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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="-659.0664" x="36 40.440004 45.440004 50.440004 55.440004 58.22 61 63.78 68.78 73.78 76.28 78.78 81.56 86.56 91 93.5 100.17 106.28 115.17 120.729999 123.229999 126.009998 129.9 132.4 135.73 140.17 145.17 150.17 154.61 159.05 164.05 166.55 168.856 174.966 179.966 182.746 186.636 189.136 193.576 196.356 199.136 204.136 211.356 215.246 217.746 220.526 225.526 229.966 232.466 236.906 241.906 245.23601 248.56601 253.00601 258.006 260.786 263.286 266.066 271.066 273.566 276.896 279.676 283.566 288.006 290.506 293.286 298.286">condition, the BEMF is reduced. This allows the current to rise to </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-647.0664" x="36 38.78 43.78 48.22 50.72 53.5 56.28 64.06 66.84 69.619998 72.119998 75.45 79.89 83.78 86.56 91 94.33 96.83 101.270008 106.270008 111.270008 113.770008 116.55 121.55 125.990009 128.49 134.05 143.49 152.38 154.88 159.32 164.32 167.65001 170.98001 175.42002 180.42002 183.20001 185.70001 190.14002 195.14002 200.14002 202.92002 206.25002 211.25002 214.03002 216.53002 219.31002 224.31002 226.81002 231.25002 235.69002 238.47002 241.25002 246.25002 250.69002 253.47002 257.91 260.41 264.30003 269.30003 274.30003 279.30003 283.74003 286.479 288.979">the limit faster and the PWM current control to activate sooner. </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="-635.0664" x="36 43.22 47.11 51 56 63.78 66.56 71.56 76.56 79.06 83.5 86 90.44 95.44 100.44 104.33 107.11 111.55 116.55 119.33 121.83 125.72 128.5 132.94 137.94 140.44 143.77 148.21 150.99 155.43001 157.93001 162.37001 167.37001 172.37001 174.87001 182.65001 187.65001 190.43001 195.43001 198.76001 201.26001 204.04001 209.04001 213.48001 218.48001 220.98001 223.76001 228.76001 231.54001 235.43001 237.93001 241.26001 245.70001 249.59001 254.59001 257.37004 260.15003 264.04005 266.54005 269.32005 274.32005 276.82005 281.26005 286.26005">Assuming a constant step rate and motor load this results in an </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="-623.0664" x="36 38.78 43.78 48.22 51.550004 55.990007 60.430009 64.32001 68.76001 71.26001 74.04001 79.04001 81.54001 84.32001 89.32001 93.76001 96.26001 101.26001 106.26001 114.04001 119.04001 123.48001 126.81001 129.31002 134.31002 137.64002 140.14002 145.70001 155.14002 164.03002 166.53002 170.97002 175.97002 180.41002 183.19002 187.63002 191.52002 194.02002 197.35002 202.35002 205.68003 208.18003 212.62003 217.06003 221.50003 226.50003 229.00003 232.89003 235.67003 240.11003 245.11003 247.61003 252.61003 255.94004 258.44004 261.22004 266.22004 270.66004 273.16004 280.94004 285.94004 288.72004 293.72004 296.46903">increase in the number of PWM cycles for each step of the motor.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-605.0664" x="36 42.11 47.11 51.550004 53.495004 60.715005 65.715007 70.715007 75.715007 80.715007 83.215007 88.215007 92.105 96.545009 100.435009 102.935009 105.715007 110.715007 113.495 117.385 119.885 124.885 127.665 130.815 134.145 138.585 141.91501 146.35501 151.35501 155.79502 160.23502 162.73502 165.51502 170.51502 173.01502 178.01502 182.45502 185.23502 189.67502 194.11502 196.89502 199.39502 203.83502 206.33502 214.11502 219.11502 221.89502 226.89502 230.22502 232.72502 237.16503 242.16503 246.60503 251.60503 256.60505 259.38505 264.38505 269.38505 271.88505 275.21504 278.545 283.545 291.325">The A3981 uses this difference to detect a motor changing from </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-593.0664" x="36 