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.
1604 lines
128 KiB (Stored with Git LFS)
XML
1604 lines
128 KiB (Stored with Git LFS)
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AAAAwJZcnp1ryAEAA5PkAAAAAAAA2JL3D59oyAEAA5PkAAAAAAAA2IzPb95pyAEA
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BwAAAAAAQDoacgDA0ZLkAAAAAAAASEdDDgA4WpIcAAAAAAAAuVyenWvIAQBHS5ID
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AAAAAAAgl/cPn2jIAQBHS5IDAAAAAAAgkc9v3mnIAQDHTJIDAAAAAAAgEQ05AODI
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SXIAAAAAAABk8fcff7198EhDDgA4ZpIcAAAAAAAAufz6/uPvP/66ePX6z5Pn//Vv
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WAAAAABJRU5ErkJggg=="/>
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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="PZDRAU+Arial-BoldMT" font-weight="bold"><tspan y="-658.4397" x="36.1758 43.1958 50.7658 58.3358 65.9058 72.3658 75.4958 83.065799 90.635799 96.73979 99.693798 106.15379 109.28379 117.96379 121.09379 126.81179 133.64279 140.1028 143.2328 151.36281 158.93282">PRACTICAL LIMITATIONS</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="-641.9397" x="36 42.11 47.11 51.550004 54.050004 56.83 61.83 65.16 70.16 73.490009 81.270008 85.71001 88.490009 91.270008 96.270008 101.270008 103.770008 108.770008 112.100009 116.54001 120.43001 124.87001 129.87001 132.65001 137.09001 142.09001 144.59001 149.59001 154.03002 157.36002 161.80002 164.30002 168.74002 172.63002 176.52002 181.52002 189.30002 193.74002 197.63002 200.13002 202.91002 207.91002 212.35002 216.79003 219.57003 222.07003 225.96002 228.74002 233.18003 238.18003 243.18003 247.62003 250.95003 253.45003 261.23005 266.23005 269.01005 274.01005 277.34004 281.23005">The information presented here assumes ideal stepper motors </tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-629.9397" x="36 41 45.440004 48.22 53.22 58.22 60.72 64.61 67.39 71.83 76.83 81.83 86.270008 91.270008 93.770008 97.66 100.44 105.44 112.66 115.44 119.784008 122.284008 124.784008 132.004 134.784 137.564 142.564 145.064 149.504 153.944 158.384 163.384 166.714 171.154 173.934 178.37401 180.87401 183.37401 187.81401 190.95102 194.28102 197.06102 201.50102 204.28102 208.72103 213.72103 216.50102 219.00102 223.44103 228.44103 231.77103 235.10103 239.54103 244.54103 247.32103 249.82103 254.26103 259.26106 264.26106 267.04106 270.37104 275.37104 278.15104">being stepped slowly, with accurate, efficient current control </tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-617.9397" x="36 40.440004 43.22 46.550004 50.990007 55.990007 58.770006 61.550004 65.44 67.94 70.44 73.770008 78.770008 81.270008 86.270008 89.600009 94.04001 98.48001 101.26001 104.04001 108.48001 112.92001 115.42001 118.20001 123.20001 127.640018 130.14002 134.03002 136.81002 141.25002 146.25002 151.25002 155.69002 159.02002 161.52002 169.30002 174.30002 177.08002 182.08002 185.41002 187.91002 192.91002 197.91002 202.35002 206.24002 210.68003 213.18003 220.40003 223.18003 228.18003 233.18003 235.96002 240.96002 245.96002 249.85002 252.35002 256.79 260.12 264.56 267.06 270.38999 274.83 279.83 283.15998">circuits. In practice the stepper motor phase windings are repre</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="-617.9397" x="287.5674">-</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="-605.9397" x="36 39.89 44.33 49.33 52.11 56.550004 61.550004 64.05 69.05 74.05 76.55 79.33 86.55 91.55 94.05 99.05 104.05 109.05 112.380008 115.16 120.16 124.600009 129.04001 131.82 134.32 137.1 142.1 147.1 152.1 156.54001 159.32 164.32 167.65001 171.54001 174.04001 178.48001 183.48001 188.48001 190.98001 193.76001 198.76001 203.20001 205.70001 213.48001 218.48001 221.26001 226.26001 229.59001 232.09001 239.87001 244.31002 249.31002 251.81002 256.81 261.25 263.75 268.75 272.08 274.86 279.86 284.3 289.3 291.8 296.24 299.02">sented by two non-ideal inductors and the motor may be driven at </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="-593.9397" x="36 40.440004 42.940004 47.940004 50.72 55.72 60.72 63.22 67.11 69.89 74.33 79.33 84.33 87.11 92.11 97.11 99.61 102.94 107.380008 110.16 114.600009">a high stepping 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="-575.9397" x="36 42.670003 45.170003 50.170003 52.95 57.95 62.95 65.45 69.34 72.119998 76.56 81.56 86.56 89.34 94.34 99.34 101.84 105.17 109.61 