Bulletin No
I02 EB0
(Jul,2000)
K DIC218
SANKEN ELECTRIC COMPANY LTD.
1-11-1 Nishi -Ikebukuro,Toshima-ku, Tokyo
PHONE: 03-3986-6164
FAX: 03-3986-8637
TELEX: 0272-2323(SANKEN J)
Overseas Sales Offices
●Asia
SANKEN ELECTRIC SINGAPORE PTE LTD.
150 Beach Road #14-03,
The Gateway, West Singapore 0718, Singapore
PHONE: 291-4755
FAX: 297-1744
SANKEN ELECTRIC HONG KONG COMPANY LTD.
1018 Ocean Centre, Canton Road,
Kowloon, Hong Kong
PHONE: 2735-5262
FAX: 2735-5494
TELEX: 45498 (SANKEN HX)
SANKEN ELECTRIC KOREA COMPANY LTD.
SK Life B/D 6F,
168 Kongduk-dong, Mapo-ku, Seoul, 121-705, Korea
PHONE: 82-2-714-3700
FAX: 82-2-3272-2145
●North America
ALLEGRO MICROSYSTEMS, INC.
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615, U.S.A.
PHONE: (508)853-5000
FAX: (508)853-7861
●Europe
ALLEGRO MICROSYSTEMS EUROPE LTD.
Balfour House, Churchfield Road,
Walton-on-Thames, Surrey KT12 2TD, U.K.
PHONE: 01932-253355
FAX: 01932-246622
PRINTED in JAPAN H1-I02EB0-0007020ND
Motor Driver ICs
1
Contents
Contents
Motor Driver ICs
Selection Guide ........................................................................................................................................ 2
Product Index by Part Number ..................................................................................... 3
Notes on SLA7000/SMA7000 Series
Features/Applications/Handling Precautions/Constant Current Chopper Method .............................. 4
2-Phase Stepper Motor Unipolar Driver ICs
2-Phase Excitation
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ............................................................................... 5
SMA7036M............................................................................................................................................. 12
2-Phase/1-2 Phase Excitation
SLA7027MU/SLA7024M/SLA7026M .................................................................................................... 20
SLA7032M/SLA7033M .......................................................................................................................... 28
SDK03M ................................................................................................................................................. 36
UCN5804B ............................................................................................................................................. 42
2W1-2 Phase Excitation/Micro-step Support
SLA7042M/SLA7044M .......................................................................................................................... 44
Serial Signal Generator IC for SLA7042M and SLA7044M
PG001M ................................................................................................................................................. 48
2-Phase Stepper Motor Bipolar Driver ICs
2-Phase/1-2 Phase Excitation
A3966SA/SLB ........................................................................................................................................ 54
A3964SLB .............................................................................................................................................. 58
A3953SB/SLB ........................................................................................................................................ 60
A2918SW ............................................................................................................................................... 68
A3952SB/SLB/SW ................................................................................................................................. 70
2-Phase/1-2 Phase/W1-2 Phase Excitation
UDN2916B/LB ....................................................................................................................................... 78
UDN2917EB ........................................................................................................................................... 84
2W1-2 Phase Excitation/Micro-step Support
A3955SB/SLB ........................................................................................................................................ 88
4W1-2 Phase Excitation/Micro-step Support
A3957SLB .............................................................................................................................................. 94
3-Phase Stepper Motor Driver ICs
Star Connection/Delta Connection
SI-7600/SI-7600D ................................................................................................................................... 98
5-Phase Stepper Motor Driver ICs
Pentagon Connection
SI-7502 (SLA5011/SLA6503)................................................................................................................... 104
List of Discontinued Products....................................................................................................... 110
2
Excitation Output current (A) Motor supply Package Remarks Page
method 1 1.2 1.25 1.5 3 voltage (V)
SLA7022MU to 46 ZIP15Pin 5
SMA7022MU to 46 ZIP15Pin 5
SLA7029M to 46 ZIP15Pin 5
SMA7029M to 46 ZIP15Pin 5
SMA7036M to 46 ZIP15Pin 12
SDK03M to 46 SMD16Pin 1 motor driven by 2 packages 36
SLA7027MU to 46 ZIP18Pin 20
UCN5804B to 35 DIP16Pin Internal sequencer, 42
constant voltage driver
SLA7024M to 46 ZIP18Pin 20
SLA7032M to 46 ZIP18Pin 28
SLA7026M to 46 ZIP18Pin 20
SLA7033M to 46 ZIP18Pin 28
SLA7042M to 46 ZIP18Pin 44
SLA7044M to 46 ZIP18Pin 44
2-phase
excitation
2-phase/
1-2 phase
excitation
2W1-2 phase
Micro-step support
■2-Phase Stepper Motor Unipolar Driver ICs
Supply voltage (V)
Package page
PG001M 4.5 to 5.5 DIP16Pin 48
Excitation Output current (A)
Motor supply
Package Remarks Page
method 0.65 0.75 0.8 1.3 1.5 2 voltage (V)
A3966SA Vcc to 30 DIP16Pin 54
A3966SLB Vcc to 30 SOP16Pin 54
A3964SLB Vcc to 30 SOP20Pin 58
A3953SB Vcc to 50 DIP16Pin
One motor driven by 2 ICs
60
A3953SLB Vcc to 50 SOP16Pin
One motor driven by 2 ICs
60
A2918SW 10 to 45 ZIP18Pin 68
A3952SB Vcc to 50 DIP16Pin
One motor driven by 2 ICs
70
A3952SLB Vcc to 50 SOP16Pin
One motor driven by 2 ICs
70
A3952SW Vcc to 50 SIP12Pin
One motor driven by 2 ICs
70
UDN2916B 10 to 45 DIP24Pin 78
UDN2916LB 10 to 45 SOP24Pin 78
UDN2917EB 10 to 45 PLCC44Pin 84
A3955SB Vcc to 50 DIP16Pin
One motor driven by 2 ICs
88
A3955SLB Vcc to 50 SOP16Pin
One motor driven by 2 ICs
88
A3957SLB Vcc to 50 SOP24Pin
One motor driven by 2 ICs
94
2-phase/
1-2 phase
excitation
2-phase/1-2
phase/W1-2
phase excitation
2W1-2 phase
excitation/
micro-step
support
4W1-2 phase
excitation/micro-
step support
■2-Phase Stepper Motor Bipolar Driver ICs
■3-Phase Stepper Motor Driver Control ICs
Excitation method Part No. Motor supply Package Remarks Page
voltage (V)
2-phase/ SI-7600 15 to 45 SOP20Pin Use with SLA5017 or others 98
2-3 phase excitation SI-7600D DIP20Pin
■5-Phase Stepper Motor Driver Control ICs
Drive method Part No. Motor supply Package Remarks Page
voltage (V)
Pentagon SI-7502 15 to 42 Powder Use with SLA6503 and SLA5011 104
connection
coating 27 pin
Selection Guide
Selection Guide
Motor Driver ICs
■Serial Signal Generator IC for SLA704xM
3
Part No.
