A3984 Datasheet

A3984
DMOS Microstepping Driver with Translator
Features and Benefits
Description
▪ Low RDS(ON) outputs
▪ Automatic current decay mode detection/selection
▪ Mixed and Slow current decay modes
▪ Synchronous rectification for low power dissipation
▪ Internal UVLO and thermal shutdown circuitry
▪ Crossover-current protection
The A3984 is a complete microstepping motor driver with
built-in translator for easy operation. It is designed to
operate bipolar stepper motors in full-, half-, quarter-, and
sixteenth-step modes, with an output drive capacity of up to
35 V and ±2 A. The A3984 includes a fixed off-time current
regulator which has the ability to operate in Slow or Mixed
decay modes.
The translator is the key to the easy implementation of the
A3984. Simply inputting one pulse on the STEP input drives
the motor one microstep. There are no phase sequence
tables, high frequency control lines, or complex interfaces to
program. The A3984 interface is an ideal fit for applications
where a complex microprocessor is unavailable or is
overburdened.
The chopping control in the A3984 automatically selects
the current decay mode (Slow or Mixed). When a signal
occurs at the STEP input pin, the A3984 determines if
that step results in a higher or lower current in each of the
motor phases. If the change is to a higher current, then
the decay mode is set to Slow decay. If the change is to a
lower current, then the current decay is set to Mixed (set
Package: 24-pin TSSOP with exposed
thermal pad (suffix LP)
Not to scale
Continued on the next page…
Pin-out Diagram
3
VREG
4
MS1
5
MS2
6
RESET
7
ROSC
8
SLEEP
9
VDD 10
STEP 11
REF 12
26184.30E
23 ENABLE
22 OUT2B
21 VBB2
20 SENSE2
Translator
& Control Logic
2
Charge
Pump
CP2
VCP
24 GND
Reg
1
OSC
CP1
19 OUT2A
18 OUT1A
17 SENSE1
16 VBB1
15 OUT1B
14 DIR
13 GND
A3984
DMOS Microstepping Driver with Translator
Description (continued)
initially to a fast decay for a period amounting to 31.25% of
the fixed off-time, then to a slow decay for the remainder of the
off-time). This current decay control scheme results in reduced
audible motor noise, increased step accuracy, and reduced power
dissipation.
Internal synchronous rectification control circuitry is provided to
improve power dissipation during PWM operation.
Internal circuit protection includes: thermal shutdown with
hysteresis, undervoltage lockout (UVLO), and crossover-current
protection. Special power-on sequencing is not required.
The A3984 is supplied in a low-profile (1.2 mm maximum),
24-pin TSSOP with exposed thermal pad (package LP). It is lead
(Pb) free, with 100% matte tin leadframe plating.
Selection Guide
Part Number
A3984SLPTR-T
Packing
4000 pieces per 13-in. reel
Absolute Maximum Ratings
Characteristic
Symbol
Rating
Units
35
V
±2
A
VIN
–0.3 to 7
V
VSENSE
0.5
V
VREF
4
V
Load Supply Voltage
VBB
Output Current
IOUT
Logic Input Voltage
Sense Voltage
Reference Voltage
Operating Ambient Temperature
Notes
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.
TA
Maximum Junction
–20 to 85
ºC
TJ(max)
150
ºC
Tstg
–55 to 150
ºC
Storage Temperature
Range S
THERMAL CHARACTERISTICS
Characteristic
Symbol
Package Thermal Resistance
RθJA
Test Conditions*
Value Units
4-layer PCB, based on JEDEC standard
28
ºC/W
*Additional thermal information available on Allegro Web site.
