Hope I get some help here to understand how the DRV8834 works in Indexer Mode.
The aspect of operation that I'm unsure of is how the PWM module is working:
From what I read in the data sheet the PWM frequency is fixed at 42.5KHz which is 23.53E-6 sec
We are using the 42HZ33610 motor which can be wired with a coil inductance of L = 2.5E-3 H
Using the follow as an estimate: V = L x di / dt we re-arrange to get dt = L x di / V
V = 6, di = 20% of ICHOP = 550E-3 A which is the largest current step in Indexer Mode (see Table 5. Current and Step Directions in the data sheet), di = 110E-3 A
From this we get dt = 43.8E-6 sec which is greater than the PWM period.
From the data sheet:
"Current regulation works as follows:
When an H-bridge is enabled, current rises through the winding at a rate dependent on the supply voltage and inductance of the winding. If the current reaches the current chopping threshold, the bridge disables the current until the beginning of the next PWM cycle.
...
The PWM chopping current is set by a comparator which compares the voltage across a current sense resistor connected to the xISEN pins, with a reference voltage supplied to the AVREF and BVREF pins. In indexer mode, the reference voltages are scaled by internal DACs to provide scaled currents used to perform microstepping."
So does that mean the H-bridge is enabled for multiple PWM cycles when the "scaled current value" is not reached by then end of a PWM cycle ?
Also not directly stated in the data sheet, what happens when the "scaled current value" greater than the current in the coil measured via the xISEN pin at the beginning of a PWM cycle ? That is what is going on when the current in the coil needs to be decreased on the next step ? The data sheet seems to infers that the PWM cycle is started, goes for TBLANK and then disables the H-bridge:
From the data sheet:
"Note that immediately after the current is enabled, the voltage on the xISEN pin is ignored for a period of time before enabling the current sense circuitry. This blanking time also sets the minimum on time of the PWM when operating in current chopping mode.
Note that the blanking time also sets the minimum PWM duty cycle."
Is this the case or does are the H-bridges just not enabled in this situation and decay is determined by the xDECAY pins ?
Thanks.