112.39 116.83 119.33 126.55 129.33 132.11 134.89 137.39 142.39 145.72 150.72 155.72 160.72 165.16 169.6 172.1 176.54001 179.04001 184.04001 188.48001 192.92002 197.92002 200.42002 206.53002 215.42002 220.16 222.66 225.16 227.94 230.72 235.72 240.16 242.66 247.1 252.1 257.1 259.6 264.6 267.38 272.38 276.82 280.15">A high stepping rate will produce a back EMF, like any other </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="-563.9397" x="36 43.78 48.78 51.559999 56.559999 59.486 61.986 64.486 67.266 72.266 76.706 79.486 81.986 89.206 91.986 94.766 97.546 100.046 104.486 108.926 111.706 114.206 118.646 123.646 128.086 130.866 135.866 139.756 142.536 145.036 149.476 154.476 159.476 161.976 166.416 171.416 174.746 178.076 182.516 187.516 190.296 192.796 197.23601 202.23601 207.23601 210.016 213.34601 218.34601 221.126 223.626 228.06601 230.84601 234.17601 238.61602 243.61602 246.39601 249.17601 253.06601 255.56601 257.851 263.961 268.961 273.401">motor, that will act against any current control circuits. 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="-551.9397" x="36 40.440004 45.440004 48.770006 52.100008 56.54001 61.54001 64.32001 66.82001 71.26001 76.26001 81.26001 84.04001 87.37001 92.37001 95.15001 97.65001 102.09001 104.87001 108.20001 112.640018 117.640018 120.42001 123.20001 127.09001 129.59001 137.37001 142.37001 146.26001 149.04001 151.54001 155.98001 158.76001 162.65001 167.65001 170.15001 175.15001 179.59001 182.09001 186.53002 191.53002 194.31002 198.75002 201.25002 204.03002 209.03002 211.53002 218.75002 223.75002 227.08002 232.08002 234.58002 241.80002 244.58002 247.36002 252.36002 254.86002 257.64 262.64 267.64 272.64 277.08003 279.86003 282.64 287.64 292.08003">current control circuits must also be able to work with inductive </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="-539.9397" x="36 38.78 43.78 48.22 53.22 57.11 59.61 62.11 65.44 70.44 72.94 77.94 82.380008 87.380008 91.82001 95.15001 99.59001 102.37001 104.87001 107.65001 112.65001 117.09001 119.59001 124.030017 129.03002 132.36002 135.69002 140.13002 145.13002 147.91002 150.41002 154.85002 159.85002 164.85002 167.63002 170.96002 175.96002 178.74002 181.24002 185.68003 188.46002 191.79003 196.23003 201.23003 204.01003 206.79003 209.29003 216.51003 219.29003 222.07003 224.85002 227.35002 232.35002 236.79003 239.29003 243.73003 246.23003 251.79003 261.23 270.12004 272.62004 277.06004 282.06004">loads. In general the current control circuit will be a PWM cur</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="-539.9397" x="285.1553">-</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="-527.9397" 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 88.770008 93.21001 98.21001 102.65001 110.43001 114.87001 117.37001 120.15001 125.15001 127.65001 135.43001 139.87001 144.87001 149.31002 151.81002 154.59001 159.59001 164.03002 166.53002 171.53002 174.86002 177.64002 182.64002 187.08002 190.41002 192.91002 197.35002 201.24002 203.74002 208.18003 211.30303 214.63303 217.41303 221.85303 224.63303 229.07303 234.07303 236.85303 239.35303 243.79303 247.68303 250.18303 255.18303 260.18305 264.07307 267.96308 270.74308 275.74308 278.52308 282.96308 285.46308 289.90309 294.90309 299.90309">rent control scheme to make the driver as efficient as possible and </tspan></text>
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<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-515.9397" x="36 39.33 43.770006 48.770006 53.770006 58.210008 62.65001 65.15001 67.93001 72.93001 77.37001 79.87001 84.87001 87.65001 91.54001 95.43001 98.21001 103.21001 107.65001 110.43001 113.21001 118.21001 123.21001 125.71001 128.49 133.49 135.99 138.77 143.77 148.21 150.71 155.71 159.04001 161.82 166.82 171.26001 174.018">reduce the dissipation in the driver.