APX6219 PWM Stepper Motor Driver Features General Description • The APX6219 is designed to drive both winding of a two-phase bipolar stepper motor or bidirectionally control 2 DC motors. APX6219 includes two Hbridges capable of continuous output current of ±750 mA with peak start up to 1A and operating voltages up to 28V. Motor winding current can be controlled by the internal fixed-frequency, pulse-width modulated (PWM), current-control circuitry. Wide range current control is controlled by means of two logic inputs with a external reference voltage for each bridge. The peak load current limit is set by the user’s selection of a reference voltage and current-sensing resistor. Two logic-level select output current limits of 0%,33%, 67%, or 100% of the maximum level. A phase input to each bridge determines load current direction. A thermal shutdown protection circuit disables the outputs if the chip temperature over the safe operation limit. The APX6219 come in SOP-24 package. • Able to Drive Both Windings of Bipolar Stepper Motor Up to 750 mA Continuous Output Current for Each Winding • Up to 28V Output Sustaining Voltage • Internal PWM Current Control • Built-in Protection Diode • • Low Output Saturation Voltage Internal Thermal Shutdown Lead Free Available (RoHS Compliant) • Applications • Scanner • • Stepping Motor Control Thermal Printer Pin Configuration OUT1A 1 24 VBB(LOAD SUPPLY) OUT2A 2 23 SENSE1 SENSE2 3 22 COMP.INPUT1 COMP.INPUT2 4 21 OUT1B OUT2B 5 20 l01 GND 6 19 GND GND 7 18 GND l02 8 17 l11 I12 9 16 PHASE1 PHASE2 10 15 VREF1 VREF2 11 14 RC1 RC2 12 13 VCC(LOGIC SUPPLY) SOP-24 (Top View) ANPEC reserves the right to make changes to improve reliability or manufacturability without notice, and advise customers to obtain the latest version of relevant information to verify before placing orders. Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 1 www.anpec.com.tw APX6219 Ordering and Marking Information P ackage C ode K : SO P - 24 Tem p. Range ° to 8 5 °C I : -4 0 C H a n d lin g C o d e TU : Tube TR : Tape & R eel L e a d F re e C o d e L : L e a d F re e B la n k : O rig in a l D e v ic e APX6219 L e a d F re e C o d e H a n d lin g C o d e Tem p. Range Package Code A P X6219 XXXXX A P X6219 K : X X X X X - D a te C o d e Notes: ANPEC lead-free products contain molding compounds/die attach materials and 100% matte in plate termination finish; which are fully compliant with RoHS and compatible with both SnPb and lead-free soldiering operations. ANPEC lead-free products meet or exceed the lead-free requirements of IPC/JEDEC J STD-020C for MSL classification at lead-free peak reflow temperature. Pin Description PIN I/O NO. Name 1,2 OUTPUT A O 3,23 Sense Resistor O 4,22 Comparator Input I 5,21 6,7,18,19 OUTPUT B Ground O 8,9 I02/I12 I 20,17 I01/I11 I 10,16 PHASE I 11,15 12,14 13 24 Reference Voltage RTCT VCC VBB I O Description H- bridge Output connection. The output stage is a “H” bridge formed by four transistors and four-protection diode for switching applications. Connection to lower emitters of output stage for insertion of current sensor resistor to check the peak value of output current The voltage across the sense resistor is feedback to this input through the low pass filter RC CC. The higher power transistors are disabled when the sense voltage exceeds