[AP1025BEN] AP1025BEN 45V Single Stepper Motor Driver IC 1. Description The AP1025BEN provides a complete stepper motor driver solution with built-in LDMOS FET and its internal capacitors type charge pump circuit for the 45V & 1.6A constant current operation. Clock-in input mode and Parallel input mode is selectable by the setting of an external terminal. 2 phase, 1-2 phase(1/2step), W1-2 phase(1/4step) can be selected during parallel input mode, and 2 phase, 1-2 phase(1/2step), W1-2 phase(1/4step), 4W1-2 phase(1/16step) can be selected during clock-in input mode to realize calm motor operation. The IC is housed in a small 32-pin QFN package and excellent in heat dissipation. It also includes under voltage detection and thermal shut down circuits. It is suitable for various types of stepper motors. 2. Features Selectable input logic (Clock in input, Parallel input) Excitation mode is configurable — Parallel input mode 2 phase, 1-2 phase(1/2step), W1-2 phase(1/4step) — Clock-in input mode 2 phase, 1-2 phase(1/2step), W1-2 phase(1/4step), 4W1-2 phase(1/16step) Operating Temperature Range -30C to +85C Operating Voltage Range — Control Power Supply Voltage (VC) 3.0V to 5.5V — Motor Power Supply Voltage (VM) 9.0V to 45V Low H-Bridge On Resistance 0.85Ω@25C Built-in UVLO (under voltage lockout circuit) Built-in TSD (thermal shut down circuit) Built-in charge pump circuit Built-in Sub-harmonic noise reduction function Built-in Phase Synchronous function Package 32-pin QFN (5.0mm□) 015000434-E-00 -1- 2015/01 [AP1025BEN] 3. Table of Contents 1. Description ..................................................................................................................................................1 2. Features .......................................................................................................................................................1 3. Table of Contents ........................................................................................................................................2 4. Block Diagram ............................................................................................................................................3 5. Ordering Guide ...........................................................................................................................................3 6. Pin Configuration and Functions ................................................................................................................4 ■ Pin Configuration .....................................................................................................................................4 ■ Functions .................................................................................................................................................4 7. Absolute Maximum Ratings .......................................................................................................................5 8. Recommended Operation Conditions .........................................................................................................6 9. Electric Characteristics ...............................................................................................................................6 10. Functional Description ................................................................................................................................8 11. Recommended External Circuit ................................................................................................................17 ■ External circuit .........................................................................................................................................17 ■ Recommended Layout Example ..............................................................................................................18 12. Package .....................................................................................................................................................19 ■ Outline Dimensions..................................................................................................................................19 ■ Marking ....................................................................................................................................................19 13. Revise History ...........................................................................................................................................20 IMPORTANT NOTICE ............................................................................................................................21 015000434-E-00 -2- 2015/01 [AP1025BEN] 4. Block Diagram M OUT1A OUT1A OUT1B OUT1B OUT2A OUT2A OUT2B OUT2B VM VM VM VM VM CVM Charge Pump VREF VREF RR1 VIS CVIS 1/2.5 RR2 OSC Oscillator UVLO TSD IN1~IN6 FS SYN CPU INSEL Control Circuit EN LV H-Bridge Control Circuit VC VC CVC Exposed Pad IF1 IS1 RIS1 SL IS2 CSL IF2 RIS2 Figure 1. Block Diagram 5. Ordering Guide AP1025BEN -30°C ~+85°C 32-pin QFN When AP1025AEN is replaced with AP1025BEN, note that the excitation mode(H,H) is changed as follows. Table 1. Selection of the excitation mode IN5 IN6 AP1025AEN H H W1-2 phase (1/4step) 015000434-E-00 -3- AP1025BEN 4W1-2 phase (1/16step) 2015/01 [AP1025BEN] 6. Pin Configuration and Functions VC LV VREF VIS SL FS INSEL EN 24 23 22 21 20 19 18 17 Pin Configuration VM 25 16 VM OUT1B 26 15 OUT2B OUT1B 27 14 OUT2B IF1 28 13 IF2 12 IS2 11 OUT2A 10 OUT2A 9 VM IS1 29 OUT1A 30 OUT1A 31 (Top View) Exposed pad 2 3 2 4 5 6 7 8 IN2 IN3 IN4 IN5 IN6 SYN OSC 32 1 VM AP1025B IN1 ■ ■ Functions No. Pin Name 1~6 IN1~IN6 7 SYN 8 OSC 9,16,25,32 VM I/O I I I/O P 10,11 12 13 14,15 17 18 19 20 21 22 OUT2A IS2 IF2 OUT2B EN INSEL FS SL VIS VREF O I O O I I I I I O 23 LV O 24 26,27 28 29 30,31 Function Control signal input terminal Synchronic mode select input terminal Chopper frequency I/O terminal Motor power supply terminal Motor driver output terminal Current sense terminal Current force terminal Motor driver output terminal Enable signal input terminal Control logic select input terminal Chopper frequency select terminal Slope setting terminal Motor current setting terminal Reference voltage output terminal Logic voltage output capacitor connection terminal Control power supply terminal Motor driver output terminal Current force terminal Current sense terminal Motor driver output terminal Condition 200kΩ pull-down VC P OUT1B O IF1 O IS1 I OUT1A O Exposed P Ground Pad Note 1. I(Input terminal), O(Output terminal), P(Power terminal) Note 2. Exposed Pad must be connected to GND. 015000434-E-00 -4- 2015/01 [AP1025BEN] 7. Absolute Maximum Ratings Parameter Control power supply voltage Motor power supply voltage VC level terminal (SL, EN, SYN, OSC, FS, INSEL, INn) VM level terminal (OUTnA, OUTnB) 1.8V level terminal (LV, VREF, VIS) 1.2V level terminal (ISn, IFn) Symbol VC VM min -0.5 -0.5 max 5.5 45 Unit V V Vterm1 -0.5 VC V Vterm2 -0.5 VM V Vterm3 -0.5 1.9 V Vterm4 -0.5 1.3 V 1.6 1.2 3.9 2.0 150 150 ±2 A A W W C C kV Power dissipation PD Junction temperature Tj Storage temperature Tstg -40 ESD rating HBM Note 3. All above voltages are with respect to GND(Exposed Pad). Note 4. Exposed Pad must be connected to GND. Note 5. The each power supply of VC and VM is sequence-free. Note 6. θJA=32C/W with 4 layer board (JEDEC51). Maximum DC output current Iload Condition Ta=25C Ta=85C Ta=25C Ta=85C (Note 6) (Note 6) (Note 6) (Note 6) WARNING: Operation at or beyond these limits may result in permanent damage to the device. Normal operation is not guaranteed at these extremes. 