</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="-497.9397" x="36 42.11 44.89 49.89 54.33 56.83 61.270006 66.270008 71.270008 73.770008 78.770008 81.55 86.55 90.990009 94.32001 96.82001 104.600009 109.600009 112.380008 117.380008 120.297008 122.797008 125.297008 128.07701 133.07701 137.51702 140.01702 145.01702 149.45702 153.89702 158.89702 161.39702 167.50702 176.39702 181.95702 184.45702 191.67702 194.45702 197.23702 200.01702 202.51702 206.95702 209.73702 213.62702 218.62702 221.12702 223.90702 226.68701 234.46701 237.24701 240.02701 242.52701 245.307 250.307 254.74701 257.247 265.027 269.467 274.467 277.247 285.027 290.027 297.807">Like any other motor, the back EMF will also limit the maximum </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="-485.9397" x="36 39.89 42.67 47.11 52.11 57.11 59.89 64.89 69.89 72.39 75.72 80.16 82.94 87.380008 89.880008 94.880008 98.21001 100.71001 103.490009 108.490009 112.93001 115.43001 123.21001 128.21 130.99 135.99 138.75402 141.25402 143.20201 150.42201 154.31201 156.81201 159.59201 164.59201 169.03202 171.53202 179.31201 184.31201 187.09201 192.09201 195.42201 197.92201 201.81201 206.81201 211.25202 215.69202 220.69202 223.19202 225.97202 230.97202 235.41202 238.74202 243.18202 247.62203 251.51203 255.95203 259.84205 262.34205 265.12205 270.12205 274.56205 277.06205 282.06205 286.50205 290.94206 295.94206">stepping rate of the motor. As the motor speed increases the back </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="-473.9397" x="36 42.11 51 56.56 59.06 66.28 69.06 71.84 74.619998 77.119998 79.899997 84.899997 89.34 92.67 97.11 101.55 105.44 109.880008 112.380008 114.691 124.131008 129.13101 133.57102 138.57102 141.07102 143.85102 146.63101 149.13101 152.46102 156.90102 161.34102 165.78102 170.78102 175.22103 179.11103 181.61103 186.05103 188.55103 193.55103 197.99103 200.77103 205.77103 210.21103 212.71103 217.15103 219.93103 224.93103 228.82103 233.26103 235.76103 238.54103 243.54103 246.04103 248.82103 253.82103 258.26103 260.76103 264.65104 269.65104 274.65104 279.65104 282.43104 287.43104">EMF will increase. When it reaches a value close to the supply </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="-658.7864" x="312 317 322 324.78 327.56 332 337 341.44 343.94 346.72 351.72 356.16 358.66 361.99 366.43 370.32 375.32 378.1 380.88 383.66 388.66 393.66 396.16 401.16 406.16 408.94 411.72 416.16 421.16 425.6 428.1 433.1 435.88 439.007 442.33699 446.77699 450.10697 454.54698 459.54698 463.98698 468.42698 470.92698 478.14698 480.92698 483.70698 486.48698 488.98698 493.98698 498.42698 500.92698 503.70698 508.70698 512.597 517.597 520.735 524.065 526.84506 531.28506 534.06509 538.50509 543.50509 546.2851 548.7851 551.5651 556.5651">voltage the resulting voltage difference will be insufficient 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="-646.7864" x="312 317 320.33 323.11 328.11 332.55 335.05 337.83 342.83 347.27 349.77 354.77 359.77 364.21 368.1 372.54 375.04 379.48 384.48 387.81 391.13999 395.58 400.58 403.36 405.86 409.18998 413.62998 418.62998 423.62998 426.40998 429.73997 434.17997 439.17997 441.67997 444.45997 449.45997 451.95997 456.95997 460.28996 465.28996 470.28996 475.28996 479.72996 484.16996 486.66996 489.44996 494.44996 498.88996 501.38996 506.38996 510.82997 515.26998 519.70999 523.6 527.49 531.93 535.26 540.26 542.76 547.76 552.76 555.54006 560.54006 565.54006 568.32009">drive the phase current required to produce the necessary output </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="-634.7864" x="312 314.78 319.78 323.11 328.11 333.11 337.55 340.05 342.366 351.806 356.806 361.246 366.246 368.746 371.526 376.526 379.306 383.196 385.696 390.696 395.13603 399.57603 404.57603 407.906 411.79603 414.29603 417.07603 422.07603 426.51603 429.01603 436.79603 441.79603 444.57603 449.57603 452.906 455.406 462.626 465.406 468.186 470.966 473.466 477.35603 480.13603 484.57603 487.35603 490.13603 492.63603 497.07603 502.07603 507.07603 509.57603 513.466 516.24606 519.02609 524.02609 526.52609 531.52609 536.52609 539.3061 541.8061 546.8061 550.1361 552.6361 556.5261 561.5261">torque. When this occurs the motor will stall and slip out of syn</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="-634.7864" x="566.502">-</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="-622.7864" x="312 316.44 321.44 324.77 329.77 334.77 337.55 341.99 346.43 349.21 351.99 356.99 361.99 364.49 371.71 374.49 377.27 382.27 384.77 387.55 392.55 396.99 399.49 404.49 407.81999 410.59999 415.59999 418.37998 423.37998 428.37998 430.87998 435.31999 438.09999 441.42997 445.86997 450.86997 453.64997 456.42997">chronization with the driving 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="-604.7864" x="312 318.11 323.11 327.55 330.05 337.83 342.27 346.71 351.71 356.15 361.15 363.93 368.37 372.81 375.59 378.09 383.09 386.41999 390.86 395.3 398.08 401.97 404.75 409.75 414.75 