40.440004 45.440004 50.440004 53.22 56 61 66 71 76 79.89 82.39 86.28 89.06 93.5 98.5 103.5 106.28 111.28 116.28 118.78 121.56 126.56 129.06 133.5 136 139.89 142.67 147.11 149.89 152.67 157.11 162.11 164.61 169.05 174.05 179.05 184.05 186.83 189.61 192.39 197.39 202.39 204.89">continuous stepping to a stalled condition. </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-575.0664" x="36 42.11 47.11 51.550004 54.050004 59.610006 69.05 77.94 80.44 88.22 93.22 98.22 101 103.78 108.78 112.11 114.61 117.94 122.380008 126.82001 129.6 134.6 137.93001 142.37001 144.87001 149.31002 153.20001 157.09001 162.09001 169.87001 174.31002 178.20001 180.70001 183.48001 188.48001 192.92002 195.42002 198.75002 203.75002 206.53002 209.31002 214.31002 221.53002 224.31002 229.31002 234.31002 236.81002 240.14002 244.58002 249.02002 251.80002 256.80003 260.13 264.02003">The PWM monitor feature assumes the following factors:</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="-557.0664" 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="-557.0664" 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="-557.0664" x="48 54.11 59.11 63.550004 66.05 73.83 78.83 81.61 86.61 89.94 92.44 100.22 105.22 109.11 111.89 114.39 119.39 123.83 126.33 130.22 133 137.44 142.44 147.44 150.22 155.22 160.22 162.72 166.05 170.49 174.38 177.16 179.66 184.1 189.1 194.1 199.1 204.1 209.1 211.6 214.93001 219.93001 223.26001 225.76001 228.54001 233.54001 237.98001 240.48001 247.15001 253.26001 262.15003 267.71003 270.21003 272.99003 277.99003">The motor must be stepping fast enough for the BEMF to </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-545.0664" x="48 51.33 55.770006 60.770006 65.770008 70.21001 74.65001 77.15001 79.93001 84.93001 89.37001 91.87001 96.87001 101.87001 106.31001 110.20001 114.640018 117.140018 121.58002 126.58002 129.91002 133.24002 137.68003 142.68003 145.46002 147.96002 151.85002 154.63002 159.07003 166.29003 168.79003 172.12003 176.56003 179.34003 183.78003 186.28003 188.78003 194.34003 197.12003 201.56003 204.34003 207.12003 209.62003 214.62003 219.06003 221.84003 226.28003 230.72003 233.50003 236.28003 241.28003 246.28003 248.78003 252.11003 256.55003 259.33003 262.11003 266.55003 271.55003 274.33003 277.11003 279.89 282.67 287.67">reduce the phase current slew rate. Stall detection reliability </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="-533.0664" x="48 50.78 58.559999 63.559999 66.89 71.89 76.89 81.33 85.22 87.72 92.16 96.05 98.55 101.33 106.33 110.770008 113.270008 117.71001 122.71001 126.04001 129.37001 133.81002 138.81002 141.59001 144.09001 147.98001 150.76001 155.20001 162.42002 164.92002 168.25002 172.69002 175.47002 179.91002 182.41002 185.74002 190.18003 195.18003 200.18003 204.62003 209.06003 212.95003">improves as the current slew rate reduces.</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="-516.5664" 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="-516.5664" 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="-516.5664" x="48 54.11 59.11 63.550004 66.05 73.83 78.83 81.61 86.61 89.94 92.44 95.22 99.11 101.61 106.61 111.61 114.39 116.89 121.89 126.33 129.11 134.11 139.11 141.61 145.5 148.28 152.72 157.72 162.72 167.16 172.16 174.66 177.44 182.44 184.94 188.27 193.27 196.05 198.83 201.33 205.22 208 212.44 217.44 219.94 227.72 232.72 237.72 242.16">The motor is not being stepped in full step mode.