4.5 4.0 Pwower dissipation, Pd ( W) 3.5 3.0 RθJA=32C/W at 4-layer PCB 2.5 2.0 1.5 1.0 0.5 0.0 0 25 50 75 85 100 Temperature (C) 125 150 175 Figure 2. Maximum power dissipation 015000434-E-00 -5- 2015/01 [AP1025BEN] 8. Recommended Operation Conditions Parameter Symbol min typ max Unit Motor power supply voltage VM 9.0 24.0 45.0 V Control power supply voltage VC 3.0 5.0 5.5 V VIS input voltage range VIS 0.2 - VREF V Clock in input frequency FCL - - 20 kHz Ta -30 - 85 C Operating Temperature range Condition Iload(100%)[A]=(VIS/2.5)/RISn Note 7. All above voltages are with respect to GND(Exposed Pad). 9. Electric Characteristics (Ta = 25C, VM=24V, VC = 5.0V, unless otherwise specified.) Parameter Symbol Condition min typ max Unit Quiescent current VC Quiescent current at OFF IVCOFF EN=”L” - - 10 A VM Quiescent current at OFF IVMOFF EN=”L” - - 20 A EN=”H”, INSEL=”H”, SYN=”L”, FS=”L”, IN1=1kHz - 1.7 2.8 mA - 0.85 1.0 - 1.0 1.5 - 1.0 1.5 - 1.5 2.0 - 0.8 1.2 V 0.7xVC - - V VIL - - 0.3xVC V Input pulse rise time tR - - 1.0 s Input pulse fall time tF - - 1.0 s High level input current IIH -1.0 - 1.0 A VC Quiescent current at operate IVC H-bridge circuit Driver on resistance Iload 1ch/2ch=0.1A/0.1A (High side + Low side) Ta = 25C RON1 Iload 1ch/2ch=0.1A/0.1A Ta = 25C、VC=3.0V Iload 1ch/2ch= 1.1A / 0A or 0.8A / 0.8A Ta = 85C (Note 9) RON2 I Iload 1ch/2ch= 1.1A / 0A or 0.8A / 0.8A Ta = 85C (Note 9) Body diode forward voltage VF IF = 100mA Control logic High level input voltage Low level input voltage 015000434-E-00 VIH VC = 3.0V-5.5V without EN terminal -6- 2015/01 [AP1025BEN] Parameter Symbol High level input current IIHEN Low level input current IIL Condition EN terminal min typ max Unit 15 25 40 A -1.0 - 1.0 A 1.22 1.25 1.28 V Reference voltage R1+R2=12k+47k VREF terminal voltage VREF VREF terminal current IVREF - - 100 A tB 2.0 2.23 2.6 s VOSIS -50 0 50 mV SL terminal output current ISL - 50 - A OSC terminal frequency 1 fCPL FS=”L”, SYN=”L” 20 25 30 kHz OSC terminal frequency 2 fCPH FS=”H”, SYN=“L” 40 50 60 kHz VC-0.1 - - V - - 0.1 V 20 - 60 kHz 0 - VC V 0.7xVC - - V - - 0.3xVC V 1.9 2.2 2.5 V 150 175 200 C - 30 - C Current operation Blanking time VIS offset voltage OSC terminal High level output voltage VCPOH OSC terminal Low level output voltage VCPOL OSC terminal frequency input range fCPIN OSC terminal input voltage range VCPIN OSC terminal High level input voltage VCPIH OSC terminal Low level input voltage VCPIL SYN=“L”, Iload=100A SYN=”L”, Iload=-100A SYN=”H” SYN=”H” SYN=”H” SYN=”H” Protection circuit VC under voltage detect voltage VVCUV Thermal shut down temperature Guaranteed by Design TTSD Temperature hysteresis (Note 9) Guaranteed by Design TTSDHYS (Note 9) Note 8. All above voltages are with respect to GND. Note 9. Not tested in production. 