A4935 Automotive 3-Phase MOSFET Driver Features and Benefits Description ▪ High current 3-phase gate drive for N-channel MOSFETs ▪ Cross-conduction protection with adjustable dead time ▪ Top-off charge pump for 100% PWM ▪ Charge pump for low supply voltage operation ▪ Uncommitted current sense amplifier ▪ 5.5 to 50 V supply voltage range ▪ Compatible with 3.3 V and 5 V logic ▪ Extensive diagnostic outputs ▪ Low-current sleep mode The A4935 is a 3-phase controller for use with N-channel external power MOSFETs and is specifically designed for automotive applications. Package: 48-pin LQFP with exposed thermal pad (suffix JP) A unique charge pump regulator provides full (>10 V) gate drive for battery voltages down to 7 V and allows the A4935 to operate with a reduced gate drive, down to 5.5 V. A bootstrap capacitor is used to provide the above-battery supply voltage required for N-channel MOSFETs. An internal charge pump for the high-side drive allows DC (100% duty cycle) operation. Full control over all six power FETs in the 3-phase bridge is provided, allowing motors to be driven with block commutation or sinusoidal excitation. The power FETs are protected from shoot-through by integrated crossover control and resistoradjustable dead time. Bridge current can be measured using an integrated current sense amplifier. This is an uncommitted differential amplifier with a below-ground common mode range allowing it to be used in low-side current sense applications. Gain and offset are defined by external resistors. Continued on the next page… Not to scale Typical Application VBAT VBAT A8450 Regulator Control DSP or Microcontroller Diagnostics Current Sense 4935-DS A4935 3-Phase BLDC Motor A4935 Automotive 3-Phase MOSFET Driver Description (continued) Integrated diagnostics provide indication of undervoltage, overtemperature, and power bridge faults. They can be configured to protect the power FETs under most short circuit conditions. Detailed diagnostics are available as a serial data word. The A4935 is supplied in a 48-pin LQFP with exposed thermal pad, (suffix JP). This is a small footprint (81 mm2) power package. It is lead (Pb) free with 100% matte tin leadframe plating. Selection Guide Part Number A4935KJP-T Packing 250 pieces per tray Absolute Maximum Ratings* Characteristic Symbol Notes Rating Units V Load Supply Voltage VBB –0.3 to 50 Logic Supply Voltage VDD –0.3 to 7 V –0.3 to 16 V CP1 and CP2 –0.3 to 16 V Logic Inputs and Outputs –0.3 to 6.5 V CSP and CSN –4 to 6.5 V LSS –4 to 6.5 V VREG CSO and VDSTH –0.3 to 6.5 V –5 to 55 V SA, SB, and SC RDEAD –0.3 to 6.5 V VDRAIN –5 to 55 V GHA, GHB, and GHC Sx to Sx+15 V GLA, GLB, and GLC –5 to 16 V –0.3 to Sx+15 V –40 to 150 ºC 150 ºC 175 ºC –55 to 150 ºC CA, CB, and CC Operating Temperature Range Junction Temperature TA Range K TJ(max) Transient Junction Temperature TtJ Storage Temperature Range Tstg Overtemperature event not exceeding 10 s, lifetime duration not exceeding 10 hr, guaranteed by design characterization ESD Rating, Human Body Model AEC-Q100-002, all pins 2000 V ESD Rating, Charged Device Model AEC-Q100-011, all pins 1050 V *With respect to AGND. THERMAL CHARACTERISTICS may require derating at maximum conditions Characteristic Package Thermal Resistance Symbol RθJA Test Conditions* Value Units 4-layer PCB based on JEDEC standard 23 ºC/W 2-layer PCB with 3 in.2 of copper area each side 44 ºC/W 2 ºC/W RθJP *Additional thermal information available on Allegro website. Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 2 A4935 Automotive 3-Phase MOSFET Driver Functional Block Diagram Battery + CP VBB VDD CP1 Logic Supply CP2 Charge Pump Regulator VBAT VREG CREG COAST Charge Pump PWMH Bootstrap Monitor VDRAIN CA CBOOTA PWML GHA High Side Drive AHI RGATE Control Logic ALO SA BHI BLO VREG CHI CLO Phase A (repeated for B & C) CCEN GLA Low Side Drive RGATE Phase C Phase B LSS RESET RDEAD ESF FF1 FF2 Diagnostics and Protection UVLO, OTF Short to Supply Short to Gnd Short Load VDSTH AGND CSP + – CSN CSOUT Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 3 A4935 Automotive 3-Phase MOSFET Driver ELECTRICAL CHARACTERISTICS valid at TJ = –40°C to 150°C, VDD = 3 to 5.5 V, VBB = 7 to 50 V, unless noted otherwise Characteristics Symbol Test Conditions Min. Typ. Max. Units 5.5 – 50 V Supply and Reference Load Supply Voltage Functional Operating Range1 Load Supply Quiescent Current Logic Supply Voltage Logic Supply Quiescent Current VBB IBBQ RESET = high, outputs = low, VBB = 12 V – 10 14 mA IBBS RESET = low, Sleep mode, VBB = 12 V – – 10 μA 3.0 – 5.5 V – 4 6 mA VDD IDDQ RESET = high, outputs = low IDDS RESET = low – – 10 μA 12.5 13 13.80 V 7.5 V < VBB ≤ 9 V, IREG = 0 to 10 mA 12.5 13 13.80 V 6 V < VBB ≤ 7.5 V, IREG = 0 to 9 mA 2×VBB – 2.5 – – V VBB > 9 V, IREG = 0 to 15 mA VREG Output Voltage Bootstrap Diode Forward Voltage Bootstrap Diode Resistance VREG VfBOOT rD 5.5 V < VBB ≤ 6 V, IREG < 8 mA 8.5 9.5 – V ID = 10 mA 0.4 0.7 1.0 V ID = 100 mA 1.5 2.2 2.8 V 6 10 20 Ω 250 500 750 mA rD(100mA) = (VfBOOT(150mA) – VfBOOT(50mA)) / 100 mA Bootstrap Diode Current Limit IDBOOT Top-off Charge Pump Current Limit ITOCPM – 400 – μA RGSH 250 – – kΩ – 35 – ns High-Side Gate Drive Static Load Resistance Gate Output Drive Turn-On Time tr CLOAD = 1 nF, 20% to 80% Turn-Off Time tf CLOAD = 1 nF, 80% to 20% – 20 – ns TJ = 25°C, IGHx = –150 mA 6 8 12 Ω TJ = 150°C, IGHx = –150 mA 10 13 16 Ω TJ = 25°C, IGLx = 150 mA 2 3 4 Ω TJ = 150°C, IGLx = 150 mA 3 4.5 6 Ω VCx – 0.2 – – V VREG – 0.2 – – V Pullup On Resistance Pulldown On Resistance RDS(on)UP RDS(on)DN GHx Output Voltage VGHX GLx Output Voltage VGLX Turn-Off Propagation Delay2 tP(off) Input change to unloaded gate output change 60 90 150 ns Turn-On Propagation Delay2 tP(on) Input change to unloaded gate output change 60 90 150 ns Propagation Delay Matching, Phase-to-Phase ∆tPP Measured between corresponding transition points on two sequential phases – 10 – ns Propagation Delay Matching, On-to-Off ∆tOO Measured across one phase – 10 – ns Bootstrap capacitor fully charged Continued on the next page… Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 4 A4935 Automotive 3-Phase MOSFET Driver ELECTRICAL CHARACTERISTICS (continued) valid at TJ = –40°C to 150°C, VDD = 3 to 5.5 V, VBB = 7 to 50 V, unless noted otherwise Characteristics Symbol Test Conditions RDEAD tied to GND Dead Time2 tDEAD Min. Typ. Max. Units – 0 – ns RDEAD = 3 kΩ – 180 – ns RDEAD = 30 kΩ 815 960 1110 ns RDEAD = 240 kΩ – 3.5 – μs RDEAD tied to VDD – 6 – μs VFF(L) IFF = 1 mA, fault not present – – 0.4 V IFF(H) VFF = 5 V, fault present –1 – 1 μA – – 0.2 V –200 – –70 μA V Logic Inputs and Outputs FF1 and FF2 Fault Output FF1 and FF2 Fault Output Leakage Current3 RDEAD Input Low Voltage VDEAD(L) Current3 IDEAD RDEAD RDEAD = GND Input Low Voltage VIN(L) – – 0.3 × VDD Input High Voltage VIN(H) 0.7 × VDD – – V VINhys 300 500 – mV Input Hysteresis Input Current (Except RESET and CCEN)3 –1 – 1 μA Input Pulldown Resistor (RESET and CCEN) RPD – 50 – kΩ RESET Pulse Time4 tRES 0.1 – 3.5 μs RESET Delay4 tDR – – 200 ns FF2 Clock Input High Voltage VILC – – 0.3 × VDD V FF2 Clock Input Low Voltage VIHC 0.7 × VDD – – V VIChys 300 500 – mV ns FF2 Clock Input Hysteresis Delay4 IIN 0 V < VIN < VDD tDF – – 100 FF2 Clock Low to Fault Reset Delay4 tRF – – 100 ns FF2 Clock High Time4 tHF 500 – – ns FF2 Clock Low Time4 tLF 500 – – ns –VDD – VDD mV μA FF2 Clock Low to Valid Data Current Sense Differential Amplifier Differential Input Voltage Input Bias Current3 VID VID = CSP – CSN, –1.3 V < VCM < 4 V IBIAS CSP = CSN = 0 V –10 0 10 Input Offset Current3 IOS CSP = CSN = 0 V –1 – 1 μA Input Offset Voltage VIOS CSP = CSN = 0 V –10 – +10 mV Input Offset Voltage Drift ∆VIOS CSP = CSN = 0 V – 10 – μV/°C Input Common Mode Range CMR CSP = CSN –1.5 – 4 V Open Loop Gain A Vopn 40 mV< VID < 175 mV, VCM in range 100 – – dB Closed Loop Gain A Vclos 40 mV< VID < 175 mV, VCM in range 5 – – V/V Continued on the next page… Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 5 A4935 Automotive 3-Phase MOSFET Driver ELECTRICAL CHARACTERISTICS (continued) valid at TJ = –40°C to 150°C, VDD = 3 to 5.5 V, VBB = 7 to 50 V, unless noted otherwise Characteristics Small Signal –3 dB Frequency Bandwidth Symbol BWG Min. Typ. Max. Units VID = 10 mVpp, G = 5 V/V Test Conditions – 1.6 – MHz – 400 – ns 0.1 – VDD – 0.3 V 1 – – mA Settling Time tSETTLE To within 10% of steady state, VCSOUT = 1 Vpp square wave Output Dynamic Range VCSOUT –100 μA < ICSOUT < 100 μA Output Current Sink Output