LS8293 [LSI]
MICRO-STEPPING MOTOR CONTROLLER; 微步进电机控制器
| 型号： | LS8293 |
| 厂家： | 
LSI COMPUTER SYSTEMS |
| 描述： | MICRO-STEPPING MOTOR CONTROLLER |
| 文件： | 总13页 (文件大小：963K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
LS8292
LS8293
LSI/CSI
LSI Computer Systems, Inc. 1235 Walt Whitman Road, Melville, NY 11747 (631) 271-0400 FAX (631) 271-0405
PRELIMINARY MICRO-STEPPING MOTOR CONTROLLER June 2013
FEATURES:
simultaneously but terminated separately per individual DAC
references.
Controls Bipolar and Unipolar stepper motors
Step modes: Full, 1/2, 1/4, 1/8, 1/16 and 1/32
PWM outputs for external H-bridge drivers
Precision DAC reference for PWM sense comparators
Fast, Slow and mixed decay modes
Power saving holding torque for idling motor
Automatic switching to holding torque with
programmable delay when motor idles
Programmable delay for sense input blanking
Programmable delay for mixed decay cycles
Input for Step command
An input is provided for the holding torque state at lower winding
current in the motor idle state. The holding-torque current level is
adjusted with a separate reference voltage applied at the Vrefh
input. The Vrefh is automatically switched in if the motor idles for
a programmable specified delay following a micro-step.
PWM chopping can be applied either to the PHASE or to the
INHIBIT outputs. The chopping mode affects the manner in
which the winding current decays during a PWM cycle.
Input for Direction control
There are four selectable decay modes: Fast-decay, Slow-
decay, Single-mixed-decay and Dual-mixed-decay.
Input for Reset to HOME
Input for disabling PWM outputs
Input/output for external clock or built-in oscillator
Supply current < 400uA
In the Fast-decay mode the diagonal high side and low side
transistors of the H-bridge are both turned off during the PWM off
period. This causes the inductive current to be dissipated
through the bypass diodes in a direction opposing the motor
supply voltage resulting in fast decay.
Supply voltage 4.5V to 5.5V
LS8292 (DIP), LS8292-S (SOIC), LS8292-TS
(TSSOP)
LS8293 (DIP), LS8293-S (SOIC), LS8293-TS
(TSSOP)
In the Slow-decay mode the low side transistor of the H-bridge is
turned off keeping the high side transistor on during the PWM off
period. This causes the inductive current to re-circulate through
the high side transistor and diode loop. The current decays
slowly because of the low loop voltage. The Slow-decay can be
useful for motors that do not store enough energy in the windings
leading to an average current too low for any useful torque.
DESCRIPTION:
LS8292 and LS8293 are stepper motor controllers with
selectable resolutions from Full to 1/32 step. There are four
phase drive outputs and two inhibit outputs for controlling 2-
phase bipolar or 4-phase unipolar motors. These outputs are
designed to drive two external H-bridge drivers for bipolar motor
windings or four external transistors for center-tapped unipolar
motor windings. These outputs can also be configured to drive
discrete external transistors for bipolar motor windings. A lookup
table sources the PWM duty cycle digital data for the two motor
windings corresponding to the step sequence. Two internal
DACs convert the PWM data to analog voltages as percentages
of the reference voltage applied at the Vref input. Currents
through the motor windings are monitored at the SENSE inputs
as voltage drops across fractional-Ohm resistors in series with
the H-bridge drivers. Upon turning on a PWM drive, when the
voltage at the SENSE input reaches the DAC reference level, the
PWM output is switched off for remainder of the cycle. The PWM
cycle is fixed at Tpwm = 256/fc, where fc is the clock frequency
at the XTLI input. The PWM cycles for the two drives are started
In the Single-mixed-decay mode, slow and fast decays are
combined in the following way:
♦ When the motor is idle, slow decay is applied to both windings
to guarantee lowest current ripple in a holding state.
