L6219R Stepper motor driver Features ■ Able to drive both windings of bipolar stepper motor ■ Output current up to 500mA each winding ■ Wide voltage range 4.5V to 10V ■ HAlf-step, full-step and microstepp-ing mode ■ Built-in protection diodes ■ Internal pwm current control ■ Low output saturation voltage ■ Designed for unstabilized motor supply voltage ■ Internal thermal shutdown SO-24 (20+2+2) A cross conduction protection is provided to avoid simultaneous cross conduction during switching current direction. Description The L6219R is a bipolar monolithic integrated circuits intended to control and drive both winding of a bipolar stepper motor or bidirectionally control two DC motors.The L6219R with a few external components form a complete control and drive circuit for LS-TTL or microprocessor controlled stepper motor system.The power stage is a dual full bridge capable of sustaining 10V and including four diodes for current recirculation. An internal pulse-width-modulation (PWM) controls the output current to 500mA with peak start-up current up to 1A. Wide range of current control from 500mA (each bridge) is permitted by means of two logic inputs and an external voltage reference. A phase input to each bridge determines the load current direction. A thermal protection circuitry disables the outputs if the chip temperature exceeds safe operating limits. Order codes Part number Package Packing L6219R SO-24 Tube L6219R013TR SO-24 Tape & reel E-L6219R(1) SO-24 Tube E-L6219R013TR (1) SO-24 Tape & reel 1. Lead free package (ECOPACK®) see Chapter 5. June 2006 Rev 3 1/16 www.st.com 1 Table of contents L6219R Table of contents 1 Block diagram & pins description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2 Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 3 4 2.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.1 Input Logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.3 Current Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.4 Single-pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.5 Output Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.6 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1 Electrical characteristics curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 5 Package informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 6 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 2/16 L6219R List of tables List of tables Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Input logic current level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3/16 List of figures L6219R List of figures Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. Figure 8. Figure 9. 4/16 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Pin connection (Top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Windings of a bipolar stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Principle Operating Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Typical Application Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Max output current versus supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Maximum reference voltages vs. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Maximum output current vs. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 SO-24 Mechanical Data & Package Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 L6219R 1 Block diagram & pins description Block diagram & pins description Figure 1. Block diagram Figure 2. Pin connection (Top view) Table 1. Pin description Pin # Name 1;2 OUTPUT A See pins 5;21 3;23 SENSE RESISTOR Connection to Lower Emitters of Output Stage for Insertion of Current Sense Resistor 4;22 Description Input connected to the comparators. The voltage across the sense resistor is feedback to this input throught the low pass filter RC CC. The COMPARATOR higher power transistors are disabled when the sense voltage exceeds INPUT the reference voltage of the selected comparator. When this occurs the current decays for a time set by RT CT (toff = 1.1 RT CT). See fig. 4. 5;21 OUTPUT B 6;19 GROUND Output Connection. The output stage is a "H" bridge formed by four transistors and four diodes suitable for switching applications. See pins 7;18 5/16 Block diagram & pins description Table 1. 6/16 Pin description (continued) Pin # Name 7;18 GROUND Ground Connection. With pins 6 and 19 also conducts heat from die to printed circuit copper. 8;20 INPUT 0 See INPUT 1 (pins 9;17) INPUT 1 These pins and pins 8;20 (INPUT 0) are logic inputs which select the outputs of the comparators to set the current level. Current also depends on the sensing resistor and reference voltage. See Funcional Description. 