TI1 DRV10975Z 12-v, three-phase, sensorless bldc motor driver Datasheet

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DRV10975, DRV10975Z
SLVSCP2E – JANUARY 2015 – REVISED MAY 2018
DRV10975 12-V, Three-Phase, Sensorless BLDC Motor Driver
1 Features
3 Description
•
•
•
The DRV10975 device is a three-phase sensorless
motor driver with integrated power MOSFETs, which
can provide continuous drive current up to 1.5 A. The
device is specifically designed for cost-sensitive, lownoise, low-external-component-count applications.
1
•
•
•
•
•
•
•
•
•
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Input Voltage Range: 6.5 to 18 V
Total Driver H + L rDS(on): 250 mΩ
Drive Current: 1.5-A Continuous Winding Current
(2-A Peak)
Sensorless Proprietary Back Electromotive Force
(BEMF) Control Scheme
Continuous Sinusoidal 180° Commutation
No External Sense Resistor Required
For Flexibility User May Include External Sense
Resistor to Monitor Power Delivered to Motor
Flexible User Interface Options:
– I2C Interface: Access Registers for Command
and Feedback
– Dedicated SPEED Pin: Accepts Either Analog
or PWM Input
– Dedicated FG Pin: Provides TACH Feedback
– Spin-Up Profile Customizable With EEPROM
– Forward-Reverse Control With DIR Pin
Integrated Step-Down Regulator to Efficiently
Provide Voltage (5 V or 3.3 V) for Internal and
External Circuits
Supply Current 4.5 mA With Standby Version
(DRV10975)
Supply Current 80 μA With Sleep Version
(DRV10975Z)
Overcurrent Protection
Lock Detection
Voltage Surge Protection
UVLO Protection
Thermal Shutdown Protection
Thermally-Enhanced 24-Pin HTSSOP
The DRV10975 device uses a proprietary sensorless
control scheme to provide continuous sinusoidal
drive, which significantly reduces the pure tone
acoustics that typically occur as a result of
commutation. The interface to the device is designed
to be simple and flexible. The motor can be controlled
directly through PWM, analog, or I2C inputs. Motor
speed feedback is available through either the FG pin
or I2C.
The DRV10975 device features an integrated stepdown regulator to efficiently step down the supply
voltage to either 5 or 3.3 V for powering both internal
and external circuits. The device is available in either
a sleep mode or a standby mode version to conserve
power when the motor is not running. The standby
mode (4.5-mA) version leaves the regulator running
and the sleep mode (80-µA) version shuts it off. Use
the standby mode version in applications where the
regulator is used to power an external microcontroller.
Device Information(1)
PART NUMBER
PACKAGE
DRV10975
DRV10975Z
BODY SIZE (NOM)
HTSSOP (24)
7.80 mm × 6.40 mm
VQFN (24)
5.00 mm × 4.00 mm
HTSSOP (24)
7.80 mm × 6.40 mm
VQFN (24)
5.00 mm × 4.00 mm
(1) For all available packages, see the orderable addendum at
the end of the data sheet.
Application Schematic
VCC
10 µF
0.1 µF
2 Applications
0.1 µF
•
•
Appliance Fan
HVAC
10 µF
3.3 V or 5 V
39 W
1 µF
1 µF
Interface to
Microcontroller
1
VCP
VCC 24
2
CPP
VCC 23
3
CPN
W 22
4
SW
W 21
5
SWGND
V 20
6
VREG
V 19
7
V1P8
U 18
8
GND
U 17
9
V3P3
PGND 16
PGND 15
10
SCL
11
SDA
12
FG
M
DIR 14
SPEED 13
Copyright © 2016, Texas Instruments Incorporated
1
An IMPORTANT NOTICE at the end of this data sheet addresses availability, warranty, changes, use in safety-critical applications,
intellectual property matters and other important disclaimers. PRODUCTION DATA.
DRV10975, DRV10975Z
SLVSCP2E – JANUARY 2015 – REVISED MAY 2018
www.ti.com
Table of Contents
1
2
3
4
5
6
7
Features ..................................................................
Applications ...........................................................
Description .............................................................
Revision History.....................................................
Description (continued).........................................
Pin Configuration and Functions .........................
Specifications.........................................................
7.1
7.2
7.3
7.4
7.5
7.6
8
1
1
1
2
4
4
6
Absolute Maximum Ratings ...................................... 6
ESD Ratings.............................................................. 6
Recommended Operating Conditions....................... 7
Thermal Information .................................................. 7
Electrical Characteristics........................................... 8
Typical Characteristics ............................................ 11
Detailed Description ............................................ 12
8.1
8.2
8.3
8.4
Overview .................................................................
Functional Block Diagram .......................................
Feature Description.................................................
Device Functional Modes........................................
12
13
14
17
8.5 Register Maps ......................................................... 42
9
Application and Implementation ........................ 48
9.1 Application Information............................................ 48
9.2 Typical Application .................................................. 48
10 Power Supply Recommendations ..................... 50
11 Layout................................................................... 50
11.1 Layout Guidelines ................................................. 50
11.2 Layout Example .................................................... 51
12 Device and Documentation Support ................. 53
12.1
12.2
12.3
12.4
12.5
12.6
12.7
Device Support ....................................................
Documentation Support ........................................
Trademarks ...........................................................
Electrostatic Discharge Caution ............................
Receiving Notification of Documentation Updates
Community Resources..........................................
Glossary ................................................................
53
53
53
53
53
53
53
13 Mechanical, Packaging, and Orderable
Information ........................................................... 53
4 Revision History
NOTE: Page numbers for previous revisions may differ from page numbers in the current version.
Changes from Revision D (March 2018) to Revision E
Page
•
Deleted "Adv. Info" from the VFQN package for both devices in the Device Information table............................................. 1
•
Deleted the ADVANCE INFORMATION notation from the pinout drawing of the RHF package........................................... 5
•
Deleted the ADVANCE INFORMATION table note from the Pin Functions table ................................................................. 5
•
Changed ESD rating for RHF (VQFN) to match PWP (HTSSOP) package .......................................................................... 6
•
Deleted "Advance Info." from the RHF (VQFN) column of the Thermal Information table .................................................... 7
•
Changed time taken to drive motor after exiting from sleep mode from microseconds to milliseconds ................................ 9
•
Changed text from BRKDontThr[2:0] to BRKDoneThr[2:0] to match actual register name ................................................. 23
•
Changed the caption for Figure 42....................................................................................................................................... 51
•
Added a layout diagram for the VQFN package .................................................................................................................. 52
Changes from Revision C (February 2018) to Revision D
Page
•
Added a new package to the Device Information table.......................................................................................................... 1
•
Added pin configuration diagram for RHF package ............................................................................................................... 5
•
Added pin number information for RHF package to the Pin Functions table ........................................................................ 5
•
Added ESD ratings for the RHF (VQFN) package ................................................................................................................ 6
•
Added a column to the Thermal Information table for the RHF package............................................................................... 7
•
Added timing information for entering and exiting sleep mode and standby mode ............................................................... 9
Changes from Revision B (December 2017) to Revision C
Page
•
Added BEMF COMPARATOR hysteresis specification ....................................................................................................... 10
•
Updated Start the Motor Under Different Initial Conditions figure ........................................................................................ 21
•
Changed the default value for register address 0x27 from 0xFC to 0xF4 in the Default EEPROM Value table ................. 43
•
Deleted the "TI recommends..." sentence from the description for address 0x27, bit 3 ...................................................... 46
2
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•
SLVSCP2E – JANUARY 2015 – REVISED MAY 2018
Added constraints to recommended external inductor ......................................................................................................... 49
Changes from Revision A (March 2017) to Revision B
Page
•
Specified the drive current as continuous winding current in the Features............................................................................ 1
•
Changed the rDS(on) maximum value from 1 Ω to 0.4 Ω and added typical value in the Electrical Characteristics table ....... 8
•
Added the internal SPEED pin pulldown resistance to ground parameter to the Electrical Characteristics table ................. 9
•
Changed the Step-Down Regulator section ......................................................................................................................... 14
•
Updated the Motor Phase Resistance section ..................................................................................................................... 17
•
Deleted the Inductive AVS Function section ........................................................................................................................ 37
•
Changed the default value for register address 0x29 from 0xB7 to 0xB8 in the Default EEPROM Value table ................. 43
•
Added application information for the sleep mode device ................................................................................................... 48
Changes from Original (January 2015) to Revision A
Page
•
Added the DRV10975Z part number to the data sheet header and to the Device Information table .................................... 1
•
Corrected the link to the DRV10983 and DRV10975 Tuning Guide .................................................................................... 17
•
Added text to the PWM Output section ................................................................................................................................ 37
•
Changed Figure 36............................................................................................................................................................... 38
•
Changed "FGOLSet[1:0]" to "FGOLsel[1:0]" in Register Map address 0x2B....................................................................... 42
•
Changed Supply Voltage regiser description ....................................................................................................................... 44
•
Added recommended minimum dead time to SysOpt7 register........................................................................................... 47
•
Added External Components table ...................................................................................................................................... 49
•
Changed the link to the DRV10983 and DRV10975 Tuning Guide ..................................................................................... 49
•
Changed the layout example................................................................................................................................................ 51
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DRV10975, DRV10975Z
SLVSCP2E – JANUARY 2015 – REVISED MAY 2018
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5 Description (continued)
An I2C interface allows the user to reprogram specific motor parameters in registers and program the EEPROM
to help optimize the performance for a given application. The DRV10975 device is available in a thermally
efficient HTSSOP, 24-pin package with an exposed thermal pad. The operating temperature is specified from
–40°C to 125°C.
6 Pin Configuration and Functions
PWP PowerPAD™ Package
24-Pin HTSSOP With Exposed Thermal Pad
Top View
VCP
1
24
VCC
CPP
2
23
VCC
CPN
3
22
W
SW
4
21
W
SWGND
5
20
V
VREG
6
19
V
Thermal pad (GND)
V1P8
7
18
U
GND
8
17
U
V3P3
9
16
PGND
SCL
10
15
PGND
SDA
11
14
DIR
FG
12
13
SPEED
Not to scale
4
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CPN
CPP
VCP
VCC
VCC
24
23
22
21
20
RHF Package
24-Pin VQFN With Exposed Thermal Pad
Top View
SW
1
19
W
SWGND
2
18
W
VREG
3
17
V
16
V
Thermal
V1P8
4
GND
5
15
U
V3P3
6
14
U
SCL
7
13
PGND
12
PGND
11
DIR
10
SPEED
9
FG
SDA
8
Pad
Not to scale
Pin Functions
PIN
NAME
TYPE (1)
NO.
DESCRIPTION
HTSSOP
VQFN
3
24
P
Charge pump pin 1, use a ceramic capacitor between CPN and CPP.
CPP
2
23
P
Charge pump pin 2, use a ceramic capacitor between CPN and CPP.
DIR
14
11
I
Direction
FG
12
9
O
FG signal output
GND
8
5
—
Digital and analog ground
CPN
PGND
15, 16
12, 13
P
Power ground
SCL
10
7
I
I2C clock signal
SDA
11
8
I/O
I2C data signal
SPEED
13
10
I
Speed control signal for PWM or analog input speed command
SW
4
1
O
Step-down regulator switching node output
SWGND
5
2
P
Step-down regulator ground
U
17, 18
14, 15
O
Motor U phase
V
19, 20
16, 17
O
Motor V phase
V1P8
7
4
P
Internal 1.8-V digital core voltage. V1P8 capacitor must connect to GND. This is an output,
but not specified to drive external loads.
V3P3
9
6
P
Internal 3.3-V supply voltage. V3P3 capacitor must connect to GND. This is an output and
may drive external loads not to exceed IV3P3_MAX.
VCC
23, 24
20, 21
P
Device power supply
VCP
1
22
P
Charge pump output
VREG
6
3
P
Step-down regulator output and feedback point
21, 22
18, 19
O
Motor W phase
W
(1)
I = Input, O = Output, I/O = Input/output, P = Power
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Pin Functions (continued)
PIN
NO.
NAME
HTSSOP
VQFN
—
—
Thermal
pad (GND)
TYPE (1)
DESCRIPTION
—
The exposed thermal pad must be electrically connected to ground plane through soldering
to PCB for proper operation and connected to bottom side of PCB through vias for better
thermal spreading.
7 Specifications
7.1 Absolute Maximum Ratings
over operating ambient temperature (unless otherwise noted) (1)
Input voltage (2)
MIN
MAX
VCC
–0.3
23
SPEED
–0.3
4
GND
–0.3
0.3
SCL, SDA
–0.3
4
DIR
UNIT
V
–0.3
4
U, V, W
–1
23
SW
–1
23
VREG
–0.3
7
FG
–0.3
4
VCP
–0.3
V(VCC) + 6
CPN
–0.3
23
CPP
–0.3
V(VCC) + 6
V3P3
–0.3
4
V1P8
–0.3
2.5
Maximum junction temperature, TJ_MAX
–40
150
°C
Storage temperature, Tstg
–55
150
°C
Output voltage (2)
(1)
(2)
V
Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings
only, which do not imply functional operation of the device at these or any other conditions beyond those indicated under Recommended
Operating Conditions. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
All voltage values are with respect to the network ground terminal unless otherwise noted.
7.2 ESD Ratings
VALUE
V(ESD)
(1)
(2)
6
Electrostatic
discharge
Human body model (HBM), per ANSI/ESDA/JEDEC JS-001, all pins (1)
±2500
Charged device model (CDM), per JEDEC specification JESD22-C101, all pins (2)
±1500
UNIT
V
JEDEC document JEP155 states that 500-V HBM allows safe manufacturing with a standard ESD control process.
JEDEC document JEP157 states that 250-V CDM allows safe manufacturing with a standard ESD control process.
