Allegro A3906 Low voltage stepper and single/dual dc motor driver Datasheet

A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
Features and Benefits
Description
▪ 2.5 to 9 V operation
▪ Internal PWM current limit control
▪ Synchronous rectification for reduced power dissipation
▪ Peak current output flag
▪ Undervoltage lockout
▪ Low RDS(on) outputs
▪ Small package
▪ Brake mode for DC motors
▪ Sleep function
▪ Crossover-current protection
▪ Thermal shutdown
Designed for pulse width modulated (PWM) control of low
voltage stepper motors, and single and dual DC motors, the
A3906 is capable of output currents up to 1 A per channel and
operating voltages from 2.5 to 9 V.
The A3906 has an internal fixed off-time PWM timer that
sets a peak current based on the selection of a current sense
resistor. An overcurrent output flag is provided that notifies
the user when the current in the motor winding reaches the
peak current determined by the sense resistor. The fault output
does not affect driver operation.
The A3906 is provided in a 20-contact, 4 mm × 4 mm, 0.75 mm
nominal overall height QFN, with exposed pad for enhanced
thermal dissipation. It is lead (Pb) free, with 100% matte tin
leadframe plating.
Package: 20-contact QFN (suffix ES)
Applications include the following:
▪ Digital still cameras (DSC)
▪ Cell phone cameras
▪ USB powered devices
▪ Battery powered devices
Approximate size
Typical Applications
0.1 μF
0.1 μF
CP1
CP2
CP3
CP4
CP1
VCP
0.1 μF
0.1 μF
CP2
CP4
CP3
VCP
0.1 μF
SLEEP
A3906
A3906
IN2
M
OUT1B
IN4
+5 V
SENSE1
VBB
10 μF
10 V
IN1
OUT1A
IN3
+5 V
SLEEP
10 μF
10 V
IN1
IN2
0.1 μF
VBB
OUT1A
IN3
OUT1B
IN4
SENSE1
M
OUT2A
M
FL1
OUT2B
FL2
GND
SENSE2
Dual DC motor application
3906-DS, Rev. 4
OUT2A
FL1
OUT2B
FL2
SENSE2
GND
Stepper motor application
A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
Selection Guide
Part Number
Packing
A3906SESTR-T
Package
1500 pieces per 7-in. reel
20-pin QFN with exposed thermal pad
Absolute Maximum Ratings
Characteristic
Symbol
Load Supply Voltage
VBB
Logic Input Voltage Range
VIN
Sense Voltage
VSENSEx
Output Current
IOUT
Output Current in Paralleled
Operation
IOUT(par)
Operating Temperature Range
TA
Junction Temperature
Notes
Continuous
Pulsed, tw < 1 μs
May be limited by duty cycle, ambient
temperature, and heat sinking. Under
any set of conditions, do not exceed
the specified current rating or a junction
temperature of 150°C.
Continuous
Peak, DC < 30%
Continuous
Peak, DC < 30%
Range S
Rating
Units
9.6
V
–0.3 to 7
V
0.5
V
1
V
1
A
1.5
A
2
A
2.5
A
–20 to 85
°C
TJ(max)
150
°C
Tstg
–40 to 150
°C
Storage Temperature Range
Thermal Characteristics may require derating at maximum conditions, see application information
Characteristic
Symbol
RθJA
Package Thermal Resistance
Test Conditions*
Value Units
4-layer PCB based on JEDEC standard
37
ºC/W
*Additional thermal information available on the Allegro website.
