DATA SHEET MOS INTEGRATED CIRCUIT µPD168110 MICROSTEP DRIVER FOR DRIVING CAMERA LENS DESCRIPTION The µPD168110 is a monolithic 2-channel H bridge driver that consists of a CMOS controller and a MOS output stage. It can reduce the current consumption and the voltage loss at the output stage compared with a conventional driver using bipolar transistors, thanks to employment of a MOS process. This product employs a P-channel MOSFET on the high side of the output stage, eliminating a charge pump. As a result, the circuit current consumption can be substantially reduced during operation. This product is ideal for driving the motor of a digital still camera as it can switch over between two-phase excitation driving and microstep driving, using a stepper motor. FEATURES O Two H bridge circuits employing power MOSFET O Current feedback 64-step microstep driving and two-phase excitation driving selectable O Low on-resistance: 2 Ω MAX. O 3 V power supply Minimum operating power supply voltage VDD = 2.7 V O Under voltage lockout circuit Shuts down internal circuitry at VDD = 1.7 V TYP. O 24-pin TSSOP ORDERING INFORMATION Part Number Package µPD168110MA-6A5 24-pin plastic TSSOP (5.72 mm (225)) The information in this document is subject to change without notice. Before using this document, please confirm that this is the latest version. Not all products and/or types are available in every country. Please check with an NEC Electronics sales representative for availability and additional information. Document No. S15840EJ2V0DS00 (2nd edition) Date Published June 2005 NS CP(K) Printed in Japan The mark shows major revised points. 2003 µPD168110 PIN FUNCTIONS Package: 24-pin TSSOP 2 MODE 1 24 RESETB CLK 2 23 CW LGND 3 22 VDD COSC 4 21 FIL2 MOB 5 20 FIL1 PGND2 6 19 FB1 OUT2B 7 18 OUT1B VM2 8 17 VM1 OUT2A 9 16 OUT1A FB2 10 15 PGND1 PS 11 14 MOBSEL OE 12 13 STOP Pin No. Pin Name 1 MODE Pin Function 2 CLK 3 LGND 4 COSC Pin connecting capacitor for output oscillator 5 MOB Phase detection output pin 6 PGND2 Output block GND pin 7 OUT2B Channel 2 output B Microstep/2-phase excitation switch pin Pulse input pin Control block GND pin 8 VM2 9 OUT2A Motor power pin 10 FB2 Channel 2 current detection resistor connecting pin 11 PS Power save mode pin 12 OE Output enable pin Channel 2 output A 13 STOP 14 MOBSEL MOB output select pin Stop mode pin 15 PGND1 Output block GND pin 16 OUT1A 17 VM1 18 OUT1B Channel 1 output A Motor power pin Channel 1 output B 19 FB1 Channel 1 current detection resistor connecting pin 20 FIL1 Channel 1 filter capacitor connecting pin 21 FIL2 Channel 2 filter capacitor connecting pin 22 VDD Control block power pin 23 CW Revolution direction setting pin 24 RESETB Reset input pin Data Sheet S15840EJ2V0DS µPD168110 BLOCK DIAGRAM MODE MOBSEL RESET CLK CW PS STOP VDD DECODER VM1 PULSE GENERATER VM2 EVR1 COSC CURRENT SET OSC + LGND VM Current Sense1 FB1 EVR2 FILTER MOB + FILTER Internal Block –+ + – H BRIDGE ch1 PGND OUT1A OUT1B VM Current Sense2 FB2 H BRIDGE ch2 FIL1 OE FIL2 OUT2A OUT2B MODE MOBSEL PGND Truth Table RESET CLK CW OE PS STOP Operation Mode H L H L L H L Microstep CW mode MOB: 1 pulse/cycle H H H L L H L Microstep CCW mode MOB: 1 pulse/cycle H L H L L H H Microstep CW mode MOB: 4 pulses/cycle H H H L L H H Microstep CCW mode MOB: 4 pulses/cycle H L H L L L X 2-phase CW mode H H L L L X 2-phase CCW mode H X X L X X X X