“OROLA
WICONDUCTOR
HNICAL DATA
Advance Information
BRUSHLESS DC MOTOR CONTROLLER
The MC33033 is ahigh performance second generation, limited fea-
ture, 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 arotor position
decoder for proper commutation sequencing, temperature compen-
sated reference capable of supplying sensor power, frequency pro-
grammable 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 cir-
cuit supply and ground pins, brake input, or fault output signal.
Included in the MC33033 are protective features consisting of under-
Order ttis data sheet by MC33033/D
MC33033
Tvpical motor control functions include open-loop speed, forward or ‘:s)$~’I ‘
brushless motors with electrical sensor phasings of 6@/30~ 0~.N~~,@l:
24~, and can also efficiently control brush DC motors. ‘$!
,$:${.
reverse direction, and run enable. The MC33033 is de~aned to opegd%e “: I
●
●
●
✠
●
●
●
e
●
~xt ,Zt%e:”
10 Vto 30 VOperation s..
<.5.,..,>:$.\,
$.\.:‘ i.,’,
Undervoltage Lockout -,>,.
6.25 VReference Capable of Supplying Sensor P~,wer ‘J”
Fully Accessible Error Amplifier for Closed-Looq~S$$yo
Applications N.
,.$i~$+:?rx:l?.>i:+
High Current Drivers can Control MPM300~@0$ET 3-Phase Bridge
Cycle-By-Cycle Current Limiting +*:, ‘*,:,8$*
“j:,J\,,>.,,..
::)~:<.i>~,..:..\.\h*
Internal Thermal Shutdown .?;,~.,,~..a.
.’$1,
..~.,.$..
Selectable 60°/3000 or 120°/240:bY~8@@ Phasings
Also Efficiently Controls Brus&DC?M’otors with MPM3002 MOSFET
RT
~_iMOTOR
20 eDW SUFFIX
1PLASTICPACKAGE
CASE 751D
(SO-20L)
PIN CONNECTIONS
Top Drive
output
{R
BTI@ 20 CT J
AT ~19 Output Enable
Fwd/Rev 318 600/~ Select
Sensor
inputs
Reference Output
Oscillator
Error Amp Non-
Inverting Input
Error Amp
Inverting Input u
714
813
9 12
10 11
(Top View)
Vcc
Gnd
Current Sense
Inverting Input
Error Amp Ou!/
PWM Input
ORDERING INFORMATION
Operating Ambient
Device Temperature Range Package
L1
——___——-
‘————A-——A CurrentSense
.
This document contains information on anew product. Specifications and information herein are @MOTOROLA INC., 1989 ADI1733
MC33033P –4WC to +8WC Plastic DIP
MC33033DW –4VC to +85°C SO-20L
su~ect to change without notice
MAXIMUM RATINGS
Rating Svmbol Value Unit
Power Supply Voltage Vcc 30 v
Digital Inputs (Pins 3, 4, 5, 6, 18, 19) —Vref v
Oscillator Input Current (Source or Sink) Iosc 30 mA
Error Amp Input Voltage Range VIR ‘3.0 tO Vref v
(Pins 9, 10, Note 1)
Error Amp Output Current lout 10 mA
(Source or Sink, Note 2) ~~*~.*.
...... $,*,
f!’}~{,?.(,!~tt.,:*,
Current Sense Input Voltage Range VSense –0.3 to 5.0 v,*.‘,+
~$y’”. ‘.J*
,,:$.~+,
Top Drive Voltage (Pins 1, 2, 20) .‘;\ . !,
vcE(top) 40 v >
~?.~,,,,’.:t,i,+}~.::‘
..a\)t...y..
Top Drive Sink Current (Pins 1, 2, 20) ~::~,
<:’,:’,\>;.<*:?i,
lSink(T~P) 50 mA ,,,,,.,,,.,>,.,,.
,,, ,,$...:l.<$>
Bottom Drive Output Current IDRV 100 ,>...
mA ,?>k,$-
(Source or Sink, Pins 15, 16, 17) ‘#,$y ,:::J
.,~,.y,j>,,,.,..*,J”+t
,;$.. ‘:\..:,
...:...
Power Dissipation and Thermal Characteristics “%%:,!