Terminal List Table
16 OUT1A
17 VCP
18 CP3
19 CP1
20 CP4
Pin-out Diagram
CP2
1
15
SENSE1
GND
2
14
OUT1B
SLEEP
3
13
VBB
IN1
4
12
OUT2B
IN2
5
11
SENSE2
7
8
9
IN4
FL1
FL2
OUT2A 10
6
IN3
PAD
Number
1
2
3
4
5
Name
CP2
GND
SLEEP
IN1
IN2
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
–
IN3
IN4
FL1
FL2
OUT2A
SENSE2
OUT2B
VBB
OUT1B
SENSE1
OUT1A
VCP
CP3
CP1
CP4
PAD
Function
Charge pump capacitor terminal 2
Ground
Sleep logic input, active low
Control input
Control input
Control input
Control input
Current limit flag, bridge 1
Current limit flag bridge 2
DMOS full-bridge 2, output A
Current sense resistor terminal, bridge 2
DMOS full-bridge 2, output B
Supply Voltage
DMOS full-bridge 1, output B
Current sense resistor terminal, bridge 1
DMOS full-bridge 1, output A
Reservoir capacitor terminal
Charge pump capacitor terminal 3
Charge pump capacitor terminal 1
Charge pump capacitor terminal 4
Exposed pad for enhanced thermal performance
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
2
A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
Functional Block Diagram
0.1 μF
0.1 μF
10 μF
10 V
CP4
CP3
CP2
CP1
VCP
0.1 μF
VBB
VCP
Charge Pump
VBB
GND
Regulator
+5 V +5 V
OUT1A
Sense1
Sense2
OUT1B
SLEEP
Sense1
SENSE1
FL1
FL2
PWM Latch and
Blanking
Comparator
Bridge 2
VBB
IN1
IN2
RS1
VCP
PWM Latch and
Blanking
Comparator
Bridge 1
OUT2A
OUT2B
Control Logic
IN3
IN4
Sense2
SENSE2
RS2
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
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A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
ELECTRICAL CHARACTERISTICS1,2 valid at TA = 25°C and VBB = 2.5 to 9 V, unless otherwise noted
Characteristics
Symbol
Operating Voltage Range
VBB
VBB Supply Current
IBB
Output Resistance
RDS(on)
Current Trip Sense Voltage
VSENSE
Test Conditions
Output Leakage Current
Vf
IDSS
Typ.
Max.
Units
2.5
–
9
V
IOUT = 0 mA, PWM = 50 kHz, Duty Cycle = 50%
–
5
–
mA
IOUT = 0 mA, outputs disabled, VBB = 9.6 V
–
3
–
mA
Sleep mode, VIN < 0.4 V
–
150
500
nA
Source driver, IOUT = 400 mA , VBB = 3 V, TJ = 25°C
–
0.52
0.60
Ω
Source driver, IOUT = 400 mA , VBB = 3 V, TJ = 85°C
–
0.78
–
Ω
Sink driver, IOUT = 400 mA, VBB = 3 V, TJ= 25°C
–
0.62
0.74
Ω
Sink driver, IOUT = 400 mA, VBB = 3 V, TJ= 85°C
Clamp Diode Voltage
Min.
FLx falling edge
I = 400 mA
Outputs, VOUT = 9 V
–
0.93
–
Ω
160
200
240
mV
–
–
1
V
–20
–
20
μA
Control Logic
Logic Input Voltage
Logic Input Current
Input Hysteresis
S̄¯L̄¯Ē¯Ē¯P̄¯ Input
VIN(1)
2.0
–
5.5
V
VIN(0)
–
–
0.8
V
IIN(1)
VIN = 5.5 V
–
<100
500
nA
IIN(0)
VIN = 0.8 V
–
<–100
–500
nA
VINhys
–
150
–
mV
VSLEEP(0)
–
–
0.4
V
VSLEEP(1)
2
–
–
V
Fault Output
VFLx
Flag asserted, IFLx = 1 mA
–
–
200
mV
Fault Output Leakage Current
IFLx
VFLx = 5 V
–
–
1
μA
tFLx
Reset of PWM latch
–
300
–
μs
2.1
3
3.9
μs
Fault Output Timer
Blank Time
Fixed Off-Time
Propagation Delay Time
tBLANK
–
30
–
μs
tpd(on)
tOFF
Input high to source on, input low to source off
100
235
350
ns
tpd(off)
Input low to sink off, input high to sink on
50
100
200
ns
Protection Circuitry
Crossover Delay
tCOD
200
425
650
ns
2.2
2.31
2.45
V
VBBUVHYS
200
300
400
mV
TJTSD
–
165
–
°C
TJTSDHYS
–
15
–
°C
VBB Undervoltage Lockout Threshold
VBBUVLO
VBB Undervoltage Lockout Hysteresis
Thermal Shutdown Temperature
Thermal Shutdown Hysteresis
VBB rising
1For
input and output current specifications, negative current is defined as coming out of (sourcing) the specified device pin.
