M Dr ot ive or rs Data Sheet 28210.04C SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver IC Family The SLA7070M, SLA7071M, SLA7072M, and SLA7073M motor driver ICs feature unipolar drivers. The clock-in type input interface allows simplified control logic, and options for built-in sense current detection and load circuit short or open protection (patent pending) provide lower loss, and lower thermal resistance. All products in the SLA7070M series are pin-compatibile, supporting rapid design of application variants. The built-in excitation distribution circuit (sequencer) allows motor control using only the CLOCK signal for simple operations (rotate/stop), with motor speed control by frequency input into CLOCK pin. This eliminates logic signal lines required for conventional phase-input methods, and reduces demand on heavily-used CPUs. Contact Allegro® for application information and additional information on device performance and logic. ABSOLUTE MAXIMUM RATINGS AT TA = 25°C FEATURES AND BENEFITS Load (Motor) Supply Voltage, VM ......... 46 V Main Power Supply Voltage, VBB .......... 46 V Logic Supply Voltage, VDD ...........................7 V Output Current, IOUT SLA7070M .................................1.0 A SLA7071M .................................1.5 A SLA7072M .................................2.0 A SLA7073M .................................3.0 A Logic Input Voltage, VIN .............................. –0.3 to VDD+0.3 V REF Input Voltage, VREF ............................................ –0.3 to VDD+0.3 V Sense Voltage, VSInt tw < 1 μs is not considered .......... ±2 V Power Dissipation, PD Without heat sink ...................... 4.7 W Junction Temperature, TJ ....................... 150°C Ambient Temperature, TA....... –20 to 85°C Storage Temperature, Tstg ... –30 to 150°C Features Power supply voltages, VBB : 46 V(max.), 10 to 44 V normal operating range Logic supply voltages, VDD: 3.0 to 5.5 V Maximum output currents: 1 A, 1.5 A, 2 A, 3 A Built-in sequencer Simplified clock-in stepping control Both full/half-stepping Built-in sense resistor, RSInt All variants are pin-compatible for enhanced design flexibility ZIP type 23-pin molded package (SLA package) Self-excitation PWM current control with fixed off-time Built-in synchronous rectifying circuit reduces losses at PWM off Synchronous PWM chopping function prevents motor noise in Hold mode Sleep mode for reducing the IC input current in stand-by state Built-in protection circuitry against motor coil opens/shorts option available SANKEN ELECTRIC CO., LTD. http://www.sanken-ele.co.jp/en/ M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs PART NUMBERS AND OPTIONS The following are the product variants and optional features available for these variants of the SLA7070M series. NOTE The following abbreviations are used throughout this document to refer to product variants: PR – Product with both Protection Circuitry and built-in RSInt options R – Product with the built-in RSInt option Not all combinations of standard models and product options are available in high-volume production quantities. For information on product availability, and assistance with determining the IC features that are the best fit for your application, please contact our sales office or representative. Part Number 2 Output Current, IOUT (A) Protection SLA7070MR RSInt SLA7070MPR Protection Circuitry and RSInt SLA7071MR RSInt SLA7071MPR Protection Circuitry and RSInt SLA7072MR RSInt SLA7072MPR Protection Circuitry and RSInt SLA7073MR RSInt SLA7073MPR Protection Circuitry and RSInt Sequencer Blanking Time (μs) Clock Edge Full/half Step 3.2 Positive 1 1.5 2 3 SANKEN ELECTRIC CO., LTD. M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs FUNCTIONAL BLOCK DIAGRAM AND PIN ASSIGNMENTS PreDriver PreDriver Sequencer & Sleep Circuit Protect Protect DAC + Comp - 5 20 21 22 23 Reg. MIC SenseA OutB 11 OutB 9 16 10 15 OutB 8 OutB 7 VBB Clock Reset M3 6 F/R 18 M2 13 M1 14 N.C. OutA 4 Flag OutA 3 Ref/Sleep1 OutA 2 VDD OutA 1 DAC Synchro Control PWM Control PWM Control OSC RSInt + Comp OSC 17 Sync 19 SenseB RSInt 12 Gnd For R products, protection circuits not built-in. FLAG pin is not connected internally. Pin No. 1 2 3 4 Symbol OutA OutA 5 SenseA 6 NC 7 M1 8 M2 9 M3 10 Clock Functions Output of phase A Output of phase Ā Pin No. Symbol Functions 13 Ref / Sleep1 Input for control current and Sleep 1 setting 14 VDD Power supply to logic 15 Reset Reset for internal logic 16 F/R Forward / reverse