~*~s
Maximum Power Dissipation @TA =85°C pD ~..;‘.
867 mW ,R:.::,?,,,,:.,
.,..\.
Thermal Resistance, Junction to Air *$\~.$$~,
ROJA ~ta~..*,,
75 “cm .~’$.%i\*:i,\
$f>..:.
Operating Junction Temperature TJ 150 .‘*:>,,,$
‘c .,.s
~’t,:~.k..~.;>”
~~Jt+J,.,,,>y
Operating Ambient Temperature Range TA .\:$$$y.k.,i!\::.
–40to t85 ‘c >Tl;;’..“
Storage Temperature Range Tstg –65to +150 ~c ,:,,t.~~“::a.l>
;s$ ‘*
t!”.
,.,,,,.,,,,~.,..b
,:, \?~t\.\$
ELECTRICAL CHARACTERISTICS (Vcc =20 V, RT =4.7 k, CT =10 nF, T&, ~,25& unless otherwise noted)
1Characteristic sy#@) ‘Min Typ Max Unit
REFERENCE SECTION ,,~ ,m.
,,,,tv:xi,
,,,).
Reference Output Voltage (Iref =1.0 mA) ‘t’<’~1$ Vref v
TA =25°C $t~
*,:\:,‘*’*.....,/s 5.9 6.24 6.5
TA =–40°C to +8VC ,~t,i.?
,$,:.1,.,,\.<::t~\,
.<,,,.’,,,.,..,,, 5.82 —6.57
Line Regulation (Vcc =10 Vto 30 V, Iref =1.0 mA) ., “+; Regline —1.5 30 mV
Load Regulation (Iref =1.0 mA to 20 mA) ... .
... Regload —16 30 mV
~,::.$}::i
Output Short-Circuit Current (Note 3) ~’!~::,.~~ ,,. 0
,;;,,.
,..?.. *Y Isc 40 75 —mA
Reference Under Voltage Lockout Threshold ~X*’,~$~$:~‘“” Vth 4.0 4,5 5.0 v
,\,.,,.\~\,..~>,,
ERROR AMPLIFIER ,i’:t,.>..~
~~}$+t..t,
,,.,.,, .1,
Input Offset Voltage (TA =-4WC to tw~j~’( Vlo —0.4 10 mV
Input Offset Current (TA =-40°C,~@~%$5$)’ Ilo —8.0 500 nA
Input Bias Current (TA =–40°C ~ + WC)
,,,,.,. ,*IIB —– 46 – 1000 nA
Input Common Mode Voltag#~$a~e’” V[CR (0v to Vref) v
Open-Loop Voltage Gain;#~i~$:f~O V, RL =15 k) AVOL 70 80 —dB
Input Common Mod,~Reje&#n Ratio CMRR 55 86 —dB
Power Supply Rej&$&&~@atio (VCC =10 Vto 30 V) PSRR 65 105 —dB
Output Volta~Q~%&g ~v
High Stat&~~~~~~ 15 kto Ground) VOH 4.6 5.3 —
LOW $~i?~f$~~ =15 kto Vref) VOL —0.5 1.0
NOTE4:}A $““
,~~~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
2MC33033
ELECTRICAL CHARACTERISTICS (continued) (VCC =20 V, RT =4.7 k, CT =10 nF, TA =25°C unless otherwise noted)
Characteristic Svmbol Min Tvp Max Unit
OSCILLATOR SECTION
@Oscillator Frequency fosc 22 25 28 kHz
Frequency Change with Voltage (VCC =10 Vto 30 V) AfOSCIAV —0.01 5.0 70
Sawtooth Peak Voltage Vosc(p) —4.1 4.5 v
Sawtooth Valley Voltage Vosc(v) 1.2 1.5 —v
LOGIC INPUTS ,*!.
‘*{,1,
Input Threshold Voltage (Pins 3,4, 5,6, 18, 19) .,$b’p “
High State vlH 3.0 2.2 .s‘?).i,
—,. ~’‘$,$
Low State vlL —1.7 o.q$:,’~! p’$$?
Sensor Inputs (Pins 4, 5,6) ,.).*-m.
..... ........:.
