K DIC218 Bulletin No I02 EB0 (Jul,2000) 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 Motor Driver ICs 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 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 ■2-Phase Stepper Motor Unipolar Driver ICs Excitation method 1 SLA7022MU SMA7022MU 2-phase excitation 1.2 Output current (A) 1.25 1.5 SLA7029M SMA7029M SMA7036M SDK03M SLA7027MU UCN5804B 2-phase/ 1-2 phase excitation SLA7024M SLA7032M 2W1-2 phase Micro-step support SLA7042M 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 ■Serial Signal Generator IC for SLA704xM PG001M Supply voltage (V) 4.5 to 5.5 Package DIP16Pin page 48 ■2-Phase Stepper Motor Bipolar Driver ICs Excitation method 0.65 A3966SA A3966SLB Output current (A) 0.8 1.3 0.75 UDN2917EB 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 DIP16Pin SOP16Pin SOP20Pin DIP16Pin SOP16Pin ZIP18Pin DIP16Pin SOP16Pin SIP12Pin DIP24Pin SOP24Pin PLCC44Pin A3955SB Vcc to 50 DIP16Pin One motor driven by 2 ICs 88 A3955SLB Vcc to 50 SOP16Pin One motor driven by 2 ICs 88 A3957SLB Vcc to 50 SOP24Pin One motor driven by 2 ICs 94 1.5 2 A3964SLB A3953SB A3953SLB 2-phase/ 1-2 phase excitation 2-phase/1-2 phase/W1-2 phase excitation A2918SW A3952SB A3952SLB A3952SW UDN2916B UDN2916LB 2W1-2 phase excitation/ micro-step support 4W1-2 phase excitation/microstep support ■3-Phase Stepper Motor Driver Control ICs Excitation method Part No. 2-phase/ 2-3 phase excitation SI-7600 SI-7600D Motor supply voltage (V) 15 to 45 Package SOP20Pin DIP20Pin Remarks Use with SLA5017 or others Page 98 ■5-Phase Stepper Motor Driver Control ICs 2 Drive method Part No. Pentagon connection SI-7502 Selection Guide Motor supply voltage (V) 15 to 42 Package Remarks Powder Use with SLA6503 and SLA5011 coating 27 pin Page 104 Package Remarks 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 Page 54 54 58 60 60 68 70 70 70 78 78 84 Motor Driver ICs Product Index by Part Number Part No. A2918SW A3952SB A3952SLB A3952SW A3953SB A3953SLB A3955SB A3955SLB A3957SLB A3964SLB A3966SA A3966SLB 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 PG001M − 4.5 to 5.5 SDK03M 1 to 46 SI-7502 − 15 to 42 SI-7600 − 15 to 45 SI-7600D − 15 to 45 SLA7022MU SLA7024M SLA7026M SLA7027MU SLA7029M SLA7032M SLA7033M SLA7042M SLA7044M SMA7022MU SMA7029M SMA7036M 1 1.5 3 1 1.5 1.5 3 1.2 3 1 1.5 1.5 UCN5804B Drive method Excitation method Package Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar 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 ZIP18pin DIP16pin SOP16pin SIP12pin DIP16pin SOP16pin DIP16pin SOP16pin SOP24pin SOP20pin DIP16pin SOP16pin − − DIP16pin Unipolar 2-phase/1-2 phase excitation Pentagon connection 5-phase excitation to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 Star connection/ delta connection Star connection/ delta connection Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar 1.25 to 35 Unipolar UDN2916B 0.75 10 to 45 Bipolar UDN2916LB 0.75 10 to 45 Bipolar UDN2917EB 1.5 10 to 45 Bipolar Remarks 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 Serial signal generator IC for SLA704xM One motor driven by 2 ICs SMD16pin Powder coat Control IC 27pin Page 68 70 70 70 60 60 88 88 94 58 54 54 48 36 104 2-phase/2-3 phase excitation SOP20pin Control IC 98 2-phase/2-3 phase excitation DIP20pin Control IC 98 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 ZIP15pin ZIP18pin ZIP18pin ZIP18pin ZIP15pin ZIP18pin ZIP18pin ZIP18pin ZIP18pin ZIP15pin ZIP15pin ZIP15pin SLA7024M equivalent SLA7026M equivalent 5 20 20 20 5 28 28 44 44 5 5 12 2-phase/1-2 phase excitation DIP16pin 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 SMA7029M equivalent Internal sequencer, constant voltage driver 42 DIP24pin 78 SOP24pin 78 PLCC44pin 84 Product Index by Part Number 3 Motor Driver ICs Notes on SLA7000/SMA7000 Series ■Features ■Constant Current Chopper Method ● Employs a constant-current chopper control method. In the constant current chopper method, a voltage higher than ● Integrates power MOSFETs and monolithic chip control cir- the rated voltage of the motor is applied and when the current cuitry in a single package. rises, the chopper transistor is switched on thereby shortening ● One-fifth the size and one-fourth the power dissipation compared with conventional SANKEN ICs 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. Basic constant current chopper circuitry 8 Transient-suppression diode Power dissipation PH (W) 7 Motor coil 6 5 Sanken product: SI-7300A IO=1A 4 Motor : 23LM-C202 IO: Output current 2-phase excitation, holding mode VCC 3 SLA7024M, SLA7029M SMA7029M 2 IO=1A 1 0 0 10 20 30 40 50 Supply voltage VCC (V) ● Eliminates the need for heatsink thereby decreasing part-insertion workload and increasing flexibility in mounting. ● Reduces the size of power supplies required. ● Lineup: 2-phase excitation, 2-phase/1-2 phase excitation, 2W1-2 phase micro-step support ICs ■Applications The SLA7000 and SMA7000 series are ideal for the following applications. ● Sheet feeders and carriage drivers in printers. ● Sheet feeders for PPC and facsimile machines. ● Numeric control equipment. ● Industrial robots. ■Handling Precautions ● Recommended screw torque 0.588 to 0.784 [N•m](6.0 to 8.0 [kgf•cm]) ● 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 Current sense resistor Notes on SLA7000/SMA7000 Series PWM control and phase switching Used as both chopper control MOSFET and phase switching MOSFET SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 2-Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Symbol Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current VCC VDSS VS V IN V REF IO P D1 P D2 Tch Tstg Power dissipation Channel temperature Storage temperature (Ta =25°C) Ratings SLA7022MU SLA7029M SMA7022MU SMA7029M 46 100 46 7 2 1 1.5 4.5 (Without Heatsink) 35 (TC=25°C) 1 1.5 4.0 (Without Heatsink) 28(TC=25°C) +150 −40 to +150 Units V V V V V A W W °C °C ■Electrical Characteristics (Ta =25°C) Ratings Parameter Symbol SLA7022MU typ max 10 15 V S=44V 10 24 44 100 VS =44V, IDSS=250 µA 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, V S=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 Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage DC characteristics FET drain leakage current FET diode forward voltage TTL input current TTL input voltage (Active High) AC characteristics TTL input voltage (Active Low) Switching time IS Condition VS VDSS Condition V DS Condition IDSS Condition V SD Condition IIH Condition IIL Condition VIH Condition VIL Condition VIH Condition VIL Condition Tr Condition T stg Condition Tf Condition min SLA7029M typ max 10 15 V S=44V 24 44 10 100 VS =44V, IDSS=250 µ 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 SMA7022MU typ max 10 15 VS =44V 10 24 44 100 VS=44V, IDSS=250 µA 0.85 ID=1A, VS=14V 4 VDSS=100V, VS =44V 1.2 ID=1A 40 VIH=2.4V, VS=44V −0.8 V IL=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 V S=44V 10 24 44 100 VS=44V, IDSS=250 µA 0.6 ID=1A, VS =14V 4 VDSS=100V, V S=44V 1.1 ID=1A 40 VIH=2.4V, VS =44V −0.8 V IL=0.4V, VS =44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 V S=24V, ID=1A 0.7 V S=24V, ID=1A 0.1 V S=24V, ID=1A Units min mA V V V mA V µA mA V V µs SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 5 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Internal Block Diagram 8 INB 5 VS 1 INA 6 10 14 15 1, 6, 10, 15pin Description of pins 4 12 TDB REFB 3 GNDB 2 1pin 6pin 10pin 15pin + – + – GNDA 7 REFA + – TDA RSA + – Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B Reg RSB Reg 13 11 9 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Excitation signal time chart 2-phase excitation VCC (46V max) + clock 0 1 2 3 0 1 IN A IN B H L H H L H L L H L H H 1-2 phase excitation Vb (5V) 8 VS r3 6 10 15 r1 r4 INA 2 11 C1 1 TdA TdB INB C2 r2 Rs r5 GA 4 C4 r6 Rs Open collector 6 14 INA INB 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 2 3 H H L H H H L L ● tdA and tdB are signals before the inverter stage. RSA REFA REFB RSB 7 3 13 9 C3 tdA 5 clock IN A td A IN B td B tdB SLA7022MU/SLA7029M/SMA7022MU/SMA7029M GB 12 r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 330 to 500pF 330 to 500pF 2200pF 2200pF 1.8Ω typ(7022MU) (1 to 2W) 1Ω typ(7029M) 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■External Dimensions SLA7022MU/SLA7029M +1 9.7 –0.5 +0.2 +0.2 0.65 –0.1 +0.2 1.15 –0.1 +0.2 1.15 –0.1 0.55 –0.1 4±0.7 14×P2.03±0.7=28.42±1.0 14×P2.03±0.4=28.42±0.8 1.6±0.6 +0.2 0.65 –0.1 (3) R-End 3±0.6 2.45±0.2 2.2±0.4 6.3±0.6 7.5±0.6 +0.2 Part No. Lot No. 4.6±0.6 Epoxy resin package 4.8±0.2 1.7±0.1 6.7±0.5 9.9 ±0.2 16 ±0.2 13 ±0.2 φ 3.2±0.15×3.8 0.55 –0.1 31±0.2 24.4±0.2 16.4±0.2 φ 3.2±0.15 (Unit: mm) 31.3±0.2 1 2 3 · · · · · · · 15 12 3 · · · · · · · 15 Forming No. No.853 Forming No. No.855 ■External Dimensions SMA7022MU/SMA7029MA (Unit: mm) Epoxy resin package 4±0.2 4±0.7 P2.03±0.1×14=28.42 1.2±0.1 (5.9) (7.5) (4.6) +0.2 0.55 –0.1 3 ±0.6 +0.2 0.65 –0.1 1.16 +0.2 –0.1 +0.2 0.55 –0.1 0.62±0.1 1.16±0.15 (3) 6.7 ±0.5 1.45±0.15 (9.7) Lot No. Part No. 1.6 ±0.6 2.5±0.2 30° 8.5max 10.2±0.2 31±0.2 P2.03±0.1×14=28.42 31.3 +0.2 12 3 · · · · · · · 15 1 2 3 · · · · · · · 15 Forming No. No.1054 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 ■Determining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). 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) Phase A 0 Vb: Reference supply voltage r1,r 2: Voltage-divider resistors for the reference supply voltage Phase A 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.) V b ................................................................ r2 (1) IO ≅ • r1+r2 RS Fig. 2 Normal mode Vb(5V) r6 (2) Power down mode r1 The circuit in Fig.3 (rx and Tr) is added in order to decrease the r5 3,(13) coil current. IO is then determined as follows. 1 IOPD ≅ r1(r2+rX) 1+ • r2 V b ......................................................... (2) RS C3 7,(9) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 1 Vb −1 − r1 Rs • IOPD r2 Fig. 3 Power down mode Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respec- r6 tively. r1 r5 rx Power down signal 3,(13) r2 7,(9) C3 Tr RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 2.0 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 0 1 2 3 4 Current sense resistor RS (Ω) (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, r 5(r6) and C3(C4) are added to act as a noise filter. 8 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Output current IOPD (A) Output current IO (A) 4 RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) 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. 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) ■Determining the chopper frequency SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF The SLA7000M and SMA7000M series are self-excited choppers. The chopping OFF time T OFF is fixed by r 3/C1 and r4/C 2 60 connected to terminal Td. 50 ommended. 20 30 VC 20 ■Chopper frequency vs. Supply voltage =2 VCC 0 0 2 25 V =36 30 35 40 40 40 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω 20 f (kHz) 50 30 r3 = r4 = 47kΩ 500pF C1 C2 TOFF =12µs RS =1Ω Lm =1~3ms Rm 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) ■Chopper frequency vs. Output current 50 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 10 0 C 4V 10 T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V f (kHz) 40 Chopping frequency f (kHz) The circuit constants and the T OFF value shown below are rec- ON time TON (µ s) T OFF can be calculated using the following formula: 2 2 TOFF≅−r3 • C1rn (1− =−r4 • C2rn (1− ) Vb Vb 15 0 10 20 30 VCC (V) 40 50 0 0 0.2 0.4 0.6 0.8 1.0 IO (A) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 9 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for calculating heat dissipation is shown below. 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) 1-2 phase excitation: Pdiss ≅ 3 P H+0.015×VS (W) 2 (3) Obtain the temperature rise that corresponds to the calcu- (1)Obtain the value of P H that corresponds to the motor coil current IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." lated value of Pdiss from Fig. 8 "Temperature rise." Fig. 7 Heat dissipation per phase PH vs. Output current IO SLA7022MU, ASMA7022MU SLA7029M, SMA7029M 1.2 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.2 1 4V 0.8 VC C =4 V 36 0.6 Motor : 23LM-C202 Holding mode V 24 5V 1 0.4 0.2 0 0 0.2 0.4 0.6 0.8 1.0 0.8 36 0.6 VCC V V =44 Motor : 23LM-C004 V Holding mode 15 24V 0.4 0.2 0 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 SMA7000M series SLA7000M series 150 150 j ∆T ∆Tj–a ∆TC–a (°C) Natural cooling Without heatsink 50 0 j 100 C ∆T ∆Tj–a (°C) ∆TC–a ∆T 100 C ∆T Natural cooling Without heatsink 50 0 1 2 3 Total Power (W) 4 0 5 0 1 2 3 Total Power (W) 4 Thermal characteristics SLA7022MU 30 Without heatsink Natural cooling 30 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 35 SLA7029M Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 1K SMA7022MU Without heatsink Natural cooling 30 25 TC ( 4 pin) 20 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 500 1K SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 Response frequency (pps) 10 1K SMA7029MU 35 0 200 500 Response frequency (pps) Response frequency (pps) Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 Response frequency (pps) 1K 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Supply Voltage VCC vs. Supply Current ICC SLA7029M, SMA7029M 500 400 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Supply current ICC (mA) Supply current ICC (mA) SLA7022MU, SMA7022MU 500 0.4A 0.2A 0 10 20 30 40 200 IO=1A 100 0 50 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 0.5A 0.2A 0 Supply voltage VCC (V) 10 20 30 40 50 Supply voltage VCC (V) ■Torque Characteristics SLA7022MU, SMA7022MU 2.0 1.5 Motor : PX244-02 Output current IO =0.6A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 0 100 500 1K Response frequency (pps) 5K Pull-out torque (kg-cm) Pull-out torque (kg-cm) 2.0 SLA7029M, SMA7029M 1.5 Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 0 100 500 1K 5K Response frequency (pps) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 11 SMA7036M 2-Phase Excitation 2-Phase Stepper Motor Unipolar Driver IC ■Absolute 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 V CC VS VDSS VIN VSYNC VREF V RS 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 =25°C) 28 (Tc=25°C) 150 −40 to +150 −20 to +85 Units V V V V V V V A W W °C °C °C ■Electrical Characteristics Parameter Symbol 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 V IH Condition Active H VIL Condition V IH IN terminal Condition Active L VIL Condition II Input current Condition VSYNCH Condition Input voltage V SYNCL Condition SYNC terminal ISYNCH Condition Input current ISYNCL Condition V REF Input Condition voltage V REF Condition REF terminal IREF Input Condition current RREF Internal resistance Condition Ton Condition Tr Condition Switching time Tstg min AC characteristics DC characteristics Control supply current Chopping OFF time 12 SMA7036M Condition Tf Condition TOFF Condition 10 100 Ratings typ 10 VS =44V 24 max 15 44 Units mA V V VS =44V, IDSS=250 µA 0.6 ID=1A, V S=10V 1.1 ISD=1A 250 VDSS=100V, VS =44V V V µA 2 ID=1A 0.8 V V DSS=100V 2 V DSS=100V 0.8 V ID=1A ±1 V S=44V, VI=0 or 5V µA 4.0 Synchronous chopping mode 0.8 V Asynchronous chopping mode 0.1 VS =44V, VYS=5V −0.1 mA VS =44V, VYS=0V 0 2.0 Reference voltage input 4.0 5.5 V 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 µA Ω µs µs 2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M ■Internal Block Diagram 5 8 14 10 15 Vs IN B 6 IN A 1 1, 6, 10, 15pin Description of pins Reg. Oscillator MOSFET gate drive circuit Reg. Chopping blanking timer (5 µ s typ) Chopping OFF timer (12 µ s typ) Chopping blanking timer (5 µ s typ) + + − − 12 11 Rs B SYNC B 13 GND B 3 REF B REF A 4 GND A Synchronous chopping circuit SYNC A Rs A 2 MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) Synchronous chopping circuit 7 1pin 6pin 10pin 15pin Oscillator Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B 9 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Vcc (46V max) + Excitation signal time chart 8 1 6 10 2-phase excitation 15 VS 2 SyncA INA 5 INB 14 INA SMA7036M Vb (5V) 11 PchMOS SyncB r1 RsA 7 r2 Rs RefA RefB 3 13 RsB 9 GA 4 GB INB clock IN A IN B 0 H L : r1 : r2 RS (1 to 2W) : PchMOS : Inv : 1 H H 2 L H 3 L L 0 H L 1 H H 8kΩ 2kΩ (VR) 1Ω typ HN1J02FU (Toshiba) 7404 12 Rs Inv Disable (High Active) SMA7036M 13 2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M ■External Dimensions (Unit: mm) Epoxy resin package 4±0.2 +0.2 0.65 –0.1 1.16 +0.2 –0.1 3 ±0.6 +0.2 0.55 –0.1 4±0.7 P2.03±0.1×14=28.42 1.2±0.1 (5.9) (7.5) P2.03±0.1×14=28.42 31.3 +0.2 12 3 · · · · · · · 15 1 2 3 · · · · · · · 15 Forming No. No.1054 14 SMA7036M Forming No. No.1055 +0.2 (3) 0.62±0.1 1.16±0.15 1.6 ±0.6 (9.7) 6.7 ±0.5 1.45±0.15 0.55 –0.1 Lot No. Part No. (4.6) 2.5±0.2 30° 8.5max 10.2±0.2 31±0.2 2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M Application Notes ■Outline Connect TTL or similar to the SYNC terminals and switch the SMA7036M is a stepper motor driver IC developed to reduce the number of external parts required by the conventional SYNC terminal level high or low. When the motor is not running, set the TTL signal high (SYNC SMA7029M. This IC successfully eliminates the need for some terminal voltage: 4 V or more) to make chopping synchronous. external parts without sacrificing the features of SMA7029M. The basic function pins are compatible with those of SMA7029M. When the motor is running, set the TTL signal low (SYNC terminal voltage: 0.8 V or less) to make chopping asynchronous. If chop- ■Notes on Replacing SMA7029M ping is set to synchronous when the motor is running, the motor torque deteriorates before the coil current reaches the set value. SMA7036M is pin-compatible with SMA7029M. When using If no abnormal noise occurs when the motor is not running, the IC on an existing board, the following preparations are necessary: ground the SYNC terminals (TTL not 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 re- SYNC_A TTL, etc. SYNC_B moved 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 SMA7036M switching (SYNC terminals). For details, see "Circuit for Preventing Abnormal Noise When the Motor Is Not Running (SynSYNC voltage : Low → Chopping asynchronous SYNC voltage : High → Chopping synchronous chronous circuit)." (Low: asynchronous, High: synchronous) ■Circuit for Preventing Abnormal Noise When the Motor Is Not Running (Synchronous Circuit) A motor may generate abnormal noise when it is not running. The built-in synchronous chopping circuit superimposes a trigger signal on the REF terminal for synchronization between the two This phenomenon is attributable to asynchronous chopping be- phases. The figure below shows the internal circuit of the REF tween phases A and B. To prevent the phenomenon, SMA7036M contains a synchronous chopping circuit. Do not leave the SYNC terminal. Since the ∆ VREF varies depending on the values of R1 and R2, determine these values for when the motor is not run- terminals open because they are for CMOS input. ning within the range where the two phases are synchronized. 5V SMA7036M R1 VREF R2 3 REF_A 14 REF_B To comparator (high impedance) 40 Ω (typ.) 40 Ω (typ.) Sync/async switching signal ONE SHOT (tw=2 µ S) FET A/A gate drive signal ONE SHOT (tw=2 µ S) FET B/B gate drive signal VREF waveform VREF 0 ■Synchronous 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) ■Determining the Output Current SMA7036M Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). 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 I O) Phase A 0 Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage Phase A 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 Fig. 2 Normal mode Vb(5V) (2) Power down mode r1 The circuit in Fig.3 (r x and Tr) is added in order to decrease the 3,(13) coil current. I O is then determined as follows. 1 IOPD ≅ • r1(r 2+rX) 1+ r2 V b ......................................................... (2) RS 7,(9) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. rX= 1 1 Vb r1 Rs • IOPD −1 − 1 Fig. 3 Power down mode r2 Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respectively. r1 3,(13) rx Power down signal r2 7,(9) Tr RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 2.0 3 r2 · Vb IO= r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V 2 1 0 0 1 2 3 Current sense resistor RS (Ω) 16 SMA7036M 4 Output current IOPD (A) Output current IO (A) 4 RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) 2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) ■Thermal Design (2) The power dissipation Pdiss is obtained using the following An outline of the method for calculating heat dissipation is shown below. (1) Obtain the value of P H that corresponds to the motor coil current IO from Fig. 6 "Heat dissipation per phase PH vs. Output current IO." formula. 