Data Sheet 29319.43 L6219DS DUAL FULL-BRIDGE PWM MOTOR DRIVER OUT 1A 1 OUT 2A 2 SENSE 2 3 VBB 1 2 24 LOAD SUPPLY 23 SENSE 1 22 COMP IN 1 21 OUT 1B OUT 2B 5 20 I 01 GROUND 6 19 GROUND GROUND 7 18 GROUND I 02 8 17 I 11 I 12 99 16 PHASE 1 PHASE 2 10 15 V REF 1 V REF 2 11 14 RC 1 RC 2 12 13 LOGIC SUPPLY θ2 PWM 1 4 PWM 2 COMP IN 2 θ1 V CC The L6219DS motor driver is designed to drive both windings of a bipolar stepper motor or bidirectionally control two dc motors. Both bridges are capable of sustaining 45 V and include internal pulse-width modulation (PWM) control of the output current to 750 mA. The outputs have been optimized for a low output saturation voltage drop (less than 1.8 V total source plus sink at 500 mA). For PWM current control, the maximum output current is determined by the user’s selection of a reference voltage and sensing resistor. Two logic-level inputs select output current limits of 0, 33, 67, or 100% of the maximum level. A PHASE input to each bridge determines load current direction. The bridges include both ground clamp and flyback diodes for protection against inductive transients. Internally generated delays prevent cross-over currents when switching current direction. Special power-up sequencing is not required. Thermal protection circuitry disables the outputs if the chip temperature exceeds safe operating limits. The L6219DS is supplied in a 24-lead surface-mountable SOIC. Its batwing construction provides for maximum package power dissipation in the smallest possible construction. This device is also available on special order for operation from -40°C to +85°C or to +105°C. Dwg. PP-005-3 ABSOLUTE MAXIMUM RATINGS at TJ ≤ 150°C Motor Supply Voltage, VBB .................... 45 V Output Current, IOUT (Peak) ........................................ +1.0 A (Continuous) .......................... +750 mA Logic Supply Voltage, VCC ................... 7.0 V Logic Input Voltage Range, VIN ............................... -0.3 V to +7.0 V Output Emitter Voltage, VSENSE ............ 1.5 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 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 rating or a junction temperature of +150°C. FEATURES ■ Interchangeable with SGS L6219DS ■ 750 mA Continuous Output Current ■ 45 V Output Sustaining Voltage ■ Internal Clamp Diodes ■ Internal PWM Current Control ■ Low Output Saturation Voltage ■ Internal Thermal Shutdown Circuitry ■ Similar to Dual PBL3717, UC3770 Always order by complete part number, e.g., L6219DS . L6219DS DUAL FULL-BRIDGE MOTOR DRIVER PWM CURRENT-CONTROL CIRCUITRY VBB CHANNEL 1 TERMINAL NUMBERS SHOWN. 24 OUT B 1 21 OUT A V REF 15 23 SENSE 20 kΩ ÷10 COMP IN – 40 kΩ RC 10 kΩ I 0 20 ONE SHOT + 22 RS SOURCE DISABLE 14 RC CC RT I 1 17 CT ALLOWABLE PACKAGE POWER DISSIPATION in WATTS Dwg. EP-007-5 2.5 TRUTH TABLE RθJT = 6°C/W 2.0 PHASE OUTA OUTB H L H L L H 1.5 R θJA = 55°C/W 1.0 0.5 0 25 50 75 100 TEMPERATURE in °C 125 150 Dwg. GP-019B 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 Copyright © 1998 Allegro MicroSystems, Inc. L6219DS DUAL FULL-BRIDGE MOTOR DRIVER ELECTRICAL CHARACTERISTICS at TA = +25°C, TJ ≤ 150°C, VBB = 45 V, VCC = 4.75 V to 5.25 V, VREF = 5.0 V (unless otherwise noted). Limits Characteristic Symbol Test Conditions Min. Typ. Max. Units 10 — 45 V VOUT = VBB — < 1.0 50 µA VOUT = 0 — <-1.0 -50 µA Output Drivers (OUTA or OUTB) Motor Supply Range VBB Output Leakage Current ICEX Output Sustaining Voltage VCE(sus) IOUT = ±750 mA, L = 3.0 mH 45 — — V Output Saturation Voltage VCE(SAT) Sink Driver, IOUT = +500 mA — 0.4 0.6 V Sink Driver, IOUT = +750 mA — 1.0 1.2 V Source Driver, IOUT = -500 mA — 1.0 1.2 V Source Driver, IOUT = -750 mA — 1.3 1.5 V Clamp Diode Leakage Current IR VR = 45 V — < 1.0 50 µA Clamp Diode Forward Voltage VF IF = 750 mA — 1.6 2.0 V IBB(ON) Both Bridges On, No Load — 20 25 mA IBB(OFF) Both Bridges Off — 5.0 10 mA VIN(1) All inputs 2.4 — — V VIN(0) All inputs — — 0.8 V IIN(1) VIN = 2.4 V — <1.0 20 µA VIN = 0.8 V — - 3.0 -200 µA Operating 1.5 — 7.5 V I0 = I1 = 0.8 V 9.5 10 10.5 — I0 = 2.4 V, I1 = 0.8 V 13.5 15 16.5 — I0 = 0.8 V, I1 = 2.4 V 25.5 30 34.5 — — 170 — °C Driver Supply Current Control Logic Input Voltage Input Current Reference Voltage Range Current Limit Threshold (at trip point) Thermal Shutdown Temperature Total Logic Supply Current VREF VREF / VCOMPIN TJ ICC(ON) I0 = I1 = 0.8 V, No Load — 40 50 mA ICC(OFF) I0 = I1 = 2.4 V, No Load — 10 12 mA L6219DS DUAL FULL-BRIDGE MOTOR DRIVER APPLICATIONS INFORMATION PWM CURRENT CONTROL The L6219DS dual bridge is designed to drive both windings of a bipolar stepper motor. Output current is sensed and controlled independently in each bridge by an external sense resistor (RS), internal comparator, and monostable multivibrator. When the bridge is turned on, current increases in the motor winding and it is sensed by the external sense resistor until the sense voltage (VCOMPIN) reaches the level set at the comparator’s input: PWM OUTPUT CURRENT WAVE FORM V PHASE + I OUT 0 – ITRIP = VREF/10 RS The comparator then triggers the monostable which turns off the source driver of the bridge. The actual load current peak will be slightly higher than the trip point (especially for low-inductance loads) because of the internal logic and switching delays. This delay (td) is typically 2 µs. After turn-off, the motor current decays, circulating through the ground-clamp diode and sink transistor. The source driver’s off time (and therefore the magnitude of the current decrease) is determined by the monostable’s external RC timing components, where toff = RTCT within the range of 20 kΩ to 100 kΩ and 100 pF to 1000 pF. I TRIP td t off Dwg. WM-003-1A LOAD CURRENT PATHS V BB When the source driver is re-enabled, the winding current (the sense voltage) is again allowed to rise to the comparator’s threshold. This cycle repeats itself, maintaining the average motor winding current at the desired level. Loads with high distributed capacitances may result in high turn-on current peaks. This peak (appearing across RS) will attempt to trip the comparator, resulting in erroneous current control or high-frequency oscillations. An external RCCC time delay should be used to further delay the action of the comparator. Depending on load type, many applications will not require these external components (SENSE connected to COMP IN). RS BRIDGE ON SOURCE OFF ALL OFF Dwg. EP-006-1 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 L6219DS DUAL FULL-BRIDGE MOTOR DRIVER LOGIC CONTROL OF OUTPUT CURRENT Two logic level inputs (l0 and I1) allow digital selection of the motor winding current at 100%, 67%, 33%, or 0% of the maximum level per the table. The 0% output current condition turns off all drivers in the bridge and can be used as an OUTPUT ENABLE function. CURRENT-CONTROL TRUTH TABLE l0 I1 Output Current L L VREF/10 RS = ITRIP H L VREF/15 RS = 2/3 ITRIP L H VREF/30 RS = 1/3 ITRIP H H 0 The logic control inputs can also be used to select a reduced current level (and reduced power dissipation) for ‘hold’ conditions and/or increased current (and available torque) for start-up conditions. GENERAL These logic level inputs greatly enhance the implementation of µP-controlled drive formats. During half-step operations, the l0 and l1 allow the µP to control the motor at a constant torque between all positions in an eight-step TYPICAL APPLICATION STEPPER MOTOR 24 + RS 23 2 RS RC FROM µP 21 5 20 6 19 7 18 8 17 VREF θ1 FROM µP 16 15 VREF 14 11 12 RT θ2 PWM 2 10 Varying the reference voltage (VREF) provides continuous control