SLAU927 User guide

User input registers are set of configurable registers to tune the motor performance in real time for various motor control features and save them in flash

Table 5-6 User Input Registers

Offset	Acronym	Register Name	Section
0h	SYSTEM_PARAMETERS	System Parameters	Section 5.2.1
28h	ISD_CFG	Initial Speed Detection Configuration	Section 5.2.2
2Ch	RVS_DRV_CONFIG	Reverse Drive Configuration	Section 5.2.3
30h	MOTOR_STARTUP1	Motor Startup 1 Configuration	Section 5.2.4
34h	MOTOR_STARTUP2	Motor Startup 2 Configuration	Section 5.2.5
38h	CLOSELOOP1	Close Loop1 Configuration	Section 5.2.6
3Ch	CLOSELOOP2	Close Loop2 Configuration	Section 5.2.7
40h	FAULT_CONFIG1	Fault Configuration 1	Section 5.2.8
44h	FAULT_CONFIG2	Fault Configuration 2	Section 5.2.9
48h	MISC_ALGO_CONFIG	Miscellaneous Algorithm Configuration	Section 5.2.10
4Ch	PIN_CONFIGURATION	Pin Configuration	Section 5.2.11
50h	PERI_CONFIG	Peripheral Configuration	Section 5.2.12

Complex bit access types are encoded to fit into small table cells as below.

Table 5-7 Register Configuration Access Type Codes

Access Type	Code	Description
Read Type
R	R	Read
Write Type
W	W	Write
Reset or Default Value
-n		Value after reset or the default value

5.2.1 SYSTEM_PARAMETERS (Offset = 0h)

Set of basic system configuration parameters essential for motor control system functionality

Table 5-8 Motor Resistance Configuration Registers (Offset = 4h)

Bit	Field	Type	Reset	Description
31-0	MTR_RESISTANCE	R/W	0h	Motor Resistance in milli ohms

Table 5-9 Motor Inductance Configuration (Offset = 8h)

Bit	Field	Type	Reset	Description
31-0	MTR_INDUCTANCE	R/W	0h	Motor Inductance in micro henry

Table 5-10 Motor BEMF Constant Configuration (Offset = 8h)

Bit	Field	Type	Reset	Description
31-0	MTR_BEMF_CONSTANT	R/W	0h	Motor BEMF constant in mV/Hz × 10.

Table 5-11 Base Voltage Configuration (Offset = Ch)

Bit	Field	Type	Reset	Description
31-0	VOLTAGE_BASE	R/W	0.0	Base voltage of the board calculated based on the voltage divider as (3.3V × voltage divider ratio) in volts. 3.3V is the full-scale value of the ADC.

Table 5-12 Base Current Configuration (Offset = 10h)

Bit	Field	Type	Reset	Description
31-0	CURRENT_BASE	R/W	0.0	Base current of the board calculated based on the CSA gain in as (1.65V / CSA Gain in volts/amp) in amps. 1.65V is the reference mid point voltage of the ADC for bidirectional current sensing. If the CSA gain is in V/V , multiply with current sense resistor value in ohms to compute CSA gain in volts/amp

Bit

Field

Type

Reset

Description

31-0

CURRENT_BASE

R/W

0.0

Base current of the board calculated based on the CSA gain in as (1.65V / CSA Gain in volts/amp) in amps.

1.65V is the reference mid point voltage of the ADC for bidirectional current sensing.

If the CSA gain is in V/V , multiply with current sense resistor value in ohms to compute CSA gain in volts/amp

Table 5-13 Motor Max Speed Configuration (Offset = 14h)

Bit	Field	Type	Reset	Description
31-0	MOTOR_MAX_SPEED	R/W	0h	Rated motor speed in Hz from the data sheet

Table 5-14 Speed Loop Proportional Gain (Offset = 18h)

Bit	Field	Type	Reset	Description
31-0	SPEED_LOOP_KP	R/W	0.0	Proportional gain for the closed loop speed control in float

Table 5-15 Speed Loop Integral Gain (Offset = 1Ch)

Bit	Field	Type	Reset	Description
31-0	SPEED_LOOP_KI	R/W	0.0	Integral gain for the closed loop speed control in float

Table 5-16 Torque Loop Proportional Gain (Offset = 20h)

