MOTOROLA TECHNICAL DATA m= SEMICONDUCTOR xy Order this data sheet by MC33034/D BRUSHLESS DC MOTOR CONTROLLER The MC33034 series is a high performance monolithic brushless motor controller containing all of the active functions required to implement a full featured open-loop three or four phase motor control system. These devices consist of a rotor position decoder for proper commutation sequencing, temperature compensated reference capable of supplying sensor power, frequency pro- grammable sawtooth oscillator, fully accessible error amplifier, pulse width modulator comparator, three open collector top driv- ers, and three high current totem pole bottom drivers ideally suited for driving power MOSFETs. Also included are protective features consisting of undervoltage lockout, cycle-by-cycle current limiting with a selectable time delayed latched shutdown mode, internal thermal shutdown, and a unique fault output that can be interfaced into microprocessor controlled systems. Typical motor control functions include open-loop speed, for- ward or reverse direction, run enable, and dynamic braking. The MC33034P60 and MC33034P120 are designed to operate with an electrical sensor phasing of 60/300 and 120/240 respectively. @ 10 V to 40 V Operation @ Undervoltage Lockout @ 6.25 V Reference Capable of Supplying Sensor Power @ Fully Accessible Error Amplifier for Servo Applications @ High Current Totem Pole Bottom Drivers @ Cycle-By-Cycle Current Limiting @ Internal Thermal Shutdown MC33034 BRUSHLESS DC MOTOR CONTROLLER SILICON MONOLITHIC INTEGRATED CIRCUIT P SUFFIX od PLASTIC PACKAGE ; CASE 724 DW SUFFIX PLASTIC PACKAGE FE 24 ma CASE 751E EE (SO-24L) 1 OUTPUT BUFFERS PIN CONNECTIONS Top Drive 8 [7] Outputs AT [2] 23} Brake input Fwd/Rev [ 3| 22] N.C. A Sensor "A [a a Bottom B : Inputs SB [5] 20] 8 oe t S fal c utputs c [6] B Output Enable (7 3] Vc Reference Output L8 7] Vee Current . Sense Input [3] 6] Drive Gnd Oscillator {ro} 5} Gnd Error Amp Non- ton inverting Input {14 ha] Fault Output Error Am Error Amp Out/ inverting input fr2| i PWM Input (Top View) ORDERING INFORMATION Sensor Electrical Package Phasing Device MC33034DW60 60/300 SO-24L MC33034DW120 120/240 SO-24L MC33034P60 60/300 Plastic DIP MC33034P120 120/240 Plastic DIP Ambient Temperature Range = 40C to +85C SENSEFET is a trademark of Motorola. MOTOROLA INC., 1990 DS9727MAXIMUM RATINGS Rating Symbol Value Unit Power Supply Voltage Vcc 40 Vv Digital Inputs (Pins 3, 4, 5, 6, 7, 23) _ Vref Vv Oscillator Input Current (Source or Sink) losc 30 mA Error Amp Input Voltage Range (Pins 11, 12, Note 1} ViR 0.3 to 40 Vv Error Amp Output Current, Source or Sink (Note 2) lout 10 mA Current Sense Input Voltage VSense 5.0 v Fault Output Voltage VceE(Fautt) 20 V Fault Output Sink Current ISink(Fault) 20 mA Top Drive Voltage (Pins 1, 2, 24) VCE(top) 45 Vv Top Drive Sink Current (Pins 1, 2, 24) ISink(top) 50 mA Bottom Drive Supply Voltage (Pin 18) Vc 40 Vv Bottom Drive Output Current, Source or Sink (Pins 19, 20, 21) lDRV 100 mA Power Dissipation and Thermal Characteristics Maximum Power Dissipation @ Ta = 85C Pp 867 mW Thermal Resistance Junction to Air Raja 75 C/W Operating Junction Temperature Ty +150 C Operating Ambient Temperature Range TA -~40 to +85 c Storage Temperature Range Tstg -65to +150} C ELECTRICAL CHARACTERISTICS (Vcc and Vc = 20 V, RT = 4.7 k, Cp = 10 nF, Ta = 25C unless otherwise noted) Characteristic Symbol Min Typ Max Unit | REFERENCE SECTION Reference Output Voltage (IRef = 1.0 mA) Vret Vv Ta = 25C 5.9 6.25 6.5 Ta = 40C to +88C 5.82 _ 6.57 Line Regulation (Vcc = 10 V to 40 V, lref = 1.0 mA) Regline _ 12 30 mV Load Regulation (lef = 1.0 mA to 20 mA) Regioad _ 5.0 30 mV Output Short Circuit Current (Note 3) Isc 40 60 _ mA Reference Under Voltage Lockout Threshold Vth 4.0 45 5.0 Vv ERROR AMPLIFIER Input Offset Voltage (Ta = 40C to +85C) Vio _ 2.0 10 mV Input Offset Current (Ta = 40 to +85C) ho _ 10 500 nA Input Bias Current (Ta = 40C to + 85C) iB _ -25 1000 nA Input Common Mode Voltage Range VICR (0 V to Vcc -2.0 V) Vv Open-Loop Voltage Gain (Vg = 3.0 V, RL = 15k) AVOL 75 95 _ dB Input Common Mode Rejection Ratio CMRR 55 80 _ dB Power Supply Rejection Ratio (Vcc and Vc = 10 V to 40 V) PSRR 65 95 _ dB Output Voltage Swing Vv High State (RL = 15 k to Gnd) VOH 4.6 5.4 _ Low State (RL = 15k to Vref) VOL _ 0.7 1.0 Notes: 1. The input common mode voltage or input signal voltage should not be allowed to go negative by more than 0.3 V. The upper functional limit of the common mode voltage range is typically Vcc 2.0 V, but either or both inputs can go to 40 V, independent of Vcc without device destruction. . The compliance voltage must not exceed the range of 0.3 V to Vref. 3. Maximum package power dissipation limits must be observed. n MOTOROLA MC33034 2ELECTRICAL CHARACTERISTICS (Vcc and Vc = 20 V, Rt = 4.7 k, Cy = 10 nF, Ta = 25C unless otherwise noted) Characteristic Symbol Min Typ Max Unit OSCILLATOR SECTION Oscillator Frequency fosc 21 23.5 26 kHz Frequency Change with Voltage (Vcc = 10 V to 40 V) Afosc/Av _ 0.1 5.0 % Sawtooth Peak Voltage VOSCIP) _ 4.0 4.2 Vv Sawtooth Valley Voltage Vosciv) 1.2 1.5 _ Vv LOGIC INPUTS Input Threshold Voltage (Pins 3, 4, 5, 6, 7, 23) Vv High State ViH 2.0 1.4 _ Low State VIL _ 1.4 0.8 Sensor Inputs (Pins 4, 5, 6) pA High State Input Current (Vj = 5.0 V) WH 250 150 -40 Low State Input Current (Vij, = 0 V) Ine - 900 ~600 