Product specifications
R01AN0168ED0101 Rev. 01.01 14
Application Note
Chapter 3 About Stepper Motor Movement
3.2.1 ISM Clocking
The clock of the central time base is selected by the prescaler, and it depends
on the ISM
Macro Clock (System Clock), which is set in the Clock Controller of
the device.
3.2.2 PWM Output Generation
Every Channel of ISM consists of two PWM output pairs; one pair for the
horizontal (cosine, COS) and another pair for the vertical (sine, SIN) coil of the
attached stepper motor. PWM duty cycle settings are double-buffered in
registers, so that a change of the PWM duty cycle is not causing distortion on
the PWM signals.
Depending on the
Quadrant, the vertical and horizontal PWM output is directed
to the output ports of ISM. Horizontal PWM is output to the
COSx ports, while
vertical PWM is output to the
SINx ports.
Notes 1. In this table, PWM_H refers to the horizontal PWM, and PWM_V refers to
the vertical PWM.
2. The port assignments for channel n of the Dx4 devices are as follows:
• SINP SMn1
• SINM SMn2
• COSP SMn3
• COSM SMn4
fPWM
fmacro
GTB Factor2
10
1–
-----------------------------------------------------------------=
Table 3-1 Quadrant Assignments
Quadrant Selection Output Generation
Quadrant Angle CQIn COSP COSM SINP SINM
0 0° - 90° 00B PWM_H 0 PWM_V 0
1 90° - 180° 01B 0 PWM_H PWM_V 0
2 180° - 270° 10B 0 PWM_H 0 PWM_V
3 270° - 360° 11B PWM_H 0 0 PWM_V