M Dr ot ive or rs Data Sheet 28210.05B SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver IC Family The SLA7075M, SLA7076M, SLA7077M, and SLA7078M motor driver ICs feature 2-phase stepper unipolar drivers. The clock-in type input interface allows simplified control logic, and options for built-in sense current detection and load circuit short or open protection (patent pending) provide lower loss, and lower thermal resistance. All products in the SLA7070M series are pincompatibile, supporting rapid design of application variants. The built-in excitation distribution circuit (sequencer) allows motor control using only the CLOCK signal for simple operations (rotate/stop), with motor speed control by frequency input into CLOCK pin. This eliminates logic signal lines required for conventional phase-input methods, and reduces demand on heavily-used CPUs. Contact Allegro® for application information and additional information on device performance and logic. ABSOLUTE MAXIMUM RATINGS AT TA = 25°C Load (Motor) Supply Voltage, VM ......... 46 V Main Power Supply Voltage, VBB .......... 46 V Logic Supply Voltage, VDD ...........................7 V Output Current, IOUT SLA7075M .................................1.0 A SLA7076M .................................1.5 A SLA7077M .................................2.0 A SLA7078M .................................3.0 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, VSInt tw < 1 μs is not considered.......... ±2 V Power Dissipation, PD Without heat sink ...................... 4.7 W Junction Temperature, TJ....................... 150°C Ambient Temperature, TA....... –20 to 85°C Storage Temperature, Tstg ... –30 to 150°C FEATURES AND BENEFITS Features Power supply voltages, VBB : 46 V(max.), 10 to 44 V normal operating range Logic supply voltages, VDD: 3.0 to 5.5 V Maximum output currents: 1 A, 1.5 A, 2 A, 3 A Built-in sequencer Simplified clock-in stepping control Microstepping at full-, half-, quarter-, eighth-, and sixteenth-steps Built-in sense resistor, RSInt All variants are pin-compatible for enhanced design flexibility ZIP type 23-pin molded package (SLA package) Self-excitation PWM current control with fixed off-time; off-time adjusted automatically by step reference current ratio (3 levels) Built-in synchronous rectifying circuit reduces losses at PWM off Synchronous PWM chopping function prevents motor noise in Hold mode Sleep mode for reducing the IC input current in stand-by state Built-in protection circuitry against motor coil opens/shorts option available Sanken Power Devices from Allegro MicroSystems M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs PART NUMBERS AND OPTIONS The following are the product variants and optional features available for these variants of the SLA7070M series. NOTE The following abbreviations are used throughout this document to refer to product variants: PR – Product with both Protection Circuitry and built-in RSInt options R – Product with the built-in RSInt option Not all combinations of standard models and product options are available in high-volume production quantities. For information on product availability, and assistance with determining the IC features that are the best fit for your application, please contact our sales office or representative. Part Number 2 Protection SLA7075MR RSInt SLA7075MPR Protection Circuitry and RSInt SLA7076MR RSInt SLA7076MPR Protection Circuitry and RSInt SLA7077MR RSInt SLA7077MPR Protection Circuitry and RSInt SLA7078MR RSInt SLA7078MPR Protection Circuitry and RSInt Output Current, IOUT (A) Sequencer Blanking Time (μs) Clock Edge Microstep 1.7 Positive 1 1.5 2 3 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 Copyright © 2005 Allegro MicroSystems, Inc. M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs FUNCTIONAL BLOCK DIAGRAM AND PIN ASSIGNMENTS 11 PreDriver PreDriver Sequencer & Sleep Circuit Protect Protect DAC + Comp - 5 20 21 22 23 Reg. MIC SenseA OutB 9 16 10 15 OutB 8 OutB 7 OutB 6 VBB Clock Reset M3 F/R 18 M2 13 M1 14 Mo OutA 4 Flag OutA 3 Ref/Sleep1 OutA 2 VDD OutA 1 DAC Synchro Control PWM Control + Comp - PWM Control OSC RSInt OSC 17 Sync 19 SenseB RSInt 12 Gnd For R products, protection circuits not built-in. FLAG pin is not connected internally. Pin No. 1 2 3 4 Symbol OutA OutA 5 SenseA 6 Mo 7 M1 Functions Output of phase A Output of phase A ¯ Pin No. Symbol Functions 13 Ref / Sleep1 Input for control current and Sleep1 setting 14 VDD Power supply to logic 15 Reset Reset for