300 Forward/Reverse and Brake Inputs (Pins 3, 23) BA High State Input Current (Vj = 5.0 V) lH ~ 150 88 25 Low State Input Current (Vj_ = 0 V) IL 600 325 150 Output Enable LA High State Input Current (Viz = 5.0 V) NH -70 40 ~10 Low State Input Current (Vj_ = 0 V) Hit 80 40 20 CURRENT-LIMIT COMPARATOR Threshold Voltage Vth 75 100 125 mV Input Bias Current (Vip = 0 V to 5.0 V) iB _ ~1.0 -2.0 pA OUTPUTS AND POWER SECTIONS Top Drive Output Sink Saturation (Igink = 25 mA) VCE(sat) 0.95 1.5 Vv Top Drive Output Off-State Leakage (VcE = 40 V) IDRV{leak) 2.0 100 pA Top Drive Output Switching Time (CL = 47 pF, RL = 1.0 k) ns Rise Time tr _ 100 300 Fall Time tf 35 300 Bottom Drive Output Voltage Vv High State (Isqurce = 50 mA) VOH (Vo-3.0) | (Ve-2.4) _ Low State (Isink = 50 mA) VOL _ 1.5 2.0 Bottom Drive Output Switching Time (C_ = 1000 pF) ns Rise Time tr _ 75 200 Fail Time te _ 65 200 Fault Output Sink Saturation (Isink = 16 mA) VCE(sat) _ 225 500 mV Fault Output Off-State Leakage (VcE = 20 V) IFLT(leak) 1.0 100 pA Under Voltage Lockout Vv Drive Outputs Enabled (Vcc or Vc Increasing) Vth(on) 8.2 9.1 10 Hysteresis VH 0.1 0.2 0.3 Power Supply Current mA Vcc and Vc = 20V Vec Current (Pin 17) lec _ 16 22 Vc Current (Pin 18) Ic _ 3.0 7.0 MC33034 . MOTOROLA 3FIGURE 1 OSCILLATOR FREQUENCY versus FIGURE 2 OSCILLATOR FREQUENCY CHANGE TIMING RESISTOR versus TEMPERATURE > =) Vec = 20V Ve = 20V Ta = 26C Veco = 20V Ve = 20V RT = 47k CT = 10nF no o t Oo fogc, OSCILLATOR FREQUENCY (kHz} Afogc, OSCILLATOR FREQUENCY CHANGE {%) Qo J 4.0 1.0K 10K 100K 1.0M 55 2 0 25 50 5 100 125 Ry, TIMING RESISTOR () Ta, AMBIENT TEMPERATURE (C) FIGURE 3 ERROR AMP OPEN-LOOP GAIN AND FIGURE 4 ERROR AMP OUTPUT SATURATION PHASE versus FREQUENCY versus LOAD CURRENT 60 0 0 Vec = 20V _ Vref Vec = 20V $s Vo = 20V ai Source Saturation ve = mt = = = # _o Ty = 25 = 4 Hd _ oe oe = 8 {Load to Ground) eo c 2 is CL = 100 pF 3 = = Ta = 25C = 6-16 3S Q & = 2 90 = x 8 BF 16 z e5 5 wee & 3 0 3 08 Sink a & (Load to Vre) -20 180 0 1.0K 10K 100K 1.0M 10M 0 10 2.0 3.0 4.0 f, FREQUENCY (Hz) ig. OUTPUT LOAD CURRENT (mA) FIGURE 5 ERROR AMP SMALL-SIGNAL FIGURE 6 ERROR AMP LARGE-SIGNAL TRANSIENT RESPONSE TRANSIENT RESPONSE 20 mV/DIV 600 mV/DIV 1.0 ps/DIV 5 psiDIV MOTOROLA MC33034 4FIGURE 7 REFERENCE OUTPUT VOLTAGE CHANGE versus SOURCE CURRENT Qo | 90 o | a | te oe Vcc = 20V Vo = 20V Ta = 26C | 8 | oo o AVref, REFERENCE OUTPUT VOLTAGE CHANGE (mV) 2 lref, REFERENCE OUTPUT SOURCE CURRENT {mA) FIGURE 9 - REFERENCE OUTPUT VOLTAGE versus TEMPERATURE Vec = 20V Vo = 20V Re = 2 55 -2 0 +25 +50 +75 + 100 Ta, AMBIENT TEMPERATURE (C) AVref. NORMALIZED REFERENCE VOLTAGE CHANGE (mV) FIGURE 11 BOTTOM DRIVE RESPONSE TIME versus CURRENT SENSE INPUT VOLTAGE 1.4 Vec = 20V Vc = 20V RL = Cl = 1.0 nF Ta = 25C 2 S ad = m a co o he o tm ty_, BOTTOM DRIVE RESPONSE TIME (us) 2.0 3.0 5.0 7.0 CURRENT SENSE INPUT VOLTAGE (NORMALIZED TO Vp} = o MC33034 10 20 30 40 +125 10 FIGURE 8 - REFERENCE OUTPUT VOLTAGE versus SUPPLY VOLTAGE ad & Rad gn > mm o =) = Oo oO o Vref: REFERENCE OUTPUT VOLTAGE (V) = Oo oQ Qo Qa 20 30 40 Voc, SUPPLY VOLTAGE (V) FIGURE 10 OUTPUT DUTY CYCLE versus PWM INPUT VOLTAGE = Q Oo Vcc = 20V Vo = 20V _ 80h RT = 47k x CT = 10 nF uy Ta = BC S 60 oO z= > a 5 40 = => 3 20 0 0 1.0 2.0 3.0 4.0 5.0 PWM INPUT VOLTAGE (V) FIGURE 12 FAULT OUTPUT SATURATION versus SINK CURRENT 0.30 S om Q Veat, OUTPUT SATURATION (V} 9 4.0 8.0 0 16 Isink, SINK CURRENT (mA) MOTOROLA 5FIGURE 13 TOP DRIVE OUTPUT SATURATION versus SINK CURRENT FIGURE 14 TOP DRIVE OUTPUT WAVEFORM Vsat: OUTPUT SATURATION (V) 0 10 20 30 40 +00 ns/DIV Isinke SINK CURRENT (mA) FIGURE 15 BOTTOM DRIVE OUTPUT WAVEFORM FIGURE 16 BOTTOM DRIVE OUTPUT WAVEFORM 100 ns/DIV 100 ns/DIV FIGURE 17 BOTTOM DRIVE OUTPUT SATURATION FIGURE 18 POWER AND BOTTOM DRIVE SUPPLY versus LOAD CURRENT CURRENT versus SUPPLY VOLTAGE Vc Vec = 20V Vo = 20V Ta = 25C Source Saturation (Load to Ground) Vat, OUTPUT SATURATION VOLTAGE (V} Icc, POWER SUPPLY CURRENT (mA) Ic, BOTTOM DRIVE SUPPLY CURRENT {mA} Ry = 47k Cy = 10 nF Sink Saturation Pins 3-7, 9, 23 = Gnd (Load to Vc) Ta = 25C Gnd 0 20 40 60 80 0 10 20 30 40 Ig, OUTPUT LOAD CURRENT (mA) SUPPLY VOLTAGE (V) MOTOROLA MC33034 6PIN FUNCTION DESCRIPTION Pin No. Function Description 1,2, 24 By, At, CT These three open collector Top Drive Outputs are designed to drive the external upper power switch transistors. 3 FWD/REV The Forward/Reverse input is used to change the direction of motor rotation. 4,5,6 Sa, SB, Sc These three Sensor inputs control the commutation sequence. 7 Output Enable A logic high at this input causes the motor to run, while a low causes it to coast. 8 Reference Output This output provides charging current for the oscillator timing capacitor Cy and a reference for the error amplifier. It can also furnish sensor power. 9 Current Sense Input A 100 mV signal at this input terminates output switch conduction dur- ing a given oscillator cycle. 10 Oscillator The Oscillator frequency is programmed by the values selected for tim- ing components Rt and Cr. 11 Error Amp Noninverting This input is normally connected to the speed set potentiometer. Input 12 Error Amp Inverting Input This input is normally connected to the Error Amp Output in open-loop applications. 