Bit	Field	Type	Reset	Description
31-0	CURR_LOOP_KP	R/W	0.0	Proportional gain for the closed loop torque control in float

Table 5-17 Torque Loop Integral Gain (Offset = 24h)

Bit	Field	Type	Reset	Description
31-0	CURR_LOOP_KI	R/W	0.0	Integral gain for the closed loop torque control in float

5.2.2 ISD_CONFIG Register (Offset = 28h) [Reset = 00000000h]

Register to configure Initial Speed Detection

Table 5-18 ISD_CONFIG Register

Bit	Field	Type	Reset	Description
31-30	BEMF_RESYNC_THRESHOLD	R/W	0h	Minimum ratio of estimated BEMF with respect to actual BEMF for ISD resynchronization 0h = 0.75 1h = 0.80 2h = 0.85 3h = 0.90
29	ISD_EN	R/W	0h	ISD Enable 0h = Disable 1h = Enable
28	BRAKE_EN	R/W	0h	Brake enable 0h = Disable 1h = Enable
27	HIZ_EN	R/W		Hi-Z enable 0h = Disable 1h = Enable
26	RVS_DR_EN	R/W	0h	Reverse drive enable 0h = Disable 1h = Enable
25	RESYNC_EN	R/W	0h	Resynchronization Enable 0h = Disable 1h = Enable
24-21	FW_DRV_RESYN_THR	R/W	0h	Minimum Speed threshold to resynchronize to close loop (% of MAX_SPEED) 0h = 5% 1h = 10% 2h = 15% 3h = 20% 4h = 25% 5h = 30% 6h = 35% 7h = 40% 8h = 45% 9h = 50% Ah = 55% Bh = 60% Ch = 70% Dh = 80% Eh = 90% Fh = 100%
20	BRK_CONFIG	R/W	0h	Brake configuration 0h = Brake time is used to come out of brake state 1h = Brake current threshold is used to come out of brake state
16-19	BRK_TIME	R/W	0h	Brake time 0h = 10ms 1h = 50ms 2h = 100ms 3h = 200ms 4h = 300ms 5h = 400ms 6h = 500ms 7h = 750ms 8h = 1s 9h = 2s Ah = 3s Bh = 4s Ch = 5s Dh = 7.5s Eh = 10s Fh = 15s
15-12	HIZ_TIME	R/W	0h	Hi-Z time 0h = 10ms 1h = 50ms 2h = 100ms 3h = 200ms 4h = 300ms 5h = 400ms 6h = 500ms 7h = 750ms 8h = 1s 9h = 2s Ah = 3s Bh = 4s Ch = 5s Dh = 7.5s Eh = 10s Fh = 15s
11-9	STAT_DETECT_THR	R/W	0h	BEMF threshold to detect if motor is stationary 0h = 50mV 1h = 75mV 2h = 100mV 3h = 250mV 4h = 500mV 5h = 750mV 6h = 1000mV 7h = 1500mV
8-5	REV_DRV_HANDOFF_THR	R/W	0h	Speed threshold used to transition to open loop during reverse deceleration (% of MAX_SPEED) 0h = 2.5% 1h = 5% 2h = 7.5% 3h = 10% 4h = 12.5% 5h = 15% 6h = 20% 7h = 25% 8h = 30% 9h = 40% Ah = 50% Bh = 60% Ch = 70% Dh = 80% Eh = 90% Fh = 100%
4-0	REV_DRV_OPEN_LOOP _CURRENT	R/W	0h	Open loop current limit during speed reversal in % of CURRENT_BASE 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100%

