LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 LMD18200 3A, 55V H-Bridge Check for Samples: LMD18200 FEATURES APPLICATIONS • • • • • • • • • • • • • • • 1 2 Delivers Up to 3A Continuous Output Operates at Supply Voltages Up to 55V Low RDS(ON) Typically 0.33Ω per Switch at 3A TTL and CMOS Compatible Inputs No “Shoot-Through” Current Thermal Warning Flag Output at 145°C Thermal Shutdown (Outputs Off) at 170°C Internal Clamp Diodes Shorted Load Protection Internal Charge Pump with External Bootstrap Capability DC and Stepper Motor Drives Position and Velocity Servomechanisms Factory Automation Robots Numerically Controlled Machinery Computer Printers and Plotters DESCRIPTION The LMD18200 is a 3A H-Bridge designed for motion control applications. The device is built using a multitechnology process which combines bipolar and CMOS control circuitry with DMOS power devices on the same monolithic structure. Ideal for driving DC and stepper motors; the LMD18200 accommodates peak output currents up to 6A. An innovative circuit which facilitates low-loss sensing of the output current has been implemented. Functional Diagram Figure 1. Functional Block Diagram of LMD18200 1 2 Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet. All trademarks are the property of their respective owners. PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of the Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters. Copyright © 1999–2013, Texas Instruments Incorporated LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com Connection Diagram Figure 2. 11-Lead TO-220 Package Top View See Package NDJ0011B 2 Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 These devices have limited built-in ESD protection. The leads should be shorted together or the device placed in conductive foam during storage or handling to prevent electrostatic damage to the MOS gates. Absolute Maximum Ratings (1) (2) Total Supply Voltage (VS, Pin 6) 60V Voltage at Pins 3, 4, 5, 8 and 9 Voltage at Bootstrap Pins 12V (Pins 1 and 11) VOUT +16V Peak Output Current (200 ms) Power Dissipation 6A (3) Continuous Output Current 3A (4) 25W Power Dissipation (TA = 25°C, Free Air) 3W Junction Temperature, TJ(max) ESD Susceptibility 150°C (5) 1500V −40°C to +150°C Storage Temperature, TSTG Lead Temperature (Soldering, 10 sec.) (1) 300°C Absolute Maximum Ratings indicate limits beyond which damage to the device may occur. DC and AC electrical specifications do not apply when operating the device beyond its rated operating conditions. If Military/Aerospace specified devices are required, please contact the Texas Instruments Sales Office/Distributors for availability and specifications. See Application Information for details regarding current limiting. The maximum power dissipation must be derated at elevated temperatures and is a function of TJ(max), θJA, and TA. The maximum allowable power dissipation at any temperature is PD(max) = (TJ(max) − TA)/θJA, or the number given in the Absolute Ratings, whichever is lower. The typical thermal resistance from junction to case (θJC) is 1.0°C/W and from junction to ambient (θJA) is 30°C/W. For ensured operation TJ(max) = 125°C. Human-body model, 100 pF discharged through a 1.5 kΩ resistor. Except Bootstrap pins (pins 1 and 11) which are protected to 1000V of ESD. (2) (3) (4) (5) Operating Ratings (1) −40°C to +125°C Junction Temperature, TJ VS Supply Voltage (1) +12V to +55V Absolute Maximum Ratings indicate limits beyond which damage to the device may occur. DC and AC electrical specifications do not apply when operating the device beyond its rated operating conditions. Electrical Characteristics (1) The following specifications apply for VS = 42V, unless otherwise specified. Boldface limits apply over the entire operating temperature range, −40°C ≤ TJ ≤ +125°C, all other limits are for TA = TJ = 25°C. Typ Limit Units RDS(ON) Symbol Switch ON Resistance Parameter Output Current = 3A Conditions (2) 0.33 0.40/0.6 Ω (max) RDS(ON) Switch ON Resistance Output Current = 6A (2) 0.38 0.45/0.6 Ω (max) (2) 1.2 1.5 V (max) VCLAMP Clamp Diode Forward Drop Clamp Current = 3A VIL Logic Low Input Voltage Pins 3, 4, 5 IIL Logic Low Input Current VIN = −0.1V, Pins = 3, 4, 5 VIH Logic High Input Voltage Pins 3, 4, 5 IIH Logic High Input Current Current Sense Output Current Sense Linearity (1) (2) (3) (4) VIN = 12V, Pins = 3, 4, 5 IOUT = 1A (3) 1A ≤ IOUT ≤ 3A 377 (4) ±6 −0.1 V (min) 0.8 V (max) −10 μA (max) 2 V (min) 12 V (max) 10 μA (max) 325/300 μA (min) 425/450 μA (max) ±9 % All limits are 100% production tested at 25°C. Temperature extreme limits are ensured via correlation using accepted SQC (Statistical Quality Control) methods. All limits are used to calculate AOQL, (Average Outgoing Quality Level). Output currents are pulsed (tW < 2 ms, Duty Cycle < 5%). Selections for tighter tolerance are available. Contact factory. Regulation is calculated relative to the current sense output value with a 1A load. Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 3 LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com Electrical Characteristics (1) (continued) The following specifications apply for VS = 42V, unless otherwise specified. Boldface limits apply over the entire operating temperature range, −40°C ≤ TJ ≤ +125°C, all other limits are for TA = TJ = 25°C. Symbol Parameter Conditions Typ Limit Units 9 V (min) 11 V (max) Undervoltage Lockout Outputs turn OFF TJW Warning Flag Temperature Pin 9 ≤ 0.8V, IL = 2 mA 145 VF(ON) Flag Output Saturation Voltage TJ = TJW, IL = 2 mA 0.15 IF(OFF) Flag Output Leakage VF = 12V 0.2 TJSD Shutdown Temperature Outputs Turn OFF 170 IS Quiescent Supply Current All Logic Inputs Low 13 tDon Output Turn-On Delay Time Sourcing Outputs, IOUT = 3A 300 ns Sinking Outputs, IOUT = 3A 300 ns ton Output Turn-On Switching Time 100 ns Sinking Outputs, IOUT = 3A 80 ns Sourcing Outputs, IOUT = 3A 200 ns Sinking Outputs, IOUT = 3A 200 ns Sourcing Outputs, IOUT = 3A 75 ns Sinking Outputs, IOUT = 3A 70 ns toff Output Turn-Off Delay Times Output Turn-Off Switching Times V 10 μA (max) 25 mA (max) °C Bootstrap Capacitor = 10 nF Sourcing Outputs, IOUT = 3A tDoff °C Bootstrap Capacitor = 10 nF tpw Minimum Input Pulse Width Pins 3, 4 and 5 1 μs tcpr Charge Pump Rise Time No Bootstrap Capacitor 20 μs 4 Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 Typical Performance Characteristics VSAT vs Flag Current RDS(ON) vs Temperature Figure 3. Figure 4. RDS(ON) vs Supply Voltage Supply Current vs Supply Voltage Figure 5. Figure 6. Supply Current vs Frequency (VS = 42V) Supply Current vs Temperature (VS = 42V) Figure 7. Figure 8. Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 5 LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com Typical Performance Characteristics (continued) 6 Current Sense Output vs Load Current Current Sense Operating Region Figure 9. Figure 10. Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 TEST CIRCUIT Switching Time Definitions Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 7 LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com Pinout Description (See Test Circuit) Pin 1, BOOTSTRAP 1 Input: Bootstrap capacitor pin for half H-bridge number 1. The recommended capacitor (10 nF) is connected between pins 1 and 2. Pin 2, OUTPUT 1: Half H-bridge number 1 output. Pin 3, DIRECTION Input: See Logic Truth Table. This input controls the direction of current flow between OUTPUT 1 and OUTPUT 2 (pins 2 and 10) and, therefore, the direction of rotation of a motor load. Pin 4, BRAKE Input: See Logic Truth Table. This input is used to brake a motor by effectively shorting its terminals. When braking is desired, this input is taken to a logic high level and it is also necessary to apply logic high to PWM input, pin 5. The drivers that short the motor are determined by the logic level at the DIRECTION input (Pin 3): with Pin 3 logic high, both current sourcing output transistors are ON; with Pin 3 logic low, both current sinking output transistors are ON. All output transistors can be turned OFF by applying a logic high to Pin 4 and a logic low to PWM input Pin 5; in this case only a small bias current (approximately −1.5 mA) exists at each output pin. Pin 5, PWM Input: See Logic Truth Table. How this input (and DIRECTION input, Pin 3) is used is determined by the format of the PWM Signal. Pin 6, VS Power Supply Pin 7, GROUND Connection: This pin is the ground return, and is internally connected to the mounting tab. Pin 8, CURRENT SENSE Output: This pin provides the sourcing current sensing output signal, which is typically 377 μA/A. Pin 9, THERMAL FLAG Output: This pin provides the thermal warning flag output signal. Pin 9 becomes activelow at 145°C (junction temperature). However