L297 L297D STEPPER MOTOR CONTROLLERS NORMAL/WAWE DRIVE HALF/FULL STEP MODES CLOCKWISE/ANTICLOCKWISE DIRECTION SWITCHMODE LOAD CURRENT REGULATION PROGRAMMABLE LOAD CURRENT FEW EXTERNAL COMPONENTS RESET INPUT & HOME OUTPUT ENABLE INPUT DESCRIPTION The L297/A/D Stepper Motor Controller IC generates four phase drive signals for two phase bipolar and four phase unipolar step motors in microcomputer-controlled applications. The motor can be driven in half step, normal and wawe drive modes and on-chip PWM chopper circuits permit switchmode control of the current in the windings. A DIP20 SO20 ORDERING NUMBERS : L297 (DIP20) L297D (SO20) feature of this device is that it requires only clock, direction and mode input signals. Since the phase are generated internally the burden on the microprocessor, and the programmer, is greatly reduced. Mounted in DIP20 and SO20 packages, the L297 can be used with monolithic bridge drives such as the L298N or L293E, or with discrete transistors and darlingtons. ABSOLUTE MAXIMUM RATINGS Symbol Parameter Value Unit 10 V Vs Supply voltage Vi Input signals 7 V Ptot Total power dissipation (Tamb = 70°C) 1 W -40 to + 150 °C Tstg, Tj Storage and junction temperature TWO PHASE BIPOLAR STEPPER MOTOR CONTROL CIRCUIT August 1996 1/11 L297-L297D PIN CONNECTION (Top view) L297 L297D BLOCK DIAGRAM (L297/L297D) 2/11 L297-L297D PIN FUNCTIONS - L297/L297D N° NAME FUNCTION 1 SYNC Output of the on-chip chopper oscillator. The SYNC connections The SYNC connections of all L297s to be synchronized are connected together and the oscillator components are omitted on all but one. If an external clock source is used it is injected at this terminal. 2 GND Ground connection. 3 HOME 4 A 5 INH1 6 B Motor phase B drive signal for power stage. 7 C Motor phase C drive signal for power stage. 8 INH2 9 D 10 ENABLE 11 CONTROL 12 Vs 13 SENS 2 Input for load current sense voltage from power stages of phases C and D. 14 SENS 1 Input for load current sense voltage from power stages of phases A and B. 15 Vref Reference voltage for chopper circuit. A voltage applied to this pin determines the peak load current. 16 OSC 17 CW/CCW 18 CLOCK Open collector output that indicates when the L297 is in its initial state (ABCD = 0101). The transistor is open when this signal is active. Motor phase A drive signal for power stage. Active low inhibit control for driver stage of A and B phases. When a bipolar bridge is used this signal can be used to ensure fast decay of load current when a winding is de-energized. Also used by chopper to regulate load current if CONTROL input is low. Active low inhibit control for drive stages of C and D phases. Same functions as INH1. Motor phase D drive signal for power stage. Chip enable input. When low (inactive) INH1, INH2, A, B, C and D are brought low. Control input that defines action of chopper. When low chopper acts on INH1 and INH2; when high chopper acts on phase lines ABCD. 5V supply input. An RC network (R to VCC, C to ground) connected to this terminal determines the chopper rate. This terminal is connected to ground on all but one device in synchronized multi - L297 configurations. f ≅ 1/0.69 RC Clockwise/counterclockwise direction control input. Physical direction of motor rotation also depends on connection of windings. Synchronized internally therefore direction can be changed at any time. Step clock. An active low pulse on this input advances the motor one increment. The step occurs on the rising edge of this signal. 3/11 L297-L297D PIN FUNCTIONS - L297/L297D (continued) N° NAME FUNCTION 19 HALF/FULL Half/full step select input. When high selects half step operation, when low selects full step operation. One-phase-on full step mode is obtained by selecting FULL when the L297’s translator is at an even-numbered state. Two-phase-on full step mode is set by selecting FULL when the translator is at an odd numbered position. (The home position is designate state 1). 20 RESET Reset input. An active low pulse on this input restores the translator to the home position (state 1, ABCD = 0101). THERMAL DATA Symbol Rth-j-amb Parameter Thermal resistance junction-ambient CIRCUIT OPERATION The L297 is intended for use with a dual bridge driver, quad darlington array or discrete power devices in step motor driving applications. It receives step clock, direction and mode signals from the systems controller (usually a microcomputer chip) and generates control signals for the power stage. The principal functions are a translator, which generates the motor phase sequences, and a dual PWM chopper circuit which regulates the current in the motor windings.The translator generatesthree different sequences, selected by the HALF/FULL input. These are normal (two phases energised), wave drive (one phase energised) and half-step (alternately one phase energised/two phases energised). Two inhibit signals are also generated by the L297 in half step and wave drive modes. These signals, which connect directly to the L298’senable inputs, are intended to speed current decay when a winding is de-energised. When the L297 is used to drive a unipolar motor the chopper acts on these lines. An input