Output current
Supply voltage
Drive method Excitation method Package Remarks Page
(A) (V)
A2918SW 1.5 10 to 45 Bipolar 2-phase/1-2 phase excitation ZIP18pin 68
A3952SB 2 VCC to 50 Bipolar 2-phase/1-2 phase excitation DIP16pin One motor driven by 2 ICs 70
A3952SLB 2 VCC to 50 Bipolar 2-phase/1-2 phase excitation SOP16pin One motor driven by 2 ICs 70
A3952SW 2 VCC to 50 Bipolar 2-phase/1-2 phase excitation SIP12pin One motor driven by 2 ICs 70
A3953SB 1.3 VCC to 50 Bipolar 2-phase/1-2 phase excitation DIP16pin One motor driven by 2 ICs 60
A3953SLB 1.3 VCC to 50 Bipolar 2-phase/1-2 phase excitation SOP16pin One motor driven by 2 ICs 60
A3955SB 1.5 VCC to 50 Bipolar
2W/1-2 phase micro-step support
DIP16pin One motor driven by 2 ICs 88
A3955SLB 1.5 VCC to 50 Bipolar
2W/1-2 phase micro-step support
SOP16pin One motor driven by 2 ICs 88
A3957SLB 1.5 VCC to 50 Bipolar
4W/1-2 phase micro-step support
SOP24pin One motor driven by 2 ICs 94
A3964SLB 0.8 VCC to 30 Bipolar 2-phase/1-2 phase excitation SOP20pin 58
A3966SA 0.65 VCC to 30 Bipolar 2-phase/1-2 phase excitation DIP16pin 54
A3966SLB 0.65 VCC to 30 Bipolar 2-phase/1-2 phase excitation SOP16pin 54
PG001M −4.5 to 5.5 −− DIP16pin Serial signal generator IC for 48
SLA704xM
SDK03M 1 to 46 Unipolar 2-phase/1-2 phase excitation SMD16pin One motor driven by 2 ICs 36
SI-7502 −15 to 42 Pentagon connection 5-phase excitation Powder coat Control IC 104
27pin
SI-7600 −15 to 45 Star connection/ 2-phase/2-3 phase excitation SOP20pin Control IC 98
delta connection
SI-7600D −15 to 45 Star connection/ 2-phase/2-3 phase excitation DIP20pin Control IC 98
delta connection
SLA7022MU 1 to 46 Unipolar 2-phase excitation ZIP15pin 5
SLA7024M 1.5 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin 20
SLA7026M 3 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin 20
SLA7027MU 1 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin 20
SLA7029M 1.5 to 46 Unipolar 2-phase excitation ZIP15pin 5
SLA7032M 1.5 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin SLA7024M equivalent 28
SLA7033M 3 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin SLA7026M equivalent 28
SLA7042M 1.2 to 46 Unipolar
2W/1-2 phase micro-step support
ZIP18pin 44
SLA7044M 3 to 46 Unipolar
2W/1-2 phase micro-step support
ZIP18pin 44
SMA7022MU 1 to 46 Unipolar 2-phase excitation ZIP15pin 5
SMA7029M 1.5 to 46 Unipolar 2-phase excitation ZIP15pin 5
SMA7036M 1.5 to 46 Unipolar 2-phase excitation ZIP15pin SMA7029M equivalent 12
UCN5804B 1.25 to 35 Unipolar 2-phase/1-2 phase excitation DIP16pin Internal sequencer, constant 42
voltage driver
UDN2916B 0.75 10 to 45 Bipolar 2-phase/1-2 phase/W1-2 phase DIP24pin 78
excitation
UDN2916LB 0.75 10 to 45 Bipolar 2-phase/1-2 phase/W1-2 phase SOP24pin 78
excitation
UDN2917EB 1.5 10 to 45 Bipolar 2-phase/1-2 phase/W1-2 phase PLCC44pin 84
excitation
Product Index by Part Number
Product Index by Part Number
Motor Driver ICs
4Notes on SLA7000/SMA7000 Series
0
Power dissipation
P
H
(W)
Supply voltage
V
CC
(V)
8
7
6
5
4
3
2
1
010 20 30 40 50
Motor : 23LM-C202
I
O
: Output current
2-phase excitation, holding mode
I
O
=1A
I
O
=1A
SLA7024M, SLA7029M
SMA7029M
Sanken product: SI-7300A
Comparison of power dissipation.
■Features
●Employs a constant-current chopper control method.
●Integrates power MOSFETs and monolithic chip control cir-
cuitry in a single package.
●One-fifth the size and one-fourth the power dissipation com-
pared with conventional SANKEN ICs
■Constant Current Chopper Method
In the constant current chopper method, a voltage higher than
the rated voltage of the motor is applied and when the current
rises, the chopper transistor is switched on thereby shortening
the current rise time. After the current rises, the coil current is
held by the PWM chopper to a constant current level deter-
mined by the current sense resistor. This method has the ad-
vantage of improving the motor's high frequency response and
the efficiency response and efficiency of the driver circuitry.
●Eliminates the need for heatsink thereby decreasing part-in-
sertion workload and increasing flexibility in mounting.
●Reduces the size of power supplies required.
●Lineup: 2-phase excitation, 2-phase/1-2 phase excitation,
2W1-2 phase micro-step support ICs
■Applications
The SLA7000 and SMA7000 series are ideal for the following
applications.
●Sheet feeders and carriage drivers in printers.
●Sheet feeders for PPC and facsimile machines.
●Numeric control equipment.
●Industrial robots.
■Handling Precautions
●Recommended screw torque
0.588 to 0.784 [N•m](6.0 to 8.0 [kgf•cm])
●Recommended silicon grease
Shin-Etsu Chemical Co., Ltd.: G746
GE Toshiba Silicone Co., Ltd.: YG-6260
Dow Corning Toray Silicone Co., Ltd.: SC102
Please be careful when selecting silicone grease since the oil
in some grease may penetrate the product, which will result
in an extremely short product life.
Current sense resistor
Motor coil
Transient-suppression diode
PWM control
and phase
switching
control
V
CC
Used as both chopper
MOSFET and phase
switching MOSFET
Basic constant current chopper circuitry
Notes on SLA7000/SMA7000 Series
Motor Driver ICs
5
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
Parameter Symbol Ratings Units
SLA7022MU SLA7029M SMA7022MU SMA7029M
Motor supply voltage VCC 46 V
FET Drain-Source voltage VDSS 100 V
Control supply voltage VS46 V
TTL input voltage VIN 7V
Reference voltage VREF 2V
Output current IO1 1.5 1 1.5 A
Power dissipation PD1 4.5 (Without Heatsink) 4.0 (Without Heatsink) W
PD2 35 (TC=25°C) 28(TC=25°C) W
Channel temperature Tch +150 °C
Storage temperature Tstg −40 to +150 °C
■Absolute Maximum Ratings
2-Phase Stepper Motor Unipolar Driver ICs
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
2-Phase Excitation
(Ta=25°C)
Ratings
Parameter Symbol SLA7022MU SLA7029M SMA7022MU SMA7029M Units
min typ max min typ max min typ max min typ max
Control supply current IS10 15 10 15 10 15 10 15 mA
Condition
VS=44V VS=44V VS=44V VS=44V
Control supply voltage VS10 24 44 10 24 44 10 24 44 10 24 44 V
FET Drain-Source VDSS 100 100 100 100 V
voltage
Condition
VS=44V, IDSS=250
µ
AVS=44V, IDSS=250
µ
AVS=44V, IDSS=250
µ
AVS=44V, IDSS=250
µ
A
FET ON voltage VDS 0.85 0.6 0.85 0.6 V
Condition
ID=1A, VS=14V ID=1A, VS=14V ID=1A, VS=14V ID=1A, VS=14V
FET drain leakage current
IDSS 4444
mA
Condition
VDSS=100V, VS=44V VDSS=100V, VS=44V VDSS=100V, VS=44V VDSS=100V, VS=44V
FET diode forward VSD 1.2 1.1 1.2 1.1 V
voltage
Condition
ID=1A ID=1A ID=1A ID=1A
IIH 40 40 40 40
µ
A
TTL input current
Condition
VIH=2.4V, VS=44V VIH=2.4V, VS=44V VIH=2.4V, VS=44V VIH=2.4V, VS=44V
IIL
−
0.8
−
0.8
−
0.8
−
0.8 mA
Condition
VIL=0.4V, VS=44V VIL=0.4V, VS=44V VIL=0.4V, VS=44V VIL=0.4V, VS=44V
VIH 22 22
TTL input voltage
Condition
ID=1A ID=1A ID=1A ID=1A V
(Active High) VIL 0.8 0.8 0.8 0.8
Condition
VDSS=100V VDSS=100V VDSS=100V VDSS=100V
VIH 22 22
TTL input voltage
Condition
VDSS=100V VDSS=100V VDSS=100V VDSS=100V V
(Active Low) VIL 0.8 0.8 0.8 0.8
Condition
ID=1A ID=1A ID=1A ID=1A
Tr0.5 0.5 0.5 0.5
Condition
VS=24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=0.8A VS=24V, ID=1A
Switching time Tstg 0.7 0.7 0.7 0.7
µ
s
Condition
VS=24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=0.8A VS=24V, ID=1A
Tf0.1 0.1 0.1 0.1
Condition
VS=24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=0.8A VS=24V, ID=1A
■Electrical Characteristics (Ta=25°C)
DC characteristics
AC characteristics
6SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
■Internal Block Diagram
■Diagram of Standard External Circuit (Recommended Circuit Constants)
6
Reg Reg
15 8
VS
14
INB
INA
7
RSA
2 3 4 121311
TDA
REFA
GNDA
GNDB
REFB
TDB
RSB
9
10 15
+
–+
–+
–
+
–
1, 6, 10, 15pin
Description of pins
Excitation input
Active H
OUT A
OUT A
OUT B
OUT B
1pin
6pin
10pin
15pin
Active L
OUT A
OUT A
OUT B
OUT B
8161015
VS
RSA REFAREFBRSB GAGB
7 3 13 9 4 12
C4
r6r5
r2
r1
r4r3
C1C2
TdA
TdB
INA
INB
INA
INB
5
14
+
VCC (46V max)
Vb (5V)
RsRs C3
11
2
Open
collector
tdA tdB
Excitation signal time chart
2-phase excitation
clock 0 1 2 3 0 1
INAHHLLHH
INBLHHLLH
1-2 phase excitation
clock 0 1 2 3 4 5 6 7 0 1 2 3
INA HHHHLLLLHHH H
tdA LLLHLLLHLLL H
INB LLHHHHLLLLH H
tdB LHLLLHLLLHL L
● tdA and tdB are signals before the inverter stage.
