Order ttis data sheet by MC33033/D "OROLA MC33033 WICONDUCTOR HNICAL DATA Advance Information BRUSHLESS DC MOTOR CONTROLLER The MC33033 is a high performance second generation, limited feature, monolithic brushless DC motor controller which has evolved from Motorola's full featured MC33034 and MC33035 controllers. It contains all of the active functions required for the implementation of open-loop, three or four phase motor control. The device consists of a rotor position decoder for proper commutation sequencing, temperature compensated reference capable of supplying sensor power, frequency programmable sawtooth oscillator, fully accessible 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. Unlike its predessors, it does not feature separate drive circuit supply and ground pins, brake input, or fault output signal. Included in the MC33033 are protective features consisting of under- Tvpical motor control functions include open-loop speed, forward or `:s)$~'I reverse direction, and run enable. The MC33033 is de~aned to opegd%e ": brushless motors with electrical sensor phasings of 6@/30~ 0~.N~~,@l: 24~, and can also efficiently control brush DC motors. , $:${.`$! ~xt ,Zt%e:" s.. 10 V to 30 V Operation <.5.,.., >:$.\, $.\.: ` i.,', -,>,. Undervoltage Lockout ` I 6.25 V Reference Capable of Supplying Sensor P~,wer `J" Fully Accessible Error Amplifier for Closed-Looq~S$$yo N. Applications , .$i~$+:?rx:l?.>i:+ High Current Drivers can Control MPM300~@0$ET +*:, `*,:,8$* "j:, J\,,>., ,.. Cycle-By-Cycle Current Limiting ::)~:<.i>~ ,..:. .\.\h* .?;, ~., , ~..a. Internal Thermal Shutdown .'$1, ..~.,.$.. e Selectable 60/3000 or 120/240:bY~8@@ Phasings DW SUFFIX PLASTICPACKAGE 20 e 1 CASE 751D 3-Phase Bridge Also Efficiently Controls Brus&DC?M'otors with MPM3002 (SO-20L) MOSFET PIN CONNECTIONS Top Drive output BTI@ 20 AT ~ 19 Output Enable Fwd/Rev 3 18 600/~ {R Sensor inputs ~_i MOTOR Reference Output Oscillator Error Amp Inverting Error Inverting NonInput Amp Input CT J Select u 7 14 Vcc 8 13 Gnd 9 12 10 11 Current Sense Inverting Input Error Amp Ou!/ PWM Input (Top View) RT ORDERING INFORMATION L ----___----1. `--------A-----A Operating Ambient Temperature Range Package MC33033P - 4WC to + 8WC Plastic DIP MC33033DW - 4VC to + 85C SO-20L Device Current Sense This document contains information on a new product. Specifications and information herein are su~ect to change without notice @MOTOROLA INC., 1989 ADI1733 MAXIMUM RATINGS Rating Power Supply Digital Svmbol Voltage Inputs (Pins 3, 4, 5, 6, 18, 19) Oscillator Input Current (Source or Sink) Error Amp Input Voltage Range Value Unit Vcc 30 -- Vref v Iosc 30 mA VIR `3.0 v v tO Vref (Pins 9, 10, Note 1) Error Amp Output Current (Source or Sink, Note 2) Current Sense Input Voltage Top Drive Voltage Top Drive Sink Current Bottom Range (Pins 1, 2, 20) Drive Output lout 10 mA VSense -0.3 to 5.0 v vcE(top) (Pins 1, 2, 20) 40 v lSink(T~P) 50 mA IDRV 100 mA Current ~~*~.*. ...... $,*, f !'}~{,?.(,!~tt., :*, ,*.`,+ ~$y'" . `.J* ,,:$.~+, . `;\ . !, > ~?.~,,,,'.:t,i,+}~ .:: ` ..a\)t... y.. ~::~, <:',:', \>;.<*:?i, ,,,,,.,,,.,>,.,,. ,>... ,,, ,,$. ..:l.<$> ,?>k ,$`#,$y ,:::J .,~,.y,j>,,, .,.. *,J"+t ,;$.. ` :\..:, ..:... (Source or Sink, Pins 15, 16, 17) ~*~s "%%:,! ~..; `. ,R:.::,?, ,,,:., .,..\. Maximum Power Dissipation @ TA = 85C pD 867 mW ~ta~ ..*$\~.$$~, *,, .~'$.%i\*:i,\ Thermal Resistance, Junction to Air ROJA 75 "cm $f>..:. .`*: >,,,$ .,.s ~' t,:~.k.. ~.;>" Operating Junction Temperature TJ 150 `c ~~Jt+J,. ,, ,>y .\:$$$y.k.,i!\::. Operating Ambient Temperature Range >Tl;; '.." `c TA -40to t85 ~c ,: ;s$ `* Storage Temperature Range Tstg -65to +150 , ,t.~~"::a.l> ,.,,,,.,,,, ~t!". .,..b ,:, \?~t\.\$ ELECTRICAL CHARACTERISTICS (Vcc = 20 V, RT = 4.7 k, CT = 10 nF, T&, ~,25& unless otherwise noted) Power Dissipation and Thermal Characteristics 1 sy#@) Characteristic REFERENCE SECTION Reference Output Voltage TA = 25C TA = - 40C to + 8VC Line Regulation (Vcc Load Regulation Output = 10 V to 30 V, Iref = 1.0 mA) Current . . ..... ~,::.$}::i ,;;,,. ~'!~::,. ~~ ,,. ,..?. . *Y Under Voltage (Note 3) Lockout Threshold ERROR AMPLIFIER ~X*',~$~$:~ `"" ,\,.,,.\~\ ,..~>,, ,i':t,.>..~ ~~}$+t..t, ,,.,.,, .1, Input Offset Voltage (TA = -4WC Input Offset Current (TA = - 40C,~@~%$5$)' Input Bias Current Input Common Open-Loop to tw~j~'( (TA = -40C,,,,., .