Order this document by MC33035/D BRUSHLESS DC MOTOR CONTROLLER The MC33035 is a high performance second generation monolithic brushless DC motor controller containing all of the active functions required to implement a full featured open loop, three or four phase motor control system. This device consists of a rotor position decoder for proper commutation sequencing, temperature compensated reference capable of supplying sensor power, frequency programmable sawtooth oscillator, three open collector top drivers, and three high current totem pole bottom drivers ideally suited for driving power MOSFETs. Also included are protective features consisting of undervoltage lockout, cycle–by–cycle current limiting with a selectable time delayed latched shutdown mode, internal thermal shutdown, and a unique fault output that can be interfaced into microprocessor controlled systems. SEMICONDUCTOR TECHNICAL DATA P SUFFIX PLASTIC PACKAGE CASE 724 24 1 Typical motor control functions include open loop speed, forward or reverse direction, run enable, and dynamic braking. The MC33035 is designed to operate with electrical sensor phasings of 60°/300° or 120°/240°, and can also efficiently control brush DC motors. • • • • • • • • • • DW SUFFIX PLASTIC PACKAGE CASE 751E (SO–24L) 10 to 30 V Operation Undervoltage Lockout 24 1 6.25 V Reference Capable of Supplying Sensor Power Fully Accessible Error Amplifier for Closed Loop Servo Applications High Current Drivers Can Control External 3–Phase MOSFET Bridge Cycle–By–Cycle Current Limiting PIN CONNECTIONS Pinned–Out Current Sense Reference Internal Thermal Shutdown Top Drive Output Selectable 60°/300° or 120°/240° Sensor Phasings Can Efficiently Control Brush DC Motors with External MOSFET H–Bridge Device Operating Temperature Range MC33035DW MC33035P Package SO–24L TA = – 40° to + 85°C Plastic DIP 24 CT AT 2 23 Brake Fwd/Rev 3 22 60°/120° Select SA 4 21 AB SB 5 20 BB SC 6 19 CB Output Enable 7 18 VC Reference Output 8 17 VCC Current Sense Noninverting Input 9 16 Gnd Sensor Inputs ORDERING INFORMATION BT 1 Oscillator 10 15 Error Amp 11 Noninverting Input Error Amp Inverting Input 12 Bottom Drive Outputs Current Sense Inverting Input 14 Fault Output 13 Error Amp Out/ PWM Input (Top View) Motorola, Inc. 1996 MOTOROLA ANALOG IC DEVICE DATA Rev 2 1 MC33035 Representative Schematic Diagram VM Fault N 14 4 S S N 5 2 Rotor Position Decoder 6 Fwd/Rev 60°/120° Enable Vin 1 3 24 2 7 Undervoltage 17 Lockout Motor Output Buffers 18 Reference Regulator 8 Speed Set Faster 21 11 Error Amp Thermal Shutdown 12 20 PWM RT R 13 Q S CT 10 Oscillator S 19 Q 9 R 15 16 23 Brake Current Sense Reference This device contains 285 active transistors. 2 MOTOROLA ANALOG IC DEVICE DATA MC33035 MAXIMUM RATINGS Rating Power Supply Voltage Digital Inputs (Pins 3, 4, 5, 6, 22, 23) Symbol Value Unit VCC 40 V – Vref V Oscillator Input Current (Source or Sink) IOSC 30 mA Error Amp Input Voltage Range (Pins 11, 12, Note 1) VIR – 0.3 to Vref V Error Amp Output Current (Source or Sink, Note 2) IOut 10 mA VSense – 0.3 to 5.0 V Fault Output Voltage VCE(Fault) 20 V Fault Output Sink Current ISink(Fault) 20 mA Top Drive Voltage (Pins 1, 2, 24) VCE(top) 40 V Top Drive Sink Current (Pins 1, 2, 24) ISink(top) 50 mA Current Sense Input Voltage Range (Pins 9, 15) Bottom Drive Supply Voltage (Pin 18) Bottom Drive Output Current (Source or Sink, Pins 19, 20, 21) Power Dissipation and Thermal Characteristics P Suffix, Dual In Line, Case 724 Maximum Power Dissipation @ TA = 85°C Thermal Resistance, Junction–to–Air DW Suffix, Surface Mount, Case 751E Maximum Power Dissipation @ TA = 85°C Thermal Resistance, Junction–to–Air Operating Junction Temperature VC 30 V IDRV 100 mA PD RθJA 867 75 mW °C/W PD RθJA 650 100 mW °C/W TJ 150 °C Operating Ambient Temperature Range TA – 40 to + 85 °C Storage Temperature Range Tstg – 65 to +150 °C ELECTRICAL CHARACTERISTICS (VCC = VC = 20 V, RT = 4.7 k, CT = 10 nF, TA = 25°C, unless otherwise noted.) Characteristic Symbol Min Typ Max 5.9 5.82 6.24 – 6.5 6.57 Unit REFERENCE SECTION Reference Output Voltage (Iref = 1.0 mA) TA = 25°C TA = – 40° to + 85°C Vref V Line Regulation (VCC = 10 to 30 V, Iref = 1.0 mA) Regline – 1.5 30 mV Load Regulation (Iref = 1.0 to 20 mA) Regload – 16 30 mV Output Short Circuit Current (Note 3) ISC 40 75 – mA Reference Under Voltage Lockout Threshold Vth 4.0 4.5 5.0 V Input Offset Voltage (TA = – 40° to + 85°C) VIO – 0.4 10 mV Input Offset Current (TA = – 40° to + 85°C) IIO – 8.0 500 nA Input Bias Current (TA = – 40° to + 85°C) IIB – – 46 –1000 nA 80 – dB ERROR AMPLIFIER Input Common Mode Voltage Range VICR Open Loop Voltage Gain (VO = 3.0 V, RL = 15 k) AVOL 70 (0 V to Vref) V Input Common Mode Rejection Ratio CMRR 55 86 – dB Power Supply Rejection Ratio (VCC = VC = 10 to 30 V) PSRR 65 105 – dB NOTES: 1. The input common mode voltage or input signal voltage should not be allowed to go negative by more than 0.3 V. 2. The compliance voltage must not exceed the range of – 0.3 to Vref. 3. Maximum package power dissipation limits must be observed. MOTOROLA ANALOG IC DEVICE DATA 3 MC33035 ELECTRICAL CHARACTERISTICS (continued) (VCC = VC = 20 V, RT = 4.7 k, CT = 10 nF, TA = 25°C, unless otherwise noted.) Characteristic Symbol Min Typ Max Unit VOH VOL 4.6 – 5.3 0.5 – 1.0 fOSC 22 25 28 kHz ERROR AMPLIFIER Output Voltage Swing High State (RL = 15 k to Gnd) Low State (RL = 15 k to Vref) V OSCILLATOR SECTION Oscillator Frequency ∆fOSC/∆V – 0.01 5.0 % Sawtooth Peak Voltage VOSC(P) – 4.1 4.5 V Sawtooth Valley Voltage VOSC(V) 1.2 1.5 – V Input Threshold Voltage (Pins 3, 4, 5, 6, 7, 22, 23) High State Low State VIH VIL 3.0 – 2.2 1.7 – 0.8 Sensor Inputs (Pins 4, 5, 6) High State Input Current (VIH = 5.0 V) Low State Input Current (VIL = 0 V) IIH IIL –150 – 600 –70 – 337 – 20 –150 Forward/Reverse, 60°/120° Select (Pins 3, 22, 23) High State Input Current (VIH = 5.0 V) Low State Input Current (VIL = 0 V) IIH IIL –75 – 300 – 36 –175 –10 –75 Output Enable High g State Input p Current ((VIH = 5.0 V)) L S IInput Current C Low State (VIL = 0 V) IIH IIL – 60 – 60 – 29 – 29 –10 10 –10 Vth 85 101 115 VICR – 3.0 – V IIB – – 0.9 – 5.0 µA Top Drive Output Sink Saturation (Isink = 25 mA) VCE(sat) – 0.5 1.5 V Top Drive Output Off–State Leakage (VCE = 30 V) IDRV(leak) – 0.06 100 µA tr tf – – 107 26 300 300 VOH VOL ((VCC – 2.0)) – ((VCC –1.1)) 1 1.5 – 20 2.0 tr tf – – 38 30 200 