417.25 422.25 425.58 428.08 430.86 435.86 440.3 442.8 450.58 455.58 458.36 463.36 466.68998 469.18998 476.40998 479.18998 481.96998 484.74998 487.24998 491.68998 494.46998 498.36 503.36 505.86 510.86 515.3 520.3 524.74 527.24 531.68 536.68 539.18 543.62 546.731 550.06106 554.50106 558.94107 561.72109">The mechanical precision of the motor will also have an effect </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="-592.7864" x="312 317 322 324.5 327.28 332.28 336.72 339.22 344.22 349.22 353.66 356.99 361.43 364.21 366.99 369.49 374.49 378.93 382.25999 385.58998 390.58998 393.91996 401.69996 406.13996 411.13996 415.57997 420.01997 422.51997 427.51997 430.84996 433.34996 436.12995 441.12995 445.56996 448.06996 451.95997 456.95997 460.84999 463.62998 468.06999 475.84999 478.34999 480.84999 484.17997 487.50996 490.00996 492.78996 497.78996 502.22996 504.72996 509.16996 512.29299 515.623 520.063 524.503 527.283 529.783 534.783 538.11306 540.61306 543.39309 548.39309 552.83309">on the overall performance of the system. If the effect of 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="-580.7864" x="312 319.78 324.78 327.56 332.56 335.88999 338.38999 345.61 348.38999 353.38999 358.38999 361.16999 366.16999 371.16999 375.06 377.56 382.56 387.56 390.06 392.84 397.84 402.28 404.78 408.11 413.11 415.88999 420.88999 424.21998 426.71998 431.15998 434.48997 438.92997 441.42997 446.42997 451.42997 456.42997 459.75996 462.53996 465.31996 470.31996 474.75996 479.19996 482.52995 485.02995 487.80995 492.80995 497.24995 502.24995 504.74995 507.52995 512.5299 516.9699 519.4699 522.7999 527.2399 530.01998 534.45999 537.24 540.02 545.02 550.02 553.91006 558.91006 561.69009 566.69009">motor windings on the rotor are non-linear then the relationship </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="-568.7864" x="312 317 321.44 324.22 331.44 335.88 340.32 345.32 347.82 352.26 357.26 360.59 363.91999 368.36 373.36 376.13999 378.63999 383.08 388.08 393.08 395.58 398.36 403.36 406.68998 411.68998 416.68998 421.12998 423.62998 431.40998 435.84999 440.84999 443.34999 448.34999 453.34999 456.12998 458.62998 463.62998 468.06999 470.56999 473.34999 476.12998 481.12998 485.56999 490.00999 492.76197 495.26197 497.58097 503.69096 508.69096 513.1309 515.6309 523.41098 527.85098 532.85098 537.85098 540.631 543.411 548.411 553.411 557.851 560.351 565.351 568.681">between current and torque may not be linear. The magnitude of </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="-556.7864" x="312 314.78 319.78 324.22 326.72 331.16 336.16 339.49 342.81999 347.25999 352.25999 355.03999 358.93 361.43 365.87 368.65 371.15 375.59 380.03 384.47 389.47 391.97 399.75 402.53 406.97 410.3 415.3 419.19 421.97 426.41 431.41 433.91 441.69 446.13 451.13 453.63 456.41 461.41 465.85 470.85 473.35 476.68 481.12 486.12 491.12 493.9 497.22999 501.66999 504.16999 508.61 511.11 514.44 518.88 521.66006 526.10006 528.88009 531.6601 536.6601 541.6601 545.5501 550.5501 553.33016 558.33016">the currents at each microstep may then require a relationship </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="-544.7864" x="312 317 319.78 324.78 329.22 332.55 335.05 337.83 342.83 347.27 352.27 354.77 358.66 361.44 366.44 371.44 375.33003 380.33003 383.11003 388.11003 392.55003 395.33003 397.83003 400.14 406.25 411.25 415.69 417.635 424.855 429.855 434.855 439.855 444.855 447.355 451.795 456.795 461.795 464.295 468.73503 471.23503 474.565 479.005 486.225 488.725 493.725 496.505 501.505 505.945 509.275 511.775 514.555 519.555 522.335 526.775 531.775 535.10507 539.54507 542.3251 546.7651 551.7651 554.2651 559.2651 562.5951 565.3751">other than sinusoidal. The A3981 and a few other integrated driv</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="-544.7864" x="570.3594">-</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="-532.7864" x="312 316.44 319.77 323.66 326.16 330.6 333.93 338.37 340.87 345.31 350.31 353.09 357.53 360.03 362.81 367.81 370.31 374.75 379.19 383.63 388.63 396.41 404.19 409.19 414.19 418.63 421.41 425.85 428.35 431.13 436.13 438.91 442.80003 445.30003 450.30003 455.30003 457.80003 462.24003 465.02003 467.80003 472.80003 480.02003 482.80003 487.80003 492.80003 495.30003 498.08003 503.08003 507.52003 510.02003 515.02 520.02 524.46 528.35006 532.79006 535.29006 539.73007 544.73007 548.06008 551.3901 