the chip will not shut itself down until 170°C is reached at the junction. Pin 10, OUTPUT 2: Half H-bridge number 2 output. Pin 11, BOOTSTRAP 2 Input: Bootstrap capacitor pin for Half H-bridge number 2. The recommended capacitor (10 nF) is connected between pins 10 and 11. Logic Truth Table 8 PWM Dir Brake H H L Source 1, Sink 2 Active Output Drivers H L L Sink 1, Source 2 L X L Source 1, Source 2 H H H Source 1, Source 2 H L H Sink 1, Sink 2 L X H NONE Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 APPLICATION INFORMATION TYPES OF PWM SIGNALS The LMD18200 readily interfaces with different forms of PWM signals. Use of the part with two of the more popular forms of PWM is described in the following paragraphs. Simple, locked anti-phase PWM consists of a single, variable duty-cycle signal in which is encoded both direction and amplitude information (see Figure 11). A 50% duty-cycle PWM signal represents zero drive, since the net value of voltage (integrated over one period) delivered to the load is zero. For the LMD18200, the PWM signal drives the direction input (pin 3) and the PWM input (pin 5) is tied to logic high. Figure 11. Locked Anti-Phase PWM Control Sign/magnitude PWM consists of separate direction (sign) and amplitude (magnitude) signals (see Figure 12). The (absolute) magnitude signal is duty-cycle modulated, and the absence of a pulse signal (a continuous logic low level) represents zero drive. Current delivered to the load is proportional to pulse width. For the LMD18200, the DIRECTION input (pin 3) is driven by the sign signal and the PWM input (pin 5) is driven by the magnitude signal. Figure 12. Sign/Magnitude PWM Control SIGNAL TRANSITION REQUIREMENTS To ensure proper internal logic performance, it is good practice to avoid aligning the falling and rising edges of input signals. A delay of at least 1 µsec should be incorporated between transitions of the Direction, Brake, and/or PWM input signals. A conservative approach is be sure there is at least 500ns delay between the end of the first transition and the beginning of the second transition. See Figure 13. Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 9 LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com Figure 13. Transitions in Brake, Direction, or PWM Must Be Separated By At Least 1 µsec USING THE CURRENT SENSE OUTPUT The CURRENT SENSE output (pin 8) has a sensitivity of 377 μA per ampere of output current. For optimal accuracy and linearity of this signal, the value of voltage generating resistor between pin 8 and ground should be chosen to limit the maximum voltage developed at pin 8 to 5V, or less. The maximum voltage compliance is 12V. It should be noted that the recirculating currents (free wheeling currents) are ignored by the current sense circuitry. Therefore, only the currents in the upper sourcing outputs are sensed. USING THE THERMAL WARNING FLAG The THERMAL FLAG output (pin 9) is an open collector transistor. This permits a wired OR connection of thermal warning flag outputs from multiple LMD18200's, and allows the user to set the logic high level of the output signal swing to match system requirements. This output typically drives the interrupt input of a system controller. The interrupt service routine would then be designed to take appropriate steps, such as reducing load currents or initiating an orderly system shutdown. The maximum voltage compliance on the flag pin is 12V. SUPPLY BYPASSING During switching transitions the levels of fast current changes experienced may cause troublesome voltage transients across system stray inductance. It is normally necessary to bypass the supply rail with a high quality capacitor(s) connected as close as possible to the VS Power Supply (Pin 6) and GROUND (Pin 7). A 1 μF high-frequency ceramic capacitor is recommended. Care should be taken to limit the transients on the supply pin below the Absolute Maximum Rating of the device. When operating the chip at supply voltages above 40V a voltage suppressor (transorb) such as P6KE62A is recommended from supply to ground. Typically the ceramic capacitor can be eliminated in the presence of the voltage suppressor. Note that when driving high load currents a greater amount of supply bypass capacitance (in general at least 100 μF per Amp of load current) is required to absorb the recirculating currents of the inductive loads. 