internal logic 16 F/R Forward / reverse switch input Phase A current sensing 17 Sync Synchronous PWM control switch input Output from monitor of 2-phase excitation status 18 Flag* Output from protection circuits monitor 19 SenseB 8 M2 9 M3 Commutation and Sleep2 setting 10 Clock Step clock input 11 VBB Main power supply (for motor) 12 GND Ground 20 21 Phase B current sensing OutB Output of phase B ¯ OutB Output of phase B 22 23 *Flag pin active on PR products only; not internally connected for R products. www.allegromicro.com 3 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs ELECTRICAL CHARACTERISTICS, valid at TA = 25°C, VBB = 24 V, VDD = 5 V, applicable to both PR and R products, unless otherwise specified Characteristics Main Power Supply Current Logic Power Current MOSFET Breakdown Voltage Maximum Response Frequency Logic Supply Voltage Logic Supply Current REF Input Voltage REF Input Current SENSE Voltage Sleep-Enable Recovery Time Switching Time 4 Symbol Test Conditions Min. Typ. Max. Units mA IBB Normal mode – – 15 IBBS Sleep1 and Sleep2 modes – – 100 μA – – 5 mA IDD VDSS fclk VBB = 44 V, IDS = 1 mA Clock Duty Cycle = 50% – – – V 250 – – kHz VIL – – 0.25 × VDD V VIH 0.75 × VDD – – V IIL – ±1 – μA IIH – ±1 – μA – – – V 2.0 – VDD V – ±10 – μA VREF – 0.03 VREF VREF + 0.03 V VREF See pages 6 and 7 VREFS Output OFF, Sleep1 mode, IBBS in specification, sequencer = enable IREF VSInt VREF = 0.1 V to 0.5 V, Step reference current ratio: 100% tSE VREF = 2.0 V → 1.5 V 100 – – μs tcon Clock → Output ON – 2.0 – μs tcoff Clock → Output OFF – 1.5 – μs 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs STEPPING CHARACTERISTICS, applicable to both PR and R products; representative values from SLA7070M series shown Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Step Reference Current Ratio Mo (Load) Output Voltage Mo (Load) Output Current Symbol Test Conditions Min. Typ. Max. Units Mode F – 100 – % Mode E – 98.1 – % Mode D – 95.7 – % Mode C – 92.4 – % Mode B – 88.2 – % Mode A – 83.1 – % Mode 9 – 77.3 – % Mode 8 – 70.7 – % Mode 7 – 63.4 – % Mode 6 – 55.5 – % Mode 5 – 47.1 – % Mode 4 – 38.2 – % Mode 3 – 29 – % Mode 2 – 19.5 – % Mode 1 – 9.8 – % – – 1.25 V VREF ≈ VSInt = 100 %, VREF = 0.1 to 0.5 V VMOL IMOL = 1.25 mA VMOH IMOH = –1.25 mA VDD – 1.25 – – V IMOL – – 1.25 mA IMOH –1.25 – – mA PWM Minimum On-Time ton(min) – 1.7 – μs toff1 Mode 8 to Mode F – 12 – μs PWM Off-Time toff2 Mode 4 to Mode 7 – 9 – μs toff3 Mode 1 to Mode 3 – 7 – μs www.allegromicro.com 5 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs OUTPUT CHARACTERISTICS for both PR and R products Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Symbol Test Conditions Min. Typ. Max. Units IDS = 1 A – 0.7 0.85 Ω If = 1 A – 0.85 1.1 V IOUT = 1.0 A (SLA7075M) Output On Resistance Body Diode Forward Voltage RDS(ON) Vf IOUT = 1.5 A (SLA7076M) Output On Resistance Body Diode Forward Voltage RDS(ON) IDS = 1.5 A – 0.45 0.6 Ω Vf If = 1.5 A – 1.0 1.25 V RDS(ON) IDS = 2 A – 0.25 0.4 Ω If = 2 A – 0.95 1.2 V IOUT = 2.0 A (SLA7077M) Output On Resistance Body Diode Forward Voltage Vf IOUT = 3.0 A (SLA7078M) Output On Resistance Body Diode Forward Voltage RDS(ON) Vf IDS = 3 A – 0.18 0.24 Ω If = 3 A – 0.95 2.1 V Min. Typ. Max. Units 0.296 0.305 0.314 Ω 0.1 – 0.3 V 0.296 0.305 0.314 Ω 0.1 – 0.45 V 0.199 0.205 0.211 Ω 0.1 – 0.4 V 0.150 0.155 0.160 Ω 0.1 – 0.45 V BUILT-IN SENSE RESISTOR CHARACTERISTICS for PR and R products Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Symbol Test Conditions IOUT = 1.0 A (SLA7075MPR and SLA7075MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit IOUT = 1.5 A (SLA7076MPR and SLA7076MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit IOUT = 2.0 A (SLA7077MPR and SLA7077MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit IOUT = 3.0 A (SLA7078MPR and SLA7078MR) Sense Resistor Rating* RSInt Tolerance: ±3 % REF Input Voltage VREF Within specified current limit *RSInt includes approximately 5 mΩ circuit resistance in addition to the resistance of the resistor itself. 