Output Hi-Z H X X H L H H X STOP mode after MOB = L (CLK must be input until MOB = L) H X X H H H H X PS mode after MOB = L (CLK must be input until MOB = L) H X X H H L H X Setting prohibited L X X X X X X X Reset mode H H: High level, L: Low level, X: High level or low level Data Sheet S15840EJ2V0DS 3 µPD168110 Command Input Timing Chart In microstep mode RESET 1 2 3 4 5 6 7 8 9 10 1112 1314 15 16 17 18 19 20 21 22 23242526272829 30 CLK CW OE PS STOP 1 2 3 4 5 6 7 8 9 10 111213 1415 16 1718 17 16 15 1413 PULSE OUT (internal) Chopping pulse Power save mode MOB Output when MOBSEL = H Reset status 4 CW mode Data Sheet S15840EJ2V0DS STOP mode stopped CCW mode Output Hi-Z Reset status µPD168110 Standard Connection Diagram Microstep/2-phase excitation driving CPU MODE MOBSEL RESET CW CLK PS STOP VDD DECODER 3.3 V VM1 PULSE GENERATER VM2 5.0 V 330 pF EVR1 COSC EVR2 MOB CURRENT SET OSC 10 kΩ + LGND FILTER + FILTER Internal Block –+ FB1 +– VM Current Sense1 H BRIDGE ch1 2 kΩ 1000 pF VDD PGND VM Current Sense2 FB2 H BRIDGE ch2 OUT1A OUT1B FIL1 OE FIL2 1000 pF 1000 pF from CPU OUT2A OUT2B 2 kΩ 1000 pF PGND M Only 2-phase excitation driving CPU MODE MOBSEL RESET CLK CW PS STOP VDD DECODER 3.3 V VM1 VDD PULSE GENERATER VM2 10 kΩ 5.0 V EVR1 COSC MOB CURRENT SET OSC + LGND EVR2 FILTER FILTER + VDD VDD Internal Block –+ FB1 Current Sense1 +– VM H BRIDGE ch1 PGND OUT1A OUT1B VM Current Sense2 FB2 H BRIDGE ch2 FIL1 OE FIL2 OUT2A OUT2B PGND From CPU M Data Sheet S15840EJ2V0DS 5 µPD168110 Output Timing Chart • Microstep output mode position Ch 1 current 100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 –9.8 –19.5 –29.0 –38.3 –47.1 –55.6 –63.4 –70.7 –77.3 –83.1 –88.2 –92.4 –98.1 –95.7 –100 –99.5 0 5 10 15 20 25 30 35 40 45 50 55 60 65 45 50 55 60 65 50 55 60 65 Ch 2 current 100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 —9.8 —19.5 —29.0 —38.3 —47.1 —55.6 —63.4 —70.7 —77.3 —83.1 —88.2 —92.4 —98.1 —95.7 —100 —99.5 0 5 10 15 20 25 30 35 40 MOB output (when MOBSEL = “L”) 0 5 10 15 20 25 30 35 40 45 MOB output (when MOBSEL = “H”) 0 5 10 15 20 25 30 35 40 45 50 55 60 65 40 45 50 55 60 65 CLK input 0 5 10 15 20 25 30 35 The horizontal axis indicates the number of steps. This figure shows an example in the CW mode. The pulse advances in synchronization with the rising edge of CLK. The current flows into ch 1 and ch 2 in the positive direction when it flows from OUT1A to OUT1B, and in the negative direction when it flows from OUT1B to OUT1A (the values shown above are ideal values and do not indicate the actual values). 6 Data Sheet S15840EJ2V0DS µPD168110 Output Timing Chart • 2-phase excitation output mode Ch 1 current 100 –100 0 1 2 3 4 5 6 7 8 5 6 7 8 5 6 7 8 5 6 7 8 Ch 2 current 100 –100 0 1 2 3 4 MOB output 0 1 2 3 4 CLK input 0 1 2 3 4 The horizontal axis indicates the number of steps. This figure shows an example in the CW mode. The current flows into ch 1 and ch 2 in the positive direction when it flows from OUT1A to OUT1B, and in the negative direction when it flows from OUT1B to OUT1A. Data Sheet S15840EJ2V0DS 7 µPD168110 Relationship Between Revolution Angle, Phase Current, and Vector Amount (64 microsteps) Step Revolution Phase A – Phase Current Phase B – Phase Current Min. Typ. Max. Min. Typ. Max. Typ. θ0 0 − 0 3.8 − 100 − 100 θ1 5.625 2.5 9.8 17.0 94.5 100 104.5 100.48 θ2 11.250 12.4 19.5 26.5 93.2 98.1 103.0 100 θ3 16.875 