TI1 DRV8704DCP Dual h-bridge pwm gate driver Datasheet

Product
Folder
Sample &
Buy
Support &
Community
Tools &
Software
Technical
Documents
DRV8704
SLVSD29 – OCTOBER 2015
DRV8704 52-V Dual H-Bridge PWM Gate Driver
1 Features
2 Applications
•
•
•
•
•
1
•
•
•
•
•
•
•
•
•
•
Pulse Width Modulation (PWM) Motor Driver
– Drives External N-Channel MOSFETs
– PWM Control Interface for Dual DC Motors
– Supports 100% PWM Duty Cycle
8-V to 52-V Operating Supply Voltage Range
Adjustable Gate Drive (4 Levels)
– 50-mA to 200-mA Source Current
– 100-mA to 400-mA Sink Current
Integrated PWM Current Regulation
Flexible Decay Modes
– Automatic Mixed Decay Mode
– Slow Decay
– Fast Decay
– Mixed Decay (Adjustable Percent Fast)
Highly Configurable SPI
Torque DAC to Digitally Scale Current
Low-Current Sleep Mode (65 μA)
5-V, 10-mA LDO Regulator
Thermally-Enhanced Surface-Mount Package
– 38-Pin HTSSOP (PowerPAD)
SPACER
Protection Features
– VM Undervoltage Lockout (UVLO)
– Gate Driver Fault (PDF)
– Overcurrent Protection (OCP)
– Thermal Shutdown (TSD)
– Fault Condition Indication Pin (nFAULT)
– Fault Diagnostics through SPI
Automatic Teller and Money Handling Machines
Office Automation Machines
Factory Automation and Robotics
Textile Machines
3 Description
The DRV8704 is a dual-brushed motor controller for
industrial equipment applications. The device controls
external N-channel MOSFETs configured as two Hbridges.
Motor current can be accurately controlled using
adaptive blanking time and various current decay
modes, including an automatic mixed decay mode.
A simple PWM interface allows easy interfacing to
controller circuits. A SPI serial interface is used to
program the device operation. Output current
(torque), gate drive settings, and decay mode are all
programmable through a SPI serial interface.
Internal shutdown functions are provided for
overcurrent protection, short-circuit protection, gate
driver faults, undervoltage lockout (UVLO), and
overtemperature. Fault conditions are indicated by a
FAULTn pin, and each fault condition is reported by a
dedicated bit through SPI.
The DRV8704 is packaged in a PowerPAD™ 38-pin
HTSSOP package with thermal pad (Eco-friendly:
RoHS & no Sb/Br).
Device Information
PART NUMBER
DRV8704
PACKAGE
HTSSOP (38)
(1)
BODY SIZE (NOM)
9.70 mm × 4.40 mm
(1) For all available packages, see the orderable addendum at
the end of the data sheet.
Simplified Schematic
Controller
PWM
SLEEPn
SPI
nFAULT
DRV8704
Dual
H-Bridge
Gate Driver
Gate Drive
Sense
N-Channel MOSFETs
8.0 to 52 V
BDC
BDC
BDC
BDC
1
An IMPORTANT NOTICE at the end of this data sheet addresses availability, warranty, changes, use in safety-critical applications,
intellectual property matters and other important disclaimers. PRODUCTION DATA.
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
Table of Contents
1
2
3
4
5
6
7
Features ..................................................................
Applications ...........................................................
Description .............................................................
Revision History.....................................................
Pin Configuration and Functions .........................
Specifications.........................................................
1
1
1
2
3
5
6.1
6.2
6.3
6.4
6.5
6.6
6.7
5
5
5
5
6
8
9
Absolute Maximum Ratings ......................................
ESD Ratings..............................................................
Recommended Operating Conditions.......................
Thermal Information ..................................................
Electrical Characteristics...........................................
SPI Timing Requirements .........................................
Typical Characteristics ..............................................
7.4 Device Functional Modes........................................ 19
7.5 Register Maps ......................................................... 20
8
Application and Implementation ........................ 23
8.1 Application Information............................................ 23
8.2 Typical Application ................................................. 23
9
Power Supply Recommendations...................... 27
9.1 Bulk Capacitance .................................................... 27
10 Layout................................................................... 28
10.1 Layout Guidelines ................................................. 28
10.2 Layout Example .................................................... 29
11 Device and Documentation Support ................. 30
11.1
11.2
11.3
11.4
Detailed Description ............................................ 10
7.1 Overview ................................................................. 10
7.2 Functional Block Diagram ....................................... 11
7.3 Feature Description................................................. 12
Community Resources..........................................
Trademarks ...........................................................
Electrostatic Discharge Caution ............................
Glossary ................................................................
30
30
30
30
12 Mechanical, Packaging, and Orderable
Information ........................................................... 30
4 Revision History
NOTE: Page numbers for previous revisions may differ from page numbers in the current version.
2
DATE
REVISION
NOTES
October 2015
*
Initial release.
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
5 Pin Configuration and Functions
DCP Package
38-Pin HTSSOP
Top View
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
CP1
CP2
VCP
VM
GND
V5
VINT
SLEEPn
RESET
AIN1
AIN2
BIN1
BIN2
SCLK
SDATI
SCS
SDATO
FAULTn
GND
GND
(PPAD)
38
37
36
35
34
33
32
31
30
29
28
27
26
25
24
23
22
21
20
GND
AOUT1
A1HS
A1LS
AISENP
AISENN
A2LS
A2HS
AOUT2
GND
BOUT1
B1HS
B1LS
BISENP
BISENN
B2LS
B2HS
BOUT2
RSVD
Pin Functions
PIN
(1)
NAME
NO.
TYPE
DESCRIPTION
POWER AND GROUND
CP1
1
IO
Charge pump flying capacitor
CP2
2
IO
Charge pump flying capacitor
Connect a 0.1-μF X7R capacitor between CP1 and CP2.
Voltage rating must be greater than applied VM voltage.
GND
5, 19, 29,
38, PPAD
—
Device ground
All pins must be connected to ground
RSVD
20
—
Reserved
Leave this pin disconnected
V5
6
O
5-V regulator output
5-V linear regulator output. Bypass to GND with a 0.1-μF
10-V X7R ceramic capacitor.
VCP
3
IO
High-side gate drive voltage
Connect a 1-μF 16-V X7R ceramic capacitor to VM
VINT
7
—
Internal logic supply voltage
Logic supply voltage. Bypass to GND with a 1-μF 6.3-V
X7R ceramic capacitor.
VM
4
—
Motor power supply
Connect to motor supply voltage. Bypass to GND with a
0.1-μF ceramic capacitor plus a 100-μF electrolytic
capacitor.
AIN1
10
I
Bridge A IN1
Controls bridge A OUT1. Internal pulldown.
AIN2
11
I
Bridge A IN2
Controls bridge A OUT2. Internal pulldown.
BIN1
12
I
Bridge B IN1
Controls bridge B OUT1. Internal pulldown.
BIN2
13
I
Bridge B IN2
Controls bridge B OUT2. Internal pulldown.
RESET
9
I
Reset input
Active-high reset input initializes all internal logic and
disables the H-bridge outputs. Internal pulldown.
SLEEPn
8
I
Sleep mode input
Logic high to enable device, logic low to enter low-power
sleep mode. Internal pulldown.
SCLK
14
I
Serial clock input
Rising edge clocks data into part for write operations.
Falling edge clocks data out of part for read operations.
Internal pulldown.
SCS
16
I
Serial chip select input
Active high to enable serial data transfer. Internal pulldown.
SDATI
15
I
Serial data input
Serial data input from controller. Internal pulldown.
CONTROL
SERIAL INTERFACE
(1)
Directions: I = Input, O = Output, OZ = Tri-state output, OD = Open-drain output, IO = Input/output
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
3
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
Pin Functions (continued)
PIN
NAME
(1)
NO.
TYPE
DESCRIPTION
Serial data output
Serial data output to controller. Open-drain output requires
external pull-up.
Fault
Logic low when in fault condition. Open-drain output
requires external pullup.