10;16 PHASE This TTL-compatible logic inputs sets the direction of current flow through the load. A high level causes current to flow from OUTPUT A (source) to OUTPUT B (sink). A schmitt trigger on this input provides good noise immunity and a delay circuit prevents output stage short circuits during switching. 11;15 REFERENCE VOLTAGE A voltage applied to this pin sets the reference voltage of the comparators, this determining the output current (also thus depending on Rs and the two inputs INPUT 0 and INPUT 1). 12;14 RC A parallel RC network connected to this pin sets the OFF time of the higher power transistors. The pulse generator is a monostable triggered by the output of the comparators (toff = 1.1 RT CT). 13 Vss - LOGIC SUPPLY 24 Vs - LOAD SUPPLY 9;17 Note: L6219R Description Supply Voltage Input for Logic Circuitry Supply Voltage Input for the Output Stages. ESD on GND, Vs, Vss, OUT 1A and OUT 2A is guaranteed up to 1.5KV (Human Body Model, 1500W, 100pF). L6219R Electrical specifications 2 Electrical specifications 2.1 Absolute maximum ratings Table 2. Absolute maximum ratings Symbol 2.2 Parameter Value Unit VS Supply Voltage 30 V Io Output Current (peak) ±1 A Io Output Current (continuous) ±0.5 A 7 V -0.3 to VSS V VSS Logic Supply Voltage VIN Logic Input Voltage Range Vsense Sense Output Voltage 1.5 V TJ Junction Temperature +150 °C Top Operating Temperature Range -20 to +85 °C Tstg Storage Temperature Range -55 to +150 °C Thermal data Table 3. Thermal data Symbol Rthj-case Rthj-amb Description Thermal Resistance Junction-case Thermal Resistance Junction-ambient Max. Max. Value Unit 18 75 (*) °C/W °C/W (*) With minimized copper area. 2.3 Electrical characteristics Table 4. Electrical Characteristics (Tj = 25°C, VS = 4.5V, VSS = 4.75V to 5.25V, VREF = 2V; unless otherwise specified) See Figure 5. Symbol . Parameter Test Condition Min. Typ. Max. Unit 10 V OUTPUT DRIVERS (OUTA or OUTB) VS ICEX VCE(sat) Motor Supply Range 4.5 Output Leakage Current *) Vs = 30V; VOUT = Vs; Vs = 30V; VOUT = 0 Output Saturation Voltage Sink Driver, IOUT= +300mA Sink Driver, IOUT = +500mA Source Driver, IOUT = -300mA Source Driver, IOUT = -500mA -50 <1 <-1 50 µA µA - 0.3 0.7 1.1 1.3 0.6 1 1.4 1.6 V V V V 7/16 Electrical specifications Table 4. L6219R Electrical Characteristics (continued) (Tj = 25°C, VS = 4.5V, VSS = 4.75V to 5.25V, VREF = 2V; unless otherwise specified) See Figure 5. Symbol Parameter Test Condition Min. Typ. Max. Unit 1 1 1.5 1.5 V V Clamp Diode Forward Voltage Sink Diode Source Diode IF = 500mA IS(on) Driver Supply Current Both Bridges ON, No Load Vs = 10V - 8 15 mA IS(off) Driver Supply Current Both Bridges OFF; Vs = 10V - 6 10 mA VF CONTROL LOGIC VIN(H) Input Voltage All Inputs 2.4 - - V VIN(L) Input Voltage All Inputs - - 0.8 V IIN(H) Input Current VIN = 2.4V - <1 20 µA IIN(L) Input Current VIN = 0.84V - -3 -200 µA VREF Reference Voltage Operating 1.5 - 2 V ISS(ON) Total Logic Supply Current Io = I1 = 0.8V, No Load - 44 60 mA ISS(OFF) Total Logic Supply Current Io = I1 = 2.4V, No Load - 10 14 mA Io = I1 = 0.8V 9.5 10 10.5 - Io = 2.4V, I1 = 0.8V 13.5 15 16.5 - Io = 0.8V, I1 = 2.4V 25.5 30 34.5 - COMPARATORS VREF/ Vsense Current Limit Threshold (at trip point) toff Cutoff Time Rt = 56KΩ Ct = 820pF - 50 µs td Turn Off Delay see Figure 1 - 1 µs - 170 PROTECTION TJ 8/16 Thermal Shutdown Temperature - °C L6219R Electrical specifications Figure 3. Windings of a bipolar stepper motor 9/16 Functional description 3 L6219R Functional description The circuit is intended to drive both windings of a bipolar stepper motor. The peak current control is generated through switch mode regulation.There is a choice of three different current levels with the two logic inputs I01 - I11 for winding 1 and I02 - I12 for winding 2. The current can also be switched off completely 3.1 Input Logic (I0 and I1) The current level in the motor winding is selected with these inputs. (See Figure 4) If any of the logic inputs is left open, the circuit will treat it has a high level input. Table 5. 3.2 Input logic current level I0 I1 Current Level H H No Current L H Low current 1/3 IO max H L Medium current 2/3 IO max L L Maximum current IO max Phase This input determines the direction of current flow in the windings, depending on the motor connections. The signal is fed through a Schmidt-trigger for noise immunity, and through a time delay in order to guarantee that no short-circuit occurs in the output stage during phase-shift.High level on the PHASE input causes the motor current flow from Out A through the winding to Out B 3.3 Current Sensor This part contains a current sensing resistor (RS), a low pass filter (RC, CC) and three comparators.Only one comparator is active at a time. It is activated by the input logic according to the current level chosen with signals Io and I1.The motor current flows through the sensing resistor RS.When the current has increased so that the voltage across RS becomes higher than the reference voltage on the other comparator input, the comparator goes high, which triggers the pulse generator. The max peak current Imax can be defined by: V ref I max = ------------10R s See figures Figure 3, 4 and 5 for maximum allowable output current and reference voltage versus Vs supply. 