2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
■General Description
February, 2006
■Package—SLA23Pin
Combining low-power CMOS logic with high-current, high-voltage
power FET outputs, the Series SLA707xM translator/drivers provide
complete control and drive for a two-phase unipolar stepper motor
with internal fixed off time and pulse-width modulation (PWM)
control of the output current in a power multi-chip module
(PMCM™).
There are no phase-sequence tables, high-frequency control lines, or
complex interfaces to program. The CMOS logic section provides the
sequencing logic, direction, control, synchronous/asynchronous PWM
operation, and a "sleep" function. The minimum CLOCK input is an
ideal fit for applications where a complex µP is unavailable or
overburdened. TTL or LSTTL may require the use of appropriate
pull-up resistors to ensure a proper input-logic high. For PWM current
control, the maximum output current is determined by the user's
selection of a reference voltage and sensing resistor. The NMOS
outputs are capable of sinking up to 1, 1.5, 2, or 3 A (depending on
device) and withstanding 46 V in the off state.
Clamp diodes provide protection against inductive transients. Special
power-up sequencing is not required.
Full-,and Half-step operation are externally selectable for the
SLA7070/71/72/73MR. Full-, Half-, quarter-, and eighth-, and
sixteenth-step operation are externally selectable for the
SLA7075/76/77/78MR.
Half-step excitation alternates between the one-phase and two-phase
modes (A-AB-B-AB-A-AB-BAB),providing an eight-step sequence.
■Applications
● PPC
● Printer
● OA Equipment
■Key Specifications
● Motor Supply Voltage (VM): 44V max
● Load Supply Voltage (Vs): 10V to 44V
■Features
● Logic Supply Voltage (Vcc): 3V to 5.5V
● To 3 A Output Rating
● Internal Sequencer for Microstepping Operation
● PWM Constant-Current Motor Drive
● Cost-Effective, Multi-Chip Solution
● 100 V, Avalanche-Rated NMOS Outputs
● Low RDS(on) NMOS Outputs (150 milliohms typical)
● Advanced, Improved Body Diodes
● Inputs Compatible with 3.3 V or 5 V Control Signals
● Sleep Mode
● Internal Clamp Diodes
● Output Current (Io): 1A(SLA7070MxRxx, SLA7075MxRxx)
1.5A(SLA7071MxRxx, SLA7076MxRxx)
2A(SLA7072MxRxx, SLA7077MxRxx)
3A(SLA7073MxRxx, SLA7078MxRxx)
The x represents P, W, or R according to the functions (See App Note).
● Output Maximum Voltage (VDSS): 100V min
Typical Connection
Vs=10V～ 44V
＋
CA
Vcc=3.0V～ 5.5V
Sleep
r1
Q1
OutA
VBB
Reset
Clock
CW/CCW
M1
SLA707xMR
M2
M3
Sync
Mo
N.C.
Ref/Sleep1
SenseA
Gnd
＋
Microcomputer
CB
C1
OutA
VDD
マイコン
等
r2
r3
OutB
OutB
SenseB
C2
1点Gnd
Single Point
Ground
ﾛｼﾞｯｸGround
Gnd
Logic
Power
Ground
ﾊﾟﾜｰ Gnd
.
Sanken Electric Co.,Ltd.
http://www.sanken-ele.co.jp/en/
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I03-004EA-060227
2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Scope
The present specifications shall apply to a micro-stepping capable 2-phase unipolar stepper motor
driver IC, SLA7077MR and shall apply to the devices compliant with RoHS Directive.
Lead part solder: Pb free. Inner solder: Containing Pb > 85%.
* Please refer to the electric characteristics in the application note for other devices of the series.
Outline
Type
Hybrid integrated circuit
Structure
Applications
Plastic molded (transfer mold)
To drive a 2-phase stepper motor.
(Micro-Stepping Capable. PWM Constant-Current Control.)
