February 1999 PBL 3771/1 Precision Stepper Motor Driver Description Key Features The PBL 3771/1 is a switch-mode, constant-current driver IC (chopper) with two channels, one for each winding of a two-phase stepper motor. The circuit is especially developed for use in microstepping applications in conjunction with the matching dual DAC (Digital-to-Analog Converter) PBM 3960. A complete driver system consists of these two ICs, a few passive components and a microprocessor for generation of the proper control and data codes required for microstepping. The PBL 3771/1 contains a clock oscillator, which is common for both driver channels; a set of comparators and flip-flops implementing the switching control; and two H-bridges with internal recirculation diodes. Voltage supply requirements are +5 V for logic and +10 to +45 V for the motor. Maximum output current is 650 mA per channel. A special logic function is used to select slow or fast current decay in the output stage for improved high-speed microstepping. The close match between the two driver channels guarantees consistent output current ratios and motor positioning accuracy. • Dual chopper driver in a single package. • 650 mA output current per channel. • Close matching between channels for high microstepping accuracy. • Selectable slow/fast current decay for improved high-speed microstepping. • Improved low-level linearity. • Specially matched to Dual DAC PBM 3960. E1 C1 37 CD 1 V R1 B L Phase 1 71 /1 • Selection of packages, 22-pin “batwing” DIP, 24 pin "batwing" SOIC or 28-lead PLCC with lead-frame for heat-sinking through PC board copper. P PBL 3771/1 – V VCC CC + R S Q M A1 + M B1 Logic V MM1 + L B 1 P 71/ 37 – V MM2 – M B2 – 71 /1 M A2 Logic + Phase 2 CD2 V R2 C2 S R Q L – PB + 37 RC GND E2 28-pin PLCC package 22-pin plastic DIP package 24-pin SO package Figure 1. Block diagram. 1 PBL 3771/1 Maximum Ratings Parameter Pin no. (DIL) Symbol Min Max Unit Voltage Logic supply Motor supply Logic inputs Comparator inputs Reference inputs 11 3, 20 7, 8, 15, 16 10, 13 9, 14 VCC VMM VI VC VR 0 0 -0.3 -0.3 -0.3 7 45 6 VCC 7.5 V V V V V Current Motor output current Logic inputs Analog inputs Oscillator charging current 1, 4, 19, 22 7, 8, 15, 16 10, 13 12 IM II IA IRC -700 -10 -10 +700 5 mA mA mA mA TJ TS -40 -55 +150 +150 °C °C Temperature Operating junction temperature Storage temperature** ** Circuit only. The packaging can handle max 60°C Recommended Operating Conditions Parameter Symbol Min Typ Max Unit Logic supply voltage Motor supply voltage Motor output current *** Junction temperature **** Rise time logic inputs Fall time logic inputs Oscillator timing resistor VCC VMM IM TJ tr tf RT 4.75 10 -650 -20 5 2 15 5.25 40 650 +125 2 2 20 V V mA °C µs µs kohms *** In microstepping mode, “sine/cosine” drive where I1 = 650 • cos(θ) and I2 = 650 • sin(θ) mA, otherwise 500 mA/channel both channels fully on. ****See operating temperature chapter. Phase 1 7 CD 1 V R1 C1 E1 8 10 2 9 Pin numbers refer to DIL-package PBL 3771/1 VCC I CC | V MA – V MB | – V CC 11 + R S Q 4 + Logic – M A1 1 M B1 3 V MM1 t off t on 50 % 15 kW + RT – – Logic + I RC RC 12 + – S R 20 V MM2 22 M B2 19 M A2 I MM IM t I OL VE Q V 3 300 pF CH VCC CT 16 Phase 2 II I IH 15 14 13 CD2 V R2 I IL C2 E2 GND 1 kW VA VCH VR VC RC Figure 2. Definitions of symbols. VE VM VMA 820 pF CC 2 21 IA VI VIL 5, 6, 17, 18 IC IA VIH td RS t V MM 1 fs = t + t on off ton D= ton + t off Figure 3. Definition of terms. PBL 3771/1 Electrical Characteristics Electrical characteristics over recommended operating conditions, unless otherwise noted. -20°C - TJ - +125°C. Parameter Ref. Symbol