200 Fault Output Sink Saturation (Isink = 16 mA) VCE(sat) – 225 500 mV Fault Output Off–State Leakage (VCE = 20 V) IFLT(leak) – 1.0 100 µA Vth(on) VH 8.2 0.1 8.9 0.2 10 0.3 ICC – – – – 12 14 3.5 5.0 16 20 0 6.0 10 Frequency Change with Voltage (VCC = 10 to 30 V) LOGIC INPUTS V µA µA µA CURRENT–LIMIT COMPARATOR Threshold Voltage Input Common Mode Voltage Range Input Bias Current mV OUTPUTS AND POWER SECTIONS Top Drive Output Switching Time (CL = 47 pF, RL = 1.0 k) Rise Time Fall Time Bottom Drive Output Voltage High g State ((VCC = 20 V, VC = 30 V, Isource = 50 mA)) L Low S State (VCC = 20 V, V VC = 30 V, V Isink = 50 0 mA) A) Bottom Drive Output Switching Time (CL = 1000 pF) Rise Time Fall Time Under Voltage Lockout Drive Output Enabled (VCC or VC Increasing) Hysteresis Power Supply Current Pin 17 (VCC = VC = 20 V) Pin 17 ((VCC = 20 0 V,, VC = 30 V)) Pin 18 ((VCC = VC = 20 V)) Pin 18 (VCC = 20 V, VC = 30 V) 4 ns V ns V mA IC MOTOROLA ANALOG IC DEVICE DATA MC33035 f OSC, OSCILLATOR FREQUENCY (kHz) 100 VCC = 20 V VC = 20 V TA = 25°C 10 10 100 ∆f 0 1.0 4.0 VCC = 20 V VC = 20 V RT = 4.7 k CT = 10 nF 2.0 0 – 2.0 CT = 1.0 nF CT = 10 nF CT = 100 nF Figure 2. Oscillator Frequency Change versus Temperature , OSC OSCILLATOR FREQUENCY CHANGE (%) Figure 1. Oscillator Frequency versus Timing Resistor 1000 – 4.0 – 55 – 25 0 RT, TIMING RESISTOR (kΩ) 40 48 60 80 Phase 100 32 120 24 Gain 8.0 0 – 8.0 –16 – 24 1.0 k 140 VCC = 20 V VC = 20 V VO = 3.0 V RL = 15 k CL = 100 pF TA = 25°C 10 k 160 180 200 220 100 k 240 10 M 1.0 M Vsat , OUTPUT SATURATION VOLTAGE (V) 56 16 0 125 AV = +1.0 No Load TA = 25°C VCC = 20 V VC = 20 V TA = 25°C Source Saturation (Load to Ground) 1.6 0.8 Gnd Sink Saturation (Load to Vref) 0 0 1.0 2.0 3.0 4.0 IO, OUTPUT LOAD CURRENT (mA) 5.0 Figure 6. Error Amp Large–Signal Transient Response AV = +1.0 No Load TA = 25°C 4.5 VO, OUTPUT VOLTAGE (V) VO, OUTPUT VOLTAGE (V) 100 –1.6 Figure 5. Error Amp Small–Signal Transient Response 3.0 75 Vref – 0.8 f, FREQUENCY (Hz) 3.05 50 Figure 4. Error Amp Output Saturation Voltage versus Load Current φ, EXCESS PHASE (DEGREES) A VOL, OPEN LOOP VOLTAGE GAIN (dB) Figure 3. Error Amp Open Loop Gain and Phase versus Frequency 40 25 TA, AMBIENT TEMPERATURE (°C) 3.0 1.5 2.95 1.0 µs/DIV MOTOROLA ANALOG IC DEVICE DATA 5.0 µs/DIV 5 Figure 8. Reference Output Voltage versus Supply Voltage Figure 7. Reference Output Voltage Change versus Output Source Current 0 Vref , REFERENCE OUTPUT VOLTAGE (V) ∆Vref , REFERENCE OUTPUT VOLTAGE CHANGE (mV) MC33035 – 4.0 – 8.0 – 12 – 16 VCC = 20 V VC = 20 V TA = 25°C – 20 – 24 0 10 20 30 40 50 60 7.0 6.0 5.0 4.0 3.0 2.0 No Load TA = 25°C 1.0 0 0 10 Figure 9. Reference Output Voltage versus Temperature 30 40 Figure 10. Output Duty Cycle versus PWM Input Voltage 100 VCC = 20 V VC = 20 V RT = 4.7 k CT = 10 nF TA = 25°C 20 0 – 20 VCC = 20 V VC = 20 V No Load – 40 80 60 40 20 0 – 55 – 25 0 25 50 75 100 125 0 1.0 2.0 3.0 4.0 PWM INPUT VOLTAGE (V) Figure 11. Bottom Drive Response Time versus Current Sense Input Voltage Figure 12. Fault Output Saturation versus Sink Current 250 VCC = 20 V VC = 20 V RL = CL = 1.0 nF TA = 25°C 1 200 150 100 50 0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10 Vsat , OUTPUT SATURATION VOLTAGE (V) TA, AMBIENT TEMPERATURE (°C) CURRENT SENSE INPUT VOLTAGE (NORMALIZED TO Vth) 6 OUTPUT DUTY CYCLE (%) 40 t HL , BOTTOM DRIVE RESPONSE TIME (ns) ∆Vref , NORMALIZED REFERENCE VOLTAGE CHANGE (mV) 20 VCC, SUPPLY VOLTAGE (V) Iref, REFERENCE OUTPUT SOURCE CURRENT (mA) 5.0 0.25 VCC = 20 V VC = 20 V TA = 25°C 0.2 0.15 0.1 0.05 0 0 4.0 8.0 12 ISink, SINK CURRENT (mA) 16 MOTOROLA ANALOG IC DEVICE DATA MC33035 Figure 14. Top Drive Output Waveform 1.2 VCC = 20 V VC = 20 V TA = 25°C 100 OUTPUT VOLTAGE (%) Vsat , OUTPUT SATURATION VOLTAGE (V) Figure 13. Top Drive Output Saturation Voltage versus Sink Current 0.8 0.4 VCC = 20 V VC = 20 V RL = 1.0 k CL = 15 pF TA = 25°C 0 0 0 10 20 30 ISink, SINK CURRENT (mA) 40 100 ns/DIV Figure 16. Bottom Drive Output Waveform VCC = 20 V VC = 20 V CL = 1.0 nF TA = 25°C 100 VCC = 20 V VC = 20 V CL = 15 pF TA = 25°C 100 OUTPUT VOLTAGE (%) OUTPUT VOLTAGE (%) Figure 15. Bottom Drive Output Waveform 0 0 50 ns/DIV 50 ns/DIV 0 Figure 18. Power and Bottom Drive Supply Current versus Supply Voltage 16 VC –1.0 Source Saturation (Load to Ground) VCC = 20 V VC = 20 V TA = 25°C – 2.0 I C , I CC, POWER SUPPLY CURRENT (mA) Vsat, OUTPUT SATURATION VOLTAGE (V) Figure 17. Bottom Drive Output Saturation Voltage versus Load Current 2.0 1.0 Sink Saturation (Load to VC) Gnd 0 0 20 40 60 IO, OUTPUT LOAD CURRENT (mA) MOTOROLA ANALOG IC DEVICE DATA 80 14 ICC 12 RT = 4.7 k CT = 10 nF Pins 3–6, 9, 15, 23 = Gnd Pins 7, 22 = Open TA = 25°C 10 8.0 6.0 4.0 IC 2.0 0 0 5.0 10 15 20 25 30 VCC, SUPPLY VOLTAGE (V) 7 MC33035 PIN FUNCTION DESCRIPTION Pin Symbol Description 1, 2, 24 BT, AT, CT These three open collector Top Drive outputs are designed to drive the external upper power switch transistors. 3 Fwd/Rev The Forward/Reverse Input is used to change the direction of motor rotation. 4, 5, 6 SA, SB, SC These three Sensor Inputs control the commutation sequence. 7 Output Enable A logic high at this input causes the motor to run, while a low causes it to coast. 8 Reference Output This output provides charging current for the oscillator timing capacitor CT and a reference for the error amplifier. It may also serve to furnish sensor power. 9 Current Sense Noninverting Input A 100 mV signal, with respect to Pin 15, at this input terminates output switch conduction during a given oscillator cycle. This pin normally connects to the top side of the current sense resistor. 10 Oscillator The Oscillator frequency is programmed by the values selected for the timing components, RT and CT. 11 Error Amp Noninverting Input This input is normally connected to the speed set potentiometer. 12 Error Amp Inverting Input This input is normally connected to the Error Amp Output in open loop applications. 13 Error Amp Out/PWM Input This pin is available for compensation in closed loop applications. 14 Fault Output This open collector output is active low during one or more of the following conditions: Invalid Sensor Input code, Enable Input at logic 0, Current Sense Input greater than 100 mV (Pin 9 with respect to Pin 15), Undervoltage Lockout activation, and Thermal Shutdown. 