♦ When the motor is stepping, if the step requires the current in a
winding to decrease, fast decay is applied to the winding for a
programmable duration followed by slow decay. If the step
requires the current in a winding to increase, slow decay is
applied to the winding.
In Dual-mixed-decay mode, mixed decay is applied to both
windings for every step with fast decay being followed by slow
decay.
8292-061413-1
One of six stepping modes can be selected by two input pins: Full, 1/2, where, Imax is the maximum motor winding current and Rs1 and
1/4, 1/8, 1/16 and 1/32. An internal oscillator generates the system
clock and sets the PWM period. The oscillator pin can also be driven
by an external clock. Other available inputs are for step command,
direction control, resetting to home position, disabling the H-bridge
drives, SENSE input blanking delay control and fast to slow switching
delay control in the mixed decay modes.
Rs2 are the fractional-Ohm sense resistors in series with each
phase of the H-bridge driver transistors.
Vrefh
Input for the holding torque reference voltage when the holding
torque mode is enabled. The holding torque reference voltage
should satisfy the relation:
Vrefh = 7 x Rs1 x Imaxh = 7 x Rs2 x Imaxh,
Where, Imaxh is the maximum winding current intended in the
holding state and Rs1 and Rs2 are the fractional Ohm sense
resistors in series with each phase of the H-bridge driver
transistors.
INPUT/OUTPUT DESCRIPTION:
XTLI, XTLO
A crystal connected between these two pins sets the system clock
frequency. Alternatively, XTLI pin can be driven by an external clock for
providing the system clock. The PWM period Tpwm, is related to the
system clock frequency as follows: Tpwm = 256/fc, where,
fc is the system clock frequency applied at the XTLI input.
SENSE1, SENSE2
Inputs for motor winding current sense. A fractional-Ohm resistor
connected in series with each of the H-bridge drivers produce
SENSE1 and SENSE2 voltages. These voltages are compared
with the DAC modulated reference voltages for generating the
PWM phase or inhibit outputs.
M0, M1
M0 is a 3-state input amd M1 is a 2-state input; together they select the
step mode as follows:
Table 1
M0 Step Mode
PHA, PHB, PHC, PHD
M1
0
1
0
1
Phase drive outputs for power stages. In a bipolar motor, PHA
and PHB are used for one H-bridge while PHC and PHD are
used for the other. In the slow-decay mode the phase outputs
are chopped by means of the current sense comparators. In the
fast-decay mode the phase outputs are kept enabled while the
inhibit outputs are chopped.
0
0
float
float
1
Full Step
1/2 Step
1/4 Step
1/8 Step
1/16 Step
1/32 Step
0
1
1
RESET/
INH1/, INH2/
When low, RESET/ input clears the step pointer to HOME position per
table 4. This input has an internal pull-up resistor.
These outputs are active low inhibit controls for motor drive
outputs. INH1/ controls driver stage using PHA and PHB outputs
while INH2/ controls driver stage using PHC and PHD outputs. In
the fast-decay mode inhibit outputs are chopped by means of the
current sense comparators. In the slow-decay mode the inhibit
outputs are enabled while the phase outputs are chopped.
STEP/
A low pulse at the STEP/ input causes the motor to advance one step
forward or reverse. The step size is selected per Table 1.
FWD
SYNC/
When high, the FWD input causes the motor to step in the forward
direction per incremental step sequence of Table 4. When low, the
motor steps in the reverse direction per decremental step sequence of
Table 4.
This open drain output produces a negative-going pulse
occurring at the beginning of every PWM cycle which can be use
to drive an external slope compensation circuit. Slope
compensation may be useful at PWM duty cycle exceeding 50%,
particularly in the fast-decay mode.
EN/
When high, EN/ input causes all motor drive outputs to be disabled
bringing INH1/, INH2/, PHA, PHB, PHC and PHD low. When ENABLE/
is low, all motor drive outputs are enabled.
