SLA7027MU/SLA7024M/SLA7026M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Symbol Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current VCC V DSS VS VIN VREF IO PD1 PD2 Tch Tstg Power dissipation Channel temperature Storage temperature (Ta=25°C) Ratings SLA7024M 46 100 46 7 2 1.5 4.5 (Without Heatsink) 35 (TC=25°C) +150 −40 to +150 SLA7027MU 1 Units SLA7026M V V V V V A W W °C °C 3 ■Electrical Characteristics Parameter Symbol min IS Condition Control supply voltage VS VDSS FET Drain-Source voltage Condition VDS FET ON voltage Condition IDSS FET drain leakage current Condition VSD FET diode forward voltage Condition IIH Condition TTL input current IIL Condition V IH TTL input voltage Condition (Active High) VIL Condition V IH TTL input voltage Condition (Active Low) VIL Condition Tr Condition Tstg Switching time Condition Tf Condition AC characteristics DC characteristics Control supply current 20 10 100 SLA7027MU/SLA7024M/SLA7026M SLA7027MU typ 10 VS =44V 24 max 15 min 44 10 100 VS =44V, IDSS=250 µA Ratings SLA7024M typ 10 VS=44V 24 max 15 min 44 10 100 VS=44V, IDSS=250µA 0.85 4 4 1.2 1.1 40 2.3 ID=3A 40 VIH=2.4V, VS=44V 40 VIH =2.4V, VS =44V −0.8 VIH=2.4V, VS=44V −0.8 V IL=0.4V, VS =44V −0.8 VIL=0.4V, VS=44V V IL=0.4V, VS =44V 2 ID=1A ID=3A 0.8 VDSS=100V 0.8 VDSS=100V 2 V mA V µA mA V VDSS=100V 2 VDSS=100V V 2 ID=1A 0.8 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=0.8A 0.7 VS=24V, ID=0.8A 0.1 VS=24V, ID=0.8A 4 V DSS=100V, VS =44V ID=1A mA V ID=3A, VS=14V VDSS=100V, VS=44V ID=1A 44 0.85 ID=1A, VS =14V V DSS=100V, VS =44V Units max 15 VS =44V, IDSS=250 µA 0.6 ID=1A, AV S=14V 2 SLA7026M typ 10 VS =44V 24 VDSS=100V 0.8 ID=1A 0.5 VS =24V, ID=1A 0.7 VS =24V, ID=1A 0.1 VS =24V, ID=1A 0.8 ID=3A 0.5 V S=24V, ID=1A 0.7 V S=24V, ID=1A 0.1 V S=24V, ID=1A V µs 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M 12 Reg Reg 17 16 18 IN B 7 VSB 5 VSA 6 IN A 1 IN A 8 IN B ■Internal Block Diagram 11 1, 8, 11, 18pin Description of pins 2 3 14 13 1 8 11 18 input Active L OUTA OUTA OUT B OUT B RSB GB TDB REFB 4 Pin Pin Pin Pin + – + – REFA 9 + – TDA GA RSA + – Excitation Active H OUTA OUTA OUT B OUT B 15 10 ■Diagram of Standard External Circuit(Recommended Circuit Constants) Active High VCC (46V max) Excitation signal time chart 2-phase excitation + Vb (5V) r3 7 12 8 VSA VSB OUTA 11 OUTB r1 r4 2 C1 1 18 OUTA OUTB 13 C2 TdA TdB INA SLA7024M 7026M 7027MU RSA REFA REFB RSB 9 3 14 10 r2 C3 INA INB INB GB 15 GA 4 6 5 17 16 r6 0 H L H L 1 L H H L 2 L H L H 3 H L L H 0 H L H L r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1Ω typ(7024M) (1 to 2W) 0.68Ω typ(7026M) 1.8Ω typ(7027MU) 1 L H H L INA INA INB Active High INB 1-2 phase excitation clock IN A IN A IN B IN B C4 r5 Rs clock IN A IN A IN B IN B Rs 0 H L L L 1 H L H L 2 L L H L 3 L H H L 4 L H L L 5 L H L H 6 L L L H 7 H L L H 0 H L L L 1 H L H L 2 L L H L 3 L H H L Active Low VCC (46V max) Excitation signal time chart 2-phase excitation + Vb (5V) r3 C1 7 12 8 1 18 VSA VSB OUTA OUTA OUTB 11 OUTB r1 r4 C2 r2 2 TdA TdB 13 C3 Rs INA SLA7024M 7026M 7027MU RSA REFA REFB RSB 9 3 14 10 C4 r5 r6 Rs clock IN A IN A IN B IN B INA INB GA 4 INB GB 15 6 5 17 16 0 L H L H 1 H L L H 2 H L H L 