dm00053451

DN0006
Design note
A high power stepper motor driver
Designs from our labs describe tested circuit designs from ST labs which provide optimized solutions
for specific applications. For more information or support, visit www.st.com
By Thomas Hopkins
Dennis Nolan
Main components
L6506
Current Controller For Stepping Motors
L6384E
High-voltage half bridge driver
Specification

2 phase bipolar motor driver

Full Step, half Step and microstep operation

Output current >4A*

Motor voltage >50V *
Circuit description
When the voltage or current is outside of the capabilities of the integrated driver ICs,
discrete power devices can be used with integrated gate driver ICs and a current controller
to implement a high power stepper motor driver. The circuit shown in Figure 1 can easily be
adapted to a wide range of current and voltage levels to meet the application requirements.
The power stage is a dual full H-bridge configuration needed for a 2-phase bipolar stepper
motor. Each leg of the bridge is implemented using discrete power MOS devices and an
L6384E half bridge gate driver IC. The L6384E was selected for its logical compatibility with
the L6506 current controller and its built-in dead time to prevent cross conduction in the
bridge. The test board included a MOS device rated at 80A and 100V in a TO-220
package. By changing the power MOS devices, the design can be modified for a wide
range of voltage and current. The series gate resistors may need to be changed for
different power MOS devices and can be selected to set the switching time of the power
MOS.
The test board used power transistors in the TO-220 package that allows a very simple
heat sink configuration. For moderate power levels, in the range of 5 to 10A, it’s possible to
build a very compact drive using power transistors in D2PAK with just the copper area on
the PCB for heat sink and the L6384ED and L6506D in SO package.
* Depends on selected power MOS device.
April 2012
DN0006 Rev 1
1/7
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April 2012
74HC08
3
DCP
1
4.7k
R31
2
10K
R11
14
DN0006 Rev 1
4
L6384
GND
LVG
OUT
VBoot
HVG
5
6
8
7
P15V
5
6
8
7
200
R6
0.22uF
D4
200
C4
R5
D3
200
R3
0.22uF
D2
200
C2
R2
D1
1
1
1
1
22
R20
22
R19
3
4
IN
Vcc
DT/DS
U2
LVG
OUT
VBoot
HVG
0.22uF
C3
L6384
GND
IN
Vcc
DT/DS
P15V
2
10K
1
2
3
200
R4
4
1
2
3
U1
0.22uF
C1
3
R13
PHASE2
PHASE1
200
R1
2
U9A
P5V
C13
680uF
3
2
1
+
2
OFFA
ENA
1
2
P1
Q4
Q3
DCP
Q2
Q1
DCP
2
0.1, 5W
R10
2.2K
R34
1.0Uf
C10
2
1
P2
1.0Uf
C9
D9
SENSE1
Figure 1a.
Schematic diagram, page 1
3
%
1 /4 W
7
2/7
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April 2012
U9B
74HC08
6
1
1 /4 W
4.7k
2
14
DN0006 Rev 1
L6384
GND
LVG
OUT
VBoot
HVG
5
6
8
7
0.22uF
200
R14
D8
200
R12
D7
200
R9
D6
C7
C6
1
1
1
22
R22
22
R21
3
4
IN
Vcc
DT/DS
P15V
5
0.22uF
2
10K
1
2
3
U4
LVG
OUT
0.22uF
C8
L6384
GND
6
8
7
1
3
R16
PHASE4
200
R17
4
VBoot
HVG
200
R8
D5
2
5
4
R33
R15
IN
Vcc
DT/DS
P15V
3
10K
1
2
3
U3
0.22uF
C5
2
OFFB
ENB
P5V
PHASE3
200
R7
Q8
Q7
DCP
Q6
Q5
DCP
2
0.1, 5W
R18
2
1
P3
1.0Uf
C11
2.2K
R35
1.0Uf
C12
D10
SENSE2
Figure 1b.
Schematic diagram, page 2
3
%
7
3/7
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VREFA
VREFB
P5V
P4
1
3
5
7
9
11
13
15
17
19
21
23
25
27
29
31
33
15V
April 2012
J2
2
4
6
8
10
12
14
16
18
20
22
24
26
28
30
32
34
DN0006 Rev 1
REMOVE JUMPER FOR FAST DECAY
INSTALL JUMPER FOR SLOW DECAY
WJ1
7
P5V
5
14
PHASE4
U8B
2
4
1
6
10K
1
%
1/4W
R32
10
9
13
12
C19
2.2 nF
%
1/4W
U8C
U8D
9
8
7
6
5
4
3
2
1
8
11
Gnd
In4
In3
In2
In1
L6506
Pwr En
Sync
Osc
R/C
U5
Vcc
12
13
14
15
16
17
18
19
20
OFFB
OFFA