15 Current Sense Inverting Input Reference pin for internal 100 mV threshold. This pin is normally connected to the bottom side of the current sense resistor. 16 Gnd This pin supplies a ground for the control circuit and should be referenced back to the power source ground. 17 VCC This pin is the positive supply of the control IC. The controller is functional over a minimum VCC range of 10 to 30 V. 18 VC The high state (VOH) of the Bottom Drive Outputs is set by the voltage applied to this pin. The controller is operational over a minimum VC range of 10 to 30 V. CB, BB, AB These three totem pole Bottom Drive Outputs are designed for direct drive of the external bottom power switch transistors. 22 60°/120° Select The electrical state of this pin configures the control circuit operation for either 60° (high state) or 120° (low state) sensor electrical phasing inputs. 23 Brake A logic low state at this input allows the motor to run, while a high state does not allow motor operation and if operating causes rapid deceleration. 19, 20, 21 INTRODUCTION FUNCTIONAL DESCRIPTION The MC33035 is one of a series of high performance monolithic DC brushless motor controllers produced by Motorola. It contains all of the functions required to implement a full–featured, open loop, three or four phase motor control system. In addition, the controller can be made to operate DC brush motors. Constructed with Bipolar Analog technology, it offers a high degree of performance and ruggedness in hostile industrial environments. The MC33035 contains a rotor position decoder for proper commutation sequencing, a temperature compensated reference capable of supplying a sensor power, a frequency programmable sawtooth oscillator, a fully accessible error amplifier, a pulse width modulator comparator, three open collector top drive outputs, and three high current totem pole bottom driver outputs ideally suited for driving power MOSFETs. Included in the MC33035 are protective features consisting of undervoltage lockout, cycle–by–cycle current limiting with a selectable time delayed latched shutdown mode, internal thermal shutdown, and a unique fault output that can easily be interfaced to a microprocessor controller. Typical motor control functions include open loop speed control, forward or reverse rotation, run enable, and dynamic braking. In addition, the MC33035 has a 60°/120° select pin which configures the rotor position decoder for either 60° or 120° sensor electrical phasing inputs. A representative internal block diagram is shown in Figure 19 with various applications shown in Figures 36, 38, 39, 43, 45, and 46. A discussion of the features and function of each of the internal blocks given below is referenced to Figures 19 and 36. Rotor Position Decoder An internal rotor position decoder monitors the three sensor inputs (Pins 4, 5, 6) to provide the proper sequencing of the top and bottom drive outputs. The sensor inputs are designed to interface directly with open collector type Hall Effect switches or opto slotted couplers. Internal pull–up resistors are included to minimize the required number of external components. The inputs are TTL compatible, with their thresholds typically at 2.2 V. The MC33035 series is designed to control three phase motors and operate with four of the most common conventions of sensor phasing. A 60°/120° Select (Pin 22) is conveniently provided and affords the MC33035 to configure itself to control motors having either 60°, 120°, 240° or 300° electrical sensor phasing. With three sensor inputs there are eight possible input code combinations, six of which are valid rotor positions. The remaining two codes are invalid and are usually caused by an open or shorted sensor line. With six valid input codes, the 8 MOTOROLA ANALOG IC DEVICE DATA MC33035 prevent simultaneous conduction of the the top and bottom power switches. In half wave motor drive applications, the top drive outputs are not required and are normally left disconnected. Under these conditions braking will still be accomplished since the NOR gate senses the base voltage to the top drive output transistors. Error Amplifier A high performance, fully compensated error amplifier with access to both inputs and output (Pins 11, 12, 13) is provided to facilitate the implementation of closed loop motor speed control. The amplifier features a typical DC voltage gain of 80 dB, 0.6 MHz gain bandwidth, and a wide input common mode voltage range that extends from ground to Vref. In most open loop speed control applications, the amplifier is configured as a unity gain voltage follower with the noninverting input connected to the speed set voltage source. Additional configurations are shown in Figures 31 through 35. Oscillator The frequency of the internal ramp oscillator is programmed by the values selected for timing components RT and CT. Capacitor CT is charged from the Reference Output (Pin 8) through resistor RT and discharged by an internal discharge transistor. The ramp peak and valley voltages are typically 4.1 V and 1.5 V respectively. To provide a good compromise between audible noise and output switching efficiency, an oscillator frequency in the range of 20 to 30 kHz is recommended. Refer to Figure 1 for component selection. decoder can resolve the motor rotor position to within a window of 60 electrical degrees. The Forward/Reverse input (Pin 3) is used to change the direction of motor rotation by reversing the voltage across the stator winding. When the input changes state, from high to low with a given sensor input code (for example 100), the enabled top and bottom drive outputs with the same alpha designation are exchanged (AT to AB, BT to BB, CT to CB). In effect, the commutation sequence is reversed and the motor changes directional rotation. Motor on/off control is accomplished by the Output Enable (Pin 7). When left disconnected, an internal 25 µA current source enables sequencing of the top and bottom drive outputs. When grounded, the top drive outputs turn off and the bottom drives are forced low, causing the motor to coast and the Fault output to activate. Dynamic motor braking allows an additional margin of safety to be designed into the final product. Braking is accomplished by placing the Brake Input (Pin 23) in a high state. This causes the top drive outputs to turn off and the bottom drives to turn on, shorting the motor–generated back EMF. The brake input