SPMD250STP 2.5 A bipolar stepper motor drive module Features ■ Wide supply voltage range ■ Full/Half step drive capability ■ Logic signals TTL/CMOS compatible ■ Programmable motor phase current and chopper frequency ■ Selectable Slow/Fast current decay ■ Synchronization for multimotor applications ■ Remote shut-down ■ Home position indication Description The SPMD250STP is a drive module that directly interface a microprocessor to a two phase, bipolar, permanent magnet stepper motors. The phase current is chopper controlled, and the internal phase sequence generation reduces the burden of the controller and it simplifies software development. The SPMD250STP has PowerMOS outputs to significantly reduce both commutation and conduction losses. A further benefit offered by the SPMD250STP is the complete protection of the outputs against any type of shorts. January 2008 Table 1. Device summary Order code SPMD250STP Rev 1 1/29 www.st.com 29 Contents SPMD250STP Contents 1 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 1.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 3 Signal timing and block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 4 Pin connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 5 Bipolar stepper motor basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 5.1 One-phase-on or wave drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 5.2 Two-phase-on or normal drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 5.3 Half step drive . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 6 Phase sequence generation inside the device . . . . . . . . . . . . . . . . . . . 13 7 RESET, ENABLE and HOME signals . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 8 Motor current regulation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 9 User notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 2/29 9.1 Supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 9.2 Case grounding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 9.3 Thermal characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 9.4 Supply line impedance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 9.5 Module protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 9.6 Motor connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 9.7 Unused inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 9.8 Phase current programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 9.9 Chopper frequency programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 SPMD250STP Contents 10 Multi modules application . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 11 Thermal operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 12 Package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26 13 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 3/29 Electrical data SPMD250STP 1 Electrical data 1.1 Absolute maximum ratings Table 1. Symbol 4/29 Absolute maximum ratings Parameter Value Unit VS DC supply voltage (pin 18) 42 V VSS DC logic supply voltage (pin 12) 7 V Tstg Storage temperature range – 40 to +105 °C Tcop Operating case temperature range – 40 to +85 °C SPMD250STP 2 Electrical characteristics Electrical characteristics Table 2. Electrical characteristics (TA = 25°C and VS = 24V unless otherwise specified) Value Symbol Parameter Test conditions Unit Min Vs DC supply voltage Vss DC logic supply voltage 12 Quiescent supply current Pin 18 Iss Quiescent logic supply current Pin 12 Vss = 5 V Vi Input voltage Pin 3,4,6,7,10,11 Low High Ii Input current Pin 3,4,6,7,10,11 Vi = Low Vi = High Source/sink saturation voltage Pin 14,15,16,17 Io Phase current IoL Current limit intervention fc tclk 40 60 0.6 10 Io = 2 A 5 Chopper frequency ts Set up time th tr V V mA µA 1.8 V 2.5 A A 17 Pin 6 (Figure 1 on page 6) mA mA 0.8 Vss 2 V V 20 Stepckl width trclk Max 5 Is Vsat Typ kHz 0.5 µs " 1 µs Hold time " 1 µs Reset width " 1 µs Reset to clock set up time " 1 µs 5/29 Signal timing and block diagram 3 6/29 Signal timing and block diagram Figure 1. Signals timing Figure 2. Block diagram SPMD250STP SPMD250STP Figure 3. Signal timing and block diagram Module typical application SPMD250STP 7/29 Pin connection 4 Pin connection Figure 4. 8/29 SPMD250STP Connection diagram (top view) SPMD250STP Pin connection Table 3. Pin description N° Name Function 1 GND1 Return path for the logic signals and 5 V supply. 2 Sync Chopper oscillator output. Several modules can be synchronized by connecting together all Sync pins. This pin can be used as the input for an external clock source. 