High State Input Current (VIH =5.0 V) IIH –150 – 70 ~t;;~;r,$ PA
Low State Input Current (VIL =OV) llL –.600 – 337 ,,<>~‘~’$$!g~’
Forward/Reverse, 6W/12W Select and Output Enable (Pins 3, 18, 19) :::..-,
~$,t\i\?i~
~.,? 1pA
High State Input Current (VIH =5.0 V) ilH –75 +@gL:j,, –lo
Low State Input Current (VIL =OV) [IL – 300 .,,~
*\‘%::~g – 75
CURRENT-LIMIT COMPARATOR
Threshold Voltage vth
Input Common Mode Voltage Range vlCR ,,.5”+ “k’ 3.0 —v
Input Bias Current IIB ,~:.t~y;’”+’ –0.9 –5.0 pA
OUTPUTS AND POWER SECTIONS
To Drive Output Sink Saturation (lsink =25 mA) v~~(;a+g —
Top Drive Output Off-State Leakage (VCE =30 V) lfi~~{]eak) —
Top Drive Output Switching ~me (CL =47 pF, RL =1.0 k) $:‘~.k;+,,
., $:~
Rise Time ~..,,~:,.
‘r‘e$:? tr—
,,,,,,,,,:{,.,
Fall Time -\+t..,,Ji~>,,y<..
itf —
$.$:
.,,,
Bottom Drive Out~ut Voltaae ,.,.
●
0.5 I1.5
0.06 I100
(Vcc-1.1) –
1.5 2.0
38 I200
30 200
I
1
v
ns
v
mA
MC33033 MOTOROLA3
FIGURE 1—OSCILLATOR FREQUENCY versus
TIMING RESISTOR FIGURE 2- OSCILLATOR FREQUENCY CHANGE
versus TEMPERATURE
---%”
>0
RT,TIMING RESISTOR[kQ]
FIGURE 3—ERROR AMP OPEN-LOOP GAIN AND
PHASE versus FREQUENCY
>0
1!5
FIGURE 6—ERROR AMP LARGE-SIGNAL
TRANSIENT RESPONSE
MOTOROLA MC33033
4
FIGURE 7—REFERENCE OUTPUT VOLTAGE CHANGE
versus OUTPUT SOURCE CURRENT
s
&o-~
8
z
$\
“-4.0
m\
~
h—8,0 \
o
>\
+
3
~—12 }
o
8
=–16 \
a
:—Vcc =20V
m_20 TA =25°C
~
2II
S–24 o10 20 30 40 50 60
Iref, REFERENCEOUTPUT SOURCECURRENT (mA)
FIGURE 9—REFERENCE OUTPUT VOLTAGE
versus TEMPERATURE
0
:FIGURE 8—REFERENCE OUTPUT VOLTAGE
versus SUPPLY VOLTAGE
,,. 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) l~i”k, SINK CURRENT (mA)
MC33033 MOTOROLA 5
FIGURE 13 —TOP DRIVE OUTPUT WAVEFORM
>0
50nslDIV
FIGURE 15 —BOTTOM DRIVE OUTPUT WAVEFORM
FIGURE 14 —BOTTOM DRIVE OUTPUT WAVEFORM 9
0
Source Saturation
(Load to Ground) —
~— — — — Ia
2.0 Sink Saturation
(Load to VCC) —
1.0
0Gnd -~
14
12 Ii
10 /
8.0 /RT =4.7 k
ICT=lOnF
6.0
/Pins 3-6,12,13 =Gnd —
4,0 Hns 18,19 =Open
/. TA =25°C
2.0 II
o05.0 10 15 20 25 30
SUPPLY VOLTAGE (Vcc)
MOTOROLA
6MC33033
INTRODUCTION
The MC33033 is one of aseries 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 ahigh degree of perfor-
mance and ruggedness in hostile industrial environ-
ments. The MC33033 contains arotor position decoder
for proper commutation sequencing, atemperature
compensated reference capable of supplying sensor
power, afrequency programmable sawtooth oscillator,
afully accessible error amplifier, apulse width modu-
lator 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 con-
sisting of undervoltage lockout, cycle by cycle current
limiting with alatched shutdown mode; and internal
thermal shutdown.