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7.3 Recommended Operating Conditions
over operating ambient temperature range (unless otherwise noted)
Supply voltage
Voltage
MIN
NOM
MAX
6.5
12
18
VCC
U, V, W
–0.7
SCL, SDA, FG, SPEED, DIR
–0.1
PGND, GND
–0.1
3.3
3.6
V
0.1
100
Step-down regulator output current (linear mode)
0
V3P3 LDO output current
5
Operating junction temperature, TJ
V
19
Step-down regulator output current (buck mode)
Current
UNIT
–40
mA
125
°C
7.4 Thermal Information
DRV10975, DRV10975Z
THERMAL METRIC
RHF (VQFN)
PWP (HTSSOP)
24 PINS
24 PINS
UNIT
RθJA
Junction-to-ambient thermal resistance
30.9
36.1
°C/W
RθJC(top)
Junction-to-case (top) thermal resistance
22.6
17.4
°C/W
RθJB
Junction-to-board thermal resistance
10.4
14.8
°C/W
ψJT
Junction-to-top characterization parameter
0.2
0.4
°C/W
ψJB
Junction-to-board characterization parameter
10.4
14.5
°C/W
RθJC(bot)
Junction-to-case (bottom) thermal resistance
1.8
1.1
°C/W
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7.5 Electrical Characteristics
over operating ambient temperature range (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNIT
TA = 25°C; sleepDis = 1; SPEED = 0 V;
V(VCC) = 12 V; buck regulator
5
7
TA = 25°C; sleepDis = 1; SPEED = 0 V;
V(VCC) = 12 V; linear regulator
11
TA = 25°C; SPEED = 0 V; V(VCC) = 12 V;
standby mode device; buck regulator
4.5
TA = 25°C; SPEED = 0 V; V(VCC) = 12 V;
standby mode device; linear regulator
9
TA = 25°C; sleepDis = 1; SPEED = 0 V;
Vcc = 12 V; buck regulator
5
TA = 25°C; sleepDis = 1; SPEED = 0 V;
Vcc = 12 V; linear regulator
11
Sleep current
TA = 25°C; SPEED = 0 V; V(VCC) = 12 V;
sleep mode device
80
150
µA
VUVLO_R
UVLO threshold voltage
Rise threshold, TA = 25°C
5.2
5.6
6.5
V
VUVLO_F
UVLO threshold voltage
Fall threshold, TA = 25°C
5
5.5
5.8
V
VUVLO_HYS
UVLO threshold voltage
hysteresis
TA = 25°C
100
200
400
mV
V(VCC) = 12 V, TA = 25°C, VregSel = 0,
5-mA load
3
3.3
3.6
V(VCC) = 12 V, TA = 25°C, VregSel = 1,
V(VREG) < 3.3 V, 5-mA load
V(VREG) – 0.3
V(VREG) – 0.1
V(VREG)
V(VCC) = 12 V, TA = 25°C, VregSel = 1,
V(VREG) ≥ 3.3 V, 5-mA load
3
3.3
3.6
SUPPLY CURRENT (DRV10975)
IVcc
Supply current
IVccSTBY
Standby current
mA
6
mA
SUPPLY CURRENT (DRV10975Z)
IVcc
Supply current
IVccSLEEP
7
mA
UVLO
LDO OUTPUT
V3P3
IV3P3_MAX
Maximum load from V3P3
V1P8
V(VCC) = 12 V, TA = 25°C
5
V
mA
V(VCC) = 12 V, TA = 25°C, VregSel = 0
1.6
1.78
2
V(VCC) = 12 V, TA = 25°C, VregSel = 1
1.6
1.78
2
TA = 25˚C; VregSel = 0, LSW = 47 µH,
CSW = 10 µF, Iload = 50 mA
4.5
5
5.5
TA = 25˚C; VregSel = 1, LSW = 47 µH,
CSW = 10 µF, Iload = 50 mA
3.06
3.4
3.6
V
STEP-DOWN REGULATOR
VREG
Regulator output voltage
Regulator output voltage
(linear mode)
VREG_L
IREG_MAX
Maximum load from VREG
V
TA = 25°C, VregSel = 0, RSW = 39 Ω,
CSW = 10 µF
5
TA = 25°C, VregSel = 1, RSW = 39 Ω,
CSW = 10 µF
3.4
TA = 25°C, LSW = 47 µH, CSW = 10 µF
100
TA = 25˚C; V(VCC) = 12 V; V(VCP) = 17 V;
Iout = 1 A
0.25
V
mA
INTEGRATED MOSFET
rDS(on)
Series resistance (H + L)
0.4
Ω
SPEED – ANALOG MODE
VAN/A_FS
Analog full-speed voltage
V(V3P3) × 0.9
V
VAN/A_ZS
Analog zero-speed voltage
100
tSAM
Analog speed sample period
320
µs
VAN/A_RES
Analog voltage resolution
5.8
mV
mV
SPEED – PWM DIGITAL MODE
VDIG_IH
8
PWM input high voltage
2.2
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Electrical Characteristics (continued)
over operating ambient temperature range (unless otherwise noted)
PARAMETER
VDIG_IL
PWM input low voltage
ƒPWM
PWM input frequency
TEST CONDITIONS
MIN
TYP
1
MAX
UNIT
0.6
V
100
kHz
STANDBY MODE (DRV10975)
VEN_SB
Analog voltage-to-enter
standby mode
SpdCtrlMd = 0 (analog mode)
VEX_SB
Analog voltage-to-exit
standby
SpdCtrlMd = 0 (analog mode)
120
mV
tEX_SB_ANA
Time-to-exit from standby
mode
SpdCtrlMd = 0 (analog mode)
SPEED > VEX_SB
700
ms
Time taken to drive motor
after exiting from standby
mode
SpdCtrlMd = 0 (analog mode)
SPEED > VEX_SB; ISDen = 0;
BrkDoneThr[2:0] = 0
1
µs
tEX_SB_DR_ANA
tEX_SB_PWM
Time-to-exit from standby
mode
SpdCtrlMd = 1 (PWM mode)
SPEED > VDIG_IH
1
µs
tEX_SB_DR_PWM
Time taken to drive motor
after exiting from standby
mode
SpdCtrlMd = 1 (PWM mode)
SPEED > VDIG_IH; ISDen = 0; BrkDoneThr[2:0] = 0
55
ms
tEN_SB_ANA
Time-to-enter standby mode
SpdCtrlMd = 0 (analog mode)
SPEED < VEN_SB; AvSIndEn = 0
5
ms
tEN_SB_PWM
Time-to-enter standby mode
SpdCtrlMd = 1 (PMW mode)
SPEED < VDIG_IL; AvSIndEn = 0
60
ms
30
mV
SLEEP MODE (DRV10975Z)
VEN_SL
Analog voltage-to-enter
sleep
SpdCtrlMd = 0 (analog mode)
30
VEX_SL
Analog voltage-to-exit sleep
SpdCtrlMd = 0 (analog mode)
2.2
tEX_SL_ANA
Time-to-exit from sleep
mode
tEX_SL_DR_ANA
mV
3.3
V
SpdCtrlMd = 0 (analog mode)
SPEED > VEX_SL
1
µs
Time taken to drive motor
after exiting from sleep
mode
SpdCtrlMd = 0 (analog mode)
SPEED > VEX_SL; ISDen = 0;
BrkDoneThr[2:0] = 0
350
ms
tEX_SL_PWM
Time-to-exit from sleep
mode
SpdCtrlMd = 1 (PWM mode)
SPEED > VDIG_IH
1
µs
tEX_SL_DR_PWM
Time taken to drive motor
after exiting from sleep
mode
SpdCtrlMd = 1 (PWM mode)
SPEED > VDIG_IH; ISDen = 0; BrkDoneThr[2:0] = 0
350
ms
tEN_SL_ANA
Time-to-enter sleep mode
SpdCtrlMd = 0 (analog mode)
SPEED < VEN_SL; AvSIndEn = 0
5.2
ms
tEN_SL_PWM
Time-to-enter sleep mode
SpdCtrlMd = 1 (PMW mode)
SPEED < VDIG_IL; AvSIndEn = 0
58
ms
RPD_SPEED_SL
Internal SPEED pin pulldown
VSPEED = 0 (sleep mode)
resistance to ground
55
kΩ
2.2
V
DIGITAL I/O (DIR INPUT AND FG OUTPUT)
VDIR_H
Input high
VDIR_L
Input low
IFG_SINK
Output sink current
0.6
Vout = 0.3 V
5
V
mA
I2C SERIAL INTERFACE
VI2C_H
Input high
VI2C_L
Input low
2.2
V
0.6
V
LOCK DETECTION RELEASE TIME
tLOCK_OFF
Lock release time
tLCK_ETR
Lock enter time
5
s
0.3
s
OVERCURRENT PROTECTION
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Electrical Characteristics (continued)
over operating ambient temperature range (unless otherwise noted)
PARAMETER
IOC_limit
Overcurrent protection
TEST CONDITIONS
TA = 25˚C; phase to phase
MIN
TYP
MAX
UNIT
2
4
A
150
°C
10
°C
50
mV
THERMAL SHUTDOWN
TSDN
Shutdown temperature
threshold
Shutdown temperature
TSDN_HYS
Shutdown temperature
threshold
Hysteresis
BEMF COMPARATOR
BEMFHYS
10
BEMF comparator hysteresis bemfHsyEn = 1
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7.6 Typical Characteristics
12
6
Switching Regulator Output (V)
Supply Current (mA)
10
8
6
4
2
5
4
3
2
1
IVCC (linear regulator)
IVCC (buck regulator)
Vreg (VregSel = 0)
Vreg (VregSel = 1)
0
0
0
5
10
Power Supply (V)
15
20
0
D001
Figure 1. Supply Current vs Power Supply
5
10
Power Supply (V)
15
20
D002
Figure 2. Step-down Regulator Output vs Power Supply
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8 Detailed Description
8.1 Overview
The DRV10975 is a three-phase sensorless motor driver with integrated power MOSFETs, which provide drive
current capability up to 1.5 A continuous. The device is specifically designed for low-noise, low external
component count, 12-V motor drive applications. The device is configurable through a simple I2C interface to
accommodate different motor parameters and spin-up profiles for different customer applications.
A 180° sensorless control scheme provides continuous sinusoidal output voltages to the motor phases to enable
ultra-quiet motor operation by keeping the electrically induced torque ripple small.
The DRV10975 features extensive protection and fault detect mechanisms to ensure reliable operation. Voltage
surge protection prevents the input Vcc capacitor from overcharging, which is typical during motor deceleration.
The devices provides overcurrent protection without the need for an external current sense resistor. Rotor lock
detect is available through several methods. These methods can be configured with register settings to ensure
reliable operation. The device provides additional protection for undervoltage lockout (UVLO) and for thermal
shutdown.
The commutation control algorithm continuously measures the motor phase current and periodically measures
the VCC supply voltage. The device uses this information for BEMF estimation, and the information is also
provided through the I2C register interface for debug and diagnostic use in the system, if desired.
A buck step-down regulator efficiently steps down the supply voltage. The output of this regulator provides power
for the internal circuits and can also be used to provide power for an external circuit such as a microcontroller. If
providing power for an external circuit is not necessary (and to reduce system cost), configure the buck stepdown regulator as a linear regulator by replacing the inductor with resistor.
TI designed the interfacing to the DRV10975 to be flexible. In addition to the I2C interface, the system can use
the discrete FG pin, DIR pin, and SPEED pin. SPEED is the speed command input pin. It controls the output
voltage amplitude. DIR is the direction control input pin. FG is the speed indicator output, which shows the
frequency of the motor commutation.
EEPROM is integrated in the DRV10975 as memory for the motor parameter and operation settings. EEPROM
data transfers to the register after power on and exit from sleep mode.
The DRV10975 device can also operate in register mode. If the system includes a microcontroller communicating
through the I2C interface, the device can dynamically update the motor parameter and operation settings by
writing to the registers. In this configuration, the EEPROM data is bypassed by the register settings.
12
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8.2 Functional Block Diagram
SDA
I2C
Communication
SCL
Register
EEPROM
SW
3.3-/5-V StepDown Regulator
VREG
FG
SWGND
VCC
V3P3
3.3-V LDO
V1P8
1.8-V LDO
Charge
Pump
VCP
CPP
CPN
VCC
GND
VCP
Oscillator
Bandgap
U
V
W
SPEED
V/I
sensor
U
Pre Driver
PGND
Logic
Core
ADC
VCC
VCP
V
Pre Driver
PWM and Analog
Speed Control
DIR
PGND
VCC
Lock
VCP
Over Current
Pre Driver
Thermal
GND
W
PGND
UVLO
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8.3 Feature Description
8.3.1 Regulators
8.3.1.1 Step-Down Regulator
The DRV10975 includes a hysteretic step-down voltage regulator that can be operated as either a switching buck
regulator using an external inductor or as a linear regulator using an external resistor (see Figure 3). The best
efficiency is achieved when the step-down regulator is in buck mode. However, the DRV10975Z device (sleep
mode version) only operates with the step-down regulator in linear mode and with a Zener diode as described in
the Typical Application section. The regulator output voltage can be configured by register bit VregSel. When
VregSel = 0, the regulator output voltage is 5 V, and when VregSel = 1, the regulator output voltage is 3.3 V.
When the regulated voltage drops by the hysteresis level, the high-side FET turns on to increase the regulated
voltage back to the target of 3.3 V or 5 V. The switching frequency of the hysteretic regulator is not constant and
changes with the load.
If the step-down regulator is configured in buck mode, see IREG_MAX in the Electrical Characteristics to determine
the amount of current provided for external load. If the step-down regulator is configured as linear mode, it is
used for the device internal circuit only.
NOTE
The DRV10975Z step-down regulator only operates in linear mode (using an external
resistor) and with a Zener diode as described in the Typical Application section. The
DRV10975Z device does not support buck mode (using an external inductor) as shown in
Figure 3.
VREG
VREG
VCC
IC
VCC
IC
SW
SW
47 µH
3.3 V/5 V
39 Ω
10 µF
Load
10 µF
3.3 V/5 V
SWGND
Step-Down Regulator With External Inductor (Buck
Mode)
SWGND
Step-Down Regulator With External Resistor (Linear
Mode)
Figure 3. Step-Down Regulator Configurations
8.3.1.2 3.3-V and 1.8-V LDO
The DRV10975 includes a 3.3-V LDO and an 1.8-V LDO. The 1.8-V LDO is for internal circuit only. The 3.3-V
LDO is mainly for internal circuits, but can also drive external loads not to exceed IV3P3_MAX listed in the Electrical
Characteristics. For example, it can work as a pullup voltage for the FG, DIR, SDA, and SCL interface.
Both V1P8 and V3P3 capacitor must be connected to GND.
8.3.2 Protection Circuits
8.3.2.1 Thermal Shutdown
The DRV10975 has a built-in thermal shutdown function, which shuts down the device when junction
temperature is more than TSDN ˚C and recovers operating conditions when junction temperature falls to TSDN –
TSDN_HYS˚C.
The OverTemp status bit (address 0x10 bit 7) is set during thermal shutdown.
14
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Feature Description (continued)
8.3.2.2 Undervoltage Lockout (UVLO)
The DRV10975 has a built-in UVLO function block. The hysteresis of UVLO threshold is VUVLO-HYS. The device is
locked out when VCC is down to VUVLO_F and woke up at VUVLO_R.
8.3.2.3 Overcurrent Protection (OCP)
The overcurrent protection function acts to protect the device if the current, as measured from the FETs, exceeds
the IOC-limit threshold. It protects the device in the short-circuit condition if by accident a phase shorts to GND, or
to another phase; the DRV10975 places the output drivers into a high-impedance state and maintains this
condition until the overcurrent is no longer present. The OverCurr status bit (address 0x10 bit 5) is set.
