Ordering number : ENA2317 STK672-640CN-E Thick-Film Hybrid IC 2-phase Stepper Motor Driver http://onsemi.com Overview The STK672-640CN-E is a hybrid IC for use as a unipolar, 2-phase stepper motor driver with PWM current control. Applications Office photocopiers, printers, etc. Features Built-in motor terminal open detection function(output current OFF). There is a terminal to coordinate motor terminal open detection current. Built-in overcurrent detection function, overheat detection function (output current OFF). FAULT1 signal (active low) is output when any of motor terminal open, overcurrent or overheat is detected. The FAULT2 signal is used to output the result of activation of protection circuit detection at 3 levels. Built-in power on reset function. The motor speed is controlled by the frequency of an external clock signal. 2 phase or 1-2 phase excitation switching function. Using either or both edges of the clock signal switching function. 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 (0.089Ω: 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. Supports compatible pins with STK672-630CN-E. Specifications Absolute Maximum Ratings at Tc = 25C Parameter Symbol Conditions Ratings Unit 50 V Maximum supply voltage 1 VCC max ENABLE=GND Maximum supply voltage 2 VDD max No signal Input voltage Vin max Logic input pins Output current 1 IOP max 10μs 1 pulse (resistance load) 20 A Output current 2 IOH max1 VDD = 5V, CLOCK 200Hz 4.0 A 0.3 to 6.0 V 0.3 to 6.0 V Output current 3 IOH max2 VDD = 5V, CLOCK 200Hz, VCC29V 4.5 A Output current 4 IOF max 16pin Output current 10 mA Allowable power dissipation 1 PdMF max With an arbitrarily large heat sink. Per MOSFET 8.3 W Allowable power dissipation 2 PdPK max No heat sink 3.1 W Operating substrate temperature Tcmax 105 °C Junction temperature Tjmax 150 °C Storage temperature Tstg 40 to 125 °C Stresses exceeding those listed in the Maximum Ratings table may damage the device. If any of these limits are exceeded, device functionality should not be assumed, damage may occur and reliability may be affected. ORDERING INFORMATION See detailed ordering and shipping information on page 31 of this data sheet. Semiconductor Components Industries, LLC, 2014 March, 2014 Ver. 2.2 31814HK 018-14-0004 No.2317-1/31 STK672-640CN-E Allowable Operating Ranges at Tc=25C Parameter Symbol Conditions Ratings unit Operating supply voltage 1 VCC With signals applied 0 to 46 V Operating supply voltage 2 VDD With signals applied 55% V Input high voltage VIH Pins 10, 12, 13, 14, 15, 17, VDD=55% 2.5 to VDD V Input low voltage VIL Pins 10, 12, 13, 14, 15, 17, VDD=55% 0 to 0.8 V 3.0 A 3.3 A 3.5 A 3.8 A Output current 1 IOH1 Output current 2 IOH2 Tc=105C, CLOCK200Hz, Continuous operation, duty=100% Tc=80C, CLOCK200Hz, Continuous operation, duty=100%, See the motor current (IOH) derating curve Output current 3 IOH3 Tc=105C, CLOCK200Hz, VCC29V Continuous operation, duty=100% See the motor current (IOH) derating curve Tc=80C, CLOCK200Hz, VCC29V Output current 4 IOH4 Continuous operation, duty=100%, See the motor current (IOH) derating curve CLOCK frequency Recommended operating substrate temperature Recommended Vref range fCL Minimum pulse width: at least 10s Tc No condensation Vref Tc=105C 0 to 50 kHz 0 to 105 C 0.14 to 1.31 V Functional operation above the stresses listed in the Recommended Operating Ranges is not implied. Extended exposure to stresses beyond the Recommended Operating Ranges limits may affect device reliability. Electrical Characteristics at Tc=25C, VCC=24V, VDD=5.0V *1 Parameter VDD supply current Symbol Conditions ICCO Pin 9 current, 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 Vsat RL=23 min 0.519 typ max unit 5.0 8.0 mA 0.625 0.731 0.83 1.5 V 0.20 0.33 V V A Input high voltage VIH Pins 10, 12, 13, 14, 15, 17 2.5 VDD Control Input low voltage VIL Pins 10, 12, 13, 14, 15, 17 0.3 0.8 V Input pin 5V level input current IILH Pins 10, 12, 13, 14, 15, 17=5V 50 75 A GND level input current IILL Pins 10, 12, 13, 14, 15, 17=GND 10 A FAULT 1 Output low voltage VOLF Pin 16 (IO=5mA) 0.25 0.5 V pin 5V level leakage current IILF Pin 16 =5V 10 A FAULT2 opened motor pin detection output voltage FAULT 2 FAULT2 Overcurrent detection pin output voltage FAULT2 Overheat detection output voltage Vref input bias