r1: 510Ω
r2: 100Ω (VR)
r3: 47kΩ
r4: 47kΩ
r5: 2.4kΩ
r6: 2.4kΩ
C1: 330 to 500pF
C2: 330 to 500pF
C3: 2200pF
C4: 2200pF
Rs: 1.8Ω typ(7022MU)
1Ω typ(7029M)
(1 to 2W)
7
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
■External Dimensions SLA7022MU/SLA7029M (Unit: mm)
31
±0.2
24.4
±0.2
16.4
±0.2
3.2
±0.15
φ
16
±0.2
13
±0.2
9.9
±0.2
Part No.
Lot No.
3.2
±0.15
×3.8
φ
4.8
±0.2
1.7
±0.1
2.45
±0.2
R-End
6.7
±
0.5
9.7
+1
–0.5
(3)
0.55
+0.2
–0.1
4
±0.7
1.15
+0.2
–0.1
14×P2.03
±0.7
=28.42
±1.0
0.65
+0.2
–0.1
31.3
±0.2
Forming No. No.853
123·······15 123·······15
Forming No. No.855
14×P2.03
±0.4
=28.42
±0.8
0.65
+0.2
–0.1
3
±0.6
0.55
+0.2
–0.1
2.2
±0.4
6.3
±0.6
7.5
±0.6
4.6
±0.6
1.6
±0.6
Epoxy resin package
1.15
+0.2
–0.1
(Unit: mm)
■External Dimensions SMA7022MU/SMA7029MA
Forming No. No.1054
31±0.2
Part No.
Lot No.
4±0.2
2.5±0.2
1.45±0.15
6.7
±
0.5
(9.7)
(3)
0.55+0.2
–0.1
4±0.7
P2.03±0.1×14=28.42
0.65+0.2
–0.1
123·······15 123 ·······15
P2.03±0.1×14=28.42
1.16±0.15
3±0.6
0.55+0.2
–0.1
1.2±0.1
(5.9)
(4.6)
1.6±0.6
1.16+0.2
–0.1
30°
0.62±0.1
(7.5)
Epoxy resin package
8.5ma
x
10.2±0.2
31.3+0.2
Forming No. No.1055
8SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
■Determining the Output Current
Fig. 1 shows the waveform of the output current (motor coil cur-
rent). The method of determining the peak value of the output
current (IO) based on this waveform is shown below.
(Parameters for determining the output current IO)
Vb: Reference supply voltage
r1,r2: Voltage-divider resistors for the reference supply voltage
RS: Current sense resistor
(1) Normal rotation mode
IO is determined as follows when current flows at the maximum
level during motor rotation. (See Fig.2.)
(2) Power down mode
The circuit in Fig.3 (rx and T r) is added in order to decrease the
coil current. IO is then determined as follows.
Equation (2) can be modified to obtain equation to determine rx.
Fig. 4 and 5 show the graphs of equations (1) and (2) respec-
tively.
(NOTE)
Ringing noise is produced in the current sense resistor RS when
the MOSFET is switched ON and OFF by chopping. This noise
is also generated in feedback signals from RS which may there-
fore cause the comparator to malfunction. To prevent chopping
malfunctions, r5(r6) and C3(C4) are added to act as a noise filter.
RS
C3
r2
r1r6
r5
Vb(5V)
7,(9)
3,(13)
Fig. 2 Normal mode
0
Phase A
Phase A
I
O
Fig. 1 Waveform of coil current (Phase A excitation ON)
RS
C3
r2
r1r6
r5
Vb(5V)
7,(9)
3,(13)
rx
Tr
Power down
signal
Fig. 3 Power down mode
4
3
2
1
001234
Current sense resistor R
S
(Ω)
Output current I
O
(A)
I
O
= r
1
+r
2
R
S
r
1
=510Ω
r
2
=100Ω
r
x
=∞
V
b
=5V
r
2
· V
b
Fig. 4 Output current IO vs. Current sense resistor RSFig. 5
Output current I
OPD
vs. Variable current sense resistor rx
2.0
1.5
1.0
0.5
00200 400 600 800
Variable current sense resistor rX (Ω)
Output current IOPD (A)
1000 1200
RS =0.5Ω
RS =0.8Ω
RS =1Ω
IOPD= 1+ RS
r1=510Ω
r2=100Ω
Vb=5V
1 · Vb
r1
(r
2+rX
)
r
2 · rX
Application Notes
However, when the values of these constants are increased,
the response from RS to the comparator becomes slow. Hence
the value of the output current IO is somewhat higher than the
calculated value.
rX= 1
Vb
Rs • IOPD
1
r1−1 − 1
r2
................................................................ (1)
IO ≅ •
r2
r1+r2
Vb
RS
......................................................... (2)
IOPD ≅ •
1
r1(r2+rX)
r2 • rX
Vb
RS
1+
9
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
■Determining the chopper frequency
Determining TOFF
The SLA7000M and SMA7000M series are self-excited chop-
pers. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2
connected to terminal Td.
TOFF can be calculated using the following formula:
The circuit constants and the T OFF value shown below are rec-
ommended.
TOFF = 12
µ
s at r 3=47kΩ, C1=500pF, Vb=5V
60
50
40
30
20
10
00246810 12 14 16
15
20
25
30
35
40
Motor coil resistance Rm (Ω)
ON time TON ( s)
V
CC
=24V
V
CC
=36V
Chopping frequency f (kHz)
TOFF =12 s
RS =1Ω
Lm
=1~3ms
R
m
= =
r
3
C
1
r
4
C
2
47kΩ
500pF
µ
µ
Fig. 6 Chopper frequency vs. Motor coil resistance
■Chopper frequency vs. Supply voltage
0
f (kHz)
V
CC
(V)
50
40
30
20
10
010 20 30 40 50
Motor : 23LM-C202
I
O
= 0.8A at V
CC
=24V
R
S
=1Ω
■Chopper frequency vs. Output current
0
f (kHz)
I
O
(A)
50
40
30
20
10
00.2 0.4 0.6 0.8 1.0
Motor : 23LM-C202
V
CC
=24V
R
S
=1Ω
TOFF≅−r3 • C1 n (1− =−r4 • C2 n (1− )rr
2
Vb
2
Vb
10 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
35
30
25
20
15
10
5
0
200 500 1K
Case temperature rise
∆T
C–a
(°C)
Motor : PH265-01B
Motor current IO
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency
(pps)
Without heatsink
Natural cooling
TC
( 4 pin)
30
25
20
15
10
5
0
200 500 1K
Case temperature rise ∆T
C–a
(°C)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency
(pps)
Without heatsink
Natural cooling
T
C
( 4 pin)
35
30
25
20
15
10
5
0
200 500 1K
Case temperature rise ∆T
C–a
(°C)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency (pps)
Without heatsink
Natural cooling
T
C
( 4 pin)
30
25
20
15
10
5
0200 500 1K
Case temperature rise ∆T
C–a
(°C)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency
(pps)
Without heatsink
Natural cooling
T
C
( 4 pin)
Thermal characteristics
SLA7022MU SLA7029M
SMA7022MU SMA7029MU
■Thermal Design
An outline of the method for calculating heat dissipation is shown below.
