ZHCUBU7 用户指南 | 德州仪器 TI.com.cn

用户输入寄存器是一组可配置寄存器，为各种电机控制功能实时调优电机性能并将其保存在闪存中

表 5-6 用户输入寄存器

偏移	缩写	寄存器名称	部分
0h	SYSTEM_PARAMETERS	系统参数	节 5.2.1
28h	ISD_CFG	初始速度检测配置	节 5.2.2
2Ch	RVS_DRV_CONFIG	反向驱动配置	节 5.2.3
30h	MOTOR_STARTUP1	电机启动 1 配置	节 5.2.4
34h	MOTOR_STARTUP2	电机启动 2 配置	节 5.2.5
38h	CLOSELOOP1	关闭 Loop1 配置	节 5.2.6
3Ch	CLOSELOOP2	关闭 Loop2 配置	节 5.2.7
40h	FAULT_CONFIG1	故障配置 1	节 5.2.8
44h	FAULT_CONFIG2	故障配置 2	节 5.2.9
48h	MISC_ALGO_CONFIG	其他算法配置	节 5.2.10
4Ch	PIN_CONFIGURATION	引脚配置	节 5.2.11
50h	PERI_CONFIG	外设配置	节 5.2.12

复杂的位访问类型经过编码可适应小的表格单元格，如下所示。

表 5-7 寄存器配置访问类型代码

访问类型	代码	说明
读取类型
R	R	读取
写入类型
W	W	写入
复位或默认值
-n		复位后的值或默认值

5.2.1 SYSTEM_PARAMETERS（偏移 = 0h）

电机控制系统功能所必需的一组基本系统配置参数

表 5-8 电机电阻配置寄存器（偏移 = 4h）

位	字段	类型	复位	说明
31-0	MTR_RESISTANCE	R/W	0h	以毫欧为单位的电机电阻

表 5-9 电机电感配置（偏移 = 8h）

位	字段	类型	复位	说明
31-0	MTR_INDUCTANCE	R/W	0h	电机电感，单位为微亨

表 5-10 电机 BEMF 常数配置（偏移 = 8h）

位	字段	类型	复位	说明
31-0	MTR_BEMF_CONSTANT	R/W	0h	电机 BEMF 常数，单位为 mV/Hz × 10。

表 5-11 基极电压配置（偏移 = Ch）

位	字段	类型	复位	说明
31-0	VOLTAGE_BASE	R/W	0.0	该电路板的基极电压基于分压器计算得出（3.3V × 分压比），单位为伏特。3.3V 是 ADC 的满量程值。

表 5-12 基极电流配置（偏移 = 10h）

位	字段	类型	复位	说明
31-0	CURRENT_BASE	R/W	0.0	该电路板的基极电流是根据 CSA 增益计算得出的（1.65V/CSA 增益，单位为伏/安培），单位为安培。 1.65V 是 ADC 用于双向电流检测的参考中点电压。如果 CSA 增益以 V/V 为单位，则乘以以欧姆为单位的电流检测电阻值，以伏/安为单位计算 CSA 增益