switch input Phase A current sensing 17 Sync Synchronous PWM control switch input No internal connection 18 Flag* Output from protection circuits monitor 19 SenseB Commutation and Sleep2 setting 20 21 Step clock input Phase B current sensing OutB Output of phase B̄ OutB Output of phase B 22 11 VBB Main power supply (for motor) 12 GND Ground 23 *Flag pin active on PR products only; not internally connected for R products. SANKEN ELECTRIC CO., LTD. 3 M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs ELECTRICAL CHARACTERISTICS, valid at TA = 25°C, VBB = 24 V, VDD = 5 V, applicable to both PR and R products, unless otherwise specified Characteristics Main Power Supply Current Logic Power Current MOSFET Breakdown Voltage Maximum Response Frequency Logic Supply Voltage Logic Supply Current REF Input Voltage REF Input Current SENSE Voltage Sleep-Enable Recovery Time Switching Time Symbol Test Conditions Min. Typ. Max. Units mA IBB Normal mode – – 15 IBBS Sleep1 and Sleep2 modes – – 100 μA – – 5 mA IDD VDSS fclk VBB = 44 V, IDS = 1 mA Clock Duty Cycle = 50% – – – V 250 – – kHz VIL – – 0.25 × VDD V VIH 0.75 × VDD – – V IIL – ±1 – μA IIH – ±1 – μA – – – V 2.0 – VDD V – ±10 – μA VREF – 0.03 VREF VREF + 0.03 V VREF See pages 6 and 7 VREFS Output OFF, Sleep1 mode, IBBS in specification, sequencer = enable IREF VSInt VREF = 0.1 V to 0.5 V, Step reference current ratio: 100% tSE VREF = 2.0 V 1.5 V 100 – – μs tcon Clock Output ON – 2.0 – μs tcoff Clock Output OFF – 1.5 – μs STEPPING CHARACTERISTICS, applicable to both PR and R products; representative values from SLA7070M series shown Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Step Reference Current Ratio PWM Minimum On-Time PWM Off-Time 4 Symbol Mode F Test Conditions Min. Typ. Max. Units – 100 – % – 70 – % ton(min) – 3.2 – μs toff – 12 – μs Mode 8 VREF ≈ VSInt = 100 %, VREF = 0.1 to 0.5 V SANKEN ELECTRIC CO., LTD. M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs OUTPUT CHARACTERISTICS for both PR and R products Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Symbol Test Conditions Min. Typ. Max. Units IDS = 1 A – 0.7 0.85 Ω If = 1 A – 0.85 1.1 V IOUT = 1.0 A (SLA7070M) Output On Resistance Body Diode Forward Voltage RDS(ON) Vf IOUT = 1.5 A (SLA7071M) Output On Resistance Body Diode Forward Voltage RDS(ON) IDS = 1.5 A – 0.45 0.6 Ω Vf If = 1.5 A – 1.0 1.25 V RDS(ON) IDS = 2 A – 0.25 0.4 Ω If = 2 A – 0.95 1.2 V IDS = 3 A – 0.18 0.24 Ω If = 3 A – 0.95 2.1 V Min. Typ. Max. Units 0.296 0.305 0.314 Ω 0.1 – 0.3 V 0.296 0.305 0.314 Ω 0.1 – 0.45 V 0.199 0.205 0.211 Ω 0.1 – 0.4 V 0.150 0.155 0.160 Ω 0.1 – 0.45 V IOUT = 2.0 A (SLA7072M ) Output On Resistance Body Diode Forward Voltage Vf IOUT = 3.0 A (SLA7073M) Output On Resistance Body Diode Forward Voltage RDS(ON) Vf BUILT-IN SENSE RESISTOR CHARACTERISTICS for PR and R products Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Symbol Test Conditions IOUT = 1.0 A (SLA7070MPR and SLA7070MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit IOUT = 1.5 A (SLA7071MPR and SLA7071MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit IOUT = 2.0 A (SLA7072MPR and SLA7072MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit IOUT = 3.0 A (SLA7073MPR and SLA7073MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit *RSInt includes approximately 5 mΩ circuit resistance in addition to the resistance of the resistor itself. SANKEN ELECTRIC CO., LTD. 5 M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs PROTECTION CIRCUIT CHARACTERISTICS* Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Symbol Test Conditions Min. Typ. Max. Units 0.65 0.7 0.75 V – – 1.25 V VDD – 1.25 – – V PR products Overcurrent Sense Voltage FLAG Output Voltage FLAG Output Current VOCP Motor coils shorted VFlagL IFLAGL = 1.25 mA VFlagH IFLAGH = –1.25 mA IFlagL – – 1.25 mA IFlagH –1.25 – – mA *Protection circuits work on the condition of VSInt ≥ VOCP. RECOMMENDED OPERATING RANGES, applicable to both PR and R products, unless otherwise specified Characteristics Symbol Remarks Min Max Units Load (Motor) Supply Voltage VM – 44 V Main Power Supply Voltage VBB 10 44 V Logic Supply Voltage VDD Surge voltage at VDD pin should be less than ±0.5 V to avoid malfunctioning in operation 3.0 5.5 V Case Temperature TC Measured at pin 12, without heat sink – 90 °C ALLOWABLE POWER DISSIPATION PR and R Products Allowable Power Dissipation, PD (W) 5 4 ǰj-a= 26.6͠/W 3 2 1 0 0 10 20 30 40 50 60 70 Ambient Temperature, TA (°C) 6 SANKEN ELECTRIC CO., LTD. 80 90 