FEATURES * Complete Microstepping Control System in the following packages: - 68 Pin PLCC (IM2000P) - 80 Pin QFP (IM2000F) - 64 Pin QFP (IM2000S) * Up to 10MHz Step Clock Rate * Internal Sine/Cosine Generator * PWM Phase Current Control * Minimal External Components * Automatic Current Reduction * 14 Selectable Resolutions -- Both in Decimal and Binary * Number of Microsteps Per Step can be Changed On-The-Fly Without Motor Movement Interruption * Up to 51,200 Steps/Rev * Standalone or Buss Modes * Single 5V Power Supply * Short Circuit and Over Temperature Protection Inputs * Fault Output * On Full Step Output * Anti-Resonance DESCRIPTION The IM2000 is a high performance microstepping controller that incorporates a sine/cosine signal generator, anti-resonance circuitry, PWM current control and much more in one monolithic IC. The IM2000 combines hardware intense functions together with innovative features to provide designers with a powerful yet simple solution for their high volume OEM products. Never before has any motion product integrated all the digital chopping rate. This prevents additional motor heating that is common with drivers requiring higher chopping rates. Now low inductance stepper motors can be used to improve high speed perforBeyond the integration of a complete microstepping control system, mance and peak system efficiency. the IM2000 has unique features that give designers unprecedented The IM2000 needs only clock and direction inputs to control the control over motor movement. motor and will interface directly to These features include 14 selectdiscrete bridges or common monoable resolutions (in both decimal and binary) that can be changed at lithic bridge ICs. any time without motor movement Designers can now place drivers interruption. There is no need to reset the controller. This allows the directly on their PC boards with all the necessary control in either a user to rapidly move long dis68 pin PLCC package, an 80 pin tances, yet precisely position the QFP package, or an ultra small 64 motor at the end of travel without pin QFP package. the need or expense of a complex controller. Size, price and time-to-market are Another valuable feature is an "On- three crucial aspects in today's competitive markets and the Full Step" output which indicates IM2000 offers the ability to reduce when the motor is at an electrical full step. This output can be used to all three. reduce the overhead needed to track position when making long moves. control into one monolithic IC. This high degree of integration can significantly reduce design time as well as driver size. The development of proprietary circuits has minimized ripple current, while maintaining a 20 KHz IM2000 PIN DESCRIPTION 80 Pin QFP (F) 68 Pin PLCC (P) 64Pin QFP (S) NAME 56 4 59 SCLK Step clock input. A positive going edge on this input will advance the motor one increment (the size of the increment is dependent on the microstep select inputs). 48 65 52 RSEL ROM select input. When low, this input selects the internal sine/cosine ROM. When high, AD0-AD8 are selected for use with an external lookup table. 54 2 57 RESET 57 5 60 DIR 49 66 53 CSEL 58 6 61 EN 59 7 62 FSTEP On fullstep output signal. This active low output indicates when the IM2000's sine & cosine outputs are positioned on a full step. 61 8 63 FAULT Fault output signal. This active high output indicates when a fault has occurred. It will stay active until the IM2000 is reset. 62 9 64 WR 63 10 1 MODE 40, 65 58, 12 45, 2 PWMA, PWMB Phase A and Phase B pulse width modulated output signals. These outputs can be used to control the phase currents in common PWM type power sections. 38, 67 57, 13 44, 3 SIGNA, SIGNB Sign of A and sign of B output signals. These outputs indicate the sign of the sine and the sign of the cosine. 36, 69 55, 15 43, 4 ENA, ENB 37, 68 56, 14 -- ENAN, ENBN Phase A and Phase B enable NOT output signals. These active low outputs, which work in conjunction with the enable input of PIN 6, can be used to enable/disable the power section of the driver. 30, 31, 34, 35 50, 51, 53, 54 38, 39, 41, 42 HRA, LRA, LLA, HLA Phase A high side and low side full bridge control signals. These outputs can be used to control discrete P-N or N-N full bridge sections or half and full bridge IC's. 70, 71, 74, 75 16, 17, 19, 20 5, 6, 8, 9 HLB, LLB, LRB, HRB Phase B high side and low side full bridge control signals. These outputs can be used to control discrete P-N or N-N full bridge power sections or half and full bridge IC's. 78, 80, 14, 6, 7 23-30 12-19 COS0-COS7 18, 19, 21-25, 27 40-47 28-35 SIN7-SIN0 42 60 47 IHI Polarity select input for active high or active low high side full bridge control outputs. 