2-phase excitation: Pdiss ≅ 2PH +0.015×V S (W) 3 PH +0.015×V S (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 1.2 Fig. 7 Temperature rise 150 1.0 ∆T 0.8 0.6 VCC =44 V 24V 0.4 j 100 V 36 Motor : 23LM-C004 Holding mode V 15 ∆Tj–a (°C) ∆TC–a Heat dissipation per phase PH (W) SMA7036M C ∆T Natural cooling Without heatsink 50 0.2 0 0 0.2 0.4 0.6 0.8 Output current IO (A) 1.0 0 0 1 2 3 Total Power (W) 4 Thermal characteristics Case temperature rise ∆TC–a (°C) 30 Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) SMA7036M 17 2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) ■Supply Voltage VCC vs. Supply Current ICC SMA7036M ■Torque Characteristics 2.0 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Pull-out torque (kg-cm) Supply current ICC (mA) 500 1.5 0.5 0.5A 0.2A 0 10 20 30 40 Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation 1.0 0 50 100 50 50 40 40 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω 20 10 0 1K 5K ■Chopper frequency vs. Output current f (kHz) f (kHz) ■Chopper frequency vs. Supply voltage 30 500 Response frequency (pps) Supply voltage VCC (V) 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 0 10 20 30 40 50 0 0 0.2 VCC (V) 0.4 0.6 0.8 1.0 IO (A) ■Handling Precautions The input terminals of this product use C-MOS circuits. Observe the following precautions. ● 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. ● 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 SLA7027MU/SLA7024M/SLA7026M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Symbol Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current VCC V DSS VS VIN VREF IO PD1 PD2 Tch Tstg Power dissipation Channel temperature Storage temperature (Ta=25°C) Ratings SLA7024M 46 100 46 7 2 1.5 4.5 (Without Heatsink) 35 (TC=25°C) +150 −40 to +150 SLA7027MU 1 Units SLA7026M V V V V V A W W °C °C 3 ■Electrical 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 V IH TTL input voltage Condition (Active High) VIL Condition V IH TTL input voltage Condition (Active Low) VIL Condition Tr Condition Tstg Switching time Condition Tf Condition AC characteristics DC characteristics Control supply current 20 10 100 SLA7027MU/SLA7024M/SLA7026M SLA7027MU typ 10 VS =44V 24 max 15 min 44 10 100 VS =44V, IDSS=250 µA Ratings SLA7024M typ 10 VS=44V 24 max 15 min 44 10 100 VS=44V, IDSS=250µA 0.85 4 4 1.2 1.1 40 2.3 ID=3A 40 VIH=2.4V, VS=44V 40 VIH =2.4V, VS =44V −0.8 VIH=2.4V, VS=44V −0.8 V IL=0.4V, VS =44V −0.8 VIL=0.4V, VS=44V V IL=0.4V, VS =44V 2 ID=1A ID=3A 0.8 VDSS=100V 0.8 VDSS=100V 2 V mA V µA mA V VDSS=100V 2 VDSS=100V V 2 ID=1A 0.8 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 4 V DSS=100V, VS =44V ID=1A mA V ID=3A, VS=14V VDSS=100V, VS=44V ID=1A 44 0.85 ID=1A, VS =14V V DSS=100V, VS =44V Units max 15 VS =44V, IDSS=250 µA 0.6 ID=1A, AV S=14V 2 SLA7026M typ 10 VS =44V 24 VDSS=100V 0.8 ID=1A 0.5 VS =24V, ID=1A 0.7 VS =24V, ID=1A 0.1 VS =24V, ID=1A 0.8 ID=3A 0.5 V S=24V, ID=1A 0.7 V S=24V, ID=1A 0.1 V S=24V, ID=1A V µs 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M 12 Reg Reg 17 16 18 IN B 7 VSB 5 VSA 6 IN A 1 IN A 8 IN B ■Internal Block Diagram 11 1, 8, 11, 18pin Description of pins 2 3 14 13 1 8 11 18 input Active L OUTA OUTA OUT B OUT B RSB GB TDB REFB 4 Pin Pin Pin Pin + – + – REFA 9 + – TDA GA RSA + – Excitation Active H OUTA OUTA OUT B OUT B 15 10 ■Diagram of Standard External Circuit(Recommended Circuit Constants) Active High VCC (46V max) Excitation signal time chart 2-phase excitation + Vb (5V) r3 7 12 8 VSA VSB OUTA 11 OUTB r1 r4 2 C1 1 18 OUTA OUTB 13 C2 TdA TdB INA SLA7024M 7026M 7027MU RSA REFA REFB RSB 9 3 14 10 r2 C3 INA INB INB GB 15 GA 4 6 5 17 16 r6 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 r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1Ω typ(7024M) (1 to 2W) 0.68Ω typ(7026M) 1.8Ω typ(7027MU) 1 L H H L INA INA INB Active High INB 1-2 phase excitation clock IN A IN A IN B IN B C4 r5 Rs clock IN A IN A IN B IN B Rs 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 (46V max) Excitation signal time chart 2-phase excitation + Vb (5V) r3 C1 7 12 8 1 18 VSA VSB OUTA OUTA OUTB 11 OUTB r1 r4 C2 r2 2 TdA TdB 13 C3 Rs INA SLA7024M 7026M 7027MU RSA REFA REFB RSB 9 3 14 10 C4 r5 r6 Rs clock IN A IN A IN B IN B INA INB GA 4 INB GB 15 6 5 17 16 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 r1 r2 r3 r4 r5 r6 C1 C2 C3 C4 Rs 510Ω 100Ω(VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1Ω typ(7024M) (1 to 2W) 0.68Ω typ(7026M) 1.8Ω typ(7027MU) 1 H L L H INA INA INB Active Low INB 1-2 phase excitation clock IN A IN A IN B IN B 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 SLA7027MU/SLA7024M/SLA7026M 21 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■External Dimensions +0.2 +0.2 0.65 –0.1 1 –0.1 17×P1.68±0.4=28.56±1 +0.2 +0.2 0.65 –0.1 1 –0.1 +0.2 0.55 –0.1 4±0.7 2.2±0.6 6±0.6 7.5±0.6 17×P1.68±0.4=28.56±1 31.3±0.2 1 2 3 · · · · · · · 18 Forming No. No.871 22 SLA7027MU/SLA7024M/SLA7026M 123 · · · · · · · 18 Forming No. No.872 +0.2 4.6 ±0.6 +1 (3) R-End 3 ±0.6 2.45±0.2 0.55 –0.1 1.6 ±0.6 3. 4. 5. Part No. Lot No. 4.8±0.2 1.7±0.1 6.7±0.5 9.9 ±0.2 16 ±0.2 φ 3.2±0.15×3.8 9.7 –0.5 31±0.2 24.4±0.2 16.4±0.2 φ 3.2±0.15 13 ±0.2 (Unit: mm) 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M Application Notes ■Determining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). 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) Phase A 0 Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage Phase A 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 Fig. 2 Normal mode Vb(5V) (2) Power down mode r6 r1 The circuit in Fig.3 (rx and Tr) is added in order to decrease the r5 3,(14) coil current. IO is then determined as follows. 1 IOPD ≅ • r1(r 2+rX) 1+ r2 V b ......................................................... (2) RS C3 9,(10) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. rX= 1 1 Vb r1 R s • I OPD −1 − 1 Fig. 3 Power down mode r2 Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respectively. r6 r5 r1 rX Power down signal Fig. 4 Output current IO vs. Current sense resistor R S C3 Tr 2.0 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 1 2 3 4 Current sense resistor RS (Ω) Output current IOPD (A) Output current IO (A) 9,(10) r2 Fig. 5 Output current IOPD vs. Variable current sense resistor rx 4 0 3,(14) RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) (NOTE) Ringing noise is produced in the current sense resistor RS when However, when the values of these constants are increased, the MOSFET is switched ON and OFF by chopping. This noise is also generated in feedback signals from RS which may there- the response from RS to the comparator becomes slow. Hence the value of the output current IO is somewhat higher than the fore cause the comparator to malfunction. To prevent chopping calculated value. malfunctions, r 5(r 6) and C3(C4) are added to act as a noise filter. SLA7027MU/SLA7024M/SLA7026M 23 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Determining the chopper frequency SLA7027MU/SLA7024M/SLA7026M Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF The SLA7000M series are self-excited choppers. The chopping OFF time T OFF is fixed by r3/C1 and r4/C2 connected to terminal 60 Td. 50 TOFF≅−r3 • C1rn (1− 2 =−r4 • C2rn (1− 2 ) Vb Vb The circuit constants and the T OFF value shown below are recommended. T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V 40 30 VC 40 10 0 4V 25 V 30 35 40 10 20 30 40 50 VCC (V) SLA7027MU/SLA7024M/SLA7026M 47kΩ r4 500pF C1 = C2 = TOFF =12µs RS =1Ω Lm =1~3ms Rm 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 0 r3 ■Chopper frequency vs. Output current f (kHz) f (kHz) 2 40 20 24 0 50 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω =2 10 50 30 C =36 VCC 20 0 ■Chopper frequency vs. Supply voltage 20 Chopping frequency f (kHz) T OFF can be calculated using the following formula: ON time TON (µ s) 15 0 0 0.2 0.4 0.6 IO (A) 0.8 1.0 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for calculating heat dissipation is shown be(1) Obtain the value of PH that corresponds to the motor coil current 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) 3 PH+0.015×VS (W) 1-2 phase excitation: Pdiss ≅ 2 (3) Obtain the temperature rise that corresponds to the calcu- IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." lated value of Pdiss from Fig. 8 "Temperature rise." low. Fig. 7 Heat dissipation per phase P H vs. Output current IO SLA7027MU SLA7026M 4.0 Motor : 23LM-C202 Holding mode V 24 V 15 0.4 0.2 0 0 0.2 0.4 0.6 0.8 2.0 Motor : 23PM-C503 Holding mode 1.0 0 0 1.0 15 V V 36 =4 4V V 0.6 3.0 C =4 24 V CC VC 4V 0.8 V 1 36 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.2 1.0 2.0 Output current IO (A) Output current IO (A) 3.0 Fig. 8 Temperature rise 150 1.0 ∆T 0.8 100 V 36 0.6 VCC V =44 Motor : 23LM-C004 Holding mode 5V 24V 0.4 1 j C ∆T ∆Tj–a ∆TC–a (°C) Heat dissipation per phase PH (W) 1.2 SLA7024M Natural cooling Without heatsink 50 0.2 0 0 0.2 0.4 0.6 0.8 Output current IO (A) 0 1.0 0 1 2 3 Total Power (W) 4 5 Thermal characteristics SLA7027MU SLA7026M 50 Without heatsink Natural cooling 30 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) Case temperature rise ∆TC–a (°C) 30 Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 35 Without heatsink Natural cooling 40 30 TC( 4 pin) Motor : 23PM-C705 Motor current IO=1.5A Ta=25°C VCC=24V, VS=24V 2-phase excitation 20 10 0 100 500 1K 5K Response frequency (pps) SLA7024M Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) SLA7027MU/SLA7024M/SLA7026M 25 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■Supply Voltage VCC vs. Supply Current ICC SLA7027MU SLA7026M 1.5 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Supply current ICC (A) Supply current ICC (mA) 500 1.0 Motor : 23PM-C503 1-phase excitation Holding mode IO : Output current IO=3A 0.5 IO=2A 0.4A 0.2A 0 10 20 30 40 IO=1A 50 0 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) SLA7024M Supply current ICC (mA) 500 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 0.5A 0.2A 0 10 20 30 40 50 Supply voltage VCC (V) ■Note 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 Low Active High 26 Input Corresponding output Input Corresponding output INA (pin6) OUTA (pin1) INA (pin6) OUTA (pin8) INA (pin5) OUTA (pin8) INA (pin5) OUTA (pin1) INB (pin17) OUTB (pin11) INB (pin17) OUTB (pin18) INB (pin16) OUTB (pin18) INB (pin16) OUTB (pin11) SLA7027MU/SLA7024M/SLA7026M SLA7027MU/SLA7024M/SLA7026M 27 SLA7032M/SLA7033M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter (Ta=25°C) Ratings Symbol Motor supply voltage Control supply voltage FET Drain-Source voltage TTL input voltage SYNC terminal voltage Reference voltage Sense voltage Output current SLA7032M VCC VS V DSS VIN V SYNC V REF VRS IO P D1 P D2 Tch Tstg Power dissipation Channel temperature Storage temperature Units SLA7033M 46 46 100 −0.3 to +7 −0.3 to +7 −0.3 to +7 −5 to +7 V V V V 1.5 V V A W W °C °C 3 4.5 (Without Heatsink) 35 (Tc = 25°C) +150 −40 to +150 ■Electrical 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 DC characteristics OUT IN terminal OUT Input current Input voltage SYNC terminal Input current¨ Input current REF terminal Input current AC characteristics Internal resistance 28 Switching time Chopping OFF time SLA7032M/SLA7033M IS Condition VS VDSS Condition VDS Condition VSD Condition 10 100 SLA7032M typ 10 VS=44V 24 max 15 min 44 10 100 V S=44V, IDSS=250µA SLA7033M typ 10 V S=44V 24 Units max 15 44 0.6 0.85 ID=3A, VS =14V 1.1 2.3 ISD =1A ISD=3A IDSS 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, V I=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 V V VS =44V, IDSS=250 µA ID=1A, VS =14V mA 250 V DSS=100V, VS =44V V V µA 2.0 ID=3A 0.8 V VDSS=100V 2.0 VDSS=100V 0.8 V ID=3A ±1 VS=44V, VI =0 or 5V µA 4.0 Synchronous chopping mode 0.8 V Asynchronous chopping mode 0.1 V S=44V, VYS=5V −0.1 mA V S=44V, VYS=0V 0 2.0 Reference voltage input 4.0 5.5 V Output FET OFF ±1 No synchronous trigger 40 Resistance between GND and REF terminal at synchronous trigger 0.5 V S=24V, ID=1A 0.7 V S=24V, ID=1A 0.1 V S=24V, ID=1A 12 V S=24V µA Ω µs µs 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Internal Block Diagram 17 16 11 IN B 12 IN B 7 Vs B 5 Vs A 6 IN A 8 IN A 1 18 1, 8, 11, 18pin Description of pins Reg. Chopping blanking timer (5 µ s typ) Oscillator MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) Chopping blanking timer (5 µ s typ) + + − − MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) 14 13 Rs B GB 15 SYNC B 3 REF B GA 4 REF A Synchronous chopping circuit SYNC A Rs A 2 1pin 8pin 11pin 18pin Oscillator Synchronous chopping circuit 9 Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B Reg. 10 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Active High Excitation signal time chart 2-phase excitation Vcc (46Vmax) clock IN A IN A IN B IN B + 7 12 VsA 2 Vb (5V) 8 VsB 1 18 11 OUTA OUTA OUTB OUTB SYNC A SLA7032M SLA7033M 13 SYNC B INA 6 INA INA 5 INA INB 17 INB INB 16 INB 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 r1 : 4kΩ r2 : 1kΩ(VR) R s : 1Ω typ(7032M) (1 to 2W) 0.68Ω typ(7033M) 1 L H H L Active High 1-2 phase excitation RsA r1 REFA REFB RsB 3 9 14 GA 10 4 Rs GB clock IN A IN A IN B IN B 15 Rs r2 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 Excitation signal time chart 2-phase excitation Vcc (46Vmax) clock IN A IN A IN B IN B + 7 VsA 2 Vb (5V) 13 8 VsB 1 18 11 OUTA OUTA OUTB OUTB SYNC A SLA7032M SLA7033M SYNC B RsA r1 9 Rs r2 12 REFA REFB RsB 3 14 GA 10 4 Rs INA 6 INA INA 5 INA INB 17 INB INB 16 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 r1 : 4kΩ r2 : 1kΩ(VR) R s : 1Ω typ(7032M) (1 to 2W) 0.68Ω typ(7033M) 1 H L L H Active Low 1-2 phase excitation clock IN A IN A IN B IN B 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 SLA7032M/SLA7033M 29 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■External Dimensions +0.2 +0.2 0.65 –0.1 1 –0.1 17×P1.68±0.4=28.56±1 +0.2 +0.2 0.65 –0.1 1 –0.1 +0.2 0.55 –0.1 4±0.7 2.2±0.6 6±0.6 7.5±0.6 17×P1.68±0.4=28.56±1 31.3±0.2 1 2 3 · · · · · · · 18 Forming No. No.871 30 SLA7032M/SLA7033M 123 · · · · · · · 18 Forming No. No.872 +0.2 4.6 ±0.6 +1 (3) R-End 3 ±0.6 2.45±0.2 0.55 –0.1 1.6 ±0.6 3. 4. 5. Part No. Lot No. 4.8±0.2 1.7±0.1 6.7±0.5 9.9 ±0.2 16 ±0.2 φ 3.2±0.15×3.8 9.7 –0.5 31±0.2 24.4±0.2 16.4±0.2 φ 3.2±0.15 13 ±0.2 (Unit: mm) 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M Application Notes ■Outline 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). ■Notes 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: 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). (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 re- SYNC_A TTL, etc. SYNC_B moved using jumper wires. (r5, r6, C3, and C4 in the catalog) (3) Normally, keep pins 2 and 13 grounded because their funcSLA7032M SLA7033M tions have changed to synchronous and asynchronous switching (SYNC terminals). For details, see "Circuit for Preventing Abnormal Noise When the Motor Is Not Running (Syn- SYNC voltage : Low → Chopping asynchronous SYNC voltage : High → Chopping synchronous chronous circuit)." (Low: asynchronous, High: synchronous) ■Circuit 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 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. 5V R1 VREF R2 3 REF_A 14 REF_B To comparator (high impedance) 40Ω (typ.) 40Ω (typ.) SLA7032M SLA7033M Sync/async switching signal ONE SHOT (tw=2 µ S) FET A/A gate drive signal ONE SHOT (tw=2 µ S) FET B/B gate drive signal VREF waveform VREF 0 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) ■Determining the Output Current SLA7032M/SLA7033M Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). 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 I O) Phase A 0 Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage Phase A 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 Vb ................................................................ (1) RS Fig. 2 Normal mode Vb(5V) (2) Power down mode r1 The circuit in Fig.3 (rx and Tr) is added in order to decrease the 3,(14) coil current. I O is then determined as follows. 1 IOPD ≅ r1(r 2+rX) 1+ • r2 V b ......................................................... (2) RS 9,(10) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. rX= 1 1 r1 Vb R s • IOPD −1 − 1 Fig. 3 Power down mode r2 Vb(5V) Fig. 4 and 5 show th e graphs of equations (1) and (2) respectively. r1 rX Power down signal Fig. 4 Output current IO vs. Current sense resistor RS 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 1 2 3 SLA7032M/SLA7033M 4 Output current IOPD (A) Output current IO (A) Tr 2.0 Current sense resistor RS (Ω) 32 9,(10) r2 Fig. 5 Output current IOPD vs. Variable current sense resistor r x 4 0 3,(14) RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Thermal 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+0.015×VS (W) 3 P H+0.015×VS (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 SLA7033M SLA7032M 4.0 VC Motor : 23LM-C004 Holding mode 5V 24V 0.4 1 0.2 0 0 0.2 0.4 0.6 0.8 Output current IO (A) V 2.0 15 Motor : 23PM-C503 Holding mode 1.0 0 0 1.0 V =4 4 C V V 44 C= 24 0.6 3.0 VC V 36 V 0.8 36 1.0 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.2 1.0 2.0 Output current IO (A) 3.0 Fig. 7 Temperature rise 150 ∆T 100 j ∆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 SLA7033M 50 Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 Response frequency (pps) 1K Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 Without heatsink Natural cooling 40 30 TC( 4 pin) Motor : 23PM-C705 Motor current IO=1.5A Ta=25°C VCC=24V, VS=24V 2-phase excitation 20 10 0 100 500 1K 5K Response frequency (pps) SLA7032M/SLA7033M 33 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Supply Voltage VCC vs. Supply Current I CC SLA7033M SLA7032M 1.5 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A Supply current ICC (A) Supply current ICC (mA) 500 1.0 Motor : 23PM-C503 1-phase excitation Holding mode IO : Output current IO=3A 0.5 IO=2A 100 0 0.5A 0.2A 0 10 20 30 40 IO=1A 0 50 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) ■Torque Characteristics SLA7032M 2.0 6.0 SLA7033M Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 Pull-out torque (kg-cm) Pull-out torque (kg-cm) 5.0 1.5 4.0 Motor : 23PM-C705 Output current IO =2.5A Motor supply voltage VCC =24V 2-phase excitation 3.0 2.0 1.0 0 100 500 1K Response frequency (pps) 34 SLA7032M/SLA7033M 5K 0 100 500 1K 5K Response frequency (pps) 10K 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) ■Chopper frequency vs. Output current 50 50 40 40 30 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω 20 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 10 0 f (kHz) f (kHz) ■Chopper frequency vs. Supply voltage SLA7032M/SLA7033M 0 10 20 30 40 0 50 0 0.2 0.4 0.6 0.8 1.0 IO (A) VCC (V) ■Note 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 Low Active High Corresponding output Input Corresponding output INA (pin6) OUTA (pin1) INA (pin6) OUTA (pin8) INA (pin5) OUTA (pin8) INA (pin5) OUTA (pin1) INB (pin17) OUTB (pin11) INB (pin17) OUTB (pin18) INB (pin16) OUTB (pin18) INB (pin16) OUTB (pin11) Input ■Handling Precautions The input terminals of this product use C-MOS circuits. Observe the following precautions. ● 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. ● 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 SDK03M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute 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 V CC VDSS VS V IN 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 ■Electrical Characteristics Parameter Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage DC characteristics FET drain leakage current FET diode forward voltage TTL input current TTL input voltage (Active High) AC characteristics TTL input voltage (Active Low) 36 Switching time SDK03M Symbol min 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 Ratings typ 5 VS =44V 24 max 7.5 44 Units mA V V VS =44V, IDSS=250µ A 0.85 ID=1A, V S=14V 4 VDSS=100V, VS=44V 1.2 ID=1A 40 V IH=2.4V, VS=44V −0.8 VIL=0.4V, VS=44V V mA V µA mA 2 ID=1A 0.8 V V DSS=100V 2 V DSS=100V 0.8 ID=1A 0.5 V S=24V, ID=0.8A 0.7 V S=24V, ID=0.8A 0.1 V S=24V, ID=0.8A V µs 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■Internal Block Diagram 8 9 1 6 IN1 16 5 IN2 7 VS 1, 8, 9, 16pin Description of pins Excitation input Active H Active L Reg. 14 NC Pin 1 Pin 16 OUT1 OUT2 11 NC Pin 8 Pin 9 OUT2 OUT1 + – RS 15 RS 10 RS 13 GND 4 + – GND 12 TD 2 REF 3 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Active High Excitation signal time chart 2-phase excitation VCC (46V max) + Motor coil Phase A 1 Active High 6 IN1 Motor coil Phase B Vb (5V) 9 7 OUT1 OUT2 IN1 16 8 VS 7 r 3 r1 r 4 SDK03M 5 IN2 12 RS TD 13 4 2 2 REF 3 3 IN2 GND RS 13 15 10 10 r5 C3 RS r2 C1 Active Low r6 5 1 Active Low IN1 IN2 5 9 7 OUT2 OUT1 IN1 16 8 VS Motor coil Phase B 16 8 SDK03M Phase B RS TD 2 2 TD REF 13 REF 3 3 10 15 10 C3 RS r5 r2 C1 r6 C2 IN2 GND RS 13 C4 RS 0 H L H L 1 L H H L 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 Excitation signal time chart 2-phase excitation Phase clock 0 1 2 3 0 IN 1 L H H L L Phase A IN 2 H L L H H IN 1 L L H H L Phase B H H L L H IN 2 5 IN1 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1.8Ω typ r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1.8Ω typ 3 L H H L 1 H L L H Active Low IN2 (1 to 2W) 1-2-phase excitation 12 r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS : (1 to 2W) 9 OUT2 OUT1 6 IN1 Phase A 15 4 1 VS SDK03M IN2 GND 12 7 r 3 r1 r 4 3 H L L H IN2 Phase clock IN 1 IN 2 IN 1 Phase B IN 2 RS Vb (5V) 2 L H L H Active High Phase A + Motor coil Phase A 1 L H H L 1-2-phase excitation 4 VCC (46V max) 6 IN1 12 C4 C2 0 H L H L 9 Phase B TD REF 15 16 8 OUT1 OUT2 6 IN1 SDK03M Phase A IN2 GND 1 VS Phase clock IN 1 IN 2 IN 1 Phase B IN 2 Phase A 4 Phase clock IN 1 IN 2 IN 1 Phase B IN 2 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 SDK03M 37 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■External Dimensions (Unit: mm) 0.89±0.15 2.54±0.25 +0.15 0.75 –0.05 9 16 6.8max. Part No. Lot No. 1 8.0±0.5 19.56±0.2 0~0.1 3.0±0.2 9.8±0.3 38 SDK03M 4.0max. 3.6 ±0.2 1.4 ±0.2 0.25 0.3 –0.05 +0.15 6.3±0.2 1.0±0.3 20.0max. 8 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M Application Notes ■Determining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). 