STK672-440AN-E STK672-442AN-E http://onsemi.com Thick-Film Hybrid IC 2-phase Stepper Motor Driver Application Note Features Built-in overcurrent detection function, overheat detection function (output current OFF). FAULT1 signal (active low) is output when overcurrent or overheat is detected. The FAULT2 signal is used to output the result of activation of protection circuit detection at 2 levels. Built-in power on reset function. A micro-step sine wave-driven driver can be activated merely by inputting an external clock. External pins can be used to select 2, 1-2 (including pseudo-micro), W1-2, 2 W1-2, or 4W1-2 excitation. The switch timing of the 4-phase distributor can be switched by setting an external pin (MODE3) to detect either the rise and fall, or rise only, of CLOCK input. Phase is maintained even when the excitation mode is switched. Rotational direction switching function. Supports schmitt input for 2.5V high level input. Incorporating a current detection resistor (0.122Ω: resistor tolerance 2%), motor current can be set using two external resistors. The ENABLE pin can be used to cut output current while maintaining the excitation mode. With a wide current setting range, power consumption can be reduced during standby. No motor sound is generated during hold mode due to external excitation current control. PWM operation is separately excited system. As for PWM phase the constant current control which shifts the phase of Ach Bch. Supports compatible pins with STK672-430AN/-432AN-E. Specifications Absolute Maximum Ratings at Ta = 25C Parameter Maximum supply voltage 1 Symbol Vcc max Conditions Ratings STK672-440AN-E STK672-442AN-E Unit No signal 52 V Maximum supply voltage 2 VDD max No signal 0.3 to 6.0 V Input voltage Vin max Logic input pins 0.3 to 6.0 V Output current 1 IOP max 10μs 1 pulse (resistance load) Output current 2 IOH max Output current 3 IOF max Allowable power dissipation 1 PdMF max With an arbitrarily large heat sink. Per Allowable power dissipation 2 PdPK max No heat sink Operating substrate temperature Tcmax 105 °C Junction temperature Tjmax 150 °C Storage temperature Tstg 40 to 125 °C 20 A VDD = 5V, CLOCK 200Hz 3.5 A 16pin Output current 10 mA W 8.3 3.1 2.8 W Stresses exceeding Maximum Ratings may damage the device. Maximum Ratings are stress ratings only. Functional operation above the Recommended Operating Conditions is not implied. Extended exposure to stresses above the Recommended Operating Conditions may affect device reliability. Semiconductor Components Industries, LLC, 2013 December, 2013 1/26 STK672-440AN/-442AN-E Application Note Recommended Operating Conditions at Tc = 25C Ratings Parameter Symbol Conditions STK672-440AN-E / STK672-442AN-E min typ Unit max Operating supply voltage 1 VCC With signals applied Operating supply voltage 2 VDD With signals applied Input high voltage VIH Pins 10, 11, 12, 13, 14, 15, 17, VDD=55% 2.5 VDD V Input low voltage VIL Pins 10, 11, 12, 13, 14, 15, 17, VDD=55% 0 0.8 V CLOCK frequency fCL Minimum pulse width: at least 10s 0 50 kHz Output current IOH Tc=105C, CLOCK200Hz 3.0 A Tc No condensation 0 105 C Vref Tc=105C 0.2 1.8 V Recommended operating substrate temperature Recommended Vref range 0 42 V 55% V Electrical Characteristics at Tc=25C, VCC=24V, VDD=5.0V *1 Parameter Symbol Conditions VDD supply current ICCO VDD=5.0V, ENABLE=Low Output average current *2 Ioave R/L=1/0.62mH in each phase FET diode forward voltage Vdf If=1A (RL=23) Output saturation voltage Input voltage Control input pin V Pins 10, 11, 12, 13, 14, 15, 17 0.3 0.8 V 75 A 10 A 10 15 A 0.25 0.5 V 10 A Output low voltage VOLF Pin 16 (IO=5mA) pin 5V level leakage current IILF Pin 16 =5V VOF2 VOF3 Overheat detection temperature TSD PWM frequency fc Drain-source cut-off current IDSS 2W1-2 2W1-2 W1-2 AB Chopper Current Ratio 2W1-2 W1-2 4W1-2 2W1-2 4W1-2 4W1-2 2W1-2 W1-2 4W1-2 4W1-2 2W1-2 1-2 2 2.6 3.1 3.3 3.5 V Design guarantee C 144 48 VDS=100V, Pins 2, 6, 9, 18=GND 55 kHz 1 A 100 95 =12/16 93 =11/16 87 =10/16 83 =9/16 77 Vref =8/16 71 *3 =7/16 64 =6/16 55 =5/16 47 =4/16 40 =3/16 30 =2/16 20 =1/16 4W1-2 2.5 97 2W1-2 2W1-2 2.4 =13/16 W1-2 4W1-2 50 =14/16 4W1-2 4W1-2 been activated) =15/16, 16/16 1-2 4W1-2 4W1-2 Pin 8 (when all protection functions have 0.25 41 4W1-2 4W1-2 V VIL FAULT1 4W1-2 1.6 V Pin 19 =1.0V 4W1-2 A 1 0.38 IIB voltage mA VDD Pins 10, 11, 12, 13, 14, 15, 17=5V Overheat detection output 7.0 0.37 2.5 Pins 10, 11, 12, 13, 14, 15, 17=GND pin 5.7 0.32 Pins 10, 11, 12, 13, 14, 15, 17 IILL voltage unit RL=23 IILH Overcurrent detection output max Vsat GND level input current FAULT2 0.27 typ VIH 5V level input current Vref input bias current min % 11 100 Notes *1: A fixed-voltage power supply must be used. *2: The value for Ioave assumes that the lead frame of the product is soldered to the mounting circuit board. *3: The values given for Vref are design targets, no measurement is performed. 