the reference voltage of selected comparator. The current decays for a time set by RT CT when this happen See pins 1,2 Ground connection These pins are logic inputs which select the outputs of the comparators to set the output current level. Current also depends on the sensing resistor and reference voltage. I0 I1 Current level H H No current Low current 1/3 IO max L H Medium current 2/3 IO max H L Maximum current IO max L L See pins 8,9; current level control for channel2 This TTL-compatible logic input sets the current flow direction through load. A schmitt trigger with this input provides the noise immunity and a delay circuit prevents output stage short circuits during switching A voltage apply this pin sets the input of a comparator to control the output current A RTCT connection to this pin sets the off time of higher power transistor Logic supply voltage Load supply voltage Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 2 www.anpec.com.tw APX6219 Block Diagram (22) COMPARATOR INPUT1 (20) I01 ¡] 17¡^I11 (16) PHASE1 (14) RC1 (13)¡) LOGIC SUPPLY LOGIC SURRENT SELECT (24) LOAD SUPPLY POWER BRIDGE 1 (1) OUT1A WINDING1 (21) OUT1B (15) VREF1 THERMAL SHUTDOWN (11) VREF2 (8) I02 (9) I12 (10) PHASE2 LOGIC SURRENT SELECT (6,7,18,19) (4) GND COMPARATOR INPUT2 POWER BRIDGE 2 (12) RC2 (23) SENSE1 RSENSE1 (2) OUT2A WINDING2 (5) OUT2B (3) SENSE2 RSENSE2 Absolute Maximum Ratings Symbol VBB IO IO VCC VIN VSENSE RTH,JA RTH,JC PD Parameter Load Supply Voltage Output Current (Peak) Output Current (Continuous) Logic Supply Voltage Logic Input Voltage Driver Output Sense Voltage Thermal Resistance – Junction to Ambient* SOP-24 Thermal Resistance – Junction to Case SOP-24 Power Dissipation TJ Junction Temperature TOP Operating Temperature Range TSTG Storage Temperature Range TL Lead Temperature (Soldering, 10 second) (*) With minimized copper area. Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 3 Rating 30 ±1 ±750 7 -0.3 to VCC+0.3 1.5 75 15 Internally Limited 0 to 150 0 to 70 -65 to +150 260 Unit V A mA V V V °C/W °C/W W °C °C °C °C www.anpec.com.tw APX6219 Electrical Characteristics Unless otherwise noted these specifications apply over full temperature, VBB=28V, VCC=4.75 to 5.25V, VREF=5V, TJ=0 to 125°C . Typical values refer to TJ=25°C . Symbol Parameter Test Conditions Output drivers (OUTA or OUTB) VBB Motor Supply Voltage ILEAK VCE(sat) Output Leakage Current Output Saturation Voltage IR Clamp Diode Leakage Current VF Clamp Diode Forward Voltage IBB(on) Driver Supply Current IBB(off) Driver Supply Current Control logic VIH Voltage Input VIL Voltage Input IIH Input Current IIL Input Current VREF Reference Voltage ICC (on) Logic Supply Current ICC (off) Logic Supply Current VREF/VSENSE Current Limit Threshold (at trip point) TOFF Cutoff Time TD Turn off Delay Protection Over Temperature Shutdown OTS Over Temperature Shutdown Hystersis Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 Min. APX6219 Typ. Max. 10 VOUT=VBB VOUT=0 Sink driver, IOUT=+500mA Sink driver, IOUT=+750mA Source driver, IOUT=-500mA Source driver, IOUT=-750mA VR=28V Sink diode Source diode IF=750mA Both bridges ON, no load Both bridges OFF All inputs All inputs VIN=2.4V VIN=0.8V <1 <-1 0.4 0.8 1.1 1.4 <1 1.6 1.6 14 2 2.4 <1 -5 1.5 I0=I1=0.8V, no load I0=I1=2.4V, no load I0=I1=0.8V I0=2.4V,I1=0.8V