(1) Obtain the value of P H that corresponds to the motor coil
current IO from Fig. 7 "Heat dissipation per phase PH vs. Out-
put current IO."
Output current I
O
(A)
Heat dissipation per phase P
H
(W)
Motor : 23LM-C004
Holding mode
0 0.2 0.4 0.6 0.8
1.0
1.2
1.0
0.8
0.6
0.4
0.2
0
V
CC
=44V
36V
24V
15V
∆Tj–a
∆TC–a
∆T
j
10234
∆T
C
Natural cooling
Without heatsink
150
100
50
0
Total Power (W)
(°C)
Fig. 7 Heat dissipation per phase PH vs. Output current IO
Fig. 8 Temperature rise
(2)
The power dissipation P
diss
is obtained using the following formula.
2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W)
1-2 phase excitation: Pdiss ≅ PH+0.015×VS (W)
(3)Obtain the temperature rise that corresponds to the calcu-
lated value of Pdiss from Fig. 8 "Temperature rise."
1.2
1
0.8
0.6
0.4
0.2
00 0.2 0.4 0.6 0.8 1.0
Heat dissipation per phase P
H
(W)
Output current I
O
(A)
36V
24V
15V
V
CC
=44V
Motor : 23LM-C202
Holding mode
∆T
j–a
∆T
C–a
∆T
j
102345
∆T
C
Natural cooling
Without heatsin
k
150
100
50
0
Total Power (W)
(°C)
SLA7022MU, ASMA7022MU
SLA7000M series
SLA7029M, SMA7029M
SMA7000M series
3
2
11
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M
SLA7022MU/SLA7029M/SMA7022MU/SMA7029M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation)
0
Supply current I
CC
(mA)
Supply voltage V
CC
(V)
500
400
300
200
100
010 20 30 40 50
Motor :
23LM-C202
1-phase excitation
Holding mode
I
O
:
Output current
I
O
=1A
0.4A
0.2A
■Supply Voltage VCC vs. Supply Current ICC
SLA7022MU, SMA7022MU
0
Supply current I
CC
(mA)
Supply voltage V
CC
(V)
500
400
300
200
100
010 20 30 40 50
0.2A
0.5A
I
O
=1A
Motor :
23LM-C004
1-phase excitation
Holding mode
I
O
:
Output current
SLA7029M, SMA7029M
100
Pull-out torque (kg-cm)
Response frequency
(pps)
2.0
1.5
1.0
0.5
05K
1K500
Motor : 23LM-C202
Output current I
O
=0.8A
Motor supply voltage V
CC
=24V
2-phase excitation
■Torque Characteristics
SLA7029M, SMA7029M
100
Pull-out torque (kg-cm)
Response frequency
(pps)
2.0
1.5
1.0
0.5
05K
1K500
Motor : PX244-02
Output current I
O
=0.6A
Motor supply voltage V
CC
=24V
2-phase excitation
SLA7022MU, SMA7022MU
12 SMA7036M
2-Phase Stepper Motor Unipolar Driver IC
SMA7036M
Parameter Symbol Ratings Units
Motor supply voltage VCC 46 V
Control supply voltage VS46 V
FET Drain-Source voltage VDSS 100 V
TTL input voltage VIN −0.3 to +7 V
SYNC terminal voltage VSYNC −0.3 to +7 V
Reference voltage VREF −0.3 to +7 V
Sense voltage VRS −5 to +7 V
Output current IO1.5 A
Power dissipation PD1 4.0 (Ta=25°C) W
PD2 28 (Tc=25°C) W
Channel temperature Tch 150 °C
Storage temperature Tstg −40 to +150 °C
Ambient operating temperature Ta−20 to +85 °C
■Absolute Maximum Ratings
■Electrical Characteristics
Parameter Symbol Ratings Units
min typ max
Control supply current IS10 15 mA
Condition
VS=44V
Control supply voltage VS10 24 44 V
FET Drain-Source VDSS 100 V
voltage
Condition
VS=44V, IDSS=250
µ
A
FET ON voltage VDS 0.6 V
Condition
ID=1A, VS=10V
FET diode forward voltage VSD 1.1 V
Condition
ISD=1A
FET drain leakage current IDSS 250
µ
A
Condition
VDSS=100V, VS=44V
VIH 2
Condition
ID=1A V
VIL 0.8
Condition
VDSS=100V
IN terminal VIH 2
Condition
VDSS=100V V
VIL 0.8
Condition
ID=1A
II±1
µ
A
Condition
VS=44V, VI=0 or 5V
VSYNCH 4.0
Condition
Synchronous chopping mode V
VSYNCL0.8
SYNC terminal
Condition
Asynchronous chopping mode
ISYNCH0.1
Condition
VS=44V, VYS=5V mA
ISYNCL−0.1
Condition
VS=44V, VYS=0V
VREF 0 2.0
Condition
Reference voltage input V
VREF 4.0 5.5
REF terminal
Condition
Output FET OFF
IREF ±1
µ
A
Condition
No synchronous trigger
RREF 40 Ω
Condition
Resistance between GND and REF terminal at synchronous trigger
Ton 1.5
Condition
VS=24V, ID=1A
Tr0.5
Switching time
Condition
VS=24V, ID=1A
µ
s
Tstg 0.9
Condition
VS=24V, ID=1A
Tf0.1
Condition
VS=24V, ID=1A
Chopping OFF time TOFF 12
µ
s
Condition
VS=24V
Active H
Active L
Input
current
Input
voltage
Input
current
Input
voltage
Input
current
Internal
resistance
2-Phase Excitation
DC characteristics
AC characteristics
13
SMA7036M
SMA7036M2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
■Internal Block Diagram
■Diagram of Standard External Circuit (Recommended Circuit Constants)
Excitation signal time chart
2-phase excitation
clock 0 1 2 3 0 1
INAHHLLHH
INBLHHLLH
r1: 8kΩ
r2: 2kΩ (VR)
RS
(1 to 2W)
: 1Ω typ
PchMOS : HN1J02FU (Toshiba)
Inv : 7404
5 8 14 10 15
1, 6, 10, 15pin
Description of pins
61
7 2 4 3 13 12 11 9
Chopping
blanking timer
(5 s typ)
µ
Chopping
blanking timer
(5 s typ)
Chopping
OFF timer
(12 s typ)
µ
Chopping
OFF timer
(12 s typ)
Synchronous
chopping
circuit
Synchronous
chopping
circuit
MOSFET
gate drive
circuit
MOSFET
gate drive
circuit
IN A
IN B
Vs
Rs A
SYNC A
SYNC B
GND A
REF A
REF B
GND B
Oscillator Oscillator
Reg. Reg.
Rs B
+
−
+
−
Excitation input
Active H
OUT A
OUT A
OUT B
OUT B
1pin
6pin
10pin
15pin
Active L
OUT A
OUT A
OUT B
OUT B
µ
µ
Disable (High Active)
Vb (5V)
Vcc (46V max)
PchMOS
2
11
5
14
Inv
r2
7
8
+
1 6 10 15
IN
B
IN
A
Rs Rs
313 1294
r1
SMA7036M
Sync
B
IN
B
IN
A
V
S
Rs
A
G
A
G
B
Rs
B
Ref
A
Ref
B
Sync
A
14 SMA7036M
SMA7036M2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
(Unit: mm)
■External Dimensions
Forming No. No.1054
31±0.2
Part No.
Lot No.
4±0.2
2.5±0.2
1.45±0.15
6.7
±
0.5
(9.7)
(3)
0.55+0.2
–0.1
4±0.7
P2.03±0.1×14=28.42
0.65+0.2
–0.1
123·······15 123·······15
P2.03±0.1×14=28.42
1.16±0.15
3±0.6
0.55+0.2
–0.1
1.2±0.1
(5.9)
(4.6)
1.6±0.6
1.16+0.2
–0.1
30°
0.62±0.1
(7.5)
Epoxy resin package
8.5ma
x
10.2±0.2
31.3+0.2
Forming No. No.1055
15
SMA7036M
SMA7036M2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
■Outline
SMA7036M is a stepper motor driver IC developed to reduce
the number of external parts required by the conventional
SMA7029M. This IC successfully eliminates the need for some
external parts without sacrificing the features of SMA7029M.
