Data Sheet 29319.20F 2916 DUAL FULL-BRIDGE PWM MOTOR DRIVER UDN2916B (DIP) OUT 1A 1 OUT 2A 2 VBB 1 24 LOAD S UP P LY 23 E1 22 S E NS E 1 21 OUT 1B E2 3 S E NS E 2 4 OUT 2B 5 20 I 01 G R OUND 6 19 G R OUND G R OUND 7 18 G R OUND I 02 8 17 I 11 I 12 99 16 P HAS E 1 P HAS E 2 10 15 V REF 1 V REF 2 11 14 RC 1 RC 2 12 13 LOG IC S UP P LY θ2 P WM 1 P WM 2 2 θ1 V CC Dwg. P P -005 ABSOLUTE MAXIMUM RATINGS at TJ ≤ 150°C Motor Supply Voltage, VBB .................... 45 V Output Current, IOUT (Peak) ........................................ +1.0 A (Continuous) .......................... +750 mA Logic Supply Voltage, VCC ................... 7.0 V Logic Input Voltage Range, VIN ......................... -0.3 V to VCC+0.3 V Output Emitter Voltage, VE .................. 1.5 V Package Power Dissipation, PD ........................................................ See Graph Operating Temperature Range, TA ................................. -20°C to +85°C Storage Temperature Range, TS ............................... -55°C to +150°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 peak current rating or a junction temperature of +150°C. The UDN2916B, UDN2916EB, and UDN2916LB motor drivers are designed to drive both windings of a bipolar stepper motor or bidirectionally control two dc motors. Both bridges are capable of sustaining 45 V and include internal pulse-width modulation (PWM) control of the output current to 750 mA. The outputs have been optimized for a low output saturation voltage drop (less than 1.8 V total source plus sink at 500 mA). For PWM current control, the maximum output current is determined by the user’s selection of a reference voltage and sensing resistor. Two logic-level inputs select output current limits of 0, 33, 67, or 100% of the maximum level. A PHASE input to each bridge determines load current direction. The bridges include both ground clamp and flyback diodes for protection against inductive transients. Internally generated delays prevent cross-over currents when switching current direction. Special power-up sequencing is not required. Thermal protection circuitry disables the outputs if the chip temperature exceeds safe operating limits. The UDN2916B is supplied in a 24-pin dual in-line plastic batwing package with a copper lead-frame and heat sinkable tabs for improved power dissipation capabilities. The UDN2916EB is supplied in a 44-lead power PLCC for surface mount applications. The UDN2916LB is supplied in a 24-lead surface-mountable SOIC. Their batwing construction provides for maximum package power dissipation in the smallest possible construction. The UDN2916B/EB/LB are available for operation from -40°C to +85°C. To order, change the prefix from 'UDN' to 'UDQ'. These devices are also available on special order for operation to +105°C. The LB package is available in a lead-free version (100% matte tin leadframe). FEATURES ■ ■ ■ ■ ■ ■ ■ 750 mA Continuous Output Current 45 V Output Sustaining Voltage Internal Clamp Diodes Internal PWM Current Control Low Output Saturation Voltage Internal Thermal Shutdown Circuitry Similar to Dual PBL3717, UC3770 Always order by complete part number: Part Number Package UDN2916B 24-Pin DIP UDN2916EB 44-Lead PLCC UDN2916LB 24-Lead SOIC UDN2916LB-T 24-Lead SOIC, Lead-free 2916 DUAL FULL-BRIDGE MOTOR DRIVER 39 7 PWM 1 8 37 1 10 36 11 35 12 34 13 33 2 14 32 15 31 16 30 PWM 2 17 29 26 27 28 PHASE 2 V REF 2 RC 2 I12 25 I02 24 OUT 2B 23 21 SENSE 2 E2 20 OUT 