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-500.0664" x="36 43.22 46 48.78 53.78 58.78 63.78 68.78 73.78 76.28 80.17 82.95 87.39 90.17 92.95 95.45 100.45 104.89 107.67 112.11 116.55 119.33 122.11 127.11 132.11 134.61 139.05 143.49 148.49 153.49 158.49 161.27 163.77 168.77 173.21 175.71 180.71 185.71 190.15001 193.48001 197.92002 202.92002 205.70001 210.14002 214.58002 219.58002 222.08002 229.30002 234.30002 238.74002 243.74002 246.24002 251.24002 255.13002 257.91004 262.91004 267.91004 270.41004 273.19004 278.19004 282.63005">Although stall detection cannot be guaranteed when using 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="-488.0664" x="36 38.78 43.78 46.559999 51 56 59.33 63.770006 66.55 70.990009 75.990009 78.490009 81.82001 86.26001 90.70001 93.48001 98.48001 101.81001 106.250019 110.140018 112.640018 117.640018 120.97002 123.47002 126.250019 131.25002 135.69002 137.62102 144.84102 149.84102 154.84102 159.84102 164.84102 167.34102 169.84102 174.84102 179.84102 184.84102 189.84102 192.34102 196.23102 199.01102 203.45102 206.23102 209.01102 211.51102 216.51102 220.95102 223.73102 228.17102 232.61103 235.39102 238.17102 243.17102 248.17102 250.67102 254.00102 258.441 261.221 264.001 268.441 273.441 276.221 279.001 281.781 284.561 289.561">integrated features of the A3981, good stall detection reliability </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-476.0664" x="36 40.440004 44.880006 49.880006 52.380006 57.380006 61.820009 64.32001 68.76001 73.20001 78.20001 80.98001 85.42001 90.42001 94.860019 99.860019 102.360019 107.360019 112.360019 114.860019 119.30002 123.74002 127.07002 131.51003 134.84003 139.84003 142.62003 145.12003 149.01003 153.45003 156.23003 160.67003 165.11003 167.89003 170.67003 175.67003 180.67003 183.17003 188.17003 191.50003 194.00003 201.78003 206.78003 209.56003 214.56003 217.89003 220.39003 227.61003 230.39003 235.39003 240.39003 243.17003 248.17003 253.17003 255.67003 259.00004 263.44004 267.33006 270.11006 274.00007 276.78007 281.22007 286.22007 290.66007 295.10008">can be achieved by careful selection of motor winding resistance </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-464.0664" x="36 40.440004 45.440004 50.440004 52.940004 55.72 60.72 65.72 70.72 75.16 77.94 82.380008 87.380008 91.82001 96.26001 98.76001 101.26001 109.04001 114.04001 116.82001 121.82001 125.15001 127.65001 131.54001 136.54001 140.98001 145.42002 150.42002 152.92002 155.42002 159.86002 164.86002 169.86002 174.86002 177.64002 180.14002 185.14002 187.92002 191.04901 194.37902 198.81902 202.14902 206.58902 211.58902 216.02902 220.46903 222.96903 225.46903 229.35903 232.13903 236.57903 239.35903 242.13903 244.63903 249.63903 254.07903 256.85905 261.29905 265.73905 268.51905 271.29905 276.29905 281.29905">and inductance, motor speed, count difference, stall detection </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-452.0664" x="36 39.89 44.33 49.33 53.770006 61.550004 65.990009 68.490009 70.990009 75.43001 80.43001 85.43001 87.93001 92.93001 97.93001 100.43001 104.87001 109.87001 114.87001 118.20001 123.20001 126.530017 134.31002 137.09001 142.09001 147.09001 149.59001 152.37001 157.37001 159.87001 162.65001 167.65001 172.09001 174.59001 179.03002 184.03002 189.03002 194.03002 198.47002 200.97002 204.30002 208.74002 213.74002 218.74002 221.52002 224.85002 229.29003 237.07003 241.51003 246.51003 249.29003 253.18003">scheme, and by conforming to the above requirements.