O
Bridge A out 1 HS gate
Bridge A out 1 HS FET gate
35
O
Bridge A out 1 LS gate
Bridge A out 1 LS FET gate
31
O
Bridge A out 2 HS gate
Bridge A out 2 HS FET gate
A2LS
32
O
Bridge A out 2 LS gate
Bridge A out 2 LS FET gate
AISENN
33
I
Bridge A Isense – in
Ground at sense resistor for bridge A
AISENP
34
I
Bridge A Isense + in
Current sense resistor for bridge A
AOUT1
37
I
Bridge A output 1
Output node of bridge A out 1
AOUT2
30
I
Bridge A output 2
Output node of bridge A out 2
B1HS
27
O
Bridge B out 1 HS gate
Bridge B out 1 HS FET gate
B1LS
26
O
Bridge B out 1 LS gate
Bridge B out 1 LS FET gate
B2HS
22
O
Bridge B out 2 HS gate
Bridge B out 2 HS FET gate
B2LS
23
O
Bridge B out 2 LS gate
Bridge B out 2 LS FET gate
BISENN
24
I
Bridge B Isense – in
Ground at sense resistor for bridge B
BISENP
25
I
Bridge B Isense + in
Current sense resistor for bridge B
BOUT1
28
I
Bridge B output 1
Output node of bridge B out 1
BOUT2
21
I
Bridge B output 2
Output node of bridge B out 2
SDATO
17
O
18
OD
A1HS
36
A1LS
A2HS
STATUS
FAULTn
OUTPUT
4
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
6 Specifications
6.1 Absolute Maximum Ratings
over operating free-air temperature range referenced with respect to GND (unless otherwise noted)
(1)
MIN
MAX
UNIT
Power supply voltage (VM)
–0.6
60
V
Charge pump voltage (CP1, CP2, VCP)
–0.6
VM + 12
V
5-V regulator voltage (V5)
–0.6
5.5
V
Internal regulator voltage (VINT)
–0.6
2.0
V
Digital pin voltage (SLEEPn, RESET, AIN1, AIN2, BIN1, BIN2, SCS, SCLK, SDATI,
SDATO, FAULTn)
–0.6
5.5
High-side gate drive pin voltage (A1HS, A2HS, B1HS, B2HS)
–0.6
VM + 12
V
Low-side gate drive pin voltage (A1LS, A2LS, B1LS, B2LS)
–0.6
12
V
Phase node pin voltage (AOUT1, AOUT2, BOUT1, BOUT2)
–0.6
VM
V
ISENSEx pin voltage (AISENP, AISENN, BISENP, BISENN)
–0.7
+0.7
V
Operating virtual junction temperature, TJ
–40
150
°C
Storage temperature, Tstg
–60
150
°C
(1)
V
Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings
only, which do not imply functional operation of the device at these or any other conditions beyond those indicated under Recommended
Operating Conditions. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
6.2 ESD Ratings
VALUE
V(ESD)
(1)
(2)
Human-body model (HBM), per ANSI/ESDA/JEDEC JS-001
Electrostatic discharge
(1)
UNIT
±4000
Charged-device model (CDM), per JEDEC specification JESD22-C101
(2)
V
±1500
JEDEC document JEP155 states that 500-V HBM allows safe manufacturing with a standard ESD control process.
JEDEC document JEP157 states that 250-V CDM allows safe manufacturing with a standard ESD control process.
6.3 Recommended Operating Conditions
MIN
MAX
VM
Motor power supply voltage range
8
52
UNIT
VIN
Digital pin voltage range
0
5.3
V
fPWM
Applied PWM signal (xINx)
0
500
kHz
IV5
V5 external load current
0
10
mA
TA
Operating ambient temperature range
–40
85
°C
V
6.4 Thermal Information
DRV8704
THERMAL METRIC
(1)
DCP (HTSSOP)
UNIT
38 PINS
RθJA
Junction-to-ambient thermal resistance
32.7
°C/W
RθJC(top)
Junction-to-case (top) thermal resistance
17.2
°C/W
RθJB
Junction-to-board thermal resistance
14.3
°C/W
ψJT
Junction-to-top characterization parameter
0.5
°C/W
ψJB
Junction-to-board characterization parameter
14.1
°C/W
RθJC(bot)
Junction-to-case (bottom) thermal resistance
0.9
°C/W
(1)
For more information about traditional and new thermal metrics, see the Semiconductor and IC Package Thermal Metrics application
report, SPRA953.
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
5
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
6.5 Electrical Characteristics
TA = 25°C, over recommended operating conditions unless otherwise noted
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNIT
POWER SUPPLIES (VM)
IVM
VM operating supply current
VM = 24 V
17
22
mA
IVMQ
VM sleep mode supply current
VM = 24 V, SLEEPn low
65
98
μA
INTERNAL LINEAR REGULATORS (V5, VINT)
V5
V5 output voltage
VM ≥ 12 V, IOUT ≤ 10 mA
4.8
5
5.2
V
VINT
VINT voltage
No external load; reference only
1.7
1.8
1.9
V
0.8
V
LOGIC-LEVEL INPUTS (SLEEPn, AIN1, AIN2, BIN1, BIN2, RESET, SCLK, SDATI, SCS)
VIL
Input logic low voltage
VIH
Input logic high voltage
VHYS
Input logic hysteresis
IIL
Input logic low current
VIN = 0 V
–5
IIH
Input logic high current
VIN = 5 V
24
1.5
V
300
50
mV
5
μA
70
μA
0.5
V
1
μA
OPEN DRAIN OUTPUTS (nFAULT, SDATO)
VOL
Output logic low voltage
IO = 5 mA
IOH
Output logic high leakage
10kΩ pullup to 3.3 V
–1
GATE DRIVERS
VOUTH
High-side gate drive output
voltage
VM = 24 V, IO = 100 μA
VM + 10
V
VOUTL
Low-side gate drive output
voltage
VM = 24 V, IO = 100 μA
10
V
tDEAD
Output dead time digital delay
(dead time is enforced in analog
circuits)
IOUT,SRC
IOUT,SNK
tDRIVE,SRC
tDRIVE,SNK
Peak output sourcing gate drive
current
Peak output sinking gate drive
current
Peak current drive time for
sourcing
Peak current drive time for
sinking
DTIME = 00
410
DTIME = 01
460
DTIME = 10
670
DTIME = 11
880
IDRIVEP = 00
50
IDRIVEP = 01
100
IDRIVEP = 10
150
IDRIVEP = 11
200
IDRIVEN = 00
100
IDRIVEN = 01
150
IDRIVEN = 10
200
IDRIVEN = 11
400
TDRIVEP = 00
263
TDRIVEP = 01
525
TDRIVEP = 10
1050
TDRIVEP = 11
2100
TDRIVEN = 00
263
TDRIVEN = 01
525
TDRIVEN = 10
1050
TDRIVEN = 11
2100
ns
mA
mA
ns
ns
CURRENT REGULATION
tOFF
PWM off time adjustment range
Set by TOFF register
0.53
134
μs
tBLANK
Current sense blanking time
Set by TBLANK register
1.05
7.0
μs
AV
6
Current sense amplifier gain
ISGAIN = 00
5
ISGAIN = 01
10
ISGAIN = 10
20
ISGAIN = 11
40
Submit Documentation Feedback
V/V
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
Electrical Characteristics (continued)
TA = 25°C, over recommended operating conditions unless otherwise noted
PARAMETER
TEST CONDITIONS
MIN
TYP
ISGAIN = 00, ∆VIN = 400 mV
150
ISGAIN = 01, ∆VIN = 200 mV
300
ISGAIN = 10, ∆VIN = 100 mV
600
ISGAIN = 11, ∆VIN = 50 mV
1200
tSET
Settling time (to ±1%)
VOFS
Offset voltage
VIN
Input differential voltage range
–600
VREF
Internal reference voltage
2.50
ISGAIN = 00, input shorted
2.75
MAX
UNIT
ns
4
mV
600
mV
3.00
V
PROTECTION CIRCUITS
VUVLO
Undervoltage lockout
VOCP
Overcurrent protection trip level
(Voltage drop across external
FET)
VIN falling; UVLO report
6.3
VIN rising; UVLO recovery
7.1
8
OCPTH = 00
160
250
320
OCPTH = 01
380
500
580
OCPTH = 10
620
750
880
OCPTH = 11
840
1000
1200
TTSD
(1)
Thermal shutdown temperature
Die temperature, TJ
150
160
180
THYS
(1)
Thermal shutdown hysteresis
Die temperature, TJ
(1)
20
V
mV
°C
°C
Not tested in production; limits are based on characterization data
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
7
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
6.6 SPI Timing Requirements
over operating free-air temperature range (unless otherwise noted)
NO.