2A 18 GND θ2 NC NO CONNECTION 22 NC NO CONNECTION 19 GND 38 VBB 9 GND VCC ALLOWABLE PACKAGE POWER DISSIPATION IN WATTS 41 θ1 GND LOGIC SUPPLY VREF 1 RC1 42 40 I11 PHASE 1 43 I01 LOAD SUPPLY 2 1 OUT 1B 3 44 SENSE 1 4 1 OUT 1A E 6 5 UDN2916EB (PLCC) 1 I 12 2 PHASE 2 3 V REF 2 θ2 24 LOAD SUPPLY 23 OUT 2B SENSE 2 4 21 E2 RC 2 5 20 OUT 2A GROUND 6 19 GROUND LOGIC SUPPLY 8 RC 1 99 V REF 1 10 PHASE 1 11 I 11 12 θJA = 30°C/W SUFFIX 'B', R θJA = 40°C/W 3 2 1 SUFFIX 'LB', R θJA = 77°C/W 0 25 50 75 100 TEMPERATURE IN ° C 125 150 VBB VBB 'B' PACKAGE, CHANNEL 1 PIN NUMBERS SHOWN. 24 OUT B 1 21 OUT A 2 7 SUFFIX 'EB', R PWM CURRENT-CONTROL CIRCUITRY 22 GROUND 4 Dwg. PP-006A PWM 2 02 RθJT = 6.0°C/W Dwg. GP-035B UDN2916LB (SOIC) I 5 V REF 15 23 20 kΩ ÷10 SENSE – 22 40 kΩ 18 V CC OUT 1A 16 E1 15 SENSE 1 14 OUT 1B 13 I 01 I 0 20 ONE SHOT + RC 10 kΩ GROUND 17 E 14 SOURCE DISABLE RC CC RS RT I 1 17 CT θ1 PWM 1 1 Dwg. EP-007B Dwg. PP-047 2 TRUTH TABLE PHASE OUTA OUTB H L H L L H 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 Copyright © 1994, 2003 Allegro MicroSystems, Inc. 2916 DUAL FULL-BRIDGE MOTOR DRIVER ELECTRICAL CHARACTERISTICS at TA = +25°C, TJ ≤ 150°C, VBB = 45 V, VCC = 4.75 V to 5.25 V, VREF = 5.0 V (unless otherwise noted). Limits Characteristic Symbol Test Conditions Min. Typ. Max. Units 10 — 45 V VOUT = VBB — < 1.0 50 µA VOUT = 0 — <–1.0 –50 µA Output Drivers (OUTA or OUTB) Motor Supply Range VBB Output Leakage Current ICEX Output Sustaining Voltage VCE(sus) IOUT = ±750 mA, L = 3.0 mH 45 — — V Output Saturation Voltage VCE(SAT) Sink Driver, IOUT = +500 mA — 0.4 0.6 V Sink Driver, IOUT = +750 mA — 1.0 1.2 V Source Driver, IOUT = –500 mA — 1.0 1.2 V Source Driver, IOUT = –750 mA — 1.3 1.5 V Clamp Diode Leakage Current IR VR = 45 V — < 1.0 50 µA Clamp Diode Forward Voltage VF IF = 750 mA — 1.6 2.0 V IBB(ON) Both Bridges ON, No Load — 20 25 mA IBB(OFF) Both Bridges OFF — 5.0 10 mA VIN(1) All inputs 2.4 — — V VIN(0) All inputs — — 0.8 V IIN(1) VIN = 2.4 V — <1.0 20 µA VIN = 0.8 V — – 3.0 –200 µA Operating 1.5 — 7.5 V I0 = I1 = 0.8 V 9.5 10 10.5 — I0 = 2.4 V, I1 = 0.8 V 13.5 15 16.5 — I0 = 0.8 V, I1 = 2.4 V 25.5 30 34.5 — — 170 — °C Driver Supply Current Control Logic Input Voltage Input Current Reference Voltage Range Current Limit Threshold (at trip point) Thermal Shutdown Temperature Total Logic Supply Current Fixed Off-Time www.allegromicro.com VREF VREF / VSENSE TJ ICC(ON) I0 = I1 = 0.8 V, No Load — 40 50 mA ICC(OFF) I0 = I1 = 2.4 V, No Load — 10 12 mA RT = 56 kΩ, CT = 820 pF — 46 — µs toff 3 2916 DUAL FULL-BRIDGE MOTOR DRIVER APPLICATIONS INFORMATION PWM CURRENT CONTROL PWM OUTPUT CURRENT WAVE FORM The UDN2916B/EB/LB dual bridges are designed to drive both windings 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. V P HAS E When the bridge is turned ON, current increases in the motor winding and it is sensed by the external sense resistor until the sense voltage (VSENSE) reaches the level set at the comparator’s input: I OUT ITRIP = VREF/10 RS + 0 – The comparator then triggers the monostable which turns OFF the source driver of the bridge. The actual load current peak will be slightly higher than the trip point (especially for low-inductance loads) because of the internal logic and switching delays. This delay (td) is typically 2 µs. After turn-off, the motor current decays, circulating through the ground-clamp diode and sink transistor. The source driver’s OFF time (and therefore the magnitude of the