TBLNK
A resistor-capacitor pair connected to the TBLNK input controls
the delay for which the sense input sampling is inhibited at the
beginning of each PWM cycle. The delay is given by:
Tblnk = 1.2 x RbCb
Where, Rb and Cb are the resistor and the capacitor connected
to the TBLNK pin.
HOME/
HOME/ is an open drain output to indicate step0 per Table 4 with an
active low.
Vref
THLD
Input for the chopper circuit DAC reference voltage. It regulates the
peak motor winding current by regulating the PWM duty cycle. The
DAC modifies the Vref input voltage for the current sensing
comparators at every sequential motor step which can be estimated
with the following equations:
Vsens1 = | (Vref/7) x cos((90/32) x (n + 16))º |
Vsens2 = | (Vref/7) x sin((90/32) x (n + 16))º |
Where, n is the 1/32 column step number in Table 6. The sense
resistors should satisfy the relation: Rs1 = Rs2 = Vref/(7 x Imax)
A resistor-capacitor pair connected to this pin produces the
holding torque initiation delay following a step command. Upon
delay timeout the normal torque reference voltage Vref is
switched out from the sense comparators, being replaced with
the holding torque reference voltage Vrefh. The holding torque at
lower dissipation prevails as long as the motor remains idle. The
delay is given by:
Thld = 1.4 x RhCh
8292-021811-2
Where, Rh and Ch are the resistor and the capacitor connected to the
THLD pin. If the pin is tied low, holding torque mode is disabled and
normal torque prevails in both dynamic and idle motor states.
PIN ASSIGNMENT
TOP VIEW
DCYM, TDCYD, TDCYU
DCYM and TDCYD inputs control the PWM decay modes for the
LS8292 as follows:
VDD
INH1/
INH2/
PHA
M0
1
24
M1
DCYM
2
3
4
5
23
22
21
20
Table 2
DCYM TDCYD
Decay Mode
Fast
Slow
Single-Mixed
1
1
0
0
1
RESET/
STEP/
RdCd
PHB
PHC
DCYM, TDCYD and TDCYU inputs control the PWM decay modes for
the LS8293 as follows:
FWD
EN/
6
7
19
18
LS8292
PHD
Table3
TBLNK
TDCYD
SENSE1
SENSE2
AGND
DCYM TDCYD TDCYU
Decay Mode
Fast
Slow
Single-Mixed
Dual-Mixed
HOME/
XTLO
8
9
17
16
1
1
0
0
0
1
x
x
0
RdCd
RdCd
RuCu
XTLI
DGND
Vref
10
11
12
15
14
13
Fast-Decay. Phase output are enabled while inhibit outputs are
chopped in both dynamic and idle motor states.
Slow-Decay. Inhibit output are enabled while phase outputs are
chopped in both dynamic and idle motor states.
Single-Mixed-Decay. Following a stepping event, if the step requires
the current in a winding to decrease, fast decay is applied to the winding
for a programmable duration followed by slow decay. The duration is
given by: Tdcyd = 1.2 x RdCd, where Rd and Cd are the resistor and the
capacitor connected to the TDCYD pin.
M0
M1
VDD
INH1/
INH2/
1
28
27
26
2
3
4
DCYM
If the step requires the current in a winding to increase, slow decay is
applied to the winding. If motor is idle, slow decay is applied to both
windings.
RESET/
PHA
25
STEP/
FWD
PHB
PHC
5
6
24
23
Dual-Mixed-Deacy. Following a stepping event fast decay is applied to
both windings for programmable durations followed by slow decay. The
duration of the fast decay for the winding requiring lower current
following a stepping event is given by: Tdcyd = 1.2 x RdCd and the
duration of the fast decay for the winding requiring higher current
following a stepping event is given by: Tdcyu = 1.2 x RuCu. Ru and Cu
are the resistor and the capacitor connected to the TDCYU pin.
