Appendix C. Mode Sequence Diagrams. MICROCHIP MTS2916A Dual Full-Bridge Stepper Motor Driver, ADM00308

MTS2916A DUAL FULL-BRIDGE

STEPPER MOTOR DRIVER

EVALUATION BOARD USER’S GUIDE

Appendix C. Mode Sequence Diagrams

C.1

MTS2916A DUAL FULL-BRIDGE STEPPER MOTOR DRIVER EVALUATION

BOARD FUNCTIONAL FLOWCHART

POWER-UP

Press Mode Switch

Once

Speed Adjust

Twice

Mode 1:

Full-Step

Armed

Press Run Switch

Once

Twice

Three times

Four times

Five times

Mode 1:

Full-Step

Output

V

REF

= 1V

Mode 1:

Full-Step

Output

V

REF

= 2V

Mode 1:

Full-Step

Output

V

REF

= 3V

Mode 1:

Full-Step

Output

V

REF

= 4V

Mode 1:

Full-Step

Output

V

REF

= 5V

Mode 2:

Half-Step

Armed

Press Run Switch

Once

Twice

Three times

Four times

Five times

Mode 2:

Half-Step

Output

V

REF

= 1V

Mode 2:

Half-Step

Output

V

REF

= 2V

Mode 2:

Half-Step

Output

V

REF

= 3V

Mode 2:

Half-Step

Output

V

REF

= 4V

Mode 2:

Half-Step

Output

V

REF

= 5V

Three times

Mode 3:

Modified Half-Step

Armed

Press Run Switch

Once

Twice

Three times

Four times

Five times

Mode 3:

Modified Half-Step

V

Output

REF

= 1V

Mode 3:

Modified Half-Step

V

Output

REF

= 2V

Mode 3:

Modified Half-Step

Output

V

REF

= 3V

Mode 3:

Modified Half-Step

V

Output

REF

= 4V

Mode 3:

Modified Half-Step

V

Output

REF

= 5V

Four times

Mode 4:

Microstep

Armed

Press Run Switch

Once

Five times

Six times

Four times

OFF

Wraps to Mode 1

Twice

Three times

Five times

Mode 4:

Microstep

Output

V

REF

= 1V

Mode 4:

Microstep

Output

V

REF

= 2V

Mode 4:

Microstep

Output

V

REF

= 3V

Mode 4:

Microstep

Output

V

REF

= 4V

Mode 4:

Microstep

Output

V

REF

= 5V

 2012-2013 Microchip Technology Inc.

DS50002058B-page 25

MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board User’s Guide

C.2

SINGLE STEPPING EXAMPLE

POWER-UP Speed Adjust

Press Mode Switch

Once

Mode 1:

Full-Step

Armed

Press

Run Switch

Once

Single Stepping example shown for Mode 1.

Single Stepping is available in all four modes.

Mode 1:

Full-Step

Output

Press

Hold Switch

Once

Hold Mode

Press

Run Switch

Single-Step

Mode

Every press of the Run switch in Hold mode produces one step

DS50002058B-page 26

 2012-2013 Microchip Technology Inc.

Mode Sequence Diagrams

C.3

MTS2916A DUAL FULL-BRIDGE STEPPER MOTOR DRIVER EVALUATION

BOARD SOFTWARE FLOWCHARTS

C.3.1

Main() Mode

ENTRY

Initialization

ReadAD= 1

?

Y

N

SampleADC() SpeedUpdate()

Second = 1

?

Y

N

DoOneSecondTasks()

1/8 Second = 1

?

Y

N

ScanSwitches()

ReadADC = 0

Second = 0

EigthSecond = 0

 2012-2013 Microchip Technology Inc.

DS50002058B-page 27

MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board User’s Guide

C.3.2

Interrupt() Mode

ENTRY

Timer 0?

Y

N

8HZ?

N

Y EighthSecond=1

ReadADC = 1

1HZ?

N

Y

Second = 1

Timer 1?

Y

N

Stop?

N

Y

Update Stepper

Driver Port B

Hold?

Y

N

StepMode?

Y

N

DirectionBit?

Y

N

Decrement

Rotation State

Increment Rotation

State

A

FIGURE C-1: Interrupt() Mode.

B

DS50002058B-page 28

C

 2012-2013 Microchip Technology Inc.

A

Mode Sequence Diagrams

C B

RunMode?

DirectionBit?

Y

N

Decrement

Rotation State

Increment Rotation

State

OFF

RotationData = STOP

FULL

Switch (Stepmode)

HALF

RotationData = FullStepRotationTable(RotationState)

RotationData = HalfStepRotationTable(RotationState)

F D

FIGURE C-2: Interrupt Mode (Continuation).