Current Source ICSsink ICSsource VID = –400 mV, VCSOUT = 1.5 V VID = 400 mV, VCSOUT = 1.5 V – – –1 mA VREG Supply Ripple Rejection PSRR CSP = CSN = AGND, 0 to 300 kHz – 45 – dB DC Common Mode Rejection CMRR CSP = CSN = 0 to 200 mV step – 38 – dB AC Common Mode Rejection CMRR VCM = 200 mVpp, 0 to 1 MHz – 28 – dB Common Mode Recovery Time tCMrec To within 100 mV of steady state, VCM = +4 V step within CMR – 1 – μs 10% to 90%, VID = 0 to 175 mV step – 20 – V/μs To within 10% of steady state, VID = 250 mV to 0 V step – 500 – ns V Output Slew Rate Input Overload Recovery SR tIDrec Protection VREG Undervoltage Lockout Threshold VREGUVon VREG rising 7.5 8 8.5 6.75 7.25 7.75 V 59 – 69 %VREG VREGUVoff VREG falling Bootstrap Undervoltage Threshold VBOOTUV Cx with respect to Sx Bootstrap Undervoltage Hysteresis VBOOTUVhys VDD Undervoltage Turn-Off Threshold VDD Undervoltage Hysteresis VDSTH Input Range – 13 – %VREG 2.45 2.7 2.85 V VDDUVhys 50 100 150 mV VDSTH 0.1 – 2 V VDDUV VDSTH Input Current IDSTH VDRAIN Input Voltage VDRAIN VDRAIN Input Current IDRAIN Short-to-Ground Threshold Offset5 VSTGO Short-to-Battery Threshold Offset6 Overtemperature Fault Flag Threshold Overtemperature Fault Hysteresis VSTBO VDD falling 0 V < VDSTH < 2 V – 10 30 μA 7 VBB 50 V VDSTH = 2 V, VBB = 12 V, 0 V < VDRAIN < VBB – – 250 μA High-side on, VDSTH ≥ 1 V – ±100 – mV High-side on, VDSTH < 1 V –150 ±50 150 mV Low-side on, VDSTH ≥ 1 V – ±100 – mV Low-side on, VDSTH < 1 V –150 ±50 150 mV TJF Temperature increasing 150 170 – ºC TJFhys Recovery = TJF – TJFhys – 15 – ºC 1Functions correctly, but parameters are not guaranteed, below the general limits (7 V). 2See Gate Drive Timing diagrams. 3For input and output current specifications, negative current is defined as coming out of (sourcing) the specified device pin. 4See Fault Output Timing diagram. 5As V Sx decreases, fault occurs if VBAT –VSx > VSTG. STG threshold, VSTG = VDSTH + VSTGO . 6As V Sx increases, fault occurs if VSx – VLSS > VSTB . STB threshold, VSTB = VDSTH+VSTBO . Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 6 A4935 Automotive 3-Phase MOSFET Driver Timing Diagrams xHI xHI xHI xLO xLO xLO tDEAD tP(off) tP(on) tP(off) GHx GHx GHx GLx GLx GLx tP(off) tDEAD Synchronous Rectification tP(on) tP(off) Low-Side PWM High-Side PWM (A) Gate Drive Timing, Phase Control Inputs PWMH PWML tP(off) tDEAD tDEAD GHx GHx GLx GLx tDEAD tP(off) tP(off) tP(off) tDEAD xHI = 0, xLO = 1, PWMH = 1 xHI = 1, xLO = 0, PWML = 1 (B) Gate Drive Timing, PWM Inputs COAST COAST tP(off) tP(on) tP(off) GHx GHx GLx GLx xHI = 1, xLO = 0, PWMH = PWML = 1 tP(on) xHI = 0, xLO = 1, PWMH = PWML = 1 (C) Gate Drive Timing, COAST Inputs tDF FF1 FF1 FF2 FF2 tLF Gate Drive tHF Disabled tRF tDR Enabled Gate Drive Disabled Enabled tRES RESET RESET Fault Register Read Simple Fault Reset (D) Fault Output Timing Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 7 A4935 Automotive 3-Phase MOSFET Driver Functional Description The A4935 is a three-phase MOSFET driver (pre-driver) with separate supplies for the logic, and for the analog and drive sections. This permits operation with a regulated logic supply from 3 to 5.5 V and with an unregulated main supply of 7 to 50 V. 5.5 V. This provides a very rugged solution for use in the harsh automotive environment. The six high current gate drives are capable of driving a wide range of N-channel power MOSFETs, and are configured as three high-side drives and three low-side drives. Each drive can be controlled with a logic level input compatible with 3.3 or 5 V logic. The A4935 provides all the necessary circuits to ensure that the gate-source voltage of both high-side and low-side external FETs are above 10 V, at supply voltages down to 7 V. For extreme battery voltage drop conditions, correct functional operation is guaranteed at supply voltages down to 5.5 V, but with a reduced gate drive voltage. Gate Drives The control inputs to the A4935 provide a very flexible solution for many motor control applications. For full sinusoidal excitation, each phase can be driven with an independent PWM signal. For less complex drive solutions, the two PWM inputs, PWML and PWMH, allow simple high-side, low-side, or fast-decay control with a single PWM signal. by an internal regulator which limits the supply to the drives and therefore the maximum gate voltage. When the VBB supply greater than about 16 V, the regulator is a simple linear regulator. Below 16 V, the regulated supply is maintained by a charge pump boost converter, which requires a pump capacitor connected between the CP1 and CP2 pins. This capacitor must have a minimum value of 220 nF, and is typically 470 nF. A current sense amplifier allows motor current to be sensed by a low-value sense resistor in the ground connection to the power bridge. The A4935 includes a number of protection features against undervoltage, overtemperature, and power bridge faults. Fault states enable responses by the device or by the external controller, depending on the fault condition and logic settings. Two fault flag outputs, FF1 and FF2, are provided to signal detected faults to an external controller. Diagnostics include an internal fault register, which can be accessed by serial read out using the fault flag pins. Power Supplies Two power supply voltages are required, one for the logic interface and one for the analog and output drive sections. Both supplies should be decoupled with ceramic capacitors connected close to the supply and ground pins. The logic supply, connected to VDD, allows the flexibility of a 3.3 or 5 V logic interface. The main power supply should be connected to VBB through a reverse voltage protection circuit. The A4935 operates within specified parameters with a VBB supply from 7 to 50 V and functions correctly with a supply down to The A4935 is designed to drive external, low on-resistance, power N-channel MOSFETs. It supplies the large transient currents necessary to quickly charge and discharge the external FET gate capacitance in order to reduce dissipation in the external FET during switching. The charge and discharge rate can be controlled using an external resistor in series with the connection to the gate of the FET. Gate Drive Voltage Regulation The gate drives are powered The regulated voltage, nominally 13 V, is available on the VREG pin. A sufficiently large storage capacitor must be connected to this pin to provide the transient charging current to the low-side drives and the bootstrap capacitors. Top-off Charge Pump An additional top-off charge pump is provided for each phase. The charge pumps allow the high-side drives to maintain the gate voltage on the external FETs indefinitely, ensuring so-called 100% PWM if required. This is a low current trickle charge pump, and is operated only after a high-side FET has been signaled to turn on. The floating high-side gate drive requires a small bias current (<20 μA) to maintain the highlevel output. Without the top-off charge pump, this bias current would be drawn from the bootstrap capacitor through the Cx pin. The charge pump provides sufficient current to ensure that the bootstrap voltage and thereby the gate-source voltage is maintained at the necessary level. Note that the charge required for initial turn-on of the high-side gate is always supplied by the bootstrap capacitor. If the bootstrap capacitor becomes discharged, the top-off charge pump will not provide sufficient current to allow the FET to turn on. Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 8 A4935 Automotive 3-Phase MOSFET Driver In some applications a safety resistor is added between the gate and source of each FET in the bridge. When a high-side FET is held in the on-state, the current through the associated high-side gate-source resistor (RGSH) is provided by the high-side drive and therefore appears as a static resistive load on the top-off charge pump. The minimum value of RGSH for which the top-off charge pump can provide current is shown in the Electrical Characteristics table. GLA, GLB, and GLC Pins These are the low-side gate drive outputs for the external N-channel MOSFETs. External resistors between the gate drive output and the gate connection to the FET (as close as possible to the FET) can be used to control the slew rate seen at the gate, thereby providing some control of the di/dt and dv/dt of the SA, SB, and SC outputs. GLx going high turns on the upper half of the drive, sourcing current to the gate of the lowside FET in the external power bridge, turning it on. GLx going low turns on the lower half of the drive, sinking current from the external FET gate circuit to the LSS pin, turning off the FET. SA, SB, and SC Pins Directly connected to the motor, these terminals sense the voltages switched across the load. These terminals are also connected to the negative side of the bootstrap capacitors and are the negative supply connections for the floating high-side drives. The discharge current from the high-side FET gate capacitance flows through these connections, which should have low impedance circuit connections to the FET bridge. GHA, GHB, and GHC Pins These terminals are the high-side gate drive outputs for the external N-channel FETs. External resistors between the gate drive output and the gate connection to the FET (as close as possible to the FET) can be used to control the slew rate seen at the gate, thereby controlling the di/dt and dv/dt of the SA, SB, and SC outputs. GHx going high turns on the upper half of the drive, sourcing current to the gate of the high-side FET in the external motor-driving bridge, turning it on. GHx going low turns on the lower half of the drive, sinking current from the external FET gate circuit to the corresponding Sx pin, turning off the FET. CA, CB, and CC Pins These are the high-side connections for the bootstrap capacitors and are the positive supply for the high-side gate drives. The bootstrap capacitors are charged to approximately VREG when the associated output Sx terminal is low. When the Sx output swings high, the charge on the bootstrap capacitor causes the voltage at the corresponding Cx terminal to rise with the output to provide the boosted gate voltage needed for the high-side FETs. LSS Pin This is the low-side return path for discharge of the capacitance on the FET gates. It should be tied directly to the common sources of the low-side external FETs through an independent low impedance connection. RDEAD Pin This pin controls internal generation of dead time during FET switching. • When a resistor greater than 3 kΩ is connected between RDEAD and AGND, cross-conduction is prevented by the gate drive circuits, which introduce a dead time, tDEAD , between switching one FET off and the complementary FET on. The dead time is derived from the resistor value connected between the RDEAD and AGND pins. • When RDEAD is connected directly to VDD, cross-conduction is prevented by the gate drive circuits. In this case, tDEAD defaults to a value of 6 μs typical. • When RDEAD is connected directly to AGND, internal dead time generation is disabled. This allows dead times of any duration to be determined by the external controller through the relative timing of the phase logic control inputs, xHI and xLO. Note that when using an external controller to determine the dead time, care must be taken to ensure that unintentional shorts across the supply are avoided. Logic Control Inputs Low voltage-level digital inputs provide control for the gate drives. The input logic is shown in table 1. These logic inputs can be driven from either 3.3 or 5 V logic. All have a nominal hysteresis of 500 mV to improve noise performance. AHI, BHI, CHI, ALO, BLO, and CLO Pins These are the phase control inputs. The xHI inputs control the high-side drives and the xLO inputs control the low-side drives. Internal lockout logic ensures that the high-side output drive and low-side output drive cannot be active simultaneously, except when RDEAD is connected to AGND and at the same time CCEN is set high, as described in the CCEN pin section. PWMH and PWML Pins These inputs can be used to externally control motor torque and speed. • Setting PWMH low turns off active high-side drives and turns on the complementary low-side drives. This provides highside–chopped slow-decay PWM with synchronous rectification. Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 9 A4935 Automotive 3-Phase MOSFET Driver • Setting PWML low turns off active low-side drives and turns on the complementary high-side drives. This provides low-side– chopped slow-decay PWM with synchronous rectification. • PWMH and PWML may also be connected together and driven with a single PWM signal. This provides fast-decay PWM with synchronous rectification. COAST Pin An active-low input, which forces low all gate drive outputs, GHx and GLx, and turns off all external FETs. This can be used to protect the FETs and the motor in the case of a short circuit. Using COAST does not clear any faults, so the fault flags can still be decoded and the fault register data word can be read. Because COAST turns off all the external FETs, it can also be used to provide fast-decay PWM without synchronous rectification. RESET Pin This is an active-low input, and when active it allows the A4935 to enter sleep mode. When RESET is held low for longer than the reset pulse time, tRES, the regulator and all internal circuitry are disabled and the A4935 enters sleep mode. During sleep mode, current consumption from the VBB and VDD supplies is reduced to a minimal level. In addition, latched faults and the corresponding fault flags are cleared. When the A4935 is coming out of sleep mode, the protection logic ensures that the gate drive outputs are off until the charge pump reaches its correct operating condition. The charge pump stabilizes in approximately 3 ms under nominal conditions. RESET can be used also to clear latched fault flags without entering sleep mode. To do so, hold RESET low for less then the reset pulse time, tRES. This clears any latched fault that disables the outputs, such as short circuit detection or bootstrap capacitor undervoltage, and also clears the fault register. Note that the A4935 can be configured to start without any external logic input. To do so, pull up the RESET pin to VBB by means of an external resistor. The resistor value should be between 20 and 33 kΩ. CCEN Pin This input provides an override to allow both the high- side and the low-side external FETs of any phase to be active at the same time, enabling cross-conduction. As an extra level of safety, cross-conduction can only occur when RDEAD is tied to AGND and CCEN is set high. If the CCEN input is inadvertently disconnected from the controller, an internal pull-down resistor ensures that the outputs revert to a safe condition. ESF Pin This is the Enable Stop on Fault input. It determines the action that is taken when certain faults are detected. See the Fault Protection and Diagnostics section for details. Table 1. Phase Control Truth Table Inputs COAST Outputs PWMH PWML xHI xLO GHx GLx Comment RDEAD RESET CCEN Sx x 1 x x x x 0 0 L L Z x 1 x 1 1 1 0 1 L H LS Phase sinking Phase disabled x 1 x 1 1 1 1 0 H L HS Phase sourcing >0.2 V 1 x x x x 1 1 L L Z Phase disabled x 1 x 1 0 1 0 1 L H LS Sink; high-side PWM on other phases x 1 x 1 0 1 1 0 L H LS Slow decay, SR; low-side recirculation x 1 x 1 1 0 0 1 H L HS Slow decay, SR; high-side recirculation x 1 x 1 1 0 1 0 H L HS Source; low-side PWM on other phases x 1 x 1 0 0 0 1 H L HS Fast decay, SR x 1 x 1 0 0 1 0 L H LS Fast decay, SR AGND 1 x 1 1 0 1 1 H L HS Slow decay, SR; high-side recirculation AGND 1 x 1 0 1 1 1 L H LS Slow decay, SR; low-side recirculation x 0 x x x x x x Z Z Z Low power shutdown x 1 x 0 x x x x L L Z Coast AGND 1 0 1 1 1 1 1 L L Z Phase disabled AGND 1 1 1 1 1 1 1 H H U Cross-conduction x = don’t care, HS = high-side FET active, LS = low-side FET active, Z = high impedance, both FETs off, U = undefined, SR = synchronous rectification Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 10 A4935 Automotive 3-Phase MOSFET Driver Current Sense Amplifier An uncommitted differential sense amplifier is provided to allow the use of either low value sense resistors or a current shunt as the current sensing element. The input common mode range, CMR, allows the below-ground current sensing typically required in PWM motor control during switching transients. Input is on the CSN and CSP pins. The output of the sense amplifier is available at CSOUT and can be used in a peak current control system. The gain of the sense amplifier is set using external input and feedback resistors. The gain must be set to be greater than the specified minimum to ensure stability. Typically the gain will be set between 5 and 50 V/V. Output offset can also be added using external resistors. Examples of setting the sense amplifier gain and offset are provided in the Applications Information section. Diagnostics Several diagnostic features are