3 Reset Asynchronous reset input. An active low pulse on this input preset the internal logic to the initial state (ABCD = 0101). 4 Half/Full Half/Full step selection input. When high or unconnected the half step operation is selected. 5 Home When high, this output indicates that the internal counter is in its initial state (ABCD = 0101). This signal may be used in conjunction with a mechanical switch to ground or with open collector output of an optical detector to be used as a system home detector. 6 Stepcl The motor is moved one step on the rising edge of this signal. 7 Direction control input. When high or unconnected clockwise rotation is CW/CCW selected. Physical direction of motor rotation depends also on windings connection. 8 The chopper oscillator timing, internally fixed at 17 kHz, can be modified by connecting a resistor between this pin and Vss or a capacitor between this pin Oscillator and Gnd1. The oscillator input must be grounded when the unit is externally synchronized. 9 Ioset Phase current setting input. A resistor connected between this pin and Gnd1 or Vss, allows the factory setted phase current value ( 2 A for SPMD250STP) to be changed. 10 Control Logic input that allows the phase current decay mode selection. When high or unconnected the slow decay is selected. 11 Enable Module enable input. When low this input floats the outputs enabling the manual positioning of the motor. Must be LOW during power-up and down sequence, HIGH during normal operation. 12 Vss 13 GND2 14 D D output. 15 C C output. 16 B B output. 17 A A output. 18 Vs Module and motor supply voltage. Maximum voltage must not exceed the specified values. 5V supply input. Maximum voltage must not exceed 7 V. Return path for the power section. 9/29 Bipolar stepper motor basics 5 SPMD250STP Bipolar stepper motor basics Simplified to the bare essentials, a bipolar permanent magnet motor consists of a rotatingpermanent magnet surrounded by stator poles carrying the windings (Figure 5). Figure 5. Simplified bipolar two phase motor Bidirectional drive current is imposed on windings A-B and C-D and the motor is stepped by commutating the voltage applied to the windings in sequence. For a motor of this type there are three possible drive sequences. 5.1 One-phase-on or wave drive Only one winding is energized at any given time according to the sequence : AB - CD - BA - DC (BA means that the current is flowing from B to A). Fig. 6 shows the sequence for a clockwise rotation and the corresponding rotor position. 5.2 Two-phase-on or normal drive This mode gives the highest torque since two windings are energized at any given time according to the sequence (for clockwise rotation). AB & CD ; CD & BA ; BA & DC ; DC & AB Figure 7 shows the sequence and the corresponding position of the rotor. 10/29 SPMD250STP 5.3 Bipolar stepper motor basics Half step drive This sequence halves the effective step angle of the motor but gives a less regular torque being one winding or two windings alternatively energized. Eight steps are required for a complete revolution of the rotor. The sequence is: AB ; AB & CD ; CD ; CD & BA ; BA ; BA & DC ; DC ; DC & AB as shown in fig. 8. By the configurations of fig. 6, 7, 8 the motor would have a step angle of 90 ° (or 45 ° in half step). Real motors have multiple poles pairs to reduce the step angle to a few degrees but the number of windings (two) and the drive sequence are unchanged. Figure 6. One-phase-on (wave mode) drive Figure 7. Two-phase-on (normal mode) drive 11/29 Bipolar stepper motor basics Figure 8. 12/29 Half step sequence SPMD250STP SPMD250STP 6 Phase sequence generation inside the device Phase sequence generation inside the device The modules contains a three bit counter plus some combinational logic which generate suitable phase sequences for half step, wave and normal full step drive. This 3 bit counter generates a basic eight-step Gray code master sequence as shown in fig. 9. To select this sequence, that corresponds to half step mode, the HALF/FULL input (pin 4) must be kept high or unconnected. The full step mode (normal and wave drive) are both obtained from the eight step master sequence by skipping alternate states. This is achieved by forcing the step clock to bypass the first stage of the 3 bit counter. The least significant bit of this counter is not affected and therefore the generated sequence depends on the state of the counter when full step mode is selected by forcing pin 4 (HALF/FULL) low. If full step is selected when the counter is at any odd-numbered state, the twophase-on (normal mode) is implemented (see