MIN
MAX
UNIT
1
tCYC
Clock cycle time
250
ns
2
tCLKH
Clock high time
25
ns
3
tCLCL
Clock low time
25
ns
4
tSU(SDATI)
Setup time, SDATI to SCLK
5
ns
5
tH(SDATI)
Hold time, SDATI to SCLK
1
ns
6
tSU(SCS)
Setup time, SCS to SCLK
5
ns
7
tH(SCS)
Hold time, SCS to SCLK
1
ns
8
tL(SCS)
Inactive time, SCS (between writes)
9
tD(SDATO)
Delay time, SCLK to SDATO (during read)
tSLEEP
Wake time (SLEEPn inactive to high-side gate drive enabled)
tRESET
Delay from power-up or RESETn high until serial interface functional
7
6
100
ns
10
ns
1
ms
10
μs
8
SCS
1
SCLK
2
3
SDATI
X
X
4
5
9
SDATO
valid
SDATO
Figure 1. Timing Diagram
8
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
6.7 Typical Characteristics
16.25
16.2
16.2
16.1
16.15
Supply Current IVM (mA)
Supply Current IVM (mA)
16.3
16
15.9
15.8
15.7
15.6
15.5
16.1
16.05
16
15.95
15.9
15.85
TA = +85°C
TA = +25°C
TA = -40°C
15.4
15.8
15.3
5
10
15
20
25
30
35
40
Supply Voltage VM (V)
45
50
15.75
-40
55
Figure 2. Supply Current over Supply Voltage
80
100
D002
200
TA = +85°C
TA = +25°C
TA = -40°C
200
180
180
Sleep Current IVMQ (PA)
Sleep Current IVMQ (PA)
0
20
40
60
Ambient Temperature T A (qC)
Figure 3. Supply Current over Ambient Temperature at VM =
24 V
220
160
140
120
100
80
160
140
120
100
80
60
60
40
5
10
15
20
25
30
35
40
Supply Voltage VM (V)
45
50
40
-40
55
7.65
7.6
VCP Charge Pump Voltage (V)
5.1
5.06
5.04
5.02
5
4.98
4.96
TA = +85°C
TA = +25°C
TA = -40°C
4.92
0
20
40
60
Ambient Temperature T A (qC)
80
100
D004
Figure 5. Sleep Current over Ambient Temperature at VM =
24 V
5.08
4.94
-20
D003
Figure 4. Sleep Current over Supply Voltage
V5 Regulator Voltage (V)
-20
D001
TA = +85°C
TA = +25°C
TA = -40°C
7.55
7.5
7.45
7.4
7.35
7.3
7.25
7.2
4.9
7.15
0
1
2
3
4
5
6
Load Current (mA)
7
8
9
10
0
D005
Figure 6. V5 Regulator Voltage over Output Load at
VM = 12 V
1
2
3
4
5
6
Load Current (mA)
7
8
9
10
D006
Figure 7. Charge Pump Voltage over DC Current Load at
VM = 12 V
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
9
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
7 Detailed Description
7.1 Overview
The DRV8704 is a dual-brushed motor controller that uses external N-channel MOSFETs to drive two brushed
DC motors.
Motor current can be accurately controlled using adaptive blanking time and various current decay modes,
including an auto-mixed decay mode.
A simple PWM interface allows easy interfacing to controller circuits. A SPI serial interface is used to program
the device operation. Output current (torque), gate drive settings, and decay mode are all programmable through
a SPI serial interface.
Internal shutdown functions are provided for overcurrent protection, short-circuit protection, UVLO, and
overtemperature. Fault conditions are indicated by a FAULTn pin, and each fault condition is reported by a
dedicated bit through SPI.
10
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
7.2 Functional Block Diagram
VM
0.01 µF
VM
+
Bulk
VM
VM
Gate Driver
Charge
Pump
VGLS
AOUT1
A1LS
LS
CP1
VINT
1.8-V LDO
VM
1 µF
10 mA
A1HS
HS
VCP
CP2
0.1 µF
VCP
Power
PWM
1 µF
V5
VCP
BDC
A2HS
HS
5.0-V LDO
0.1 µF
Gate Driver
VGLS LDO
VGLS
AOUT2
A2LS
LS
AIN1
AISENP
AIN2
BIN1
BIN2
+
VREF
Control
Inputs
AV
-
AISENN
RSENSE
DAC
SLEEPn
VM
Logic
RESET
VCP
B1HS
HS
SCS
SCLK
Serial
Interface
Gate Driver
VGLS
B1LS
LS
PWM
SDATI
SDATO
VM
VCP
Output
BDC
B2HS
HS
Protection
nFAULT
BOUT1
Gate Driver
Overcurrent
VGLS
BOUT2
B2LS
Undervoltage
LS
Thermal
BISENP
Gate Drive
+
VREF
-
AV
BISENN
RSENSE
DAC
PPAD GND
GND
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
11
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
7.3 Feature Description
7.3.1 PWM Motor Drivers
The DRV8704 contains two H-bridge motor gate drivers with current-control PWM circuitry.
7.3.2 Direct PWM Input Mode (Dual Brushed DC Gate Driver)
In direct PWM input mode, the AIN1, AIN2, BIN1, and BIN2 directly control the state of the output drivers. This
allows for driving up to two brushed DC motors. Table 1 shows the logic.
Table 1. Output Control Logic Table
SLEEPn
xIN1
xIN2
xOUT1
xOUT2
0
X
X
Hi-Z
Hi-Z
Sleep mode; H-bridge disabled Hi-Z
DESCRIPTION
1
0
0
Hi-Z
Hi-Z
Coast; H-bridge disabled Hi-Z
1
0
1
L
H
Reverse (current xOUT2 → xOUT1)
1
1
0
H
L
Forward (current xOUT1 → xOUT2)
1
1
1
L
L
Brake; low-side slow decay
In direct PWM mode, the current control circuitry is still active. The full-scale VREF is set to 2.75 V. The
TORQUE register may be used to scale this value, and the ISEN sense amplifier gain may still be set using the
ISGAIN bits of the CTRL register.
x1HS
Gate
Drive
and
OCP
xIN1
xIN2
VM
xOUT1
x1LS
PWM
logic
x2HS
Gate
Drive
and
OCP
VM
xOUT2
x2LS
+
Comp
xISENP
RISENSE
+
ISEN
amp
xISENN
-
+
-
+
Comp
VREF
-
TORQUE
Torque
DAC
ISGAIN
Figure 8. Motor Driver Block Diagram
12
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
7.3.3 Current Regulation
The current through the motor windings is regulated by an adjustable fixed-off-time PWM current regulation
circuit. When an H-bridge is enabled, current rises through the winding at a rate dependent on the DC voltage
and inductance of the winding and the magnitude of the back EMF present. Once the current hits the current
chopping threshold, the bridge disables the current for a fixed period of time, which is programmable between
525 ns and 128 µs by writing to the TOFF bits in the OFF register. After the off time expires, the bridge is reenabled, starting another PWM cycle.
Note that the decay mode is set by DECMOD bits in the DECAY register. Slow, fast, mixed, or auto mixed decay
modes are available.
The chopping current is set by a comparator which compares the voltage across a current sense resistor
connected to the xISENx pins, multiplied by the gain of the current sense amplifier, with a reference voltage. The
current sense amplifier is programmable in the CTRL register.
When driving in PWM mode, the chopping current is calculated as follows:
2.75 V u TORQUE
ICHOP
256 u ISGAIN u RISENSE
where
•
•
TORQUE is the setting of the TORQUE bits
ISGAIN is the programmed gain of the ISENSE amplifiers (5, 10, 20, or 40).
