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Bulletin No I02 EB0 (Jul,2000)
Motor Driver ICs
Motor Driver ICs
Contents
Selection Guide ........................................................................................................................................ 2 Product Index by Part Number ..................................................................................... 3 Notes on SLA7000/SMA7000 Series
Features/Applications/Handling Precautions/Constant Current Chopper Method .............................. 4
2-Phase Stepper Motor Unipolar Driver ICs
2-Phase Excitation SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ............................................................................... 5 SMA7036M ............................................................................................................................................. 12 2-Phase/1-2 Phase Excitation SLA7027MU/SLA7024M/SLA7026M .................................................................................................... 20 SLA7032M/SLA7033M .......................................................................................................................... 28 SDK03M ................................................................................................................................................. 36 UCN5804B ............................................................................................................................................. 42 2W1-2 Phase Excitation/Micro-step Support SLA7042M/SLA7044M .......................................................................................................................... 44 Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ................................................................................................................................................. 48
2-Phase Stepper Motor Bipolar Driver ICs
2-Phase/1-2 Phase Excitation A3966SA/SLB ........................................................................................................................................ 54 A3964SLB .............................................................................................................................................. 58 A3953SB/SLB ........................................................................................................................................ 60 A2918SW ............................................................................................................................................... 68 A3952SB/SLB/SW ................................................................................................................................. 70 2-Phase/1-2 Phase/W1-2 Phase Excitation UDN2916B/LB ....................................................................................................................................... 78 UDN2917EB ........................................................................................................................................... 84 2W1-2 Phase Excitation/Micro-step Support A3955SB/SLB ........................................................................................................................................ 88 4W1-2 Phase Excitation/Micro-step Support A3957SLB .............................................................................................................................................. 94
3-Phase Stepper Motor Driver ICs
Star Connection/Delta Connection SI-7600/SI-7600D ................................................................................................................................... 98
5-Phase Stepper Motor Driver ICs
Pentagon Connection SI-7502 (SLA5011/SLA6503) ................................................................................................................... 104
List of Discontinued Products ....................................................................................................... 110
Contents
1
Motor Driver ICs
Selection Guide
s2-Phase Stepper Motor Unipolar Driver ICs
Excitation method 1 SLA7022MU SMA7022MU 1.2 Output current (A) 1.25 1.5 Motor supply Package Remarks voltage (V) to 46 ZIP15Pin to 46 ZIP15Pin to 46 ZIP15Pin to 46 ZIP15Pin to 46 ZIP15Pin to 46 SMD16Pin 1 motor driven by 2 packages to 46 ZIP18Pin Internal sequencer, to 35 DIP16Pin constant voltage driver to 46 ZIP18Pin to 46 ZIP18Pin SLA7026M to 46 ZIP18Pin SLA7033M to 46 ZIP18Pin to 46 ZIP18Pin SLA7044M to 46 ZIP18Pin 3 Page 5 5 5 5 12 36 20 42 20 28 20 28 44 44
2-phase excitation
SLA7029M SMA7029M SMA7036M SDK03M SLA7027MU
2-phase/ 1-2 phase excitation
UCN5804B SLA7024M SLA7032M
2W1-2 phase Micro-step support
SLA7042M
sSerial Signal Generator IC for SLA704xM
PG001M Supply voltage (V) 4.5 to 5.5 Package DIP16Pin page 48
s2-Phase Stepper Motor Bipolar Driver ICs
Excitation method 0.65 A3966SA A3966SLB 0.75 Output current (A) 0.8 1.3 1.5 2 Motor supply voltage (V) Vcc to 30 Vcc to 30 Vcc to 30 Vcc to 50 Vcc to 50 10 to 45 Vcc to 50 Vcc to 50 Vcc to 50 10 to 45 10 to 45 10 to 45 Vcc to 50 Vcc to 50 Package DIP16Pin SOP16Pin SOP20Pin DIP16Pin SOP16Pin ZIP18Pin DIP16Pin SOP16Pin SIP12Pin DIP24Pin SOP24Pin PLCC44Pin DIP16Pin Remarks Page 54 54 58 60 60 68 70 70 70 78 78 84 88 88
A3964SLB 2-phase/ 1-2 phase excitation A3953SB A3953SLB A2918SW A3952SB A3952SLB A3952SW UDN2916B UDN2916LB UDN2917EB A3955SB A3955SLB
One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs
2-phase/1-2 phase/W1-2 phase excitation 2W1-2 phase excitation/ micro-step support 4W1-2 phase excitation/microstep support
One motor driven by 2 ICs
SOP16Pin One motor driven by 2 ICs
A3957SLB
Vcc to 50
SOP24Pin One motor driven by 2 ICs
94
s3-Phase Stepper Motor Driver Control ICs
Excitation method 2-phase/ 2-3 phase excitation Part No. SI-7600 SI-7600D Motor supply voltage (V) 15 to 45 Package SOP20Pin DIP20Pin Remarks Use with SLA5017 or others Page 98
s5-Phase Stepper Motor Driver Control ICs
Drive method Pentagon connection Part No. SI-7502 Motor supply voltage (V) 15 to 42 Package Remarks Page 104
Powder Use with SLA6503 and SLA5011 coating 27 pin
2
Selection Guide
Motor Driver ICs
Product Index by Part Number
Part No. A2918SW A3952SB A3952SLB A3952SW A3953SB A3953SLB A3955SB A3955SLB A3957SLB A3964SLB A3966SA A3966SLB PG001M SDK03M SI-7502 SI-7600 SI-7600D SLA7022MU SLA7024M SLA7026M SLA7027MU SLA7029M SLA7032M SLA7033M SLA7042M SLA7044M SMA7022MU SMA7029M SMA7036M UCN5804B UDN2916B UDN2916LB UDN2917EB Output current Supply voltage (A) (V) 1.5 10 to 45 2 VCC to 50 2 VCC to 50 2 VCC to 50 1.3 VCC to 50 1.3 VCC to 50 1.5 VCC to 50 1.5 VCC to 50 1.5 VCC to 50 0.8 VCC to 30 0.65 VCC to 30 0.65 VCC to 30 - 1 - - - 1 1.5 3 1 1.5 1.5 3 1.2 3 1 1.5 1.5 1.25 0.75 0.75 1.5 4.5 to 5.5 to 46 15 to 42 15 to 45 15 to 45 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 35 10 to 45 10 to 45 10 to 45 Drive method Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar - Unipolar Pentagon connection Star connection/ delta connection Star connection/ delta connection Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Bipolar Bipolar Bipolar Excitation method 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2W/1-2 phase micro-step support 2W/1-2 phase micro-step support 4W/1-2 phase micro-step support 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation - 2-phase/1-2 phase excitation 5-phase excitation 2-phase/2-3 phase excitation 2-phase/2-3 phase excitation 2-phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2W/1-2 phase micro-step support 2W/1-2 phase micro-step support 2-phase excitation 2-phase excitation 2-phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase/W1-2 phase excitation 2-phase/1-2 phase/W1-2 phase excitation 2-phase/1-2 phase/W1-2 phase excitation Package ZIP18pin DIP16pin SOP16pin SIP12pin DIP16pin SOP16pin DIP16pin SOP16pin SOP24pin SOP20pin DIP16pin SOP16pin DIP16pin Remarks Page 68 70 70 70 60 60 88 88 94 58 54 54 48 36 104 98 98 5 20 20 20 5 28 28 44 44 5 5 12 42 78 78 84
One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs
SMD16pin Powder coat Control IC 27pin SOP20pin DIP20pin ZIP15pin ZIP18pin ZIP18pin ZIP18pin ZIP15pin ZIP18pin ZIP18pin ZIP18pin ZIP18pin ZIP15pin ZIP15pin ZIP15pin DIP16pin DIP24pin SOP24pin PLCC44pin Control IC Control IC
Serial signal generator IC for SLA704xM One motor driven by 2 ICs
SLA7024M equivalent SLA7026M equivalent
SMA7029M equivalent Internal sequencer, constant voltage driver
Product Index by Part Number
3
Motor Driver ICs
Notes on SLA7000/SMA7000 Series
sFeatures
q Employs a constant-current chopper control method. q Integrates power MOSFETs and monolithic chip control circuitry in a single package. q One-fifth the size and one-fourth the power dissipation compared with conventional SANKEN ICs
sConstant Current Chopper Method
In the constant current chopper method, a voltage higher than the rated voltage of the motor is applied and when the current rises, the chopper transistor is switched on thereby shortening the current rise time. After the current rises, the coil current is held by the PWM chopper to a constant current level determined by the current sense resistor. This method has the advantage of improving the motor's high frequency response and the efficiency response and efficiency of the driver circuitry.
Comparison of power dissipation.
8
Basic constant current chopper circuitry
Transient-suppression diode
7
Power dissipation PH (W)
6 5 4 3 2 1 0 0 10 20 30 40
SLA7024M, SLA7029M SMA7029M Sanken product: SI-7300A
Motor coil
Motor : 23LM-C202 IO: Output current 2-phase excitation, holding mode
Current sense resistor
IO=1A
VCC
IO=1A
50
PWM control and phase switching Used as both chopper control MOSFET and phase switching MOSFET
Supply voltage VCC (V)
q Eliminates the need for heatsink thereby decreasing part-insertion workload and increasing flexibility in mounting. q Reduces the size of power supplies required. q Lineup: 2-phase excitation, 2-phase/1-2 phase excitation, 2W1-2 phase micro-step support ICs
sApplications
The SLA7000 and SMA7000 series are ideal for the following applications. q Sheet feeders and carriage drivers in printers. q Sheet feeders for PPC and facsimile machines. q Numeric control equipment. q Industrial robots.
sHandling Precautions
q Recommended screw torque 0.588 to 0.784 [N*m](6.0 to 8.0 [kgf*cm]) q Recommended silicon grease Shin-Etsu Chemical Co., Ltd.: G746 GE Toshiba Silicone Co., Ltd.: YG-6260 Dow Corning Toray Silicone Co., Ltd.: SC102 Please be careful when selecting silicone grease since the oil in some grease may penetrate the product, which will result in an extremely short product life.
4
Notes on SLA7000/SMA7000 Series
2-Phase Excitation
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
2-Phase Stepper Motor Unipolar Driver ICs
sAbsolute Maximum Ratings
Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current Power dissipation Channel temperature Storage temperature Symbol VCC VDSS VS VIN VREF IO PD1 PD2 Tch Tstg Ratings SLA7022MU SLA7029M 46 100 46 7 2 1 1.5 4.5 (Without Heatsink) 35 (TC=25C) +150 -40 to +150 1 1.5 4.0 (Without Heatsink) 28(TC=25C) SMA7022MU SMA7029M (Ta=25C) Units V V V V V A W W C C
sElectrical Characteristics
Ratings Parameter Symbol IS Condition VS VDSS Condition VDS Condition IDSS Condition VSD Condition IIH Condition IIL Condition VIH Condition VIL Condition VIH Condition VIL Condition Tr Condition Tstg Condition Tf Condition min Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage FET drain leakage current SLA7022MU typ max 10 15 VS=44V 10 24 44 100 VS=44V, IDSS=250 A 0.85 ID=1A, VS=14V 4 VDSS=100V, VS=44V 1.2 ID=1A 40 VIH=2.4V, VS=44V -0.8 VIL=0.4V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=0.8A 0.7 VS=24V, ID=0.8A 0.1 VS=24V, ID=0.8A min SLA7029M typ max 10 15 VS=44V 24 44 min SMA7022MU typ max 10 15 VS=44V 10 24 44 100 VS=44V, IDSS=250 A 0.85 ID=1A, VS=14V 4 VDSS=100V, VS=44V 1.2 ID=1A 40 VIH=2.4V, VS=44V -0.8 VIL=0.4V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=0.8A 0.7 VS=24V, ID=0.8A 0.1 VS=24V, ID=0.8A min SMA7029M typ max 10 15 VS=44V 10 24 44 100 VS=44V, IDSS=250 A 0.6 ID=1A, VS=14V 4 VDSS=100V, VS=44V 1.1 ID=1A 40 VIH=2.4V, VS=44V -0.8 VIL=0.4V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=1A 0.7 VS=24V, ID=1A 0.1 VS=24V, ID=1A
(Ta=25C) Units
mA V V V mA V
FET diode forward voltage
TTL input current
TTL input voltage (Active High)
TTL input voltage (Active Low)
Switching time
10 100 VS=44V, IDSS=250 A 0.6 ID=1A, VS=14V 4 VDSS=100V, VS=44V 1.1 ID=1A 40 VIH=2.4V, VS=44V -0.8 VIL=0.4V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=1A 0.7 VS=24V, ID=1A 0.1 VS=24V, ID=1A
DC characteristics
A
mA
V
V
AC characteristics
s
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
5
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
sInternal Block Diagram
INA
INB
6
1
5 VS
8
14
10
15
1, 6, 10, 15pin Description of pins
Reg Reg
+ -
+ -
+ -
+ -
1pin 6pin 10pin 15pin
Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B
GNDA
GNDB
REFA
REFB
RSA
7
2
3
4
12
13
11
RSB 9
TDA
sDiagram of Standard External Circuit (Recommended Circuit Constants)
TDB
VCC (46V max) +
Excitation signal time chart 2-phase excitation
clock INA INB 0 H L 1 H H 2 L H 3 L L 0 H L 1 H H
1-2 phase excitation
Vb (5V) 8 VS 1 6 10 15 INA 2 11 C1 C2 TdA TdB RSA REFA REFB RSB 7 3 13 9 C3 Rs Open collector C4 Rs GA 4 5 INA
r3
r4
r1
INB GB 12
14
INB
clock INA tdA INB tdB
0 H L L L
1 H L L H
2 H L H L
3 H H H L
4 L L H L
5 L L H H
6 L L L L
7 L H L L
0 H L L L
1 H L L H
23 HH LH HH LL
r2
q tdA and tdB are signals before the inverter stage. 510 100 (VR) 47k 47k 2.4k 2.4k 330 to 500pF 330 to 500pF 2200pF 2200pF 1.8 typ(7022MU) (1 to 2W) 1 typ(7029M) r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs :
r5
r6
tdA
tdB
6
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
sExternal Dimensions SLA7022MU/SLA7029M
(Unit: mm)
3.20.15
310.2 24.40.2 16.40.2
3.20.15x3.8
4.80.2 1.70.1
Epoxy resin package
16 0.2
13 0.2
9.9 0.2
6.70.5
R-End 0.65 -0.1
+0.2
9.7 -0.5
+1
1.60.6
1.15 -0.1 14xP2.030.7=28.421.0 31.30.2
+0.2
0.55 -0.1 40.7
+0.2
1.15 -0.1 14xP2.030.4=28.420.8
+0.2
2.20.4 6.30.6 7.50.6
1 2 3 * * * * * * * 15
12 3 * * * * * * * 15
Forming No. No.853
Forming No. No.855
sExternal Dimensions SMA7022MU/SMA7029MA
0.55 -0.1
(3)
+0.2
0.65 -0.1
+0.2
30.6
2.450.2
4.60.6
Part No. Lot No.
(Unit: mm)
Epoxy resin package
310.2 10.20.2 30 40.2 2.50.2 3 0.6 1.20.1 (5.9) (7.5) 1.6 0.6 0.620.1 1.160.15 P2.030.1x14=28.42 12 3 * * * * * * * 15 1 2 3 * * * * * * * 15 (4.6)
+0.2 0.55 -0.1
8.5max
Lot No.
Part No.
1.450.15 6.7 0.5 (9.7)
+0.2 0.65 -0.1 1.16 +0.2 -0.1
+0.2 0.55 -0.1
40.7
P2.030.1x14=28.42 31.3 +0.2
Forming No. No.1054
(3)
Forming No. No.1055
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
7
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
Application Notes
sDetermining the Output Current
Fig. 1 shows the waveform of the output current (motor coil current). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) Vb ................................................................ r2 (1) IO * r1+r2 RS (2) Power down mode The circuit in Fig.3 (rx and Tr) is added in order to decrease the coil current. IO is then determined as follows. IOPD 1+ 1 r1(r2+rX) r2 * rX
*
Fig. 1 Waveform of coil current (Phase A excitation ON)
IO Phase A 0 Phase A
Fig. 2 Normal mode
Vb(5V) r1 r5 r2 C3 3,(13) 7,(9) RS
r6
Vb ......................................................... (2) RS
Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 1 Vb -1 - r1 Rs * IOPD r2 Fig. 4 and 5 show the graphs of equations (1) and (2) respectively.
Fig. 3 Power down mode
Vb(5V) r6 r1 r5 rx Power down signal Tr RS r2 C3 7,(9) 3,(13)
Fig. 4 Output current IO vs. Current sense resistor RS
4
Fig. 5 Output current IOPD vs. Variable current sense resistor rx
2.0
2
r2 * Vb r1+r2 RS r1=510 r2=100 rx= Vb=5V IO=
Output current IOPD (A)
Output current IO (A)
3
1.5
RS =0.5 1 * Vb r1(r2+rX) RS 1+ r2 * rX r1=510 r2=100 Vb=5V IOPD=
1.0
RS =0.8 RS =1
1
0.5
0
0
1
2
3
4
00
200
400
600
800
1000 1200
Current sense resistor RS ()
Variable current sense resistor rX ()
(NOTE) Ringing noise is produced in the current sense resistor RS when the MOSFET is switched ON and OFF by chopping. This noise is also generated in feedback signals from RS which may therefore cause the comparator to malfunction. To prevent chopping malfunctions, r5(r6) and C3(C4) are added to act as a noise filter.
However, when the values of these constants are increased, the response from RS to the comparator becomes slow. Hence the value of the output current IO is somewhat higher than the calculated value.
8
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
sDetermining the chopper frequency
Determining TOFF The SLA7000M and SMA7000M series are self-excited choppers. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal Td. TOFF can be calculated using the following formula: 2 2 TOFF-r3 * C1rn (1- =-r4 * C2rn (1- ) Vb Vb The circuit constants and the TOFF value shown below are recommended. TOFF = 12s at r3=47k, C1=500pF, Vb=5V
Fig. 6 Chopper frequency vs. Motor coil resistance
60 15
Chopping frequency f (kHz)
1.0
50
ON time TON ( s)
40 30
VC
C
20
=2 4V
25 30 35 40
20 10 0
VCC
V =36
r3 = r4 = 47k 500pF C1 C2 TOFF =12s RS =1 Lm =1~3ms Rm
0
2
46 8 10 12 14 16 Motor coil resistance Rm ()
sChopper frequency vs. Supply voltage
sChopper frequency vs. Output current
50
50
40
40
f (kHz)
20
Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1
f (kHz)
30
30
20
Motor : 23LM-C202 VCC=24V RS=1
10
10
0
0
10
20
30
40
50
0
0
0.2
0.4
0.6
0.8
VCC (V)
IO (A)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
9
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
sThermal Design
An outline of the method for calculating heat dissipation is shown below. (1)Obtain the value of PH that corresponds to the motor coil current IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." Fig. 7 Heat dissipation per phase PH vs. Output current IO SLA7022MU, ASMA7022MU
1.2
(2) The power dissipation Pdiss is obtained using the following formula. 2-phase excitation: Pdiss 2PH+0.015xVS (W) 1-2 phase excitation: Pdiss 3 PH+0.015xVS (W) 2 (3) Obtain the temperature rise that corresponds to the calculated value of Pdiss from Fig. 8 "Temperature rise."
SLA7029M, SMA7029M
1.2
Heat dissipation per phase PH (W)
Heat dissipation per phase PH (W)
1
1.0 0.8 0.6 0.4 0.2 0
V =44 24V
15
0.8
VC
0.6
C
=4
4V
36
V
36
V
24
V
1 5V
Motor : 23LM-C202 Holding mode
VCC
Motor : 23LM-C004 V Holding mode
0.4
0.2
0
0
0.2
0.4
0.6
0.8
1.0
0
0.2
Output current IO (A)
0.4 0.6 0.8 Output current IO (A)
1.0
Fig. 8 Temperature rise
150
SLA7000M series
150
SMA7000M series
T
j
T
j
100
Tj-a TC-a (C)
Tj-a (C) TC-a
C T
100 Natural cooling Without heatsink
C T Natural cooling Without heatsink
50
50
0
0
1
2 3 Total Power (W)
4
5
0
0
1
2 3 Total Power (W)
4
Thermal characteristics SLA7022MU
35
30
SLA7029M
Without heatsink Natural cooling
Case temperature rise TC-a (C)
30 25 20 15 10 5 0 200
Case temperature rise TC-a (C)
Without heatsink Natural cooling
25 20
TC ( 4 pin) Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
TC ( 4 pin)
15 10 5 0 200
Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
500
1K
500
1K
Response frequency (pps)
Response frequency (pps)
SMA7022MU
35 30
SMA7029MU
Case temperature rise TC-a (C)
Without heatsink Natural cooling
25 20
Case temperature rise TC-a (C)
30 25 20 15 10 5 0 200
Without heatsink Natural cooling
TC ( 4 pin) Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
TC ( 4 pin)
15 10 5 0
Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
500
1K
200
500
1K
Response frequency (pps)
Response frequency (pps)
10
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
sSupply Voltage VCC vs. Supply Current ICC
SLA7022MU, SMA7022MU
500
500
SLA7029M, SMA7029M
Supply current ICC (mA)
400
300
Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current IO=1A
Supply current ICC (mA)
400
300
200
Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current IO=1A
200
100
0.4A 0.2A
0 10 20 30 40 50
100
0
0
0.5A 0.2A
0 10 20 30 40 50
Supply voltage VCC (V)
Supply voltage VCC (V)
sTorque Characteristics
SLA7022MU, SMA7022MU
2.0
2.0
SLA7029M, SMA7029M
Pull-out torque (kg-cm)
Pull-out torque (kg-cm)
1.5
1.5
1.0
Motor : PX244-02 Output current IO =0.6A Motor supply voltage VCC =24V 2-phase excitation
1.0
Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation
0.5
0.5
0 100
500
1K
5K
0
100
500
1K
5K
Response frequency (pps)
Response frequency (pps)
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
11
2-Phase Excitation
SMA7036M
2-Phase Stepper Motor Unipolar Driver IC
sAbsolute Maximum Ratings
Parameter Motor supply voltage Control supply voltage FET Drain-Source voltage TTL input voltage SYNC terminal voltage Reference voltage Sense voltage Output current Power dissipation Channel temperature Storage temperature Ambient operating temperature Symbol VCC VS VDSS VIN VSYNC VREF VRS IO PD1 PD2 Tch Tstg Ta Ratings 46 46 100 -0.3 to +7 -0.3 to +7 -0.3 to +7 -5 to +7 1.5 4.0 (Ta=25C) 28 (Tc=25C) 150 -40 to +150 -20 to +85 Units V V V V V V V A W W C C C
sElectrical Characteristics
Parameter Control supply current Symbol min Ratings typ 10 VS=44V 24 VS=44V, IDSS=250 A 0.6 ID=1A, VS=10V 1.1 ISD=1A 250 VDSS=100V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 1 VS=44V, VI=0 or 5V 4.0 Synchronous chopping mode 0.8 Asynchronous chopping mode 0.1 VS=44V, VYS=5V -0.1 VS=44V, VYS=0V 0 Reference voltage input 4.0 Output FET OFF 1 No synchronous trigger 40 Resistance between GND and REF terminal at synchronous trigger 1.5 VS=24V, ID=1A 0.5 VS=24V, ID=1A 0.9 VS=24V, ID=1A 0.1 VS=24V, ID=1A 12 VS=24V 5.5 2.0 V mA V V V max 15 44 Units mA V V V V
AC characteristics
IS Condition Control supply voltage VS FET Drain-Source VDSS voltage Condition VDS FET ON voltage Condition VSD FET diode forward voltage Condition IDSS FET drain leakage current Condition VIH Condition Active H VIL Condition VIH IN terminal Condition Active L VIL Condition II Input current Condition VSYNCH Condition Input voltage VSYNCL Condition SYNC terminal ISYNCH Condition Input current ISYNCL Condition VREF Input Condition voltage VREF Condition REF terminal IREF Input Condition current RREF Internal resistance Condition Ton Condition Tr Condition Switching time Tstg Condition Tf Condition TOFF Condition
10 100
A
DC characteristics
A
A
s
Chopping OFF time
s
12
SMA7036M
2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
SMA7036M
sInternal Block Diagram
1
6
5
8
14
10
15
IN A
IN B
Vs
1, 6, 10, 15pin Description of pins Reg. Oscillator MOSFET gate drive circuit
Synchronous chopping circuit
Reg. Chopping blanking timer (5 s typ) + - Oscillator MOSFET gate drive circuit
Synchronous chopping circuit
Chopping blanking timer (5 s typ) + -
1pin 6pin 10pin 15pin
Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B
Chopping OFF timer (12 s typ)
Chopping OFF timer (12 s typ)
SYNC A
SYNC B
REF A
REF B
GND A
GND B
7
Rs A
2
4
3
13
12
11
9
sDiagram of Standard External Circuit (Recommended Circuit Constants)
Vcc (46V max)
+
Excitation signal time chart
8 VS 2 SyncA SMA7036M Vb (5V) 11 PchMOS r1 RsA 7 Rs RefA RefB 3 13 RsB 9 Rs GA 4 GB 12 SyncB INB 14 INB INA 5 INA 1 6 10 15
Rs B
2-phase excitation
clock INA INB 0 H L 1 H H 2 L H 3 L L 0 H L 1 H H
: r1 : r2 RS (1 to 2W) : PchMOS : Inv :
8k 2k (VR) 1 typ HN1J02FU (Toshiba) 7404
r2
Inv Disable (High Active)
SMA7036M
13
2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
SMA7036M
sExternal Dimensions
(Unit: mm)
Epoxy resin package
310.2 10.20.2 30 40.2 2.50.2 3 0.6 1.20.1 (5.9) (7.5) 1.6 0.6 0.620.1 1.160.15 P2.030.1x14=28.42 12 3 * * * * * * * 15 1 2 3 * * * * * * * 15 (4.6) 0.55 -0.1
+0.2
8.5max
Lot No.
Part No.
1.450.15 6.7 0.5 (9.7)
+0.2
+0.2 0.65 -0.1 1.16 +0.2 -0.1
0.55 -0.1 40.7
P2.030.1x14=28.42 31.3 +0.2
Forming No. No.1054
(3)
Forming No. No.1055
14
SMA7036M
2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
SMA7036M
Application Notes
sOutline
SMA7036M is a stepper motor driver IC developed to reduce the number of external parts required by the conventional SMA7029M. This IC successfully eliminates the need for some external parts without sacrificing the features of SMA7029M. The basic function pins are compatible with those of SMA7029M.
Connect TTL or similar to the SYNC terminals and switch the SYNC terminal level high or low. When the motor is not running, set the TTL signal high (SYNC terminal voltage: 4 V or more) to make chopping synchronous. When the motor is running, set the TTL signal low (SYNC terminal voltage: 0.8 V or less) to make chopping asynchronous. If chopping is set to synchronous when the motor is running, the motor torque deteriorates before the coil current reaches the set value. If no abnormal noise occurs when the motor is not running, ground the SYNC terminals (TTL not necessary).
sNotes on Replacing SMA7029M
SMA7036M is pin-compatible with SMA7029M. When using the IC on an existing board, the following preparations are necessary: (1) Remove the resistors and capacitors attached for setting the chopping OFF time. (r3, r4, C1, and C2 in the catalog) (2) Remove the resistors and capacitors attached for preventing noise in the detection voltage VRS from causing malfunctioning and short the sections from which the resistors were removed using jumper wires. (r5, r6, C3, and C4 in the catalog) (3) Normally, keep pins 2 and 11 grounded because their functions have changed to synchronous and asynchronous switching (SYNC terminals). For details, see "Circuit for Preventing Abnormal Noise When the Motor Is Not Running (Synchronous circuit)." (Low: asynchronous, High: synchronous)
SYNC_A TTL, etc. SYNC_B
SMA7036M
SYNC voltage : Low Chopping asynchronous SYNC voltage : High Chopping synchronous
sCircuit for Preventing Abnormal Noise When the Motor Is Not Running (Synchronous Circuit)
A motor may generate abnormal noise when it is not running. This phenomenon is attributable to asynchronous chopping between phases A and B. To prevent the phenomenon, SMA7036M contains a synchronous chopping circuit. Do not leave the SYNC terminals open because they are for CMOS input.
5V
The built-in synchronous chopping circuit superimposes a trigger signal on the REF terminal for synchronization between the two phases. The figure below shows the internal circuit of the REF terminal. Since the VREF varies depending on the values of R1 and R2, determine these values for when the motor is not running within the range where the two phases are synchronized.