EN/
PHD
7
22
LS8293
HOME/
XTLO
TBLNK
TDCYD
8
9
21
20
If motor is idle, slow decay is applied to both windings.
XTLI
SENSE1
SENSE2
10
11
19
18
VDD
Supply voltage positive terminal.
DGND
DGND
SYNC/
TDCYU
THLD
AGND
Vref
12
13
14
17
16
15
Supply negative terminal for digital ground.
AGND
Analog ground; must be connected together with DGND on the PCB.
Vrefh
8292-021811-3
VDD
EN/
DCYM
M0
MODE
Vr
INH1/
INH2/
PHA
SELECT
M1
VDD
DAC
Vr
-
OUTPUT
CONTROL
+
STEP
CONTROL
&
LOOK-UP
TABLE
RESET/
STEP/
PHB
PHC
PHD
FWD
DAC
-
HOME/
+
THLD
TBLNK
TDCYD
TDCYU
XTLI
Vr
XTLO
SENSE1
MUX
SENSE2
AGND
DGND
Vref
Vrefh
FIG 2. LS8292/LS8293 BLOCK DIAGRAM
8292-021811-4
TABLE 4
ABSOLUTE MAXIMUM RATINGS
PARAMETER
SYMBOL
VALUE
UNIT
DC Supply Voltage
VDD
Vin
TA
+7
V
V
ºC
ºC
Input Voltage (all inputs)
Operating Temperature
Storage Temperature
GND – 0.3 to VDD + 0.3
-25 to +85
TSTG
-65 to +125
TABLE 5
ELECTRICAL AND TRANSIENT CHARACTERISTICS ( VDD = 5V, TA = -25 ºC TO +85 ºC )
PARAMETER
SYMBOL
MIN
TYP
MAX
UNIT
CONDITION
Supply Voltage
Supply Current
M0 Input Logic High
M0 Input Logic Low
Input Voltage Logic High (all other inputs)
Input Voltage Logic Low (all other inputs)
Input Current: RESET/ logic high
Input Current: RESET/ logic low
Input Current: M0 logic high
VDD
IDD
VMH
VML
VIH
VIL
IIRH
IIRL
IMH
IML
IIH
IIL
IOPIL
IOPIH
IOSL
IOHL
IOHH
Vrf
4.5
-
4.0
-
2.0
-
-
-
-
-
-
5.0
-
-
-
-
-
-
-
5
5
-
-
-
-
-
-
-
5.5
500
-
0.6
-
0.8
30
40
-
V
uA
V
V
V
-
Outputs floating, Inputs high
-
-
-
V
uA
uA
uA
uA
nA
nA
mA
mA
mA
mA
mA
V
VIH = 2V
VIL = 0.8V
VIH = 5V
Input Current: M0 logic low
-
VIL = 0V
Input Current: logic high (all other inputs)
Input Current: logic low (all other inputs)
Output Current: Sink (Phase & Inhibit outputs)
Output Current: Source (Phase & Inhibit outputs)
Output Current: Sink (SYNC/ output)
Output Current: Sink (HOME/ output)
Output Current: source (HOME/ output)
Input Reference Voltage (Vref & Vrefh)
Sense Comparators Offset Voltage
50
50
-
-
-
Leakage Current
Leakege Current
Vout = 0.4V
Vout = 4.6V
Vout = 0.4V
Vout = 0.4V
Vout = 4.6V
-
-
10
-5
10
10
-5
2.5
-
-
-
-
50
4.5
200
Vos
uV
Vrf = 2V
TDCYD Input Timing Resistpr
TDCYU Input Timing Resistor
THLD Input Timing Resistor
TBLNK Input Timing Resistor
2
2
4
6
-
-
-
-
-
-
-
-
kΩ
kΩ
kΩ
kΩ
-
-
-
-