015000434-E-00 -7- 2015/01 [AP1025BEN] 10. Functional Description 10.1 Input terminal and protection circuit Common description (Parallel input mode and Clock-in input mode) Table 2. Internal circuit operation by the ENABLE(EN) signal EN pin UVLO TSD Reference Voltage Circuit H-Bridge L ON Output L H H ON Hi-Z H OFF Hi-Z L OFF Hi-Z Note 10. UVLO, TSD and Reference Voltage Circuit show internal status. “-“ is Don’t Care. Table 3. Selection of the chopper frequency by the SYN signal SYN pin FS pin OSC pin PWM chopper frequency L 25kHz(typ) L Output H 50kHz(typ) H Input External frequency Note 11. Do not change input level of the SYN and FS pin during operation. “-“ is Don’t Care. Table 4. Selection of the chopper frequency by the INSEL signal INSEL Input Mode Parallel input mode. L H-Bridge is controlled by input logic. Excitation mode : 2phase, 1-2phase(1/2step), W1-2phase(1/4step) Clock-in input mode. H H-Bridge is controlled by the count number of the clock. Excitation mode : 2phase, 1-2phase(1/2step), W1-2phase(1/4step), 4W1-2phase(1/16step) Note 12. Do not change input level of the INSEL terminal during operation. 015000434-E-00 -8- 2015/01 [AP1025BEN] 10.2 Parallel input mode (INSEL=”L”) Table 5. Parallel input mode truth table IN1 IN2 IN3 IN4 OUT1A OUT1B IS1 OUT2A OUT2B IS2 L L L L 100% Hi-Z Hi-Z 0% L L L H 93% 38% H L L L H H 71% 71% L L H L 38% 93% L H L L Hi-Z Hi-Z 0% H L 100% L H L H 38% 93% L H H H 71% 71% L H H L 93% 38% H H L L L H 100% Hi-Z Hi-Z 0% H H L H 93% 38% H H H H 71% 71% H H H L 38% 93% H L L L Hi-Z Hi-Z 0% L H 100% H L L H 38% 93% H L H H H L 71% 71% H L H L 93% 38% Note 13. The IN5 and IN6 pins are not used in Parallel input mode. They must be connected to ground. IN1 IN2 IN3 IN4 Half step W1-2 Full step IOUT1 IOUT2 Figure 3. Input signal (Parallel input mode) 015000434-E-00 -9- 2015/01 [AP1025BEN] 10.3 Clock-in input mode (INSEL=”H”) Table 6. Clock-in input mode truth table IN3 IN1 IN2 IN4 ↑ L L ↑ H L ↑ H H L Note 14. “-“ is Don’t Care. “↑“ shows the rising edge. Condition Step +1(CW) Step -1(CCW) Reset Output Hi-Z Table 7. Selection of the excitation mode IN5 IN6 Step L L W1-2 phase (1/4step) L H 1-2 phase (1/2step) H L Full step H H 4W1-2 phase (1/16step) Note 15. Do not change input level of the IN5 and IN6 terminals during operation. ISn terminal current revel Table 8. Set current ratio at each excitation mode 1-2 W1-2 2 4W1-2 phase phase phase phase (1/16step) (1/2step) (1/4step) 0 0 0 1 2 3 1 4 5 6 7 0 1 2 8 9 10 11 3 12 13 14 15 2 4 16 17 18 19 5 20 21 22 23 1 3 6 24 25 26 015000434-E-00 - 10 - Phase1 Current [%] 100 99.61 98.04 96.69 92.55 88.24 83.14 77.25 70.59 63.53 55.69 47.06 38.43 29.02 19.61 9.80 0.00 -9.80 -19.61 -29.02 -38.43 -47.06 -55.69 -63.53 -70.59 -77.25 -83.14 Phase2 Current [%] 0.00 9.80 19.61 29.02 38.43 47.06 55.69 63.53 70.59 77.25 83.14 88.24 92.55 95.69 98.04 99.61 100 -99.61 -98.04 -95.69 -92.55 -88.24 -83.14 -77.25 -70.59 -63.53 -55.69 Step Angle [°] 0.0 5.6 11.3 16.9 22.6 28.1 33.8 39.4 45.0 50.6 56.2 61.9 67.4 73.1 78.7 84.4 90.0 95.6 101.3 106.9 112.6 118.1 123.8 129.4 135.0 140.6 146.2 2015/01 [AP1025BEN] 27 28 29 30 31 4 8 32 33 34 35 9 36 37 38 39 5 10 40 41 42 43 11 44 45 46 47 6 12 48 49 50 51 13 52 53 54 55 7 14 56 57 58 59 15 60 61 62 63 64 : Home microstep position at Step Angle 45° 7 2 3 015000434-E-00 - 11 - -88.24 -92.55 -95.69 -98.04 -99.61 -100 -99.61 -98.04 -96.69 -92.55 -88.24 -83.14 -77.25 -70.59 -63.53 -55.69 -47.06 -38.43 -29.02 -19.61 -9.80 0.00 9.80 19.61 29.02 38.43 47.06 55.69 63.53 70.59 77.25 83.14 88.24 92.55 95.69 98.04 99.61 100 -47.06 -38.43 -29.02 -19.61 -9.80 0.00 -9.80 -19.61 -29.02 -38.43 -47.06 -55.69 -63.53 -70.59 -77.25 -83.14 -88.24 -92.55 -95.69 -98.04 -99.61 100 -99.61 -98.04 -95.69 -92.55 -88.24 -83.14 -77.25 -70.59 -63.53 -55.69 -47.06 -38.43 -29.02 -19.61 -9.80 0.00 151.9 157.4 163.1 168.7 174.4 180.0 185.6 