3 L H H L 0 L H L H r1 r2 r3 r4 r5 r6 C1 C2 C3 C4 Rs 510Ω 100Ω(VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1Ω typ(7024M) (1 to 2W) 0.68Ω typ(7026M) 1.8Ω typ(7027MU) 1 H L L H INA INA INB Active Low INB 1-2 phase excitation clock IN A IN A IN B IN B 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H : : : : : : : : : : : 3 H L L H SLA7027MU/SLA7024M/SLA7026M 21 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■External Dimensions +0.2 +0.2 0.65 –0.1 1 –0.1 17×P1.68±0.4=28.56±1 +0.2 +0.2 0.65 –0.1 1 –0.1 +0.2 0.55 –0.1 4±0.7 2.2±0.6 6±0.6 7.5±0.6 17×P1.68±0.4=28.56±1 31.3±0.2 1 2 3 · · · · · · · 18 Forming No. No.871 22 SLA7027MU/SLA7024M/SLA7026M 123 · · · · · · · 18 Forming No. No.872 +0.2 4.6 ±0.6 +1 (3) R-End 3 ±0.6 2.45±0.2 0.55 –0.1 1.6 ±0.6 3. 4. 5. Part No. Lot No. 4.8±0.2 1.7±0.1 6.7±0.5 9.9 ±0.2 16 ±0.2 φ 3.2±0.15×3.8 9.7 –0.5 31±0.2 24.4±0.2 16.4±0.2 φ 3.2±0.15 13 ±0.2 (Unit: mm) 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M Application Notes ■Determining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Phase A 0 Vb: Reference supply voltage r1,r2: Voltage-divider resistors for the reference supply voltage Phase A RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) Vb ................................................................ r2 (1) IO ≅ • r1+r2 RS Fig. 2 Normal mode Vb(5V) (2) Power down mode r6 r1 The circuit in Fig.3 (rx and Tr) is added in order to decrease the r5 3,(14) coil current. IO is then determined as follows. 1 IOPD ≅ • r1(r 2+rX) 1+ r2 V b ......................................................... (2) RS C3 9,(10) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. rX= 1 1 Vb r1 R s • I OPD −1 − 1 Fig. 3 Power down mode r2 Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respectively. r6 r5 r1 rX Power down signal Fig. 4 Output current IO vs. Current sense resistor R S C3 Tr 2.0 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 1 2 3 4 Current sense resistor RS (Ω) Output current IOPD (A) Output current IO (A) 9,(10) r2 Fig. 5 Output current IOPD vs. Variable current sense resistor rx 4 0 3,(14) RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) (NOTE) Ringing noise is produced in the current sense resistor RS when However, when the values of these constants are increased, the MOSFET is switched ON and OFF by chopping. This noise is also generated in feedback signals from RS which may there- the response from RS to the comparator becomes slow. Hence the value of the output current IO is somewhat higher than the fore cause the comparator to malfunction. To prevent chopping calculated value. malfunctions, r 5(r 6) and C3(C4) are added to act as a noise filter. SLA7027MU/SLA7024M/SLA7026M 23 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Determining the chopper frequency SLA7027MU/SLA7024M/SLA7026M Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF The SLA7000M series are self-excited choppers. The chopping OFF time T OFF is fixed by r3/C1 and r4/C2 connected to terminal 60 Td. 50 TOFF≅−r3 • C1rn (1− 2 =−r4 • C2rn (1− 2 ) Vb Vb The circuit constants and the T OFF value shown below are recommended. T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V 