current VOF1 VOF2 Pin 8 (when all protection functions have been activated) VOF3 IIB 0.0 0.01 0.2 2.4 2.5 2.6 3.1 3.2 3.5 Pin 19 =1.0V PWM frequency fc Overheat detection temperature TSD Design guarantee 29 Drain-source cut-off current IDSS VDS=100V, Pins 2, 6, 9, 18=GND 45 V 1 A 61 kHz 1 A C 144 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: Maximum value of operating supply voltage 1 (Vcc) can not supply to STK672-6** series, depending on motor current value. Refer to “8. Other usage notes ” of Technical data. Product parametric performance is indicated in the Electrical Characteristics for the listed test conditions, unless otherwise noted. Product performance may not be indicated by the Electrical Characteristics if operated under different conditions. No.2317-2/31 STK672-640CN-E Derating Curve of Motor Current, IOH, vs. STK672-640CN-E Operating Substrate Temperature, Tc 5 200Hz 2phaseEx ,Vcc 29V 4.5 200Hz 2phaseEx ,Vcc 46V Motor current IOH - A 4 3.5 3 2.5 Hold 2 Hold Vcc 29V 1.5 Vcc 46V 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 STK672-6** 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. No.2317-3/31 STK672-640CN-E Block Diagram FAULT2 VrefOP 8 VDD=5V 9 MODE1 10 N.C 11 MODE2 17 CLOCK 12 16 3 BB 1 Phase advance counter Power-on reset Latch Circuit Output Open detection Latch Circuit Overcurrent detection Current control chopper circuit FAULT1 signal FAULT2 signal Overheating detection F2 F3 F4 FAO Phase excitation signal generator FAB FBO FBB R1 Latch Circuit R2 P.G2 AI 2 BI P.G1 6 Vref/4.9 N.C 18 B 5 F1 Excitation mode selection ENABLE 15 FAULT1 AB 4 VDD CWB 13 RESETB 14 A 7 Vref VSS Amplifier VSS Vref 19 No.2317-4/31 STK672-640CN-E Measurement Circuit (The terminal which is not appointed is open. The measurement circuit of STK672-630CN-E is the same as STK672-640CN-E.) 24V 1. Vdf 23Ω 9 12 2 V 6 Vdf 4 10 5 17 3 13 1 15 14 STK672- 19 64xCN-E 16 18 GND 2. IILF,IILH,IILL,IIB 3. Vsat 5V 5V 5V 4 17 A IILL 3 15 1 14 1V IIB 16 A 19 5V 5 13 64xCN-E 4 17 5 13 3 15 1 19 STK67264xCN-E 16 18 2 6 23Ω 10 14 STK67218 2 9 12 CLOCK 10 IILH GND 9 12 IILF 24V V Vsat 6 GND GND 4. Icco, Ioave, fc,VOLF Icco 5V A 9 12 10 13 3 15 1 14 7.5K 1K 0.62mH 1Ω 5 17 910 4 Ioave STK672- 64xCN-E 19 16 18 2 6 VOLF 24V Ioave SW ＋ 100μ Close SW at fc mesurement of VOLF GND No.2317-5/31 STK672-640CN-E Sample Application Circuit 2 phase stepper motor driver 9 VDD(5V) CLOCK 12 MODE1 10 MODE2 17 CWB 13 ENABLE 15 RESETB R01 5 3 14 R03 FAULT 4 STK672 -640CN-E C02 10F Vref VCC 24V B BB + C01 at least 100F 16 + 1 A AB 2 19 6 18 N.C R02 P.G2 P.G1 P.GND 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 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 P. GND, Pin 2,6. Measures must also be taken so that a voltage equal to or greater than VDD is not input. Do not wire by connecting the circuit pattern on the P.C.B side to N.C Pins. shown in the internal block diagram. Apply 2.5V high level input to pins 10, 12, 13, 14, 15, and 17. Since the input pins do not have built-in pull-up resistors, when the open-collector type pins 10, 12, 13, 14, 15, and 17 are used as inputs, a 1 to 20k pull-up resistor (to VDD) must be used. At this time, use a device for the open collector driver that has output current specifications that pull the voltage down to less than 0.8V at Low level (less than 0.8V at Low level when IOL=5mA). [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(STK672-640CN-E: IOH>0.3A) is recommended. R3 5V 5V R01 Vref R01 R02 Vref R3 R02 No.2317-6/31 STK672-640CN-E [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 : 0.089 (Current detection resistor inside the hybrid IC) IOH 0 Input Pin Functions Pin Name Pin No. CLOCK 12 MODE1 10 Function Reference clock for motor phase current switching Low: 2-phase excitation Excitation mode selection MODE2 17 CWB 13 Input Conditions When Operating Operates on the rising edge of the signal (MODE2=H) High: 1-2 phase excitation High: Rising edge Low: Rising and falling edge Low: CW (forward) Motor direction switching High: CCW (reverse) System reset RESETB 14 Initial state of A and BB phase excitation in the timing charts A reset is applied by a low level is set by switching from low to high. The A, AB, B, and BB outputs are turned off, and after ENABLE 15 operation is restored by returning the ENABLE pin to the The A, AB, B, and BB outputs are turned off by a high level, operation continues with the same excitation low-level input. timing as before the low-level input. Output Pin Functions Pin Name Pin No. FAULT1 16 FAULT2 8 VrefOP 7 Function Monitor pin used when over-current detection or overheat detection function is activated. The result of activation of protection circuit detection is output. Monitor pin of reference voltage used when opened motor terminal detection. Input Conditions When Operating Low level is output when detected. 