</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-659.0664" x="312 318.11 323.11 327.55 329.495 336.715 341.715 346.715 351.715 356.715 359.215 361.995 366.995 371.435 374.215 379.215 384.215 388.655 392.545 395.045 399.48503 402.265 405.595 410.035 415.035 417.815 420.595 424.48503 426.98503 429.765 434.765 437.265 441.70503 444.48503 447.265 452.265 459.48503 461.98503 464.765 469.765 474.20503 476.70503 482.265 491.70503 500.59504 503.09504 510.87504 515.875 520.875 523.655 526.43508 531.43508 534.7651 537.2651 540.0451 545.0451 547.5451 552.5451 557.5451 561.9851">The A3981 includes circuits to allow the PWM monitor to oper</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-659.0664" x="565.0908">-</tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-647.0664" x="312 316.44 319.22 323.66 326.16 328.94 333.94 336.44 339.22 346.44 351.44 353.94 361.16 365.6 370.6 374.49003 377.27003 379.77003 384.21003 389.21003 396.99003 401.99003 406.43003 409.76 414.2 416.7 421.7 426.7 431.7 436.7 440.59004 443.37004 446.15003 450.59004 453.09004 458.09004 463.09004 467.53004 471.42005 475.86006 479.75007 482.25007 486.69007 491.69007 496.69007 499.19007 503.63008 508.63008 516.4101 521.4101 525.8501 529.1801 533.6201 536.1201 540.5601 545.0001 549.4401 554.4401">ate in two ways: compare opposite phases and compare 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="-635.0664" x="312 317 322 326.44 330.33003 334.77003 337.27003">phase. </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="-612.5664" 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 381.45994 384.23994 390.90995 396.46995 402.57994 408.13993 417.02995 422.58995 425.91993 428.69993 435.91993 442.0299 450.91993 457.0299 462.5899 466.47993 472.03993 474.81993 482.5999 488.7099 494.8199 500.92988 506.48988 509.26988 512.59988 518.15988 520.9399 527.60989 533.71987 539.27987 544.83987 550.39987">Stall Detection Scheme: Compare Opposite Phases</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="-596.0664" x="312 318.11 323.11 327.55 330.05 335.05 339.49 342.81999 347.25999 352.25999 355.03999 357.81999 360.31999 364.21 366.99 371.43 374.21 376.99 379.49 384.49 388.93 391.71 396.15 400.59 403.37 406.15 411.15 416.15 418.65 422.54 426.98 431.98 436.42 444.2 448.64 451.14 453.92 458.92 461.42 464.2 469.2 473.64 475.55503 482.77503 487.77503 492.77503 497.77503 502.77503 505.27503 507.77503 511.66505 516.10507 518.8851 523.3251 527.7651 530.5451 534.9851 539.9851 542.4851 549.7051 554.7051 559.1451 564.1451">The default stall detection scheme in the A3981, selected when </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="-584.0664" x="312 317.56 323.66999 329.22999 332.55998 337.55998 340.05998 342.55998 347.55998 350.88996 353.38996 359.02998 361.52998 366.52998 371.52998 374.02998 376.52998 379.30998 383.19999 385.69999 388.47999 393.47999 397.91999">STS[1..0] = 00, is the </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="TSEKEM+TimesNewRomanPS-ItalicMT" font-style="italic"><tspan y="-584.0664" x="400.418 404.858 409.858 417.078 422.078 427.078 430.59904 435.03904 437.53904 442.53904 447.53904 452.53904 457.53904 461.42906 464.20906 466.98905 471.42906 473.92906 478.92906 483.92906 488.92906 492.81907 497.25907">compare opposite phases</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="-584.0664" x="501.1455 503.6455 507.53553 511.97554 516.9755 521.4155 529.19558 533.63558"> scheme.