TECHNICAL DATA 3-Phase Full-Wave Sine-Wave PWM Brushless Motor Controller IK6501 GENERAL DESCRIPTION PACKAGE INFORMATION FEATURES Sine-wave PWM control Built-in triangular-wave generator (carrier cycle = fOSC/252 (Hz)) Built-in lead angle control function (0° to 58° in 32 steps) Built-in dead time function (setting 2.6 μs or 3.8 μs) Supports bootstrap circuit Overcurrent protection signal input pin Built-in regulator (Vref = 5 V (typ.), 30 mA (max)) Operating supply voltage range: VСС = 6 V to 10 V SSOP24-P-300-1.00 Weight: 0.33 g (typ.) 1 July 2013, Rev. 00 IK6501 BLOCK DIAGRAM 2 July 2013, Rev. 00 IK6501 PIN LIST AND DESCRIPTIONS Pin Name Description Remarks 21 HU Positional signal input pin U 20 HV Positional signal input pin V 19 HW Positional signal input pin W When positional signal is HHH or LLL, gate block protection operates. With built-in pull-up resistor 18 CW/CCW Rotation direction signal input pin 11 RES 22 L: Forward H: Reverse Reset-signal-input pin L: Reset (Output is non-active) Operation/Halt operation Also used for gate block protection Ve Inputs voltage instruction signal With built-in pull-down resistor 23 LA Lead angle setting signal input pin Sets 0° to 58° in 32 steps 12 OS Inputs output logic select signal L: Active low H: Active high Idc Inputs overcurrentprotection-signal Inputs DC link current. Reference voltage: 0.5 V With built-in filter (≈ 1 µs) 14 Xin Inputs clock signal With built-in feedback resistor 15 Xout 03 24 Vrefout Outputs clock signal Outputs reference voltage signal 5 V (typ.), 30 mA (max) FG signal output pin Outputs 3PPR of positional signal Reverse rotation detection signal Detects reverse rotation. Select active high or active low using the output logic select pin. 17 FG 16 REV 09 U Outputs turn-on signal 08 V Outputs turn-on signal 07 W Outputs turn-on signal 06 X Outputs turn-on signal 05 Y Outputs turn-on signal 04 Z Outputs turn-on signal 01 VСС Power supply voltage pin VСС = 6 V~10 V 10 Td Inputs setting dead time L: 3.8 µs, H or Open: 2.6 µs 02 P-GND Ground for power supply Ground pin 13 S-GND Ground for signals Ground pin 3 July 2013, Rev. 00 IK6501 INPUT/OUTPUT EQUIVALENT CIRCUITS Pin Description Symbol Input/Output Signal Positional signal input pin U HU Positional signal input pin V HV Positional signal input pin W HW Input/Output Internal Circuit Digital With Schmitt trigger Hysteresis 300 mV (typ.) L: 0.8 V (max) H: Vrefout - 1 V (min) L: Forward (CW) H: Reverse (CCW) Reset input Digital CW/CCW Forward/reverse switching input pin With Schmitt trigger Hysteresis 300 mV (typ.) RES Digital L: Stops operation (reset) H: Operates L: 0.8 V (max) H: Vrefout - 1 V (min) With Schmitt trigger Hysteresis 300 mV (typ.) L: 0.8 V (max) H: Vrefout - 1 V (min) Voltage instruction signal input pin Ve Input range 0 V to 5.0 V Turn on the lower transistor at 0.2 V or less. Input voltage of Vrefout or higher is clipped to Vrefout. (X, Y, Z pins: On duty of 8%) Lead angle setting signal input pin 0 V: 0° 5 V: 58° (5-bit AD) Analog LA Analog Input range 0 V to 5.0 V Input voltage of Vrefout or higher is clipped to Vrefout 4 July 2013, Rev. 00 IK6501 Setting dead time input pin Td L: 3.8 µs H or Open: 2.6 µs Output logic select signal input pin Digital L: 0.8 V (max) H: Vrefout - 1 V (min) OS Digital L: 0.8 V (max) L: Active low H: Active high H: Vrefout - 1 V (min) Overcurrent protection signal input pin Idc Clock signal input pin Xin Operating range Clock signal output pin Xout 2 MHz to 8 MHz (crystal oscillation) Reference voltage signal output pin Analog Gate block protected at 0.5 V or higher (released at carrier cycle) Vrefout 5 ± 0.5 V (max 30 mA) 5 July 2013, Rev. 00 IK6501 Reverse-rotation-detection signal output pin FG signal output pin REV Digital Push-pull output: ± 1 mA (max) FG Digital Push-pull output: ± 1 mA (max) Turn-on signal output pin U U Analog Turn-on signal output pin V V Turn-on signal output pin W W Push-pull output: ± 2 mA (max) Turn-on signal output pin X X Turn-on signal output pin Y Y Turn-on signal output pin Z Z L: 0.78 V (max) H: Vrefout - 0.78 V (min) 6 July 2013, Rev. 00 IK6501 ABSOLUTE MAXIMUM RATINGS* (TA = 25ºС) Symbol VCC Vin (1) (Note 1) Parameter Min Max Unit - 12 V -0.3 VCC V -0.3 5.5 Turn-on signal output current - 2 mA Power Dissipation - 0.9 W Operating temperature -30 +115 °C Storage temperature -50 +150 °C Supply voltage Input voltage Vin (2) (Note 2) IOUT PD (Note 3) Topr (Note 4) Tstg Note: 1) Vin (1) pin: Ve, LA 2) Vin (2) pin: HU, HV, HW, CW/CCW, RES, OS, Idc, Td 3) When mounted on PCB (universal 50 × 50 × 1.6 mm, Cu 30%) 4) Operating temperature range is determined by the PD - TA characteristic. *Stresses beyond those listed under “Absolute Maximum Ratings” may cause permanent damage to the device. These are stress ratings only and functional operation of the device at these or any other conditions beyond those indicated in the operational sections of the specifications are not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability. RECOMMENDED OPERATING CONDITIONS (TA = 25ºС) Symbol VCC Xin Parameter Supply voltage Crystal oscillation frequency Min 6 2 Typ 7 4 Max 10 8 Unit V MHz 7 July 2013, Rev. 00 IK6501 ELECTRICAL CHARACTERISTICS TA = 25ºC, VCC = 15V, unless otherwise specified. Description Supply current Input current Input voltage Input hysteresis voltage Output voltage Symbol ICC Overcurrent detection Lead angle correction VCC monitor Min - Iin (1) Iin (2) -1 Iin (2) -2 Iin (2) -3 Vin High Vin = 5V Ve, LA Vin = 0V HU, HV, HW -40 Vin = 0V CW/CCW, OS, Td -80 Vin =5V RES Vrefout HU, HV, HW, CW/CCW, -1 RES, OS, Td, Low VH HU, HV, HW, CW/CCW, RES - VOUT(H)-1 VOUT(L)-1 Output leakage current Output offtime by upper/lower transistor (Note 5) Condition Vrefout = open IOUT = 2 mA U, V, W, X, Y, Z IOUT = -2 mA U, V, W, X, Y, Z Typ 3 Max 6 Unit mA 20 -20 -40 40 40 80 µA - Vrefout - 0.8 V 0,3 - Vrefout Vrefout -0.78 - VREV(H) IOUT = 1 mA REV VREV(L) IOUT = -1 mA REV VFG(H) IOUT = 1 mA FG -0.4 0.4 - V 0.78 Vrefout Vrefout -1.0 - V -0.5 0.5 - Vrefout Vrefout 1.0 - -0.5 0.5 5.0 0 1.0 5.5 10 VFG(L) Vrefout IL(H) IOUT = -1 mA FG IOUT = -30 mA Vrefout VOUT = 0V U, V, W, X, Y, Z -1.0 4.5 - IL(L) VOUT = 3.5V U, V, W, X, Y, Z - 0 10 Td = High or open, Xin = 4.19MHz, IOUT = ± 2 mA, OS = High/Low Td = Low, Xin = 4.19 MHz, IOUT = ± 2 mA, OS = High/Low 2.2 2.6 - 3.0 3.8 - 0.46 0.5 0.54 V - 0 - º 27.5 53.5 4.2 3.7 3.7 32 59 4.5 4.0 4.0 34.5 62.5 4.8 4.3 4.3 V TOFF(H) TOFF(L) Vdc TLA(0) TLA(2,5) TLA(5) VCC(H) VCC(L) VH Idc LA = 0V or Open, Hall IN = 100Hz LA = 2.5 V, Hall IN = 100Hz LA = 5 V, Hall IN = 100Hz Output start operation point No output operation point Input hysteresis width µA µs Note 5: TOFF 8 July 2013, Rev. 00 IK6501 9 July 2013, Rev. 00 IK6501 FUNCTIONAL DESCRIPTION 1. Basic operation. The motor is driven by the square-wave turn-on signal based on a positional signal. When the positional signal reaches number of rotations f = 5 Hz or higher, the rotor position is assumed according to the positional signal and a modulation wave is generated. The modulation wave and the triangular wave are compared then the sine-wave PWM signal is generated and the motor is driven. From start to 5 Hz: When driven by square wave (120° turn-on). 