5.2.3 RVS_DRV_CONFIG Register (Offset = 2Ch) [Reset = 00000000h]

Register to configure Reverse Drive

Table 5-19 RVS_DRV_CONFIG Register

Bit	Field	Type	Reset	Description
31-29	RESERVED	R	0h	Reserved
28	REV_DRV_CONFIG	R/W	0h	Chooses between forward and reverse drive setting for reverse drive 0h = Open loop current, A1, A2 based on forward drive 1h = Open loop current, A1, A2 based on reverse drive
27-24	REV_DRV_OPEN_LOOP _ACCEL_A1	R/W	0h	Reverse Drive Open loop acceleration coefficient A1 during reverse drive 0h = 0.01Hz/s 1h = 0.05Hz/s 2h = 1Hz/s 3h = 2.5Hz/s 4h = 5Hz/s 5h = 10Hz/s 6h = 25Hz/s 7h = 50Hz/s 8h = 75Hz/s 9h = 100Hz/s Ah = 250Hz/s Bh = 500Hz/s Ch = 750Hz/s Dh = 1000Hz/s Eh = 5000Hz/s Fh = 10000Hz/s
23-20	REV_DRV_OPEN_LOOP _ACCEL_A2	R/W		Reverse Drive Open loop acceleration coefficient A2 during reverse drive 0h = 0.0Hz/s2 1h = 0.05Hz/s2 2h = 1Hz/s2 3h = 2.5Hz/s2 4h = 5Hz/s2 5h = 10Hz/s2 6h = 25Hz/s2 7h = 50Hz/s2 8h = 75Hz/s2 9h = 100Hz/s2 Ah = 250Hz/s2 Bh = 500Hz/s2 Ch = 750Hz/s2 Dh = 1000Hz/s2 Eh = 5000Hz/s2 Fh = 10000Hz/s2
19-0	RESREVED	R	0h	Reserved

5.2.4 MOTOR_STARTUP1 Register (Offset = 30h) [Reset = 00000000h]

Register to configure motor startup settings1

Table 5-20 MOTOR_STARTUP1 Register Field Descriptions

Bit	Field	Type	Reset	Description
31-30	MTR_STARTUP_OPTION	R/W	0h	Motor start-up method 0h = Align 1h = Double align 2h = IPD 3h = Slow first cycle
29-26	ALIGN_SLOW_RAMP_RATE	R/W	0h	Align, slow first cycle and open loop current ramp rate 0h = 0.1A/s 1h = 1A/s 2h = 5A/s 3h = 10A/s 4h = 15A/s 5h = 25A/s 6h = 50A/s 7h = 100A/s 8h = 150A/s 9h = 200A/s Ah = 250A/s Bh = 500A/s Ch = 1000A/s Dh = 2000A/s Eh = 5000A/s Fh = No LimitA/s
25-22	ALIGN_TIME	R/W	0h	Align time 0h = 10ms 1h = 50ms 2h = 100ms 3h = 200ms 4h = 300ms 5h = 400ms 6h = 500ms 7h = 750ms 8h = 1s 9h = 1.5s Ah = 2s Bh = 3s Ch = 4s Dh = 5s Eh = 7.5s Fh = 10s
21-17	ALIGN_OR_SLOW_CURRENT_ILIMIT	R/W	0h	Current limit during Align/Slow First Cycle in % of CURRENT_BASE 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100%
16-14	IPD_CLK_FREQ	R/W	0h	IPD clock frequency 0h = 50Hz 1h = 100Hz 2h = 250Hz 3h = 500Hz 4h = 1000Hz 5h = 2000Hz 6h = 5000Hz 7h = 10000Hz
13-7	IPD_CURR_THR	R/W	0h	7 bit value for IPD Current limt × CURRENT_BASE / 2⁷
6	IPD_RLS_MODE	R/W	0h	IPD release mode 0h = Brake 1h = Tristate
5-4	IPD_ADV_ANGLE	R/W	0h	IPD advance angle 0h = 0° 1h = 30° 2h = 60° 3h = 90°
3-2	IPD_REPEAT	R/W	0h	Number of times IPD is executed 0h = 1 time 1h = average of 2 times 2h = average of 3 times 3h = average of 4 times
1	OL_ILIMIT_CONFIG	R/W	0h	Open loop current limit configuration 0h = Open loop current limit defined by OL_ILIMIT 1h = Open loop current limit defined by ILIMIT
0	IQ_RAMP_EN	R/W	0h	Iq ramp down before transition to close loop 0h = Disable Iq ramp down 1h = Enable Iq ramp down

