Data Sheet 29318.16* 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER—WITH INTERNAL CURRENT SENSING AND CONTROL UDN2961B V BB SINK OUT VREF 1 IN 2 15 EMITTER INPUT 3 14 NC 13 GROUND 12 GROUND 16 The UDN2961B and UDN2961W are 3.4 A half bridges designed specifically for driving solenoid printheads, stepper motors, and dc motors. The UDN2961B/W consists of a power source driver output, a power sink driver output, a flyback recovery diode, internal current sensing circuitry, and a user-selectable fixed off-time chopper circuit. T C . U Y L D N O O R P E C D E N E U N ER I T F N E O R C S OR I D F — CURRENTCONTROL LOGIC GROUND 4 GROUND 5 ENABLE 6 11 LOAD SUPPLY RC 7 10 SOURCE OUT MODE 8 9 LOGIC SUPPLY VBB VCC Dwg. PP-035 ABSOLUTE MAXIMUM RATINGS Supply Voltage, VBB . . . . . . . . . . . . . . 45 V Output Current, IOUT (continuous) . ±3.4 A (tw ≤ 20 µs, 10% duty cycle) . . ±4.0 A Logic Supply Voltage, VCC . . . . . . . . . 7.0 V Input Voltage Range, VIN . . . . . . . . . . . . . . . -0.3 V to +7.0 V Package Power Dissipation, PD . . . . . . . . . . . . . . . . . . . See Graph Operating Temperature Range, TA . . . . . . . . . . . . . . . . -20°C to +85°C Junction Temperature, TJ . . . . . . . +150°C* Storage Temperature Range, TS . . . . . . . . . . . . . . . -55°C to +150°C Output current rating may be restricted to a value determined by system concerns and factors. These include: system duty cycle and timing, ambient temperature, and use of any heatsinking and/or forced cooling. For reliable operation, the specified maximum junction temperature should not be exceeded. * Fault conditions that produce excessive junction temperature will activate device thermal shutdown circuitry. These conditions can be tolerated, but should be avoided. The output drivers are capable of sustaining 45 V with continuous currents of ±3.4 A and peak transient currents of ±4 A permitted. The outputs have been optimized for a low output saturation voltage (typically 2.6 V total source plus sink drops at 3.4 A). For output current control, load current is sensed internally and limited by chopping the output driver(s) in a user-selectable fixed offtime PWM mode. The maximum output current is determined by the user’s selection of a reference voltage. The MODE pin determines whether the current control circuitry will chop in a slow current-decay mode (only the source driver switching) or in a fast current-decay mode (source and sink switching). A user-selectable blanking window prevents false triggering of the current control circuitry during chopping. The UDN2961B is supplied in a 16-pin dual in-line plastic batwing package with a copper lead-frame and heat sinkable tabs for improved power dissipation capabilities. For higher power dissipation requirements, the UDN2961W is supplied in a 12-pin single in-line power tab package. FEATURES ■ ■ ■ ■ ■ ■ ■ ■ ■ 3.4 A, 45 V Source and Sink Drivers Internal Current Sensing User-Selectable Fixed Off-Time PWM Current Control Internal Flyback Diode Low Output Saturation Voltage Chip Enable Fast or Slow Current-Decay Modes Programmable Blanking Window Internal Thermal Shutdown Circuitry Always order by complete part number: Part Number Package UDN2961B 16-Pin DIP UDN2961W 12-Pin Power-Tab SIP 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER FUNCTIONAL BLOCK DIAGRAM SUFFIX 'W', R θJT = 2.0°C/W 8 REF CIRCUIT V REF SUFFIX 'B', RθJT = 6.0°C/W VCC 6 V R CV +5 V BB 2940 Ω R RC C FLIPFLOP LOW TRIP SUFFIX 'W', R θJA = 38°C/W 2 S ONE SHOT 4 + R V SENSE - Q MODE SOURCE OUT SUFFIX 'B', R θJA = 43°C/W 0 BB ENABLE SINK OUT INPUT EMITTER GROUND Dwg. FP-019A UDN2961W V 6 7 8 9 CC 10 11 12 LOAD SUPPLY 5 MODE 4 RC 3 ENABLE 2 CV 1 INPUT V SOURCE OUT BB LOGIC SUPPLY V BB CURRENTCONTROL LOGIC R Dwg. GP-032A V TSD 150 REF 125 V 75 100 TEMPERATURE IN °C SINK OUT 50 EMITTER 25 GROUND ALLOWABLE PACKAGE POWER DISSIPATION IN WATTS 10 Dwg. PP-036 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 Copyright © 1995, 1996 Allegro MicroSystems, Inc. 