Vsen1
Out4
Out3
Out2
Out1
Vsen2
Ref1
Ref2
SENSE1
PHASE4
PHASE3
PHASE2
PHASE1
SENSE2
2
3
PHASE3
3
%
1/4W
33K
R29
C17
0.22uF
2
2
U8A
10K
R30
1
20K
5K
%
1/4W
R24
R23
P5V
68 nF
C14
2
3
PHASE2
GND
2
1
P5V
3
1
ENB
VOUT
R27
R28
1
5K
%
1/4W
R26
20K
R25
1
P5V
20K
68 nF
C15
20K
1 /4 W 1/4 W
IN2
VIN
2
IN3
ENA
1
1
%
IN4
IN1
+
78L05
P5V
%
PHASE1
100uF
C16
U6
P15V
2
2
VREFA
VREFB
Figure 1c.
Schematic diagram, page 3
1
1
2
2
2
1
4/7
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The L6506 regulates the motor current by comparing the voltage across sense resistors
R10 and R18 to the voltage references. When the voltage across the sense resistor
exceeds the reference voltage, the L6506 turns off the output and allows the current to
recirculate until the oscillator turns the bridge back on. The value of the sense resistor and
the reference voltage set the peak motor current according to the equation:
Ipeak = VREF / Rsense
For a typical application, the value of Rsense is chosen so that the voltage across the sense
resistor at maximum motor current is between 0.5 and 0.75 V.
Inputs IN1- IN4 control the phases of the bridge. If an input is high, the high side transistor
of the corresponding half bridge will be turned on. If the input is low, the low side transistor
of the corresponding half bridge will be turned on. Since the L6384 uses a bootstrap diode
to power the high side gate driver, operation at 100% duty cycle on the high side is not
possible. However, the L6506 ANDs the PWM signal to control the current with the logic
input so that, as long as current is being regulated, the high side is switched at the
chopping frequency and the bootstrap is always refreshed. ENA and ENB are the enable
for the bridges. When ENA or ENB is low, all four transistors of the corresponding bridge
are turned off.
Jumper WJ1 is used to select fast or slow decay mode.
Connector J2 is compatible with the PractiSPIN evaluation system. The board may be
controlled from the PractiSPIN interface by selecting the L6207 in the device list.
Variations
The L6384E was selected for its logic compatibility with the L6506 and that it included dead
time control. Other gate drivers that may be used are the L6390, L6391, L6392 and L6393
that are also logic compatible with the L6506.
Support material
Documentation
Datasheet L6506, Current Controller For Stepping Motors
Datasheet L6384E, High-voltage half bridge driver
April 2012
DN0006 Rev 1
5/7
www.st.com
Appendix A, Bill of Materials
Comment
Description
Designator
0.22uF
capacitor 1206
C1, C2, C3, C4, C5, C6, C7, C8,
C17
1.0Uf
capacitor 1206
C9, C10, C11, C12
680uF
capacitor 1206
C13
68 nF
C14, C15
100uF
100uF, 200V, Electrolytic
C16
2.2 nF
C19
1N4148WS
D1, D2, D3, D4, D5, D6, D7, D8,
D9, D10
34 pin flat ribbon connector
J2
connector, Phoenix, 2 pos
P1, P2, P3
connector, Phoenix, 2 pos
P4
STP80NF10
MOSFET 60V TO220
Q1, Q2, Q3, Q4, Q5, Q6, Q7, Q8
200
capacitor 1206
R1, R2, R3, R4, R5, R6, R7, R8,
R9, R12, R14, R17
0.1, 5W
capacitor 1206
R10, R18
10K
capacitor 1206
R11, R13, R15, R16
22
capacitor 1206
R19, R20, R21, R22
5K
trimmer pot
R23, R28
20K
R24, R25, R26, R27
33K
R29
10K
R30, R32
4.7k
R31, R33
2.2K
resistor1206
R34, R35
L6384E
Gate Driver
U1, U2, U3, U4
L6506
Current Regulator
U5
L78L05
5V regulator
U6
74HC32
2 input OR gate
U8
74HC08
2 input NAND gate
U9
Jumper
WJ1
Revision history
Date
15-Apr-2012
April 2012
Version
1
Changes
Initial release
DN0006 Rev 1
6/7
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April 2012
DN0006 Rev 1
7/7
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