13 Error Amp Output/PWM This pin is available for compensation in closed-loop applications. Input 14 Fauit Output This open collector output is active low during one or more of the fol- lowing conditions: Invalid Sensor Input code, Enable Input at logic 0, Current Sense Input > 100 mV, Undervoltage Lockout activation, and Thermal Shutdown. 15 Ground This pin is the control circuitry ground return and is connected back to the source ground. 16 Drive Ground This pin is a separate power ground return that is connected back to the power source. It reduces the effects of switching transient noise on the control circuitry. 17 Vec This pin is the positive supply of the control IC. The controller is func- tional over a minimum Vcc range of 10 V to 40 V. 18 Ve The high state (VQH) of the Bottom Drive Outputs are set by the volt- age applied to this pin. The controller is operational over a minimum Vc range of 10 V to 40 V. 19, 20, 21| Cp, Bg, Ap These three totem pole Bottom Drive Outputs are designed for direct drive of the externa! bottom power switch transistors. 22 N.C. No connection. This pin is not internally connected. 23 Brake Input A logic low at this input causes the motor to run, while a high causes rapid deceleration. MC33034 MOTOROLA 7FIGURE 19 REPRESENTATIVE BLOCK DIAGRAM ccc + en ee eee nee ee 4! wk sact + Sensor 5 I WKS | Output Inputs Sa) + Rotor 12 61 WKS Position sc? + Decocer = ' AT 1 Forward at 20K t Reverse I buoy {1 Top ! Undervoltage 1 row owe VIN Veco 17, Lockout ; Bt utputs o i ! p= il : Yew r I Reference b 1 ' Cr Ret | Regulator atv I ference Output 8 I i zt | 4 DPD 1 + | 1 it. __e ae Output Enable I + asvr | 7 40 pA > | ro oot ->. 1 = | Non-Inverting I +, | 21 mor amp snot et HO ip Pas Inverting 12 ] ~ Input A i ~ 20 Bottom I a Pin 4 13 | PWM R 1) oe Bs Outputs ~ Q Error Amp Out |} Latch ' PWM Input i . 19 AT? t tT, 3 oa 10 $ + 1B Oscillator a t ; Latch 20K Ct: R 3 'I ! ~ + ~ I Nn ! Current | 100 mv .L ; Sense input | = bee ee ee ee ee ee tee eh ee ee ee ete eee a . Brake Input t> - pink Only True Logic FIGURE 20 THREE PHASE, SIX STEP COMMUTATION TRUTH TABLE inputs (Note 1) Outputs (Note 2) Sensor Electrical Top Bottom Phasing Drives Drives MC33034P60 MC33034P120 60 120 Current Sa Sp Sc | Spa Sp Sc | F/R Enable Brake Sense | AT Br Cry | Ag Ba Cg Fault 1 0 0 1 0 0 1 1 0 0 0 1 4 0 0 1 1 1 1 0 1 1 0 1 1 0 0 1 0 4 0 0 1 1 1 1 1 0 1 0 1 1 0 0 1 0 1 1 0 0 1 0 1 1 0 1 1 1 1 0 0 :) 1 0 1 0 0 4 0 0 i 0 0 1 1 1 0 0 4 1 0 0 1 0 q 0 0 0 4 0 1 1 1 0 0 0 1 1 0 1 0 1 1 0 0 7 0 0 0 1 0 0 1 4 0 1 0 0 1 1 1 0 i 1 0 0 1 0 0 1 1 0 0 1 0 :| 1 1 1 0 1 0 0 1 0 0 0 1 1 0 1 0 4 0 1 1 0 1 1 0 1 0 0 0 1 1 0 0 1 1 0 0 1 0 0 1 0 1 0 0 4 0 1 0 0 1 1 0 0 0 1 0 4 0 1 0 0 4 0 1 1 0 0 1 1 0 1 0 0 0 x x 0 Xx 1 1 1 0 0 0 0 0 1 0 1 1 1 x x 0 x 1 4 1 0 0 0 0 x x x x x x x 0 0 x 1 1 1 0 0 0 0 Vv Vv Vv Vv Vv Vv x 1 1 0 1 1 1 1 1 1 1 Xx x Xx x x x x xX 1 1 1 1 1 1 1 1 0 Xx Xx X Xx Xx x Xx Xx 0 4 1 1 1 0 0 0 0 Notes: 1. The digital inputs (Pins 3, 4, 5, 6, 7, 23) are all TTL compatible. The current sense input (Pin 9) has a 100 mV threshold. A logic 0 for this input is defined as < 80 mV, and a logic 1 is > 120 mv. 2. The Fault and top drive outputs are open collectors and are active in the low (0) state. 3. V = any one of the six valid sensor combinations. X = Dont care. MOTOROLA MC33034 8INTRODUCTION The Motorola MC33034 is a high performance mon- olithic brushless motor controller containing all of the active functions required to implement a full featured, open-ioop, three or four phase motor control system. These integrated circuits are constructed with Bipolar Analog technology which offers a high degree of per- formance and ruggedness in hostile industrial environ- ments. The MC33034 consists of a rotor position decoder for proper commutation sequencing, temper- ature compensated reference capable of supplying sen- sor power, frequency programmable sawtooth oscilla- tor, fully accessibie error amplifier, pulse width modulator comparator, three open collector top drivers, and three high current totem pole bottom drivers ideally suited for driving power MOSFETs. Aliso included are protective features consisting of undervoltage lockout, cycle by cycle current limiting with a selectable time delayed latched shutdown mode, internal thermal shutdown, and a unique Fault output that can be interfaced into microprocessor controlled systems. Typical motor contro! functions include open-loop speed control, forward or reverse direction, run enable, and dynamic braking. FUNCTIONAL DESCRIPTION A representative internal block diagram and a typical system application are shown in Figures 19 and 36. A discussion of the features and function of each of the internal blocks is given below. Rotor Position Decoder An internal rotor position decoder monitors the three sensor inputs (Pins 4, 5, 6) to provide the proper sequencing of the top and bottom drive outputs. The sensor inputs are designed to interface directly with open collector type Hall Effect switches or opto slotted couplers. Internal pull-up resistors are included to min- imize the required number of external components. The inputs are TTL compatible, with the thresholds typically at 1.4 volts. The MC33034 series consists of two device types, each is designed to control three phase motors and operate with two of the four most common con- ventions of sensor phasing. The MC33034P60 is intended to operate with an electrical sensor phasing of 60 or 300 and the MC33034P120 with 120 or 240. With three sensor inputs there are eight possible