TB6551F TOSHIBA Bi-CMOS Integrated Circuit Silicon Monolithic TB6551F 3-Phase Full-Wave Sine-Wave PWM Brushless Motor Controller Features · Sine-wave PWM control · Built-in triangular-wave generator (carrier cycle = fosc/252 (Hz)) · Built-in lead angle control function (0° to 58° in 32 steps) · Built-in dead time function (setting 2.6 µs or 3.8 µs) · Supports bootstrap circuit · Overcurrent protection signal input pin · Built-in regulator (Vref = 5 V (typ.), 30 mA (max)) · Operating supply voltage range: VCC = 6 V to 10 V Weight: 0.33 g (typ.) 1 2002-12-24 Idc 3 RES 11 Vrefout 24 S-GND 13 P-GND 3 VCC 1 Ve 22 HW 19 HV 20 HU 21 Xout 15 Xin 14 REV 16 FG 17 CW/CCW 18 Block Diagram Power-on reset Regulator Counter 5-bit AD Rotating direction ST/SP Protection CW/CCW & ERR reset GB FG Internal Phase reference matching voltage Position detector System clock generator 23 LA 4 bits 2 Output waveform generator Comparator Data select HU HV HW PWM Phase W Phase V Phase U 6-bit triangular wave generator 120°turn-on matrix Charger 120/180 Comparator Comparator Comparator Switching 120°/180° and gate block protection on/off Setting dead time 12 OS 4 Z 7 W 5 Y 8 V 6 X 9 U 10 Td 2002-12-24 TB6551F TB6551F Pin Description Pin No. Symbol Description 21 HU Positional signal input pin U 20 HV Positional signal input pin V 19 HW Positional signal input pin W 18 CW/CCW Rotation direction signal input pin Remarks When positional signal is HHH or LLL, gate block protection operates. With built-in pull-up resistor L: Forward H: Reverse L: Reset (Output is non-active) 11 RES Reset-signal-input pin Operation/Halt operation Also used for gate block protection 22 Ve Inputs voltage instruction signal With built-in pull-down resistor 23 LA Lead angle setting signal input pin Sets 0° to 58° in 32 steps 12 OS Inputs output logic select signal L: Active low H: Active high Inputs DC link current. 3 Idc Inputs overcurrentprotection-signal Reference voltage: 0.5 V With built-in filter ( ~ - 1 ms) 14 Xin Inputs clock signal 15 Xout Outputs clock signal 24 Vrefout 17 FG 16 REV 9 U Outputs turn-on signal 8 V Outputs turn-on signal 7 W Outputs turn-on signal 6 X Outputs turn-on signal 5 Y Outputs turn-on signal 4 Z Outputs turn-on signal 1 VCC Power supply voltage pin VCC = 6 V~10 V 10 Td Inputs setting dead time L: 3.8 ms, H or Open: 2.6 ms 2 P-GND Ground for power supply Ground pin 13 S-GND Ground for signals Ground pin With built-in feedback resistor Outputs reference voltage signal 5 V (typ.), 30 mA (max) FG signal output pin Outputs 3PPR of positional signal Reverse rotation detection signal Detects reverse rotation. Select active high or active low using the output logic select pin. 3 2002-12-24 TB6551F Input/Output Equivalent Circuits Pin Description Symbol Input/Output Signal Input/Output Internal Circuit Digital Vrefout Vrefout HU 240 k9 Positional signal input pin U With Schmitt trigger Positional signal input pin V HV Hysteresis 300 mV (typ.) Positional signal input pin W HW L : 0.8 V (max) 2.4 kW H: Vrefout - 1 V (min) Digital 120 k9 Vrefout Vrefout Forward/reverse switching input pin With Schmitt trigger CW/CCW Hysteresis 300 mV (typ.) L: Forward (CW) 2.4 kW H: Reverse (CCW) L : 0.8 V (max) H: Vrefout - 1 V (min) Digital Vrefout Reset input With Schmitt trigger RES 2.4 kW Hysteresis 300 mV (typ.) 120 k9 L: Stops operation (reset). H: Operates. L : 0.8 V (max) H: Vrefout - 1 V (min) Ve Input voltage of Vrefout or higher is clipped to Vrefout. (X, Y, Z pins: On duty of 8%) Lead angle setting signal input pin 5 V: 58° (5-bit AD) VCC Analog LA 0 V: 0° 120 W Input range 0 V to 5.0 V 240 k9 Turn on the lower transistor at 0.2 V or less. VCC Analog Input range 0 V to 5.0 V Input voltage of Vrefout or higher is clipped to Vrefout. 