位

字段

类型

复位

说明

31-0

CURRENT_BASE

R/W

0.0

该电路板的基极电流是根据 CSA 增益计算得出的（1.65V/CSA 增益，单位为伏/安培），单位为安培。

1.65V 是 ADC 用于双向电流检测的参考中点电压。

如果 CSA 增益以 V/V 为单位，则乘以以欧姆为单位的电流检测电阻值，以伏/安为单位计算 CSA 增益

表 5-13 电机最大速度配置（偏移 = 14h）

位	字段	类型	复位	说明
31-0	MOTOR_MAX_SPEED	R/W	0h	数据表中以 Hz 为单位的额定电机转速

表 5-14 速度环路比例增益（偏移 = 18h）

位	字段	类型	复位	说明
31-0	SPEED_LOOP_KP	R/W	0.0	以浮点方式进行闭环速度控制的比例增益

表 5-15 速度环路积分增益（偏移 = 1Ch）

位	字段	类型	复位	说明
31-0	SPEED_LOOP_KI	R/W	0.0	以浮点方式进行闭环速度控制的积分增益

表 5-16 扭矩环路比例增益（偏移 = 20h）

位	字段	类型	复位	说明
31-0	CURR_LOOP_KP	R/W	0.0	以浮点方式进行闭环扭矩控制的比例增益

表 5-17 扭矩环路积分增益（偏移 = 24h）

位	字段	类型	复位	说明
31-0	CURR_LOOP_KI	R/W	0.0	以浮点方式进行闭环扭矩控制的积分增益

5.2.2 ISD_CONFIG 寄存器（偏移 = 28h）[复位 = 00000000h]

用以配置初始速度检测的寄存器

表 5-18 ISD_CONFIG 寄存器

位	字段	类型	复位	说明
31-30	BEMF_RESYNC_THRESHOLD	R/W	0h	用于 ISD 重新同步的估算 BEMF 与实际 BEMF 的最小比率 0h = 0.75 1h = 0.80 2h = 0.85 3h = 0.90
29	ISD_EN	R/W	0h	ISD 使能 0h = 禁用 1h = 启用
28	BRAKE_EN	R/W	0h	制动使能 0h = 禁用 1h = 启用
27	HIZ_EN	R/W		高阻态使能 0h = 禁用 1h = 启用
26	RVS_DR_EN	R/W	0h	反向驱动使能 0h = 禁用 1h = 启用
25	RESYNC_EN	R/W	0h	重新同步使能 0h = 禁用 1h = 启用
24-21	FW_DRV_RESYN_THR	R/W	0h	与闭环重新同步的最小速度阈值（占 MAX_SPEED 的百分比） 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	制动配置 0h = 制动时间用于脱离制动状态 1h = 制动电流阈值用于脱离制动状态
16-19	BRK_TIME	R/W	0h	制动时间 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	高阻态时间 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	用于检测电机是否静止的 BEMF 阈值 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	用于在反向减速期间转换到开环的速度阈值（占 MAX_SPEED 的百分比） 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	速度反转期间的开环电流限值（占 CURRENT_BASE 的百分比） 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 寄存器（偏移 = 2Ch）[复位 = 00000000h]

用于配置反向驱动的寄存器

表 5-19 RVS_DRV_CONFIG 寄存器

位	字段	类型	复位	说明
31-29	RESERVED	R	0h	保留
28	REV_DRV_CONFIG	R/W	0h	在反向驱动的正向和反向驱动设置之间进行选择 0h = 开环电流，A1、A2 基于正向驱动 1h = 开环电流，A1、A2 基于反向驱动
27-24	REV_DRV_OPEN_LOOP _ACCEL_A1	R/W	0h	反向驱动期间的反向驱动开环加速系数 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
23-20	REV_DRV_OPEN_LOOP _ACCEL_A2	R/W		反向驱动期间的反向驱动开环加速系数 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
19-0	保留	R	0h	保留

5.2.4 MOTOR_STARTUP1 寄存器（偏移 = 30h）[复位 = 00000000h]

用于配置电机启动设置 1 的寄存器

表 5-20 MOTOR_STARTUP1 寄存器字段说明

位	字段	类型	复位	说明
31-30	MTR_STARTUP_OPTION	R/W	0h	电机启动方法 0h = 对齐 1h = 双对齐 2h = IPD 3h = 慢速首循环
29-26	ALIGN_SLOW_RAMP_RATE	R/W	0h	对齐、慢速首循环和开环电流升降速率 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 = 无限制A/s
25-22	ALIGN_TIME	R/W	0h	对齐时间 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	对齐/慢速首循环期间的电流限制（占 CURRENT_BASE 的百分比） 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 时钟频率 0h = 50Hz 1h = 100Hz 2h = 250Hz 3h = 500Hz 4h = 1000Hz 5h = 2000Hz 6h = 5000Hz 7h = 10000Hz
13-7	IPD_CURR_THR	R/W	0h	IPD 电流限制 × CURRENT_BASE / 2⁷ 的 7 位值
6	IPD_RLS_MODE	R/W	0h	IPD 释放模式 0h = 制动 1h = 三态
5-4	IPD_ADV_ANGLE	R/W	0h	IPD 超前角度 0h = 0° 1h = 30° 2h = 60° 3h = 90°
3-2	IPD_REPEAT	R/W	0h	IPD 执行次数 0h = 1 次 1h = 平均 2 次 2h = 平均 3 次 3h = 平均 4 次
1	OL_ILIMIT_CONFIG	R/W	0h	开环电流限值配置 0h = 由 OL_ILIMIT 定义的开环电流限值 1h = 由 ILIMIT 定义的开环电流限值
0	IQ_RAMP_EN	R/W	0h	Iq 在转换至闭环之前下降 0h = 禁用 Iq 下降 1h = 启用 Iq 下降