~ ,* + WC) Mode Voltag#~$a~e'" Voltage Gain;#~i~$:f~O Input Common Mod,~Reje&#n Power Supply Rej&$&&~@atio Max 5.9 5.82 6.24 -- 6.5 6.57 ., "+; Regline -- 1.5 30 mV Regload -- 16 30 mV mA V, RL = 15 k) Ratio (VCC = 10 V to 30 V) Unit v Isc 40 75 -- Vth 4.0 4,5 5.0 Vlo -- Ilo -- IIB -- V[CR Output Volta~Q~%&g ~ High Stat&~~~~~~ 15 k to Ground) LOW $~i?~f$~~ = 15 k to Vref) NOTE4:}A Typ ,m. `t'<'~1$ Vref $t~ *,:\:,`*'* ..... , /s ,~t,i . ? ,$,:.1,.,, \.<::t~\, .<,,,.',,,.,..,,, (Iref = 1.0 mA to 20 mA) Short-Circuit Reference (Iref = 1.0 mA) ` Min ,,~ ,,,,tv:xi , ,,,). 0.4 0 v 10 mV 8.0 500 nA - 46 - 1000 nA dB (0 v to Vref) v AVOL 70 80 -- CMRR 55 86 -- dB PSRR 65 105 -- dB VOH VOL 4.6 -- 5.3 0.5 -- v 1.0 $ "" ,~~~e:~ut common mode voltage or input signal voltage should not be allowed to go negative by more than 0.3 V. %$$~&'compliance voltage must not exceed the range of - 0.3 to Vref, ~~$$$,;~aximum package power dissipation limits must be observed, :*j,. >$ MOTOROLA 2 MC33033 ELECTRICAL CHARACTERISTICS (continued) (VCC = 20 V, RT = 4.7 k, CT = 10 nF, TA = 25C unless otherwise Characteristic Svmbol Min fosc 22 AfOSCIAV -- Tvp noted) Max Unit 25 28 kHz 0.01 5.0 70 OSCILLATOR SECTION Oscillator @ Frequency Frequency Change with Voltage (VCC = 10 V to 30 V) Sawtooth Peak Voltage Vosc(p) -- 4.1 4.5 v Sawtooth Valley Voltage Vosc(v) 1.2 1.5 -- v ,*!. `*{,1, LOGIC INPUTS Input Threshold High State Low State Voltage Sensor Inputs (Pins 4, 5,6) High State Input Current (VIH = 5.0 V) Low State Input Current (VIL = O V) Forward/Reverse, 6W/12W Select and Output High State Input Current (VIH = 5.0 V) Low State Input Current (VIL = O V) CURRENT-LIMIT Threshold vlH vlL 3.0 -- 2.2 1.7 IIH llL -150 -.600 - 70 - 337 ilH [IL -75 - 300 " -- ,,<>~ `~'$$!g~' :::..-, ~$,t\i\?i~ ~.,? 1 -lo +@gL:j,, .,,~ *\`%::~g - 75 Enable (Pins 3, 18, 19) pA COMPARATOR vth Voltage Input Common .,$b'p .s`?).i, ,. ~'`$,$ o.q$:,'~! p'$$? ..... ...,.).* .... .:. -m. ~t;;~;r,$ PA (Pins 3,4, 5,6, 18, 19) Mode Voltage Range Input Bias Current vlCR ,,.5"+ IIB ,~:.t~y;'"+' "k' -- 3.0 -0.9 - 5.0 v pA OUTPUTS AND POWER SECTIONS To Drive Output Sink Saturation (lsink = 25 mA) Top Drive Output Off-State Leakage (VCE = 30 V) Top Drive Output Switching ~me Rise Time Fall Time Bottom Drive Out~ut Voltaae (CL = 47 pF, RL = 1.0 k) v~~(;a+g lfi~~{]eak) $:` ~.k;+,, ., $:~ ~..,,~:,. `r`e$:? t r ,,,,,,,,,:{,., -\+t..,,J i~>,,y<.. i tf $.$: .,,, ,.,. -- 0.5 I 1.5 -- 0.06 I 100 -- -- I v (Vcc-1.1) - 1.5 2.0 1 ns 38 30 I 200 200 v mA MC33033 MOTOROLA 3 FIGURE 1 -- OSCILLATOR FREQUENCY versus TIMING RESISTOR FIGURE 2- OSCILLATOR FREQUENCY CHANGE versus TEMPERATURE RT, TIMING RESISTOR [kQ] FIGURE 3 -- ERROR AMP OPEN-LOOP GAIN AND PHASE versus FREQUENCY ---%" FIGURE 6 -- ERROR AMP LARGE-SIGNAL TRANSIENT >0 RESPONSE >0 1!5 MOTOROLA 4 MC33033 : FIGURE 7 -- REFERENCE OUTPUT VOLTAGE CHANGE versus OUTPUT SOURCE CURRENT FIGURE 8 -- REFERENCE OUTPUT VOLTAGE versus SUPPLY VOLTAGE s & o -~ 8 z $ " -4.0 m ~ h --8,0 o > + 3 ~ --12 o 8 =-16 a : m _20 ~ 2 S -24 o \ \ \ \ } \ --Vcc = 20V TA = 25C I I 0 10 20 30 40 50 60 Iref, REFERENCEOUTPUT SOURCE CURRENT (mA) FIGURE 9 -- REFERENCE OUTPUT VOLTAGE versus TEMPERATURE ,,. FIGU~}J O %kiOUTPUT DUTY CYCLE versus $:,,j,&t\#WM INPUT VOLTAGE PWM INPUT VOLTAGE (V) FIGURE 12 -- TOP DRIVE OUTPUT SATURATION VOLTAGE versus SINK CURRENT CURRENT SENSE INPUT VOLTAGE (NORMALIZED TO Vth) MC33033 l~i"k, SINK CURRENT (mA) MOTOROLA 5 FIGURE 13 -- TOP DRIVE OUTPUT WAVEFORM FIGURE 14 -- BOTTOM DRIVE OUTPUT WAVEFORM 9 >0 50nslDIV FIGURE 15 -- BOTTOM DRIVE OUTPUT WAVEFORM 0 Source Saturation (Load to Ground) -- ~ -- -- -- -- I a Sink Saturation 2.0 (Load to VCC) -- 1.0 Gnd - ~ 0 14 Ii 12 / 10 RT = 4.7 k CT=lOnF / 8.0 I 6.0 4,0 / 2.0 /. Pins 3-6,12,13 = Gnd -- Hns 18,19 = Open TA = 25C I I o 0 5.0 10 15 20 25 30 SUPPLY VOLTAGE (Vcc) MOTOROLA 6 MC33033 Dlhl riiw Ihl@TIANl WIUUI IUIW mEC@DIDTl~N w~uunir tL -.. Description Function Pin No. 0 Cl I 1, 2, 20 BT, AT, CT These three open collector Top Drive Outputs are designed to drive the external upper power switch transistors. 1 FWD/REV The Forward/Reverse rotation. Input is used to change the direction of motor "': \.:$,( ,, ,3,\:.t,\:: 1, 5, 6 SA, SB, SC These three Sensor Inputs control the commutation ? Reference Output 1 Oscillator 1 Error Amp (Noninverting This output provides charging current for the oscillator timin,~$~~~w$for CT and a reference for the error amplifier. It may also serv~~~;.$@ish *q$~, *i.,/$ sensor power. $.+,, ,>:.:'" , `i$,,ii.,+ The Oscillator frequency is programmed by the valu$~~%~ted for the ,.?~ .t,;tn ,J!t:> timing components, RT and CT. . ..s `" `$:,}*.),. .*;. This input is normally connected to the spee~.