4 120 W 240 k9 Voltage instruction signal input pin 2002-12-24 TB6551F Pin Description Symbol Input/Output Signal Input/Output Internal Circuit Vrefout Vrefout 120 k9 Digital Setting dead time input pin Td L : 0.8 V (max) H or Open: 2.6 ms 1.2 kW H: Vrefout - 1 V (min) Vrefout Vrefout Output logic select signal input pin Digital 120 k9 L : 3.8 ms OS L : 0.8 V (max) L: Active low 2.4 kW H: Vrefout - 1 V (min) H: Active high VCC Analog Idc Clock signal input pin Xin 240 kW 5 pF Gate block protected at 0.5 V or higher (released at carrier cycle) Comparator 0.5 V Overcurrent protection signal input pin Vrefout Vrefout Operating range Xin Xout 2 MHz to 8 MHz (crystal oscillation) Clock signal output pin Xout 360 kW VCC Reference voltage signal output pin Vrefout VCC VCC 5 ± 0.5 V (max 30 mA) 5 2002-12-24 TB6551F Pin Description Symbol Input/Output Signal Input/Output Internal Circuit Vrefout Vrefout Digital Reverse-rotation-detection signal output pin REV Push-pull output: ± 1 mA (max) 120 W Vrefout Vrefout Digital FG signal output pin FG Push-pull output: ± 1 mA (max) 120 W Vrefout Turn-on signal output pin U U Analog Turn-on signal output pin V V Turn-on signal output pin W W Turn-on signal output pin X X Turn-on signal output pin Y Y L : 0.78 V (max) Turn-on signal output pin Z Z H: Vrefout - 0.78 V (min) Push-pull output: ± 2 mA (max) 120 W 6 2002-12-24 TB6551F Maximum Ratings (Ta = 25°C) Characteristics Symbol Rating Unit VCC 12 V Supply voltage Input voltage Vin (1) -0.3~VCC (Note 1) Vin (2) -0.3~5.5 Turn-on signal output current V (Note 2) IOUT 2 Power Dissipation PD 0.9 (Note 3) mA W Operating temperature Topr -30~115 (Note 4) °C Storage temperature Tstg -50~150 °C Note 1: Vin (1) pin: Ve, LA Note 2: Vin (2) pin: HU, HV, HW, CW/CCW, RES, OS, Idc, Td Note 3: When mounted on PCB (universal 50 ´ 50 ´ 1.6 mm, Cu 30%) Note 4: Operating temperature range is determined by the PD - Ta characteristic. Recommended Operating Conditions (Ta = 25°C) Characteristics Symbol Min Typ. Max Unit VCC 6 7 10 V Xin 2 4 8 MHz Supply voltage Crystal oscillation frequency PD – Ta 1.5 (1) When mounted on PCB Universal Power dissipation PD (W) 50 ´ 50 ´ 1.6 mm Cu 30% 1.0 (2) IC only Rth (j-a) = 200°C/W (1) 0.5 0 0 (2) 50 100 150 200 Ambient temperature Ta (°C) 7 2002-12-24 TB6551F Electrical Characteristics (Ta = 25°C, VCC = 15 V) Characteristics Symbol Test Circuit ICC ¾ Supply current Iin (1) Iin (2)-1 Input current Iin (2)-2 ¾ Iin (2)-3 High Input voltage Vin ¾ Test Condition Min Typ. Max Unit Vrefout = open ¾ 3 6 mA Vin = 5 V Ve, LA ¾ 20 40 Vin = 0 V HU, HV, HW -40 -20 ¾ Vin = 0 V CW/CCW, OS, Td -80 -40 ¾ Vin = 5 V RES ¾ 40 80 Vrefout -1 ¾ Vrefout ¾ ¾ 0.8 ¾ 0.3 ¾ HU, HV, HW, CW/CCW, RES, OS, Td Low Input hysteresis voltage Output voltage Output leakage current VH VOUT (L)-1 IOUT = -2 mA U, V, W, X, Y, Z VREV (H) IOUT = 1 mA REV IOUT = -1 mA REV VFG(H) IOUT = 1 mA FG VFG(L) IOUT = -1 mA FG ¾ 0.5 1.0 Vrefout IOUT = 30 mA Vrefout 4.5 5.0 5.5 VREV (L) ¾ ¾ 0.4 Vrefout Vrefout - 1.0 - 0.5 ¾ 0.5 Vrefout Vrefout - 1.0 - 0.5 ¾ 1.0 ¾ 0 10 VOUT = 3.5 V U, V, W, X, Y, Z ¾ 0 10 Td = High or open, Xin = 4.19 MHz, IOUT = ± 2 mA, OS = High/Low 2.2 2.6 ¾ Td = Low, Xin = 4.19 MHz, IOUT = ± 2 mA, OS = High/Low 3.0 3.8 ¾ Idc 0.46 0.5 0.54 ¾ 0 ¾ LA = 2.5 V, Hall IN = 100 Hz 27.5 32 34.5 TLA (5) LA = 5 V, Hall IN = 100 Hz 53.5 59 62.5 VCC (H) Output start operation point 4.2 4.5 4.8 VCC (L) No output operation point 3.7 4.0 4.3 Input hysteresis width ¾ 0.5 ¾ IL (L) TOFF(L) Vdc TLA (0) TLA (2.5) VH ¾ ¾ V ¾ U, V, W, X, Y, Z ¾ V 0.78 VOUT = 0 V IL (H) V ¾ U, V, W, X, Y, Z (Note 1) VCC monitor Vrefout Vrefout - 0.78 - 0.4 IOUT = 2 mA TOFF(H) Lead angle correction HU, HV, HW, CW/CCW, RES VOUT (H)-1 Output off-time by upper/lower transistor Overcurrent detection ¾ mA mA ms LA = 0 V or Open, Hall IN = 100 Hz V ° V Note 5: TOFF OS = High 0.78 V Turn-on signal (U, V, W) 0.78 V TOFF TOFF Turn-on signal (X, Y, Z) 0.78 V 0.78 V OS = Low Turn-on signal (U, V, W) Vrefout - 0.78 V TOFF Vrefout - 0.78 V Vrefout - 0.78 V TOFF Vrefout - 0.78 V Turn-on signal (X, Y, Z) 8 2002-12-24 TB6551F Functional Description 1. Basic operation The motor is driven by the square-wave turn-on signal based on a positional signal. When the positional signal reaches number of rotations f = 5 Hz or higher, the rotor position is assumed according to the positional signal and a modulation wave is generated. The modulation wave and the triangular wave are compared then the sine-wave PWM signal is generated and the motor is driven. From start to 5 Hz: When driven by square wave (120° turn-on) f = fosc/(212 ´ 32 ´ 6) 5 Hz~: When driven by sine-wave PWM (180° turn-on) When fosc = 4 MHz, approx. 