5.2.5 MOTOR_STARTUP2 寄存器（偏移 = 34h）[复位 = 00000000h]

用于配置电机启动设置 2 的寄存器

表 5-21 MOTOR_STARTUP2 寄存器字段说明

位	字段	类型	复位	说明
31-27	OL_ILIMIT	R/W	0h	开环电流限制（占 CURRENT_BASE 的百分比） 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	开环加速系数 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	开环加速系数 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	自动切换使能 0h = 禁用自动切换（并使用 OPN_CL_HANDOFF_THR） 1h = 启用自动切换
17-13	OPN_CL_HANDOFF_THR	R/W	0h	开环到闭环切换阈值（占 MAX_SPEED 的百分比） 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	对齐角度 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 = 不适用 1Eh = 不适用 1Fh = 不适用
7-4	SLOW_FIRST_CYC_FREQ	R/W	0h	闭环启动中首循环的频率（占 MAX_SPEED 的百分比） 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	开环中用于对齐、双对齐和 IPD 启动选项的首循环频率 0h = 由 SLOW_FIRST_CYC_FREQ 定义 1h = 0Hz
2-0	THETA_ERROR_RAMP_RATE	R/W	0h	用于减小估算的 θ 与开环 θ 之间的差值的升降速率 0h = 0.01°/ms 1h = 0.05°/ms 2h = 0.1°/ms 3h = 0.15°/ms 4h = 0.2°/ms 5h = 0.5°/ms 6h = 1°/ms 7h = 2°/ms

5.2.6 CLOSED_LOOP1 寄存器（偏移 = 38h）[复位 = 00000000h]

用于配置闭环设置 1 的寄存器

表 5-22 CLOSED_LOOP1 寄存器字段说明

位	字段	类型	复位	说明
31-27	RESERVED	R/W	0h	保留
26-22	ILIMIT	R/W	0h	闭环扭矩模式和闭环速度控制下的电流限制（占 CURRENT_BASE 的百分比） 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	电机停止方法 0h = 高阻态 1h = 主动降速 2h = 制动 3h = 保留
19	OVERMODULATION_EN ABLE	R/W	0h	过调制使能 0h = 禁用过调制 1h = 启用过调制
18-14	CL_ACC	R/W	0h	闭环加速 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 = 无限值
13	CL_DEC_CONFIG	R/W	0h	闭环减速配置 0h = 由 CL_DEC 定义的闭环减速 1h = 由 CL_ACC 定义的闭环减速
12-8	CL_DEC	R/W	0h	闭环减速。仅当 AVS 被禁用且 CL_DEC_CONFIG 被设置为“0”时，才使用该寄存器 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 = 无限值
7-8	PWM_FREQ_OUT	R/W	0h	输出 PWM 开关频率 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 = 不适用 Fh = 不适用
14	PWM_MODE	R/W	0h	PWM 调制 0h = 连续空间矢量调制 1h = 不连续空间矢量调制
3	AVS_EN	R/W	0h	AVS 使能 0h = 禁用 1h = 启用
2	DEADTIME_COMP_EN	R/W	0h	死区时间补偿使能 0h = 禁用 1h = 启用
1	SPEED_LOOP_DIS	R/W	0h	禁用速度环路 0h = 启用 1h = 禁用