6 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs PROTECTION CIRCUIT CHARACTERISTICS* Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified Characteristics Symbol Test Conditions Min. Typ. Max. Units 0.65 0.7 0.75 V – – 1.25 V VDD – 1.25 – – V PR products Overcurrent Sense Voltage FLAG Output Voltage VOCP Motor coils shorted VFlagL IFLAGL = 1.25 mA VFlagH IFLAGH = –1.25 mA FLAG Output Current IFlagL – – 1.25 mA IFlagH –1.25 – – mA *Protection circuits work on the condition of VSInt ≥ VOCP. RECOMMENDED OPERATING RANGES, applicable to both PR and R products, unless otherwise specified Characteristics Symbol Remarks Min Max Units Load (Motor) Supply Voltage VM – 44 V Main Power Supply Voltage VBB 10 44 V Logic Supply Voltage VDD Surge voltage at VDD pin should be less than ±0.5 V to avoid malfunctioning in operation 3.0 5.5 V Case Temperature TC Measured at pin 12, without heat sink – 90 °C ALLOWABLE POWER DISSIPATION PR and R Products Allowable Power Dissipation, PD (W) 5 4 ǰj-a= 26.6͠/W 3 2 1 0 0 10 20 30 40 50 60 70 80 90 Ambient Temperature, TA (°C) www.allegromicro.com 7 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs FUNCTIONAL DESCRIPTION an output is enabled and current flows through the motor wind- PWM Current Control The description in this section is applicable to the PR and R products. ing and the current-sense resistors. When the voltage across the current-sense resistor equals the DAC output voltage, VTRIP , the • Blanking time current-sense comparator resets the PWM latch. This turns off The actual operating waveforms on the SENSEx pins when driving a motor are shown in figure 1. Immediately after PWM turns OFF, ringing (or spike) noise on the SENSEx pins is observed for a few μs. Ringing noise can be generated by various causes, such as capacitance between motor coils and inappropriate motor wiring. the driver for the fixed off-time, during which the load inductance causes the current to recirculate for the off-time period. Therefore, if the ringing noise on the sense resistor equals and surpasses VTRIP , PWM turns off. To prevent this phenomenon, the blanking time is set to Each pair of outputs is controlled by a fixed off-time (7 to 12 μs, depending on stepping mode) PWM current-control circuit that limits the load current to a desired value, ITRIP. Initially, t override signals from the current-sense comparator for a certain period right after PWM turns on (figure 2). t Expanded Time Scale Out ITRIP 0 Out 500 5 μs/Div. Figure 1. Operating waveforms on the SENSEx pins during PWM chopping A PWM Pulse Width tON tOFF (Fixed) ITRIP 0 A Blanking Time Figure 2. SENSEx pins pattern during PWM control 8 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs PWM Off Period The PWM off-time for the SLA7070M series is controlled as a fixed time by an internal oscillator. It also is switched in 3 levels by current proportion (see the Electrical Characteristics table). In addition, the SLA7070M series provide a function that decreases losses occurring when the PWM turns off. This function dissolves back EMF stored in the motor coil at MOSFET turn-on, as well as at PWM turn-on (synchronous rectification operation). Figure 3 shows the difference in back EMF generative system between the SLA7060M series and SLA7070M series. The SLA7060M series performs on–off operations using only the MOSFET on the PWM-on side, but the SLA7070M series also performs on–off operations using only the MOSFET on the PWM-off side. To prevent simultaneous switching of the MOSFETs at synchronous rectification operation, the IC has a dead time of approximately 0.5 μs. During dead time, the back EMF flows through the body diode on the MOSFET. SLA7060M Series SLA7070M Series VBB VBB Ion Ioff Ion Ioff Stepper Motor Stepper Motor Vg Vg Vg Vg Back EMF at Dead Time VS +V PWM On RSExt PWM Off VS +V PWM On Vg Vg FET Gate 0 Signal RSInt t PWM On PWM Off Dead Time FET Gate 0 Signal Vg PWM On Dead Time t Vg VREF VREF VS VS 0 0 t t Figure 3. Synchronous rectification operation. During Dead Time, the Back EMF flows through the body diode of the MOSFET www.allegromicro.com 9 Protection Functions: PR Types The PR types of the SLA7070M series include a motor coil short-circuit protection circuit and a motor coil open protection circuit. They are described in this section. • Motor Coil Short-Circuit Protection (Load Short) Circuit This protection circuit, embedded in the SLA7070M series, begins to operate when the device detects an increase in the voltage level on the sense resistor, VSInt . The voltage at which motor coil short-circuit protection starts its operation, VOCP, is set at approximately 0.7 V. The out- M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs put is disabled at the time the protection circuit starts. In order for the motor coil short-circuit protection circuit to operate, VSInt must be greater than VOCP . Overcurrent that flows without passing the sense resistor is undetectable. To resume the circuit after protection operates, VDD must be cycled. • Motor Coil Open Protection Details of this functions is not disclosed yet due to our patent policy. VM Coil Short Circuit +V Coil Short Circuit Stepper Motor Normal Operation Output Disable VOCP VREF Vg VS 0 VS RSInt t Figure 4. Motor coil short circuit protect circuit operation. Overcurrent that flows without passing the sense resistor is undetectable. To recover the circuit after protection operates, VDD must be cycled and started up again. 