10/16 L6219R 3.4 Functional description Single-pulse Generator The pulse generator is a monostable triggered on the positive going edge of the comparator output.The monostable output is high during the pulse time, toff , which is determined by the time components Rt and Ct. toff = 1.1 · RtCt The single pulse switches off the power feed to the motor winding, causing the winding current to decrease during toff.If a new trigger signal should occur during toff, it is ignored. 3.5 Output Stage The output stage contains four Darlington transistors (source drivers) four saturated transistors (sink drivers) and eight diodes, connected in two H bridge. Figure 4. Principle Operating Sequence The source transistors are used to switch the power supplied to the motor winding, thus driving a constant current through the winding.It should be noted however, that is not permitted to short circuit the outputs. Internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels. 3.6 VS, VSS, VRef The circuit will stand any order of turn-on or turn-off the supply voltages VS and VSS. Normal dV/dt values are then assumed. Preferably, VRef should be tracking VSS during power-on and power-off if VS is established. 11/16 Application informations 4 L6219R Application informations Some stepper motors are not designed for contin-uous operation at maximum current. As the circuit drives a constant current through the motor, its temperature might increase exceedingly both at low and high speed operation.Also, some stepper motors have such high core losses that they are not suited for switch mode current regulation. Unused inputs should be connected to proper voltage levels in order to get the highest noise immunity. As the circuit operates with switch mode current regulation, interference generation problems might arise in some applications. A good measure might then be to decouple the circuit with a 100nF capacitor, located near the package between power line and ground. The ground lead between Rs, and circuit GND should be kept as short as possible. A typical Application Circuit is shown in Figure 5. Note that Ct must be NPO type or similar else. To sense the winding current, paralleled metal film resistors are recommended (Rs) Figure 5. 12/16 Typical Application Circuit. L6219R Application informations 4.1 Electrical characteristics curves Figure 6. Max output current versus supply voltage Figure 7. 600 Maximum reference voltages vs. supply voltage 8 7 500 5 Vref1,2 (V) Output current (mA) 6 400 300 4 3 200 Vss=5V 2 Vss=4.5V 100 1 0 0 0 2 4 6 8 10 12 0 Figure 8. 2 4 6 8 10 12 Vs (V) Vs (V) Maximum output current vs. supply voltage 600 Output current (mA) 500 400 300 200 Vss=5V Vss=4.5V 100 0 0 1 2 3 4 5 6 7 8 Vref (V) 13/16 Package informations 5 L6219R Package informations In order to meet environmental requirements, ST offers these devices in ECOPACK® packages. These packages have a Lead-free second level interconnect. The category of second Level Interconnect is marked on the package and on the inner box label, in compliance with JEDEC Standard JESD97. The maximum ratings related to soldering conditions are also marked on the inner box label. ECOPACK is an ST trademark. ECOPACK specifications are available at: www.st.com. Figure 9. SO-24 Mechanical Data & Package Dimensions mm inch DIM. MIN. TYP. MAX. MIN. TYP. MAX. A 2.35 2.65 0.093 0.104 A1 0.10 0.30 0.004 0.012 B 0.33 0.51 0.013 0.200 C 0.23 0.32 0.009 0.013 D (1) 15.20 15.60 0.598 0.614 E 7.40 7.60 0.291 e 1.27 0.299 10.0 10.65 0.394 0.419 h 0.25 0.75 0.010 0.030 L 0.40 1.27 0.016 0.050 ddd Weight: 0.60gr 0.050 H k OUTLINE AND MECHANICAL DATA 0˚ (min.), 8˚ (max.) 0.10 0.004 (1) “D” dimension does not include mold flash, protusions or gate burrs. Mold flash, protusions or gate burrs shall not exceed 0.15mm per side. SO24 0070769 C 14/16 L6219R 6 Revision history Revision history Table 6. Document revision history Date Revision January 2003 1 First Issue May 2005 2 Modified Table 6 on page 5. 3 Changed look anf fill. Changed value of the Output Current (continuous) in Table 2. Changed the curve diagrams of the Figure 6 and 7. 22-Jun-2006 Changes 15/16 L6219R Please Read Carefully: Information in this document is provided solely in connection with ST products. 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