has unconditional priority over all other inputs. The internal 40 kΩ pull–up resistor simplifies interfacing with the system safety–switch by insuring brake activation if opened or disconnected. The commutation logic truth table is shown in Figure 20. A four input NOR gate is used to monitor the brake input and the inputs to the three top drive output transistors. Its purpose is to disable braking until the top drive outputs attain a high state. This helps to Figure 19. Representative Block Diagram VM 4 SA Sensor Inputs SB CT Lockout Reference Regulator Reference Output 8 Faster RT Error Amp 12 PWM 13 Error Amp Out PWM Input 10 24 Undervoltage 18 Noninv. Input 11 BT 25 µA 17 VC Top Drive Outputs 1 40 k 7 VCC AT Rotor Position Decoder 40 k 22 60°/120° Select Fault Output 2 20 k 3 Forward/Reverse Output Enable Vin 20 k 5 6 SC 14 20 k Oscillator CT Sink Only = Positive True Logic With Hysteresis 9.1 V 21 AB 4.5 V 20 Thermal Shutdown Latch R Q S Latch S Q R 19 Bottom Drive Outputs CB 40 k 9 100 mV 16 BB Gnd 15 Current Sense Input Current Sense Reference Input 23 Brake Input MOTOROLA ANALOG IC DEVICE DATA 9 MC33035 Figure 20. Three Phase, Six Step Commutation Truth Table (Note 1) Inputs (Note 2) Outputs (Note 3) Sensor Electrical Phasing (Note 4) SA 60° SB 1 1 1 0 0 0 0 1 1 1 0 0 1 1 1 0 0 0 Top Drives Bottom Drives SA 120° SB SC F/R Enable Brake Current Sense AT BT CT AB BB CB Fault 0 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 0 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 1 1 0 1 0 0 1 1 1 1 1 1 0 0 1 0 0 1 1 0 0 0 0 0 0 1 1 1 1 0 0 0 0 1 1 1 1 1 1 (Note 5) F/R = 1 0 1 1 1 0 0 0 0 1 1 1 0 1 1 0 0 0 1 0 1 1 1 0 0 0 0 0 1 1 1 0 0 0 0 0 0 1 1 1 1 1 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 1 1 1 0 0 0 0 1 1 1 1 1 0 0 0 0 1 0 1 1 0 0 0 0 0 0 1 1 0 1 1 1 1 1 1 (Note 5) F/R = 0 1 0 0 1 1 0 1 0 1 0 1 0 X X X X 0 0 X X 1 1 1 1 1 1 0 0 0 0 0 0 0 0 (Note 6) Brake = 0 1 0 0 1 1 0 1 0 1 0 1 0 X X X X 1 1 X X 1 1 1 1 1 1 1 1 1 1 1 1 0 0 (Note 7) Brake = 1 V V V V V V X 1 1 X 1 1 1 1 1 1 1 (Note 8) V V V V V V X 0 1 X 1 1 1 1 1 1 0 (Note 9) V V V V V V X 0 0 X 1 1 1 0 0 0 0 (Note 10) V V V V V V X 1 0 1 1 1 1 0 0 0 0 (Note 11) SC NOTES: 1. V = Any one of six valid sensor or drive combinations X = Don’t care. 2. The digital inputs (Pins 3, 4, 5, 6, 7, 22, 23) are all TTL compatible. The current sense input (Pin 9) has a 100 mV threshold with respect to Pin 15. A logic 0 for this input is defined as < 85 mV, and a logic 1 is > 115 mV. 3. The fault and top drive outputs are open collector design and active in the low (0) state. 4. With 60°/120° select (Pin 22) in the high (1) state, configuration is for 60° sensor electrical phasing inputs. With Pin 22 in low (0) state, configuration is for 120° sensor electrical phasing inputs. 5. Valid 60° or 120° sensor combinations for corresponding valid top and bottom drive outputs. 6. Invalid sensor inputs with brake = 0; All top and bottom drives off, Fault low. 7. Invalid sensor inputs with brake = 1; All top drives off, all bottom drives on, Fault low. 8. Valid 60° or 120° sensor inputs with brake = 1; All top drives off, all bottom drives on, Fault high. 9. Valid sensor inputs with brake = 1 and enable = 0; All top drives off, all bottom drives on, Fault low. 10. Valid sensor inputs with brake = 0 and enable = 0; All top and bottom drives off, Fault low. 11. All bottom drives off, Fault low. Pulse Width Modulator The use of pulse width modulation provides an energy efficient method of controlling the motor speed by varying the average voltage applied to each stator winding during the commutation sequence. As CT discharges, the oscillator sets both latches, allowing conduction of the top and bottom drive outputs. The PWM comparator resets the upper latch, terminating the bottom drive output conduction when the positive–going ramp of CT becomes greater than the error amplifier output. The pulse width modulator timing diagram is shown in Figure 21. Pulse width modulation for speed control appears only at the bottom drive outputs. Current Limit Continuous operation of a motor that is severely over–loaded results in overheating and eventual failure. This destructive condition can best be prevented with the use of cycle–by–cycle current limiting. That is, each on–cycle is treated as a separate event. Cycle–by–cycle current limiting is accomplished by monitoring the stator current build–up each time an output switch conducts, and upon sensing an over current condition, immediately turning off the switch and holding it off for the remaining duration of oscillator ramp–up period. The stator current is converted to a voltage by inserting a ground–referenced sense resistor RS (Figure 36) in series with the three bottom switch transistors (Q4, Q5, Q6). The voltage developed across the sense resistor is monitored by the Current Sense Input (Pins 9 and 15), and compared to the internal 100 mV reference. The current sense comparator inputs have an input common mode range of approximately 3.0 V. If the 100 mV current sense threshold is exceeded, the comparator resets the 10 lower sense latch and terminates output switch conduction. The value for the current sense resistor is: 0.1 R S I stator(max) The Fault output activates during an over current condition. The dual–latch PWM configuration ensures that only one single output conduction pulse occurs during any given oscillator cycle, whether terminated by the output of the error amp or the current limit comparator. + Figure 21. Pulse Width Modulator Timing Diagram Capacitor CT Error Amp Out/ PWM Input Current Sense Input Latch “Set” Inputs Top Drive Outputs Bottom Drive Outputs Fault Output MOTOROLA ANALOG IC DEVICE DATA MC33035 Reference The on–chip 6.25 V regulator (Pin 8) provides charging current for the oscillator timing capacitor, a reference for the error amplifier, and can supply 20 mA of current suitable for directly powering sensors in low voltage applications. In higher voltage applications, it may become necessary to transfer the power dissipated by the regulator off the IC. This is easily accomplished with the addition of an external pass transistor as shown in Figure 22. A 6.25 V reference level was chosen to allow implementation of the simpler NPN circuit, where Vref – VBE exceeds the minimum voltage required by Hall Effect sensors over temperature. With proper transistor