5.2.5 MOTOR_STARTUP2 Register (Offset = 34h) [Reset = 00000000h]

Register to configure motor startup settings2

Table 5-21 MOTOR_STARTUP2 Register Field Descriptions

Bit	Field	Type	Reset	Description
31-27	OL_ILIMIT	R/W	0h	Open loop current limit in % of CURRENT_BASE 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100%
26-23	OL_ACC_A1	R/W	0h	Open loop acceleration coefficient A1 0h = 0.01Hz/s 1h = 0.05Hz/s 2h = 1Hz/s 3h = 2.5Hz/s 4h = 5Hz/s 5h = 10Hz/s 6h = 25Hz/s 7h = 50Hz/s 8h = 75Hz/s 9h = 100Hz/s Ah = 250Hz/s Bh = 500Hz/s Ch = 750Hz/s Dh = 1000Hz/s Eh = 5000Hz/s Fh = 10000Hz/s
22-19	OL_ACC_A2	R/W	0h	Open loop acceleration coefficient A2 0h = 0.0Hz/s2 1h = 0.05Hz/s2 2h = 1Hz/s2 3h = 2.5Hz/s2 4h = 5Hz/s2 5h = 10Hz/s2 6h = 25Hz/s2 7h = 50Hz/s2 8h = 75Hz/s2 9h = 100Hz/s2 Ah = 250Hz/s2 Bh = 500Hz/s2 Ch = 750Hz/s2 Dh = 1000Hz/s2 Eh = 5000Hz/s2 Fh = 10000Hz/s2
18	AUTO_HANDOFF_EN	R/W	0h	Auto handoff enable 0h = Disable Auto Handoff (and use OPN_CL_HANDOFF_THR) 1h = Enable Auto Handoff
17-13	OPN_CL_HANDOFF_THR	R/W	0h	Open to close loop handoff threshold (% of MAX_SPEED) 0h = 1% 1h = 2% 2h = 3% 3h = 4% 4h = 5% 5h = 6% 6h = 7% 7h = 8% 8h = 9% 9h = 10% Ah = 11% Bh = 12% Ch = 13% Dh = 14% Eh = 15% Fh = 16% 10h = 17% 11h = 18% 12h = 19% 13h = 20% 14h = 22.5% 15h = 25% 16h = 27.5% 17h = 30% 18h = 32.5% 19h = 35% 1Ah = 37.5% 1Bh = 40% 1Ch = 42.5% 1Dh = 45% 1Eh = 47.5% 1Fh = 50%
12-8	ALIGN_ANGLE	R/W	0h	Align angle 0h = 0° 1h = 10° 2h = 20° 3h = 30° 4h = 45° 5h = 60° 6h = 70° 7h = 80° 8h = 90° 9h = 110° Ah = 120° Bh = 135° Ch = 150° Dh = 160° Eh = 170° Fh = 180° 10h = 190° 11h = 210° 12h = 225° 13h = 240° 14h = 250° 15h = 260° 16h = 270° 17h = 280° 18h = 290° 19h = 315° 1Ah = 330° 1Bh = 340° 1Ch = 350° 1Dh = N/A 1Eh = N/A 1Fh = N/A
7-4	SLOW_FIRST_CYC_FREQ	R/W	0h	Frequency of first cycle in close loop startup (% of MAX_SPEED) 0h = 1% 1h = 2% 2h = 3% 3h = 5% 4h = 7.5% 5h = 10% 6h = 12.5% 7h = 15% 8h = 17.5% 9h = 20% Ah = 25% Bh = 30% Ch = 35% Dh = 40% Eh = 45% Fh = 50%
3	FIRST_CYCLE_FREQ_SEL	R/W	0h	First cycle frequency in open loop for align, double align and IPD startup options 0h = Defined by SLOW_FIRST_CYC_FREQ 1h = 0Hz
2-0	THETA_ERROR_RAMP_RATE	R/W	0h	Ramp rate for reducing difference between estimated theta and open loop theta 0h = 0.01 deg/ms 1h = 0.05 deg/ms 2h = 0.1 deg/ms 3h = 0.15 deg/ms 4h = 0.2 deg/ms 5h = 0.5 deg/ms 6h = 1 deg/ms 7h = 2 deg/ms