</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="-566.0664" x="312 321.44 326.44 330.88 335.88 338.38 341.16 346.16 348.94 352.83003 355.33003 359.22004 363.66004 368.66004 373.10005 380.88005 385.32005 387.82005 390.60005 394.49006 396.99006 400.88008 405.32008 408.10008 412.54008 416.98008 419.76008 424.20008 429.20008 431.70008 434.20008 436.98008 444.20008 449.20008 451.70008 457.26008 466.70008 475.5901 478.0901 482.5301 487.5301 492.5301 497.5301 500.3101 504.7501 508.08009 511.9701 514.4701 516.9701 521.9701 526.9701 531.4101 533.9101 537.2401 542.2401 545.5701 548.0701 552.51016 556.95016 561.39016 566.39016">When this scheme is selected, two PWM counters, one for 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="-554.0664" x="312 317 322 326.44 330.33003 334.77003 337.27003 339.77003 344.21003 348.65003 353.09004 358.09004 365.87004 370.87004 373.65003 378.09004 380.87004 385.31004 387.81004 390.59004 395.59004 400.03004 402.53004 407.53004 412.53004 420.31004 425.31004 429.75004 433.08003 435.58003 440.58003 443.91 446.41 451.97 461.41 470.30003 472.80003 477.24003 482.24003 486.68003 489.46003 493.90003 497.79005 500.29005 507.51005 512.51 516.95 521.95 524.45 527.23007 532.23007 536.67007 539.17007 544.17007 549.17007 553.61007 557.50009 561.94009">phase, accumulate the number of PWM cycles when the 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="-542.0664" x="312 316.44 321.44 324.77 328.09999 332.53999 337.53999 340.31999 342.81999 345.59999 349.49 351.99 355.88 358.66 363.1 368.1 373.1 377.54 382.54 385.04 388.37 391.69999 396.69999 404.47999 406.97999 411.41999 415.86 419.18998 424.18998 426.68998 429.46998 434.46998 436.96998 440.29997 445.29997 448.07997 450.85997 454.18995 458.07997 462.51997 466.95997 469.73997 474.17997 476.67997 481.11997 486.11997 489.44996 492.77995 497.21995 502.21995 504.99995 507.49995 509.42195 516.6419 519.42196 521.92196 524.70199 529.70199 534.14199 536.64199 541.082 546.082 551.082 553.582 558.582 561.912">current is stepped from zero to full-scale current. At the end of </tspan></text>
<text fill="#231f20" xml:space="preserve" transform="matrix(1 0 -0 1 0 792)" font-size="10" font-family="FMJOQO+TimesNewRomanPSMT"><tspan y="-530.0664" x="312 316.44 320.88 325.32 330.32 332.82 337.82 342.82 347.26 351.15003 355.59004 358.09004 362.53004 367.53004 370.86003 374.19 378.63 383.63 386.41 388.91 392.24 395.02 398.91 403.35 405.85 408.35 411.13 416.13 420.57 423.07 427.51 432.51 437.51 442.51 445.29 449.73 453.06 455.56 458.88999 463.88999 467.21998 469.71998 472.49998 477.49998 481.93998 484.71998 487.21998 492.21998 497.21998 501.65998 505.55 509.99 512.49 515.27 519.16006 521.66006 526.10006 531.10006 538.88009 543.88009 548.32009 551.6501 556.0901 561.0901">each phase current rise, the counter for that phase is compared </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="-518.0664" x="312 314.78 319.78 322.28 325.06 330.06 334.5 337 341.44 346.44 351.44 356.44 359.22 361.72 365.05 369.49 373.38 378.38 381.16 383.94 386.44 389.77 394.77 398.09999 400.59999 403.37998 408.37998 412.81999 415.31999 420.31999 423.64997 428.08998 433.08998 435.86997 440.86997 445.86997 449.75999 452.25999 456.69999 461.69999 465.02998 468.35997 472.79997 477.79997 480.57997 483.07997 486.40995 489.18995 493.07997 497.51997 500.01997 502.79997 507.79997 510.29997 513.07998 518.07998 522.51998 525.01998 530.01998 535.01998 540.01998 545.01998 548.91 551.69 554.47006 558.91006">to the count result for the previous current rise in the opposite </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="-506.0664" x="312 317 322 326.44 330.33003 334.77003 337.27003 339.77003 344.21003 348.10005 350.60005 354.49006 359.49006 364.49006 371.71006 376.71006 379.21006 381.99006 386.99006 389.49006 395.05006 397.83006 402.83006 407.83006 411.16004 415.60005 418.10005 423.10005 425.60005 428.10005 431.43003 434.76 437.26 440.04 445.04 449.48 451.98 456.98 459.76 462.90299 