Order this document by SAA1042/D The SAA1042 drives a two–phase stepper motor in the bipolar mode. The device contains three input stages, a logic section and two output stages. The IC is contained in a 16 pin dual–in–line heat tab plastic package for improved heatsinking capability. The center four ground pins are connected to the copper alloy heat tab and improve thermal conduction from the die to the circuit board. • Drive Stages Designed for Motors: 6.0 V and 12 V: SAA1042V • • • • • • • STEPPER MOTOR DRIVER SEMICONDUCTOR TECHNICAL DATA 500 mA/Coil Drive Capability Built–In Clamp Diodes for Overvoltage Suppression Wide Logic Supply Voltage Range Accepts Commands for CW/CCW and Half/Full Step Operation Inputs Compatible with Popular Logic Families: MOS, TTL, DTL Set Input Defined Output State Drive Stage Bias Adaptable to Motor Power Dissipation for Optimum Efficiency 16 1 V SUFFIX PLASTIC PACKAGE CASE 648C PIN CONNECTIONS L2 1 16 L3 VD 2 15 VM L1 3 14 L4 4 13 5 12 Set/ Driver Bias Clock 6 11 VCC 7 10 CW/CCW Full/Half Step 8 9 Figure 1. Representative Block Diagram VZ VCC VM 15 11 Gnd VD 2 3 7 L1 Clock Driver M 1 10 CW/CCW L2 Gnd Gnd (Top View) Logic 16 L3 8 Full/ Half Step Driver 14 L4 ORDERING INFORMATION 9 Gnd 6 Driver Bias RB Set Device Operating Temperature Range Package SAA1042V TJ = – 30° to +125°C Plastic DIP A Motorola, Inc. 1996 MOTOROLA ANALOG IC DEVICE DATA Rev 2 1 SAA1042 MAXIMUM RATINGS (TA = 25°C, unless otherwise noted.) Symbol SAA1042V Unit Clamping Voltage (Pins 1, 3, 14, 16) Rating Vclamp 20 V Over Voltage (VOV = Vclamp – VM) VOV 6.0 V Supply Voltage VCC 20 V Switching or Motor Current/Coil Input Voltage (Pins 7, 8, 10) IM 500 mA Vin clock Vin Full/Half Vin CW/CCW VCC V PD θJA θJC 2.0 80 15 W °C/W TJ –30 to +125 °C Tstg –65 to +150 °C Power Dissipation (Note 1) Thermal Resistance, Junction–to–Air Thermal Resistance, Junction–to–Case Operating Junction Temperature Range Storage Temperature Range NOTE: 1. The power dissipation (PD) of the circuit is given by the supply voltage (VM and VCC) and the motor current (IM), and can be determined from Figures 3 and 5. PD = Pdrive – Plogic. ELECTRICAL CHARACTERISTICS (TA = 25°C, unless otherwise noted.) Characteristics Pin(s) Symbol VCC Min Typ Max Unit Supply Current 11 ICC 5.0 V 20 V — — — — 3.5 8.5 mA Motor Supply Current (IPin 6 = –400 µA, Pins 1, 3, 14, 16 Open) VM = 6.0 V VM = 12 V VM = 24 V 15 IM Input Voltage, High State 7, 8, 10 Input Voltage, Low State Input Reverse Current, High State (Vin = VCC) 7, 8, 10 Input Forward Current, Low State (Vin = Gnd) mA 5.0 V 5.0 V 5.0 V — — — 25 30 40 — — — VIH 5.0 V 10 V 15 V 20 V 2.0 7.0 10 14 — — — — — — — — VIL 5.0 V 10 V 15 V 20 V — — — — — — — — 0.8 1.5 2.5 3.5 IIR 5.0 V 10 V 15 V 20 V — — — — — — — — 2.0 2.0 3.0 5.0 IIF 5.0 V 10 V 15 V 20 V –10 –25 –40 –50 — — — — — — — — VOH 5.0 – 20 V — — VM – 2.0 VM – 1.2 — — — — 0.7 0.2 — — V µA Output Voltage, High State (VM = 12 V) Iout = –500 mA Iout = –50 mA Output Voltage, Low State Iout = 500 mA Iout = 50 mA 1, 3, 14, 16 Output Leakage Current, Pin 6 = Open (VM = VD = Vclamp max) 1, 3, 14, 16 IDR 5.0 – 20 V –100 — — µA Clamp Diode Forward Voltage (Drop at IM = 500 mA) 2 — — 2.5 3.5 V Clock Frequency 7 VF fc 5.0 – 20 V 0 — 50 kHz Clock Pulse Width 7 tw 5.0 – 20 V 10 — — µs Set Pulse Width 6 ts — 10 — — µs Set Control Voltage, High State Set Control Voltage, Low State 6 — — VM — — — — 0.5 V 2 VOL 5.0 – 20 V V MOTOROLA ANALOG IC DEVICE DATA SAA1042 INPUT/OUTPUT FUNCTIONS Clock — (Pin 7) This input is active on the positive edge of the clock pulse and accepts Logic ‘1’ input levels dependent on the supply voltage and includes hysteresis for noise immunity. CW/CCW — (Pin 10) This input determines the motor’s rotational direction. When the input is held low, (OV, see the electrical characteristics) the motor’s direction is nominally clockwise (CW). When the input is in the high state, Logic ‘1’, the motor direction is nominally counter clockwise (CCW), depending on the motor connections. Full/Half Step — (Pin 8) This input determines the angular rotation of the motor for each clock pulse. In the low state, the motor will make a full step for each applied clock pulse, while in the high state, the motor will make half a step. VD — (Pin 2) This pin is used to protect the outputs (1, 3,14, 16) where large positive spikes occur due to switching the motor coils. The maximum allowable voltage on these pins is the clamp voltage (Vclamp). Motor performance is improved if a zener diode is connected between Pin 2 and 15, as shown in Figure 1. The following conditions have to be considered when selecting the zener diode: Vclamp = VM + 6.0 V VZ = Vclamp – VM – VF where: VF = clamp diodes forward voltage drop VF = (see Figure 4) Vclamp: ≤ 20 V for SAA1042V ≤ 30 V for Vclamp: SAA1042AV Pins 2 and 15 can be linked, in this case VZ = 0 V. Set/Bias Input — (Pin 6) This input has two functions: 1) The resistor RB adapts the drivers to the motor current. 2) A pulse via the resistor RB sets the outputs (1, 3, 14, 16) to a defined state. The resistor RB can be determined from the graph of Figure 2 according to the motor current and voltage. Smaller values of RB will increase the power dissipation of the circuit and larger values of RB may increase the saturation voltage of the driver transistors. When the “set” function is not used, terminal A of the resistor RB must be grounded. When the set function is used, terminal A has to be connected to an open–collector (buffer) circuit. Figure 7 shows this configuration. The buffer circuit (off–state) has to sustain the motor voltage (VM). When a MOTOROLA ANALOG IC DEVICE DATA pulse is applied via the buffer and the bias resistor (RB), the motor driver transistors are turned off during the pulse and after the pulse has ended, the outputs will be in defined states. Figure 6 shows the Timing Diagram. Figure 7 illustrates a typical application in which the SAA1042 drives a 12 V stepper motor with a current consumption of 200 mA/coil. A bias resistor (RB) of 56 kΩ is chosen according to Figure 2. The maximum voltage permitted at the output pin is VM + 6.0 V (see Maximum Ratings table), in this application VM = 12 V, therefore the maximum voltage is 18 V. The outputs are protected by the internal diodes and an external zener connected between Pins 2 and 15. From Figure 4, it can be seen that the voltage drop across the internal diodes is about 1.7 V at 200 mA. This results in a zener voltage between Pins 2 and 15 of: VZ = 6.0 V – 1.7 V = 4.3 V. To allow for production tolerances and a safety margin, a 3.9 V zener has been chosen for this example. The clock is derived from the line frequency which is phase–locked by the MC14046B and the MC14024. The voltage on the clock input is normally low (Logic ‘0’). The motor steps on the positive going transition of the clock pulse. The Logic ‘0’ applied to the Full/Half input (Pin 8) operates the motor in Full Step mode. A Logic ‘1’ at this input will result in Half Step mode. The logic level state on the CW/CCW input (Pin 10), and the connection of the motor coils to the outputs determines the rotational direction of the motor. These