Absolute maximum ratings
Parameter
Symbol
Ratings
Unit
Remarks
Load Supply Voltage
VM
46
V
Main Power Supply Voltage
VBB
46
V
Logic Supply Voltage
VDD
7
V
Output Current
IO
2.0*
A
Logic Input Voltage
VIN
-0.3 to VDD+0.3
V
REF Input Voltage
VREF
-0.3 to VDD+0.3
V
Sense Voltage
VRS
±2
V
Except for tw<1µs
Power Dissipation
PD
4.7
W
At Ta=25°C
17
W
At Tc=25°C
Junction Temperature
Tj
150
°C
Operating Temperature Range
Ta
-20 to 85
°C
Vref=0.4V, Mode F
Storage Temperature Range
Tstg
-30 to 150
°C
*Output current rating may be limited by duty cycle, ambient temperature, and heat sinking.
Under any conditions, do not exceed the specified junction temperature(Tj).
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Electrical characteristics
Recommendable Operating Range
Parameter
Symbol
Load Supply Voltage
Main Power Supply Voltage Range
VM
VBB
Ratings
MAX
44
10
44
Logic Supply Voltage Range
VDD
3.0
5.5
V
REF Input Voltage Range
VREF
0.04
0.4
V
Case Temperature
TC
90
°C
MIN
Unit
Remarks
V
V
Please adjust the Vcc surge
voltage to 0.5V or less.
The control current accuracy
decreases in 0.1V or less.
12Pin temperature
（With no Fin）
Electrical Characteristic
(Ta=25°C,VBB=24V,VDD=5V Unless Otherwise Noted.)
Limits
Parameter
Symbol
Unit
Min.
Typ.
Max.
IBB
15
mA
Main Power Supply Current
100
µA
IBBS
Logic Supply Current
IDD
5
mA
Drain-Source Breakdown
V(BR)DS
Output On Resistance
RDS(on)
100
0.25
0.4
Test Condition
Regularity
at SLEEP operation
V
VBB=44V
ID=1mA
Ω
Io=2A
Body Diode Forward Voltage
Maximum Clock Frequency
Io=2A
VF
0.95
1.2
V
fclk
250*
kHz duty=50%
VLIL
0.25 VDD
V
Logic Input Voltage
VLIH 0.75VDD
V
ILIL
±1
µA
Logic Input Current
±1
µA
ILIH
Stationary current control
VREF
0
0.45
V
REF Input Voltage Range
at SLEEP operation
2.0
VDD
V
VREFS
*Operation at a step frequency greater than the specified minimum value is possible but not warranted.
Note.
Negative current is defined as the outflowing current from the specified pin.
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
REF Input Current
IREF
±10
µA VREF=0 to VDD
VLOL
1.25
V
ILOL =1.25mA
Logic Output Voltage
VDD-1.25
V
ILOH =-1.25mA
VLOH
ILOL
1.25
mA
Logic Output Current
-1.25
mA
ILOH
Operation at a step frequency greater than the specified minimum value is possible but not warranted.
Note.
Negative current is defined as the outflowing current from the specified pin.
Electrical Characteristic(continued) (Ta=25°C,VBB =24V,VDD =5V Unless Otherwise Noted.)
Limits
Characteristic
Symbol
Unit
Test Condition
Min.
Typ.
Max.
VREF=0.3V
Sense Voltage
VSENSE
0.3
V
Mode F
Current detection Resistance
Step Reference Current Ratio
Wake-Up time
Switching Time
PWM Minimum On Time
PWM OFF Time
Rs
Mode F
Mode E
Mode D
Mode C
Mode B
Mode A
Mode 9
Mode 8
Mode 7
Mode 6
Mode 5
Mode 4
Mode 3
Mode 2
Mode 1
tSE
tpdon
tpdoff
tON(min)
tOFF1
tOFF2
tOFF3
0.199
0.205
100
98.1
95.7
92.4
88.2
83.1
77.3
70.7
63.4
55.5
47.1
38.2
29.0
19.5
9.8
100
2.0
1.5
1.7
12
9
7
0.211
Ω
%
%
%
%
%
%
%
%
%
%
%
%
%
%
%
µs
µs
µs
µs
µs
µs
µs
VREF=0.04V to
0.4V
Sleep1 & Sleep2
Clock→Out ON
Clock→Out OFF
Mode 8 to F
Mode 4 to 7
Mode 1 to 3
Note.