Maximum Power Dissipation, PD(max)
5.5
Power Dissipation, PD (W)
5.0
4.5
4.0
(R
3.5
θJ
3.0
2.5
A
=
28
ºC
/W
)
2.0
1.5
1.0
0.5
0.0
20
40
60
80
100
120
Temperature (°C)
140
160
180
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
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A3984
DMOS Microstepping Driver with Translator
Functional Block Diagram
0.1 uF
0.22 uF
VREG
VDD
Current
Regulator
ROSC
CP1
CP2
Charge
Pump
OSC
VCP
0.1 uF
REF
DMOS Full Bridge
DAC
VBB1
OUT1A
OUT1B
PWM Latch
Blanking
Mixed Decay
STEP
DIR
RESET
SENSE1
Gate
Drive
Translator
MS1
Control
Logic
MS2
DMOS Full Bridge
RS1
VBB2
OUT2A
OUT2B
PWM Latch
Blanking
Mixed Decay
ENABLE
SLEEP
SENSE2
RS2
DAC
VREF
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115 Northeast Cutoff
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A3984
DMOS Microstepping Driver with Translator
ELECTRICAL CHARACTERISTICS1 at TA = 25°C, VBB = 35 V (unless otherwise noted)
Characteristics
Output Drivers
Min.
Typ.2
Max.
Units
8
0
3.0
–
–
–
–
–
–
–
–
–
–
–
–
–
0.350
0.300
–
–
–
–
–
–
–
–
35
35
5.5
0.450
0.370
1.2
1.2
4
2
10
8
5
10
V
V
V
Ω
Ω
V
V
mA
mA
μA
mA
mA
μA
VIN(1)
VDD0.7
–
–
V
VIN(0)
–
–
V
μA
Symbol
Load Supply Voltage Range
VBB
Logic Supply Voltage Range
VDD
Output On Resistance
RDSON
Body Diode Forward Voltage
VF
Motor Supply Current
IBB
Logic Supply Current
IDD
Test Conditions
Operating
During Sleep Mode
Operating
Source Driver, IOUT = –1.5 A
Sink Driver, IOUT = 1.5 A
Source Diode, IF = –1.5 A
Sink Diode, IF = 1.5 A
fPWM < 50 kHz
Operating, outputs disabled
Sleep Mode
fPWM < 50 kHz
Outputs off
Sleep Mode
Control Logic
Logic Input Voltage
Logic Input Current
Microstep Select 2
Input Hysteresis
Blank Time
IIN(1)
IIN(0)
VIN = VDD0.7
VIN = VDD0.3
MS2
–20
<1.0
VDD0.3
20
–20
<1.0
20
μA
50
300
1
30
30
–
0
–
–
–
475
–
500
1.3
40
37
4
3
±15
±5
±5
800
kΩ
mV
μs
μs
μs
V
μA
%
%
%
ns
165
15
2.7
0.10
–
–
3
–
°C
°C
V
V
Current Trip-Level Error3
errI
Crossover Dead Time
Protection
Thermal Shutdown Temperature
Thermal Shutdown Hysteresis
UVLO Enable Threshold
UVLO Hysteresis
tDT
–
150
0.7
20
23
0
–3
–
–
–
100
TJ
TJHYS
UVLO
UVHYS
–
–
2.35
0.05
VHYS(IN)
tBLANK
Fixed Off-Time
tOFF
Reference Input Voltage Range
Reference Input Current
VREF
IREF
OSC > 3 V
ROSC = 25 kΩ
VREF = 2 V, %ITripMAX = 38.27%
VREF = 2 V, %ITripMAX = 70.71%
VREF = 2 V, %ITripMAX = 100.00%
VDD rising
1Negative current is defined as coming out of (sourcing from) the specified device pin.
2Typical data are for initial design estimations only, and assume optimum manufacturing and application conditions. Performance may vary for
individual units, within the specified maximum and minimum limits.
I = (ITrip – IProg ) ⁄ IProg , where IProg = %ITripMAX ITripMAX.
3err

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115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
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A3984
DMOS Microstepping Driver with Translator
tA
tB
STEP
tC
tD
MS1, MS2,
RESET, or DIR
Time Duration
Symbol
Typ.
