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DRV3220-Q1: DRV3220 - Vgs monitor

Part Number: DRV3220-Q1

hello, we are using MGD ic DRV3220 for our brake application model.

our issue is that DRV3220 was detecting Vgs error in case of high current motor operation even though the Vgs level is ok.

so, i'd like ask the below questions.

1. Plese explain how gaurantee the Highside/Lowside Gate voltage level?

Could you explain in detail?

how does Driver IC make High side/lowside gate signal? (from boost converter) the level always controled based on the voltage of FET source.

in case of FET source voltage offset, the gate level also is controlled? (9 ~13.5v?)

is there any application note for this?

2. vgs monitoring for driving with low duty.

Vgs can be detected or not when driving with duty within 2.5usec and deglitch time (1usec) (on time <3.5usec)?

in case of this, how is the IC detecting function working(just skip??)? please explain more detail.

3. when the inverter current or battery current is very high(motor working),

Is there a condition under which vgs can be detected wrongly?

4.  comparator gnd offset for detecting vgs error

When detecting VGS Error, DRV3220 will use Comparator to determine the error (blue box).
1) If the GND of this comparator is offset, can the VGS judgment threshold level be affected? 
5. is there any Errata record for this issue?