・Negative current is defined as coming out of the specified pin.
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Thermal Design Data
150
125
ΔT
[°C]
上昇温度
ΔT [℃]
ΔTj-a= 26.6×P D
100
75
ΔTc-a= 21.3×P D
50
25
0
0
0.5
1
1.5
2
2.5
3
3.5
4
4.5
5
パッケージ許容損失
P D [W]
Allowable
Package Power
Dissipation PD [W]
Truth Table
・Input Pin
Name
Low Level
High Level
Clock
Reset
Run
Logic Reset
CW/CCW
Forward (CW)
Reverse(CCW)
M1
M2
Micro-Stepping Operation Mode Setting
M3
Ref
Sleep Mode 1*
Sync
Asynchronous PWM Operation
Synchronous PWM Operation
* With a setup of a sleep mode 1, the operation is "Output Disable" and "Sequencer Enable"
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Micro-Stepping Operation Mode Setting
Operation Mode
M1
M2
M3
Remarks
2 Phase(1 Step)
L
L
L
Mode 8 only
2Phase(1 Step)
H
L
L
Mode F only
1-2 Phase(1/2 Step)
L
H
L
Mode 8, F
1-2 Phase(1/2 Step)
H
H
L
Mode F
W1-2 Phase(1/4 Step)
L
L
H
Mode 4,8,C,F
W1-2 Phase(1/8 Step)
H
L
H
Mode 2,4,6,8,A,C,E,F
4W1-2 Phase(1/16 Step)
L
H
H
Mode 1 to F
Sleep Mode 2*
H
H
H
* With a setup of a sleep mode 2, the operation is "Output Disable" and "Sequencer Hold".
Sleep mode 2 operates without depending on the Clock.
Output Pin
Pin Name
Mo
High Level
Half-Step Position (Mode 8)
Low Level
-
Logic Input Timing Requirements
Reset
2μs(min)
5μs(min)
4μs(min)
2μs(min)
Clock
CW/CCW
M1
M2
M3
2μs(min)
1μs(min)
1μs(min)
1μs(min)
1μs(min)
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Step Sequencing Chart
2Phase
Mode: 8 M1: L,
M2: L,
M3: L
RESET
…
CLOCK
0
2
1
B
CW
A
A
0
70.7
Mode: F M1: H,
0
70.7
CCW
M2: L,
M3: L
RESET
…
CLOCK
0
1
2
B
CW
A
0
CCW
0
10
0
A
B
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
1-2Phase
Mode: 8 <=> F
M1: L,
M2: H,
February, 2006
M3: L
RESET
…
CLOCK
0
1
2
3
4
3
4
B
CW
A
A
0
70.7
70.7
0
CCW
0
10
B
Mode: F
M1:H,
M2: H,
M3: L
RESET
…
CLOCK
0
1
2
B
CW
A
0
CCW
0
10
0
A
B
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
0
4
B
B
5
6
7
8
CCW
9
A
10
11
12
13
14
15
16
…
February, 2006
3
19.5
2
38.2
70.7
CW
83.1
92.4
0
1
W1-2Phase
55.5
92.4
98.1
0
10
83.1
70.7
55.5
38.2
19.5
A
CLOCK
RESET
0
98.1
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
0
4
B
B
5
6
7
8
CCW
9
A
10
11
12
13
14
15
16
…
February, 2006
3
19.5
2
38.2
CW
83.1
92.4
0
70.7
92.4
98.1
0
10
83.1
70.7
55.5
38.2
19.5
A
CLOCK
RESET
0
98.1
2W1-2Phase
1
55.5
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I03-004EA-060227
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11/20
98.1
92.4
A
CLOCK
0
0
10
95.7
83.1
88.2
77.3
70.7
63.4
55.5
47.1
38.2
29.0
19.5
9.8
CW
1
2
3
55.5
70.7
0
4
47.1
88.2
83.1
RESET
95.7
98.1
5
6
7
8
B
B
9
10
11
12
13
14
16
CCW
15
17
18
A
19
20
21
22
23
24
25
26
27
28
29
30
31
32
…
SLA707xM Series
92.4
0
4W1-2Phase
2-Phase Unipolar Stepper Motor Driver
February, 2006
Sanken Electric Co.,Ltd.
