L6219 Stepper motor driver Features ■ Able to drive both windings of bipolar stepper motor ■ Output current up to 750 mA each winding ■ Wide voltage range: 10 V to 46 V ■ Half-step, full-step and microstepping mode ■ Built-in protection diodes ■ Internal PWM current control ■ Low output saturation voltage ■ Designed for unstabilized motor supply voltage ■ Internal thermal shutdown PDIP24 (20+2+2) A cross conduction protection is provided to avoid simultaneous cross conduction during switching current direction. An internal pulse-width-modulation (PWM) controls the output current to 750 mA with peak startup current up to 1 A. Description The L6219 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 L6219 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 46V and including four diodes for current recirculation. Table 1. SO24 (20+2+2) Wide range of current control from 750 mA (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. Device summary Order code Package Packing E-L6219 PDIP24 Tube E-L6219DS SO24 Tube E-L6219DS013TR SO24 Tape & reel March 2008 Rev 12 1/16 www.st.com 1 Contents L6219 Contents 1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.1 Input logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3 Current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.4 Single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.5 Output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2.6 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3 Application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2/16 L6219 List of tables List of tables Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Table 7. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Absolute maximum rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Pin functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Electrical characteristcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Current levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3/16 List of figures L6219 List of figures Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. 4/16 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 SO24/PDIP24 pins connection (top view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Principle operating sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Typical application circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 SO24 mechanical data and package dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 PDIP24 mechanical data and package dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 L6219 Block diagram 1 Block diagram Figure 1. Block diagram Table 2. Absolute maximum rating Parameter Description Value Unit Vs Supply voltage 50 V IO Output current (peak) ±1 A IO Output current (continuous) ±0.75 A Vss Logic supply voltage 7 V Vin Logic input voltage range -0.3 to +7 V 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 5/16 Block diagram L6219 Figure 2. SO24/PDIP24 pins connection (top view) Table 3. Pin functions Pin # Name 1, 2 Output A 3, 23 Sense resistor Connection to lower emitters of output stage for insertion of current sense resistor 4, 22 Comparator input Input connected to the comparators. The voltage across the sense resistor is feedback to this input throught the low pass filter RC CC. The higher power transistors are disabled when the sense voltage exceeds 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 Figure 3. 5, 21 Output B Output Connection. The output stage is a "H" bridge formed by four transistors and four diodes suitable for switching applications 6, 19 Ground See pins 7, 18 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 functional description 9, 17 6/16 Description See pins 5, 21 L6219 Block diagram Table 3. Pin # Name 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) 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) 12, 14 13 24 Note: Pin functions (continued) VSS - Logic supply Supply voltage input for logic circuitry VS - Load supply Supply voltage input for the output stages ESD on GND, VS, VSS, OUT 1 A and OUT 2 A is guaranteed up to 1.5 KV (human body model, 1500 W, 100 pF). Figure 3. Timing diagram Table 4. Thermal data Parameter Description PDIP SO Unit Rthj-case Thermal resistance junction-case max. 14 18 °C/W Rthj-amb Thermal resistance junction-ambient max. 60 (1) 75 (1) °C/W 1. With minimized copper area. 7/16 Block diagram L6219 Table 5. Electrical characteristcs (Tj = 25 °C, VS = 46 V, VSS = 4.75 V to 5.25 V, VREF = 5 V; unless otherwise specified) See Figure 5 Parameter Description Test condition Min. Typ. Max. Unit Output drivers (OUTA or OUTB) VS ICEX VCE(sat) Motor supply range Output leakage current Output saturation voltage 10 46 V VOUT = Vs; VOUT = 0 - <1 <-1 50 -50 μA μA Sink driver, IOUT= +500 mA Sink driver, IOUT = +750 mA Source driver, IOUT = -500 mA Source driver, IOUT = -750 mA - 0.3 0.7 1.1 1.3 0.6 1 1.4 1.6 V V V V - <1 50 μA 1 1 1.5 1.5 V V IR Clamp diode leakage current VR = 50 V VF Clamp diode forward voltage Sink diode Source diode IF = 750 mA IS(on) Driver supply current Both bridges ON, no load - 8 15 mA IS(off) Driver supply current Both bridges OFF - 6 10 mA 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 = 2.4 V - <1 20 μA IIN(L) Input current VIN = 0.84 V - -3 -200 μA VREF Reference voltage Operating 1.5 - 7.5 V ISS(ON) Total logic supply current Io = I1 = 0.8 V, no load - 64 74 mA ISS(OFF) Total logic supply current Io = I1 = 2.4 V, no load - 10 14 mA Comparators VREF/ Vsense Current limit threshold (at trip point) toff Cutoff time td Turn off delay Io = I1 = 0.8 V 9.5 10 10.5 - Io = 2.4 V, I1 = 0.8 V 13.5 15 16.5 - Io = 0.8 V, I1 = 2.4 V 25.5 30 34.5 - Rt = 56 KΩ Ct = 820 pF - 50 μs Figure 3 - 1 μs - 170 Protection TJ 8/16 Thermal shutdown temperature - °C L6219 2 Functional description 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. 2.1 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 6. 2.2 Current levels 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. 2.3 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 9/16 Functional description 2.4 L6219 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. 2.5 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. 10/16 L6219 Functional description Internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels. 2.6 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 3 L6219 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 100 nF 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 L6219 4 Package information Package information 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 6. SO24 mechanical data and 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 13/16 Package information L6219 Figure 7. PDIP24 mechanical data and package dimensions mm DIM. MIN. TYP. A A1 inch MAX. MIN. TYP. 4.320 0.380 A2 0.170 0.015 3.300 0.130 B 0.410 0.460 0.510 0.016 0.018 0.020 B1 1.400 1.520 1.650 0.055 0.060 0.065 c 0.200 0.250 0.300 0.008 0.010 0.012 D 31.62 31.75 31.88 1.245 1.250 1.255 E 7.620 8.260 0.300 e 2.54 E1 6.350 e1 L 6.600 M 0.325 0.100 6.860 0.250 0.260 0.270 0.300 7.620 3.180 OUTLINE AND MECHANICAL DATA MAX. 3.430 0.125 PDIP 24 (0.300") 0.135 0˚ min, 15˚ max. E1 A2 A A1 L B B1 e e1 D 24 13 1 12 c M SDIP24L 0034965 D 14/16 L6219 5 Revision history Revision history Table 7. Document revision history Date Revision Changes 30-Oct-2001 7 First Issue on the EDOCS DMS. 11-May-2005 8 Changed the look & feel layout. Modified Table 6 on page 9. 14-Sep-2005 9 Change in the Features sections: “Wide voltage range 10 V to 46 V” “Output current up to 750 mA each winding”. 19-Dec-2005 10 Corrected in the Table 5 the max. value of the “VREF” parameter from 2 V to 7.5 V. 28-Mar-2006 11 Corrected ISS(ON) values in the Table 5. 18-Mar-2008 12 Document reformatted. 15/16 L6219 Please Read Carefully: Information in this document is provided solely in connection with ST products. STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice. All ST products are sold pursuant to ST’s terms and conditions of sale. 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