2/26 STK672-440AN/-442AN-E Application Note Derating Curve of Motor Current, IOH, vs. STK672-44xAN-E Operating Substrate Temperature, Tc 4 3.5 Motor current IOH/A 3 2.5 200Hz 2ex 2 Hold 1.5 1 0.5 0 0 10 20 30 40 50 60 70 80 90 100 110 Operation substrate temperature Tc C Notes The current range given above represents conditions when output voltage is not in the avalanche state. If the output voltage is in the avalanche state, see the allowable avalanche energy for STK672-4** series hybrid ICs given in a separate document. The operating substrate temperature, Tc, given above is measured while the motor is operating. Because Tc varies depending on the ambient temperature, Ta, the value of IOH, and the continuous or intermittent operation of IOH, always verify this value using an actual set. The Tc temperature should be checked in the center of the metal surface of the product package. 3/26 STK672-440AN/-442AN-E Application Note Package Dimensions STK672-440AN-E unit : mm (typ) SIP19 29.2x14.4 CASE 127CF ISSUE O 19 1 STK672-442AN-E unit : mm (typ) SIP19 24.2x14.4 CASE 127BA ISSUE O 24.2 (18.4) +0.15 4.5 − 0.05 14.4 11 14.4 (11) (2 - R1.47) 19 (3.5) 1 +0 . 2 1 0.4 − 0.05 18 X 1 = 18 0.5 ± 0.05 0.35 2 4 4.45 4/26 STK672-440AN/-442AN-E Application Note Recommend hole size for Lead Frame on PCB; 0.9 mm(max) 0.4 +0.2 0.9(0.814 to 0.570) -0.05 0.5 +0.05 -0.05 Lead Frame Pin Assignment STK672-440AN-E STK672-442AN-E OUT(BB) 1 P.GND2 2 OUT(B) 3 OUT(A) 4 OUT(AB) 5 6 MOI 7 FAULT2 8 VDD 9 MODE1 10 MODE2 11 CLOCK 12 CWB 13 RESETB 14 ENABLE 15 FAULT1 16 MODE3 17 S.GND 18 Vref 19 STK672-440AN-E STK681-332 STK672-442AN-E P.GND1 5/26 STK672-440AN/-442AN-E Application Note Block Diagram VDD MOI 9 MODE1 10 MODE2 11 CWB 13 CLOCK 12 MODE3 17 RESETB 14 ENABLE Excitation mode selection 7 19 8 VSS Pseudo sine wave generator VSS 16 S.G 18 B BB 5 3 1 100k F2 F3 F4 Over current detection Latch FAULT1 4 AB Over heating detection 15 Oscillator A F1 Phase excitation signal generator Power on reset Vref 1÷4.9 Current divider ratio switching Phase advance counter Rising edge / falling edge detection FAULT2 Reference clock generator PWM control P.G2 2 P.G1 6 SUB Application Circuit Example (2W1-2 Phase Excitation Drive /micro stepper operation) VDD 5V 9 10 11 2-phase stepper motor 17 4 12 CLOCK ENABLE 15 CWB 13 MOI 7 RESETB STK672 -44xAN-E R02 BB 14 19 8 16 18 Vcc=24V B 2 Vref AB 3 1 R01 C02 10μ 5 A 6 P.G2 P.G1 + C01 100μ P.GND + S.GND FAULT1 FAULT2 6/26 STK672-440AN/-442AN-E Application Note Precautions [GND wiring] To reduce noise on the 5V/24V system, be sure to place the GND of C01 in the circuit given above as close as possible to Pin 2 and Pin 6 of the hybrid IC. In addition, in order to set the current accurately, the GND side of RO2 of Vref must be connected to the shared ground terminal used by the Pin 18 (S.G) GND, P.G1 and P.G2. [Input pins] If VDD is being applied, use care that each input pin does not apply a negative voltage less than -0.3V to S. GND, Pin 18. Measures must also be taken so that a voltage equal to or greater than VDD is not input. High voltage input other than VDD, MOI, FAULT1, and FAULT2 is 2.5V. Pull-up resistors are not connected to input pins. Pull-down resistors are attached. When controlling the input to the hybrid IC with the open collector type, be sure to connect a pull-up resistor (1 to 20k). Be sure to use a device (0.8V or less, low level, when IOL=5mA) for the open collector driver at this time that has an output voltage specification such that voltage is pulled to less than 0.8V at low level. When using the power on reset function built into the hybrid IC, be sure to directly connect Pin 14 to VDD. We recommend attaching a 1,000pF capacitor to each input to prevent malfunction during high-impedance input. Be sure to connect the capacitor near the hybrid IC, between Pin 18 (S, G). When input is fixed low, directly connect to Pin 18. When input is fixed high, directly connect to VDD. [Current setting Vref] Considering the specifications for the Vref input bias current IIB, we recommend a value 1k or less for R02. If the motor current is temporarily reduced, the circuit given below is recommended. The variable voltage range of Vref input is 0.2 to 1.8V. 5V 5V R01 R01 Vref R3 R02 Vref R3 R02 [Setting the motor current] The motor current, IOH, is set using the Pin 19 voltage, Vref, of the hybrid IC. Equations related to IOH and Vref are given below. Vref (RO2 (RO2+RO1))VDD(5V) ··········································· (1) IOH (Vref 4.9) Rs ······························································· (2) The value of 4.9 in Equation (2) above represents the Vref voltage as divided by a circuit inside the control IC. Rs: 0.122 (Current detection resistor inside the hybrid IC) IOH 0 [Smoke Emission Precuations] If Pin 18 (S.G terminal) is attached to the board without using solder, overcurrent may flow into the MOSFET at VCCON (24V ON), causing the STK672-44xAN-E to emit smoke because 5V circuits cannot be controlled. 