2Specifications over the operating temperature range are assured by design and characterization.
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
4
A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
Fault Timing Diagram
ITRIP
ILOAD
tFLx
Fault Asserted
FLx
tFLx
Fault Asserted
Fault Asserted
NOTE: Timer resets after each reset of the PWM latch.
Control Logic
DC Motor Operation
IN1
IN2
IN3
IN4
OUT1A
OUT1B
OUT2A
OUT2B
Function
0
0
0
0
Off
Off
Off
Off
Disabled
1
0
1
0
High
Low
High
Low
Forward
0
1
0
1
Low
High
Low
High
Reverse
1
1
1
1
Low
Low
Low
Low
Brake
Stepper Motor Operation
IN1
IN2
IN3
IN4
OUT1A
OUT1B
OUT2A
OUT2B
0
0
0
0
Off
Off
Off
Off
Disabled
Function
Disabled
1
0
1
0
High
Low
High
Low
Full Step 1
½ Step 1
0
0
1
0
Off
Off
High
Low
–
½ Step 2
0
1
1
0
Low
High
High
Low
Full Step 2
½ Step 3
0
1
0
0
Low
High
Off
Off
–
½ Step 4
0
1
0
1
Low
High
Low
High
Full Step 3
½ Step 5
0
0
0
1
Off
Off
Low
High
–
½ Step 6
1
0
0
1
High
Low
Low
High
Full Step 4
½ Step 7
1
0
0
0
High
Low
Off
Off
–
½ Step 8
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
5
A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
Functional Description
Device Operation The A3906 is a dual full-bridge low voltage motor driver capable of operating one stepper motor, two DC
motors, or one high current DC motor. MOSFET output stages
substantially reduce the voltage drop and the power dissipation
of the outputs of the A3906, compared to typical drivers with
bipolar transistors.
pump is used to create a supply voltage greater than VBB , to drive
the source-side DMOS gates. For pumping purposes, a 0.1 μF
ceramic capacitor should be connected between CP1 and CP2,
and between CP3 and CP4. A 0.1 uF ceramic capacitor is required
between VCP and VBB, to act as a reservoir to operate the highside DMOS devices.
Output current can be regulated by pulse width modulating
(PWM) the inputs. In addition supporting external PWM of the
driver, the A3906 limits the peak current by internally PWMing
the source driver when the current in the winding exceeds the
peak current, which is determined by a sense resistor. A fault
output notifies the user that peak current was reached. If internal
current limiting is not needed, the sense pin should be shorted to
ground.
Thermal Shutdown The A3906 will disable the outputs if the
junction temperature reaches 165°C. When the junction temperature drops 15°C, the outputs will be enabled.
Internal circuit protection includes thermal shutdown with hysteresis, undervoltage lockout, internal clamp diodes, and crossover
current protection.
The A3906 is designed for portable applications, providing a
power-off low current sleep mode and an operating voltage of
2.5 to 9 V.
External PWM Output current regulation can be achieved by
pulse width modulating the inputs. Slow decay mode is selected
by holding one input high while PWMing the other input. Holding one input low and PWMing the other input results in fast
decay. Refer to the Applications Information section for further
information.
Blanking This function blanks the output of the current sense
comparator when the outputs are switched. The comparator
output is blanked to prevent false overcurrent detections due to
reverse recovery currents of the clamp diodes or to switching
transients related to the capacitance of the load. The blank time,
tBLANK , is approximately 3 μs.
Sleep Mode An active-low control input used to minimize
power consumption when the A3906 is not in use. This disables much of the internal circuitry including the output drivers,
internal regulator, and charge pump. A logic high allows normal
operation. When coming out of sleep mode, wait 1.5 ms before
issuing a command, to allow the internal regulator and charge
pump to stabilize.
Enable When all logic inputs are pulled to logic low, the outputs
of the bridges are disabled. The charge pump and internal circuitry continue to run when the outputs are disabled.