The DRV10975 also provides acceleration current limit and lock detection current limit functions to protect the
device and motor (see Current Limit and Lock Detect and Fault Handling).
8.3.2.4 Lock
When the motor is blocked or stopped by an external force, the lock protection is triggered, and the device stops
driving the motor immediately. After the lock release time tLOCK_OFF, the DRV10975 resumes driving the motor
again. If the lock condition is still present, it enters the next lock protection cycle until the lock condition is
removed. With this lock protection, the motor and device does not get overheated or damaged due to the motor
being locked (see Lock Detect and Fault Handling).
During lock condition, the MtrLck Status bit (address 0x10, bit 4) is set. To further diagnose, check the register
FaultCode.
8.3.3 Motor Speed Control
The DRV10975 offers four methods for indirectly controlling the speed of the motor by adjusting the output
voltage amplitude. This can be accomplished by varying the supply voltage (VCC) or by controlling the Speed
Command. The Speed Command can be controlled in one of three ways. The user can set the Speed Command
on the SPEED pin by adjusting either the PWM input (SPEED pin configured for PWM mode) or the analog input
(SPEED pin configured for analog mode), or by writing the Speed Command directly through the I2C serial port
to SpdCtrl[8:0]. The Speed Command is used to determine the PWM duty cycle output (PWM_DCO) (see
Figure 4).
The Speed Command may not always be equal to the PWM_DCO because DRV10975 has implemented the
AVS function (see AVS Function), the acceleration current limit function (see Acceleration Current Limit), and the
closed loop accelerate function (see Closed Loop Accelerate) to optimize the control performance. These
functions can limit the PWM_DCO, which affects the output amplitude.
PWM In
PWM Duty
Analog
ADC
SPEED Pin
AVS,
Acceleration Current Limit
Closed Loop Accelerate
Speed
Command
2
IC
PWM_
DCO
VCC
Output
Amplitude
X
Motor
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Figure 4. Multiplexing the Speed Command to the Output Amplitude Applied to the Motor
The output voltage amplitude applied to the motor is accomplished through sine wave modulation so that the
phase-to-phase voltage is sinusoidal.
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Feature Description (continued)
When any phase is measured with respect to ground, the waveform is sinusoidally coupled with third-order
harmonics. This encoding technique permits one phase to be held at ground while the other two phases are
pulse-width modulated. Figure 5 and Figure 6 show the sinusoidal encoding technique used in the DRV10975.
PWM Output
Average Value
Figure 5. PWM Output and the Average Value
U-V
U
V-W
V
W-U
W
Sinusoidal voltage from phase to phase
Sinusoidal voltage with third order harmonics
from phase to GND
Figure 6. Representing Sinusoidal Voltages With Third-Order Harmonic Output
The output amplitude is determined by the magnitude of VCC and the PWM duty cycle output (PWM_DCO). The
PWM_DCO represents the peak duty cycle that is applied in one electrical cycle. The maximum amplitude is
reached when PWM_DCO is at 100%. The peak output amplitude is VCC. When the PWM_DCO is at 50%, the
peak amplitude is VCC / 2 (see Figure 7).
100% PWM DCO
50% PWM DC0
VCC
VCC / 2
Figure 7. Output Voltage Amplitude Adjustment
8.3.4 Sleep or Standby Condition
The DRV10975 is available in either a sleep mode or standby mode version. The DRV10975 enters either sleep
or standby to conserve energy. When the device enters either sleep or standby, the motor stops driving. The
step-down regulator is disabled in the sleep mode version to conserve more energy. The I2C interface is disabled
and any register data not stored in EEPROM will be reset. The step-down regulator remains active in the standby
mode version. The register data is maintained, and the I2C interface remains active.
Setting sleepDis = 1 prevents the device from entering into the sleep or standby condition. If the device has
already entered into sleep or standby condition, setting sleepDis = 1 will not take it out of the sleep or standby
condition. During a sleep or standby condition, the Slp_Stdby status bit (address 0x10, bit 6) will be set.
16
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Feature Description (continued)
For different speed command modes, Table 1 shows the timing and command to enter the sleep or standby
condition.
Table 1. Conditions to Enter or Exit Sleep or Standby Condition
SPEED COMMAND
MODE
ENTER STANDBY
CONDITION
ENTER SLEEP
CONDITION
EXIT FROM STANDBY
CONDITION
EXIT FROM SLEEP
CONDITION
Analog
SPEED pin voltage < VEN_SB
for tEN_SB_ANA
SPEED pin voltage <
VEN_SL for tEN_SL_ANA
SPEED pin voltage > VEX_SB
for tEX_ SB_ANA
SPEED pin voltage > VEX_SL
for tEX_ SL_ANA
PWM
SPEED pin low (V < VDIG_IL)
for tEN_SB_PWM
SPEED pin low (V <
VDIG_IL) for
tEN_SL_PWM
SPEED pin high (V >
VDIG_IH) for tEX_SB_PWM
SPEED pin high (V >
VDIG_IH) for tEX_SL_PWM
I2C
SpdCtrl[8:0] is programmed
as 0 for tEN_SB_PWM
SpdCtrl[8:0] is
programmed as 0 for
tEN_SL_PWM
SpdCtrl[8:0] is programmed
as non-zero for tEX_SB_PWM
SPEED pin high (V >
VDIG_IH) for tEX_SL_PWM(PWM
mode) or SPEED pin voltage
> VEX_SL for tEX_ SL_ANA
(Analog mode)
Note that using the analog speed command, a higher voltage is required to exit from the sleep condition than the
standby condition. The I2C speed command cannot take the device out of the sleep condition because I2C
communication is disabled during the sleep condition.
8.3.5 Non-Volatile Memory
The DRV10975 has 96-bits of EEPROM data, which are used to program the motor parameters as described in
the I2C Serial Interface.
The procedure for programming the EEPROM is as follows. TI recommends to perform the EEPROM
programming without the motor spinning, power cycle after the EEPROM write, and read back the EEPROM to
verify the programming is successful.
1. Set SIdata = 1.
2. Write the desired motor parameters into the corresponding registers (address 0x20:0x2B) (see I2C Serial
Interface).
3. Write 1011 0110 (0xB6) to enProgKey in the DevCtrl register.
4. Ensure that VCC is at or above 22 V.
5. Write eeWrite = 1 in EECtrl register to start the EEPROM programming.
The programming time is about 24 ms, and eeWrite bit is reset to 0 when programming is done.
8.4 Device Functional Modes
This section includes the logic required to be able to reliably start and drive the motor. It describes the processes
used in the logic core and provides the information needed to effectively configure the parameters to work over a
wide range of applications.
8.4.1 Motor Parameters
For the motor parameter measurement, see the DRV10983 and DRV10975 Tuning Guide.
The motor phase resistance and the BEMF constant (Kt) are two important parameters used to characterize a
BLDC motor. The DRV10975 requires these parameters to be configured in the register. The motor phase
resistance is programmed by writing the values for Rm[6:0] in the MotorParam1 register. The BEMF constant is
programmed by writing the values for Kt[6:0] in the MotorParam2 register.
8.4.1.1 Motor Phase Resistance
For a wye-connected motor, the motor phase resistance refers to the resistance from the phase output to the
center tap, RPH_CT (see Figure 8).
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Device Functional Modes (continued)
Phase U
RPH_CT
RPH_CT
RPH_CT
Center
Tap
Phase V
Phase W
Figure 8. Wye-Connected Motor Phase Resistance
For a delta-connected motor, the motor phase resistance refers to the equivalent phase to center tap in the wye
configuration, which is represented as RY. RPH_CT = RY (see Figure 9).
For both the delta-connected motor and the wye-connected motor, calculating the equivalent RPH_CT is easy by
measuring the resistance between two phase terminals (RPH_PH), and then dividing this value by two as shown in
Equation 1.
RPH_CT = ½RPH_PH
(1)
Phase U
RY
RPH_PH
RY
Phase V
RPH_PH
Center
Tap
RPH_PH
RY
Phase W
Figure 9. Delta-Connected Motor and the Equivalent Wye Connections
The motor phase resistance (RPH_CT) must be converted to a 7-bit digital register value Rm[6:0] to program the
motor phase resistance value. The digital register value can be determined as follows:
1. Convert the motor phase resistance (RPH_CT) to a digital value where the LSB is weighted to represent 7.35
mΩ: Rmdig = RPH_CT / 0.00735.
2. Encode the digital value such that Rmdig = Rm[3:0] << Rm[6:4].
The maximum resistor value, RPH_CT, that can be programmed for the DRV10975 is 14.1 Ω, which represents
Rmdig = 1920 and an encoded Rm[6:0] value of 0x7Fh. The minimum resistor the DRV10975 supports is
0.0294 Ω, RPH_CT, which represents Rmdig = 4.
18
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Device Functional Modes (continued)
For convenience, the encoded value for Rm[6:0] can also be obtained from Table 2.
Table 2. Motor Phase Resistance Look-Up Table
RPH_CT (Ω)
RM[6:0]
HEX
RPH_CT (Ω)
RM[6:0]
HEX
RPH_CT (Ω)
RM[6:0]
HEX
58
0
000 0000
00
0.235
010 1000
28
1.88
101 1000
0.0073
000 0001
01
0.264
010 1001
29
2.11
101 1001
59
0.0147
000 0010
02
0.294
010 1010
2A
2.35
101 1010
5A
0.0220
000 0011
03
0.323
010 1011
2B
2.58
101 1011
5B
0.0294
000 0100
04
0.352
010 1100
2C
2.82
101 1100
5C
0.0367
000 0101
05
0.382
010 1101
2D
3.05
101 1101
5D
0.0441
000 0110
06
0.411
010 1110
2E
3.29
101 1110
5E
0.0514
000 0111
07
0.441
010 1111
2F
3.52
101 1111
5F
0.0588
000 1000
08
0.47
011 1000
38
3.76
110 1000
68
0.0661
000 1001
09
0.529
011 1001
39
4.23
110 1001
69
0.0735
000 1010
0A
0.588
011 1010
3A
4.7
110 1010
6A
0.0808
000 1011
0B
0.646
011 1011
3B
5.17
110 1011
6B
0.0882
000 1100
0C
0.705
011 1100
3C
5.64
110 1100
6C
0.0955
000 1101
0D
0.764
011 1101
3D
6.11
110 1101
6D
0.102
000 1110
0E
0.823
011 1110
3E
6.58
110 1110
6E
0.110
000 1111
0F
0.882
011 1111
3F
7.05
110 1111
6F
0.117
001 1000
18
0.94
100 1000
48
7.52
111 1000
78
0.132
001 1001
19
1.05
100 1001
49
8.46
111 1001
79
0.147
001 1010
1A
1.17
100 1010
4A
9.4
111 1010
7A
0.161
001 1011
1B
1.29
100 1011
4B
10.3
111 1011
7B
0.176
001 1100
1C
1.41
100 1100
4C
11.2
111 1100
7C
0.191
001 1101
1D
1.52
100 1101
4D
12.2
111 1101
7D
0.205
001 1110
1E
1.64
100 1110
4E
13.1
111 1110
7E
0.22
001 1111
1F
1.76
100 1111
4F
14.1
111 1111
7F
8.4.1.2 BEMF Constant
The BEMF constant, Kt[6:0] describes the motors phase-to-phase BEMF voltage as a function of the motor
velocity.
The measured BEMF constant (Kt) needs to be converted to a 7-bit digital register value Kt[6:0] to program the
BEMF constant value. The digital register value can be determined as follows:
1. Convert the measured Kt to a weighted digital value: Ktph_dig = 1442 × Kt
2. Encode the digital value such that Ktph_dig = Kt[3:0] << Kt[4:6].
The maximum Kt that can be programmed is 1330 mV/Hz. This represents a digital value of 1920 and an
encoded Kt[6:0] value of 0x7Fh. The minimum Kt that can be programmed is 0.7 mV/Hz, which represents a
digital value of 1 and an encoded Kt[6:0] value of 0x01h.
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For convenience, the encoded value of Kt[6:0] may also be obtained from Table 3.
Table 3. BEMF Constant Look-Up Table
Kt (mV/Hz)
Kt[6:0]
HEX
Kt (mV/Hz)
Kt [6:0]
HEX
Kt (mV/Hz)
Kt [6:0]
HEX
0
000 0000
00
22.3
010 1000
28
178
101 1000
58
0.7
000 0001
01
25.1
010 1001
29
200
101 1001
59
1.39
000 0010
02
27.8
010 1010
2A
223
101 1010
5A
2.09
000 0011
03
30.6
010 1011
2B
245
101 1011
5B
2.78
000 0100
04
33.4
010 1100
2C
267
101 1100
5C
3.48
000 0101
05
36.2
010 1101
2D
290
101 1101
5D
4.18
000 0110
06
39
010 1110
2E
312
101 1110
5E
4.88
000 0111
07
41.8
010 1111
2F
334
101 1111
5F
5.57
000 1000
08
44.6
011 1000
38
356
110 1000
68
6.27
000 1001
09
50.2
011 1001
39
401
110 1001
69
6.97
000 1010
0A
55.7
011 1010
3A
446
110 1010
6A
7.66
000 1011
0B
61.3
011 1011
3B
490
110 1011
6B
8.36
000 1100
0C
66.9
011 1100
3C
535
110 1100
6C
9.06
000 1101
0D
72.5
011 1101
3D
580
110 1101
6D
9.76
000 1110
0E
78
011 1110
3E
624
110 1110
6E
10.4
000 1111
0F
83.6
011 1111
3F
669
110 1111
6F
11.1
001 1000
18
89.2
100 1000
48
713
111 1000
78
12.5
001 1001
19
100
100 1001
49
803
111 1001
79
13.9
001 1010
1A
111
100 1010
4A
892
111 1010
7A
15.3
001 1011
1B
122
100 1011
4B
981
111 1011
7B
16.7
001 1100
1C
133
100 1100
4C
1070
111 1100
7C
18.1
001 1101
1D
145
100 1101
4D
1160
111 1101
7D
19.5
001 1110
1E
156
100 1110
4E
1240
111 1110
7E
20.9
001 1111
1F
167
100 1111
4F
1330
111 1111
7F
8.4.2 Starting the Motor Under Different Initial Conditions
The motor can be in one of three states when the DRV10975 attempts to begin the start-up process. The motor
may be stationary, or spinning in the forward or reverse directions. The DRV10975 includes a number of features
to allow for reliable motor start under all of these conditions. Figure 10 shows the motor start-up flow for each of
the three initial motor states.
8.4.2.1 Case 1 – Motor Is Stationary
If the motor is stationary, the commutation logic must be initialized to be in phase with the position of the motor.