input code combinations, six of these are valid rotor posi- tions. The remaining two codes are invalid and are usu- ally caused by an open or shorted sensor line. When an invalid input condition exists, the Fault output is acti- vated and the drive outputs are disabled. With six valid input codes, the decoder can resolve the rotor position to within a window of 60 electrical degrees. The forward/reverse input (Pin 3) is used to change the direction of motor rotation by reversing the voltage across the stator winding. When this input changes state, from high to low with a given sensor input code (for example 100), the enabled top and bottom drive MC33034 outputs with the same alpha designation are exchanged (AT to Ag, Cp to Cy). In effect the commutation sequence is reversed. Motor on/off control is accomplished by the output enable (Pin 7). When left disconnected, an internal 40 A current source enables sequencing of the top and bottom drive outputs. When grounded, the top drive outputs turn off and the bottom drives are forced low, causing the motor to coast and activating the Fault output. Dynamic motor braking allows an additional margin of safety to be designed into the final product. Braking is accomplished by placing the brake input (Pin 23) in a high state. This causes the top drive outputs to turn off and the bottom drives to turn on, shorting the motor- generated back EMF. The brake input has unconditional priority over all other inputs. The internal 20 kQ pull-up resistor simplifies interfacing with the system safety- switch by ensuring brake activation if opened or dis- connected. The commutation truth table is shown in Figure 20. A four input AND gate is used to monitor the brake input and the three top drive outputs. Its purpose is to disable braking until the top drive outputs attain a high state. This helps to avoid simultaneous conduction of the top and bottom power switches. In half wave motor drive applications, the top drive outputs are not required and are typically left disconnected. Under these conditions braking will be disabled by the AND gate. If required, it can be enabled by connecting a sin- gle pull-up resistor from Vcc to the three open collector outputs. Figure 38 shows a pull-up method utilizing the enable input current source. Error Amplifier A high performance, fully compensated error ampli- fier with access to both inputs and output (Pins 11, 12, 13) is provided to facilitate the implementation of closed-loop motor speed control. The amplifier features a typical DC voltage gain of 95 dB, 800 kHz gain bandwidth, and a wide input common mode voltage range that extends from ground to Vcc 2.0 V. In most open-loop speed contro! applications, the amplifier is configured as a unity gain voltage follower with the non- inverting input connected to the speed set voltage source. Additional configurations are shown in Figures 31 through 35. Oscillator The frequency of the internal ramp oscillator is pro- grammed by the values selected for timing components Rt and Cy. Capacitor Cy is charged from the reference output (Pin 8) through resistor Rt and discharged by an internal transistor. The ramp peak and valley volt- ages are typically 4.0 V and 1.5 V respectively. To pro- vide a good compromise between audible noise and output switching efficiency, an oscillator frequency in the range of 20 kHz to 30 kHz is recommended. Refer to Figure 7 for component selection. MOTOROLA 9Pulse Width Modulator The use of pulse width modulation provides an energy efficient method of controlling the motor speed by varying the average voltage applied to each stator winding during the commutation sequence. As CT dis- charges, the oscillator sets both latches, allowing con- duction of the top and bottom drive outputs. The PWM comparator resets the upper latch, terminating bottom drive output conduction when the positive-going ramp on CT becomes greater than the error amplifier output. The pulse width modulator timing diagram is shown in Figure 21. Pulse width modulation for speed control appears only at the bottom drive outputs. Current Limit Continuous operation of a motor that is severely overloaded results in overheating and eventual fail- ure. This destructive condition can best be prevented with the use of cycle-by-cycle current limiting. That is, each on-cycle is treated as a separate problem. This is implemented by monitoring the stator current build- up each time the output switch conducts, and upon sensing an over current condition, immediately turns off the switch and holds it off for the duration of the oscillator ramp-up period. The stator current is con- verted to a voltage by inserting a ground-referenced sense resistor Rg (Figure 36) in series with the three bottom switch transistors (04, Q5, Q6). This voltage is monitored by the current sense input (Pin 9), and compared to an internal 100 mV reference. If exceeded, the comparator resets the lower latch and terminates output switch conduction. The value for the sense resistor is: __ 91 istator(max) The Fault output is activated during the over current condition. The dual-latch PWM configuration ensures that only a single output conduction pulse will occur during any given oscillator cycle, whether terminated by the output of the error amp or current limit comparator. Reference The on chip 6.25 V regulator (Pin 8) provides charging