22.1 29.0 36.1 90.7 95.7 100.7 100.02 θ4 22.500 31.3 38.3 45.3 87.4 92.4 97.4 100.02 θ5 28.125 40.1 47.1 54.1 83.2 88.2 93.2 99.99 θ6 33.750 48.6 55.6 62.6 78.1 83.1 88.1 99.98 θ7 39.375 58.4 63.4 68.4 72.3 77.3 82.3 99.97 θ8 45 65.7 70.7 75.7 65.7 70.7 75.7 99.98 θ9 50.625 72.3 77.3 82.3 58.4 63.4 68.4 99.97 θ 10 56.250 78.1 83.1 88.1 48.6 55.6 62.6 99.98 θ 11 61.875 83.2 88.2 93.4 40.1 47.1 54.1 99.99 θ 12 67.500 87.4 92.4 97.4 31.3 38.3 45.3 100.02 θ 13 73.125 90.7 95.7 100.7 22.1 29.0 36.1 100.02 θ 14 78.750 93.2 98.1 103.0 12.4 19.5 26.5 100 θ 15 84.375 94.5 100 104.5 2.5 9.8 17.0 100.48 θ 16 90 − 100 − − 0 3.8 100 The above values are ideal values and are not guaranteed values. 8 Vector Amount Angle Data Sheet S15840EJ2V0DS µPD168110 FUNCTION DESCRIPTION 2-phase excitation driving mode By allowing a current of ±100% to flow into output ch1 and ch2 at the same time, a motor can be driven with the larger torque. The two-phase excitation driving mode and microstep driving mode are switched by the MODE pin. In the twophase excitation driving mode, the chopping pulse circuit does not operate. Microstep driving of stepper motor To position a stepper motor with high accuracy, the µPD168110 has a function to hold constant the current flowing through the H bridge by a vector value and to stop one cycle in 64 steps. To realize the microstep driving mode, the driver internally realizes the following functions. • Detecting the current flowing into each channel as a voltage value by a sense resistor • Synthesizing the dummy sine wave of the half-wave generated by the internal D/A and PWM oscillation wave for chopping operation • The driver stage performs PWM driving based on the result of comparing the detected voltage value and synthesized waves. The internal dummy sine wave is of 64 steps per cycle, so that the stepper motor can be driven in 64 steps. The microstep driving mode and two-phase excitation driving mode are switched by an external pin. + M A Concept of microstep driving operation MOB output The MOB output pin outputs “L” if the current of ch1 or ch2 reaches ±100% in the microstep output mode, or if the current of ch 1 reaches +100%. In the two-phase excitation output mode, the MOB pin outputs “L” when the current of ch1 and ch2 reaches +100%. The excitation position of the stepper motor can be checked by monitoring the MOB output. The MOB output also indicates the stop position information in the stop mode to be explained below. The MOB output goes into a Hi-Z state (output H level if pulled up) when OE = “L”. Stop mode If the stop mode is set by the STOP pin, the pulse is automatically output until MOB = “L” when CLK is input. If MOB = “L” in the stop mode, the pulse is not output even when CLK is input, and the output holds the excitation status. To advance the pulse, release the stop mode and restore the normal mode. Data Sheet S15840EJ2V0DS 9 µPD168110 Reset function When RESET = “L”, initialization is executed and the output goes into a Hi-Z state. When RESET = “H”, excitation is started with the current of ch1 at +100% and the current of ch2 at 0% (one-phase excitation position). To perform two-phase excitation driving, excitation is started with the currents of ch1 and ch2 at +100% after the mode has been set. Be sure to execute a reset operation after power application. MOB outputs “L” until the pulse is output