selection and adequate heatsinking, up to one amp of load current can be obtained. Figure 22. Reference Output Buffers UVLO 17 Vin 18 REF 8 MPS U01A To Sensor Control Power Circuitry ≈ 5.6 V 6.25 V Vin 39 UVLO 17 18 MPS U51A REF 0.1 8 To Control Circuitry and Sensor Power 6.25 V The NPN circuit is recommended for powering Hall or opto sensors, where the output voltage temperature coefficient is not critical. The PNP circuit is slightly more complex, but is also more accurate over temperature. Neither circuit has current limiting. Undervoltage Lockout A triple Undervoltage Lockout has been incorporated to prevent damage to the IC and the external power switch transistors. Under low power supply conditions, it guarantees that the IC and sensors are fully functional, and that there is sufficient bottom drive output voltage. The positive power supplies to the IC (VCC) and the bottom drives (VC) are each monitored by separate comparators that have their thresholds at 9.1 V. This level ensures sufficient gate drive necessary to attain low RDS(on) when driving standard power MOSFET devices. When directly powering the Hall sensors from the reference, improper sensor operation can result if the reference output voltage falls below 4.5 V. A third comparator is used to detect this condition. If one or more of the comparators detects an undervoltage condition, the Fault Output is activated, the top drives are turned off and the bottom drive outputs are held in a low state. Each of the MOTOROLA ANALOG IC DEVICE DATA comparators contain hysteresis to prevent oscillations when crossing their respective thresholds. Fault Output The open collector Fault Output (Pin 14) was designed to provide diagnostic information in the event of a system malfunction. It has a sink current capability of 16 mA and can directly drive a light emitting diode for visual indication. Additionally, it is easily interfaced with TTL/CMOS logic for use in a microprocessor controlled system. The Fault Output is active low when one or more of the following conditions occur: 1) Invalid Sensor Input code 2) Output Enable at logic [0] 3) Current Sense Input greater than 100 mV 4) Undervoltage Lockout, activation of one or more of the comparators 5) Thermal Shutdown, maximum junction temperature being exceeded This unique output can also be used to distinguish between motor start–up or sustained operation in an overloaded condition. With the addition of an RC network between the Fault Output and the enable input, it is possible to create a time–delayed latched shutdown for overcurrent. The added circuitry shown in Figure 23 makes easy starting of motor systems which have high inertial loads by providing additional starting torque, while still preserving overcurrent protection. This task is accomplished by setting the current limit to a higher than nominal value for a predetermined time. During an excessively long overcurrent condition, capacitor CDLY will charge, causing the enable input to cross its threshold to a low state. A latch is then formed by the positive feedback loop from the Fault Output to the Output Enable. Once set, by the Current Sense Input, it can only be reset by shorting CDLY or cycling the power supplies. Drive Outputs The three top drive outputs (Pins 1, 2, 24) are open collector NPN transistors capable of sinking 50 mA with a minimum breakdown of 30 V. Interfacing into higher voltage applications is easily accomplished with the circuits shown in Figures 24 and 25. The three totem pole bottom drive outputs (Pins 19, 20, 21) are particularly suited for direct drive of N–Channel MOSFETs or NPN bipolar transistors (Figures 26, 27, 28 and 29). Each output is capable of sourcing and sinking up to 100 mA. Power for the bottom drives is supplied from VC (Pin 18). This separate supply input allows the designer added flexibility in tailoring the drive voltage, independent of VCC. A zener clamp should be connected to this input when driving power MOSFETs in systems where VCC is greater than 20 V so as to prevent rupture of the MOSFET gates. The control circuitry ground (Pin 16) and current sense inverting input (Pin 15) must return on separate paths to the central input source ground. Thermal Shutdown Internal thermal shutdown circuitry is provided to protect the IC in the event the maximum junction temperature is exceeded. When activated, typically at 170°C, the IC acts as though the Output Enable was grounded. 11 MC33035 Figure 23. Timed Delayed Latched Over Current Shutdown Figure 24. High Voltage Interface with NPN Power Transistors 14 14 4 2 5 2 6 RDLY VM POS DEC 1 VCC Rotor Position Decoder Q2 Q1 1 Q3 3 24 24 22 UVLO 17 VM Load 18 REF 21 Reset 21 8 20 CDLY 7 t DLY ǒ ǒ [ RDLY CDLY In [ RDLY CDLY In Ǔ Ǔ V V 19 – (I enable R ) ref IL DLY enable – (I enable R ) th IL DLY 6.25 – (20 x 10 –6 R Transistor Q1 is a common base stage used to level shift from VCC to the high motor voltage, VM. The collector diode is required if VCC is present while VM is low. ) DLY 1.4 – (20 x 10 –6 R ) DLY Figure 25. High Voltage Interface with N–Channel Power MOSFETs 14 VCC = 12 V 2 Rotor Position Decoder Q4 20 25 µA 24 VBoost VM = 170 V 1.0 k 1 1 Figure 26. Current Waveform Spike Suppression 2 21 5 20 6 1.0 M 4.7 k 4 19 1N4744 MOC8204 Optocoupler 40 k Load 100 mV 21 20 23 Q4 R 9 15 C RS Brake Input The addition of the RC filter will eliminate current–limit instability caused by the leading edge spike on the current waveform. Resistor RS should be a low inductance type. 19 12 MOTOROLA ANALOG IC DEVICE DATA MC33035 Figure 27. MOSFET Drive Precautions Figure 28. Bipolar Transistor Drive C Rg 21 Rg 20 Rg 19 21 D 20 C D 19 C D IB 9 9 15 Brake Input 100 mV D = 1N5819 23 Series gate resistor Rg will dampen any high frequency oscillations caused by the MOSFET input capacitance and any series wiring induction in the gate–source circuit. Diode D is required if the negative current into the Bottom Drive Outputs exceeds 50 mA. 21 G M 15 SENSEFET S VCC = 12 V K 4 8 6 7 R 5 Q S 19 2 15 100 mV 16 Gnd Power Ground: To Input Source Return R I R S pk DS(on) V 9 Pin r R DM(on) S If: SENSEFET = MPT10N10M RS = 200 Ω, 1/4 W Then : VPin 9 ≈ 0.75 Ipk [ @ @ ) 3 VM + 12 VM + 8.0 VM + 4.0 0 20 40 60 Boost Current (mA) 1.0/200 V * 1N5352A 1 RS Base Charge Removal Brake Input Figure 30. High Voltage Boost Supply 20 9 t The totem–pole output can furnish