Data Sheet 29318.20B* 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER Combining logic and power, the UDN2936W-120 provides commutation and drive for three-phase brushless dc motors. Each of the three outputs are rated at 45 V and ±2 A (±3 A peak), and include internal ground clamp and flyback diodes. The driver also features internal commutation logic, PWM current control, and thermal shutdown protection. T C U D D O E R P 36S D 9 E 3 U A N by I T N d e O c C a S pl I D Re The UDN2936W-120 is compatible with single-ended digital or linear Hall effect sensors. The commutating logic is programmed for 120° electrical separation. The UDN2936W-120 can replace the original UDN2936W (60° electrical separation) by simply adding an inverter at the H2 input. Current control is accomplished by sensing current through an external sense resistor and pulse-width modulating the source drivers. Voltage thresholds and hysteresis can be externally set by the user. If desired, internal threshold and hysteresis defaults (300 mV, 7.5 percent) can be used. The UDN2936W-120 also includes braking and direction control. Internal protection circuitry prevents crossover current when braking or changing direction. The UDN2936W-120 is also available for operation between -40°C and +85°C. To order, change the prefix from ‘UDN’ to ‘UDQ’. ABSOLUTE MAXIMUM RATINGS at TJ ≤ +150°C Supply Voltage, VBB . . . . . . . . . . . . . . . 45 V Output Current, IOUT (continuous) . . . . . . . . . . . . . . . . ±2.0 A (peak) . . . . . . . . . . . . . . . . . . . . . ±3.0 A Input Voltage Range, VIN . . . -0.3 V to 15 V Threshold Voltage, VTHS . . . . . . . . . . . . 15 V Package Power Dissipation, PD . . . . . . . . . . . . . . . . . . . See Graph Operating Temperature Range, TA . . . . . . . . . . . . . . . . -20°C to +85°C Storage Temperature Range, TS . . . . . . . . . . . . . . . . -55°C to +150°C For maximum power-handling capability, the UDN2936W-120 is supplied in 12-pin single in-line power-tab package. An external heat sink may be required for high-current applications. The tab is at ground potential and needs no insulation. FEATURES ■ ■ ■ ■ ■ ■ ■ ■ 10 V to 45 V Operation ±3 A Peak Output Current Internal Clamp Diodes Internal PWM Current Control 120° Commutation Decoding Logic Thermal Shutdown Protection Compatible with Single-Ended or Differential Hall-Effect Sensors Braking and Direction Control Note: Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified peak current and a junction temperature of +150°C. Always order by complete part number, e.g., UDN2936W-120 . 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER Functional Block Diagram 115 Northeast Cutoff, Box 15036 W Worcester, Massachusetts 01615-0036 (508) 853-5000 Copyright © 1985, 2002 Allegro MicroSystems, Inc. 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER ALLOWABLE PACKAGE POWER DISSIPATION IN WATTS 10 RθJT = 2.0°C/W 8 3.0°C/W HEAT SINK RθJA = 5.0°C/W 6 12°C/W HEAT SINK RθJA = 14°C/W 4 2 FREE AIR, R θJA = 38°C/W 0 25 50 75 100 TEMPERATURE IN ° C 125 150 Dwg. GP-012B Commutation Truth Table Typical Application UDN2936W-120 V BB DIR. BRAKE Hall Sensor Inputs RS = 0.15 Ω Outputs H1 H2 H3 DIRECTION BRAKE OUTA OUTB OUTC High High High Low Low Low High High High Low Low Low X Low Low High High High Low Low Low High High High Low X High Low Low Low High High High Low Low Low High High X Low Low Low Low Low Low High High High High High High X High High High High High High High High High High High High Low Z High High Z Low Low Z Low Low Z High High Low Low Low Z High High Z High High Z Low Low Z Low High Z Low Low Z High Low Z High High Z Low Low X= Irrelevant V CC Z = High Impedance Note that the UDN2936W-120 truth table is the same as the original UDN2936W except that the H2 Hall sensor inputs are inverted. Dwg. EP-033 