Unit
STEP minimum, HIGH pulse width
tA
1
μs
STEP minimum, LOW pulse width
tB
1
μs
Setup time, input change to STEP
tC
200
ns
Hold time, input change to STEP
tD
200
ns
Figure 1. Logic Interface Timing Diagram
Table 1. Microstep Resolution Truth Table
MS1
MS2
Microstep Resolution
Excitation Mode
L
L
Full Step
2 Phase
H
L
Half Step
1-2 Phase
L
H
Quarter Step
W1-2 Phase
H
H
Sixteenth Step
4W1-2 Phase
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115 Northeast Cutoff
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A3984
DMOS Microstepping Driver with Translator
Functional Description
Device Operation. The A3984 is a complete microstepping motor driver with a built-in translator for easy operation
with minimal control lines. It is designed to operate bipolar
stepper motors in full-, half-, quarter-, and sixteenth-step
modes. The currents in each of the two output full-bridges
and all of the N-channel DMOS FETs are regulated with
fixed off-time PMW (pulse width modulated) control circuitry. At each step, the current for each full-bridge is set by
the value of its external current-sense resistor (RS1 or RS2), a
reference voltage (VREF), and the output voltage of its DAC
(which in turn is controlled by the output of the translator).
At power-on or reset, the translator sets the DACs and the
phase current polarity to the initial Home state (shown in figures 2 through 5), and the current regulator to Mixed Decay
Mode for both phases. When a step command signal occurs
on the STEP input, the translator automatically sequences the
DACs to the next level and current polarity. (See table 2 for
the current-level sequence.) The microstep resolution is set
by the combined effect of inputs MS1 and MS2, as shown in
table 1.
When stepping, if the new output levels of the DACs are
lower than their previous output levels, then the decay mode
for the active full-bridge is set to Mixed. If the new output
levels of the DACs are higher than or equal to their previous
levels, then the decay mode for the active full-bridge is set
to Slow. This automatic current decay selection improves
microstepping performance by reducing the distortion of
the current waveform that results from the back EMF of the
motor.
RESET Input (RESET). The RESET input sets the
translator to a predefined Home state (shown in figures 2
through 5), and turns off all of the DMOS outputs. All STEP
inputs are ignored until the RESET input is set to high.
Step Input (STEP). A low-to-high transition on the STEP
input sequences the translator and advances the motor one
increment. The translator controls the input to the DACs and
the direction of current flow in each winding. The size of
the increment is determined by the combined state of inputs
MS1 and MS2.
Microstep Select (MS1 and MS2). Selects the microstepping format, as shown in table 1. MS2 has a 50 kΩ pulldown resistance. Any changes made to these inputs do not take
effect until the next STEP rising edge.
Direction Input (DIR). This determines the direction of
rotation of the motor. When low, the direction will be clockwise and when high, counterclockwise. Changes to this input
do not take effect until the next STEP rising edge.
Internal PWM Current Control. Each full-bridge is
controlled by a fixed off-time PWM current control circuit
that limits the load current to a desired value, ITRIP . Initially, a diagonal pair of source and sink DMOS outputs are
enabled and current flows through the motor winding and
the current sense resistor, RSx. When the voltage across RSx
equals the DAC output voltage, the current sense comparator resets the PWM latch. The latch then turns off either the
source DMOS FETs (when in Slow Decay Mode) or the sink
and source DMOS FETs (when in Mixed Decay Mode).
The maximum value of current limiting is set by the selection of RSx and the voltage at the VREF pin. The transconductance function is approximated by the maximum value of
current limiting, ITripMAX (A), which is set by
ITripMAX = VREF / ( 8
 RS )
where RS is the resistance of the sense resistor (Ω) and VREF
is the input voltage on the REF pin (V).
The DAC output reduces the VREF output to the current
sense comparator in precise steps, such that
Itrip = (%ITripMAX / 100)
× ITripMAX
(See table 2 for %ITripMAX at each step.)
It is critical that the maximum rating (0.5 V) on the SENSE1
and SENSE2 pins is not exceeded.