191.3 196.9 202.6 208.1 213.8 219.4 225.0 230.6 236.2 241.9 247.4 253.1 258.7 264.4 270.0 275.6 281.3 286.9 292.6 298.1 303.8 309.4 315.0 320.6 326.2 331.9 337.4 343.1 348.7 354.4 360.0 2015/01 [AP1025BEN] IN1 IN2 CW IN3 IN4 CCW Reset Enable IOUT1 IOUT2 Figure 4. Input signal (Parallel input mode, IN5=”L”, IN6=”L”) 015000434-E-00 - 12 - 2015/01 [AP1025BEN] 10.4 PWM Current Control The current value of 100% PWM constant current setting ratio at each excitation mode of AP1025 (Iload (100%) [A]) is determined by H-Bridge sense resistor(RIS) and PWM constant current setting voltage(VIS) as follows. Iload (100%)[A] = (VIS / 2.5) / RIS PWM constant current setting voltage VIS damping ratio H-Bridge sense resistor --- (1) VIS 1/2.5 RIS Calculation example1:VIS=1V, RIS=0.5ohm Iload (100%)[A] = (1 / 2.5) / 0.5ohm = 0.8A --- (2) The minimum value of the control current in the PWM constant current control in each excitation mode (Iload (min) [A]) is determined by the following equation. Iload(min)[A]=VM/(Rm+RON+RIS) × tB × fCP Motor power supply voltage OSC frequency Blanking time Motor on resistance H-Bridge on resistance H-Bridge sense resistor --- (3) VM fCP (fCPL/ fCPH) tB Rm RON RIS Calculation example2:VM=24V, fCP=25kHz, tB=2.23us, Rm=9.4ohm, RON=1ohm, RIS=1ohm Iload(min)[A]=24V/(9.4ohm+1ohm+1ohm) × 2.23us × 25kHz = 0.117A --- (4) The current value of 100% PWM constant current setting ratio should be set so that the minimum control current (Iload (min) [A]) becomes larger than the minimum value of the PWM constant current setting ratio in 4W1-2 phase excitation. In case of calculation example 2, the current value of the 100% PWM constant current setting ratio (Iload (100%) [A]) is as follows. Iload(100%)[A]=0.117/9.8%=1.19A ---(5) If the current value of 100% PWM constant current setting value ratio (Iload (100%) [A]) is smaller than equation (5), minimum control current value (Iload (min) [A]) may be larger than 9.8%. 015000434-E-00 - 13 - 2015/01 [AP1025BEN] 10.5 Decay Mode The AP1025 selects decay mode automatically for better current following property. Basically, it operates in slow decay mode, but it operates in fast decay mode when the current setting value is lowered, till it reaches to the setting value. Charge Charge Charge Slow Slow Charge Slow Fast Charge Slow Charge Fast Slow Charge Slow Slow Setting current Banking time Motor current OSC Figure 5. Current waveform image during decay mode Charge Mode Fast Decay Mode Slow Decay Mode VM VM VM ON OFF OFF OFF OFF OFF OFF ON ON OFF ON ON GND GND GND Figure 6. Decay Mode Image 015000434-E-00 - 14 - 2015/01 [AP1025BEN] 10.6 Protection Circuits Under Voltage Lockout Circuit (UVLO) UVLO monitors Control power supply voltage (VC) and changes H-bridge driver output to Hi-Z if VC is lower than the specified value (VVCUV =2.2V) when starting the VC source. Thermal Shut Down Circuit(TSD) As soon as abnormal high temperature (TTSD=150C) is detected, H-Bridge driver output becomes Hi-Z. Table 9. Recovery type of abnormal heat generation detect circuit Interface Mode Recovery type Parallel input Automatic Clock-in input Latch Parallel Input Mode Operation flow when detecting abnormal heat generation TSD TDET TDETHYS Tj VM Detect high temp. (150℃min) UVLO OUTnA/OUTnB are Hi-Z VC VCDET_LV Wait cool down IN (Hystereseis : 30℃typ) IOUT Motor driver operation return OUTnA/OUTnB follows OUT Hi-Z Hi-Z INnA/INnB Hi-Z Figure 7. Timing Chart of the protection circuits (parallel input mode) 015000434-E-00 - 15 - 2015/01 [AP1025BEN] Clock-in input mode Operation flow when detecting