41 59 46 ILOW Polarity select input for active high or active low low side full bridge control outputs. 28, 77 48, 22 36, 11 VSA, VSB 29, 76 49, 21 37, 10 OVCA, OVCB 9 32 20 CURRED 11, 12 34, 35 22, 23 OSCRC, OSCR 14 36 24 OVV 16 38 26 OVTMP Pin Function Reset input. When low, this input will reset the IM2000 (PWM, Enable, and Full Bridge outputs will be disabled). When released, the controller will be at its initial state (sine at 0, cosine at peak). Direction input. This input is used to change the direction of the motor. Physical direction also depends on the connection of the motor windings. Clock select input. When low, the SCLK input will be directed to the internal sine/cosine generator independent of the level of the EN input. When high, the SCLK input will be directed to the COUT output when the EN input is low and, conversely, to the internal sine/cosine generator when the EN input is high. Enable input. When low, this input will enable/disable the PWM and full bridge output signals. Write input. When the IM2000 is configured in the buss mode, this input is used to latch in the microstep select, enable, and direction inputs. Mode select input. This input is used to configure the IM2000 in a stand alone or buss mode. Phase A and Phase B enable output signals. These active high outputs, which work in conjunction with the enable input of PIN 6, can be used to enable/disable the power section of the driver. Cosine waveform output signals for Phase B. Sine waveform output signals for Phase A. Phase A and Phase B current sense inputs. Phase A and Phase B over current/short circuit protection inputs. Automatic current reduction output signal. This active high output is used to automatically reduce the driver output current 1 second after the last step clock input. Resistor/capacitor inputs for on-board PWM oscillator. Over voltage protection input. Over temperature protection input. 15, 55 3, 37 25, 58 VCC Supply voltage. 10, 32, 50, 72 18, 33, 52, 67 7, 21, 40, 54 GND Ground. 43, 44, 46 ,47 18, 33, 52, 67 48-51 MSEL0-MSEL3 Microstep resolution select inputs. These inputs are used to select the number of microsteps per full step. The available resolutions (microsteps/step) are: 2, 4, 5, 8, 10, 16, 25, 32, 50, 64, 125, 128, 250, 256. 78, 80, 14, 6-8 23-31 12-19 AD0-AD8 (P/F) AD0-AD7 (S) Address 0 - Address 8 (Address 0 - Address 7 oon IM2000S) . These outputs are used in conjunction with external lookup tables for user supplied sine and cosine curves. 17 39 27 COUT 51, 52 68, 1 55, 56 CIR0, CIR1 64 11 -- BD SCLK output. This output is dependent on the CSEL and EN inputs. PWM circulation select inputs. These inputs are used to select whether or not the PWM will be in a recirculating or a nonrecirculating mode, or an automatic recirculating and non-recirculating mode. Binary/Decimal select output. This output is used in conjunction with AD0-AD8 when using outside lookup tables. This ouput is used to choose between binary or decimal encoded tables. IM2000 ABSOLUTE MAXIMUM RATINGS RECOMMENDED OPERATING CONDITIONS Parameter Parameter Symbol Limits Units DC Supply Voltage VDD VSS -0.3 to +7.0 V Input Voltage VIN VSS -0.3 to VDD +0.3 V Output Voltage VOUT VSS -0.3 to VDD +0.3 Storage Temp. TSTG -65 to +150 Symbol Min. Typ Max. Units DC Supply Voltage VDD 4.5 5.0 5.5 V V Input Voltage VIN VSS VDD V C Operating Temp. TOPR -20 85 C ELECTRICAL CHARACTERISTICS DC Electrical Characteristics Symbol Parameter VIL Low level input voltage VIH High level input voltage VDD = +5.0 10% Conditions TOPR = 25 C Min. Typical Max. Units 0.8 V 2.0 V VT+ Schmitt trigger positive going threshold voltage VDD = 5.0 VT- Schmitt trigger negative going threshold voltage VDD = 5.0 0.6 V VH Schmitt trigger hysteresis voltage VDD = 5.0 0.1 V 3.0 V IIL Low level input current VIN = VSS 1.0 mA IIH High level input current VIN = VDD 1.0 mA VOL Low level output voltage VSS +0.4 V VOH High level output voltage IOL Low level output current -6.0 mA IOH High level output current 3.0 mA ICC Supply current VDD -0.4 V mA AC Electrical Characteristics Symbol Parameter Min. Typical Units tRW RESET pulse width 200 tS MSEL, SCLK setup time 100 nS PACKAGING INFORMATION tSW SCLK pulse width 10 nS Dimensions in Inches (mm) tWR WR pulse width 20 nS nS tWH Data hold time after WR fPWM PWM chopping frequency 20 KHz fCLK SCLK input frequency 10 MHz 0 nS INTEGRATED CIRCUITS BLOCK DIAGRAM TYPICAL APPLICATION 48V, 3 Amps (RMS)/Phase Microstepping Driver Output Current (AMPS) = .002 x R1 (OHMS) NOTE: Diodes maybe needed on phase outputs depending on input voltage and phase currents used.