fig. Conditions General Supply current Total power dissipation ICC PD VMM = 40 V, IM1= 450 mA, IM2= 0 mA. Notes 2, 3. VMM = 40 V, IM1 = IM2 = 318 mA. Notes 2, 3. Ta = +25°C, dVC/dt ≥ 50 mV/µs. Note 3. Turn-off delay td Logic Inputs Logic HIGH input voltage Logic LOW input voltage Logic HIGH input current Logic LOW input current VIH VIL IIH IIL Reference Inputs Input resistance Input current Turn-off voltage RR IR VTO Ta = +25°C Ta = +25°C, VR = 2.5 V. Comparator Inputs Threshold voltage | VCH1 - VCH2 | mismatch Input current VCH VCH,diff IC RC = 1 kohms, VR = 2.5 V RC = 1 kohms 3 fs Typ Max Unit 38 1.4 50 1.6 mA W 1.6 1.8 W 1.0 1.5 µs 0.8 20 V V µA mA 2.0 VI = 2.4 V VI = 0.4 V -0.4 20 430 5 0.5 29 450 1 1.00 1.20 300 1.25 1.35 300 1.25 V µA V V µA V CT = 3300 pF, RT = 15 kohms 25.0 26.5 28.0 kHz Min Typ Max Unit 1.00 1.10 1.20 470 kohms mA mV 1 IM = 500 mA VMM = 41 V, VE = VR = 0 V, VC = VCC IM = 500 mA IM = 500 mA VMM = 41 V, VE = VR = 0 V, VC = VCC IM = 500 mA 3 1.0 38 mV mV µA -10 Motor Outputs Lower transistor saturation voltage Lower transistor leakage current Lower diode forward voltage drop Upper transistor saturation voltage Upper transistor leakage current Upper diode forward voltage drop Chopper Oscillator Chopping frequency Min Thermal Characteristics Parameter Thermal resistance Ref. Symbol fig. Conditions RthJ-BW RthJ-A RthJ-BW RthJ-A RthJ-BW RthJ-A 13 13 13 13 13 13 DIL package. DIL package. Note 2. PLCC package. PLCC package. Note 2. SO package. SO package. Note 2. 11 40 9 35 13 42 °C/W °C/W °C/W °C/W °C/W °C/W Notes 1. All voltages are with respect to ground. Currents are positive into, negative out of specified terminal. 2. All ground pins soldered onto a 20 cm2 PCB copper area with free air convection. 3. Not covered by final test program. 4. Switching duty cycle D = 30%, fS = 26.5 kHz. 3 PBL 3771/1 SO GND 7 Phase1 8 19 GND 18 MA2 GND 5 18 GND GND 6 GND Phase 1 7 PBL 3771/1N 17 GND 16 Phase 2 17 Phase2 CD1 9 16 CD2 VR1 10 15 VR2 C1 11 14 C2 Vcc 12 13 RC CD1 8 15 CD2 VR1 9 14 VR2 C 1 10 13 C2 VCC 11 12 RC 26 CD 2 19 27 Phase 2 MA1 4 1 GND V MM2 28 GND 20 2 GND V MM1 3 3 GND E2 V MM2 5 25 V R2 E2 6 24 C 2 23 RC M B2 7 M B1 8 GND 9 PBL 3771/1QN 22 VCC 21 C 1 E1 10 20 V R1 VMM1 11 19 CD1 GND 17 GND 6 20 MA2 21 Phase1 18 MA1 5 E1 2 GND 16 21 VMM2 VMM1 4 MB2 GND 15 22 E2 E1 3 22 GND 14 23 MB2 MB1 2 MB1 1 MA1 12 24 NC GND 13 NC 1 4 MA2 PBL 3771/1 Figure 4. Pin configuration. Pin Description Refer to figure 4. SO DIP PLCC Symbol Description 2 3 4 5 6,7, 18,19 1 2 3 4 5,6, 17,18 8 10 11 12 1-3,9, 13-17,28 MB1 E1 VMM1 MA1 GND 8 7 18 Phase1 9 8 19 CD1 10 9 20 VR1 11 10 21 C1 12 11 22 VCC Motor output B, channel 1. Motor current flows from MA1 to MB1 when Phase1 is HIGH. Common emitter, channel 1. This pin connects to a sensing resistor to ground. Motor supply voltage, channel 1, 10 to 40 V. VMM1 and VMM2 should be connected together. Motor output A, channel 1. Motor current flows from MA1 to MB1 when Phase1 is HIGH. Ground and negative supply. Note: these pins are used thermally for heat-sinking. Make sure that all ground pins are soldered onto a suitably large copper ground plane for efficient heat sinking. Controls the direction of motor current at outputs MA1 and MB1. Motor current flows from MA1 to MB1 when Phase1 is HIGH. Current decay control, channel 1. A logic HIGH on this input results in slow current decay, a LOW results in fast current decay, see “Functional Description.” Reference voltage, channel 1. Controls the threshold voltage for the comparator and hence the output current. Input resistance is typically 2.5 kohms, ±20%. Comparator input channel 1. This input