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) Phase A 0 Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage Phase A 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 Fig. 2 Normal mode Vb(5V) (2) Power down mode r6 r1 r5 The circuit in Fig.3 (rx and Tr ) is added in order to decrease the 3 coil current. IO is then determined as follows. 1 IOPD ≅ r1(r 2+rX) 1+ • r2 Vb ......................................................... (2) RS C3 10 13 15 r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 1 Vb −1 − r1 R s • IOPD r2 Fig. 3 Power down mode Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respec- r6 tively. r1 r5 rX 3 r2 10 13 15 C3 Power down signal Tr RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 2.0 3 r2 · Vb r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 0 1 2 3 4 Current sense resistor RS (Ω) (NOTE) Ringing noise is produced in the current sense resistor RS when Output current IOPD (A) Output current IO (A) 4 RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) However, when the values of these constants are increased, the MOSFET is switched ON and OFF by chopping. This noise the response from RS to the comparator becomes slow. Hence is also generated in feedback signals from RS which may therefore cause the comparator to malfunction. To prevent chopping the value of the output current IO is somewhat higher than the calculated value. malfunctions, r 5(r 6) and C3(C4) are added to act as a noise filter. SDK03M 39 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Determining the chopper frequency SDK03M Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF SDK03M is self-excited choppers. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal Td. 60 2 Vb =−r4 • C2 rn (1− 2 Vb ) The circuit constants and the T OFF value shown below are recommended. T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V ON time TON (µ s) TOFF≅−r3 • C1rn (1− 50 40 20 30 VC 20 C =2 4V 25 V VCC =36 30 35 40 10 0 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) 50 50 40 40 30 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω 20 10 0 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 0 10 20 30 VCC (V) 40 2 SDK03M 40 50 r3 = r4 = 47kΩ 500pF C1 C2 TOFF =12µs RS =1Ω Lm =1~3ms Rm ■Chopper frequency vs. Output current f (kHz) f (kHz) ■Chopper frequency vs. Supply voltage 0 Chopping frequency f (kHz) 15 T OFF can be calculated using the following formula: 0 0 0.2 0.4 0.6 IO (A) 0.8 1.0 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for computing heat dissipation is shown below. 2-phase excitation: Pdiss ≅ PH+0.0075×VS (W) 3 P H+0.0075×VS (W) 1-2 phase excitation: Pdiss ≅ 4 (3) Obtain the temperature rise that corresponds to the calcu- (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." lated value of Pdiss from Fig. 8 "Temperature rise." Fig. 7 Heat dissipation per phase PH vs. Output current IO Fig. 8 Temperature rise 150 Heat dissipation per phase PH (W) 1.2 1 4V C =4 100 V 36 0.6 Motor : 23LM-C202 Holding mode V 24 V 15 Glass epoxy board (mounted on level surface) (95×69×1.2mm) Natural cooling ∆T j VC ∆Tj–a (°C) ∆TC–a 0.8 C ∆T 50 0.4 0.2 0 0 0.2 0.4 0.6 0.8 0 0 1.0 1 2 Total power (W) Output current IO (A) 3 Thermal characteristics Case temperature rise ∆TC–a (°C) 50 40 TC ( 9 pin) 30 Natural cooling Glass epoxy board (mounted on level surface) (95×69×1.2mm) Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 20 10 0 200 1K 500 Response frequency (pps) ■Supply Voltage VCC vs. Supply Current I CC ■Torque Characteristics 2.0 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Pull-out torque (kg-cm) Supply current ICC (mA) 500 1.5 Motor : PX244-02 Output current IO =0.6A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 0.4A 0.2A 0 10 20 30 40 50 0 100 Supply voltage VCC (V) 500 1K 5K Response frequency (pps) ■Note 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 Active Low Input Corresponding output Input Corresponding output IN1 (pin6) OUT1 (pin1, 16) IN1 (pin6) OUT1 (pin8, 9) IN2 (pin5) OUT2 (pin8, 9) IN2 (pin5) OUT2 (pin1, 16) SDK03M 41 UCN5804B 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver IC Allegro MicroSystems product ■Features Absolute Maximum Ratings ● Internal 1-phase/1-2 phase/2-phase excita- Parameter Output voltage Output sustaining voltage Output current (1 circuit) Logic supply voltage Input voltage Package power dissipation Operating temperature Junction temperature Storage temperature tion pattern generator ● Output enable and direction control ● Power-on reset ● Internal thermal shutdown circuitry ● Internal transient-suppression diodes ● Low thermal resistance 16-pin DIP (Ta =+25°C) Symbol V CE VCE (SUS) IO VDD VIN PD (Note1) Ta T j (Note2) T stg Ratings 50 35 1.5 7.0 7.0 2.90 −20 to +85 +150 −55 to +150 Units V V A/unit V V W/pkg °C °C °C Note 1: When ambient temperature is 25°C or over, derate using −23.3mW/°C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ■Electrical Characteristics (Unless specified otherwise, Ta =25°C, VDD=4.5V to 5.5V) Limits Parameter Symbol Conditions Output drivers Output leakage current Output sustaining voltage ICEX VCE (SUS) Output saturation voltage VCE (SAT) V O=50V IO =1.25A, L=3mH IO =700mA IO=1A IO=1.25A V R=50V IF=1.25A 50% step inputs to 50% output 50% step inputs to 50% output Clamp diode leakage current Clamp diode forward voltage Turn-on delay Turn-off delay Thermal shutdown temperature Control logic IR VF tON tOFF Tj IIH Input current VIL IDD Supply current Data setup time Data hold time Clock pulse width ● "typ" values are for reference. ■Timing Conditions max Units µA V 1.0 1.2 V 1.1 1.4 V 1.2 1.5 V 10 50 µA 1.5 3.0 V 10 µs 10 µs 165 °C (Unless specified otherwise, VIN=V DD or GND) 0.5 5.0 µA −0.5 −5.0 µA 3.5 5.3 V −0.3 0.8 V 20 30 mA 100 ns 100 ns 500 ns 10 2 outputs ON Inter-clock Inter-clock ts DAT (A) th DAT (B) tw CLK (C) typ 50 3.5 V IN=VDD V IN=0.8V V DD=5V IIL VIH Input voltage min ■Terminal Connection Diagram CLOCK OUTPUTB 1 VDD 16 SUPPLY KBD 2 OE 15 OUTPUT ENABLE OUTPUTD 3 14 DIRECTION GROUND 4 13 GROUND C ONE PHASE HALF-STEP A OUTPUT ENABLE B LOGIC OUTPUTA OUTPUTB GROUND 5 12 GROUND OUTPUTC OUTPUTC 6 11 STEP INPUT KAC 7 10 HALF-STEP OUTPUTA 8 9 ONE-PHASE OUTPUTD TWO-PHASE 42 UCN5804B HALF-STEP WAVE DRIVE OUTPUT DISABLED 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) Allowable package power dissipationPD (W) ■Derating UCN5804B ■Application Circuit 5 5V 4 28V 3 43 °C / W 2 1 VDD 16 2 OE 15 3 14 4 13 DIRECTION CONTROL LOGIC 1 0 −20 0 25 50 75 85 100 5 12 6 11 7 10 8 9 STEP INPUT Ambient temperature Ta (°C) 1 VDD 16 2 OE 15 3 OR ■Truth Table Drive Format 14 4 13 LOGIC 5 12 6 11 7 10 8 9 ■I/O Equivalent Circuit Pin 9 Pin 10 Two-Phase L L One-Phase H L Half-Step L H Step-Inhibit H H Input circuit Output driver VDD K OUT IN SUB ■External Dimensions ICs per stick (Unit: mm) 25 0.508 0.204 16 9 7.11 6.10 INDEX AREA 7.62BSC 1 2 3 8 0.127MIN 1.77 1.15 2.54BSC 21.33 18.93 Note 1 SEATING PLANE 5.33MAX 0.558 0.356 0.39MIN 4.06 2.93 ●Thickness of lead is measured below seating plane. ●Allowable 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 SLA7042M/SLA7044M 2W1-2 Phase Excitation/Micro-step Support 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage Input voltage Output current Power dissipation Channel temperature Storage temperature Ratings Symbol SLA7042M VCC V DSS VDD VIN IO PD Tch Tstg Units SLA7044M 46 100 7 −0.5 to VDD+0.5 1.2 V V V V A W °C °C 3 4.5 (Without Heatsink) +150 −40 to +150 ■Electrical Characteristics Ratings Parameter Symbol min Control supply current Control supply voltage Input Terminals voltage DATA, CLOCK Input hysteresis and voltage STROBE Input current DC characteristics REF terminal Input voltage Input current Reference voltage selection output voltage FET ON voltage FET Drain-Source voltage FET drain leakage current FET diode forward voltage AC characteristics Chopper off time Switching time 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" 44 SLA7042M/SLA7044M IDD Conditions VDD VIH Conditions VIL Conditions VH Conditions II Conditions VREF Conditions VDISABLE Conditions IREF Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V DS Conditions VDSS Conditions IDSS Conditions V SD Conditions T OFF Conditions T OFF Conditions T OFF Conditions Tr Conditions Tstg Conditions Tf Conditions tsDAT Conditions thDAT Conditions twDAT Conditions twhCLK Conditions tpsSTB Conditions twhSTB Conditions 4.5 3.5 SLA7042M typ V DD=5.5V 5 max 7 min 5.5 5 4.5 3.5 1.5 0 V DD=5V 0 V DD=5V 1 V DD=5V 5.5 5 1.5 VDD=5V 1 VDD=5V ±1 2.5 0.4 VDD V DD−1 V µA VDD V VDD=5V ±1 ±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 V DD=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 ID=3A, VDD=4.75V 100 100 IDSS=4mA, VDD=5V 4 VDSS=100V, VDD=5V V DSS=100V, VDD=5V 1.2 2.3 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 ID=3A 7 MODE 1, 2 9 MODE 3, 4, 5 11 MODE 6, 7 0.5 V DD=5V, ID=1A 0.7 V DD=5V, ID=1A 0.1 V DD=5V, ID=1A V V IDSS=4mA, VDD=5V 4 µA % 1.4 ID=1.2A, VDD=4.75V 75 V 2.5 VDD=5V V DD=5V mA V ±1 V DD=5V, VI=0 or 5V V DD=5V VDD−1 VDD=5.5V 5 Units max 7 VDD=5V VDD=5V, VI=0 or 5V 0.4 SLA7044M typ mA V µs µs 75 Inter-clock 75 Inter-clock 75 Inter-clock Inter-clock 150 150 100 100 ns 100 100 Strobe=L from clock 100 Strobe=L from clock 100 2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M OFF time timer (TOFF 3-step switching) 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% Chopper ON Noise filter (2 µ s) Chopper ON Noise filter (2 µ s) Phase COMP Latch a Ph. c c a b c c b Ph. a Reset Shift register b COMP Reset Latch b Shift register Ph. a Ph. Enable GND B Ref B CLOCK B DATA B STROBE B STROBE A DATA A Ref A CLOCK A Enable GND A Rs A PWM Phase Reset Reset OUT B OFF time timer (TOFF 3-step switching) Rs B PWM OUT B VDD B VDD A OUT A OUT A ■Internal Block Diagram ■Output Current Formula IO = K VREF • 3 RS K: Reference voltage setting rate by serial signal (See the internal block diagram) ■Diagram of Standard External Circuit VCC 5V 4 VDDA R1 15 1 8 11 18 VDDB OUT A OUT A OUT B OUT B CLOCK A 5 ENABLE VREF 3 14 R2 CLOCK B REF A REF B SLA7042M SLA7044M STROBE A STROBE B 16 2 13 DATA A C1 GND A GND B 7 12 RS A 9 RS 6 DATA B 17 RS B 10 RS C1 : 500 to 10000pF SLA7042M/SLA7044M 45 2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M ■External Dimensions 31±0.2 24.4±0.2 16.4±0.2 φ 3.2±0.15x3.8 4.8±0.2 1.7±0.1 +0.2 1 −0.1 +0.2 1 −0.1 0.55 −0.1 17xP1.68±0.4=28.56±1 4±0.7 17xP1.68±0.4=28.56±1 2.2±0.1 6±0.6 7.5±0.6 ±0.6 +0.2 +0.2 0.65 −0.1 1.6 +0.2 +0.2 0.65 −0.1 9.7 −0.1 R-End 3 ±0.6 ±0.6 4.6 2.45±0.2 Lot No. 0.55 +0.2 −0.1 Part No. (3) 6.7±0.5 9.9±0.2 13±0.2 φ 3.2±0.15 16±0.2 (Unit: mm) 31.3±0.2 1 2 3 • • • • • • • • • • • • 16 17 18 1 2 3 • • • • • • • • • • • • 16 17 18 Forming No. No.871 Forming No. No.872 ■Serial Data Pattern OUT excitation (MODE χ) Phase a b OUT excitation (MODE χ) c Phase CLOCK 0 0 STROBE 0 0 (0%) 0 0 MODE1 (20%) 0 0 MODE2 (40%) 0 0 MODE3 (55.5%) 0 0 MODE4 (71.4%) 0 0 0 0 0 0 0 0 a b c MODE0 DATA MODE5 (83%) MODE6 (91%) MODE7 (100%) 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 See page 48 for details of PG001M serial signal generator IC for SLA7042M and SLA7044M. 2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M ■Current Vector Locus (One step of stepper motor normalized to 90 degrees) A 100 10 1 2 3 Combined Current A Current B vector To rotate the motor, enter serial data as follows: 2W1-2 phase excitation : Vector 1→2→3→4→5→6→7→8→9 ... W1-2 phase excitation : Vector 1→3→5→7→9→.... 1-2 phase excitation : Vector 1→5→9 2-2 phase excitation : Vector 5 or 10 4 5 6 7 20 8 B 0 20 40 55.5 9 B 71.4 83 91 100 1 100% 0% 2 100% 20% 3 91% 40% 4 83% 55.5% 5 71.4% 71.4% 6 55.5% 83% 7 40% 91% 8 20% 100% 9 0% 100% 10 100% 100% A ■Serial Data Sequence Example (2W 1-2 Phase Excitation for CW) 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Sequence 0 1 2 3 4 5 6 7 8 9 DATA-A MODE 0 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 DATA-B MODE 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 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: V DD−1V to VDD ) after the power is turned on.) ■Operation 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 ■Absolute Maximum Ratings Parameter Supply voltage Input voltage Input current Output voltage Output current Power dissipation Operating temperature Storage temperature (Ta=25°C) Symbol VDD VI II VO IO PD T OP 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 Units V V mA V mA mW °C °C ■Electrical Characteristics DC characteristics Parameter Symbol Supply voltage Supply current Conditions V DD IDD VOH VOL II VIH VIL VH CI F T CS Output voltage Input current Input voltage Input hysteresis voltage Input capacity Internal oscillation frequency Propagation delay time AC characteristics (Ta=25°C) tps min 4.5 V DD=5.5V max 5.5 0.45 0.35 4.5 V DD=5V, IO =±3mA 3.5 0.4 ±1 5 −0.3 1.5 V DD=5V, VI=0 or 5V VDD=5V VDD=5V VDD=5V 1 5 1.5 50 VDD=5V See Fig. 1. TCC Tr Tf V CIH VCIL tsR tpsR tsS 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) Ratings typ V DD=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. S 100 550 ns 100 ns CLOCK_OUT DATA 10% STROBE TCC Tr TCS Tf Fig. 3 Timing conditions Excitation switching point B A RESET MO D MS1 MS2 C CW/CCW VC C D C D C D VC switching occurs only while CLOCK-IN level is L. 48 PG001M ns 100 90% CLOCK_IN V µs CLOCK_OUT DATA STROBE 1/F µA 4.5 0.5 CLOCK_IN 1/F V ns Fig.2 Fig. 1 V mA V pF MHz 10 430 20 20 Units Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Internal Block Diagram VDD 16 ... Input ... Output MS1 6 MS1 7 (A) Excitation mode setting section Number inside shape indicates pin number. SET 2h VC 15 MO 9 a (B) Parallel signal generator 14 CLOCK_OUT b (C) Parallel-serial signal converter c 11 DATA_A 10 DATA_B 13 STROBE Phase Q1 Q2 Q3 Q4 CLOCK_IN 2 CW/CCW 3 RESET 1 (E) Oscillator (D) Up/Down counter 5 CP1 8 GND 4 CP2 12 NC Fix all open input pins to H or L (Apart from CP1, CP2 and NC pins) ■Diagram of Standard External Circuit 5V 16 1 2 MPU 3 6 7 15 9 VDD RESET CLOCK _OUT CLOCK_IN CW/CCW MS1 MS2 P G 0 0 1 M 14 CLOCK_A CLOCK_B STROBE 13 STROBE_A STROBE_B DATA_A VC DATA_B 11 10 SLA7042M SLA7044M DATA_A DATA_B MO NC 12 GND CP1 CP2 8 5 4 Rs NC NC Rs NC PG001M 49 Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■External Dimensions (Unit: mm) 19.2 20.0max 9 6.3 6.65max 16 Lot No. Part No. 0.89 8 7.62 0.51min 1.3 2.54min 5.08max 1 +0.11 2.54±0.25 0.25 −0.05 0.48±0.10 0 to 15°C ■Output Mode Vs Output Pulse Output pulse Output pulse OUT excitation Phase STROBE 0 1 Output mode 2 3 4 5 6 7 50 PG001M b OUT excitation c Phase 0 CLOCK _OUT 0 0 STROBE 0 0 0 0 1 0 2 0 0 0 0 0 0 Output mode CLOCK _OUT a 3 4 5 6 7 0 0 0 0 0 0 a b c Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Input and Output Function Correlation Table Input Mode CLOCK _IN × : Don't care Output CW /CCW RESET L H MO CLOCK STROBE _OUT DATA -A DATA -B CW CW H H H H H × L × L is H level when output mode is 4:4 (7:7), 4:4 (7:7), 4:4 (7:7),or 4:4 (7:7). CW L ∗ : MO outputs L level while CLOCK_IN Modes in brackets ( ) are for 2-2 phase VC: H. CCW CCW CCW Output Mode Input Mode 4 or 7 4 or 7 Output Output Mode Mode RESET ■Excitation Selection Table Input Output current mode of SLA7042M/7044M Excitation method Excitation mode selection VC MS1 MS2 0 1 2 3 5 6 7 Torque vector 0% 20% 40% 55.5% 71.4% 83% 91% 100% H L L − − − − L L L − − − 1-2 Phase Half Step × H L − − W1-2 Phase 1/4 Step × L H − 2W1-2 Phase 1/8 Step × H H 2-2 Phase Full Step 4 − − − − − − − − − − − 141% − 100% 100% 100% 100% ■Output Mode Sequence Excitation method 2-2 Phase Full Step (1) (VC: H) 2-2 Phase Full Step (2) (VC: L) CW/CCW CW CCW CW CCW CW 1-2 Phase Half Step CCW CW W1-2 Phase 1/4 Step CCW 2W1-2 Phase 1/8 Step CW CCW CLOCK 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 MO L H H H H H H H L H H H H H H H L H H H H H H H L H H H H H H H L DATA_A 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_B 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_A 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_B 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_A 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_B 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_A 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_B 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_A 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 DATA_B 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 DATA_A 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 DATA_B 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 DATA_A 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 DATA_B 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 DATA_A 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 DATA_B 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 DATA_A 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 DATA_B 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 DATA_A 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 DATA_B 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 = : No output PG001M 51 Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Output 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 7 4 4 4 0 A 0 4 1-2 Phase Half Step 4 7 7 4 4 4 0 B 0 4 4 7 MO 4 2 0 A 7 6 4 2 2 2 4 6 4 6 6 7 7 6 4 4 4 2 0 2 2 4 4 6 6 7 MO 3 2 A 1 0 0 1 2 2W1-2 Phase 1/8 Step 4 2 0 B B 4 0 W1-2 Phase 1/4 Step 4 6 5 6 7 7 3 4 5 7 6 5 4 3 6 2 6 7 7 5 4 3 2 1 2 3 4 5 6 7 7 6 5 4 3 4 3 1 7 0 1 0 7 1 2 3 4 5 6 6 7 7 5 4 3 2 1 2 5 1 7 For 2-2 phase VC : L, output mode is 7→4. 