10 Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 CURRENT LIMITING Current limiting protection circuitry has been incorporated into the design of the LMD18200. With any power device it is important to consider the effects of the substantial surge currents through the device that may occur as a result of shorted loads. The protection circuitry monitors this increase in current (the threshold is set to approximately 10 Amps) and shuts off the power device as quickly as possible in the event of an overload condition. In a typical motor driving application the most common overload faults are caused by shorted motor windings and locked rotors. Under these conditions the inductance of the motor (as well as any series inductance in the VCC supply line) serves to reduce the magnitude of a current surge to a safe level for the LMD18200. Once the device is shut down, the control circuitry will periodically try to turn the power device back on. This feature allows the immediate return to normal operation in the event that the fault condition has been removed. While the fault remains however, the device will cycle in and out of thermal shutdown. This can create voltage transients on the VCC supply line and therefore proper supply bypassing techniques are required. The most severe condition for any power device is a direct, hard-wired (“screwdriver”) long term short from an output to ground. This condition can generate a surge of current through the power device on the order of 15 Amps and require the die and package to dissipate up to 500 Watts of power for the short time required for the protection circuitry to shut off the power device. This energy can be destructive, particularly at higher operating voltages (>30V) so some precautions are in order. Proper heat sink design is essential and it is normally necessary to heat sink the VCC supply pin (pin 6) with 1 square inch of copper on the PCB. INTERNAL CHARGE PUMP AND USE OF BOOTSTRAP CAPACITORS To turn on the high-side (sourcing) DMOS power devices, the gate of each device must be driven approximately 8V more positive than the supply voltage. To achieve this an internal charge pump is used to provide the gate drive voltage. As shown in Figure 14, an internal capacitor is alternately switched to ground and charged to about 14V, then switched to V supply thereby providing a gate drive voltage greater than V supply. This switching action is controlled by a continuously running internal 300 kHz oscillator. The rise time of this drive voltage is typically 20 μs which is suitable for operating frequencies up to 1 kHz. Figure 14. Internal Charge Pump Circuitry For higher switching frequencies, the LMD18200 provides for the use of external bootstrap capacitors. The bootstrap principle is in essence a second charge pump whereby a large value capacitor is used which has enough energy to quickly charge the parasitic gate input capacitance of the power device resulting in much faster rise times. The switching action is accomplished by the power switches themselves Figure 15. External 10 nF capacitors, connected from the outputs to the bootstrap pins of each high-side switch provide typically less than 100 ns rise times allowing switching frequencies up to 500 kHz. Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 11 LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com Figure 15. Bootstrap Circuitry INTERNAL PROTECTION DIODES A major consideration when switching current through inductive loads is protection of the switching power devices from the large voltage transients that occur. Each of the four switches in the LMD18200 have a built-in protection diode to clamp transient voltages exceeding the positive supply or ground to a safe diode voltage drop across the switch. The reverse recovery characteristics of these diodes, once the transient has subsided, is important. These diodes must come out of conduction quickly and the power switches must be able to conduct the additional reverse recovery current of the diodes. The reverse recovery time of the diodes protecting the sourcing power devices is typically only 70 ns with a reverse recovery current of 1A when tested with a full 6A of forward current through the diode. For the sinking devices the recovery time is typically 100 ns with 4A of reverse current under the same conditions. TYPICAL APPLICATIONS FIXED OFF-TIME CONTROL This circuit controls the current through the motor by applying an average voltage equal to zero to the motor terminals for a fixed period of time, whenever the current through the motor exceeds the commanded current. This action causes the motor current to vary slightly about an externally controlled average level. The duration of the Off-period is adjusted by the resistor and capacitor combination of the LM555. In this circuit the Sign/Magnitude mode of operation is implemented (see TYPES OF PWM SIGNALS). 