The DRV10975 provides for two options to initialize the commutation logic to the motor position. Initial position
detect (IPD) determines the position of the motor based on the deterministic inductance variation, which is often
present in BLDC motors. The Align and Go technique forces the motor into alignment by applying a voltage
across a particular motor phase to force the motor to rotate in alignment with this phase. The following sections
explain how to configure these techniques for use in the designer's system.
8.4.2.2 Case 2 – Motor Is Spinning in the Forward Direction
If the motor is spinning forward with enough velocity, the DRV10975 may be configured to go directly into closed
loop. By resynchronizing to the spinning motor, the user achieves the fastest possible start-up time for this initial
condition.
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8.4.2.3 Case 3 – Motor Is Spinning in the Reverse Direction
If the motor is spinning in the reverse direction, the DRV10975 provides several methods to convert it back to
forward direction.
One method, reverse drive, allows the motor to be driven so that it accelerates through zero velocity. The motor
achieves the shortest possible spin-up time in systems where the motor is spinning in the reverse direction.
If this feature is not selected, then the DRV10975 may be configured to either wait for the motor to stop spinning
or brake the motor. After the motor has stopped spinning, the motor start-up sequence proceeds as it would for a
motor which is stationary.
Take care when using the feature reverse drive or brake to ensure that the current is limited to an acceptable
level and that the supply voltage does not surge as a result of energy being returned to the power supply.
IPD
Stationary
Align and Go
Spinning forward
Direct closed loop
Wait
Spinning reversely
Brake
Reverse drive
Figure 10. Start the Motor Under Different Initial Conditions
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8.4.3 Motor Start Sequence
Figure 11 shows the motor start sequence implemented in the DRV10975.
Power on
DIR pin
change
N
ISDen
Y
ISD
Y
N
Forward
Speed <
ISDThr
N
Y
Y
Speed >
RvsDrThr
Y
Motor Resynchronization
N
RvsDrEn
N
BrkEn
N
Brake
IPDEn
Time >
BrkDoneThr
Y
Y
Y
N
N
Align
Accelerate
RvsDr
IPD
N
ClosedLoop
Speed >
Op2CIsThr
Y
Figure 11. Motor Starting-Up Flow
Power-On State This is the initial power-on state of the motor start sequencer (MSS). The MSS starts in this
state on initial power-up or whenever the DRV10975 comes out of either standby or sleep modes.
ISDen Judgment After power on, the DRV10975 MSS enters the ISDen Judgment where it checks to see if the
Initial Speed Detect (ISD) function is enabled (ISDen = 1). If ISD is disabled, the MSS proceeds
directly to the BrkEn Judgment. If ISD is enabled, the motor start sequence advances to the ISD
state.
ISD State
The MSS determines the initial condition of the motor (see ISD).
Speed<ISDThr Judgment If the motor speed is lower than the threshold defined by ISDThr[1:0], then the motor
is considered to be stationary and the MSS proceeds to the BrkEn judgment. If the speed is greater
than the threshold defined by ISDThr[1:0], the start sequence proceeds to the Forward judgment.
Forward Judgment The MSS determines whether the motor is spinning in the forward or the reverse direction.
If the motor is spinning in the forward direction, the DRV10975 executes the resynchronization (see
Motor Resynchronization) process by transitioning directly into the ClosedLoop state. If the motor is
spinning in the reverse direction, the MSS proceeds to the Speed>RvsDrThr.
Speed>RvsDrThr Judgment The motor start sequencer checks to see if the reverse speed is greater than the
threshold defined by RvsDrThr[2:0]. If it is, then the MSS returns to the ISD state to allow the motor
to decelerate. This prevents the DRV10975 from attempting to reverse drive or brake a motor that
is spinning too quickly. If the reverse speed of the motor is less than the threshold defined by
RvsDrThr[2:0], then the MSS advances to the RvsDrEn judgment.
RvsDrEn Judgment The MSS checks to see if the reverse drive function is enabled (RvsDrEn = 1). If it is, the
MSS transitions into the RvsDr state. If the reverse drive function is not enabled, the MSS
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advances to the BrkEn judgment.
RvsDr State The DRV10975 drives the motor in the forward direction to force it to rapidly decelerate (see
Reverse Drive). When it reaches zero velocity, the MSS transitions to the Accelerate state.
BrkEn Judgment The MSS checks to determine whether the brake function is enabled (BrkDoneThr[2:0] ≠ 000).
If the brake function is enabled, the MSS advances to the Brake state.
Brake State The device performs the brake function (see Motor Brake).
Time>BrkDoneThr Judgment The MSS applies brake for time configured by BRKDoneThr[2:0]. After brake
state, the MSS advances to the IPDEn judgment.
IPDEn Judgment The MSS checks to see if IPD has been enabled (IPDCurrThr[3:0] ≠ 0000). If the IPD is
enabled, the MSS transitions to the IPD state. Otherwise, it transitions to the align state.
Align State The DRV10975 performs align function (see Align). After the align completes, the MSS transitions
to the Accelerate state.
IPD State
The DRV10975 performs the IPD function. The IPD function is described in Initial Position Detect
(IPD) . After the IPD completes, the MSS transitions to the Accelerate state.
Accelerate State The DRV10975 accelerates the motor according to the setting StAccel and StAccel2. After
applying the accelerate settings, the MSS advances to the Speed > Op2ClsThr judgment.
Speed>Op2ClsThr Judgment The motor accelerates until the drive rate exceeds the threshold configured by
the Op2ClsThr[4:0] settings. When this threshold is reached, the DRV10975 enters into the
ClosedLoop state.
ClosedLoop State In this state, the DRV10975 drives the motor based on feedback from the commutation
control algorithm.
DIR Pin Change Judgment If DIR pin get changed during any of above states, DRV10975 stops driving the
motor and restarts from the beginning.
8.4.3.1 ISD
The ISD function is used to identify the initial condition of the motor. If the function is disabled, the DRV10975
does not perform the initial speed detect function and treats the motor as if it is stationary.
Phase-to-phase comparators are used to detect the zero crossings of the BEMF voltage of the motor while it is
coasting (motor phase outputs are in high-impedance state). Figure 12 shows the configuration of the
comparators.
60 degrees
±
V
+
U
+
±
W
Figure 12. Initial Speed Detect Function
If the UW comparator output is lagging the UV comparator by 60°, the motor is spinning forward. If the UW
comparator output is leading the UV comparator by 60°, the motor is spinning in reverse.
The motor speed is determined by measuring the time between two rising edges of either of the comparators.
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If neither of the comparator outputs toggle for a given amount of time, the condition is defined as stationary. The
amount of time can be programmed by setting the register bits ISDThr[1:0].
8.4.3.2 Motor Resynchronization
The resynchronize function works when the ISD function is enabled and determines that the initial state of the
motor is spinning in the forward direction. The speed and position information measured during ISD are used to
initialize the drive state of the DRV10975, which can transition directly into the closed loop running state without
needing to stop the motor.
8.4.3.3 Reverse Drive
The ISD function measures the initial speed and the initial position; the DRV10975 reverse drive function acts to
reverse accelerate the motor through zero speed and to continue accelerating until the closed loop threshold is
reached (see Figure 13). If the reverse speed is greater than the threshold configured in RvsDrThr[1:0], then the
DRV10975 waits until the motor coasts to a speed that is less than the threshold before driving the motor to
reverse accelerate.
Speed
Closed loop
Op2ClsThr
Open loop
Time
RevDrThr
Reverse Drive
Coasting
Figure 13. Reverse Drive Function
Reverse drive is suitable for applications where the load condition is light at low speed and relatively constant
and where the reverse speed is low (that is, a fan motor with little friction). For other load conditions, the motor
brake function provides a method for helping force a motor which is spinning in the reverse direction to stop
spinning before a normal start-up sequence.
8.4.3.4 Motor Brake
The motor brake function can be used to stop the spinning motor before attempting to start the motor. The brake
is applied by turning on all three of the low-side driver FETs.
If the motor is spinning at a speed that is greater than the braking threshold (configured by BrkDoneThr[2:0]),
then dynamic braking acts to stop the spinning (whether forward or reverse). After the motor is stopped (that is,
the motor speed is less than the BrkDoneThr[2:0]), the motor position is unknown. To proceed with restarting in
the correct direction, the IPD or Align and Go algorithm needs to be implemented. The motor start sequence is
the same as it would be for a motor starting in the stationary condition.
The motor brake function can be disabled. The motor skips the brake state and attempts to spin the motor as if it
were stationary. If this happens while the motor is spinning in either direction, the start-up sequence may not be
successful.
24
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8.4.3.5 Motor Initialization
8.4.3.5.1 Align
The DRV10975 aligns a motor by injecting dc current through a particular phase pattern which is current flowing
into phase V, flowing out from phase W for a certain time (configured by AlignTime[2:0]). The current magnitude
is determined by OpenLCurr[1:0]. The motor should be aligned at the known position.
The time of align affects the start-up timing (see Start-Up Timing). A bigger inertial motor requires longer align
time.
8.4.3.5.2 Initial Position Detect (IPD)
The inductive sense method is used to determine the initial position of the motor when IPD is enabled. IPD is
enabled by selecting IPDCurrThr[3:0] to any value other than 0000.
IPD can be used in applications where reverse rotation of the motor is unacceptable. Because IPD does not
need to wait for the motor to align with the commutation, it can allow for a faster motor start sequence. IPD works
well when the inductance of the motor varies as a function of position. Because it works by pulsing current to the
motor, it can generate acoustics which must be taken into account when determining the best start method for a
particular application.
8.4.3.5.2.1 IPD Operation
The IPD operates by sequentially applying voltage across two of the three motor phases according to the
following sequence: VW WV UV VU WU UW (see Figure 14). When the current reaches the threshold configured
in IPDCurrThr[3:0], the voltage across the motor is stopped. The DRV10975 measures the time it takes from
when the voltage is applied until the current threshold is reached. The time varies as a function of the inductance
in the motor windings. The state with the shortest time represents the state with the minimum inductance. The
minimum inductance is because of the alignment of the north pole of the motor with this particular driving state.
U
IPDclk
N
V
Clock
S
W
Drive
VW
WV
UV
VU
WU
UW
IPDCurrThr
Current
Search the Minimum Time
Permanent
Magnet Position
Saturation Position of the
Magnetic Field
Smallest
Inductance
Minimum
Time
Figure 14. IPD Function
8.4.3.5.2.2 IPD Release Mode
Two options are available for stopping the voltage applied to the motor when the current threshold is reached. If
IPDRlsMd = 0, the recirculate mode is selected. The low-side (S6) MOSFET remains on to allow the current to
recirculate between the MOSFET (S6) and body diode (S2) (see Figure 15). If IPDRlsMd = 1, the highimpedance (Hi-Z) mode is selected. Both the high-side (S1) and low-side (S6) MOSFETs are turned off and the
current flies back across the body diodes into the power supply (see Figure 16).
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The high-impedance mode has a faster settle-down time, but could result in a surge on VCC. Manage this with
appropriate selection of either a clamp circuit or by providing sufficient capacitance between VCC and GND. If the
voltage surge cannot be contained and if it is unacceptable for the application, then select the recirculate mode.
When selecting the recirculate mode, select the IPDClk[1:0] bits to give the current in the motor windings enough
time to decay to 0.
S1
S3
S5
S1
M
U1
S2
S4
S3
S5
M
U1
S6
S2
Driving
S4
S6
Brake (Recirculate)
Figure 15. IPD Release Mode 0
S1
S3
S5
S1
M
U1
S2
S4
S3
S5
M
U1
S6
S2
Driving
S4
S6
Hi-Z (Tri-State)
Figure 16. IPD Release Mode 1
8.4.3.5.2.3 IPD Advance Angle
After the initial position is detected, the DRV10975 begins driving the motor at an angle specified by
IPDAdvcAgl[1:0].
Advancing the drive angle anywhere from 0° to 180° results in positive torque. Advancing the drive angle by 90°
results in maximum initial torque. Applying maximum initial torque could result in uneven acceleration to the rotor.
Select the IPDAdvcAgl[1:0] to allow for smooth acceleration in the application (see Figure 17).
Motor spinning direction
U
V
N
S
W
U
N
V
U
N
V
U
N
V
U
N
S
S
S
S
W
W
W
W
Û DGYDQFH
Û advance
Û DGYDQFH
V
Û DGYDQFH
Figure 17. IPD Advance Angle
26
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8.4.3.5.3 Motor Start
After it is determined that the motor is stationary and after completing the motor initialization with either align or
IPD, the DRV10975 begins to accelerate the motor. This acceleration is accomplished by applying a voltage
determined by the open loop current setting (OpenLCurr[1:0]) to the appropriate drive state and by increasing the
rate of commutation without regard to the real position of the motor (referred to as open loop operation). The
function of the open loop operation is to drive the motor to a minimum speed so that the motor generates
sufficient BEMF to allow the commutation control logic to accurately drive the motor.
Table 4 lists the configuration options that can be set in register to optimize the initial motor acceleration stage
for different applications.
Table 4. Configuration Options for Controlling Open Loop Motor Start
Reg Name
ConfigBits
Min Value
Max Value
Open to closed loop threshold
Description
SysOpt4
Op2ClsThr[4:0]
0.8 Hz
204.8 Hz
Align time
SysOpt4
AlignTime[2:0]
40 ms
5.3 s
First order accelerate
SysOpt3
StAccel[2:0]
0.3 Hz/s
76 Hz/s
Second order accelerate
SysOpt3
StAccel2[2:0]
0.22 Hz/s2
57 Hz/s2
Open loop current setting
SysOpt2
OpenLCurr[1:0]
200 mA
1.6 A
Open loop current ramping
SysOpt2
OpLCurrRt[2:0]
0.23 VCC/s
6 VCC/s
8.4.3.6 Start-Up Timing
Start-up timing is determined by the align and accelerate time. The align time can be set by AlignTime[2:0], as
described in Register Definition . The accelerate time is defined by the open-to-closed loop threshold
Op2ClsThr[4:0] along with the first order StAccel[2:0](A1) and second order StAccel2[2:0](A2) acceleration
coefficient. Figure 18 shows the motor start-up process.
Speed
Speed =
2
A1 ´ t + 0.5 A2 ´ t
Close loop
Op2ClsThr
AlignTime
Time
Accelerate Time is determined by
Op2ClsThr and A1, A2.
Accelerate Time
Figure 18. Motor Start-Up Process
Select the first order and second order acceleration coefficient to allow the motor to reliably accelerate from zero
velocity up to the closed loop threshold in the shortest time possible. Using a slow acceleration coefficient during
the first order accelerate stage can help improve reliability in applications where it is difficult to accurately
initialize the motor with either align or IPD.
Select the open-to-closed loop threshold to allow the motor to accelerate to a speed that generates sufficient
BEMF for closed loop control. This is determined by the velocity constant of the motor based on the relationship
described in Equation 2.