5 Hz 2. Function to stabilize bootstrap voltage (1) (2) When voltage instruction is input at Ve < = 0.2 V: Turns on the lower transistor at regular (carrier) cycle. (On duty is approx. 8%) When voltage instruction is input at Ve > 0.2 V: During sine-wave drive, outputs drive signal as it is. During square-wave drive, forcibly turns on the lower transistor at regular (carrier) cycle. (On duty is approx. 8%) Note: At startup, to charge the upper transistor gate power supply, turn the lower transistor on for a fixed time with Ve < = 0.2 V. 3. Dead time function: upper/lower transistor output off-time When driving the motor by sine-wave PWM, to prevent a short circuit caused by simultaneously turning on upper and lower external power devices, digitally generates dead time in the IC. When a square wave is generated in full duty cycle mode, the dead time function is turned on to prevent a short circuit. Td Pin Internal Counter TOFF High or Open 11/fosc 2.6 ms Low 16/fosc 3.8 ms TOFF values above are obtained when fosc = 4.19 MHz. fosc = reference clock (crystal oscillation) 4. Correcting lead angle The lead angle can be corrected in the turn-on signal range from 0 to 58° in relation to the induced voltage. Analog input from LA pin (0 V to 5 V divided by 32) 0 V = 0° 5 V = 58° (when more than 5 V is input, 58°) 5. Setting carrier frequency Sets triangular wave cycle (carrier cycle) necessary for generating PWM signal. (The triangular wave is used for forcibly turning on the lower transistor when driving the motor by square wave.) Carrier cycle = fosc/252 (Hz) fosc = Reference clock (crystal oscillation) 6. Switching the output of turn-on signal Switches the output of turn-on signal between high and low. Pin OS: High = active high Low = active low 9 2002-12-24 TB6551F 7. Outputting reverse rotation detection signal Detects motor rotation direction every electrical degrees of 360°. (The output is high immediately after reset) REV terminal increases with a 180° turn-on mode at the time of low. CW/CCW Pin Actual Motor Rotating Direction REV Pin CW (forward) Low CCW (reverse) High CW (forward) High CCW (reverse) Low Low (CW) High (CCW) 8. Protecting input pin 1. 2. Overcurrent protection (Pin Idc) When the DC-link-current exceeds the internal reference voltage, performs gate block protection. Overcurrent protection is released for each carrier frequency. Reference voltage = 0.5 V (typ.) Gate block protection (Pin RES) When the input signal level is Low, turns off the output; when High, restarts the output. Detects abnormality externally and inputs the signal to the pin RES. RES Pin Low 3. OS Pin Output Turn-on Signal (U, V, W, X, Y, Z) Low High High Low (When RES = Low, bootstrap capacitor charging stops.) Internal protection · Positional signal abnormality protection · When the positional signal is HHH or LLL, turns off the output; otherwise, restarts the output. Low power supply voltage protection (VCC monitor) When power supply is on/off, prevents damage caused by short-circuiting power device by keeping the turn-on signal output at high impedance outside the operating voltage range. VCC Power supply voltage 4.5 V (typ.) 4.0 V (typ.) GND VM Turn-on signal Output at high impedance Output 10 Output at high impedance 2002-12-24 TB6551F Operation Flow Positional signal (Hall IC) Phase U Position detector U Counter X Phase V V Phase matching Y Phase Sine-wave pattern