current for the oscillator timing capacitor, a reference for the error amplifier, and has a current capability of 40 mA for direct power of the sensors in low voltage applications. In higher voltage applications it may become necessary to transfer the power dissipated by the regulator off the I.C. This is easily accomplished with the addition of an external pass transistor as shown in Figure 22. A 6.25 V reference level was chosen to allow implementation of the simpler NPN circuit, where Vref - Vpg exceeds the minimum voltage required by Hail Effect sensors over temperature. With proper transistor selection, and adequate heatsinking, up to 1.0 amp of load current can be obtained. FIGURE 22 REFERENCE OUTPUT BUFFERS . a The NPN circuit is recom- Vin v7 UVLO mended for powering Hall or opto sensors, where the output voltage temperature coefficient is not critical. The PNP circuit is slightly more complex, but is also more accurate over temper- ature. Neither circuit has current limiting. MPS U01A To | Control Sensor Circuitry Power 6.25 V Vin 39 +f UVLO MPS [ US51A 01s To Control Circuitry and Sensor Power 6.25 V FIGURE 21 PULSE WIDTH MODULATOR TIMING DIAGRAM Capacitor Cr Error Amp Out/ LAA OO PWM Input Current Sense Input | Latch Set Inputs Top Drive Outputs Bottom Drive Outputs -hLy- Fault Output MOTOROLA 10 MC33034Undervoltage Lockout ; A triple Undervoltage Lockout has been incorporated to prevent damage to the control IC and the external power switch transistors. Under low power supply con- ditions, it guarantees that the IC and sensors are fully functional, and that there is sufficient bottom drive out- put voltage. The positive power supplies to the IC (Vcc) and the bottom drives (Vc) are each monitored by sep- arate comparators that have their thresholds at 9.1 V. This level ensures sufficient gate drive for low rps(on) when interfacing with standard power MOSFETs. When directly powering the Hall sensors from the reference, improper sensor operation can result if the output volt- age should fall below 4.5 V. A third comparator is used to detect this condition. If one or more of the compar- ators detects an undervoltage condition, the Fault out- put is activated, the top drives are turned off and the bottom drive outputs are held in a low state. Each of the comparators contain hysteresis to prevent oscilla- tions when crossing their respective thresholds. Fault Output The open collector Fault output (Pin 14) was designed to provide diagnostic information in the event of a system malfunction. It has a sink current capability of 16 mA and can directly drive a light emit- ting diode for visual indication. Additionally, it is eas- ily interfaced with TTL/CMOS logic for use in a micro- processor controlled system. The Fault output is active low when one or more of the following con- ditions occur: 1) Invalid Sensor Input code. 2) Enable Input at Logic 0. 3) Current Sense Input > 100 mV. 4) Undervoltage Lockout, activation of one or more of the comparators. 5) Thermal Shutdown, maximum junction tempera- ture has been exceeded. This unique output can also be used to distinguish between motor start-up or sustained operation in an overloaded condition. With the addition of an R/C net- work between the Fault output and the enable input, it is possible to create a time-delayed latched shutdown for overcurrent. The added circuitry shown in Figure 23, makes easy starting of motor systems which have high inertial loads by providing additional starting torque, while still preserving overcurrent protection. This task is accomplished by setting the current limit to a higher than nominal value for a predetermined time. During an excessively long overcurrent condition, capacitor CpbLy will charge causing the enable input to cross its threshold to a low state. A latch will now be formed by a positive feedback loop from the Fault output to the enable input. Once set by the current sense input, it can only be reset by shorting CpLy or cycling the power supply. MC33034 Drive Outputs The three top drive outputs (Pins 1, 2, 24) are open collector NPN transistors capable of sinking 50 mil- liamps with a minimum breakdown of 45 volts. Inter- facing into higher voltage applications is easily accom- plished with the circuits shown in Figures 24 and 25. The three totem pole bottom drive outputs (Pins 19, 20, 21) are particularly suited for direct drive of Nchan- nel MOSFETs or NPN bipolar transistors (Figures 26, 27 and 28). Each output is capable of sourcing and sinking up to 100 mA. Power for the bottom drives is supplied from Vc (Pin 18). This separate supply input allows the designer added flexibility in tailoring the drive voltage, independent of Vcc. A zener clamp is typically con- nected to this input when driving power MOSFETs in systems where Vcc is greater than 20 V. A separate drive ground (Pin 16) is included to reduce the effects of switching transient noise imposed on the current sense input. This feature becomes particularly useful when driving current sensing power MOSFETs (Figure 29). Thermal Shutdown Internal thermal shutdown circuitry is provided to protect the IC in the event that the maximum junction temperature is exceeded. When activated, typically at 170C, the IC acts as though the enable input was grounded. FIGURE 23 TIMED DELAYED LATCHED OVER-CURRENT SHUTDOWN Vref(lIL enable RDLY) ) tpty ~ Rpty Cpiy In ( Vth enable (IL enable RDLY) 6.25 (40x10 6 oY) = R Cc In ( DLY DLY 1.4(40x106 RpLy) MOTOROLA 11FIGURE 24 HIGH VOLTAGE INTERFACE WITH NPN POWER TRANSISTORS @ ap a voc 2 Load fe, Og La I Transistor Q1 is a common base stage used to level shift from Vcc to the high motor voltage Vy. The collector diode is required if Vcc is present while Viy is low. FIGURE 26 CURRENT WAVEFORM SPIKE SUPPRESSION ! : 21 i TLimit 16 23 The addition of the RC filter will eliminate current-limit instability caused by the leading edge spike on the current waveform. Resistor Rg should be a low inductance type. FIGURE 28 BIPOLAR TRANSISTOR DRIVE Base Charge Removal 1 The totem-pole output can furnish negative base current for enhanced transistor turn-off, with the addition of capacitor C. FIGURE 25 HIGH VOLTAGE INTERFACE WITH N CHANNEL POWER MOSFETs Veco = 12V VBoost VM = 170V 5 1.03k 6 Lo $1.0m me F1OM 4 fee 2 4 5 LAN 47k KN 124 | moca204 Load Optocoupier J D=1N5819 LIMIT 16 23 Series gate resistor Rg will damp any high frequency oscillations caused by the MOSFET input capacitance and any series wiring inductance in the gate-source circuit. Diode D is required if the negative current into the Bottom Drive Outputs exceeds 5.0 mA peak. FIGURE 29 CURRENT SENSING POWER MOSFETs SENSEFET S K tT AT \ | ' Power Ground: To input Source Return and Drive Ground Pin 16 1 { 1 l 9 ! limit = | 4 V/4w Ry tok * DS(on) VPing ~ TDM(on) + Rs Control Circuitry Ground: ff: SENSEFET = MTPTON10M To Pin 15 Re = 200 S Then: Vpin g ~ 0.75 Ink Virtually lossless current sensing can be achieved with the implemen- tation of SENSEFET power switches. MOTOROLA 12 MC33034FIGURE 30 HIGH VOLTAGE BOOST SUPPLY Voc = 12V s Vui+12 oa > = g Vm 8.0 rs z 1 3 6 3 Vmit4.0 ro M 0 20 60 5d Boost Current (mA) I 1 > i 1.0/200 V * TL Be 22 J Ss 1 3 MC1555 + a Totem 1N5352A Oo VM = 170V ~ 18k * = MUR115 =F 0.001 This circuit generates Veoost for Figure 25. FIGURE 32 CONTROLLED ACCELERATION/DECELERATION increase $- Speed 47 a PWM S Resistors R1 with capacitor C sets the acceleration time constant while R2 controls the deceleration. The values of R1 and R2 should be at least ten times greater than that of the speed set potentiometer to minimize time constant variations with different speed settings. FIGURE 34 CLOSED-LOOP SPEED CONTROL To Sensor Input (Pin 4) 0.01>8 The rotor position sensors can be used as a tachometer. By differen- tiating the positive-going edges and then integrating them over time, a voltage proportional to speed can be generated. The error amp com- pares this voltage to that of the speed set to control the PWM. MC33034 FIGURE 31 DIFFERENTIAL INPUT SPEED CONTROLLER R3+R4\R2 /R4 Vpin 13 = va( f= 88 =Ra)Re _ (FA ve) FIGURE 33 DIGITAL SPEED CONTROLLER 5.0V 16} Vec Ql Ol 0 ol Mi O6 o]p2 as SN74LS145 o-4 P1 Qa BCD Inputs an ol @ o- Po Q2 Qi ol o Gnd 8] The SN74LS175 is an open collector BCD to One of Ten decoder. When connected as shown, input codes 0000 through 1001 steps the PWM in increments of approximately 10% from 0 to 90% on-time. Input codes 1010 through 1111 will produce 100% on-time or full motor speed. FIGURE 35 CLOSED-LOOP TEMPERATURE CONTROL R3+R4\R2 /R4 Vpin 13 = Vref ( ) ( ) 1 Ri+R2/R3 \R3 8) | | REF | Vv 1 Vg = ref ' (E+) t RE I R3 >> RB || R6 ' 25 nA RSS 3 R6 PWM > This circuit can control the speed of a cooling fan proportional to the difference between the sensor and set temperatures. The control loop is closed as the forced air cools the NTC thermistor. For controlled heating applications, exchange the positions of R1 and R2. MOTOROLA 13SYSTEM APPLICATIONS Three Phase Motor Commutation The three phase application shown in Figure 36 is a full-featured open-loop motor controller with full wave, six step drive. The upper power switch transistors are Darlingtons while the lower devices are power MOS- FETs. Each of these devices contains an internal para- sitic catch diode that is used to return the stator induc- tive energy back to the power supply. The outputs are capable of driving a delta or wye connected stator, and a grounded neutral wye if split supplies are used. At any given rotor position, only one top and one bottom power switch (of different totem poles) is enabled. This configuration switches both ends of the stator winding from supply to ground which causes the current flow to be bidirectional or full wave. A leading edge spike is usually present on the current waveform and can cause a current-limit instability. The spike can be eliminated by adding an RC filter in series with the current sense input. Using a low inductance type resistor for Rs will also aid in spike reduction. Care must be taken in the selection of the bottom power switch transistors so that the current during braking does not exceed the device rating. During braking, the peak current generated is limited only by the series resistance of the conducting bottom switch and winding. VM + EME | = peak Rswitch + Rwinding If the motor is running at maximum speed with no load, the generated back EMF can be as high as the supply voltage, and at the onset of braking the peak current may approach twice the motor stall current. Figure 37 shows the commutation waveforms over two electrical cycles. The first cycle (0 to 360) depicts motor oper- ation at full speed while the second cycle (360 to 720) shows a reduced speed with about 50 percent pulse width modulation. The current waveforms reflect a con- stant torque load and are shown synchronous to the commutation frequency for clarity. FIGURE 36 THREE PHASE, SIX STEP, FULL WAVE MOTOR CONTROLLER 3 I ' FWD/REV i 17! VM Enable ? ( I 11! THERMAL Faster 12 I 13! MOTOROLA 14 Qs i tuimit MC33034FIGURE 37 THREE PHASE, SIX STEP, FULL WAVE COMMUTATION WAVEFORMS Rotor Electrical Position (Degrees) 0 60 120 180 0= 240. 