integrated into the A4935 to provide indication of fault conditions and, if required, take action to prevent permanent damage. In addition to system wide faults such as undervoltage and overtemperature, the A4935 integrates individual drain-source monitors for each external FET, to provide short circuit detection. When a short or undervoltage fault is being reported, detailed fault information can be read from the fault outputs as a serial data word. Diagnostic Management Pins ESF Pin This pin (Enable Stop on Fault) determines the action taken when a short circuit or overtemperature fault is detected. It does not affect undervoltage fault condition actions. When ESF is set to logic high, any short circuit or overtemperature fault condition will pull all the gate drive outputs low and coast the motor. For short faults, this disabled state will be latched until RESET goes low or a serial read is completed. When ESF is set to logic low, under most conditions the A4935 will not disrupt normal operation and therefore will not protect the drive circuit or motor from damage. This is the case even though the fault flags are set. This allows the actions taken to be controlled externally by the system control circuits. To prevent damage to components, the external controller can take low the COAST input or all of the xHi and xLO phase control inputs. VDSTH Pin Faults on the external FETs are determined by measuring the drain-source voltage, VDS , of each active FET and comparing it to the threshold voltage applied to the VDSTH input, VDSTH. To avoid false fault detection during switching transients, the comparison is delayed by an internal blanking timer. VDRAIN This is a low-current sense input from the top of the external FET bridge. This input allows accurate measurement of the voltage at the drain of the high-side FETs. It should be connected directly to the common connection point for the drains of the power bridge FETs at the positive supply connection point. The input current to the VDRAIN pin is proportional to the voltage on the VDSTH pin and can be approximated by: IVDRAIN = 72 × VDSTH + 52 , where IVDRAIN is the current into the VDRAIN pin, in μA, and VDSTH is the voltage on the VDSTH pin, in V. FF1 and FF2 Pins are open drain output fault flags, which indicate fault conditions by their state, as shown in table 2. In the event that two or more faults are detected simultaneously, the state of the fault flags will be determined by a logical OR of the flag states for all detected faults. Table 2. Fault Definitions Flag State Disable Outputs* Fault Description ESF Low ESF High Flag Latched FF1 FF2 0 0 No fault No No – 0 1 Short-to-ground No Yes If ESF high 0 1 Short-to-supply No Yes If ESF high 0 1 Shorted load No Yes If ESF high 1 0 Overtemperature No Yes No 1 1 VDD undervoltage Yes Yes No 1 1 VREG undervoltage Yes Yes No 1 1 Bootstrap undervoltage Yes Yes Yes *Yes indicates all gate drives low, and all FETs off. When ESF is high, short faults will always cause the fault flags to be latched. When ESF is low, a short fault will only be flagged when the fault is present, and the flag state will not be latched. This provides additional diagnostics flexibility during FET Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 11 A4935 Automotive 3-Phase MOSFET Driver switching. Any short faults detected will always be latched in the fault register. When a short or undervoltage fault is present, a clock can be applied to FF2 and detailed fault information can be read from FF1 as a serial word. This can be used to determine on which of the six external FETs a short is being detected, or which of the monitored voltages have gone below their undervoltage threshold level. Fault register serial access operation is detailed in the Fault Register Serial Access section. Fault States Overtemperature If the junction temperature exceeds the overtemperature threshold, typically 165°C, the A4935 will enter the overtemperature fault state and FF1 will go high. The overtemperature fault state, and FF1, will only be cleared when the temperature drops below the recovery level defined by TJF – TJFhys . Note that an overtemperature fault does not permit access to the fault register because FF2 is pulled low. If ESF is set high when an overtemperature is detected, the outputs will be disabled automatically while the fault state is present. If ESF is set low, then no circuitry will be disabled. In this case external control circuits must take action to limit the power dissipation in some way so as to prevent overtemperature damage to the chip and unpredictable device operation. VREG Undervoltage VREG supplies the low-side gate driver and the bootstrap charge current. It is critical to ensure that the voltages are sufficiently high before enabling any of the outputs. If the voltage at VREG, VREG , drops below the falling VREG undervoltage lockout threshold, VREGUVoff , then the A4935 will enter the VREG undervoltage fault state. In this fault state, both FF1 and FF2 will be high, and the outputs will be disabled. The VREG undervoltage fault state and the fault flags will be cleared when VREG rises above the rising VREG undervoltage lockout threshold, VREGUVon. The VREG undervoltage monitor circuit is active during power-up, and the A4935 remains in the VREG undervoltage fault state until VREG is greater than the rising VREG undervoltage lockout threshold, VREGUVon. Any time the A4935 enters the VREG undervoltage fault state, bit 7 in the fault register will be set and will remain set until cleared by a register reset (see the Fault Register Serial Access section). Bootstrap Capacitor Undervoltage The A4935 monitors the voltage across the individual bootstrap capacitors to ensure they have sufficient charge to supply the current pulse for the highside drive. Before a high-side drive can be turned on, the voltage across the associated bootstrap capacitor must be higher than the turn-on voltage limit. If this is not the case, then the A4935 will start a bootstrap charge cycle by activating the complementary low-side drive. Under normal circumstances, this will charge the bootstrap capacitor above the turn-on voltage in a few microseconds and the high-side drive will then be enabled. The bootstrap voltage monitor remains active while the high-side drive is active and if the voltage drops below the turn-off voltage a charge cycle is initiated. In either case, if there is a fault that prevents the bootstrap capacitor charging, then the charge cycle will timeout, the fault flags (indicating an undervoltage) will be set, and the outputs will be disabled. In addition, the appropriate bit in the fault register will be set. This allows the specific phase giving the bootstrap undervoltage to be determined by reading the serial data word. The bootstrap undervoltage fault state remains latched until RESET is set low or a serial read of the fault register is completed. VDD Undervoltage The logic supply voltage at VDD is moni- tored to ensure correct logical operation. If an undervoltage on VDD is detected, the outputs will be disabled. In addition, because the state of other reported faults cannot be guaranteed, all fault states, fault flags, and the fault register are reset and replaced by the fault flags corresponding to a VDD undervoltage fault state. For example, a VDD undervoltage will reset an existing short circuit fault condition and replace it with a VDD undervoltage fault. When the VDD undervoltage condition is removed, all flags will be cleared and the outputs enabled. Short Fault Operation Shorts in the power bridge are determined by monitoring the drain-souce voltage, VDS , of each active FET and comparing it to the fault threshold voltage at the VDSTH pin. Because power MOSFETs take a finite time to reach the rated onresistance, the measured drain-source voltages will show a fault as the phase switches. To avoid such false short fault detections, Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 12 A4935 Automotive 3-Phase MOSFET Driver the output from the comparators are ignored under two conditions: ▪ while the external FET is off, and ▪ until the end of the period, referred to as the fault blank time, after the FET is turned on. When the FET is turned on, if the drain-source voltage exceeds the voltage at the VDSTH pin at any time after the fault blank time, then a short fault will be detected. If also ESF is set high, then this fault will be latched and the FET disabled until reset. In some