(1)
7.3.4 Decay Modes
During PWM current chopping, the H-bridge is enabled to drive current through the motor winding until the PWM
current chopping threshold is reached. This is shown in the diagram below as case 1. The current flow direction
shown indicates positive current flow in the step table below.
Once the chopping current threshold is reached, the H-bridge can operate in two different states, fast decay or
slow decay.
In fast decay mode, once the PWM chopping current level has been reached, the H-bridge reverses state to
allow winding current to flow in a reverse direction. If the winding current approaches zero, the bridge is disabled
to prevent any reverse current flow. Fast decay mode is shown in the diagram below as case 2.
In slow decay mode, winding current is recirculated by enabling both of the low-side FETs in the bridge. This is
shown as case 3 in Figure 9.
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
13
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
VM
PWM
ON
PWM OFF
Slow Decay
Fast Decay
1 Drive Current
1
xOUT2
xOUT1
3
2 Fast decay (reverse)
3 Slow decay (brake)
2
Mixed Decay
TDECAY
TBLANK
TOFF
Itrip
Figure 9. Decay Mode Current
Figure 10. Decay Mode Comparison
The DRV8704 supports fast decay and slow decay modes. In addition it supports fixed mixed decay and auto
mixed decay modes. Decay mode is selected by the DECMOD bits in the DECAY register.
Mixed decay mode begins as fast decay, but after a programmable period of time (set by the TDECAY bits in the
DECAY register) switches to slow decay mode for the remainder of the fixed off time.
Auto mixed decay mode samples the current level at the end of the blanking time, and if the current is above the
Itrip threshold, immediately changes the H-bridge to fast decay. During fast decay, the (negative) current is
monitored, and when it falls below the Itrip threshold (and another blanking time has passed), the bridge is
switched to slow decay. Once the fixed off time expires, a new cycle is started.
If the bridge is turned on and at the end of tBLANK the current is below the Itrip threshold, the bridge remains on
until the current reaches Itrip. Then slow decay is entered for the fixed off time, and a new cycle begins.
Refer to Figure 11.
The upper waveform shows the behavior if I < Itrip at the end of tBLANK. This is a stable, slow decay mode of
operation.
The lower waveform shows what happens when I > Itrip at the end of tBLANK. Note that (at slow motor speeds,
where back EMF is not significant), the current increase during the ON phase is the same magnitude as the
current decrease in fast decay, since both times are controlled by tBLANK, and the rate of change is the same (full
VM is applied to the load inductance in both cases, but in opposite directions). In this case, the current will
gradually be driven down until the peak current is just hitting Itrip at the end of the blanking time, after which
some cycles will be slow decay, and some will be mixed decay.
14
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
tON
tON
tOFF
tBLANK
I below Itrip
after tBLANK
tOFF
tBLANK
Itrip
At Itrip and after tBLANK,
slow decay
I < Itrip
tON
tBLANK
I above Itrip
after tBLANK
tON
tOFF
tBLANK
tBLANK
tOFF
On
tBLANK
Fast
Decay
Itrip
Slow
Decay
I > Itrip, start
fast decay
When I < Itrip in fast decay and
tBLANK expires, change to slow
decay
Figure 11. Auto Mixed Decay
To accurately detect zero current, an internal offset has been intentionally placed in the zero current detection
circuit. If an external filter is placed on the current sense resistor to the xISENN and xISENP pins, symmetry
must be maintained. This means that any resistance between the bottom of the RISENSE resistor and xISENN
must be matched by the same resistor value (1% tolerance) between the top of the RISENSE resistor and xISENP.
Ensure a maximum resistance of 500 Ω. The capacitor value should be chosen such that the RC time constant is
between 50 and 60 ns. Any external filtering on these pins is optional and not required for operation.
VM
x1HS
Gate
Drive
and
OCP
xOUT1
x1LS
PWM
logic
VM
x2HS
Gate
Drive
and
OCP
xOUT2
x2LS
+
RISENSE
Comp
xISENP
+
ISEN
amp
xISENN
-
+
-
+
Comp
C
R
R
-
Optional Filtering
Figure 12. Optional Filtering for Sense Amplifiers
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
15
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
7.3.5 Blanking Time
After the current is enabled in an H-bridge, the voltage on the ISEN pin is ignored for a period of time before
enabling the current sense circuitry. This blanking time is adjustable from 500 ns to 5.14 µs, in 20-ns increments,
by setting the TBLANK bits in the BLANK register. Note that the blanking time also sets the minimum drive time
of the PWM.
The same blanking time is applied to the fast decay period in auto mixed decay mode. The PWM will ignore any
transitions on Itrip after entering fast decay mode, until the blanking time has expired.
7.3.6 Gate Drivers
An internal charge pump circuit and pre-drivers inside the DRV8704 directly drive N-channel MOSFETs, which
drive the motor current.
The peak drive current of the pre-drivers is adjustable by setting the bits in the DRIVE register. Peak source
currents may be set to 50 mA, 100 mA, 150 mA, or 200 mA. The peak sink current is approximately 2× the peak
source current. Adjusting the peak current will change the output slew rate, which also depends on the FET input
capacitance and gate charge.
When changing the state of the output, the peak current is applied for a short period of time (tDRIVE), to charge
the gate capacitance. After this time, a weak current source is used to keep the gate at the desired state. When
selecting the gate drive strength for a given external FET, the selected current must be high enough to fully
charge and discharge the gate during the time when driven at full current, or excessive power will be dissipated
in the FET.
During high-side turn-on, the low-side gate is pulled low. This prevents the gate-drain capacitance of the low-side
FET from inducing turn-on.
The pre-driver circuits include enforcement of a dead time in analog circuitry, which prevents the high-side and
low-side FETs from conducting at the same time. Additional dead time is added with digital delays. This delay
can be selected by setting the DTIME bits in the CTRL register.
tDRIVE
HS drive
(mA)
High Z
High Z
High Z
Low Z
Low
Z
xHS
(V)
tDRIVE
High Z
Low Z
High Z
High Z
LS drive
(mA)
Low
Z
xLS
(V)
tDEAD
tDEAD
Figure 13. Gate Driver
16
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
I (mA) source
I (mA) source
TDRIVEP = 00
TDRIVEP = 01
200 mA
200 mA
IDRIVEP = 11
IDRIVEP = 11
150 mA
150 mA
IDRIVEP = 10
IDRIVEP = 10
100 mA
100 mA
IDRIVEP = 01
IDRIVEP = 01
50 mA
50 mA
IDRIVEP = 00
IDRIVEP = 00
Holding Current
t (ns)
263 ns 525 ns
1.05 µs
Holding Current
2.1 µs
t (ns)
263 ns 525 ns
I (mA) source
1.05 µs
2.1 µs
I (mA) source
TDRIVEP = 10
TDRIVEP = 11
200 mA
200 mA
IDRIVEP = 11
IDRIVEP = 11
150 mA
150 mA
IDRIVEP = 10
IDRIVEP = 10
100 mA
100 mA
IDRIVEP = 01
IDRIVEP = 01
50 mA
50 mA
IDRIVEP = 00
IDRIVEP = 00
Holding Current
t (ns)
263 ns 525 ns
1.05 µs
Holding Current
2.1 µs
t (ns)
263 ns 525 ns
1.05 µs
2.1 µs
Figure 14. Gate Driver Source Capability
TDRIVEN = 00
263 ns 525 ns
TDRIVEN = 01
1.05 µs
2.1 µs
263 ns 525 ns
t (ns)
Holding Current
1.05 µs
2.1 µs
t (ns)
Holding Current
IDRIVEN = 00
IDRIVEN = 00
100 mA
100 mA
IDRIVEN = 01
IDRIVEN = 01
200 mA
200 mA
IDRIVEN = 10
IDRIVEN = 10
300 mA
300 mA
IDRIVEN = 11
IDRIVEN = 11
400 mA
400 mA
I (mA) sink
263 ns 525 ns
I (mA) sink
TDRIVEN = 10
1.05 µs
2.1 µs
263 ns 525 ns
t (ns)
Holding Current
1.05 µs
2.1 µs
t (ns)
Holding Current
IDRIVEN = 00
100 mA
TDRIVEN = 11
IDRIVEN = 00
100 mA
IDRIVEN = 01
200 mA
IDRIVEN = 01
200 mA
IDRIVEN = 10
300 mA
IDRIVEN = 10
300 mA
IDRIVEN = 11
400 mA
I (mA) sink
IDRIVEN = 11
400 mA
I (mA) sink
Figure 15. Gate Driver Sink Capability
7.3.7 Configuring Gate Drivers
IDRIVE and TDRIVE are selected based on the size of external FETs used. These registers need to be
configured so that the FET gates are charged completely during TDRIVE. If IDRIVE and TDRIVE are chosen to
be too low for a given FET, then the FET may not turn on completely. It is suggested to adjust these values insystem with the required external FETs and motors in order to determine the best possible setting for any
application.