~$,~&entiometer. ,,>~:., `i'~. ,.:$ ,!.~:),< \& ~',>,:j,> ,,\\..,, This input'is normally connected to the ~~$*}Amp Output in open-loop .Ji:~,*. applications. ,<.:*,:> ,>.V `" ,:$, This pin is available for compen$~~$~~~ closed-loop applications. ,., ~ " ,+..`~,i,'yk\ .~~>i, ~'~ Input) sequence, ,,Y-//??;,, ~$, ~> 10 Error Amp (Inverting Input) II Error Amp Output/PWM Input 12 Current Sense (Noninverting Input) A 100 mV signal, with respe~$$ Pin 13, at this input terminates output switch conduction duri,~$a given oscillator cycle. This pin normally connects to the top $WR.o~+~thecurrent sense resistor. `!S+ 13 Ground This pin supplies &:,&fate should be refer~~~tiback 14 Vcc 15, 16, 17 18 19 ground return for the control circuit and to the power source ground. This pin i~thei$os;ive supply of the control IC. The controller is functiofls~~ver a VCC range of 10 V to 30 V. `~~>?<, TheS&-:&~etotem pole, Bottom Drive Outputs are designed for direct Cg, BB, AB ,:$$$"~%the external bottom power switch transistors. !?< 600/120 Select . ,,$~~~~dectrical state of this pin configures the control circuit operation `i;,:,:$~~r either 60 (high state) or 120 (low state) sensor electrical phasing `K. Inputs. ~,r:; :. ,.4:*,;~ .. A logic high at this input causes the motor to run, while a low causes it Output Enable .{:s.?~.~ ii. ~ `*.I>y>>" ~:; "s i, to coast. ~l,? ,, *., ,F.W..; .:,">i.\':\,.,&$l.~r- o MC33033 `MOTOROLA 7 INTRODUCTION The MC33033 is one of a series of high performance monolithic DC brushless motor controllers produced by Motorola, It contains all of the functions required to implement a ,Iimited-feature, open-loop, three or four phase motor control system. Constructed with Bipolar Analog technology, it offers a high degree of performance and ruggedness in hostile industrial environments. The MC33033 contains a rotor position decoder for proper commutation sequencing, a temperature compensated reference capable of supplying sensor power, a frequency programmable sawtooth oscillator, a fully accessible error amplifier, a pulse width modulator comparator, three open coilectortop drive outputs, and three high current totem pole bottom driver o'utputs ideally suited for driving power MOSFETS. Included in the MC33033 are protective'featurei consisting of undervoltage lockout, cycle by cycle current limiting with a latched shutdown mode; and internal thermal shutdown. Typical motor control functions include open-loop speed control, forward or reverse rotation, and run qnable. In addition, the MC33033 has a 600/12~ select pin which configures the rotor position decoder for either 60 or 120 sensor electrical phasing inputs. ,. (AT tO Ag, BTto Bg, CTto Cg). In effect the commutation sequence is reversed and the motor changes directional rotation. Motor on/off control is accomplished by the output enable (Pin 19). When left disconnected, an internal pullup resistor to a positive source, enables sequencing of the top and bottom drive outputs. When grounded, the top drive outputs turn off and the bottom drives are *,\ forced low, causing the motor to coast. The commutation logic truth table is sho~:~~ip, `~$;~1~ure 19. In half wave motor drive applicatia~~,h~~ top drive outputs are not required and are~y~af~y left :::>,.,$.!~':,t$:i disconnected. ,\\i'J `*\k? ~' .(~ .,~!:: .,)$ ~t.::+i Error Amplifier $Y''.$v,, `J\::*..* A high performance, fully com~~n~fed error amplifier with access to both input~an~~utput (Pins 9, 10, 11) is provided to facili~,~~jk~e implementation of closed-loop motor speet~~~tit~l. The amplifier features a typical DC voltaga+~~].~:~'of 80 dB, 0.6 MHz gain bandwidth, and a +f~~put common mode voltage range that exte~d.s from ground to Vref, In most openIOOP speed co~~g&*applications, the amplifier is configured as ~~~~~~gain voltage follower with the noninvertin~: [ff~#@ connected to the speed set voltage source. ~~ditional configurations are shown in Figures 29,,@:~oug'E33. FUNCTIONAL DESCRIPTION A representative internal block diagram is shown in Figure 18, with various applications shown in Figures . 34, 36, 37, 41, 43, and 44. A discussion of the features :,.~$t:tie frequency of the internal ramp oscillator is pro*)*;,, ,>::+?*, and function of each of the internal blocks given below ~:,:~rammed bv the values selected for timing components and referenced to Figures 18 and 36. "*' RT and CT. Capacitor CT is charged from-the reference ,.$:~ .,;~.. ~~ output (Pin 7) through resistor RT and discharged by .,,/: ~;. . ~.,,!: ,.. .