555.8301 560.8301 563.6101">ers are able to accommodate this by allowing the phase 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="-520.7864" x="312 317 321.44 324.22 329.22 333.66 337.55003 340.05003 343.38 348.38 351.71 354.21 358.65 363.09 367.53 372.53 375.03 382.81 385.59 390.03 393.36 398.36 402.25 405.03 409.47 414.47 416.97 421.97 426.97 430.86003 433.64 436.42 439.2 444.2 449.2 451.7 454.48 459.48 461.98 466.98 471.42 473.92 477.25 481.69 486.69 490.02 495.02 500.02 503.34999 507.78999 515.57 523.35006 527.79006 532.79006 535.29006 537.79006 541.12008 546.12008 548.62008 556.4001 561.4001 565.2901 568.0701">values for each microstep position to be reprogrammed. In most </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="-508.7864" x="312 315.89 320.89 324.78004 327.56004 332.00004 339.78004 343.67005 346.17005 348.95005 353.95005 356.73005 360.62007 363.12007 367.56007 370.70606 374.03605 378.47605 382.91606 385.69606 388.19606 395.41606 398.19606 400.97605 403.75605 406.25605 411.25605 415.69606 418.19606 423.19606 427.63606 430.96604 435.96604 438.46604 442.35606 450.13606 454.57606 457.35606 460.13606 462.63606 467.07606 472.07606 477.07606 479.57606 484.01606 488.45606 493.45606 495.95606 500.95606 505.39607 507.89607 510.67607 515.676 520.676 525.676 529.00607 533.44607 538.44607 540.94607 545.94607 550.94607 553.7261 556.2261 559.0061 564.0061">systems this effect will be very small and can be ignored but 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="-496.7864" x="312 315.89 320.89 328.67 333.11003 335.61003 340.05003 344.49003 348.38005 352.82005 356.71006 359.21006 363.10008 368.10008 375.88008 380.32008 382.82008 385.60008 393.38008 398.38008 401.71006 406.71006 411.71006 416.15007 423.93006 428.37007 433.37007 436.15007 438.65007 441.43006 446.43006 448.93006 451.71006 456.71006 460.04005 465.04005 470.04005 474.48005 476.98005 480.31004 483.09004 488.09004 493.09004 495.87004 500.31004 502.81004 507.25004 512.25 517.25 519.75 524.19 529.19 534.19 536.97006 541.97006 544.75009 549.19009 551.69009 556.69009 561.69009 564.4701 568.3601 572.8001">some cases some improvement in torque ripple and audible noise </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="-484.7864" x="312 316.44 320.88 325.88 328.38 333.38 337.82 340.32 344.76 349.2 354.2 356.98 361.42 366.42 370.86003 375.86003">can be achieved.</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="-165.7197" x="180.8853 186.9953 189.7753 195.8853 201.9953 205.8853 211.4453 213.84929 221.06929 226.62929 232.18929 235.51929 238.29929 244.96929 251.07929 256.63929 262.19929 267.75929 270.53929 277.75929 283.86927 287.75929 291.6493 297.2093 303.31929 306.64927 309.42927 316.09928 321.65928 327.76927 333.87925 339.43925 345.54924 351.10923 356.66923 359.44923 362.7792 368.8892 372.7792 375.5592 382.22923 385.00923 391.1192 397.2292 400.55918 406.66917 409.44917 416.11918 419.44917 425.00917">Figure A10: Phase Current Sequence for Eighth Step</tspan></text>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-186.3573" x="107.9902">1</tspan></text>
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<g clip-path="url(#clip_5)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-186.3573" x="110.9902 113.9902 116.9902">00%</tspan></text>
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</g>
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<g clip-path="url(#clip_6)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-191.9969" x="110.9902 113.9902 116.9902">98%</tspan></text>
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</g>
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<g clip-path="url(#clip_7)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-197.6375" x="110.9902">9</tspan></text>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-197.6375" x="113.9902">2</tspan></text>
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<g clip-path="url(#clip_8)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-197.6375" x="116.9902">%</tspan></text>
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</g>
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<g clip-path="url(#clip_9)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-203.2773" x="110.9902 113.9902 116.9902">83%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_10)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-208.9774" x="110.9902 113.9902 116.9902">70%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_11)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-214.617" x="110.9902 113.9902 116.9902">56%</tspan></text>