Typical motor control functions include open-loop
speed control, forward or reverse rotation, and run qna-
ble. In addition, the MC33033 has a600/12~ select pin
which configures the rotor position decoder for either
60° or 120° sensor electrical phasing inputs.
FUNCTIONAL DESCRIPTION
Arepresentative internal block diagram is shown in
Figure 18, with various applications shown in Figures .
,.
(AT tOAg, 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 pull- ●
up resistor to apositive 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
disconnected. :::>,.,$.!~’:,t$:i
,\\i’J ~’
.(~~!::‘*\k?
Error Amplifier ., .,)$
~t.::+i
$Y’’.$v,,‘J\::*..*
Ahigh performance, fully com~~n~fed error ampli-
fier 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
atypical 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 open-
IOOP speed co~~g&*applications, the amplifier is confi-
gured as ~~~~~~gain voltage follower with the non-
invertin~: [ff~#@ connected to the speed set voltage
source. ~~ditional configurations are shown in Figures
29,,@:~oug’E33.
34, 36, 37, 41, 43, and 44. Adiscussion of the features :,.~$t:tie frequency of the internal ramp oscillator is pro-
and function of each of the internal blocks given below *)*;,,,>::+?*,
~:,:~rammed bv the values selected for timing components
and referenced to Figures 18 and 36. “*’ RT and CT. Capacitor CT is charged from-the reference
,.$:~
.,;~.. ~~
Rotor Position Decoder .,,/:output (Pin 7) through resistor RT and discharged by
~;..~.,,!:,..
.\,t. ●
an internal discharae transistor, The ramp peak and val-
An internal rotor position decoder monitors th~,$$~~
:\\,,4.
sensor inputs (Pins 4, 5, 6) to provide tw~p~’er
sequencing of the top and bottom drive ~#~~@Y The
sensor inputs are designed to interfac@:~kf~@t]y with
bpen collector type Hall Effect switc~e~~,rapto slotted
‘~f>.“&
couplers. Internal pull-up resistorq,W&:&~@uded to min-
imize the required number of exte~~al~omponents. The
inputs are TTL compatible, ~~~~~~~~r thresholds typi-
cally at 2,2 volts. The M~*,,#eries is designed to
control three phase moto@,,~~ operate with four of the
most common conv~fi~oni:~of sensor phasing. A6~/
12V select (Pin l~~~~:&@nveniently provided which
affords the MG:~QQ~3‘Yo configure itself to control
.)I<.:&:.&.
motors havinq~t~g~,er 60°, 120°, 240° or 300° electrical
sensor phas?~@’:Withthree sensor inputs there are eight
possibie.~pq~kde combinations, six of which are valid
rotortw%s~s. The remaining two codes are invalid
and ~~~~wuaily caused by an open or shorted sensor
li~~~jth six valid input codes, the decoder can resolve
thd.~otor rotor position to within awindow of 60 elec-
trical 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 the input changes
state, from high to low with agiven sensor input code
(forexample 100),the enabled ‘top and bottom drive
outputs with the same alpha designation are exchanged
Iey voltages are ty~ically 4.1 Vand 1.5 V“respectively,
To provide agood 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 1for component selection,
Pulse 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 the bot-
tom drive output conduction when the positive-going
ramp of CT becomes greater than the error amplifier
output. The pulse width modulator timing diagram is
shown in Figure 20. Pulse width modulation for speed
control appears only at the bottom drive outputs.
Current Umit
Continuous operation of amotor that is severely over-
loaded results in overheating and eventual failure. 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 event. Cycle-by-cycle cur-
rent limiting is accomplished by monitoring the stator o
MOTOROLA
8MC33033
FIGURE 18 —REPRESENTATIVE BLOCK DIAGRAM
-———— ———— ———— ——— —
.1 i.-.