The basic function pins are compatible with those of SMA7029M.
■Notes on Replacing SMA7029M
SMA7036M is pin-compatible with SMA7029M. When using
the IC on an existing board, the following preparations are nec-
essary:
(1) Remove the resistors and capacitors attached for setting
the chopping OFF time. (r3, r4, C1, and C2 in the catalog)
(2) Remove the resistors and capacitors attached for preventing
noise in the detection voltage VRS from causing malfunction-
ing and short the sections from which the resistors were re-
moved using jumper wires. (r 5, r6, C 3, and C4 in the catalog)
(3) Normally, keep pins 2 and 11 grounded because their func-
tions have changed to synchronous and asynchronous
switching (SYNC terminals). For details, see "Circuit for Pre-
venting Abnormal Noise When the Motor Is Not Running (Syn-
chronous circuit)." (Low: asynchronous, High: synchronous)
■Circuit for Preventing Abnormal Noise When the
Motor Is Not Running (Synchronous Circuit)
A motor may generate abnormal noise when it is not running.
This phenomenon is attributable to asynchronous chopping be-
tween phases A and B. To prevent the phenomenon, SMA7036M
contains a synchronous chopping circuit. Do not leave the SYNC
terminals open because they are for CMOS input.
■Synchronous circuit operating waveform
SYNC_A
SYNC voltage : Low
SYNC voltage : High → Chopping asynchronous
→ Chopping synchronous
TTL, etc.
SYNC_B
SMA7036M
ONE SHOT
(tw=2 S)
Sync/async
switching signal
To comparator
(high impedance)
REF_A
R1
R2
3
5V
REF_B
VREF
VREF waveform
VREF
0
14
SMA7036M
FET A/A
gate drive signal
40 Ω
(typ.)
40 Ω
(typ.)
FET B/B
gate drive signal
ONE SHOT
(tw=2 S)
µ
µ
V
REF
V
RS
Phase A 0
V
REF
V
RS
Synchronous circuit ONSynchronous circuit OFF
Phase B 0
Application Notes
Connect TTL or similar to the SYNC terminals and switch the
SYNC terminal level high or low.
When the motor is not running, set the TTL signal high (SYNC
terminal voltage: 4 V or more) to make chopping synchronous.
When the motor is running, set the TTL signal low (SYNC terminal
voltage: 0.8 V or less) to make chopping asynchronous. If chop-
ping is set to synchronous when the motor is running, the motor
torque deteriorates before the coil current reaches the set value.
If no abnormal noise occurs when the motor is not running,
ground the SYNC terminals (TTL not necessary).
The built-in synchronous chopping circuit superimposes a trigger
signal on the REF terminal for synchronization between the two
phases. The figure below shows the internal circuit of the REF
terminal. Since the ∆ VREF varies depending on the values of R1
and R2, determine these values for when the motor is not run-
ning within the range where the two phases are synchronized.
16 SMA7036M
SMA7036M2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
0
Phase A
Phase A
I
O
RS
r2
r1
Vb(5V)
7,(9)
3,(13)
RS
r2
r1
Vb(5V)
7,(9)
3,(13)
rx
Tr
Power down
signal
■Determining the Output Current
Fig. 1 shows the waveform of the output current (motor coil cur-
rent). The method of determining the peak value of the output
current (IO) based on this waveform is shown below.
(Parameters for determining the output current IO)
Vb: Reference supply voltage
r1,r2: Voltage-divider resistors for the reference supply voltage
RS: Current sense resistor
(1) Normal rotation mode
IO is determined as follows when current flows at the maximum
level during motor rotation. (See Fig.2.)
(2) Power down mode
The circuit in Fig.3 (rx and Tr) is added in order to decrease the
coil current. IO is then determined as follows.
Equation (2) can be modified to obtain equation to determine rx.
Fig. 4 and 5 show the graphs of equations (1) and (2) respec-
tively.
Fig. 2 Normal mode
Fig. 1 Waveform of coil current (Phase A excitation ON)
Fig. 3 Power down mode
4
3
2
1
001234
Current sense resistor R
S
(Ω)
Output current I
O
(A)
I
O
= r1+r2 R
S
r1=510Ω
r2=100Ω
r
x
=∞
V
b
=5V
r2 · Vb
Fig. 4 Output current IO vs. Current sense resistor RSFig. 5
Output current I
OPD
vs. V ariable current sense resistor rx
2.0
1.5
1.0
0.5
00200 400 600 800
Variable current sense resistor rX (Ω)
Output current IOPD (A)
1000 1200
RS =0.5Ω
RS =0.8Ω
RS =1Ω
IOPD= 1+ RS
r1=510Ω
r2=100Ω
Vb=5V
1 · Vb
r1
(r
2+rX
)
r
2 · rX
rX= 1
Vb
Rs • IOPD
1
r1−1 − 1
r2
................................................................ (1)
IO ≅ •
r2
r1+r2
Vb
RS
......................................................... (2)
IOPD ≅ •
1
r1(r2+rX)
r2 • rX
Vb
RS
1+
17
SMA7036M
SMA7036M2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
Output current I
O
(A)
Heat dissipation per phase P
H
(W)
Motor : 23LM-C004
Holding mode
0 0.2 0.4 0.6 0.8
1.0
1.2
1.0
0.8
0.6
0.4
0.2
0
V
CC
=44V
36V
24V
15V
Fig. 6 Heat dissipation per phase PH vs. Output current IO
∆T
j–a
∆T
C–a
∆T
j
10234
∆T
C
Natural cooling
Without heatsink
150
100
50
0
Total Power (W)
(°C)
Fig. 7 Temperature rise
Thermal characteristics
30
25
20
15
10
5
0200 500 1K
Case temperature rise ∆T
C–a
(°C)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency
(pps)
Without heatsink
Natural cooling
T
C
( 4 pin)
■Thermal Design
An outline of the method for calculating heat dissipation is
shown below.
(1)Obtain the value of P H that corresponds to the motor coil
current IO from Fig. 6 "Heat dissipation per phase PH vs. Out-
put current IO."
(2)The power dissipation Pdiss is obtained using the following
formula.
2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W)
1-2 phase excitation: Pdiss ≅ PH+0.015×VS (W)
(3)Obtain the temperature rise that corresponds to the calcu-
lated value of Pdiss from Fig. 7 "Temperature rise."
3
2
18 SMA7036M
SMA7036M2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation)
■Handling Precautions
The input terminals of this product use C-MOS circuits. Observe the following precautions.
●Carefully control the humidity of the room to prevent the buildup of static electricity. Since static electricity is particularly a problem
during the winter, be sure to take sufficient precautions.
●Take care to make sure that static electricity is not applied to the IC during wiring and assembly. Take precautions such as shorting
the terminals of the printed wiring board to ensure that they are at the same electrical potential.