5.2.7 CLOSED_LOOP2 寄存器（偏移 = 3Ch）[复位 = 00000000h]

用于配置闭环设置 2 的寄存器

表 5-23 CLOSED_LOOP2 寄存器字段说明

位	字段	类型	复位	说明
31-28	ACT_SPIN_THR	R/W	0h	主动降速的速度阈值（占 MAX_SPEED 的百分比） 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	BRAKE 引脚和电机停止选项（低侧制动、高侧制动或对齐制动）的速度阈值（占 MAX_SPEED 的百分比） 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	制动电流限值（占 CURRENT_BASE 的百分比） 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%

位

字段

类型

复位

说明

31-28

ACT_SPIN_THR

R/W

0h

主动降速的速度阈值（占 MAX_SPEED 的百分比）

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

BRAKE 引脚和电机停止选项（低侧制动、高侧制动或对齐制动）的速度阈值（占 MAX_SPEED 的百分比）

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

制动电流限值（占 CURRENT_BASE 的百分比）

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 寄存器（偏移 = 40h）[复位 = 00000000h]

用于配置故障设置 1 的寄存器

表 5-24 FAULT_CONFIG1 寄存器字段说明

位	字段	类型	复位	说明
31-6	RESERVED	R/W	0h	保留
5-2	LCK_RETRY	R/W	0h	锁定检测重试时间 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	电机锁定模式 0h = 电机锁定检测导致锁存故障；nFAULT 有效； 1h = 故障在 LCK_RETRY 时间后自动清除。 2h = 电机锁定处于仅报告模式。 3h = 禁用电机锁定检测

位

字段

类型

复位

说明

31-6

RESERVED

R/W

0h

保留

5-2

LCK_RETRY

R/W

0h

锁定检测重试时间

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

电机锁定模式

0h = 电机锁定检测导致锁存故障；nFAULT 有效；

1h = 故障在 LCK_RETRY 时间后自动清除。

2h = 电机锁定处于仅报告模式。

3h = 禁用电机锁定检测

5.2.9 FAULT_CONFIG2 寄存器（偏移 = 44h）[复位 = 00000000h]

用于配置故障设置 2 的寄存器

表 5-25 FAULT_CONFIG2 寄存器字段说明

位	字段	类型	复位	说明
31-27	RESERVED	R/W	0h	保留
26	LOCK1_EN	R/W	0h	锁定 1：异常速度使能 0h = 禁用 1h = 启用
25	LOCK2_EN	R/W	0h	锁定 2：异常 BEMF 使能 0h = 禁用 1h = 启用
24	LOCK3_EN	R/W	0h	锁定 3：无电机使能 0h = 禁用 1h = 启用
23-21	LOCK_ABN_SPEED	R/W	0h	异常速度锁定阈值（占 MAX_SPEED 的百分比） 0h = 130% 1h = 140% 2h = 150% 3h = 160% 4h = 170% 5h = 180% 6h = 190% 7h = 200%
20-18	ABNORMAL_BEMF_THR	R/W	0h	异常 BEMF 锁定阈值（占预期 BEMF 的百分比） 0h = 10% 1h = 20% 2h = 30% 3h = 40% 4h = 50% 5h = 60% 6h = 70% 7h = 80%
17-13	NO_MTR_THR	R/W	0h	无电机电流限值（占 CURRENT_BASE 的百分比） 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	保留。
7-5	MIN_VM_MOTOR	R/W	0h	运行电机的最小电压（占 BASE_VOLTAGE 的百分比） 0h = 无限值 1h = 5% 2h = 10% 3h = 12% 4h = 15% 5h = 18% 6h = 20% 7h = 25%
4	MIN_VM_MODE	R/W	0h	欠压故障模式 0h = 欠压锁存 1h = 如果电压处于界定范围之内，则自动清除
3-1	MAX_VM_MOTOR	R/W	0h	运行电机的最大电压（占 BASE_VOLTAGE 的百分比） 0h = 60% 1h = 65% 2h = 70% 3h = 75% 4h = 80% 5h = 85% 6h = 90% 7h = 最大电压
0	MAX_VM_MODE	R/W	0h	过压故障模式 0h = 过压锁存 1h = 如果电压处于界定范围之内，则自动清除

