SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 2-Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Symbol Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current VCC VDSS VS V IN V REF IO P D1 P D2 Tch Tstg Power dissipation Channel temperature Storage temperature (Ta =25°C) Ratings SLA7022MU SLA7029M SMA7022MU SMA7029M 46 100 46 7 2 1 1.5 4.5 (Without Heatsink) 35 (TC=25°C) 1 1.5 4.0 (Without Heatsink) 28(TC=25°C) +150 −40 to +150 Units V V V V V A W W °C °C ■Electrical Characteristics (Ta =25°C) Ratings Parameter Symbol SLA7022MU typ max 10 15 V S=44V 10 24 44 100 VS =44V, IDSS=250 µA 0.85 ID=1A, VS =14V 4 VDSS=100V, VS=44V 1.2 ID=1A 40 VIH=2.4V, VS =44V −0.8 VIL=0.4V, V S=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS =24V, ID=0.8A 0.7 VS =24V, ID=0.8A 0.1 VS =24V, ID=0.8A min Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage DC characteristics FET drain leakage current FET diode forward voltage TTL input current TTL input voltage (Active High) AC characteristics TTL input voltage (Active Low) Switching time IS Condition VS VDSS Condition V DS Condition IDSS Condition V SD Condition IIH Condition IIL Condition VIH Condition VIL Condition VIH Condition VIL Condition Tr Condition T stg Condition Tf Condition min SLA7029M typ max 10 15 V S=44V 24 44 10 100 VS =44V, IDSS=250 µ A 0.6 ID=1A, VS =14V 4 VDSS=100V, VS=44V 1.1 ID=1A 40 VIH=2.4V, VS =44V −0.8 VIL=0.4V, VS=44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=1A 0.7 VS=24V, ID=1A 0.1 VS=24V, ID=1A SMA7022MU typ max 10 15 VS =44V 10 24 44 100 VS=44V, IDSS=250 µA 0.85 ID=1A, VS=14V 4 VDSS=100V, VS =44V 1.2 ID=1A 40 VIH=2.4V, VS=44V −0.8 V IL=0.4V, VS =44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 VS=24V, ID=0.8A 0.7 VS=24V, ID=0.8A 0.1 VS=24V, ID=0.8A min SMA7029M typ max 10 15 V S=44V 10 24 44 100 VS=44V, IDSS=250 µA 0.6 ID=1A, VS =14V 4 VDSS=100V, V S=44V 1.1 ID=1A 40 VIH=2.4V, VS =44V −0.8 V IL=0.4V, VS =44V 2 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.8 ID=1A 0.5 V S=24V, ID=1A 0.7 V S=24V, ID=1A 0.1 V S=24V, ID=1A Units min mA V V V mA V µA mA V V µs SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 5 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Internal Block Diagram 8 INB 5 VS 1 INA 6 10 14 15 1, 6, 10, 15pin Description of pins 4 12 TDB REFB 3 GNDB 2 1pin 6pin 10pin 15pin + – + – GNDA 7 REFA + – TDA RSA + – Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B Reg RSB Reg 13 11 9 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Excitation signal time chart 2-phase excitation VCC (46V max) + clock 0 1 2 3 0 1 IN A IN B H L H H L H L L H L H H 1-2 phase excitation Vb (5V) 8 VS r3 6 10 15 r1 r4 INA 2 11 C1 1 TdA TdB INB C2 r2 Rs r5 GA 4 C4 r6 Rs Open collector 6 14 INA INB 0 H L L L 1 H L L H 2 H L H L 3 H H H L 4 L L H L 5 L L H H 6 L L L L 7 L H L L 0 H L L L 1 H L L H 2 3 H H L H H H L L ● tdA and tdB are signals before the inverter stage. RSA REFA REFB RSB 7 3 13 9 C3 tdA 5 clock IN A td A IN B td B tdB SLA7022MU/SLA7029M/SMA7022MU/SMA7029M GB 12 r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 2.4kΩ 330 to 500pF 330 to 500pF 2200pF 2200pF 1.8Ω typ(7022MU) (1 to 2W) 1Ω typ(7029M) 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■External Dimensions SLA7022MU/SLA7029M +1 9.7 –0.5 +0.2 +0.2 0.65 –0.1 +0.2 1.15 –0.1 +0.2 1.15 –0.1 0.55 –0.1 4±0.7 14×P2.03±0.7=28.42±1.0 14×P2.03±0.4=28.42±0.8 1.6±0.6 +0.2 0.65 –0.1 (3) R-End 3±0.6 2.45±0.2 2.2±0.4 6.3±0.6 7.5±0.6 +0.2 Part No. Lot No. 4.6±0.6 Epoxy resin package 4.8±0.2 1.7±0.1 6.7±0.5 9.9 ±0.2 16 ±0.2 13 ±0.2 φ 3.2±0.15×3.8 0.55 –0.1 31±0.2 24.4±0.2 16.4±0.2 φ 3.2±0.15 (Unit: mm) 31.3±0.2 1 2 3 · · · · · · · 15 12 3 · · · · · · · 15 Forming No. No.853 Forming No. No.855 ■External Dimensions SMA7022MU/SMA7029MA (Unit: mm) Epoxy resin package 4±0.2 4±0.7 P2.03±0.1×14=28.42 1.2±0.1 (5.9) (7.5) (4.6) +0.2 0.55 –0.1 3 ±0.6 +0.2 0.65 –0.1 1.16 +0.2 –0.1 +0.2 0.55 –0.1 0.62±0.1 1.16±0.15 (3) 6.7 ±0.5 1.45±0.15 (9.7) Lot No. Part No. 1.6 ±0.6 2.5±0.2 30° 8.5max 10.2±0.2 31±0.2 P2.03±0.1×14=28.42 31.3 +0.2 12 3 · · · · · · · 15 1 2 3 · · · · · · · 15 Forming No. No.1054 Forming No. No.1055 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 7 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Application Notes ■Determining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil curIO rent). The method of determining the peak value of the output current (IO) based on this waveform is shown below. (Parameters for determining the output current IO) Phase A 0 Vb: Reference supply voltage r1,r 2: Voltage-divider resistors for the reference supply voltage Phase A RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation. (See Fig.2.) V b ................................................................ r2 (1) IO ≅ • r1+r2 RS Fig. 2 Normal mode Vb(5V) r6 (2) Power down mode r1 The circuit in Fig.3 (rx and Tr) is added in order to decrease the r5 3,(13) coil current. IO is then determined as follows. 