■Chopper frequency vs. Supply voltage ■Chopper frequency vs. Output current
0
f (kHz)
V
CC
(V)
50
40
30
20
10
010 20 30 40 50
Motor : 23LM-C202
I
O
= 0.8A at V
CC
=24V
R
S
=1Ω
0
f (kHz)
I
O
(A)
50
40
30
20
10
00.2 0.4 0.6 0.8 1.0
Motor : 23LM-C202
V
CC
=24V
R
S
=1Ω
■Supply Voltage VCC vs. Supply Current ICC
0
Supply current I
CC
(mA)
Supply voltage V
CC
(V)
500
400
300
200
100
010 20 30 40 50
0.2A
0.5A
I
O
=1A
Motor :
23LM-C004
1-phase excitation
Holding mode
I
O
:
Output current
■Torque Characteristics
100
Pull-out torque (kg-cm)
Response frequency
(pps)
2.0
1.5
1.0
0.5
05K
1K500
Motor : 23LM-C202
Output current I
O
=0.8A
Motor supply voltage V
CC
=24V
2-phase excitation
19
SMA7036M
20 SLA7027MU/SLA7024M/SLA7026M
Parameter Symbol Ratings Units
SLA7027MU SLA7024M SLA7026M
Motor supply voltage VCC 46 V
FET Drain-Source voltage VDSS 100 V
Control supply voltage VS46 V
TTL input voltage VIN 7V
Reference voltage VREF 2V
Output current IO1 1.5 3 A
Power dissipation PD1 4.5 (Without Heatsink) W
PD2 35 (TC=25°C) W
Channel temperature Tch +150 °C
Storage temperature Tstg −40 to +150 °C
■Electrical Characteristics
■Absolute Maximum Ratings
2-Phase Stepper Motor Unipolar Driver ICs
SLA7027MU/SLA7024M/SLA7026M
2-Phase/1-2 Phase Excitation
(Ta=25°C)
Ratings
Parameter Symbol SLA7027MU SLA7024M SLA7026M Units
min typ max min typ max min typ max
Control supply current IS10 15 10 15 10 15 mA
Condition
VS=44V VS=44V VS=44V
Control supply voltage VS10 24 44 10 24 44 10 24 44 V
FET Drain-Source voltage
VDSS 100 100 100 V
Condition
VS=44V, IDSS=250
µ
AVS=44V, IDSS=250
µ
AVS=44V, IDSS=250
µ
A
FET ON voltage VDS 0.85 0.6 0.85 V
Condition
ID=1A, A VS=14V ID=1A, VS=14V ID=3A, VS=14V
FET drain leakage current
IDSS 444
mA
Condition
VDSS=100V, VS=44V VDSS=100V, VS=44V VDSS=100V, VS=44V
FET diode forward voltage
VSD 1.2 1.1 2.3 V
Condition
ID=1A ID=1A ID=3A
IIH 40 40 40
µ
A
TTL input current
Condition
VIH=2.4V, VS=44V VIH=2.4V, VS=44V VIH=2.4V, VS=44V
IIL −0.8 −0.8 −0.8 mA
Condition
VIL=0.4V, VS=44V VIL=0.4V, VS=44V VIL=0.4V, VS=44V
VIH 222
TTL input voltage
Condition
ID=1A ID=1A ID=3A V
(Active High) VIL 0.8 0.8 0.8
Condition
VDSS=100V VDSS=100V VDSS=100V
VIH 222
TTL input voltage
Condition
VDSS=100V VDSS=100V VDSS=100V V
(Active Low) VIL 0.8 0.8 0.8
Condition
ID=1A ID=1A ID=3A
Tr0.5 0.5 0.5
Condition
VS=24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=1A
Switching time Tstg 0.7 0.7 0.7
µ
s
Condition
VS=24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=1A
Tf0.1 0.1 0.1
Condition
VS=24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=1A
DC characteristics
AC characteristics
21
SLA7027MU/SLA7024M/SLA7026M
SLA7027MU/SLA7024M/SLA7026M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
■Internal Block Diagram
■Diagram of Standard External Circuit(Recommended Circuit Constants)
1, 8, 11, 18pin
Description of pins
Excitation input
Active H Active L
Pin 1 OUTAOUTA
Pin 8 OUTAOUTA
Pin 11 OUT BOUTB
Pin 18 OUTBOUTB
Reg
IN A
VSA
RSA
234
GA
TDA
REFA
9
Reg
IN A
81 6 5 7 12 17 16 1811
IN B
IN B
VSB
GB
TDB
REFB
RSB
14 13 15 10
+
–
+
–
+
–
+
–
Active High
712 8 1 18 11
VSA VSB OUTAOUTBOUTBOUTA
RSA REFAREFBRSB GAGB
9 3 14 10 4 15
C4
r6r5
r2
r1
r4r3
C1C213
TdA
TdB
INA
INA
INB
INB
INA
INA
INB
INB
6
5
17
16
Active
High
+
VCC (46V max)
Vb (5V)
RsRs
C3
SLA7024M
7026M
7027MU
2
Active Low
712 8 1 18 11
VSA VSB OUTAOUTBOUTBOUTA
RSA REFAREFBRSB GAGB
9 3 14 10 4 15
C4
r6r5
r2
r1
r4r3
C1C213
TdA
TdB
INA
INA
INB
INB
INA
INA
INB
INB
6
5
17
16
Active
Low
+
VCC (46V max)
Vb (5V)
RsRs
C3
SLA7024M
7026M
7027MU
2
r1: 510Ω
r2: 100Ω(VR)
r3: 47kΩ
r4: 47kΩ
r5: 2.4kΩ
r6: 2.4kΩ
C1: 470pF
C2: 470pF
C3: 2200pF
C4: 2200pF
Rs:1Ω typ(7024M)
0.68Ω typ(7026M)
1.8Ω typ(7027MU)
1-2 phase excitation
clock 0 1 2 3 4 5 6 7 0 1 2 3
INALLHHHHHLLLHH
INAHHHLLLHHHHHL
INBHLLLHHHHHLLL
INBHHHHHLLLHHHH
r1: 510Ω
r2: 100Ω (VR)
r3: 47kΩ
r4: 47kΩ
r5: 2.4kΩ
r6: 2.4kΩ
C1: 470pF
C2: 470pF
C3: 2200pF
C4: 2200pF
Rs:1Ω typ(7024M)
0.68Ω typ(7026M)
1.8Ω typ(7027MU)
(1 to 2W)
1-2 phase excitation
clock 0 1 2345670123
INAHHLLLLLHHHLL
INALLLHHHLLLLLH
INBLHHHLLLLLHHH
INBLLLLLHHHLLLL
Excitation signal time chart
2-phase excitation
clock 0 1 2 3 0 1
INAHLLHHL
INALHHLLH
INBHHLLHH
INBLLHHLL
Excitation signal time chart
2-phase excitation
clock 0 1 2 3 0 1
INALHHLLH
INAHLLHHL
INBLLHHLL
INBHHLLHH
(1 to 2W)
22
SLA7027MU/SLA7024M/SLA7026M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
■External Dimensions (Unit: mm)
31±0.2
24.4±0.2
16.4±0.2
3.2±0.15
φ
16±0.2
13±0.2
9.9±0.2
Part No.
Lot No.
3.2±0.15×3.8
φ
4.8±0.2
1.7±0.1
2.45±0.2
R-End
6.7
±
0.5
9.7+1
–0.5
(3)
0.55+0.2
–0.1
4±0.7
1+0.2
–0.1
17×P1.68±0.4=28.56±1
0.65+0.2
–0.1
31.3±0.2
Forming No. No.871 Forming No. No.872
123·······18 123 ·······18
17×P1.68±0.4=28.56±1
0.65+0.2
–0.1 1+0.2
–0.1
3±0.6
0.55+0.2
–0.1
2.2±0.6
6±0.6
7.5±0.6
4.6±0.6
1.6±0.6
3.
4.
5.
23
SLA7027MU/SLA7024M/SLA7026M
SLA7027MU/SLA7024M/SLA7026M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
RS
C3
r2
r1r6
r5
Vb(5V)
9,(10)
3,(14)
C3
r2
r1r6
r5
Vb(5V)
9,(10)
3,(14)
rX
Tr
Power down
signal
■Determining the Output Current
Fig. 1 shows the waveform of the output current (motor coil cur-
rent). The method of determining the peak value of the output
current (IO) based on this waveform is shown below.
(Parameters for determining the output current IO)
Vb: Reference supply voltage
r1,r2: Voltage-divider resistors for the reference supply voltage
RS: Current sense resistor
(1) Normal rotation mode
IO is determined as follows when current flows at the maximum
level during motor rotation. (See Fig.2.)
(2) Power down mode
The circuit in Fig.3 (rx and T r) is added in order to decrease the
coil current. IO is then determined as follows.
Equation (2) can be modified to obtain equation to determine rx.
Fig. 4 and 5 show the graphs of equations (1) and (2) respec-
tively.
(NOTE)
Ringing noise is produced in the current sense resistor RS when
the MOSFET is switched ON and OFF by chopping. This noise
is also generated in feedback signals from RS which may there-
fore cause the comparator to malfunction. To prevent chopping
malfunctions, r5(r6) and C3(C4) are added to act as a noise filter.