52 PG001M Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Output 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 7 4 4 4 0 A 0 4 1-2 Phase Half Step 4 7 7 4 4 4 0 B 0 4 4 7 MO 7 6 4 6 4 4 2 2 2 4 W1-2 Phase 1/4 Step 4 6 6 7 7 4 0 B 2 4 4 6 4 6 7 7 6 7 7 6 5 4 3 2 A 1 0 1 2W1-2 Phase 1/8 Step 4 B 3 2 4 2 3 4 5 6 7 1 6 7 0 0 2 0 2 5 6 6 4 2 MO 2 0 0 A 1 2 3 4 5 6 6 7 7 5 4 3 2 5 4 3 2 1 2 3 5 6 1 7 7 2 4 5 1 7 4 0 3 7 6 5 4 3 1 7 For 2-2 phase VC:L, output mode is 7→4. PG001M 53 A3966SA/SLB 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Maximum output ratings: 30V, ±650mA ● Internal fixed-frequency PWM current control ● Internal ground-clamp & flyback diodes ● Internal thermal shutdown, crossover-current protection and UVLO protection circuitry ● Employs copper batwing lead frame with low thermal resistance Parameter Symbol 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 VBB IO (Peak) IO VCC VIN VS PD (Note1) Ta T j (Note2) T stg Ratings A3966SA 2.08 Units A3966SLB 30 ±750 ±650 7.0 −0.3 to V CC+0.3 1.0 1.86 −20 to +85 +150 −55 to +150 V mA mA V V V W °C °C °C ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −16.67mW/°C (SA), −14.93mW/°C (SLB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB ) Load supply voltage range Output leakage current Output saturation voltage (Unless specified otherwise, Ta =25°C, VBB=30V, V CC=4.75V to 5.5V, VREF =2V, V S= 0V, 56kΩ & 680pF RC to ground) Symbol Conditions V BB 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 V CC Operating 4.75 2.4 ICEX VCE (sat) Sense-current offset ISO Clamp diode forward voltage VF Motor supply current (No load) Control logic Logic supply voltage range Logic input voltage Logic input current IBB (ON) IBB (OFF) VCC VIH V IL IIH IIL Reference input voltage range VREF Reference input current IREF Reference divider ratio VREF/V TRIP Current-sense comparator input offset voltage V IO Current-sense comparator input voltage range VS PWM RC frequency fOSC PWM propagation delay time tPWM Cross-over dead time tcodt Propagation delay time tpd Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current ● "typ" values are for reference. 54 A3966SA/SLB VIN =2.4V VIN =0.8V Operating VREF =0V Operating CT=680pF, RT=56kΩ Comparator Trip to Source OFF Cycle Reset to Source ON 1kΩ 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 min 12 ICC (OFF) 0.1 −2.5 3.8 −6.0 −0.3 22.9 0.2 Increasing VCC 0.1 VENABLE1=VENABLE2=0.8V VENABLE1=VENABLE2=2.4V max < 1.0 < −1.0 1.7 1.8 0.3 0.4 18 1.1 1.4 3.0 < 1.0 30 50 −50 2.0 2.1 0.5 1.3 24 1.4 1.6 5.0 200 V µA µA V V V V mA V V mA µA 5.50 V V V µA µA V µA < 1.0 < −20 Tj ∆ Tj VUVLO en VUVLO hys ICC (ON) Ratings typ 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 0.8 20 −200 2.0 1.0 4.2 6.0 1.0 27.9 1.4 1.2 3.0 4.6 50 9 Units mV V kHz µS µS µS ns ns ns ns ns ns ns ns °C °C V V mA mA 2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) LOAD SUPPLY OUTA VCC 2.5 + VBB A3 2 96 6S A A3 96 60 6S 1.5 LB 67 UVLO & TSD °C /W °C 1 ENABLE (ACTIVE LOW) /W PWM LATCH BLANKING GATE CURRENT-SENSE COMPARATOR 0.5 SENSE + − R Q TO OTHER BRIDGE TO OTHER BRIDGE S +4 GROUND 0 −20 0 25 50 OSC RC 75 85 100 TO OTHER BRIDGE Ambient temperature Ta (°C) CT RT RS REFERENCE Allowable package power dissipation PD [W] PHASE OUTB ■Internal Block Diagram (1/2 circuit) LOGIC SUPPLY ■Derating A3966SA/SLB ■Load-Current Paths ■Truth 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) VBB BRIDGE ON SOURCE OFF ALL OFF RS ■Terminal Connection Diagram A3966SA 1 OUT1B 2 LOAD SUPPLY 3 16 LOGIC SENSE1 A3966SLB REFERENCE 4 VREF VBB ENABLE1 15 PHASE1 14 OUT1A PHASE1 2 ENABLE1 3 GROUND GROUND 4 SENSE1 5 OUT1B 6 LOAD SUPPLY 7 REFERENCE 8 RC 5 RC 12 GROUND 6 VCC 11 OUT2A OUT2B 7 10 PHASE2 SENSE2 8 9 ENABLE2 16 OUT2A 15 PHASE2 14 ENABLE2 13 GROUND 12 SENSE2 11 OUT2B VCC 10 LOGIC SUPPLY RC 9 RC 1 13 LOGIC SUPPLY LOGIC OUT1A VBB LOGIC LOGIC VBB VREF A3966SA/SLB 55 2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A3966SA/SLB ■Typical Application (A3966SLB) Example of stepper motor drive 1 PHASEA 2 ENABLEA 3 4 16 VBB LOGIC LOGIC 15 PHASEB 14 ENABLEB 13 0.5 Ω 0.5 Ω 5 12 +5V 6 11 VBB 7 8 VREF VCC 10 RC 9 56 kΩ 10 kΩ 47 µ F + +5 V 680 pF 39 kΩ +24 V ITRIP≅IOUT+ISO≅VREF /(4 • RS) tblank≅1,900 • CT fOSC≅1/ (R T • CT+tblank) RT=56kΩ (20kΩ to 100kΩ) CT=680pF(470pF to 1,000pF) ■External Dimensions (Unit: mm) A3966SA A3966SLB 16 16 9 10.92 7.62 MAX BSC 7.11 6.10 1 1.77 1.15 19.68 18.67 2.54 BSC 8 9 7.60 7.40 10.65 10.00 1.27 0.40 0.13 MIN 0.51 0.33 1 2 3 10.50 10.10 5.33 MAX 3.81 2.93 0.39 MIN 0.558 0.356 2.65 2.35 0.10 MIN. 56 A3966SA/SLB 0.32 0.23 0.355 0.204 1.27 BSC 0° to 8° A3966SA/SLB 57 A3964SLB 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control 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 ● Internally generated, precision 2.5V reference ● External filter for sense terminal not required ● Internal thermal shutdown circuitry ● Internal crossover-current protection circuitry ● Internal UVLO protection ● Internal transient-suppression diodes Parameter Power outputs (OUTA or OUT B) Load supply voltage range Output leakage current Symbol Conditions VBB Operating Sink driver, VO =VBB Source driver, V O=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 V R=30V IF=800mA VEN1=VEN2=0.8V, no load VEN1=VEN2=2.4V, no load Output saturation voltage VCE (SAT) Output sustaining voltage Clamp diode leakage current Clamp diode forward voltage VCE (SUS) IR VF IBB (ON) IBB (OFF) VIH VIL IIH IIL Logic input current 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) Ratings typ min max 5 30 50 −50 0.6 1.2 1.5 1.2 1.5 1.7 V IN=2.4V V IN=0.8V VCC=5.0V, IREF • OUT =90~900µ A VREF • IN=1V Operating VREF • IN=0V VRC=2.0V RT=20kΩ VEN1=VEN2=0.8V, no load VEN1=VEN2=2.4V, no load VEN1=VEN2=0.8V, no load ● "typ" values are for reference. Note) Logic input: En1, En2, Ph1, Ph2 OUT1B 1 20 OUT2B SENSE1 2 19 SENSE2 OUT1A 3 18 OUT2A VBB 4 17 VCC GROUND 5 16 GROUND GROUND 6 15 GROUND VREF IN 7 14 VREF OUT RC1 8 13 RC2 PHASE1 9 12 PHASE2 ENABLE1 10 11 ENABLE2 ■Derating Allowable package power dissipation PD (W) ■Terminal Connection Diagram 2.5 2.0 60 °C /W 1.5 1.0 0.5 0 −20 0 25 50 75 85 Ambient temperature Ta (°C) 58 A3964SLB Units V µA µA V V V 1.0 V 1.1 V V 30 V < 1.0 50 µA 1.6 2.0 V 10 mA 10 mA (Unless specified otherwise, VIN=V DD or GND) 2.4 V 0.8 V < −1.0 20 µA < −20 −200 µA 2.45 2.50 2.55 V −5.0 5.0 µA −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 Control logic Logic input voltage Units V A V V V mA W °C °C °C (Unless specified otherwise, T a =25°C, VBB=30V, VCC=4.75V to 5.25V, VREF=2V, VSENSE= 0V) ICEX Motor supply current Ratings 30 ±0.80 7.0 −0.3 to V CC+0.3 1.0 1.0 2.08 −20 to +85 +150 −55 to +150 ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −16.7mW/°C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ● Low thermal resistance 20-pin SOP ■Electrical Characteristics Symbol VBB IO VCC VIN VE IREF-OUT PD (Note1) Ta T j (Note2) T stg 100 2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A3964SLB ■Internal Block Diagram(Dotted Line)/ Diagram of Standard External Circuit (Recommended Circuit Constants) VBB (5~30V) VCC (5V) + 17 VCC VBB 4 Reference voltage power supply TSD OUT1A 3 1 OUT1B 9 10 Phase 1 OUT2B 20 18 Phase 2 Enable 1 Enable 2 Source off Source off Blanking time & one shot multi − − + + 2 7 14 5 Sen1 VREF VREF RC1 8 IN OUT R1 CT1 RT1 6 OUT2A 12 11 Blanking time & one shot multi 15 16 19 Sen2 13 RC2 GND RS1 RS2 RT2 CT2 R2 R1=20kΩ R2=5kΩ (VR) RT=30kΩ CT=1000pF RS=0.68 to 1.5Ω (1 to 2W) ■Excitation Sequence ■Truth Table [2-phase excitation] Phase Enable Out A H L H L L L L H Phase 1 X H Z Z Enable 1 Phase 2 Enable 2 L Out B X = Don't care, Z = High impedance 0 1 2 3 0 H L L H H L L L L L H H L L H L L L L [1-2 phase excitation] Phase 1 ■External Dimensions 0 1 2 3 4 5 6 7 0 H H X L L L X H H Enable 1 L L H L L L H L L Phase 2 X H H H X L L L X Enable 2 H L L L H L L L H Wide body plastic SOP (300mil) (Unit: mm) ICs per stick 37 20 11 0.32 0.23 *1 10.65 10.00 7.60 7.40 1.27 0.40 0.51 0.33 1 10 13.00 12.60 2.65 2.35 1.27 BSC 0° TO 8° SEATING PLANE Note) [Pin] material : copper Surface treatment : solder plating Note) Package index may be *1. 0.10 MIN A3964SLB 59 A3953SB/SLB 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control Parameter ● Switching between power supply regenera- Load supply voltage Output current (continuous) Logic supply voltage Logic/reference input voltage range tion mode and loop regeneration mode in order to improve motor current response in microstepping ● External filter for sense terminal not required Sense voltage ● 3.3V and 5V logic supply voltage Package power dissipation Operating temperature Junction temperature Storage temperature ● Sleep (low current consumption) mode ● Brake operation with PWM current limiting ● Internal thermal shutdown circuitry Ratings Symbol A3953SB A3953SLB Units VBB IO VCC 50 ±1.3 7.0 V A/unit V V IN −0.3 to VCC+0.3 V 1.0 (V CC=5.0V) VSENSE D.C. V 0.4 (V CC=3.3V) P Ta Tj (Note2) Tstg 2.90 D (Note1) 1.86 −20 to +85 +150 −55 to +150 W/pkg °C °C °C ● Internal crossover-current protection cir- ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −23.26mW/°C(SB) or −14.93mW/°C(SLB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry. These conditions can be tolerated but should be avoided. cuitry ● Internal UVLO protection ● Internal transient-suppression diodes ● Low thermal resistance package ■Terminal Connection Diagram A3953SB BRAKE 1 VBB A3953SLB 16 LOAD SUPPLY OUTB BRAKE 1 VBB 16 LOAD SUPPLY REF 2 15 OUTB RC 3 14 MODE GROUND 4 13 GROUND GROUND GROUND 5 12 GROUND SENSE LOGIC SUPPLY 6 11 SENSE PHASE 7 ENABLE 8 REF 2 15 RC 3 14 MODE GROUND 4 13 GROUND 12 LOGIC GROUND 60 5 LOGIC SUPPLY 6 PHASE 7 ENABLE 8 A3953SB/SLB VCC 11 VBB 10 OUTA 9 LOAD SUPPLY VCC VBB 10 OUTA 9 LOAD SUPPLY 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB ) Load supply voltage range (Unless specified otherwise, T a=25°C, V BB=5V to 50V, VCC=3.0V to 5.5V) Symbol Conditions VBB Operating, IO =±1.3A, L=3mH VO=V BB V O=0V ISENSE−IO , IO =850mA, VSENSE=0V, VCC=5V VSENSE=0.4V, V CC=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=V BRAKE=VMODE=2.0V Output leakage current ICEX Sense current offset ISO Output saturation voltage (Forward/reverse mode) VCE (SAT) Output saturation voltage (Brake mode) VCE (SAT) Clamp diode forward voltage Motor supply current (No load) Control logic Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current 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 VF IBB (ON) IBB (OFF) IBB (BRAKE) IBB (SLEEP) Tj ∆T j VUVLO ∆V UVLO ICC (ON) ICC (OFF) ICC (BRAKE) ICC (SLEEP) V CC Operating VIH VIL IIH IIL VSENSE (3.3) VSENSE (5.0) IREF VIO tOFF RC tPWM (OFF) PWM turn-on time tPWM (ON) PWM minimum on-time tPWM (ON) Propagation delay time tpd tCODT Limits min 18 3.0 max <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 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 V µA µA mA V V V V V V V V mA µA µA µA 3.0 0.25 50 15 50 800 °C °C V V mA mA mA µA 165 8 2.75 0.17 42 12 42 500 3.3 5.0 5.5 2.0 VIN=2.0V VIN=0.8V VCC=3.0V to 3.6V VCC=4.5V to 5.5V VREF =0V to 1V V REF=0V C T=680pF, RT=30kΩ, 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 V CC=3.3V, RT≥12kΩ, CT=680pF V CC=5.0V, RT≥12kΩ, 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 1kΩ Load to 25V, VBB=50V <1.0 <−2.0 0 0 ±2.0 18.3 0.8 0.8 0.3 Units typ VCC 2.5 0.12 VENABLE =0.8V, VBRAKE=2.0V VENABLE =VBRAKE=2.0V, VMODE=0.8V VBRAKE=0.8V VENABLE=V BRAKE=VMODE=2.0V PWM turn-off time Crossover dead time ●“typ” values are for reference. A3953SB/SLB 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 3.0 V V V µA µA V V µA mV µs µs µs µs µs µs µs µs µs µs µs µs µs µs µs µs A3953SB/SLB 61 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Derating 95 A3 95 1.5 3S 43 LB C° PHASE 15 LOAD SUPPLY 16 VBB 7 /W 67 C° ENABLE 8 /W 1.0 UVLO & TSD INPUT LOGIC B 2.0 10 MODE 14 3S 2.5 9 SLEEP & STANDBY MODES A3 OUTB VCC 3.0 OUTA LOAD SUPPLY ■Internal Block Diagram LOGIC 6 SUPPLY BRAKE 1 R Q 0 25 50 75 85 100 GROUND Ambient temperature Ta (C°) VCC 4 11 SENSE RS S BLANKING 0 −20 + PWM LATCH 0.5 − Allowable package power dissipation PD (W) A3953SB/SLB + − RC 3 5 12 2 REF CT 13 GROUND VTH RT ■Truth Table BRAKE ENABLE PHASE MODE OUTA OUTB H H X H Z Z Sleep mode Operating Mode H H H L H L H L H L L X L X X H H L L X X L Z Z Standby H H L Forward, fast current-decay mode L H L Forward, slow current-decay mode H L H Reverse, fast current-decay mode L L H Reverse, slow current-decay mode H L L Brake, fast current-decay mode L L L Brake, no current control X : Don't Care Z : High impedance ■Application Circuit (DC motor drive) +5 V VBB REF 2 15 3 14 4 13 30 kΩ 680 pF 1 VBB 16 + BRAKE 47 µ F MODE LOGIC 12 5 6 PHASE 7 ENABLE 8 0.5 Ω (A3953SB) VCC 11 Off-time setting t OFF≅R T•CT RT=12k to 100kΩ CT=470 to 1500pF (Operating at VCC=5V) CT=680 to 1500pF (Operating at VCC=3.3V) 10 VBB 9 ■External Dimensions (Unit: mm) A3953SB Plastic DIP (300mil) A3953SLB ICs per stick 25 (16-pin wide SOIC) 0.381 0.204 16 ICs per stick 16 9 47 0.32 0.23 9 *1 7.11 6.10 7.62BSC 1 INDEX AREA 2 3 8 1.27 0.40 0.127MIN 1.77 1.15 2.54BSC 21.33 18.93 5.33MAX 0.51 0.33 1 8 10.50 10.10 SEATING PLANE 0.558 0.356 0.39MIN 62 10.65 10.00 7.60 7.40 A3953SB/SLB 4.06 2.93 ● Thickness of lead is measured below seating plane. ● 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. 2.65 2.35 SEATING PLANE 0.10 MIN. 1.27 BSC 0° TO 8° ● Pin material: copper, pin surface treatment: solder plating ● Package index may be *1. ● Allowable variation in distance between leads is not cumulative. ● Web (batwing) type lead frames are used for pin 4, 5, 12, 13. The pins are connected to GND. 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB Application Notes ■Outline decay mode, the selected sink and source driver pair are dis- Designed for bidirectional pulse-width modulated (PWM) cur- abled; the load inductance causes the current to flow from ground rent control of inductive loads, the A3953S- is capable of con- to the load supply via the ground clamp and flyback diodes. tinuous output currents to ±1.3A and operating voltages to 50V. Internal fixed off-time PWM current-control circuitry can be used Fig. 1 Load-current Paths VBB 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 DRIVE CURRENT network. Internal circuit protection includes thermal shutdown RECIRCULATION (SLOW-DECAY MODE) with hysteresis, transient-suppression diodes, and crossover cur- RECIRCULATION (FAST-DECAY MODE) rent 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 RS 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 The user selects an external resistor (RT) and capacitor (CT) to blanking window prevents false triggering of the PWM current- determine the time period (tOFF=RT•C T) during which the drivers control circuitry. With the ENABLE input held high, all output remain disabled (see “RC Fixed Off-time” below). At the end of drivers are disabled. A sleep mode is provided to reduce power the RC interval, the drivers are enabled allowing the load cur- consumption. rent to increase again. The PWM cycle repeats, maintaing the When a logic low is applied to the Brake input, the braking func- peak load current at the desired value (see figure 2). tion 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. Fig. 2 Fast and Slow Current-Decay Waveforms ENABLE ■FUNCTIONAL DESCRIPTION (A) Internal PWM Current Control During Forward and Re- MODE verse Operation. ITRIP The A3953S-contains a fixed off-time pulse-width modulated (PWM) current-control circuit that can be used to limit the load RC LOAD CURRENT RC current to a desired value. The peak value of the current limiting (I TRIP) is set by the selection of an external current sensing resistor (R S) 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 R SENSE (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 where ISO is the offset due to base drive current. flow that dynamically brakes the motor. If the back-EMF voltage is large, and there is no PWM current limiting, the load cur- In forward or reverse mode the current-control circuitry limits rent can increase to a value that approaches that of a locked the load current as follows: when the load current reaches I TRIP, rotor condition. To limit the current, when the ITRIP level is reaced, the comparator resets a latch that turns off the selected source the PWM circuit disables the conducting sink drivers. The en- driver or selected sink and source driver pair depending on ergy stored in the motor’s inductance is discharged into the load whether the device is operating in slow or fast current-decay supply causing the motor current to decay. mode, respectively. As in the case of forward/reverse operation, the drivers are en- In slow current-decay mode, the selected source driver is dis- abled after a time given by tOFF=RT•CT (see “RC Fixed Off-time” abled; the load inductance causes the current to recirculate below). Depending on the back-EMF voltage (proportional to through the sink driver and ground clamp diode. In fast current- the motor’s decreasing speed), the load current again may inA3953SB/SLB 63 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB crease to I TRIP. If so, the PWM cycle will repeat, limiting the peak comparator’s output is blanked and C T begins to be charged load current to the desired value. from approximately 0.22 VCC by an internal current source of During braking, when the MODE input is high, the peak current approximately 1 mA. The comparator output remains blanked limit can be approximated by: until the voltage on CT reaches approximately 0.60 V CC. I TRIP BRAKE MH VREF RSENSE 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 CAUTION: Because the kinetic energy stored in the motor and source and sink drivers). After the crossover delay, CT is charged load inertia is being converted into current, which charges the by an internal current source of approximately 1 mA. The com- V BB supply bulk capacitance (power supply output and parator output remains blanked until the voltage on CT reaches decoupling capacitance), care must be taken to ensure the ca- approximately 0.60VCC. pacitance is sufficient to absorb the energy without exceeding When the device is disabled, via the ENABLE input, CT is dis- the voltage rating of any devices connected to the motor sup- charged to near ground. When the device is reenabled, CT is ply. charged by an internal current source of approximately 1 mA. (2) Brake Operation-MODE Input Low. The comparator output remains blanked until the voltage on CT During braking, with the MODE input low, the internal current- reaches approximately 0.60 VCC. control 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 For 3.3 V operation, the minimum recommended value for CT is 680pF±5%. For 5.0V operation, oscilloscope with a current probe connected to one of the motor’s the minimum recommended value for CT is 470pF±5%. leads, or if the back-EMF voltage of the motor is known, ap- These values ensure that the blanking time is sufficient to avoid proximated by: false trips of the comparator under normal operating conditions. I PEAK BRAKE ML VBEMF−1V R LOAD 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. (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, (E) LOAD CURRENT REGULATION WITH INTERNAL PWM CURRENT-CONTROL CIRCUITRY tOFF (fixed off-time), is determined by the selection of an exter- When the device is operating in slow current-decay mode, there nal resistor (RT ) and capacitor (CT) connected in parallel from is a limit to the lowest level that the PWM current-control cir- the RC timing terminal to ground. The fixed off-time, over a range cuitry can regulate load current. The limitation is the minimum of values of C T=470pF to 1500pF and RT=12kΩ to 100kΩ, is duty cycle, which is a function of the user-selected value of tOFF approximated by: t off R T • CT 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 when stalled, or at startup), the worst case value of current regu- reset by the current comparator, the voltage on the RC terminal lation can be approximated by: will begin to decay from approximately 0.60VCC . When the voltage on the RC terminal reaches approximately 0.22 V CC, the I AVE ≅ [(VBB−VSAT (source + sink)) • t on (min) max]−[1.05 • (VSAT (sink) + VF) • t off] 1.05 • (t on (min) max + t off) • R LOAD PWM latch is set, thereby enabling the driver (s). where tOFF=RT•CT, RLOAD is the series resistance of the load, VBB 64 (D) RC Blanking. is the motor supply voltage and tON (min) max is specified in the In addition to determining the fixed off-time of the PWM control electrical characteristics table. When the motor is rotating, the circuit, the CT component sets the comparator blanking time. back EMF generated will influence the above relationship. For This function blanks the output of the comparator when the out- brush dc motor applications, the current regulation is improved. puts are switched by the internal current-control circuitry (or by For stepper motor applications, when the motor is rotating, the the PHASE, BRAKE, or ENABLE inputs). The comparator out- effect is more complex. A discussion of this subject is included put is blanked to prevent false over-current detections due to in the section on stepper motors below. reverse recovery currents of the clamp diodes, and/or switching The following procedure can be used to evaluate the worst-case transients related to distributed capacitance in the load. slow current-decay