466.23298 470.67298 474.00297 478.44297 483.44297 487.88298 492.32298 494.82298 497.60298 501.49299 503.99299 508.99299 512.323 516.763 521.203 523.98306 528.42306 531.75308 534.25308 537.0331 542.0331 546.4731 551.4731 553.9731 556.7531 561.7531 566.1931">phase, as shown in Figure 4. If the difference is greater than 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="-494.0664" x="312 317.56 327 335.89 338.39 342.83003 347.83003 352.83003 357.83003 360.61003 363.11003 368.11003 370.89 374.036 377.366 381.806 385.136 389.576 394.576 399.016 403.456 405.956 408.736 413.736 416.236 419.016 424.016 428.456 430.956 437.626 444.846 452.066 457.626 460.956 468.176 473.176 475.676 479.00599 483.44599 488.44599 491.22599 495.116 497.896 502.336 505.666 508.166 511.49598 518.16598 525.3859 528.71597 533.71597 536.496 541.496 544.826 548.156 550.656 553.156 555.93606 560.93606 565.37606 570.37606">PWM count difference in the CONFIG1 register (CD[7:0]), then </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="-482.0664" x="312 314.78 319.78 324.22 326.72 332.28 338.206 340.706 345.706 348.486 351.266 353.766 356.546 361.546 364.046 366.826 371.826 376.266 378.766 383.766 386.546 390.986 395.986 400.986 405.986 409.876 412.656 415.436 419.876 422.376 425.706 430.146 435.146 437.926 441.816 444.596 449.036 452.366 456.256 458.756 461.536 465.42604 467.92604 471.81605 476.25605 479.03605 481.53605 484.03605 487.36604 492.36604 494.86604 499.30604 504.30604 509.30604 512.08609 514.8661 517.6461 522.6461 527.6461 530.1461 532.6461 535.42617 538.75619 541.25619 544.0362 549.0362 553.4762 555.9762 561.5362 567.4352">the ST bit in the diagnostic registers is set. In addition, if the ST </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="-470.0664" x="312 315.89 318.67 323.67 328.67 333.11003 335.89 338.39 341.17 345.06004 347.56004 351.45005 355.89006 358.67005 363.11006 367.55006 370.33006 374.77006 379.77006 382.27006 386.71006 390.60008 393.10008 395.88008 400.88008 405.32008 407.82008 412.82008 417.82008 420.60008 425.60008 430.60008 433.38008 435.88008 440.88008 445.88008 448.38008 451.16007 456.16007 460.60008 463.10008 470.32008 473.65007 480.87007 488.09007 490.59007 495.59007 498.37007 503.37007 505.87007 508.37007 511.15007 516.15 520.59 525.59 528.09 530.87008 535.87008 540.31008 542.81008 547.81008 550.5901 555.5901 558.0901 565.31008 568.0901 570.8701 573.65017">signal is selected as the output on the DIAG pin, then the pin will </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="-458.0664" x="312 317 322 324.5 327.28 332.28 338.851 341.351">go low. </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="-146.9813" x="114.6583 120.7683 123.5483 129.6583 135.7683 139.6583 145.21829 147.99829 153.55829 156.88829 159.66829 166.33829 169.66829 175.22829 178.00829 180.78829 183.56829 190.78829 196.34828 199.67829 205.23828 210.79828 214.12828 216.90828 223.01828 228.57828 231.35828 238.02828 247.46828 255.79828 258.57829 265.79829 271.90827 278.01826 284.12825 287.45823 290.23823 297.45823 303.5682 312.45823 318.5682 324.1282 328.01823 330.79823 336.9082 343.0182 345.7982 353.5782 359.68818 365.79817 371.90815 377.46815 380.24815 383.57814 389.13813 391.91813 398.58815 404.69813 410.25813 415.8181 421.3781 426.9381 429.7181 432.4981 439.16813 445.2781 451.94813 455.2781 460.8381 463.6181 466.3981 471.9581 475.2881 478.06809 483.90809 486.68809 492.24809">Figure 4: Stall Detect by PWM Count Comparing Opposite Phases, STS[1..0] = 00</tspan></text>
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