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DRV8461SPWPR Datasheet(PDF) 95 Page - Texas Instruments |
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DRV8461SPWPR Datasheet(HTML) 95 Page - Texas Instruments |
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95 / 117 page  Table 7-86. ATQ_CTRL15 Register Field Descriptions (continued) Bit Field Type Default Description 3-2 ATQ_LRN_STEP[1:0] R/W 00b Represents the increment to initial current level. It supports four options - • 00b : ATQ_LRN_STEP = 128 • 01b : ATQ_LRN_STEP = 16 • 10b : ATQ_LRN_STEP = 32 • 11b : ATQ_LRN_STEP = 64 Example : If ATQ_LRN_STEP = 10b and ATQ_LRN_MIN_CURRENT = 11000b, then - • Initial learn current level = 24*8 = 192 • Final learn current level = 192 + 32 = 224 1-0 ATQ_LRN_CYCLE_SELECT[1:0] R/W 00b Represents the number of electrical half cycles spent in one current level after which the learning routine allows the current to jump to the other level. It supports four options - • 00b : 8 half-cycles • 01b : 16 half-cycles • 10b : 24 half-cycles • 11b : 32 half-cycles 7.5.5.16 ATQ_CTRL16 (address = 0x2E) [Default = FFh] ATQ_CTRL16 is shown in Figure 7-103 and described in Table 7-87. Read only Return to the Register Maps Table Figure 7-103. ATQ_CTRL16 Register 7 6 5 4 3 2 1 0 ATQ_TRQ_DAC[7:0] R-11111111b Table 7-87. ATQ_CTRL16 Register Field Descriptions Bit Field Type Default Description 7-0 ATQ_TRQ_DAC[7:0] R 11111111b Outputs the value of motor current when auto-torque is enabled. ATQ_TRQ_DAC can vary between ATQ_TRQ_MIN and ATQ_TRQ_MAX. Note When auto-torque is disabled, ATQ_TRQ_DAC reads the value programmed to ATQ_TRQ_MAX. 7.5.5.17 ATQ_CTRL17 (address = 0x2F) [Default = 00h] ATQ_CTRL17 is shown in Figure 7-104 and described in Table 7-88. Read/Write Return to the Register Maps Table Figure 7-104. ATQ_CTRL17 Register 7 6 5 4 3 2 1 0 RSVD VM_SCALE RSVD www.ti.com DRV8461 SLOSE98 – DECEMBER 2022 Copyright © 2022 Texas Instruments Incorporated Submit Document Feedback 95 Product Folder Links: DRV8461 |
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