Charge Pump (CP1, CP2, CP3, and CP4) When supply voltages are lower than 3.5 V, the two-stage charge pump triples the
input voltage to a maximum of 7 V above the supply. The charge
Brake Mode When driving DC motors, the A3906 goes into
brake mode (turns on both sink drivers) when both of its inputs
are high (IN1 and IN2, or IN3 and IN4). There is no protection
during braking, so care must be taken to ensure that the peak
current during braking does not exceed the absolute maximum
current.
Internal PWM Current Control Each full-bridge is controlled
by a fixed off-time PWM current control circuit that limits the
load current to a desired value, ITRIP . Initially, a diagonal pair
of source and sink DMOS outputs are enabled and current flows
through the motor winding and the current sense resistor, RSx.
When the voltage across RSx equals the internal reference voltage, the current sense comparator resets the PWM latch, which
turns off the source driver.
The maximum value of current limiting, ITRIP(max) , is set by
the selection of the sense resistor, RSx, and is approximated by a
transconductance function:
ITRIP(max) = 0.2 / RS .
It is critical to ensure the maximum rating on SENSEx pins
(0.5 V) is not exceeded.
Synchronous Rectification When a PWM off-cycle is triggered by an internal fixed off-time cycle, load current recirculates
in slow decay SR mode. During slow decay, current recirculates
through the sink-side FET and the sink-side body diode. The SR
feature enables the sink-side FET, effectively shorting out the
body diode. The sink driver is not enabled until the source driver
is turned off and the crossover delay has expired. This feature
helps lower the voltage drop during current recirculation, lowering power dissipation in the bridge.
Overcurrent Output Flag When the peak current (set by the
external resistor) is reached, the fault pin, FLx, is pulled low.
When a reset of the PWM latch occurs, the fault timer begins. At
each PWM latch reset, the timer is reset to zero. After approximately 300 μs, if no peak current event was triggered, the timer
expires and the fault is released. This ensures that during PWM
current limiting, the fault pin remains in a fault state.
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
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A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
Applications Information
External PWM If external PWM is used, the internal current
control can either be disabled by shorting the SENSEx pin to
ground, or it can be used to limit the peak current to a value under
the stall current to prevent motor heating. External PWM IN1
control is shown in the upper figure.
Stepper Motor Control The A3906 also can be used to control
a bipolar stepper motor. The control logic for stepper motor
control is shown in the lower figure. The driver is capable of
operating in full- and half-step modes.
VIN(1)
IN1,
IN3
GND
VIN(1)
PWM current control in fast and
slow decay modes
IN2,
IN4
GND
+IREG
IOUTx
0A
-IREG
Forward/
Fast Decay
Reverse/
Fast Decay
Forward/
Slow Decay
Reverse/
Slow Decay
VIN(1)
IN1
GND
VIN(1)
IN2
GND
VIN(1)
Stepper motor control in full- and
half-step modes
IN3
GND
IN4
VIN(1)
GND
IOUT1 ,
IOUT2
IOUT3 ,
IOUT4
+VBB/
Rmotor
0A
–VBB/
Rmotor
+VBB/
Rmotor
0A
–VBB/
Rmotor
Full Step
Sleep
Half Step
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115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
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A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
load current for a very short period of time. Propagation delays
are characterized and guard banded to protect the driver from
damage during these events.
Parallel Operation The A3906 can be paralleled for applications that require higher output currents. In paralleled mode the
driver can source 2 A continuous. The A3906 has two completely
independent bridges with separate overcurrent latches. This
allows the device to supply two separate loads, and as a result,
when paralleled it is imperative that the internal current control is
disabled by shorting the sense pins to ground.
Layout The printed circuit board should use a heavy groundplane. For optimum electrical and thermal performance, the
A3906 must be soldered directly onto the board. On the underside of the A3906 package is an exposed pad, which provides a
path for enhanced thermal dissipation. The thermal pad should be
soldered directly to an exposed surface on the PCB. Thermal vias
are used to transfer heat to other layers of the PCB.
Because the overcurrent trip threshold is internally fixed at 0.2 V,
the trace resistance must be kept small so the internal current
latch is not triggered prematurely. With acceptable margin, the
voltage drop across the trace resistance should be under 0.1 V. At
a peak current of 2.5 A, the trace resistance should be kept below
40 mΩ to prevent false tripping of the overcurrent latch.