M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs FUNCTIONAL DESCRIPTION PWM Current Control The description in this section is applicable to the PR and R products. • Blanking time The actual operating waveforms on the SENSEx pins when driving a motor are shown in figure 1. Immediately after PWM turns OFF, ringing (or spike) noise on the SENSEx pins is observed for a few μs. Ringing noise can be generated by various causes, such as capacitance between motor coils and inappropriate motor wiring. Each pair of outputs is controlled by a fixed off-time (7 to 12 μs, depending on stepping mode) PWM current-control circuit that limits the load current to a desired value, ITRIP. Initially, t an output is enabled and current flows through the motor winding and the current-sense resistors. When the voltage across the current-sense resistor equals the DAC output voltage, VTRIP , the current-sense comparator resets the PWM latch. This turns off the driver for the fixed off-time, during which the load inductance causes the current to recirculate for the off-time period. Therefore, if the ringing noise on the sense resistor equals and surpasses VTRIP , PWM turns off. To prevent this phenomenon, the blanking time is set to override signals from the current-sense comparator for a certain period right after PWM turns on (figure 2). t Expanded Time Scale Out ITRIP 0 Out 500 ns/Div. 5 μs/Div. Figure 1. Operating waveforms on the SENSEx pins during PWM chopping A PWM Pulse Width tON tOFF (Fixed) ITRIP 0 A Blanking Time Figure 2. SENSEx pins pattern during PWM control SANKEN ELECTRIC CO., LTD. 7 PWM Off Period The PWM off-time for the SLA7070M series is controlled as a fixed time by an internal oscillator. In addition, the SLA7070M series provide a function that decreases losses occurring when the PWM turns off. This function dissolves back EMF stored in the motor coil at MOSFET turn-on, as well as at PWM turn-on (synchronous rectification operation). Figure 3 shows the difference in back EMF generative M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs system between the SLA7060M series and SLA7070M series. The SLA7060M series performs on–off operations using only the MOSFET on the PWM-on side, but the SLA7070M series also performs on–off operations using only the MOSFET on the PWM-off side. To prevent simultaneous switching of the MOSFETs at synchronous rectification operation, the IC has a dead time of approximately 0.5 μs. During dead time, the back EMF flows through the body diode on the MOSFET. SLA7060M Series SLA7070M Series VBB VBB Ion Ioff Ion Ioff Stepper Motor Stepper Motor Vg Vg Vg Vg Back EMF at Dead Time VS +V PWM On RSExt PWM Off VS +V PWM On Vg Vg FET Gate 0 Signal RSInt t PWM On PWM Off Dead Time FET Gate 0 Signal Vg Dead Time t Vg VREF VREF VS VS 0 0 t Figure 3. Synchronous rectification operation. During Dead Time, the Back EMF flows through the body diode of the MOSFET 8 PWM On SANKEN ELECTRIC CO., LTD. t M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs Protection Functions: PR Types The PR types of the SLA7070M series include a motor coil short-circuit protection circuit and a motor coil open protection circuit. They are described in this section. • Motor Coil Short-Circuit Protection (Load Short) Circuit This protection circuit, embedded in the SLA7070M series, begins to operate when the device detects an increase in the voltage level on the sense resistor, VSInt . The voltage at which motor coil short-circuit protection starts its operation, VOCP, is set at approximately 0.7 V. The out- put is disabled at the time the protection circuit starts. In order for the motor coil short-circuit protection circuit to operate, VSInt must be greater than VOCP . Overcurrent that flows without passing the sense resistor is undetectable. To resume the circuit after protection operates, VDD must be cycled. • Motor Coil Open Protection Details of this functions is not disclosed yet due to our patent policy. VM Coil Short Circuit +V Coil Short Circuit Stepper Motor Normal Operation Output Disable VOCP VREF Vg VS 0 VS RSInt t Figure 4. Motor coil short circuit protect circuit operation. Overcurrent that flows without passing the sense resistor is undetectable. To recover the circuit after protection operates, VDD must be cycled and started up again. SANKEN ELECTRIC CO., LTD. 9 M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs PACKAGE OUTLINE DRAWING, SLA-23 PIN 31 ±0.2 24.4 ±0.2 4.8 ±0.2 φ3.2 ±0.15 x 3.8 16.4 ±0.2 1.7 ±0.1 Gate Flash (Fin) 5 ±0.5 XXXXXXXX XXXX X 16 ±0.2 9.9 ±0.2 Branding 12.9 ±0.2 φ3.2 ±0.15 2.45 ±0.2 (Base Measurement) R-end +0.2 0.65 -0.1 +1 9.5 -0.5 4-(R1) (4.3) +0.2 0.55 -0.1 22 × P1.27 ±0.5 = 27.94 ±0.1 4.5 ±0.7 (Tip Measurement) (Tip Measurement) 31.3 ±0.2 (Includes Mold Flash) 1 2 3 4 5 6 7 9 11 13 15 17 19 21 23 8 10 12 14 16 18 20 22 Terminal core material: Cu Terminal treatment: Ni plating and solder dip Leadform: 2151 Dimensions in millimeters Branding: 1st line, type: SLA707xMR 2nd line-left, lot: YMDD Where: Y is the last digit of the year of manufacture M is the month (1 to 9, O, N, D) DD is the 2-digit date 2nd line-right, subtype: P for Protection Circuitry option; otherwise, blank Leadframe plating Pb-free. Device composition includes high-temperature solder (Pb >85%), which is exempted from the RoHS directive. 10 SANKEN ELECTRIC CO., LTD. M Dr ot ive or rs SLA7070M, SLA7071M, SLA7072M, and SLA7073M Motor Driver ICs • The contents in this document are subject to changes, for improvement and other purposes, without notice. Make sure that this is the latest revision of the document before use. • Application and operation examples described in this document are quoted for the sole purpose of reference for the use of the products herein and Sanken can assume no responsibility for any infringement of industrial property rights, intellectual property rights or any other rights of Sanken or any third party which may result from its use. • Although Sanken undertakes to enhance the quality and reliability of its products, the occurrence of failure and defect of semiconductor products at a certain rate is inevitable. Users of Sanken products are requested to take, at their own risk, preventative measures including safety design of the equipment or systems against any possible injury, death, fires or damages to the society due to device failure or malfunction. • Sanken products listed in this document are designed and intended for the use as components in general purpose electronic equipment or apparatus (home appliances, office equipment, telecommunication equipment, measuring equipment, etc.). When considering the use of Sanken products in the applications where higher reliability is required (transportation equipment and its control systems, traffic signal control systems or equipment, fire/crime alarm systems, various safety devices, etc.), and whenever long life expectancy is required even in general purpose electronic equipment or apparatus, please contact your nearest Sanken sales representative to discuss, prior to the use of the products herein. The use of Sanken products without the written consent of Sanken in the applications where extremely high reliability is required (aerospace equipment, nuclear power control systems, life support systems, etc.) is strictly prohibited. • In the case that you use Sanken products or design your products by using Sanken products, the reliability largely depends on the degree of derating to be made to the rated values. Derating may be interpreted as a case that an operation range is set by derating the load from each rated value or surge voltage or noise is considered for derating in order to assure or improve the reliability. In general, derating factors include electric stresses such as electric voltage, electric current, electric power etc., environmental stresses such as ambient temperature, humidity etc. and thermal stress caused due to self-heating of semiconductor products. For these stresses, instantaneous values, maximum values and minimum values must be taken into consideration. In addition, it should be noted that since power devices or IC's including power devices have large self-heating value, the degree of derating of junction temperature affects the reliability significantly. • When using the products specified herein by either (i) combining other products or materials therewith or (ii) physically, chemically or otherwise processing or treating the products, please duly consider all possible risks that may result from all such uses in advance and proceed therewith at your own responsibility. • Anti radioactive ray design is not considered for the products listed herein. • Sanken assumes no responsibility for any troubles, such as dropping products caused during transportation out of Sanken's distribution network. • The contents in this document must not be transcribed or copied without Sanken's written consent. SANKEN ELECTRIC CO., LTD. 11