BEMF = Kt × speed (Hz)
(2)
8.4.4 Start-Up Current Setting
The start-up current setting is to control the peak start-up during open loop. During open loop operation, it is
desirable to control the magnitude of drive current applied to the motor. This is helpful in controlling and
optimizing the rate of acceleration. The limit takes effect during reverse drive, align, and acceleration.
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The start current is set by programming the OpenLCurr[1:0] bits. The current should be selected to allow the
motor to reliably accelerate to the handoff threshold. Heavier loads may require a higher current setting, but it
should be noted that the rate of acceleration will be limited by the acceleration rate (StAccel[2:0], StAccel2[2:0]).
If the motor is started with more current than necessary to reliably reach the handoff threshold, it results in higher
power consumption.
The start current is controlled based on the relationship shown in Equation 3 and Figure 19. The duty cycle
applied to the motor is derived from the calculated value for ULimit and the magnitude of the supply voltage, VCC,
as well as the drive state of the motor.
ULimit ILimit u Rm Speed Hz u Kt
where
•
•
•
•
ILimit is configured by OpenLCurr[1:0]
Rm is configured by Rm[6:0]
Speed is variable based open-loop acceleration profile of the motor
Kt is configured by Kt[6:0]
(3)
Rm
VU = BEMF + I × Rm
M
BEMF = Kt × speed
Copyright © 2017, Texas Instruments Incorporated
Figure 19. Motor Start-Up Current
8.4.4.1 Start-Up Current Ramp-Up
A fast change in the applied drive current may result in a sudden change in the driving torque. In some
applications, this could result in acoustic noise. To avoid this, the DRV10975 allows the option of limiting the rate
at which the current is applied to the motor. OpLCurrRt[2:0] sets the maximum voltage ramp up rate that will be
applied to the motor. The waveforms in Figure 20 show how this feature can be used to gradually ramp the
current applied to the motor.
Start driving with fast current ramp
Start driving with slow current ramp
Figure 20. Motor Startup Current Ramp
8.4.5 Closed Loop
In closed loop operation, the DRV10975 continuously samples the current in the U phase of the motor and uses
this information to estimate the BEMF voltage that is present. The drive state of the motor is controlled based on
the estimated BEMF voltage.
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8.4.5.1 Half Cycle Control and Full Cycle Control
The estimated BEMF used to control the drive state of the motor has two zero-crosses every electrical cycle. The
DRV10975 can be configured to update the drive state either once every electrical cycle or twice for every
electrical cycle. When AdjMode is programmed to 1, half cycle adjustment is applied. The control logic is
triggered at both rising edge and falling edge. When AdjMode is programmed to 0, full cycle adjustment is
applied. The control logic is triggered only at the rising edge (see Figure 21).
Half cycle adjustment provides a faster response when compared with full cycle adjustment. Use half cycle
adjustment whenever the application requires operation over large dynamic loading conditions. Use the full cycle
adjustment for low current (<1 A) applications because it offers more tolerance for current measurement offset
errors.
Zero cross signal
Estimated Position
Real Driving Voltage
Real Position
Ideal Driving Voltage
Zero cross signal
Estimated Position
Real Driving Voltage
Adjustment (full cycle)
Real Position
Ideal Driving Voltage
Adjustment (half cycle)
Figure 21. Closed Loop Control Commutation Adjustment Mode
8.4.5.2 Analog Mode Speed Control
The SPEED input pin can be configured to operate as an analog input (SpdCtrlMd = 0).
When configured for analog mode, the voltage range on the SPEED pin can be varied from 0 to V3P3. If
SPEED > VANA_FS, the speed command is maximum. If VANA_ZS ≤ SPEED < VANA_FS the speed command
changes linearly according to the magnitude of the voltage applied at the SPEED pin. If SPEED < VANA_ZS the
speed command is to stop the motor. Figure 22 shows the speed command when operating in analog mode.
Speed
Command
Maximum
Speed
Command
Analog Input
VANA-ZS
VANA-FS
Figure 22. Analog Mode Speed Command
8.4.5.3 Digital PWM Input Mode Speed Control
If SpdCtrlMd = 1, the SPEED input pin is configured to operate as a PWM-encoded digital input. The PWM duty
cycle applied to the SPEED pin can be varied from 0 to 100%. The speed command is proportional to the PWM
input duty cycle. The speed command stops the motor when the PWM input keeps at 0 for tEN_SL_PWM (see
Figure 23).
The frequency of the PWM input signal applied to the SPEED pin is defined as ƒPWM. This is the frequency the
device can accept to control motor speed. It does not correspond to the PWM output frequency that is applied to
the motor phase. The PWM output frequency can be configured to be either 25 kHz when the DoubleFreq bit is
set to 0 or to 50 kHz when DoubleFreq bit is set to 1.
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Speed
Command
Maximum
Speed
Command
PWM duty
0
100%
Figure 23. PWM Mode Speed Command
8.4.5.4 I2C Mode Speed Control
The DRV10975 can also command the speed through the I2C serial interface. To enable this feature, the
OverRide bit is set to 1. When the DRV10975 is configured to operate in I2C mode, it ignores the signal applied
to the SPEED pin.
The speed command can be set by writing the SpdCtrl[8] and SpdCtrl[7:0] bits. The 9-bit SpdCtrl [8:0] located in
the SpeedCtrl1 and SpeedCntrl2 registers are used to set the peak amplitude voltage applied to the motor. The
maximum speed command is set when SpdCtrl [8:0] is set to 0x1FF (511).
When SpdCtrl [8] is written to the SpeedCtrl2 register, the data is stored, but the output is not changed. When
SpdCtrl [7:0] is written to the SpeedCtrl1 register, the speed command is updated (see Figure 24).
Write to
SpeedCtrl2
SpdCtrl[8]
Write to
SpeedCtrl1
Buffer of
SpdCtrl[8]
SpdCtrl [7:0]
Speed Command
Figure 24. I2C Mode Speed Control
8.4.5.5 Closed Loop Accelerate
To prevent sudden changes in the torque applied to the motor which could result in acoustic noise, the
DRV10975 provides the option of limiting the maximum rate at which the speed command changes.
ClsLpAccel[2:0] can be programmed to set the maximum rate at which the speed command changes (shown in
Figure 25).
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y%
Speed command
input
x%
y%
Speed command
after closed loop
accelerate buffer
x%
Closed loop
accelerate settings
Figure 25. Closed-Loop Accelerate
8.4.5.6 Control Coefficient
The DRV10975 continuously measures the motor current and uses this information to control the drive state of
the motor when operating in closed loop mode. In applications where noise makes it difficult to control the
commutation optimally, the CtrlCoef[1:0] can be used to attenuate the feedback used for closed loop control. The
loop will be less reactive to the noise on the feedback and provide for a smoother output.
8.4.5.7 Commutation Control Advance Angle
To achieve the best efficiency, it is often desirable to control the drive state of the motor so that the phase
current of the motor is aligned with the BEMF voltage of the motor.
To align the phase current of the motor with the BEMF voltage of the motor, consider the inductive effect of the
motor. The voltage applied to the motor should be applied in advance of the BEMF voltage of the motor (see
Figure 26). The DRV10975 provides configuration bits for controlling the time (tadv) between the driving voltage
and BEMF.
For motors with salient pole structures, aligning the motor BEMF voltage with the motor current may not achieve
the best efficiency. In these applications, the timing advance should be adjusted accordingly. Accomplish this by
operating the system at constant speed and load conditions and by adjusting the tadv until the minimum current is
achieved.
Phase
Voltage
Phase
Current
Phase
BEMF
tadv
Figure 26. Advance Time (tadv) Definition
The DRV10975 has two options for adjusting the motor commutate advance time. When CtrlAdvMd = 0, mode 0
is selected. When CtrlAdvMd = 1, mode 1 is selected.
Mode 0: tadv is maintained to be a fixed time relative to the estimated BEMF zero cross as determined by
Equation 4.
tadv = tSETTING
(4)
Mode 1: tadv is maintained to be a variable time relative to the estimated BEMF zero cross as determined by
Equation 5.
tadv = tSETTING × (U-BEMF)/U.
where
•
•
U is the phase voltage amplitude
BEMF is phase BEMF amplitude
(5)
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tSETTING (in µs) is determined by the configuration of the TCtrlAdv [6:4] and TCtrlAdv [3:0] bits as defined in
Equation 6. For convenience, the available tSETTING values are provided in Table 5.
tSETTING = 2.5 µs × [TCtrlAdv[3:0]] << TCtrlAdv[6:4]
(6)
Table 5. Configuring Commutation Advance Timing by Adjusting tSETTING
tSETTING (µs)
TCtrlAdv
[6:0]
HEX
tSETTING (µs)
TCtrlAdv
[6:0]
HEX
tSETTING (µs)
TCtrlAdv
[6:0]
HEX
0
000 0000
00
80
010 1000
28
640
101 1000
58
2.5
000 0001
01
90
010 1001
29
720
101 1001
59
5A
5
000 0010
02
100
010 1010
2A
800
101 1010
7.5
000 0011
03
110
010 1011
2B
880
101 1011
5B
10
000 0100
04
120
010 1100
2C
960
101 1100
5C
12.5
000 0101
05
130
010 1101
2D
1040
101 1101
5D
15
000 0110
06
140
010 1110
2E
1120
101 1110
5E
17.5
000 0111
07
150
010 1111
2F
1200
101 1111
5F
68
20
000 1000
08
160
011 1000
38
1280
110 1000
22.5
000 1001
09
180
011 1001
39
1440
110 1001
69
25
000 1010
0A
200
011 1010
3A
1600
110 1010
6A
27.5
000 1011
0B
220
011 1011
3B
1760
110 1011
6B
30
000 1100
0C
240
011 1100
3C
1920
110 1100
6C
32.5
000 1101
0D
260
011 1101
3D
2080
110 1101
6D
35
000 1110
0E
280
011 1110
3E
2240
110 1110
6E
37.5
000 1111
0F
300
011 1111
3F
2400
110 1111
6F
40
001 1000
18
320
100 1000
48
2560
111 1000
78
45
001 1001
19
360
100 1001
49
2880
111 1001
79
50
001 1010
1A
400
100 1010
4A
3200
111 1010
7A
55
001 1011
1B
440
100 1011
4B
3520
111 1011
7B
60
001 1100
1C
480
100 1100
4C
3840
111 1100
7C
65
001 1101
1D
520
100 1101
4D
4160
111 1101
7D
70
001 1110
1E
560
100 1110
4E
4480
111 1110
7E
75
001 1111
1F
600
100 1111
4F
4800
111 1111
7F
8.4.6 Current Limit
The DRV10975 has several current limit modes to help ensure optimal control of the motor and to ensure safe
operation. The various current limit modes are listed in Table 6. Acceleration current limit is used to provide a
means of controlling the amount of current delivered to the motor. This is useful when the system needs to limit
the amount of current pulled from the power supply during motor start-up. The lock detection current limit is a
configurable threshold that can be used to limit the current applied to the motor. Overcurrent protection is used to
protect the device; therefore, it cannot be disabled or configured to a different threshold. The current limit modes
are described in the following sections.
Table 6. DRV10975 Current Limit Modes
Current Limit Mode
Situation
Action
Fault Diagnose
Acceleration current limit
Motor start
Limit the output voltage amplitude
No fault
Lock detection current limit
Motor locked
Stop driving the motor and enter lock state
Mechanical rotation error
Overcurrent protection (OCP)
Short circuit
Stop driving and recover when OC signal disappeared
Circuit connection
32
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8.4.6.1 Acceleration Current Limit
The acceleration current limit limits the voltage applied to the motor to prevent the current from exceeding the
programmed threshold. The acceleration current limit threshold is configured by writing the SWiLimitThr[3:0] bits
to select ILIMIT. The acceleration current limit does not use a direct measurement of current. It uses the
programmed motor phase resistance, RPH_CT, and programmed BEMF constant, Kt, to limit the voltage applied to
the motor, U, as shown in Figure 27 and Equation 7.
When the acceleration current limit is active, it does not stop the motor from spinning nor does it trigger a fault.
The acceleration current limit function is only available in closed loop control.
Rm
ILIMIT
VU_LIMIT
M
BEMF = Kt ´ Speed
Copyright © 2017, Texas Instruments Incorporated
Figure 27. Acceleration Current Limit
ULIMIT = ILIMIT × RPH_CT + Speed × Kt
(7)
8.4.7 Lock Detect and Fault Handling
The DRV10975 provides several options for determining if the motor becomes locked as a result of some
external torque. Five lock detect schemes work together to ensure the lock condition is detected quickly and
reliably. Figure 28 shows the logic which integrates the various lock detect schemes. When a lock condition is
detected, the DRV10975 device takes action to prevent continuously driving the motor in order to prevent
damage to the system or the motor.
In addition to detecting if there is a locked motor condition, the DRV10975 also identifies and takes action if there
is no motor connected to the system.
Each of the five lock-detect schemes and the no motor detection can be disabled by respective register bits
LockEn[5:0].
When a lock condition is detected, the MtrLck in the Status register is set. The FaultCode register provides an
indication of which of the six different conditions was detected on Lock5 to Lock0. These bits are reset when the
motor restarts. The bits in the FaultCode register are set even if the lock detect scheme is disabled.
The DRV10975 reacts to either locked rotor or no motor connected conditions by putting the output drivers into a
high-impedance state. To prevent the energy in the motor from pumping the supply voltage, the DRV10975
incorporates an anti-voltage-surge (AVS) process whenever the output stages transition into the high-impedance
state. The AVS function is described in AVS Function. After entering the high-impedance state as a result of a
fault condition, the system tries to restart after tLOCK_OFF.
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LockEn (0, 1, 2, 3, 4, 5)
Lock-Detection Current Limit
Speed Abnormal
BEMF Abnormal
Hi-Z
and Restart
Logic
OR
No-Motor Fault
Open-Loop Stuck
Register
Status[4]
Closed-Loop Stuck
Set
Register:
FaultCode [5:0]
Reset
Copyright © 2017, Texas Instruments Incorporated
Figure 28. Lock Detect and Fault Diagnose
8.4.7.1 Lock0: Lock Detection Current Limit Triggered
The lock detection current limit function provides a configurable threshold for limiting the current to prevent
damage to the system. This is often tripped in the event of a sudden locked rotor condition. The DRV10975
continuously monitors the current in the low-side drivers as shown in Figure 29. If the current goes higher than
the threshold configured by the HWiLimitThr[2:0] bits, then the DRV10975 stops driving the motor by placing the
output phases into a high-impedance state. The MtrLck bit is set and a lock condition is reported. It retries after
tLOCK_OFF.
Set the lock detection current limit to a higher value than the acceleration current limit.