\,t. Rotor Position Decoder an internal discharae transistor, The ramp peak and val:\\,,4. An internal rotor position decoder monitors th~,$$~~ Iey voltages are ty~ically 4.1 V and 1.5 V"respectively, sensor inputs (Pins 4, 5, 6) to provide tw~p~'er To provide a good compromise between audible noise sequencing of the top and bottom drive ~#~~@Y The and output switching efficiency, an oscillator frequency sensor inputs are designed to interfac@:~kf~@t]y with in the range of 20 kHz to 30 kHz is recommended. Refer `~f>."& bpen collector type Hall Effect switc~e~~,rapto slotted to Figure 1 for component selection, couplers. Internal pull-up resistorq,W&:&~@uded to minimize the required number of exte~~al~omponents. The Pulse Width Modulator inputs are TTL compatible, ~~~~~~~~r thresholds typiThe use of pulse width modulation provides an cally at 2,2 volts. The M~*,,#eries is designed to energy efficient method of controlling the motor speed control three phase moto@,,~~ operate with four of the by varying the average voltage applied to each stator most common conv~fi~oni:~of sensor phasing. A 6~/ winding during the commutation sequence. As CT dis12V select (Pin l~~~~:&@nveniently provided which charges, the oscillator sets both latches, allowing conaffords the MG:~QQ~3`Yo configure itself to control duction of the top and bottom drive outputs. The PWM .)I<.:&:.&. motors havinq~t~g~,er 60, 120, 240 or 300 electrical comparator resets the upper latch, terminating the botsensor phas?~@':With three sensor inputs there are eight tom drive output conduction when the positive-going ramp of CT becomes greater than the error amplifier possibie.~pq~kde combinations, six of which are valid rotortw%s~s. The remaining two codes are invalid output. The pulse width modulator timing diagram is and ~~~~wuaily caused by an open or shorted sensor shown in Figure 20. Pulse width modulation for speed li~~~jth six valid input codes, the decoder can resolve control appears only at the bottom drive outputs. thd.~otor rotor position to within a window of 60 electrical degrees: Current Umit The forward/reverse input (Pin 3) is used to change Continuous operation of a motor that is severely overthe direction of motor rotation by reversing the voltage loaded results in overheating and eventual failure. This across the" stator winding. When the input changes destructive condition can best be prevented with the state, from high to low with a given sensor input code use of cycle-by-cycle current limiting. That is, each on(forexample 100),the enabled `top and bottom drive cycle is treated as a separate event. Cycle-by-cycle curoutputs with the same alpha designation are exchanged rent limiting is accomplished by monitoring the stator o MOTOROLA 8 MC33033 FIGURE 18 -- REPRESENTATIVE --------- .1 -------- ------ -- i.-. {o$$5` SAO Sensor -------- BLOCK DIAGRAM Inputs ; + + SB 20 k 20 k 20 k Sc %6 + Forward/Reverse 6W/120 Output Select Enable@ = o + + 31 o 18 $ s 19 2 4C $40k 1 `]s'Ll~T l,~~uts 40 k Vcc 111 I Error Amp 1 D :0+ PWM Out Input Sink Only Positive = True 1 I Logic With L__-----+ `$'~''"i' + `"" `"" 4 13 "$q~-------------- + ,,,3+- Hysteresis ,..$i .,,:FI::::.,% .*,. J6 .,,,$ FIGURE 19 -- THREE PHAW..%X STEP COMI UTATION TRUTH TABLE (Note 1) Outputs (Note 3) Top Drives I 1..? . 1 I ,. Bottom Drives AT BT CT Ag BB CB o 1 "1 1 1 0 1 0 o ~. 1 1 ; 0 1 0 0 0 0 1 1 1 1 0 0 0 0 (Note 5) FIR = 1 1 1 o 0 1 1 0 0 1 1 0 1 0 0 1 0 0 1 1 1 1 1 0 0 0 1 1 1 1 0 0 0 0 1 1 1 0 0 0 0 0 1 1 0 (Note 5) FIR = O 1 1 1 1 1 1 0 0 0 0 0 0 (Note 6) 1 1 1 0 0 0 {Note 7) 1 1 1 0 0 0 (Note 6) NO*S: 1. V = Any one of six valid sensor or drive combinations. X = Don't care, 2. The digital inputs (Pins 3,4, 5, 6, 18, 19) are all TTL compatible, The current sense input (Pin 12) has a 100 mV threshold with respect to Pin 13. A logic O for this input is defined as <85 mV, and a logic 1 is >115 mV. 3. The top drive outputs are open collector design and active in the low (0) state. 4. With 60"/120 select (Pin 18) in the high (1) state, configuration is for 60 sensor electrical phasing inputs. With Pin 16 in the low (0] state, configuration is for 120 sensor electrical phasing inputs. 5. Valid 60" or 120 sensor combinations for corresponding valid top and bottom drive outputs. 