I0=0.8V,I1=2.4V RT=56KΩ, CT=820pF Hystersis 4 28 50 -50 0.7 1.1 1.4 1.7 50 2 2 25 10 9.5 13.5 25.5 47 8 10 15 30 45 2 0.8 20 -50 7.5 57 14 10.5 16.5 34.5 Unit V µA V µA V mA mA V V µA µA V mA mA µs µs 150 °C 20 °C www.anpec.com.tw APX6219 PWM Output Current Waveform V PHASE + IO U T 0 I TR IP I TR IP =V R E F /10 R S t off td Load Current Paths VBB motor B ridge on S ource off Rs A ll off Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 5 www.anpec.com.tw APX6219 Principle Operating Sequence Stand-by Half-step motor drive 1 2 3 4 5 6 7 8 Full-step motor drive 1 2 3 4 5 6 7 8 I01 I11 Phase1 x x x Phase2 x I02 I12 Motor1 Current 500mA 333 mA -167 mA -333 mA -500mA Motor2 current 500mA 333 mA 167 mA -333 mA -500mA Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 6 www.anpec.com.tw APX6219 PWM Current-Control Circuitry V BB " m o to r O U TA O U TB V RE F # S e nse ! 2 0 kΩ ÷1 0 C O M P IN 4 0 kΩ 1 0 kΩ CMP + O ne sho t " RC I0 Rs 1Ω CC Phase OU TA OU TB H H L L L H RC CT 820pf RT 5 6 kΩ I1 % True Table S o urce D isa b le Typical Application Circuit STEPPER MOTOR 1 R T= 56K Ω , C T=820p F R C=1K Ω , C C=820pF R S= 1Ω 2 RS RC CC Fom µ P V REF2 RT V BB 24 RS + 23 3 22 4 21 5 20 6 19 7 18 8 17 9 16 10 15 11 14 12 13 CT 0 .1 µ F RC 100µ F CC Fom µ P V REF1 0 .1 µ F CT RT V CC 0 .1 µ F Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 7 www.anpec.com.tw APX6219 Typical Characteristics All Bridge Enable All Bridge Disable I0 I0 I1 I1 IL(0~300mA) IL(0~300mA) VOUT1A (1V/div) VOUT1A(1V/div) Time ( 0.1ms/div) Time ( 0.1ms/div) I0, I1 Threshold Voltage PHASE Pin Threshold Voltage 2.5 1.8 VPHASE+ 1.6 2 1.4 1.2 1.5 PHASE (V) I0 , I1(V) IIO=0µA VBB=12V 1 VPHASE- 1 IPHASE+=IPHASE-=0µA VBB=12V 0.8 0.6 0.4 0.5 0.2 0 0 4 4.5 5 5.5 6 4 VCC (V) Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 4.5 5 5.5 6 VCC (V) 8 www.anpec.com.tw APX6219 Typical Characteristics Output Saturation Voltage RTCT vs. Cut Off Time 900 110 800 100 700 90 Sink Source 80 RT (kΩ) IE (mA) 600 500 400 820pF CT=470pF 1000pF 70 60 300 50 200 40 100 30 V CC=5V VBB=12V 20 0 0 0.25 0.5 0.75 1 1.25 1.5 0 1.75 VCE (V) 20 30 40 50 60 70 80 90 100 Cut Off Time(µs) Operating Waveform1 VPHASE1(5V/div) 10 Operating Waveform2 RT=56kΩ,CT=820pF, RC=1kΩ,CC=820pF RT=56kΩ,CT=820pF, RC=1kΩ,CC=820pF IL(300mA~-300mA) VCOMP INPUT1 IL(500mA~-500mA) VRC1(1.6V~4.2V) VOUT1A(10V/div) VOUT1A(10A/div) VOUT1B(10V/div) Time (1ms/div) Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 Time (0.1ms/div) 9 www.anpec.com.tw APX6219 Typical Characteristics Half Stage Operation VOUT1A(10V/div) VOUT1B(10V/div) IL(300mA~-300mA) V RC1(1.6V~4.2V) Time (5ms/div) Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 10 www.anpec.com.tw APX6219 Application Information PWM Current Control Logic Control Of Output Current The APX6219 dual bridge is designed to drive both windings of a bipolar stepper motor. Output current is sensed and controlled independently in each bridge by an external sense resistor (RS), internal comparator, and monostable multivibrator. When the bridge is turned on, current increases in the motor winding and it is sensed by the external sense resistor until the sense voltage (VCOMPIN) reaches the level set at the Two logic level inputs (l0 and I1) allow digital selection of the motor winding current at 100%, 67%, 33%, or 0% of