Figure 10). On the contrary, if the full mode is selected when the counter is at an even-numbered state, the one-phase-on (wave drive) is implemented (see Figure 11). Figure 9. The eight step master sequence corresponding to half step mode 13/29 Phase sequence generation inside the device SPMD250STP Figure 10. Two-phase-on (normal mode) drive Figure 11. One-phase-on (wave mode) drive 14/29 SPMD250STP 7 RESET, ENABLE and HOME signals RESET, ENABLE and HOME signals The RESET is an asynchronous reset input which restores the module to the home position (state 1 : ABCD = 0101). Reset is active when low. The HOME output signals this condition and it is intended to be ANDed with the output of a mechanical home position sensor. The ENABLE input is used to start up the module after the system initialization. ENABLE is active when high or unconnected. 8 Motor current regulation The two bipolar winding currents are controlled by two internal choppers in a PWM mode to obtain good speed and torque characteristics. An internal oscillator supplies pulses at the chopper frequency to both choppers. When the outputs are enabled, the current through the windings raises until a peak value set by Ioset and Rsense (see the equivalent block diagram) is reached. At this moment the outputs are disabled and the current decays until the next oscillator pulse arrives. The decay time of the current can be selected by the CONTROL input (pin 10). If the CONTROL input is kept high or open the decay is slow, as shown in Figure 12, where the equivalent power stage and the voltages on A and B are shown as well as the current waveform on winding AB. When the CONTROL input is forced low, the decay is fast as shown in fig. 13. The CONTROL input is provided on SPMD250STP to allow maximum flexibility in application. If the modules must drive a large motor that does not store much energy in the windings, the chopper frequency must be decreased: this is easily obtained by connecting an external capacitor between OSC pin and GND1. In these conditions a fast decay (CONTROL LOW) would impose a low average current and the torque could be inadequate. By selecting CONTROL HIGH, the average current is increased thanks to the slow decay. When the m odule is used in the fast-decay mode it is recommended to connect external fast recovery, low drop diodes between each phase output and the supply return (GND). The slow-decay should be the preferred operating recirculation mode because of the lower power dissipation and low noise operations. 15/29 Motor current regulation SPMD250STP Figure 12. Chopper control with slow decay drive current (Q1, Q2 ON) – – – – recirculation current (Q1 ON, Q2 OFF, D1 ON) Figure 13. Chopper control with fast decay drive current (Q1, Q2 ON) – – – – recirculation current (Q1, Q2 OFF, D1, D2 ON) 16/29 SPMD250STP User notes 9 User notes 9.1 Supply voltage The recommended operating maximum supply voltage must include the ripple voltage for the Vs rail, and a 5 V ± 5 % for the Vss line is required. The two supply voltages must to be correctly sequenced to avoid any possible erroneous positioning of the power stages. The correct power-up and power-down sequences are: ● Power-up 1.Vss (5 V) is applied with Enable = Low 2. Vs (the motor supply voltage) is applied 3. Enable is brougth High ● Power-down 1.Enable is brougth Low 2. Vs is switched off 3. Vss is switched off. 9.2 Case grounding The module case is internally connected to pin 1 and 13. To obtain additional effective EMI shield, the PCB area below the module can be used as an effective sixth side shield. 9.3 Thermal characteristics The case-to-ambient thermal resistance is 5 °C/W. This produces a 50 °C temperature increase of the module surface for 10 W of internal dissipation. According to ambient temperature and/or to power dissipation, an additional heatsink or forced ventilation may be required. (See derating curves Figure 16). 9.4 Supply line impedance The module has an internal capacitor connected accross the supply pins (18 and 13) to assure the circuit stability. This capacitor cannot handle high values of current ripple, and would be permanently damaged if the primary energy source impedance is not adequate. The use of a low ESR, high ripple current 470 µF capacitor located as close to the module as possible is recommended. When space is a limitation, a 22 µF ceramic multilayer capacitor connected across the module input pins must be used. 17/29 User notes 9.5 SPMD250STP Module protections The SPMD250STP outputs are protected against short circuits to Gnd, Vs and to another output. When the current exceeds the maximum value, the output is automatically disabled. The module protection is of the latching type, i.e. when an overload condition is detected the unit outputs are disabled. To restart the operations it is necessary to disable the unit (pin 11 = Low) or to switch off the supply voltage for at least 100 ms. 9.6 Motor connection The motor is normally quite far from the module and long cables are needed for connection. The use of a twisted pair cable with appropriate cross section for each motor phase is recommended to minimize DC losses and RFI problems. 