7/26 STK672-440AN/-442AN-E Application Note Function Table M2 M1 M3 1 0 0 0 1 1 0 1 0 1 2-phase excitation 1-2-phase excitation W1-2 phase 2W1-2 phase selection (IOH=100%) excitation excitation 1-2 phase excitation W1-2 phase 2W1-2 phase 4W1-2 phase (IOH=100%, 71%) excitation excitation excitation CLOCK Edge Timing for Phase Switching CLOCK rising edge CLOCK both edges IOH=100% results in the Vref voltage setting, IOH. During 1-2 phase excitation, the hybrid IC operates at a current setting of IOH=100% when the CLOCK signal rises. Conversely, pseudo micro current control is performed to control current at IOH=100% or 71% at both edges of the CLOCK signal. WB pin Forward/CW 0 Reverse/CCW 1 ENABLE RESETB pin ENABLE Motor current cut: Low RESETB Active Low 8/26 STK672-440AN/-442AN-E Application Note Timing Charts 2-phase excitation timing charts (M3=1) 1-2-phase excitation timing charts (M3=1) A A phase Phase A phase B phase B Phase phase B W1-2-phase excitation timing charts (M3=1) 2W1-2-phase excitation timing charts (M3=1) A phase A phase B phase B phase 9/26 STK672-440AN/-442AN-E Application Note 1-2-phase excitation timing charts (M3=0) W1-2-phase excitation timing charts (M3=0) A phase A phase B phase B phase 2W1-2-phase excitation timing charts (M3=0) A phase B phase 4W1-2-phase excitation timing charts (M3=0) A phase B phase 10/26 STK672-440AN/-442AN-E Application Note STK672-440AN/-442AN-E Technical data 1. 2. 3. 4. 5. 6. 7. Input Pins and Functional Overview STK672-440AN/-442AN-E over current detection, thermal shutdown detection. STK672-440AN/-442AN-E Allowable Avalanche Energy STK672-440AN/-442AN-E Internal Loss Calculation Thermal Design Package Power Loss PdPK Derating Curve for the Ambient Temperature Ta Other usage notes 11/26 STK672-440AN/-442AN-E Application Note 1.I/O Pins and Functions of the Control Block [Pin description] HIC pin Pin Name 7 MOI Function 10 MODE1 11 MODE2 17 MODE3 12 CLOCK 13 CWB 14 RESETB System reset 15 ENABLE Motor current OFF 16 FAULT1 8 FAULT2 19 Vref Output pin for the excitation monitor Excitation mode selection External CLOCK (motor rotation instruction) Sets the direction of rotation of the motor axis Motor terminal open/Overcurrent/over-heat detection output Current value setting Description of each pin 1-1.[CLOCK (Phase switching clock)] Input frequency: DC-20kHz (when using both edges) or DC-50kHz (when using one edge) Minimum pulse width: 20s (when using both edges) or 10s (when using one edge) Pulse width duty: 40% to 50% (when using both edges) Both edge, single edge operation M3:1 The excitation phase moves one step at a time at the rising edge of the CLOCK pulse. M3:0 The excitation phase moves alternately one step at a time at the rising and falling edges of the CLOCK pulse. 1-2.[CWB (Motor direction setting)] When CWB=0: The motor rotates in the clockwise direction. When CWB=1: The motor rotates in the counterclockwise direction. Do not allow CWB input to vary during the 7s interval before and after the rising and falling edges of CLOCK input. 1-3. [ENABLE (Forcible OFF control of excitation drive output A, AB, B, and BB, and selecting operation/hold status inside the HIC)] ENABLE=1: Normal operation When ENABLE=0: Motor current goes OFF, and excitation drive output is forcibly turned OFF. The system clock inside the HIC stops at this time, with no effect on the HIC even if input pins other than RESET input vary. In addition, since current does not flow to the motor, the motor shaft becomes free. If the CLOCK signal used for motor rotation suddenly stops, the motor shaft may advance beyond the control position due to inertia. A SLOW DOWN setting where the CLOCK cycle gradually decreases is required in order to stop at the control position. 1-4. [MODE1, MODE2, and MODE3 (Selecting the excitation mode, and selecting one edge or both edges of the CLOCK)] Excitation select mode terminal (See the sample application circuit for excitation mode selection), selecting the CLOCK input edge(s). Mode setting active timing Do not change the mode within 7s of the input rising or falling edge of the CLOCK signal. 