Grounding In order to minimize the effects of ground bounce
and offset issues, it is important to have a low impedance singlepoint ground, known as a star ground, located very close to the
device. By making the connection between the exposed thermal
pad and the ground plane directly under the A3906, that area
Each bridge has some variation in propagation delay. During this
time it is possible that one bridge will have to support the full
0.1 μF
0.1 μF
VBB
CP2
CP1
CP2
CP1
VCP
0.1 μF
OUT1A
10 μF
10 V
OUT1B
GND
IN1
OUT2A
IN2
A3906
IN3
OUT2B
IN4
SLEEP
SENSE1
FL1
SENSE2
FL2
DC Motor Operation (Parallel Bridge)
IN1/IN3
IN2/IN4
OUT1A/2A
OUT1B/2B
Function
0
0
OFF
OFF
Disabled
1
0
H
L
FOR
0
1
L
H
REV
1
1
L
L
BRAKE
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115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
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A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
becomes an ideal location for a star ground point. A low impedance ground will prevent ground bounce during high current
operation and ensure that the supply voltage remains stable at
the input terminal. The recommended PCB layout shown in the
diagram below, illustrates how to create a star ground under the
device, to serve both as low impedance ground point and thermal
path.
Sense Pins The sense resistors, RSx, should have a very low
impedance path to ground, because they must carry a large current while supporting very accurate voltage measurements by
the current sense comparators. Long ground traces will cause
additional voltage drops, adversely affecting the ability of the
comparators to accurately measure the current in the windings.
As shown in the layout below, the SENSEx pins have very short
traces to the RSx resistors and very thick, low impedance traces
directly to the star ground underneath the device. If possible,
there should be no other components on the sense circuits.
The two input capacitors should be placed in parallel, and as
close to the device supply pins as possible. The ceramic capacitor should be closer to the pins than the bulk capacitor. This is
necessary because the ceramic capacitor will be responsible for
delivering the high frequency current components.
Note: When selecting a value for the sense resistors, be sure not to
exceed the maximum voltage on the SENSEx pins of ±500 mV.
PCB Layout
C2
C3
C3
C2
C1
R1
CP2
GND
SLEEP
OUT1A
CP3
IN2
SENSE2
OUT2A
OUT2B
OUT1B
VBB
VBB
OUT2B
IN3
R2
R4
PAD
IN1
IN4
VBB
R1
OUT1B
FL2
GND
SENSE1
A3906
FL1
OUT1B
VCP
CP4
C1
U1
CP1
OUT1A
OUT1A
OUT2B
R2
OUT2A
+5V
R4
OUT2A
GND
R3
R3
+5V
A3906
Solder
Trace (2 oz.)
Signal (1 oz.)
PCB
Ground (1 oz.)
Thermal (2 oz.)
Thermal Vias
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
9
A3906
Low Voltage Stepper and Single/Dual DC Motor Driver
ES Package, 20-Contact QFN with Exposed Thermal Pad
0.30
4.00 ±0.15
1
2
0.50
20
20
0.95
A
1
2
4.00 ±0.15
2.45
4.10
2.45
4.10
21X
D
SEATING
PLANE
0.08 C
+0.05
0.25 –0.07
0.75 ±0.05
0.50
C
C
PCB Layout Reference View
For Reference Only
(reference JEDEC MO-220WGGD)
Dimensions in millimeters
Exact case and lead configuration at supplier discretion within limits shown
A Terminal #1 mark area
B Exposed thermal pad (reference only, terminal #1
identifier appearance at supplier discretion)
+0.15
0.40 –0.10
B
2.45
2
1
C Reference land pattern layout (reference IPC7351
QFN50P400X400X80-21BM)
All pads a minimum of 0.20 mm from all adjacent pads; 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)
D Coplanarity includes exposed thermal pad and terminals
20
2.45
Copyright ©2008-2013, Allegro MicroSystems, LLC
Allegro MicroSystems, LLC 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, LLC assumes no responsibility for its
use; nor for any infringement of patents or other rights of third parties which may result from its use.
For the latest version of this document, visit our website:
www.allegromicro.com
Allegro MicroSystems, LLC
115 Northeast Cutoff
Worcester, Massachusetts 01615-0036 U.S.A.
1.508.853.5000; www.allegromicro.com
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