5.2.6 CLOSED_LOOP1 Register (Offset = 38h) [Reset = 00000000h]

Register to configure close loop settings1

Table 5-22 CLOSED_LOOP1 Register Field Descriptions

Bit	Field	Type	Reset	Description
31-27	RESERVED	R/W	0h	Reserved
26-22	ILIMIT	R/W	0h	Current limit in Closed loop Torque Mode and Closed loop Speed control in % of CURRENT_BASE 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100%
21-20	MTR_STOP	R/W	0h	Motor stop method 0h = Hi-z 1h = Active spin down 2h = Braking 3h = Reserved
19	OVERMODULATION_EN ABLE	R/W	0h	Overmodulation enable 0h = Disable Over Modulation 1h = Enable Over Modulation
18-14	CL_ACC	R/W	0h	Closed loop acceleration 0h = 0.5Hz/s 1h = 1Hz/s 2h = 2.5Hz/s 3h = 5Hz/s 4h = 7.5Hz/s 5h = 10Hz/s 6h = 20Hz/s 7h = 40Hz/s 8h = 60Hz/s 9h = 80Hz/s Ah = 100Hz/s Bh = 200Hz/s Ch = 300Hz/s Dh = 400Hz/s Eh = 500Hz/s Fh = 600Hz/s 10h = 700Hz/s 11h = 800Hz/s 12h = 900Hz/s 13h = 1000Hz/s 14h = 2000Hz/s 15h = 4000Hz/s 16h = 6000Hz/s 17h = 8000Hz/s 18h = 10000Hz/s 19h = 20000Hz/s 1Ah = 30000Hz/s 1Bh = 40000Hz/s 1Ch = 50000Hz/s 1Dh = 60000Hz/s 1Eh = 70000Hz/s 1Fh = No limit
13	CL_DEC_CONFIG	R/W	0h	Closed loop deceleration configuration 0h = Closed loop deceleration defined by CL_DEC 1h = Closed loop deceleration defined by CL_ACC
12-8	CL_DEC	R/W	0h	Closed loop deceleration. This register is used only if AVS is disabled and CL_DEC_CONFIG is set to '0' 0h = 0.5Hz/s 1h = 1Hz/s 2h = 2.5Hz/s 3h = 5Hz/s 4h = 7.5Hz/s 5h = 10Hz/s 6h = 20Hz/s 7h = 40Hz/s 8h = 60Hz/s 9h = 80Hz/s Ah = 100Hz/s Bh = 200Hz/s Ch = 300Hz/s Dh = 400Hz/s Eh = 500Hz/s Fh = 600Hz/s 10h = 700Hz/s 11h = 800Hz/s 12h = 900Hz/s 13h = 1000Hz/s 14h = 2000Hz/s 15h = 4000Hz/s 16h = 6000Hz/s 17h = 8000Hz/s 18h = 10000Hz/s 19h = 20000Hz/s 1Ah = 30000Hz/s 1Bh = 40000Hz/s 1Ch = 50000Hz/s 1Dh = 60000Hz/s 1Eh = 70000Hz/s 1Fh = No limit
7-8	PWM_FREQ_OUT	R/W	0h	Output PWM switching frequency 0h = 10kHz 1h = 15kHz 2h = 20kHz 3h = 25kHz 4h = 30kHz 5h = 35kHz 6h = 40kHz 7h = 45kHz 8h = 50kHz 9h = 55kHz Ah = 60kHz Bh = 65kHz Ch = 70kHz Dh = 75kHz Eh = N/A Fh = N/A
14	PWM_MODE	R/W	0h	PWM modulation 0h = Continuous Space Vector Modulation 1h = Discontinuous Space Vector Modulation
3	AVS_EN	R/W	0h	AVS enable 0h = Disable 1h = Enable
2	DEADTIME_COMP_EN	R/W	0h	Deadtime compensation enable 0h = Disable 1h = Enable
1	SPEED_LOOP_DIS	R/W	0h	Speed loop disable 0h = Enable 1h = Disable