{o$$5‘
SAO ;+20 k
+
Sensor Inputs SB 20 k
Sc %6 20 k
+
31 +
Forward/Reverse o+$40k 1 ‘]s’Ll~T l,~~uts
6W/120° Select o18 $ 4C
40 k
Output Enable@ s 19 2
=Vcc
I111 1
Error Amp Out I
1PWM Input
DSink Only Positive
:0+ =True Logic With
+
L__–––––+ ‘$’~’’”i’ +‘“” ‘“” 4
Hysteresis 13 “$q~———————
,,,3+-
,..$i
.,,:FI::::.,%
.*,. J6.,,,$
FIGURE 19 —THREE PHAW..%X STEP COMI UTATION TRUTH TABLE (Note 1)
Outputs (Note 3)
Top Drives Bottom Drives
AT BT CT
o 1 1
1 0 1
“1 o
1~. ;
1 1 0
0 1 1
Ag BB CB
o 0 1
0 0 1
1 0 0
1 0 0
0 1 0
0 1 0
(Note 5)
FIR =1
110100(Note 5)
1 1 0 0 1 0 FIR = O
0110 1 0
0110 0 1
1 0 1 0 0 1
1 0 1 1 0 0
1 1 1000(Note 6)
1 1 1000
1 1 1000{Note 7)
1 1 1 000 (Note 6)
I1..? .1I,.
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.
Alogic Ofor this input is defined as <85 mV, and alogic 1is >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 isfor 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 MOTOROLA9
current build-up each time an output switch conducts,
and upon. sensing an over current condition, immedi-
ately turning off the switch and holding it off for the
remaining duration of the oscillator ramp-up period.
The stator current is converted to avoltage by inserting
aground-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 com-
pared 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:
Rs=l 0.1
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 Vregulator (Pin 7) provides charging
current for the oscillator timing capacitor, areference
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. A6,25 Vreference 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$hr
it guarantees that the IC and sensors are fully functional,
and that there is sufficient bottom drive output voltage,
The positive power supply to the IC (Vcc) is monitored
to athreshold of 8,9V. This level ensures sufficient gate
drive necessary to attain low rDS(on) when interfacing
with standard power MOSFET devices, When directly
powering the Hall sensors from the reference, improper
sensor operation can result if the reference output volt-
age should fall below 4.5 V. If one or both-<ofthe com-
parators detects an undervoltage condition, the ‘%$,P
drives are turned off and the bottom drive outQ~#&&W@
held in alow state. Each of the comparator”’a’~%in
hysteresis to prevent oscilIations when ~[,$~,@#their
respective thresholds. ,$.,”.‘*,,.t*,:\\,,$,,
~~,$~>:*SO.‘
selection, and adequate heatsinking, Up to one a&&~ +1
load current can be obtained. .l:&:~.:;.:i’} To Control Circuitry
.:tl ..,} ~~ and Sensor Power
S.,,
‘J.:\t
.$,++..
.’!*;$**: ~
<:$ 6.25 V
Undervoltage Lockout ~!$,:,,\\:*,,,,>-
.. .,,.
!.+’\.:’$?\,,
Adual Undervoltage Lockout has *~&@6rporated The NPN circuit is recommended for powering Hall or opto sensors,
to prevent damage to the IC and *S ‘~tarnal power where the output voltage temperature coeticient is not critical. The
PNP circuit is slightly more complex, but also more accurate. Neither
switch transistors. Under low po~~i <&~~ly conditions, circuit has current limiting,
Top Drive
outputs ‘~
111111 Ill
Bottom Drive
outputs 11111111 I
MOTOROLA
10 MC33033
FIGURE 22 —HIGH VOLTAGE INTERFACE WITH
NPN POWER TRANSISTORS
———_ ____ _ 1
w
Load
~“”4
1.
Transistor QI is acommon 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 23 —HIGH VOLTAGE INTERFACE WITH
‘N’ CHANNEL POWER MOSFETS
VCC =12V VBoo5t VM =170V
———— —— __ _ 1QoQ
‘it$;~.~~,:!;
FIGURE 24 —CURRENT WAVEFORM SPIKE SUPPRESSION .l~t’“
<,?;,,$ “{’[~”
Base Charge
Removal
t
The totem pole output can furnish negative base current for enhsnced
transistor turn-off, with the addition of capacitor C.
II
Lm
~
=tD=1-N5819 =
Series gate resietor Rgwill damp anv high frequancv oscillations caused
by the MOSFET’input capacitance and any series wiring induction in
the gate-source circuit, Mode Dis required if the negative current into
the Bottom Drive Outputs exceeds 50 mA.
