DocID18343 Rev 3

17/22

AN3327

Statistical analysis of BEMF detection

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Figure 16. Histogram of stall detection times in one motor (right is a zoom of the left)

A "current period" is defined as the time duration to make one full 360° electrical rotation.

For this example that translates to stepping 32 times at 2 kHz or 16 ms. Within 10 half

periods, or 80 ms, stall was detected 100% of the time.