5.2.7 CLOSED_LOOP2 Register (Offset = 3Ch) [Reset = 00000000h]

Register to configure close loop settings2

Table 5-23 CLOSED_LOOP2 Register Field Descriptions

Bit	Field	Type	Reset	Description
31-28	ACT_SPIN_THR	R/W	0h	Speed threshold for active spin down (% of MAX_SPEED) 0h = 100% 1h = 90% 2h = 80% 3h = 70% 4h = 60% 5h = 50% 6h = 45% 7h = 40% 8h = 35% 9h = 30% Ah = 25% Bh = 20% Ch = 15% Dh = 10% Eh = 5% Fh = 2.5%
27-24.	BRAKE_SPEED_THRESHOLD	R/W	0h	Speed threshold for BRAKE pin and motor stop options (Low Side Braking or align braking) (% of MAX_SPEED) 0h = 100% 1h = 90% 2h = 80% 3h = 70% 4h = 60% 5h = 50% 6h = 45% 7h = 40% 8h = 35% 9h = 30% Ah = 25% Bh = 20% Ch = 15% Dh = 10% Eh = 5% Fh = 2.5%
23-19	BRK_CURR_THR	R/W	0h	Brake current limit in % of CURRENT_BASE 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100%

Bit

Field

Type

Reset

Description

31-28

ACT_SPIN_THR

R/W

0h

Speed threshold for active spin down (% of MAX_SPEED)

0h = 100%

1h = 90%

2h = 80%

3h = 70%

4h = 60%

5h = 50%

6h = 45%

7h = 40%

8h = 35%

9h = 30%

Ah = 25%

Bh = 20%

Ch = 15%

Dh = 10%

Eh = 5%

Fh = 2.5%

27-24.

BRAKE_SPEED_THRESHOLD

R/W

0h

Speed threshold for BRAKE pin and motor stop options (Low Side Braking or align braking) (% of MAX_SPEED)

0h = 100%

1h = 90%

2h = 80%

3h = 70%

4h = 60%

5h = 50%

6h = 45%

7h = 40%

8h = 35%

9h = 30%

Ah = 25%

Bh = 20%

Ch = 15%

Dh = 10%

Eh = 5%

Fh = 2.5%

23-19

BRK_CURR_THR

R/W

0h

Brake current limit in % of CURRENT_BASE

0h = 7.5%

1h = 8.0%

2h = 8.5%

3h = 9.0%

4h = 9.5%

5h = 10%

6h = 11%

7h = 12%

8h = 13%

9h = 14%

Ah = 15%

Bh = 16%

Ch = 17%

Dh = 18%

Eh = 20%

Fh = 22.5%

10h = 25%

11h = 27.5%

12h = 30%

13h = 35%

14h = 40%

15h = 45%

16h = 50%

17h = 55%

18h = 60%

19h = 70%

1Ah = 75%

1Bh = 80%

1Ch = 85%

1Dh = 90%

1Eh = 95%

1Fh = 100%

5.2.8 FAULT_CONFIG1 Register (Offset = 40h) [Reset = 00000000h]

Register to configure fault settings1

Table 5-24 FAULT_CONFIG1 Register Field Descriptions

Bit	Field	Type	Reset	Description
31-6	RESERVED	R/W	0h	Reserved
5-2	LCK_RETRY	R/W	0h	Lock detection retry time 0h = 100ms 1h = 500ms 2h = 1s 3h = 2s 4h = 3s 5h = 4s 6h = 5s 7h = 6s 8h = 7s 9h = 8s Ah = 9s Bh = 10s Ch = 11s Dh = 12s Eh = 13s Fh = 14s
1-0	MTR_LCK_MODE	R/W	0h	Motor Lock Mode 0h = Motor lock detection causes latched fault; nFAULT active; 1h = Fault automatically cleared after LCK_RETRY time. 2h = Motor lock in report only mode. 3h = Motor lock detection is disabled

Bit

Field

Type

Reset

Description

31-6

RESERVED

R/W

0h

Reserved

5-2

LCK_RETRY

R/W

0h

Lock detection retry time

0h = 100ms

1h = 500ms

2h = 1s

3h = 2s

4h = 3s

5h = 4s

6h = 5s

7h = 6s

8h = 7s

9h = 8s

Ah = 9s

Bh = 10s

Ch = 11s

Dh = 12s

Eh = 13s

Fh = 14s

1-0

MTR_LCK_MODE

R/W

0h

Motor Lock Mode

0h = Motor lock detection causes latched fault; nFAULT active;

1h = Fault automatically cleared after LCK_RETRY time.

2h = Motor lock in report only mode.