senses the instantaneous voltage across the sensing resistor, filtered by an RC network. The threshold voltage for the comparator is (0.450 / 2.5) • VR1, i.e. 450 mV at VR1 = 2.5 V. Logic voltage supply, nominally +5 V. 13 12 23 RC 14 13 24 C2 15 14 25 VR2 16 15 26 CD2 17 16 27 Phase2 20 21 22 23 19 20 21 22 4 5 6 7 MA2 VMM2 E2 MB2 4 Clock oscillator RC pin. Connect a 15 kohm resistor to VCC and a 3300 pF capacitor to ground to obtain the nominal switching frequency of 26.5 kHz. Comparator input channel 2. This input senses the instantaneous voltage across the sensing resistor, filtered by an RC network. The threshold voltage for the comparator is (0.450 / 2.5) • VR1, i.e. 450 mV at VR1 = 2.5 V. Reference voltage, channel 2. Controls the threshold voltage for the comparator and hence the output current. Input resistance is typically 2.5 kohms, ±20%. Current decay control, channel 2. A logic HIGH on this input results in slow current decay, a LOW results in fast current decay, see “Functional Description.” Controls the direction of motor current at outputs MA2 and MB2. Motor current flows from MA2 to MB2 when Phase2 is HIGH. Motor output A, channel 2. Motor current flows from MA2 to MB2 when Phase2 is HIGH. Motor supply voltage, channel 2, 10 to 40 V. VMM1 and VMM2 should be connected together. Common emitter, channel 2. This pin connects to a sensing resistor to ground. Motor output B, channel 2. Motor current flows from MA2 to MB2 when Phase2 is HIGH. PBL 3771/1 Functional Description Each channel of the PBL 3771/1 consists of the following sections: an H-bridge output stage, capable of driving up to 650 mA continuous motor current (or 500 mA, both channels driven), a logic section that controls the output transistors, an S-R flip-flop, and two comparators. The oscillator is common to both channels. Constant current control is achieved by switching the current to the windings. This is done by sensing the (peak) voltage across a current-sensing resistor, RS, effectively connected in series with the motor winding, and feeding that voltage back to a comparator. When the motor current reaches a threshold level, determined by the voltage at the reference input, VR, the comparator resets the flip-flop, which turns off the output transistors. The current decreases until the clock oscillator triggers the flip-flop, which turns on the output transistors again, and the cycle is repeated. Applications Information The current-decay rate during the turn-off portion of the switching cycle, can be selected fast or slow by the CD input. In slow current-decay mode, only one of the lower transistors in the H-bridge (those closest to the negative supply) is switched on and off, while one of the upper transistors is held constantly on. During turn-off, the current recirculates through the upper transistor (which one depends on current direction) and the corresponding free-wheeling diode connected to VMM, see figure 5. In fast current decay mode, both the upper and lower transistors are switched. During the off-time, the freewheeling current is opposed by the supply voltage, causing a rapid discharge of energy in the winding. Fast current decay may be required in half- and microstepping applications when rapid changes of motor current are necessary. Slow current decay, however, gives less current ripple, and should always be selected, if possible, to mini-mize core losses and switching noise. Current control The output current to the motor winding is mainly determined by the voltage at the reference input and the value of the sensing resistor, RS. Chopping frequency, winding inductance, and supply