 2012-2013 Microchip Technology Inc.

DS50002058B-page 29

MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board User’s Guide

F D

MOD HALF

RotationData = ModHalfStepRotationTable(RotationState)

12 STEP

RotationData = TwelveStepRotationTable(RotationState)

WAVE

RotationData = WaveStepRotationTable(RotationState)

Phase1 =

Phase2?

Phase1 Decreasing

Phase2 Increasing

Phase1 Increasing

Phase2 Decreasing

DEFAULT

CurrentReferencePWM1 = WaveStepCurrentRefTable(Phase1)

CurrentReferencePWM2 = WaveStepCurrentRefTable(Phase2)

RotationData = STOP

StepMode = OFF

G E

FIGURE C-3:

DS50002058B-page 30

Interrupt Mode (Continuation).

 2012-2013 Microchip Technology Inc.

G

Mode Sequence Diagrams

E

Update Current Reference PWM1 and PWM2 for next interrupt

End ISR

FIGURE C-4: Interrupt Mode (Last).

 2012-2013 Microchip Technology Inc.

DS50002058B-page 31

MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board User’s Guide

C.3.3

SampleADC() Mode

ENTRY

Read Selected

A/D Channel

Averaging

Complete?

Y

N

Compute Average.

Reload Average Counter.

Save average into A/D

Channel location.

Select next channel.

DS50002058B-page 32

Return

 2012-2013 Microchip Technology Inc.

C.3.4

ReadADCChannel (Channel) Mode

Mode Sequence Diagrams

ENTRY

Set A/D MUX

Channel

Delay for A/D MUX

Select

Start Conversion

Conversion

Complete?

N

Y

Return Result

 2012-2013 Microchip Technology Inc.

DS50002058B-page 33

MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board User’s Guide

C.3.5

SpeedUpdate() Mode

ENTRY

SpeedInput

< 65?

Speed = 0

Fault = Speed Low

SpeedInput

< 100?

Speed = 0

Fault = No Fault

SpeedInput

> 950?

Speed = 0

Fault = Speed High

SpeedInput

> 900?

Speed = Max

Fault = No Fault

Calculate Speed

Fault = No Fault

Calculate Rollover

Count

Store new timer reload value

Return (Fault)

DS50002058B-page 34

 2012-2013 Microchip Technology Inc.

C.3.6

DoOneSecondTasks() Mode

ENTRY

Mode Sequence Diagrams

Mode Switch

Pressed?

N

Y

Status LED = Fault

Return

 2012-2013 Microchip Technology Inc.

DS50002058B-page 35

MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board User’s Guide

C.3.7

ScanSwitches() Mode

ENTRY

Direction Sw

Pressed?

Y

Toggle Direction Bit

Stop = 0

N

Direction Sw

Pressed?

Y

N

DoOneSecondTasks()

Hold Sw

Pressed?

Y

Toggle Hold Bit

StepMode = Hold Bit

Hold Bit Set?

N

Y

StepMode = 0

N

Hold Sw

Pressed?

Y

N

DoOneSecondTasks()

Mode Sw

Pressed

Y

Stop.

Turn Off PWMs.

Increment StepMode.

N

Switch(StepMode)

OFF

RotationData = Stop

H I

FIGURE C-5:

DS50002058B-page 36

ScanSwitches() Mode.

 2012-2013 Microchip Technology Inc.

Mode Sequence Diagrams

H I

FULL

RotationData = FullStepRotationTable(0)

HALF

RotationData = HalfStepRotationTable(0)

MOD HALF

RotationData = ModHalfStepRotationTable(0)

Switch (StepMode)

12 STEP

RotationData = TwelveStepRotationTable(0)

WAVE

RotationData = WaveStepRotationTable(0)

DEFAULT

RotationData = STOP

StepMode = OFF

FIGURE C-6:

J K

ScanSwitches() Mode (Continuation).

 2012-2013 Microchip Technology Inc.

DS50002058B-page 37

MTS2916A Dual Full-Bridge Stepper Motor Driver Evaluation Board User’s Guide

J K

Display StepMode on LEDs

Mode Sw

Pressed?

Y

N

DoOneSecondTasks()

Update LEDs

FIGURE C-7:

Return

ScanSwitches() Mode (Continuation).

DS50002058B-page 38

 2012-2013 Microchip Technology Inc.

NOTES:

Mode Sequence Diagrams

 2012-2013 Microchip Technology Inc.

DS50002058B-page 39