abnormal heat generation TSD TDET TDETHYS Tj VM Detect high temp. (150℃min) UVLO VC OUTnA/OUTnB are Hiz-Z VCDET_LV Wait cool down EN EN sign:H,L,H IN Motor driver operation return OUTnA/OUTnB follows INnA/INnB IOUT OUT Hi-Z Hi-Z Hi-Z Figure 8. Timing chart of the Protection circuit (parallel input mode) ・Shorted-Load, Shorted-to-Ground and Shorted-to-Power Protection If the motor leads are shorted together, or if one of the leads is shorted to ground or shorted to power, when current flowing is 3.3A or less, the motor driver IC will protect itself by hiccup behavior of thermal shutdown circuit (TSD). When there is a power supply capacity of 3.3A or more, the appropriate protection fuse is implemented between the motor power supply line(VM) and the power supply on the PCB. 015000434-E-00 - 16 - 2015/01 [AP1025BEN] 11. Recommended External Circuit ■ External circuit VM CVM VM VM VM VM OUT1A VC VC OUT1A CVC OUT1B 6 OUT1B IN1~IN6 CPU FS OUT2A SYN OUT2A INSEL EN AP1025B M OUT2B OUT2B IF1 LV IS1 CLV RIS1 VREF IF2 RR1 VIS IS2 RR2 RIS2 SL OSC Exposed Pad CSL Figure 9. External Circuit Example Table 10. Recommended external components Items min typ max Unit Remark CVM 47 Electrolytic Capacitor F 1 Ceramic Capacitor F CVC 1.0 F CLV 0.68 1.0 1.5 F CSL 0.001 0.01 F CVIS 1.0 F Iload(100%)=0.8A RISn 500 mΩ R1 12 kΩ R2 47 kΩ Note 16. Above capacitances are examples. Please choose the best external capacitors for CVM, CVC and CVIS for your system board. Note 17. Capacitance of CVM and CVC should be adjusted considering the load current profile, the load capacitance, the line resistance and etc. of the actual system board. Note 18. Please choose the best external capacitor for CSL as sub harmonic noise measures. If not using the CSL capacitor, please connect the SL terminal to ground. 015000434-E-00 - 17 - 2015/01 [AP1025BEN] ■ Recommended Layout Example Top View VM OUT1A OUT1B VC GND IN1 IN2 IN3 IN4 IN5 IN6 Bottom View VC LV VREF VIS SL IN_SEL ENA OSC OUT2A OUT2B Figure 10. Layout pattern example Note 19. Please design the ground plane of the PCB as large as possible. Note 20. Exposed Pad (exposed backside pad) must be connected to the ground of the PCB, because the ground of IC and Exposed pad is in common. Note 21. The ground via on the IC mounted area is effective for heat radiation to each layer of the PCB. 015000434-E-00 - 18 - 2015/01 [AP1025BEN] 12. Package ■ Outline Dimensions ・32-pin QFN package Top View Bottom View 1 0.3 3.60 5.00±0.05 32 0.50±0.05 3.60 32 0.25±0.05 1 0.40±0.10 0.75max 5.00±0.05 0.20 Ref 3.50 Unit : mm ■ Marking AP1025B YWWAA (2) (1) 015000434-E-00 (3) (4) (5) (1) (2) (3) (4) (5) 1pin Indication Market No. Year code (last 1 digit) Week code Management code - 19 - 2015/01 [AP1025BEN] 13. Revise History Date (YY/MM/DD) 15/01/09 015000434-E-00 Revision Page Contents 00 - First Edition - 20 - 2015/01 [AP1025BEN] IMPORTANT NOTICE 0. Asahi Kasei Microdevices Corporation (“AKM”) reserves the right to make changes to the information contained in this document without notice. When you consider any use or application of AKM product stipulated in this document (“Product”), please make inquiries the sales office of AKM or authorized distributors as to current status of the Products. 1. All information included in this document are provided only to illustrate the operation and application examples of AKM Products. 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This document may not be reproduced or duplicated, in any form, in whole or in part, without prior written consent of AKM. 015000434-E-00 - 21 - 2015/01