3 levels output voltage Normal DC voltage output (typ98mV) Note : See the timing chart for the concrete details on circuit operation. No.2317-7/31 STK672-640CN-E Timing Charts 2-phase excitation VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE FAO FAB FBO FBB 1-2 phase excitation VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE FAO FAB FBO FBB No.2317-8/31 STK672-640CN-E 1-2 phase excitation (CWB) VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE FAO FAB FBO FBB 2 phase excitation Switch to 1-2 phase excitation VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE FAO FAB FBO FBB No.2317-9/31 STK672-640CN-E 1-2 phase excitation (ENABLE) VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE FAO FAB FBO FBB 1-2 phase excitation (Hold operation results during fixed CLOCK) VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE Hold operation FAO FAB FBO FBB No.2317-10/31 STK672-640CN-E 2 phase excitation (MODE 2) VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE FAO FAB FBO FBB 1-2 phase excitation (MODE 2) VDD Power On Reset (or RESETB) MODE1 MODE2 CWB CLOCK ENABLE FAO FAB FBO FBB No.2317-11/31 STK672-640CN-E Package Dimensions unit : mm SIP19 29.2x14.4 CASE 127CF ISSUE O 1 19 No.2317-12/31 STK672-640CN-E STK672-640CN-E Technical data 1. 2. 3. 4. 5. 6. 7. 8. Input Pins and Functional Overview STK672-640CN-E over current detection, thermal shutdown detection. STK672-640CN-E Allowable Avalanche Energy STK672-640CN-E Internal Loss Calculation Thermal Design Package Power Loss PdPK Derating Curve for the Ambient Temperature Ta Example of Stepper Motor Driver Output Current Path (1-2 phase excitation) Other usage notes No.2317-13/31 STK672-640CN-E 1. I/O Pins and Functions of the Control Block [Pin description] HIC pin Pin Name Function 10 MODE1 17 MODE2 12 CLOCK 13 CWB 14 RESETB System reset 15 ENABLE Motor current OFF 16 FAULT1 8 FAULT2 7 VrefOP 19 Vref 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 Monitor pin of reference voltage used when opened motor terminal detection. Current value setting Description of each pin 1-1. [MODE1, MODE2 (Selecting the excitation mode, and selecting one edge or both edges of the CLOCK)] Excitation select mode terminal (7pages of input pin functions for excitation mode selection), selecting the CLOCK input edge(s).Mode setting active timing MODE1=0: 2-phase excitation MODE2=1: Rising edge of CLOCK MODE1=1: 1-2 phase excitation MODE2=0: Rising and falling edges of CLOCK See the timing charts for details on output operation in these modes. Note: Do not change the mode within 5s of the input rising or falling edge of the CLOCK signal. 1-2.[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 MODE2:1 The excitation phase moves one step at a time at the rising edge of the CLOCK pulse. MODE2:0 The excitation phase moves alternately one step at a time at the rising and falling edges of the CLOCK pulse. 1-3.[CWB (Motor direction setting)] When CWB=0: The motor rotates in the clockwise direction. When CWB=1: The motor rotates in the counterclockwise direction. See the timing charts for details on the operation of the outputs. Note: Do not allow CWB input to vary during the 6.25s interval before and after the rising and falling edges of CLOCK input. 1-4.[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. 1-5. [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. No.2317-14/31 STK672-640CN-E 1-6. [FAULT1] FAULT1 is an open drain output. It outputs low level when any of motor terminal open, overcurrent, or overheat is detected. 