Rd
Ru
Rh
Rb
XTLI Input Frequency
fc
tfd
Tspw
Trpw
Tsypw
Tpwm
-
0
-
-
-
5.0
0
8/fc
8/fc
16/fc
255/fc
8.0
0
-
-
-
MHz
nS
uS
uS
uS
-
-
-
-
-
-
FWD Input set-up time for STEP/
STEP/ Input Pulse Width
RESET/ Input Pulse Width
SYNC/ Output Pulse Width
PWM period
-
-
uS
8292-021811-5
Icoil
Slow
Decay
Slow
Decay
Slow
Decay
Tdcyd
Tdcyu
Dual Mixed
Decay
Dual or Single
Mixed Decay
Step down
Step up
Tpwm
Time
Fig 3. SINGLE AND DUAL MIXED-DECAY MODES
+5V
+Vm
4
9
24
VDD
VSS
Vs
23
6
1
INH1/
INH1/
INH2/
A
M0
11
22
21
20
2
3
INH2/
PHA
PHB
PHC
PHD
M1
5
7
DCYM
4
B
RESET/
STEP/
2
uC
O1
O2
5
6
7
19
18
10
12
C
D
FWD
EN/
3
+5V
Rb
LS8292
L298
Cm
Cm
9
13
17
XTLO
XTLI
Vref
TBLNK
O3
O4
Cb
10MΩ
5MHz
10
14
+5V
Rd
Vr
12
16
TDCYD
SNS1
1
SNS2
GND
8
Cd
15
11
13
DGND
AGND
15
14
SENSE1
SENSE2
Rs
Rs
NOTE. Cm is chosen according to following relation:
Cm = 2(Cl – Cp) – 10pF, where Cl = Crystal load capacitance and Cp = parasitic capacitance
Fig 4. LS8292 DRIVING TWO-PHASE BIPOLAR MOTOR
8292-061413-6
+5V
+Vm
28
VDD
15nF
15nF
Vs
BOOT1
O1
27
1
INH1/
EN
M0
L6201
L6202
L6203
25
24
2
3
IN1
IN2
PHA
PHB
M1
DCYM
BOOT2
4
VREF
GND
RESET/
STEP/
uC
5
6
7
220nF
O2
FWD
EN/
LS8293
+Vm
Cm
Cm
9
XTLO
XTLI
15nF
15nF
Vs
BOOT1
O1
26
10MΩ
5MHz
10
EN
INH2/
23
22
L6201
L6202
L6203
IN1
IN2
PHC
PHD
+5V
Ru
BOOT2
VREF
13
220nF
TDCYU
Cu
GND
O2
+5V
+5V
Rb
21
TBLNK
Rh
Cb
14
THLD
Ch
+5V
Rd
20
Vr
17
TDCYD
Vref
Cd
Vrh 18
Vrefh
18
19
SENSE2
SENSE1
AGND
17
DGND
11
NOTE1. All functional options have been implemented in this application. If all options are not used, following components can be deleted:
~Rd, Ru, Cd and Cu: if no mixed-decay mode id selected.
~Rh and Ch: if holding torque is not selected. In this case Vrefh pin is tied to GND.
NOTE2. Cm is chosen according to following relation:
Cm = 2(Cl – Cp) – 10pF, where Cl = Crystal load capacitance and Cp = parasitic capacitance
Fig.5. LS8293 APPLICATION FOR TWO PHASE MOTOR USING TWO SEPARATE DRIVERS
8292-021811-7
+5V
+Vm
D
D
24
VDD
1
2
M0
M1
74HC08
21
23
Q1
Q2
PHA
4
5
6
7
INH1/
RESET/
STEP/
uC
20
15
PHB
+Vm
D
FWD
EN/
SENSE1
D
R
LS8292
74HC08
Cm
Cm
9
XTLO
XTLI
19
22
Q3
Q4
PHC
INH2/
PHD
10MΩ
5MHz
10
18
14
+5V
SENSE2
3
+5V
Rb
R
DCYM
Vref
Vr 12
17
16
TBLNK
TDCYD
Cb
DGND
11
AGND
13
NOTE 1. This design can operate in the Slow-decay mode only.