SMA7036M R1 VREF R2 3 14 REF_A REF_B 40 (typ.) 40 (typ.) VREF waveform VREF 0 ONE SHOT (tw=2 S) FET B/B gate drive signal To comparator (high impedance) Sync/async switching signal ONE SHOT (tw=2 S) FET A/A gate drive signal
sSynchronous circuit operating waveform
VREF Phase A 0 VRS VREF Phase B 0 VRS Synchronous circuit OFF Synchronous circuit ON
SMA7036M
15
2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
SMA7036M
sDetermining the Output Current
Fig. 1 shows the waveform of the output current (motor coil current). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) r2 Vb ................................................................ (1) IO * r1+r2 RS (2) Power down mode The circuit in Fig.3 (rx and Tr) is added in order to decrease the coil current. IO is then determined as follows. IOPD 1+ 1 r1(r2+rX) r2 * rX 1 1 r1 tively. Vb Rs * IOPD -1 - 1 r2
*
Fig. 1 Waveform of coil current (Phase A excitation ON)
IO Phase A 0 Phase A
Fig. 2 Normal mode
Vb(5V) r1 3,(13) r2 7,(9) RS
Vb ......................................................... (2) RS
Equation (2) can be modified to obtain equation to determine rx. rX=
Fig. 3 Power down mode
Vb(5V) r1 3,(13) rx Power down signal Tr RS r2 7,(9)
Fig. 4 and 5 show the graphs of equations (1) and (2) respec-
Fig. 4 Output current IO vs. Current sense resistor RS
Fig. 5 Output current IOPD vs. Variable current sense resistor rx
4
2.0
2
r2 * Vb IO= r1+r2 RS r1=510 r2=100 rx= Vb=5V
Output current IOPD (A)
Output current IO (A)
3
1.5
RS =0.5 1 * Vb r1(r2+rX) RS 1+ r2 * rX r1=510 r2=100 Vb=5V IOPD=
1.0
RS =0.8 RS =1
1
0.5
0
0
1
2
3
4
00
200
400
600
800
1000 1200
Current sense resistor RS ()
Variable current sense resistor rX ()
16
SMA7036M
2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
SMA7036M
sThermal Design
An outline of the method for calculating heat dissipation is shown below. (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. 6 "Heat dissipation per phase PH vs. Output current IO."
(2) The power dissipation Pdiss is obtained using the following formula. 2-phase excitation: Pdiss 2PH+0.015xVS (W) 3 PH+0.015xVS (W) 2 (3) Obtain the temperature rise that corresponds to the calcu1-2 phase excitation: Pdiss lated value of Pdiss from Fig. 7 "Temperature rise."
Fig. 6 Heat dissipation per phase PH vs. Output current IO
Fig. 7 Temperature rise
1.2
Heat dissipation per phase PH (W)
150
1.0 0.8 0.6 0.4 0.2 0
0
=44 V 24V
V 15
T
Tj-a (C) TC-a
j
36
V
100
VCC
Motor : 23LM-C004 Holding mode
T
C
Natural cooling Without heatsink
50
0
0.2
0.4 0.6 0.8 Output current IO (A)
1.0
0
1
2 3 Total Power (W)
4
Thermal characteristics
30
Case temperature rise TC-a (C)
25 20
Without heatsink Natural cooling
TC ( 4 pin)
15 10 5 0
Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
200
500
1K
Response frequency (pps)
SMA7036M
17
2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
SMA7036M
sSupply Voltage VCC vs. Supply Current ICC
sTorque Characteristics
500
2.0
Supply current ICC (mA)
Pull-out torque (kg-cm)
400
1.5
300
Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current IO=1A
1.0
200
Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation
100
0.5
0
0.5A 0.2A
0 10 20 30 40 50
0
100
500
1K
5K
Supply voltage VCC (V)
Response frequency (pps)
sChopper frequency vs. Supply voltage
sChopper frequency vs. Output current
50
50
40
40
f (kHz)
20
Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1
f (kHz)
30
30
20
Motor : 23LM-C202 VCC=24V RS=1
10
10
0
0
10
20
30
40
50
0
0
0.2
0.4
0.6
0.8
1.0
VCC (V)
IO (A)
sHandling Precautions
The input terminals of this product use C-MOS circuits. Observe the following precautions. q Carefully control the humidity of the room to prevent the buildup of static electricity. Since static electricity is particularly a problem during the winter, be sure to take sufficient precautions. q Take care to make sure that static electricity is not applied to the IC during wiring and assembly. Take precautions such as shorting the terminals of the printed wiring board to ensure that they are at the same electrical potential.
18
SMA7036M
SMA7036M
19
2-Phase/1-2 Phase Excitation
SLA7027MU/SLA7024M/SLA7026M
2-Phase Stepper Motor Unipolar Driver ICs
sAbsolute Maximum Ratings
Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current Power dissipation Channel temperature Storage temperature Symbol VCC VDSS VS VIN VREF IO PD1 PD2 Tch Tstg SLA7027MU Ratings SLA7024M 46 100 46 7 2 1.5 4.5 (Without Heatsink) 35 (TC=25C) +150 -40 to +150 SLA7026M (Ta=25C) Units V V V V V A W W C C
1
3
sElectrical Characteristics
Parameter Symbol min IS Condition Control supply voltage VS VDSS FET Drain-Source voltage Condition VDS FET ON voltage Condition IDSS FET drain leakage current Condition VSD FET diode forward voltage Condition IIH Condition TTL input current IIL Condition VIH TTL input voltage Condition (Active High) VIL Condition VIH TTL input voltage Condition (Active Low) VIL Condition Tr Condition Tstg Switching time Condition Tf Condition Control supply current SLA7027MU typ 10 VS=44V 24 VS=44V, IDSS=250A 0.85 ID=1A, AVS=14V 4 VDSS=100V, VS=44V 1.2 ID=1A 40 VIH=2.4V, VS=44V -0.8 VIL=0.4V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=0.8A 0.7 VS=24V, ID=0.8A 0.1 VS=24V, ID=0.8A ID=1A 0.5 VS=24V, ID=1A 0.7 VS=24V, ID=1A 0.1 VS=24V, ID=1A 2 VDSS=100V 0.8 ID=3A 0.5 VS=24V, ID=1A 0.7 VS=24V, ID=1A 0.1 VS=24V, ID=1A VDSS=100V 2 VDSS=100V 0.8 V 2 ID=1A 0.8 VDSS=100V VIL=0.4V, VS=44V 2 ID=3A 0.8 V VIH=2.4V, VS=44V -0.8 VIL=0.4V, VS=44V ID=1A 40 VIH=2.4V, VS=44V -0.8 VDSS=100V, VS=44V 1.1 ID=3A 40 ID=1A, VS=14V 4 VDSS=100V, VS=44V 2.3 Ratings SLA7024M typ 10 VS=44V 24 VS=44V, IDSS=250A 0.6 ID=3A, VS=14V 4 SLA7026M typ 10 VS=44V 24 VS=44V, IDSS=250A 0.85 Units max 15 44
max 15 44
min
max 15 44
min
mA V V V mA V
10 100
10 100
10 100
DC characteristics
A
mA
AC characteristics
s
20
SLA7027MU/SLA7024M/SLA7026M
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
sInternal Block Diagram
IN B IN A IN A IN B VSA VSB 8 1 6 5 7 12 17 16 18 11
Reg
Reg
1, 8, 11, 18pin Description of pins
Excitation Active H OUTA OUTA OUTB OUTB input Active L OUTA OUTA OUTB OUTB
+ -
+ -
+ -
+ -
Pin Pin Pin Pin
1 8 11 18
REFA
REFB
RSA
9
4
2
3 14
13
15
RSB 10
TDA
TDB
GA
sDiagram of Standard External Circuit(Recommended Circuit Constants)
Active High
VCC (46V max) +
GB
Excitation signal time chart 2-phase excitation
clock INA INA INB INB
6 5 17 16 INA INA INB INB Active High
Vb (5V)
7 12 8 VSA VSB OUTA
1 18 OUTAOUTB
11 OUTB INA INA INB GA 4 INB GB 15
0 H L H L
1 L H H L
2 L H L H
3 H L L H
0 H L H L
1 L H H L
r3
r4
r1
2 TdA TdB
C1
C2
13
SLA7024M 7026M 7027MU
C3 C4
510 100 (VR) 47k 47k 2.4k 2.4k 470pF 470pF 2200pF 2200pF 1 typ(7024M) (1 to 2W) 0.68 typ(7026M) 1.8 typ(7027MU) 3 L H H L
r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs :
r2
RSA REFA REFB RSB 9 3 14 10
1-2 phase excitation
clock INA INA INB INB 0 H L L L 1 H L H L 2 L L H L 3 L H H L 4 L H L L 5 L H L H 6 L L L H 7 H L L H 0 H L L L 1 H L H L 2 L L H L
Rs
r5
r6
Rs
Active Low
VCC (46V max) +
Excitation signal time chart 2-phase excitation
clock INA INA INB INB
6 5 17 16 INA INA INB INB Active Low
Vb (5V)
7 12 8 1 18 VSA VSB OUTA OUTA OUTB
11 OUTB INA INA INB GA 4 INB GB 15
0 L H L H
1 H L L H
2 H L H L
3 L H H L
0 L H L H
1 H L L H
r3
r4
r1
2 TdA TdB 13
C1
C2
SLA7024M 7026M 7027MU
C3 C4
r2
RSA REFA REFB RSB 9 3 14 10
1-2 phase excitation
clock INA INA INB INB 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H 3 H L L H
510 100(VR) 47k 47k 2.4k 2.4k 470pF 470pF 2200pF 2200pF 1 typ(7024M) (1 to 2W) 0.68 typ(7026M) 1.8 typ(7027MU)
r1 r2 r3 r4 r5 r6 C1 C2 C3 C4 Rs
: : : : : : : : : : :
Rs
r5
r6
Rs
SLA7027MU/SLA7024M/SLA7026M
21
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
sExternal Dimensions
3.20.15
310.2 24.40.2 16.40.2
(Unit: mm)
3.20.15x3.8
4.80.2 1.70.1
9.9 0.2
6.70.5
R-End 0.65 -0.1
+0.2
9.7 -0.5
+1
1 -0.1 17xP1.680.4=28.561
+0.2
(3)
0.65 -0.1
1 -0.1
0.55 -0.1 40.7
+0.2
17xP1.680.4=28.561
31.30.2
1 2 3 * * * * * * * 18
123 * * * * * * * 18
Forming No. No.871
Forming No. No.872
22
SLA7027MU/SLA7024M/SLA7026M
0.55 -0.1 1.6 0.6
+0.2
+0.2
+0.2
2.20.6 60.6 7.50.6
3 0.6
Part No. Lot No.
2.450.2
4.6 0.6
3. 4. 5.
16 0.2
13 0.2
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
Application Notes
sDetermining the Output Current
Fig. 1 shows the waveform of the output current (motor coil current). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) Vb ................................................................ r2 (1) IO * r1+r2 RS (2) Power down mode The circuit in Fig.3 (rx and Tr) is added in order to decrease the coil current. IO is then determined as follows. IOPD 1+ 1 r1(r2+rX) r2 * rX 1 1 r1 tively. Vb Rs * IOPD -1 - 1 r2
*
Fig. 1 Waveform of coil current (Phase A excitation ON)
IO Phase A 0 Phase A
Fig. 2 Normal mode
Vb(5V) r1
r6 r5 3,(14) C3 9,(10) RS
Vb ......................................................... (2) RS
r2
Equation (2) can be modified to obtain equation to determine rx. rX=
Fig. 3 Power down mode
Vb(5V) r1 r6 r5
Fig. 4 and 5 show the graphs of equations (1) and (2) respec-
3,(14) 9,(10)
rX Power down signal Tr
r2 C3
Fig. 4 Output current IO vs. Current sense resistor RS
4
Fig. 5 Output current IOPD vs. Variable current sense resistor rx
2.0
2
r2 * Vb r1+r2 RS r1=510 r2=100 rx= Vb=5V IO=
Output current IOPD (A)
Output current IO (A)
3
1.5
RS =0.5 1 * Vb r1(r2+rX) RS 1+ r2 * rX r1=510 r2=100 Vb=5V IOPD=
1.0
RS =0.8 RS =1
1
0.5
0
0
1
2
3
4
00
200
400
600
800
1000 1200
Current sense resistor RS ()
Variable current sense resistor rX ()
(NOTE) Ringing noise is produced in the current sense resistor RS when the MOSFET is switched ON and OFF by chopping. This noise is also generated in feedback signals from RS which may therefore cause the comparator to malfunction. To prevent chopping malfunctions, r5(r6) and C3(C4) are added to act as a noise filter.
However, when the values of these constants are increased, the response from RS to the comparator becomes slow. Hence the value of the output current IO is somewhat higher than the calculated value.
SLA7027MU/SLA7024M/SLA7026M
23
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
sDetermining the chopper frequency
Determining TOFF The SLA7000M series are self-excited choppers. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal Td. TOFF can be calculated using the following formula: Vb Vb The circuit constants and the TOFF value shown below are recommended. TOFF = 12s at r3=47k, C1=500pF, Vb=5V TOFF-r3 * C1rn (1- 2 =-r4 * C2rn (1- 2 )
Fig. 6 Chopper frequency vs. Motor coil resistance
60 15
40 30
Chopping frequency f (kHz)
50
ON time TON ( s)
20
VC
20 10 0
C
=2
4V
V
25 30 35 40
=36 VCC
47k r4 500pF C1 = C2 = TOFF =12s RS =1 Lm =1~3ms Rm
r3
0
2
4 6 8 10 12 14 16 Motor coil resistance Rm ()
sChopper frequency vs. Supply voltage
sChopper frequency vs. Output current
50
50
40
40
f (kHz)
20
Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1
f (kHz)
30
30
20
Motor : 23LM-C202 VCC=24V RS=1
10
10
0
0
10
20
30
40
50
0
0
0.2
0.4
0.6
0.8
1.0
VCC (V)
IO (A)
24
SLA7027MU/SLA7024M/SLA7026M
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
sThermal Design
An outline of the method for calculating heat dissipation is shown below. (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." Fig. 7 Heat dissipation per phase PH vs. Output current IO SLA7027MU
1.2
(2) The power dissipation Pdiss is obtained using the following formula. 2-phase excitation: Pdiss 2PH+0.015xVS (W) 3 PH+0.015xVS (W) 1-2 phase excitation: Pdiss 2 (3) Obtain the temperature rise that corresponds to the calculated value of Pdiss from Fig. 8 "Temperature rise."
SLA7026M
4.0
Heat dissipation per phase PH (W)
Heat dissipation per phase PH (W)
1
V
0.6
0.4
1.0
0.2
0
0
0.2
0.4
0.6
0.8
1.0
0 0
Output current IO (A)
1.0 2.0 Output current IO (A)
36
15
V
V
24 V
T
j
C T
24
2.0
VC
V
C
36
V
Motor : 23LM-C202 Holding mode
15 V
CC
=4 4V
0.8
=4
4V
3.0 Motor : 23PM-C503 Holding mode
3.0
Fig. 8 Temperature rise
1.2
Heat dissipation per phase PH (W)
SLA7024M
150
1.0 0.8 0.6 0.4 0.2 0 0
V =44 24V
1
Tj-a TC-a (C)
V 36
100
Motor : 23LM-C004 Holding mode 5V
VCC
Natural cooling Without heatsink
50
0
0.2
0.4 0.6 0.8 Output current IO (A)
1.0
0
1
2 3 Total Power (W)
4
5
Thermal characteristics SLA7027MU
35 30 25 20 15 10 5 0 200
SLA7026M
50
Case temperature rise TC-a (C)
Case temperature rise TC-a (C)
Without heatsink Natural cooling
Without heatsink Natural cooling
40
TC ( 4 pin) Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
30
TC( 4 pin) Motor : 23PM-C705 Motor current IO=1.5A Ta=25C VCC=24V, VS=24V 2-phase excitation
20
10
500
1K
0 100
500
1K
5K
Response frequency (pps)
Response frequency (pps)
30
SLA7024M
Without heatsink Natural cooling
Case temperature rise TC-a (C)
25 20
TC ( 4 pin)
15 10 5 0 200
Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
500
1K
Response frequency (pps)
SLA7027MU/SLA7024M/SLA7026M
25
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
sSupply Voltage VCC vs. Supply Current ICC
SLA7027MU
500
1.5
SLA7026M
Supply current ICC (mA)
400
Supply current ICC (A)
300
Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current IO=1A
1.0
200
Motor : 23PM-C503 1-phase excitation Holding mode IO : Output current IO=3A IO=2A IO=1A
0.5
100
0.4A 0.2A
0 10 20 30 40 50
0 0 10 20 30
0
40
50
Supply voltage VCC (V)
Supply voltage VCC (V)
SLA7024M
500
Supply current ICC (mA)
400
300
Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current IO=1A
200
100
0
0.5A 0.2A
0 10 20 30 40 50
Supply voltage VCC (V)
sNote
The excitation input signals of the SLA7027MU, SLA7024M and SLA7026M can be used as either Active High or Active Low. Note, however, that the corresponding output (OUT) changes depending on the input (IN). Active High Input INA (pin6) INA (pin5) INB (pin17) INB (pin16) Corresponding output OUTA (pin1) OUTA (pin8) OUTB (pin11) OUTB (pin18) Active Low Input INA (pin6) INA (pin5) INB (pin17) INB (pin16) Corresponding output OUTA (pin8) OUTA (pin1) OUTB (pin18) OUTB (pin11)
26
SLA7027MU/SLA7024M/SLA7026M
SLA7027MU/SLA7024M/SLA7026M
27
2-Phase/1-2 Phase Excitation
SLA7032M/SLA7033M
2-Phase Stepper Motor Unipolar Driver ICs
sAbsolute Maximum Ratings
Parameter Motor supply voltage Control supply voltage FET Drain-Source voltage TTL input voltage SYNC terminal voltage Reference voltage Sense voltage Output current Power dissipation Channel temperature Storage temperature Symbol VCC VS VDSS VIN VSYNC VREF VRS IO PD1 PD2 Tch Tstg Ratings SLA7032M 46 46 100 -0.3 to +7 -0.3 to +7 -0.3 to +7 -5 to +7 1.5 4.5 (Without Heatsink) 35 (Tc = 25C) +150 -40 to +150 3 SLA7033M (Ta=25C) Units V V V V V V A W W C C
sElectrical Characteristics
Ratings Parameter Symbol min Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage FET diode forward voltage FET drain leakage current IS Condition VS VDSS Condition VDS Condition VSD Condition IDSS SLA7032M typ 10 VS=44V 24 VS=44V, IDSS=250A 0.6 ID=1A, VS=14V 1.1 ISD=1A ISD=3A 250 VDSS=100V, VS=44V 2.0 ID=3A 0.8 VDSS=100V 2.0 VDSS=100V 0.8 ID=3A 1 VS=44V, VI=0 or 5V 4.0 Synchronous chopping mode 0.8 Asynchronous chopping mode 0.1 VS=44V, VYS=5V -0.1 VS=44V, VYS=0V 0 Reference voltage input 4.0 Output FET OFF 1 No synchronous trigger 40 Resistance between GND and REF terminal at synchronous trigger 0.5 VS=24V, ID=1A 0.7 VS=24V, ID=1A 0.1 VS=24V, ID=1A 12 VS=24V 5.5 2.0 V mA V V V ID=3A, VS=14V 2.3 max 15 44 min SLA7033M typ 10 VS=44V 24 VS=44V, IDSS=250A 0.85 Units max 15 44
mA V V V V
10 100
10 100
OUT
DC characteristics
IN terminal OUT
Input current
Input voltage SYNC terminal Input current
Input current REF terminal Input current
Internal resistance
Switching time
Chopping OFF time
250 Condition VDSS=100V, VS=44V VIH 2.0 Condition ID=1A VIL 0.8 Condition VDSS=100V VIH 2.0 Condition VDSS=100V VIL 0.8 Condition ID=1A II 1 Condition VS=44V, VI=0 or 5V VSYNC 4.0 Condition Synchronous chopping mode VSYNC 0.8 Condition Asynchronous chopping mode ISYNC 0.1 Condition VS=44V, VYS=5V ISYNC -0.1 Condition VS=44V, VYS=0V VREF 0 2.0 Condition Reference voltage input VREF 4.0 5.5 Condition Output FET OFF IREF 1 Condition No synchronous trigger RREF 40 Condition Resistance between GND and REF terminal at synchronous trigger Tr 0.5 Condition VS=24V, ID=1A Tstg 0.7 Condition VS=24V, ID=1A Tf 0.1 Condition VS=24V, ID=1A TOFF 12 Condition VS=24V
A
A
A
AC characteristics
s
s
28
SLA7032M/SLA7033M
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
SLA7032M/SLA7033M
sInternal Block Diagram
1 8 6 5 7 12 17 16 11 18
Vs A
Vs B
IN B
IN A
IN A
IN B
1, 8, 11, 18pin Description of pins
Reg. Oscillator MOSFET gate drive circuit
Synchronous chopping circuit
Reg. Chopping blanking timer (5 s typ) Oscillator MOSFET gate drive circuit
Synchronous chopping circuit
Chopping blanking timer (5 s typ)
Chopping OFF timer (12 s typ)
+ -
+ -
Chopping OFF timer (12 s typ)
1pin 8pin 11pin 18pin
Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B
SYNC A
SYNC B
REF A
REF B
Rs A
9
2
4
3
14
15
13
10
sDiagram of Standard External Circuit (Recommended Circuit Constants)
Active High
Vcc (46Vmax)
Excitation signal time chart 2-phase excitation
clock INA INA INB INB
INA INA INB INB Active High
Rs B
GA
GB
+
7 VsA 2 Vb (5V)
12 VsB
8
1
18
11
OUTA OUTA OUTB OUTB INA 6
0 H L H L
1 L H H L
2 L H L H
3 H L L H
0 H L H L
1 L H H L
r1 : 4k r2 : 1k(VR) Rs : 1 typ(7032M) (1 to 2W) 0.68 typ(7033M)
SYNC A SLA7032M SLA7033M SYNC B
INA 5 INB 17 INB 16
13
1-2 phase excitation
r1 RsA 9 Rs r2 REFA REFB RsB 3 14 10 Rs GA 4 GB 15
clock INA INA INB INB
0 H L L L
1 H L H L
2 L L H L
3 L H H L
4 L H L L
5 L H L H
6 L L L H
7 H L L H
0 H L L L
1 H L H L
2 L L H L
3 L H H L
Active Low
Vcc (46Vmax)
Excitation signal time chart 2-phase excitation
clock INA INA INB INB
INA INA INB INB Active Low
+
7 VsA 2 Vb (5V)
12 VsB
8
1
18
11
OUTA OUTA OUTB OUTB INA 6
0 L H L H
1 H L L H
2 H L H L
3 L H H L
0 L H L H
1 H L L H
r1 : 4k r2 : 1k(VR) Rs : 1 typ(7032M) (1 to 2W) 0.68 typ(7033M)
SYNC A SLA7032M SLA7033M SYNC B
INA 5 INB 17 INB 16
13
1-2 phase excitation
clock INA INA INB INB 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H 3 H L L H
r1
RsA 9 Rs
REFA REFB RsB 3 14 10 Rs
GA 4
GB 15
r2
SLA7032M/SLA7033M
29
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
SLA7032M/SLA7033M
sExternal Dimensions
3.20.15
310.2 24.40.2 16.40.2
(Unit: mm)
3.20.15x3.8
4.80.2 1.70.1
9.9 0.2
6.70.5
R-End 0.65 -0.1
+0.2
9.7 -0.5
+1
1 -0.1 17xP1.680.4=28.561
+0.2
(3)
0.65 -0.1
1 -0.1
0.55 -0.1 40.7
+0.2
17xP1.680.4=28.561
31.30.2
1 2 3 * * * * * * * 18
123 * * * * * * * 18
Forming No. No.871
Forming No. No.872
30
SLA7032M/SLA7033M
0.55 -0.1 1.6 0.6
+0.2
+0.2
+0.2
2.20.6 60.6 7.50.6
3 0.6
Part No. Lot No.
2.450.2
4.6 0.6
3. 4. 5.
16 0.2
13 0.2
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
SLA7032M/SLA7033M
Application Notes
sOutline
SLA7032M (SLA7033M) is a stepper motor driver IC developed to reduce the number of external parts required by the conventional SLA7024M (SLA7026M). This IC successfully eliminates the need for some external parts without sacrificing the features of SLA7024M (SLA7026M). The basic function pins are compatible with those of SLA7024M (SLA7026M).
the SYNC terminals open because they are for CMOS input. Connect TTL or similar to the SYNC terminals and switch the SYNC terminal level high or low. When the motor is not running, set the TTL signal high (SYNC terminal voltage: 4 V or more) to make chopping synchronous. When the motor is running, set the TTL signal low (SYNC terminal voltage: 0.8 V or less) to make chopping asynchronous. If chopping is set to synchronous at when the motor is running, the motor torque deteriorates before the coil current reaches the set value. If no abnormal noise occurs when the motor is not running, ground the SYNC terminals (TTL not necessary).
sNotes on Replacing SLA7024M (SLA7026M)
SLA7032M (SLA7033M) is pin-compatible with SLA7024M (SLA7026M). When using the IC on an existing board, the following preparations are necessary: (1) Remove the resistors and capacitors attached for setting the chopping OFF time. (r3, r4, C1, and C2 in the catalog) (2) Remove the resistors and capacitors attached for preventing noise in the detection voltage VRS from causing malfunctioning and short the sections from which the resistors were removed using jumper wires. (r5, r6, C3, and C4 in the catalog) (3) Normally, keep pins 2 and 13 grounded because their functions have changed to synchronous and asynchronous switching (SYNC terminals). For details, see "Circuit for Preventing Abnormal Noise When the Motor Is Not Running (Synchronous circuit)." (Low: asynchronous, High: synchronous)
SYNC_A TTL, etc. SYNC_B
SLA7032M SLA7033M SYNC voltage : Low Chopping asynchronous SYNC voltage : High Chopping synchronous
sCircuit for Preventing Abnormal Noise When the Motor Is Not Running (Synchronous Circuit)
A motor may generate abnormal noise when it is not running. This phenomenon is attributable to asynchronous chopping between phases A and B. To prevent the phenomenon, SLA7032M (SLA7033M) contains a synchronous chopping circuit. Do not leave
5V
The built-in synchronous chopping circuit superimposes a trigger signal on the REF terminal for synchronization between the two phases. The figure below shows the internal circuit of the REF terminal. Since the VREF varies depending on the values of R1 and R2, determine these values for when the motor is not running within the range where the two phases are synchronized.
R1 VREF R2 3 14 REF_A REF_B 40 (typ.) 40 (typ.) VREF waveform VREF 0
To comparator (high impedance)
SLA7032M SLA7033M
Sync/async switching signal ONE SHOT (tw=2 S) FET A/A gate drive signal
ONE SHOT (tw=2 S)
FET B/B gate drive signal
Synchronous circuit operating waveform
VREF Phase A 0 VRS VREF Phase B 0 VRS Synchronous circuit OFF Synchronous circuit ON
SLA7032M/SLA7033M
31
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
SLA7032M/SLA7033M
sDetermining the Output Current
Fig. 1 shows the waveform of the output current (motor coil current). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) IO r2 r1+r2
*
Fig. 1 Waveform of coil current (Phase A excitation ON)
IO Phase A 0 Phase A
Vb ................................................................ (1) RS
Fig. 2 Normal mode
Vb(5V) r1 3,(14) r2 9,(10) RS
(2) Power down mode The circuit in Fig.3 (rx and Tr) is added in order to decrease the coil current. IO is then determined as follows. IOPD 1+ 1 r1(r2+rX) r2 * rX 1 1 r1 Vb Rs * IOPD -1 - 1 r2
*
Vb ......................................................... (2) RS
Equation (2) can be modified to obtain equation to determine rx. rX=
Fig. 3 Power down mode
Vb(5V) r1
Fig. 4 and 5 show th e graphs of equations (1) and (2) respectively.