6. Invalid sensor inputs; All top and bottom drives are off. 7. Valid sensor inputs with enable = O; All toD and bottom drives are off. 8. Valid sensor inputs with enable and current sense = 1; All top and bottom drives are off. MC33033 MOTOROLA 9 current build-up each time an output switch conducts, and upon. sensing an over current condition, immediately turning off the switch and holding it off for the remaining duration of the oscillator ramp-up period. The stator current is converted to a voltage by inserting a ground-referenced sense resistor Rs (Figure 34) in series with the three bottom switch transistors (Q4, Q5, Q6). The voltage developed across the sense resistor is monitored by the current sense input (Pin 12), and compared to the internal 100 mV reference. If the current sense threshold is exceeded, the comparator resets the lower latch and terminates output switch conduction. The.value for the sense resistor is: 0.1 Rs=l it guarantees that the IC and sensors are fully functional, and that there is sufficient bottom drive output voltage, The positive power supply to the IC (Vcc) is monitored to a threshold of 8,9V. This level ensures sufficient gate drive necessary to attain low rDS(on) when interfacing with standard power MOSFET devices, When directly powering the Hall sensors from the reference, improper sensor operation can result if the reference output voltage should fall below 4.5 V. If one or both-<ofthe comparators detects an u ndervoltage condition, the `%$,P drives are turned off and the bottom drive outQ~#&&W@ held in a low state. Each of the comparator"'a'~%in hysteresis to prevent oscil Iations when ~[,$~,@#their ,$.,". `*,,.t*,:\\ ,,$,, respective thresholds. ~~,$~ >:*SO. ` stator(max) The dual-latch PWM configuration ensures that only one single output conduction pulse occurs during, any given oscillator cycle, whether terminated by the output of the error amp or the current limit comparator. Reference The on-chip 6.25 V regulator (Pin 7) provides charging current for the oscillator timing capacitor, a reference for the error amplifier, and can supply 20 mA of current suitable for directly powering sensors in low voltage applications. In higher voltage applications it may become necessary to transfer the power dissipated by the regulator off the IC. This is easily accomplished with the addition of an external pass transistor as shown in Figure 21. A 6,25 V reference level was chosen to allow implementation of the simpler NPN circuit, where Vref - VBE exceeds the minimum voltage required by Hall Effect sensors over temperature. With proper transis$hr selection, and adequate heatsinking, Up to one a&&~ .l:&:~.:;.:i'} load current can be obtained. .:tl ..,} ~~ `J.:\t .$,++.. .'!*;$ **: ~<:$ ~!$,:, , \\:*,,,,>.,,. Undervoltage Lockout .. !.+' \.:'$?\,, A dual Undervoltage Lockout has *~&@6rporated to prevent damage to the IC and *S `~tarnal power switch transistors. Under low po~~i <&~~ly conditions, S.,, Top Drive outputs Bottom + 1 To Control Circuitry and Sensor Power 6.25 V The NPN circuit is recommended for powering Hall or opto sensors, where the output voltage temperature coeticient is not critical. The PNP circuit is slightly more complex, but also more accurate. Neither circuit has current limiting, `~ 111111 Ill Drive outputs 11111111 MOTOROLA 10 I MC33033 FIGURE 22 -- HIGH VOLTAGE INTERFACE WITH NPN POWER TRANSISTORS ------_ ____ _ FIGURE 23 -- HIGH VOLTAGE INTERFACE WITH `N' CHANNEL POWER MOSFETS 1 -------- ---- __ _ VCC = 12V Q 1 VBoo5t o VM = 170V Q w Load ~""4 1 . Transistor QI is a common base stage used to level shift from VCC to the high motor voltage, VM. The collector diode is required if VCC is present while VM is low. FIGURE 24 -- CURRENT WAVEFORM ~ ,:!; .l~t' " `it$;~.~ <,?; ,,$ "{'[~" SPIKE SUPPRESSION L I I m ~ = t D = 1-N5819 = Series gate resietor Rg will damp anv high frequancv oscillations caused by the MOSFET'input capacitance and any series wiring induction in the gate-source circuit, Mode D is required if the negative current into the Bottom Drive Outputs exceeds 50 mA. FIGURE 27 -- CURRENT SENSING POWER MOSFETS + Power Ground: To Input Source Return t v~n g = RS. Ipk. rDS(on) rDM(on) + RS Base Charge Removal -- II I If: SENSEFET = MPTION1OM RS = 200 Q, 1/4 W Then: Vpin g = 0.75 Ipk The totem pole output can furnish negative base current for enhsnced transistor turn-off, with the addition of capacitor C. MC33033 VirtuallV Iossless current sensing can be achieved with the implementation of SENSEFET power switches. MOTOROLA 11 FIGURE 28 -- HIGH VOLTAGE BOOST SUPPLY FIGURE 29 -- DIFFERENTIAL INPUT SPEED CONTROLLER ~ VM+12 m m g ~ VM + 8.0 Vc=lzv I G ,b' `M+40 ; 6 20' * l"o~'zfov * 1N5352A 0.001 * 60 (mA] VBoo~t zz + . . ~ . 