Fixed Off-Time. The internal PWM current control circuitry uses a one-shot circuit to control the duration of time
that the DMOS FETs remain off. The one shot off-time, tOFF,
is determined by the selection of an external resistor connected from the ROSC timing pin to ground. If the ROSC
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115 Northeast Cutoff
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A3984
DMOS Microstepping Driver with Translator
pin is tied to an external voltage > 3 V, then tOFF defaults to 30 μs. are disabled until the fault condition is removed. At power-on, the
The ROSC pin can be safely connected to the VDD pin for this
UVLO (undervoltage lockout) circuit disables the DMOS outputs
purpose. The value of tOFF (μs) is approximately
and resets the translator to the Home state.
tOFF = ROSC ⁄ 825
Blanking. This function blanks the output of the current sense
Sleep Mode (SLEEP). To minimize power consumption when
the motor is not in use, this input disables much of the internal
comparators when the outputs are switched by the internal current
control circuitry. The comparator outputs are blanked to prevent circuitry including the output DMOS FETs, current regulator,
false overcurrent detection due to reverse recovery currents of the and charge pump. A logic low on the SLEEP pin puts the A3984
clamp diodes, and switching transients related to the capacitance of into Sleep mode. A logic high allows normal operation, as well as
the load. The blank time, tBLANK (μs), is approximately
start-up (at which time the A3984 drives the motor to the Home
microstep position). When emerging from Sleep mode, in order to
tBLANK ≈ 1 μs
allow the charge pump to stabilize, provide a delay of 1 ms before
Charge Pump (CP1 and CP2). The charge pump is used to issuing a Step command.
generate a gate supply greater than that of VBB for driving the
source-side DMOS gates. A 0.1 μF ceramic capacitor, should be Mixed Decay Operation. The bridge can operate in Mixed
connected between CP1 and CP2. In addition, a 0.1 μF ceramic
Decay mode, depending on the step sequence, as shown in figures
capacitor is required between VCP and VBB, to act as a reservoir
3 thru 5. As the trip point is reached, the A3984 initially goes into
for operating the high-side DMOS gates.
a fast decay mode for 31.25% of the off-time. tOFF. After that, it
VREG (VREG). This internally-generated voltage is used to
switches to Slow Decay mode for the remainder of tOFF.
operate the sink-side DMOS outputs. The VREG pin must be
decoupled with a 0.22 μF capacitor to ground. VREG is internally
monitored. In the case of a fault condition, the DMOS outputs of Synchronous Rectification. When a PWM-off cycle is
triggered by an internal fixed–off-time cycle, load current recirthe A3984 are disabled.
culates according to the decay mode selected by the control logic.
Enable Input (ENABLE). This input turns on or off all of the
This synchronous rectification feature turns on the appropriate
DMOS outputs. When set to a logic high, the outputs are disabled.
When set to a logic low, the internal control enables the outputs as FETs during current decay, and effectively shorts out the body
required. The translator inputs STEP, DIR, MS1, and MS2, as well diodes with the low DMOS RDSON. This reduces power dissipaas the internal sequencing logic, all remain active, independent of tion significantly, and can eliminate the need for external Schottky
the ENABLE input state.
diodes in many applications. Turning off synchronous rectification
Shutdown. In the event of a fault, overtemperature (excess TJ) prevents the reversal of the load current when a zero-current level is
detected.