1-5.[RESETB (System-wide reset)] The reset signal is formed by the power-on reset function built into the HIC and the RESETB terminal. When activating the internal circuits of the HIC using the power-on reset signal within the HIC, be sure to connect Pin 14 of the HIC to VDD. 1-6.[Vref (Voltage setting to be used for the current setting reference)] Pin type: Analog input configuration and input pull-down resistance 100 k. Input voltage is in the voltage range of 0.2V to 1.8V. 12/26 STK672-440AN/-442AN-E Application Note 1-7. [Input timing] The control IC of the driver is equipped with a power on reset function capable of initializing internal IC operations when power is supplied. A 4V typ setting is used for power on reset. Because the specification for the MOSFET gate voltage is 5V5%, conduction of current to output at the time of power on reset adds electromotive stress to the MOSFET due to lack of gate voltage. To prevent electromotive stress, be sure to set ENABLE=Low while VDD, which is outside the operating supply voltage, is less than 4.75V. In addition, if the RESETB terminal is used to initialize output timing, be sure to allow at least 10s until CLOCK input. 4Vtyp Control IC power (VDD) rising edge 3.8Vtyp Control IC power on reset RESETB signal input No time specification ENABLE signal input CLOCK signal input At least 10s At least 10s ENABLE, CLOCK, and RESETB Signals Input Timing 1-8. [Configuration of control block I/O pins] <Configuration of the MODE1, MODE2, MODE3, CLOCK, CWB, ENABLE, and RESETB input pins> <Configuration of the FAULT2 pin> VDD VDD Output pin Pin 8 10kΩ Input pin 50k 50k 50k 100kΩ VSS Overcurrent Overheating (The buf f er has an open drain conf iguration.) The input pins of this driver all use Schmitt input. Typical specifications at Tc=25C are given below. Hysteresis voltage is 0.3V (VIHa-VILa). When rising When falling 1.8Vtyp 1.5Vtyp Input voltage VIHa VILa Input voltage specifications are as follows. VIH=2.5Vmin VIL=0.8Vmax 13/26 STK672-440AN/-442AN-E Application Note <Configuration of the Vref input pin> <Configuration of the FAULT1 output pin> VDD Output pin Pin16 Vref /4.9 Overcurrent Amplif ier 100kΩ VSS VSS Overheating Input pin Pin19 VSS <FAULT1, FAULT2 output> FAULT1 Output FAULT1 is an open drain output. It outputs low level when overcurrent, or overheat is detected. FAULT2 output Output is resistance divided (2 levels) and the type of abnormality detected is converted to the corresponding output voltage. Overcurrent: 2.5V (typ) Overheat: 3.3V (typ) Abnormality detection can be released by a RESETB operation or turning VDD voltage on/off. 1-9. [MOI output] The output frequency of this excitation monitor pin varies depending on the excitation mode. For output operations, see the timing chart. 14/26 STK672-440AN/-442AN-E Application Note 2. Overcurrent detection, overheat detection, and motor terminal open detection functions Each detection function operates using a latch system and turns output off. Because a RESET signal is required to restore output operations, once the power supply, VDD, is turned off, you must either again apply power on reset with VDDON or apply a RESETB=HighLowHigh signal. 2-1.[Overcurrent detection] This hybrid IC is equipped with a function for detecting overcurrent that arises when the motor burns out or when there is a short between the motor terminals. Overcurrent detection occurs at 3.4A typ with the STK672-430AN/-432AN-E, and 5.0A typ with the STK672-440AN-E/442AN-E. Current when motor terminals are shorted PWM period Overcurrent detection IOHmax Set motor current, IOH MOSFET all OFF No detection interval (1.25s typ) Normal operation 1.25s typ Operation when motor pins are shorted Overcurrent detection begins after an interval of no detection (a dead time of 1.25s typ) during the initial ringing part during PWM operations. The no detection interval is a period of time where overcurrent is not detected even if the current exceeds IOH. 2-3. [Overheat detection] Rather than directly detecting the temperature of the semiconductor device, overheat detection detects the temperature of the aluminum substrate (144C typ). Within the allowed operating range recommended in the specification manual, if a heat sink attached for the purpose of reducing the operating substrate temperature, Tc, comes loose, the semiconductor can operate without breaking. However, we cannot guarantee operations without breaking in the case of operations other than those recommended, such as operations at a current exceeding IOH max that occurs before overcurrent detection is activated. 