40 Boost Current `P * 1= MURI15 VM = 170V 18k This circuit generates VBoost for Figure 23. FIGURE 30 -- CONTROLLED ACCELERATION/DECELERATION I A-[ & 7; I Enable 191 + ;40k :,t!:i:>,,. ,.<). ,:.\, Resistor RI with capacitor C sets the acceleratio~i~l~$~ nstant while R2 controls the deceleration. The values of RI ~~d ~$lshould be atleast ten times greater than the speed set potg~~w"to minimize time constant variations with different speed s~n#. !i+'~~.-~.$,>"' ,>.\ ~~st~ ` ,;* ~., ,$ .,. The SN74LS145 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 107. from O to 90"A on-time. Input codes 1010 through 1111 will produce 100% on-time or full motor speed. FIGURE 33 -- CLOSED LOOP ----------- ---- TFMPFRATI ------ . ... .. . JRF ... C~NTRnl . . .. . ... I VB = Vref . 1 `u + () :+1 9 R5 : ; R3 ), R6 II R6 R6 The rotor position sensors can be used as a tachometer. By differen- This circuit can control R4 $ ~ PWM 11. the speed of a cooling fan proportional to the tiating the positive-going edges and then integrating them over time, a voltage proportional to speed can be generated. The error amp tom- difference between the sensor and set temperatures. The control loop is closed as the forced air cools the NTC thermistor. For controlled pares this voltage to that of the speed set to control the PWM. heating MOTOROLA 12 applications, exchange the positions of RI and R2. MC33033 o Drive Outputs The three top drive outputs (Pins 1, 2, 20) are open collector NPN transistors capable of sinking 50 mA with a minimum breakdown of 30 volts, Interfacing into higher voltage applications is easily accomplished with the circuits shown in Figures 22 and 23. The three totem pole bottom drive outputs (Pins 15, 16, 17) are particularly suited for direct drive of `N' channel MOSFETS or NPN bipolar transistors (Figures 24,25, 26 and 27). Each output is capable of sourcing and sinking up to 100 mA. ton PNPs while the lower switches are `N' channel power MOSFETS. Each of these devices contains an internal parasitic catch diode that is used to return the stator inductive 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 e~,: bled. This configuration switches both ends of the S=q@e winding from supply to ground which causes<$h@,&&rent flow to be bidirectional or full wave. A le~,t~~~~ge spike is usually present on the current we~~fwm and ,,,. ~\~,,.: \.:.:,. can cause a current-limit error. The s~i,k$~.~~be eliminated by adding an RC filter in ser(e$:~~,~?the current sense input. Using a low inducta~~~%~~~ resistor for RS will also aid in spike reducti~. ~~~re 35 shows the commutation waveforms ove*~@,electrical cycles. The first cycle (~ to 360) d~~t%;~~btor operation at ful I speed while the seco~@tW:~@ (36W to 7ZW) shows a reduced speed with a&6,~~~ percent pulse width modulation. The curre,,~[,,w$~~formd reflect a COnStant tOrque Thermal Shutdown Internal thermal shutdown circuitry is provided to protect the IC in the event the maximum junction temperature is exceeded. When activated, typically at 17~C, the IC acts as though the regulator was disabled, in turn shutting down the IC. SYSTEM APPLICATIONS Three Phase Motor Commutation The three phase application shown in Figure 34 is an open-loop motor controller with full wave, six step drive. The upper power switch transistors are Darling- load and are stiw~~,$ynchronous frequency f~~M~~&yl ,>,>k$,, to the commutation ;*, FIGURE34 -- THREE PHASE,SIX STEP, FULL WAVE~.$@T8~i'CONTROLLER --. m 02 1A 16 *-- I I ~. -,, -. ,., ,,Y --. m" I PWM I I MC33033 MOTOR 1- ~1 1 Ill II II 11' %11 h 3s MOTOROLA 13 FIGURE 35 -- THREE PHASE, SIX STEP, FULL "WAVE COMMUTATION Rotor Electrical o [ 120 i 60 I I I I I I s~ I I 160 I 240 I Position 300 I 360. I I I I (Degrees) 460 I 540 I 600 I I IJ I I I I I I I I t I I I 420 I II 1.1 I WAVEFORMS 660 I 720 I SE Sensor Inputs 60/1200 Select Pin Open Sc Code t s~ Sensor sB lnDuts 60/1200 . Select Pin Grounded Sc 1" Code AT Top Drive outputs I BT I 1111"* II Bottom Drive outputs MOTOROLA 14 MC33033 Figure 36 shows a three phase, three step, half wave motor controller. This configuration is ideally suited for automobile and other low voltage applications since there is only one power switch voltage drop in series with a given stator winding. Current flow is unidirectional or half wave because only one end of each winding is switched. The stator flyback voltage is clamped by a single zener and three diodes. @ FIGURE 36 -- THREE PHASE, THREE STEP, HALF WAVE MOTOR CONTROLLER