STMicroelectronics L6219R Stepper motor driver Datasheet

L6219R
Stepper motor driver
Features
■
Able to drive both windings of bipolar stepper
motor
■
Output current up to 500mA each winding
■
Wide voltage range 4.5V to 10V
■
HAlf-step, full-step and microstepp-ing mode
■
Built-in protection diodes
■
Internal pwm current control
■
Low output saturation voltage
■
Designed for unstabilized motor supply voltage
■
Internal thermal shutdown
SO-24 (20+2+2)
A cross conduction protection is provided to avoid
simultaneous cross conduction during switching
current direction.
Description
The L6219R is a bipolar monolithic integrated
circuits intended to control and drive both winding
of a bipolar stepper motor or bidirectionally control
two DC motors.The L6219R with a few external
components form a complete control and drive
circuit for LS-TTL or microprocessor controlled
stepper motor system.The power stage is a dual
full bridge capable of sustaining 10V and
including four diodes for current recirculation.
An internal pulse-width-modulation (PWM)
controls the output current to 500mA with peak
start-up current up to 1A. Wide range of current
control from 500mA (each bridge) is permitted by
means of two logic inputs and an external voltage
reference. A phase input to each bridge
determines the load current direction. A thermal
protection circuitry disables the outputs if the chip
temperature exceeds safe operating limits.
Order codes
Part number
Package
Packing
L6219R
SO-24
Tube
L6219R013TR
SO-24
Tape & reel
E-L6219R(1)
SO-24
Tube
E-L6219R013TR (1)
SO-24
Tape & reel
1. Lead free package (ECOPACK®) see Chapter 5.
June 2006
Rev 3
1/16
www.st.com
1
Table of contents
L6219R
Table of contents
1
Block diagram & pins description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2
Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3
4
2.1
Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2
Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3
Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1
Input Logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.2
Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3
Current Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.4
Single-pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.5
Output Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.6
VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1
Electrical characteristics curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5
Package informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
6
Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2/16
L6219R
List of tables
List of tables
Table 1.
Table 2.
Table 3.
Table 4.
Table 5.
Table 6.
Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Input logic current level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3/16
List of figures
L6219R
List of figures
Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Figure 7.
Figure 8.
Figure 9.
4/16
Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Pin connection (Top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Windings of a bipolar stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Principle Operating Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Typical Application Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Max output current versus supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Maximum reference voltages vs. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Maximum output current vs. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
SO-24 Mechanical Data & Package Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
L6219R
1
Block diagram & pins description
Block diagram & pins description
Figure 1.
Block diagram
Figure 2.
Pin connection (Top view)
Table 1.
Pin description
Pin #
Name
1;2
OUTPUT A
See pins 5;21
3;23
SENSE
RESISTOR
Connection to Lower Emitters of Output Stage for Insertion of Current
Sense Resistor
4;22
Description
Input connected to the comparators. The voltage across the sense
resistor is feedback to this input throught the low pass filter RC CC. The
COMPARATOR
higher power transistors are disabled when the sense voltage exceeds
INPUT
the reference voltage of the selected comparator. When this occurs the
current decays for a time set by RT CT (toff = 1.1 RT CT). See fig. 4.
5;21
OUTPUT B
6;19
GROUND
Output Connection. The output stage is a "H" bridge formed by four
transistors and four diodes suitable for switching applications.
See pins 7;18
5/16
Block diagram & pins description
Table 1.
6/16
Pin description (continued)
Pin #
Name
7;18
GROUND
Ground Connection. With pins 6 and 19 also conducts heat from die to
printed circuit copper.
8;20
INPUT 0
See INPUT 1 (pins 9;17)
INPUT 1
These pins and pins 8;20 (INPUT 0) are logic inputs which select the
outputs of the comparators to set the current level. Current also depends
on the sensing resistor and reference voltage. See Funcional
Description.
10;16
PHASE
This TTL-compatible logic inputs sets the direction of current flow through
the load. A high level causes current to flow from OUTPUT A (source) to
OUTPUT B (sink). A schmitt trigger on this input provides good noise
immunity and a delay circuit prevents output stage short circuits during
switching.
11;15
REFERENCE
VOLTAGE
A voltage applied to this pin sets the reference voltage of the
comparators, this determining the output current (also thus depending on
Rs and the two inputs INPUT 0 and INPUT 1).
12;14
RC
A parallel RC network connected to this pin sets the OFF time of the
higher power transistors. The pulse generator is a monostable triggered
by the output of the comparators (toff = 1.1 RT CT).
13
Vss - LOGIC
SUPPLY
24
Vs - LOAD
SUPPLY
9;17
Note:
L6219R
Description
Supply Voltage Input for Logic Circuitry
Supply Voltage Input for the Output Stages.
ESD on GND, Vs, Vss, OUT 1A and OUT 2A is guaranteed up to 1.5KV (Human Body
Model, 1500W, 100pF).