15/26 STK672-440AN/-442AN-E Application Note 3. Allowable Avalanche Energy Value (1) Allowable Range in Avalanche Mode When driving a 2-phase stepper motor with constant current chopping using an STK672-4** Series hybrid IC, the waveforms shown in Figure 1 below result for the output current, ID, and voltage, VDS. VDSS: Voltage during avalanche operations IOH: Motor current peak value IAVL: Current during avalanche operations tAVL: Time of avalanche operations Figure 1 Output Current, ID, and Voltage, VDS, Waveforms 1 of the STK672-4** Series when Driving a 2-Phase Stepper Motor with Constant Current Chopping When operations of the MOSFET built into STK672-4** Series ICs is turned off for constant current chopping, the ID signal falls like the waveform shown in the figure above. At this time, the output voltage, VDS, suddenly rises due to electromagnetic induction generated by the motor coil. In the case of voltage that rises suddenly, voltage is restricted by the MOSFET VDSS. Voltage restriction by VDSS results in a MOSFET avalanche. During avalanche operations, ID flows and the instantaneous energy at this time, EAVL1, is represented by Equation (3-1). EAVL1=VDSSIAVL0.5tAVL ------------------------------------------- (3-1) VDSS: V units, IAVL: A units, tAVL: sec units The coefficient 0.5 in Equation (3-1) is a constant required to convert the IAVL triangle wave to a square wave. During STK672-4** Series operations, the waveforms in the figure above repeat due to the constant current chopping operation. The allowable avalanche energy, EAVL, is therefore represented by Equation (3-2) used to find the average power loss, PAVL, during avalanche mode multiplied by the chopping frequency in Equation (3-1). PAVL=VDSSIAVL0.5tAVLfc ------------------------------------------- (3-2) fc: Hz units (fc is set to the PWM frequency of 50kHz.) For VDSS, IAVL, and tAVL, be sure to actually operate the STK672-4** Series and substitute values when operations are observed using an oscilloscope. Ex. If VDSS=110V, IAVL=1A, tAVL=0.2s, the result is: PAVL=11010.50.210-650103=0.55W VDSS=110V is a value actually measured using an oscilloscope. The allowable loss range for the allowable avalanche energy value, PAVL, is shown in the graph in Figure 3. When examining the avalanche energy, be sure to actually drive a motor and observe the ID, VDSS, and tAVL waveforms during operation, and then check that the result of calculating Equation (3-2) falls within the allowable range for avalanche operations. 16/26 STK672-440AN/-442AN-E Application Note (2) ID and VDSS Operating Waveforms in Non-avalanche Mode Although the waveforms during avalanche mode are given in Figure 1, sometimes an avalanche does not result during actual operations. Factors causing avalanche are listed below. Poor coupling of the motor’s phase coils (electromagnetic coupling of A phase and AB phase, B phase and BB phase). Increase in the lead inductance of the harness caused by the circuit pattern of the board and motor. Increases in VDSS, tAVL, and IAVL in Figure 1 due to an increase in the supply voltage from 24V to 36V. If the factors above are negligible, the waveforms shown in Figure 1 become waveforms without avalanche as shown in Figure 2. Under operations shown in Figure 2, avalanche does not occur and there is no need to consider the allowable loss range of PAVL shown in Figure 3. IOH: Motor current peak value Figure 2 Output Current, ID, and Voltage, VDS, Waveforms 2 of the STK672-4** Series when Driving a 2-Phase Stepper Motor with Constant Current Chopping Avalanche power loss in the avalanche state, PAVL W Figure 3 Allowable Loss Range, PAVL-IOH During STK672-44xAN-E Avalanche Operations PAVL-IOH 5 4.5 4 3.5 Tc=105°C 3 Tc=80°C 2.5 2 1.5 1 0.5 0 0 0.5 1 1.5 2 2.5 3 3.5 Moter current, IOH - A Note: The operating conditions given above represent a loss when driving a 2-phase stepper motor with constant current chopping. Because it is possible to apply 3W or more at IOH=0A, be sure to avoid using the MOSFET body diode that is used to drive the motor as a zener diode. 