NOTE 2. Q1, Q2, Q3 and Q4 are power MOSFETS suitable for 5V gate drive. Typical part numbers: IRLZ44N and IRF3708
NOTE 3. For higher pre-drive capability, 74HC08 can be replaced with MIC4468
NOTE 4. Cm is chosen according to following relation:
Cm = 2(Cl – Cp) – 10pF, where Cl = Crystal load capacitance and Cp = parasitic capacitance
Fig 6. TYPICAL APPLICATION FOR FOUR PHASE UNIPOLAR MOTOR USING DISCRETE MOSFETS
8292-021811-8
Vm
2kΩ
2kΩ
BD679
6A10
6A10
6A10
6A10
BD679
1N4148
1N4148
PHA
INH1/
2N5551
6A10 2N5551
6A10
BD679
BD679
SENSE1
R
PHB
Vm
2kΩ
LS8292
2kΩ
BD679
6A10 BD679
6A10
6A10
1N4148
1N4148
PHC
2N5551
6A10
6A10 2N5551
6A10
INH2/
BD679
BD679
SENSE2
R
PHD
Note. All inverters are 74HC04, all NAND gates are 74HC00 and all AND gates are 74HC08
Fig.7. DISCRETE COMPONENT DRIVER
8292-021811-9
Vm
0.1uF
+20V
Vcc
Vb
HO
PHA
IN
Vs
IR2104
LO
INH1/
SD/
COM
SENSE1
0.1uF
+20V
R
Vcc
Vb
HO
PHB
IN
Vs
IR2104
LS8292
LS8293
SD/
LO
COM
Vm
0.1uF
+20V
Vcc
Vb
HO
PHC
Vs
IR2104
INH2/
LO
COM
SENSE2
0.1uF
+20V
R
Vcc
Vb
HO
PHD
Vs
IR2104
LO
COM
Notes:
Vm ≤ 100V.
All MOSFETs are IRF540N, all diodes are 1N4002
Fig.8. BIPOLAR DRIVER USING N-CHANNEL MOSFETS
8292-061512-10
Table 6
Step Number
PWM Duty Cycle (%)
Full 1/2 1/4 1/8 1/16 1/32
INH1/
INH2/
PHA PHB PHC PHD
Step Angle (º )
0
0
1
2
3
0
1
2
3
4
5
6
7
0
0
0
1
2
3
4
5
6
7
70.7
67.2
63.4
59.6
55.6
51.4
47.1
42.8
38.3
33.7
29.0
24.3
19.5
14.7
9.8
70.7
74.1
77.3
80.3
83.1
85.8
88.2
90.4
92.4
94.2
95.7
97.0
98.1
98.9
99.5
99.9
100
99.9
99.5
98.9
98.1
97.0
95.7
94.2
92.4
90.4
88.2
85.8
83.1
80.3
77.3
74.1
70.7
67.2
63.4
59.6
55.6
51.4
47.1
42.8
38.3
33.7
29.0
24.3
19.5
14.7
9.8
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
HOME
2.81
5.63
1
8.44
1
2
11.25
14.06
16.88
19.69
22.50
25.31
28.13
30.94
33.75
36.56
39.38
42.19
45.00
47.81
50.63
53.44
56.25
59.06
61.88
64.69
67.50
70.31
73.13
75.94
78.75
81.56
84.38
87.19
90.00
92.81
95.63
98.44
101.25
104.06
106.88
109.69
112.50
115.31
118.13
120.94
123.75
126.56
129.38
132.19
135.00
137.81
140.63
143.44
146.25
149.06
151.88
154.69
157.50
160.31
163.13
3
2
3
4
8
9
5
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
6
7
4.9
0.0
4.9
9.8
4
8
9
14.7
19.5
24.3
29.0
33.7
38.3
42.8
47.1
51.4
55.6
59.6
63.4
67.2
70.7
74.1
77.3
80.3
83.1
85.8
88.2
90.4
92.4
94.2
95.7
97.0
98.1
98.9
99.5
99.9
100
5
