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DRV8834 in Indexer Mode - How does it work?

Other Parts Discussed in Thread: DRV8834

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.

  • Hi DeeJay,

    On DRV8834 (as in pretty much any of our H Bridges with current regulation), the internal PWM engine will only disable the H Bridge once the ITRIP point is met. What this means is that although the period is about 20 us, we will not necessarily switch the H Bridge at 20 us. If the current is below ITRIP, the H Bridge remains enabled. In fact, if the inductance was to saturate at a current level below ITRIP, you would not see any switching at all until the ITRIP value decreases again.

    When we are discharging the current (as in microstepping sine wave generation quadrants 2 and 4), the H Bridge will always be enabled for TBLANK. This may seem like a problem but since TBLANK is much smaller than ther resulting TOFF, we can get good current regulation during discharge. What we need to take under consideration, however, is what the decay mode is (which as you pointed out, is selected through the DECAY pin). If you use slow decay mode during current discharge, the discharge rate could be too slow and sine wave deformation may occur. This is why it is recommended to use fast decay or mixed decay. Mixed Decay usually offers the best ratio, but this depends on motor inductance and application power supply.

    I hope this answers both of your questions but do let us know if there is still any area which requires further clarification.

    Best regards,

    Jose Quinones

  • Hi Jose,

    Thank you for the clarification and it makes sense now.

    Rgds,

    DeeJay