I II FWR/REV 600/1 20" 5 Enable -- v~ o- I Speed ~"" MC33033 "'''" ` ` `"" " Ill MOTOROLA 15 "- Three Phase Closed Loop Controller The MC33033, by itself, is capable of open loop motor speed control. For closed loop speed control, the MC33033 requires an input voltage proportional to the motor speed. Traditionally this has been accomplished by means of a tachometer to generate the motor speed feedback voltage. Figure 37 shows an application whereby an MC33039, powered, from the 6.25 volt reference (Pin 7) of the MC33033, `is used to generate the required feedback voltage without the need ,of a costly tachometer. The same Hall sensor signals used by the MC33033 for rotor position decoding are utilized by the MC33039. Every positive or negative going transition of the Hall sensor signals on anyofthesensor lines causes the MC33039 to produce an, output, pulse of defined amplitude and time duration, as determined by the external resistor RI and capacitor Cl. The resulting out- put train of pu(ses present at Pin 5 of the MC33039 are integrated by the error amplifier of the MC33033 configured as an integrator, to produce a DC voltage level which is proportional ,to the motor speed. This speed proportional voltage establishes the PWM reference level at Pin 11 of the MC33033 motor controller and completes or closes the feedback loop. The MC33033 outputs drive an MPM3003 TMOS power MOSFET 3phase bridge circuit which is capable of delivering up to 25 Amperes of surge current. High current c~$~+be expected during conditions of start-up and whe.o+*~~:'.:. *.t:`:"'',:;, ,,>...:1:$. ing direction of the motor, ,,:~h:. The system shown in Figure 37 is ~@'~%a& for a motor having 120/240 degrees Hall. %~$s$~"electrical phasing. The system can easily be ,~~~~ifi~d to accommodate 60/300 degree Hall sensgg:~%$#~al phasing by removing the jumper (J1 ) at Pi#*~~8"%fthe MC33033. .!+ *\.*' s,...i,.. \ `:,,., -- ~= = L I I m, a L r 1 I ( I II I I so I 1 1 II F MOTOROLA 16 / MC33033 In this data sheet, the rotor position has always been given in electrical degrees since the mechanical position is a function of the number of rotating magnetic poles. The relationship between the electrical and mechanical position is: #Rotor Poles Electrical Degrees = Mechanical Degrees 2 ( ) An increase in the number of magnetic poles causes more electrical revolutions for a given mechanical r~~~ olution. General purpose three phase motors t~~?&~M~ contain a four pole rotor which yields two ~?'x~tial .,k .~, .? ~ir.',k>?..' revolutions for one mechanical. . .,,,~:~., ,s,, Sensor Phasing Comparison There are four conventions used to establish the relative 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 sensor placement. A comparison of the conventions in electrical degrees is shown in Figure 38. From the sensor phasing table (Figure 39), note that the order of input codes for 6U phasing is the reverse of 300. This means the MC33033, when the 600/12~ select (Pin 18) and the FWD/REV (Pin 3) both in the high state (open); is configured to operate a 60 sensor phasing motor in the forward direction. Under the same conditions a 300 sensor phasing motor would operate equally well but in the reverse direction. One would simply have to reverse the FWD/REV switch (FWD/REV closed) in order to cause the 300 motor to also operate in the same direction. The same difference exists between the 120 and 240 conventions. ~.;.! .>,lj.. .. Two and Four Phase Motor Commut~&ign ~.+ The MC33033 configu red for 6d :@~~~@~;tiputsis capable of providing a four step outpd%h&h~can be used to drive two or four phase motors,'$,he tWth table in Figure 40 shows that by connectiRQ~-or inputs SB and Sc together, it is possible ta~rumte the number of drive output states from a~$~o,.$our. The output power switches are conne@@~~PBT, CT, BB, and CB. Figure 41 shows a four,:~$asd$tfour step, full wave motor control a~plicatio@~b,@~er switch transistors QI through Q8 are Darl~~&t~~:type, each with an internal parasi~c catch dio,#e:~J~~ four step drive, only two rotor position sensors "@$ced at 90 electrical degrees are required. Th~}#omrn~tation waveforms are shown in Figure 42. FIGURE 38 -- SENSOR PHASING COMPARISON Rotor Electrical Position (Degrees) 120 ,5A; 180 240 300 360 420 480 540 600 660 ~!>>, `.$)t?~` .:$ 720 6; ~ af<,k$~$~s43 shows a four phase, four step, half wave 60"{ " ~ ~i~kot~r controller. [t has the same features as the circuit . ,.$o'~gure 36, except for the deletion of speed adjust. ~!',,.~<::a *~{,.