Fig. 2 Normal mode
0
Phase A
Phase A
I
O
Fig. 1 Waveform of coil current (Phase A excitation ON)
Fig. 3
Power down mode
4
3
2
1
001234
Current sense resistor R
S
(Ω)
Output current I
O
(A)
I
O
= r
1
+r
2
R
S
r
1
=510Ω
r
2
=100Ω
r
x
=∞
V
b
=5V
r
2
· V
b
Fig. 4
Output current I
O
vs. Current sense resistor R
S
Fig. 5 Output current I
OPD
vs. Variable current sense resistor rx
2.0
1.5
1.0
0.5
00200 400 600 800
Variable current sense resistor rX (Ω)
Output current IOPD (A)
1000 1200
RS =0.5Ω
RS =0.8Ω
RS =1Ω
IOPD= 1+ RS
r1=510Ω
r2=100Ω
Vb=5V
1 · Vb
r1(r2+rX)
r2 · rX
Application Notes
rX= 1
Vb
Rs • IOPD
1
r1−1 − 1
r2
However, when the values of these constants are increased,
the response from RS to the comparator becomes slow. Hence
the value of the output current IO is somewhat higher than the
calculated value.
................................................................ (1)
IO ≅ •
r2
r1+r2
Vb
RS
......................................................... (2)
IOPD ≅ •
1
r1(r2+rX)
r2 • rX
Vb
RS
1+
24
SLA7027MU/SLA7024M/SLA7026M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
Fig. 6 Chopper frequency vs. Motor coil resistance
60
50
40
30
20
10
00246810 12 14 16
15
20
25
30
35
40
Motor coil resistance Rm (Ω)
ON time TON ( s)
V
CC
=24V
V
CC
=36V
Chopping frequency f (kHz)
TOFF =12 s
RS =1Ω
Lm
=1~3ms
Rm
= =
r
3
C1
r
4
C247kΩ
500pF
µ
µ
■Determining the chopper frequency
Determining TOFF
The SLA7000M series are self-excited choppers. The chopping
OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal
Td.
TOFF can be calculated using the following formula:
The circuit constants and the T OFF value shown below are rec-
ommended.
TOFF = 12
µ
s at r 3=47kΩ, C1=500pF, Vb=5V
■Chopper frequency vs. Supply voltage
0
f (kHz)
V
CC
(V)
50
40
30
20
10
010 20 30 40 50
Motor : 23LM-C202
I
O
= 0.8A at V
CC
=24V
R
S
=1Ω
■Chopper frequency vs. Output current
0
f (kHz)
I
O
(A)
50
40
30
20
10
00.2 0.4 0.6 0.8 1.0
Motor : 23LM-C202
V
CC
=24V
R
S
=1Ω
TOFF≅−r3 • C1 n (1− =−r4 • C2 n (1− )
rr
2
Vb
2
Vb
25
SLA7027MU/SLA7024M/SLA7026M
SLA7027MU/SLA7024M/SLA7026M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
Thermal characteristics
Fig. 7 Heat dissipation per phase PH vs. Output current IO
SLA7027MU
SLA7024M
1.2
1
0.8
0.6
0.4
0.2
00 0.2 0.4 0.6 0.8 1.0
Heat dissipation per phase P
H
(W)
Output current I
O
(A)
36V
24V
15V
V
CC
=44V
Motor : 23LM-C202
Holding mode
Output current IO (A)
Heat dissipation per phase PH (W)
Motor : 23LM-C004
Holding mode
0 0.2 0.4 0.6 0.8
1.0
1.2
1.0
0.8
0.6
0.4
0.2
0
V
CC
=44V
36V
24V
15V
Heat dissipation per phase P
H
(W)
Motor : 23PM-C503
Holding mode
36V 15V
24V
VCC =44V
4.0
3.0
2.0
1.0
00 1.0 2.0 3.0
Output current I
O
(A)
SLA7026M
SLA7027MU
35
30
25
20
15
10
5
0
200 500 1K
Case temperature rise
∆T
C–a
(°C)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency
(pps)
Without heatsink
Natural cooling
T
C
( 4 pin)
30
25
20
15
10
5
0
200 500 1K
Case temperature rise ∆T
C–a
(°C)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency
(pps)
Without heatsink
Natural cooling
T
C
( 4 pin)
50
40
30
20
10
0
100 500 1K 5K
Case temperature rise ∆T
C–a
(°C)
Response frequency (pps)
Without heatsink
Natural cooling
Motor : 23PM-C705
Motor current I
O
=1.5A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
T
C
( 4 pin)
SLA7024M
SLA7026M
Fig. 8 Temperature rise
∆T
j–a
∆T
C–a
∆T
j
102345
∆T
C
Natural cooling
Without heatsin
k
150
100
50
0
Total Power (W)
(°C)
■Thermal Design
An outline of the method for calculating heat dissipation is shown be-
low.
(1) Obtain the value of PH that corresponds to the motor coil current
IO from Fig. 7 "Heat dissipation per phase P H vs. Output current IO."
(2) The power dissipation Pdiss is obtained using the following formula.
2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W)
1-2 phase excitation: Pdiss ≅PH+0.015×VS (W)
(3) Obtain the temperature rise that corresponds to the calcu-
lated value of Pdiss from Fig. 8 "Temperature rise."
3
2
26
SLA7027MU/SLA7024M/SLA7026M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
SLA7027MU/SLA7024M/SLA7026M
■Note
The excitation input signals of the SLA7027MU, SLA7024M and SLA7026M can be used as either Active High or Active Low. Note,
however, that the corresponding output (OUT) changes depending on the input (IN).
Active Low Input Corresponding output
INA (pin6) OUTA (pin8)
INA (pin5) OUTA (pin1)
INB (pin17) OUTB (pin18)
INB (pin16) OUTB (pin11)
Active HighInput Corresponding output
INA (pin6) OUTA (pin1)
INA (pin5) OUTA (pin8)
INB (pin17) OUTB (pin11)
INB (pin16) OUTB (pin18)
■Supply Voltage VCC vs. Supply Current ICC
0
Supply current I
CC
(mA)
Supply voltage V
CC
(V)
500
400
300
200
100
010 20 30 40 50
Motor :
23LM-C202
1-phase excitation
Holding mode
I
O
:
Output current
I
O
=1A
0.4A
0.2A
0
Supply current I
CC
(mA)
Supply voltage V
CC
(V)
500
400
300
200
100
010 20 30 40 50
0.2A
0.5A
I
O
=1A
Motor :
23LM-C004
1-phase excitation
Holding mode
I
O
:
Output current
0
Supply current I
CC
(A)
Supply voltage V
CC
(V)
1.5
1.0
0.5
010 20 30 40 50
Motor : 23PM-C503
1-phase excitation
Holding mode
I
O
: Output current
I
O
=1A
I
O
=2A
I
O
=3A
SLA7027MU
SLA7024M
SLA7026M
27
SLA7027MU/SLA7024M/SLA7026M
28 SLA7032M/SLA7033M
Ratings
Parameter Symbol SLA7032M SLA7033M Units
min typ max min typ max
Control supply current IS10 15 10 15 mA
Condition
VS=44V VS=44V
Control supply voltage VS10 24 44 10 24 44 V
FET Drain-Source VDSS 100 100 V
voltage
Condition
VS=44V, IDSS=250
µ
AVS=44V, IDSS=250
µ
A
FET ON voltage VDS 0.6 0.85 V
Condition
ID=1A, VS=14V ID=3A, VS=14V
FET diode forward voltage VSD 1.1 2.3 V
Condition
ISD=1A ISD=3A
FET drain leakage current IDSS 250 250
µ
A
Condition
VDSS=100V, VS=44V VDSS=100V, VS=44V
VIH 2.0 2.0
Condition
ID=1A ID=3A V
VIL 0.8 0.8
Condition
VDSS=100V VDSS=100V
IN terminal VIH 2.0 2.0
Condition
VDSS=100V VDSS=100V V
VIL 0.8 0.8
Condition
ID=1A ID=3A
II±1±1
µ
A
Condition
VS=44V, VI=0 or 5V VS=44V, VI=0 or 5V
VSYNC 4.0 4.0