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
6
7
1
8
9
10
11
12
13
14
4.9
0.0
4.9
9.8
14.7
19.5
24.4
29.0
33.7
38.3
42.8
47.1
99.9
99.5
98.9
98.1
97.0
95.7
94.2
92.4
90.4
88.2
Continued on next page
8292-021811-11
Step Number
PWM Duty Cycle (%)
Full 1/2 1/4 1/8 1/16 1/32
INH1/
INH2/
PHA PHB PHC PHD
Step Angle (º )
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
85.8
83.1
80.3
77.3
74.1
70.7
67.2
63.4
59.6
55.6
51.4
47.1
42.8
38.3
33.7
29.0
24.3
19.5
14.7
9.8
51.4
55.6
59.6
63.4
67.2
70.7
74.1
77.3
80.3
83.1
85.8
88.2
90.4
92.4
94.2
95.7
97.0
98.1
98.9
99.5
99.9
100
99.9
99.5
98.9
98.1
97.0
95.7
94.2
92.4
90.4
88.2
85.8
83.1
80.3
77.3
74.1
70.7
67.2
63.4
59.6
55.6
51.4
47.1
42.8
38.3
33.7
29.0
24.3
19.5
14.7
9.8
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
165.94
168.75
171.56
174.38
177.19
180.00
182.81
185.63
188.44
191.25
194.06
196.88
199.69
202.50
205.31
208.13
210.94
213.75
216.56
219.38
222.19
225.00
227.81
230.63
233.44
236.25
239.06
241.88
244.69
247.50
250.31
253.13
255.94
258.75
261.56
264.38
267.19
270.00
272.81
275.63
278.44
281.25
284.06
286.88
289.69
292.50
295.31
298.13
300.95
303.75
306.56
309.38
312.19
315.00
317.81
320.63
323.44
326.25
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
2
4
5
6
7
8
9
4.9
0.0
4.9
9.8
10
11
12
13
14
14.7
19.5
24.4
29.0
33.7
38.3
42.8
47.1
51.4
55.6
59.6
63.4
67.2
70.7
74.1
77.3
80.3
83.1
85.8
88.2
90.4
92.4
94.2
95.7
97.0
98.1
98.9
99.5
99.9
100
3
4.9
0.0
4.9
9.8
14.7
19.5
99.9
99.5
98.9
98.1
Continued on next page
8292-021811-12
Step Number
Full 1/2 1/4 1/8 1/16 1/32
117
PWM Duty Cycle (%)
INH1/
INH2/
PHA PHB PHC PHD
Step Angle (º )
97.0
95.7
94.2
92.4
90.4
88.2
85.8
83.1
80.3
77.3
74.1
70.7
24.4
29.0
33.7
38.3
42.8
47.1
51.4
55.6
59.6
63.4
67.2
70.7
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
1
1
1
1
0
0
0
0
0
0
0
0
0
0
0
0
1
1
1
1
1
1
1
1
329.06
331.88
334.69
337.50
340.31
343.13
345.95
348.75
351.56
354.38
357.19
HOME
59
60
61
62
63
0
118
119
120
121
122
123
124
125
126
127
0
15
30
31
0
0
0
0
NOTE:
In Table4 the PWM duty cycles are indicated for Fast Decay mode which causes INH1/ and INH2/ outputs to be chopped.
In Slow Decay mode INH1/ and INH2/ outputs remain high while PHA, PHB, PHC and PHD outputs are chopped.
8292-021811-13
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