3,(14) 9,(10)
rX Power down signal Tr
r2
Fig. 4 Output current IO vs. Current sense resistor RS
Fig. 5 Output current IOPD vs. Variable current sense resistor rx
4
2.0
2
r2 * Vb r1+r2 RS r1=510 r2=100 rx= Vb=5V IO=
Output current IOPD (A)
Output current IO (A)
3
1.5
RS =0.5 1 * Vb r1(r2+rX) RS 1+ r2 * rX r1=510 r2=100 Vb=5V IOPD=
1.0
RS =0.8 RS =1
1
0.5
0
0
1
2
3
4
00
200
400
600
800
1000 1200
Current sense resistor RS ()
Variable current sense resistor rX ()
32
SLA7032M/SLA7033M
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
SLA7032M/SLA7033M
sThermal Design
An outline of the method for calculated heat dissipation is shown below. (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. 6 "Heat dissipation per phase PH vs. Output current IO." (2) The power dissipation Pdiss is obtained using the following formula. 2-phase excitation: Pdiss 2PH+0.015xVS (W) 3 PH+0.015xVS (W) 2 (3) Obtain the temperature rise that corresponds to the computed value of Pdiss from Fig. 7 "Temperature rise." 1-2 phase excitation: Pdiss Fig. 6 Heat dissipation per phase PH vs. Output current IO
SLA7032M
1.2
Heat dissipation per phase PH (W)
SLA7033M
4.0
Heat dissipation per phase PH (W)
1.0 0.8 0.6 0.4 0.2 0
44 C= V 24V
1
3.0
=4 4 V
VC
1.0
0
0.2
0.4 0.6 0.8 Output current IO (A)
1.0
0 0
1.0 2.0 Output current IO (A)
36
V
Motor : 23LM-C004 Holding mode 5V
24
2.0
VC
C
V
15
V 36
V
Motor : 23PM-C503 Holding mode
3.0
Fig. 7 Temperature rise
150
T
j
100
Tj-a TC-a (C)
C T
Natural cooling Without heatsink
50
0
0
1
2 3 Total Power (W)
4
5
Thermal characteristics
SLA7032M
30
SLA7033M
50
Case temperature rise TC-a (C)
25 20
Case temperature rise TC-a (C)
Without heatsink Natural cooling
Without heatsink Natural cooling
40
TC ( 4 pin)
15 10 5 0 200
30
TC( 4 pin) Motor : 23PM-C705 Motor current IO=1.5A Ta=25C VCC=24V, VS=24V 2-phase excitation
Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
20
10
500
1K
0 100
500
1K
5K
Response frequency (pps)
Response frequency (pps)
SLA7032M/SLA7033M
33
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
SLA7032M/SLA7033M
sSupply Voltage VCC vs. Supply Current ICC
SLA7032M
500
1.5
SLA7033M
Supply current ICC (mA)
400
Supply current ICC (A)
300
Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current IO=1A
1.0
200
Motor : 23PM-C503 1-phase excitation Holding mode IO : Output current IO=3A IO=2A
0.5
100
0
0.5A 0.2A
0 10 20 30 40 50
IO=1A
0 0 10 20 30 40 50
Supply voltage VCC (V)
Supply voltage VCC (V)
sTorque Characteristics
SLA7032M
2.0 6.0 5.0
Pull-out torque (kg-cm)
SLA7033M
Pull-out torque (kg-cm)
1.5
4.0 3.0 2.0 1.0
1.0
Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation
Motor : 23PM-C705 Output current IO =2.5A Motor supply voltage VCC =24V 2-phase excitation
0.5
0
100
500
1K
5K
0
100
500
1K
5K
10K
Response frequency (pps)
Response frequency (pps)
34
SLA7032M/SLA7033M
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
SLA7032M/SLA7033M
sChopper frequency vs. Supply voltage
sChopper frequency vs. Output current
50
50
40
40
f (kHz)
20
Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1
f (kHz)
30
30
20
Motor : 23LM-C202 VCC=24V RS=1
10
10
0
0
10
20
30
40
50
0
0
0.2
0.4
0.6
0.8
1.0
VCC (V)
IO (A)
sNote
The excitation input signals of the SLA7032M, SLA7033M can be used as either Active High or Active Low. Note, however, that the corresponding output (OUT) changes depending on the input (IN). Active High Input INA (pin6) INA (pin5) INB (pin17) INB (pin16) Corresponding output OUTA (pin1) OUTA (pin8) OUTB (pin11) OUTB (pin18) Active Low Input INA (pin6) INA (pin5) INB (pin17) INB (pin16) Corresponding output OUTA (pin8) OUTA (pin1) OUTB (pin18) OUTB (pin11)
sHandling Precautions
The input terminals of this product use C-MOS circuits. Observe the following precautions. q Carefully control the humidity of the room to prevent the buildup of static electricity. Since static electricity is particularly a problem during the winter, be sure to take sufficient precautions. q Take care to make sure that static electricity is not applied to the IC during wiring and assembly. Take precautions such as shorting the terminals of the printed wiring board to ensure that they are at the same electrical potential.
SLA7032M/SLA7033M
35
2-Phase/1-2 Phase Excitation
SDK03M
2-Phase Stepper Motor Unipolar Driver ICs
sAbsolute Maximum Ratings
Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current Power dissipation Channel temperature Storage temperature Symbol VCC VDSS VS VIN VREF IO PD Tch Tstg Ratings 46 100 46 7 2 1 2.5 (Without Heatsink) +150 -40 to +150 Units V V V V V A W C C
sElectrical Characteristics
Parameter Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage FET drain leakage current Symbol IS Condition VS VDSS Condition VDS Condition IDSS Condition VSD Condition IIH Condition IIL Condition VIH Condition VIL Condition VIH Condition VIL Condition Tr Condition Tstg Condition Tf Condition 10 100 min Ratings typ 5 VS=44V 24 VS=44V, IDSS=250A 0.85 ID=1A, VS=14V 4 VDSS=100V, VS=44V 1.2 ID=1A 40 VIH=2.4V, VS=44V -0.8 VIL=0.4V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=0.8A 0.7 VS=24V, ID=0.8A 0.1 VS=24V, ID=0.8A V V max 7.5 44 Units mA V V V mA V
DC characteristics
FET diode forward voltage
A
mA
TTL input current
TTL input voltage (Active High)
TTL input voltage (Active Low)
AC characteristics
Switching time
s
36
SDK03M
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SDK03M
sInternal Block Diagram
8
9
1
16
6 IN1
5 IN2
7 VS
1, 8, 9, 16pin Description of pins
Excitation input Active H Active L
Reg. 14 NC
Pin 1 Pin 16 Pin 8 Pin 9
OUT1 OUT2
OUT2 OUT1
11 NC
+ -
+ -
RS 10
RS 15
RS 13
GND 4
GND 12
TD 2
REF 3
sDiagram of Standard External Circuit (Recommended Circuit Constants)
Active High
VCC (46V max)
Excitation signal time chart 2-phase excitation Phase clock IN1 IN2 IN1 Phase B IN2 Phase A 0 H L H L 1 L H H L 2 L H L H 3 H L L H 0 H L H L 1 L H H L r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS : 510 100 (VR) 47k 47k 2.4k 2.4k 470pF 470pF 2200pF 2200pF 1.8 typ
+ Motor coil Phase A Vb (5V) Motor coil Phase B
1
16 8
9
7
Active High
IN1 IN2
6
OUT1 OUT2 IN1 IN2 GND
12 4 15 10
VS
r3 r1 r4
2 2
7
1
16 8
9
VS
OUT1 OUT2 6 IN1 Phase B IN2 GND
15 10 4 12 5
IN1 IN2
SDK03M
5
SDK03M
TD
3
Phase A RS
13
Active High
TD
3
REF
REF
13
RS
1-2-phase excitation Phase clock IN1 IN2 IN1 Phase B IN2 Phase A 0 H L L L 1 H L H L 2 L L H L 3 L H H L 4 L H L L 5 L H L H 6 L L L H 7 H L L H 0 H L L L 1 H L H L 2 L L H L 3 L H H L
(1 to 2W)
C3 RS
r5
C1
r2
C2
r6
C4 RS
Active Low
VCC (46V max)
+ Motor coil Phase A Vb (5V) Motor coil Phase B
Excitation signal time chart 2-phase excitation Phase clock 0 1 2 3 0 IN1 L H H L L Phase A IN2 H L L H H IN1 L L H H L Phase B HH L L H IN2
1 H L L H
1
16 8
9
7
Active Low
IN1 IN2
6
OUT2 OUT1 IN1 IN2 GND
12 4 15 10
VS
r3 r1 r4
2 2
7
1
16 8
9
VS
OUT2 OUT1 6 IN1 Phase B IN2 GND
15 10 4 12 5
IN1 IN2
SDK03M
5
SDK03M
TD
3
Phase A RS
13
Active Low
TD
3
REF
REF
13
RS
1-2-phase excitation Phase clock IN1 IN2 IN1 Phase B IN2 Phase A 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H 3 H L L H
(1 to 2W)
r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS :
510 100 (VR) 47k 47k 2.4k 2.4k 470pF 470pF 2200pF 2200pF 1.8 typ
C3 RS
r5
C1
r2
C2
r6
C4 RS
SDK03M
37
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SDK03M
sExternal Dimensions
(Unit: mm)
0.890.15 0.75 -0.05
+0.15
2.540.25 9 16
6.8max.
Part No. Lot No.
1
20.0max.
8
8.00.5 6.30.2 0.3 -0.05
+0.15
19.560.2
0.25
1.00.3
3.00.2 9.80.3
38
SDK03M
1.4 0.2
0~0.1
4.0max. 3.6 0.2
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SDK03M
Application Notes
sDetermining the Output Current
Fig. 1 shows the waveform of the output current (motor coil current). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) Vb r2 ................................................................ (1) IO * r1+r2 RS (2) Power down mode The circuit in Fig.3 (rx and Tr) is added in order to decrease the coil current. IO is then determined as follows. IOPD 1+ 1 r1(r2+rX) r2 * rX
*
Fig. 1 Waveform of coil current (Phase A excitation ON)
IO Phase A 0 Phase A
Fig. 2 Normal mode
Vb(5V) r1 r6 r5 r2 C3 10 13 15 RS 3
Vb ......................................................... (2) RS
Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 1 Vb -1 - r1 Rs * IOPD r2 Fig. 4 and 5 show the graphs of equations (1) and (2) respectively.
Fig. 3 Power down mode
Vb(5V) r6 r1 r5 rX Power down signal Tr RS r2 C3 10 13 15 3
Fig. 4 Output current IO vs. Current sense resistor RS
4
Fig. 5 Output current IOPD vs. Variable current sense resistor rx
2.0
2
r2 * Vb r1+r2 RS r1=510 r2=100 rx= Vb=5V IO=
Output current IOPD (A)
Output current IO (A)
3
1.5
RS =0.5 1 * Vb r1(r2+rX) RS 1+ r2 * rX r1=510 r2=100 Vb=5V IOPD=
1.0
RS =0.8 RS =1
1
0.5
0
0
1
2
3
4
00
200
400
600
800
1000 1200
Current sense resistor RS ()
Variable current sense resistor rX ()
(NOTE) Ringing noise is produced in the current sense resistor RS when the MOSFET is switched ON and OFF by chopping. This noise is also generated in feedback signals from RS which may therefore cause the comparator to malfunction. To prevent chopping malfunctions, r5(r6) and C3(C4) are added to act as a noise filter.
However, when the values of these constants are increased, the response from RS to the comparator becomes slow. Hence the value of the output current IO is somewhat higher than the calculated value.
SDK03M
39
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SDK03M
sDetermining the chopper frequency
Determining TOFF SDK03M is self-excited choppers. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal Td. TOFF can be calculated using the following formula: 2 Vb 2 Vb
Fig. 6 Chopper frequency vs. Motor coil resistance
60 15
Chopping frequency f (kHz)
1.0
50
ON time TON ( s)
TOFF-r3 * C1r (1- n
=-r4 * C2 r (1- n
)
40 30
VC
C
20
=2 4V
The circuit constants and the TOFF value shown below are recommended. TOFF = 12s at r3=47k, C1=500pF, Vb=5V
25
V
20 10 0
VCC
=36
30 35 40
r3 = r4 = 47k 500pF C1 C2 TOFF =12s RS =1 Lm =1~3ms Rm
0
2
46 8 10 12 14 16 Motor coil resistance Rm ()
sChopper frequency vs. Supply voltage
sChopper frequency vs. Output current
50
50
40
40
f (kHz)
20
Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1
f (kHz)
30
30
20
Motor : 23LM-C202 VCC=24V RS=1
10
10
0
0
10
20
30
40
50
0
0
0.2
0.4
0.6
0.8
VCC (V)
IO (A)
40
SDK03M
2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SDK03M
sThermal Design
An outline of the method for computing heat dissipation is shown below. (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." Fig. 7 Heat dissipation per phase PH vs. Output current IO
1.2
(2) The power dissipation Pdiss is obtained using the following formula. 2-phase excitation: Pdiss PH+0.0075xVS (W) 3 PH+0.0075xVS (W) 1-2 phase excitation: Pdiss 4 (3) Obtain the temperature rise that corresponds to the calculated value of Pdiss from Fig. 8 "Temperature rise." Fig. 8 Temperature rise
150
Heat dissipation per phase PH (W)
1
0.8
VC
0.6
24
V
Motor : 23LM-C202 Holding mode
V
T j
36
V
Tj-a (C) TC-a
C
=4
4V
100
Glass epoxy board (mounted on level surface) (95x69x1.2mm) Natural cooling
15
0.4
T
C
50
0.2
0
0
0.2
0.4
0.6
0.8
1.0
0 0
Output current IO (A)
1 2 Total power (W)
3
Thermal characteristics
50
Case temperature rise TC-a (C)
40
TC ( 9 pin)
30
Natural cooling Glass epoxy board (mounted on level surface) (95x69x1.2mm) Motor : PH265-01B Motor current IO=0.8A Ta=25C VCC=24V, VS=24V 2-phase excitation
20
10
0 200
500
1K
Response frequency (pps)
sSupply Voltage VCC vs. Supply Current ICC
500
sTorque Characteristics
2.0
Supply current ICC (mA)
400
Pull-out torque (kg-cm)
1.5
300
Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current IO=1A
1.0
200
Motor : PX244-02 Output current IO =0.6A Motor supply voltage VCC =24V 2-phase excitation
100
0.5
0.4A 0.2A
0 10 20 30 40 50
0 100 500 1K 5K
0
Supply voltage VCC (V)
Response frequency (pps)
sNote
The excitation input signals of the SDK03M can be used as either Active High or Active Low. Note, However, that the corresponding output (OUT) changes depending on the input (IN). Active High Input IN1 (pin6) IN2 (pin5) Corresponding output OUT1 (pin1, 16) OUT2 (pin8, 9) Active Low Input IN1 (pin6) IN2 (pin5) Corresponding output OUT1 (pin8, 9) OUT2 (pin1, 16)
SDK03M
41
2-Phase/1-2 Phase Excitation
UCN5804B
Allegro MicroSystems product
2-Phase Stepper Motor Unipolar Driver IC
sFeatures
q Internal 1-phase/1-2 phase/2-phase excitation pattern generator q Output enable and direction control q Power-on reset q Internal thermal shutdown circuitry q Internal transient-suppression diodes q Low thermal resistance 16-pin DIP
Absolute Maximum Ratings
Parameter Output voltage Output sustaining voltage Output current (1 circuit) Logic supply voltage Input voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VCE VCE (SUS) IO VDD VIN PD (Note1) Ta Tj (Note2) Tstg Ratings 50 35 1.5 7.0 7.0 2.90 -20 to +85 +150 -55 to +150
(Ta=+25C) Units V V A/unit V V W/pkg C C C
Note 1: When ambient temperature is 25C or over, derate using -23.3mW/C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sElectrical Characteristics
Parameter Output drivers Output leakage current Output sustaining voltage Output saturation voltage Clamp diode leakage current Clamp diode forward voltage Turn-on delay Turn-off delay Thermal shutdown temperature Control logic Input current Input voltage Supply current Data setup time Data hold time Clock pulse width q "typ" values are for reference. Symbol Conditions
(Unless specified otherwise, Ta=25C, VDD=4.5V to 5.5V) Limits min typ 10 max 50 Units
ICEX VCE (SUS) VCE (SAT) IR VF tON tOFF Tj IIH IIL VIH VIL IDD ts DAT (A) th DAT (B) tw CLK (C)
VO=50V IO=1.25A, L=3mH IO=700mA IO=1A IO=1.25A VR=50V IF=1.25A 50% step inputs to 50% output 50% step inputs to 50% output
VIN=VDD VIN=0.8V VDD=5V 2 outputs ON Inter-clock Inter-clock
A V 1.0 1.2 V 1.1 1.4 V 1.2 1.5 V 10 50 A 1.5 3.0 V 10 s 10 s 165 C (Unless specified otherwise, VIN=VDD or GND) 0.5 5.0 A -0.5 -5.0 A 3.5 5.3 V -0.3 0.8 V 20 30 mA 100 ns 100 ns 500 ns
3.5
sTiming Conditions
sTerminal Connection Diagram
CLOCK
OUTPUTB 1 2 3 4 LOGIC GROUND OUTPUTC KAC 5 6 7 8 12 11 10 9 VDD OE 16 15 14 13
SUPPLY OUTPUT ENABLE DIRECTION GROUND GROUND STEP INPUT HALF-STEP ONE-PHASE
C ONE PHASE HALF-STEP OUTPUT ENABLE OUTPUTA OUTPUTB OUTPUTC A B
KBD OUTPUTD GROUND
OUTPUTD TWO-PHASE HALF-STEP WAVE DRIVE
OUTPUT DISABLED
OUTPUTA
42
UCN5804B
2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
UCN5804B
sDerating
Allowable package power dissipationPD (W)
5
sApplication Circuit
4
28V
5V
3
1
VDD OE
16 15 14 13
43 C /
2
2
W
3 4 LOGIC 5 6 7
DIRECTION CONTROL
1
12 11 10 9
STEP INPUT
0 -20
0
25
50
75 85
100
8
Ambient temperature Ta (C)
1 2 3 4 LOGIC 5 6 7 8
VDD OE
16 15 14 13 12 11 10 9
OR
sTruth Table
Drive Format Two-Phase One-Phase Half-Step Step-Inhibit Pin 9 L H L H Pin 10 L L H H
sI/O Equivalent Circuit
Input circuit
VDD
Output driver
K
OUT IN
SUB
sExternal Dimensions
ICs per stick
(Unit: mm)
0.508 0.204 16 7.11 6.10 1 2 3 8 0.127MIN 2.54BSC 21.33 18.93 SEATING PLANE 5.33MAX
Note 1
25
9
7.62BSC
INDEX AREA 1.77 1.15
0.558 0.356 0.39MIN
4.06 2.93
qThickness of lead is measured below seating plane. qAllowable variation in distance between leads is not cumulative. Note 1: Lead width of pin 1,8, 9, 16 may be half the value shown here.
UCN5804B
43
2W1-2 Phase Excitation/Micro-step Support
SLA7042M/SLA7044M
2-Phase Stepper Motor Unipolar Driver ICs
sAbsolute Maximum Ratings
Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage Input voltage Output current Power dissipation Channel temperature Storage temperature Symbol VCC VDSS VDD VIN IO PD Tch Tstg Ratings SLA7042M 46 100 7 -0.5 to VDD+0.5 1.2 4.5 (Without Heatsink) +150 -40 to +150 3 SLA7044M Units V V V V A W C C
sElectrical Characteristics
Ratings Parameter Control supply current Control supply voltage Input Terminals voltage DATA, CLOCK Input hysteresis and voltage STROBE Input current Input voltage Input current Symbol min IDD Conditions VDD VIH Conditions VIL Conditions VH Conditions II Conditions VREF Conditions VDISABLE Conditions IREF Conditions Vref Conditions Vref Conditions Vref Conditions Vref Conditions Vref Conditions Vref Conditions Vref Conditions Vref Conditions VDS Conditions VDSS Conditions IDSS Conditions VSD Conditions TOFF Conditions TOFF Conditions TOFF Conditions Tr Conditions Tstg Conditions Tf Conditions
tsDAT
SLA7042M typ VDD=5.5V 5 VDD=5V
max 7 5.5 5 1.5
min
SLA7044M typ VDD=5.5V 5 VDD=5V
Units max 7 5.5 5 1.5 mA V V
4.5 3.5 0
4.5 3.5 0
VDD=5V 1 VDD=5V VDD=5V, VI=0 or 5V 0.4 VDD=5V VDD-1 VDD=5V
1 2.5 VDD 1 0.4
VDD=5V 1 VDD=5V VDD=5V, VI=0 or 5V
V 1 2.5
A
VDD=5V VDD-1 VDD=5V 1 VDD=5V, VI=0 or 5V 0 MODE 0 20 MODE 1 40 MODE 2 55.5 MODE 3 71.4 MODE 4 83 MODE 5 91 MODE 6 100 MODE 7 0.8 1.4 ID=3A, VDD=4.75V 100 IDSS=4mA, VDD=5V 4 4 VDSS=100V, VDD=5V 1.2 2.3 ID=3A 7 MODE 1, 2 9 MODE 3, 4, 5 11 MODE 6, 7 0.5 VDD=5V, ID=1A 0.7 VDD=5V, ID=1A 0.1 VDD=5V, ID=1A 75 Inter-clock 75 Inter-clock 150 VDD
REF terminal
V
Reference voltage selection output voltage
VDD=5V, VI=0 or 5V 0 MODE 0 20 MODE 1 40 MODE 2 55.5 MODE 3 71.4 MODE 4 83 MODE 5 91 MODE 6 100 MODE 7 ID=1.2A, VDD=4.75V 100 IDSS=4mA, VDD=5V VDSS=100V, VDD=5V ID=1.2A 7 MODE 1, 2 9 MODE 3, 4, 5 11 MODE 6, 7 0.5 VDD=5V, ID=1A 0.7 VDD=5V, ID=1A 0.1 VDD=5V, ID=1A 75 Inter-clock 75 Inter-clock 150 100 100 Strobe=L from clock 100 100
A
DC characteristics
%
FET ON voltage FET Drain-Source voltage FET drain leakage current FET diode forward voltage
V V mA V
Chopper off time
s
AC characteristics
Switching time
s
Data setup time "A" Data hold time "B" Data pulse time "C" Clock pulse width "D" Stabilization time before strobe "E" Strobe pulse H width "F"
Conditions
thDAT
Conditions
twDAT
Conditions
twhCLK
ns 100 100 Strobe=L from clock
Conditions
tpsSTB
Conditions
twhSTB
Conditions
44
SLA7042M/SLA7044M
2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
SLA7042M/SLA7044M
sInternal Block Diagram
OUT A OUT A VDD A VDD B OUT B OUT B Rs B
OFF time timer (TOFF 3-step switching) Chopper ON Noise filter (2 s)
Reference voltage Vref b a c 0% 0 0 0 20% 0 1 0 40% 1 0 0 55.5% 1 1 0 71.4% 0 0 1 83% 0 1 1 91% 1 0 1 100% 1 1 1
Reference voltage c b a Vref 0 0 0 0% 0 0 1 20% 0 1 0 40% 0 1 1 55.5% 1 0 0 71.4% 1 0 1 83% 1 1 0 91% 1 1 1 100%
OFF time timer (TOFF 3-step switching) Chopper ON Noise filter (2 s)
PWM
PWM
Phase COMP Reset Ph.
Phase
Latch
a b c c
Latch
b a Ph.
Reset
COMP
Reset
Shift register
Ph. a b c c
Shift register
b a Ph.
Reset
Enable
Enable
CLOCK A
CLOCK B
Rs A
GND A
STROBE A
STROBE B
DATA A
sOutput Current Formula
IO = K VREF * 3 RS K: Reference voltage setting rate by serial signal (See the internal block diagram)
sDiagram of Standard External Circuit
VCC
5V 4 VDDA ENABLE VREF 3 14 R2 C1 GND A GND B 7 12 C1 : 500 to 10000pF RS A 9 RS REF A REF B 15 1 8 11 18 VDDB OUT A OUT A OUT B OUT B CLOCK A 5 CLOCK B
R1
DATA B
SLA7042M SLA7044M
16 2 13
STROBE A STROBE B DATA A
6 DATA B 17 RS B 10 RS
GND B
Ref A
Ref B
SLA7042M/SLA7044M
45
2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
SLA7042M/SLA7044M
sExternal Dimensions
3.20.15
310.2 24.40.2 16.40.2
(Unit: mm)
3.20.15x3.8
4.80.2 1.70.1
9.90.2
160.2
130.2
Lot No.
(3) 6.70.5
0.55 +0.2 -0.1
1 -0.1 17xP1.680.4=28.561
+0.2
0.65 -0.1
+0.2
1 -0.1 17xP1.680.4=28.561
+0.2
0.55 -0.1 40.7
+0.2
2.20.1 60.6 7.50.6
31.30.2
1 2 3 * * * * * * * * * * * * 16 17 18 1 2 3 * * * * * * * * * * * * 16 17 18
Forming No. No.871
Forming No. No.872
sSerial Data Pattern
OUT excitation (MODE )
Phase a b c 0
OUT excitation (MODE )
Phase a b c
CLOCK STROBE MODE0 (0%) MODE1 (20%) MODE2 (40%) MODE3 (55.5%) MODE4 (71.4%) MODE5 (83%) MODE6 (91%) MODE7 (100%)
0
0
0
0
0
0
0
0
0
See page 48 for details of PG001M serial signal generator IC for SLA7042M and SLA7044M.
DATA
0
0
0
0
0
0
0
0
0
0
Successively output this serial data and set any current. Then, determine the step time of the reference voltage Vref at STROBE signal intervals.
46
SLA7042M/SLA7044M
1.6
0.6
R-End
9.7 -0.1
+0.2
0.65 -0.1
+0.2
3 0.6 0.6 4.6
Part No.
2.450.2
2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
SLA7042M/SLA7044M
sCurrent Vector Locus (One step of stepper motor normalized to 90 degrees)
A 100
To rotate the motor, enter serial data as follows: 2W1-2 phase excitation : Vector 123456789 ... W1-2 phase excitation : Vector 13579.... 1-2 phase excitation : Vector 159 2-2 phase excitation : Vector 5 or 10
Combined Current A Current B vector 1 2 3 100% 100% 91% 83% 71.4% 55.5% 40% 20% 0% 100% 0% 20% 40% 55.5% 71.4% 83% 91% 100% 100% 100%
10 1 2
3
4 5 6 7
4 5 6 7
8
20
8 9 10
B
0 A
20
40
55.5
9 B 71.4 83 91 100
sSerial Data Sequence Example (2W 1-2 Phase Excitation for CW)
Sequence DATA-A MODE DATA-B MODE 0 4 4 1 3 5 2 2 6 3 1 7 4 0 7 5 1 7 6 2 6 7 3 5 8 4 4 9 5 3 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 6 2 7 1 7 0 7 1 6 2 5 3 4 4 3 5 2 6 1 7 0 7 1 7 2 6 3 5 4 4 5 3 6 2 7 1 7 0 7 1 6 2 5 3 0 4 4
A malfunction may occur just after the power (VDD) is turned on because the internal logic is unstable. Therefore, set the RESET state (REF terminal voltage: VDD-1V to VDD) after the power is turned on.)
sOperation Current Waveform Examples
Stationary waveform
A 0 A
B 0 B Time Start
Torque-up waveform at start
A 0 A
B 0 B Time
Leading phase waveform at acceleration
A 0 A
B 0 B Time
These three types of waveforms can all be set with a serial signal.
SLA7042M/SLA7044M
47
PG001M
Serial Signal Generator IC for SLA7042M and SLA7044M
sAbsolute Maximum Ratings
Parameter Supply voltage Input voltage Input current Output voltage Output current Power dissipation Operating temperature Storage temperature Symbol VDD VI II VO IO PD TOP Tstg Ratings -0.5 to 7 -0.5 to VDD+0.5 10 -0.5 to VDD+0.5 15 200 -20 to +85 -40 to +150 (Ta=25C) Units V V mA V mA mW C C
sElectrical Characteristics
Parameter Supply voltage Supply current Output voltage Input current Input voltage Input hysteresis voltage Input capacity Internal oscillation frequency Propagation delay time Symbol VDD IDD VOH VOL II VIH VIL VH CI F TCS TCC Tr Tf VCIH VCIL
tsR tpsR tsS
(Ta=25C) Conditions min 4.5 4.5 0.4 1 5 1.5 1 5 1.5 50 430 20 20 4.5 0.5 100 10 100 550 Ratings typ 0.35 max 5.5 0.45 Units V mA V
DC characteristics
VDD=5.5V VDD=5V, IO=3mA VDD=5V, VI=0 or 5V VDD=5V VDD=5V VDD=5V VDD=5V See Fig. 1. VDD=5V, CL=15pF See Fig. 2. H level time, VDD=5V L level time, VDD=5V Inter-clock See Fig. 3. Inter-clock See Fig. 3. 3.5 -0.3
A
V V pF MHz ns ns
AC characteristics
Output voltage Rise and fall time CLOCK IN terminal Input clock time Reset setting time (A) Stabilization time after reset (B) Signal setting time (C) Stabilization time after signal input (D)
s
ns
100
ns
tpsS
Fig. 1
CLOCK_IN CLOCK_OUT DATA
Fig.2
90% CLOCK_OUT DATA STROBE 10%
STROBE TCC 1/F 1/F TCS
Tr
Tf
Fig. 3 Timing conditions
Excitation switching point
CLOCK_IN A RESET
B
MO MS1 MS2 CW/CCW C D
VC
C D C D C D
VC switching occurs only while CLOCK-IN level is L.
48
PG001M
Serial Signal Generator IC for SLA7042M and SLA7044M
PG001M
sInternal Block Diagram
VDD 16
... Input ... Output
MS1 MS1
6 7 (A) Excitation mode setting section SET
Number inside shape indicates pin number.