voltage will affect the current level, but to much less extent. Fast current decay setting will produce somewhat lower (average) current than slow current decay. The peak current through the sensing resistor (and motor winding) can be expressed as: IM,peak = 0.18 • (VR / RS) i.e., with a recommended value of 1 ohm for the sensing resistor, RS, a 2.5 V reference voltage will produce an output current of approximately 450 mA. To improve noise immunity on the VR input, the control range may be increased to 5 volts if RS is correspondingly changed to 2 ohms. V MM V CC (+5 V) 2 1 [A] + 0.1 mF 0.1 mF 11 V 7 V R1 3 16 +5 V 15 kW 3 300 pF FAST Current Decay GND (V CC ) 4 MB1 1 PBL 3771/1 V R2 RC GND 12 3 MA1 MA2 CD 2 14 2 MM2 Phase 2 15 1 MM1 CD1 9 Motor Current CC 20 V Phase 1 8 Rs 3 V 5, 6, 17, 18 MB2 C1 E1 2 10 C2 19 22 STEPPER MOTOR E2 21 13 1 kW 1 kW 820 pF 1.0 W 10 mF Pin numbers refer to DIL package. 820 pF RS 1.0 W RS GND (V MM ) Time SLOW Current Decay Figure 5. Output stage with current paths during turn -on, turn-off and phase shift. Figure 6. Typical stepper motor application with PBL 3771/1. 5 PBL 3771/1 External components The voltage across the sensing resistor is fed back to the comparator via a lowpass filter section, to prevent erroneous switching due to switching transients. The recommended filter component values, 1 kohm and 820 pF, are suitable for a wide range of motors and operational conditions. Since the low-pass filtering action introduces a small delay of the signal to the comparator, peak voltage across the sensing resistor, and hence the peak motor current, will reach a slightly higher level than the threshold, VC, set by the reference voltage (VC = 450 mV @VR = 2.5 V). The time constant of the low-pass filter may therefore be reduced to minimize the delay and optimize low-current performance, especially if a low (12 V) supply voltage is used. Increasing the time constant may result in unstable switching. The frequency of the clock oscillator is set by the R-C combination at pin RC. The recommended values give a nominal frequency of 26.5 kHz. A lower frequency will result in higher current ripple and may cause audible noise from the motor, while increasing the frequency results in higher switching losses and possibly increased iron losses in the motor. The sensing resistor, RS, should be selected for maximum motor current. The relationship between peak motor current, reference voltage and the value of RS is described under “Current control” above. Be sure not to exceed the maximum output current which is 650 mA per channel (or 500 mA per channel, both channels fully on, see “Recommended Operating Conditions”). occur if the chopping duty cycle exceeds approximately 50%. To avoid this, it is necessary to choose a motor with a low winding resistance. Low winding resistance means less inductance and will therefore enable higher stepping rates, however it also means less torque capability. A compromise has to be made. Choose a motor with the lowest possible winding resistance that still gives the required torque and use as high supply voltage as possible without exceeding the maximum recommended 40 V. Check that the chopping duty cycle does not exceed 50% at maximum current. Since the PBL 3771/1 produces a regulated, constant output current it is not necessary to use a motor that is rated at the same voltage as the actual supply voltage. Only rated current needs to be considered. Typical motors to be used together with the PBL 3771/1 have voltage ratings of 5 to 12 V, while the supply voltage usually ranges from 24 to 40 V. Motor selection The PBL 3771/1 is designed