+
DigitalCore
–
DAC
Figure 29. Lock Detection Current Limit
8.4.7.2 Lock1: Abnormal Speed
If motor is operating normally, the motor BEMF should always be less than output amplitude. The DRV10975
uses two methods of monitoring the BEMF in the system. The U phase current is monitored to maintain an
estimate of BEMF based on the setting for Rm[6:0]. In addition, the BEMF is estimated based on the operation
speed of the motor and the setting for Kt[6:0]. Figure 30 shows the method for using this information to detect a
lock condition. If motor BEMF is much higher than output amplitude for a certain period of time, tLCK_ETR, it means
the estimated speed is wrong, and the motor has gotten out of phase.
34
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Rm
I
M
VU
BEMF1 = VU – I × Rm
BEMF2 = Kt × Speed
Lock Detected If BEMF2 > VU
Copyright © 2017, Texas Instruments Incorporated
Figure 30. Lock Detection 1
8.4.7.3 Lock2: Abnormal Kt
For any given motor, the integrated value of BEMF during half of an electrical cycle is constant. It is determined
by BEMF constant (Kt) (see Figure 31). It is true regardless of whether the motor is running fast or slow. This
constant value is continuously monitored by calculation and used as criteria to determine the motor lock
condition. It is referred to as Ktc.
Based on the Kt value programmed, create a range from Kt_low to Kt_high, if the Ktc goes beyond the range for
a certain period of time, tLCK_ETR, lock is detected. Kt_low and Kt_high are determined by KtLckThr[1:0] (see
Figure 32).
Figure 31. BEMF Integration
Kt_high
Ktc
Kt
Kt_low
Lock detect
Figure 32. Abnormal Kt Lock Detect
8.4.7.4 Lock3 (Fault3): No Motor Fault
The phase U current is checked after transitioning from open loop to closed loop. If phase U current is not
greater than 140 mA then the motor is not connected as shown in Figure 33. This condition is treated and
reported as a fault.
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DRV10975
M
Figure 33. No Motor Error
8.4.7.5 Lock4: Open Loop Motor Stuck Lock
Lock4 is used to detect locked motor conditions while the motor start sequence is in open loop.
For a successful startup, motor speed should equal to open to closed loop handoff threshold when the motor is
transitioning into closed loop. However, if the motor is locked, the motor speed is not able to match the open loop
drive rate.
If the motor BEMF is not detected for one electrical cycle after the open loop drive rate exceeds the threshold,
then the open loop was unsuccessful as a result of a locked rotor condition.
8.4.7.6 Lock5: Closed Loop Motor Stuck Lock
If the motor suddenly becomes locked, motor speed and Ktc are not able to be refreshed because motor BEMF
zero cross may not appear after the lock. In this condition, lock can also be detected by the following scheme: if
the current commutation period is 2× longer than the previous period.
8.4.8 AVS Function
When a motor is driven, energy is transferred from the power supply into it. Some of this energy is stored in the
form of inductive energy or as mechanical energy. The DRV10975 includes circuits to prevent this energy from
being returned to the power supply which could result in pumping up the VCC voltage. This function is referred to
as the AVS and acts to protect the DRV10975 as well as other circuits that share the same VCC connection. Two
forms of AVS protection are used to prevent both the mechanical energy or the inductive energy from being
returned to the supply. Each of these modes can be independently disabled through the register configuration
bits AVSMEn and AVSIndEn.
8.4.8.1 Mechanical AVS Function
If the speed command suddenly drops such that the BEMF voltage generated by the motor is greater than the
voltage that is applied to the motor, then the mechanical energy of the motor is returned to the power supply and
the VCC voltage surges. The mechanical AVS function works to prevent this from happening. The DRV10975
buffers the speed command value and limits the resulting output voltage, UMIN, so that it is not less than the
BEMF voltage of the motor. The BEMF voltage in the mechanical AVS function is determined using the
programmed value for the Kt of the motor (Kt[6:0]) along with the speed. Figure 34 shows the criteria used by the
mechanical AVS function.
Rm
IMIN = 0
VU
M
BEMF
VU_MIN = BEMF + IMIN ´ Rm = BEMF
Copyright © 2017, Texas Instruments Incorporated
Figure 34. Mechanical AVS
The mechanical AVS function can operate in one of two modes, which can be configured by the register bit
AVSMMd:
AVSMMd = 0 – AVS mode is always active to prevent the applied voltage from being less than the BEMF
voltage.
36
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AVSMMd = 1 – AVS mode becomes active when VCC reaches 24 V. The motor acts as a generator and
returns energy into the power supply until VCC reaches 24 V. This mode can be used to enable faster
deceleration of the motor in applications where returning energy to the power supply is allowed.
8.4.9 PWM Output
The DRV10975 has 16 options for PWM dead time which can be used to configure the time between one of the
bridge FETs turning off and the complementary FET turning on. Deadtime[3:0] can be used to configure dead
times between 40 ns and 640 ns. Take care that the dead time is long enough to prevent the bridge FETs from
shooting through. The recommend minimum dead time is 400 ns for 24-V VCC and 360 ns for 12-V VCC.
The DRV10975 offers two options for PWM switching frequency. When the configuration bit DoubleFreq is set to
0, the output PWM frequency will be 25 kHz and when DoubleFreq is set to 1, the output PWM frequency will be
50 kHz.
8.4.10 FG Customized Configuration
The DRV10975 provides information about the motor speed through the frequency generate (FG) pin. FG also
provides information about the driving state of the DRV10975.
8.4.10.1 FG Output Frequency
The FG output frequency can be configured by FGcycle[1:0]. The default FG toggles once every electrical cycle
(FGcycle = 00). Many applications configure the FG output so that it provides two pulses for every mechanical
rotation of the motor. The configuration bits provided in DRV10975 can accomplish this for 4-pole, 6-pole, 8-pole,
and 12-pole motors, as shown in Figure 35.
Figure 35 shows the DRV10975 has been configured to provide FG pulses once every electrical cycle (4 pole),
twice every three electrical cycle (6 pole), once every two electrical cycles (8 pole), and once every three
electrical cycles (12 pole).
Note that when it is set to 2 FG pulses every three electrical cycles, the FG output is not 50% duty cycle. Motor
speed is able to be measured by monitoring the rising edge of the FG output.
Motor phase
driving voltage
Fgcycle '00'
4 pole
Fgcycle '01'
6 pole
Fgcycle '10'
8 pole
Fgcycle '11'
12 pole
Figure 35. FG Frequency Divider
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8.4.10.2 FG Open-Loop and Lock Behavior
Note that the FG output reflects the driving state of the motor. During normal closed loop behavior, the driving
state and the actual state of the motor are synchronized. During open loop acceleration, however, this may not
reflect the actual motor speed. During a locked motor condition, the FG output is driven high.
The DRV10975 provides three options for controlling the FG output during open loop as shown in Figure 36. The
selection of these options is determined by the FGOLsel[1:0] setting.
• Option0: Open loop output FG based on driving frequency
• Option1: Open loop no FG output (keep high)
• Option2: FG output based on driving frequency at the first power-on start-up, and no FG output (keep high)
for any subsequent restarts
Open loop
Closed loop
Motor phase
driving voltage
FGOLsel = 00
FGOLsel = 01
Open loop
Closed loop
Open loop
Closed loop
Motor phase
driving voltage
FGOLsel = 10
Start-up after power on or wakeup
from sleep or standby mode
Rest of the startups
Figure 36. FG Behavior During Open Loop
8.4.11 Diagnostics and Visibility
The DRV10975 offers extensive visibility into the motor system operation conditions stored in internal registers.
This information can be monitored through the I2C interface. Information can be monitored relating to the device
status, motor speed, supply voltage, speed command, motor phase voltage amplitude, fault status, and others.
The data is updated on the fly.
8.4.11.1 Motor Status Readback
The motor status register provides information on overtemperature (OverTemp), sleep or standby state
(Slp_Stdby), over current (OverCurr), and locked rotor (MtrLck).
38
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8.4.11.2 Motor Speed Readback
The motor operation speed is automatically updated in register MotorSpeed1 and MotorSpeed2 while the motor
is spinning. MotorSpeed1 contains the 8 most significant bits and MotorSpeed2 contains the 8 least significant
bits. The value is determined by the period for calculated BEMF zero crossings on phase U. The electrical speed
of the motor is denoted as Velocity (Hz) and is calculated as shown in Equation 8.
Velocity (Hz) = {MotorSpeed1:MotorSpeed2} / 10
(8)
As an example consider the following:
MotorSpeed1 = 0x01;
MotorSpeed2 = 0xFF;
Velocity = 512 (0x01FF) / 10 = 51 Hz
51
For a 4-pole motor, this translates to:
ecycles 1 mechcycle
sec ond
u
u 60
sec ond 2 ecycle
minute
1530 RPM
8.4.11.2.1 Two-Byte Register Readback
Several of the registers such as MotorSpeed report data that is contained in two registers.
To make sure that the data does not change between the reading of the first and second register reads, the
DRV10975 implements a special scheme to synchronize the reading of MSB and LSB data. To ensure valid data
is read when reading a two register value, use the following sequence.
1. Read the MSB.
2. Read the LSB.
Figure 37 shows the two-register readback circuit. When the MSB is read, the controller takes a snapshot of the
LSB. The LSB data is stored in one extra register byte, which is shown as MotorSpeedBuffer[7:0]. When the LSB
is read, the value of MotorSpeedBuffer[7:0] is sent.
MotorSpeed[15:8]
Read
MotorSpeed[15:8]
MotorSpeed[7:0]
MotorSpeed
Buffer[7:0]
Read
MotorSpeed[7:0]
2
I C send out motor speed.
Motor Speed Read Back
Figure 37. Two-Byte Register Readback
8.4.11.3 Motor Electrical Period Readback
The motor operation electrical period is automatically updated in register MotorPeriod1 and MotorPeriod2 while
the motor is spinning. MotorPeriod1 is the MSB and MotorPeriod2 is the LSB. The electrical period is measured
as the time between calculated BEMF zero crossings for phase U. The electrical period of the motor is denoted
as d as tELE_PERIOD (µs) and is calculated as shown in Equation 9.
tELE_PERIOD (µs) = {MotorPeriod1:MotorPeriod2} × 10
(9)
As an example consider the following:
MotorPeriod1 = 0x01;
MotorPeriod2 = 0xFF;
tELE_PERIOD = 512 (0x01FF) × 10 = 5120 µs
The motor electrical period and motor speed satisfies the condition of Equation 10.
tELE_PERIOD (s) × Velocity (Hz) = 1
(10)
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8.4.11.4 BEMF Constant Readback
For any given motor, the integrated value of BEMF during half of an electronic cycle will be constant, Ktc (see
Lock2: Abnormal Kt).
The integration of the motor BEMF is processed periodically (updated every electrical cycle) while the motor is
spinning. The result is stored in register MotorKt1 and MotorKt2.
The relationship is shown in Equation 11.
Ktc (V/Hz)= {MotorKt1:MotorKt2} / 2 /1442
(11)
8.4.11.5 Motor Estimated Position by IPD
After inductive sense is executed the rotor position is detected within 60 electrical degrees of resolution. The
position is stored in register IPDPosition.
The value stored in IPD Position corresponds to one of the six motor positions plus the IPD Advance Angle as
shown in Table 7. For more about information about IPD, see Initial Position Detect (IPD).
Table 7. IPD Position Readback
V
U
V
U
S
U
V
U
V
U
V
U
N
S
N
W
W
W
W
W
W
Rotor position (°)
0
60
120
180
240
300
Data1
0
43
85
128
171
213
IPD Advance
Angle
30
60
90
120
Data2
22
44
63
85
Register date
V
(Data1 + Data2) mod (256)
8.4.11.6 Supply Voltage Readback
The power supply is monitored periodically during motor operation. This information is available in register
SupplyVoltage. The power supply voltage is recorded as shown in Equation 12.
VPOWERSUPPLY (V) = Supply Voltage × 22.8 V / 256
(12)
8.4.11.7 Speed Command Readback
The DRV10975 converts the various types of speed command into a speed command value (SpeedCmd) as
shown in Figure 38. By reading SpeedCmd, the user can observe PWM input duty (PWM digital mode), analog
voltage (analog mode), or I2C data (I2C mode). This value is calculated as shown in Equation 13.
Equation 13 shows how the speed command as a percentage can be calculated and set in SpeedCmd.
DutySPEED (%) = SpeedCmd × 100% / 255
where
•
•
DutySPEED = Speed command as a percentage
SpeedCmd = Register value
(13)
8.4.11.8 Speed Command Buffer Readback
If acceleration current limit and AVS are enabled, the PWM duty cycle output (read back at spdCmdBuffer) may
not always match the input command (read back at SpeedCmd) shown in Figure 38. See AVS Function and
Current Limit.
By reading the value of spdCmdBuffer, the user can observe buffered speed command (output PWM duty cycle)
to the motor.
40
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Equation 14 shows how the buffered speed is calculated.
DutyOUTPUT (%) = spdCmdBuffer × 100% / 255
where
•
•
DutyOUTPUT = The maximum duty cycle of the output PWM, which represents the output amplitude in
percentage.
spdCmdBuffer = Register value
PWM in
PWM duty
Analog
ADC
(14)
AVS,
Acceleration Current Limit
Closed Loop Accelerate
Speed
Command
2
IC
SpeedCmd
spdCmdBuffer
PWM_DCO
Figure 38. SpeedCmd and spdCmdBuffer Register
8.4.11.9 Fault Diagnostics
See Lock Detect and Fault Handling.
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8.5 Register Maps
8.5.1 I2C Serial Interface
The DRV10975 provides an I2C slave interface with slave address 101 0010. TI recommends a pullup resistor
4.7 kΩ to 3.3 V for I2C interface port SCL and SDA.
Four read/write registers (0x00:0x03) are used to set motor speed and control device registers and EEPROM.
Device operation status can be read back through 12 read-only registers (0x10:0x1E). Another 12 EEPROM
registers (0x20:0x2B) can be accessed to program motor parameters and optimize the spin-up profile for the
application.