Note that TDRIVE will not increase the PWM time or change the PWM chopping frequency.
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
17
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
In a system with capacitor charge Q and desired rise time RT, IDRIVE, and TDRIVE can be initially selected
based on:
Q
IDRIVE !
(2)
RT
TDRIVE > 2 × RT
(3)
For best results, select the smallest IDRIVE and TDRIVE that meet the above conditions.
Example:
If the gate charge is 15 nC and the desired rise time is 400 ns, then select
IDRIVEP = 50 mA, IDRIVEN = 100 mA
TDRIVEP = TDRIVEN = 1050 ns
7.3.8 External FET Selection
In a typical setup, the DRV8704 can support external FETs over 50 nC each. However, this capacity can be
lower or higher based on the device operation. For an accurate calculation of FET driving capacity, use
Equation 4.
20 mA u 2 u DTIME TBLANK TOFF
Q
4
(4)
Example:
If a DTIME is set to 0 (410 ns), TBLANK is set to 0 (1 µs), and TOFF is set to 0 (525 ns), then the DRV8704
will support Q < 11.5 nC FETs. (Please note that this is an absolute worst-case scenario with a PWM
frequency about 430 kHz)
If a DTIME is set to 0 (410 ns), TBLANK is set to 0 (1 µs), and TOFF is set to 0x14 (10 µs), then the
DRV8704 will support Q < 59 nC FETs (PWM frequency about 85 kHz).
If a DTIME is set to 0 (410 ns), TBLANK is set to 0 (1 µs), and TOFF is set to 0x60 (48 µs), then the
DRV8704 will support Q < 249 nC FETs (PWM frequency about 20 kHz).
7.3.9 Protection Circuits
The DRV8704 is fully protected against undervoltage, overcurrent, and overtemperature events.
7.3.9.1 Overcurrent Protection (OCP)
Overcurrent is sensed by monitoring the voltage drop across the external FETs. If the voltage across a driven
FET exceeds the value programmed by the OCPTH bits in the DRIVE register for more than the time period
specified by the OCPDEG bits in the DRIVE register, an OCP event is recognized. During an OCP event, the Hbridge experiencing the OCP event is disabled. In addition, the corresponding xOCP bit in the STATUS register
is set, and the FAULTn pin is driven low. The H-bridge (or H-bridges) will remain off, and the xOCP bit will
remain set, until it is written to 0, or the device is reset.
7.3.9.2 Gate Driver Fault (PDF)
If excessive current is detected on the gate drive outputs (which would be indicative of a failed/shorted output
FET or PCB fault), the H-bridge experiencing the fault is disabled, the xPDF bit in the STATUS register is set,
and the FAULTn pin is driven low. The H-bridge will remain off, and the xPDF bit will remain set until it is written
to 0, or the device is reset.
7.3.9.3 Thermal Shutdown (TSD)
If the die temperature exceeds safe limits, all FETs in the H-bridge will be disabled, the OTS bit in the STATUS
register will be set, and the FAULTn pin will be driven low. Once the die temperature has fallen to a safe level
operation will automatically resume and the OTS bit will reset. The FAULTn pin will be released after operation
has resumed.
18
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
7.3.9.4 Undervoltage Lockout (UVLO)
If at any time the voltage on the VM pin falls below the undervoltage lockout threshold voltage, all FETs in the Hbridge will be disabled, the UVLO bit in the STATUS register will be set, and the FAULTn pin will be driven low.
Operation will resume and the UVLO bit will reset when VM rises above the UVLO threshold. The FAULTn pin
will be released after operation has resumed.
7.3.10 Serial Data Format
The serial data consists of a 16-bit serial write, with a read/write bit, 3 address bits and 12 data bits. The three
address bits identify one of the registers defined in the register section above. To complete the read or write
transaction, SCS must be set to a logic 0.
To write to a register, data is shifted in after the address as shown in the timing diagram below. The first bit at
the beginning of the access must be logic low for a write operation.
Figure 16. Serial Write Operation
Data may be read from the registers through the SDATO pin. During a read operation, only the address is used
form the SDATI pin; the data bits following are ignored. The first bit at the beginning of the access must be logic
high for a read operation.
(1)
Any amount of time may pass between bits, as long as SCS stays active high. This allows two 8-bit writes to be used
Figure 17. Serial Read Operation
7.4 Device Functional Modes
The DRV8704 is active unless the nSLEEP pin is brought logic low. In sleep mode the charge pump is disabled,
the H-bridge FETs are disabled Hi-Z, and the V5 regulator is disabled. The DRV8704 is brought out of sleep
mode automatically if nSLEEP is brought logic high.
If a ‘0’ is written to the ENBL bit, the H-bridge outputs are disabled, but the internal logic will still be active.
Table 2. Functional Modes
CONDITION
H-BRIDGE
CHARGE PUMP
SPI
V5
Operating
8 V < VM < 52 V
nSLEEP pin = 1
ENBL bit = 1
Operating
Operating
Operating
Operating
Disabled
8 V < VM < 52 V
nSLEEP pin = 1
ENBL bit = 0
Disabled
Operating
Operating
Operating
Sleep mode
8 V < VM < 52 V
nSLEEP pin = 0
Disabled
Disabled
Disabled
Disabled
Fault
encountered
Any fault condition met
Disabled
Depends on fault
Depends on fault
Depends on fault
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
19
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
7.5 Register Maps
7.5.1 Control Registers
The DRV8704 uses internal registers to control the operation of the motor. The registers are programmed by a
serial SPI communications interface. At power-up or reset, the registers will be pre-loaded with default values as
shown in Table 3.
Following is a map of the DRV8704 registers:
Table 3. DRV8704 Register Map
NAME
CTRL
11
10
9
DTIME
TORQUE
8
7
6
5
4
ISGAIN
Reserved
BLANK
PWMMODE
Reserved
DECAY
Reserved
DECMOD
RESERVED
DRIVE
2
1
R/W
00
TORQUE
ENBL
R/W
01
TOFF
R/W
02
TBLANK
R/W
03
TDECAY
R/W
04
R/W
05
R/W
06
R/W
07
Reserved
IDRIVEP
STATUS
IDRIVEN
TDRIVEP
Reserved
TDRIVEN
UVLO
ADDRESS
HEX
0
Reserved
Reserved
OFF
3
BPDF
OCPDEG
APDF
BOCP
OCPTH
AOCP
OTS
Individual register contents are defined in the following sections.
