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DRV8461SPWPR 数据表(PDF) 24 Page - Texas Instruments |
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DRV8461SPWPR 数据表(HTML) 24 Page - Texas Instruments |
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24 / 117 page  Table 7-11. STEP frequency filtering FRQ_CHG STEP_FRQ_TOL Filtering 0b (default) 00b 1% 01b (default) 2% 10b 4% 11b 6% 1b Don't care No filtering 7.3.5 Indexer Output The DRV8461 features the INDEX registers to indicate the expected microstep current and position of the motor to the user. • CUR_A_POS register and CUR_A_SIGN bit indicate the position of coil A current in the indexer table. • CUR_B_POS register and CUR_B_SIGN bit indicate the position of coil B current in the indexer table. • CUR_A register indicates the value of expected coil A current, which is sin (90° x CUR_A_POS / 255). • Current will be positive if the corresponding sign bit is 1b and negative if the sign bit is 0b. Table 7-12 shows the outputs of the CUR_A_POS and CUR_B_POS registers for a current waveform corresponding to 1/256 microstepping. Table 7-12. Indexer Output Table Current Quadrant CUR_A_POS CUR_A_SIGN CUR_B CUR_B_SIGN First (0° -> 90°) 0 -> 255 1b 255 -> 0 1b Second (90° -> 180°) 255 -> 0 1b 0 -> 255 0b Third (180° -> 270°) 0 -> 255 0b 255 -> 0 0b Fourth (270° -> 360°) 255 -> 0 0b 0 -> 255 1b The Indexer outputs together with the nHOME signal allow determination of the motor position within the electrical wave. They can be compared with an encoder output to detect discrepancies in the movement of the motor - such as detecting step loss. 7.3.5.1 nHOME Output For the DDW package, when the microstepping indexer reaches the home position (electrical angle of 45°), corresponding to 71% of full-scale current in both coils, the open-drain nHOME output is pulled low. At all other times, the nHOME output will be pulled high. When the device operates with SPI interface, additionally the NHOME bit in SPI register becomes 0b when the indexer reaches home position. Therefore, the nHOME output gives one low pulse per electrical rotation, i.e. one pulse per each four fullsteps, as shown in Figure 7-6. The nHOME low pulse thus corresponds to a defined position of the motor for every four fullsteps. A more precise homing of the motor can be achieved by combining nHOME with a mechanical home switch. DRV8461 SLOSE98 – DECEMBER 2022 www.ti.com 24 Submit Document Feedback Copyright © 2022 Texas Instruments Incorporated Product Folder Links: DRV8461 |
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