\.:,$:\ "\&* i., ,,,,:.;} FIGURE 40 -- TWO AND FOUR PHASE, FOUR STEP, COMMUTATION TRUTH TABLE MC33033 (60/1200 Select Pin Open) Inputs Sensor Electrical Spacing* = 90" SA SB outputs Top Drives Bottom Drives FIR BT CT BB CB 0 1 1 0 1 1 1 1 1 0 1 1 1 1 0 1 0 0 0 1 1 0 0 0 1 0 1 1 1 0 0 1 1 1 0 1 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 1 1 0 1 0 *With MC33033 sensor input SB connected to SC ,4y~"? ~.,~'''Sensor ,,.4.-, Ai>..,db . Eletiricai Phaeing (Degrees) 300" 240 120" 011 010 001 Ooo 001 011 001 011 010 Ool 011 000 MC33033 MOTOROLA 17 \ I I .---- ------ ------ ------ ------ `1 ---- ------ 7 MOTOR Q6 u" Q5 -- Rs FIGURE 42 -- FOUR PHASE, FOUR STEP, FULL WAVE COMMUTATION Rotor Sensor Electrical Position WAVEFORMS (Degrees) Inputs 60 /12W Select Pin Open Top Drive outputs Bottom Drive outputs ( Conducting Power Switch Transistors I + -' o -' -- 1 I I I 1 ( 1 I I I 1 1 I I \ I I I I ( I 1 I t 1 I ( $,? \ I I r I I 1 I FWD/REV = 1 MC33033 MOTOROLA 19 II a FWR/REV 60"/1 20 Enable F:!$;2 ` 18 $ 19 = VM 0 Undervoltge 14 Lockout I I Re,e!ence Regulator I .---- -- i= ~1 I10! 4nI II P-------------------------------- h .~ T II I Iw! Brush Motor Control Though the MC33033 was designed to control brushIess DC motors, it may also be used to control DC brushtype motors. Figure 44 shows an application of the MC33033 driving a Motorola MPM3002 H-bridge affording minimal parts count to operate a one-tenth horsepower brush-type motor. Key to the operation is the input sensor code [100] which produces a top-left (01) and a bottom-right (Q4) drive when the controller's forward/reverse pin is at logic [1]; top-right (Q2), bottom-lefi (Q3) drive is realized when the forward/ reverse pin is at logic [0]. This code supports the requirements necessary for H-bridge drive accomplishing both direction and speed control. The controller functions in a normal manner with a pulse-width-modulated frequency of approximately 25 kHz. Motor speed is controlled by adjusting the voltage presented to the non-inverting input of the error amplifier establishing the PWM'S slice or reference level. Cycle-by-cycle current limiting of 3,0 amperes motor current is accomplished by sensing the voltage (100 mV threshold) across the 47 Ohm resistor to ground of the H-bridge motor current. The over q,~:r~~~t sense circuit makes it possible to reverse the,@Jrwb~ of the motor, on the fly, using the norma~, fd9ard/ reverse switch, and not have to complet~~:~~~before \ <:$:5 ....>. ,~ ~<\`!., ~~ -~:, reversing, .,. i Q2. = DC BRUSH MOTOR I I i M I '17 n' J e 22 10k 0.005 ~ K= I l,Ok `3* ` -- I 1 Lwr 0.001 22 + I 4J Motorola reaervea tha right to make changes without futiher notice to any products herein to improva reliability, function or design. Motorola does not assume any liability arising out of the application or use of any product or circuit described herein; neithar does it convev any license under its patent rights nor the rights of others. Motorola products are not authorized for use as components in life support davices or systams intended for surgical implant into the body or intended to support or sustain life. Buyer agraes to notify Motorola of any such intended end use whereupon Motorola shall determine availability and suitability of its product or products for the use intended. Motorola and @ are registered trademarks of Motorola, Inc. Motorola, Inc. is an Equal Employment Opportunity/Affirmative Action Employer, MC33033 MOTOROLA 21 LAYOUT CONSIDERATIONS Do not attempt to construct any of the motor control circuits on wire-wrap or plug-in prototype boards. High frequency printed circuit layout techniques 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 Iowcurrent signal and high drive and output buffer grounds returning on separate OUTLINE paths back to the power supply input filter capacitor VM. Ceramic bypass capacitors (0.01 pF) connected close to the integrated circuit at Vcc, Vref and error amplifier 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 loops should be kept as short as possible using heavy copper runs to minimize radiated EMI. DIMENSIONS Literature Distribution Centers: USA: Motorola Literature Distribution; P.O. Box 20912; Phoenix, Arizona 85036. EUROPE: Motorola Ltd.; European Literature Center; 88 Tanners Drive, Blakelands, Milton Keynes, MK14 5BP, England. ASIA PACIFIC: Motorola Semiconductors H.K. Ltd.; P.O. Box 80300; Cheung Sha Wan Post Office; Kowloon Hong Kong, JAPAN: Nippon Motorola Ltd.; 3-20-1 Minamiazabu, Minato-ku, Tokyo 106 Japan. 8