17/26 STK672-440AN/-442AN-E Application Note 4. Calculating STK672-440AN/-442AN-E HIC Internal Power Loss The average internal power loss in each excitation mode of the STK672-440AN/-442AN-E can be calculated from the following formulas. *1 4-1. [Each excitation mode] 2-phase excitation mode 2PdAVex= 2Vsat0.5CLOCKIOHt2+0.5CLOCKIOH (Vsatt1+Vdft3) --------------------------- (4-1) 1-2 Phase excitation mode 1-2PdAVex= 2Vsat0.25CLOCKIOHt2+0.25CLOCKIOH (Vsatt1+Vdft3) ---------------------- (4-2) W1-2 Phase excitation mode W1-2PdAVex=0.64[2Vsat0.125CLOCKIOHt2+0.125CLOCKIOH (Vsatt1+Vdft3)] ---------- (4-3) 2W1-2 Phase excitation mode 2W1-2PdAVex=0.64[2Vsat0.0625CLOCKIOHt2+0.0625CLOCKIOH (Vsatt1+Vdft3)] ------ (4-4) 4W1-2 Phase excitation mode 4W1-2PdAVex=0.64[2Vsat0.0625CLOCKIOHt2+0.0625CLOCKIOH (Vsatt1+Vdft3)] ------ (4-5) Motor hold mode HoldPdAVex= 2VsatIOH---------------------------------------------------------------------------------------------- (4-6) Note: 2-phase 100% conductance is assumed in Equation (4-6). Vsat: Combined voltage of Ron voltage drop + current detection resistance Vdf: Combined voltage of the FET body diode + current detection resistance CLOCK: Input CLOCK (HIC: input frequency at Pin 12) t1, t2, and t3 represent the waveforms shown in the figure below. t1: Time required for the winding current to reach the set current (IOH) t2: Time in the constant current control (PWM) region t3: Time from end of phase input signal until inverse current regeneration is complete IOH 0A t1 t2 t3 Motor COM Current Waveform Model t1= (-L/(R+0.25)) ln (1-(((R+0.25)/VCC) IOH)) ----------------------------------------------------------- (4-7) t3= (-L/R) ln ((VCC+0.25)/(IOHR+VCC+0.25)) ---------------------------------------------------------- (4-8) VCC: Motor supply voltage (V) L: Motor inductance (H) R: Motor winding resistance () IOH: Motor set output current crest value (A) 18/26 STK672-440AN/-442AN-E Application Note Fixed current control time, t2, for each excitation mode (1) 2-phase excitation (2) 1-2 phase excitation (3) W1-2 phase excitation (4) 2W1-2 phase excitation (and 4W1-2 phase excitation) t2 = (2CLOCK) - (t1 + t3) ······················· (4-9) t2 = (3CLOCK) - t1 ······························ (4-10) t2 = (7CLOCK) - t1 ······························ (4-11) t2 = (15CLOCK) - t1 ····························· (4-12) For the values of Vsat and Vdf, be sure to substitute from Vsat vs IOH and Vdf vs IOH at the setting current value IOH. (See pages to follow) Then, determine if a heat sink is necessary by comparing with the Tc vs Pd graph (see next page) based on the calculated average output loss, HIC. For heat sink design, be sure to see ‘5. Thermal Design’. The HIC average power, PdAVex described above, represents loss when not in avalanche mode. To add the loss in avalanche mode, be sure to add PAVL (4-13, 14) using the formula (3-2) for average power loss , PAVL, for STK672-4** avalanche mode, described below to PdAVex described above. When using this IC without a fin, always check for temperature increases in the set, because the HIC substrate temperature, Tc, varies due to effects of convection around the HIC. 4-2. [Calculating the average power loss, PAVL, during avalanche mode] The allowable avalanche energy, EAVL, during fixed current chopping operation is represented by Equation (3-2) used to find the average power loss, PAVL, during avalanche mode that is calculated by multiplying Equation (3-1) by the chopping frequency. PAVL=VDSSIAVL0.5tAVLfc ············································································· (3-2) fc: Hz units (fc is set to the PWM frequency of 50kHz.) Be sure to actually operate an STK672-4** series and substitute values found when observing operations on an oscilloscope for VDSS, IAVL, and tAVL. The sum of PAVL values for each excitation mode is multiplied by the constants given below and added to the average internal HIC loss equation, except in the case of 2-phase excitation. 1-2 excitation mode and higher: PAVL(1)=0.7PAVL ····················································(4-13) During 2-phase excitation and motor hold: PAVL(1)=1PAVL (4-14) 19/26 STK672-440AN/-442AN-E Application Note Output Saturation Voltage Vsat - V STK672-440AN. 442AN-E Output Saturation Voltage Vsat vs. Output Current 1.2 1 0.8 Tc=25°C 0.6 Tc=105°C 0.4 0.2 0 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 Output current, IOH - A STK672-440AN. 442AN-E Forward voltage, Vdf -Output current, IOH Forward voltage, Vdf - V 1.6 1.4 1.2 1 0.8 Tc=25°C 0.6 Tc=105°C 0.4 0.2 0 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 Output current, IOH - A 20/26 STK672-440AN/-442AN-E Application Note 5. Thermal design [Operating range in which a heat sink is not used] Use of a heat sink to lower the operating substrate temperature of the HIC (Hybrid IC) is effective in increasing the quality of the HIC. The size of heat sink for the HIC varies depending on the magnitude of the average power loss, PdAV, within the HIC. The value of PdAV increases as the output current increases. To calculate PdAV, refer to “Calculating Internal HIC Loss” in