3h = Motor lock detection is disabled

5.2.9 FAULT_CONFIG2 Register (Offset = 44h) [Reset = 00000000h]

Register to configure fault settings2

Table 5-25 FAULT_CONFIG2 Register Field Descriptions

Bit	Field	Type	Reset	Description
31-27	RESERVED	R/W	0h	Reserved
26	LOCK1_EN	R/W	0h	Lock 1 : Abnormal speed enable 0h = Disable 1h = Enable
25	LOCK2_EN	R/W	0h	Lock 2 : Abnormal BEMF enable 0h = Disable 1h = Enable
24	LOCK3_EN	R/W	0h	Lock 3 : No motor enable 0h = Disable 1h = Enable
23-21	LOCK_ABN_SPEED	R/W	0h	Abnormal speed lock threshold (% of MAX_SPEED) 0h = 130% 1h = 140% 2h = 150% 3h = 160% 4h = 170% 5h = 180% 6h = 190% 7h = 200%
20-18	ABNORMAL_BEMF_THR	R/W	0h	Abnormal BEMF lock threshold (% of expected BEMF) 0h = 10% 1h = 20% 2h = 30% 3h = 40% 4h = 50% 5h = 60% 6h = 70% 7h = 80%
17-13	NO_MTR_THR	R/W	0h	No Motor current limit in % of CURRENT_BASE 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100%
12-8	RESERVED	R/W	0h	Reserved.
7-5	MIN_VM_MOTOR	R/W	0h	Minimum voltage for running motor in % of BASE_VOLTAGE 0h = No Limit 1h = 5% 2h = 10% 3h = 12% 4h = 15% 5h = 18% 6h = 20% 7h = 25%
4	MIN_VM_MODE	R/W	0h	Undervoltage fault mode 0h = Latch on Undervoltage 1h = Automatic clear if voltage in bounds
3-1	MAX_VM_MOTOR	R/W	0h	Maximum voltage for running motor in % of BASE_VOLTAGE 0h = 60% 1h = 65% 2h = 70% 3h = 75% 4h = 80% 5h = 85% 6h = 90% 7h = Max Voltage
0	MAX_VM_MODE	R/W	0h	Overvoltage fault mode 0h = Latch on Overvoltage 1h = Automatic clear if voltage in bounds

5.2.10 MISC_ALGO Register (Offset = 48h) [Reset = 00000000h]

Register to multiple miscellaneous Algorithm Configuration,

Table 5-26 MISC_ALGO Register Field Descriptions

Bit	Field	Type	Reset	Description
31-20	RESERVED	R/W	0h	Reserved
19-16	CL_SLOW_ACC	R/W	0h	Close loop acceleration when estimator is not yet fully aligned 0h = 0.1Hz/s 1h = 1Hz/s 2h = 2Hz/s 3h = 3Hz/s 4h = 5Hz/s 5h = 10Hz/s 6h = 20Hz/s 7h = 30Hz/s 8h = 40Hz/s 9h = 50Hz/s Ah = 100Hz/s Bh = 200Hz/s Ch = 500Hz/s Dh = 750Hz/s Eh = 1000Hz/s Fh = 2000Hz/s
15	IPD_HIGH_RESOLUTION_EN	R/W	0h	IPD high resolution enable 0h = Disable 1h = Enable
14	FAST_ISD_EN	R/W	0h	Fast initial speed detection enable 0h = Disable Fast ISD 1h = Enable Fast ISD
13-12	ISD_STOP_TIME	R/W	0h	Persistence time for declaring motor has stopped 0h = 1ms 1h = 5ms 2h = 50ms 3h = 100ms
11-10	ISD_RUN_TIME	R/W	0h	Persistence time for declaring motor is running 0h = 1ms 1h = 5ms 2h = 50ms 3h = 100ms
9-8	ISD_TIMEOUT	R/W	0h	Timeout in case ISD is unable to reliably detect speed or direction 0h = 500ms 1h = 750ms 2h = 1000ms 3h = 2000ms
7-5	AUTO_HANDOFF_MIN_BEMF	R/W	0h	Minimum BEMF for handoff 0h = 0mV 1h = 50mV 2h = 100mV 3h = 250mV 4h = 500mV 5h = 1000mV 6h = 1250mV 7h = 1500mV
4-3	BRAKE_CURRENT_PERSIST	R/W	0h	Persistence time for current below threshold during brake 0h = 50ms 1h = 100ms 2h = 250ms 3h = 500ms
2-0	REV_DRV_OPEN_LOOP_DEC	R/W	0h	% of open loop acceleration to be applied during open loop deceleration in reverse drive 0h = 50% 1h = 60% 2h = 70% 3h = 80% 4h = 90% 5h = 100% 6h = 125% 7h = 150%