2h a (B) Parallel signal generator b c (C) Parallel-serial signal converter
VC 15 MO 9
14 CLOCK_OUT 11 DATA_A 10 DATA_B 13 STROBE
Q1 Q2 Q3 Q4
Phase
CLOCK_IN CW/CCW RESET
2 3 1 (D) Up/Down counter
(E) Oscillator
8 GND
5 CP1
4 CP2
12 NC
Fix all open input pins to H or L (Apart from CP1, CP2 and NC pins)
sDiagram of Standard External Circuit
5V 16 1 2 MPU 3 6 7 15 9
VDD RESET CLOCK_IN CW/CCW MS1 MS2 VC DATA_B MO NC GND CP1 CP2 CLOCK _OUT
14
CLOCK_A CLOCK_B
P G 0 0 1 M
STROBE
13
STROBE_A STROBE_B
SLA7042M SLA7044M
DATA_A
11 10
DATA_A DATA_B
12
8
5
4 Rs Rs
NC
NC
NC
PG001M
49
Serial Signal Generator IC for SLA7042M and SLA7044M
PG001M
sExternal Dimensions
19.2 20.0max 16
Lot No.
(Unit: mm)
9
Part No.
1
0.89
1.3
8
6.3 6.65max
7.62
2.54min 5.08max
0.51min
2.540.25
0.480.10 0 to 15C
0.25 -0.05
+0.11
sOutput Mode Vs Output Pulse
Output pulse OUT excitation
Phase CLOCK _OUT STROBE 0 0 a b c CLOCK _OUT STROBE 0 0
Output pulse OUT excitation
Phase a b c
0 1 2
0
0 1 2
0
0
0
0
0
Output mode
3
Output mode
0
3
0
4
0
4
0
5 6
0
5 6
0
0
0
7
0
7
50
PG001M
Serial Signal Generator IC for SLA7042M and SLA7044M
PG001M
sInput and Output Function Correlation Table
Input Mode CLOCK _IN CW /CCW L CW L H CCW H x RESET x L H L Output Mode Input Mode 4 or 7 4 or 7 Output Output Mode Mode H H CCW CCW RESET H CW CW MO Output CLOCK STROBE _OUT DATA -A DATA -B
x : Don't care : MO outputs L level while CLOCK_IN is H level when output mode is 4:4 (7:7), 4:4 (7:7), 4:4 (7:7),or 4:4 (7:7). Modes in brackets ( ) are for 2-2 phase VC: H.
sExcitation Selection Table
Input Excitation method Excitation mode selection VC MS1 MS2 2-2 Phase Full Step 1-2 Phase Half Step W1-2 Phase 1/4 Step 2W1-2 Phase 1/8 Step H L L L H L H L L L H H 0 1 Output current mode of SLA7042M/7044M 2 3 4 5 6 7 Torque vector 0% 20% 40% 55.5% 71.4% 83% 91% 100% - - - - - - - - - - - - - - - - - - - - - - 141% 100% 100% 100% 100%
x x x
sOutput Mode Sequence
Excitation method CW/CCW CLOCK MO CW DATA_A DATA_B CCW DATA_A DATA_B 2-2 Phase Full Step (2) (VC: L) CW DATA_A DATA_B CCW DATA_A DATA_B CW 1-2 Phase Half Step CCW DATA_A DATA_B DATA_A DATA_B CW W1-2 Phase 1/4 Step CCW DATA_A DATA_B DATA_A DATA_B CW DATA_A DATA_B CCW DATA_A DATA_B
RESET
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 HHHHHHH LHHHHHHHLHHHHHHHLHHHHHHHL =======7=======7=======7=======7 =======7=======7=======7=======7 =======7=======7=======7=======7 =======7=======7=======7=======7 =======4=======4=======4=======4 =======4=======4=======4=======4 =======4=======4=======4=======4 =======4=======4=======4=======4 ===0===4===7===4===0===4===7===4 ===7===4===0===4===7===4===0===4 ===7===4===0===4===7===4===0===4 ===0===4===7===4===0===4===7===4 =2=0=2=4=6=7=6=4=2=0=2=4=6=7=6=4 =6=7=6=4=2=0=2=4=6=7=6=4=2=0=2=4 =6=7=6=4=2=0=2=4=6=7=6=4=2=0=2=4 =2=0=2=4=6=7=6=4=2=0=2=4=6=7=6=4 32101234567776543210123456777654 56777654321012345677765432101234 56777654321012345677765432101234 32101234567776543210123456777654 = : No output
L 7 7 7 7 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4
2-2 Phase Full Step (1) (VC: H)
2W1-2 Phase 1/8 Step
PG001M
51
Serial Signal Generator IC for SLA7042M and SLA7044M
PG001M
sOutput Timing Chart (CW) ... Excitation Current of SLA7042M/7044M
RESET CLOCK_IN
MO 7 7 7
A 2-2 Phase Full Step (VC: H)
7 7 7 7 7
B
7 7
MO 4 7 4 0 0 4 7 4 7 4 0 0 4 7 4 4 4 4
A 1-2 Phase Half Step B
MO 4 2 4 6 7 6 4
A W1-2 Phase 1/4 Step
4 6
0 0 2 4 7 6 4 2 6 6 7 4 2
2
4 0 0 2 4 6 6 7 4 2 2
B
MO 4 3 3 4 5 6 7
7
7 6 5 4 3
2
A 2W1-2 Phase 1/8 Step
4 5 6
1 0 1 2 7 7 7 6 5 4 3 3 4 5 6 6 7 7 7 5 4 3 2 1
0
1
2
2
B
1 0 1 2 3 4 5 6 6 7 7 7 5 4 3 2 1
0
1
2
3
4
5
For 2-2 phase VC : L, output mode is 74.
52
PG001M
Serial Signal Generator IC for SLA7042M and SLA7044M
PG001M
sOutput Timing Chart (CCW) ... Excitation Current of SLA7042M/7044M
RESET CLOCK_IN
MO 7 7 7
A 2-2 Phase Full Step (VC: H)
7 7 7 7 7
B
7 7
MO 4 7 4 0 0 4 7 4 4 7 4 0 0 4 7 MO 4 6 7 6 4 2 0 2 4 6 7 4 2 0 2 4 6 4 7 6 2 0 4 2 6 4 7 6 6 4 2 0 2 4 4 4
A 1-2 Phase Half Step B
4
A W1-2 Phase 1/4 Step
B
MO 4 5 6
7
7
7 6 5 4 3 2 4 5
A 2W1-2 Phase 1/8 Step
4 3 2
1 0 1 2 3 4 3 2 1
0 4 5
1
2
3
5
6
7
6 7 7 2
B
1 0 1 2 3 5 4 3 2 1
0
1
3
4
5
6
7
7
7 6 5 4 3
4
5
6 6 7 7 7
For 2-2 phase VC:L, output mode is 74.
PG001M
53
2-Phase/1-2 Phase Excitation
A3966SA/SLB
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver IC
sFeatures
q Maximum output ratings: 30V, 650mA q Internal fixed-frequency PWM current control q Internal ground-clamp & flyback diodes q Internal thermal shutdown, crossover-current protection and UVLO protection circuitry q Employs copper batwing lead frame with low thermal resistance
sAbsolute Maximum Ratings
Parameter Load supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Sense voltage Package power dissipation Ambient operating temperature Junction temperature Storage temperature Symbol VBB IO (Peak) IO VCC VIN VS PD (Note1) Ta Tj (Note2) Tstg Ratings A3966SA A3966SLB 30 750 650 7.0 -0.3 to VCC+0.3 1.0 1.86 -20 to +85 +150 -55 to +150 Units V mA mA V V V W C C C
2.08
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -16.67mW/C (SA), -14.93mW/C (SLB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Load supply voltage range Output leakage current
(Unless specified otherwise, Ta=25C, VBB=30V, VCC=4.75V to 5.5V, VREF=2V, VS= 0V, 56k & 680pF RC to ground) Symbol Conditions min VCC < 1.0 < -1.0 1.7 1.8 0.3 0.4 18 1.1 1.4 3.0 < 1.0 Ratings typ max 30 50 -50 2.0 2.1 0.5 1.3 24 1.4 1.6 5.0 200 5.50 0.8 20 -200 2.0 1.0 4.2 6.0 1.0 27.9 1.4 1.2 3.0 Units
VBB ICEX
Output saturation voltage
VCE (sat)
Operating, IO=650mA, L=3mH VO=30V VO=0V Source Driver, IO=-400mA Source Driver, IO=-650mA Sink Driver, IO=+400mA, VSENSE=0.5V Sink Driver, IO=+650mA, VSENSE=0.5V IS-IO, IO=50~650mA IF=400mA IF=650mA VENABLE1=VENABLE2=0.8V VENABLE1=VENABLE2=2.4V Operating
Sense-current offset Clamp diode forward voltage Motor supply current (No load) Control logic Logic supply voltage range Logic input voltage Logic input current
ISO VF IBB (ON) IBB (OFF) VCC VIH VIL IIH
12
V A A V V V V mA V V mA A V V V A A V A mV V kHz S S S ns ns ns ns ns ns ns ns C C V V mA mA
4.75 2.4 < 1.0 < -20 0.1 -2.5 3.8 -6.0 -0.3 22.9 0 4.0 0 25.4 1.0 0.8 1.8 100 500 200 200 2200 200 2200 200 165 15 4.1 0.6
IIL Reference input voltage range VREF Reference input current IREF Reference divider ratio VREF/VTRIP Current-sense comparator input offset voltage VIO Current-sense comparator input voltage range VS PWM RC frequency fOSC PWM propagation delay time Cross-over dead time tPWM tcodt
VIN=2.4V VIN=0.8V Operating
Propagation delay time
tpd
VREF=0V Operating CT=680pF, RT=56k Comparator Trip to Source OFF Cycle Reset to Source ON 1k Load to 25V IO=650mA, 50% to 90% : ENABLE ON to Source ON IO=650mA, 50% to 90% : ENABLE OFF to Source OFF IO=650mA, 50% to 90% : ENABLE ON to Sink ON IO=650mA, 50% to 90% : ENABLE OFF to Sink OFF IO=650mA, 50% to 90% : PHASE Change to Sink ON IO=650mA, 50% to 90% : PHASE Change to Sink OFF IO=650mA, 50% to 90% : PHASE Change to Source ON IO=650mA, 50% to 90% : PHASE Change to Source OFF
0.2
Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current q "typ" values are for reference.
Tj Tj VUVLO en VUVLO hys ICC (ON) ICC (OFF)
Increasing VCC 0.1 VENABLE1=VENABLE2=0.8V VENABLE1=VENABLE2=2.4V
4.6 50 9
54
A3966SA/SLB
2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A3966SA/SLB
sDerating
sInternal Block Diagram (1/2 circuit)
LOGIC SUPPLY LOAD SUPPLY OUTA OUTB
PHASE
VCC + VBB
Allowable package power dissipation PD [W]
2.5
2
A3
A3 96
96
6S
A
1.5
6S
60
C
LB
C
67
/W
ENABLE (ACTIVE LOW)
UVLO & TSD
1
/W
PWM LATCH
BLANKING GATE
CURRENT-SENSE COMPARATOR
SENSE
+
0.5
GROUND
R Q S OSC RC
-
TO OTHER BRIDGE
TO OTHER BRIDGE
+4
RS
0 -20
0
25
50
75 85 100
Ambient temperature Ta (C)
CT RT
sTruth Table
PHASE ENABLE OUTA OUTB X H Z Z H L H L L L L H X: Don't care (either L or H) Z: High impedance (source and sink both OFF)
sLoad-Current Paths
VBB
BRIDGE ON
SOURCE OFF
ALL OFF
RS
sTerminal Connection Diagram
A3966SA
SENSE1 OUT1B LOAD SUPPLY REFERENCE RC LOGIC SUPPLY OUT2B SENSE2 1 LOGIC 2 3 4 5 6 7 8 VREF RC VCC LOGIC 16 15 14 13 12 11 10 9 ENABLE1 PHASE1 OUT1A GROUND GROUND OUT2A PHASE2 ENABLE2 OUT1A PHASE1 ENABLE1 GROUND SENSE1 OUT1B LOAD SUPPLY REFERENCE 1 2 3 4 5 6 VBB 7 8 VREF VCC RC 10 9 LOGIC LOGIC VBB
A3966SLB
16 15 14 13 12 11 OUT2A PHASE2 ENABLE2 GROUND SENSE2 OUT2B LOGIC SUPPLY RC
VBB
REFERENCE
TO OTHER BRIDGE
A3966SA/SLB
55
2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A3966SA/SLB
sTypical Application
(A3966SLB)
Example of stepper motor drive
1 PHASEA ENABLEA 2 3 4 0.5 5 +5V 6 LOGIC LOGIC VBB
16 15 14 13 0.5 12 11 VBB VCC VREF RC 10 9 +5 V PHASEB ENABLEB
39 k
+24 V 7 8
680 pF
10 k
sExternal Dimensions
A3966SA
16
56 k
47 F +
ITRIPIOUT+ISOVREF/(4 * RS) tblank1,900 * CT fOSC1/ (RT * CT+tblank) RT=56k (20k to 100k) CT=680pF(470pF to 1,000pF)
(Unit: mm)
A3966SLB
9
16
9
0.355 0.204
0.32 0.23
7.11 6.10
10.92 7.62 MAX BSC
7.60 7.40
10.65 10.00 1.27 0.40
1 1.77 1.15
19.68 18.67
2.54 BSC
8
0.13 MIN
0.51 0.33 1 2 3 10.50 10.10 1.27 BSC 0 to 8
5.33 MAX 0.39 MIN 0.558 0.356 3.81 2.93
2.65 2.35 0.10 MIN.
56
A3966SA/SLB
A3966SA/SLB
57
2-Phase/1-2 Phase Excitation
A3964SLB
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver IC
sFeatures
q Fixed off-time PWM current control q Internally generated, precision 2.5V reference q External filter for sense terminal not required q Internal thermal shutdown circuitry q Internal crossover-current protection circuitry q Internal UVLO protection q Internal transient-suppression diodes q Low thermal resistance 20-pin SOP
sAbsolute Maximum Ratings
Parameter Load supply voltage Output current (continuous) Logic supply voltage Logic input voltage range Continuous output emitter voltage Reference output current Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO VCC VIN VE IREF-OUT PD (Note1) Ta Tj (Note2) Tstg Ratings 30 0.80 7.0 -0.3 to VCC+0.3 1.0 1.0 2.08 -20 to +85 +150 -55 to +150 Units V A V V V mA W C C C
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -16.7mW/C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Load supply voltage range Output leakage current
(Unless specified otherwise, Ta=25C, VBB=30V, VCC=4.75V to 5.25V, VREF=2V, VSENSE= 0V) Symbol VBB ICEX Conditions Operating Sink driver, VO=VBB Source driver, VO=0V Sink driver, IO=+500mA Sink driver, IO=+750mA Sink driver, IO=+800mA Source driver, IO=-500mA Source driver, IO=-750mA Source driver, IO=-800mA IO=800mA, L=3mH VR=30V IF=800mA VEN1=VEN2=0.8V, no load VEN1=VEN2=2.4V, no load min 5 Ratings typ max 30 50 -50 0.6 1.2 1.5 1.2 1.5 1.7 Units
Output saturation voltage
VCE (SAT)
Output sustaining voltage Clamp diode leakage current Clamp diode forward voltage Motor supply current Control logic
VCE (SUS) IR VF IBB (ON) IBB (OFF)
VIH VIL IIH Logic input current IIL Reference output voltage VREF * OUT1 Current-sense comparator input current IREF * IN Current-sense comparator input voltage range VREF * IN Current-sense comparator input offset voltage VTH Timer blanking charge current (RC off) IRC VBLTH(1) Timer blanking threshold (RC off) VBLTH(0) Timer blanking OFF voltage (RC off) VRCOFF Thermal shutdown temperature Tj Thermal shutdown hysteresis Tj ICC (ON) Logic supply current ICC (OFF) Logic supply current/temperature coefficient ICC (ON) Logic input voltage q "typ" values are for reference. Note) Logic input: En1, En2, Ph1, Ph2
VIN=2.4V VIN=0.8V VCC=5.0V, IREF * OUT=90~900 A VREF * IN=1V Operating VREF * IN=0V VRC=2.0V
RT=20k
VEN1=VEN2=0.8V, no load VEN1=VEN2=2.4V, no load VEN1=VEN2=0.8V, no load
V A A V V V 1.0 V 1.1 V V 30 V < 1.0 50 A 1.6 2.0 V 10 mA 10 mA (Unless specified otherwise, VIN=VDD or GND) 2.4 V 0.8 V < -1.0 20 A < -20 -200 A 2.45 2.50 2.55 V -5.0 5.0 A -0.3 1.0 V -6 6 mV 1.0 mA 3.0 V 1.0 V 3.0 V 165 C 15 C 65 85 mA 17 mA 0.18 mA/C < 1.0 <- 1.0 0.3 0.5
sTerminal Connection Diagram
OUT1B SENSE1 OUT1A VBB GROUND GROUND VREF IN RC1 PHASE1 1 2 3 4 5 6 7 8 9 20 OUT2B 19 SENSE2 18 OUT2A 17 VCC 16 GROUND 15 GROUND 14 VREF OUT 13 RC2 12 PHASE2 11 ENABLE2
sDerating
Allowable package power dissipation PD (W)
2.5
2.0
60 C
1.5
/W
1.0
0.5
ENABLE1 10
0 -20
0
25
50
75 85
100
Ambient temperature Ta (C)
58
A3964SLB
2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A3964SLB
sInternal Block Diagram(Dotted Line)/ Diagram of Standard External Circuit (Recommended Circuit Constants)
VBB (5~30V)
+
VCC (5V) VBB 4 17 VCC
Reference voltage power supply
TSD OUT1A 3 1 OUT1B 9 10
OUT2B 20 18 OUT2A 12 11
Phase 1 Enable 1
Phase 2 Enable 2
Source off
Blanking time & one shot multi
Source off
-
-
+
RC1 8
2 7 14 5 Sen1 VREF VREF
IN
+
6 15 16 19 Sen2 GND RS2
Blanking time & one shot multi
OUT
13 RC2 RT2
R1 RT1 CT1 RS1 R2
CT2
R1=20k R2=5k (VR) RT=30k CT=1000pF RS=0.68 to 1.5 (1 to 2W)
sTruth Table
Phase H L X Enable L L H Out A H L Z Out B L H Z
sExcitation Sequence
[2-phase excitation]
0 Phase 1 Enable 1 Phase 2 Enable 2 H L H L 1 L L H L 2 L L L L 3 H L L L 0 H L H L
X = Don't care, Z = High impedance
[1-2 phase excitation]
0 Phase 1 Enable 1 Phase 2 Enable 2 H L X H 1 H L H L 2 X H H L 3 L L H L 4 L L X H 5 L L L L 6 X H L L 7 H L L L 0 H L X H
sExternal Dimensions
ICs per stick 37
Wide body plastic SOP (300mil)
(Unit: mm)
20
11
0.32 0.23
*1 7.60 7.40 10.65 10.00 1.27 0.40 0.51 0.33 1 13.00 12.60 2.65 2.35 SEATING PLANE 10 1.27 BSC 0 TO 8
Note) [Pin] material : copper Surface treatment : solder plating Note) Package index may be *1.
0.10 MIN
A3964SLB
59
2-Phase/1-2 Phase Excitation
A3953SB/SLB
2-Phase Stepper Motor Bipolar Driver ICs
Allegro MicroSystems product
sFeatures
q Fixed off-time PWM current control q Switching between power supply regeneration mode and loop regeneration mode in order to improve motor current response in microstepping q External filter for sense terminal not required q 3.3V and 5V logic supply voltage q Sleep (low current consumption) mode q Brake operation with PWM current limiting q Internal thermal shutdown circuitry cuitry q Internal UVLO protection q Internal transient-suppression diodes q Low thermal resistance package
sAbsolute Maximum Ratings
Parameter Load supply voltage Output current (continuous) Logic supply voltage Logic/reference input voltage range Sense voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO VCC VIN VSENSE D.C. PD Ta Tj (Note2) Tstg
(Note1)
Ratings A3953SB 50 1.3 7.0 -0.3 to VCC+0.3 1.0 (VCC=5.0V) 0.4 (VCC=3.3V) 2.90 -20 to +85 +150 -55 to +150 1.86 A3953SLB
Units V A/unit V V V W/pkg C C C
q Internal crossover-current protection cir- qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -23.26mW/C(SB) or -14.93mW/C(SLB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sTerminal Connection Diagram
A3953SB
BRAKE REF RC GROUND GROUND LOGIC SUPPLY PHASE ENABLE 1 2 3 4 LOGIC 5 6 7 8 VBB VCC 12 11 10 9 GROUND SENSE OUTA LOAD SUPPLY VBB 16 15 14 13 LOAD SUPPLY OUTB MODE GROUND
A3953SLB
BRAKE REF RC GROUND GROUND LOGIC SUPPLY PHASE ENABLE 1 2 3 4 5 6 7 8 VBB VCC VBB 16 15 14 13 12 11 10 9 LOAD SUPPLY OUTB MODE GROUND GROUND SENSE OUTA LOAD SUPPLY
60
A3953SB/SLB
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Load supply voltage range Output leakage current Sense current offset Output saturation voltage (Forward/reverse mode) Output saturation voltage (Brake mode) Clamp diode forward voltage Symbol
(Unless specified otherwise, Ta=25C, VBB=5V to 50V, VCC=3.0V to 5.5V) Conditions Limits min VCC <1.0 <-1.0 33 1.0 1.7 0.4 1.1 1.2 1.4 1.2 1.4 2.5 1.0 1.0 1.0 165 8 2.75 0.17 42 12 42 500 3.3 5.0 2.0 VIN=2.0V VIN=0.8V VCC=3.0V to 3.6V VCC=4.5V to 5.5V VREF=0V to 1V VREF=0V CT=680pF, RT=30k, VCC=3.3V Comparator Trip to Source OFF, Io=25mA Comparator Trip to Source OFF, Io=1.3A IRC Charge ON to Source ON, Io=25mA IRC Charge ON to Source ON, Io=1.3A VCC=3.3V, RT12k, CT=680pF VCC=5.0V, RT12k, CT=470pF IO=1.3A, 50% to 90% ENABLE ON to Source ON IO=1.3A, 50% to 90% ENABLE OFF to Source OFF IO=1.3A, 50% to 90% ENABLE ON to Sink ON IO=1.3A, 50% to 90% ENABLE OFF to Sink OFF (MODE=L) IO=1.3A, 50% to 90% PHASE Change to Sink ON IO=1.3A, 50% to 90% PHASE Change to Sink OFF IO=1.3A, 50% to 90% PHASE Change to Source ON IO=1.3A, 50% to 90% PHASE Change to Source OFF 1k Load to 25V, VBB=50V <1.0 <-2.0 0 0 2.0 18.3 20.4 1.0 1.8 0.4 0.55 1.4 1.6 1.0 1.0 1.0 0.8 2.4 0.8 2.0 1.7 1.5 0.8 20 -200 0.4 1.0 5.0 5.0 22.5 1.5 2.6 0.7 0.85 1.9 2.0 typ max 50 50 -50 50 1.1 1.9 0.9 1.3 1.4 1.8 1.4 1.8 4.0 50 50 50 Units
VBB ICEX ISO
VCE (SAT)
VCE (SAT) VF IBB (ON) IBB (OFF) IBB (BRAKE) IBB (SLEEP) Tj Tj VUVLO VUVLO ICC (ON) ICC (OFF) ICC (BRAKE) ICC (SLEEP) VCC VIH VIL IIH IIL VSENSE (3.3) VSENSE (5.0) IREF VIO tOFF RC tPWM (OFF) tPWM (ON) tPWM (ON)
Motor supply current (No load) Control logic Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis
Operating, IO=1.3A, L=3mH VO=VBB VO=0V ISENSE-IO, IO=850mA, VSENSE=0V, VCC=5V VSENSE=0.4V, VCC=3.0V, BRAKE=H:Source driver, IO=-0.85A VSENSE=0.4V, VCC=3.0V, BRAKE=H:Source driver, IO=-1.3A VSENSE=0.4V, VCC=3.0V, BRAKE=H:Sink driver, IO=0.85A VSENSE=0.4V, VCC=3.0V, BRAKE=H:Sink driver, IO=1.3A VSENSE=0.4V, VCC=3.0V, BRAKE=L:Sink driver, IO=0.85A VSENSE=0.4V, VCC=3.0V, BRAKE=L:Sink driver, IO=1.3A IF=0.85A IF=1.3A VENABLE=0.8V, VBRAKE=2.0V VENABLE=VBRAKE=2.0V, VMODE=0.8V VBRAKE=0.8V VENABLE=VBRAKE=VMODE=2.0V
18
V A A mA V V V V V V V V mA A A A C C V V mA mA mA A V V V A A V V A mV
2.5 0.12 VENABLE=0.8V, VBRAKE=2.0V VENABLE=VBRAKE=2.0V, VMODE=0.8V VBRAKE=0.8V VENABLE=VBRAKE=VMODE=2.0V Operating 3.0
Logic supply current
3.0 0.25 50 15 50 800 5.5
Logic supply voltage range Logic input voltage Logic input current Sense voltage range Reference input current Comparator input offset voltage AC timing PWM RC fixed off-time PWM turn-off time PWM turn-on time PWM minimum on-time
0.8 0.8
Propagation delay time
tpd
Crossover dead time q"typ" values are for reference.
tCODT
0.3
3.0
s s s s s s s s s s s s s s s s
A3953SB/SLB
61
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
sDerating
sInternal Block Diagram
LOAD SUPPLY
LOGIC 6 SUPPLY VCC
SLEEP & STANDBY MODES
Allowable package power dissipation PD (W)
3.0
9
10
15
A3
2.5
95
3S
MODE 14
B
43
2.0
C
PHASE
7 UVLO & TSD
VBB
A3
/W
8
1.5
LB
67 C
ENABLE
/W
BRAKE 1
1.0
INPUT LOGIC
95
3S
Q
0 -20
BLANKING
S RC 3 +- 2 REF CT RT VTH 12
0
25
50
75 85
100
GROUND
4 5
VCC
Ambient temperature Ta (C)
sTruth Table
BRAKE
H H H H H H L L
ENABLE
H H L L L L X X
PHASE
X
MODE
H L H L H L H L
OUTA
Z Z H H L L L L
OUTB
Z Z L L H H L L
Operating Mode
Sleep mode Standby Forward, fast current-decay mode Forward, slow current-decay mode Reverse, fast current-decay mode Reverse, slow current-decay mode Brake, fast current-decay mode Brake, no current control
X H H L L X X
X : Don't Care Z : High impedance
sApplication Circuit
(A3953SB)
BRAKE REF +5 V
(DC motor drive)
1 2 3 16 15 14 13 LOGIC 5 6 VCC 12 11 10 VBB 9
VBB
VBB
47 F
MODE
680 pF
30 k
4
0.5
PHASE ENABLE
7 8
Off-time setting
tOFFRT*CT
RT=12k to 100k CT=470 to 1500pF (Operating at VCC=5V) CT=680 to 1500pF (Operating at VCC=3.3V)
sExternal Dimensions
A3953SB
Plastic DIP (300mil)
16 7.11 6.10 1 2 3 8 0.127MIN 2.54BSC 21.33 18.93 5.33MAX SEATING PLANE
q Thickness of lead is measured below seating plane. q Allowable variation in distance between leads is not cumulative. Note 1: Lead width of pin 1, 8, 9, 16 may be 2: half the value shown here. Maximum thickness of lead is 0.508mm.
A3953SLB
ICs per stick
0.381 0.204
25
(16-pin wide SOIC)
16
ICs per stick
9
47
0.32 0.23
9
*1
7.62BSC
7.60 7.40
10.65 10.00 1.27 0.40
INDEX AREA 1.77 1.15
0.51 0.33 2.65 2.35
1 10.50 10.10 SEATING PLANE
8
1.27 BSC 0 TO 8
q Pin material: copper, pin surface treatment: solder plating q Package index may be *1. q Allowable variation in distance between leads is not cumulative. q Web (batwing) type lead frames are used for pin 4, 5, 12, 13. The pins are connected to GND.