7.5.1.1 CTRL Register (Address = 0x00h)
Table 4. CTRL Register
BIT
NAME
SIZE
R/W
DEFAULT
DESCRIPTION
0
ENBL
1
R/W
1
0: Disable motor
1: Enable motor
7-1
Reserved
7
—
—
Reserved
11
ISENSE amplifier gain set
00: Gain of 5 V/V
01: Gain of 10 V/V
10: Gain of 20 V/V
11: Gain of 40 V/V
00
Dead time set
00: 410-ns dead time
01: 460-ns dead time
10: 670-ns dead time
11: 880-ns dead time
9-8
11-10
ISGAIN
DTIME
2
R/W
2
R/W
7.5.1.2 TORQUE Register (Address = 0x01h)
Table 5. TORQUE Register
BIT
NAME
SIZE
R/W
DEFAULT
7-0
TORQUE
8
R/W
0xFFh
11-8
Reserved
4
—
—
DESCRIPTION
Sets full-scale output current for both H-bridges
Reserved
7.5.1.3 OFF Register (Address = 0x02h)
Table 6. OFF Register
20
BIT
NAME
SIZE
R/W
DEFAULT
7-0
TOFF
8
R/W
0x30h
8
PWMMODE
1
R/W
1
0: Do not write ‘0’ to this register
1: PWM control mode
11-9
Reserved
3
—
—
Reserved
Submit Documentation Feedback
DESCRIPTION
Sets fixed off time, in increments of 525 ns
0x00h: 525 ns
0xFFh: 133.8 µs
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
7.5.1.4 BLANK Register (Address = 0x03h)
Table 7. BLANK Register
BIT
NAME
SIZE
R/W
DEFAULT
DESCRIPTION
7-0
TBLANK
8
R/W
0x80h
Sets current trip blanking time, in increments of 21
ns
0x00h: 1.05 µs
…
0x32h: 1.05 µs
0x33h: 1.07 µs
…
0xFEh: 5.859 µs
0xFFh: 5.880 µs
Also sets minimum on-time of PWM
11-8
Reserved
4
—
—
Reserved
7.5.1.5 DECAY Register (Address = 0x04h)
Table 8. DECAY Register
BIT
NAME
SIZE
R/W
DEFAULT
DESCRIPTION
7-0
TDECAY
8
R/W
0x10h
Sets mixed decay transition time, in increments of
525ns
10-8
DECMOD
3
R/W
000
11
Reserved
1
—
—
000: Force slow decay at all times
001: Reserved
010: Force fast decay at all times
011: Use mixed decay at all times
100: Reserved
101: Use auto mixed decay at all times
110 – 111: Reserved
Reserved
7.5.1.6 Reserved Register Address = 0x05h
Table 9. Reserved Register
BIT
NAME
SIZE
R/W
DEFAULT
DESCRIPTION
11-0
Reserved
12
—
—
Reserved
7.5.1.7 DRIVE Register Address = 0x06h
Table 10. DRIVE Register
BIT
NAME
SIZE
R/W
DEFAULT
DESCRIPTION
1-0
OCPTH
2
R/W
01
OCP threshold
00: 250 mV
01: 500 mV
10: 750 mV
11: 1000 mV
3-2
OCPDEG
2
R/W
01
OCP deglitch time
00: 1.05 µs
01: 2.1 µs
10: 4.2 µs
11: 8.4 µs
5-4
TDRIVEN
2
R/W
10
Gate drive sink time
00: 263 ns
01: 525 ns
10: 1.05 µs
11: 2.10 µs
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
21
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
Table 10. DRIVE Register (continued)
BIT
NAME
SIZE
R/W
DEFAULT
7-6
TDRIVEP
2
R/W
10
Gate drive source time
00: 263 ns
01: 525 ns
10: 1.05 µs
11: 2.10 µs
DESCRIPTION
9-8
IDRIVEN
2
R/W
11
Gate drive peak sink current
00: 100-mA peak (sink)
01: 200-mA peak (sink)
10: 300-mA peak (sink)
11: 400-mA peak (sink)
11-10
IDRIVEP
2
R/W
11
Gate drive peak source current
00: 50-mA peak (source)
01: 100-mA peak (source)
10: 150-mA peak (source)
11: 200-mA peak (source)
7.5.1.8 STATUS Register (Address = 0x07h)
Table 11. STATUS Register
22
BIT
NAME
SIZE
R/W
DEFAULT
DESCRIPTION
0
OTS
1
R
0
0: Normal operation
1: Device has entered overtemperature shutdown
Write a ‘0’ to this bit to clear the fault and resume
operation
Operation automatically resumes once
temperature has fallen to safe levels
1
AOCP
1
R/W
0
0: Normal operation
1: Channel A overcurrent shutdown
Write a ‘0’ to this bit to clear the fault and resume
operation
2
BOCP
1
R/W
0
0: Normal operation
1: Channel B overcurrent shutdown
Write a ‘0’ to this bit to clear the fault and resume
operation
3
APDF
1
R/W
0
0: Normal operation
1: Channel A predriver fault
Write a ‘0’ to this bit to clear the fault and resume
operation
4
BPDF
1
R/W
0
0: Normal operation
1: Channel B predriver fault
Write a ‘0’ to this bit to clear the fault and resume
operation
5
UVLO
1
R
0
0: Normal operation
1: Undervoltage lockout
Write a ‘0’ to this bit to clear the fault and resume
operation
The UVLO bit cannot be cleared in sleep mode
Operation automatically resumes once VM has
risen
11-6
Reserved
5
—
—
Reserved
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
8 Application and Implementation
NOTE
Information in the following applications sections is not part of the TI component
specification, and TI does not warrant its accuracy or completeness. TI’s customers are
responsible for determining suitability of components for their purposes. Customers should
validate and test their design implementation to confirm system functionality.
8.1 Application Information
The DRV8704 is used in brushed DC motor control.
8.2 Typical Application
The following design procedure can be used to configure the DRV8704.
1
0.1 µF
2
3
VM
+
bulk
1 µF
0.01 µF
4
5
6
7
0.1 µF
1 µF
8
9
10
11
12
13
14
V5
V5
15
16
17
18
19
DRV8704DCP
CP1
GND
CP2
AOUT1
VCP
A1HS
VM
A1LS
GND
AISENP
V5
AISENN
VINT
A2LS
SLEEPn
A2HS
RESET
AOUT2
AIN1
GND
AIN2
BOUT1
BIN1
B1HS
BIN2
B1LS
SCLK
BISENP
SDATI
BISENN
SCS
B2LS
SDATO
B2HS
FAULTn
BOUT2
GND
RSVD
38
VM
37
36
A2HS
A1HS
35
34
33
AOUT1
BDC
AOUT2
A2LS
A1LS
32
AISENP
31
30
AISENN
29
28
VM
27
26
B2HS
B1HS
25
24
23
BOUT1
BDC
BOUT2
B2LS
B1LS
22
21
20
BISENP
BISENN
Figure 18. Dual Brushed-DC Motor Control
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
23
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
Typical Application (continued)
8.2.1 Design Requirements
Table 12 shows design input parameters for system design.
Table 12. Design Parameters
DESIGN PARAMETER
REFERENCE
Supply voltage
EXAMPLE VALUE
VM
24 V
Qg
41 nC (typically)
Qgd
6.7 nC (typically)
Target FET gate rise time
RT
20 to 100 ns
Motor winding resistance
RL
400 mΩ
Motor winding inductance
LL
258 μH
ICHOP
5.5 A
FET total gate charge
(1)
FET gate-to-drain charge
(1)
Target chopping current
(1)
FET part number is CSD18540Q5B
8.2.2 Detailed Design Procedure
8.2.2.1 External FET Selection
The DRV8704 FET support is based on the charge pump capacity and output PWM frequency. For a quick
calculation of FET driving capacity, use the following equations when drive and brake (slow decay) are the
primary modes of operation:
IVCP
Qg
u ¦PWM
where
•
•
ƒPWM is the maximum desired PWM frequency to be applied to the DRV8704 inputs or the current chopping
frequency, whichever is larger.
IVCP is the charge pump capacity, which is 20 mA.
(5)
The factor of two arises because there are two H-bridges present.
The current chopping frequency is at most:
1
¦PWM
t OFF tBLANK
(6)
Example:
If a system uses a maximum PWM frequency of 40 kHz, then the DRV8704 will support Qg < 250 nC FETs.
If the application will require a forced fast decay (or alternating between drive and reverse drive), the maximum
FET driving capacity is given by:
IVCP
Qg
u ¦PWM
(7)
8.2.2.2 IDRIVE Configuration
IDRIVE is selected based on the gate charge of the FETs. The IDRIVEx and TDRIVEx registers need to be
configured so that the FET gates are charged completely during TDRIVE. If IDRIVE is chosen to be too low for a
given FET, or if TDRIVE is less than the intended rise time, then the FET may not turn on completely. TI
suggests to adjust these values in-system with the required external FETs and motor to determine the best
possible setting for any application.
For FETs with a known gate-to-drain charge Qgd and desired rise time RT, IDRIVE and TDRIVE can be selected
based on:
Qgd
IDRIVE !