I03-004EA-060227
9.8
19.5
29.0
38.2
63.4
77.3
2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Block diagram (Connection diagram)
Internal functional block diagram
MIC
PreDriver
Sequencer
&
Sleep Circuit
DAC
+Comp
-
5
Rs
20 21 22 23
Reg.
PreDriver
SenseA
OutB
11
OutB
9 16 10 15
OutB
8
OutB
7
VBB
Clock
Reset
M3
6
CW/CCW
18
M1
13
M2
14
Mo
OutA
4
N.C.
OutA
3
Ref
OutA
2
VDD
OutA
1
DAC
Synchro
Control
PWM
Control
OSC
+
-
Comp
PWM
Control
OSC
17
Sync
19 SenseB
Rs
12
Gnd
Pin Assignment (Terminal Functions)
Pin No.
Symbol
Function
1, 2
Out A
Phase A Output
3, 4
Out A/
Phase A/ Output
5
Sense A
Phase A Current Sense
6
Mo
Position Monitoring Output
7
M1
Micro-Stepping Operation Mode and
8
M2
Sleep Mode 2 Setting Input
9
M3
10
Clock
Step Clock Input
11
VBB
Main Power Supply (For Motor)
12
Gnd
GND
Control Current and Sleep Mode 1
13
Ref
Setting Input.
14
VDD
Logic Supply
15
Reset
Reset Input for Logic Circuit
16
CW/CCW
Forward / Reverse Switch Input
17
Sync
PWM Chopping Function Select Input
18
N.C.
Non Connection
19
Sense B
Phase B Current Sense
20, 21
Out B/
Phase B/ Output
22, 23
Out B
Phase B Output
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Example application circuit
Vs=10V～ 44V
＋
CA
Vcc=3.0V～ 5.5V
Sleep
r1
Q1
OutA
VBB
Reset
Clock
CW/CCW
M1
SLA7077MR
M2
M3
Sync
Mo
N.C.
Ref/Sleep1
SenseA
Gnd
＋
Microcomputer
CB
C1
OutA
VDD
マイコン
等
r2
r3
OutB
OutB
SenseB
C2
1点Gnd
Logic
Ground
ﾛｼﾞｯｸ Gnd
Single Point
Ground
Power
Ground
ﾊﾟﾜｰ Gnd
Reference constant
R1 = 10kΩ
R2 = 5.1kΩ (VR)
R3 = 10kΩ
CA = 100µF/50V
CB = 10µF/10V
C1 = 0.1µF
• Take precautions to avoid noise on the VDD line:
Switching noise from PCB traces, where high current flows, to the VDD line should be minimized
because the noise level more than 0.5V on the VDD line may cause malfunctioning operation.
The tip for avoiding such problem is to separate the logic GND (S-GND) and the power GND (P-GND) on
the PCB, and then connect them together at IC GND pin (pin 12).
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Package information
Package type, physical dimensions and Material
Gate Flash
(Fin)
JAPAN
a
b
d
(Base measurement)
c
(Tip measurement)
(Tip measurement)
a. Part Number (1)
b. Part Number (2)
(Includes Mold Flash)
c. Part Number (3)
SLA707xMR*
W B
(Marked per functions.)*
P
(Marked per functions.)*
d. Lot Number
1st letter
2nd letter
The last digit of year
Month
1 to 9 :
Dimensions in millimeters
Material of terminal : Cu
Treatment of terminal : Ni planting + solder dip (Pb Free)
Appearance
The body shall be clean and shall not bear any stain, rust or flaw.