internal PWM load current regulation in the During internal PWM operation, at the end of the tOFF time, the system: 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 cur- omitted. The PHASE and ENABLE inputs should not be PWM rent control operating in slow current-decay mode, use and os- with this circuit configuration due to the absence of a blanking cilloscope to measure the time the output is low (sink ON) for function synchronous with their transitions. the output that is chopping. This is the typical minimum ON time (t ON (min) typ) for the device. Fig. 3 Synchronous Fixed-Frequency Control Circuit The C T then should be increased until the measured value of tON VCC is equal to tON (min) max as specified in the electrical charac20 kΩ teristics table. When the new value of CT has been set, the value t2 of RT should be decreased so the value for t OFF=RT•C T (with the 100 kΩ (min) artificially increased value of CT ) is equal to the nominal design RC1 value. The worst-case load-current regulation then can be mea- 1N4001 2N2222 sured in the system under operating conditions. RCN t1 (F) PWM of the PHASE and ENABLE Inputs. The PHASE and ENABLE inputs can be pulse-width modulated (G)Miscellaneous Information. to regulate load current. Typical propagation delays from the A logic high applied to both the ENABLE and MODE terminals PHASE and ENABLE inputs to transitions of the power outputs puts the device into a sleep mode to minimize current consump- are specified in the electrical characteristics table. If the internal tion when not in use. PWM current control is used, the comparator blanking function An internally generated dead time prevents crossover currents is active during phase and enable transitions. This eliminates that can occur when switching phase or braking. false tripping of the over-current comparator caused by switch- Thermal protection circuitry turns OFF all drivers should the junc- ing transients (see “RC Blanking” above). tion termperature reach 165°C (typical). This is intended only to (1) Enable PWM. protect the device from failures due to excessive junction tem- With the MODE input low, toggling the ENABLE input turns ON peratures and should not imply that output short circuits are and OFF the selected source and sink drivers. The correspond- permitted. The hysteresis of the thermal shutdown circuit is ap- ing pair of flyback and ground-clamp diodes conduct after the proximately 8°C. drivers are disabled, resulting in fast current decay. When the device is enabled the internal current-control curcuitry will be ■APPLICATION NOTES active and can be used to limit the load current in a slow cur- (A)Current Sensing. rent-decay mode. The actual peak load current (IPEAK) will be above the calculated For applications that PWM the ENABLE input and desire the value of ITRIP due to delays in the turn off of the drivers. The internal current-limiting circuit to function in the fast decay mode, amount of overshoot can be approximated by: the ENABLE input signal should be inverted and connected to the MODE input. This prevents the device from being switched I OS (VBB-[(ITRIP • RLOAD) + VBEMF]) • t PWM (OFF) LLOAD into sleep mode when the ENABLE input is low. (2) Phase PWM. where VBB is the motor supply voltage, VBEMF is the back-EMF Toggling the PHASE terminal selects which sink/source pair is voltage of the load, RLOAD and L LOAD are the resistance and in- enabled, producing a load current that varies with the duty cycle ductance of the load respectively, and tPWM (OFF) is specified in and remains continuous at all times. This can have added ben- the electrical characteristics table. efits in bidirectional brush dc servo motor applications as the The reference terminal has a maximum input bias current of transfer function between the duty cycle on the PHASE input ±5 µA. This current should be taken into account when deter- and the average voltage applied to the motor is more linear mining the impedance of the external circuit that sets the refer- than in the case of ENABLE PWM control (withch produces a ence voltage value. discontinuous current at low current levels). For more informa- To minimize current-sensing inaccuracies caused by ground tion see “DC Motor Applications” below. trace I•R drops, the current-sensing resistor should have a sepa- (3) Synchronous Fixed-Frequency PWM. rate return to the ground terminal of the device. For low-value The internal PWM current-control circuitry of multiple A3953S- sense resistors, the I•R drops in the printed wiring board can be devices can be synchronized by using the simple circuit shown significant and should be taken into account. The use of sock- in figure 3. A 555IC can be used to generate the reset pulse/ ets should be avoided as their contact resistance can cause blanking signal (t1) for the device and the period of the PWM variations in the effective value of RS. cycle (t 2). The value of t1 should be a minimum of 1.5ms. When Generally, larger values of RS reduce the aforementioned ef- used in this configuration, the RT and CT components should be fects 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 (C)PCB Layout. absolute maximum voltage rating of 1.0V (0.4V for The load supply terminal, VBB should be decoupled with an elec- V CC=3.3Voperation), for the SENSE terminal, to be exceeded. trolytic capacitor (>47µF is recommeded) placed as close to the The current-sensing comparator functions down to ground al- device as is physically practical. To minimize the elffect of sys- lowing the device to be used in microstepping, sinusoidal, and tem ground I•R drops on the logic and reference input signals, other varying current-profile applications. the system ground should have a low-resistance return to the motor supply voltage. See also “Current Sensing” and “Thermal Considerations” above. (B) Thermal Considerations. For reliable operation it is recommended that the maximum junction termperature be kept below 110°C to 125°C. The junction (D)Fixed Off-Time Selection. termperature can be measured best by attaching a thermocouple With increasing values of t OFF, switching losses will decrease, to the power tab/batwing of the device and measuring the tab low-level load-current regulation will improve, EMI will be re- temperature, TTAB. Tthe junction temperature can then be ap- duced, the PWM frequency will decrease, and ripple current will proximated by using the formula: TJ increase. The value of tOFF can be chosen for optimization of these parameters. For applications where audible noise is a TTAB + (ILOAD • 2 • V F • R θJT) concern, typical values of tOFF are chosen to be in the range of 15 ms to 35 ms. where V F may be chosen from the electrical specification table for the given level of ILOAD. The value for RθJT is given in the package thermal resistance table for the appropriate package. (E) Stepper Motor Applications. The power dissipation of the batwing packages can be improved The MODE terminal can be used to optimize the performance by 20% to 30% by adding a section of printed circuit board cop- of the device in microstepping/sinusoidal stepper-motor drive per (typically 6 to 18 square centimeters) connected to the applications. When the load current is increasing, slow decay batwing terminals of the device. mode is used to limit the switching losses in the device and iron The thermal performance in applications that run at high load losses in the motor. This also improves the maximum rate at currents and/or high duty cycles can be improved by adding which the load current can increase (as compared to fast de- external diodes in parallel with the internal diodes. In internal cay) due to the slow rate of decay during t OFF. PWM slow-decay applications, only the two ground clamp di- When the load current is decreasing, fast-decay mode is used odes need be added. For internal fast-decay PWM, or external to regulate the load current to the desired level. This prevents PHASE or ENABLE input PWM applications, all four external tailing of the current profile caused by the back-EMF voltage of diodes should be added for maximum junction temperature re- the stepper motor. duction. Fig. 4 Example of Circuit (including GND) and GND Wiring Pattern OUTB OUTA VBB + A3953SLB Vref REF Rt Phase GND + SENSE 4, 5, 12, 13 VCCGND A3953SLB VBB RC 1Pin Ct Enable VCC Mode RS Vref VBBGND VCCGND 66 A3953SB/SLB Rt Ct Use jumper wiring for dotted line. 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 I LOAD=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 A2918SW 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control ● Low saturation voltage (Sink transistor) ● Internal thermal shutdown circuitry ● Internal crossover-current protection circuitry ● Internal UVLO protection ● Internal transient-suppression diodes ● Low thermal resistance 18-pin SIP 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 T j (Note2) T stg Conditions Ratings 45 ±1.75 ±1.5 7.0 −0.3 to +7.0 1.5 4.0 −20 to +85 +150 −55 to +150 tw≤20µ s Units V A A V V V W °C °C °C ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −32.0mW/°C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ■Electrical Characteristics Parameter (Unless specified otherwise, Ta =25°C, VBB=45V, VCC=4.75V to 5.25V, VREF =5V) Symbol Power outputs (OUTA or OUTB ) Motor supply voltage range Limits Conditions min VBB Output leakage current ICEX Output saturation voltage VCE (SUS) Output sustaining voltage VCE (SAT) Clamp diode leakage current Clamp diode forward voltage IR VF IBB (ON) IBB (OFF) Motor supply current typ max 10 VO=V BB 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 V R=45V IF=1.5A Both bridges ON, no load Both bridges OFF 45 50 −50 45 0.8 1.1 2.0 2.2 50 2.0 15 10 Units V µA µA V V V V V µA V mA mA Control logic IIH IIL VREF V REF/VSENSE Tj ICC Input current Reference voltage range Current control threshold Thermal shutdown temperature Logic supply current ●“typ” values are for reference. ■Terminal Connection Diagram 2 E2 3 4 5 SENSE2 6 ENABLE2 7 8 RC2 9 10 11 RC1 12 REFERENCE 15 SENSE1 16 OUT1B 17 E1 18 TSD 14 VREF 13 PWM1 PHASE1 ENABLE1 1 GROUND LOGIC SUPPLY VBB PHASE2 2 OUT2B LOAD SUPPLY VCC A2918SW 1 OUT2A PWM2 68 OUT1A All inputs All inputs V IN=2.4V V IN=0.8V Operating VREF =5V 2.4 1.5 9.5 0.8 20 −200 V CC 10.5 10 170 VEN=0.8V, no load 140 ■Derating Allowable package power dissipation PD (W) VIH VIL Input voltage 5 4 31 .2 3 5C °/ W 2 1 0 −20 0 25 50 75 85 Ambient temperature Ta (C°) 100 V V µA µA V °C mA 2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A2918SW ■Truth Table ENABLE PHASE OUTA L H H L L L L H X Z Z H X=Don't Care OUTB Z=High impedance 17 LOAD SUPPLY 5 2 4 OUT2B 1 OUT2A 11 OUT1B OUT1A LOGIC SUPPLY ■Internal Block Diagram VCC TSD VBB 1 2 ENABLE1 14 PHASE2 7 ENABLE2 SOURCE DISABLE SOURCE DISABLE ÷10 − + RT RS CC CT 3 6 RC 9 SENSE2 10 E2 15 GROUND 18 RC REFERENCE 16 E1 SENSE1 12 ONE SHOT + RC2 VREF ÷10 − ONE SHOT RC1 8 PWM2 PWM1 PHASE1 13 RS RT CC CT ■External Dimensions Plastic SIP 18 + 0.2 --- 0.1 + 0.2 1 ±0.7 17 × P1.68 = 28.56±1 0.55 4 +1 9.7 --- 0.5 (3) 6.7 ±0.5 R-End + 0.2 --- 0.1 ±0.15 φ 3.2 × 3.8 4.8 ±0.2 1.7 ±0.1 ±0.2 16.4 ±0.2 2.45±0.2 9.9 16 ±0.2 13±0.2 9.9 ±0.2 2.45±0.2 0.65 ---0.1 31±0.2 24.4 ±0.2 φ 3.2±0.15 1.7 ±0.1 16.4 ±0.2 16 ±0.2 13±0.2 4.8 ±0.2 + 0.2 + 0.2 0.65 ---0.1 1--- 0.1 ±0.4 17 × P1.68 2.2 ±0.1 6.0 ±0.6 = 28.56±1 7.5 ±0.6 ±0.7 4.6 ±0.6 3.8 3.0 ±0.6 × 1.6 ±0.15 φ 3.2 + 0.2 31±0.2 24.4 ±0.2 φ 3.2±0.15 A2918SWH ±0.6 A2918SWV 0.55 --- 0.1 ICs per stick (Unit: mm) 31.3±0.2 31.3±0.2 12 3 18 123 18 A2918SW 69 A3952SB/SLB/SW 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control Parameter ● Switching between power supply regeneration mode and loop regeneration mode in order to improve motor current response in microstepping ● External filter for sense terminal not required ● Sleep (low current consumption) mode ● Brake operation with PWM current limiting ● Internal thermal shutdown circuitry ● Internal crossover-current protection circuitry ● Internal UVLO protection ● Low thermal resistance package Parameter Power outputs Load supply voltage range Output leakage current Output saturation voltage 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 Propagation delay time Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current (No load) ●“typ” values are for reference. 70 A3952SB/SLB/SW VBB IO (Peak) IO VCC VIN VSENSE VREF PD (Note1) Ta T j (Note2) T stg Conditions tw≤20µ s 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 ●Output 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 150°C. Note 1: When ambient temperature is 25°C 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 150°C will activate the device’s thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ● Internal transient-suppression diodes ■Electrical Characteristics 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 (Unless specified otherwise, Ta =25°C, VBB=50V, VCC=5.0V, VBRAKE=2.0V, VSENSE= 0V, 20kΩ & 1000pF RC to ground) Limits Symbol Conditions VBB Operating, IO =±2.0A, L=3mH VO =VBB V O=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 V ENABLE=0.8V, VBRAKE=2.0V VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V VBRAKE=2.0V VENABLE =VMODE=VBRAKE=2.0V VCC Operating 4.5 2.0 ICEX VCE (SAT) VF IBB (ON) IBB (OFF) IBB (BRAKE) IBB (SLEEP) V CC VIH VIL IIH IIL VREF IREF VIO toff ton (min) tpd tpd (PWM) Tj ∆T j V CC (UVLO) ∆VCC (UVLO) ICC (ON) ICC (OFF) ICC (BRAKE) ICC (SLEEP) VIH=2.0V V IL=0.8V Operating VREF=2.0V VREF=15V V REF=0V CT=1000pF, RT=20kΩ CT=820pF, RT≥12kΩ CT=1200pF, RT≥12kΩ 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 min 18 3.15 300 V ENABLE=0.8V, VBRAKE=2.0V VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V VBRAKE=0.8V VENABLE =VMODE=VBRAKE=2.0V max <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 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 V µA µA V V V V V V V V V mA mA mA µA 5.0 5.5 V V V µA µA V µA <1.0 < −2.0 0 25 9.5 Units typ 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 0.8 20 −200 15 55 10.5 ±10 22 3.0 3.8 1.5 3.85 500 30 18 40 5.0 mV µs µs µs µs µs µs µs µs µs µs µs µs °C °C V mV mA mA mA mA 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Internal Block Diagram SLEEP & STANDBY MODES 5 OUTB VBB Allowable package power dissipation PD (W) LOAD SUPPLY OUTA ■Derating A3952SB/SLB/SW MODE 4 PHASE A3 95 2 95 2S 2S B4 W 3° C A39 5 36 °C /W /W 2SL ENABLE BRAKE B6 7°C / LOGIC SUPPLY W 1 0 25 50 75 85 + Q BLANKING 1.5V R PWM LATCH − + Ambient temperatureTa (°C) GROUND SENSE "B", "LB" , & "W" PACKAGES RC RS − S VCC 9R 100 EMITTERS "EB" ONLY VCC REF 0 −20 UVLO & TSD INPUT LOGIC A3 3 VTH R RT CT ■Truth Table BRAKE ENABLE PHASE MODE OUTA OUTB H H X H Z Z Sleep mode Operating Mode H H H L H L H L H L L X L X X H H L L X X L Z Z Standby (Note 1) H H L Forward, fast current-decay mode L H L Forward, slow current-decay mode H L H Reverse, fast current-decay mode L L H Reverse, slow current-decay mode H L L Brake, fast current-decay mode L L L Brake, no current control (Note 2) 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 ■Terminal Connection Diagram A3952SLB A3952SW 16 BRAKE 1 16 REF 2 15 OUTB REF 2 15 OUTB RC 3 14 MODE RC 3 14 MODE GROUND 4 13 GROUND GROUND 4 13 GROUND GROUND 5 12 GROUND GROUND 5 12 GROUND LOGIC SUPPLY 6 11 SENSE LOGIC SUPPLY 6 11 SENSE PHASE 7 10 OUTA PHASE 7 10 OUTA ENABLE 8 ENABLE 8 VBB VBB 4 5 6 7 8 9 10 MODE 3 ENABLE VCC 2 PHASE 1 LOAD SUPPLY RC 9 LOGIC SUPPLY VBB REF LOAD SUPPLY BRAKE 9 OUTB VBB VCC LOAD SUPPLY VCC VBB LOGIC GROUND LOGIC ■External Dimensions A3952SLB ICs per stick 16 25 0.381 0.204 Wide body plastic SOP (300mil) 16 9 A3952SW ICs per stick 9 47 Plastic power SIP 0.32 0.23 32.00 31.50 0.51 7.11 6.10 7.62BSC 1 INDEX AREA 2 3 5.33MAX 1 8 10.50 10.10 SEATING PLANE 2.65 2.35 0.558 0.356 4.57MAX 19.69 19.43 6.22 5.71 1.27 0.40 2.54BSC 0.51 0.33 15 1.40 1.14 3.94 φ 3.68 3.56 0.127MIN 21.33 18.93 ICs per stick 10.65 10.00 7.60 7.40 8 1.77 1.15 12 (Unit: mm) A3952SB Plastic DIP (300mil) 11 OUTA 1 LOAD SUPPLY SENSE BRAKE LOAD SUPPLY LOGIC A3952SB SEATING PLANE 9.27 14.48 13.72 INDEX AREA 1.27 BSC 0° TO 8° 7.37MIN 1 1.65 0.89 2 3 0.59 0.46 4.06 2.93 0.39MIN SEATING PLANE 12 0.76 0.51 2.54±0.25 ●Thickness of lead is measured below seating plane. ●Allowable 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. 3.43 2.54 2.03 1.78 0.10 MIN. ●Thickness of lead is measured below seating plane. ●Allowable variation in distance between leads is not cumulative. ●Lead 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 ■Outline Fig. 1 Load-Current Paths Designed for bidirectional pulse-width modulated current con- VBB trol 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 regu- DRIVE CURRENT late the maximum load current to a desired value. The peak RECIRCULATION (SLOW-DECAY MODE) load current limit is set by the user’s selection of an input refer- RECIRCULATION (FAST-DECAY MODE) ence 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 RS 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 The user selects an external resistor (RT) and capacitor (CT) to driver pair. The MODE input determines whether the PWM cur- determine the time period (toff=RT CT) during which the drivers rent-control circuitry operates in a slow current-decay mode (only remain disabled (see “RC Fixed OFF Time” below). At the end the selected sink driver switching) or in a fast current-decay of the RTCT interval, the drivers are re-enabled allowing the load mode (selected source and sink switching). A user-selectable current to increase again. The PWM cycle repeats, maintaining blanking window prevents false triggering of the PWM current the load current at the desired value (see figure 2). control circuitry. With the ENABLE input held high, all output drivers are disabled. A sleep mode is provided to reduce power Fig. 2 Fast and Slow Current-Decay Waveforms consumption when inactive. When a logic low is applied to the BRAKE input, the braking ENABLE function is enabled. This overrides ENABLE and PHASE to turn OFF both source drivers and turn ON both sink drivers. The MODE brake function can be safely used to dynamically brake brush ITRIP dc motors. RC ■FUNCTIONAL DESCRIPTION LOAD CURRENT RC (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 MODE OPERATION current to a desired value. The value of the current limiting (ITRIP) The brake circuit turns OFF both source drivers and turns ON is set by the selection of an external current sensing resistor both sink drivers. For dc motor applications, this has the effect (R S) and reference input voltage (VREF). The internal circuitry of shorting the motor’s back-EMF voltage, resulting in current compares the voltage across the external sense resistor to one flow that brakes the motor dynamically. However, if the back- tenth the voltage on the REF input terminal, resulting in a func- EMF voltage is large, and there is no PWM current limiting, then tion approximated by the load current can increase to a value that approaches a locked VREF 10 • R S rotor condition. To limit the current, when the ITRIP level is reached, I TRIP 72 (B)INTERNAL PWM CURRENT CONTROL DURING BRAKE the PWM circuit disables the conducting sink driver. The energy In forward or reverse mode the current-control circuitry limits stored in the motor’s inductance is then discharged into the load the load current. When the load current reaches I TRIP, the com- supply causing the motor current to decay. parator resets a latch to turn OFF the selected sink driver (in the As in the case of forward/reverse operation, the drivers are re- slow-decay mode) or selected sink and source driver pair (in enabled after a time given by toff=RT•CT (see”RC Fixed OFF Time” the fast-decay mode). In slow-decay mode, the selected sink below). Depending on the back-EMF voltage (proportional to driver is disabled; the load inductance causes the current to the motor’s decreasing speed), the load current again may in- recirculate through the source driver and flyback diode (see fig- crease to ITRIP. If so, the PWM cycle will repeat, limiting the load ure 1). In fast-decay mode, the selected sink and source driver current to the desired value. pair are disabled; the load inductance causes the current to flow (1) Brake Operation-MODE Input High from ground to the load supply via the ground clamp and flyback During braking, when the MODE input is high, the current limit diodes. can be approximated by A3952SB/SLB/SW 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) VREF 10 • R S I TRIP A3952SB/SLB/SW