DRV8821_16 Datasheet, PDF (12/32 Pages) Texas Instruments – Dual Stepper Motor Controller and Driver

DRV8821
SLVS912J – JANUARY 2009 – REVISED JANUARY 2016
Feature Description (continued)
The full-scale (100%) chopping current is calculated as follows:
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5
(1)
Example:
If a 0.5-Ω sense resistor is used and the VREFx pin is 2.5 V, the full-scale (100%) chopping current is
2.5 V/(5 × 0.5 Ω) = 1 A.
The reference voltage is also scaled by an internal DAC that allows torque control for fractional stepping of a
bipolar stepper motor, as described in Microstepping Indexer.
7.3.3 Blanking Time
After the current is enabled in an H-bridge, the voltage on the xISEN pin is ignored for a fixed period of time
before enabling the current sense circuitry. This blanking time is fixed at 3.75 μs. Note that the blanking time also
sets the minimum on time of the PWM.
7.3.4 Microstepping Indexer
Built-in indexer logic in the DRV8821 allows a number of different stepping configurations. The xUSM1 and
xUSM0 pins are used to configure the stepping format as shown in the table below:
Table 1. Microstepping Selection Bits
xUSM1
0
0
1
1
xUSM0
0
1
0
1
STEP MODE
Full step (2-phase excitation)
½ step (1-2 phase excitation)
1/4 step (W1-2 phase excitation)
Eight microsteps/steps
The following table shows the relative current and step directions for different settings of xUSM1 and xUSM0. At
each rising edge of the xSTEP input, the indexer travels to the next state in the table. The direction is shown with
the DIR pin high; if the xDIR pin is low the sequence is reversed. Positive current is defined as xOUT1 = positive
with respect to xOUT2.
Note that the home state is 45 degrees. This state is entered at power-up, during sleep mode, or application of
xRESETn.
Motor AB and motor CD act independently, and their indexer logic functions identically.
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