5 Hz ~: When driven by sine-wave PWM (180° turn-on). Approximately 5 Hz @ fosc = 4MHz, f = fosc/(212 × 32 × 6). 2. Function to stabilize bootstrap voltage. (1) (2) When voltage instruction is input at Ve ≤ 0.2 V: Turns on the lower transistor at regular (carrier) cycle. (On duty is approx. 8%). When voltage instruction is input at Ve > 0.2 V: During sine-wave drive, outputs drive signal as it is. During square-wave drive, forcibly turns on the lower transistor at regular (carrier) cycle. (On duty is approx. 8%). Note: At startup, to charge the upper transistor gate power supply, turn the lower transistor on for a fixed time with Ve ≤ 0.2 V. 3. Dead time function: upper/lower transistor output off-time. When driving the motor by sine-wave PWM, to prevent a short circuit caused by simultaneously turning on upper and lower external power devices, digitally generates dead time in the IC. When a square wave is generated in full duty cycle mode, the dead time function is turned on to prevent a short circuit. Td Pin High or Open Low Internal Counter 11/fosc 16/fosc TOFF 2.6 µs 3.8 µs TOFF values above are obtained when fosc = 4.19 MHz. fosc = reference clock (crystal oscillation) 4. Correcting lead angle. The lead angle can be corrected in the turn-on signal range from 0 to 58° in relation to the induced voltage on analog input LA pin (0 V to 5 V divided by 32). 0 V = 0° 5 V = 58° (when more than 5 V is input, 58°) 10 July 2013, Rev. 00 IK6501 5. Setting carrier frequency. Sets triangular wave cycle (carrier cycle) necessary for generating PWM signal.(The triangular wave is used for forcibly turning on the lower transistor when driving the motor by square wave.) Carrier cycle = fosc/252 (Hz) fosc = Reference clock (crystal oscillation) 6. Switching the output of turn-on signal. Switches the output of turn-on signal between high and low. Pin OS: High = active high Low = active low 7. Outputting reverse rotation detection signal. Detects motor rotation direction every electrical degrees of 360°. (The output is high immediately after reset). REV terminal increases with a 180° turn-on mode at the time of low. CW/CCW Pin Low (CW) High (CCW) Actual Motor Rotating Direction CW (forward) CCW (reverse) CW (forward) CCW (reverse) REV Pin Low High High Low 8. Protecting input pin. 1. 2. Overcurrent protection (Pin Idc). When the DC-link-current exceeds the internal reference voltage, performs gate block protection. Overcurrent protection is released for each carrier frequency. Reference voltage = 0.5 V (typ.) Gate block protection (Pin RES). When the input signal level is Low, turns off the output; when High, restarts the output. Detects abnormality externally and inputs the signal to the pin RES. RES Pin OS Pin Output Turn-on Signal (U, V, W, X, Y, Z) Low Low High High Low (When RES = Low, bootstrap capacitor charging stops.) 11 July 2013, Rev. 00 IK6501 3. Internal protection Positional signal abnormality protection When the positional signal is HHH or LLL, turns off the output; otherwise, restarts the output. Low power supply voltage protection (VCC monitor) When power supply is on/off, prevents damage caused by short-circuiting power device by keeping the turn-on signal output at high impedance outside the operating voltage range. 