9.7 Unused inputs All the SPMD250STP logic inputs have an internal pull-up, and they are high when unconnected. 9.8 Phase current programming The output current is factory set to a standard 2 A value. The phase current value can be changed by connecting an appropriate resistor between pin 9 and ground or Vss (see Figure 14). In the first case the phase current will decrease, in the latter it will increase. The maximum phase current must be limited to 2.5 A, to avoid permanent damage to the module. SPMD250STP phase current programming: Equation 1 I > 2A 10 – 0.33 ⋅ I Ri = ------------------------------ = kΩ 0.473 ⋅ I – 1 Ri ≥ 50kΩ Equation 2 I < 2A 18/29 I Rd = ----------------------------------- = kΩ 3.03 – 1.43 ⋅ I SPMD250STP User notes Figure 14. Phase current programming 12 9 12 9 SPMD250STP 1 9.9 SPMD250STP 1 Chopper frequency programming The chopper frequency is internally set to 17 kHz, and it can be changed by addition of external components as follows. To increase the chopper frequency a resistor must be connected between Oscillator (pin 8) and Vss (pin 12, see Figure 15). The resistor value is calculated according to the formula: Equation 3 306 Rf = --------------- = kΩ fc – 17 where fc = kHz Rf ≥ 18kΩ To decrease the chopper frequency a capacitor must be connected between Oscillator (pin 8) and Gnd1 (pin 1). The capacitor value is calculated according to the formula: Equation 4 80.5 – 4.7fc Cf = ------------------------------- = nF fc where fc = kHz 19/29 User notes SPMD250STP Figure 15. Chopper frequency programming 12 osc 8 SPMD250STP 12 osc 8 1 1 fC < 17 KHz fC > 17 KHz Figure 16. Free air derating curve Tamb (°C) 20/29 SPMD250STP SPMD250STP 10 Multi modules application Multi modules application In complex systems, many motors must be controlled and driven. In such a case more than one SPMD250STP must be used. To avoid chopper frequencies noise and beats, all the modules should be synchronized. If all the motors are relatively small, the fast decay may be used, the chopper frequency does not need any adjustement and Figure 17 shows how to synchronize several modules. When at least one motor is relatively large a lower chopper frequency and a slow decay may be required: In such a case the overall system chopper frequency is determined by the largest motor in the system as shown in Figure 18. Figure 17. Multimotor synchronization, small motor and fast current decay SPMD250STP SPMD250STP SPMD250STP 21/29 Multi modules application SPMD250STP Figure 18. Multimotor synchronization, large and small motor, slow current decay SPMD250STP SPMD250STP 22/29 SPMD250STP 11 Thermal operating conditions Thermal operating conditions In many cases the modules do not require any additional cooling because the dimensions and the shape of the metal box are studied to offer the minimum possible thermal resistance case-to-ambient for a given volume. It should be remembered that these modules are a power device and, depending on ambient temperature, an additional heath-sink or forced ventilation or both may be required to keep the unit within safe temperature range. (Tcasemax < 85 °C during operation). The concept of maximum operating ambient temperature is totally meaningless when dealing with power components because the maximum operating ambient temperature depends on how a power device is used. What can be unambiguously defined is the case temperature of the module. To calculate the maximum case temperature of the module in a particular applicative environment the designer must know the following data: ● Input voltage ● Motor phase current ● Motor phase resistance ● Maximum ambient temperature From these data it is easy to determine whether an additional heath-sink is required or not, and the relevant size i.e. the thermal resistance. The step by step calculation is shown for the following example. Vin = 40 V, Iphase = 1 A, Rph Phase resistance = 10 Ω, max. TA = 50 °C ● Calculate the power dissipated from the indexer logic and the level