when RESET goes “L”. Output enable (OE) pin The pulse output can be forcibly stopped from an external source by using the OE pin. When OE = “L”, the output is forcibly made to go into a Hi-Z state. Standby function The µPD168110 can enter the standby mode when the pulse is not output and when PS = “H” and STOP = “H”. In the standby mode, as many internal circuits as possible are stopped so that the self current consumption can be reduced. In the standby mode, the current consumption is 1 µA MAX. when external CLK input is stopped. While CLK is being input, the current consumption is reduced to 300 µA MAX. by the current flowing into the input buffer. The standby mode is released when PS = “L” and STOP = “L”. Under voltage lockout circuit (UVLO) This function is used to forcibly stop the operation of the IC to prevent malfunction of the circuits if VDD of the IC drops during operation. Note that if the VDD voltage abruptly drops in the order of µs, this function may not operate. VM pin current shutdown circuit A circuit that prevents a current from flowing into the VM pin when VDD = 0 V is provided. Therefore, the current flowing into the VM pin is cut off when VDD = 0 V. A current of up to 3 µA flows into the VM pin when VDD is applied so that the voltages on the VDD and VM pins can be monitored. 10 Data Sheet S15840EJ2V0DS µPD168110 OPERATION DESCRIPTION • Setting output current The peak value of the output current (when current of ch 1 or ch 2 is 100%) is determined by the resistor RFB that is connected to FB1 and FB2. This IC has an internal reference power supply VREF (500 mV TYP.) for comparing current, and drives the stepper motor with the current value calculated by RFB and VREF as the peak output current value. Peak output current value IMAX (A) ≅ VREF (V) ÷ RFB (Ω) x Output detection ratio • Pulse output The motor is driven by inputting a pulse to the CLK pin. The motor advances by one pulse at the rising edge of the CLK signal. When MODE = “H”, the motor is driven in the 64-microstep driving mode, and the driving current of each step is determined based on the internal motor excitation position information and revolution direction. When MODE = “L”, the two-phase excitation mode is selected, and the current direction (100% drive) of ch 1 and ch 2 are switched each time a pulse has been input. • Setting motor revolution direction The revolution direction of the motor is set by CW. In the CW mode (CW = “L”), the current of ch2 is output, 90° degrees in phase behind the current of ch1. In the CCW mode (CW = “H”), the current of ch2 is output, 90° degrees in phase ahead of the current of ch1. CW Pin Operation Mode L CW mode (forward revolution) H CCW mode (reverse revolution) • Setting stop mode (valid only in microstep driving mode) When STOP = “H”, the motor advances to the position of MOB output = “L”, and the output status is held. The excitation status is not changed even when a pulse is input to CLK while MOB = “L” when STOP = “H”. The pulse can be advanced when STOP = “L”. STOP Caution Operation Mode L Normal mode H Stop mode If STOP = “L” before the stop mode is set (until MOB = “L”), the operation is performed in the same manner as in the normal mode. Data Sheet S15840EJ2V0DS 11 µPD168110 • Power save mode (valid only in microstep driving mode) When PS = “H” and STOP = “H”, the motor advances to the position