12 Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 Figure 16. Fixed Off-Time Control Figure 17. Switching Waveforms Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 13 LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com TORQUE REGULATION Locked Anti-Phase Control of a brushed DC motor. Current sense output of the LMD18200 provides load sensing. The LM3524D is a general purpose PWM controller. The relationship of peak motor current to adjustment voltage is shown in Figure 19. Figure 18. Locked Anti-Phase Control Regulates Torque Figure 19. Peak Motor Current vs Adjustment Voltage 14 Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 LMD18200 www.ti.com SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 VELOCITY REGULATION Utilizes tachometer output from the motor to sense motor speed for a locked anti-phase control loop. The relationship of motor speed to the speed adjustment control voltage is shown in Figure 21. Figure 20. Regulate Velocity with Tachometer Feedback Figure 21. Motor Speed vs Control Voltage Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 15 LMD18200 SNVS091F – DECEMBER 1999 – REVISED APRIL 2013 www.ti.com REVISION HISTORY Changes from Revision E (April 2013) to Revision F • 16 Page Changed layout of National Data Sheet to TI format .......................................................................................................... 15 Submit Documentation Feedback Copyright © 1999–2013, Texas Instruments Incorporated Product Folder Links: LMD18200 PACKAGE OPTION ADDENDUM www.ti.com 1-Nov-2013 PACKAGING INFORMATION Orderable Device Status (1) Package Type Package Pins Package Drawing Qty Eco Plan Lead/Ball Finish MSL Peak Temp (2) (6) (3) LMD18200T NRND TO-220 NDJ 11 20 TBD Call TI Call TI LMD18200T/LF14 ACTIVE TO-220 NDJ 11 23 Green (RoHS & no Sb/Br) CU SN Level-1-NA-UNLIM LMD18200T/NOPB ACTIVE TO-220 NDJ 11 20 Green (RoHS & no Sb/Br) CU SN Level-1-NA-UNLIM Op Temp (°C) Device Marking (4/5) -40 to 125 LMD18200T P+ LMD18200T P+ -40 to 125 LMD18200T P+ (1) The marketing status values are defined as follows: ACTIVE: Product device recommended for new designs. LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect. NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design. PREVIEW: Device has been announced but is not in production. Samples may or may not be available. OBSOLETE: TI has discontinued the production of the device. (2) Eco Plan - The planned eco-friendly classification: Pb-Free (RoHS), Pb-Free (RoHS Exempt), or Green (RoHS & no Sb/Br) - please check http://www.ti.com/productcontent for the latest availability information and additional product content details. TBD: The Pb-Free/Green conversion plan has not been defined. Pb-Free (RoHS): TI's terms "Lead-Free" or "Pb-Free" mean semiconductor products that are compatible with the current RoHS requirements for all 6 substances, including the requirement that lead not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, TI Pb-Free products are suitable for use in specified lead-free processes. Pb-Free (RoHS Exempt): This component has a RoHS exemption for either 1) lead-based flip-chip solder bumps used between the die and package, or 2) lead-based die adhesive used between the die and leadframe. The component is otherwise considered Pb-Free (RoHS compatible) as defined above. Green (RoHS & no Sb/Br): TI defines "Green" to mean Pb-Free (RoHS compatible), and free of Bromine (Br) and Antimony (Sb) based flame retardants (Br or Sb do not exceed 0.1% by weight in homogeneous material) (3) MSL, Peak Temp. - The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature. (4) There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device. (5) Multiple Device Markings will be inside parentheses. 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