8.5.2 Register Map
Register Name
Address
SpeedCtrl1 (1)
0x00
SpeedCtrl2 (1)
0x01
DevCtrl (1)
0x02
EECtrl (1)
0x03
sleepDis
SIdata
eeRefresh
eeWrite
(2)
0x10
OverTemp
Slp_Stdby
OverCurr
MtrLck
Status
D7
D6
D5
D4
D3
SpdCtrl[8]
MotorSpeed2 (2)
0x12
MotorSpeed[7:0]
MotorPeriod1 (2)
0x13
MotorPeriod[15:8]
MotorPeriod2 (2)
0x14
MotorPeriod[7:0]
MotorKt1 (2)
0x15
MotorKt[15:8]
MotorKt2 (2)
0x16
MotorKt[7:0]
MotorSpeed[15:8]
0x19
IPDPosition[7:0]
SupplyVoltage (2)
0x1A
SupplyVoltage [7:0]
SpeedCmd (2)
0x1B
SpeedCmd [7:0]
spdCmdBuffer
(2)
0x1C
spdCmdBuffer[7:0]
FaultCode (2)
0x1E
MotorParam1 (3)
0x20
DoubleFreq
Rm[6:0]
MotorParam2 (3)
0x21
AdjMode
Kt[6:0]
(3)
0x22
CtrlAdvMd
MotorParam3
(1)
(2)
(3)
42
Lock5
Lock4
Fault3
Lock2
Lock1
Lock0
TCtrlAdv[6:0]
SysOpt1 (3)
0x23
ISDThr[1:0]
SysOpt2 (3)
0x24
OpenLCurr[1:0]
SysOpt3 (3)
0x25
CtrlCoef[1:0]
SysOpt4 (3)
0x26
SysOpt5 (3)
0x27
(3)
0x28
SysOpt7 (3)
0x29
SysOpt8 (3)
0x2A
SysOpt9 (3)
0x2B
SysOpt6
D0
enProgKey[7:0]
0x11
IPDPosition
D1
OverRide
MotorSpeed1 (2)
(2)
D2
SpdCtrl[7:0]
IPDAdvcAgl[1:0]
ISDen
RvsDrEn
OpLCurrRt[2:0]
StAccel2[2:0]
StAccel[2:0]
Op2ClsThr[4:0]
LockEn[3:0]
AlignTime[2:0]
AVSIndEn
SWiLimitThr[3:0]
LockEn5
AVSMEn
FGOLsel[1:0]
FGcycle[1:0]
AVSMMd
IPDRlsMd
HWiLimitThr[2:0]
ClsLpAccel[2:0]
IPDCurrThr[3:0]
RvsDrThr[1:0]
BrkDoneThr[2:0]
Deadtime[3:0]
LockEn4
VregSel
KtLckThr[1:0]
IPDClk[1:0]
SpdCtrlMd
CLoopDis
R/W
Read only
EEPROM
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Table 8. Default EEPROM
Value
Address
Default Value
0x20
0x4A
0x21
0x4E
0x22
0x2A
0x23
0x00
0x24
0x98
0x25
0xE4
0x26
0x7A
0x27
0xF4
0x28
0x69
0x29
0xB8
0x2A
0xAD
0x2B
0x0C
8.5.3 Register Definition
Table 9. Register Description
Register
Name
SpeedCtrl1 (1)
Address
Bits
0x00
7:0
8 LSB of a 9-bit value used for the motor speed.
If OverRide = 1, the user can directly control the motor speed by writing to the
register through I2C.
OverRide
Use to control the SpdCtrl [8:0] bits. If OverRide = 1, the user can write the speed
command through I2C.
N/A
N/A
SpdCtrl [8]
MSB of a 9-bit value used for the motor speed.
If OverRide = 1, user can directly control the motor speed by writing to the
register through I2C.
The MSB should be written first. Digital takes a snapshot of the MSB when LSB
is written.
enProgKey[7:0]
8-bit byte use to enable programming in the EEPROM.
To program the EEPROM, enProgKey = 1011 0110 (0xB6), followed immediately
by eeWrite = 1. Otherwise, enProgKey value is reset.
7
sleepDis
Set to 1 to disable entering into sleep or standby mode.
6
SIdata
Set to 1 to enable the writing to the configuration registers.
5
eeRefresh
Copy EEPROM data to register.
4
eeWrite
Bit used to program (write) to the EEPROM.
N/A
N/A
7
OverTemp
Bit to indicate device temperature is over its limits.
6
Slp_Stdby
Bit to indicate that device went into sleep or standby mode.
5
OverCurr
Bit to indicate that an overcurrent event happened. This is a sticky bit, once
written, it stays high even if overcurrent signal goes low. This bit is cleared on
Read.
4
MtrLck
Bit to indicate that the motor is locked.
3
N/A
N/A
2
N/A
N/A
1
N/A
N/A
0
N/A
N/A
6:1
0x01
0
DevCtrl (1)
EECtrl
(1)
0x02
0x03
7:0
3:0
Status (2)
(1)
(2)
0x10
Description
SpdCtrl[7:0]
7
SpeedCtrl2 (1)
Data
R/W
Read only
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Table 9. Register Description (continued)
Register
Data
Description
Name
Address
Bits
Motor Speed1 (2)
0x11
7:0
MotorSpeed [15:8]
Motor Speed2 (2)
0x12
7:0
MotorSpeed [7:0]
Motor Period1 (2)
0x13
7:0
MotorPeriod [15:8]
Motor Period2 (2)
0x14
7:0
MotorPeriod [7:0]
MotorKt1 (2)
0x15
7:0
MotorKt[15:8]
MotorKt2 (2)
0x16
7:0
MotorKt[7:0]
IPDPosition (2)
0x19
7:0
IPDPosition [7:0]
16-bit value indicating the motor speed. Always read the MotorSpeed1 first.
Velocity (Hz) = {MotorSpeed1:MotorSpeed2} / 10
For example: MotorSpeed1 = 0x01, MotorSpeed2 = 0xFF,
Motor Speed = 0x01FF (511) / 10 = 51 Hz
16-bit value indicating the motor period. Always read the MotorPeriod1 first.
tELE_PERIOD (µs) = {MotorPeriod1:MotorPeriod2} × 10
For example: MotorPeriod1 = 0x01, MotorPeriod2 = 0xFF,
Motor Period = 0x01FF (511) × 10 = 5.1 ms
16-bit value indicating the motor measured velocity constant. Always read the
MotorKt1 first.
Ktc (V/Hz)= {MotorKt1:MotorKt2} / 2 /1090
{MotorKt1:MotorKt2} corresponding to 2 × Ktph_dig
8-bit value indicating the estimated motor position during IPD plus the IPD
advance angle (see Table 7)
Supply
Voltage (2)
0x1A
7:0
8-bit value indicating the supply voltage
V
(V) = SupplyVoltage[7:0] × 22.8 V / 256
SupplyVoltage [7:0] POWERSUPPLY
For example, SupplyVoltage[7:0] = 0x87,
VPOWERSUPPLY (V) = 0x87 (135) × 22.8 / 256 = 12 V
SpeedCmd (2)
0x1B
7:0
SpeedCmd[7:0]
8-bit value indicating the speed command based on analog or PWMin or I2C.
FF indicates 100% speed command.
spdCmd
Buffer (2)
0x1C
7:0
spdCmdBuffer [8:1]
8-bit value indicating the speed command after buffer output.
FF indicates 100% speed command.
7:6
FaultCode
(2)
Motor Param1 (3)
Motor Param2 (3)
0x1E
N/A
N/A
5
Lock5
Stuck in closed loop
4
Lock4
Stuck in open loop
3
Fault3
No motor
2
Lock2
Kt abnormal
1
Lock1
Speed abnormal
0
Lock0
Lock detection current limit
7
DoubleFreq
0 = Set driver output frequency to 25 kHz
1 = Set driver output frequency to 50 kHz
6:0
Rm[6:0]
Rm[6:4] : Number of the Shift bits of the motor phase resistance
Rm[3:0] : Significant value of the motor phase resistance
Rmdig = R_(ph_ct) / 0.00735
Rmdig = Rm[3:0] ≪ Rm[6:4] See Motor Phase Resistance and Table 2
7
AdjMode
Closed loop adjustment mode setting
0 = Full cycle adjustment
1 = Half cycle adjustment
Kt[6:0]
Kt[6:4] = Number of the Shift bits of BEMF constant
Kt[3:0] = Significant value of the BEMF constant
〖Kt〗_(ph_dig) = 1442×〖Kt〗_ph
〖Kt〗_(ph_dig) = Kt[3:0] ≪ Kt[4:6]
See BEMF Constant and Table 3 .
7
CtrlAdvMd
Motor commutate control advance
0 = Fixed time
1 = Variable time relative to the motor speed and VCC
6:0
Tdelay[6:0]
tdelay [6:4] = Number of the Shift bits of LRTIME
tdelay [3:0] = Significant value of LRTIME
tSETTING = 2.5 µs × {TCtrlAdv[3:0] << TCtrlAdv[6:4]}
0x20
0x21
6:0
Motor Param3 (3)
(3)
44
0x22
EEPROM
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Table 9. Register Description (continued)
Register
Name
Address
ISDThr[1:0]
IPDAdvcAgl [1:0]
Advancing angle after inductive sense
00 = 30°
01 = 60°
10 = 90°
11 = 120°
3
ISDen
0 = Initial speed detect (ISD) disable
1 = ISD enable
2
RvsDrEn
0 = Reverse drive disable
1 = Reverse drive enable
RvsDrThr[1:0]
The threshold where device starts to process reverse drive (RvsDr) or brake.
00 = 6.3 Hz
01 = 13 Hz
10 = 26 Hz
11 = 51 Hz
OpenLCurr[1:0]
Open loop current setting.
00 = 0.2 A
01 = 0.4 A
10 = 0.8 A
11 = 1.6 A
OpLCurrRt:[2:0]
Open-loop current ramp-up rate setting
000 = 6 VCC/s
001 = 3 VCC/s
010 = 1.5 VCC/s
011 = 0.7 VCC/s
100 = 0.34 VCC/s
101 = 0.16 VCC/s
110 = 0.07 VCC/s
111 = 0.023 VCC/s
BrkDoneThr [2:0]
Braking mode setting
000 = No brake (BrkEn = 0)
001 = 2.7 s
010 = 1.3 s
011 = 0.67 s
100 = 0.33 s
101 = 0.16 s
110 = 0.08 s
111 = 0.04 s
5:4
0x23
1:0
7:6
5:3
SysOpt2 (3)
Description
ISD stationary judgment threshold
00 = 6 Hz (80 ms, no zero cross)
01 = 3 Hz (160 ms, no zero cross)
10 = 1.6 Hz (320 ms, no zero cross)
11 = 0.8 Hz (640 ms, no zero cross)
7:6
SysOpt1 (3)
Data
Bits
0x24
2:0
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Table 9. Register Description (continued)
Register
Name
Address
CtrlCoef[1:0]
StAccel2[2:0]
Open loop start-up accelerate (second order)
000 = 57 Hz/s2
001 = 29 Hz/s2
010 = 14 Hz/s2
011 = 6.9 Hz/s2
100 = 3.3 Hz/s2
101 = 1.6 Hz/s2
110 = 0.66 Hz/s2
111 = 0.22 Hz/s2
StAccel[2:0]
Open loop start-up accelerate (first order)
000 = 76 Hz/s
001 = 38 Hz/s
010 = 19 Hz/s
011 = 9.2 Hz/s
100 = 4.5 Hz/s
101 = 2.1 Hz/s
110 = 0.9 Hz/s
111 = 0.3 Hz/s
Op2ClsThr[4:0]
Open to closed loop threshold
0xxxx = Range 0: n × 0.8 Hz
00000 = N/A
00001 = 0.8 Hz
00111 = 5.6 Hz
01111 = 12 Hz
1xxxx = Range 1: (n + 1) × 12.8 Hz
10000 = 12.8 Hz
10001 = 25.6 Hz
10111 = 192 Hz
11111 = 204.8 Hz
AlignTime[2:0]
Align time.
000 = 5.3 s
001 = 2.7 s
010 = 1.3 s
011 = 0.67 s
100 = 0.33 s
101 = 0.16 s
110 = 0.08 s
111 = 0.04 s
7
FaultEn3
(LockEn[3])
No motor fault. Enabled when high
6
LockEn[2]
Abnormal Kt. Enabled when high
5
LockEn[1]
Abnormal speed. Enabled when high
4
LockEn[0]
Lock detection current limit. Enabled when high
3
AVSIndEn
Inductive AVS enable. Enabled when high.
2
AVSMEn
Mechanical AVS enable. Enabled when high
1
AVSMMd
Mechanical AVS mode
0 = AVS to VCC
1 = AVS to 24 V
0
IPDRlsMd
IPD release mode
0 = Brake when inductive release
1 = Hi-z when inductive release
5:3
0x25
2:0
7:3
SysOpt4 (3)
0x26
2:0
SysOpt5 (3)
46
0x27
Description
Control coefficient
00 = 0.25
01 = 0.5
10 = 0.75
11 = 1
7:6
SysOpt3 (3)
Data
Bits
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Table 9. Register Description (continued)
Register
Name
SysOpt6 (3)
Address
SWiLimitThr [3:0]
Acceleration current limit threshold
0000 = No acceleration current limit
0001 = 0.2-A current limit
xxxx = n × 0.2 A current limit
3:1
HWiLimitThr [2:0]
Lock detection current limit threshold
(n + 1) × 0.4 A
0
N/A
N/A
7
LockEn[5]
Stuck in closed loop (no zero cross detected). Enabled when high
ClsLpAccel[2:0]
Closed loop accelerate
000 = Inf fast
001 = 48 VCC/s
010 = 48 VCC/s
011 = 0.77 VCC/s
100 = 0.37 VCC/s
101 = 0.19 VCC/s
110 = 0.091 VCC/s
111 = 0.045 VCC/s
Deadtime[3:0]
Dead time between HS and LS gate drive for motor phases
0000 = 40 ns
xxxx = (n + 1) × 40 ns. Recommended minimum dead time is 400 ns for 24-V
VCC and 360 ns for 12-V VCC.
IPDCurrThr[3:0]
IPD (inductive sense) current threshold
0000 = No IPD function. Align and Go
0001 = 0.4-A current threshold.
xxxx = 0.2 A × (n + 1) current threshold.
3
LockEn[4]
Open loop stuck (no zero cross detected). Enabled when high
2
VregSel
Buck regulator voltage select
0: Vreg = 5 V
1: Vreg = 3.3 V
IPDClk[1:0]
Inductive sense clock
00 = 12 Hz;
01 = 24 Hz;
10 = 47 Hz;
11 = 95 Hz
FGOLsel[1:0]
FG open loop output select
00 = FG outputs in both open loop and closed loop
01 = FG outputs only in closed loop
10 = FG outputs closed loop and the first open loop
11 = Reserved
FGcycle[1:0]
FG cycle select
00 = 1 pulse output per electrical cycle
01 = 2 pulses output per 3 electrical cycles
10 = 1 pulse output per 2 electrical cycles
11 = 1 pulse output per 3 electrical cycles
KtLckThr[1:0]
Abnormal Kt lock detect threshold
00 = Kt_high = 3/2Kt. Kt_low = 3/4Kt
01 = Kt_high = 2Kt. Kt_low = 3/4Kt
10 = Kt_high = 3/2Kt. Kt_low = 1/2Kt
11 = Kt_high = 2Kt. Kt_low = 1/2Kt
1
SpdCtrlMd
Speed input mode
0 = Analog input expected at SPEED pin
1 = PWM input expected at SPEED pin
0
CLoopDis
0 = Transfer to closed loop at Op2ClsThr speed
1 = No transfer to closed loop. Keep in open loop
0x28
0x29
3:0
7:4
SysOpt8 (3)
0x2A
1:0
7:6
5:4
SysOpt9 (3)
Description
7:4
6:4
SysOpt7 (3)
Data
Bits
0x2B
3:2
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9 Application and Implementation
NOTE
Information in the following applications sections is not part of the TI component
specification, and TI does not warrant its accuracy or completeness. TI's customers are
responsible for determining suitability of components for their purposes. Customers should
validate and test their design implementation to confirm system functionality.