proximately 1mA. The comparator output remains blanked until the voltage on CT reaches approximately 3.0 volts. CAUTION: Because the kinetic energy stored in the motor and Similarly, when a transition of the PHASE input occurs, CT is load inertia is being converted into current, which charges the discharged to near ground during the crossover delay time (the V BB supply bulk capacitance (power supply output and crossover delay time is present to prevent simultaneous con- decoupling capacitance), care must be taken to ensure the ca- duction of the source and sink drivers). After the crossover de- pacitance is sufficient to absorb the energy without exceed- lay, CT is charged by an internal current source of approximately ing the voltage rating of any devices connected to the motor 1mA. The comparator output remains blanked until the voltage supply. on CT reaches approximately 3.0 volts. (2) Brake Operation-MODE Input Low Similarly, when the device is disabled via the ENABLE input, CT During braking,with the MODE input low, the peak current limit is discharged to near ground. When the device is re-enabled, defaults internally to a value approximated by CT is charged by the internal current source. The comparator 1.5V RS I TRIP output remains blanked until the voltage on CT reaches approximately 3.0V. In this mode, the value of R S determines the ITRIP value indepen- For applications that use the internal fast-decay mode PWM dent of V REF. This is useful in applicaions with differing run and operation, the minimum recommended value is CT=1200pF±5%. brake currents and no practical method of varying V REF. For all other applications, the minimum recommended value is Choosing a small value for R S essentially disables the current CT=820pF±5%. These values ensure that the blanking time is limiting during braking. Therefore, care should be taken to en- sufficient to avoid false trips of the comparator under normal sure that the motor’s current does not exceed the absolute operating conditions. For optimal regulation of the load current, maximum ratings of the device. The braking current can be the above values for CT are recommended and the value of R T measured by using an oscilloscope with a current probe con- can be sized to determine toff. For more information regarding nected to one of the motor’s leads. load current regulation, see below. (C) RC Fixed OFF Time (E) LOAD CURRENT REGULATION WITH THE INTERNAL The internal PWM current control circuitry uses a one shot to PWM CURRENT-CONTROL CIRCUITRY control the time the driver (s) remain (s) OFF. The one shot When the device is operating in slow-decay mode, there is a time, toff (fixed OFF time), is determined by the selection of an limit to the lowest level that the PWM current-control circuitry external resistor (RT ) and capacitor (CT) connected in parallel can regulate load current. The limitation is the minimum duty from the RC terminal to ground. The fixed OFF time, over a cycle, which is a function of the user-selected value of toff and range of values of CT=820pF to 1500pF and RT=12kΩ to 100kΩ, the maxuimum value of the minimum ON-time pulse, ton (min), that is approximated by occurs each time the PWM latch is reset. If the motor is not t OFF RT • CT 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 When the PWM latch is reset by the current comparator, the value of current regulation can be approximated by voltage on the RC terminal will begin to decay from approximately 3 volts. When the voltage on the RC terminal reaches I(AV) ≅ [(VBB−VSAT (source + sink)) • t on (min) max]−[1.05 • (VSAT (sink) + VD) • t off] 1.05 • (t on (min) max + t off) • R LOAD approximately 1.1 volt, the PWM latch is set, thereby re-enabling the driver (s). where toff=RT•C T, RLOAD is the series resistance of the load, VBB is the load/motor supply voltage, and ton (min) max is specified in the (D) RC Blanking electrical characteristics table. When the motor is rotating, the In addition to determining the fixed OFF-time of the PWM con- back EMF generated will influence the above relationship. For trol circuit, the C T component sets the comparator blanking time. brush dc motor applications, the current regulation is improved. This function blanks the output of the comparator when the out- For stepper motor applications when the motor is rotating, the puts are switched by the internal current control circuitry (or by effect is more complex. A discussion of this subject is included the PHASE, BRAKE, or ENABLE inputs). The comparator out- in the section on stepper motors under “Applications”. put is blanked to prevent false over-current detections due to The following procedure can be used to evaluate the worst-case reverse recovery currents of the clamp diodes, and/or switching slow-decay internal PWM load current regulation in the system: transients related to distributed capacitance in the load. Set VREF to 0 volts. With the load connected and the PWM current During internal PWM operation, at the end of the t off time, the control operating in slow-decay mode, use an oscilloscope to comparator’s output is blanked and CT begins to be charged measure the time the output is low (sink ON) for the output that is from approximately 1.1V by an internal current source of ap- 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 blanking signal (t1) and the period of the PWM cycle (t2). The of ton (min) is equal to ton (min) max)=3.0µs as specified in the electri- value of t1 should be a minimum of 1.5µs in slow-decay mode cal characteristics table. When the new value of C T has been and 2µs in fast-decay mode. When used in this configuration, set, the value of R T should be decreased so the value for the RT and CT components should be omitted. The PHASE and toff=RT•CT (with the artificially increased value of C T) is equal to ENABLE inputs should not be PWMed with this circuit configu- 105% of the nominal design value. The worst-case load current ration due to the absence of a blanking function synchronous regulation then can be measured in the system under operating with their transitions. conditions. In applications utilizing both fast-and slow-decay internal PWM Fig. 3 Synchronous Fixed-Frequency Control Circuit modes, the performance of the slow-decay current regulation t2 20 kΩ of 3.8 µs. This corresponds to a CT value of 1200pF, which is required to ensure sufficient blanking during fast-decay internal 100 kΩ VCC should be evaluated per the above procedure and a ton (min) max PWM. RC1 1N4001 (F) LOAD CURRENT REGULATION WITH EXTERNAL PWM OF THE PHASE AND ENABLE INPUTS 2N2222 t1 RCN 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 (G)MISCELLANEOUS INFORMATION are specified in the electrical characteristics table. If the internal A logic high applied to both the ENABLE and MODE terminals PWM current control is used, then the comparator blanking func- puts the device into a sleep mode to minimize current consump- tion is active during phase and enable transitions. This elimi- tion when not in use. nates false tripping of the over-current comparator caused by An internally generated dead time prevents crossover currents switching transients (see “RC Blanking” above). that can occur when switching phase or braking. (1) ENABLE Pulse-Width Modulation Thermal protection circuitry turns OFF all drivers should the junc- With the MODE input low, toggling the ENABLE input turns ON tion temperature reach 165°C (typical). This is intended only to and OFF the selected source and sink drivers. The correspond- protect the device from failures due to excessive junction tem- ing pair of flyback and ground clamp diodes conduct after the peratures and should not imply that output short circuits are drivers are disabled, resulting in fast current decay. When the permitted. The hysteresis of the thermal shutdown circuit is ap- device is enabled, the internal current control circuitry will be proximately 15°C. active and can be used to limit the load current in a slow-decay If the internal current-control circuitry is not used; the VREF ter- mode. minal should be connected to VCC , the SENSE terminal should For applications that PWM the ENABLE input, and desire that be connected to ground, and the RC terminal should be left the internal current limiting circuit function in the fast-decay mode, floating (no connection). the ENABLE input signal should be inverted and connected to An internal under-voltage lockout circuit prevents simultaneous the MODE input. This prevents the device from being switched conduction of the outputs when the device is powered up or into sleep mode when the ENABLE input is low. powered down. (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/ 74 A3952SB/SLB/SW 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW ■APPLICATION NOTES The thermal performance in applications with high load currents (A) Current Sensing and/or high duty cycles can be improved by adding external The actual peak load current (I OUTP) will be greater than the cal- diodes in parallel with the internal diodes. In internal PWM slow- culated value of I TRIP due to delays in the turn OFF of the driv- decay applications, only the tow top-side (flyback) diodes need ers. The amount of overshoot can be approximated as be added. For internal fast-decay PWM, or external PHASE or (VBB − [(I TRIP • RLOAD)+VBEMF]) • t pd (pwm) LLOAD I OUTP ENABLE input PWM applications, all four external diodes should be added for maximum junction temperature reduction. where V BB is the load/motor supply voltage, V BEMF is the back- (C)PCB Layout EMF voltage of the load, RLOAD and LLOAD are the resistance and The load supply terminal, VBB, should be decoupled (>47µF elec- inductance of the load respectively, and tpd (pwm) is the propaga- trolytic and 0.1µF ceramic capacitors are recommended) as tion delay as specified in the electrical characteristics table. close to the device as is physically practical. To minimize the The reference terminal has an equivalent input resistance of effect of system ground I•R drops on the logic and reference 50kΩ±30%. This should be taken into account when determin- input signals, the system ground should have a low-resistance ing the impedance of the external circuit that sets the reference return to the load supply voltage. voltage value. See also “Current Sensing” and “Thermal Considerations” above. To minimize current-sensing inaccuracies caused by ground trace IR drops, the current-sensing resistor should have a sepa- (D)Fixed Off-Time Selection rate return to the ground terminal of the device. For low-value With increasing values of toff, switching losses decrease, low- sense resistors, the IR drops in the PCB can be significant and level load-current regulation improves, EMI is reduced, the PWM should be taken into account. The use of sockets should be frequency will decrease, and ripple current will increase. The avoided as their contact resistance can cause variations in the value of toff can be chosen for optimization of these parameters. effective value of R S. For applications where audible noise is a concern, typical val- Larger values of RS reduce the aforementioned effects but can ues of toff are chosen to be in the range of 15 to 35µs. result in excessive heating and power loss in the sense resistor. The selected value of R S must not cause the SENSE terminal (E) Stepper Motor Applications absolute maximum voltage rating to be exceeded. The recom- The MODE terminal can be used to optimize the performance mended value of RS is in the range of of the device in microstepping/sinusoidal stepper motor drive applications. When the average load current is increasing, slow- RS (0.375 to 1.125) I TRIP decay mode is used to limit the switching losses in the device and iron losses in the motor. The current-sensing comparator functions down to ground al- This also improves the maximum rate at which the load current lowing the device to be used in microstepping, sinusoidal, and can increase (as compared to fast decay) due to the slow rate other varying current profile applications. of decay during toff. When the average load current is decreasing, fast-decay mode is used to regulate the load current to the (B) Thermal Considerations desired level. This prevents tailing of the current profile caused For reliable operation, it is recommended that the maximum by the back-EMF voltage of the stepper motor. junction temperature be kept as low as possible, typically 90°C In stepper motor applications applying a constant current to the to 125°C. The junction temperature can be measured by at- load, slow-decay mode PWM is used typically to limit the switch- taching a thermocouple to the power tab/batwing of the device ing losses in the device and iron losses in the motor. and measuring the tab temperature, T T. The junction temperature can then be approximated by using the formula TJ TT + (2VF IOUT Rθ JT) where V F is the clamp diode forward voltage and can be determined from the electrical specification table for the given level of I OUT. The value for RθJT 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 47µ F 0.5Ω 10 9 8 0.5Ω VREF2 6 7 6 7 PHASE1 5 ENABLE1 VBB 4 VCC MODE1 3 LOGIC 2 11 1 12 + VCC LOGIC VREF1 CT= 820pF/1200pF 5 4 2 11 RT= 17kΩ/25kΩ MODE2 10 3 ENABLE2 9 VBB 8 PHASE2 1 12 RT= 17kΩ/25kΩ CT= 820pF/1200pF toff ≅ RT• CT (Chopping off-time setting) RT = 12k~100kΩ 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 con- regulate to a value given by trolled by PWM of the PHASE or ENABLE inputs, or by varying the REF input voltage (VREF). In digital systems (microproces- I LOAD VREF (10 • R S) sor controlled), PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog CAUTION: In fast-decay mode, when the direction of the motor voltage reference. In this case, a dc voltage on the REF input is is changed abruptly, the kinetic energy stored in the motor and used typically to limit the maximum load current. load inertia will be converted into current that charges the VBB In dc servo applications that require accurate positioning at low supply bulk capacitance (power supply output and decoupling or zero speed, PWM of the PHASE input is selected typically. capacitance). Care must be taken to ensure the capacitance is This simplifies the servo-control loop because the transfer func- sufficient to absorb the energy without exceeding the voltage tion between the duty cycle on the PHASE input and the aver- rating of any devices connected to the motor supply. age voltage applied to the motor is more linear than in the case See also, the sections on brake operation under “Functional of ENABLE PWM control (which produces a discontinuous cur- Description,” above. rent 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 where V BEMF 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 I LOAD=VBEMF/ R LOAD. 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 RT= 17kΩ/25kΩ 1 VBB 16 2 15 3 14 4 + BRAKE VBB 47µ F MODE 13 12 5 CT= 820pF/1200pF PHASE ENABLE 6 VCC 11 7 8 0.5 Ω LOGIC 10 VBB 9 toff ≅ RT • CT (Chopping off-time setting) RT = 12k to 100kΩ 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 UDN2916B/LB 2-Phase/1-2 Phase/W1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control Parameter ● Internal 1/3 and 2/3 reference divider 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 ● 1-phase/2-phase/W1-2 phase excitation mode with digital input ● Microstepping with reference input ● Low saturation voltage (Sink transistor) ● Internal thermal shutdown circuitry ● Internal crossover-current protection circuitry ● Internal UVLO protection Symbol Ratings Conditions VBB IO (peak) IO VCC VIN VE PD (Note1) Ta T j (Note2) T stg UDN2916B Units UDN2916LB 45 ±1.0 ±0.75 7.0 −0.3 to +7.0 1.5 tw≤20 µ s 3.12 V A A V V V W °C °C °C 2.27 −20 to +85 +150 −55 to +150 ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −25mW/°C (UDN2916B) or −18.2mW/ °C (UDN2916LB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ● Internal transient-suppression diodes ● Low thermal resistance package ■Electrical Characteristics (Unless specified otherwise, T a=25°C, VBB=45V, VCC=4.75V to 5.25V, VREF=5.0V) Parameter Symbol Power outputs (OUTA or OUTB ) Motor supply voltage range Limits Conditions min VBB Output leakage current VCE (SUS) Output saturation voltage VCE (SAT) Clamp diode leakage current Clamp diode forward voltage IR VF IBB (ON) Motor supply current max <1.0 <−1.0 45 50 −50 0.4 1.0 1.0 1.3 <1.0 1.6 20 5.0 0.6 1.2 1.2 1.5 50 2.0 25 10 10 Sink driver, VO =VBB Source driver, V O=0V IO=±750mA, L=3.0mH Sink driver, IO=+500mA Sink driver, IO=+750mA Source driver, IO =−500mA Source driver, IO =−750mA V R=45V IF=750mA Both bridges ON, no load Both bridges OFF ICEX Output sustaining voltage typ IBB (OFF) 45 Units V µA µA V V V V V µA V mA mA Control logic VIH Input voltage VIL IIH Input current Reference voltage range IIL VREF Current control threshold V REF/VSENSE Thermal shutdown temperature Tj ICC (ON) Logic supply current All inputs All inputs V IH=2.4V VIL=0.8V Operating I0 =I1 =0.8V I0=2.4V, I1=0.8V I0=0.8V, I1=2.4V 2.4 <1.0 −3.0 1.5 9.5 13.5 25.5 10.0 15.0 30.0 170 40 10 I0 =I1=0.8V, no load I0 =I1=2.4V, no load ICC (OFF) ●“typ” values are for reference. ■Terminal Connection Diagram UDN2916LB UDN2916B 2 E2 SENSE2 1 3 LOAD SUPPLY 23 E1 22 2 4 24 21 I02 1 I12 2 PHASE2 3 VREF 2 24 LOAD SUPPLY 23 OUT2B 22 SENSE2 4 21 E2 RC2 5 20 OUT2A 19 GROUND 18 GROUND 17 OUT1B OUT1A 16 E1 15 SENSE1 14 OUT1B 13 I01 2 5 20 I01 6 19 GROUND GROUND 6 GROUND 7 18 GROUND GROUND 7 I02 8 17 I11 LOGIC SUPPLY 8 RC1 9 VREF2 11 RC2 12 θ 2 PWM 2 PHASE2 10 PWM 1 OUT2B 9 θ 1 16 15 14 VCC 13 UDN2916B/LB VCC PHASE1 VREF1 RC1 LOGIC SUPPLY 1 VREF1 PHASE1 I11 78 θ2 SENSE1 GROUND I12 PWM 2 OUT2A VBB VBB 1 10 11 θ 1 12 PWM 1 OUT1A 0.8 20 −200 7.5 10.5 16.5 34.5 50 12 V V µA µA V °C mA mA 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB ■Internal Block Diagram (1/2 Circuit) ■Derating 5 OUTB 4 OUTA UD N2 91 6B UD 40 N2 °C 916 /W LB 55° C/ W 3 2 VREF 20 kΩ E ÷10 10 kΩ 0 25 50 75 85 ONE SHOT SOURCE DISABLE RC CC RS 100 RT I1 Ambient temperature Ta (°C) CT ■Application Circuit (UDN2916LB) ■Truth Table OUTA OUTB H H L L L H VBB *1 From µ P *2 VREF CBB *1 2 I0 I1 L L VREF / (10×RS)=I TRIP H L VREF / (15×RS)=I TRIP×2/3 L H VREF / (30×RS)=I TRIP×1/3 H H *1 3 θ 2 *2 4 Output Current RT CT VCC +5V 0 VBB *1 1 RT 24 23 PWM 2 PHASE − RC I0 0 −20 SENSE + 40 kΩ 1 22 2 21 5 20 6 19 7 18 8 VCC 17 9 16 RC CC RS 1 CT *2 10 *1 11 θ 1 15 PWM 1 Allowable package power dissipation PD (W) VBB *1 12 13 ●Off-time setting t off≅CTRT M RC RS 14 CC *1 RS : VREF : RT : CT : RC : CC : CBB : 1.5Ω, 1/2W (1.0 to 2.0Ω, 1 to 1/2W) 5.0V (1.5 to 7.5V) 56kΩ (20k to 100kΩ) 470pF (100 to 1,000pF) 1kΩ 4,700pF (470 to 10,000pF) 100 µ F ■External Dimensions (Unit: mm) UDN2916B ICs per stick UDN2916LB 15 Plastic DIP (300mil) 24 ICs per stick 31 Wide body plastic SOP (300mil) 0.381 0.204 24 13 13 0.32 0.23 *1 7.11 6.10 7.62BSC 1 INDEX AREA 2 3 10.65 10.00 7.60 7.40 12 0.127MIN 1.77 1.15 1.27 0.40 2.54BSC 32.30 28.60 0.51 0.33 1 2 3 12 15.60 15.20 5.33MAX SEATING PLANE 0.558 0.356 2.65 2.35 4.06 2.93 0.39MIN ●Thickness of lead is measured below seating plane. ●Allowable variation in distance between leads is not cumulative. 