1 IOPD ≅ r1(r2+rX) 1+ • r2 V b ......................................................... (2) RS C3 7,(9) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 1 Vb −1 − r1 Rs • IOPD r2 Fig. 3 Power down mode Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respec- r6 tively. r1 r5 rx Power down signal 3,(13) r2 7,(9) C3 Tr RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 2.0 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 0 1 2 3 4 Current sense resistor RS (Ω) (NOTE) Ringing noise is produced in the current sense resistor RS when the MOSFET is switched ON and OFF by chopping. This noise is also generated in feedback signals from RS which may therefore cause the comparator to malfunction. To prevent chopping malfunctions, r 5(r6) and C3(C4) are added to act as a noise filter. 8 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Output current IOPD (A) Output current IO (A) 4 RS =0.5Ω 1.5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.8Ω 1.0 RS =1Ω 0.5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) However, when the values of these constants are increased, the response from RS to the comparator becomes slow. Hence the value of the output current IO is somewhat higher than the calculated value. 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) ■Determining the chopper frequency SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF The SLA7000M and SMA7000M series are self-excited choppers. The chopping OFF time T OFF is fixed by r 3/C1 and r4/C 2 60 connected to terminal Td. 50 ommended. 20 30 VC 20 ■Chopper frequency vs. Supply voltage =2 VCC 0 0 2 25 V =36 30 35 40 40 40 Motor : 23LM-C202 IO = 0.8A at VCC=24V RS=1Ω 20 f (kHz) 50 30 r3 = r4 = 47kΩ 500pF C1 C2 TOFF =12µs RS =1Ω Lm =1~3ms Rm 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) ■Chopper frequency vs. Output current 50 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 10 0 C 4V 10 T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V f (kHz) 40 Chopping frequency f (kHz) The circuit constants and the T OFF value shown below are rec- ON time TON (µ s) T OFF can be calculated using the following formula: 2 2 TOFF≅−r3 • C1rn (1− =−r4 • C2rn (1− ) Vb Vb 15 0 10 20 30 VCC (V) 40 50 0 0 0.2 0.4 0.6 0.8 1.0 IO (A) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 9 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for calculating heat dissipation is shown below. 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) 1-2 phase excitation: Pdiss ≅ 3 P H+0.015×VS (W) 2 (3) Obtain the temperature rise that corresponds to the calcu- (1)Obtain the value of P H that corresponds to the motor coil current IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." lated value of Pdiss from Fig. 8 "Temperature rise." Fig. 7 Heat dissipation per phase PH vs. Output current IO SLA7022MU, ASMA7022MU SLA7029M, SMA7029M 1.2 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.2 1 4V 0.8 VC C =4 V 36 0.6 Motor : 23LM-C202 Holding mode V 24 5V 1 0.4 0.2 0 0 0.2 0.4 0.6 0.8 1.0 0.8 36 0.6 VCC V V =44 Motor : 23LM-C004 V Holding mode 15 24V 0.4 0.2 0 1.0 0 0.2 Output current IO (A) 0.4 0.6 0.8 Output current IO (A) 1.0 Fig. 8 Temperature rise SMA7000M series SLA7000M series 150 150 j ∆T ∆Tj–a ∆TC–a (°C) Natural cooling Without heatsink 50 0 j 100 C ∆T ∆Tj–a (°C) ∆TC–a ∆T 100 C ∆T Natural cooling Without heatsink 50 0 1 2 3 Total Power (W) 4 0 5 0 1 2 3 Total Power (W) 4 Thermal characteristics SLA7022MU 30 Without heatsink Natural cooling 30 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 35 SLA7029M Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 1K SMA7022MU Without heatsink Natural cooling 30 25 TC ( 4 pin) 20 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 500 1K SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 Response frequency (pps) 10 1K SMA7029MU 35 0 200 500 Response frequency (pps) Response frequency (pps) Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 2-phase excitation 10 5 0 200 500 Response frequency (pps) 1K 2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Supply Voltage VCC vs. Supply Current ICC SLA7029M, SMA7029M 500 400 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Supply current ICC (mA) Supply current ICC (mA) SLA7022MU, SMA7022MU 500 0.4A 0.2A 0 10 20 30 40 200 IO=1A 100 0 50 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 0.5A 0.2A 0 Supply voltage VCC (V) 10 20 30 40 50 Supply voltage VCC (V) ■Torque Characteristics SLA7022MU, SMA7022MU 2.0 1.5 Motor : PX244-02 Output current IO =0.6A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 0 100 500 1K Response frequency (pps) 5K Pull-out torque (kg-cm) Pull-out torque (kg-cm) 2.0 SLA7029M, SMA7029M 1.5 Motor : 23LM-C202 Output current IO =0.8A Motor supply voltage VCC =24V 2-phase excitation 1.0 0.5 0 100 500 1K 5K Response frequency (pps) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 11