FIGURE 27 —CURRENT SENSING POWER MOSFETS
II I
—
+
Power Ground:
To Input Source Return
RS. Ipk. rDS(on)
v~n g = rDM(on) +RS
If: SENSEFET =MPTION1OM
RS =200 Q, 1/4 W
Then: Vpin g=0.75 Ipk
VirtuallV Iossless current sensing can be achieved with the implemen-
tation of SENSEFET power switches.
MC33033 MOTOROLA
11
FIGURE 28 —HIGH VOLTAGE BOOST SUPPLY FIGURE 29 —DIFFERENTIAL INPUT SPEED CONTROLLER
~VM+12
m
m
g
Vc=lzv ~VM +8.0
G
,b’
6;‘M+40 20’ 40 60
*Boost Current (mA]
l“o~’zfov *
1‘P
VBoo~t
1N5352A *zz +
.
.*=MURI15
18k VM =170V
~0.001
.
This circuit generates VBoost for Figure 23.
FIGURE 30 —CONTROLLED ACCELERATION/DECELERATION
IA-[
I
7; &
I+
Enable 191 ;40k
:,t!:i:>,,. ,.<). ,:.\,
Resistor RI with capacitor Csets the acceleratio~i~l~$~ nstant while
R2 controls the deceleration. The values of RI ~~d ~$lshould be atleast The SN74LS145 is an open collector BCD to One of Ten decoder. When
ten times greater than the speed set potg~~w”to minimize time connected as shown, input codes 0000 through 1001 steps the PWM in
constant variations with different speed s~n#. increments of approximately 107. from Oto 90”A on-time. Input codes
!i+’~~.-~.$,>”’,>.\~~st~‘
,;* ~., 1010 through 1111 will produce 100% on-time or full motor speed.
,$ .,.
FIGURE 33 —CLOSED LOOP TFMPFRATI JRF C~NTRnl
-—————
---- ------ . ...... ... . . .. .... .
I1
VB =Vref +
()
:+1 ‘u
R5 :; 9
R3 ), R6 II R6
R6 R4 $11. ~PWM
The rotor position sensors can be used as atachometer. By differen- This circuit can control the speed of acooling fan proportional to the
tiating the positive-going edges and then integrating them over time, difference between the sensor and set temperatures. The control loop
avoltage proportional to speed can be generated. The error amp tom- 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 applications, exchange the positions of RI and R2.
MOTOROLA
12 MC33033
Drive Outputs
The three top drive outputs (Pins 1, 2, 20) are open
collector NPN transistors capable of sinking 50 mA with
o
aminimum 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’ chan-
nel MOSFETS or NPN bipolar transistors (Figures 24,25,
26 and 27). Each output is capable of sourcing and sink-
ing up to 100 mA.
Thermal Shutdown
Internal thermal shutdown circuitry is provided to
protect the IC in the event the maximum junction tem-
perature 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-
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 adelta or wye connected
stator, and agrounded 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. Ale~,t~~~~ge
spike is usually present on the current we~~fwm and
,,,.~\~,,.:\.:.:,.
.
can cause acurrent-limit error. The s~i,k$~.~~be elim-
inated by adding an RC filter in ser(e$:~~,~?the current
sense input. Using alow 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 mod-
ulation. The curre,,~[,,w$~~formd reflect aCOnStant tOrque
load and are stiw~~,$ynchronous to the commutation
frequency f~~M~~&yl
,>,>k$,, ;*,
FIGURE34 —THREEPHASE,SIX STEP,FULLWAVE~.$@T8~i’CONTROLLER
~. -,, -. ,.,
,,Y
—.
1- 1Ill II
m“ IPWM ~1 II 11’ %11
m
—.
02 1A
16
*-- IIMOTOR
I
Ih
3s
MC33033 MOTOROLA
13
FIGURE 35 —THREE PHASE, SIX STEP, FULL “WAVE COMMUTATION WAVEFORMS
Sensor Inputs
60°/1200
Select Pin
Open
Sensor lnDuts
60°/1200 .
