SLA7032M/SLA7033M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter (Ta=25°C) Ratings Symbol Motor supply voltage Control supply voltage FET Drain-Source voltage TTL input voltage SYNC terminal voltage Reference voltage Sense voltage Output current SLA7032M VCC VS V DSS VIN V SYNC V REF VRS IO P D1 P D2 Tch Tstg Power dissipation Channel temperature Storage temperature Units SLA7033M 46 46 100 −0.3 to +7 −0.3 to +7 −0.3 to +7 −5 to +7 V V V V 1.5 V V A W W °C °C 3 4.5 (Without Heatsink) 35 (Tc = 25°C) +150 −40 to +150 ■Electrical Characteristics Ratings Parameter Symbol min Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage FET diode forward voltage FET drain leakage current DC characteristics OUT IN terminal OUT Input current Input voltage SYNC terminal Input current¨ Input current REF terminal Input current AC characteristics Internal resistance 28 Switching time Chopping OFF time SLA7032M/SLA7033M IS Condition VS VDSS Condition VDS Condition VSD Condition 10 100 SLA7032M typ 10 VS=44V 24 max 15 min 44 10 100 V S=44V, IDSS=250µA SLA7033M typ 10 V S=44V 24 Units max 15 44 0.6 0.85 ID=3A, VS =14V 1.1 2.3 ISD =1A ISD=3A IDSS 250 Condition VDSS=100V, VS=44V VIH 2.0 Condition ID=1A VIL 0.8 Condition VDSS=100V VIH 2.0 Condition VDSS=100V VIL 0.8 Condition ID=1A II ±1 Condition VS =44V, V I=0 or 5V VSYNC 4.0 Condition Synchronous chopping mode VSYNC 0.8 Condition Asynchronous chopping mode ISYNC 0.1 Condition VS=44V, VYS=5V ISYNC −0.1 Condition VS=44V, VYS=0V VREF 0 2.0 Condition Reference voltage input VREF 4.0 5.5 Condition Output FET OFF IREF ±1 Condition No synchronous trigger RREF 40 Condition Resistance between GND and REF terminal at synchronous trigger Tr 0.5 Condition VS =24V, ID=1A Tstg 0.7 Condition VS =24V, ID=1A Tf 0.1 Condition VS =24V, ID=1A TOFF 12 Condition VS=24V V V VS =44V, IDSS=250 µA ID=1A, VS =14V mA 250 V DSS=100V, VS =44V V V µA 2.0 ID=3A 0.8 V VDSS=100V 2.0 VDSS=100V 0.8 V ID=3A ±1 VS=44V, VI =0 or 5V µA 4.0 Synchronous chopping mode 0.8 V Asynchronous chopping mode 0.1 V S=44V, VYS=5V −0.1 mA V S=44V, VYS=0V 0 2.0 Reference voltage input 4.0 5.5 V Output FET OFF ±1 No synchronous trigger 40 Resistance between GND and REF terminal at synchronous trigger 0.5 V S=24V, ID=1A 0.7 V S=24V, ID=1A 0.1 V S=24V, ID=1A 12 V S=24V µA Ω µs µs 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Internal Block Diagram 17 16 11 IN B 12 IN B 7 Vs B 5 Vs A 6 IN A 8 IN A 1 18 1, 8, 11, 18pin Description of pins Reg. Chopping blanking timer (5 µ s typ) Oscillator MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) Chopping blanking timer (5 µ s typ) + + − − MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) 14 13 Rs B GB 15 SYNC B 3 REF B GA 4 REF A Synchronous chopping circuit SYNC A Rs A 2 1pin 8pin 11pin 18pin Oscillator Synchronous chopping circuit 9 Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B Reg. 10 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Active High Excitation signal time chart 2-phase excitation Vcc (46Vmax) clock IN A IN A IN B IN B + 7 12 VsA 2 Vb (5V) 8 VsB 1 18 11 OUTA OUTA OUTB OUTB SYNC A SLA7032M SLA7033M 13 SYNC B INA 6 INA INA 5 INA INB 17 INB INB 16 INB 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 : 4kΩ r2 : 1kΩ(VR) R s : 1Ω typ(7032M) (1 to 2W) 0.68Ω typ(7033M) 1 L H H L Active High 1-2 phase excitation RsA r1 REFA REFB RsB 3 9 14 GA 10 4 Rs GB clock IN A IN A IN B IN B 15 Rs r2 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 Excitation signal time chart 2-phase excitation Vcc (46Vmax) clock IN A IN A IN B IN B + 7 VsA 2 Vb (5V) 13 8 VsB 1 18 11 OUTA OUTA OUTB OUTB SYNC A SLA7032M SLA7033M SYNC B RsA r1 9 Rs r2 12 REFA REFB RsB 3 14 GA 10 4 Rs INA 6 INA INA 5 INA INB 17 INB INB 16 INB GB 15 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 : 4kΩ r2 : 1kΩ(VR) R s : 1Ω typ(7032M) (1 to 