for bipolar motors, i.e., motors that have only one winding per phase. A unipolar motor, having windings with a center tap, can also be used, see figure 14. The chopping principle in the PBL 3771/1 is based on a constant frequency and a varying duty cycle. This scheme imposes certain restrictions on motor selection. Unstable chopping can V MM V CC (+5 V) + 0.1 µF 0.1 µF 11 5 14 V V DD D0 Sign1 CD1 7 To µP +2.5V 15 16 6 17 22 1 D7 PBM 3960/1 A0 A1 WR CS RESET V Ref DA1 Sign2 CD2 V SS DA2 3 7 4 8 2 9 20 16 19 15 21 14 MM1 MM2 CD1 V R1 MA1 4 MB1 1 PBL 3771/1 MA2 Phase 2 CD 2 V R2 RC GND +5 V 15 kΩ 3 300 pF GND (V CC ) Figure 7. Microstepping system with PBM 3960 /1 and PBL 3771/1. 6 CC 20 V Phase 1 12 18 3 V 5, 6, 17, 18 MB2 C1 E1 2 10 C2 22 STEPPER MOTOR E2 1 kΩ 820 pF 820 pF RS 19 21 13 1 kΩ 1.0 Ω 10 µF 1.0 Ω Pin numbers refer to DIL package. RS GND (V MM) PBL 3771/1 General Phase inputs. A logic HIGH on a Phase input gives positive current flowing out from MA into MB. A logic LOW gives a current in the opposite direction. Slow/fast current decay. A logic HIGH on the CD input gives slow current decay, a logic LOW gives fast current decay. Heat sinking. Soldering the four center pins onto a free PCB copper area of 20 cm2 (approx. 1.8" x 1.8", copper foil thickness = 35 µm) permits the circuit to operate with a maximum of 320 mA output current, both channels driving, at ambient temperatures up to +70°C. Consult figures 12 and 13 in order to determine the necessary copper area for heat sinking if higher currents are required. Vd (V) VCE Sat (V) Tj = 25°C 1.0 1.2 .8 1.0 Tj = 125°C .6 .8 .4 .6 .2 .4 0 0 .10 .20 .30 .40 .50 .2 .60 Tj = 25°C Tj = 125°C 0 .10 .20 IM (A) Figure 8. Typical upper diode voltage drop vs. recirculating current. Thermal shutdown. The circuit is equipped with a thermal shutdown function that reduces the output current at chip temperatures above +160°C. .40 .50 .60 Figure 9. Typical source saturation voltage vs. output current. VCE Sat (V) Vd (V) Tj = 25°C 1.0 1.0 Operating temperature. The max recommended operating temperature is 125°C. This gives an estimated lifelength of about 5 years at continous drive, A change of ±10° would increase/decrease the lifelength of the circuit with about 5 years. .30 I M (A) Tj = 25°C .8 .8 Tj = 125°C .6 .6 .4 .4 .2 .2 00 .10 .20 .30 .40 .50 Tj = 125°C 0 .60 .10 .20 .30 .40 .50 .60 I M (A) I M (A) Figure 10. Typical lower diode voltage drop vs. recirculating current. Figure 11 Typical sink saturation voltage vs. output current. PD (W) 3.0 VMM = 36V 2.0 VMM = 14V 1.0 00 .10 Max allow power dis .20 .30 .40 .50 .60 I M (A) Figure 12. Power dissipation vs. motor current, both channels driven, Ta = 25°C. 7 PBL 3771/1 Thermal resistance [°C/W] 80 70 22-pin DIP 60 50 24-pin SO 40 30 20 5 10 15 20 25 30 28-pin PLCC 35 PCB copper foil area [cm 2 ] PLCC package DIP package Figure 13. Thermal Resistance vs. PC Board copper area and suggested layout. Best for high speed Best for high torque PBL 3771/1 PBL 3771/1 Figure 14. Connection of unipolar motors. Information given in this data sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of Ericsson Components. These products are sold only according to Ericsson Components' general conditions of sale, unless otherwise confirmed in writing. Specifications subject to change without notice. 1522-PBL 3771/1 Uen. Rev B © Ericsson Components AB 1999 Ericsson Components AB SE-164 81 Kista-Stockholm, Sweden Telephone: +46 8 757 50 00 8 Ordering Information Package DIP Tube PLCC Tube PLCC Tape & Reel SO tube SO Tape & Reel Part No. PBL 3771/1NS PBL 3771/1QNS PBL 3771/1QNT PBL 3771/1SOS PBL 3771/1SOT