L6219R
Electrical specifications
2
Electrical specifications
2.1
Absolute maximum ratings
Table 2.
Absolute maximum ratings
Symbol
2.2
Parameter
Value
Unit
VS
Supply Voltage
30
V
Io
Output Current (peak)
±1
A
Io
Output Current (continuous)
±0.5
A
7
V
-0.3 to VSS
V
VSS
Logic Supply Voltage
VIN
Logic Input Voltage Range
Vsense
Sense Output Voltage
1.5
V
TJ
Junction Temperature
+150
°C
Top
Operating Temperature Range
-20 to +85
°C
Tstg
Storage Temperature Range
-55 to +150
°C
Thermal data
Table 3.
Thermal data
Symbol
Rthj-case
Rthj-amb
Description
Thermal Resistance Junction-case
Thermal Resistance Junction-ambient
Max.
Max.
Value
Unit
18
75 (*)
°C/W
°C/W
(*) With minimized copper area.
2.3
Electrical characteristics
Table 4.
Electrical Characteristics
(Tj = 25°C, VS = 4.5V, VSS = 4.75V to 5.25V, VREF = 2V; unless otherwise specified)
See Figure 5.
Symbol
.
Parameter
Test Condition
Min.
Typ.
Max.
Unit
10
V
OUTPUT DRIVERS (OUTA or OUTB)
VS
ICEX
VCE(sat)
Motor Supply Range
4.5
Output Leakage Current *)
Vs = 30V; VOUT = Vs;
Vs = 30V; VOUT = 0
Output Saturation Voltage
Sink Driver, IOUT= +300mA
Sink Driver, IOUT = +500mA
Source Driver, IOUT = -300mA
Source Driver, IOUT = -500mA
-50
<1
<-1
50
µA
µA
-
0.3
0.7
1.1
1.3
0.6
1
1.4
1.6
V
V
V
V
7/16
Electrical specifications
Table 4.
L6219R
Electrical Characteristics (continued)
(Tj = 25°C, VS = 4.5V, VSS = 4.75V to 5.25V, VREF = 2V; unless otherwise specified)
See Figure 5.
Symbol
Parameter
Test Condition
Min.
Typ.
Max.
Unit
1
1
1.5
1.5
V
V
Clamp Diode Forward Voltage
Sink Diode
Source Diode IF = 500mA
IS(on)
Driver Supply Current
Both Bridges ON, No Load
Vs = 10V
-
8
15
mA
IS(off)
Driver Supply Current
Both Bridges OFF; Vs = 10V
-
6
10
mA
VF
CONTROL LOGIC
VIN(H)
Input Voltage
All Inputs
2.4
-
-
V
VIN(L)
Input Voltage
All Inputs
-
-
0.8
V
IIN(H)
Input Current
VIN = 2.4V
-
<1
20
µA
IIN(L)
Input Current
VIN = 0.84V
-
-3
-200
µA
VREF
Reference Voltage
Operating
1.5
-
2
V
ISS(ON)
Total Logic Supply Current
Io = I1 = 0.8V, No Load
-
44
60
mA
ISS(OFF)
Total Logic Supply Current
Io = I1 = 2.4V, No Load
-
10
14
mA
Io = I1 = 0.8V
9.5
10
10.5
-
Io = 2.4V, I1 = 0.8V
13.5
15
16.5
-
Io = 0.8V, I1 = 2.4V
25.5
30
34.5
-
COMPARATORS
VREF/
Vsense
Current Limit Threshold (at trip
point)
toff
Cutoff Time
Rt = 56KΩ Ct = 820pF
-
50
µs
td
Turn Off Delay
see Figure 1
-
1
µs
-
170
PROTECTION
TJ
8/16
Thermal Shutdown Temperature
-
°C
L6219R
Electrical specifications
Figure 3.
Windings of a bipolar stepper motor
9/16
Functional description
3
L6219R
Functional description
The circuit is intended to drive both windings of a bipolar stepper motor.
The peak current control is generated through switch mode regulation.There is a choice of
three different current levels with the two logic inputs I01 - I11 for winding 1 and I02 - I12 for
winding 2.
The current can also be switched off completely
3.1
Input Logic (I0 and I1)
The current level in the motor winding is selected with these inputs. (See Figure 4)
If any of the logic inputs is left open, the circuit will treat it has a high level input.
Table 5.
3.2
Input logic current level
I0
I1
Current Level
H
H
No Current
L
H
Low current 1/3 IO max
H
L
Medium current 2/3 IO max
L
L
Maximum current IO max
Phase
This input determines the direction of current flow in the windings, depending on the motor
connections. The signal is fed through a Schmidt-trigger for noise immunity, and through a
time delay in order to guarantee that no short-circuit occurs in the output stage during
phase-shift.High level on the PHASE input causes the motor current flow from Out A
through the winding to Out B
3.3
Current Sensor
This part contains a current sensing resistor (RS), a low pass filter (RC, CC) and three
comparators.Only one comparator is active at a time. It is activated by the input logic
according to the current level chosen with signals Io and I1.The motor current flows through
the sensing resistor RS.When the current has increased so that the voltage across RS
becomes higher than the reference voltage on the other comparator input, the comparator
goes high, which triggers the pulse generator.