Marking
The part number and lot number shall be clearly marked in white.
3rd &4th letter
Arabic Numerals
for Jan. to Sep.
October : O
November : N
December : D
Day
01 to 31 : Arabic Numerals
* The letter x in Part Number (1) represents
one number from 0 to 3 and 5 to 8 according to
the combination of the current rating and
sequencer.
The letter P, R, W, B represent the functions
built-in. (No marking for non built-in
functions.)
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Packing specifications
１
31
580
• Rubber stoppers are provided
on both ends of a stick.
• 18 pcs in X direction
(Maximum: 18 pcs per stick)
8
X
130
610
• 20 sticks in Y direction
3 sticks in Z direction
185
• 18pcs×20×3
=1080 pcs(Max.)
Z
Y
Dimensions in millimeters
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Cautions and warnings
The calculation of control current
SLA707xMR control current Io (at Mode F) is calculated as follows:
IO =
V REF
RS
Setting the REF voltage more than 2V activates the sleep mode 1 (all outputs are in OFF state).
Even in this case, the internal logic circuit is alive.
Logic input/output (RESET, CLOCK, CW/CCW, M1, M2, M3, SYNC, Mo)
• The timing shown below shall comply with the "Logic input timing".
-The rising edge timing of CW/CCW, M1, M2, M3 and CLOCK input
-The RESET release timing (=the falling edge on RESET input) and the rising edge timing of CLOCK
input
*In case the above does not comply with the "Logic input timing", the device may operate with an
unexpected sequence.
• Be sure not to leave the logic inputs (RESET, CLOCK, CW/CCW, M1, M2, M3, SYNC) open.
Be sure to connect the unused logic inputs to VDD or GND.
*In case any of the logic inputs are left "OPEN", malfunction may occur due to external noises.
• When the logic output (Mo) is not used, be sure to keep it "OPEN".
*In case it is connected to VDD or GND, it may cause the device's deterioration or/and breakdown.
Mounting on a heat sink
1) Recommended Mounting Torque (on an External Heat sink)
0.490 to 0.822N•m
2) Recommended Silicone
G746
YG6260
SC102
{SHIN-ETSU CHEMICAL}
{TOSHIBA SILICONE}
{DOW CORNING TORAY SILICONE}
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Notice
This device has C-MOS inputs. Please note the following contents.
• When a static electricity is liable to be troublesome, especially in winter, be sure to control the
room humidity properly.
• Be sure to take some proper measures for wirings from the IC input pins and for assembly
processes in order not to apply static charges to IC leads. PC board pins should be shorted together
to keep them in the same potential to avoid this kind of trouble.
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
<Worldwide Contacts>
Asia Pacific
China
Sanken Electric Hong Kong Co., Ltd.
Suite 1026 Ocean Centre, Canton Road, Tsimshatsui, Kowloon, Hong Kong
Tel: 852-2735-5262
Fax: 852-2735-5494
Sanken Electric (Shanghai) Co., Ltd.
Room3202, Maxdo Centre, Xingyi Road 8, Changning district, Shanghai, China
Tel: 86-21-5208-1177
Fax: 86-21-5208-1757
Taiwan Sanken Electric Co., Ltd.
Room 1801, 18th Floor, 88 Jung Shiau East Road, Sec. 2, Taipei 100, Taiwan R.O.C.
Tel: 886-2-2356-8161
Fax: 886-2-2356-8261
India
Saket Devices Pvt. Ltd.