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</g>
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<g clip-path="url(#clip_12)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-226.0175" x="110.9902 113.9902 116.9902">38%</tspan></text>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-237.4168" x="110.9902">1</tspan></text>
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<g clip-path="url(#clip_13)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-237.4168" x="113.9902 116.9902">9%</tspan></text>
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</g>
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-257.3367" x="110.9902">1</tspan></text>
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<g clip-path="url(#clip_14)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-257.3367" x="113.9902 116.9902">9%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_15)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-268.7372" x="110.9902 113.9902 116.9902">38%</tspan></text>
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</g>
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<g clip-path="url(#clip_16)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-277.3172" x="110.9902 113.9902 116.9902">56%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_17)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-285.8367" x="110.9902 113.9902 116.9902">70%</tspan></text>
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</g>
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<g clip-path="url(#clip_18)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-291.4774" x="110.9902 113.9902 116.9902">83%</tspan></text>
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</g>
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<g clip-path="url(#clip_19)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-296.8172" x="110.9902">9</tspan></text>
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</g>
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-296.8172" x="113.9902">2</tspan></text>
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<g clip-path="url(#clip_20)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-296.8172" x="116.9902">%</tspan></text>
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</g>
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<g clip-path="url(#clip_21)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-302.4569" x="110.9902 113.9902 116.9902">98%</tspan></text>
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</g>
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-308.0975" x="107.9902">1</tspan></text>
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<g clip-path="url(#clip_22)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-308.0975" x="110.9902 113.9902 116.9902">00%</tspan></text>
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</g>
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-317.6375" x="107.9902">1</tspan></text>
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<g clip-path="url(#clip_23)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-317.6375" x="110.9902 113.9902 116.9902">00%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_24)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-323.2773" x="110.9902 113.9902 116.9902">98%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_25)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-328.9774" x="110.9902">9</tspan></text>
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</g>
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-328.9774" x="113.9902">2</tspan></text>
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<g clip-path="url(#clip_26)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-328.9774" x="116.9902">%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_27)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-334.617" x="110.9902 113.9902 116.9902">83%</tspan></text>
|
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</g>
|
|
<g clip-path="url(#clip_28)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-340.2576" x="110.9902 113.9902 116.9902">70%</tspan></text>
