HA13563, HA13563V Three-Phase Brushless Motor Driver ADE-207-218A (Z) 2nd Edition December 1998 Description The HA13563/V are 3-phase brushless motor driver ICs with digital speed control. It is designed for use as a PPC or LBP drum motor driver and provides the functions and features listed below. Functions • • • • • • • • Three-phase brushless motor driver Direct PWM drive Digital discriminator plus PLL speed control Speed monitor Stuck rotor protection Current limiter Thermal protection (OTSD) Low voltage inhibit (LVI) Features • Low saturation voltage • Fly wheel diodes built-in • FG signal digital filter built-in Ordering Information Product No. Package HA13563 SP-23TA HA13563V SP-23TB HA13563/V Pin Arrangement 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 (Top view) 2 RNF U V W VCC READY u v w FG+ FG− PROT REG PWM CE D2 OSC OUT OSC IN PLL OUT DIS OUT INT IN INT OUT GND HA13563/V Pin Functions Pin No. Pin Name Function 1 GND Ground 2 INT OUT Integrator output 3 INT IN Integrator input 4 DIS OUT Speed discriminator output 5 PLL OUT PLL output 6 OSC IN Clock oscillator input. Apply the external clock signal to this pin. 7 OSC OUT Clock oscillator output. Use this pin to monitor the oscillator waveform. 8 D2 Clock divider selector input High: 1/8, Middle or Open: 1/32, and Low: 1/16. 9 CE Chip enable input High or Open: stop, Low: drive on. 10 PWM PWM carrier oscillator. An external capacitor to charge and discharge, and an external resistor must be provided. 11 REG 5 V fixed voltage output. Always output regardless of the state of the CE input. 12 PROT An external capacitor sets the time until the stuck rotor protection circuit operates. If this pin is shorted to ground, the protection circuit will not operate. After the stuck rotor protection circuit operates, the IC can be reset by turning the power off and then on again, or switching CE from low to high. 13 FG– FG amplifier – input. 14 FG+ FG amplifier + input. This pin is used for temperature monitoring. See the reference data. 15 w The w+ and v– Hall amplifier input 16 v The v+, u– Hall amplifier input 17 u The u+, w– Hall amplifier input 18 READY Speed monitor output. Outputs a low level during fixed speed drive. This is an open collector output. 19 V CC Power supply 20 W W-phase output 21 V V-phase output 22 U U-phase output 23 RNF Current detector. Connect a current detection resistor to this pin. 3 HA13563/V Block Diagram VCC 19 17 − + C102 Hu − 16 − + Hw − C103 Hv + Phase switching logic − 15 U 22 V 21 W 20 + C104 + VCC 17.5 to 27.6V Output amplifiers Hall amplifiers R101 + C101 − RNF R102 23 Open circuit protection Current limiter Vref1 LVI OTSD CE Stuck rotor protection 9 12 Ct2 VCC REG 11 PWM comparator Vreg − + Rt FG amplifier 2.1V FG 14 + 13 − C108 H: 1/8 D2 M: 1/32 select L: 1/16 Wave shaping Digital filter PLL PWM OSC 10 Speed monitor 18 Ct1 ±6.25% 8 Integrator − 6 OSC D2 1/1024 − C109 R103 2 + Discriminator 2.8V X'tal 9.2MHz Max 7 4 1 5 3 DIS OUT PLL OUT C110 R1 R2 R3 C1 4 C2 R4 Monitor output Constant speed: Low (O/C) HA13563/V Timing Chart Hu Hv Hw Hall element output Vhhys VCC U-phase output voltage PWM PWM 0 VCC V-phase output voltage PWM 0 VCC W-phase output voltage PWM PWM 0 5 HA13563/V External Components Part No. Recommended Value Purpose Note R1 to R4 — Integration constant 1 R101, R102 — Hall element bias 2 R103 1 kΩ Clock oscillator stabilization 9 RNF — Current detection 3 Rt — PWM carrier oscillator time constant 