#ffffff"/>
<text xml:space="preserve" transform="matrix(0 -1 1 0 0 792)" font-size="7" font-family="VGAMGI+Arial-BoldMT" font-weight="bold"><tspan y="325.7568" x="229.958 234.627 238.90399 242.79599 246.68799 250.57999 252.52599 257.58 261.857 264.58 267.30299 271.19499 275.472 277.80299 279.749 283.508 287.4 291.677 293.62303 297.515 299.46104 303.74504 307.63703 309.58305 313.86006">Phase Current Table Value</tspan></text>
<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="-141.447" x="329.2037 335.3137 338.0937 344.20368 350.31367 354.20368 359.76368 362.54368 368.10368 373.66368 376.99366 379.77366 386.99366 389.77366 395.88365 398.66365 401.99363 404.77363 409.77363 412.55363 418.6636 424.7736 427.5536 430.88359 436.99357 442.55357 445.33357 452.00358 457.56358 463.12358 472.01359 478.12358 480.90357 486.46357 489.24357 496.46357 502.57356 506.46357 510.35359 515.9136 522.02359 525.3536 528.1336 534.8036 538.6936 544.8036 547.8586 550.9136 553.6936">Figure 15: Digitizing the Example Current Profile</tspan></text>
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