2W) 0.68Ω typ(7033M) 1 H L L H Active Low 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 SLA7032M/SLA7033M 29 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■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 30 SLA7032M/SLA7033M 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 IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M Application Notes ■Outline SLA7032M (SLA7033M) is a stepper motor driver IC developed to reduce the number of external parts required by the conventional SLA7024M (SLA7026M). This IC successfully eliminates the need for some external parts without sacrificing the features of SLA7024M (SLA7026M). The basic function pins are compatible with those of SLA7024M (SLA7026M). ■Notes on Replacing SLA7024M (SLA7026M) SLA7032M (SLA7033M) is pin-compatible with SLA7024M (SLA7026M). When using the IC on an existing board, the following preparations are necessary: the SYNC terminals open because they are for CMOS input. Connect TTL or similar to the SYNC terminals and switch the SYNC terminal level high or low. When the motor is not running, set the TTL signal high (SYNC terminal voltage: 4 V or more) to make chopping synchronous. When the motor is running, set the TTL signal low (SYNC terminal voltage: 0.8 V or less) to make chopping asynchronous. If chopping is set to synchronous at when the motor is running, the motor torque deteriorates before the coil current reaches the set value. If no abnormal noise occurs when the motor is not running, ground the SYNC terminals (TTL not necessary). (1) Remove the resistors and capacitors attached for setting the chopping OFF time. (r3, r4, C1, and C2 in the catalog) (2) Remove the resistors and capacitors attached for preventing noise in the detection voltage VRS from causing malfunctioning and short the sections from which the resistors were re- SYNC_A TTL, etc. SYNC_B moved using jumper wires. (r5, r6, C3, and C4 in the catalog) (3) Normally, keep pins 2 and 13 grounded because their funcSLA7032M SLA7033M tions have changed to synchronous and asynchronous switching (SYNC terminals). For details, see "Circuit for Preventing Abnormal Noise When the Motor Is Not Running (Syn- SYNC voltage : Low → Chopping asynchronous SYNC voltage : High → Chopping synchronous chronous circuit)." (Low: asynchronous, High: synchronous) ■Circuit for Preventing Abnormal Noise When the Motor Is Not Running (Synchronous Circuit) A motor may generate abnormal noise when it is not running. This phenomenon is attributable to asynchronous chopping between phases A and B. To prevent the phenomenon, SLA7032M (SLA7033M) contains a synchronous chopping circuit. Do not leave The built-in synchronous chopping circuit superimposes a trigger signal on the REF terminal for synchronization between the two phases. The figure below shows the internal circuit of the REF terminal. Since the ∆VREF varies depending on the values of R1 and R2, determine these values for when the motor is not running within the range where the two phases are synchronized. 5V R1 VREF R2 3 REF_A 14 REF_B To comparator (high impedance) 40Ω (typ.) 40Ω (typ.) SLA7032M SLA7033M Sync/async switching signal ONE SHOT (tw=2 µ S) FET A/A gate drive signal ONE SHOT (tw=2 µ S) FET B/B gate drive signal VREF waveform VREF 0 Synchronous circuit operating waveform VREF Phase A 0 VRS VREF Phase B 0 VRS Synchronous circuit OFF Synchronous circuit ON SLA7032M/SLA7033M 31 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) ■Determining the Output Current SLA7032M/SLA7033M 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 I O) 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.) IO ≅ r2 • r1+r2 Vb ................................................................ (1) RS Fig. 2 Normal mode Vb(5V) (2) Power down mode r1 The circuit in Fig.3 (rx and Tr) is added in order to decrease the 3,(14) coil current. I O is then determined as follows. 