RT
(8)
TDRIVE > 2 × RT
24
(9)
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
Example:
If the gate-to-drain charge is 5.9 nC, and the desired rise time is around 20 to 100 ns:
IDRIVE1 = 6.7 nC / 20 ns = 335 mA
IDRIVE2 = 6.7 nC / 100 ns = 67 mA
Select IDRIVE between 67 and 335 mA.
We select IDRIVEP as 200-mA source and IDRIVEP as 400-mA sink.
We select TDRIVEN and TDRIVEP as 525 ns.
8.2.2.3 Current Chopping Configuration
The chopping current is set based on the sense resistor value, shunt amplifier gain set by the ISGAIN register,
and the TORQUE register setting. The following is used to calculate the current:
2.75 V u TORQUE
ICHOP
256 u ISGAIN u RISENSE
(10)
Example:
If the desired chopping current is 5.5 A:
Set RSENSE = 100 mΩ.
Set ISGAIN to the 5 V/V setting.
The TORQUE register can be (decimal) 255.
8.2.2.4 Decay Modes
The DRV8704 supports several different decay modes: slow decay, fast decay, mixed decay, and automatic
mixed decay. The current through the motor windings is regulated using an adjustable fixed-time-off scheme.
This means that after any drive phase, when a motor winding current has hit the current chopping threshold
(ITRIP), the DRV8704 will place the winding in one of the decay modes for TOFF. After TOFF, a new drive phase
starts.
8.2.2.5 Sense Resistor
For optimal performance, it is important for the sense resistor to be:
• Surface-mount
• Low inductance
• Rated for high enough power
• Placed closely to the motor driver
The power dissipated by the sense resistor equals IRMS 2 × R. For example, if peak motor current is 3 A, RMS
motor current is 2 A, and a 0.05-Ω sense resistor is used, the resistor will dissipate 2 A2 × 0.05 Ω = 0.2 W. The
power quickly increases with higher current levels.
Resistors typically have a rated power within some ambient temperature range, along with a derated power curve
for high ambient temperatures. When a PCB is shared with other components generating heat, margin should be
added. It is always best to measure the actual sense resistor temperature in a final system, along with the power
MOSFETs, as those are often the hottest components.
Because power resistors are larger and more expensive than standard resistors, it is common practice to use
multiple standard resistors in parallel, between the sense node and ground. This distributes the current and heat
dissipation.
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
25
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
8.2.3 Application Curves
Figure 19. Current Regulation
26
Figure 20. Motor Startup
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
9 Power Supply Recommendations
The DRV8704 is designed to operate from an input voltage supply (VM) range between 8 and 52 V. A 0.01-μF
ceramic capacitor rated for VM must be placed as close to the DRV8704 as possible. In addition, a bulk
capacitor must be included on VM.
9.1 Bulk Capacitance
Having appropriate local bulk capacitance is an important factor in motor drive system design. It is generally
beneficial to have more bulk capacitance, while the disadvantages are increased cost and physical size.
The amount of local capacitance needed depends on a variety of factors, including:
• The highest current required by the motor system
• The power supply’s capacitance and ability to source current
• The amount of parasitic inductance between the power supply and motor system
• The acceptable voltage ripple
• The type of motor used (brushed DC, brushless DC, stepper)
• The motor braking method
The inductance between the power supply and motor drive system will limit the rate current can change from the
power supply. If the local bulk capacitance is too small, the system will respond to excessive current demands or
dumps from the motor with a change in voltage. When adequate bulk capacitance is used, the motor voltage
remains stable and high current can be quickly supplied.
The data sheet generally provides a recommended value, but system-level testing is required to determine the
appropriate sized bulk capacitor.
Power Supply
Parasitic Wire
Inductance
Motor Drive System
VM
+
±
+
Motor
Driver
GND
Local
Bulk Capacitor
IC Bypass
Capacitor
Figure 21. Example Setup of Motor Drive System With External Power Supply
The voltage rating for bulk capacitors should be higher than the operating voltage, to provide margin for cases
when the motor transfers energy to the supply.
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
27
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
10 Layout
10.1 Layout Guidelines
The VM terminal should be bypassed to GND using a low-ESR ceramic bypass capacitor with a recommended
value of 0.01 μF rated for VM. This capacitor should be placed as close to the VM pin as possible with a thick
trace or ground plane connection to the device GND pin.
The VM pin must be bypassed to ground using a bulk capacitor rated for VM. This component may be an
electrolytic. The bulk capacitor should be placed to minimize the distance of the high-current path through the
external FETs. The connecting metal trace widths should be as wide as possible, and numerous vias should be
used when connecting PCB layers. These practices minimize inductance and allow the bulk capacitor to deliver
high current.
A low-ESR ceramic capacitor must be placed in between the CPL and CPH pins. A value of 0.1 μF rated for VM
is recommended. Place this component as close to the pins as possible.
A low-ESR ceramic capacitor must be placed in between the VM and VCP pins. A value of 1 μF rated for 16 V is
recommended. Place this component as close to the pins as possible.
Bypass VINT to ground with a ceramic capacitor rated 6.3 V. Place this bypassing capacitor as close to the pin
as possible.
Bypass V5 to ground with a ceramic capacitor rated 6.3 V. Place this bypassing capacitor as close to the pin as
possible.
If desired, align the external NMOS FETs as shown on the next page to facilitate layout. Route the AOUT1,
AOUT2, BOUT1, and BOUT2 nets to the motor windings.
Use separate traces to connect the xISENP and xISENN pins to the sense resistor terminals.
28
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
DRV8704
www.ti.com
SLVSD29 – OCTOBER 2015
10.2 Layout Example
0.01 µF
1 µF
0.1 µF 1 µF
0.1 µF
AISENN
AISENP
GND
A2LS
AOUT1
V5
GND
A2HS
CP1
VINT
AOUT2
CP2
SLEEPn
GND
A1LS
RESET
BOUT1
A1HS
AIN1
VM
AIN2
B1LS
B1HS
VCP
BIN1
BISENP
BIN2
SCLK
B2HS
B2LS
BOUT2
BISENN
SDATO
SDATI
FAULTn
RSVD
SCS
GND
+
D
G
D
D
S
G
G
S
D
S
D
G
D
S
S
D
S
D
S
D
D
S
D
G
S
D
S
D
S
D
D
G
D
S
S
D
S
D
S
D
D
S
D
S
D
S
D
D
xxxx
xxxx
xxxx
xxxx
xxxx
AOUT1
AOUT2
BOUT1
S
G
D
S
D
S
D
S
G
D
S
D
D
D
S
BOUT2
D
xxxx
xxxx
xxxx
xxxx
xxxx
Figure 22. Board Layout Example
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
29
DRV8704
SLVSD29 – OCTOBER 2015
www.ti.com
11 Device and Documentation Support
11.1 Community Resources
The following links connect to TI community resources. Linked contents are provided "AS IS" by the respective
contributors. They do not constitute TI specifications and do not necessarily reflect TI's views; see TI's Terms of
Use.
TI E2E™ Online Community TI's Engineer-to-Engineer (E2E) Community. Created to foster collaboration
among engineers. At e2e.ti.com, you can ask questions, share knowledge, explore ideas and help
solve problems with fellow engineers.
Design Support TI's Design Support Quickly find helpful E2E forums along with design support tools and
contact information for technical support.
11.2 Trademarks
PowerPAD, E2E are trademarks of Texas Instruments.
All other trademarks are the property of their respective owners.
11.3 Electrostatic Discharge Caution
These devices have limited built-in ESD protection. The leads should be shorted together or the device placed in conductive foam
during storage or handling to prevent electrostatic damage to the MOS gates.
11.4 Glossary
SLYZ022 — TI Glossary.
This glossary lists and explains terms, acronyms, and definitions.
12 Mechanical, Packaging, and Orderable Information
The following pages include mechanical, packaging, and orderable information. This information is the most
current data available for the designated devices. This data is subject to change without notice and revision of
this document. For browser-based versions of this data sheet, refer to the left-hand navigation.