or an undervoltage (on VCP), the DMOS outputs of the A3984
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A3984
DMOS Microstepping Driver with Translator
STEP
STEP
100.00
100.00
70.71
70.71
Slow
100.00
–100.00
100.00
70.71
Phase 2
IOUT2B
Direction = H
(%)
0.00
Slow
Slow Slow
Mixed
Mixed
Mixed
Slow
Slow
Mixed
0.00
–70.71
–70.71
–100.00
–100.00
Figure 2. Decay Mode for Full-Step Increments
Mixed
0.00
–70.71
70.71
Phase 2
IOUT2A
Direction = H
(%)
Mixed
Slow
Home Microstep Position
–100.00
Home Microstep Position
–70.71
Slow
Home Microstep Position
Phase 1
IOUT1A
Direction = H
(%)
0.00
Home Microstep Position
Phase 1
IOUT1A
Direction = H
(%)
Slow
Figure 3. Decay Modes for Half-Step Increments
STEP
100.00
92.39
70.71
38.27
Slow
Mixed
Slow
Mixed
Slow
0.00
Home Microstep Position
Phase 1
IOUT1A
Direction = H
(%)
–38.27
–70.71
–92.39
–100.00
100.00
92.39
70.71
Phase 2
IOUT2B
Direction = H
(%)
38.27
Slow
Mixed
Slow
Mixed
Slow
Mixed
0.00
–38.27
–70.71
–92.39
–100.00
Figure 4. Decay Modes for Quarter-Step Increments
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A3984
DMOS Microstepping Driver with Translator
STEP
100.00
95.69
88.19
83.15
77.30
70.71
63.44
55.56
47.14
38.27
29.03
19.51
Phase 1
IOUT1A
Direction = H
(%)
9.8
Slow
Mixed
Slow
Mixed
0.00
–9.8
–19.51
–29.03
Home Microstep Position
–38.27
–47.14
–55.56
–63.44
–70.71
–77.30
–83.15
–88.19
–95.69
–100.00
100.00
95.69
88.19
83.15
77.30
70.71
63.44
55.56
47.14
38.27
29.03
19.51
Phase 2
IOUT2B
Direction = H
(%)
9.8
Slow
Mixed
Slow
Mixed
Slow
0.00
–9.8
–19.51
–29.03
–38.27
–47.14
–55.56
–63.44
–70.71
–77.30
–83.15
–88.19
–95.69
–100.00
Figure 5. Decay Modes for Sixteenth-Step Increments
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A3984
DMOS Microstepping Driver with Translator
Table 2. Step Sequencing Settings
Home microstep position at Step Angle 45º; DIR = H
Full
Step
#
Half
Step
#
1
1/4
Step
#
1
2
1
2
3
4
3
5
6
2
4
7
8
1/16
Step
#
1
Phase 1
Current
Phase 2
Current
[% ItripMax]
[% ItripMax]
(%)
100.00
(%)
0.00
Step
Angle
(º)
0.0
Full
Step
#
Half
Step
#
5
1/4
Step
#
9
1/16
Step
#
33
Phase 1
Current
Phase 2
Current
[% ItripMax]
[% ItripMax]
Step
Angle
(%)
0.00
180.0
(%)
–100.00
(º)
2
99.52
9.80
5.6
34
–99.52
–9.80
185.6
3
98.08
19.51
11.3
35
–98.08
–19.51
191.3
4
95.69
29.03
16.9
36
–95.69
–29.03
196.9
5
92.39
38.27
22.5
37
–92.39
–38.27
202.5
6
88.19
47.14
28.1
38
–88.19
–47.14
208.1
7
83.15
55.56
33.8
39
–83.15
–55.56
213.8
8
77.30
63.44
39.4
40
–77.30
–63.44
219.4
9
70.71
70.71
45.0
41
–70.71
–70.71
225.0
10
63.44
77.30
50.6
42
–63.44
–77.30
230.6
11
55.56
83.15
56.3
43
–55.56
–83.15
236.3
12
47.14
88.19
61.9
44
–47.14
–88.19
241.9
13
38.27
92.39
67.5
45
–38.27
–92.39
247.5
14
29.03
95.69
73.1
46
–29.03
–95.69
253.1
15
19.51
98.08
78.8
47
–19.51
–98.08
258.8
16
9.80
99.52
84.4
48
–9.80
–99.52
264.4
17
0.00
100.00
90.0
49
0.00
–100.00
270.0
10
3
6
11
12
7
13
18
–9.80
99.52
95.6
50
9.80
–99.52
275.6
19
–19.51
98.08
101.3
51
19.51
–98.08
281.3
20
–29.03
95.69
106.9
52
29.03
–95.69
286.9
21
–38.27
92.39
112.5
53
38.27
–92.39
292.5
22
–47.14
88.19
118.1
54
47.14
–88.19
298.1
23
–55.56
83.15
123.8
55
55.56
–83.15
303.8
24
–63.44
77.30
129.4
56
63.44
–77.30
309.4
25
–70.71
70.71
135.0
57
70.71
–70.71
315.0
26
–77.30
63.44
140.6
58
77.30
–63.44
320.6
27
–83.15
55.56
146.3
59
83.15
–55.56
326.3
28
–88.19
47.14
151.9
60
88.19