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER ELECTRICAL CHARACTERISTICS at TA = +25°C, VBB = 45 V, VCC = 4.75 V to 5.25 V, RCV = 2940 Ω (unless otherwise noted). Limits Characteristic Symbol Test Conditions Min. Typ. Max. Units VEN = 0.8 V, VSOURCE = 0 V — <-1.0 -100 µA VEN = 0.8 V, VSINK = 45 V — <1.0 100 µA Source Driver, IOUT = -3.4 A — 1.6 2.2 V Source Driver, IOUT = -3.0 A — 1.5 — V Sink Driver, IOUT = 3.4 A — 1.0 1.4 V Sink Driver, IOUT = 3.0 A — 0.9 — V IOUT = ±3.4 A, L = 3 mH 45 — — V Output Drivers Output Leakage Current Output Saturation Voltage Output Sustaining Voltage ICEX VCE(SAT) VCE(sus) Recovery Diode Leakage Current IR VR = 45 V — <1.0 100 µA Recovery Diode Forward Voltage VF IF = 3.4 A — — 2.0 V IBB(on) VEN = 2.0 V, VIN = 0.8 V, No Load — — 70 mA IBB(off) VEN = 0.8 V — — 2.5 mA Source Driver, IOUT = -3.4 A — — 600 ns Sink Driver, IOUT = 3.4 A — — 600 ns Source Driver, IOUT = -3.4 A — — 600 ns Sink Driver, IOUT = 3.4 A — — 600 ns VIN(1) 2.0 — — V VIN(0) — — 0.8 V Motor Supply Current Output Rise Time Output Fall Time tr tf Control Logic Logic Input Voltage Logic Input Current Reference Input Current Transconductance Logic Supply Current Turn On Delay Turn Off Delay Thermal Shutdown Temperature IIN(1) VIN = 5.0 V — — 10 µA IIN(0) VIN = 0 V — — -1.0 mA IREF VREF = 5.0 V — — 50 µA ITRIP/VREF VREF = 1.0 V 0.9 1.0 1.1 A/V VREF = 3.2 V 0.9 1.0 1.1 A/V VEN = 2.0 V, VIN = 0.8 V, No Load — — 160 mA VEN = 0.8 V — — 15 mA Source Driver — — 600 ns Sink Driver — — 600 ns Source Driver — — 2.0 µs Sink Driver — — 2.0 µs — 165 — °C ICC tpd(on) tpd(off) TJ Negative current is defined as coming out of (sourcing) the specified device terminal. www.allegromicro.com 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER APPLICATIONS INFORMATION The UDN2961B/W is a high current half-bridge designed to drive a number of inductive loads such as printer solenoids, stepper motors, and dc motors. Load current is sensed internally and is controlled by pulse-width modulating (PWM) the output driver(s) in a fixed off-time, variablefrequency format. The peak current level is set by the user’s selection of a reference voltage. A slow current-decay mode (chopping only the source driver) or a fast current-decay mode (chopping both the source and sink drivers) can be selected via the MODE pin. V BB REF CIRCUIT DRIVE CURRENT + V RECIRCULATION (SLOW-DECAY MODE) SENSE - RECIRCULATION (FAST-DECAY MODE) V BB PWM CURRENT CONTROL A logic low on the MODE pin sets the current-control circuitry into the slow-decay mode. The RS flip-flop is set initially, and both the source driver and the sink driver are turned ON when the INPUT pin is at a logic low. As current in the load increases, it is sensed by the internal sense resistor until the sense voltage equals the trip voltage of the comparator. At this time, the flip-flop is reset and the source driver is turned OFF. Over the range of VREF = 0.8 V to 3.4 V, the output current trip point transfer function is a direct linear function of the reference voltage: Dwg. EP-037 ENABLE INPUT MODE ITRIP = VREF To ensure an accurate chop current level (±10%), an external 2940 Ω ±1% resistor (RCV) is used. The actual load current peak will be slightly higher than the trip point (especially for low-inductance loads) because of the internal logic and switching delays (typically 1.5 µs). After the source driver turns OFF, the load current decays, circulating through an external ground clamp diode, the load, and the sink transistor. The source driver’s OFF time (and therefore the magnitude of the current decrease) is determined by the one-shot’s external RC timing components: tOFF = RC I TRIP RC LOAD CURRENT RC/2 Dwg. WP-015 within the range of 20 kΩ to 100 kΩ and 100 pF to 1000 pF. When the one-shot times out, the flip-flop is set again, the source driver is reenabled, and the load current again is allowed to rise to the set peak value and trip the comparator. This cycle repeats itself, maintaining the average load current at the desired level. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER A logic high on the MODE pin sets the current-control circuitry into the fast-decay mode. When the peak current threshold is detected, the flip-flop is reset and both the source driver and the sink driver turn OFF. Load current decays quickly through the external ground clamp diode, the load, and the internal flyback diode. In the fastdecay mode, the OFF time period is onehalf the time that is set by the external RC network for the slow-decay mode: 1 The frequency of the PWM current control is determined by the time required for the load current to reach the set peak threshold (a function of the load characteristics