30
Submit Documentation Feedback
Copyright © 2015, Texas Instruments Incorporated
Product Folder Links: DRV8704
PACKAGE OPTION ADDENDUM
www.ti.com
15-Nov-2015
PACKAGING INFORMATION
Orderable Device
Status
(1)
Package Type Package Pins Package
Drawing
Qty
Eco Plan
Lead/Ball Finish
MSL Peak Temp
(2)
(6)
(3)
Op Temp (°C)
Device Marking
(4/5)
DRV8704DCP
ACTIVE
HTSSOP
DCP
38
50
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 85
DRV8704
DRV8704DCPR
ACTIVE
HTSSOP
DCP
38
2000
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 85
DRV8704
(1)
The marketing status values are defined as follows:
ACTIVE: Product device recommended for new designs.
LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect.
NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design.
PREVIEW: Device has been announced but is not in production. Samples may or may not be available.
OBSOLETE: TI has discontinued the production of the device.
(2)
Eco Plan - The planned eco-friendly classification: Pb-Free (RoHS), Pb-Free (RoHS Exempt), or Green (RoHS & no Sb/Br) - please check http://www.ti.com/productcontent for the latest availability
information and additional product content details.
TBD: The Pb-Free/Green conversion plan has not been defined.
Pb-Free (RoHS): TI's terms "Lead-Free" or "Pb-Free" mean semiconductor products that are compatible with the current RoHS requirements for all 6 substances, including the requirement that
lead not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, TI Pb-Free products are suitable for use in specified lead-free processes.
Pb-Free (RoHS Exempt): This component has a RoHS exemption for either 1) lead-based flip-chip solder bumps used between the die and package, or 2) lead-based die adhesive used between
the die and leadframe. The component is otherwise considered Pb-Free (RoHS compatible) as defined above.
Green (RoHS & no Sb/Br): TI defines "Green" to mean Pb-Free (RoHS compatible), and free of Bromine (Br) and Antimony (Sb) based flame retardants (Br or Sb do not exceed 0.1% by weight
in homogeneous material)
(3)
MSL, Peak Temp. - The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature.
(4)
There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device.
(5)
Multiple Device Markings will be inside parentheses. Only one Device Marking contained in parentheses and separated by a "~" will appear on a device. If a line is indented then it is a continuation
of the previous line and the two combined represent the entire Device Marking for that device.
(6)
Lead/Ball Finish - Orderable Devices may have multiple material finish options. Finish options are separated by a vertical ruled line. Lead/Ball Finish values may wrap to two lines if the finish
value exceeds the maximum column width.
Important Information and Disclaimer:The information provided on this page represents TI's knowledge and belief as of the date that it is provided. TI bases its knowledge and belief on information
provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. TI has taken and
continues to take reasonable steps to provide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals.
TI and TI suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release.
Addendum-Page 1
Samples
PACKAGE OPTION ADDENDUM
www.ti.com
15-Nov-2015
In no event shall TI's liability arising out of such information exceed the total purchase price of the TI part(s) at issue in this document sold by TI to Customer on an annual basis.
Addendum-Page 2
PACKAGE MATERIALS INFORMATION
www.ti.com
14-Nov-2015
TAPE AND REEL INFORMATION
*All dimensions are nominal
Device
DRV8704DCPR
Package Package Pins
Type Drawing
SPQ
HTSSOP
2000
DCP
38
Reel
Reel
A0
Diameter Width (mm)
(mm) W1 (mm)
330.0
16.4
Pack Materials-Page 1
6.9
B0
(mm)
K0
(mm)
P1
(mm)
W
Pin1
(mm) Quadrant
10.2
1.8
12.0
16.0
Q1
PACKAGE MATERIALS INFORMATION
www.ti.com
14-Nov-2015
*All dimensions are nominal
Device
Package Type
Package Drawing
Pins
SPQ
Length (mm)
Width (mm)
Height (mm)
DRV8704DCPR
HTSSOP
DCP
38
2000
367.0
367.0
38.0
Pack Materials-Page 2
IMPORTANT NOTICE
Texas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, enhancements, improvements and other
changes to its semiconductor products and services per JESD46, latest issue, and to discontinue any product or service per JESD48, latest
issue. Buyers should obtain the latest relevant information before placing orders and should verify that such information is current and
complete. All semiconductor products (also referred to herein as “components”) are sold subject to TI’s terms and conditions of sale
supplied at the time of order acknowledgment.
TI warrants performance of its components to the specifications applicable at the time of sale, in accordance with the warranty in TI’s terms
and conditions of sale of semiconductor products. Testing and other quality control techniques are used to the extent TI deems necessary
to support this warranty. Except where mandated by applicable law, testing of all parameters of each component is not necessarily
performed.
TI assumes no liability for applications assistance or the design of Buyers’ products. Buyers are responsible for their products and
applications using TI components. To minimize the risks associated with Buyers’ products and applications, Buyers should provide
adequate design and operating safeguards.
TI does not warrant or represent that any license, either express or implied, is granted under any patent right, copyright, mask work right, or
other intellectual property right relating to any combination, machine, or process in which TI components or services are used. Information
published by TI regarding third-party products or services does not constitute a license to use such products or services or a warranty or
endorsement thereof. Use of such information may require a license from a third party under the patents or other intellectual property of the
third party, or a license from TI under the patents or other intellectual property of TI.
Reproduction of significant portions of TI information in TI data books or data sheets is permissible only if reproduction is without alteration
and is accompanied by all associated warranties, conditions, limitations, and notices. TI is not responsible or liable for such altered
documentation. Information of third parties may be subject to additional restrictions.
Resale of TI components or services with statements different from or beyond the parameters stated by TI for that component or service
voids all express and any implied warranties for the associated TI component or service and is an unfair and deceptive business practice.
TI is not responsible or liable for any such statements.
Buyer acknowledges and agrees that it is solely responsible for compliance with all legal, regulatory and safety-related requirements
concerning its products, and any use of TI components in its applications, notwithstanding any applications-related information or support
that may be provided by TI. Buyer represents and agrees that it has all the necessary expertise to create and implement safeguards which
anticipate dangerous consequences of failures, monitor failures and their consequences, lessen the likelihood of failures that might cause
harm and take appropriate remedial actions. Buyer will fully indemnify TI and its representatives against any damages arising out of the use
of any TI components in safety-critical applications.
In some cases, TI components may be promoted specifically to facilitate safety-related applications. With such components, TI’s goal is to
help enable customers to design and create their own end-product solutions that meet applicable functional safety standards and
requirements. Nonetheless, such components are subject to these terms.
No TI components are authorized for use in FDA Class III (or similar life-critical medical equipment) unless authorized officers of the parties
have executed a special agreement specifically governing such use.
Only those TI components which TI has specifically designated as military grade or “enhanced plastic” are designed and intended for use in
military/aerospace applications or environments. Buyer acknowledges and agrees that any military or aerospace use of TI components
which have not been so designated is solely at the Buyer's risk, and that Buyer is solely responsible for compliance with all legal and
regulatory requirements in connection with such use.
TI has specifically designated certain components as meeting ISO/TS16949 requirements, mainly for automotive use. In any case of use of
non-designated products, TI will not be responsible for any failure to meet ISO/TS16949.
Products
Applications
Audio
www.ti.com/audio
Automotive and Transportation
www.ti.com/automotive
Amplifiers
amplifier.ti.com
Communications and Telecom
www.ti.com/communications
Data Converters
dataconverter.ti.com
Computers and Peripherals
www.ti.com/computers
DLP® Products
www.dlp.com
Consumer Electronics
www.ti.com/consumer-apps
DSP
dsp.ti.com
Energy and Lighting
www.ti.com/energy
Clocks and Timers
www.ti.com/clocks
Industrial
www.ti.com/industrial
Interface
interface.ti.com
Medical
www.ti.com/medical
Logic
logic.ti.com
Security
www.ti.com/security
Power Mgmt
power.ti.com
Space, Avionics and Defense
www.ti.com/space-avionics-defense
Microcontrollers
microcontroller.ti.com
Video and Imaging
www.ti.com/video
RFID
www.ti-rfid.com
OMAP Applications Processors
www.ti.com/omap
TI E2E Community
e2e.ti.com
Wireless Connectivity
www.ti.com/wirelessconnectivity
Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265
Copyright © 2015, Texas Instruments Incorporated