the specification document. Calculate the internal HIC loss, PdAV, assuming repeat operation such as shown in Figure 1 below, since conduction during motor rotation and off time both exist during actual motor operations, IO1 Motor phase current (sink side) IO2 0A -IO1 T1 T2 T3 T0 Figure 1 Motor Current Timing T1: Motor rotation operation time T2: Motor hold operation time T3: Motor current off time T2 may be reduced, depending on the application. T0: Single repeated motor operating cycle IO1 and IO2: Motor current peak values Due to the structure of motor windings, the phase current is a positive and negative current with a pulse form. Note that figure 1 presents the concepts here, and that the on/off duty of the actual signals will differ. The hybrid IC internal average power dissipation PdAV can be calculated from the following formula. PdAV= (T1P1+T2P2+T30) TO ---------------------------- (I) (Here, P1 is the PdAV for IO1 and P2 is the PdAV for IO2) If the value calculated using Equation (I) is 1.5W or less, and the ambient temperature, Ta, is 60C or less, there is no need to attach a heat sink. Refer to Figure 2 for operating substrate temperature data when no heat sink is used. [Operating range in which a heat sink is used] Although a heat sink is attached to lower Tc if PdAV increases, the resulting size can be found using the value of c-a in Equation (II) below and the graph depicted in Figure 3. c-a= (Tc max-Ta) PdAV ---------------------------- (II) Tc max: Maximum operating substrate temperature =105C Ta: HIC ambient temperature Although a heat sink can be designed based on equations (I) and (II) above, be sure to mount the HIC in a set and confirm that the substrate temperature, Tc, is 105C or less. The average HIC power loss, PdAV, described above represents the power loss when there is no avalanche operation. To add the loss during avalanche operations, be sure to add Equation (3-2), “Allowable STK672-4** Avalanche Energy Value”, to PdAV. 21/26 STK672-440AN/-442AN-E Application Note Figure 2 STK672-440AN-E Substrate temperature rise, Tc (no heat sink) - Internal average power dissipation, Substrate temperature rise, Tc - C PdAV 80 70 60 50 40 30 20 10 0 0 0.5 1 1.5 2 2.5 3 3.5 Hybrid IC internal average power dissipation, PdAV - W STK672-442AN-E Substrate temperature rise, Tc (no heat sink) - Internal average power dissipation, Substrate temperature rise, Tc - C PdAV 80 70 60 50 40 30 20 10 0 0 0.5 1 1.5 2 2.5 3 Hybrid IC internal average power dissipation, PdAV - W Figure 3 STK672-440AN/-442AN-E Heat sink area (Board thickness: 2mm) - c-a Heat sink thermal resistance, Θc -a- C / W 100 No surface finish Surface finished in 10 black 1 10 100 1000 Heat sink area, S cm2 (thickness : 2mm) 22/26 STK672-440AN/-442AN-E Application Note 6. Mitigated Curve of Package Power Loss, PdPK, vs. Ambient Temperature, Ta STK672-440AN-E Package power loss, PdPK, refers to the average internal power loss, PdAV, allowable without a heat sink. The figure below represents the allowable power loss, PdPK, vs. fluctuations in the ambient temperature, Ta. Power loss of up to 3.1W is allowable at Ta=25C, and of up to 1.75W at Ta=60C. * The package thermal resistance θc-a is 25.8°C/W. Allowable power dissipation, PdPK (no heat sink) - Ambient temperature, Ta Allowable power dissipation, PdPK - W 3.5 3 2.5 2 1.5 1 0.5 0 0 20 40 60 80 100 120 Ambient temperature, Ta - °C STK672-442AN-E Package power loss, PdPK, refers to the average internal power loss, PdAV, allowable without a heat sink. The figure below represents the allowable power loss, PdPK, vs. fluctuations in the ambient temperature, Ta. Power loss of up to 2.8W is allowable at Ta=25C, and of up to 1.5W at Ta=60C. * The package thermal resistance θc-a is 28.6°C/W. Allowable power dissipation, PdPK (no heat sink) - Ambient temperature, Ta Allowable power dissipation, PdPK - W 3 2.5 2 1.5 1 0.5 0 0 20 40 60 80 100 120 Ambient temperature, Ta - °C 23/26 STK672-440AN/-442AN-E Application Note 7. Other usage notes In addition to the “Notes” indicated in the Sample Application Circuit, care should also be given to the following contents during use. (1) Allowable operating range Operation of this product assumes use within the allowable operating range. If a supply voltage or an input voltage outside the allowable operating range is applied, an overvoltage may damage the internal control IC or the MOSFET. If a voltage application mode that exceeds the allowable operating range is anticipated, connect a fuse or take other measures to cut off power supply to the product. (2) Input pins If the input pins are connected directly to the