www.allegromicro.com 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER ELECTRICAL CHARACTERISTICS at TA = +25°C, TJ ≤ +150°C, VBB = 45 V Characteristic Symbol Test Conditions Limits Min. Typ. Max. Units Supply Voltage Range VBB Operating 10 — 45 V Supply Current IBB Outputs Open — 32 40 mA VBRAKE = 0.8 V — 42 50 mA TJ — 165 — °C ∆TJ — 25 — °C VOUT = VBB — — 50 µA VOUT = 0 V — — -50 µA IOUT = -1 A — 1.7 1.9 V IOUT = +1 A — 1.1 1.3 V IOUT = -2 A — 1.9 2.1 V IOUT = +2 A — 1.4 1.6 V IOUT = ±2 A, L = 2 mH 45 — — V Thermal Shutdown Temp. Thermal Shutdown Hysteresis Output Drivers Output Leakage Current Output Saturation Voltage Output Sustaining Voltage ICEX VCE(SAT) VCE(sus) Clamp Diode Forward Voltage VF IF = 2 A — 1.8 2.0 V Clamp Diode Leakage Current IR VR = 45 V — — 50 µA Output Switching Time tr IOUT = ±2 A, Resistive Load — 2.0 — µs tf IOUT = ±2 A, Resistive Load — 2.0 — µs Source Drivers, 0 to -2 A — 1.25 — µs Sink Drivers, 0 to +2 A — 1.9 — µs Source Drivers, -2 A to 0 — 1.7 — µs Sink Drivers, +2 A to 0 — 0.9 — µs Turn-ON Delay ton (Resistive Load) Turn-OFF Delay (Resistive Load) toff Continued next page... 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER ELECTRICAL CHARACTERISTICS at TA = +25°C, TJ ≤ +150°C, VBB = 45 V continued Characteristic Symbol Test Conditions Limits Min. Typ. Max. Units Control Logic Logic lnput Voltage VIN(1) VDIR or VBRAKE 2.0 — — V VIN(0) VDIR or VBRAKE — — 0.8 V Sensor lnput Voltage Threshold VIN H1, H2, or H3 — 2.5 — V Input Current IIN(1) VDIR = 2 V — 150 200 µA VBRAKE = 2 V — <1.0 5.0 µA VH = 5 V — -190 -220 VDIR = 0.8 V — 35 50 µA VBRAKE = 0.8 V — -5.0 -20 µA VH = 0.8 V — -0.64 -1.0 mA VTHS ≥ 3.0 V — -8.0 -15 µA VTHS < 3.0 V, VSENSE < VTHS/10.5 — -15 -30 µA VTHS < 3.0 V, VSENSE > VTHS / 9.5 190 250 310 µA VTHS / VSENSE at trip point, VTHS < 3.0 V 9.5 10 10.5 — VSENSE VTHS ≥ 3.0 V 270 300 330 mV Default Hysteresis — VTHS ≥ 3.0 V — 7.5 — % Deadtime td BRAKE or DIRECTION — 2.0 — µs IIN(0) ITHS Current Limit Threshold Default Sense Trip Voltage www.allegromicro.com — µA 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER APPLICATIONS INFORMATION The UDN2936W-120 power driver provides commutation logic and power outputs to drive three-phase brushless dc motors. The UDN2936W-120 is designed to interface with singleended linear or digital Hall-effect devices (HEDs). Internal pull-up resistors allow for direct use with open-collector digital HEDs. The Hn inputs have 2.5 V thresholds. The commutation logic provides decoding for HEDs with 120° electrical separation. At any one step in the logic sequencing, one half-bridge driver is sourcing current, one driver is sinking current, and one driver is in a high-impedance state (see Truth Table). A logic low on the BRAKE pin turns on the three sink drivers and turns off the three source drivers, essentially shorting the motor windings to ground. During braking, the back-electromotive force generated by the motor produces a current that dynamically brakes the motor. Depending upon the rotational velocity of the motor, this current can approach the locked rotor current level (which is limited only by the motor winding resistance). During braking, the output currentlimiting circuitry is disabled and care should be taken to ensure that the back-EMF generated brake current does not exceed the maximum rating (3 A peak) of the sink drivers and ground clamp diodes. Changing the logic level of the DIRECTION pin inverts the output states, thus reversing the direction of the motor. Changing the direction of a rotating motor produces a back-EMF current similar to when braking the motor. The load current should not be allowed to exceed the maximum rating (±3 A peak) of the drivers. An internally generated dead time (td) of approximately 2 µs prevents potentially destructive