current decrease) is determined by the monostable’s external RC timing components, where toff = RTCT within the range of 20 kΩ to 100 kΩ and 100 pF to 1000 pF. The fixed-off time should be short enough to keep the current chopping above the audible range (< 46 µs) and long enough to properly regulate the current. Because only slow-decay current control is available, short off times (< 10 µs) require additional efforts to ensure proper current regulation. Factors that can negatively affect the ability to properly regulate the current when using short off times include: higher motor-supply voltage, light load, and longer than necessary blank time. I T R IP td toff Dwg. WM-003-1A LOAD CURRENT PATHS V BB When the source driver is re-enabled, the winding current (the sense voltage) is again allowed to rise to the comparator’s threshold. This cycle repeats itself, maintaining the average motor winding current at the desired level. Loads with high distributed capaci-tances may result in high turn-ON current peaks. This peak (appearing across RS) will attempt to trip the comparator, resulting in erroneous current control or high-frequency oscillations. An external RCCC time delay should be used to further delay the action of the comparator. Depending on load type, many applications will not require these external components (SENSE connected to E). 4 RS 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 B R IDG E ON S OUR C E OF F ALL OF F Dwg. E P -006-1 2916 DUAL FULL-BRIDGE MOTOR DRIVER LOGIC CONTROL OF OUTPUT CURRENT Two logic level inputs (l0 and I1) allow digital selection of the motor winding current at 100%, 67%, 33%, or 0% of the maximum level per the table. The 0% output current condition turns OFF all drivers in the bridge and can be used as an OUTPUT ENABLE function. CURRENT-CONTROL TRUTH TABLE l0 I1 Output Current L L VREF/10 RS = ITRIP H L VREF/15 RS = 2/3 ITRIP L H VREF/30 RS = 1/3 ITRIP H H 0 The logic control inputs can also be used to select a reduced current level (and reduced power dissipation) for ‘hold’ conditions and/or increased current (and available torque) for start-up conditions. GENERAL These logic level inputs greatly enhance the implementation of µP-controlled drive formats. During half-step operations, the l0 and l1 allow the µP to control the motor at a constant torque between all positions in an eight-step TYPICAL APPLICATION STEPPER MOTOR V BB VBB 1 24 RC CC FROM µP 20 6 19 7 18 8 17 REF 56 kΩ RT θ2 PWM 2 10 θ1 FROM µP V REF 14 VCC 820 pF 13 +5 V CT 56 kΩ RT Dwg. EP-008B1 www.allegromicro.com All four drivers in the bridge output can be turned OFF between steps (l0 = l1 ž 2.4 V) resulting in a fast current decay through the internal output clamp and flyback diodes. The fast current decay is desirable in half-step and high-speed applications. The PHASE, l0 ,and I1 inputs float high. Thermal protection circuitry turns OFF all drivers when the junction temperature reaches +170°C. It is only intended to protect the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. The output drivers are re-enabled when the junction temperature cools to +145°C. 16 15 11 12 820 pF CT CC 21 5 99 V 22 2 4 The PHASE input to each bridge determines the direction motor winding current flows. An internally generated deadtime (approximately 2 µs) prevents crossover currents that can occur when switching the PHASE input. Varying the reference voltage (VREF) provides continuous control of the peak load