applications, the fault blank time may be insufficient to avoid detecting false faults during the switching time of the external FET. In these cases, the external controller driving the A4935 may be used to determine the correct fault condition by setting ESF low. This will prevent latching of the fault flag when a short fault is detected, and will not disable the FET. With ESF low, FF2 will remain high only while the measured VDS exceeds the fault threshold. The external controller can then monitor the fault flags and use its own timers to validate a fault condition. Note that any fault thus detected by the A4935 will still be latched in the fault register and remain there until cleared. When ESF is set low, the external FETs are not disabled by the A4935 when a short fault is detected. To avoid permanent damage to the external FETs or to the motor under this condition, the A4935 can either be fully disabled by the RESET input or all FETs can be switched off by pulling low the COAST input or all the phase control inputs. Short to Supply A short from any of the motor phase connec- tions to the battery or VBB connection is detected by monitoring the voltage across the low-side FETs in each phase, using the appropriate Sx pin and the LSS pin. This drain-source voltage, VDS, is continuously compared to the voltage on the VDSTH pin. The result of this comparison is ignored if the FET is not active. It is ignored also for one fault blank time interval after the FET is turned on. If, when the comparator is not being ignored, its output indicates that VDS exceeds the voltage at the VDSTH pin, then FF2 will be high. If also ESF is set high, then FF2 will be latched high and the outputs will be disabled. Alternatively, if also ESF is set low, then the outputs will not be disabled and FF2 will only be high while the output of the comparator indicates that VDS exceeds the voltage at the VDSTH pin. Short to Ground A short from any of the motor phase connections to ground is detected by monitoring the voltage across the high-side FETs in each phase, using the appropriate Sx pin and the voltage at VDRAIN. This drain-source voltage, VDS , is continuously compared to the voltage on the VDSTH pin. The result of this comparison is ignored if the FET is not active. It is ignored also for one fault blank time interval after the FET is turned on. If, when the comparator is not being ignored, its output indicates that VDS exceeds the voltage at the VDSTH pin, FF2 will be high. If also ESF is set high, FF2 will be latched high and the outputs will be disabled. Alternatively, if also ESF is set low, the outputs will not be disabled and FF2 will only be high while the output of the comparator indicates that VDS exceeds the voltage at the VDSTH pin. Shorted Load The short-to-ground and short-to-supply monitor circuits will also detect a short across a motor phase winding. In most cases, a shorted winding will be indicated by a high-side and low-side fault being detected at the same time. In some cases the relative impedances may permit only one of the shorts to be detected. Differentiating Short Fault Conditions The distinction between short-to-ground, short-to-supply, and shorted load can only be made by examining the contents of the fault register. It is not possible to determine where a short fault has occurred when using the state of the fault flags, FF1 and FF2, alone. The flag combination FF1 low and FF2 high simply indicates the presence of a probable short circuit. As described above, shorts are detected by monitoring the drainsource voltage, VDS , of each of the six FETs in the power bridge. The different short fault conditions are defined as follows: ▪ A short-to-ground is likely to be present if the VDS of any active high-side FET is greater than the threshold defined by VDSTH (fault bits AH, BH, or CH = 1) ▪ A short-to-supply is likely to be present if the VDS of any active low-side FET is greater than the threshold defined by VDSTH (fault bits AL, BL, or CL = 1) ▪ A shorted load or phase is likely to be present if, at the same time, the VDS of an active high-side and an active low-side are both greater than the threshold defined by VDSTH. Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 13 A4935 Automotive 3-Phase MOSFET Driver Fault Register All undervoltage and short faults are recorded in a 10-bit fault register as defined in table 3. The fault register accumulates all detected faults until cleared by setting RESET low, by cycling the power off and on, or by reading the contents. The contents will also be cleared if a VDD undervoltage fault is detected. During a VDD undervoltage fault condition, both fault flags will be high but all the bits in the fault register will be reset. Table 3. Fault Register Bit Definitions Function then an under voltage has been detected. In either case, the sequence for reading the contents of the fault register is: 1. The external controller takes any necessary additional action to protect the FETs. 2. The external controller pulls FF2 low. 3. The A4935 outputs on FF1 the fault register first bit, AH. 4. The external controller reads the fault bit, and then cycles FF2 high then low for the next bit, BH. 5. Steps 3 and 4 alternate until all of the 10 bits in the fault register have been read out. Bit Position AH First VDS exceeded on A phase high-side FET BH 2 VDS exceeded on B phase high-side FET CH 3 VDS exceeded on C phase high-side FET AL 4 VDS exceeded on A phase low-side FET BL 5 VDS exceeded on B phase low-side FET 7. The A4935 resets the fault register and pulls FF1 and FF2 low to indicate no fault present. 8. The external controller releases FF2. CL 6 VDS exceeded on C phase low-side FET VR 7 Undervoltage detected on VREG VA 8 Bootstrap undervoltage detected on phase A VB 9 Bootstrap undervoltage detected on phase B VC Last Bootstrap undervoltage detected on phase C The contents of the fault register can be read serially from the FF1 pin by applying a clock signal to the FF2 pin during an undervoltage or short fault state. The fault flag pins, FF1 and FF2, are open drain outputs and passively pulled high when a fault is present. This makes it possible to drive one or both of these fault pins from an external source during a fault condition, when the A4935 is not pulling the pin low. FF2 can thus be used as a clock input to shift out the fault status register, bit-by-bit, on the other fault flag, FF1. When FF2 is being pulled low by the A4935, either when no fault is present or when an overtemperature fault is present, then no serial access is possible. The fault status register can be accessed only when FF2 goes high. This occurs when either a short or an undervoltage fault has been detected. Faut Register Serial Access To access the fault register, FF1 and FF2 must be monitored by an external controller. If FF2 goes high and FF1 remains low, then a short has been detected. If FF1 and FF2 go high together, 6. After the final bit, VC, is output, the external controller cycles FF2 high then low. The basic sequence for the three possible states of FF1 and FF2 are shown in figure 1. At the end of the serial transfer, on the last high-to-low transition input to FF2, the fault register and the fault flags are reset. However, it is possible that one of the three unlatched fault conditions, VREG undervoltage, VDD undervoltage, or overtemperature, is still present. In this case the fault flags will immediately show the fault status. Resetting the VR Bit At power-up, on coming out of reset, or after a VDD or VREG undervoltage fault, it is possible that the fault flags and fault register will have cleared but the VR bit in the fault register remains set. This would happen if, when a power-on-reset occurred, VREG had not yet risen beyond the undervoltage threshold level, VREGUVon. Although VREG undervoltage fault state is not latched and the fault flags are cleared when the fault is removed, the VR bit in the fault register is latched and may remain set after the power-on-reset. For this reason it is recommended, when the serial fault register is to be used, to perform a reset by taking the RESET pin low for less than the reset pulse time, tRES, after the A4935 is powered-up and all fault flags are clear (FF1 and FF2 are low). Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 14 A4935 Automotive 3-Phase MOSFET Driver FF2 FF1 Overtemperature Condition Present (A) Overtemperature Fault VDS fault detected FF2 pulled up by resistor External controller pulls FF2 low FF2 AH BH CH AL BL CL VR VA VB VC FF1 Phase A short-to-supply A4935 outputs fault register on FF1 1 bit on each falling edge of FF2 A4935 pulls FF1 and FF2 low and resets fault register (B) VDS Fault Register Read UV fault detected FF1 and FF2 pulled up by resistor External controller pulls FF2 low FF2 AH BH CH AL BL CL VR VA VB VC FF1 VREG undervoltage A 4935 outputs fault register on FF1 1 bit on each falling edge of FF2 A4935 pulls FF1 and FF2 low and resets fault register (C) Undervoltage Fault Register Read Figure 1. Fault flag sequence diagrams Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 15 A4935 Automotive 3-Phase MOSFET Driver Applications Information Power Bridge Management Using PWM Control The A4935 provides individual high-side and low-side controls for each phase, plus two PWM control signals and a coast control. This allows a wide variety of 3-phase bridge control schemes to be implemented. For advanced schemes using sinusoidal current control, each FET in the 3-phase bridge can be controlled individually without using the PWM and COAST inputs. This requires a higher performance external controller, with a PWM output for each phase. If full external control over dead time is required, then six PWM outputs will be required, one for each FET in the bridge. In this type of system, the external controller has full control over the current-decay method, load current recirculation paths, braking, and coasting. Figure 2A shows an example of the paths of the bridge and load currents when each phase is controlled directly. The PWM inputs PWMH and PWML are both tied high and COAST is tied low. In this case the high-side FETs are switched off during the current decay time (PWM off-time) and load current recirculates through the low-side FETs. This is commonly referred to as high-side chopping or high-side PWM. During the PWM off-time, the complementary FETs are turned on, to short the body diode and provide synchronous rectification. Figure 2A shows one combination of phase states, and the same principal applies to any of the possible phase states. This principal also applies when the low-side FETs are turned off during the PWM off-time and the load current recirculates through the high side FETs, as shown in figure 2B. For less complex control schemes, for example where simple block commutation is used, it is possible to control the bridge with three logic signals (one for each phase) and a single PWM signal. Figure 2C shows an example of 2-phase excitation with high-side PWM, as commonly used in a block commutation scheme. The PWMH input is used to modulate the phase currents and PWML is held high. During the PWM off-time, the active high-side FET is turned off and the complementary low-side FET is turned on. Note that the phase control signals in this case do not change and all PWM switching, for any phase combination, is managed by a single PWM signal. For low-side PWM, PWMH is held high and the PWM signal is applied to PWML. By tying PWMH and PWML together and applying a PWM signal to them, the load current can be controlled using fast decay by effectively reversing the supply polarity. This feature operates A Phase xHI xLO GHx GLx B C Drive A B 1 1 0 0 H H L L C 0 1 L H A B C Recirculate Phase A B xHI 0 0 xLO 1 1 GHx L L GLx H H C 0 1 L H (A) Slow decay, synchronous rectification, high-side PWM using phase inputs A Phase xHI xLO GHx GLx B C Drive A B 1 1 0 0 H H L L C 0 1 L H A B C Recirculate Phase A B xHI 1 1 xLO 0 0 GHx H H GLx L L C 1 0 H L (B) Slow decay, synchronous rectification, low-side PWM using phase inputs A B A C Drive Phase xHI xLO GHx GLx PWMH PWML A 1 0 H L B 0 0 L L 1 1 B C Recirculate C 0 1 L H Phase xHI xLO GHx GLx PWMH PWML A 1 0 L H B 0 0 L L 0 1 C 0 1 L H (C) Slow decay, synchronous rectification, high-side PWM using PWMx inputs Figure 2. Power bridge current paths Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 16 A4935 Automotive 3-Phase MOSFET Driver with either 2-phase or 3-phase excitation. When using fast decay, a PWM duty cycle of 50% results in zero effective motor torque. A duty cycle of less than 50% causes negative effective torque, and greater than 50% causes positive effective torque. To reduce power dissipation in the external FETs, the A4935 can be instructed to turn on the appropriate low-side and high-side drives during the load current recirculation PWM off-cycle. This synchronous rectification allows current to flow through the selected FETs, rather than the source-drain body diode, during the decay time. The body diodes of the recirculating power FETs conduct only during the dead time that occurs at each PWM transition. Dead Time To prevent cross-conduction (shoot through) in any phase of the power FET bridge, it is necessary to have a dead time delay, tDEAD , between a high- or low-side turn-off and the next complementary turn-on event. The potential for cross-conduction occurs when any complementary high-side and low-side pair of FETs are switched at the same time; for example, when using synchronous rectification or after a bootstrap capacitor charging cycle. In the A4935, the dead time for all three phases is set by a single deadtime resistor (RDEAD) between the RDEAD and AGND pins. The choice of power FET and external series gate resistance determine the selection of the dead-time resistor, RDEAD. The dead time should be long enough to ensure that one FET in a phase has stopped conducting before the complementary FET starts conducting. This should also take into account the tolerance and variation of the FET gate capacitance, the series gate resistance, and the on-resistance of the A4935 internal drives. Internally-generated dead time will be present only if the on-command for one FET occurs within tDEAD after the off-command for its complementary FET. In the case where one side of a phase drive is permanently off, for example when using diode rectification with slow decay, then the dead time will not occur. In this case the gate drive will turn on within the specified propagation delay after the corresponding phase input goes high. (Refer to the Gate Drive Timing diagrams.) Fault Blank Time To avoid false short fault detection, the output from the VDS monitor for any FET is ignored when that FET is off and for a period of time after it is turned on. This period of time is the fault blank time. Its length is the dead time, tDEAD , plus an additional period of time that compensates for the delay in the VDS monitors. This additional delay is typically 300 to 600 ns. When tDEAD For RDEAD values between 3 kΩ and 240 kΩ, at 25°C the nominal value of tDEAD in ns can be approximated by: 7200 , (1) tDEAD(nom) = 50 + 1.2 + (200 / RDEAD) 1.8 1.6 1.4 where RDEAD is in kΩ. Greatest accuracy is obtained for values of RDEAD between 6 and 60 kΩ, which are shown in figure 3. . (2) If the dead time is to be generated externally, for example by the PWM output of a microcontroller, then connect the RDEAD pin to the AGND pin to set the internally-generated dead time to zero. Note that this configuration can allow cross-conduction, and appropriate care should be taken, as described in the Cross-Conduction section. The maximum internally-generated dead time, 6 μs typical, can be set by connecting the RDEAD and VDD pins. t DEAD (μs) The IDEAD current can be estimated by: 1.2 IDEAD = RDEAD 1.2 1.0 0.8 0.6 0.4 0.2 0.0 0 10 20 30 40 RDEAD (kΩ) 50 60 70 Figure 3. Dead time versus RDEAD Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 17 A4935 Automotive 3-Phase MOSFET Driver is set to zero by connecting RDEAD to AGND, the fault blank time typically defaults to 2 μs. The voltage drop across the bootstrap capacitor as the FET is being turned on, ∆V , can be approximated by: ∆V ≈ Cross-Conduction In some circumstances it is desirable to allow activation of both high-side and low-side FETs in a single phase of the power bridge. This can be used, with care, to reduce diode conduction during synchronous rectification, which improves overall efficiency and reduces electromagnetic emissions. This mode of operation is also useful for independently controlling each phase of a VR motor or to turn on all high-side and lowside FETs together, to cause a supply short circuit for blowing a safety fuse. Cross-conduction can occur only when the internally-generated dead time is set to zero by connecting RDEAD to AGND and, at the same time, CCEN is high. If zero internally-generated dead time is required, but cross-conduction is