of MOB output = “L” and then the output goes to a Hi-Z state. The internal circuitry is stopped as much as possible and the standby mode is set. The power save mode is released when PS = “L” and STOP = “L”. STOP Operation Mode L Normal mode H Power save mode (only when STOP = “H”) Caution Inputting PS = “H” and STOP = “L” is prohibited. • Setting output enable When OE = “H”, the motor is driven (output excitation status). Be sure to set OE to “H” to drive the motor. STOP Operation Mode L Output Hi-Z H Enable mode • Selecting two-phase excitation/microstep driving mode The MODE pin can be used to select the two-phase excitation or microstep driving mode. When MODE = “H”, the microstep driving mode is selected. When MODE = “L”, the two-phase excitation mode (both ch 1 and ch 2 are driven at +100% or –100%) is selected. The µPD168110 is initialized immediately after a RESET operation, so excitation is started from the position at which the output current of ch 1 is 100% and the output current of ch 2 is 0% in the microstep driving mode, and from the position at which the output currents of both ch 1 and ch 2 are +100% in the two-phase excitation driving mode. If the mode is changed from the microstep to the two-phase, the position of the microstep mode is retained until CLK is input. When the first CLK is input, pulse output is started, the operation skips to the two-phase position of the next quadrant, and driving is started. 2-phase excitation stop position Skips to next quadrant Microstep stop position (example 1) (1) MODE Operation Mode L 2-phase excitation H Microstep driving Microstep stop position (example 2) (3) (2) Concept of switching operation mode from microstep to 2-phase excitation 12 Data Sheet S15840EJ2V0DS µPD168110 • Selecting MOB output (in microstep driving mode only) The output function of MOB can be selected by MOBSEL. When MOBSEL = “L”, MOB is output at the position where the current of ch1 is +100% and the current of ch2 is 0%. When MOBSEL = “H”, MOB is output at the position where the current of ch1 or ch2 is ±100%. MOBSEL MOB Output L Current of ch1 is +100% and current of ch2 is 0% (1 pulse/cycle). H Current of ch1 or ch2 is ±100% (4 pulses/cycle). RESET position Ch 1 current 100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 —9.8 —19.5 —29.0 —38.3 —47.1 —55.6 —63.4 —70.7 —77.3 —83.1 —88.2 —92.4 —98.1 —95.7 —100 —99.5 0 5 10 15 20 25 30 35 40 45 50 55 60 65 40 45 50 55 60 65 50 55 60 65 50 55 60 65 Ch 2 current 100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 —9.8 —19.5 —29.0 —38.3 —47.1 —55.6 —63.4 —70.7 —77.3 —83.1 —88.2 —92.4 —98.1 —95.7 —100 —99.5 0 5 10 15 20 25 30 35 MOB output MOBSEL = “L” 0 5 10 15 20 25 30 35 40 45 MOB output MOBSEL = “H” 0 5 10 15 20 25 30 35 40 Data Sheet S15840EJ2V0DS 45 13 µPD168110 ABSOLUTE MAXIMUM RATINGS (TA = 25°C: GLASS EPOXY BOARD OF 100 mm × 100 mm × 1 mm WITH C OPPER FOIL OF 15%) Parameter Power supply voltage Rating Unit VDD Symbol Control block −0.5 to +6.0 V VM Motor block −0.5 to +6.0 Input voltage VIN Output pin voltage VOUT DC output current ID(DC) Instantaneous output current ID(pulse) Power consumption PT Peak junction temperature TCH(MAX) Storage temperature Tstg Conditions −0.5 to VDD +0.5 V 6.2 V DC ±0.4 A/ch PW < 10 ms, Duty 20% ±0.7 A/ch 0.7 W 150 °C −55 to +150 °C RECOMMENDED OPERATING CONDITIONS (TA = 25°C: GLASS EPOXY BOARD OF 100 mm × 100 mm × 1 mm WITH COPPER FOIL OF 15%) Parameter Power supply voltage Symbol Conditions MIN. TYP. MAX. Unit 3.6 V VDD Control block 2.7 VM Motor block 2.7 5.5 V 0 VDD V Input voltage VIN DC output current ID(DC) DC −0.35 +0.35 A/ch Instantaneous output current ID(pulse) PW < 10 ms, Duty ≤ 20% −0.6 +0.6 A/ch MOB pin output sink current IMOB Open-drain output 5 mA Operating temperature range TA 75 °C 14 −10 Data Sheet S15840EJ2V0DS µPD168110 ELECTRICAL CHARACTERISTICS (UNLESS OTHERWISE SPECIFIED, VDD = VM = 3 V, TA = 25°C) Parameter Symbol Conditions MIN. TYP. MAX. Unit 1.0 µA VDD pin current after reset IDD(STB) External CLK stopped VDD pin current in standby mode IDD(STB2) External CLK stopped 30 µA IDD(STB3) External CLK is input 300 µA 3.0 mA 3.0 µA 1.0 µA VDD pin current during operation VM pin current IDD(ACT) IM(OFF) VM = 5.5 V per VM pin, after reset and in standby mode High-level input current IIH VIN = VDD Low-level input current IIL VIN = 0 V High-level input voltage VIH 2.7 V ≤ VDD ≤ 3.6 V Low-level input voltage VIL 2.7 V ≤ VDD ≤ 3.6 V Input hysteresis voltage Vhys H bridge on-resistance RON Output turn-on time tON Output turn-off time tOFF Internal reference voltage VREF Output detection ratio −1.0 µA 0.7 x VDD V 0.3 x VDD 0.3 IM = 0.35 A, sum of upper and lower stages, FB1 = FB2 = 0 V RM = 20 Ω OE pin ↑ → output SW time IM = 0.1 A, with 5 kΩ sense resistor connected 0.02 V V 2.0 Ω 0.5 µs 0.5 µs 450 500 550 mV 950 1050 1150 0.02 Cautions 1. The undervoltage lockout detection circuit (UVLO) operates at 1.7 V TYP. whereupon the output goes into a Hi-Z state. Internal data such as the excitation position information is reset. The UVLO circuit does not operate after reset. 2. A shutdown circuit that prevents a current from flowing into the VM pin when VDD = 0 V is provided. Data Sheet S15840EJ2V0DS 15 µPD168110 PACKAGE DRAWING 24-PIN PLASTIC TSSOP (5.72 mm (225)) 13 24 detail of lead end F G R P L S 12 1 E A H A' I J S D M N K C M S B NOTE Each lead centerline is located within 0.10 mm of its true position (T.P.) at maximum material condition. ITEM MILLIMETERS A 6.65±0.10 A' 6.5±0.1 B 0.575 C 0.5 (T.P.) D E 0.22±0.05 0.1±0.05 F 1.2 MAX. G 1.0±0.05 H I J K L M 6.4±0.1 4.4±0.1 1.0±0.1 0.17±0.025 0.5 0.10 N 0.08 P 3°+5° −3° R 0.25 S 0.6±0.15 P24MA-50-6A5 16 Data Sheet S15840EJ2V0DS µPD168110 RECOMMENDED SOLDERING CONDITIONS The µPD168110 should be soldered and mounted under the following recommended conditions. For soldering methods and conditions other than those recommended below, contact an NEC Electronics sales representative. For technical information, see the following website. Semiconductor Device Mount Manual (http://www.necel.com/pkg/en/mount/index.html) Recommended Soldering Conditions for Surface Mounting Type µPD168110MA-6A5 24pin TSSOP Soldering Method Soldering Conditions Recommended Condition Symbol Infrared reflow Package peak temperature: 260°C, Time: 60 seconds max. (at 220°C or IR60-00-3 higher), Count: Three times or less, Exposure limit: None, Flux: Rosin flux with low chlorine (0.2 Wt% or below) recommended Caution Do not use different soldering methods together (except for partial heating). Data Sheet S15840EJ2V0DS 17 µPD168110 • The information in this document is current as of June, 2005. The information is subject to change without notice. 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