0.558 0.356 0.39MIN
4.06 2.93
0.10 MIN.
62
A3953SB/SLB
-
0.5
R
+
PWM LATCH
LOAD SUPPLY
16 11 SENSE RS 13 GROUND
OUTA
OUTB
+
(Unit: mm)
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
Application Notes
sOutline
Designed for bidirectional pulse-width modulated (PWM) current control of inductive loads, the A3953S- is capable of continuous output currents to 1.3A and operating voltages to 50V. Internal fixed off-time PWM current-control circuitry can be used to regulate the mximum load current to a desired value. The peak load current limit is set by the user's selection of an input reference voltage and external sensing resistor. The fixed offtime pulse duration is set by a userselected external RC timing network. Internal circuit protection includes thermal shutdown with hysteresis, transient-suppression diodes, and crossover current protection. Special power-up sequencing is not required. With the ENABLE input held low, the PHASE input controls load current polarity by selecting the appropriate source and sink driver pair. The MODE input determines whether the PWM current-control circuitry operates in a slow current-decay mode (only the selected source driver switching) or in a fast current-decay mode (selected source and sink switching). A user-selectable blanking window prevents false triggering of the PWM currentcontrol circuitry. With the ENABLE input held high, all output drivers are disabled. A sleep mode is provided to reduce power consumption. When a logic low is applied to the Brake input, the braking function is enabled. This overrides ENABLE and PHASE to turn OFF both source drivers and turn ON both sink drivers. The brake function can be used to dynamically brake brush dc motors.
decay mode, the selected sink and source driver pair are disabled; the load inductance causes the current to flow from ground to the load supply via the ground clamp and flyback diodes. Fig. 1 Load-current Paths
VBB
DRIVE CURRENT RECIRCULATION (SLOW-DECAY MODE) RECIRCULATION (FAST-DECAY MODE)
RS
The user selects an external resistor (RT) and capacitor (CT) to determine the time period (tOFF=RT*CT) during which the drivers remain disabled (see "RC Fixed Off-time" below). At the end of the RC interval, the drivers are enabled allowing the load current to increase again. The PWM cycle repeats, maintaing the peak load current at the desired value (see figure 2). Fig. 2 Fast and Slow Current-Decay Waveforms
ENABLE
sFUNCTIONAL DESCRIPTION
(A) Internal PWM Current Control During Forward and Reverse Operation. The A3953S-contains a fixed off-time pulse-width modulated (PWM) current-control circuit that can be used to limit the load current to a desired value. The peak value of the current limiting (ITRIP) is set by the selection of an external current sensing resistor (RS) and reference input voltage (VREF). The internal circuitry compares the voltage across the external sense resistor to the voltage on the reference input terminal (REF) resulting in a transconductance function approximated by:
I TRIP VREF -I SO RSENSE
LOAD CURRENT ITRIP RC RC MODE
(B)INTERNAL PWM CURRENT CONTROL DURING BRAKEMODE OPERATION (1) Brake Operation-MODE Input High. The brake circuit turns OFF both source drivers and turns ON both sink drivers. For dc motor applications, this has the effect of shoring the motor's back-EMF voltage resulting in current flow that dynamically brakes the motor. If the back-EMF voltage is large, and there is no PWM current limiting, the load current can increase to a value that approaches that of a locked rotor condition. To limit the current, when the ITRIP level is reaced, the PWM circuit disables the conducting sink drivers. The energy stored in the motor's inductance is discharged into the load supply causing the motor current to decay. As in the case of forward/reverse operation, the drivers are enabled after a time given by tOFF=RT*CT (see "RC Fixed Off-time" below). Depending on the back-EMF voltage (proportional to the motor's decreasing speed), the load current again may inA3953SB/SLB
where ISO is the offset due to base drive current. In forward or reverse mode the current-control circuitry limits the load current as follows: when the load current reaches ITRIP, the comparator resets a latch that turns off the selected source driver or selected sink and source driver pair depending on whether the device is operating in slow or fast current-decay mode, respectively. In slow current-decay mode, the selected source driver is disabled; the load inductance causes the current to recirculate through the sink driver and ground clamp diode. In fast current-
63
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
crease to ITRIP. If so, the PWM cycle will repeat, limiting the peak load current to the desired value. During braking, when the MODE input is high, the peak current limit can be approximated by:
I TRIP BRAKE MH VREF RSENSE
comparator's output is blanked and CT begins to be charged from approximately 0.22 VCC by an internal current source of approximately 1 mA. The comparator output remains blanked until the voltage on CT reaches approximately 0.60 VCC. When a transition of the PHASE input occurs, CT is discharged to near ground during the crossover delay time (the crossover delay time is present to prevent simultaneous conduction of the source and sink drivers). After the crossover delay, CT is charged by an internal current source of approximately 1 mA. The comparator output remains blanked until the voltage on CT reaches approximately 0.60VCC. When the device is disabled, via the ENABLE input, CT is discharged to near ground. When the device is reenabled, CT is charged by an internal current source of approximately 1 mA. The comparator output remains blanked until the voltage on CT reaches approximately 0.60 VCC. For 3.3 V operation, the minimum recommended value for CT is 680pF5%. For 5.0V operation, the minimum recommended value for CT is 470pF5%. These values ensure that the blanking time is sufficient to avoid false trips of the comparator under normal operating conditions. For optimal regulation of the load current, the ablove values for CT are recommended and the value of RT can be sized to determine tOFF. For more information regarding load current regulation, see below.
CAUTION: Because the kinetic energy stored in the motor and load inertia is being converted into current, which charges the VBB supply bulk capacitance (power supply output and decoupling capacitance), care must be taken to ensure the capacitance is sufficient to absorb the energy without exceeding the voltage rating of any devices connected to the motor supply. (2) Brake Operation-MODE Input Low. During braking, with the MODE input low, the internal currentcontrol circuitry is disabled. Therefore, care should be taken to ensure that the motor's current does not exceed the ratings of the device. The braking current can be measured by using an oscilloscope with a current probe connected to one of the motor's leads, or if the back-EMF voltage of the motor is known, approximated by:
I PEAK BRAKE ML VBEMF-1V RLOAD
(C) RC Fixed Off-Time. The internal PWM current-control circuitry uses a one shot to control the time the driver (s) remain (s) off. The one-shot time, tOFF (fixed off-time), is determined by the selection of an external resistor (RT) and capacitor (CT) connected in parallel from the RC timing terminal to ground. The fixed off-time, over a range of values of CT=470pF to 1500pF and RT=12k to 100k, is approximated by: (E) LOAD CURRENT REGULATION WITH INTERNAL PWM CURRENT-CONTROL CIRCUITRY When the device is operating in slow current-decay mode, there is a limit to the lowest level that the PWM current-control circuitry can regulate load current. The limitation is the minimum duty cycle, which is a function of the user-selected value of tOFF and the minimum on-time pulse tON (min) max that occurs each time the PWM latch is reset. If the motor is not rotating (as in the case of a stepper motor in hold/detent mode, a brush dc motor The operation of the circuit is as follows: when the PWM latch is reset by the current comparator, the voltage on the RC terminal will begin to decay from approximately 0.60VCC. When the voltage on the RC terminal reaches approximately 0.22 VCC, the PWM latch is set, thereby enabling the driver (s). where tOFF=RT*CT, RLOAD is the series resistance of the load, VBB (D) RC Blanking. In addition to determining the fixed off-time of the PWM control circuit, the CT component sets the comparator blanking time. This function blanks the output of the comparator when the outputs are switched by the internal current-control circuitry (or by the PHASE, BRAKE, or ENABLE inputs). The comparator output is blanked to prevent false over-current detections due to reverse recovery currents of the clamp diodes, and/or switching transients related to distributed capacitance in the load. During internal PWM operation, at the end of the tOFF time, the is the motor supply voltage and tON (min) max is specified in the electrical characteristics table. When the motor is rotating, the back EMF generated will influence the above relationship. For brush dc motor applications, the current regulation is improved. For stepper motor applications, when the motor is rotating, the effect is more complex. A discussion of this subject is included in the section on stepper motors below. The following procedure can be used to evaluate the worst-case slow current-decay internal PWM load current regulation in the system:
I AVE
toff
RT * CT
when stalled, or at startup), the worst case value of current regulation can be approximated by:
[(VBB-VSAT (source + sink)) * t on (min) max]-[1.05 * (VSAT (sink) + VF) * toff] 1.05 * (t on (min) max + t off) * RLOAD
64
A3953SB/SLB
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
Set VREF to 0 volts. With the load connected and the PWM current control operating in slow current-decay mode, use and oscilloscope to measure the time the output is low (sink ON) for the output that is chopping. This is the typical minimum ON time (tON (min) typ) for the device. The CT then should be increased until the measured value of tON
(min)
omitted. The PHASE and ENABLE inputs should not be PWM with this circuit configuration due to the absence of a blanking function synchronous with their transitions. Fig. 3 Synchronous Fixed-Frequency Control Circuit
VCC
is equal to tON (min) max as specified in the electrical charact2
100 k 20 k
teristics table. When the new value of CT has been set, the value of RT should be decreased so the value for tOFF=RT*CT (with the artificially increased value of CT) is equal to the nominal design value. The worst-case load-current regulation then can be measured in the system under operating conditions. (F) PWM of the PHASE and ENABLE Inputs. The PHASE and ENABLE inputs can be pulse-width modulated to regulate load current. Typical propagation delays from the PHASE and ENABLE inputs to transitions of the power outputs are specified in the electrical characteristics table. If the internal PWM current control is used, the comparator blanking function is active during phase and enable transitions. This eliminates false tripping of the over-current comparator caused by switching transients (see "RC Blanking" above). (1) Enable PWM. With the MODE input low, toggling the ENABLE input turns ON and OFF the selected source and sink drivers. The corresponding pair of flyback and ground-clamp diodes conduct after the drivers are disabled, resulting in fast current decay. When the device is enabled the internal current-control curcuitry will be active and can be used to limit the load current in a slow current-decay mode. For applications that PWM the ENABLE input and desire the internal current-limiting circuit to function in the fast decay mode, the ENABLE input signal should be inverted and connected to the MODE input. This prevents the device from being switched into sleep mode when the ENABLE input is low. (2) Phase PWM. Toggling the PHASE terminal selects which sink/source pair is enabled, producing a load current that varies with the duty cycle and remains continuous at all times. This can have added benefits in bidirectional brush dc servo motor applications as the transfer function between the duty cycle on the PHASE input and the average voltage applied to the motor is more linear than in the case of ENABLE PWM control (withch produces a discontinuous current at low current levels). For more information see "DC Motor Applications" below. (3) Synchronous Fixed-Frequency PWM. The internal PWM current-control circuitry of multiple A3953Sdevices can be synchronized by using the simple circuit shown in figure 3. A 555IC can be used to generate the reset pulse/ blanking signal (t1) for the device and the period of the PWM cycle (t2). The value of t1 should be a minimum of 1.5ms. When used in this configuration, the RT and CT components should be
I OS
RC1 1N4001 2N2222
t1
RCN
(G)Miscellaneous Information. A logic high applied to both the ENABLE and MODE terminals puts the device into a sleep mode to minimize current consumption when not in use. An internally generated dead time prevents crossover currents that can occur when switching phase or braking. Thermal protection circuitry turns OFF all drivers should the junction termperature reach 165C (typical). This is intended only to protect the device from failures due to excessive junction temperatures and should not imply that output short circuits are permitted. The hysteresis of the thermal shutdown circuit is approximately 8C.
sAPPLICATION NOTES
(A)Current Sensing. The actual peak load current (IPEAK) will be above the calculated value of ITRIP due to delays in the turn off of the drivers. The amount of overshoot can be approximated by:
(VBB-[(ITRIP * RLOAD) + VBEMF]) * tPWM (OFF) LLOAD
where VBB is the motor supply voltage, VBEMF is the back-EMF voltage of the load, RLOAD and LLOAD are the resistance and inductance of the load respectively, and tPWM (OFF) is specified in the electrical characteristics table. The reference terminal has a maximum input bias current of 5A. This current should be taken into account when determining the impedance of the external circuit that sets the reference voltage value. To minimize current-sensing inaccuracies caused by ground trace I*R drops, the current-sensing resistor should have a separate return to the ground terminal of the device. For low-value sense resistors, the I*R drops in the printed wiring board can be significant and should be taken into account. The use of sockets should be avoided as their contact resistance can cause variations in the effective value of RS. Generally, larger values of RS reduce the aforementioned effects but can result in excessive heating and power loss in the
A3953SB/SLB
65
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
sense resistor. The selected value of RS should not cause the absolute maximum voltage rating of 1.0V (0.4V for VCC=3.3Voperation), for the SENSE terminal, to be exceeded. The current-sensing comparator functions down to ground allowing the device to be used in microstepping, sinusoidal, and other varying current-profile applications. (B) Thermal Considerations. For reliable operation it is recommended that the maximum junction termperature be kept below 110C to 125C. The junction termperature can be measured best by attaching a thermocouple to the power tab/batwing of the device and measuring the tab temperature, TTAB. Tthe junction temperature can then be approximated by using the formula:
TJ TTAB + (ILOAD * 2 * VF * R JT)
(C)PCB Layout. The load supply terminal, VBB should be decoupled with an electrolytic capacitor (>47F is recommeded) placed as close to the device as is physically practical. To minimize the elffect of system ground I*R drops on the logic and reference input signals, the system ground should have a low-resistance return to the motor supply voltage. See also "Current Sensing" and "Thermal Considerations" above. (D)Fixed Off-Time Selection. With increasing values of tOFF, switching losses will decrease, low-level load-current regulation will improve, EMI will be reduced, the PWM frequency will decrease, and ripple current will increase. The value of tOFF can be chosen for optimization of these parameters. For applications where audible noise is a concern, typical values of tOFF are chosen to be in the range of 15 ms to 35 ms. (E) Stepper Motor Applications. The MODE terminal can be used to optimize the performance of the device in microstepping/sinusoidal stepper-motor drive applications. When the load current is increasing, slow decay mode is used to limit the switching losses in the device and iron losses in the motor. This also improves the maximum rate at which the load current can increase (as compared to fast decay) due to the slow rate of decay during tOFF. When the load current is decreasing, fast-decay mode is used to regulate the load current to the desired level. This prevents tailing of the current profile caused by the back-EMF voltage of the stepper motor.
where VF may be chosen from the electrical specification table for the given level of ILOAD. The value for RJT is given in the package thermal resistance table for the appropriate package. The power dissipation of the batwing packages can be improved by 20% to 30% by adding a section of printed circuit board copper (typically 6 to 18 square centimeters) connected to the batwing terminals of the device. The thermal performance in applications that run at high load currents and/or high duty cycles can be improved by adding external diodes in parallel with the internal diodes. In internal PWM slow-decay applications, only the two ground clamp diodes need be added. For internal fast-decay PWM, or external PHASE or ENABLE input PWM applications, all four external diodes should be added for maximum junction temperature reduction.
Fig. 4 Example of Circuit (including GND) and GND Wiring Pattern
OUTB
OUTA
VBB
+
A3953SLB
RC REF SENSE Vref Rt RS Ct
VBB GND
A3953SLB
+
VCCGND Phase Enable VCC
4, 5, 12, 13
1Pin
Mode Vref VBBGND VCCGND Rt Ct
Use jumper wiring for dotted line.
66
A3953SB/SLB
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
In stepper-motor applications applying a constant current to the load, slow-decay mode PWM is typically used to limit the switching lossess in the device and iron losses in the motor. (F) DC Motor Applications. In closed-loop systems, the speed of a dc motor can be controlled by PWM of the PHASE or ENABLE inputs, or by varying the reference input voltage (REF). In digital systems (microprocessor controlled), PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog voltage reference. In this case, a dc voltage on the REF input is used typically to limit the maximum load current. In dc servo applications, which require accurate positioning at low or zero speed, PWM of the PHASE input is selected typically. This simplifies the servo control loop because the transfer function between the duty cycle on the PHASE input and the average voltage applied to the motor is more linear than in the case of ENABLE PWM comtrol (which produces a discontinuous current at low current levels). With bidirectional dc servo motors, the PHASE terminal can be used for mechanical direction control. Similar to when branking the motor dynamically, abrupt changes in the direction of a rotating motor produces a current generated by the back-EMF. The current generated will depend on the mode of operation. If the internal current control circuitry is not being used, then the maximum load current generated can be approximated by ILOAD=(VBEMF+VBB)/RLOAD where VBEMF is proportional to the motor's speed. If the internal slow current-decay control circuitry is used, then the maximum load current generated can be approximated by ILOAD=VBEMF/RLOAD. For both cases care must be taken to ensure that the maximum ratings of the device are not exceeded. If the internal fast current-decay control circuitry is used, then the load current will regulate to a value given by:
I LOAD
VREF RS
CAUTION: In fast current-decay mode, when the direction of the motor is changed abruptly, the kinetic energy stored in the motor and load inertia will be converted into current that charges the VBB supply bulk capacitance (power supply output and decoupling capacitance). Care must be taken to ensure that the capacitance is sufficient to absorb the energy without exceeding the voltage rating of any devices connected to the motor supply. See also "Brake Operation" above.
A3953SB/SLB
67
2-Phase/1-2 Phase Excitation
A2918SW
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver IC
sFeatures
q Fixed off-time PWM current control q Low saturation voltage (Sink transistor) q Internal thermal shutdown circuitry q Internal crossover-current protection circuitry q Internal UVLO protection q Internal transient-suppression diodes q Low thermal resistance 18-pin SIP
sAbsolute Maximum Ratings
Parameter Motor supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Output emitter voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO (peak) IO VCC VIN VE PD (Note1) Ta Tj (Note2) Tstg Conditions tw20 s Ratings 45 1.75 1.5 7.0 -0.3 to +7.0 1.5 4.0 -20 to +85 +150 -55 to +150 Units V A A V V V W C C C
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -32.0mW/C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Motor supply voltage range Output leakage current Output saturation voltage Symbol
(Unless specified otherwise, Ta=25C, VBB=45V, VCC=4.75V to 5.25V, VREF=5V) Conditions Limits min 10 VO=VBB VO=0V IO=1.5A, L=3.5mH Sink driver, IO=+1.0A Sink driver, IO=+1.5A Source driver, IO=-1.0A Source driver, IO=-1.5A VR=45V IF=1.5A Both bridges ON, no load Both bridges OFF All inputs All inputs VIN=2.4V VIN=0.8V Operating VREF=5V VEN=0.8V, no load typ max 45 50 -50 0.8 1.1 2.0 2.2 50 2.0 15 10 2.4 0.8 20 -200 VCC 10.5 140 Units
VBB ICEX VCE (SUS)
45
Output sustaining voltage
VCE (SAT)
Clamp diode leakage current Clamp diode forward voltage Motor supply current Control logic Input voltage Input current Reference voltage range Current control threshold Thermal shutdown temperature Logic supply current q"typ" values are for reference.
IR VF IBB (ON) IBB (OFF) VIH VIL IIH IIL VREF VREF/VSENSE Tj ICC
V A A V V V V V A V mA mA V V A A V C mA
1.5 9.5
10 170
sTerminal Connection Diagram
sDerating
OUT1A OUT2A E2 OUT2B LOAD SUPPLY SENSE2 ENABLE2 PHASE2 RC2 GROUND LOGIC SUPPLY RC1 PHASE1 ENABLE1 REFERENCE SENSE1 OUT1B E1
1 2 3 4
Allowable package power dissipation PD (W)
5
5 6 7 8 9 10
4
2
31
3
.2
5C /
PWM2 VCC
W
VBB 1
2
11 12 13
1
PWM1
14
VREF
TSD
15 16 17 18
0 -20
0
25
50
75 85
100
Ambient temperature Ta (C)
68
A2918SW
2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A2918SW
sTruth Table
ENABLE L L H
X=Don't Care
PHASE H L X
Z=High impedance
OUTA H L Z
OUTB L H Z
sInternal Block Diagram
LOGIC SUPPLY
OUT1A
OUT1B
LOAD SUPPLY
OUT2A
11 VCC
1
17
5
2
4
OUT2B
TSD VBB
PWM1
PHASE1 13
8 1 2
PWM2
PHASE2
ENABLE1 14
7
ENABLE2
SOURCE DISABLE
- +
SOURCE DISABLE
/10
VREF
ONE SHOT
/10
- +
ONE SHOT
SENSE1
SENSE2
RC1
RT CT CC
RS
REFERENCE
GROUND
RC
RC
RS CC CT
RC2
E1
E2
12
16
18
15
10
3
6
9
RT
sExternal Dimensions Plastic SIP
ICs per stick
(Unit: mm)
18
A2918SWV
310.2 24.4 0.2 16.4 0.2
0.15
A2918SWH
4.8 0.2 1.7 0.1 310.2 24.4 0.2 16.4 0.2
0.15
3.20.15
3.2
x
3.8
3.20.15
3.2
x
3.8
4.8 0.2 1.7 0.1
16 0.2 130.2
16 0.2 130.2
9.9 0.2
0.2
0.65 ---0.1
+ 0.2
17 x P1.68
0.7
1
+ 0.2 -- 0.1 -
0.55 4
0.7
+ 0.2 -- 0.1 -
17 x P1.68
0.4
= 28.561
= 28.561
7.5 0.6
31.30.2 31.30.2
12 3
18
123
18
1.6
6.0 0.6
0.6
0.65 ---0.1
1--- 0.1
0.55 --- 0.1
+ 0.2
R-End
(3) 6.7
+1 9.7 --- 0.5
0.5
9.9
2.450.2
+ 0.2
+ 0.2
2.2 0.1
3.0 0.6
4.6 0.6
2.450.2
A2918SW
69
2-Phase/1-2 Phase Excitation
A3952SB/SLB/SW
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver ICs
sFeatures
q Fixed off-time PWM current control q Switching between power supply regeneration mode and loop regeneration mode in order to improve motor current response in microstepping q External filter for sense terminal not required q Sleep (low current consumption) mode q Brake operation with PWM current limiting q Internal thermal shutdown circuitry q Internal crossover-current protection circuitry q Internal UVLO protection q Internal transient-suppression diodes q Low thermal resistance package
sAbsolute Maximum Ratings
Parameter Load supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage Sense voltage Reference voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO (Peak) IO VCC VIN VSENSE VREF PD (Note1) Ta Tj (Note2) Tstg Conditions Ratings A3952SB A3952SLB A3952SW 50 3.5 2.0 7.0 -0.3 to VCC+0.3 1.5 15 2.90 1.86 3.47 -20 to +85 +150 -55 to +150 Units V A A V V V V W C C C
tw20 s
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -23.26mW/C(SB), -14.93mW/C(SLB) or -27.78mW/C(SW). Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sElectrical Characteristics
Parameter Power outputs Load supply voltage range Output leakage current
(Unless specified otherwise, Ta=25C, VBB=50V, VCC=5.0V, VBRAKE=2.0V, VSENSE= 0V, 20k & 1000pF RC to ground) Symbol Conditions Limits min VCC <1.0 < -1.0 0.9 1.0 1.2 0.9 1.0 1.3 1.0 1.1 1.4 2.9 3.1 3.1 <1.0 4.5 2.0 5.0 typ max 50 50 -50 1.2 1.4 1.8 1.2 1.4 1.8 1.4 1.6 2.0 6.0 6.5 6.5 50 5.5 0.8 20 -200 15 55 10.5 10 22 3.0 3.8 Units
VBB ICEX
Output saturation voltage
VCE (SAT)
Clamp diode forward voltage (Source or sink) Load supply current (No load) Control logic Logic supply voltage range Logic input voltage Logic input current Reference voltage range Reference input current Reference voltage divider ratio Comparator input offset voltage PWM RC fixed off-time PWM minimum on-time
VF IBB (ON) IBB (OFF) IBB (BRAKE) IBB (SLEEP) VCC VIH VIL IIH IIL VREF IREF VIO toff ton (min)
Operating, IO=2.0A, L=3mH VO=VBB VO=0V Source driver, IO=-0.5A Source driver, IO=-1.0A Source driver, IO=-2.0A Sink driver, IO=+0.5A Sink driver, IO=+1.0A Sink driver, IO=+2.0A IF=0.5A IF=1.0A IF=2.0A VENABLE=0.8V, VBRAKE=2.0V VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V VBRAKE=2.0V VENABLE=VMODE=VBRAKE=2.0V Operating
V A A V V V V V V V V V mA mA mA A V V V A A V A mV s s s
Propagation delay time
tpd
Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current (No load) q"typ" values are for reference.
tpd (PWM) Tj Tj VCC (UVLO) VCC (UVLO) ICC (ON) ICC (OFF) ICC (BRAKE) ICC (SLEEP)
VIH=2.0V VIL=0.8V Operating VREF=2.0V VREF=15V VREF=0V CT=1000pF, RT=20k CT=820pF, RT12k CT=1200pF, RT12k IOUT=2.0A, 50% EIN to 90% Eout Transition: ENABLE ON to SOURCE ON ENABLE OFF to SOURCE OFF ENABLE ON to SINK ON ENABLE OFF to SINK OFF PHASE CHANGE to SOURCE ON PHASE CHANGE to SOURCE OFF PHASE CHANGE to SINK ON PHASE CHANGE to SINK OFF Comparator Trip to SINK OFF
<1.0 < -2.0 0 25 9.5 18 40 10.0 1.0 20 1.7 2.5 2.9 0.7 2.4 0.7 2.9 0.7 2.4 0.7 0.8 165 15 3.50 400 20 12 26 3.0
1.5
3.15 300 VENABLE=0.8V, VBRAKE=2.0V VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V VBRAKE=0.8V VENABLE=VMODE=VBRAKE=2.0V
3.85 500 30 18 40 5.0
s s s s s s s s s C C V mV mA mA mA mA
70
A3952SB/SLB/SW
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
sDerating
sInternal Block Diagram
LOAD SUPPLY OUTA OUTB
Allowable package power dissipation PD (W)
MODE
4
PHASE
A3 95
3
95
2S
2S
B4
W
3 C
36 C /W /W
7C /
INPUT LOGIC
A3
UVLO & TSD EMITTERS "EB" ONLY
ENABLE BRAKE
2
A39 5
2SL
B6
VBB
5
SLEEP & STANDBY MODES
W
1
LOGIC SUPPLY REF
VCC BLANKING 1.5V 9R VCC Q R S PWM LATCH
+
-
SENSE "B", "LB" , & "W" PACKAGES RC RS
0 -20
0
25
50
75 85
100
+
-
VTH
Ambient temperatureTa (C)
GROUND R
RT
CT
sTruth Table
BRAKE
H H H H H H L L
ENABLE
H H L L L L X X
PHASE
X
MODE
H L H L H L H L
OUTA
Z Z H H L L L L
OUTB
Z Z L L H H L L
Operating Mode
Sleep mode Standby (Note 1) Forward, fast current-decay mode Forward, slow current-decay mode Reverse, fast current-decay mode Reverse, slow current-decay mode Brake, fast current-decay mode Brake, no current control (Note 2)
X H H L L X X
X : Don't Care Z : High impedance Note 1: Includes active pull-offs for power outputs Note 2: Includes internal default VSENSE level for overcurrent protection
sTerminal Connection Diagram
A3952SB
BRAKE REF RC GROUND GROUND LOGIC SUPPLY PHASE ENABLE
A3952SLB
16 15 14 13
LOAD SUPPLY OUTB MODE GROUND GROUND SENSE OUTA LOAD SUPPLY BRAKE REF RC GROUND GROUND LOGIC SUPPLY PHASE ENABLE
A3952SW
16 15 14 13
LOAD SUPPLY OUTB MODE GROUND
VBB LOGIC
1 2 3 4 5 6
1 2 3 4
VBB
1 2 3 4
VBB
LOGIC
LOGIC
5 6 7 8
VBB VCC
12 11 10 9
5 6 7 8
VBB VCC
12 11 10 9
GROUND SENSE OUTA LOAD SUPPLY
VCC
7 8
9
10
11
12
LOAD SUPPLY
LOGIC SUPPLY
ENABLE
BRAKE
PHASE
GROUND
sExternal Dimensions
(Unit: mm)
A3952SB
Plastic DIP (300mil)
16 7.11 6.10 1 2 3 8 0.127MIN 2.54BSC 21.33 18.93 5.33MAX SEATING PLANE
2.65 2.35 0.51 0.33 1
A3952SLB
25
0.381 0.204
A3952SW
47
SENSE
OUTB
MODE
OUTA
REF
RC
ICs per stick
9
Wide body plastic SOP (300mil)
16 9
ICs per stick
0.32 0.23
Plastic power SIP
32.00 31.50 0.51
ICs per stick
15
4.57MAX 19.69 19.43 6.22 5.71 3.94 3.68 1.40 1.14
7.62BSC
7.60 7.40 10.65 10.00
INDEX AREA 1.77 1.15
3.56
1.27 0.40 8 10.50 10.10 SEATING PLANE 1.27 BSC 0 TO 8
1 1.65 0.89 2 3 0.76 0.51 12 INDEX AREA
9.27
14.48 13.72
3.43 2.54
7.37MIN
SEATING PLANE
0.59 0.46 2.540.25 2.03 1.78
0.558 0.356 0.39MIN
4.06 2.93
0.10 MIN.
qThickness of lead is measured below seating plane. qAllowable variation in distance between leads is not cumulative. Note 1: Lead width of pin 1, 8, 9, 16 may be half the value shown here. 2: Maximum thickness of lead is 0.508mm.
qThickness of lead is measured below seating plane. qAllowable variation in distance between leads is not cumulative. qLead is measured 0.762mm below seating plane.