The max peak current Imax can be defined by:
V ref
I max = ------------10R s
See figures Figure 3, 4 and 5 for maximum allowable output current and reference voltage
versus Vs supply.
10/16
L6219R
3.4
Functional description
Single-pulse Generator
The pulse generator is a monostable triggered on the positive going edge of the comparator
output.The monostable output is high during the pulse time, toff , which is determined by the
time components Rt and Ct.
toff = 1.1 · RtCt
The single pulse switches off the power feed to the motor winding, causing the winding
current to decrease during toff.If a new trigger signal should occur during toff, it is ignored.
3.5
Output Stage
The output stage contains four Darlington transistors (source drivers) four saturated
transistors (sink drivers) and eight diodes, connected in two H bridge.
Figure 4.
Principle Operating Sequence
The source transistors are used to switch the power supplied to the motor winding, thus
driving a constant current through the winding.It should be noted however, that is not
permitted to short circuit the outputs.
Internal circuitry is added in order to increase the accuracy of the motor current particularly
with low current levels.
3.6
VS, VSS, VRef
The circuit will stand any order of turn-on or turn-off the supply voltages VS and VSS. Normal
dV/dt values are then assumed.
Preferably, VRef should be tracking VSS during power-on and power-off if VS is established.
11/16
Application informations
4
L6219R
Application informations
Some stepper motors are not designed for contin-uous operation at maximum current. As
the circuit drives a constant current through the motor, its temperature might increase
exceedingly both at low and high speed operation.Also, some stepper motors have such
high core losses that they are not suited for switch mode current regulation.
Unused inputs should be connected to proper voltage levels in order to get the highest noise
immunity.
As the circuit operates with switch mode current regulation, interference generation
problems might arise in some applications. A good measure might then be to decouple the
circuit with a 100nF capacitor, located near the package between power line and ground.
The ground lead between Rs, and circuit GND should be kept as short as possible.
A typical Application Circuit is shown in Figure 5.
Note that Ct must be NPO type or similar else.
To sense the winding current, paralleled metal film resistors are recommended (Rs)
Figure 5.
12/16
Typical Application Circuit.
L6219R
Application informations
4.1
Electrical characteristics curves
Figure 6.
Max output current versus supply
voltage
Figure 7.
600
Maximum reference voltages vs.
supply voltage
8
7
500
5
Vref1,2 (V)
Output current (mA)
6
400
300
4
3
200
Vss=5V
2
Vss=4.5V
100
1
0
0
0
2
4
6
8
10
12
0
Figure 8.
2
4
6
8
10
12
Vs (V)
Vs (V)
Maximum output current vs. supply
voltage
600
Output current (mA)
500
400
300
200
Vss=5V
Vss=4.5V
100
0
0
1
2
3
4
5
6
7
8
Vref (V)
13/16
Package informations
5
L6219R
Package informations
In order to meet environmental requirements, ST offers these devices in ECOPACK®
packages. These packages have a Lead-free second level interconnect. The category of
second Level Interconnect is marked on the package and on the inner box label, in
compliance with JEDEC Standard JESD97. The maximum ratings related to soldering
conditions are also marked on the inner box label. ECOPACK is an ST trademark.
ECOPACK specifications are available at: www.st.com.
Figure 9.
SO-24 Mechanical Data & Package Dimensions
mm
inch
DIM.
MIN.
TYP.
MAX.
MIN.
TYP.
MAX.
A
2.35
2.65
0.093
0.104
A1
0.10
0.30
0.004
0.012
B
0.33
0.51
0.013
0.200
C
0.23
0.32
0.009
0.013
D (1)
15.20
15.60
0.598
0.614
E
7.40
7.60
0.291
e
1.27
0.299
10.0
10.65
0.394
0.419
h
0.25
0.75
0.010
0.030
L
0.40
1.27
0.016
0.050
ddd
Weight: 0.60gr
0.050
H
k
OUTLINE AND
MECHANICAL DATA
0˚ (min.), 8˚ (max.)
0.10
0.004
(1) “D” dimension does not include mold flash, protusions or gate
burrs. Mold flash, protusions or gate burrs shall not exceed
0.15mm per side.
SO24
0070769 C
14/16
L6219R
6
Revision history
Revision history
Table 6.
Document revision history
Date
Revision
January 2003
1
First Issue
May 2005
2
Modified Table 6 on page 5.
3
Changed look anf fill.
Changed value of the Output Current (continuous) in Table 2.
Changed the curve diagrams of the Figure 6 and 7.
22-Jun-2006
Changes
15/16
L6219R
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