to be prevented, then CCEN can be tied to AGND. When the dead time is set to zero it is still possible for some overlap to be present at the switching instants due to the relative switching time of the FETs. Bootstrap Capacitor Selection The bootstrap capacitors, CBOOTx, must be correctly selected to ensure proper operation of the A4935. If the capacitances are too high, time will be wasted charging the capacitor, resulting in a limit on the maximum duty cycle and the PWM frequency. If the capacitances are too low, there can be a large voltage drop at the time the charge is transferred from CBOOTx to the FET gate, due to charge sharing. To keep this voltage drop small, the charge in the bootstrap capacitor, QBOOT, should be much larger than the charge required by the gate of the FET, QGATE. A factor of 20 is a reasonable value, and the following formula can be used to calculate the value for CBOOT : QBOOT = CBOOT × VBOOT = QGATE × 20 , therefore: CBOOT = QGATE × 20 VBOOT , where VBOOT is the voltage across the bootstrap capacitor. (3) QGATE . CBOOT (4) So, for a factor of 20, ∆V would be approximately 5% of VBOOT . The maximum voltage across the bootstrap capacitor under normal operating conditions is VREG(max). However, in some circumstances the voltage may transiently reach 18 V, the clamp voltage of the Zener diodes between the Cx and Sx pins. In most applications, with a good ceramic capacitor the working voltage can be limited to 16 V. Bootstrap Charging It is good practice to ensure the high-side bootstrap capacitor is completely charged before a high-side PWM cycle is requested. The time required to charge the capacitor, tCHARGE (μs), is approximated by: tCHARGE = CBOOT × ∆V , (5) 100 where CBOOT is the value of the bootstrap capacitor, in nF, and ∆V is the required voltage of the bootstrap capacitor. At power-up and when the drives have been disabled for a long time, the bootstrap capacitor can be completely discharged. In this case ∆V can be considered to be the full high-side drive voltage, 12 V. Otherwise, ∆V is the amount of voltage dropped during the charge transfer, which should be 400 mV or less. The capacitor is charged whenever the Sx pin is pulled low and current flows from VREG through the internal bootstrap diode circuit to CBOOT. Bootstrap Charge Management The A4935 provides automatic bootstrap capacitor charge management. The bootstrap capacitor voltage for each phase is continuously checked to ensure that it is above the bootstrap under-voltage threshold, VBOOTUV. If the bootstrap capacitor voltage drops below this threshold, the A4935 will turn on the necessary low-side FET, and continue charging until the bootstrap capacitor exceeds the undervoltage threshold plus the hysteresis, VBOOTUV + VBOOTUVhys. The minimum charge time is typically 7 μs, but may be longer for very large values of bootstrap capaci- Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 18 A4935 Automotive 3-Phase MOSFET Driver tor (>1000 nF). If the bootstrap capacitor voltage does not reach the threshold within approximately 200 μs, an undervoltage fault will be flagged. attention should be paid to ensure the operating conditions allow the A4935 to remain in a safe range of junction temperature. The power consumed by the A4935, PD, can be estimated by: PD = PBIAS + PCPUMP + PSWITCHING , VREG Capacitor Selection The internal reference, VREG, supplies current for the low-side gate drive circuits and the charging current for the bootstrap capacitors. When a low-side FET is turned on, the gate-drive circuit will provide the high transient current to the gate that is necessary to turn on the FET quickly. This current, which can be several hundred milliamperes, cannot be provided directly by the limited output of the VREG regulator, and must be supplied by an external capacitor connected to VREG. given: The turn-on current for the high-side FET is similar in value to that for the low-side FET, but is mainly supplied by the bootstrap capacitor. However the bootstrap capacitor must then be recharged from the VREG regulator output. Unfortunately the bootstrap recharge can occur a very short time after the lowside turn-on occurs. This requires that the value of the capacitor connected between VREG and AGND should be high enough to minimize the transient voltage drop on VREG for the combination of a low-side FET turn-on and a bootstrap capacitor recharge. A value of 20 × CBOOT is a reasonable value. The maximum working voltage will never exceed VREG , so the capacitor can be rated as low as 15 V. This capacitor should be placed as close as possible to the VREG pin. where: IAV = QGATE × N × fPWM , Supply Decoupling Because this is a switching circuit, there are current spikes from all supplies at the switching points. As with all such circuits, the power supply connections should be decoupled with a ceramic capacitor, typically 100 nF, between the supply pin and ground. These capacitors should be connected as close as possible to the device supply pins VBB and VDD, and the power ground pin, PGND. Power Dissipation In applications where a high ambient temperature is expected, the on-chip power dissipation may become a critical factor. Careful PBIAS = VBB × IBB ; (6) (7) PCPUMP = [( 2 VBB) – VREG] IAV or = [VBB – VREG] IAV , for VBB < 15 V, , for VBB ≥ 15 V, PSWITCHING = QGATE × VREG × N × fPWM × Ratio ; (8) (9) N is the number of FETs switching during a PWM cycle, and 10 . Ratio = RGATE + 10 Braking The A4935 can be used to perform dynamic braking by either forcing all low-side FETs on and all high-side FETs off or, conversely, by forcing all low-side FETs off and all high-side FETs on. This will effectively short-circuit the back EMF of the motor, creating a breaking torque. During braking, the load current can be approximated by: IBRAKE = VBEMF , RL (10) where VBEMF is the voltage generated by the motor and RL is the resistance of the phase winding. Care must be taken during braking to ensure that the maximum ratings of the power FETs are not exceeded. Dynamic braking is equivalent to slow decay with synchronous rectification and all phases enabled. Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 19 A4935 Automotive 3-Phase MOSFET Driver The A4935 can also be used to perform regenerative braking. This is equivalent to reversing the motor commutation sequence or using fast decay with synchronous rectification. Note that phase commutation must continue for regenerative braking to operate and the supply must be capable of managing the reverse current, such as by connecting a resistive load or dumping the current to a battery or capacitor. Current Sense Amplifier The gain of the current sense amplifier is set using external input and feedback resistors. Output offset can also be added using external resistors. Care must be taken to ensure that the input impedances seen from either end of the sense resistor match. For the basic configuration shown in figure 4A, the two input resistors, RN and RP, have matched values. The feedback resistor, RF, between CSN and CSOUT, and the ground reference resisRF A4935 RP CSP RS CSOUT CSN RN RG G = RF / RN RG = RF RP = RN (A) Basic configuration 80 kΩ A4935 4 kΩ CSP RS CSOUT 4 kΩ 5V 76 kΩ CSN 76 kΩ 4 kΩ G = 20 VOS= 250 mV (B) Typical Configuration Figure 4. Current sense amplifier configurations tor, RG, between CSP and AGND also have matched values. The gain of the sense amplfier, G, is determined by the relative values of RF and RN, and is approximately: G= RF , RN (11) If an output offset is required, for example to allow reverse current measurement, then this can be generated by adding offset to the CSP input through the RG resistor. Because the amplifier is operating in a closed loop, any offset added to CSP will be mirrored at the output. Figure 4B shows suitable resistor values for a gain, G, of 20 and an output offset, VOS , of 250 mV. Layout Recommendations Careful consideration must be given to PCB layout when designing high frequency, fast switching, high current circuits. The following are recommendations regarding some of these considerations: • The A4935 analog ground, AGND, and power ground, PGND, should be connected together at the package pins. This common point, and the high-current return of the external FETs, should return separately to the negative side of the motor supply filtering capacitor. This will minimize the effect of switching noise on the device logic and analog reference. • The exposed thermal pad and all NC pins of the package should be connected to the common point of AGND and PGND. • Minimize stray inductance by using short, wide copper traces at the drain and source terminals of all power FETs. This includes motor lead connections, the input power bus, and the common source of the low-side power FETs. This will minimize voltages induced by fast switching of large load currents. • Consider the use of small (100 nF) ceramic decoupling capacitors across the sources and drains of the power FETs to limit fast transient voltage spikes caused by the inductance of the circuit trace. • Keep the gate discharge return connections Sx and LSS as short as possible. Any inductance on these traces will cause negative transitions on the corresponding A4935 pins, which may exceed the absolute maximum ratings. If this is likely, consider the use of clamping diodes to limit the negative excursion on these pins with respect to AGND. Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 20 A4935 Automotive 3-Phase MOSFET Driver • Sensitive connections such as RDEAD and VDSTH, which have very little ground current, should be connected to the Quiet ground (refer to figure 5), which is connected independently, closest to the AGND pin. These sensitive components should never be connected directly to the supply common or to a common ground plane. They must be referenced directly to the AGND pin. • The supply decoupling for VBB, VREG, and VDD should be connected to the Controller Supply ground, which is connected independently, close to the PGND pin. The decoupling capacitors should also be connected as close as practicable to the relevant supply pin. • If layout space is limited, then the Quiet ground and the Controller Supply ground may be combined. In this case, ensure that the ground return of the dead time resistor is close to the AGND pin. • Check the peak voltage excursion of the transients on the LSS pin with reference to the AGND pin, using a close grounded (tip and barrel) probe. If the voltage at LSS exceeds the absolute maximum shown in this datasheet, add additional clamping and capacitance between the LSS pin and the AGND pin as shown in figure 5. • Gate charge drive paths and gate discharge return paths may carry a large transient current pulse. Therefore, the traces from GHx, GLx, Sx, and LSS should be as short as possible to reduce the circuit trace inductance. • Provide an independent connection from LSS to the common point of the power bridge. It is not recommended to connect LSS directly to an xGND pin, as this may inject noise into sensitive functions such as the timer for dead time. The LSS connection should not be used for the CSP connection. • The inputs to the sense amplifier, CSP and CSN, should have independent circuit traces. For best results, they should be matched in length and route. • A low-cost diode can be placed in the connection to VBB to provide reverse battery protection. In reverse battery conditions, it is possible to use the body diodes of the power FETs to clamp the reverse voltage to approximately 4 V. In this case, the additional diode in the VBB connection will prevent damage to the A4935 and the VDRAIN input will survive the reverse voltage. Note that the above are only recommendations. Each application is different and may encounter different sensitivities. A driver running a few amps will be less susceptible than one running with 150 A, and each design should be tested at the maximum current to ensure any parasitic effects are eliminated. Optional reverse battery protection VBB VDRAIN + Supply GHC VREG GHB GHA A4935 VDD SA SB SC Motor GLA GLB GLC VDSTH RDEAD AGND LSS PGND Quiet Ground RS Optional components to limit LSS transients Power Ground Supply Common Controller Supply Ground Figure 5. Supply routing suggestions Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 21 A4935 Automotive 3-Phase MOSFET Driver Input and Output Structures CP1 CP2 VREG VDRAIN VBB VDD Cx 20 V 18 V 18 V GHx 18 V 18 V 18 V 19 V 18 V 19 V 18 V 20 V 18 V ESD 6V (B) Supply protection structures Sx VREG ESD ESD 18 V GLx 18 V 10 Ω 3 kΩ FF1 FF2 10 Ω LSS 8.5 V (A) Gate drive outputs (C) Fault output ESD COAST ESF PWMx xHI xLO (D) Fault input/output ESD 3 kΩ 3 kΩ 3 kΩ CCEN RESET 50 kΩ (E) Logic inputs, no pulldown 6V (F) Logic input, with pulldown ESD ESD 4 kΩ CSN 6V (G) RESET input ESD VREG 22 V 22 V 50 kΩ 8.5 V 8.5 V 1.2 V 100 Ω CSOUT RDEAD 1 kΩ VDSTH 4 kΩ CSP 8.5 V (H) Current sense amplifier (I) RDEAD 8.5 V (J) VDS monitor threshold input Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 22 A4935 Automotive 3-Phase MOSFET Driver 37 38 39 40 41 42 44 43 46 45 47 1 36 2 35 3 34 4 33 32 5 PAD 6 31 24 23 22 21 NC NC SA GLA CB GHB SB GLB CC GHC SC NC CCEN PWMH COAST CSOUT VDD CSN CSP VDSTH LSS GLC AGND NC 20 25 19 26 12 18 27 11 17 28 10 15 29 9 16 30 8 13 7 14 NC RESET ESF FF2 FF1 ALO AHI BHI BLO CLO CHI PWML 48 RDEAD AGND VBB PGND CP1 CP2 NC VDRAIN VREG CA GHA NC Pin-out Diagram Terminal List Pin Pin Name Pin Description 1, 24, 25, 35, 36, 37, 42 NC No internal connection; connect to AGND 2 RESET Standby mode control 26 SC 3 ESF Enable Stop on Fault input 27 GHC High-side gate drive phase C 4 FF2 Fault Flag 2 and serial clock input 28 CC Bootstrap capacitor phase C 5 FF1 Fault Flag 1 and serial data output 29 GLB Low-side gate drive phase B 6 ALO Control input phase A low-side 30 SB 7 AHI Control input phase A high-side 31 GHB High-side gate drive phase B 8 BHI Control input phase B high-side 32 CB Bootstrap capacitor phase B 9 BLO Control input phase B low-side 33 GLA Low-side gate drive phase A SA Pin Pin Name 22 GLC 23 AGND Pin Description Low-side gate drive phase C Analog ground Motor connection phase C Motor connection phase B 10 CLO Control input phase C low-side 34 11 CHI Control input phase C high-side 38 GHA High-side gate drive phase A CA Bootstrap capacitor phase A 12 PWML Low-side PWM input 39 13 CCEN Cross-conduction enable 40 VREG 14 PWMH High-side PWM input 41 VDRAIN Motor connection phase A Gate drive supply output High-side drain voltage sense 15 COAST Coast input 43 CP2 Pump capacitor 16 CSOUT Current sense output 44 CP1 Pump capacitor 17 VDD Logic supply 45 PGND 18 CSN Current sense negative input 46 VBB 19 CSP Current sense positive input 47 AGND 20 VDSTH Fault threshold voltage 48 RDEAD 21 LSS Low-side source – PAD Power ground Main power supply Analog ground Dead time setting Exposed thermal pad; connect to AGND Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 23 A4935 Automotive 3-Phase MOSFET Driver Package JP 48-Pin LQFP with Exposed Thermal Pad 0.30 9.00 ±0.20 0.50 1.70 7.00 ±0.20 7º 4° ±4 0º +0.05 0.15 –0.06 C B 9.00 ±0.20 7.00 ±0.20 5.00 5.00 8.60 0.60 ±0.15 48 (1.00) A 1 48 2 1 2 0.25 5.00 SEATING PLANE GAGE PLANE 5.00 8.60 48X SEATING PLANE 0.08 C 0.22 ±0.05 0.50 C C For Reference Only (reference JEDEC MS-026 BBCHD) Dimensions in millimeters Dimensions exclusive of mold flash, gate burrs, and dambar protrusions Exact case and lead configuration at supplier discretion within limits shown 1.60 MAX 1.40 ±0.05 0.10 ±0.05 PCB Layout Reference View A Terminal #1 mark area B Exposed thermal pad (bottom surface) C Reference land pattern layout (reference IPC7351 QFP50P900X900X160-48M); adjust as necessary to meet application process requirements and PCB layout tolerances; when mounting on a multilayer PCB, thermal vias at the exposed thermal pad land can improve thermal dissipation (reference EIA/JEDEC Standard JESD51-5) Copyright ©2007-2008, Allegro MicroSystems, Inc. The products described here are manufactured under one or more U.S. patents or U.S. patents pending. Allegro MicroSystems, Inc. reserves the right to make, from time to time, such departures from the detail specifications as may be required to permit improvements in the performance, reliability, or manufacturability of its products. Before placing an order, the user is cautioned to verify that the information being relied upon is current. Allegro’s products are not to be used in life support devices or systems, if a failure of an Allegro product can reasonably be expected to cause the failure of that life support device or system, or to affect the safety or effectiveness of that device or system. The information included herein is believed to be accurate and reliable. However, Allegro MicroSystems, Inc. assumes no responsibility for its use; nor for any infringement of patents or other rights of third parties which may result from its use. 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