W (modulation signal) Comparator W Z Voltage instruction Driven by square wave (Note) Output ON duty (U, V, W) 92% 0.2 V (typ.) 4.6 V Voltage instruction Ve Note: Output ON time is decreased by the dead time. (carrier frequency ´ 92% - Td ´ 2) Driven by sine wave 100% Modulation ratio (modulation signal) Oscillator Triangular wave (carrier frequency) System clock generator 0 0.2 V (typ.) 5 V (Vrefout) Voltage instruction Ve 11 2002-12-24 TB6551F The modulation waveform is generated using Hall signals. Then, the modulation waveform is compared with the triangular wave and a sine-wave PWM signal is generated. The time (electrical degrees: 60°) from the rising (or falling) edges of the three Hall signals to the next falling (or rising) edges are counted. The counted time is used as the data for the next 60° phase of the modulation waveform. There are 32 items of data for the 60° phase of the modulation waveform. The time width of one data item is 1/32 of the time width of the 60° phase of the previous modulation waveform. The modulation waveform moves forward by the width. HU (6) (1) (3) *HU, HV, HW: Hall signals HV (5) (2) HW (6)’ (1)’ (2)’ (3)’ SU SV Sw In the above diagram, the modulation waveform (1)’ data moves forward by the 1/32 time width of the time (1) from HU: to HW: ¯. Similarly, data (2)’ moves forward by the 1/32 time width of the time (2) from HW: ¯ to HV: . If the next edge does not occur after the 32 data items end, the next 32 data items move forward by the same time width until the next edge occurs. *t 32 31 30 6 5 4 3 2 1 SV (1)’ 32 data items * t = t(1) ´ 1/32 The modulation wave is brought into phase with every zero-cross point of the Hall signal. The modulation wave is reset in synchronization with the rising and falling edges of the Hall signal at every 60° electrical degrees. Thus, when the Hall device is not placed at the correct position or when accelerating/decelerating, the modulation waveform is not continuous at every reset. 12 2002-12-24 TB6551F Timing Charts Hall signal (input) Hu Hv Hw FG signal (output) FG Turn-on signal when driven by square wave (output) U V W X Y Z Su Modulation waveform when driven by sine wave (inside of IC) Sv Sw Forward Hall signal (input) Hu Hv Hw FG signal (output) FG U V Turn-on signal W when driven by square wave X (output) Y Z Su Modulation waveform when driven by sine wave (inside of IC) S v Sw Reverse 13 2002-12-24 TB6551F Operating Waveform When Driven by Square Wave (CW/CCW = Low, OS = High) Hall signal HU HV HW Output waveform U X V Y W Z Enlarged waveform W TONU Td TONL Td Z To stabilize the bootstrap voltage, the lower outputs (X, Y, and Z) are always turned on at the carrier cycle even during off time. At that time, the upper outputs (U, V, and W) are assigned dead time and turned off at the timing when the lower outputs are turned on. (Td varies with input Ve) Carrier cycle = fosc/252 (Hz) Dead time: Td = 16/fosc (s) (In more than Ve = 4.6 V) TONL = carrier cycle ´ 8% (s) (Uniformity) When the motor is driven by a square wave, acceleration/deceleration is determined by voltage Ve. The motor accelerates/decelerates according to the On duty of TONU (see the diagram of output On duty on page 11). Note: At startup, the motor is driven by a square wave when the Hall signals are 5 Hz or lower (fosc = 4 MHz) and the motor is rotating in the reverse direction as the TB6551F controls it (REV = High). 14 2002-12-24 TB6551F Operating Waveform When Driven by Sine-Wave PWM (CW/CCW = Low, OS = High) Generation inside of IC Modulation signal Triangular wave (carrier frequency) Phase U Phase V Phase W Output waveform U X V Y W Z Inter-line voltage VUV (U-V) VVW (V-W) VWU (W-U) When the motor is driven by a sine wave, the motor is accelerated/decelerated according to the On duty of TONU when the amplitude of the modulation symbol changes by voltage Ve (see the diagram of output On duty on page 11). Triangular wave frequency = carrier frequency = fosc/252 (Hz) Note: At startup, the motor is driven by a sine wave when the Hall signals are 5 Hz or higher (fosc = 4 MHz) and the motor is rotating in the same direction as the TB6551F controls it (REV = Low). 