10 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs PACKAGE OUTLINE DRAWING, SLA-23 PIN 31 ±0.2 24.4 ±0.2 4.8 ±0.2 φ3.2 ±0.15 x 3.8 16.4 ±0.2 1.7 ±0.1 Gate Flash (Fin) 5 ±0.5 XXXXXXXX XXXX X 16 ±0.2 9.9 ±0.2 Branding 12.9 ±0.2 φ3.2 ±0.15 2.45 ±0.2 (Base Measurement) R-end +0.2 0.65 -0.1 +1 9.5 -0.5 4-(R1) (4.3) +0.2 0.55 -0.1 22 × P1.27 ±0.5 = 27.94 ±0.1 4.5 ±0.7 (Tip Measurement) (Tip Measurement) 31.3 ±0.2 (Includes Mold Flash) 1 2 3 4 5 6 7 9 11 13 15 17 19 21 23 8 10 12 14 16 18 20 22 Terminal core material: Cu Terminal treatment: Ni plating and solder dip Leadform: 2151 Dimensions in millimeters Branding: 1st line, type: SLA707xMR 2nd line-left, lot: YMDD Where: Y is the last digit of the year of manufacture M is the month (1 to 9, O, N, D) DD is the 2-digit date 2nd line-right, subtype: P for Protection Circuitry option; otherwise, blank Leadframe plating Pb-free. Device composition includes high-temperature solder (Pb >85%), which is exempted from the RoHS directive. www.allegromicro.com 11 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs PACKING SPECIFICATIONS Plug at each end of tube 8 18 Devices per tube 20 Tubes 3 Layers 580 18 Devices 1080 Devices per carton 31 130 3 Layers 610 Dimensions in mm 185 20 Tubes 12 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 M Dr ot ive or rs SLA7075M, SLA7076M, SLA7077M, and SLA7078M Motor Driver ICs WARNING — These devices are designed to be operated at lethal voltages and energy levels. Circuit designs that embody these components must conform with applicable safety requirements. Precautions must be taken to prevent accidental contact with power-line potentials. Do not connect grounded test equipment. The use of an isolation transformer is recommended during circuit development and breadboarding. The products described herein are manufactured in Japan by Sanken Electric Co., Ltd. for sale by Allegro MicroSystems, Inc. Sanken and Allegro reserve the right to make, from time to time, such departures from the detail specifications as may be required to permit improvements in the performance, reliability, or manufacturability of its products. Therefore, the user is cautioned to verify that the information in this publication is current before placing any order. When using the products described herein, the applicability and suitability of such products for the intended purpose shall be reviewed at the users responsibility. Although Sanken undertakes to enhance the quality and reliability of its products, the occurrence of failure and 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 society due to device failure or malfunction. Sanken products listed in this publication are designed and intended for use as components in general-purpose electronic equipment or apparatus (home appliances, office equipment, telecommunication equipment, measuring equipment, etc.). Their use in any application requiring radiation hardness assurance (e.g., aerospace equipment) is not supported. When considering the use of Sanken products in applications where higher reliability is required (transportation equipment and its control systems or equipment, fire- or burglar-alarm systems, various safety devices, etc.), contact a company sales representative to discuss and obtain written confirmation of your specifications. The use of Sanken products without the written consent of Sanken in applications where extremely high reliability is required (aerospace equipment, nuclear power-control stations, life-support systems, etc.) is strictly prohibited. The information included herein is believed to be accurate and reliable. Application and operation examples described in this publication are given for reference only and Sanken and Allegro assume no responsibility for any infringement of industrial property rights, intellectual property rights, or any other rights of Sanken or Allegro or any third party that may result from its use. 1234 13 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036