board connectors, electrostatic discharge or other overvoltage outside the specified range may be applied from the connectors and may damage the product. Current generated by this overvoltage can be suppressed to effectively prevent damage by inserting 100 to 1k resistors in lines connected to the input pins. Take measures such as inserting resistors in lines connected to the input pins. (3) Power connectors If the motor power supply VCC is applied by mistake without connecting the GND part of the power connector when the product is operated, such as for test purposes, an overcurrent flows through the VCC decoupling capacitor, C1, to the parasitic diode between the VDD of the internal control IC and GND, and may damage the power supply pin block of the internal control IC. To prevent damage in this case, connect a 10 resistor to the VDD pin, or insert a diode between the VCC decoupling capacitor C1 GND and the VDD pin. Overcurrent protection measure: insert a resistor VDD=5V 5V Reg. . A 4 9 AB 5 BB B 3 1 VDD FAO FABO MODE1 FBO CLOCK Vcc FBBO CWB RESETB R1 ENABLE A1 MODE2 B1 MODE3 FAULT Vref 18 R2 24V Reg . C1 GND 2 6 Vref VSS S.G open Overcurrent protection measure: insert a diode Overcurrent path (4) Input Signal Lines 1) Do not use an IC socket to mount the driver, and instead solder the driver directly to the board to minimize fluctuations in the GND potential due to the influence of the resistance component and inductance component of the GND pattern wiring. 2) To reduce noise caused by electromagnetic induction to small signal lines, do not design small signal lines (sensor signal lines, and 5V or 3.3V power supply signal lines) that run parallel in close proximity to the motor output line A (Pin 4), AB (Pin 5), B (Pin 3), or BB (Pin 1) phases. 24/26 STK672-440AN/-442AN-E Application Note (5) When mounting multiple drivers on a single board When mounting multiple drivers on a single board, the GND design should mount a VCC decoupling capacitor, C1, for each driver to stabilize the GND potential of the other drivers. The key wiring points are as follows. 24v 5V 9 Input Signals Motor 1 IC1 9 Input Signals IC2 9 Input Signals Motor 3 IC3 2 2 2 19 18 Motor 2 6 19 18 6 6 19 18 GND GND Short Thick and short Thick (6) VCC operating limit When the output (for example F1) of a 2-phase stepper motor driver is turned OFF, the AB phase back electromotive force eab produced by current flowing to the paired F2 parasitic diode is induced in the F1 side, causing the output voltage VFB to become twice or more the VCC voltage. This is expressed by the following formula. VFB = VCC + eab = VCC + VCC + IOH x RM + Vdf (1.6V) VCC: Motor supply voltage, IOH: Motor current set by Vref Vdf: Voltage drop due to F2 parasitic diode and current detection resistor R1, RM: Motor winding resistance value Using the above formula, make sure that VFB is always less than the MOSFET withstand voltage of 100V. This is because there is a possibility that operating limit of VCC falls below the allowable operating range of 42V, due to the RM and IOH specifications. VCC VCC AB phase A phase AB phase A phase eab eab is generated by the mutual induction M. Current path VFB M F2 OFF F1 ON R1 GND VCC eab Current path M F2 OFF F1 OFF R1 GND The oscillating voltage in excess of VFB is caused by LCRM (inductance, capacitor, resistor, mutual inductance) oscillation that includes micro capacitors C, not present in the circuit. Since M is affected by the motor characteristics, there is some difference in oscillating voltage according to the motor specifications. In addition, constant voltage drive without constant current drive enables motor rotation at VCC 0V. 25/26 STK672-440AN/-442AN-E Application Note ON Semiconductor and the ON logo are registered trademarks of Semiconductor Components Industries, LLC (SCILLC). SCILLC owns the rights to a number of patents, trademarks, copyrights, trade secrets, and other intellectual property. A listing of SCILLC’s product/patent coverage may be accessed at www.onsemi.com/site/pdf/Patent-Marking.pdf. SCILLC reserves the right to make changes without further notice to any products herein. SCILLC makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does SCILLC 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 special, consequential or incidental damages. “Typical” parameters which may be provided in SCILLC 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. 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SCILLC is an Equal Opportunity/Affirmative Action Employer. This literature is subject to all applicable copyright laws and is not for resale in any manner. 26/26