negative base current for enhanced transistor turn–off, with the addition of capacitor C. Figure 29. Current Sensing Power MOSFETs D 0 – Boost Voltage (V) 100 mV 23 + 40 k 40 k 0.001 * VBoost 22 MC1555 18 k * = MUR115 VM = 170 V This circuit generates VBoost for Figure 25. Control Circuitry Ground (Pin 16) and Current Sense Inverting Input (Pin 15) must return on separate paths to the Central Input Source Ground. Virtually lossless current sensing can be achieved with the implementation of SENSEFET power switches. MOTOROLA ANALOG IC DEVICE DATA 13 MC33035 Figure 32. Controlled Acceleration/Deceleration Figure 31. Differential Input Speed Controller REF REF 8 8 25 µA 7 VA VB V R1 11 R1 R2 R3 + VA Increase Speed PWM ǒ Ǔ ǒ Ǔ 13 R3 R1 ) R4 ) R2 BCD Inputs 14 15 5.0 V 16 11 VCC Q9 10 Q8 9 Q7 7 Q6 P3 6 Q5 P2 5 Q4 P1 4 Q3 P0 3 Q2 2 Q1 1 Gnd Q0 SN74LS145 13 11 R2 R3 * R4 V R3 EA R2 12 C PWM 13 B Resistor R1 with capacitor C sets the acceleration time constant while R2 controls the deceleration. The values of R1 and R2 should be at least ten times greater than the speed set potentiometer to minimize time constant variations with different speed settings. Figure 33. Digital Speed Controller 12 25 µA 7 EA 12 R4 Pin 13 Enable Figure 34. Closed Loop Speed Control REF 166 k 145 k 8 REF 8 100 k To Sensor Input (Pin 4) 126 k 108 k 7 92.3 k 11 25 µA 0.01 EA 10 k 12 63.6 k EA 12 13 1.0 M 0.1 PWM 13 51.3 k 10 k 100 k 77.6 k 25 µA 7 11 PWM 0.22 1.0 M 40.4 k 8 The SN74LS145 is an open collector BCD to One of Ten decoder. When connected as shown, input codes 0000 through 1001 steps the PWM in increments of approximately 10% from 0 to 90% on–time. Input codes 1010 through 1111 will produce 100% on–time or full motor speed. The rotor position sensors can be used as a tachometer. By differentiating the positive–going edges and then integrating them over time, a voltage proportional to speed can be generated. The error amp compares this voltage to that of the speed set to control the PWM. ǒ Ǔ ǒ Ǔ ǒ Ǔ Figure 35. Closed Loop Temperature Control V Pin 3 + Vref R3 R1 ) R4 ) R2 R2 R3 * R4 R3 V B REF 8 V B + V R5 R6 R3 ref )1 §§ R5 ø R6 R1 T R5 R2 R3 R6 R4 25 µA 7 11 EA 12 13 PWM This circuit can control the speed of a cooling fan proportional to the difference between the sensor and set temperatures. The control loop is closed as the forced air cools the NTC thermistor. For controlled heating applications, exchange the positions of R1 and R2. 14 MOTOROLA ANALOG IC DEVICE DATA MC33035 SYSTEM APPLICATIONS Three Phase Motor Commutation The three phase application shown in Figure 36 is a full–featured open loop motor controller with full wave, six step drive. The upper power switch transistors are Darlingtons while the lower devices are power MOSFETs. Each of these devices contains an internal parasitic catch diode that is used to return the stator inductive energy back to the power supply. The outputs are capable of driving a delta or wye connected stator, and a grounded neutral wye if split supplies are used. At any given rotor position, only one top and one bottom power switch (of different totem poles) is enabled. This configuration switches both ends of the stator winding from supply to ground which causes the current flow to be bidirectional or full wave. A leading edge spike is usually present on the current waveform and can cause a current–limit instability. The spike can be eliminated by adding an RC filter in series with the Current Sense Input. Using a low inductance type resistor for RS will also aid in spike reduction. Care must be taken in the selection of the bottom power switch transistors so that the current during braking does not exceed the device rating. During braking, the peak current generated is limited only by the series resistance of the conducting bottom switch and winding. I peak +R ) EMF ) Rwinding switch V M If the motor is running at maximum speed with no load, the generated back EMF can be as high as the supply voltage, and at the onset of braking, the peak current may approach twice the motor stall current. Figure 37 shows the commutation waveforms over two electrical cycles. The first cycle (0° to 360°) depicts motor operation at full speed while the second cycle (360° to 720°) shows a reduced speed with about 50% pulse width modulation. The current waveforms reflect a constant torque load and are shown synchronous to the commutation frequency for clarity. Figure 36. Three Phase, Six Step, Full Wave Motor Controller 4 5 VM Fault Ind. 14 2 6 N A Rotor Position Decoder 3 Q1 1 S S N Q2 Fwd/Rev 60°/120° Enable 24 22 7 Motor Undervoltage Lockout 18 Reference Regulator 21 8 Speed Set Faster RT 11 Error Amp Q4 20 Thermal Shutdown 12 13 C 25 µA 17 VM B Q3 Q5 PWM R 19 Q Q6 S 10 Oscillator S CT ILimit Q 15 Gnd MOTOROLA ANALOG IC DEVICE DATA R 9 R 16 C RS 23 Brake 15 MC33035 Figure 37. Three Phase, Six Step, Full Wave Commutation Waveforms Rotor Electrical Position (Degrees) 0 60 120 180 240 300 360 420 480 540 600 660 720 SA Sensor Inputs 60°/120° Select Pin Open SB SC Code 100 110 111 011 001 000 100 110 111 011 001 000 100 110 010 011 001 101 100 110 010 011 001 101 Q1 + Q6 Q2 + Q6 SA Sensor Inputs 60°/120° Select Pin Grounded SB SC Code AT Top Drive Outputs BT CT AB Bottom Drive Outputs BB CB Conducting Power Switch Transistors Q2 + Q4 Q3 + Q4 Q3 + Q5 Q1 + Q5 Q1 + Q6 Q2 + Q6 Q2 + Q4 Q3 + Q4 Q3 + Q5 Q1 + Q5 + A O – + Motor Drive Current B O – + C O – Reduced Speed ( ≈ 50% PWM) Full Speed (No PWM) Fwd/Rev = 1 16 MOTOROLA ANALOG IC DEVICE DATA MC33035 Figure 38 shows a three phase, three step, half wave motor controller. This configuration is ideally suited for automotive and other low voltage applications since there is only one power switch voltage drop in series with a given stator winding. Current flow is unidirectional or half wave because only one end of each winding is switched. Continuous braking with the typical half wave arrangement presents a motor overheating problem since stator current is limited only by the winding resistance. This is due to the lack of upper power switch transistors, as in the full wave circuit, used to disconnect the windings from the supply voltage VM. A unique solution is to provide braking until the motor stops and then turn off the bottom drives. This can be accomplished by using the Fault Output in conjunction with the Output Enable as an over current