15 2002-12-24 REV FG CW/CCW Idc RES Vref S-GND 16 17 18 3 11 24 13 2 1 22 19 20 21 15 14 Power-on reset Regulator Rotating direction LA Counter ST/SP Protection CW/CCW BRK (CHG) & ERR reset GB FG 23 5-bit AD Internal Phase reference matching voltage Position detector System clock generator Vrefout 4 bit Output waveform generator HU HV HW PWM Phase W Phase V 120°turn-on matrix Charger 120/180 Comparator Comparator Comparator Switching 120°/180° & gate block protection on/off Setting dead time 12 4 7 5 8 6 9 10 5V OS Z W Y V X U Td (Note 1) (Note 1) Pre-driver (charge pump) Hall IC signal Driver M Power supply for motor TB6551F 16 2002-12-24 Note 3: A short circuit between the outputs, or between output and supply or ground may damage the device. Periferal parts may also be dameged by overvoltage and overcurrent. Design the output lines, VCC and GND lines so that short circuits do not occur. Also be careful not to insert the IC in the wrong direction because this could destroy the IC. Note 2: Connect P-GND to signal ground on an application circuit. Selecting data Phase U Triangular wave generator 6-bit Comparator Note 1: For preventing the IC from misoperation caused by noise for example connect to ground as required. MCU VCC Ve HW HV HU Xout (Note 2) P-GND Xin Example of Application Circuit 6 V to 10 V TB6551F Package Dimensions Weight: 0.33 g (typ.) 17 2002-12-24 TB6551F RESTRICTIONS ON PRODUCT USE 000707EBA · TOSHIBA is continually working to improve the quality and reliability of its products. Nevertheless, semiconductor devices in general can malfunction or fail due to their inherent electrical sensitivity and vulnerability to physical stress. It is the responsibility of the buyer, when utilizing TOSHIBA products, to comply with the standards of safety in making a safe design for the entire system, and to avoid situations in which a malfunction or failure of such TOSHIBA products could cause loss of human life, bodily injury or damage to property. In developing your designs, please ensure that TOSHIBA products are used within specified operating ranges as set forth in the most recent TOSHIBA products specifications. Also, please keep in mind the precautions and conditions set forth in the “Handling Guide for Semiconductor Devices,” or “TOSHIBA Semiconductor Reliability Handbook” etc.. · The TOSHIBA products listed in this document are intended for usage in general electronics applications (computer, personal equipment, office equipment, measuring equipment, industrial robotics, domestic appliances, etc.). These TOSHIBA products are neither intended nor warranted for usage in equipment that requires extraordinarily high quality and/or reliability or a malfunction or failure of which may cause loss of human life or bodily injury (“Unintended Usage”). Unintended Usage include atomic energy control instruments, airplane or spaceship instruments, transportation instruments, traffic signal instruments, combustion control instruments, medical instruments, all types of safety devices, etc.. Unintended Usage of TOSHIBA products listed in this document shall be made at the customer’s own risk. · The products described in this document are subject to the foreign exchange and foreign trade laws. · The information contained herein is presented only as a guide for the applications of our products. No responsibility is assumed by TOSHIBA CORPORATION for any infringements of intellectual property or other rights of the third parties which may result from its use. No license is granted by implication or otherwise under any intellectual property or other rights of TOSHIBA CORPORATION or others. · The information contained herein is subject to change without notice. 18 2002-12-24