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参数资料
型号： A3981KLPTR-T
厂商： Allegro Microsystems Inc
文件页数： 26/43页
文件大小： 0K
描述： IC MOTOR DVR MICROSTEP 28-TSSOP
标准包装： 1
系列： *
应用： *
输出数： *
电流 - 输出： *
电压 - 负载： *
电源电压： *
工作温度： *
安装类型： 表面贴装
封装/外壳： 28-SOIC（0.173"，4.40mm 宽）裸露焊盘
供应商设备封装： 28-TSSOP 裸露焊盘
包装： 标准包装
其它名称： 620-1458-6
A3981
Automotive, Programmable Stepper Driver
reference value. Although the current in Q3 and Q4 for phase A is
effectively negative, the negation is provided by controlling the
direction of the current. The current control scheme still operates
using positive values.
As shown below, the table of values can be extended to include
Q3 and Q4 with the current direction indicated in the last column.
Note that the same value is now applied to four locations in the
full 360-degree electrical cycle.
Shown outlined above, steps 4, 28, 36, and 60 all contain the
value 23.
The other phase, phase B, uses the same values as phase A but
shifted back by 16 Step Angle Numbers. The full distribution of
the value entered in step 4 of phase A is highlighted in figure 13
(and shown in table 7). This single value is used in a total of eight
locations. The same distribution of values applies to all the values
in steps 1 to 15. These values are defined in the A3981 as PT(0)
to PT(14), respectively.
Step 0
Value 0
Step
Value
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
5 11 18 23 29 35 40 44 48 52 55 58 60 62 63
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16
5 11 18 23 29 35 40 44 48 52 55 58 60 62 63 63
Q1 FWD
Q2 FWD
There are two exceptions to this data distribution principal. These
are the zero value and the maximum value:
? The values in phase A steps 0 and 32 and phase B steps 16 and
48 are always set to zero and cannot be programmed.
Step 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47
Value 0 5 11 18 23 29 35 40 44 48 52 55 58 60 62 63
Step 63 62 61 60 59 58 57 56 55 54 53 52 51 50 49 48
Value 5 11 18 23 29 35 40 44 48 52 55 58 60 62 63 63
Q3 Rev
Q4 Rev
? The maximum value, PT(15), is distributed to only two Step
Angle Numbers in each phase. These are the points in the cycle
where the peak current is required, namely phase A steps 16 and
48 and phase B steps 0 and 32.
Table 7. Phase Current Table (default, power-on content)
Phase Current
Step
Phase Current
Step
Step Angle Number
(% of I PMAX )
Angle
Phase
DAC
Step Angle Number
(% of I PMAX )
Angle
Phase
DAC
Full 1/2
1/4
1/8 1/16
A
B
A
B
A
B
Full 1/2
1/4
1/8 1/16
A
B
A
B
A
B
0
0
0
0
0.00 100.00
0.0
0
0
0
63
4
8
16
32 0.00 -100.00
180.0
0
1
0
63
1
9.38 100.00
5.4
0
0
5
63
33 -9.38 -100.00
185.4
1
1
5
63
1
2
3
18.75 98.44
29.69 95.31
10.8
17.3
0
0
0
0
11
18
62
60
17
34 -18.75 -98.44
35 -29.69 -95.31
190.8
197.3
1
1
1
1
11
18
62
60
1
2
4
37.50 92.19
22.1
0
0
23
58
9
18
36 -37.50 -92.19
202.1
1
1
23
58
5
46.88 87.50
28.2
0
0
29
55
37 -46.88 -87.50
208.2
1
1
29
55
3
6
7
56.25 82.81
64.06 76.56
34.2
39.9
0
0
0
0
35
40
52
48
19
38 -56.25 -82.81
39 -64.06 -76.56
214.2
219.9
1
1
1
1
35
40
52
48
0
1
2
4
8
70.31 70.31
45.0
0
0
44
44
2
5
10
20
40 -70.31 -70.31
225.0
1
1
44
44
9
76.56 64.06
50.1
0
0
48
40
41 -76.56 -64.06
230.1
1
1
48
40
5
10
11
82.81 56.25
87.50 46.88
55.8
61.8
0
0
0
0
52
55
35
29
21
42 -82.81 -56.25
43 -87.50 -46.88
235.8
241.8
1
1
1
1
52
55
35
29
3
6
12
92.19 37.50
67.9
0
0
58
23
11
22
44 -92.19 -37.50
247.9
1
1
58
23
13
95.31 29.69
72.7
0
0
60
18
45 -95.31 -29.69
252.7
1
1
60
18
7
14
15
98.44 18.75
100.00 9.38
79.2
84.6
0
0
0
0
62
63
11
5
23
46 -98.44 -18.75
47 -100.00 -9.38
259.2
264.6
1
1
1
1
62
63
11
5
2
4
8
16
100.00 0.00
90.0
0
0
63
0
6
12
24
48 -100.00 0.00
270.0
1
1
63
0
17
100.00 -9.38
95.4
0
1
63
5
49 -100.00 9.38
275.4
1
0
63
5
9
18
19
98.44 -18.75
95.31 -29.69
100.8
107.3
0
0
1
1
62
60
11
18
25
50 -98.44 18.75
51 -95.31 29.69
280.8
287.3
1
1
0
0
62
60
11
18
5
10
20
92.19 -37.50
112.1
0
1
58
23
13
26
52 -92.19 37.50
292.1
1
0
58
23
21
87.50 -46.88
118.2
0
1
55
29
53 -87.50 46.88
298.2
1
0
55
29
11
22
23
82.81 -56.25
76.56 -64.06
124.2
129.9
0
0
1
1
52
48
35
40
27
54 -82.81 56.25
55 -76.56 64.06
304.2
309.9
1
1
0
0
52
48
35
40
1
3
6
12
24
70.31 -70.31
135.0
0
1
44
44
3
7
14
28
56 -70.31 70.31
315.0
1
0
44
44
25
64.06 -76.56
140.1
0
1
40
48
57 -64.06 76.56
320.1
1
0
40
48
13
26
27
56.25 -82.81
46.88 -87.50
145.8
151.8
0
0
1
1
35
29
52
55
29
58 -56.25 82.81
59 -46.88 87.50
325.8
331.8
1
1
0
0
35
29
52
55
7
14
28
37.50 -92.19
157.9
0
1
23
58
15
30
60 -37.50 92.19
337.9
1
0
23
58
29
29.69 -95.31
162.7
0
1
18
60
61 -29.69 95.31
342.7
1
0
18
60
15
30
31
18.75 -98.44
9.38 -100.00
169.2
174.6
0
0
1
1
11
5
62
63
31
62 -18.75 98.44
63 -9.38 100.00
349.2
354.6
1
1
0
0
11
5
62
63
4
8
16
32
0.00 -100.00
180.0
0
1
0
63
0
0
0
0
0.00 100.00
0.0
0
0
0
63
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
26
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