of the peak load current for microstepping applications. Thermal protection circuitry turns off all drivers when the junction temperature reaches +170°C. It is only intended to protect the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. The output drivers are re-enabled when the junction temperature cools to +145°C. CC 2 99 All four drivers in the bridge output can be turned off between steps (l0 = l1 ≥ 2.4 V) resulting in a fast current decay through the internal output clamp and flyback diodes. The fast current decay is desirable in half-step and high-speed applications. The PHASE, l0 ,and I1 inputs float high. 22 4 PWM 1 CC RC 1 3 The PHASE input to each bridge determines the direction motor winding current flows. An internally generated deadtime (approximately 2 µs) prevents crossover currents that can occur when switching the PHASE input. VBB VBB 1 sequence. This is accomplished by digitally selecting 100% drive current when only one phase is on and 67% drive current when two phases are on. Logic highs on both l0 and l1 turn off all drivers to allow rapid current decay when switching phases. This helps to ensure proper motor operation at high step rates. V CC 13 +5 V CT RT CT Dwg. EP-008-2 The L6219DS output drivers are optimized for low output saturation voltages—less than 1.8 V total (source plus sink) at 500 mA. Under normal operating conditions, when combined with the excellent thermal properties of the batwing package design, this allows continuous operation of both bridges simultaneously at 500 mA. L6219DS DUAL FULL-BRIDGE MOTOR DRIVER Dimensions in Inches (for reference only) 24 13 0.0125 0.0091 0.491 0.394 0.2992 0.2914 0.050 0.016 0.020 0.013 1 2 3 0.050 0.6141 0.5985 0° TO 8 BSC NOTE 1 NOTE 3 0.0926 0.1043 0.0040 MIN. Dwg. MA-008-25 in Dimensions in Millimeters (controlling dimensions) 24 13 0.32 0.23 10.65 10.00 7.60 7.40 1.27 0.40 0.51 0.33 1 2 3 15.60 15.20 1.27 BSC 0° TO 8 NOTE 1 NOTE 3 2.65 2.35 0.10 MIN. Dwg. MA-008-25A mm NOTES: 1. Webbed lead frame. Leads indicated are internally one piece. 2. Lead spacing tolerance is non-cumulative. 3. Exact body and lead configuration at vendor’s option within limits shown. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 L6219DS DUAL FULL-BRIDGE MOTOR DRIVER BRIDGE & HALF-BRIDGE DRIVERS IN ORDER OF 1) OUTPUT CURRENT AND 2) OUTPUT VOLTAGE Features Output Ratings * Internal Diodes Outputs Internal Protection dual PWM full bridge dual PWM full bridge X X bipolar bipolar X X 3966 3968 45 45 45 dual PWM full bridge dual PWM full bridge dual PWM full bridge X X X bipolar bipolar bipolar X X X 2916 2919 6219 ±800 33 dual PWM full bridge X bipolar X 3964 ±900 14 3-Ø back-EMF controller/driver X DMOS X 8902-A ±1300 50 PWM full bridge X bipolar X 3953 ±1500 45 45 50 50 dual PWM full bridge dual PWM full bridge PWM microstepping full bridge PWM microstepping full bridge X X X X bipolar bipolar Darlington/Satlington™ Darlington/Satlington™ X X X X 2917 2918 3955 3957 ±2000 45 50 50 50 50 3-Ø brushless controller/driver dual full bridge PWM full-bridge PWM full-bridge PWM full-bridge X X X X X Darlington Darlington Darlington Darlington DMOS X X X X X 2936 2998 3951 3952 3958 ±3000 45 PWM control X Darlington – 2962 ±3400 45 PWM control X bipolar X 2961 — 28 3-Ø MOSFET controller – DMOS X 3933 mA V Description ±650 30 30 ±750 Part Number † * Current is maximum specified test condition, voltage is maximum rating. See specification for sustaining voltage limits or over-current protection voltage limits. † Complete part number includes additional characters to indicate operating temperature range and package style. L6219DS DUAL FULL-BRIDGE MOTOR DRIVER 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. 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000