参数资料
型号: A3981KLPTR-T
厂商: Allegro Microsystems Inc
文件页数: 40/43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
opposite direction. In addition the phase B current at quarter-
step positions 3, 5, 11, and 13 also have the same magnitude as
that of phase A at quarter-step position 7, with a positive current
direction for steps 3 and 13 and a negative direction for steps 5
and 11. Similar symmetry can be applied to the phase B current at
quarter-step position 7, calculated above.
This means that only five discrete current magnitudes are
required, including 0% and 100%, in order to drive the stepper
motor to all 16 quarter-step positions. Using the same nomencla-
ture as figure A7, that is, I Pn , where P is the phase, A or B, and n
is the quarter-step number from figure A6, table A1 shows where
each of the five magnitude values are used.
Figure A8 shows these values plotted as a current sequence
diagram. This figure is therefore the time-based equivalent of the
phase diagram in figure A6.
Higher Microstep Resolution
The principles described above can easily be extended to higher
microstep resolutions. As the microstep resolution increases, it
becomes more apparent that the phase current sequences approxi-
mate ever closer to a sin and cosine function. Figure A9 shows
the measured phase current sequence of the A3981 running in
sixteenth-step mode. The phase current sequences for eighth-step
and sixteenth-step resolutions are shown in figures A10 and A11.
Most applications using small motors are limited to sixteenth-step
mode due to the mechanical precision of the motor. Larger, high-
precision stepper motors are sometimes driven at 32, 64, or even
up to 256 microsteps in some extreme cases.
Practical Implementation
A system to drive a stepper motor with microstep capability
Phase B
Phase A
I
Table A1. Quarter-Step Phase Current Magnitudes
Magnitude
(%)
0 . I A0 – I A8 – – I B4 –
38.3 I A1 I A7 I A9 I A15 I B3 I B5 I B11
70.7 I A2 I A6 I A10 I A14 I B2 I B6 I B10
92.4 I A3 I A5 I A11 I A13 I B1 I B7 I B9
100 . – I A4 – I A12 I B0 – I B8
I B
100%
92%
70%
38%
0
-38%
-70%
-92%
-100%
100% A
92%
70%
38%
0
-38%
I B12
I B13
I B14
I B15
requires sequencers, current reference generators, and current
controllers. Developing such a system from discrete components,
or even using a fast microcontroller, is a complex task. The
A3981 is one of several fully integrated stepper drivers that are
available with microstep resolutions, from compensated half step
to sixteenth step and higher, using programmable current tables.
All aspects of the stepper control system are included in these
single chip solutions and many of them can be controlled by a
simple Step and Direction interface.
-70%
-92%
-100%
12 13 14 15
0
1
2
3
4
5
6
7
8
9
10 11 12
Figure A8. Phase current sequence for quarter step
Figure A9. Measured sixteenth-step phase current sequence
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
40
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