Select Pin
Grounded
Top Drive
outputs
Bottom Drive
outputs
Rotor Electrical Position (Degrees)
o60 120 160 240 300 360. 420 460
i540 600 660 720
I I I I I IIII I I I
[s~ II1.1 II IIJ
I
t
SE
Sc
Code
1“
s~
sB
Sc
Code
I
AT
BT
II I I I IIII I III
I1111”* II I I tII I
MOTOROLA MC33033
14
Figure 36 shows athree phase, three step, half wave with agiven stator winding. Current flow is unidirec-
motor controller. This configuration is ideally suited for tional or half wave because only one end of each wind-
@
automobile and other low voltage applications since ing is switched. The stator flyback voltage is clamped
there is only one power switch voltage drop in series by asingle zener and three diodes.
FIGURE 36 —THREE PHASE, THREE STEP, HALF WAVE MOTOR CONTROLLER
I
FWR/REV
600/120”
Enable —
v~ o-
ISpeed
II 5
~“” “’’’” ‘‘‘““ “Ill
MC33033 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 atachometer to generate the motor speed
feedback voltage. Figure 37 shows an application
whereby an MC33039, powered, from the 6.25 volt ref-
erence (Pin 7) of the MC33033, ‘is used to generate the
required feedback voltage without the need ,of acostly
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 5of the MC33039 are
integrated by the error amplifier of the MC33033 con-
figured as an integrator, to produce aDC 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 3-
phase bridge circuit which is capable of delivering up
to 25 Amperes of surge current. High current c~$~+be
expected during conditions of start-up and whe.o+*~~-
ing direction of the motor, .t:‘:”’’,:;,:’.:.
*,,>...:1:$.
,,:~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 accom-
modate 60/300 degree Hall sensgg:~%$#~al phasing by
removing the jumper (J1 )at Pi#*~~8”%fthe MC33033.
\s,...i,..
.!+ *\.*’
‘:,,.,
L
—
~==
I
Ia
so
m,
r1●I(I II II
FL
I
1
I
I
1
MOTOROLA
16 MC33033
/
\
II.—— ——— ——— ——— ——— ——
7
—
Rs
‘1
———
u“
Q6 MOTOR
Q5
FIGURE 42 —FOUR PHASE, FOUR STEP, FULL WAVE COMMUTATION WAVEFORMS
Sensor Inputs
60 °/12W
Select Pin
Open
Top Drive
outputs
Bottom Drive
outputs
Rotor Electrical Position (Degrees)
(
Conducting
Power Switch
Transistors I t 1$,? III1(1
+-’ IIII11II
o-’ (\II\II
I(I
—1IrII1I1I
FWD/REV =1
MC33033 MOTOROLA
19
IIP————————————————
F:!$;2‘
a
FWR/REV
60”/1 20° 18 $
Enable 19
=14 Undervoltge
VM 0Lockout
I I Re,e!ence h
IRegulator .~
T
II I
II
4
.——
—
i=~1
InI
10!
Iw!
Brush Motor Control
Though the MC33033 was designed to control brush-
Iess DC motors, it may also be used to control DC brush-
type motors. Figure 44 shows an application of the
MC33033 driving aMotorola MPM3002 H-bridge afford-
ing minimal parts count to operate aone-tenth horse-
power brush-type motor. Key to the operation is the
input sensor code [100] which produces atop-left (01)
and abottom-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 require-
ments necessary for H-bridge drive accomplishing both
direction and speed control.
The controller functions in anormal manner with a
pulse-width-modulated frequency of approximately
25 kHz. Motor speed is controlled by adjusting the volt-
age 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
reversing, \ ....>.,~
~<\‘!.,<:$:5~~-~:,
.,.
10k
i
0.005
Q2.
n’ e‘
=
IDC BRUSH
iIMOTOR M
I
’17 J‘3*
22 ~—
K=I22 +
l,Ok II
Lw- 1
r0.001 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
trademarks of Motorola, Inc. Motorola, Inc. is an Equal Employment Opportunity/Affirmative Action Employer, @are registered
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 imper-
ative 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 aground plane with Iowcurrent signal and high
drive and output buffer grounds returning on separate
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 depend-
ing upon circuit layout. This provides alow impedance 8
path for filtering any high frequency noise. All high cur-
rent loops should be kept as short as possible using
heavy copper runs to minimize radiated EMI.
OUTLINE 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.