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</g>
|
|
<g clip-path="url(#clip_29)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-345.8973" x="110.9902 113.9902 116.9902">56%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_30)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-357.2968" x="110.9902 113.9902 116.9902">38%</tspan></text>
|
|
</g>
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-368.6971" x="110.9902">1</tspan></text>
|
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<g clip-path="url(#clip_31)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-368.6971" x="113.9902 116.9902">9%</tspan></text>
|
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</g>
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-388.6776" x="110.9902">1</tspan></text>
|
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<g clip-path="url(#clip_32)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-388.6776" x="113.9902 116.9902">9%</tspan></text>
|
|
</g>
|
|
<g clip-path="url(#clip_33)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-400.0771" x="110.9902 113.9902 116.9902">38%</tspan></text>
|
|
</g>
|
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<g clip-path="url(#clip_34)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-408.5975" x="110.9902 113.9902 116.9902">56%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_35)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-417.1776" x="110.9902 113.9902 116.9902">70%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_36)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-422.8172" x="110.9902 113.9902 116.9902">83%</tspan></text>
|
|
</g>
|
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<g clip-path="url(#clip_37)">
|
|
<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-428.0975" x="110.9902">9</tspan></text>
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</g>
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-428.0975" x="113.9902">2</tspan></text>
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<g clip-path="url(#clip_38)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-428.0975" x="116.9902">%</tspan></text>
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</g>
|
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<g clip-path="url(#clip_39)">
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-433.7371" x="110.9902 113.9902 116.9902">98%</tspan></text>
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</g>
|
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-439.3768" x="107.9902">1</tspan></text>
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<g clip-path="url(#clip_40)">
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<text xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="6" font-family="UZMQSK+TimesNewRomanPSMT"><tspan y="-439.3768" x="110.9902 113.9902 116.9902">00%</tspan></text>
|
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</g>
|
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<g clip-path="url(#clip_41)">
|
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<path transform="matrix(1,0,0,-1,119.0903,477.7227)" stroke-width="4.5" stroke-linecap="butt" stroke-linejoin="round" fill="none" stroke="#ffffff" d="M0 0H390.48"/>
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</g>
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<path transform="matrix(1,0,0,-1,121.9702,411.7227)" stroke-width=".25" stroke-linecap="round" stroke-dasharray=".75,1" stroke-linejoin="round" fill="none" stroke="#000000" d="M0 0H376.26"/>
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<path transform="matrix(1,0,0,-1,121.9702,422.463)" stroke-width=".25" stroke-linecap="round" stroke-dasharray="0,.5" stroke-linejoin="round" fill="none" stroke="#000000" d="M0 0H376.26M0-10.8H376.26M0-20.46H376.26M0-28.92H376.26M0-36.3H376.26M0-41.399H376.26M0-44.76H376.26M0-45.96H376.26M0 21.84H376.26M0 32.641H376.26M0 42.24H376.26M0 50.76H376.26M0 58.141H376.26M0 63.24H376.26M0 66.601H376.26M0 67.74H376.26"/>
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<path transform="matrix(1,0,0,-1,121.9702,542.5226)" stroke-width=".25" stroke-linecap="round" stroke-dasharray=".75,1" stroke-linejoin="round" fill="none" stroke="#000000" d="M0 0H376.2"/>
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