6 C1, C2 — Integration constant 1 C101 ≥ 0.1 µF Power supply bypass 4 C102, C103, C104 0.047 µF Stabilization 4 C108 — FG coupling 5 C109 0.047 µF Clock oscillator stabilization 9 C110 10 pF Crystal coupling 9 Ct1 1000 pF PWM carrier oscillator time constant 6 Ct2 — Stuck rotor protection circuit time constant 7 X’tal — Reference oscillator 8 Notes: 1. Determine the component values using the following as a guidline: First determine the angular frequency of ωP for DIS OUT and PLL OUT. ωP = 2π · ffg [rad/sec] (1) Determine the the angular frequency of ωP for motor. ωM ≈ 9.55 ⋅ 1 KT ⋅ Vref1 − TL NO J RNF [rad/sec] Determine the ωO. ωO = ωP ⋅ ωM [rad/sec] (2) (3) Determine the integrator’s DC gain G(E). G(E) = J ⋅ ωO 1 ⋅ 9.55 ⋅ KT ⋅ A Z ⋅ 2π ⋅ Kø 60 ωO where, kφ : PLL gain = 0.4 (V/rad/sec) A= Z NO ωO ffg J Rm 6 2 VCC − 0.83 ⋅ VE − Vsat Rm ⋅ Vosc : FG pulse per round (P/R) : Motor speed (min–1) : Control loop angular frequency (rad/sec) : FG frequency (Hz) : Moment of inertia of the motor (kg m2) : Motor coil resistance (Ω/T–T) (4) HA13563/V KT : Torque constant (N•m/A) TL : Rated load torque (N•m) VOSC : PWM carrier oscillator amplitude (VPP, See the Electrical Charasteristics) VE : Motor back EMF (VPP/T–T) RNF : Current detection resistor (Ω) Vref1 : Current limiter reference voltage (See the Electrical Charasteristics) Vsat : Saturation voltage (See the Electrical Charasteristics) Set C2 and derive the integration constants from the following formulas. R4 = 1 ωP ⋅ C2 (5) R2 = R4 G(E) C1 = (6) 1 2 ⋅ R2 ⋅ ωO (7) R3 = R2 (8) Next, determine R1 to match the phase of PLL output. R1 = 1.89 ⋅ R4 1.6 − 0.33 ⋅ R4 / R2 (9) When log ωP/ωM is greater than 2, a phase advance to compensate for this phenomenon is required. Use the following formula to set the phase advance: 1 ωP < C4 ⋅ R5 20 ⋅ 2 (10) R4 R1 C2 DIS OUT R5 R3 PLL OUT R2 C4 Figure 1 C1 2.8V − + Integrating amplifier Integration Constants 2. The Hall output bias voltage is determined by R101 and R102. 3. The output current is controlled according to the following formula: Iomax = Vref1 RNF Where, Vref1 is the current limiter reference voltage. (See the Electrical Charasteristics) Mount this resistor as close as possible to the IC and use a resistor with a small inductance component. 4. Connect these components as close to the IC as possible. 7 HA13563/V 5. Determine the component value using the following formula as a guideline: C108 (µF) = 220 ffg (Hz) Digital filter time TMASK of FG signal is determined as follows. TMASK (sec) = 1 2 ∼ CLK × D2 CLK × D2 where, CLK : The reference frequency. D2 : CLK frequency dividing ratio. FG signal wave shaping output TMASK TMASK After digital filter 6. The PWM carrier frequency is determined roughly by the following formula: 1180 fPWM = × 103 Rt (kΩ) Ct1 (pF) 7. The formula shown below roughly determines the time, Tprot (s), until the stuck rotor protection circuit operates. Figure 2 shows the operating waveforms. The latched state can be cleared by either CE or VCC. Note that a capacitor with a leakage current sufficiently smaller than the charging current Ict+ must be used. Tprot = 0.24 Ct2 (µF) VHYS LVI VCC H CE L Vref1 RNF IRNF 0 Vth+0.7V Vth VPROT 0 Tprot Figure 2 Tset = 0.004 ⋅ Ct2 (µF) [sec] Stuck Rotor Protection Operating Waveforms 8. The reference frequency CLK (Hz) and the FG frequency ffg (Hz) are related by the following formula: CLK = 1024 ffg D2 8 HA13563/V Also note that the value of the resistor (Rosc) inserted between the external clock and pin 6 when an external clock is used can be calculated from the following formulas: Rosc ≥ 2 (VIH – 2.1) – 1.5 (kΩ) Rosc ≤ 6 (2.1 – VIL) – 1.5 (kΩ) where, VIH : The clock driver high-level voltage. VIL : The clock driver low-level voltage. If an external clock signal is input to pin 6 through a capacitor (Cosc), we recommend using a 10 pF capacitor for Cosc. 9. The relationship with CLK crystal oscillator frequency refer to the following. Oscillator fc C110 C109 R103 Crystal 6.0 to 9.2 MHz 10 pF 0.047 µF 1 kΩ 2.0 to 6.0 MHz 10 pF Uselessness Uselessness 9 HA13563/V Absolute Maximum Ratings (Ta = 25°C) Item Symbol Rating Unit Note Power supply voltage V CC 30 V 1 Instantaneous output current Iop 3.0 A 2 Steady-state output current IO 2.0 A 2 Input voltage Vi –0.3 to 7 V 3 Allowable power dissipation PT 10 W 4 Junction temperature Tj 150 °C 1 Storage temperature Tstg –55 to +125 °C Notes: 1. The operating ranges are as follows: VCC = 17.5 to 27.6 V Tjop = –20 to +125°C 2. See the safe operating range data. 3. Applies to the logic input pins. 4. The allowable value when theTAB temperature, Ttab, is 120°C. However, the thermal resistance is as follows: θj-c ≤ 3°C/W θj-a ≤ 40°C/W Output Transistor Safe Operation Range 5 Pulse widths t = 10ms t = 5ms t = 2ms t = 1ms 3 IC (A) 2 1 0.5 0.2 0.1 1 2 5 VCE (V) 10 10 20 30 HA13563/V Electrical Characteristics (Ta = 25°C, VCC = 24 V) Item Symbol Min Typ Max Unit Test Conditions Applicable Pins 19 Current Standby current ICCO — 8 11 mA CE = H, VCC = 30 V drain Current drain with outputs off ICC — 32 44 mA CE = L, Pin 3 = H, VCC = 30 V, output OFF Logic Low-level voltage Vil1 — — 0.8 V input 1 High-level voltage Vih1 2.0 — — V Low-level current Iil1 — –0.25 –0.35 mA Vil = 0 V High-level current Iih1 –0.1 0 0.1 mA Vih = 7 V Logic Low-level voltage Vil2 — — 1.0 V input 2 Middle-level voltage Vim 2.0 2.5 3.0 V High-level voltage Vih2 4.0 — — V Low-level current Iil2 — –0.25 –0.35 mA Vil = 0 V Middle-level current Iim — — ±35 µA Vi = 2.5 V High-level current Iih2 — 0.5 0.7 mA Vih = 7 V Logic Low-level voltage Vol1 — 0.2 0.4 V Iol = 2 mA output Leakage current Ioh1 — — ±10 µA Voh = 30 V Hall amplifier Commonmode input voltage range Vh 2.0 — VCC–2 V Differentialmode input voltage range Vd 60 — VCC/2 mV Hysteresis *1 Vhhys — 20 — mV Rh = 400 Ω Output Leakage current Icer — — ±100 µA Vce = 30 V amplifier Output drive current IB1 — 49 64 mA IO = 2 A IB2 — 35 46 mA IO = 1 A Vsat1 — 1.8 2.7 V IO = 2 A Vsat2 — 1.35 1.7 V IO = 1 A Impulse response tphl — — 2 µs time tplh — — 2 µs tr — — 0.5 µs tf — — 0.5 µs Current limiter reference voltage Vref1 0.45 0.5 0.55 V Flywheel Forward voltage VF — 1.15 1.4 V diode Substrate current Isub — 6.5 10 % Saturation voltage *2 9 8 18 15, 16, 17 20, 21, 22 23 IF = 1 A 19, 20, 21, 22 11 HA13563/V Electrical Characteristics (Ta = 25°C, VCC = 24 V) (cont) Item Symbol Min Typ Max Unit Test Conditions Applicable Pins PWM oscillator Oscillator frequency range fPWM 2.0 — 30 kHz and PWM comparator Oscillator frequency precision ferr 11.7 13 14.3 kHz Oscillator high-level voltage Vosch 2.7 3.0 3.3 V Oscillator low-level voltage Voscl 1.0 1.1 1.2 V Oscillator amplitude Vosc 1.7 1.9 2.1 VPP Comparator hysteresis *1 Vchys — 20 — mV 2 Input current Iin — — ±250 nA 2, 3 High-level voltage Voh2 3.2 3.5 — V IO = –0.5 mA Low-level voltage IO = 0.5 mA Integrator 10 Rt1 = 91 kΩ, Ct1 = 1000 pF Vosch – Voscl Vol2 — 0.9 1.1 V 1 