the maximum level per the table. The 0% output current condition turns off all drivers in the bridge and can be used as an OUTPUT Disable/Enable function. During half-step operations, the l0 and l1 allow the µP to control the motor at a constant torque between all positions in an eight-step sequence. This is accomplished by digitally selecting 67% drive current when two phases are on. When all drivers are turn off will make rapid current decay when phases be changed. This helps to ensure proper motor operation at high step rates. comparator’s input: ITRIP = VREF/10 RS The comparator then triggers the monostable which turns off the source driver of the bridge. The actual load current peak will be slightly higher than the trip point (especially for low-inductance loads) because of the internal logic and switching delays. This delay (TD) is typically 2µs. After turn-off, the motor current decays, going through the ground-clamp diode and sink transistor (source off). The source driver’s off time is determined by the external RC timing components, where TOFF = RTCT within the range of 30kΩ to 100kΩ and 470pF to 1000pF.When VRC drop to certain voltage, the source driver will be re-enabled automatically (bridge on), the winding current is again limited at the desired level. The logic control inputs can also be used to select a reduced current level (and reduced power dissipation) for ‘hold’ conditions and/or increased current (and available torque) for start-up conditions. General The PHASE input to each bridge determines the direction motor winding current flows. An internally generated deadtime (approximately 2µs) prevents shoot through that can occur when switching the PHASE input. Thermal protection circuitry turns off all drivers when the junction temperature reaches +150°C. It is only intended to protect the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. The output drivers are re-enabled when the junction temperature cools to +130°C. Loads with high VBB, low L , high-frequency and low current will may result in high turn-on current peaks. This peak (appearing across RS) will attempt to trip the comparator, resulting in erroneous current control or high-frequency oscillations. An external RCCC time delay should be used to form low pass filter to reduce noise to avoid the comparator’s fault operation. The locations of RC, CC, RC components should be as close The APX6219 output drivers are optimized for low output saturation, less than 2V (source plus sink) at loading 500mA.Under normal operating conditions, this allows continuous operation of both bridges simultaneously at 750mA (such as Typical Application). to the APX6219 as possible. Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 11 www.anpec.com.tw APX6219 Package Information SO – 300mil ( Reference JEDEC Registration MS-013) D N H GAUGE PLANE E 1 2 3 A Millimeters 1 A1 B e L Variations- D Inches Variations- D Dim Min. Max. Variations Min. Max. Dim Min. Max. Variations Min. Max. A 2.35 2.65 SO-16 10.10 10.50 A 0.093 0.1043 SO-16 0.398 0.413 A1 0.10 0.30 SO-18 11.35 11.76 A1 0.004 0.0120 SO-18 0.447 0.463 B 0.33 0.51 SO-20 12.60 13 B 0.013 0.020 SO-20 0.496 0.512 D See variations SO-24 15.20 15.60 D See variations SO-24 0.599 0.614 E 7.40 SO-28 17.70 18.11 E SO-28 0.697 0.713 SO-14 8.80 9.20 e SO-14 0.347 