A3952SB/SLB/SW
71
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
Application Notes
sOutline
Designed for bidirectional pulse-width modulated current control of inductive loads, the A3952S- is capable of continuous output currents to 2A and operating voltages to 50V. Internal fixed off-time PWM current-control circuitry can be used to regulate the maximum load current to a desired value. The peak load current limit is set by the user's selection of an input reference voltage and external sensing resistor. The fixed OFF-time pulse duration is set by a user-selected external RC timing network. Internal circuit protection includes thermal shutdown with hysteresis, transient suppression diodes, and crossover-current protection. Special power-up sequencing is not required. With the ENABLE input held low, the PHASE input controls load current polarity by selecting the appropriate source and sink driver pair. The MODE input determines whether the PWM current-control circuitry operates in a slow current-decay mode (only the selected sink driver switching) or in a fast current-decay mode (selected source and sink switching). A user-selectable blanking window prevents false triggering of the PWM current control circuitry. With the ENABLE input held high, all output drivers are disabled. A sleep mode is provided to reduce power consumption when inactive. When a logic low is applied to the BRAKE input, the braking function is enabled. This overrides ENABLE and PHASE to turn OFF both source drivers and turn ON both sink drivers. The brake function can be safely used to dynamically brake brush dc motors.
Fig. 1 Load-Current Paths
VBB
DRIVE CURRENT RECIRCULATION (SLOW-DECAY MODE) RECIRCULATION (FAST-DECAY MODE)
RS
The user selects an external resistor (RT) and capacitor (CT) to determine the time period (toff=RTCT) during which the drivers remain disabled (see "RC Fixed OFF Time" below). At the end of the RTCT interval, the drivers are re-enabled allowing the load current to increase again. The PWM cycle repeats, maintaining the load current at the desired value (see figure 2). Fig. 2 Fast and Slow Current-Decay Waveforms
ENABLE
MODE
ITRIP RC LOAD CURRENT RC
sFUNCTIONAL DESCRIPTION
(A) INTERNAL PWM CURRENT CONTROL DURING FORWARD AND REVERSE OPERATION The A3952S- contains a fixed OFF-time pulse-width modulated (PWM) current-control circuit that can be used to limit the load current to a desired value. The value of the current limiting (ITRIP) is set by the selection of an external current sensing resistor (RS) and reference input voltage (VREF). The internal circuitry compares the voltage across the external sense resistor to one tenth the voltage on the REF input terminal, resulting in a function approximated by
I TRIP VREF 10 * RS
(B)INTERNAL PWM CURRENT CONTROL DURING BRAKE MODE OPERATION The brake circuit turns OFF both source drivers and turns ON both sink drivers. For dc motor applications, this has the effect of shorting the motor's back-EMF voltage, resulting in current flow that brakes the motor dynamically. However, if the backEMF voltage is large, and there is no PWM current limiting, then the load current can increase to a value that approaches a locked rotor condition. To limit the current, when the ITRIP level is reached, the PWM circuit disables the conducting sink driver. The energy stored in the motor's inductance is then discharged into the load supply causing the motor current to decay. As in the case of forward/reverse operation, the drivers are reenabled after a time given by toff=RT*CT (see"RC Fixed OFF Time" below). Depending on the back-EMF voltage (proportional to the motor's decreasing speed), the load current again may increase to ITRIP. If so, the PWM cycle will repeat, limiting the load current to the desired value. (1) Brake Operation-MODE Input High During braking, when the MODE input is high, the current limit can be approximated by
In forward or reverse mode the current-control circuitry limits the load current. When the load current reaches ITRIP, the comparator resets a latch to turn OFF the selected sink driver (in the slow-decay mode) or selected sink and source driver pair (in the fast-decay mode). In slow-decay mode, the selected sink driver is disabled; the load inductance causes the current to recirculate through the source driver and flyback diode (see figure 1). In fast-decay mode, the selected sink and source driver pair are disabled; the load inductance causes the current to flow from ground to the load supply via the ground clamp and flyback diodes.
72
A3952SB/SLB/SW
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
I TRIP
VREF 10 * RS
proximately 1mA. The comparator output remains blanked until the voltage on CT reaches approximately 3.0 volts. Similarly, when a transition of the PHASE input occurs, CT is discharged to near ground during the crossover delay time (the crossover delay time is present to prevent simultaneous conduction of the source and sink drivers). After the crossover delay, CT is charged by an internal current source of approximately 1mA. The comparator output remains blanked until the voltage on CT reaches approximately 3.0 volts. Similarly, when the device is disabled via the ENABLE input, CT is discharged to near ground. When the device is re-enabled, CT is charged by the internal current source. The comparator output remains blanked until the voltage on CT reaches approximately 3.0V. For applications that use the internal fast-decay mode PWM operation, the minimum recommended value is CT=1200pF5%. For all other applications, the minimum recommended value is CT=820pF5%. These values ensure that the blanking time is sufficient to avoid false trips of the comparator under normal operating conditions. For optimal regulation of the load current, the above values for CT are recommended and the value of RT can be sized to determine toff. For more information regarding load current regulation, see below. (E) LOAD CURRENT REGULATION WITH THE INTERNAL PWM CURRENT-CONTROL CIRCUITRY When the device is operating in slow-decay mode, there is a limit to the lowest level that the PWM current-control circuitry can regulate load current. The limitation is the minimum duty cycle, which is a function of the user-selected value of toff and the maxuimum value of the minimum ON-time pulse, ton (min), that occurs each time the PWM latch is reset. If the motor is not rotating, as in the case of a stepper motor in hold/detent mode, or a brush dc motor when stalled or at startup, the worst-case value of current regulation can be approximated by
I(AV) [(VBB-VSAT (source + sink)) * ton (min) max]-[1.05 * (VSAT (sink) + VD) * toff] 1.05 * (ton (min) max + t off) * RLOAD
CAUTION: Because the kinetic energy stored in the motor and load inertia is being converted into current, which charges the VBB supply bulk capacitance (power supply output and decoupling capacitance), care must be taken to ensure the capacitance is sufficient to absorb the energy without exceeding the voltage rating of any devices connected to the motor supply. (2) Brake Operation-MODE Input Low During braking,with the MODE input low, the peak current limit defaults internally to a value approximated by
I TRIP 1.5V RS
In this mode, the value of RS determines the ITRIP value independent of VREF. This is useful in applicaions with differing run and brake currents and no practical method of varying VREF. Choosing a small value for RS essentially disables the current limiting during braking. Therefore, care should be taken to ensure that the motor's current does not exceed the absolute maximum ratings of the device. The braking current can be measured by using an oscilloscope with a current probe connected to one of the motor's leads. (C) RC Fixed OFF Time The internal PWM current control circuitry uses a one shot to control the time the driver (s) remain (s) OFF. The one shot time, toff (fixed OFF time), is determined by the selection of an external resistor (RT) and capacitor (CT) connected in parallel from the RC terminal to ground. The fixed OFF time, over a range of values of CT=820pF to 1500pF and RT=12k to 100k, is approximated by
tOFF
RT * CT
When the PWM latch is reset by the current comparator, the voltage on the RC terminal will begin to decay from approximately 3 volts. When the voltage on the RC terminal reaches approximately 1.1 volt, the PWM latch is set, thereby re-enabling the driver (s). (D) RC Blanking In addition to determining the fixed OFF-time of the PWM control circuit, the CT component sets the comparator blanking time. This function blanks the output of the comparator when the outputs are switched by the internal current control circuitry (or by the PHASE, BRAKE, or ENABLE inputs). The comparator output is blanked to prevent false over-current detections due to reverse recovery currents of the clamp diodes, and/or switching transients related to distributed capacitance in the load. During internal PWM operation, at the end of the toff time, the comparator's output is blanked and CT begins to be charged from approximately 1.1V by an internal current source of ap-
where toff=RT*CT, RLOAD is the series resistance of the load, VBB is the load/motor supply voltage, and ton (min) max is specified in the electrical characteristics table. When the motor is rotating, the back EMF generated will influence the above relationship. For brush dc motor applications, the current regulation is improved. For stepper motor applications when the motor is rotating, the effect is more complex. A discussion of this subject is included in the section on stepper motors under "Applications". The following procedure can be used to evaluate the worst-case slow-decay internal PWM load current regulation in the system: Set VREF to 0 volts. With the load connected and the PWM current control operating in slow-decay mode, use an oscilloscope to measure the time the output is low (sink ON) for the output that is chopping. This is the typical minimum ON time (ton (min) typ) for the
A3952SB/SLB/SW
73
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
device. CT then should be increased until the measured value of ton (min) is equal to ton (min) max)=3.0s as specified in the electrical characteristics table. When the new value of CT has been set, the value of RT should be decreased so the value for toff=RT*CT (with the artificially increased value of CT) is equal to 105% of the nominal design value. The worst-case load current regulation then can be measured in the system under operating conditions. In applications utilizing both fast-and slow-decay internal PWM modes, the performance of the slow-decay current regulation should be evaluated per the above procedure and a ton (min) max of 3.8s. This corresponds to a CT value of 1200pF, which is required to ensure sufficient blanking during fast-decay internal PWM.
blanking signal (t1) and the period of the PWM cycle (t2). The value of t1 should be a minimum of 1.5s in slow-decay mode and 2s in fast-decay mode. When used in this configuration, the RT and CT components should be omitted. The PHASE and ENABLE inputs should not be PWMed with this circuit configuration due to the absence of a blanking function synchronous with their transitions. Fig. 3 Synchronous Fixed-Frequency Control Circuit
VCC
t2
100 k
20 k
RC1 1N4001 2N2222
(F) LOAD CURRENT REGULATION WITH EXTERNAL PWM OF THE PHASE AND ENABLE INPUTS The PHASE and ENABLE inputs can be pulse-width modulated to regulate load current. Typical propagation delays from the PHASE and ENABLE inputs to transitions of the power outputs are specified in the electrical characteristics table. If the internal PWM current control is used, then the comparator blanking function is active during phase and enable transitions. This eliminates false tripping of the over-current comparator caused by switching transients (see "RC Blanking" above). (1) ENABLE Pulse-Width Modulation With the MODE input low, toggling the ENABLE input turns ON and OFF the selected source and sink drivers. The corresponding pair of flyback and ground clamp diodes conduct after the drivers are disabled, resulting in fast current decay. When the device is enabled, the internal current control circuitry will be active and can be used to limit the load current in a slow-decay mode. For applications that PWM the ENABLE input, and desire that the internal current limiting circuit function in the fast-decay mode, the ENABLE input signal should be inverted and connected to the MODE input. This prevents the device from being switched into sleep mode when the ENABLE input is low. (2) PHASE Pulse-Width Modulation Toggling the PHASE terminal determines/controls which sink/ source pair is enabled, producing a load current that varies with the duty cycle and remains continuous at all times. This can have added benefits in bidrectional brush dc servo motor applications as the transfer function between the duty cycle on the phase input and the average voltage applied to the motor is more linear than in the case of ENABLE PWM control (which produces a discontinuous current at low current levels). See also, "DC Motor Applications" below. (3) SYNCHRONOUS FIXED-FREQUENCY PWM The internal PWM current-control circuitry of multiple A3952Sdevices can be synchronized by using the simple circuit shown in figure 3. A555IC can be used to generate the reset pulse/
t1
RCN
(G)MISCELLANEOUS INFORMATION A logic high applied to both the ENABLE and MODE terminals puts the device into a sleep mode to minimize current consumption when not in use. An internally generated dead time prevents crossover currents that can occur when switching phase or braking. Thermal protection circuitry turns OFF all drivers should the junction temperature reach 165C (typical). This is intended only to protect the device from failures due to excessive junction temperatures and should not imply that output short circuits are permitted. The hysteresis of the thermal shutdown circuit is approximately 15C. If the internal current-control circuitry is not used; the VREF terminal should be connected to VCC, the SENSE terminal should be connected to ground, and the RC terminal should be left floating (no connection). An internal under-voltage lockout circuit prevents simultaneous conduction of the outputs when the device is powered up or powered down.
74
A3952SB/SLB/SW
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
sAPPLICATION NOTES
(A) Current Sensing The actual peak load current (IOUTP) will be greater than the calculated value of ITRIP due to delays in the turn OFF of the drivers. The amount of overshoot can be approximated as
I OUTP (VBB - [(I TRIP * RLOAD)+VBEMF]) * t pd (pwm) LLOAD
The thermal performance in applications with high load currents and/or high duty cycles can be improved by adding external diodes in parallel with the internal diodes. In internal PWM slowdecay applications, only the tow top-side (flyback) diodes need be added. For internal fast-decay PWM, or external PHASE or ENABLE input PWM applications, all four external diodes should be added for maximum junction temperature reduction. (C)PCB Layout The load supply terminal, VBB, should be decoupled (>47F electrolytic and 0.1F ceramic capacitors are recommended) as close to the device as is physically practical. To minimize the effect of system ground I*R drops on the logic and reference input signals, the system ground should have a low-resistance return to the load supply voltage. See also "Current Sensing" and "Thermal Considerations" above. (D)Fixed Off-Time Selection With increasing values of toff, switching losses decrease, lowlevel load-current regulation improves, EMI is reduced, the PWM frequency will decrease, and ripple current will increase. The value of toff can be chosen for optimization of these parameters. For applications where audible noise is a concern, typical values of toff are chosen to be in the range of 15 to 35s. (E) Stepper Motor Applications The MODE terminal can be used to optimize the performance of the device in microstepping/sinusoidal stepper motor drive applications. When the average load current is increasing, slowdecay mode is used to limit the switching losses in the device and iron losses in the motor. This also improves the maximum rate at which the load current can increase (as compared to fast decay) due to the slow rate of decay during toff. When the average load current is decreasing, fast-decay mode is used to regulate the load current to the desired level. This prevents tailing of the current profile caused by the back-EMF voltage of the stepper motor. In stepper motor applications applying a constant current to the load, slow-decay mode PWM is used typically to limit the switching losses in the device and iron losses in the motor.
where VBB is the load/motor supply voltage, VBEMF is the backEMF voltage of the load, RLOAD and LLOAD are the resistance and inductance of the load respectively, and tpd (pwm) is the propagation delay as specified in the electrical characteristics table. The reference terminal has an equivalent input resistance of 50k30%. This should be taken into account when determining the impedance of the external circuit that sets the reference voltage value. To minimize current-sensing inaccuracies caused by ground trace IR drops, the current-sensing resistor should have a separate return to the ground terminal of the device. For low-value sense resistors, the IR drops in the PCB can be significant and should be taken into account. The use of sockets should be avoided as their contact resistance can cause variations in the effective value of RS. Larger values of RS reduce the aforementioned effects but can result in excessive heating and power loss in the sense resistor. The selected value of RS must not cause the SENSE terminal absolute maximum voltage rating to be exceeded. The recommended value of RS is in the range of
RS (0.375 to 1.125) ITRIP
The current-sensing comparator functions down to ground allowing the device to be used in microstepping, sinusoidal, and other varying current profile applications. (B) Thermal Considerations For reliable operation, it is recommended that the maximum junction temperature be kept as low as possible, typically 90C to 125C. The junction temperature can be measured by attaching a thermocouple to the power tab/batwing of the device and measuring the tab temperature, TT. The junction temperature can then be approximated by using the formula
TJ TT + (2VF IOUT R JT)
where VF is the clamp diode forward voltage and can be determined from the electrical specification table for the given level of IOUT. The value for RJT is given in the package thermal resistance table for the appropriate package. The power dissipation of the batwing packages can be improved by 20 to 30% by adding a section of printed circuit board copper (typically 6 to 18 square centimeters) connected to the batwing terminals of the device.
A3952SB/SLB/SW
75
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
(F) Application circuit (Bipolar stepper motor drive) Fig. 4 Example of stepper motor drive
VBB +5V
12
+
47 F
1
11
2
10
MODE1 ENABLE1 PHASE1
0.5
VBB
3
0.5 VREF2
9
4
8
5
LOGIC
VCC
6
7
VCC
LOGIC
7
6
VREF1 PHASE2
CT= 820pF/1200pF RT= 17k/25k
5 8
ENABLE2 MODE2
4
9 10
VBB
2
3
11 12
1
RT= 17k/25k
CT= 820pF/1200pF
toff RT* CT (Chopping off-time setting)
RT = 12k~100k CT = 820~1500pF (When using slow current-decay mode only) 1200~1500pF (When using fast current-decay mode only)
(G)DC Motor Applications In closed-loop systems, the speed of a dc motor can be controlled by PWM of the PHASE or ENABLE inputs, or by varying the REF input voltage (VREF). In digital systems (microprocessor controlled), PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog voltage reference. In this case, a dc voltage on the REF input is used typically to limit the maximum load current. In dc servo applications that require accurate positioning at low or zero speed, PWM of the PHASE input is selected typically. This simplifies the servo-control loop because the transfer function between the duty cycle on the PHASE input and the average voltage applied to the motor is more linear than in the case of ENABLE PWM control (which produces a discontinuous current at low-current levels). With bidirectional dc servo motors, the PHASE terminal can be used for mechanical direction control. Similar to when braking the motor dynamically, abrupt changes in the direction of a rotating motor produce a currrent generated by the back EMF. The current generated will depend on the mode of operation. If the internal current-control circuitry is not being used, then the maximum load current generated can be approximated by
ILOAD (VBEMF + VBB) RLOAD
I LOAD
regulate to a value given by
VREF (10 * RS)
CAUTION: In fast-decay mode, when the direction of the motor is changed abruptly, the kinetic energy stored in the motor and load inertia will be converted into current that charges the VBB supply bulk capacitance (power supply output and decoupling capacitance). Care must be taken to ensure the capacitance is sufficient to absorb the energy without exceeding the voltage rating of any devices connected to the motor supply. See also, the sections on brake operation under "Functional Description," above.
where VBEMF is proportional to the motor's speed. If the internal slow-decay current-control circuitry is used, then the maximum load current generated can be approximated by ILOAD=VBEMF/ RLOAD. For both cases, care must be taken to ensure the maximum ratings of the device are not exceeded. If the internal fastdecay current-control circuitry is used, then the load current will
76
A3952SB/SLB/SW
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
(H) Application circuit (DC motor drive) Fig. 5 Example of DC motor drive
+5 V VBB
BRAKE
1 2 3 4
VBB
16 15 14 13
47 F
+
RT= 17k/25k
MODE
LOGIC 5 12 VCC 11 10 VBB 9
0.5
CT= 820pF/1200pF
PHASE ENABLE
6 7 8
toff RT * CT (Chopping off-time setting) RT = 12k to 100k CT = 820 to 1500pF (When using slow current-decay mode only) 1200 to 1500pF (When using fast current-decay mode only)
A3952SB/SLB/SW
77
2-Phase/1-2 Phase/W1-2 Phase Excitation
UDN2916B/LB
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver ICs
sFeatures
q Fixed off-time PWM current control q Internal 1/3 and 2/3 reference divider q 1-phase/2-phase/W1-2 phase excitation mode with digital input q Microstepping with reference input q Low saturation voltage (Sink transistor) q Internal thermal shutdown circuitry q Internal crossover-current protection circuitry q Internal UVLO protection q Internal transient-suppression diodes q Low thermal resistance package
sAbsolute Maximum Ratings
Parameter Motor supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Output emitter voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO (peak) IO VCC VIN VE PD (Note1) Ta Tj (Note2) Tstg Conditions Ratings UDN2916B UDN2916LB 45 1.0 0.75 7.0 -0.3 to +7.0 1.5 3.12 -20 to +85 +150 -55 to +150 2.27 Units V A A V V V W C C C
tw20 s
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -25mW/C (UDN2916B) or -18.2mW/ C (UDN2916LB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided. (Unless specified otherwise, Ta=25C, VBB=45V, VCC=4.75V to 5.25V, VREF=5.0V)
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Motor supply voltage range Output leakage current Output sustaining voltage Symbol
Conditions
Limits min 10 typ max 45 50 -50 0.6 1.2 1.2 1.5 50 2.0 25 10
Units
VBB ICEX VCE (SUS) Sink driver, VO=VBB Source driver, VO=0V IO=750mA, L=3.0mH Sink driver, IO=+500mA Sink driver, IO=+750mA Source driver, IO=-500mA Source driver, IO=-750mA VR=45V IF=750mA Both bridges ON, no load Both bridges OFF All inputs All inputs VIH=2.4V VIL=0.8V Operating I0=I1=0.8V I0=2.4V, I1=0.8V I0=0.8V, I1=2.4V I0=I1=0.8V, no load I0=I1=2.4V, no load
<1.0 <-1.0 45 0.4 1.0 1.0 1.3 <1.0 1.6 20 5.0 2.4 <1.0 -3.0 1.5 9.5 13.5 25.5 10.0 15.0 30.0 170 40 10
Output saturation voltage
VCE (SAT)
Clamp diode leakage current Clamp diode forward voltage Motor supply current Control logic Input voltage Input current Reference voltage range Current control threshold Thermal shutdown temperature Logic supply current q"typ" values are for reference.
IR VF IBB (ON) IBB (OFF) VIH VIL IIH IIL VREF VREF/VSENSE Tj ICC (ON) ICC (OFF)
V A A V V V V V A V mA mA V V A A V
0.8 20 -200 7.5 10.5 16.5 34.5 50 12
C mA mA
sTerminal Connection Diagram
UDN2916B
I02
UDN2916LB
1 24 LOAD SUPPLY OUT2B SENSE2 E2 OUT2A GROUND GROUND OUT1A E1 SENSE1 OUT1B I01
OUT1A OUT2A E2 SENSE2 OUT2B GROUND GROUND I02 I12
1 2 3 4 5 6 7 8 2 1
24 23 22 21 20 19 18 17
LOAD SUPPLY E1
PWM 2
VBB
I12 PHASE2
2 3 4 5 6
23 22 2 21 20 19
2
SENSE1 OUT1B I01 GROUND GROUND I11 PHASE1
RC1 9 VREF 2 RC2 GROUND GROUND LOGIC SUPPLY
VBB
7 8 VCC
18 17 16 1 15
PWM 1
9
PHASE2 10 VREF2 11 RC2 12
PWM 2
1
16 15 14
2
VREF1
PWM 1
RC1 LOGIC SUPPLY
VREF1 PHASE1 I11
10 11 1 12
VCC 13
14 13
78
UDN2916B/LB
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
sDerating
sInternal Block Diagram (1/2 Circuit)
VBB
Allowable package power dissipation PD (W)
5
4
OUTB OUTA VREF 20 k
/10
3
2
UD N2 91 6B UD 40 N2 C 916 /W LB 55 C/ W
E SENSE RC RS CC RT CT
-
1
40 k 10 k I0
+
ONE SHOT RC
SOURCE DISABLE
0 -20
0
25
50
75 85
100
Ambient temperature Ta (C)
I1
sTruth Table
PHASE H L OUTA H L OUTB L H
sApplication Circuit (UDN2916LB)
VBB
*1 From P *2 VREF
CBB
*1 1 *1 3 2 *2 4
PWM 2
VBB
24 23 22
*1 2
I0 L H L H
I1 L L H H VREF /
Output Current
2
21 20 19 18 17 16
(10xRS)=ITRIP VREF / (15xRS)=ITRIPx2/3 VREF / (30xRS)=ITRIPx1/3
0
VCC +5V
CT
RT
5 6 7 8 VCC
RC RS CC
RT CT
9
1
PWM 1
*2 10 *1 11 1 *1 12
15 14 13
*1
RC RS CC
M
qOff-time setting
toffCTRT
RS : VREF : RT : CT : RC : CC : CBB :
1.5, 1/2W (1.0 to 2.0, 1 to 1/2W) 5.0V (1.5 to 7.5V) 56k (20k to 100k) 470pF (100 to 1,000pF) 1k 4,700pF (470 to 10,000pF) 100 F
sExternal Dimensions
(Unit: mm)
UDN2916B
24 7.11 6.10 1 2 3
ICs per stick
15
0.381 0.204
UDN2916LB
24
ICs per stick
31
Plastic DIP (300mil)
13
Wide body plastic SOP (300mil)
13 0.32 0.23
*1
7.62BSC
7.60 7.40 10.65 10.00 1.27 0.40 0.51 0.33 1 2 3 15.60 15.20 12 1.27 BSC 0 TO 8
INDEX AREA 1.77 1.15
12 0.127MIN 2.54BSC 32.30 28.60
5.33MAX SEATING PLANE
2.65 2.35
SEATING PLANE
0.558 0.356 0.39MIN
4.06 2.93
qThickness of lead is measured below seating plane. qAllowable variation in distance between leads is not cumulative.
0.10 MIN
qPin material: copper, pin surface treatment: solder plating qPackage index may be *1. qAllowable variation in distance between leads is not cumulative. qWeb (batwing) type lead frames are used for pin 6, 7, 18, 19. The pins are connected to GND.
UDN2916B/LB
79
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
Application Notes
qPWM CURRENT CONTROL The UDN2916B/LB dual bridges are designed to drive both windings of a bipolar stepper motor. Output current is sensed and controlled independently in each bridge by an external sense resistor (RS), internal comparator, and monostable multivibrator. PWM OUTPUT CURRENT WAVE FORM
VPHASE
Load-Current Paths
VBB
Load
+ IOUT 0
-
ITRIP
RSENSE
BRIDGE ON SOURCE OFF ALL OFF
td
toff
When the bridge is turned ON, current increases in the motor winding and it is sensed by the external sense resistor until the sense voltage (VSENSE) reaches the level set at the comparator's input:
qLOGIC CONTROL OF OUTPUT CURRENT Two logic level inptus (I0 and I1) allow digital selection of the motor winding current at 100%, 67%, 33%, or 0% of the maximum level per the table. The 0% output current condition turns OFF all drivers in the bridge and can be used as an OUTPUT ENABLE function. These logic level inputs greatly enhance the implementation of
I TRIP=VREF / 10RS
The comparator then triggers the monostable which turns OFF the source driver of the bridge. The actual load current peak will be slightly higher than the trip point (especially for low-inductance loads) because of the internal logic and switching delays. This delay (td) is typically 2s. After turn-off, the motor current decays, circulating through the ground-clamp diode and sink transistor. The source driver's OFF time (and therefore the magnitude of the current decrease) is determined by the monostable's external RC timing components, where toff=RTCT wihtin the range of 20k to 100k and 100pF to 1000 pF. When the source driver is re-enabled, the winding current (the sense voltage) is again allowed to rise to the comparator 's threshold. This cycle repeats itself, maintaining the average motor winding current at the desired level. Loads with high distributed capacitances may result in high turnON current peaks. This peak (appearing across RS) will attempt to trip the comparator, resulting in erroneous current control or high-frequency oscillations. An external RCCC time delay should be used to further delay the action of the comparator. Depending on load type, many applications will not require these external components (SENSE connected to E.)
P-controlled drive formats.
During half-step operations, the I0 and I1 allow the P to control the motor at a constant torque between all positions in an eightstep sequence. This is accomplished by digitally selecting 100% drive current when only one phase is ON and 67% drive current when two phases are ON. Logic highs on both I0 and I1 turn OFF all drivers to allow rapid current decay when switching phases. This helps to ensure proper motor operation at high step rates. The logic control inputs can also be used to select a reduced current level (and reduced power dissipation) for `hold' conditions and/or increased current (and available torque) for startup conditions. qSWITCHING THE EXCITATION CURRENT DIRECTION The PHASE input to each bridge determines the direction moter winding current flows. An internally generated deadtime (approximately 2s) prevents crossover currents that can occur when switching the PHASE input.
80
UDN2916B/LB
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
qREDUCTION AND DISPERSION OF POWER LOSS The thermal performance can be improved by adding four external Schottky barrier diodes (AK03 or other) between each output terminal and ground. In most applications, the chopping ON time is shorter than the chopping OFF time (small ON duty). Therefore, a great part of the power loss of the driver IC is attributable to the motor regenerative current during the chopping OFF period. The regenerative current from the motor flows through the current sensing resistor and ground clamp diode and returns to the motor. The voltage drop across this path causes the power loss. On this path, the forward voltage VF of ground clamp diode shows the greatest drop. This means that adding Schottky barrier diodes will improve the thermal performance if their VF characteristic is smaller than that of the internal ground clamp diode. The external diodes also disperse the loss (a source of heat) and reduce the package power dissipation PD of the driver IC. Consequently, a greater output current can be obtained. qCONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITATION To reduce vibration when the stepper motor is rotating, the UDN2916B/LB can provide 1-2 or W1-2 phase excitation for the control sequence without varying the VREF terminal voltage. The step angle is
1/2 step : 1-2 excitation About 1/4 step : W1-2 excitation The control sequence is as shown below. (This sequence uses threshold signal terminals Io and I1 for PWM current control.)