shifter (see electrical characteristics): Plogic = (5 V x 60 mA) + (40 V x 20 mA) = 1.1 W ● Calculate the average voltage across the winding resistance: Vout = (Rph x Iout) = 10Ω ζ 1A = 10 V ● Calculate the required ON duty cycle (D.C.) of the output stage to obtain the average voltage (this D.C. is automatically adjusted by the SPMD250STP): V OUT 10 DC = -------------= ------ = 0.25 40 V IN ● Calculate the power dissipation of the SPMD250STP output power stage. The power dissipation depends on two main factors: – the selected operating mode (FAST or SLOW DECAY) – the selected drive sequence (WAVE, NORMAL, HALF STEP) FAST DECAY. For this mode of operation, the internal voltage drop is Vsatsource + Vsatsink during the ON period i.e. for 25 % of the time. During the recirculation period (75 % of the time), the current recirculates on two internal diodes that have a voltage drop Vd = 1 V, and the internal sense resistor (0.5 Ω). For this example, by assuming maximum values for conservative calculations, the power dissipation during one cycle is: Ppw = 1.1 x [2 Vsat x Iph x D.C. + 2 Vd x Iph x (1 - D.C.) + 0.5 x Iph] 23/29 Thermal operating conditions SPMD250STP Ppw = 1.1 x [2x1.8x1x0.25+2x1x1x0.75 + 0.5 x1] Ppw = 1.1 x [0.9 + 1.5 + 0.5] = 3.19 W The factor 1.1 takes into account the power dissipation during the switching transient. SLOW DECAY. The power dissipation during the ON period is the same. The RECIRCULATION is made internally through a power transistor (Vsatsink) and a diode. The power dissipation is, therefore: Ppw = 1.1x [2 Vsat x Iph x D.C.+(Vsat+Vd) x Iph x (1-D.C.)] Ppw = 1.1x [2 x 1.8 x 1 x 0.25 + (1.8 + 1) x 1 x 0.75] Ppw = 1.1 x [0.9 + 2.1] = 3.3 W WAVE MODE. When operating in this mode the power dissipation is given by values of FAST and SLOW DECAY mode, because one phase is energized at any given time. NORMAL MODE. At any given time, two windings are always energized. The power dissipation of the power output stage is therefore multiplied by a factor 2. HALF STEP. The power sequence, one-phase-on, two-phase-on forces the power dissipation to be 1.5 times higher than in WAVE MODE when the motor is running. In stall condition the worst case for power dissipation is with two-phase-on i.e. a power dissipation as in NORMAL MODE. The following table summarizes the power dissipations of the output power stage of the SPMD250STP when running for this example: Table 4. ● Power dissipations Wave Normal Half Step Fast Decay 3.19 W 6.38 W 6.38 W Slow Decay 3.30 W 6.60 W 6.60 W Calculate the total power dissipation for the SPMD250STP : Ptot = Plogic + Ppw In this example, for slow decay and normal mode Ptot = 1.1 + 6.6 = 7.7 W ● The case temperature can now be calculated: Tcase = Tamb + (Ptot x Rth) = 55 + (7.7 x 5) = 93.5 °C ● If the calculated case temperature exceeds the maximum allowed case temperature, as in this example, an external heat-sink is required and the thermal resistance can be calculated according to: Equation 5 T cmax – T amb – 55- = 3.9°C Rth tot = ----------------------------------= 85 -----------------P tot 7.7 24/29 SPMD250STP Thermal operating conditions Equation 6 R th ⋅ R th 5 ⋅ 3.9- = 17.7°C tot - = ---------------Rth hs = --------------------------5 – 3.9 R th – R th tot The following table gives the thermal resistance of some commercially available heath-sinks that fit on the SPMD250STP module. Table 5. Thermal resistance Manufacturer Part number Rth (°C/W) Mounting Thermalloy 6177 3 Horizontal Thermalloy 6152 4 Vertical Thermalloy 6111 10 Vertical Fischer SK18 3 Vertical Assman V5440 4 Vertical Assman V5382 4 Horizontal 25/29 Package mechanical data 12 SPMD250STP Package mechanical data 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 26/29 SPMD250STP Package mechanical data Figure 19. Mechanical data 0.5 (0.02) 20.5 (0.81) 85.5 (3.37) 18.5 (0.73) 2.2 (0.87) 2.54 (0.1) 29.5 (1.16) 18.4 (0.72) 5.04 (0.2) 2.54 (0.1) 5.04 (0.2) 2.54 (0.1) 5.04 (0.2) 23.0 (0.90) 1.2 (0.47) 2.2 (0.87) 66.67 (2.62) 78.5 (3.09) 82.3 (3.24) 4 (0.16) 7 (0.28) Dimensions in mm Figure 20. Mother board layout 27/29 Revision history 13 SPMD250STP Revision history Table 6. 28/29 Document revision history Date Revision 23-Jan-2007 1 Changes First release SPMD250STP Please Read Carefully: Information in this document is provided solely in connection with ST products. STMicroelectronics NV and its subsidiaries (“ST”) reserve the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice. All ST products are sold pursuant to ST’s terms and conditions of sale. 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