5.2.10 MISC_ALGO 寄存器（偏移 = 48h）[复位 = 00000000h]

用于多种杂项算法配置的寄存器，

表 5-26 MISC_ALGO 寄存器字段说明

位	字段	类型	复位	说明
31-20	RESERVED	R/W	0h	保留
19-16	CL_SLOW_ACC	R/W	0h	估算器尚未完全对齐时的闭环加速 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 高分辨率使能 0h = 禁用 1h = 启用
14	FAST_ISD_EN	R/W	0h	快速初始速度检测使能 0h = 禁用快速 ISD 1h = 启用快速 ISD
13-12	ISD_STOP_TIME	R/W	0h	声明电机已停止的持续时间 0h = 1ms 1h = 5ms 2h = 50ms 3h = 100ms
11-10	ISD_RUN_TIME	R/W	0h	声明电机正在运行的持续时间 0h = 1ms 1h = 5ms 2h = 50ms 3h = 100ms
9-8	ISD_TIMEOUT	R/W	0h	ISD 无法可靠检测速度或方向时超时 0h = 500ms 1h = 750ms 2h = 1000ms 3h = 2000ms
7-5	AUTO_HANDOFF_MIN_BEMF	R/W	0h	切换的最小 BEMF 0h = 0mV 1h = 50mV 2h = 100mV 3h = 250mV 4h = 500mV 5h = 1000mV 6h = 1250mV 7h = 1500mV
4-3	BRAKE_CURRENT_PERSIST	R/W	0h	制动期间电流低于阈值的持续时间 0h = 50ms 1h = 100ms 2h = 250ms 3h = 500ms
2-0	REV_DRV_OPEN_LOOP_DEC	R/W	0h	反向驱动开环减速期间要应用的开环加速度百分比 0h = 50% 1h = 60% 2h = 70% 3h = 80% 4h = 90% 5h = 100% 6h = 125% 7h = 150%

5.2.11 PIN_CONFIG 寄存器（偏移 = 4Ch）[复位 = 00000000h]

用于配置硬件引脚的寄存器

表 5-27 PIN_CONFIG 寄存器字段说明

位	字段	类型	复位	说明
31-20	RESERVED	R/W	0h	保留
19	VDC_FILT_DIS	R/W	0h	Vdc 滤波器禁用 0h = 启用 1h = 禁用
18-3	RESERVED	R/W	0h	保留
2	BRAKE_PIN_MODE	R/W	0h	制动引脚模式 0h = 低侧制动 1h = 对齐制动
1-0	BRAKE_INPUT	R/W	0h	制动引脚覆盖 0h = 硬件引脚制动 1h = 根据 BRAKE_PIN_MODE 覆盖引脚和制动/对齐 2h = 覆盖引脚，不制动/对齐 3h = 硬件引脚制动

5.2.12 PERI_CONFIG 寄存器（偏移 = 50h）[复位 = 00000000h]

外设寄存器

表 5-28 PERI_CONFIG1 寄存器字段说明

位	字段	类型	复位	说明
31-13	RESERVED	R	0h	保留
12-9	MCU_DEAD_TIME	R/W	0h	高侧和低侧开关之间应用的死区时间 = 50ns × MCU_DEAD_TIME
8-4	BUS_CURRENT_LIMIT	R/W	0h	总线电流限值（占 CURRENT_BASE 的百分比） 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	总线电流限制使能 0h = 禁用 1h = 启用
2-1	DIR_INPUT	R/W	0h	DIR 引脚覆盖 0h = 硬件引脚 DIR 1h = 通过顺时针旋转 OUTA-OUTB-OUTC 覆盖 DIR 引脚 2h = 通过逆时针旋转 OUTA-OUTC-OUTB 覆盖 DIR 引脚 3h = 硬件引脚 DIR
0	DIR_CHANGE_MODE	R/W	0h	对 DIR 引脚状态变化的响应 0h = 在检测到 DIR 变化时遵循电机停止选项和 ISD 例程 1h = 在持续驱动电机的同时通过反向驱动改变方向

5.2 用户输入寄存器（基址 = 0x20200000h）