1-7. [FAULT2] Output is resistance divided (3 levels) and the type of abnormality detected is converted to the corresponding output voltage. Motor terminal open: 10mV (typ) Overcurrent: 2.5V (typ) Overheat: 3.3V (typ) Abnormality detection can be released by a RESETB operation or turning VDD voltage on/off. 1-8. [VrefOP] To set the motor current detection circuit operates when pin is open, to monitor the reference voltage VrefOP terminal. It is also possible to set any detectable current by connecting an external pull-up resistor to 5V supply. <IOHd by setting pull-up resistor current sensing pin 7 open> When 7 pins open, VrefOP (typ) is 98mV. In this case, detection current IOHd is expressed as follows. VefOP = IOHd × Rs (Rs: Current detection resistor) Detection current is 0.7A for the STK672-630CN-E, 1.1A for the STK672-640CN-E motor drivers. Note: Detective current IOHdX is greatly set when used 5V pulling up resistance. Reference voltage VrefOPX is calculated as above.Pull-up resistor Rdx by pin 7 is calculated as follows. RdX = (180 × RTX) ÷ (180 - RTX) RTX = (5.0V - VrefOPX) ÷ ((1.0588 × VrefOPX) - 0.0765) (RdX and RTX unit is kΩ) *To disable pin open detection, please connect a 5V pull-up resistor of 10k to 15kΩ. 1-9.[Vref (Voltage setting to be used for the current setting reference)] Input voltage is in the voltage range of 0.14V to 1.31V. The recommended Vref voltage is 0.14V or higher because the output offset voltage of Vref/4.9 amplifier cannot be controlled down to 0V. Note:Pin type is analog input configuration. 1-10. [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. Control IC power (VDD) rising edge 4Vtyp 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 No.2317-15/31 STK672-640CN-E 1-11. [Configuration of control block I/O pins] <Configuration of the MODE1, MODE2, CLOCK, CWB, ENABLE, and RESETB input pins> Input pins 10,12,13,14,15,17pin <Configuration of the FAULT2 pin> VDD Output pin Pin 8 10kΩ Input pin VDD 50k 50k 50k 100kΩ VSS Motor terminal open 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 <Configuration of the Vref input pin> <Configuration of the FAULT output pin> VDD Output pin Pin16 Vref /4.9 Motor terminal open Overcurrent Amplif ier Input pin Pin19 VSS Overheating VSS <Configuration of the VrefOP output pin> VDD 1.3V 180k Output pin Pin 7 17k 1k - To opened motor pin detection circuit + VSS No.2317-16/31 STK672-640CN-E 2. Overcurrent detection, overheat detection, and motor terminal open 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.[Motor terminal open detection] This hybrid IC is equipped with a function for detecting open output terminals to prevent thermal destruction of the MOSFET due to repeated avalanche operation that occurs when an output terminal connected to the motor is open. The open condition is determined by checking the presence or absence of the flyback current that flows in the motor inductance during the off period of the PWM cycle. Detection is performed by using the fact that the flyback current does not flow when a motor terminal is open. Terminal open Used to see the motor current Current detection resistor voltage 0V (GND potential) Used for open detection (Negative current does not flow when the terminal is open.) MOSFET gate signal PWM period When the current level drops, the difference with the GND potential decreases, making detection difficult. The motor current that can be detected by motor terminal open detection is 0.7A for the STK672-630CN-E, 1.1A for the STK672-640CN-E motor drivers <Notes on the ENABLE high edge> When ENABLE changes from low to high and the STK672-6xxCN-E performs constant-current PWM operation that flows a negative current during the 30s period after the high edge, open detection may activate and stop the driver. The motor current setting voltage Vref must be set so that PWM operation is not performed within a period of 30s after the high edge. If the motor current setup voltage is set for the rated motor current, PWM operation is not performed during this 30s period after the high edge, so this is not a problem. In addition, there is no problem with operation that lowers the current setting Vref after the motor rated current is reached as shown in the diagram on the following page. Whether constant-current PWM operation is performed during the 30s period after the high edge can be judged by substituting the motor L and R values into the formula on the following page. Vref= (R02 ÷ (R01+R02)) × 5V (or 3.3V) IOH1= (Vref ÷ 4.9) ÷ Rs IOH1: Motor current value to be set IOH2= (VCC ÷ R) × (1-e-tR/L) IOH2: Current value 30s after the ENABLE high edge Judgment standard: IOH1IOH2 R01, R02, 5V (or 3.3V): See the Sample Application Circuit documents. Rs: Current detection resistance value () VCC: Motor supply voltage (V) R: Motor winding resistance () L: Motor winding inductance (H) There is no problem if the IOH2 obtained by substituting t = 30s and the motor L and R values is smaller than the current setting value IOH1. No.2317-17/31 STK672-640CN-E ENABLE Vref Output current Constant-current PWM operation must not be performed for 30 µs or less. <Connection of capacitors between output pins and GND prohibited> Capacitors must not be connected between the phase A (pin 4), phase AB (pin 5), phase B (pin 3) and phase BB (pin 1) outputs and GND. What happens if capacitors are connected is that open-circuit detection may be triggered by the discharge current of the capacitors when the internal MOSFET is set ON. This current is not an inductance current generated by the motor winding but a capacitor current so a negative current will not flow to the other phase in each pair of phases, possibly causing the driver to shut down. <Excessive external noise> If, when the motor current rises prior to the PWM operation, a spike-shaped current exceeding the Vref-setting current is generated by excessive external noise, for instance, before the current level (0.7A for the STK672-630CN-E, 1.1A for the STK672-640CN-E motor drivers) at which motor pin open-circuiting can be detected is reached, the internal MOSFET is set OFF. Since the MOSFET has been set OFF before the actual motor current reaches 0.7A (or 1.1A), the level of the negative current subsequently flowing to the other phase in each pair of phases is low, and it may be judged that no negative current is flowing, possibly causing open-circuit detection to be triggered. During normal constant-current PWM operation, the duration of 5.5s, which is equivalent to 25% of the initial operation in the PWM period, corresponds to the section where the current is not detected, and this ensures that no current is detected for the linking part of the current that is generated in this section. The no-current detection section is not synchronized at the current rise prior to the PWM operation so when a spike-shaped current exceeding the Vref-setting current is generated, the MOSFET is set OFF at the stage where the level of the actual motor current is low. As a result, the level of the negative current subsequently flowing to the other phase in each pair of phases is low, and it may be judged that no negative current is flowing, possibly causing open-circuit detection to be triggered. Spike-shaped current Vref setting current (IOH) Motor current Current level at which open-circuiting is detected No-current detection time (5.5s typ) PWM period No.2317-18/31 STK672-640CN-E 2-2.[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 3.5A typ with the STK672-630CN-E, and 5.5A typ with the STK672-640CN-E. Current when motor terminals are shorted PWM period Overcurrent detection IOHmax Set motor current, IOH MOSFET all OFF No detection interval (5.5s typ) Normal operation 5.5s typ Operation when motor pins are shorted Overcurrent detection begins after an interval of no detection (a dead time of 5.5s 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. No.2317-19/31 STK672-640CN-E 3. Allowable Avalanche Energy Value (1) Allowable Range in Avalanche Mode When driving a 2-phase Stepper motor with constant current chopping using an STK672-6** 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 STK672-6** Series when Driving a 2-Phase Motor with Constant Current Chopping When operations of the MOSFET built into STK672-6** 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 STK672-6** 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 STK672-6** 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. No.2317-20/31 STK672-640CN-E (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 STK672-6** Series when Driving a 2-Phase Stepper Motor with Constant Current Chopping 5 4.5 4 3.5 3 PAVL W Average power loss PAVL during avalanche Figure 3 Allowable Loss Range, PAVL-IOH During STK672-640CN-E Avalanche Operations PAVL-IOH Tc=105°C Tc=80°C 2.5 2 1.5 1 0.5 0 0 