When driving a wheel motor for a robot, there is a case when a fault is triggered, and the fault stays in fault mode until power is cycled.
At low motor speeds, say up to 50% PWM, no problems in motion or when PWM goes to zero.
At higher motor speeds, say 80% PWM, no problem in motion, but as soon as PWM goes to zero, a fault is triggered and remains in the triggered state until power to the board is cycled.
If PWM is ramped down, no fault is triggered.
Operating conditions:
24VDC motor voltage
5VDC PWM logic voltage
HW configured for PH/EN mode (for DIR and PWM)
500HZ PWM freq (also tried at 1KHZ, no difference).
Geared wheel motor (wheels do not turn unless turned by the motor)
Slew rates of 53.2V/us, and 13V/uS were tried. No effect on this issue.
Followed layout notes for thermal , and have heatsink on bottom of board (parts do seem to run warmer than expected when idle and not driving a motor). Not a thermal problem since we can load down the motor and no fault is triggered.