300 360) 420 480s 540 600s: G60 720 t t ' ' ! t 1 I ' | t I - SA | ; | | | | | | | | | | ' ' i ' 1 1 I t I SB | | | | | | | Sensor Inputs ; ; ' ; MC33034P60 4 Sort f 't ot Ltt Jf tot Lo 1 t t t | SB | | | | | | | Sensor Inputs i \ ' ' \ 1 \ ' ; MC33034P120 Sc | l ql ! { { 1 1 ' 1 1 t ! t | I | Code | 100 | 110 |o10 | 011 | 001 | 101 | 100 | 110 | o10| 011 | 001 | 101 | ' I t 1 ' i t 1 1 ' ! | ( AT | bot | fot] | 1 t 1 I 1 1 Top Drive B | | | | | | | Outputs , q ; ; ! | | | | I | | t l i | | Cr | | | { 1 I 1 ' I t } ' 1 1 ' AB | | | | | | | 1 1 1 1 1 ! I ! t t ! Il ! Bottom Drive A | Outputs B | | | | I I t i t 1 | ! t 1 i t t ! Ca I ot | bot | Conducting i} ! | 1 i 1 t t 1 t f { ! Power Switch 0} + 06] 02 +05 Q2 + QqjQ3 + Qq/Q3 + Qs 11 + Qs | G1 + Gg] G2 + Ag) Q2 + Aq] Q3 + QqiQ3 + A51Q1 + Os Transistors ' 1 i ' 1 1 I \ J ! i 1 1 + 1 \ t I t t t I ! ! 1 t ' c - | | | | | | I A O- i | | | | | ~ ' ' \ t ' \ ' ! \ 1 ' ! + - | | | | | | | Motor B Orr hot | | Drive Current 1 _- + t 1 \ t 1 ! ! t ! i | t t co | | | | | | | - bo ot | ee ee 1 ' I I ' I t 1 t I t ! ! - [~<__ Full Speed (No PWM) ->|~g._ Reduced Speed (~ 50% PWM) >| FWOREV = 1 MC33034 MOTOROLA . 15FIGURE 38 THREE PHASE, THREE STEP, HALF WAVE MOTOR CONTROLLER = i THERMAL Faster Figure 38 shows a three phase, three step, half wave motor controller. This configuration is ideally suited for automotive and other low voitage applications since there is only one power switch voltage drop in series with a given stator winding. Current flow is unidirec- tional or half wave because only one end of each wind- ing is switched. Continuous braking with the typical half wave arrangement presents a motor overheating prob- lem since stator current is limited only by the winding resistance. This is due to the lack of upper power switch transistors, as in the full wave circuit, used to disconnect the windings from the supply voitage Vpy. A unique MOTOROLA 16 solution is to provide braking until the motor stops and then turn off the bottom drives. This can be accom- plished by using the fault output in conjunction with the enable input as an over current timer. Components Rpcy and Cp_cy are selected to give the motor sufficient time to stop before latching the enable input and the top drive AND gate low. To enabling the motor, the PNP transistor along with resistors R1 and R3 are used to reset the latch by discharging Cp_y upon brake switch closure. The stator flyback voltage is clamped by a sin- gle zener and three diodes. MC33034Sensor Phasing Comparison There are four conventions used to establish the rel- ative phasing of the sensor signals in three phase motors. With six step drive, an input signal change must occur every 60 electrical degrees, however, the relative signal phasing is dependent upon the mechanical sen- sor placement. A comparison of the conventions in elec- trical degrees is shown in Figure 39(a). From the sensor phasing table, Figure 39(b), note that the order of input codes for 60 phasing is the reverse of 300. This means that a P60 suffix part will operate with either convention with a resulting change in rotor direction. The same is true for the P120 part operating between 120 and 240 conventions. Further examination of the 60 and 120 columns reveal that either suffix part will operate with any of the sensor conventions with the addition of an FIGURE 39(a) SENSOR PHASING COMPARISON Rotor Electrical Position (Degrees) 0 60 120 180 240 300 360 420 480 540 600 660 720 I t t I ot f tt ot ! { | i fs TCL 120 < SB Sensor Electrical Phasing wo > 300 < SB L sid Ls s Lf Led w Poiotopdt btopett te tout FIGURE 39(b) SENSOR PHASING TABLE Sensor Electrical Phasing (Degrees) 120 240 Sa 1 1 MC33034 inverter and the interchanging of Sg and Sc inputs as shown in Figure 40. In this data sheet, the rotor position has always been given in electrical degrees, since the mechanical posi- tion is a function of the number of rotating magnetic poles. The relationship between the electrical and mechanical position is: #Rotor Peles) 2 Electrical Degrees = Mechanical Degrees( An increase in the number of magnetic poles causes more electrical revolutions for a given mechanical rev- olution. General purpose three phase motors typically contain a four pole rotor which yields two electrical revolutions for one mechanical. FIGURE 40 SENSOR PHASING CONVERSION r-- I 4a Sa From Sensors 60 or 300 Electrical Phasing Sc From Sensors 120 or 240 Electrical Phasing MOTOROLA 17Two and Four Phase Motor Commutation with an internal parasitic catch diode. With four step The MC33034P60 is also capable of providing a four drive, only two rotor position sensors spaced at 90 elec- step output that can be used to drive two or four phase trical degrees are required. The commutation wave- motors. The truth table in Figure 47 shows that by con- forms are shown in Figure 43. Note that speed control necting sensor inputs Sp and Sc together, it is possible cannot be accomplished with this circuit, since pulse to truncate the