timer. Components RDLY and CDLY are selected to give the motor sufficient time to stop before latching the Output Enable and the top drive AND gates low. When enabling the motor, the brake switch is closed and the PNP transistor (along with resistors R1 and RDLY) are used to reset the latch by discharging CDLY. The stator flyback voltage is clamped by a single zener and three diodes. Figure 38. Three Phase, Three Step, Half Wave Motor Controller Motor CDLY R2 R1 14 RDLY 4 N S 2 5 VM Rotor Position Decoder 6 Fwd/Rev 60°/120° 1 3 22 7 24 25 µA Undervoltage 17 VM S N Lockout 18 Reference Regulator 21 8 Speed Set Faster RT 11 Error Amp 12 13 PWM 20 Thermal Shutdown R 19 Q S 10 Oscillator S CT Q ILimit R Gnd 16 9 15 23 Brake MOTOROLA ANALOG IC DEVICE DATA 17 MC33035 Three Phase Closed Loop Controller The MC33035, by itself, is only capable of open loop motor speed control. For closed loop motor speed control, the MC33035 requires an input voltage proportional to the motor speed. Traditionally, this has been accomplished by means of a tachometer to generate the motor speed feedback voltage. Figure 39 shows an application whereby an MC33039, powered from the 6.25 V reference (Pin 8) of the MC33035, is used to generate the required feedback voltage without the need of a costly tachometer. The same Hall sensor signals used by the MC33035 for rotor position decoding are utilized by the MC33039. Every positive or negative going transition of the Hall sensor signals on any of the sensor lines causes the MC33039 to produce an output pulse of defined amplitude and time duration, as determined by the external resistor R1 and capacitor C1. The output train of pulses at Pin 5 of the MC33039 are integrated by the error amplifier of the MC33035 configured as an integrator to produce a DC voltage level which is proportional to the motor speed. This speed proportional voltage establishes the PWM reference level at Pin 13 of the MC33035 motor controller and closes the feedback loop. The MC33035 outputs drive a TMOS power MOSFET 3–phase bridge. High currents can be expected during conditions of start–up, breaking, and change of direction of the motor. The system shown in Figure 39 is designed for a motor having 120/240 degrees Hall sensor electrical phasing. The system can easily be modified to accommodate 60/300 degree Hall sensor electrical phasing by removing the jumper (J2) at Pin 22 of the MC33035. Figure 39. Closed Loop Brushless DC Motor Control Using The MC33035 and MC33039 8 1 3 1.0 M R1 7 2 MC33039 6 5 4 VM (18 to 30 V) 750 pF C1 1.1 k 1.1 k 1.1 k 0.1 1000 TP1 1.0 k F/R 1 1.0 k 24 2 23 3 22 4 21 6 Enable 5.1 k Speed 0.01 Faster MC33035 J2 470 470 470 19 18 8 17 9 16 10 15 11 14 12 13 Motor 1N5819 J1 330 1N5355B 18 V 2.2 k 0.1 18 Close Loop TP2 Fault 100 0.05/1.0 W 0.1 1N4148 0.1 100 k S S Brake 20 7 1.0 M 10 k N N 5 4.7 k 1.0 k 33 Reset Latch On Fault 47 MOTOROLA ANALOG IC DEVICE DATA MC33035 Sensor Phasing Comparison There are four conventions used to establish the relative phasing of the sensor signals in three phase motors. With six step drive, an input signal change must occur every 60 electrical degrees; however, the relative signal phasing is dependent upon the mechanical sensor placement. A comparison of the conventions in electrical degrees is shown in Figure 40. From the sensor phasing table in Figure 41, note that the order of input codes for 60° phasing is the reverse of 300°. This means the MC33035, when configured for 60° sensor electrical phasing, will operate a motor with either 60° or 300° sensor electrical phasing, but resulting in opposite directions of rotation. The same is true for the part when it is configured for 120° sensor electrical phasing; the motor will operate equally, but will result in opposite directions of rotation for 120° for 240° conventions. Figure 40. Sensor Phasing Comparison Rotor Electrical Position (Degrees) 0 60 120 180 240 300 360 420 480 540 600 660 720 SA Sensor Electrical Phasing 60° SB SC SA 120° SB SC In this data sheet, the rotor position is always given in electrical degrees since the mechanical position is a function of the number of rotating magnetic poles. The relationship between the electrical and mechanical position is: Electrical Degrees ǒ + Mechanical Degrees #Rotor2 Poles Ǔ An increase in the number of magnetic poles causes more electrical revolutions for a given mechanical revolution. General purpose three phase motors typically contain a four pole rotor which yields two electrical revolutions for one mechanical. Two and Four Phase Motor Commutation The MC33035 is also capable of providing a four step output that can be used to drive two or four phase motors. The truth table in Figure 42 shows that by connecting sensor inputs SB and SC together, it is possible to truncate the number of drive output states from six to four. The output power switches are connected to BT, CT, BB, and CB. Figure 43 shows a four phase, four step, full wave motor control application. Power switch transistors Q1 through Q8 are Darlington type, each with an internal parasitic catch diode. With four step drive, only two rotor position sensors spaced at 90 electrical degrees are required. The commutation waveforms are shown in Figure 44. Figure 45 shows a four phase, four step, half wave motor controller. It has the same features as the circuit in Figure 38, except for the deletion of speed control and braking. SA 240° Figure 42. Two and Four Phase, Four Step, Commutation Truth Table SB SC MC33035 (60°/120° Select Pin Open) SA 300° Inputs SB Sensor Electrical Spacing* = 90° SA SB SC Figure 41. Sensor Phasing Table Sensor Electrical Phasing (Degrees) 60° 120° 240° 300° SA SB SC SA SB SC SA SB SC SA SB SC 1 0 0 1 0 1 1 1 0 1 1 1 1 1 0 1 0 0 1 0 0 1 1 0 1 1 1 1 1 0 1 0 1 1 0 0 0 1 1 0 1 0 0 0 1 0 0 0 0 0 1 0 1 1 0 1 1 0 0 1 0 0 0 0 0 1 0 1 0 0 1 1 MOTOROLA ANALOG IC DEVICE DATA Outputs Top Drives Bottom Drives F/R BT CT BB CB 1 1 0 0 0 1 1 0 1 1 1 1 1 0 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 1 0 0 0 1 1 0 0 0 0 0 1 1 1 0 0 1 1 1 0 1 0 0 0 0 1 0 *With MC33035 sensor input SB connected to SC. 19 20 CT RT VM Enable Fwd/Rev 10 13 12 11 8 18 17 7 22 3 6 5 4 Oscillator Gnd R S S R Thermal Shutdown Lockout Undervoltage PWM Error Amp Reference Regulator 25 µA 16 Q Q Rotor Position Decoder 23 ILimit 9 15 19 20 21 24 1 2 14 C Fault Ind. R Q8 Q4 