and VBB) plus the OFF time of the switching driver(s) (set by the external RC components). To prevent false resetting of the flipflop, due to switching transients and noise, a blanking time for the comparator can be set by the user where tB ≈ 3600 x C in the slow-decay mode or tB ≈ 2400 x C in the fast-decay mode. For C between 100 pF and 1000 pF, tB is in µs. 15 14 3 4 2940 Ω ±1% CURRENTCONTROL LOGIC 5 ENABLE = RC 2 The amount of ripple current, when chopping in the fast-decay mode, is considerably higher than when chopping in the slow-decay mode. 16 V BB 2 INPUT MODE 13 VBB 11 7 10 VCC 16 BB 15 2 14 3 4 CURRENTCONTROL LOGIC 5 C 47 µF +5 V V 1 VBB 9 R C INPUT 12 6 8 2940 Ω ±1% tOFF VREF 13 47 µF VBB 12 6 11 7 10 8 VCC R 9 VBB +5 V Dwg. EP-038A POWER CONSIDERATIONS The UDN2961B/W outputs are optimized for low power dissipation. The sink driver has a maximum saturation voltage drop of only 1.4 V at 3.4 A, while the source driver has a 2.2 V drop at -3.4 A. Device power dissipation is minimized in the slow-decay mode, as the chopping driver (the source driver) is ON for less than 50% of the chop period. When the source driver is OFF during a chop cycle, power is dissipated on chip only by the sink driver; the rest of the power is dissipated through the external ground clamp diode. In the fast-decay mode, the ON time of the chopping drivers (both the source driver www.allegromicro.com and the sink driver) may be greater than 50%, and the power dissipation will be greater. GENERAL A logic low on the ENABLE pin prevents the source driver and the sink driver from turning ON, regardless of the state of the INPUT pin or the supply voltages. With the ENABLE pin high, a logic low on the INPUT pin turns ON the output drivers. To protect against inductive load voltage transients, an external ground clamp diode is required. A fast-recovery diode is recommended to reduce power dissipation in the UDN2961B/W. The blanking time prevents false triggering of the current sense comparator, which can be caused by the recovery current spike of the ground clamp diode when the chopping source driver turns ON. 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER The load supply (VBB) should be well decoupled with a capacitor placed as close as possible to the device. The EMITTER pin should be connected to a high-current power ground. Thermal shutdown protection circuitry is activated and turns OFF both output drivers at a junction temperature of typically +165°C. It is intended only to protect the device from catastrophic failures due to excessive junction temperatures and should not imply that output short circuits are permitted. The output drivers are re-enabled when the junction temperature cools down to approximately +145°C. MOTOR DRIVER APPLICATIONS Two UDN2961B/Ws can be cross connected as shown to form a full-bridge driver circuit. Two full-bridge circuits are needed to drive a two-phase bipolar stepper motor. When in a full-bridge configuration, one INPUT signal must be logically inverted from the other INPUT signal to prevent the simultaneous conduction of a source driver from one half-bridge and the sink driver from the other half-bridge. In order to prevent crossover currents, a turn-ON delay time of 3 µs is needed between the time an INPUT signal for one of the half bridges goes high and the INPUT signal for the other half bridge goes low. In addition to the two external ground clamp diodes, diodes in series with the load to the SINK OUT are needed in a full-bridge configuration. These series diodes prevent the sink drivers from conducting on the inverse mode, which can occur when the opposite half-bridge ground clamp diode is conducting and forces the sink driver collector below ground. If fast current decay is used (MODE = logic high) or pulse width modulation of the load-current direction is used, diodes in series with the load to the SOURCE OUT are needed. These series diodes prevent the SOURCE OUT from inverse conducting during the recirculation period and thereby prevent shoot-through currents from occuring as the drivers turn back ON. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER UDN2961B Dimensions in Inches (controlling dimensions) 16 0.020 0.008 9 NOTE 4 0.430 MAX 0.280 0.240 0.300 BSC 1 0.070 0.045 0.100 0.775 0.735 8 0.005 BSC MIN 0.210 MAX 0.015 0.150 0.115 MIN 0.022 0.014 Dwg. MA-001-17A in Dimensions in Millimeters (for reference only) 16 0.508 0.204 9 NOTE 4 10.92 MAX 7.11 6.10 7.62 BSC 1 1.77 1.15 2.54 19.68 18.67 8 BSC 0.13 MIN 5.33 MAX 0.39 3.81 2.93 MIN 0.558 0.356 NOTES: 1. 