number of drive output states from six width modulation does not appear at the top drive to four. The output power switches are connected to outputs. By, CT, Bp, and Cp. Figure 42 shows a four phase, four Figure 44 shows a four phase, four step, half wave step, full wave motor control application. Power switch motor controller. It has the same features as the circuit transistors Q1 through Q8 are Darlington type, each in Figure 38, except for the deletion of braking. FIGURE 41 TWO AND FOUR PHASE, FOUR STEP, COMMUTATION TRUTH TABLE MC33034P60 Inputs Outputs Sensor Electrical Top Drives Bottom Drives Spacing = 90 SA Sg F/R Br Cr Bg CB 1 0 1 1 1 0 1 1 1 1 0 1 0 0 0 1 1 1 0 0 0 0 0 1 1 1 1 0 1 0 0 1 0 0 0 1 1 0 1 1 1 0 0 1 0 1 1 0 1 0 0 0 0 1 0 0 Sp connected to Sc FIGURE 42 FOUR PHASE, FOUR STEP, FULL WAVE MOTOR CONTROLLER Enable THERMAL EA PWM_ | | #DOHEDH er UDOT TD DT DD Pe = Qs | Limit I ~--F4 Brake MOTOROLA , MC33034 18FIGURE 43 FOUR PHASE, FOUR STEP, FULL WAVE COMMUTATION WAVEFORMS Rotor Electrical Position (Degrees) 0 90 - 1 I SA { 1 1 Sensor Inputs mc33034P60 1 8 : Code | 10 | 10 } ; BT | Top Drive 4 Outputs Bottom Drive 180 t 270 360 450 540 630 1 t ' i ! | | | 720 | > oO + | ( BB | | | << $_________ Full Speed (No PWM) _______-__>| Outputs 4 ' CB Conducting Power Switch | 03 + Os Transistors ' ( 1 + _! 4 BO; ! Motor ~- Drive Current + -' Cc O- .| | + _! { { DO- | KT, LAYOUT CONSIDERATIONS Do not attempt to construct any of the brushless motor control circuits on wire-wrap or plug-in proto- type boards. High frequency printed circuit layout tech- niques are imperative to prevent pulse jitter. This is usually caused by excessive noise pick-up imposed on the current sense or error amp inputs. The printed circuit layout should contain a ground plane with low current signal and high current drive and output buffer grounds MC33034 FWD/REV = 1 returning on separate paths back to the power supply input filter capacitor Vay. Ceramic bypass capacitors (0.1 4F) connected close to the integrated circuit at Vcc, Vc. Vref and the error amp non-inverting input may be required depending upon circuit layout. This provides a low impedance path for filtering any high frequency noise. All high current foops should be kept as short as possible using heavy copper runs to minimize radiated EMI. MOTOROLA 19IWWNYSHL YITIOULNOD HOLOW 3AVM J1VH d3LS HNO ASVHd HNOA Hh ANNO! V4 MC33034 MOTOROLA 20OUTLINE DIMENSIONS a ore . CHAMFERRED CONTOUR OPTIONAL. ot ait 2 DIM L' TO CENTER OF LEADS WHEN FORMED PARALLEL. wo . DIMENSIONS AND TOLERANCES PER ANSI Y14.5M, 1982. CONTROLLING DIMENSION: INCH. ba e tT C = sat | [-t- ] | NOTE 1 _ rT _ 26 PL D un [#/ozso0101 [T]A | P SUFFIX PLASTIC PACKAGE CASE 724-03 A} NOTES: tJ 1. DIMENSIONS A AND B ARE DATUMS AND TIS A -O-O-D-D-O-O-o-D-o-o- ot TT DATUM SURFACE. H HHH HH AAA AE 4 2. DIMENSIONING AND TOLERANCING PER ANSI Y14.5M, 1982. [-8-] P [410.25 10.010) Oa @] . CONTROLLING DIMENSION: MILLIMETER. 12 PL . DIMENSION A AND B DO NOT INCLUDE MOLD @ 12 PROTRUSION. o - ~ We | - a q H - q - H - HH - a LL . MAXIMUM MOLD PROTRUSION 0,15 (0.006} G c - - - PER SIDE. = picsm ( fo) | 4 os 24 PL L. La (Lb Loz io.0i0 [t]B Ola O] Sw an >| CEL R lo |a DW SUFFIX PLASTIC PACKAGE CASE 751-03 (SO-24L} MC33034 MOTOROLA 21This page intentionally left blank.This page intentionally left blank.Motorola reserves the right to make changes without further notice to any products herein. Motorola makes no warranty, representation or guarantee regarding the suitability of its products for any particular purpose, nor does Motorola assume any liability arising out of the application or use of any product or circuit, and specifically disclaims any and all liability, including without limitation consequential or incidental damages. Typical parameters can and do vary in different applications. All operating parameters, including Typicais must be validated for each customer application by customer's technical experts. Motorola does not convey any license under its patent rights nor the rights of others. Motorola products are not designed, intended, or authorized for use as components in systems intended for surgical implant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the Motorola product could create a situation where personal injury or death may occur. Should Buyer purchase or use Motorola products for any such unintended or unauthorized application, Buyer shall indemnify and hold Motorola and its officers, employees, subsidiaries, affiliates, and distributors harmiess against ail claims, costs, damages, and expenses, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized use, even if such claim alleges that Motorola was negligent regarding the design or manufacture of the part. Motorola and @) are registered trademarks of Motorola, Inc. Motorola, inc. is an Equal Opportunity/Affirmative Action Employer. Literature Distribution Centers: USA: Motorola Literature Distribution; P.O. Box 20912; Phoenix, Arizona 85036. EUROPE: Motorola Ltd.; European Literature Centre; 88 Tanners Drive, Blakelands, Milton Keynes, MK14 5BP, England. JAPAN: Nippon Motorola Ltd.; 4-32-1, Nishi-Gotanda, Shinagawa-ku, Tokyo 141, Japan. ASIA PACIFIC: Motorola Semiconductors H.K. Ltd.; Silicon Harbour Center, No. 2 Dai King Street, Tai Po Industrial Estate, Tai Po, N.T., Hong Kong. 20781-0 PRINTED IN USA (1994) MPS/POD LIN MC33034/D = (S) MOTOROLA