1.27 BSC 0° TO 8° SEATING PLANE 0.10 MIN ●Pin material: copper, pin surface treatment: solder plating ●Package index may be *1. ●Allowable variation in distance between leads is not cumulative. ●Web (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 ●PWM CURRENT CONTROL Load-Current Paths The UDN2916B/LB dual bridges are designed to drive both wind- VBB ings 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 Load VPHASE + IOUT 0 − ITRIP td RSENSE BRIDGE ON SOURCE OFF ALL OFF t off When the bridge is turned ON, current increases in the motor ●LOGIC CONTROL OF OUTPUT CURRENT winding and it is sensed by the external sense resistor until the Two logic level inptus (I0 and I1) allow digital selection of the sense voltage (V SENSE) reaches the level set at the comparator’s motor winding current at 100%, 67%, 33%, or 0% of the maxi- input: mum level per the table. The 0% output current condition turns I TRIP=VREF / 10RS OFF all drivers in the bridge and can be used as an OUTPUT ENABLE function. The comparator then triggers the monostable which turns OFF These logic level inputs greatly enhance the implementation of the source driver of the bridge. The actual load current peak µP-controlled drive formats. will be slightly higher than the trip point (especially for low-in- During half-step operations, the I0 and I1 allow the µP to control ductance loads) because of the internal logic and switching de- the motor at a constant torque between all positions in an eight- lays. This delay (td) is typically 2µs. After turn-off, the motor step sequence. This is accomplished by digitally selecting 100% current decays, circulating through the ground-clamp diode and drive current when only one phase is ON and 67% drive current sink transistor. The source driver’s OFF time (and therefore the when two phases are ON. Logic highs on both I0 and I1 turn magnitude of the current decrease) is determined by the OFF all drivers to allow rapid current decay when switching monostable’s external RC timing components, where toff=RT CT phases. This helps to ensure proper motor operation at high wihtin the range of 20kΩ to 100kΩ and 100pF to 1000 pF. step rates. When the source driver is re-enabled, the winding current (the The logic control inputs can also be used to select a reduced sense voltage) is again allowed to rise to the comparator ’s current level (and reduced power dissipation) for ‘hold’ condi- threshold. This cycle repeats itself, maintaining the average tions and/or increased current (and available torque) for start- motor winding current at the desired level. up conditions. Loads with high distributed capacitances may result in high turnON current peaks. This peak (appearing across RS) will attempt ●SWITCHING THE EXCITATION CURRENT DIRECTION to trip the comparator, resulting in erroneous current control or The PHASE input to each bridge determines the direction moter high-frequency oscillations. An external RC CC time delay should winding current flows. An internally generated deadtime (ap- be used to further delay the action of the comparator. Depend- proximately 2µs) prevents crossover currents that can occur ing on load type, many applications will not require these exter- when switching the PHASE input. nal components (SENSE connected to E.) 80 UDN2916B/LB 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) ●REDUCTION AND DISPERSION OF POWER LOSS UDN2916B/LB 1/2 step : 1-2 excitation About 1/4 step : W1-2 excitation The thermal performance can be improved by adding four external Schottky barrier diodes (AK03 or other) between each The control sequence is as shown below. (This sequence uses output terminal and ground. In most applications, the chopping threshold signal terminals Io and I1 for PWM current control.) 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 OUT1A OUT1B OUT2A OUT2B GND 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 To motor Schottky barrier diode ground clamp diode shows the greatest drop. This means that adding Schottky barrier diodes will improve the thermal performance if their V F characteristic is smaller than that of the internal ground clamp diode. Combined vector (1/4 cycle) The external diodes also disperse the loss (a source of heat) (4) and reduce the package power dissipation PD of the driver IC. (3) Phase B Consequently, a greater output current can be obtained. (2) ●CONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITATION To reduce vibration when the stepper motor is rotating, the (1) UDN2916B/LB can provide 1-2 or W1-2 phase excitation for the control sequence without varying the VREF terminal voltage. (0) Phase A The step angle is Control sequence (1-2/W1-2 phase) (NABLE1= ENABLE 2= 0) Phase A I 11 I 01 Sequence No. PH1 0 0 0 1 0 2 Phase B I 02 I 12 1-2 phase Current ratio excitation Current ratio PH2 0 1 X 1 1 0 0 0 1 0 1 0 1/3 0 0 1 2/3 0 0 1 2/3 3 0 1 0 1/3 0 0 0 1 4 X 1 1 0 0 0 0 1 5 1 1 0 1/3 0 0 0 1 6 1 0 1 2/3 0 0 1 2/3 7 1 0 0 1 0 1 0 1/3 8 1 0 0 1 X 1 1 0 9 1 0 0 1 1 1 0 1/3 10 1 0 1 2/3 1 0 1 2/3 11 1 1 0 1/3 1 0 0 1 12 X 1 1 0 1 0 0 1 13 0 1 0 1/3 1 0 0 1 14 0 0 1 2/3 1 0 1 2/3 15 0 0 0 0 1 1 0 1/3 * W1-2 phase excitation * * * * * * * * * * * * * * * * * * * * * * * 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 ●MICROSTEPPING (1/8 STEP) CONTROL SEQUENCE microstepping and reduces motor vibration greatly. The Varying the V REF terminal voltage in steps provides 1/8 microstepping control sequence is as follows: 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 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 V REF1 (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 Phase A I 11 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 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 V REF2 (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 I 12 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 ●VREF terminal ●Thermal protection V REF is the reference voltage input terminal for PWM constant Thermal protection circuitry turns OFF all drivers when the junc- current control. To realize stable ensure a stable signal, make tion temperature reaches +170°C. It is only intended to protect sure noise is not applied to the terminal. the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. ●VBB terminal The output drivers are re-enabled when the junction tempera- To prevent voltage spikes on the load power supply terminal ture cools to +145°C. (VBB), connect a large capacitor (≥22µF) between the VBB terminal and ground as close to the device as possible. Make sure the load supply voltage does not exceed 45 V. 82 UDN2916B/LB 2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB ●Around the ground the power system and the small signal (analog) system. Pro- Since the UDN2916B/LB is a chopping type power driver IC, vide a single-point connection to the GND terminal or a solid take great care around the ground when mounting. Separate pattern of low enough impedance. Example of Circuit (including GND) and GND Wiring Pattern (UDN2916LB) OUT2B OUT2A OUT1A OUT1B RC RC CC UDN2916B UDN2916LB 6, 7, 18, 19 CC RS RC RS VBB VBB + RS RC RS CC CT CT CC VCC GND VBB GND + I02 RT RT I12 VBB GND VCC GND RT RT Ph2 VCC I01 I11 Ph1 VREF2 VREF1 CT CT UDN2916B/LB 83 UDN2917EB 2-Phase/1-2 Phase/W1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control 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 ● Internal 1/3 and 2/3 reference divider ● 1-phase/2-phase/W1-2 phase excitation mode with digital input ● Microstepping with reference input ● Low saturation voltage (Sink transistor) ● Internal thermal shutdown circuitry ● Internal crossover-current protection circuitry Symbol VBB IO (peak) IO VCC VIN VE PD (Note1) Ta T j (Note2) T stg Conditions Ratings 45 ±1.75 ±1.5 7.0 −0.3 to +7.0 1.0 4.16 −20 to +85 +150 −55 to +150 tw≤20 µ s Units V A A V V V W °C °C °C ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −33.3mW/°C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ● Internal UVLO protection ● Internal transient-suppression diodes ● Low thermal resistance 44-pin PLCC ■Electrical Characteristics (Unless specified otherwise, Ta =25°C, VBB=45V, VCC=5.0V, VREF=5.0V) Parameter Symbol Power outputs (OUTA or OUTB ) Motor supply voltage range Conditions min VBB Output leakage current ICEX Output sustaining voltage VCE (SUS) Output saturation voltage VCE (SAT) Clamp diode leakage current Clamp diode forward voltage IR VF IBB (ON) IBB (OFF) Motor supply current Control logic Logic supply voltage VCC VIH VIL Input voltage Reference voltage range IIH IIL VREF Current control threshold V REF/VSENSE Input current Thermal shutdown temperature Logic supply current max <1.0 < −1.0 45 50 −50 0.5 0.8 1.8 1.9 <1.0 1.6 9.0 4.0 0.7 1.0 1.9 2.1 50 2.0 12 6.0 5.0 5.25 10 Sink driver, VO =VBB Source driver, V O=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 V R=45V IF=1.5A Both bridges ON, no load Both bridges OFF 45 Operating All inputs All inputs V IH=2.4V VIL=0.8V Operating I0 =I1 =0.8V I0=2.4V, I1=0.8V I0=0.8V, I1=2.4V 4.75 2.4 0.8 20 −200 7.5 10.5 16.5 34.5 <1.0 −3.0 1.5 9.5 13.5 25.5 10.0 15.0 30.0 170 90 10 Tj ICC (ON) ICC (OFF) Limits typ I0=I1 =VEN =0.8V, no load I0 =I1=2.4V, no load 105 12 ●“typ” values are for reference. PWM 1 9 10 36 35 12 34 VBB 11 14 33 32 2 15 84 UDN2917EB GROUND 37 1 13 31 PWM 2 θ2 EN2 19 20 21 22 23 24 25 26 27 28 SENSE2 OUT2B LOAD SUPPLY I20 I21 VREF2 PHASE2 ENABLE2 RC2 29 18 30 17 E2 16 OUT2A GROUND 39 38 8 GROUND ■Derating Allowable package power dissipation PD (W) LOGIC SUPPLY 40 RC1 7 VCC VREF1 ENABLE1 I11 44 41 I10 1 PHASE1 OUT1B 2 42 SENSE1 3 EN1 E1 4 43 OUT1A 5 θ1 GROUND 6 ■Terminal Connection Diagram 5 4 30 °C /W 3 2 1 0 −20 0 25 50 75 85 Ambient temperature Ta (°C) 100 Units V µA µA V V V V V µA V mA mA V V V µA µA V °C mA mA 2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation) ■Internal Block Diagram (1/2 Circuit) UDN2917EB ■Truth Table ENABLE PHASE OUTA L H H L L L L H X Z Z VBB H OUTB X=Don't Care OUTB Z=High impedance OUTA VREF 20 kΩ E ÷10 SENSE − ONE SHOT + 40 kΩ 10 kΩ I0 RC SOURCE DISABLE RC I0 I1 Output Current L L VREF / (10×RS)=I TRIP H L VREF / (15×RS)=I TRIP×2/3 L H VREF / (30×RS)=I TRIP×1/3 H H 0 CC RS CT RT I1 ■Application Circuit 29 30 31 32 33 34 35 36 37 38 Ct Rt Ct 40 Rt 28 VCC EN1 PHASE1 43 θ1 VREF1 EN2 27 PWM 2 42 PWM 1 ENABLE1 θ 2 24 1 23 I01 2 I12 I02 1 RC RS ●Off-time setting t off≅CTRT 17 16 15 14 13 12 11 18 10 19 6 8 CC 20 2 5 7 VBB CVBB + 21 3 RC VREF2 22 VBB 4 RS PHASE2 25 44 CC ENABLE2 26 I11 9 Digital control signal 41 Digital control signal 39 VCC STEPPER MOTOR ■External Dimensions Plastic PLCC ICs per stick RS : VREF : RT : CT : RC : CC : CVBB : 0.82Ω, 1W (0.5 to 1.0Ω, 2 to 1W) 5.0V (1.5 to 7.5V) 56kΩ (20k to 100kΩ) 470pF (200 to 500pF) 1kΩ 3,300pF (470 to 10,000pF) 100µ F (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 2 16.66 16.51 17.65 17.40 ●Allowable 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 ●REDUCTION AND DISPERSION OF POWER LOSS 1/2 step : 1-2 excitation The thermal performance can be improved by adding four ex- About 1/4 step : W1-2 excitation ternal Schottky barrier diodes (EK13 or other) between each The control sequence is as shown below. (This sequence uses output terminal and ground. In most applications, the chopping threshold signal terminals Io and I1 for PWM current control.) 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 OUT1A OUT1B OUT2A OUT2B GND 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 To motor Schottky barrier diode ground clamp diode shows the greatest drop. This means that adding Schottky barrier diodes will improve the thermal performance if their V F characteristic is smaller than that of the interCombined vector (1/4 cycle) nal ground clamp diode. The external diodes also disperse the loss (a source of heat) (4) (3) Phase B and reduce the package power dissipation PD of the driver IC. Consequently, a greater output current can be obtained. (2) ●CONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITATION To reduce vibration when the stepper motor is rotating, the (1) UDN2917EB can provide 1-2 or W1-2 phase excitation for the control sequence without varying the VREF terminal voltage. (0) Phase A The step angle is Control sequence (1-2/W1-2 phase) (ENABLE1= ENABLE2=0) Phase A I 11 I 01 Sequence No. PH1 0 0 0 1 0 0 Phase B I 02 I 12 1-2 phase Current ratio excitation Current ratio PH2 0 1 X 1 1 0 0 1 0 1 0 1/3 2 0 0 1 2/3 0 0 1 2/3 3 0 1 0 1/3 0 0 0 1 4 X 1 1 0 0 0 0 1 5 1 1 0 1/3 0 0 0 1 6 1 0 1 2/3 0 0 1 2/3 7 1 0 0 1 0 1 0 1/3 8 1 0 0 1 X 1 1 0 9 1 0 0 1 1 1 0 1/3 10 1 0 1 2/3 1 0 1 2/3 11 1 1 0 1/3 1 0 0 1 12 X 1 1 0 1 0 0 1 13 0 1 0 1/3 1 0 0 1 14 0 0 1 2/3 1 0 1 2/3 15 0 0 0 0 1 1 0 1/3 W1-2 phase excitation * * * UDN2917EB * * * * * * * * * * * * * * * * * * 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 * * * 2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2917EB ●MICROSTEPPING (1/8 STEP) CONTROL SEQUENCE microstepping and reduces motor vibration greatly. The Varying the V REF terminal voltage in steps provides 1/8 microstepping control sequence is as follows: Control sequence (microstepping) (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 V REF1 (V) I 11 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 V REF2 (V) I 12 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 ●VREF terminal ●Thermal protection V REF is the reference voltage input terminal for PWM constant Thermal protection circuitry turns OFF all drivers when the junc- current control. To realize stable ensure a stable signal, make tion temperature reaches +170°C. It is only intended to protect sure noise is not applied to the terminal. the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. ●VBB terminal The output drivers are re-enabled when the junction tempera- To prevent voltage spikes on the load power supply terminal ture cools to +145°C. (VBB ), connect a large capacitor (≥47µF) between the VBB terminal and ground as close to the device as possible. Make sure ●Around the ground the load supply voltage does not exceed 45V. 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 A3955SB/SLB 2W1-2 Phase Excitation/Micro-step Support 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product ■Absolute Maximum Ratings ■Features ● Maximum output ratings: 50V, ±1.5A Parameter ● Internal 3-bit non-linear DAC for 8-division 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 microstepping enables 2W1-2,W1-2, 1-2, 2-phase excitation drive without external sine wave generator ● 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 ● External RC filter for sense terminal not required thanks to internal blanking circuitry ● Internal thermal shutdown, crossover-cur- Ratings Symbol A3955SB Units A3955SLB VBB IO VCC 50 ±1.5 7.0 V A V VIN −0.3 to VCC+0.3 V VS P D (Note1) Ta T j (Note2) Tstg 1.0 2.90 V W °C °C °C 1.86 −20 to +85 +150 −55 to +150 ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −23.26mW/°C(SB) or −14.93mW/°C(SLB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry. These conditions can be tolerated but should be avoided. rent protection and transient-suppression diodes ● Special power-up and power-down sequencing for motor supply and logic supply not required ● Employs copper batwing lead frame with low thermal resistance ■Terminal Connection Diagram ■Derating (TOP VIEW) 88 PFD 1 16 LOAD SUPPLY REF 2 15 OUTB RC 3 14 D0 GROUND 4 13 GROUND GROUND 5 12 GROUND LOGIC SUPPLY 6 11 SENSE PHASE 7 10 OUTA D2 8 9 D1 A3955SB/SLB Allowable package power dissipation PD [W] A3955SB/SLB 3.0 A3 95 5S 2.5 B 2 43 °C /W A3 95 5S 1.5 LB 67 °C /W 1 0.5 0 −20 0 20 40 60 80 Ambient temperature Ta (°C) 100 2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB ) Load supply voltage range Output leakage current Output saturation voltage (Unless specified otherwise, T a =25°C, VBB=5V to 50V, VCC=4.5V to 5.5V) Symbol Conditions VBB Operating, IO=±1.5A, L=3mH V O=V BB VO =0V VSENSE=1.0V : Source Driver, IO =−0.85A VSENSE=1.0V : Source Driver, IO=−1.5A V SENSE=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 ICEX VCE (sat) Sense current offset ISO Clamp diode forward voltage VF Motor supply current (No load) Control logic Logic supply voltage range Reference voltage range UVLO enable threshold UVLO hysteresis Logic supply current IBB (ON) IBB (OFF) VCC V REF VUVLOen VUVLOhys ICC (ON) ICC (OFF) Logic input voltage V IH VIL Logic input current IIH IIL Mixed Decay comparator trip points V PFD Mixed Decay comparator input offset voltage VIO (PFD) Mixed Decay compartor hysteresis Reference input current Reference divider ratio ∆V IO (PFD) IREF VREF /VS DAC accuracy *1 DACERR Current-sense comparator input offset voltage *1 Step reference current ratio Thermal shutdown temperature Thermal shutdown hysteresis AC timing PWM RC fixed off-time PWM turn-off time VIO (S) SRCR Limits typ max <1.0 < −1.0 1.0 1.3 0.5 1.3 33 1.2 1.4 2.0 1.0 50 50 −50 1.2 1.5 0.6 1.5 40 1.4 1.7 4.0 50 V µA µA V V V V mA V V mA µA 3.70 0.45 42 12 5.5 2.5 4.05 0.60 50 16 <1.0 < −2.0 0.8 20 −200 0 3.1 0.8 ±20 V V V V mA mA V V µA µA V V V mV 55 ±5.0 mV µA ±3.0 ±4.0 ±5.0 % % mV % % % % % % % % °C °C 20.2 22.3 µS 1.0 1.5 µS 1.4 2.5 µS 0.4 0.55 0.7 0.85 µS µS 1.0 1.6 2.2 µS 0.3 1.5 3.0 µS min Vcc 20 D0=D 1=D 2=0.8V Operating Operating V CC=0→5V 4.5 0.5 3.35 0.30 D0=D 1=D 2=0.8V tOFFRC tPWM (OFF) tPWM (ON) PWM minimum on-time tON (min) tCODT 5.0 2.0 VIN =2.0V VIN =0.8V Slow Decay Mode Mixed Decay Mode Fast Decay Mode 3.5 1.1 5 V REF=0V~2.5V at trip, D0 =D1 =D2=2V VREF=1.0V~2.5V VREF=0.5V~1.0V VREF =0V D0=D 1=D 2=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=D 1=D2 =2V CT=470pF, RT=43kΩ 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, RT≥43kΩ, CT=470pF, IO=0.1A 1kΩ Load to 25V 25 Units 3.0 0 19.5 38.2 55.5 70.7 83.1 92.4 100 165 15 Tj ∆T j PWM turn-on time Crossover dead time A3955SB/SLB 18.2 *1: The total error for the VREF/V SENSE function is the sum of the D/A error and the current-sense comparator input offset voltage. ●“typ” values are for reference. A3955SB/SLB 89 2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB 6 PHASE LOAD SUPPLY OUTB OUTA LOGIC SUPPLY ■Internal Block Diagram 10 15 16 VCC 7 VBB GROUND 4 5 UVLO & TSD 12 13 MIXED-DECAY COMPARATOR BLANKING GATE CURRENT-SENSE COMPARATOR R + − SENSE 11 + − Q S +3 BLANKING D/A DISABLE RS 3 CT 2 8 9 14 D0 VTH D1 RC D2 + − VCC REF 1 PFD PWM LATCH RT ■Truth Table PHASE PHASE H L DAC OUTA H L OUTB L H D2 H H H H L L L 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 DATA D1 H H L L H H L L DAC [%] D0 H L H L H L H L V REF/VS 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 VS ≅ITRIP*RS ■Application Circuit VBB BRIDGE B BRIDGE A 15 47 µ F CBB1 D0A RT1 36 kΩ 3 560 pF + 13 LOGIC 5 12 6 VCC 11 7 10 9 8 10 7 11 RS1 D2B PHASEB CCC2 RS2 14 4 +5V D1B 12 5 LOGIC D0B +5 V VCC 6 13 4 14 3 RT2 36 kΩ 2 16 560 pF VREF VBB 0.5 Ω 1 0.5 Ω CT1 VPFD CCC1 PHASEA D2A 8 9 47 µ F D1A 15 + VBB 16 CBB2 90 A3955SB/SLB 2 VREF 1 VPFD VBB CT2 ●Off-time setting : tOFF≅RT • CT RT=12kΩ to 100kΩ CT=470pF to 1500pF RS=0.39Ω to 0.62Ω CBB=47µ F+0.1µ F CCC=0.1µ 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) 2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB ■Step Sequence Bridge A Full Step 1 Half Step 1 Quarter Step 1 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 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 PHASE A 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 Bridge B 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% PHASE B 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 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% ■Current Vector Locus A MAXIMUM FULL-STEP TORQUE (141%) 100 92.4 EP C O N ST AN T 8 3/ CURRENT IN PERCENT 70.7 ST 1/4 STE P TEP 10 0% 1/8 S 83.1 2 1/ 55.5 EP ST TO R Q U E EP 5/8 ST 38.2 3/4 EP ST TEP 19.5 7/8 S FULL STEP B 19.5 A 38.2 55.5 70.7 83.1 92.4 B 100 CURRENT IN PERCENT A3955SB/SLB 91 2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB ■External Dimensions (Unit: mm) A3955SB A3955SLB 16 16 9 10.92 7.62 MAX BSC 7.11 6.10 1 1.77 1.15 19.68 18.67 2.54 BSC 8 9 7.60 7.40 10.65 10.00 1.27 0.40 0.13 MIN 0.51 0.33 1 2 3 10.50 10.10 5.33 MAX 3.81 2.93 0.39 MIN 0.558 0.356 2.65 2.35 0.10 MIN. 92 A3955SB/SLB 0.32 0.23 0.508 0.204 1.27 BSC 0° to 8° A3955SB/SLB 93 A3957SLB 4W1-2 Phase Excitation/Micro-step Support 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Absolute Maximum Ratings ■Features ● Maximum output ratings: 50V, ±1.5A 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 ● 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 ● 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 ● External RC filter for sense terminal not required thanks to internal blanking circuitry Symbol VBB IO VCC Ratings 50 ±1.5 7.0 Units V A V VIN −0.3 to VCC+0.3 V 1.0 2.23 −20 to +85 +150 −55 to +150 V W °C °C °C VS PD (Note1) Ta T j (Note2) Tstg ●Output 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 150°C. Note 1: When ambient temperature is 25°C or over, derate using −17.86mW/°C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry. These conditions can be tolerated but should be avoided. ● Internal thermal shutdown, crossover-current protection and transient-suppression diodes ● Special power-up and power-down sequencing for motor supply and logic supply not required ● Employs copper batwing lead frame with low thermal resistance ■Terminal Connection Diagram ■Derating N.C. 1 24 PFD 2 23 VBB REF 3 22 OUTB N.C. 4 21 N.C. RC 5 20 D0 N.C. GROUND 6 19 GROUND GROUND 7 18 GROUND D3 8 17 SENSE VCC 9 16 N.C. PHASE 10 15 OUTA D2 11 14 N.C. N.C. 12 13 D1 Allowable package power dissipation PD [W] (TOP VIEW) 3 2.5 A3 95 7S 2 1.5 LB 56 °C /W 1 0.5 0 −20 0 20 40 60 80 Ambient temperature Ta (°C) 94 A3957SLB 100 2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB) Load supply voltage range Output leakage current