crossover currents that can occur when changing direction or braking. Motor current is internally controlled by pulse-width modulating the source drivers with a preset hysteresis format. Load current through an external sense resistor (RS) is constantly monitored. When the current reaches the set trip point (determined by an external reference voltage or internal default), the source driver is disabled. Current recirculates through the ground clamp diode, motor winding, and sink driver. An internal constant-current sink reduces the trip point (hysteresis). When the decaying current reaches this lower threshold, the source driver is enabled again and the cycle repeats. Thresholds and hysteresis can be set with external resistors, or internal defaults can be used. With VTHS > 3.0 V, the trip point is internally set at 300 mV with 7.5% hysteresis. Load current is then determined by the equation: ITRIP = 0.3 /RS With VTHS < 3.0 V, the threshold, hysteresis percentage, and peak current are set with external resistors according to the equations: threshold voltage (VTHS) = VREF x RT /(RH + RT) hysteresis percentage = RH /50 VREF load trip current (I TRIP) = VTHS /10 RS Percentage hysteresis is a fixed value independent of load current. The chopping frequency is a function of circuit parameters including load inductance, load resistance, supply voltage, hysteresis, and switching speed of the drivers. The UDN2936W-120 outputs are rated for normal operating currents of up to ±2 A and startup currents to ±3 A (see cautions above regarding braking and changing of motor direction). Internal power ground-clamp and flyback diodes protect the outputs from the voltage transients that occur when switching inductive loads. All devices also feature thermal protection circuitry. If the junction temperature reaches +165°C, the thermal shutdown circuitry turns off all output drivers. The outputs are re-enabled when the junction cools down to approximately +140°C. This protection is only intended to protect the device from failures due to excessive junction temperature or loss of heat sinking and should not imply that output short circuits are permitted. As with all high-power integrated circuits, the printed wiring board should utilize a heavy ground plane. For optimum performance, the drivers should be soldered directly into the board. The power supply should be decoupled with an electrolytic capacitor (>10 µF) as close as possible to the device supply pin (VBB ). Replacing the UDN2936W. The original UDN2936W can be easily replaced with a UDN2936W-120 by inserting an inverter (two resistors and a 2N3904 or 2N2222) between the H2 Hall sensor and pin 8 of the UDN2936W-120, as shown in the figure on the next page. If an extra inverter is available, be certain that a pull-up for the Hall sensor is provided. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER V DIRECTION V H1 V H2 V H3 OUT A + 0 – + OUTB 0 – td + OUTC 0 – Dwg. WM-002-1 Replacing the original UDN2936W Typical Hall-Effect Sensor Locations UDN2936W-120 +V +V +6.8 V SENSOR H2 CUT 8 + VCC +2.5 V – 2N2222 OR 2N3904 X Dwg. EP-071 www.allegromicro.com Dwg. No. W-193 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER Dimensions in Inches (controlling dimensions) 0.180 1.260 1.240 0.020 MAX 0.775 0.765 0.245 0.225 0.055 0.045 0.155 ø 0.145 0.140 0.365 INDEX AREA 0.065 0.035 0.570 0.540 0.135 0.100 0.290 MIN 1 0.030 0.020 12 0.100 0.023 0.018 ±0.010 0.080 0.070 Dwg. MP-007 in NOTES: 1. Lead thickness is measured at seating plane or below. 2. Lead spacing tolerance is non-cumulative 3. Exact body and lead configuration at vendor’s option within limits shown. 4. Lead gauge plane is 0.030” below seating plane. 5. Supplied in standard sticks/tubes of 15 devices. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER Dimensions in Millimeters (for reference only) 32.00 31.49 0.51 4.57 MAX 19.69 19.45 6.22 5.71 1.40 1.14 3.94 ø 3.68 3.56 9.27 INDEX AREA 1.65 0.89 14.48 13.71 3.43 2.54 7.36 MIN 1 0.76 0.51 12 2.54 ±0.254 0.59 0.45 2.03 1.77 Dwg. MP-007 mm The products described here are manufactured under one or more U.S. patents or U.S. patents pending. Allegro MicroSystems, Inc. reserves 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. Before placing an order, the user is cautioned to verify that the information being relied upon is current. Allegro products are not authorized for use as critical components in life-support devices or systems without express written approval. The information included herein is believed to be accurate and reliable. However, Allegro MicroSystems, Inc. assumes no responsibility for its use; nor for any infringement of patents or other rights of third parties which may result from its use. www.allegromicro.com NOTES: 1. Lead thickness is measured at seating plane or below. 2. Lead spacing tolerance is non-cumulative 3. Exact body and lead configuration at vendor’s option within limits shown. 4. Lead gauge plane is 0.762 mm below seating plane. 5. Supplied in standard sticks/tubes of 15 devices. 2936-120 3-PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER MOTOR DRIVERS Output Ratings* Part Number† INTEGRATED CIRCUITS FOR BRUSHLESS DC MOTORS 3-Phase Power MOSFET Controller — 28 V 3933 3-Phase Power MOSFET Controller — 40 V 3935 3-Phase Power MOSFET Controller — 50 V 3932 3-Phase Back-EMF Controller/Driver ±900 mA 14 V 8902–A 3-Phase PWM Current-Controlled DMOS Driver ±3 A 50 V 3936 INTEGRATED BRIDGE DRIVERS FOR DC AND BIPOLAR STEPPER MOTORS PWM Current-Controlled Dual Full Bridge ±500 mA 18 V 3965 Dual Full Bridge with Protection & Diagnostics ±500 mA 30 V 3976 PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3966 PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3968 Microstepping Translator/Dual Full Bridge ±750 mA 30 V 3967 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2916 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2919 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 6219 PWM Current-Controlled Dual Full Bridge ±800 mA 33 V 3964 PWM Current-Controlled Dual DMOS Full Bridge ±1.0 A 35 V 3973 PWM Current-Controlled Full Bridge ±1.3 A 50 V 3953 PWM Current-Controlled Dual Full Bridge ±1.5 A 45 V 2917 PWM Current-Controlled DMOS Full Bridge ±1.5 A 50 V 3948 PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3955 PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3957 PWM Current-Controlled Dual DMOS Full Bridge ±1.5 A 50 V 3972 PWM Current-Controlled Dual DMOS Full Bridge ±1.5 A 50 V 3974 PWM Current-Controlled Full Bridge ±2.0 A 50 V 3952 PWM Current-Controlled DMOS Full Bridge ±2.0 A 50 V 3958 Microstepping Translator/Dual DMOS Full Bridge ±2.5 A 35 V 3977 Dual DMOS Full Bridge ±2.5 A 50 V 3971 PWM Current-Controlled DMOS Full Bridge ±3.0 A 50 V 3959 UNIPOLAR STEPPER MOTOR & OTHER DRIVERS Unipolar Stepper-Motor Quad Drivers 1.0 A 46 V 7024 & 7029 Unipolar Microstepper-Motor Quad Driver 1.2 A 46 V 7042 Unipolar Stepper-Motor Translator/Driver 1.25 A 50 V 5804 Unipolar Stepper-Motor Quad Driver 1.8 A 50 V 2540 Unipolar Stepper-Motor Quad Driver 3.0 A 46 V 7026 Unipolar Microstepper-Motor Quad Driver 3.0 A 46 V 7044 Function * Current is maximum specified test condition, voltage is maximum rating. See specification for sustaining voltage limits or over-current protection voltage limits. Negative current is defined as coming out of (sourcing) the output. † Complete part number includes additional characters to indicate operating temperature range and package style. Also, see 3175, 3177, 3235, and 3275 Hall-effect sensors for use with brushless dc motors. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000