40 30 VC 40 10 0 4V 25 V 30 35 40 10 20 30 40 50 VCC (V) SLA7027MU/SLA7024M/SLA7026M 47kΩ r4 500pF C1 = C2 = TOFF =12µs RS =1Ω Lm =1~3ms Rm 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 0 r3 ■Chopper frequency vs. Output current f (kHz) f (kHz) 2 40 20 24 0 50 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω =2 10 50 30 C =36 VCC 20 0 ■Chopper frequency vs. Supply voltage 20 Chopping frequency f (kHz) T OFF can be calculated using the following formula: ON time TON (µ s) 15 0 0 0.2 0.4 0.6 IO (A) 0.8 1.0 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for calculating heat dissipation is shown be(1) Obtain the value of PH that corresponds to the motor coil current 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) 3 PH+0.015×VS (W) 1-2 phase excitation: Pdiss ≅ 2 (3) Obtain the temperature rise that corresponds to the calcu- IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." lated value of Pdiss from Fig. 8 "Temperature rise." low. Fig. 7 Heat dissipation per phase P H vs. Output current IO SLA7027MU SLA7026M 4.0 Motor : 23LM-C202 Holding mode V 24 V 15 0.4 0.2 0 0 0.2 0.4 0.6 0.8 2.0 Motor : 23PM-C503 Holding mode 1.0 0 0 1.0 15 V V 36 =4 4V V 0.6 3.0 C =4 24 V CC VC 4V 0.8 V 1 36 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.2 1.0 2.0 Output current IO (A) Output current IO (A) 3.0 Fig. 8 Temperature rise 150 1.0 ∆T 0.8 100 V 36 0.6 VCC V =44 Motor : 23LM-C004 Holding mode 5V 24V 0.4 1 j C ∆T ∆Tj–a ∆TC–a (°C) Heat dissipation per phase PH (W) 1.2 SLA7024M Natural cooling Without heatsink 50 0.2 0 0 0.2 0.4 0.6 0.8 Output current IO (A) 0 1.0 0 1 2 3 Total Power (W) 4 5 Thermal characteristics SLA7027MU SLA7026M 50 Without heatsink Natural cooling 30 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) Case temperature rise ∆TC–a (°C) 30 Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 35 Without heatsink Natural cooling 40 30 TC( 4 pin) Motor : 23PM-C705 Motor current IO=1.5A Ta=25°C VCC=24V, VS=24V 2-phase excitation 20 10 0 100 500 1K 5K Response frequency (pps) SLA7024M Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) SLA7027MU/SLA7024M/SLA7026M 25 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■Supply Voltage VCC vs. Supply Current ICC SLA7027MU SLA7026M 1.5 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Supply current ICC (A) Supply current ICC (mA) 500 1.0 Motor : 23PM-C503 1-phase excitation Holding mode IO : Output current IO=3A 0.5 IO=2A 0.4A 0.2A 0 10 20 30 40 IO=1A 50 0 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) SLA7024M Supply current ICC (mA) 500 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 0.5A 0.2A 0 10 20 30 40 50 Supply voltage VCC (V) ■Note The excitation input signals of the SLA7027MU, SLA7024M and SLA7026M can be used as either Active High or Active Low. Note, however, that the corresponding output (OUT) changes depending on the input (IN). Active Low Active High 26 Input Corresponding output Input Corresponding output INA (pin6) OUTA (pin1) INA (pin6) OUTA (pin8) INA (pin5) OUTA (pin8) INA (pin5) OUTA (pin1) INB (pin17) OUTB (pin11) INB (pin17) OUTB (pin18) INB (pin16) OUTB (pin18) INB (pin16) OUTB (pin11) SLA7027MU/SLA7024M/SLA7026M