5.2.11 PIN_CONFIG Register (Offset = 4Ch) [Reset = 00000000h]

Register to configure hardware pins

Table 5-27 PIN_CONFIG Register Field Descriptions

Bit	Field	Type	Reset	Description
31-20	RESERVED	R/W	0h	Reserved
19	VDC_FILT_DIS	R/W	0h	Vdc Filter Disable 0h = Enabled 1h = Disabled
18-3	RESERVED	R/W	0h	Reserved
2	BRAKE_PIN_MODE	R/W	0h	Brake pin mode 0h = Low side Brake 1h = Align Brake
1-0	BRAKE_INPUT	R/W	0h	Brake pin override 0h = Hardware Pin BRAKE 1h = Override pin and brake / align according to BRAKE_PIN_MODE 2h = Override pin and do not brake / align 3h = Hardware Pin BRAKE

5.2.12 PERI_CONFIG Register (Offset = 50h) [Reset = 00000000h]

Register to peripheral

Table 5-28 PERI_CONFIG1 Register Field Descriptions

Bit	Field	Type	Reset	Description
31-13	RESERVED	R	0h	Reserved
12-9	MCU_DEAD_TIME	R/W	0h	Dead time applied between the High Side and Low side switches = 50ns × MCU_DEAD_TIME
8-4	BUS_CURRENT_LIMIT	R/W	0h	Bus Current Limit in % of CURRENT_BASE 0h = 7.5% 1h = 8.0% 2h = 8.5% 3h = 9.0% 4h = 9.5% 5h = 10% 6h = 11% 7h = 12% 8h = 13% 9h = 14% Ah = 15% Bh = 16% Ch = 17% Dh = 18% Eh = 20% Fh = 22.5% 10h = 25% 11h = 27.5% 12h = 30% 13h = 35% 14h = 40% 15h = 45% 16h = 50% 17h = 55% 18h = 60% 19h = 70% 1Ah = 75% 1Bh = 80% 1Ch = 85% 1Dh = 90% 1Eh = 95% 1Fh = 100%
3	BUS_CURRENT_LIMIT_ENABLE	R/W	0h	Bus current limit enable 0h = Disable 1h = Enable
2-1	DIR_INPUT	R/W	0h	DIR pin override 0h = Hardware Pin DIR 1h = Override DIR pin with clockwise rotation OUTA-OUTB-OUTC 2h = Override DIR pin with counter clockwise rotation OUTA-OUTC-OUTB 3h = Hardware Pin DIR
0	DIR_CHANGE_MODE	R/W	0h	Response to change of DIR pin status 0h = Follow motor stop options and ISD routine on detecting DIR change 1h = Change the direction through Reverse Drive while continuously driving the motor

5.2 User Input Registers (Base Address = 0x20200000h)

5.2.1 SYSTEM_PARAMETERS (Offset = 0h)

5.2.2 ISD_CONFIG Register (Offset = 28h) [Reset = 00000000h]

5.2.3 RVS_DRV_CONFIG Register (Offset = 2Ch) [Reset = 00000000h]

5.2.4 MOTOR_STARTUP1 Register (Offset = 30h) [Reset = 00000000h]

5.2.5 MOTOR_STARTUP2 Register (Offset = 34h) [Reset = 00000000h]

5.2.6 CLOSED_LOOP1 Register (Offset = 38h) [Reset = 00000000h]

5.2.7 CLOSED_LOOP2 Register (Offset = 3Ch) [Reset = 00000000h]

5.2.8 FAULT_CONFIG1 Register (Offset = 40h) [Reset = 00000000h]

5.2.9 FAULT_CONFIG2 Register (Offset = 44h) [Reset = 00000000h]

5.2.10 MISC_ALGO Register (Offset = 48h) [Reset = 00000000h]

5.2.11 PIN_CONFIG Register (Offset = 4Ch) [Reset = 00000000h]

5.2.12 PERI_CONFIG Register (Offset = 50h) [Reset = 00000000h]