current for micro-stepping applications. RC 1 3 PWM 1 RS + RS 23 2 sequence. This is accomplished by digitally selecting 100% drive current when only one phase is ON and 67% drive current when two phases are ON. Logic highs on both l0 and l1 turn OFF all drivers to allow rapid current decay when switching phases. This helps to ensure proper motor operation at high step rates. The UDN2916B/EB/LB output drivers are optimized for low output saturation voltages—less than 1.8 V total (source plus sink) at 500 mA. Under normal operating conditions, when combined with the excellent thermal properties of the batwing package design, this allows continuous operation of both bridges simultaneously at 500 mA. 5 2916 DUAL FULL-BRIDGE MOTOR DRIVER UDN2916B Dimensions in Inches (controlling dimensions) 24 0.014 0.008 13 NOTE 1 0.430 MAX 0.280 0.240 0.300 BSC 1 0.070 0.045 6 7 0.100 1.280 1.230 12 0.005 BSC MIN 0.210 MAX 0.015 0.150 0.115 MIN 0.022 0.014 Dwg. MA-001-25A in Dimensions in Millimeters (for reference only) 24 0.355 0.204 13 NOTE 1 10.92 MAX 7.11 6.10 7.62 BSC 1 1.77 1.15 6 7 2.54 32.51 31.24 12 0.13 BSC MIN 5.33 MAX 0.39 3.81 2.93 MIN 0.558 0.356 Dwg. MA-001-25A mm NOTES:1. Webbed lead frame. Leads 6, 7, 18, and 19 are internally one piece. 2. Lead thickness is measured at seating plane or below. 3. Lead spacing tolerance is non-cumulative. 4. Exact body and lead configuration at vendor’s option within limits shown. 6 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 2916 DUAL FULL-BRIDGE MOTOR DRIVER UDN2916EB 18 28 29 17 0.032 0.026 0.319 0.291 0.695 0.685 0.021 0.013 Dimensions in Inches (controlling dimensions) 0.656 0.650 INDEX AREA 0.319 0.291 0.050 BSC 39 7 40 0.020 44 1 2 6 0.656 0.650 MIN 0.695 0.685 0.180 0.165 Dwg. MA-005-44A in 18 28 29 17 0.812 0.661 8.10 7.39 17.65 17.40 0.533 0.331 Dimensions in Millimeters (for reference only) 16.662 16.510 INDEX AREA 8.10 7.39 1.27 BSC 7 39 40 0.51 MIN 4.57 4.20 44 1 2 6 16.662 16.510 17.65 17.40 Dwg. MA-005-44A mm OTES: 1. MO-047AC except for terminal shoulder height. Intended to meet new JEDEC Standard when that is approved. 2. Webbed lead frame. Leads 7-17 and 29-39 are internally one piece. 3. Lead spacing tolerance is non-cumulative. 4. Exact body and lead configuration at vendor’s option within limits shown. www.allegromicro.com 7 2916 DUAL FULL-BRIDGE MOTOR DRIVER UDN2916LB 24 13 0.0125 0.0091 0.419 0.394 0.2992 0.2914 Dimensions in Inches (for reference only) 0.050 0.016 0.020 0.013 1 2 3 0.6141 0.5985 0.050 0° TO 8° BSC NOTE 1 NOTE 3 0.0926 0.1043 0.0040 MIN. Dwg. MA-008-25A in 24 0.32 0.23 Dimensions in Millimeters (controlling dimensions) 10.65 10.00 7.60 7.40 1.27 0.40 0.51 0.33 1 2 3 15.60 15.20 1.27 0° TO 8° BSC NOTE 1 NOTE 3 2.65 2.35 0.10 MIN. Dwg. MA-008-25A mm Allegro MicroSystems, Inc. reserves the right to make, from time to time, such departures from the detail specifications as may be required to permit improvements in the design of its products. The information included herein is believed to be accurate and reliable. However, Allegro MicroSystems, Inc. assumes no responsibility for its use; nor for any infringements of patents or other rights of third parties which may result from its use. 8 NOTES:1. Webbed lead frame. Leads indicated are internally one piece. 2. Lead spacing tolerance is non-cumulative. 3. Exact body and lead configuration at vendor’s option within limits shown. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000