2. 3. 4. Exact body and lead configuration at vendor’s option within limits shown. Lead spacing tolerance is non-cumulative Lead thickness is measured at seating plane or below. Webbed lead frame. Leads 4, 5, 12, and 13 are internally one piece. www.allegromicro.com Dwg. MA-001-17A mm 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER UDN2961W Dimensions in Inches (controlling dimensions) 0.180 1.260 1.240 0.020 MAX 0.775 0.765 0.245 0.225 0.055 0.045 0.155 ø 0.145 0.140 0.365 INDEX AREA 0.065 0.035 0.570 0.540 0.135 0.100 0.290 MIN 1 0.030 0.020 12 0.100 0.023 0.018 ±0.010 0.080 0.070 Dwg. MP-007 in NOTES: 1. 2. 3. 4. Lead thickness is measured at seating plane or below. Lead spacing tolerance is non-cumulative Exact body and lead configuration at vendor’s option within limits shown. Lead gauge plane is 0.030” below seating plane. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER UDN2961W Dimensions in Millimeters (for reference only) 32.00 31.49 0.51 4.57 MAX 19.69 19.45 6.22 5.71 1.40 1.14 3.94 ø 3.68 3.56 9.27 INDEX AREA 1.65 0.89 14.48 13.71 3.43 2.54 7.36 MIN 1 0.76 0.51 12 2.54 ±0.254 0.59 0.45 2.03 1.77 Dwg. MP-007 mm NOTES: 1. 2. 3. 4. Lead thickness is measured at seating plane or below. Lead spacing tolerance is non-cumulative Exact body and lead configuration at vendor’s option within limits shown. Lead gauge plane is 0.762 mm below seating plane. www.allegromicro.com 2961 HIGH-CURRENT HALF-BRIDGE PRINTHEAD/MOTOR DRIVER MOTOR DRIVERS Output Ratings* Part Number† INTEGRATED CIRCUITS FOR BRUSHLESS DC MOTORS 3-Phase Power MOSFET Controller — 28 V 3933 3-Phase Power MOSFET Controller — 40 V 3935 3-Phase Power MOSFET Controller — 50 V 3932 & 3938 3-Phase Back-EMF Controller/Driver ±900 mA 14 V 8904 3-Phase PWM Current-Controlled DMOS Driver ±3.0 A 50 V 3936 INTEGRATED BRIDGE DRIVERS FOR DC AND BIPOLAR STEPPER MOTORS PWM Current-Controlled Dual Full Bridge ±500 mA 18 V 3965 Dual Full Bridge with Protection & Diagnostics ±500 mA 30 V 3976 PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3966 PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3968 Microstepping Translator/Dual Full Bridge ±750 mA 30 V 3967 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2916 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2919 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 6219 PWM Current-Controlled Dual Full Bridge ±800 mA 33 V 3964 PWM Current-Controlled Dual DMOS Full Bridge ±1.0 A 35 V 3973 PWM Current-Controlled Full Bridge ±1.3 A 50 V 3953 PWM Current-Controlled Dual Full Bridge ±1.5 A 45 V 2917 PWM Current-Controlled DMOS Full Bridge ±1.5 A 50 V 3948 PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3955 PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3957 PWM Current-Controlled Dual DMOS Full Bridge ±1.5 A 50 V 3972 PWM Current-Controlled Dual DMOS Full Bridge ±1.5 A 50 V 3974 PWM Current-Controlled Full Bridge ±2.0 A 50 V 3952 PWM Current-Controlled DMOS Full Bridge ±2.0 A 50 V 3958 Microstepping Translator/Dual DMOS Full Bridge ±2.5 A 35 V 3977 PWM Current-Controlled DMOS Full Bridge ±3.0 A 50 V 3959 UNIPOLAR STEPPER MOTOR & OTHER DRIVERS Unipolar Stepper-Motor Translator/Driver 1.0 A 46 V 7050 Unipolar Stepper-Motor Translator/Driver 1.25 A 50 V 5804 Unipolar Stepper-Motor Quad Drivers 1.5 A 46 V 7024 & 7029 Unipolar Microstepper-Motor Quad Driver 1.5 A 46 V 7042 Unipolar Stepper-Motor Quad Driver 1.8 A 50 V 2540 Unipolar Stepper-Motor Translator/Driver 2.0 A 46 V 7051 Unipolar Stepper-Motor Quad Driver 3.0 A 46 V 7026 Unipolar Microstepper-Motor Quad Driver 3.0 A 46 V 7044 Unipolar Stepper-Motor Translator/Driver 3.0 A 46 V 7052 Function * Current is maximum specified test condition, voltage is maximum rating. See specification for sustaining voltage limits or over-current protection voltage limits. Negative current is defined as coming out of (sourcing) the output. † Complete part number includes additional characters to indicate operating temperature range and package style. Also, see 3175, 3177, 3235, and 3275 Hall-effect sensors for use with brushless dc motors. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000