Figure 43. Four Phase, Four Step, Full Wave Motor Controller RS Q7 Q3 VM Q6 Q2 Q5 D C B A Q1 N S Motor S N MC33035 MOTOROLA ANALOG IC DEVICE DATA MC33035 Figure 44. Four Phase, Four Step, Full Wave Motor Controller Rotor Electrical Position (Degrees) 0 90 180 270 360 450 540 630 720 SA Sensor Inputs 60°/120° Select Pin Open SB Code 10 10 01 00 10 11 01 00 Q3 + Q5 Q4 + Q6 Q1 + Q7 Q2 + Q8 Q3 + Q5 Q4 + Q6 Q1 + Q7 Q2 + Q8 BT Top Drive Outputs CT BB Bottom Drive Outputs CB Conducting Power Switch Transistors + A O – + B O Motor Drive Current – + C O – + D O – Full Speed (No PWM) Fwd/Rev = 1 MOTOROLA ANALOG IC DEVICE DATA 21 22 CT RT VM Enable Fwd/Rev 10 13 12 11 8 18 17 7 22 3 6 5 4 Oscillator Gnd R S S R Thermal Shutdown Lockout Undervoltage PWM Error Amp Reference Regulator 25 µ A 16 Q Q Rotor Position Decoder Brake 23 ILimit 9 15 19 20 21 24 1 2 14 C Fault Ind. R Figure 45. Four Phase, Four Step, Half Wave Motor Controller RS VM Motor S N N S MC33035 MOTOROLA ANALOG IC DEVICE DATA MC33035 Brush Motor Control Though the MC33035 was designed to control brushless DC motors, it may also be used to control DC brush type motors. Figure 46 shows an application of the MC33035 driving a MOSFET H–bridge affording minimal parts count to operate a brush–type motor. Key to the operation is the input sensor code [100] which produces a top–left (Q1) and a bottom–right (Q3) drive when the controller’s forward/reverse pin is at logic [1]; top–right (Q4), bottom–left (Q2) drive is realized when the Forward/Reverse pin is at logic [0]. This code supports the requirements necessary for H–bridge drive accomplishing both direction and speed control. The controller functions in a normal manner with a pulse width modulated frequency of approximately 25 kHz. Motor speed is controlled by adjusting the voltage presented to the noninverting input of the error amplifier establishing the PWM’s slice or reference level. Cycle–by–cycle current limiting of the motor current is accomplished by sensing the voltage (100 mV) across the RS resistor to ground of the H–bridge motor current. The over current sense circuit makes it possible to reverse the direction of the motor, using the normal forward/reverse switch, on the fly and not have to completely stop before reversing. LAYOUT CONSIDERATIONS Do not attempt to construct any of the brushless motor control circuits on wire–wrap or plug–in prototype boards. High frequency printed circuit layout techniques are imperative to prevent pulse jitter. This is usually caused by excessive noise pick–up imposed on the current sense or error amp inputs. The printed circuit layout should contain a ground plane with low current signal and high drive and output buffer grounds returning on separate paths back to the power supply input filter capacitor VM. Ceramic bypass capacitors (0.1 µF) connected close to the integrated circuit at VCC, VC, Vref and the error amp noninverting input may be required depending upon circuit layout. This provides a low impedance path for filtering any high frequency noise. All high current loops should be kept as short as possible using heavy copper runs to minimize radiated EMI. Figure 46. H–Bridge Brush–Type Controller Fault Ind. 14 4 +12 V 20 k 2 5 1.0 k Rotor Position Decoder 6 Fwd/Rev 1.0 k 1 Q1* 3 22 Enable 7 Q4* Undervoltage 17 +12 V 24 25 µA Lockout 18 DC Brush Motor Reference Regulator Q2* 21 8 M 22 11 10 k Faster 10 k Error Amp 12 13 PWM 20 Thermal Shutdown R Q3* 19 Q 22 S 10 Oscillator S 0.005 Q ILimit R Gnd MOTOROLA ANALOG IC DEVICE DATA 16 9 15 1.0 k 0.001 RS 23 Brake 23 MC33035 OUTLINE DIMENSIONS P SUFFIX PLASTIC PACKAGE CASE 724–03 ISSUE D -A24 13 1 12 NOTES: 1. CHAMFERED CONTOUR OPTIONAL. 2. DIMENSION L TO CENTER OF LEADS WHEN FORMED PARALLEL. 3. DIMENSIONING AND TOLERANCING PER ANSI Y14.5M, 1982. 4. CONTROLLING DIMENSION: INCH. -B- L C -T- NOTE 1 K SEATING PLANE E G M N J 24 PL 0.25 (0.010) F D 24 PL 0.25 (0.010) M T A M M DW SUFFIX PLASTIC PACKAGE CASE 751E–04 (SO–24L) ISSUE E -A- 24 13 -B- P 12 PL 0.010 (0.25) 1 M B M 12 D 24 PL J 0.010 (0.25) M T A S B S F R X 45° C -TSEATING PLANE G K 22 PL M T B M DIM A B C D E F G J K L M N INCHES MIN MAX 1.230 1.265 0.250 0.270 0.145 0.175 0.015 0.020 0.050 BSC 0.040 0.060 0.100 BSC 0.007 0.012 0.110 0.140 0.300 BSC 0° 15° 0.020 0.040 MILLIMETERS MIN MAX 31.25 32.13 6.35 6.85 3.69 4.44 0.38 0.51 1.27 BSC 1.02 1.52 2.54 BSC 0.18 0.30 2.80 3.55 7.62 BSC 0° 15° 0.51 1.01 NOTES: 1. DIMENSIONING AND TOLERANCING PER ANSI Y14.5M, 1982. 2. CONTROLLING DIMENSION: MILLIMETER. 3. DIMENSIONS A AND B DO NOT INCLUDE MOLD PROTRUSION. 4. MAXIMUM MOLD PROTRUSION 0.15 (0.006) PER SIDE. 5. DIMENSION D DOES NOT INCLUDE DAMBAR PROTRUSION. ALLOWABLE DAMBAR PROTRUSION SHALL BE 0.13 (0.005) TOTAL IN EXCESS OF D DIMENSION AT MAXIMUM MATERIAL CONDITION. DIM A B C D F G J K M P R MILLIMETERS MIN MAX 15.25 15.54 7.60 7.40 2.65 2.35 0.49 0.35 0.90 0.41 1.27 BSC 0.32 0.23 0.29 0.13 8° 0° 10.05 10.55 0.25 0.75 INCHES MIN MAX 0.601 0.612 0.292 0.299 0.093 0.104 0.014 0.019 0.016 0.035 0.050 BSC 0.009 0.013 0.005 0.011 0° 8° 0.395 0.415 0.010 0.029 Motorola reserves the right to make changes without further notice to any products herein. Motorola makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does Motorola assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation consequential or incidental damages. “Typical” parameters which may be provided in Motorola data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. All operating parameters, including “Typicals” must be validated for each customer application by customer’s technical experts. Motorola does not convey any license under its patent rights nor the rights of others. Motorola products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the Motorola product could create a situation where personal injury or death may occur. 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Box 5405, Denver, Colorado 80217. 303–675–2140 or 1–800–441–2447 JAPAN: Nippon Motorola Ltd.: SPD, Strategic Planning Office, 4–32–1, Nishi–Gotanda, Shinagawa–ku, Tokyo 141, Japan. 81–3–5487–8488 Mfax: [email protected] – TOUCHTONE 602–244–6609 ASIA/PACIFIC: Motorola Semiconductors H.K. Ltd.; 8B Tai Ping Industrial Park, – US & Canada ONLY 1–800–774–1848 51 Ting Kok Road, Tai Po, N.T., Hong Kong. 852–26629298 INTERNET: http://motorola.com/sps 24 ◊ MOTOROLA ANALOG IC DEVICE DATA MC33035/D