OUT1A OUT1B OUT2A OUT2B GND
To motor
Schottky barrier diode
Combined vector (1/4 cycle)
(4) (3)
Phase B
(2)
(1)
(0) Phase A
Control sequence (1-2/W1-2 phase)
(NABLE1= ENABLE 2= 0)
Sequence No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
PH1 0 0 0 0 X 1 1 1 1 1 1 1 X 0 0 0
Phase A I11 I 01 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 1 0
Current ratio
PH2 X 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1
Phase B I 02 I12 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 0
1-2 phase Current ratio excitation
W1-2 phase excitation
1 1 2/3 1/3 0 1/3 2/3 1 1 1 2/3 1/3 0 1/3 2/3 0
0 1/3 2/3 1 1 1 2/3 1/3 0 1/3 2/3 1 1 1 2/3 1/3
*
* *
*
* *
*
* *
*
* *
*
* *
*
* *
*
* *
*
* *
Note: When the sequence no. is 0, 4, 8, or 12, power-down can be set as follows I11=1, I01=0: Sequence No. 0 or 8 I12=1, I02=0: Sequence No. 4 or 12 If power-down is necessary for a sequence other than 0, 4, 8, or 12, lower the VREF terminal voltage. However, do not set the voltage lower than the lower limit of the setting range.
UDN2916B/LB
81
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
qMICROSTEPPING (1/8 STEP) CONTROL SEQUENCE Varying the VREF terminal voltage in steps provides 1/8 Control sequence (microstepping)
Sequence No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Phase A I11 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
microstepping and reduces motor vibration greatly. The microstepping control sequence is as follows:
PH1 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 X 0 0 0 0 0 0 0
VREF1 (V) 7.5 7.4 6.9 6.2 5.3 4.2 2.9 1.5 1.5 1.5 2.9 4.2 5.3 6.2 6.9 7.4 7.5 7.4 6.9 6.2 5.3 4.2 2.9 1.5 1.5 1.5 2.9 4.2 5.3 6.2 6.9 7.4
I 01 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
Current ratio (%)
100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98
PH2 X 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
VREF2 (V) 1.5 1.5 2.9 4.2 5.3 6.2 6.9 7.4 7.5 7.4 6.9 6.2 5.3 4.2 2.9 1.5 1.5 1.5 2.9 4.2 5.3 6.2 6.9 7.4 7.5 7.4 6.9 6.2 5.3 4.2 2.9 1.5
Phase B I12 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
I 02 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Current ratio (%)
0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20
Note: The VREF terminal voltage cannot be set to 0 V. To make the output current ratio 0%, set I0X=I1X=1. When the sequence is 0, 8, 16, or 24, power-down can be set as follows: I11=1, I01=0: Sequence No. 0 or 16 I12=1, I02=0: Sequence No. 8 or 24
qVREF terminal VREF is the reference voltage input terminal for PWM constant current control. To realize stable ensure a stable signal, make sure noise is not applied to the terminal. qVBB terminal To prevent voltage spikes on the load power supply terminal (VBB), connect a large capacitor (22F) between the VBB terminal and ground as close to the device as possible. Make sure the load supply voltage does not exceed 45 V.
qThermal protection Thermal protection circuitry turns OFF all drivers when the junction temperature reaches +170C. It is only intended to protect the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. The output drivers are re-enabled when the junction temperature cools to +145C.
82
UDN2916B/LB
2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
qAround the ground Since the UDN2916B/LB is a chopping type power driver IC, take great care around the ground when mounting. Separate
the power system and the small signal (analog) system. Provide a single-point connection to the GND terminal or a solid pattern of low enough impedance.
Example of Circuit (including GND) and GND Wiring Pattern (UDN2916LB)
OUT2B OUT2A OUT1A OUT1B
RC CC
RC CC RS RS VBB VCC GND
+
UDN2916B UDN2916LB
6, 7, 18, 19
RC
VBB
+
RC RS RS CC CC RT CT RT VBB GND VCC GND CT
VBB GND I02 I12 Ph2 VREF2 CT CT RT RT
VCC I01 I11 Ph1 VREF1
UDN2916B/LB
83
2-Phase/1-2 Phase/W1-2 Phase Excitation
UDN2917EB
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver IC
sFeatures
q Fixed off-time PWM current control q Internal 1/3 and 2/3 reference divider q 1-phase/2-phase/W1-2 phase excitation mode with digital input q Microstepping with reference input q Low saturation voltage (Sink transistor) q Internal thermal shutdown circuitry q Internal crossover-current protection circuitry q Internal UVLO protection q Internal transient-suppression diodes q Low thermal resistance 44-pin PLCC
sAbsolute Maximum Ratings
Parameter Motor supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Output emitter voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO (peak) IO VCC VIN VE PD (Note1) Ta Tj (Note2) Tstg Conditions tw20 s Ratings 45 1.75 1.5 7.0 -0.3 to +7.0 1.0 4.16 -20 to +85 +150 -55 to +150 Units V A A V V V W C C C
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -33.3mW/C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Motor supply voltage range Output leakage current Output sustaining voltage Symbol
(Unless specified otherwise, Ta=25C, VBB=45V, VCC=5.0V, VREF=5.0V) Conditions min 10 Sink driver, VO=VBB Source driver, VO=0V IO=1.5A, L=3.5mH Sink driver, IO=+1.0A Sink driver, IO=+1.5A Source driver, IO=-1.0A Source driver, IO=-1.5A VR=45V IF=1.5A Both bridges ON, no load Both bridges OFF Operating All inputs All inputs VIH=2.4V VIL=0.8V Operating I0=I1=0.8V I0=2.4V, I1=0.8V I0=0.8V, I1=2.4V I0=I1=VEN=0.8V, no load I0=I1=2.4V, no load <1.0 < -1.0 45 0.5 0.8 1.8 1.9 <1.0 1.6 9.0 4.0 4.75 2.4 5.0 0.7 1.0 1.9 2.1 50 2.0 12 6.0 5.25 0.8 20 -200 7.5 10.5 16.5 34.5 105 12 Limits typ max 45 50 -50 Units
VBB ICEX VCE (SUS)
Output saturation voltage
VCE (SAT)
Clamp diode leakage current Clamp diode forward voltage Motor supply current Control logic Logic supply voltage Input voltage Input current Reference voltage range Current control threshold Thermal shutdown temperature Logic supply current q"typ" values are for reference.
IR VF IBB (ON) IBB (OFF) VCC VIH VIL IIH IIL VREF VREF/VSENSE Tj ICC (ON) ICC (OFF)
V A A V V V V V A V mA mA V V V A A V
<1.0 -3.0 1.5 9.5 13.5 25.5 10.0 15.0 30.0 170 90 10
C mA mA
sTerminal Connection Diagram
LOGIC SUPPLY ENABLE1 SENSE1 PHASE1 OUT1A OUT1B VREF1
sDerating
Allowable package power dissipation PD (W)
RC1
I10
I11
E1
5
44
43
42
41
1
EN1
VCC
40
6
5
4
3
2
1
GROUND
7 8 9 10 11 12 13 14 15 16
39 38
GROUND
4
30
3
PWM 1 1
37 36 35 34
C
/W
VBB
33 32
2
2 PWM 2 EN2
31 30 29 28
1
20
21
22
23
24
25
26
2
GROUND
17
GROUND
18
19
27
E2
I20
I21
OUT2A
SENSE2
OUT2B
PHASE2
LOAD SUPPLY
ENABLE2
VREF2
RC2
0 -20
0
25
50
75 85
100
Ambient temperature Ta (C)
84
UDN2917EB
2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2917EB
sInternal Block Diagram (1/2 Circuit)
VBB
sTruth Table
ENABLE L L H
X=Don't Care
PHASE H L X
Z=High impedance
OUTA H L Z
OUTB L H Z
OUTB OUTA VREF 20 k E
I0 L
SENSE RC RS CC RT CT
I1 L L H H
Output Current VREF / (10xRS)=I TRIP VREF / (15xRS)=I TRIPx2 /3 VREF / (30xRS)=I TRIPx1/3 0
/10
40 k 10 k I0 I1
-
+
ONE SHOT RC
SOURCE DISABLE
H L H
sApplication Circuit
VCC
39 38 37 36 35 34 33 32 31 30 29
Ct Rt
Digital control signal
40 41
Ct Rt
28
VCC
PWM 2
EN2 27
ENABLE2 PHASE2
VREF2
ENABLE1
PHASE1 VREF1 I11 I01 CC RC
42 43 44 1 2 3 4
EN1
PWM 1
2
26 25 24 23
1
I12 I02
CVBB + CC RC
VBB 1 2
22 21 20 19 18
VBB
RS
5 6
RS
Digital control signal
qOff-time setting toffCTRT
10 11 12 13 14 15 16 17
STEPPER MOTOR
RS : VREF: RT : CT : RC : CC : CVBB:
0.82, 1W (0.5 to 1.0, 2 to 1W) 5.0V (1.5 to 7.5V) 56k (20k to 100k) 470pF (200 to 500pF) 1k 3,300pF (470 to 10,000pF) 100 F
7
8
sExternal Dimensions Plastic PLCC
ICs per stick
9
(Unit: mm)
27
0.812 0.661
0.533 0.331
17.65 17.40 16.66 16.51
INDEX AREA 1.27 BSC
44 0.51 MIN 4.57 4.19
1 16.66 16.51 17.65 17.40
2
qAllowable variation in distance between leads is not cumulative. Note 1: Web type leads are internally connected together.
UDN2917EB
85
2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2917EB
Application Notes
qREDUCTION AND DISPERSION OF POWER LOSS The thermal performance can be improved by adding four external Schottky barrier diodes (EK13 or other) between each output terminal and ground. In most applications, the chopping ON time is shorter than the chopping OFF time (small ON duty). Therefore, a great part of the power loss of the driver IC is attributable to the motor regenerative current during the chopping OFF period. The regenerative current from the motor flows through the current sensing resistor and ground clamp diode and returns to the motor. The voltage drop across this path causes the power loss. On this path, the forward voltage VF of ground clamp diode shows the greatest drop. This means that adding Schottky barrier diodes will improve the thermal performance if their VF characteristic is smaller than that of the internal ground clamp diode. The external diodes also disperse the loss (a source of heat) and reduce the package power dissipation PD of the driver IC. Consequently, a greater output current can be obtained. qCONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITATION To reduce vibration when the stepper motor is rotating, the UDN2917EB can provide 1-2 or W1-2 phase excitation for the control sequence without varying the VREF terminal voltage. The step angle is
1/2 step : 1-2 excitation About 1/4 step : W1-2 excitation The control sequence is as shown below. (This sequence uses threshold signal terminals Io and I1 for PWM current control.)
OUT1A OUT1B OUT2A OUT2B GND
To motor
Schottky barrier diode
Combined vector (1/4 cycle)
(4) (3)
Phase B
(2)
(1)
(0) Phase A
Control sequence (1-2/W1-2 phase)
(ENABLE1= ENABLE2=0)
Sequence No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
PH1 0 0 0 0 X 1 1 1 1 1 1 1 X 0 0 0
Phase A I 11 I 01 0 0 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 1 0 1 0 1 0 0 0 1 0 1 0 1 0
Current ratio
PH2 X 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1
Phase B I 02 I 12 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 1 0 0 0 1 0 1 0 1 0 0 0 1 0
1-2 phase Current ratio excitation
W1-2 phase excitation
1 1 2/3 1/3 0 1/3 2/3 1 1 1 2/3 1/3 0 1/3 2/3 0
0 1/3 2/3 1 1 1 2/3 1/3 0 1/3 2/3 1 1 1 2/3 1/3
*
* *
*
* *
*
* *
*
* *
*
* *
*
* *
*
* *
*
* *
Note: When the sequence no. is 0, 4, 8, or 12, power-down can be set as follows I11=1, I01=0: Sequence No. 0 or 8 I12=1, I02=0: Sequence No. 4 or 12 If power-down is necessary for a sequence other than 0, 4, 8, or 12, lower the VREF terminal voltage. However, do not set the voltage lower than the lower limit of the setting range.
86
UDN2917EB
2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2917EB
qMICROSTEPPING (1/8 STEP) CONTROL SEQUENCE Varying the VREF terminal voltage in steps provides 1/8 Control sequence (microstepping)
microstepping and reduces motor vibration greatly. The microstepping control sequence is as follows:
(ENABLE1= ENABLE 2=0)
Sequence No. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31
PH1 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 X 0 0 0 0 0 0 0
Phase A VREF1 (V) I11 7.5 0 7.4 0 6.9 0 6.2 0 5.3 0 4.2 0 2.9 0 1.5 0 1.5 1 1.5 0 2.9 0 4.2 0 5.3 0 6.2 0 6.9 0 7.4 0 7.5 0 7.4 0 6.9 0 6.2 0 5.3 0 4.2 0 2.9 0 1.5 0 1.5 1 1.5 0 2.9 0 4.2 0 5.3 0 6.2 0 6.9 0 7.4 0
I 01 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0
Current ratio (%)
100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98
PH2 X 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
Phase B VREF2 (V) I12 1.5 1 1.5 0 2.9 0 4.2 0 5.3 0 6.2 0 6.9 0 7.4 0 7.5 0 7.4 0 6.9 0 6.2 0 5.3 0 4.2 0 2.9 0 1.5 0 1.5 1 1.5 0 2.9 0 4.2 0 5.3 0 6.2 0 6.9 0 7.4 0 7.5 0 7.4 0 6.9 0 6.2 0 5.3 0 4.2 0 2.9 0 1.5 0
I 02 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
Current ratio (%)
0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20
Note: The VREF terminal voltage cannot be set to 0 V. To make the output current ratio 0%, set I0X=I1X=1. When the sequence is 0, 8, 16, or 24, power-down can be set as follows: I11=1, I01=0: Sequence No. 0 or 16 I12=1, I02=0: Sequence No. 8 or 24
qVREF terminal VREF is the reference voltage input terminal for PWM constant current control. To realize stable ensure a stable signal, make sure noise is not applied to the terminal. qVBB terminal To prevent voltage spikes on the load power supply terminal (VBB), connect a large capacitor (47F) between the VBB terminal and ground as close to the device as possible. Make sure the load supply voltage does not exceed 45V.
qThermal protection Thermal protection circuitry turns OFF all drivers when the junction temperature reaches +170C. It is only intended to protect the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. The output drivers are re-enabled when the junction temperature cools to +145C. qAround the ground Since the UDN2917EB is a chopping type power driver IC, take great care around the ground when mounting. Separate the power system and the small signal (analog) system. Provide a single-point connection to the GND terminal or a solid pattern of low enough impedance.
UDN2917EB
87
2W1-2 Phase Excitation/Micro-step Support
A3955SB/SLB
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver ICs
sFeatures
q Maximum output ratings: 50V, 1.5A q Internal 3-bit non-linear DAC for 8-division microstepping enables 2W1-2,W1-2, 1-2, 2-phase excitation drive without external sine wave generator q Internal PWM current control in Mixed Decay mode (can also be used in Fast Decay and Slow Decay mode), which improves motor current response and stability without deterioration of motor iron loss q External RC filter for sense terminal not required thanks to internal blanking circuitry q Internal thermal shutdown, crossover-current protection and transient-suppression diodes q Special power-up and power-down sequencing for motor supply and logic supply not required q Employs copper batwing lead frame with low thermal resistance
sAbsolute Maximum Ratings
Parameter Load supply voltage Output current (continuous) Logic supply voltage Logic/reference input voltage range Sense voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO VCC VIN VS PD (Note1) Ta Tj (Note2) Tstg Ratings A3955SB 50 1.5 7.0 -0.3 to VCC+0.3 1.0 2.90 -20 to +85 +150 -55 to +150 1.86 A3955SLB Units V A V V V W C C C
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -23.26mW/C(SB) or -14.93mW/C(SLB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sTerminal Connection Diagram
A3955SB/SLB
sDerating
Allowable package power dissipation PD [W]
(TOP VIEW)
3.0 2.5 2 1.5 1 0.5 0 -20
A3
95
PFD REF RC GROUND GROUND LOGIC SUPPLY PHASE D2
1 2 3 4 5 6 7 8
16 15 14 13 12 11 10 9
LOAD SUPPLY OUTB D0 GROUND GROUND SENSE OUTA D1
5S
B
43 C
A3
/W
95
5S
LB
67
C
/W
0
20
40
60
80
100
Ambient temperature Ta (C)
88
A3955SB/SLB
2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Load supply voltage range Output leakage current Symbol
(Unless specified otherwise, Ta=25C, VBB=5V to 50V, VCC=4.5V to 5.5V) Conditions min Vcc <1.0 < -1.0 1.0 1.3 0.5 1.3 33 1.2 1.4 2.0 1.0 5.0 3.70 0.45 42 12 Limits typ max 50 50 -50 1.2 1.5 0.6 1.5 40 1.4 1.7 4.0 50 5.5 2.5 4.05 0.60 50 16 0.8 20 -200 3.1 0.8 20 55 5.0 3.0 4.0 5.0 0 19.5 38.2 55.5 70.7 83.1 92.4 100 165 15 18.2 20.2 1.0 1.4 0.4 0.55 1.0 0.3 1.6 1.5 22.3 1.5 2.5 0.7 0.85 2.2 3.0 Units
VBB ICEX
Output saturation voltage
VCE (sat)
Sense current offset Clamp diode forward voltage Motor supply current (No load) Control logic Logic supply voltage range Reference voltage range UVLO enable threshold UVLO hysteresis Logic supply current Logic input voltage Logic input current
ISO VF IBB (ON) IBB (OFF) VCC VREF VUVLOen VUVLOhys ICC (ON) ICC (OFF) VIH VIL IIH IIL VPFD VIO (PFD) VIO (PFD) IREF VREF/VS DACERR VIO (S)
Operating, IO=1.5A, L=3mH VO=VBB VO=0V VSENSE=1.0V : Source Driver, IO=-0.85A VSENSE=1.0V : Source Driver, IO=-1.5A VSENSE=1.0V : Sink Driver, IO=0.85A VSENSE=1.0V : Sink Driver, IO=1.5A IS-IO, IO=0.85A, VS=0V, VCC=5V IF=0.85A IF=1.5A D0=D1=D2=0.8V Operating Operating VCC=05V
20
V A A V V V V mA V V mA A V V V V mA mA V V A A V V V mV mV A % % mV % % % % % % % % C C
4.5 0.5 3.35 0.30
D0=D1=D2=0.8V 2.0 VIN=2.0V VIN=0.8V Slow Decay Mode Mixed Decay Mode Fast Decay Mode
<1.0 < -2.0 3.5 1.1 0 5 25 3.0
Mixed Decay comparator trip points Mixed Decay comparator input offset voltage Mixed Decay compartor hysteresis Reference input current Reference divider ratio DAC accuracy *1 Current-sense comparator input offset voltage *1
Step reference current ratio
SRCR
VREF=0V~2.5V at trip, D0=D1=D2=2V VREF=1.0V~2.5V VREF=0.5V~1.0V VREF=0V D0=D1=D2=0.8V D0=2.0V, D1=D2=0.8V D0=0.8V, D1=2V, D2=0.8V D0=D1=2V, D2=0.8V D0=D1=0.8V, D2=2V D0=2V, D1=0.8V, D2=2V D0=0.8V, D1=D2=2V D0=D1=D2=2V
Thermal shutdown temperature Thermal shutdown hysteresis AC timing PWM RC fixed off-time
Tj Tj tOFFRC CT=470pF, RT=43k Current-Sense Comparator Trip to Source OFF, IO=0.1A Current-Sense Comparator Trip to Source OFF, IO=1.5A IRC Charge ON to Source ON, IO=0.1A IRC Charge ON to Source ON, IO=1.5A VCC=5.0V, RT43k, CT=470pF, IO=0.1A 1k Load to 25V
S S S S S S S
PWM turn-off time
tPWM (OFF)
PWM turn-on time PWM minimum on-time Crossover dead time
tPWM (ON) tON (min) tCODT
*1: The total error for the VREF/VSENSE function is the sum of the D/A error and the current-sense comparator input offset voltage. q"typ" values are for reference.
A3955SB/SLB
89
2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
sInternal Block Diagram
LOGIC SUPPLY LOAD SUPPLY
16
OUTA
6
10
15
PHASE
7
VCC
VBB GROUND
4 5 12 13 UVLO & TSD
MIXED-DECAY COMPARATOR PFD 1
PWM LATCH
BLANKING GATE
CURRENT-SENSE COMPARATOR
OUTB
SENSE 11
+ -
BLANKING
R Q S
+-
+ - +3 D/A
DISABLE
VCC RC
3
RS
2 8 9 14
VTH
REF
D2
D1
CT RT
sTruth Table
PHASE PHASE H L PFD VPFD 3.5V 1.1V to 3.1V 0.8V Operating Mode Slow current-decay mode Mixed current-decay mode Fast current-decay mode DAC OUTA H L OUTB L H D2 H H H H L L L L DAC DATA D1 H H L L H H L L D0 H L H L H L H L DAC [%] VREF/VS
D0
100 3.00 92.4 3.25 83.1 3.61 70.7 4.24 55.5 5.41 38.2 7.85 19.5 15.38 All Outputs Disabled
where VSITRIP*RS
sApplication Circuit
VBB BRIDGE A D1B BRIDGE B
VPFD VREF CT1 RT1
1 2 3
VBB
16 15 14
+
47 F CBB1 D0A RS1
9 10
8 7 CCC2 VCC 6 5 LOGIC 4 3 2 VBB 1
D2B PHASEB +5 V RT2 CT2
RS2 11
4 LOGIC 5
13 12 11 10 9
12 13
+5V CCC1 PHASEA D2A
6 VCC 7 8
D0B
14 15 + 16 CBB2
47 F D1A VBB
VREF VPFD
qOff-time setting : tOFFRT * CT RT=12k to 100k CT=470pF to 1500pF RS=0.39 to 0.62 CBB=47 F+0.1 F CCC=0.1 F VREF=0.5V to 2.5V VPFD=1.1V to 3.1V (Mixed current-decay mode) 3.5V (Slow current-decay mode) 0.8V (Fast current-decay mode)
560 pF
36 k
0.5
90
A3955SB/SLB
0.5
560 pF
36 k
2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
sStep Sequence
Bridge A Full Step 1 Half Step 1 Quarter Step 1 2 2 3 4 2 3 5 6 4 7 8 3 5 9 10 6 11 12 4 7 13 14 8 15 16 Eigth Step 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 PHASEA H H H H X L L L L L L L L L L L L L L L X H H H H H H H H H H H D2A H L L L L L L L H H H H H H H H H L L L L L L L H H H H H H H H D1A L H H L L L H H L L H H H H H L L H H L L L H H L L H H H H H L D0A L H L H L H L H L H L H H H L H L H L H L H L H L H L H H H L H ILOADA 70.7% 55.5% 38.2% 19.5% 0% -19.5% -38.2% -55.5% -70.7% -83.1% -92.4% -100% -100% -100% -92.4% -83.1% -70.7% -55.5% -38.2% -19.5% 0% 19.5% 38.2% 55.5% 70.7% 83.1% 92.4% 100% 100% 100% 92.4% 83.1% PHASEB H H H H H H H H H H H H X L L L L L L L L L L L L L L L X H H H D2B H H H H H H H H H L L L L L L L H H H H H H H H H L L L L L L L Bridge B D1B L L H H H H H L L H H L L L H H L L H H H H H L L H H L L L H H D0B L H L H H H L H L H L H L H L H L H L H H H L H L H L H L H L H ILOADB 70.7% 83.1% 92.4% 100% 100% 100% 92.4% 83.1% 70.7% 55.5% 38.2% 19.5% 0% -19.5% -38.2% -55.5% -70.7% -83.1% -92.4% -100% -100% -100% -92.4% -83.1% -70.7% -55.5% -38.2% -19.5% 0% 19.5% 38.2% 55.5%
sCurrent Vector Locus
A 100 92.4 83.1
TEP
MAXIMUM FULL-STEP
TORQUE (141%)
10 0%
1/4 STE P
CURRENT IN PERCENT
3/
8
ST
70.7
C O N ST AN T
1/8 S
EP
55.5
2 1/
EP ST
TO R Q U E
5/8
ST
EP
38.2
3/4 ST
EP
19.5
7/8 S
TEP
B 19.5 A 38.2 55.5
FULL STEP
B 100
70.7
83.1 92.4
CURRENT IN PERCENT
A3955SB/SLB
91
2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
sExternal Dimensions
A3955SB
16
16 9 0.508 0.204
(Unit: mm)
A3955SLB
9 0.32 0.23
7.11 6.10
10.92 7.62 MAX BSC
7.60 7.40
10.65 10.00 1.27 0.40
1 1.77 1.15
19.68 18.67
2.54 BSC
8
0.13 MIN
0.51 0.33
1
2
3 10.50 10.10
1.27 BSC
0 to 8
5.33 MAX 0.39 MIN 0.558 0.356 3.81 2.93
2.65 2.35 0.10 MIN.
92
A3955SB/SLB
A3955SB/SLB
93
4W1-2 Phase Excitation/Micro-step Support
A3957SLB
Allegro MicroSystems product
2-Phase Stepper Motor Bipolar Driver IC
sFeatures
q Maximum output ratings: 50V, 1.5A q Internal 4-bit non-linear DAC for 16-division microstepping enables 4W1-2, 2W1-2, W12, 2-phase excitation drive without external sine wave generator q Internal PWM current control in Mixed Decay mode (can also be used in Fast Decay and Slow Decay mode), which improves motor current response and stability without deterioration of motor iron loss q External RC filter for sense terminal not required thanks to internal blanking circuitry q Internal thermal shutdown, crossover-current protection and transient-suppression diodes q Special power-up and power-down sequencing for motor supply and logic supply not required q Employs copper batwing lead frame with low thermal resistance
sAbsolute Maximum Ratings
Parameter Load supply voltage Output current (continuous) Logic supply voltage Logic/reference input voltage range Sense voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO VCC VIN VS PD (Note1) Ta Tj (Note2) Tstg Ratings 50 1.5 7.0 -0.3 to VCC+0.3 1.0 2.23 -20 to +85 +150 -55 to +150 Units V A V V V W C C C
qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified current rating or a junction temperature of 150C. Note 1: When ambient temperature is 25C or over, derate using -17.86mW/C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided.
sTerminal Connection Diagram
sDerating
(TOP VIEW)
Allowable package power dissipation PD [W]
3 2.5
N.C. PFD REF N.C. RC GROUND GROUND D3 VCC PHASE D2 N.C.
1 2 3 4 5 6 7 8 9 10 11 12
24 23 22 21 20 19 18 17 16 15 14 13
N.C. VBB OUTB N.C. D0 GROUND GROUND SENSE N.C. OUTA N.C. D1
A3
2 1.5 1 0.5 0 -20
95
7S
LB
56
C
/W
0
20
40
60
80
100
Ambient temperature Ta (C)
94
A3957SLB
2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support)
A3957SLB
sElectrical Characteristics
Parameter Power outputs (OUTA or OUTB) Load supply voltage range Output leakage current Symbol
(Unless specified otherwise, Ta=25C, VBB=5V to 50V, VCC=4.5V to 5.5V) Conditions min Vcc <1.0 < -1.0 1.0 1.4 0.5 1.2 30 1.2 1.5 2.0 1.0 5.0 3.70 0.40 42 14 Limits typ max 50 50 -50 1.2 1.5 0.7 1.5 40 1.4 1.7 4.0 50 5.5 2.5 4.05 0.55 50 17 0.8 20 -200 2.9 0.8 20 55 5.0 3.0 4.0 -16 0 17.4 26.1 34.8 43.5 52.2 60.9 69.6 73.9 78.3 82.6 87.0 91.3 95.7 100 165 15 18.2 20.2 1.0 1.4 0.4 0.55 1.0 0.3 1.6 1.5 22.3 1.5 2.5 0.7 0.85 2.2 3.0 Units
VBB ICEX
Output saturation voltage
VCE (sat)
Sense current offset Clamp diode forward voltage Motor supply current (No load) Control logic Logic supply voltage range Reference voltage range UVLO enable threshold UVLO hysteresis Logic supply current Logic input voltage Logic input current
ISO VF IBB (ON) IBB (OFF) VCC VREF VUVLOen VUVLOhys ICC (ON) ICC (OFF) VIH VIL IIH IIL VPFD VIO (PFD) VIO (PFD) IREF VREF/VS DACERR VIO (S)
Operating, IO=1.5A, L=3mH VO=VBB VO=0V VSENSE=1.0V : Source Driver, IO=-0.85A VSENSE=1.0V : Source Driver, IO=-1.5A VSENSE=1.0V : Sink Driver, IO=0.85A VSENSE=1.0V : Sink Driver, IO=1.5A IS-IO, IO=0.85A, VS=0V, VCC=5V IF=0.85A IF=1.5A D0=D1=D2=D3=0.8V Operating Operating VCC=05V
20
V A A V V V V mA V V mA A V V V V mA mA V V A A V V V mV mV A % % mV % % % % % % % % % % % % % % % C C
4.5 0.5 3.35 0.25
D0=D1=D2=D3=0.8V 2.0 VIN=2.0V VIN=0.8V Slow Decay Mode Mixed Decay Mode Fast Decay Mode
<1.0 < -2.0 3.5 1.2 0 5 25 3.0
Mixed Decay comparator trip point Mixed Decay comparator input offset voltage Mixed Decay compartor hysteresis Reference input current Reference divider ratio DAC accuracy *1 Current-sense comparator input offset voltage *1
Step reference current ratio
SRCR
VREF=0V to 2.5V at trip, D0=D1=D2=D3=2V VREF=1.0V to 2.5V VREF=0.5V to 1.0V VREF=0V D1=D2=D3=0.8V D0=0.8V, D1=2.0V, D2=D3=0.8V D0=D1=2.0V, D2=D3=0.8V D0=D1=0.8V, D2=2V, D3=0.8V D0=2.0V, D1=0.8V, D2=2.0V, D3=0.8V D0=0.8V, D1=D2=2.0V, D3=0.8V D0=D1=D2=2.0V, D3=0.8V D0=D1=D2=0.8V, D3=2.0V D0=2.0V, D1=D2=0.8V, D3=2.0V D0=0.8V ,D1=2.0V, D2=0.8V, D3=2.0V D0=D1=2.0V, D2=0.8V, D3=2.0V D0=D1=0.8V, D2=D3=2.0V D0=2.0V, D1=0.8V, D2=D3=2.0V D0=0.8V, D1=D2=D3=2.0V D0=D1=D2=D3=2.0V
Thermal shutdown temperature Thermal shutdown hysteresis AC timing PWM RC fixed off-time
Tj Tj tOFFRC CT=470pF, RT=43k Current-Sense Comparator Trip to Source OFF, IO=0.1A Current-Sense Comparator Trip to Source OFF, IO=1.5A IRC Charge ON to Source ON, IO=0.1A IRC Charge ON to Source ON, IO=1.5A VCC=5.0V, RT43k, CT=470pF, IO=0.1A 1k Load to 25V
S S S S S S S
PWM turn-off time
tPWM (OFF)
PWM turn-on time PWM minimum on-time Crossover dead time
tPWM (ON) tON (min) tCODT
*1: The total error for the VREF/VSENSE function is the sum of the D/A error and the current-sense comparator input offset voltage. q"typ" values are for reference.