Voltage gain * Gi — 60 — dB Gainbandwidth produc t *1 Bi — 0.5 — MHz Reference voltage Vp 2.65 2.8 2.95 V FG amplifier and Input sensitivity vfg 15 — 1000 mVPP waveform shaping Noise margin nd — — 4.0 mVPP nc — — 1.0 VPP Ouput high-level voltage Voh3 4.3 4.5 — V IO = –0.1 mA Ouput low-level voltage Vol3 — — 0.25 V IO = 0.1 mA Oscillator frequency range fOSC 2 — 9.2 MHz Oscillator frequency error *1 ∆fOSC — — ±0.01 % Number of counts N — 1023 — Count Operating frequency range CLK — — 1.15 MHz Lock range LR — ±6.25 — % PLL, DIS OSC Speed discriminator and monitor 12 13, 14 4, 5 6, 7 X’tal 18 HA13563/V Electrical Characteristics (Ta = 25°C, VCC = 24 V) (cont) Symbol Min Typ Max Unit Test Conditions Applicable Pins Output voltage Vreg 4.65 5.0 5.35 V Ireg = 20 mA, CE = L 11 Power supply regulation ∆Vreg1 — 20 100 mV VCC = 17.5 to 27.6 V, CE = L Load regulation ∆Vreg2 — 10 100 mV Ireg = 0 to 20 mA, CE = L Ct2 charge current Ict+ 18.5 23 27.5 µA VPROT = 2.5 V Ct2 discharge current Ict– 1.0 1.4 — mA Threshold voltage Vth 4.5 5.0 5.5 V Operation cleaning voltage *3 VLVI 12.5 14.7 16.9 V Hysteresis Vhys 0.75 1.1 1.45 V Operating temperature *1 Tsd 125 150 175 °C Hysteresis *1 Thys — 20 — °C Item REG Stuck rotor protection circuit LVI OTSD Note: 12 19 1. These are design target values and only checked during development. 2. Stipulated ad the sum of the source and sink values. 3. See figure 3. Vhys VLVI VCC Output on Output off Figure 3 13 HA13563/V Current Drain vs. Supply voltage Current Drain ICC (mA) 50 CE = Low Pin 3 = 5V Tj = 25°C 40 30 20 10 0 0 10 20 30 Output Saturation voltage VsatH & VsatL (V) Reference Data 3 2 + ink e urc So S Source 1 Sink 0 0 1 2 Output Drive Current vs. Output Current Diode Forward Current vs. Diode Forward Voltage 3 5 CE = Low VCC = 24V Tj = 25°C 80 Diode Forward Current IF (A) Output Drive Current IB (mA) VCC = 24V Tj = 25°C Output Current IO (A) 60 40 20 0 1 2 Output Current IO (A) 14 4 Supply voltage VCC (V) 100 0 Output Saturation voltage vs. Output Current 3 VCC = 24V Tj = 25°C 4 3 2 1 0 0 1 Diode Forward Voltage VF (V) 2 PWM Frequency vs. Junction Temperature PWM Frequency fPWM (kHz) 30 VCC = 24V Rt = 91 kΩ Ct = 1000 p 20 10 0 −25 25 75 125 Current Limiter Reference Voltage Vref1 (V) HA13563/V Current Limiter Reference Voltage vs. Junction Temperature 0.8 VCC = 24V 0.6 0.4 0.2 −25 25 75 Junction Temperature Tj (°C) Junction Temperature Tj (°C) FG+ Pin Voltage vs. Junction Temperature REG Output Voltage vs. Output Current 125 3.0 CE = Low VCC = 24V Tj = 25°C REG Output Voltage Vreg (V) FG+ Pin Voltage VFG+ (V) VCC = 24V 2.5 −5.17 mV/°C 2.0 1.5 −25 25 75 Junction Temperature Tj (°C) 125 5.2 5.1 5.0 4.9 0 10 20 30 Output Current Ireg (mA) 15 HA13563/V Package Dimensions Unit: mm 31.0 Max 28.0 ± 0.3 3.8 Max 9.0 11.2 ± 0.3 7.7 3.6 ± 0.2 23 1.27 0.6 ± 0.1 2.54 1.80 ± 0.25 5.0 Min 6.2 Min 23.97 ± 0.30 Hitachi Code JEDEC EIAJ Weight (reference value) 16 2.2 ± 0.5 14.7 Max 1 1.23 ± 0.25 1.5 Max 12.33 ± 0.45 20.0 ± 0.2 4.1 ± 0.3 + 0.10 − 0.05 φ 3.6 ± 0.2 0.25 30.0 SP-23TA 4.61 g HA13563/V Unit: mm 31.0 Max 28.0 ± 0.3 φ 3.6 ± 0.2 1.27 0.6 ± 0.1 2.54 23.97 ± 0.30 0.925 ± 0.250 17.3 Max 11.2 ± 0.3 9.0 2.2 ± 0.5 1.80 ± 0.25 0.10 0.25 +− 0.05 1.275 ± 0.250 Hitachi Code JEDEC EIAJ Weight (reference value) 6.0 Min 1.23 ± 0.25 23 6.3 Min 1 3.8 Max 1.5 Max 7.7 3.6 ±0.2 14.7 Max 20.0 ± 0.2 4.1 ± 0.3 13.5 ±0.5 30.0 SP-23TB 4.6 g 17 Cautions 1. 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