1 2 3 4 Motor 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 3.0W 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. No.2317-21/31 STK672-640CN-E 4. Calculating STK672-640CN-E HIC Internal Power Loss The average internal power loss in each excitation mode of the STK672-640CN-E can be calculated from the following formulas. *1 Each excitation mode 2-phase excitation mode 2PdAVex=(Vsat+Vdf) 0.5CLOCKIOHt2+0.5CLOCKIOH (Vsatt1+Vdft3) 1-2 Phase excitation mode 1-2PdAVex=(Vsat+Vdf) 0.25CLOCKIOHt2+0.25CLOCKIOH (Vsatt1+Vdft3) Motor hold mode HoldPdAVex= (Vsat+Vdf) IOH Vsat : Combined voltage represented by the Ron voltage drop+shunt resistor Vdf : Combined voltage represented by the MOSFET body diode+shunt resistor CLOCK: Input CLOCK (CLOCK pin signal frequency) *1 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+0.20)) ln (1-(((R+0.20)/VCC) IOH)) t3= (-L/R) ln ((VCC+0.20)/(IOHR+VCC+0.20)) VCC : Motor supply voltage (V) L : Motor inductance (H) R : Motor winding resistance () IOH : Motor set output current crest value (A) Relationship of CLOCK, t1, t2, and t3 in each excitation mode 2-phase excitation mode : t2= (2/CLOCK) - (t1+t3) 1-2 phase excitation mode : t2= (3/CLOCK) -t1 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 using the formula (for average power loss , PAVL, for STK672-6** during 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. No.2317-22/31 STK672-640CN-E 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 STK672-6** 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 ························································(4-1) During2-phase excitation mode and motor hold: PAVL(1)=1PAVL ·······································(4-2) No.2317-23/31 STK672-640CN-E Output Saturation Voltage Vsat - V STK672-640CN-E Output Saturation Voltage Vsat vs. Output Current 1 0.8 0.6 Tc=25°C 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 STK672-640CN-E Forward voltage, Vdf -Output current, IOH Forward voltage, Vdf - V 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 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 No.2317-24/31 STK672-640CN-E 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 STK672-6** Avalanche Energy Value”, to PdAV. No.2317-25/31 STK672-640CN-E Figure 2 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 Figure 3 Heat sink area (Board thickness: 2mm) - c-a Heat sink thermal resistance, Θc -a- C / W 100 No surface finish Surface finished in black 10 1 10 100 1000 Heat sink area, S cm2 (thickness : 2mm) No.2317-26/31 STK672-640CN-E 6. Mitigated Curve of Package Power Loss, PdPK, vs. Ambient Temperature, Ta 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 No.2317-27/31 STK672-640CN-E 7. Example of Stepper Motor Driver Output Current Path (1-2 phase excitation) 2-phase stepper motor IOA FAULT2 8 VDD=5V 9 MODE1 10 N.C 11 MODE2 17 CLOCK 12 CWB 13 RESETB 14 IOAB VrefOP A 4 7 VDD Excitatin mode setting F1 Phase excitation signal generation Phase advnce counter Power on reset Latch Opened motor pin detection Latch Over current detection N.C 18 F2 BB 1 F3 F4 FAB FBO R1 BI Amp VSS R2 P.G2 2 P.G1 C02 at least 100F P.GND 6 Vref/4.9 Latch VCC 24V FBB AI Chopper circuit FAULT1, FAULT2 signal Over heat detection B 3 FAO ENABLE 15 FAULT1 16 AB 5 Vref VSS Vref 19 CLOCK Phase A output current IOA PWM operations Phase AB output current When PWM operations of IOA are OFF, for IOAB, negative current flows through the parasitic diode, F2. IOAB When PWM operations of IOAB are OFF, for IOA, negative current flows through the parasitic diode, F1. No.2317-28/31 STK672-640CN-E 8. 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 FAULT2 VrefOP 4 9 AB 5 BB B 3 1 VDD FAO FABO MODE1 FBO CLOCK Vcc FBBO CWB RESETB R1 ENABLE A1 MODE2 B1 MODE3 FAULT1 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. No.2317-29/31 STK672-640CN-E (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 (1.5V) 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 46V, 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. No.2317-30/31 STK672-640CN-E ORDERING INFORMATION Device STK672-640CN-E Package SIP-19 (Pb-Free) Shipping (Qty / Packing) 15 / Tube ON Semiconductor and the ON logo are registered trademarks of Semiconductor Components Industries, LLC (SCILLC). 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