9.1 Application Information
The DRV10975 is used in sensorless 3-phase BLDC motor control. The driver provides a high performance, high
reliability, flexible and simple solution for appliance fan, pump, and HVAC applications. The following design in
Figure 39 shows a common application of the DRV10975. For the DRV10975Z sleep mode device, a Zener
diode must be placed in parallel with the 10-µF VREG capacitor as shown in Figure 39. The Zener diode must
meet the requirements listed in Table 11
9.2 Typical Application
VCC
10 µF
0.1 µF
0.1 µF
10 µF
3.3 V or 5 V
47 µH
1 µF
1 µF
Interface to
Microcontroller
1
VCP
VCC 24
2
CPP
VCC 23
3
CPN
W 22
4
SW
W 21
5
SWGND
V 20
6
VREG
V 19
7
V1P8
U 18
8
GND
U 17
9
V3P3
PGND 16
PGND 15
10
SCL
11
SDA
12
FG
M
DIR 14
SPEED 13
VCC
10 µF
0.1 µF
0.1 µF
10 µF
3.3 V or 5 V
39 W
1 µF
1 µF
Interface to
Microcontroller
1
VCP
VCC 24
2
CPP
VCC 23
3
CPN
W 22
4
SW
W 21
5
SWGND
V 20
6
VREG
V 19
7
V1P8
U 18
8
GND
U 17
9
V3P3
PGND 16
PGND 15
10
SCL
11
SDA
12
FG
M
DIR 14
SPEED 13
Copyright © 2016, Texas Instruments Incorporated
Figure 39. Typical Application Schematics for DRV10975 (Top Image) and DRV10975Z (Bottom Image)
48
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Typical Application (continued)
9.2.1 Design Requirements
Table 10 provides design input parameters and motor parameters for system design.
Table 10. Recommended Application Range
Motor voltage
MIN
TYP
6.5
12
MAX
UNIT
18
V
0.001
1.4
V/Hz
1 phase, measured ph-ph and divide by 2
0.3
12
Ω
1 phase; inductance divided by resistance, measured ph-ph is
equal to 1 ph
100
5000
µs
1
1000
Hz
0.1
1.5
A
2
A
BEMF constant
Phase to phase, measured while motor is coasting
Motor phase resistance
Motor electrical constant
Operating closed loop speed Electrical frequency
Operating current
PGND, GND
Absolute maximum current
During start-up or lock condition
Table 11. External Components
PIN 1
PIN 2
CVCC
COMPONENT
VCC
GND
10-µF ceramic capacitor rated for VCC
CVCP
VCP
VCC
0.1-µF ceramic capacitor rated for 10 V
CCP
CPP
CPN
0.1-µF ceramic capacitor rated for VCC × 2
LSW-VREG
SW
VREG
47-µH ferrite inductor with 1.15-A current rating, 1.15-A saturation current, and < 1 Ω DC
resistance (buck mode)
RSW-VREG
RECOMMENDED
SW
VREG
39-Ω series resistor rated for ¼ W (linear mode)
CVREG
VREG
GND
10-µF ceramic capacitor rated for 10 V
CV1P8
V1P8
GND
1-µF ceramic capacitor rated for 5 V
CV3P3
V3P3
GND
1-µF ceramic capacitor rated for 5 V
RSCL
SCL
V3P3
4.75-kΩ pullup to V3P3
RSDA
SDA
V3P3
4.75-kΩ pullup to V3P3
RFG
FG
V3P3
4.75-kΩ pullup to V3P3
DZener (For 3.3-V Vreg
mode)
GND
VREG
Only for DRV10975Z, Zener Voltage (Vz) = 4 V (±5%). Peak Power > 2.5 W, Leakage
Current <100 µA
DZener (For 5-V Vreg
mode)
GND
VREG
Only for DRV10975Z, Zener Voltage(Vz) = 6 V (±5%). Peak Power > 2.5 W, Leakage
Current <100 µA
9.2.2 Detailed Design Procedure
1. See the Design Requirements section and make sure your system meets the recommended application
range.
2. See the DRV10983 and DRV10975 Tuning Guide and measure the motor parameters.
3. See the DRV10983 and DRV10975 Tuning Guide. Configure the parameters using DRV10975 GUI, and
optimize the motor operation. The Tuning Guide takes the user through all the configurations step by step,
including: start-up operation, closed-loop operation, current control, initial positioning, lock detection, and
anti-voltage surge.
4. See the Programming Guide for the DRV10983 and Non-Volatile Memory section for burning tuned settings
into EEPROM.
5. Build your hardware based on Layout Guidelines.
6. Connect the device into system and validate your system solution.
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9.2.3 Application Curves
FG
Phase
current
Phase
voltage
Figure 40. DRV10975 Start-Up Waveform
Figure 41. DRV10975 Operation Current Waveform
10 Power Supply Recommendations
The DRV10975 is designed to operate from an input voltage supply, V(VCC), range between 6.5 V and 18 V. The
user must place a 10-µF ceramic capacitor rated for VCC as close as possible to the VCC and GND pins.
If the power supply ripple is more than 200 mV, in addition to the local decoupling capacitors, a bulk capacitance
is required and must be sized according to the application requirements. If the bulk capacitance is implemented
in the application, the user can reduce the value of the local ceramic capacitor to 1 µF.
11 Layout
11.1 Layout Guidelines
•
•
•
•
•
50
Place VCC, GND, U, V, and W pins with thick traces because high current passes through these traces.
Place the 10-µF capacitor between VCC and GND, and as close to the VCC and GND pins as possible.
Place the capacitor between CPP and CPN, and as close to the CPP and CPN pins as possible.
Connect the GND, PGND, and SWGND under the thermal pad.
Keep the thermal pad connection as large as possible, both on the bottom side and top side. It should be one
piece of copper without any gaps.
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11.2 Layout Example
CVCC(10 uF)
CVCP(0.1 uF)
CCPP(0.1 µF)
VCP
VCC
CPP
VCC
CPN
W
SW
W
SWGND
V
VREG
V
V1P8
U
GND
U
V3P3
PGND
RSW_VREG(39 W)
CVREG(10 µF)
CV1P8(1 µF)
CV3P3(1 µF)
RSCL(4.75 kW)
PGND
SCL
RSDA(4.75 kW)
DIR
SDA
RFG(4.75 kW)
FG
SPEED
Figure 42. Example Layout Diagram for HTSSOP Package
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Layout Example (continued)
CVCC (10 uF)
VCC
VCC
CVCP (0.1 uF)
VCP
CPP
CPN
CCPP (0.1 uF)
RSW_VREG (39 Ÿ)
SW
W
GND (PPAD)
SWGND
W
CVREG (10 uF)
VREG
V
V1P8
V
GND
U
V3P3
U
CV1P8 (1 uF)
CV3P3 (1 uF)
RSCL
(4.75 kŸ)
SCL
PGND
PGND
DIR
SPEED
FG
SDA
RSDA
(4.75 kŸ)
Figure 43. Example Layout Diagram for VQFN Package
52
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12 Device and Documentation Support
12.1 Device Support
12.1.1 Third-Party Products Disclaimer
TI'S PUBLICATION OF INFORMATION REGARDING THIRD-PARTY PRODUCTS OR SERVICES DOES NOT
CONSTITUTE AN ENDORSEMENT REGARDING THE SUITABILITY OF SUCH PRODUCTS OR SERVICES
OR A WARRANTY, REPRESENTATION OR ENDORSEMENT OF SUCH PRODUCTS OR SERVICES, EITHER
ALONE OR IN COMBINATION WITH ANY TI PRODUCT OR SERVICE.
12.2 Documentation Support
12.2.1 Related Documentation
For related documentation see the following:
• Texas Instruments, DRV10983 and DRV10975 Evaluation Module user's guide
• Texas Instruments, DRV10983 and DRV10975 Tuning Guide
• Texas Instruments, How to Design a Thermally-Efficient Integrated BLDC Motor Drive PCB application report
• Texas Instruments, Programming Guide for the DRV10983
12.3 Trademarks
PowerPAD, E2E are trademarks of Texas Instruments.
All other trademarks are the property of their respective owners.
12.4 Electrostatic Discharge Caution
These devices have limited built-in ESD protection. The leads should be shorted together or the device placed in conductive foam
during storage or handling to prevent electrostatic damage to the MOS gates.
12.5 Receiving Notification of Documentation Updates
To receive notification of documentation updates, navigate to the device product folder on ti.com. In the upper
right corner, click on Alert me to register and receive a weekly digest of any product information that has
changed. For change details, review the revision history included in any revised document.
12.6 Community Resources
The following links connect to TI community resources. Linked contents are provided "AS IS" by the respective
contributors. They do not constitute TI specifications and do not necessarily reflect TI's views; see TI's Terms of
Use.
TI E2E™ Online Community TI's Engineer-to-Engineer (E2E) Community. Created to foster collaboration
among engineers. At e2e.ti.com, you can ask questions, share knowledge, explore ideas and help
solve problems with fellow engineers.
Design Support TI's Design Support Quickly find helpful E2E forums along with design support tools and
contact information for technical support.
12.7 Glossary
SLYZ022 — TI Glossary.
This glossary lists and explains terms, acronyms, and definitions.
13 Mechanical, Packaging, and Orderable Information
The following pages include mechanical, packaging, and orderable information. This information is the mostcurrent data available for the designated device. This data is subject to change without notice and without
revision of this document. For browser-based versions of this data sheet, see the left-hand navigation pane.
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PACKAGE OPTION ADDENDUM
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15-Jun-2018
PACKAGING INFORMATION
Orderable Device
Status
(1)
Package Type Package Pins Package
Drawing
Qty
Eco Plan
Lead/Ball Finish
MSL Peak Temp
(2)
(6)
(3)
Op Temp (°C)
Device Marking
(4/5)
DRV10975PWP
ACTIVE
HTSSOP
PWP
24
60
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 125
DRV10975
DRV10975PWPR
ACTIVE
HTSSOP
PWP
24
2000
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 125
DRV10975
DRV10975RHFR
ACTIVE
VQFN
RHF
24
3000
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 125
DRV
10975
DRV10975ZPWP
ACTIVE
HTSSOP
PWP
24
60
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 125
DRV10975Z
DRV10975ZPWPR
ACTIVE
HTSSOP
PWP
24
2000
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 125
DRV10975Z
DRV10975ZRHFR
ACTIVE
VQFN
RHF
24
3000
Green (RoHS
& no Sb/Br)
CU NIPDAU
Level-2-260C-1 YEAR
-40 to 125
DRV
10975Z
PDRV10975RHFR
ACTIVE
VQFN
RHF
24
1
TBD
Call TI
Call TI
-40 to 125
(1)
The marketing status values are defined as follows:
ACTIVE: Product device recommended for new designs.
LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect.
NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design.
PREVIEW: Device has been announced but is not in production. Samples may or may not be available.
OBSOLETE: TI has discontinued the production of the device.
(2)
RoHS: TI defines "RoHS" to mean semiconductor products that are compliant with the current EU RoHS requirements for all 10 RoHS substances, including the requirement that RoHS substance
do not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, "RoHS" products are suitable for use in specified lead-free processes. TI may
reference these types of products as "Pb-Free".
RoHS Exempt: TI defines "RoHS Exempt" to mean products that contain lead but are compliant with EU RoHS pursuant to a specific EU RoHS exemption.
Green: TI defines "Green" to mean the content of Chlorine (Cl) and Bromine (Br) based flame retardants meet JS709B low halogen requirements of <=1000ppm threshold. Antimony trioxide based
flame retardants must also meet the <=1000ppm threshold requirement.
(3)
MSL, Peak Temp. - The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature.
(4)
There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device.
(5)
Multiple Device Markings will be inside parentheses. Only one Device Marking contained in parentheses and separated by a "~" will appear on a device. If a line is indented then it is a continuation
of the previous line and the two combined represent the entire Device Marking for that device.
Addendum-Page 1
Samples
PACKAGE OPTION ADDENDUM
www.ti.com
15-Jun-2018
(6)
Lead/Ball Finish - Orderable Devices may have multiple material finish options. Finish options are separated by a vertical ruled line. Lead/Ball Finish values may wrap to two lines if the finish
value exceeds the maximum column width.
Important Information and Disclaimer:The information provided on this page represents TI's knowledge and belief as of the date that it is provided. TI bases its knowledge and belief on information
provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. TI has taken and
continues to take reasonable steps to provide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals.
TI and TI suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release.
In no event shall TI's liability arising out of such information exceed the total purchase price of the TI part(s) at issue in this document sold by TI to Customer on an annual basis.
Addendum-Page 2
PACKAGE MATERIALS INFORMATION
www.ti.com
12-Jun-2018
TAPE AND REEL INFORMATION
*All dimensions are nominal
Device
Package Package Pins
Type Drawing
SPQ
Reel
Reel
A0
Diameter Width (mm)
(mm) W1 (mm)
B0
(mm)
K0
(mm)
P1
(mm)
W
Pin1
(mm) Quadrant
DRV10975RHFR
VQFN
RHF
24
3000
330.0
12.4
4.3
5.3
1.3
8.0
12.0
Q1
DRV10975ZPWPR
HTSSOP
PWP
24
2000
330.0
16.4
6.95
8.3
1.6
8.0
16.0
Q1
DRV10975ZRHFR
VQFN
RHF
24
3000
330.0
12.4
4.3
5.3
1.3
8.0
12.0
Q1
Pack Materials-Page 1
PACKAGE MATERIALS INFORMATION
www.ti.com
12-Jun-2018
*All dimensions are nominal
Device
Package Type
Package Drawing
Pins
SPQ
Length (mm)
Width (mm)
Height (mm)
DRV10975RHFR
VQFN
RHF
24
3000
367.0
367.0
35.0
DRV10975ZPWPR
HTSSOP
PWP
24
2000
367.0
367.0
38.0
DRV10975ZRHFR
VQFN
RHF
24
3000
367.0
367.0
35.0
Pack Materials-Page 2
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