two inputs should be biased to a Logic ‘0’ or ‘1’ and not left floating. In the event of non–use, they should be tied to ground or the logic supply line, VCC. The output drivers can be set to a fixed operating point by use of the Set input and a bias resistor, RB. A positive pulse to this input turns the drivers off and sets the logic state of the outputs. After the negative going transition of the Set pulse, and until the first positive going transition of the clock, the outputs will be: L1 = L3 = high and L2 = L4 = low, (see Figure 6). The Set input can be driven by a MC14007B or a transistor whose collector resistor is RB. If the input is not used, the bottom of RB must be grounded. The total power dissipation of the circuit can be determined from Figures 3 and 5: PD = 0.9 W + 0.08 W = 0.98 W. The junction temperature can then be computed using Figure 8. 3 SAA1042 Figure 2. Bias Resistor RB versus Motor Current Figure 3. Drive Stage Power Dissipation 500 DRIVE STAGE POWER DISSIPATION (W) R B BIAS RESISTOR (k Ω ) 300 200 VM = 12 V 100 70 VM = 24 V 50 VM = 6.0 V 30 20 10 0 20 30 40 50 60 80 100 200 5.0 4.0 3.0 VM = 24 V VM = 12 V VM = 6.0 V 2.0 1.0 0.7 0.5 0.3 0.2 0.1 300 400 500 20 0 MOTOR CURRENT/COIL (mA) Figure 4. Clamp Diode Forward Current versus Forward Voltage 30 50 70 100 200 MOTOR CURRENT/COIL (mA) 300 400 500 Figure 5. Power Dissipation versus Logic Supply Voltage 500 500 PD , POWER DISSIPATION (mV) FORWARD CURRENT (mA) 300 400 200 300 100 200 100 70 50 30 20 10 0 0 1.0 2.0 3.0 4.0 5.0 0 5.0 VF , FORWARD VOLTAGE (V) 10 15 20 25 VCC , SUPPLY VOLTAGE (V) Figure 6. Timing Diagram Full Step Motor Drive Mode. Full/Half Step Input = 0 Clock Set CW/CCW L1 L2 L3 L4 Don’t Care High Output Impedance Half Step Motor Drive Mode. Full/Half Step Input = 1 Clock Set CW/CCW L1 L2 L3 L4 4 MOTOROLA ANALOG IC DEVICE DATA SAA1042 Figure 7. Typical Application Selectable Step Rates with the Time Base Derived from the Line Frequency 220 k 14 16 MC14046B 14 50 Hz 0.1 µF Phase Comp 1 5 4 VCO 2 3 9 11 6 MC14024 15 220 V 1 7 3 2 4.7 nF Steps/Sec 12.5 100 9 200 7 12 11 15 8 Full Half 25 4 5 6 11 82 k 8.2 µF 12 V 12 V VZ = 3.9 V 12 V 50 Clock 7 SAA1042 12 V 2 3 1 M 16 400 CW CCW 800 10 9 120 k 14 6 RB 56 k f0 = 1400 Hz Set Input 3 Set 5 MC14007 100 5.0 JUNCTION–TO–AIR (° C/W) R θJA , THERMAL RESISTANCE Printed circuit board heatsink example 80 L RθJA 60 4.0 2.0 oz Copper L 3.0 mm Graph represents symmetrical layout 3.0 40 2.0 1.0 PD(max) for TA = 70°C 20 0 0 MOTOROLA ANALOG IC DEVICE DATA 10 30 20 L, LENGTH OF COPPER (mm) 40 50 0 PD(max), MAXIMUM POWER DISSIPATION (W) Figure 8. Thermal Resistance and Maximum Power Dissipation versus P.C.B. Copper Length 5 SAA1042 OUTLINE DIMENSIONS V SUFFIX PLASTIC PACKAGE CASE 648C–03 ISSUE C NOTES: 1. DIMENSIONING AND TOLERANCING PER ANSI Y14.5M, 1982. 2. CONTROLLING DIMENSION: INCH. 3. DIMENSION L TO CENTER OF LEADS WHEN FORMED PARALLEL. 4. DIMENSION B DOES NOT INCLUDE MOLD FLASH. 5. INTERNAL LEAD CONNECTION BETWEEN 4 AND 5, 12 AND 13. –A– 16 9 1 8 –B– L NOTE 5 C –T– M N SEATING PLANE F E J G D 16 PL 0.13 (0.005) 16 PL 0.13 (0.005) T A M M T B DIM A B C D E F G J K L M N INCHES MIN MAX 0.740 0.840 0.240 0.260 0.145 0.185 0.015 0.021 0.050 BSC 0.040 0.70 0.100 BSC 0.008 0.015 0.115 0.135 0.300 BSC 0_ 10_ 0.015 0.040 MILLIMETERS MIN MAX 18.80 21.34 6.10 6.60 3.69 4.69 0.38 0.53 1.27 BSC 1.02 1.78 2.54 BSC 0.20 0.38 2.92 3.43 7.62 BSC 0_ 10_ 0.39 1.01 S S Motorola reserves the right to make changes without further notice to any products herein. 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