0.362 e 7.60 1.27BSC 0.2914 0.2992 0.050BSC H 10 10.65 H 0.394 0.419 L 0.40 1.27 L 0.016 0.050 N See variations N See variations 0° φ1 φ1 8° Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 12 0° 8° www.anpec.com.tw APX6219 Physical Specifications Terminal Material Lead Solderability Solder-Plated Copper (Solder Material : 90/10 or 63/37 SnPb), 100%Sn Meets EIA Specification RSI86-91, ANSI/J-STD-002 Category 3. Reflow Condition (IR/Convection or VPR Reflow) tp TP C ritical Z one T L to T P T e m p e ra tu re R am p-up TL tL T sm ax T sm in R am p-down ts Preheat 25 t 25 °C to Peak T im e Classificatin Reflow Profiles Profile Feature Average ramp-up rate (TL to TP) Preheat - Temperature Min (Tsmin) - Temperature Max (Tsmax) - Time (min to max) (ts) Time maintained above: - Temperature (TL) - Time (tL) Peak/Classificatioon Temperature (Tp) Time within 5°C of actual Peak Temperature (tp) Ramp-down Rate Sn-Pb Eutectic Assembly Pb-Free Assembly 3°C/second max. 3°C/second max. 100°C 150°C 60-120 seconds 150°C 200°C 60-180 seconds 183°C 60-150 seconds 217°C 60-150 seconds See table 1 See table 2 10-30 seconds 20-40 seconds 6°C/second max. 6°C/second max. 6 minutes max. 8 minutes max. Time 25°C to Peak Temperature Notes: All temperatures refer to topside of the package .Measured on the body surface. Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 13 www.anpec.com.tw APX6219 Classificatin Reflow Profiles(Cont.) Table 1. SnPb Entectic Process – Package Peak Reflow Tem peratures 3 3 Package Thickness Volum e m m Volum e m m <350 ≥350 <2.5 m m 240 +0/-5°C 225 +0/-5°C ≥2.5 m m 225 +0/-5°C 225 +0/-5°C Table 2. Pb-free Process – Package Classification Reflow Tem peratures 3 3 3 Package Thickness Volum e mm Volum e mm Volum e mm <350 350-2000 >2000 <1.6 m m 260 +0°C* 260 +0°C* 260 +0°C* 1.6 m m – 2.5 m m 260 +0°C* 250 +0°C* 245 +0°C* ≥2.5 m m 250 +0°C* 245 +0°C* 245 +0°C* *Tolerance: The device m anufacturer/supplier shall assure process com patibility up to and including the stated classification tem perature (this m eans Peak reflow tem perature +0°C. For exam ple 260°C+0°C) at the rated MSL level. Reliability test program Test item SOLDERABILITY HOLT PCT TST ESD Latch-Up Method MIL-STD-883D-2003 MIL-STD-883D-1005.7 JESD-22-B, A102 MIL-STD-883D-1011.9 MIL-STD-883D-3015.7 JESD 78 Description 245°C , 5 SEC 1000 Hrs Bias @ 125 °C 168 Hrs, 100 % RH , 121°C -65°C ~ 150°C, 200 Cycles VHBM > 2KV, VMM > 200V 10ms , Itr > 100mA Carrier Tape t D P Po E P1 Bo F W Ko Ao Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 D1 14 www.anpec.com.tw APX6219 Carrier Tape(Cont.) T2 J C A B T1 Application SOP- 24 A B 330±1 62 ±1.5 F D C 12.75 ± 0.15 D1 J T1 T2 2 ± 0.6 24.4 ± 0.2 2± 0.2 Po P1 Ao W P E 24 ± 0.3 12 ± 0.1 .75± 0.1 Bo Ko t 11.5 ± 0.1 1.55 +0.1 1.5+ 0.25 4.0 ± 0.1 2.0 ± 0.1 10.9 ± 0.1 15.9± 0.1 3.1± 0.1 .35±0.05 (mm) Cover Tape Dimensions Application SOP- 24 Carrier Width 24 Cover Tape Width 21.3 Devices Per Reel 1000 Customer Service Anpec Electronics Corp. Head Office : 5F, No. 2 Li-Hsin Road, SBIP, Hsin-Chu, Taiwan, R.O.C. Tel : 886-3-5642000 Fax : 886-3-5642050 Taipei Branch : 7F, No. 137, Lane 235, Pac Chiao Rd., Hsin Tien City, Taipei Hsien, Taiwan, R. O. C. Tel : 886-2-89191368 Fax : 886-2-89191369 Copyright ANPEC Electronics Corp. Rev. A.4 - Apr., 2005 15 www.anpec.com.tw