Office No.13, First Floor, Bandal - Dhankude Plaza, Near PMT Depot, Paud Road, Kothrud, Pune - 411 038, India
Tel: 91-20-5621-2340
91-20-2528-5449
Fax: 91-20-2528-5459
Japan
Sanken Electric Co., Ltd. Overseas Sales Headquaters
Metropolitan Plaza Bldg. 1-11-1 Nishi-Ikebukuro, Toshima-ku, Tokyo 171-0021, Japan
Tel: 81-3-3986-6164
Fax: 81-3-3986-8637
Korea
Sanken Electric Korea Co., Ltd.
Mirae Asset Life Bldg. 6F, 168 Kongduk-dong, Mapo-ku, Seoul, 121-705, Korea
Tel: 82-2-714-3700
Fax: 82-2-3272-2145
Singapore
Sanken Electric Singapore Pte. Ltd.
150 Beach Road, #14-03 The Gateway West, Singapore 189720
Tel: 65-6291-4755
Fax: 65-6297-1744
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
Europe
United Kingdom
Sanken Power Systems (UK) Limited
Pencoed Technology Park, Pencoed, Bridgend CF35 5HY. UK
Tel: 44-1656-869-100
Fax: 44-1656-869-162
North America
United States
Allegro MicroSystems, Inc.
115 Northeast Cutoff, Worcester, Massachusetts 01606, U.S.A.
Tel: 1-508-853-5000
Fax: 1-508-853-3353
Allegro MicroSystems, Inc. (Southern California)
14 Hughes Street, Suite B105, Irvine, CA 92618
Tel: 1-949-460-2003
Fax: 1-949-460-7837
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2-Phase Unipolar Stepper Motor Driver
SLA707xM Series
February, 2006
CAUTION / WARNING
●The information in this publication has been carefully checked and is believed to be accurate; however, no
responsibility is assumed for inaccuracies.
● Sanken reserves the right to make changes without further notice to any products herein in the interest of
improvements in the performance, reliability, or manufacturability of its products.
Before placing an order, Sanken advises its customers to obtain the latest version of the relevant information to verify
that the information being relied upon is current.
● Application and operation examples described in this catalog are quoted for the sole purpose of reference for the use
of the products herein and Sanken can assume no responsibility for any infringement of industrial property rights,
intellectual property rights or any other rights of Sanken or any third party which may result from its use.
● When using the products herein, the applicability and suitability of such products for the intended purpose or object
shall be reviewed at the users’ responsibility.
● Although Sanken undertakes to enhance the quality and reliability of its products, the occurrence of failure nd defect
of semiconductor products at a certain rate is inevitable. Users of Sanken products are requested to take, at their own
risk, preventative measures including safety design of the equipment or systems against any possible injury, death,
fires or damages to the society due to device failure or malfunction.
● Sanken products listed in this catalog are designed and intended for the use as components in general purpose
electronic equipment or apparatus (home appliances, office equipment, telecommunication equipment, measuring
equipment, etc.). Before placing an order, the user’s written consent to the specifications is requested.
When considering the use of Sanken products in the applications where higher reliability is required (transportation
equipment and its control systems, traffic signal control systems or equipment, fire/crime alarm systems, various
safety devices, etc.), please contact your nearest Sanken sales representative to discuss and obtain written confirmation
of your specifications. The use of Sanken products without the written consent of Sanken in the applications where
extremely high reliability is required (aerospace equipment, nuclear power control systems, life support systems, etc.)
is strictly prohibited.
● Anti radioactive ray design is not considered for the products listed herein.
● This publication shall not be reproduced in whole or in part without prior written approval from Sanken.
●This is notification that you, as purchaser of the products/technology, are not allowed to perform any of the following:
1. Resell or retransfer these products/technology to any party intending to disturb international peace and security.
2. Use these products/technology yourself for activities disturbing international peace and security.
3. Allow any other party to use these products/technology for activities disturbing international peace and security.
Also, as purchaser of these products/technology, you agree to follow the procedures for the export or transfer of these
products/technology, under the Foreign Exchange and Foreign Trade Law, when you export or transfer the
products/technology abroad.
Sanken Electric Co.,Ltd.
I03-004EA-060227
20/20