A3957SLB
95
2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support)
A3957SLB
sInternal Block Diagram
VBB UVLO AND TSD MOTOR SUPPLY
CBB
OUTA OUTB
PHASE CONTROL LOGIC AND LEVEL SHIFT
VCC
DECAY MODE CONTROL PFD
- +
BLANKING TIME AND DRIVER TOFF CONTROL (000X)
- +
SENSE
RS
REF D3 D2
16 LEVEL DAC
GND
RC
D0
D1
RT
CT
sTruth Table
Power Outputs
D3, D2, D1, D0 0000 or 0001 1XXX or X1XX or XX1X PHASE OUTA X Z H H OUTB Z L PFD X 3.5V 1.2V to 2.9V 0.8V 3.5V 1.2V to 2.9V 0.8V Power Output Operating Mode Disable Forward, slow current-decay mode Forward, mixed current-decay mode Forward, fast current-decay mode Reverse, slow current-decay mode Reverse, mixed current-decay mode Reverse, fast current-decay mode
L
L
H
X: Don't care High impedance (source and sink both OFF)
DAC
D3 1 1 1 1 1 1 1 1 D2 1 1 1 1 0 0 0 0 D1 1 1 0 0 1 1 0 0 D0 1 0 1 0 1 0 1 0 DAC [%] 100 95.7 91.3 87.0 82.6 78.3 73.9 69.6 D3 0 0 0 0 0 0 0 0 D2 1 1 1 1 0 0 0 0 D1 1 1 0 0 1 1 0 0 D0 1 0 1 0 1 0 1 0 DAC [%] 60.9 52.2 43.5 34.8 26.1 17.4 0 0
sApplication Circuit
VBB Vcc
+ Phase1 D10 D11 D12 D13 REF1 PFD1 10 20 13 11 8 3 2 5 CT1 RT1 Rs 6,7, 18,19 17 15 9 23 CBB
+ CCC 23 9 10 20 15 13 11 8 3 6,7, 18,19 17 5 CT2 Rs RT2 2 Phase2 D20 D21 D22 D23 REF2 PFD2
A3957SLB 22 22
A3957SLB
qOff-time setting : tOFFRT * CT RT=36 (12k to 100k) CT=560pF (470pF to 1500pF) RS=0.51 (0.39 to 0.62) CBB=100 F+0.1 F CCC=0.1 F VREF=0.5V to 2.5V VPFD=1.2V to 2.9V (Mixed current-decay mode) 3.5V (Slow current-decay mode) 0.8V (Fast current-decay mode)
96
A3957SLB
2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support)
A3957SLB
sExternal Dimensions
*1
(Unit: mm)
24
24
19
10.0/10.65
7.40/7.60
7.40/7.60
0.40/1.27
1 0.33/0.51 0.33/0.51
1 1.27 BSC 0/ 8 0.23/0.32 SEATING PLANE
15.2/15.6
2.35/2.65
0.10MIN q Pin material: copper, pin surface treatment: solder plating q Package index may be *1. q Allowable variation in distance between leads is not cumulative. q Web (batwing) type lead frames are used for pin 6, 7, 18, 19. The pins are connected to GND.
A3957SLB
97
Star Connection/Delta Connection
SI-7600/SI-7600D
3-Phase Stepper Motor Driver ICs
sAbsolute Maximum Ratings
Parameter Load supply voltage Logic supply voltage Input voltage Reference input voltage Sense voltage Package power dissipation Junction temperature Operating temperature Storage temperature Symbol VBB VCC VIN VREF Vsense PD Tj Top Tstg Ratings 50 7 -0.3 to VCC -0.3 to VCC 1.5 1 -20 to +85 +125 -55 to +125 Units V V V V V W C C C
sRecommended Operating Voltage Ranges
Parameter Load supply voltage Logic supply voltage Reference input voltage Symbol VBB VCC VREF Ratings 15 to 45 3 to 5.5 0.2 to Vcc-2
(Ta=25C) Units V V V
sElectrical Characteristics
Parameter Load supply voltage Logic supply voltage Symbol VBB VCC VOL1 VOL2 VOH1 VOH2 IBB ICC VIH VIL IIH IIL F VSlow VMix VFast IPFD VREF IREF VS1 VS2 IRC Toff -20 200 100 1.7 0.7 50 0 10 VREFx0.2 VREFx0.17 220 1.1xRtxCt VCC-2 Ratings min 15 3.0 8 0 VBB-15 VBB-1 typ max 45 5.5 15 1 VBB-8 VBB 25 10 1.25 20 Units V V V V V V mA mA V V A A kHz VCC 1.3 0.3 V V V A V A V V A Sec. Conditions
Output voltage
Load supply current Logic supply current Logic input voltage Logic input current Maximum clock frequency
VCC=5.5V VCC=5.5V
3.75
VIN=VCCx0.75 VIN=VCCx0.25 Edge=0V Edge=VCC
PFD input voltage PFD input current Reference input voltage Reference input current Sense voltage RC source current Off time
VREF=0~Vcc-2V Mode=VCC, VREF=0~VCC-2V Mode=0V, AVREF=0~VCC-2V
98
SI-7600/SI-7600D
3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
sInternal Block Diagram/Diagram of Standard External Circuit
+ C7 C1 C3 Vcc VBB C4 C2 +
Clock CW/CCW
Control signal
OHA OHB OHC Control Logic PriBuffer OLA OLB OLC U V W
Reset F/H Ena Edge R5 Mode Vcc R1 REF 1/5 Buffer Current Control
Sense
MOS Array
Rs PFD RC GND ex. SLA5017 at 4A max SLA5059 at 4A max SLA5060 at 6A max Io SLA5061 at 10A max (Sanken) R5:10k
C5
R2 Vcc
R3 C6 R4 Ct Rt
Reference constants Rs:0.1 to 1 (1 to 5W) Rt:15k to 75k Ct:420p to 1100pF
C1:10 F/10V C2:100 F/63V C3 to C6:0.01 to 1 F C7:1000pF
R1+R210k (VREF:0.2 to VCC2-2V) R3+R410k (VPFD:0 to VCC2)
sTerminal Connection
The package shapes of SI-7600 and SI-7600D are different, however the terminal connection is the same.
PFD S Vcc Reset CW/CCW EDGE CK F/H Ena Mode
RC VBB OHA OHB OHA OLA OLB OLC GND REF
Pin No. Pin1 Pin2 Pin3 Pin4 Pin5 Pin6 Pin7
Name PFD Sense Vcc Reset CW/CCW Edge Clock
Pin No. Pin8 Pin9 Pin10 Pin11 Pin12 Pin13 Pin14
Name Full/Half Enable Mode REF GND OLC OLB
Pin No. Pin15 Pin16 Pin17 Pin18 Pin19 Pin20
Name OLA OHC OHB OHA VBB RC
sExternal Dimensions (Unless specified otherwise, all values are typical)
SI-7600
12.6 20 20 11
(Units: mm)
SI-7600D
24.50 11
1
10
5.5
1 0.89 1.30
10
2.2 max
1.27 max 7.8
6.30
7.62
0.8 max
1.27
0.4
0.7
2.54 min 5.08 max
0.51 min
2.54
0.48 0 to 15
0.25
SI-7600/SI-7600D
99
3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
Application Notes
1. Outline
The SI-7600/SI-7600D is a control IC used with a power MOS FET array to drive a 3-phase stepper motor. Select the outputstage MOS FET according to the rated current of the motor. The full step is 2-phase excitation when this IC is in a star connection but 3-phase excitation when it is in a delta connection.
counter is reset. Output remains disabled as long as the Reset terminal level is high.
4. Determining the control current
The control current Io can be calculated as follows: When the Mode terminal level is low IOVREF/(5xRS) When the Mode terminal level is high IOVREF/(5xRS) 3-phase excitation IOVREF/(5.88xRS) 2-phase excitation The reference voltage can be set within the range of 0.2V to Vcc -2V. (When the voltage is less than 0.2V, the accuracy of the reference voltage divider ratio deteriorates.)
2. Features
q Suitable for both star connection drive and delta connection drive q Maximum load supply voltage VBB=45V q Control logic supply voltage Vcc=3 to 5.5V q Supports star connection (2/2-3phase excitation) and delta connection (3/2-3phase excitation) q Step switching timing by clock signal input q Forward/reverse, hold, and motor-free control q Step switching at the positive edge or positive/negative edge of the clock signal q Control current automatic switching function for 2-3phase excitation (effective for star connection) (Current control: 86% for 2-phase excitation, 100% for 3-phase excitation) q Self-excitation constant-current chopping by external C/R q Slow Decay, Mixed Decay, or Fast Decay selectable q Two package lineup: SOP (surface mounting) and DIP (lead insertion) SOP...SI-7600, DIP ...SI-7600D q Maximum output current depends on the ratings of the MOS FET array used
5. About the Current Control System (Setting the Constant Ct/Rt)
The SI-7600 uses a current control system of the self-excitation type with a fixed chopping OFF time. The chopping OFF time is determined by the constant Ct/Rt. The constant Ct/Rt is calculated by the formula TOFF1.1xCtxRt...... (1) The recommended range of constant Ct/Rt is as follows: Ct: 420 to 1100pF Rt: 15 to 75k (Slow Decay or Mixed Decay 560pF/47k, Fast Decay 470pF/20k) Usually, set TOFF to a value where the chopping frequency becomes about 30 to 40kHz. The mode can be set to Slow Decay, Fast Decay, or Mixed Decay depending on the PFD terminal input potential.
3. Input Logic Truth Table
Input terminal CW/CCW Full/Half Enable Mode (Note 1) Edge (Note 2) Reset (Note 3) Enable Internal logic reset output disable Positive Low level CW Disable Always 100% High level CCW Enable 2-phase excitation: 85% 3-phase excitation: 100% Positive/negative
PFD applied voltage and decay mode PFD applied voltage 0 to 0.3V 0.7V to 1.3V 1.7V to Vcc Decay mode Fast Decay Mixed Decay Slow Decay
2-3phase excitation 2-phase excitation
In Mixed Decay mode, the Fast/Slow time ratio can be set using the voltage applied to the PFD terminal. The calculated values are summarized below. In this mode, the point of switching from Fast Decay to Slow Decay is determined by the RC terminal voltage that determines the chopping OFF time and by the PFD input voltage VPFD. Formula (1) is used to determine the chopping OFF time. The Fast Decay time is then determined by the RC discharge time from the RC voltage (about 1.5V) to the PFD input voltage (VPFD) when chopping is turned from ON to OFF. The Fast Decay time is VPFD ...... (2) tOFFf -RTxCTxln ( ) 1.5 The Slow Decay time (tOFFs) is calculated by subtracting the value of (2) from that of (1). tOFFSTOFF-tOFFf ......(3)
Select CW/CCW, Full/Half, or Edge when the clock level is low. Note 1: The control current is always 85% for the full step (2phase excitation) when the Mode terminal level is high. The value of 100% control current is calculated at the VREF/(5xRs) terminal because a 1/5 buffer is built into the reference section. Note 2: When the Edge terminal level is set high, the internal counter increments both at the rising and falling edges. Therefore, the duty ratio of the input clock should be set at 50%. Note 3: When the Reset terminal level is set high, the internal 100 SI-7600/SI-7600D
3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
Relationship between RC terminal voltage and output current
Ton ITrip IOUT 1.5V VPFD VRC 0.5V Fast Decay Slow Decay Toff
q Power loss of Nch MOS FETs The power loss of Nch MOS FETs is caused by the ON resistance or by the chopping-OFF regenerative current flowing through the body diodes. (This loss is not related to the current control method, Slow, Mixed, or Fast Decay.) The losses are ON resistance loss N1: N1=IM2xRDS(ON) Body diode loss N2: N2=IMxVSD With these parameters, the loss PN per MOS FET is calculated depending on the actual excitation method as follows: a) 2-phase excitation (T=TON+TOFF) PN=(N1+N2xTOFF/T)x (1/3) b) 2-3 phase excitation (T=TON+TOFF) PN=(N1+N2xTOFF/T)x(1/4)+(0.5N1+N2xTOFF/T)x(1/12) qDetermining power loss and heatsink when SLA5017 is used If the SLA5017 is used in an output section, the power losses of a Pch MOS FET and an Nch MOS FET should be multiplied by three and added to determine the total loss P of SLA5017. In other words, P=3xPP+3xPN The allowable losses of SLA5017 are Without heatsink: 5W j-a=25C/W Infinite heatsink: 35W j-c=3.57C/W Select a heatsink by considering the calculated losses, allowable losses, and following ratings:
6. Method of Calculating Power Loss of Output MOS FET
The SI-7600 uses a MOS-FET array for output. The power loss of this MOS FET array can be calculated as summarized below. This is an approximate value that does not reflect parameter variations or other factors during use in the actual application. Therefore, heat from the MOS FET array should actually be measured. q Parameters for calculating power loss To calculate the power loss of the MOS FET array, the following parameters are needed: (1) Control current Io (max) (2) Excitation method (3) Chopping ON-OFF time at current control: TON, TOFF, tOFFf (TON: ON time, TOFF: OFF time, tOFFf: Fast Decay time at OFF) (4) ON resistance of MOS FET: RDS (ON) (5) Forward voltage of MOS FET body diode: VSD For (4) and (5), use the maximum values of the MOS FET specifications. (3) should be confirmed on the actual application.
(W) 15
10
Power dissipation P
0x
q Power loss of Pch MOS FETs The power loss of Pch MOS FETs is caused by the ON resistance and by the chopping-OFF regenerative current flowing through the body diodes in Fast Decay mode. (In Slow Decay mode, the chopping-OFF regenerative current does not flow the body diodes.) The losses are ON resistance loss P1: P1=IM2xRDS (ON) Body diode loss P2: P2=IMxVSD With these parameters, the loss Pp per MOS FET is calculated depending on the actual excitation method as follows: a) 2-phase excitation (T=TON +TOFF) PP= (P1xTON/T+P2xtOFFf/T)x (1/3) b) 2-3 phase excitation (T=TON +TOFF) PP= (P1xTON/T+P2xtOFFf/T)x(1/4)+(0.5xP1xTON/T+P2xtOFFf/ T)x(1/12)
10
10 0x 2m m Al he at
5
Wit hou t he ats ink
sin k
0 0
25 50 75 100 125 Ambient temperature Ta (C)
150
When selecting a heatsink for SLA5017, be sure to check the product temperature when in use in an actual applicaiton. The calculated loss is an approximate value and therefore contains a degree of error. Select a heatsink so that the surface Al fin temperature of SLA5017 will not exceed 100C under the worst conditions.
SI-7600/SI-7600D
101
3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
7. I/O Timing Chart
2-phase excitation Positive edge Positive/negative edge CCW CK Reset Full/Half EDGE CW/CCW Ena OHA OHB OHC OLA OLB OLC CW 2-3 phase excitation Positive edge
2-3 phase excitation Positive edge Positive/negative edge CW CCW Disable
CK Reset Full/Half ED CW/CCW Ena OHA OHB OHC OLA OLB OLC
102
SI-7600/SI-7600D
SI-7600/SI-7600D
103
Pentagon Connection
SI-7502 (SLA5011/SLA6503)
5-Phase Stepper Motor Driver ICs
sAbsolute Maximum Ratings
Part No. Parameter Motor supply voltage Auxiliary supply voltage Control voltage Reference voltage Detection voltage Power dissipation Ambient operating temperature Drain -Source voltage Drain current Avalanche energy capability (Single pulse) Power dissipation Channel temperature Storage temperature Collector-Base voltage Collector-Emitter voltage Emitter-Base voltage Collector current Collector current (Pulse) Base current Power dissipation Junction temperature Storage temperature Symbol VCC VS Vb Vref VRS PD TOP VDSS ID EAS PT Tch Tstg VCBO VCEO VEBO IC IC (pulse) IB PT Tj Tstg Ratings 44 15 7 1.5 5 1 0 to +65 60 5 2 35 150 -40 to +150 -60 -60 -6 -3 -6 -1 35 150 -40 to +150 (Ta=25C) Units V V V V V W C V A mJ W C C V V V A A A W C C
SI-7502
SLA5011
SLA6503
sElectrical Characteristics
Part No. Parameter Symbol ICC IS Ib IIU-L, IIL-L IOU-on IOU-off VOL-on VOL-off F VRS VTH Re (yts) RDS (ON) CISS COSS VSD trr ICBO VCEO hFE VCE (sat) min Limits typ max 40 12.5 50 1.6 11 10 1.5 30 1.05 4.0 3.3 0.17 300 160 1.1 150 0.22 Units mA mA mA mA mA A V V kHz V V S pF pF V ns A V V Conditions VCC=42V, Vb=5.5V VS=12.5V Vb=5.5V VIU=VIL=0.4V Vb=5V, AIU to EIU pin open Vb=5V Vb=5V, AIL to EIL pin open Vb=5V Vb=5V Vb=5V, VREF pin open VDS=10V, ID=250 A VDS=10V, ID=5A VGS=10V, ID=5A VDS=25V, f=1.0MHz,VGS=0V ISD=5A ISD=100mA VCB=-60V IC=-10mA VCE=-4V, IC=-3A IC=-3A, IB=-6mA
(Ta=25C)
Supply current Input current SI-7502 Upper drive circuit drive current Lower drive circuit voltage Oscillation frequency Detection voltage Gate threshold voltage Forward Transconductance DC ON-resistance Input capacitance Output capacitance Di forward voltage between source and drain Di reverse recovery time between source and drain Collector cut-off current Collector-emitter voltage DC current gain Collector emitter saturation voltage
8 VS-1.5 20 0.8 2.0 2.2
SLA5011
1.5 -10
SLA6503
-60 2000 1.5
104
SI-7502 (SLA5011/SLA6503)
5-Phase Stepper Motor Driver ICs (Pentagon Connection)
SI-7502 (SLA5011/SLA6503)
sInternal Block Diagram (Dotted Line)
Auxiliary power supply Control power supply Vb VS Main power supply VCC
Variable current resistor RX Excitation signal
Trigger pulse generator circuit
SI-7502
SLA6503
Reference voltage
Level shift current control unit
Motor
Comparator amplifier
SLA5011
Current sense resistor Rs
sEquivalent Circuit Diagram
SI-7502
24 20 23 19 16 12 15 11 7 8 27
R17 1 R7 R1 Trigger pulse generator circuit R4 R3 R6 R12
- +
R18
R19
R20
R21
R8 Tr2 Tr3
R9 Tr4
R10 Tr5
R11 Tr6
R22
R13
R23
R14
R24
R15
R25
R16
R26 26
2 R2 4 5 3
R5 Tr1
R27
R28
R29
R30
R31
25
21
22
18
17
13
14
10
6
9
SLA6503
R1
1 R2
12
2 3
4 5
6 7
8 9
10 11 R12k Typ R250 Typ
SLA5011
3
5
7
9
11
2
4
6
8
10
1
12
SI-7502 (SLA5011/SLA6503)
105
5-Phase Stepper Motor Driver ICs (Pentagon Connection)
SI-7502 (SLA5011/SLA6503)
sDiagram of Standard External Circuit
C1 C2 C3 C4 R1 Di : 100 F/63V : 50 F/25V : 10 F/10V : 470pF : 1k : RK-34 (Sanken)
VB (5V)
VS (12V) VCC (15~42V) C3 + C1 + C2 +
Excitation signal input
Aiu Biu Ciu Diu Eiu Ail Bil Cil Dil Eil Active High
7407
1 25 22 17 14 6
26
27 24 23 16 15 7 2 4 6 8 10 2 4 6 8 10
1 12
A0 3 5 7 9 11 3 5 7 9 11 D0 E0 IO (typ) = 0.92/RS IOPD (typ) = (1.3xa-0.01) / Rs a = VbxR' / (30000+R') R' = 5100xRx / (5100+Rx) B0 C0
7406
SI-7502
21 18 13 10 9 235 RX 4
SLA6503
Stepper Motor
20 19 12 11 8
1 12 IO R1
SLA5011
PD
C4
RS
Di
sExternal Dimensions
SI-7502
(Unit: mm)
sExternal Dimensions
SLA6503/SLA5011
31.00.2 24.40.2 16.40.2
(Unit: mm)
8(max)
3.2
0.15
3.20.15x 3.8
4.8
0.2
1.70.1
9.5min (10.4) 16.00.2 2.7 13.00.2
Pin-1 marking (White dots)
41 (max)
9.90.2 8.5max.
Part No.
Lot No.
Part No.
30 (max)
R R
3.5 +1 -0.5
Lot No.
Pin 1 1.20.15 0.85+0.2 -0.1 1.450.15 0.7 11xP2.54 =27.941.0 31.5max.
12 0.55+0.2 -0.1 2.20.7
27pin 0.5 +0.15 -0.05 1pin
#
26pin
P1.270.7 x 26=33.02 27pin
0.3 +0.15 -0.05
#
2.540.6
R : 0.3mm
(Note) Dimensions marked with a # indicate dimensions of lead tip.
1 2 3 4 5 6 7 8 9 10 11 12
106
SI-7502 (SLA5011/SLA6503)
0.8 max
5-Phase Stepper Motor Driver ICs (Pentagon Connection)
SI-7502 (SLA5011/SLA6503)
Application Notes
sDetermining the Output Current IO (Control Current)
The main factors that determine the output current are current sense resistor RS, supply voltage Vb, and variable current resistor RX. (1) Normal mode To operate a motor at the maximum current level, set RX to infinity (open). From Fig. A, when the maximum current ripple is designated as IOH, its value will be, RS VRSH
Fig. A
IOH O Waveform of output current
Fig. B Output current vs. Current sense resistor
(A) 3 IOH(max)= 0.212xVb-0.01 Rs 0.169xVb-0.03 Rs
VRSH can be calculated as follows: VRSH=0.19xVb-0.03 (center value) ............................... (2) From equations (1) and (2), the output current IOH can be calculated as follows: IOH= 1 RS (0.19xVbx-0.03)
Output current IOH
IOH=
...................................................................... (1)
2
IOH(min)=
1
IOH(max) (Vb=5V) 0.5 IOH(min) (Vb=5V) 0.2
1
2
3
4
5
()
The relationship between IOH and RS is shown in Fig. B. (2) Power down mode When an external resistor RX is connected, VRSH changes as shown in Fig. C even when RS is retained. Obtain a power down output current IOHPD from Fig. C and equation (1).
Sense voltage VRSH
Sense resistor Rs
Fig. C Sense voltage vs. Variable current resistor
(V) 1.0 VRSH (max)= 7.2xRX xVb-0.01 152.6+33.8xRX 6.1xRX xVb-0.03 152.6+33.8xRX
)( ax (m
sRelation between Output Current IO (Control Current) and Motor Winding Current IOM
The SI-7502 uses the total current control system; therefore, the output current IO is different from the motor winding current. In a general pentagonal driving system, the current flows as shown in Figure D. The relation between IO and IOM is as follows: IO=4xIOM With some driving systems, the relation can also be as follows: IO=2xIOM
0.8
VRSH (min)=
=5 Vb
RS H
V)
in ) b (V
V) =5
0.6
VR
SH
(m
V
0.4
0.2
0.5
1
2
5
10
20 (K)
Variable current resistor Rx
Fig. D Coil current flow at pentagonal driving
IOM
IOM
IOM 2xIOM VCC
IOM
2xIOM
to SI-7502 Sense resistor Rs 4xIOM
SI-7502 (SLA5011/SLA6503)
107
5-Phase Stepper Motor Driver ICs (Pentagon Connection)
SI-7502 (SLA5011/SLA6503)
sMotor Connection
The 5-phase stepper motor supports various driving systems and the motor connection varies depending on the driving system used. Use of the motor with some driving systems may be restricted by patents. Therefore, be sure to ask the motor manufacturer about the motor connection and driving system to be used.
sThermal design
The driver (SLA5011/SLA6503) dissipation varies depending on a driving system used even if the output currents (control current) are the same. Therefore, measure the temperature rise of the driver under the actual operating conditions to determine the size of the heatsink. Figure E shows an SLA5011/SLA6503 derating curve. This derating curve indicates Tj=150C; however, when using this device, allow sufficient margin when selecting a heatsink so that TC100C (AI FIN temperature on the back of the SLA) is obtained. Fig. E SLA5011/SLA6503 Derating curve
(W) 15
10 1 0x
Power dissipation PT
mm x2 00
10
50 x5
AI
0x
FI N
2m
5
m AI
N0
FI
FIN
N
0 -40
0
50
100
150 (C)
Ambient temperature Ta
SI-7502
sHandling Precautions
Refer to the product specifications. Solvents- Do not use the following solvents: Substances that can dissolve the package Substances that can weaken the package Chlorine-based solvents: Trichloroethylene, Trichloroethane, etc. Aromatic hydrogen compounds: Benzene, Toluene, Xylene, etc. Keton and Acetone group solvents Gasoline, Benzine, Kerosene, etc.
108
SI-7502 (SLA5011/SLA6503)
SI-7502 (SLA5011/SLA6503)
109
Stepper Motor Driver ICs
List of Discontinued Products
sDiscontinued Products
Part No. SI-7200E SI-7201A SI-7202A SI-7230E SI-7235E SDK01M SMA7022M SLA7022M SLA7027M Substitute - - - - - SDK03M SMA7022MU SLA7022MU SLA7027MU
sNot for new design
Part No. SI-7115B SI-7300A SI-7330A SI-7200M SI-7230M SI-7500A Substitute SLA7032M SLA7032M SLA7033M A2918SW - -
110
List of Discontinued Products
111
112
SANKEN ELECTRIC COMPANY LTD.
1-11-1 Nishi -Ikebukuro,Toshima-ku, Tokyo PHONE: 03-3986-6164 FAX: 03-3986-8637 TELEX: 0272-2323(SANKEN J)
Overseas Sales Offices Asia
SANKEN ELECTRIC SINGAPORE PTE LTD.
150 Beach Road #14-03, The Gateway, West Singapore 0718, Singapore PHONE: 291-4755 FAX: 297-1744
SANKEN ELECTRIC HONG KONG COMPANY LTD.
1018 Ocean Centre, Canton Road, Kowloon, Hong Kong PHONE: 2735-5262 FAX: 2735-5494 TELEX: 45498 (SANKEN HX)
SANKEN ELECTRIC KOREA COMPANY LTD.
SK Life B/D 6F, 168 Kongduk-dong, Mapo-ku, Seoul, 121-705, Korea PHONE: 82-2-714-3700 FAX: 82-2-3272-2145
North America
ALLEGRO MICROSYSTEMS, INC.
115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615, U.S.A. PHONE: (508)853-5000 FAX: (508)853-7861
Europe
ALLEGRO MICROSYSTEMS EUROPE LTD.
Balfour House, Churchfield Road, Walton-on-Thames, Surrey KT12 2TD, U.K. PHONE: 01932-253355 FAX: 01932-246622
PRINTED in JAPAN H1-I02EB0-0007020ND

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