–47.14
331.9
29
–92.39
38.27
157.5
61
92.39
–38.27
337.5
30
–95.69
29.03
163.1
62
95.69
–29.03
343.1
31
–98.08
19.51
168.8
63
98.08
–19.51
348.8
32
–99.52
9.80
174.4
64
99.52
–9.80
354.4
14
4
8
15
16
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115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
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10
A3984
DMOS Microstepping Driver with Translator
Pin List Table
Name
Description
Number
CP1
Charge pump capacitor 1
1
CP2
Charge pump capacitor 2
2
VCP
Reservoir capacitor
3
Regulator decoupling
4
MS1
Logic input
5
MS2
Logic input
6
RESET
Logic input
7
ROSC
Timing set
8
SLEEP
Logic input
9
VDD
Logic supply
10
STEP
Logic input
11
REF
Current trip reference voltage input
12
GND
Ground*
13
DIR
Logic input
14
DMOS Full Bridge 1 Output B
15
Load supply
16
Sense resistor for Bridge 1
17
OUT1A
DMOS Full Bridge 1 Output A
18
OUT2A
DMOS Full Bridge 2 Output A
19
Sense resistor for Bridge 2
20
Load supply
21
DMOS Full Bridge 2 Output B
22
Logic input
23
Ground*
24
VREG
OUT1B
VBB1
SENSE1
SENSE2
VBB2
OUT2B
ENABLE
GND
*The two GND pins must be tied together externally by connecting
to the exposed pad ground plane under the device.
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11
A3984
DMOS Microstepping Driver with Translator
LP Package, 24-Pin TSSOP with Exposed Thermal Pad
7.80 ±0.10
24
0.65
0.45
4° ±4
+0.05
0.15 –0.06
B
3.00
4.40 ±0.10
6.40 ±0.20
A
1
6.10
(1.00)
2
4.32
0.25
24X
SEATING
PLANE
0.10 C
+0.05
0.25 –0.06
3.00
0.60 ±0.15
0.65
1.20 MAX
0.15 MAX
C
1.65
SEATING PLANE
GAUGE PLANE
4.32
C
PCB Layout Reference View
For reference only
(reference JEDEC MO-153 ADT)
Dimensions in millimeters
Dimensions exclusive of mold flash, gate burrs, and dambar protrusions
Exact case and lead configuration at supplier discretion within limits shown
A Terminal #1 mark area
B Exposed thermal pad (bottom surface)
C Reference land pattern layout (reference IPC7351
TSOP65P640X120-25M); all pads a minimum of 0.20 mm from all
adjacent pads; adjust as necessary to meet application process
requirements and PCB layout tolerances; when mounting on a multilayer
PCB, thermal vias at the exposed thermal pad land can improve thermal
dissipation (reference EIA/JEDEC Standard JESD51-5)
Copyright ©2005-2013, Allegro MicroSystems, LLC
Allegro MicroSystems, LLC reserves the right to make, from time to time, such departures from the detail specifications as may be required to
permit improvements in the performance, reliability, or manufacturability of its products. Before placing an order, the user is cautioned to verify that
the information being relied upon is current.
Allegro’s products are not to be used in life support devices or systems, if a failure of an Allegro product can reasonably be expected to cause the
failure of that life support device or system, or to affect the safety or effectiveness of that device or system.
The information included herein is believed to be accurate and reliable. However, Allegro MicroSystems, LLC assumes no responsibility for its
use; nor for any infringement of patents or other rights of third parties which may result from its use.
For the latest version of this document, visit our website:
www.allegromicro.com
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
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