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AN4144 Datasheet(PDF) 2 Page - STMicroelectronics |
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AN4144 Datasheet(HTML) 2 Page - STMicroelectronics |
2 / 28 page Contents AN4144 2/28 DocID023491 Rev 3 Contents 1 Voltage mode driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.1 Basic principles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.2 Back EMF compensation algorithm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 1.3 Motor supply voltage compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11 1.4 Compensation of thermal drift of the phase resistance . . . . . . . . . . . . . . 12 2 Tuning of the BEMF compensation parameters . . . . . . . . . . . . . . . . . . 13 2.1 Collecting the application characteristics . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.2 First dimensioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2.2.1 Holding, acceleration, deceleration and running currents . . . . . . . . . . . 15 2.2.2 Compensation register values out of range . . . . . . . . . . . . . . . . . . . . . . 16 2.3 Fine tuning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2.3.1 Step 1: verify the phase current during the speed sweep . . . . . . . . . . . 17 2.3.2 Step 2: adjust the starting amplitude (KVAL) . . . . . . . . . . . . . . . . . . . . . . 18 2.3.3 Step 3: adjust the intersect speed value . . . . . . . . . . . . . . . . . . . . . . . . 19 2.3.4 Step 4: adjust the starting and final slopes . . . . . . . . . . . . . . . . . . . . . . 19 2.3.5 Step 5: final check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 3 Supply voltage compensation guidelines . . . . . . . . . . . . . . . . . . . . . . . 22 4 Thermal drift compensation guidelines . . . . . . . . . . . . . . . . . . . . . . . . 23 5 Stepper motor resonances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 5.1 The effects of the resonances on Voltage mode driving . . . . . . . . . . . . . 25 5.2 Facing resonances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 5.2.1 Damping resonances using the mechanical load . . . . . . . . . . . . . . . . . 26 5.2.2 Reducing motor current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 5.2.3 Skipping the resonance points increasing the acceleration . . . . . . . . . . 26 6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 |
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