1 IOPD ≅ r1(r 2+rX) 1+ • r2 V b ......................................................... (2) RS 9,(10) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. rX= 1 1 r1 Vb R s • IOPD −1 − 1 Fig. 3 Power down mode r2 Vb(5V) Fig. 4 and 5 show th e graphs of equations (1) and (2) respectively. r1 rX Power down signal Fig. 4 Output current IO vs. Current sense resistor RS 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 1 2 3 SLA7032M/SLA7033M 4 Output current IOPD (A) Output current IO (A) Tr 2.0 Current sense resistor RS (Ω) 32 9,(10) r2 Fig. 5 Output current IOPD vs. Variable current sense resistor r x 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) 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Thermal Design An outline of the method for calculated heat dissipation is shown below. (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. 6 "Heat dissipation per phase PH vs. Output current IO." (2) The power dissipation Pdiss is obtained using the following formula. 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) 3 P H+0.015×VS (W) 2 (3) Obtain the temperature rise that corresponds to the computed value of Pdiss from Fig. 7 "Temperature rise." 1-2 phase excitation: Pdiss ≅ Fig. 6 Heat dissipation per phase PH vs. Output current IO SLA7033M SLA7032M 4.0 VC Motor : 23LM-C004 Holding mode 5V 24V 0.4 1 0.2 0 0 0.2 0.4 0.6 0.8 Output current IO (A) V 2.0 15 Motor : 23PM-C503 Holding mode 1.0 0 0 1.0 V =4 4 C V V 44 C= 24 0.6 3.0 VC V 36 V 0.8 36 1.0 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.2 1.0 2.0 Output current IO (A) 3.0 Fig. 7 Temperature rise 150 ∆T 100 j ∆Tj–a ∆TC–a (°C) C ∆T Natural cooling Without heatsink 50 0 0 1 2 3 Total Power (W) 4 5 Thermal characteristics SLA7032M SLA7033M 50 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 Response frequency (pps) 1K Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 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) SLA7032M/SLA7033M 33 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Supply Voltage VCC vs. Supply Current I CC SLA7033M SLA7032M 1.5 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 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 100 0 0.5A 0.2A 0 10 20 30 40 IO=1A 0 50 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) ■Torque Characteristics SLA7032M 2.0 6.0 SLA7033M Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 Pull-out torque (kg-cm) Pull-out torque (kg-cm) 5.0 1.5 4.0 Motor : 23PM-C705 Output current IO =2.5A Motor supply voltage VCC =24V 2-phase excitation 3.0 2.0 1.0 0 100 500 1K Response frequency (pps) 34 SLA7032M/SLA7033M 5K 0 100 500 1K 5K Response frequency (pps) 10K 2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) ■Chopper frequency vs. Output current 50 50 40 40 30 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω 20 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 10 0 f (kHz) f (kHz) ■Chopper frequency vs. Supply voltage SLA7032M/SLA7033M 0 10 20 30 40 0 50 0 0.2 0.4 0.6 0.8 1.0 IO (A) VCC (V) ■Note The excitation input signals of the SLA7032M, SLA7033M 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 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) Input ■Handling Precautions The input terminals of this product use C-MOS circuits. Observe the following precautions. ● Carefully control the humidity of the room to prevent the buildup of static electricity. Since static electricity is particularly a problem during the winter, be sure to take sufficient precautions. ● Take care to make sure that static electricity is not applied to the IC during wiring and assembly. Take precautions such as shorting the terminals of the printed wiring board to ensure that they are at the same electrical potential. SLA7032M/SLA7033M 35