12 July 2013, Rev. 00 IK6501 OPERATION FLOW Note: Output ON time is decreased by the dead time (carrier frequency × 92% - Td × 2) 13 July 2013, Rev. 00 IK6501 The modulation waveform is generated using Hall signals. Then, the modulation waveform is compared with the triangular wave and a sine-wave PWM signal is generated. The time (electrical degrees: 60°) from the rising (or falling) edges of the three Hall signals to the next falling (or rising) edges are counted. The counted time is used as the data for the next 60° phase of the modulation waveform. There are 32 items of data for the 60° phase of the modulation waveform. The time width of one data item is 1/32 of the time width of the 60° phase of the previous modulation waveform. The modulation waveform moves forward by the width. In the above diagram, the modulation waveform (1)’ data moves forward by the 1/32 time width of the time (1) from HU: ↑ to HW: ↓. Similarly, data (2)’ moves forward by the 1/32 time width of the time (2) from HW: ↓ to HV: ↑. 14 July 2013, Rev. 00 IK6501 If the next edge does not occur after the 32 data items end, the next 32 data items move forward by the same time width until the next edge occurs. The modulation wave is brought into phase with every zero-cross point of the Hall signal. The modulation wave is reset in synchronization with the rising and falling edges of the Hall signal at every 60° electrical degrees. Thus, when the Hall device is not placed at the correct position or when accelerating/decelerating, the modulation waveform is not continuous at every reset. 15 July 2013, Rev. 00 IK6501 TIMING CHARTS Forward Reverse 16 July 2013, Rev. 00 IK6501 OPERATION WAVEFORM When Driven by Square Wave (CW/CCW = Low, OS = High) To stabilize the bootstrap voltage, the lower outputs (X, Y, and Z) are always turned on at the carrier cycle even during off time. At that time, the upper outputs (U, V, and W) are assigned dead time and. turned off at the timing when the lower outputs are turned on. (Td varies with input Ve) Carrier cycle = fosc/252 (Hz) Dead time: Td = 16/fosc (s) (In more than Ve = 4.6 V) TONL = carrier cycle × 8% (s) (Uniformity) When the motor is driven by a square wave, acceleration/deceleration is determined by voltage Ve. The motor accelerates/decelerates according to the On duty of T ONU (see the diagram of output On duty on page 13). Note: At startup, the motor is driven by a square wave when the Hall signals are 5 Hz or lower (fosc = 4 MHz) and the motor is rotating in the reverse direction as the IK6501 controls it (REV = High). 17 July 2013, Rev. 00 IK6501 OPERATION WAVEFORM When Driven by Sine-Wave PWM (CW/CCW = Low, OS = High) When the motor is driven by a sine wave, the motor is accelerated/decelerated according to the On duty of TONU when the amplitude of the modulation symbol changes by voltage Ve (see the diagram of output On duty on page 13). Triangular wave frequency = carrier frequency = fosc/252 (Hz) Note: At startup, the motor is driven by a sine wave when the Hall signals are 5 Hz or higher (fosc = 4 MHz) and the motor is rotating in the same direction as the IK6501 controls it (REV = Low). 18 July 2013, Rev. 00 Note 1: For preventing the IC from misoperation caused by noise for example connect to ground as required. Note 2: Connect P-GND to signal ground on an application circuit. Note 3: A short circuit between the outputs or between output and supply or ground may damage the device. Peripheral parts may also be damaged by overvoltage and overcurrent. Design the output lines, V CC and GND lines so that short circuits do not occur. Also be careful not to insert the IC in the wrong direction because this could destroy the IC. Example of Application Circuit IK6501 July 2013, Rev. 00 19 IK6501 PACKAGE INFORMATION SSOP24-P-300-1.00 Unit: mm Weight: 0.33 g (typ) 20 July 2013, Rev. 00