DRV8461SPWPR datasheet(21/117 Pages) TI

21 / 117 page

Table 7-5. Microstepping Indexer Settings

MODE = 1

MODE = 0

MICROSTEP_MODE

STEP MODE

0000b

Full step (2-phase

excitation) with 100%

current

0001b

330 kΩ to

GND

Full step (2-phase

excitation) with 71%

current

0010b

Non-circular 1/2 step

0011b

Hi-Z

1/2 step

0100b

1/4 step

0101b

1/8 step

0110b

Hi-Z

1/16 step

0111b

Hi-Z

1/32 step

1000b

Hi-Z

330 kΩ to

GND

1/64 step

1001b

Hi-Z

1/128 step

1010b

Hi-Z

1/256 step

When operating with SPI, the device allows stepping and direction change over SPI interface as well, as shown

in Table 7-6. Four bits are dedicated for this purpose -

Table 7-6. STEP and DIR control over SPI

Bit

0b (default)

SPI_DIR

Driver changes direction based on DIR pin inputs

Direction changes depend on the DIR bit

SPI_STEP

Stepping depends on the STEP pin inputs

Step changes depend on the STEP bit

DIR

Motor moves in the reverse direction

Motor moves in the forward direction

STEP

Indexer advances by one step. STEP bit is self-clearing,

becomes 0b after writing 1b to it.

Table 7-7 shows the relative current and step directions for full-step (71% current), 1/2 step, 1/4 step and 1/8

step operation for the case when DIR pin is logic high or DIR bit is '1'. Higher microstepping resolutions follow

the same pattern. The AOUT current is the sine of the electrical angle and the BOUT current is the cosine of the

electrical angle. Positive current is defined as current flowing from the xOUT1 pin to the xOUT2 pin while driving.

Table 7-7. Relative Current and Step Directions

1/8 STEP

1/4 STEP

1/2 STEP

FULL STEP 71%

AOUT CURRENT

(% FULL-SCALE)

BOUT CURRENT

(% FULL-SCALE)

ELECTRICAL

ANGLE (DEGREES)

100%

0.00

20%

98%

11.25

38%

92%

22.50

56%

83%

33.75

71%

45.00

83%

56%

56.25

92%

38%

67.50

98%

20%

78.75

100%

90.00

98%

-20%

101.25

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DRV8461

SLOSE98 – DECEMBER 2022

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