Output saturation voltage (Unless specified otherwise, T a=25°C, VBB=5V to 50V, VCC=4.5V to 5.5V) Symbol Conditions VBB Operating, IO=±1.5A, L=3mH V O=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 ICEX V CE (sat) Sense current offset ISO Clamp diode forward voltage VF Motor supply current (No load) Control logic Logic supply voltage range Reference voltage range UVLO enable threshold UVLO hysteresis Logic supply current IBB (ON) IBB (OFF) VCC V REF VUVLOen VUVLOhys ICC (ON) ICC (OFF) Logic input voltage V IH VIL Logic input current IIH IIL Mixed Decay comparator trip point V PFD Mixed Decay comparator input offset voltage VIO (PFD) Mixed Decay compartor hysteresis Reference input current Reference divider ratio ∆V IO (PFD) IREF VREF /VS DAC accuracy *1 DACERR Current-sense comparator input offset voltage *1 Step reference current ratio Thermal shutdown temperature Thermal shutdown hysteresis AC timing PWM RC fixed off-time PWM turn-off time VIO (S) SRCR Limits typ max <1.0 < −1.0 1.0 1.4 0.5 1.2 30 1.2 1.5 2.0 1.0 50 50 −50 1.2 1.5 0.7 1.5 40 1.4 1.7 4.0 50 V µA µA V V V V mA V V mA µA 3.70 0.40 42 14 5.5 2.5 4.05 0.55 50 17 <1.0 < −2.0 0.8 20 −200 0 2.9 0.8 ±20 V V V V mA mA V V µA µA V V V mV 55 ±5.0 mV µA ±3.0 ±4.0 % % mV % % % % % % % % % % % % % % % °C °C 20.2 22.3 µS 1.0 1.5 µS 1.4 2.5 µS 0.4 0.55 0.7 0.85 µS µS 1.0 1.6 2.2 µS 0.3 1.5 3.0 µS min Vcc 20 D0 =D1 =D2 =D3 =0.8V Operating Operating V CC=0→5V 4.5 0.5 3.35 0.25 D0 =D1 =D2 =D3 =0.8V tOFFRC tPWM (OFF) tPWM (ON) PWM minimum on-time tON (min) tCODT 5.0 2.0 VIN =2.0V VIN =0.8V Slow Decay Mode Mixed Decay Mode Fast Decay Mode 3.5 1.2 5 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=D 2=D3 =0.8V D0 =0.8V, D1 =2.0V, D2 =D3 =0.8V D 0=D1 =2.0V, D2=D 3=0.8V D0=D 1=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 D 0=D1 =D2 =2.0V, D3=0.8V D 0=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 D 0=D1 =0.8V, D2=D 3=2.0V D0 =2.0V, D1 =0.8V, D2 =D3 =2.0V D 0=0.8V, D1=D 2=D 3=2.0V D0 =D1 =D2 =D3 =2.0V C T=470pF, RT=43kΩ 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, RT≥43kΩ, CT=470pF, IO=0.1A 1kΩ Load to 25V 25 Units 3.0 −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 Tj ∆T j PWM turn-on time Crossover dead time A3957SLB 18.2 *1: The total error for the VREF/V SENSE function is the sum of the D/A error and the current-sense comparator input offset voltage. ●“typ” values are for reference. A3957SLB 95 2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) A3957SLB ■Internal Block Diagram MOTOR SUPPLY VBB UVLO AND TSD CBB OUTA OUTB PHASE CONTROL LOGIC AND LEVEL SHIFT VCC BLANKING TIME AND DRIVER TOFF CONTROL DECAY MODE CONTROL PFD − + (000X) GND RC RT − SENSE + RS REF 16 LEVEL DAC D0 D3 D2 D1 CT ■Truth Table Power Outputs D3, D2, D1, D0 0000 or 0001 PHASE OUTA X Z 1XXX or X1XX or XX1X OUTB Z H H L L L H 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 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 ■Application Circuit VBB Vcc + Phase1 10 D10 20 D11 13 D12 11 D13 8 REF1 3 PFD1 2 9 23 CBB 15 + CCC 23 15 A3957SLB A3957SLB 22 22 6,7, 18,19 5 9 6,7, 18,19 17 17 10 Phase2 20 D20 13 D21 11 D22 8 D23 3 REF2 2 PFD2 5 CT1 CT2 RT1 96 A3957SLB Rs Rs RT2 ●Off-time setting : tOFF ≅R T • CT RT=36Ω (12kΩ to 100kΩ) CT=560pF (470pF to 1500pF) RS =0.51Ω (0.39Ω to 0.62Ω) CBB=100 µ F+0.1µ F CCC=0.1µ 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) 2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) A3957SLB ■External Dimensions 24 0.40/1.27 1 1 0.33/0.51 15.2/15.6 1.27 BSC 0°/ 8° 0.23/0.32 SEATING PLANE 2.35/2.65 0.33/0.51 19 7.40/7.60 7.40/7.60 24 10.0/10.65 *1 (Unit: mm) 0.10MIN ● Pin material: copper, pin surface treatment: solder plating ● Package index may be *1. ● Allowable variation in distance between leads is not cumulative. ● Web (batwing) type lead frames are used for pin 6, 7, 18, 19. The pins are connected to GND. A3957SLB 97 SI-7600/SI-7600D Star Connection/Delta Connection 3-Phase Stepper Motor Driver ICs ■Absolute 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 V BB VCC VIN V REF 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 Ratings 15 to 45 3 to 5.5 0.2 to Vcc−2 Units V V V ■Recommended Operating Voltage Ranges Parameter Load supply voltage Logic supply voltage Reference input voltage (Ta=25°C) Symbol V BB VCC V REF ■Electrical Characteristics Parameter Load supply voltage Logic supply voltage Output voltage Load supply current Logic supply current Logic input voltage Logic input current Maximum clock frequency PFD input voltage PFD input current Reference input voltage Reference input current Sense voltage RC source current Off time 98 SI-7600/SI-7600D Symbol VBB V CC VOL1 VOL2 VOH1 VOH2 IBB ICC VIH Ratings min 15 3.0 8 0 VBB−15 VBB−1 typ 3.75 VIL IIH IIL F V Slow VMix V Fast IPFD VREF IREF V S1 V S2 IRC Toff max 45 5.5 15 1 VBB−8 VBB 25 10 1.25 20 −20 200 100 1.7 0.7 Units V V V V V V mA mA V V µA µA kHz VCC 1.3 0.3 ±50 V CC−2 0 ±10 V REF×0.2 VREF×0.17 220 1.1×Rt ×Ct V V V µA V µA V V µA Sec. Conditions VCC=5.5V VCC=5.5V VIN=V CC×0.75 VIN=V CC×0.25 Edge=0V Edge=VCC VREF=0~Vcc−2V Mode=VCC, VREF =0~VCC−2V Mode=0V, AVREF =0~VCC−2V 3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D ■Internal Block Diagram/Diagram of Standard External Circuit + C1 Vcc C3 C2 + C4 VBB Clock OHA CW/CCW OHB Control signal C7 Reset OHC Control Logic PriBuffer OLA U Ena OLB V Edge OLC W F/H R5 Mode Vcc R1 C5 REF Current Control 1/5 Buffer Sense MOS Array R2 Rs PFD Vcc RC GND R3 C6 R4 Ct Rt Reference constants Rs:0.1 to 1Ω (1 to 5W) Rt:15k to 75kΩ Ct:420p to 1100pF C1:10 µ F/10V C2:100 µ F/63V C3 to C6:0.01 to 1 µ F C7:1000pF ex. SLA5017 at 4A max SLA5059 at 4A max SLA5060 at 6A max Io SLA5061 at 10A max (Sanken) R1+R2≤10kΩ (VREF:0.2 to VCC2-2V) R3+R4≤10kΩ (VPFD:0 to VCC2) R5:10kΩ ■Terminal Connection The package shapes of SI-7600 and SI-7600D are different, however the terminal connection is the same. PFD RC S VBB Vcc OHA Reset CW/CCW EDGE OLA CK OLB F/H OLC Ena GND Mode REF Pin No. Name Pin No. Name Pin No. Name Pin1 PFD Pin8 Full/Half Pin15 OLA OHB Pin2 Sense Pin9 Enable Pin16 OHC OHA Pin3 Vcc Pin10 Mode Pin17 OHB Pin4 Reset Pin11 REF Pin18 OHA Pin5 CW/CCW Pin12 GND Pin19 V BB Pin6 Edge Pin13 OLC Pin20 RC Pin7 Clock Pin14 OLB ■External Dimensions (Unless specified otherwise, all values are typical) SI-7600 (Units: mm) SI-7600D 12.6 24.50 1 10 1 0.8 max 1.27 0.4 10 1.30 1.27 max 7.62 7.8 0.51 min 2.2 max 0.89 0.7 2.54 2.54 min 5.08 max 11 5.5 20 11 6.30 20 0.25 0.48 0° to 15° SI-7600/SI-7600D 99 3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D Application Notes 1. Outline counter is reset. Output remains disabled as long as the The SI-7600/SI-7600D is a control IC used with a power MOS Reset terminal level is high. FET array to drive a 3-phase stepper motor. Select the outputstage MOS FET according to the rated current of the motor. 4. Determining the control current The full step is 2-phase excitation when this IC is in a star con- The control current Io can be calculated as follows: nection but 3-phase excitation when it is in a delta connection. When the Mode terminal level is low 2. Features When the Mode terminal level is high IO≅VREF/(5×RS) ● Suitable for both star connection drive and delta connection drive IO≅VREF/(5×RS)→ 3-phase excitation IO≅VREF/(5.88×RS)→ 2-phase excitation ● Maximum load supply voltage VBB =45V ● Control logic supply voltage Vcc=3 to 5.5V The reference voltage can be set within the range of 0.2V to Vcc −2V. ● Supports star connection (2/2-3phase excitation) and delta (When the voltage is less than 0.2V, the accuracy of the refer- connection (3/2-3phase excitation) ence voltage divider ratio deteriorates.) ● Step switching timing by clock signal input ● Forward/reverse, hold, and motor-free control ● Step switching at the positive edge or positive/negative edge 5. About the Current Control System (Setting the Constant Ct/Rt) The SI-7600 uses a current control system of the self-excitation of the clock signal ● Control current automatic switching function for 2-3phase ex- type with a fixed chopping OFF time. citation (effective for star connection) The chopping OFF time is determined by the constant Ct/Rt. (Current control: 86% for 2-phase excitation, 100% for 3-phase The constant Ct/Rt is calculated by the formula TOFF≅1.1×Ct×Rt…… (1) excitation) ● Self-excitation constant-current chopping by external C/R The recommended range of constant Ct/Rt is as follows: ● Slow Decay, Mixed Decay, or Fast Decay selectable Ct: 420 to 1100pF ● Two package lineup: SOP (surface mounting) and DIP (lead Rt: 15 to 75kΩ (Slow Decay or Mixed Decay →560pF/47kΩ, Fast Decay → insertion) SOP…SI-7600, DIP …SI-7600D 470pF/20kΩ) ● Maximum output current depends on the ratings of the MOS Usually, set T OFF to a value where the chopping frequency becomes about 30 to 40kHz. FET array used The mode can be set to Slow Decay, Fast Decay, or Mixed De- 3. Input Logic Truth Table Input terminal CW/CCW Full/Half Enable Mode Low level High level CW CCW Disable Always 100% Decay mode 0 to 0.3V Fast Decay Enable 0.7V to 1.3V Mixed Decay 2-phase excitation: 85% 1.7V to Vcc Slow Decay 3-phase excitation: 100% Positive Positive/negative In Mixed Decay mode, the Fast/Slow time ratio can be set using the voltage applied to the PFD terminal. The calculated values (Note 2) Reset PFD applied voltage and decay mode PFD applied voltage 2-3phase excitation 2-phase excitation (Note 1) Edge cay depending on the PFD terminal input potential. Enable (Note 3) Internal logic reset output disable 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 Select CW/CCW, Full/Half, or Edge when the clock level is low. the chopping OFF time and by the PFD input voltage VPFD. Note 1: The control current is always 85% for the full step (2- Formula (1) is used to determine the chopping OFF time. phase excitation) when the Mode terminal level is high. The Fast Decay time is then determined by the RC discharge The value of 100% control current is calculated at the time from the RC voltage (about 1.5V) to the PFD input voltage V REF/(5×Rs) terminal because a 1/5 buffer is built into (VPFD) when chopping is turned from ON to OFF. the reference section. counter increments both at the rising and falling edges. The Fast Decay time is V PFD …… (2) tOFFf ≅−R T×CT ×ln ( ) 1.5 Therefore, the duty ratio of the input clock should be set The Slow Decay time (tOFFs) is calculated by subtracting the value at 50%. of (2) from that of (1). tOFFS≅TOFF−tOFFf ……(3) Note 2: When the Edge terminal level is set high, the internal 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) Relationship between RC terminal voltage and output current Ton SI-7600/SI-7600D ● Power loss of Nch MOS FETs The power loss of Nch MOS FETs is caused by the ON resis- Toff ITrip tance or by the chopping-OFF regenerative current flowing through the body diodes. IOUT (This loss is not related to the current control method, Slow, 1.5V VPFD VRC Mixed, or Fast Decay.) The losses are ON resistance loss N1: N1=IM2×RDS(ON) 0.5V Fast Decay Slow Decay Body diode loss N2: N2=IM×VSD With these parameters, the loss PN per MOS FET is calculated depending on the actual excitation method as follows: 6. Method of Calculating Power Loss of Output MOS FET a) 2-phase excitation (T=TON+T OFF) The SI-7600 uses a MOS-FET array for output. The power loss b) 2-3 phase excitation (T=TON+TOFF) of this MOS FET array can be calculated as summarized below. PN=(N1+N2×T OFF/T)×(1/4)+(0.5N1+N2×TOFF/T)×(1/12) ●Determining power loss and heatsink when SLA5017 is This is an approximate value that does not reflect parameter variations or other factors during use in the actual application. PN=(N1+N2×T OFF/T)× (1/3) used Therefore, heat from the MOS FET array should actually be If the SLA5017 is used in an output section, the power losses of measured. a Pch MOS FET and an Nch MOS FET should be multiplied by ● Parameters for calculating power loss three and added to determine the total loss P of SLA5017. To calculate the power loss of the MOS FET array, the following In other words, P=3×PP+3×PN parameters are needed: The allowable losses of SLA5017 are (1) Control current Io (max) (2) Excitation method (3) Chopping ON-OFF time at current control: TON, T OFF, tOFFf (TON: ON time, TOFF: OFF time, tOFFf: Fast Decay time at OFF) Without heatsink: 5W θj-a=25°C/W Infinite heatsink: 35W θj-c=3.57°C/W Select a heatsink by considering the calculated losses, allowable losses, and following ratings: (4) ON resistance of MOS FET: RDS (ON) (5) Forward voltage of MOS FET body diode: VSD (W) 15 For (4) and (5), use the maximum values of the MOS FET specifications. Al he at 5 does not flow the body diodes.) k Wit hou t he ats ink sin Power dissipation P m (In Slow Decay mode, the chopping-OFF regenerative current 2m through the body diodes in Fast Decay mode. 0× tance and by the chopping-OFF regenerative current flowing 10 10 The power loss of Pch MOS FETs is caused by the ON resis- 0× ● Power loss of Pch MOS FETs 10 (3) should be confirmed on the actual application. The losses are ON resistance loss P1: P1=I M2×RDS (ON) Body diode loss P2: P2=I M×V SD 0 0 25 50 75 100 125 Ambient temperature Ta (°C) 150 With these parameters, the loss Pp per MOS FET is calculated depending on the actual excitation method as follows: a) 2-phase excitation (T=T ON +TOFF) PP= (P1×TON/T+P2×tOFFf/T)× (1/3) b) 2-3 phase excitation (T=TON +TOFF) PP= (P1×T ON/T+P2×tOFFf/T)×(1/4)+(0.5×P1×T ON/T+P2×tOFFf/ T)×(1/12) 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 100°C 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 2-3 phase excitation Positive edge Positive edge Positive/negative edge CCW CW CK Reset Full/Half EDGE CW/CCW Ena OHA OHB OHC OLA OLB OLC 2-3 phase excitation Positive edge Positive/negative edge CW CK Reset Full/Half ED CW/CCW Ena OHA OHB OHC OLA OLB OLC 102 SI-7600/SI-7600D Disable CCW SI-7600/SI-7600D 103 SI-7502 (SLA5011/SLA6503) Pentagon Connection 5-Phase Stepper Motor Driver ICs ■Absolute Maximum Ratings Part No. SI-7502 SLA5011 SLA6503 (Ta=25°C) 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) Symbol V CC VS Vb Vref V RS PD TOP VDSS ID EAS 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 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 PT Tch Tstg V CBO V CEO VEBO IC IC (pulse) IB PT Tj Tstg Units V V V V V W °C V A mJ W °C °C V V V A A A W °C °C ■Electrical Characteristics Part No. Parameter 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 hFE VCE (sat) Input current Upper drive circuit drive current Lower drive circuit voltage SLA5011 SLA6503 104 Symbol ICC IS Ib IIU-L , IIL-L IOU -on IOU-off VOL-on VOL-off F V RS VTH Re (yts) RDS (ON) CISS COSS V SD trr ICBO VCEO Supply current SI-7502 (Ta=25°C) SI-7502 (SLA5011/SLA6503) min Limits typ 8 max 40 12.5 50 1.6 11 10 VS −1.5 20 0.8 2.0 2.2 1.5 30 1.05 4.0 3.3 0.17 300 160 1.1 150 0.22 1.5 −10 −60 2000 1.5 Units mA mA mA mA mA µA V V kHz V V S Ω pF pF V ns µA V V Conditions VCC=42V, Vb=5.5V VS =12.5V Vb =5.5V VIU=V IL=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 µ A VDS =10V, ID=5A VGS=10V, ID=5A VDS =25V, f=1.0MHz,V GS=0V ISD=5A ISD=±100mA VCB =−60V IC=−10mA VCE =−4V, IC=−3A IC=−3A, IB =−6mA 5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) ■Internal Block Diagram (Dotted Line) Auxiliary power supply Control power supply Vb SLA6503 SI-7502 Trigger pulse generator circuit Reference voltage Variable current resistor RX Main power supply VCC VS Motor Level shift current control unit Excitation signal Comparator amplifier SLA5011 Current sense resistor Rs ■Equivalent Circuit Diagram SI-7502 24 20 23 19 16 12 15 11 7 8 27 R17 R18 R19 R20 R21 1 R7 R1 R8 Trigger pulse generator circuit R4 R9 Tr3 Tr2 R3 R10 R11 Tr4 Tr5 Tr6 R6 R12 R13 R22 R23 R14 R24 R15 R25 R16 R26 − + 2 R2 26 R27 R5 R28 4 R29 R30 R31 Tr1 5 3 25 SLA6503 21 22 18 17 13 14 10 1 R1 9 12 R2 2 4 6 3 8 5 10 7 9 11 R1≅2kΩ Typ SLA5011 6 3 2 5 4 1 7 6 9 8 R2≅50Ω Typ 11 10 12 SI-7502 (SLA5011/SLA6503) 105 5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) ■Diagram of Standard External Circuit VS (12V) VB (5V) VCC (15~42V) C 1 + C2 + Ail Bil Cil Dil Eil 1 7407 26 27 25 22 17 14 6 SI-7502 7406 21 18 13 10 9 2 3 5 Active High 24 23 2 4 16 15 7 6 8 10 20 2 19 4 12 11 8 6 8 10 3 5 B0 7 9 11 C0 Stepper Motor 3 5 7 9 11 D0 E0 1 12 IO 4 RX IO (typ) = 0.92/RS IOPD (typ) = (1.3×a−0.01) / Rs a = Vb×R' / (30000+R') R' = 5100×Rx / (5100+Rx) R1 C4 PD ■External Dimensions (Unit: mm) SI-7502 RS : 100 µ F/63V : 50 µ F/25V : 10 µ F/10V : 470pF : 1kΩ : RK-34 (Sanken) A0 1 12 SLA6503 Excitation signal input Aiu Biu Ciu Diu Eiu SLA5011 C3 + C1 C2 C3 C4 R1 Di Di ■External Dimensions 8(max) φ 3.2 ±0.15 31.0±0.2 24.4±0.2 16.4±0.2 3.2±0.15× 3.8 4.8 ±0.2 1.7±0.1 R 3.5 +1 −0.5 Lot No. 27pin 0.5 +0.15 −0.05 0.3 +0.15 −0.05 P1.27±0.7 × 26=33.02 # 1pin 26pin 27pin 2.54±0.6 Part No. Lot No. Pin 1 1.2±0.15 12 0.85+0.2 −0.1 1.45±0.15 ±0.7 11×P2.54 =27.94±1.0 # 31.5max. R : 0.3mm (Note) Dimensions marked with a # indicate dimensions of lead tip. SI-7502 (SLA5011/SLA6503) 0.8 max R 9.9±0.2 8.5max. 30 (max) Part No. 9.5min (10.4) 16.0±0.2 2.7 13.0±0.2 41 (max) Pin-1 marking (White dots) 106 (Unit: mm) SLA6503/SLA5011 1 2 3 4 5 6 7 8 9 10 11 12 0.55+0.2 −0.1 2.2±0.7 5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) Application Notes ■Determining the Output Current IO (Control Current) Fig. A The main factors that determine the output current are current IOH sense resistor RS, supply voltage Vb, and variable current resisO tor RX. Waveform of output current (1) Normal mode To operate a motor at the maximum current level, set RX to Fig. B Output current vs. Current sense resistor infinity (open). (A) From Fig. A, when the maximum current ripple is designated as IOH, its value will be, VRSH ...................................................................... (1) RS VRSH can be calculated as follows: VRSH=0.19×Vb−0.03 (center value) ............................... (2) From equations (1) and (2), the output current IOH can be Output current IOH IOH= 3 calculated as follows: IOH= 1 RS 2 IOH(max)= 0.212×Vb−0.01 Rs IOH(min)= 0.169×Vb−0.03 Rs 1 IOH(max) (Vb=5V) 0.5 IOH(min) (Vb=5V) 0.2 (0.19×Vb×-0.03) 1 2 The relationship between IOH and RS is shown in Fig. B. 3 4 5 (Ω) Sense resistor Rs (2) Power down mode When an external resistor RX is connected, VRSH changes as Fig. C Sense voltage vs. Variable current resistor shown in Fig. C even when RS is retained. Obtain a power (V) ■Relation between Output Current I O (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 Sense voltage VRSH down output current IOHPD from Fig. C and equation (1). 1.0 VRSH (max)= 7.2×RX ×Vb−0.01 152.6+33.8×RX 0.8 VRSH (min)= 6.1×RX ×Vb−0.03 152.6+33.8×RX V) =5 Vb 0.6 SH )( ax (m VR RS H (m in ) b (V V) =5 V 0.4 shown in Figure D. The relation between IO and IOM is as follows: IO=4×IOM 0.2 With some driving systems, the relation can also be as follows: IO=2×IOM 0.5 1 2 5 10 20 (KΩ) Variable current resistor Rx Fig. D Coil current flow at pentagonal driving IOM IOM IOM IOM 2×IOM 2×IOM VCC to SI-7502 Sense resistor Rs 4×IOM SI-7502 (SLA5011/SLA6503) 107 5-Phase Stepper Motor Driver ICs (Pentagon Connection) ■Motor 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. ■Thermal 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 =150°C; however, when using this device, allow sufficient margin when selecting a heatsink so that T C≤100°C (AI FIN temperature on the back of the SLA) is obtained. Fig. E SLA5011/SLA6503 Derating curve (W) 15 50 0 −40 2m N0 0 m AI FIN 50 N 5 0× FI ×5 AI Power dissipation PT mm ×2 00 1 0× 10 10 FI N 100 150 (°C) Ambient temperature Ta SI-7502 ■Handling 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 108 SI-7502 (SLA5011/SLA6503) Chlorine-based solvents: Trichloroethylene, Trichloroethane, etc. Aromatic hydrogen compounds: Benzene, Toluene, Xylene, etc. Keton and Acetone group solvents Gasoline, Benzine, Kerosene, etc. SI-7502 (SLA5011/SLA6503) SI-7502 (SLA5011/SLA6503) 109 Stepper Motor Driver ICs List of Discontinued Products ■Discontinued Products Part No. SI-7200E SI-7201A SI-7202A SI-7230E SI-7235E SDK01M SMA7022M SLA7022M SLA7027M 110 List of Discontinued Products ■Not for new design Substitute − − − − − SDK03M SMA7022MU SLA7022MU SLA7027MU Part No. SI-7115B SI-7300A SI-7330A SI-7200M SI-7230M SI-7500A Substitute SLA7032M SLA7032M SLA7033M A2918SW − − 111 112 K DIC218 Bulletin No I02 EB0 (Jul,2000) 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 Motor Driver ICs 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