called CONTROL determines whether the chopper will act on the phase lines ABCD or the inhibit lines INH1 and INH2. When the phase lines 4/11 max DIP20 SO20 Unit 80 100 °C/W are chopped the non-active phase line of each pair (AB or CD) is activated (rather than interrupting the line then active).In L297 + L298 configurationsthis technique reduces dissipation in the load current sense resistors. A common on-chip oscillator drives the dual chopper.It suppliespulses at the chopper rate which set the two flip-flops FF1 and FF2. When the current in a winding reaches the programmed peak value the voltage across the sense resistor (connected to one of the sense inputs SENS1 or SENS2) equals Vref and the corresponding comparator resets its flip flop, interrupting the drive current until the next oscillator pulse arrives. The peak current for both windingsis programmedby a voltage divideron the Vref input. Ground noise problems in multiple configurations can be avoided by synchronising the chopper oscillators. This is done by connecting all the SYNC pins together, mounting the oscillator RC network on one device only and grounding the OSC pin on all other devices. L297-L297D MOTOR DRIVING PHASE SEQUENCES The L297’s translator generates phase sequences for normal drive, wave drive and half step modes. The state sequences and output waveforms for these three modes are shown below. In all cases the translator advances on the low to high transistion of CLOCK. Clockwise rotation is indicate; for anticlockwise rotation the sequences are simply reversed RESET restores the translator to state 1, where ABCD = 0101. HALF STEP MODE Half step mode is selected by a high level on the HALF/FULL input. NORMAL DRIVE MODE Normal drive mode (also called ”two-phase-on” drive) is selected by a low level on the HALF/FULL input when the translator is at an odd numbered state (1, 3, 5 or 7). In this mode the INH1 and INH2 outputs remain high throughout. 5/11 L297-L297D MOTOR DRIVING PHASE SEQUENCES (continued) WAVE DRIVE MODE Wave drive mode (also called ”one-phase-on” drive) is selected by a low level on the HALF/FULL input when the translator is at an even numbered state (2, 4, 6 or 8). ELECTRICAL CHARACTERISTICS (Refer to the block diagram Tamb = 25°C, Vs = 5V unless otherwise specified) Symbol Parameter Vs Supply voltage (pin 12) Is Quiescent supply current (pin 12) Vi Input voltage (pin 11, 17, 18, 19, 20) Test conditions Ven Outputs floating 50 Low Input current (pin 11, 17, 18, 19, 20) Vo Vinh VSYNC 6/11 Sync Output Voltage Unit 7 V 80 mA 0.6 V Vs V µA 10 µA Low 1.3 V Vs V Ven = L 100 µA Ven = H 10 µA Io = 10mA VOL 0.4 V Io = 5mA VOH Io = 10mA Vinh L Io = 5mA Vinh H 3.9 V Io = 5mA VSYNC H 3.3 V Io = 5mA VSYNC V Enable input current (pin 10) Inhibit output voltage (pins 5, 8) 100 Max. Vi = H Enable input voltage (pin 10) Phase output voltage (pins 4, 6, 7, 9) 2 Vi = L High Ien Typ 4.75 High Ii Min. 2 3.9 V 0.4 0.8 V L297-L297D ELECTRICAL CHARACTERISTICS (continued) Symbol Parameter Test conditions Min. Typ Max. Unit Ileak Leakage current (pin 3) VCE = 7 V 1 µA Vsat Saturation voltage (pin 3) I = 5 mA 0.4 V Voff Comparators offset voltage (pins 13, 14, 15) Vref = 1 V 5 mV -100 10 µA 0 3 V Io Comparator bias current (pins 13, 14, 15) Vref Input reference voltage (pin 15) tCLK Clock time 0.5 µs tS Set up time 1 µs tH Hold time 4 µs tR Reset time 1 µs Reset to clock delay 1 µs tRCLK Figure 1. 7/11 L297-L297D APPLICATION INFORMATION TWO PHASE BIPOLAR STEPPER MOTOR CONTROL CIRCUIT This circuit drives bipolar stepper motors with winding currents up to 2A. The diodes are fast 2A types. Figure 2. Figure 3 : Synchronising L297s 8/11 L297-L297D DIP20 PACKAGE MECHANICAL DATA mm DIM. MIN. a1 0.254 B 1.39 TYP. inch MAX. MIN. TYP. MAX. 0.010 1.65 0.055 0.065 b 0.45 0.018 b1 0.25 0.010 D 25.4 1.000 E 8.5 0.335 e 2.54 0.100 e3 22.86 0.900 F 7.1 0.280 I 3.93 0.155 L Z 3.3 0.130 1.34 0.053 9/11 L297-L297D SO20 PACKAGE MECHANICAL DATA mm inch DIM. MIN. TYP. A a1 MAX. TYP. 2.65 0.1 MAX. 0.104 0.3 a2 0.004 0.012 2.45 0.096 b 0.35 0.49 0.014 0.019 b1 0.23 0.32 0.009 0.013 C 0.5 0.020 c1 45 (typ.) D 12.6 13.0 0.496 0.512 E 10 10.65 0.394 0.419 e 1.27 0.050 e3 11.43 0.450 F 7.4 7.6 0.291 0.299 L 0.5 1.27 0.020 0.050 M S 10/11 MIN. 0.75 0.030 8 (max.) L297-L297D Information furnished is believed to be accurate and reliable. However, SGS-THOMSON Microelectronics assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of SGS-THOMSON Microelectronics. Specification mentioned in this publication are subject to change without notice. This publication supersedes and replaces all information previously supplied. SGS-THOMSON Microelectronics products are not authorized for use as critical components in life support devices or systems without express written approval of SGS-THOMSON Microelectronics. 1996 SGS-THOMSON Microelectronics – Printed in Italy – All Rights Reserved SGS-THOMSON Microelectronics GROUP OF COMPANIES Australia - Brazil - Canada - China - France - Germany - Hong Kong - Italy - Japan - Korea - Malaysia - Malta - Morocco - The Netherlands Singapore - Spain - Sweden - Switzerland - Taiwan - Thailand - United Kingdom - U.S.A. 11/11