Condition
Synchronous chopping mode Synchronous chopping mode V
VSYNC 0.8 0.8
SYNC terminal
Condition
Asynchronous chopping mode Asynchronous chopping mode
ISYNC 0.1 0.1
Condition
VS=44V, VYS=5V VS=44V, VYS=5V mA
ISYNC −0.1 −0.1
Condition
VS=44V, VYS=0V VS=44V, VYS=0V
VREF 0 2.0 0 2.0
Condition
Reference voltage input Reference voltage input V
VREF 4.0 5.5 4.0 5.5
REF terminal
Condition
Output FET OFF Output FET OFF
IREF ±1±1
µ
A
Condition
No synchronous trigger No synchronous trigger
RREF 40 40 Ω
Condition
Resistance between GND and REF terminal at synchronous trigger Resistance between GND and REF terminal at synchronous trigger
Tr0.5 0.5
Condition
VS=24V, ID=1A VS=24V, ID=1A
Switching time Tstg 0.7 0.7
µ
s
Condition
VS=24V, ID=1A VS=24V, ID=1A
Tf0.1 0.1
Condition
VS=24V, ID=1A VS=24V, ID=1A
Chopping OFF time TOFF 12 12
µ
s
Condition
VS=24V VS=24V
2-Phase Stepper Motor Unipolar Driver ICs
SLA7032M/SLA7033M
2-Phase/1-2 Phase Excitation
(Ta=25°C)
Parameter Symbol Ratings Units
SLA7032M SLA7033M
Motor supply voltage VCC 46 V
Control supply voltage VS46 V
FET Drain-Source voltage VDSS 100 V
TTL input voltage VIN −0.3 to +7 V
SYNC terminal voltage VSYNC −0.3 to +7
Reference voltage VREF −0.3 to +7 V
Sense voltage VRS −5 to +7 V
Output current IO1.5 3 A
Power dissipation PD1 4.5 (Without Heatsink) W
PD2 35 (Tc = 25°C) W
Channel temperature Tch +150 °C
Storage temperature Tstg −40 to +150 °C
DC characteristics
■Absolute Maximum Ratings
■Electrical Characteristics
OUT
OUT
Input
current
Input
voltage
Input
current¨
Input
current
Input
current
Internal
resistance
AC characteristics
29
SLA7032M/SLA7033M
SLA7032M/SLA7033M2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
Rs Rs
9
6
5
17
16
7
2
13
818
Active
Low
11112
3414 1510
r1
r2
Vb (5V)
Vcc (46Vmax)
RsA GA GBRsBR
EF
AR
EF
B
OUT
A
SLA7032M
SLA7033M
VsA VsB OUT
A
IN
A
IN
A
IN
B
IN
B
OUT
B
OUT
B
IN
A
IN
A
IN
B
IN
B
+
SYNC A
SYNC B
Active Low
■Internal Block Diagram
■Diagram of Standard External Circuit (Recommended Circuit Constants)
Active High
+
−
1, 8, 11, 18pin
Description of pins
9 2 4 3 14 15 13 10
Chopping
blanking timer
(5 s typ)
Synchronous
chopping
circuit
Synchronous
chopping
circuit
MOSFET
gate drive
circuit
MOSFET
gate drive
circuit
IN A
IN A
IN B
IN B
Vs A
Vs B
Rs A
SYNC A
SYNC B
G A
REF A
REF B
G B
Oscillator Oscillator
Reg. Reg.
Rs B
+
−
Excitation input
Active H
OUT A
OUT A
OUT B
OUT B
1pin
8pin
11pin
18pin
Active L
OUT A
OUT A
OUT B
OUT B
567 1781 16 11 1812
Chopping
OFF timer
(12 s typ)
µ
Chopping
blanking timer
(5 s typ)
µ
µ
Chopping
OFF timer
(12 s typ)
µ
Rs Rs
9
6
5
17
16
7
2
13
818
Active
High
11112
3414 1510
r1
r2
Vb (5V)
Vcc (46Vmax)
RsA GA GBRsBR
EF
AR
EF
B
OUT
A
SLA7032M
SLA7033M
VsA VsB OUT
A
IN
A
IN
A
IN
B
IN
B
OUT
B
OUT
B
IN
A
IN
A
IN
B
IN
B
+
SYNC A
SYNC B
(1 to 2W)
r1:4kΩ
r2:1kΩ(VR)
Rs:1Ω typ(7032M)
0.68Ω typ(7033M)
r1:4kΩ
r2:1kΩ(VR)
Rs:1Ω typ(7032M)
0.68Ω typ(7033M)
1-2 phase excitation
clock 0 1 2 3 4 5 6 7 0 1 2 3
INAHHLLLLLHHHLL
INALLLHHHLLLLLH
INBLHHHLLLLLHHH
INBLLLLLHHHLLLL
Excitation signal time chart
2-phase excitation
clock 0 1 2 3 0 1
INAHLLHHL
INALHHLLH
INBHHLLHH
INBLLHHLL
Excitation signal time chart
2-phase excitation
clock 0 1 2 3 0 1
INALHHLLH
INAHLLHHL
INBLLHHLL
INBHHLLHH
1-2 phase excitation
clock 0 1 2 3 4 5 6 7 0 1 2 3
INALLHHHHHLLLHH
INAHHHLLLHHHHHL
INBHLLLHHHHHLLL
INBHHHHHLLLHHHH
(1 to 2W)
30 SLA7032M/SLA7033M
SLA7032M/SLA7033M2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
■External Dimensions (Unit: mm)
31±0.2
24.4±0.2
16.4±0.2
3.2±0.15
φ
16±0.2
13±0.2
9.9±0.2
Part No.
Lot No.
3.2±0.15×3.8
φ
4.8±0.2
1.7±0.1
2.45±0.2
R-End
6.7
±
0.5
9.7+1
–0.5
(3)
0.55+0.2
–0.1
4±0.7
1+0.2
–0.1
17×P1.68±0.4=28.56±1
0.65+0.2
–0.1
31.3±0.2
Forming No. No.871 Forming No. No.872
123·······18 123 ·······18
17×P1.68±0.4=28.56±1
0.65+0.2
–0.1 1+0.2
–0.1
3±0.6
0.55+0.2
–0.1
2.2±0.6
6±0.6
7.5±0.6
4.6±0.6
1.6±0.6
3.
4.
5.
31
SLA7032M/SLA7033M
SLA7032M/SLA7033M2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
■Outline
SLA7032M (SLA7033M) is a stepper motor driver IC developed
to reduce the number of external parts required by the conven-
tional SLA7024M (SLA7026M). This IC successfully eliminates
the need for some external parts without sacrificing the features
of SLA7024M (SLA7026M). The basic function pins are com-
patible with those of SLA7024M (SLA7026M).
■Notes on Replacing SLA7024M (SLA7026M)
SLA7032M (SLA7033M) is pin-compatible with SLA7024M
(SLA7026M). When using the IC on an existing board, the fol-
lowing preparations are necessary:
(1) Remove the resistors and capacitors attached for setting
the chopping OFF time. (r3, r4, C1, and C2 in the catalog)
(2) Remove the resistors and capacitors attached for preventing
noise in the detection voltage VRS from causing malfunction-
ing and short the sections from which the resistors were re-
moved using jumper wires. (r 5, r6, C 3, and C4 in the catalog)
(3) Normally, keep pins 2 and 13 grounded because their func-
tions have changed to synchronous and asynchronous
switching (SYNC terminals). For details, see "Circuit for Pre-
venting Abnormal Noise When the Motor Is Not Running (Syn-
chronous circuit)." (Low: asynchronous, High: synchronous)
■Circuit for Preventing Abnormal Noise When the
Motor Is Not Running (Synchronous Circuit)
A motor may generate abnormal noise when it is not running. This
phenomenon is attributable to asynchronous chopping between
phases A and B. To prevent the phenomenon, SLA7032M
(SLA7033M) contains a synchronous chopping circuit. Do not leave
Synchronous circuit operating waveform
SYNC_A
SYNC voltage : Low
SYNC voltage : High → Chopping asynchronous
→ Chopping synchronous
TTL, etc.
SYNC_B
SLA7032M
SLA7033M
Sync/async switching
signal
To comparator
(high impedance)
REF_A
R1
R2
3
5V
REF_B
V
REF
V
REF
waveform
V
REF
0
14
SLA7032M
SLA7033M
FET A/A
gate drive signal
40Ω
(typ.)
40Ω
(typ.)
FET B/B
gate drive signal
ONE SHOT
(tw=2 S)
µ
ONE SHOT
(tw=2 S)
µ
V
REF
V
RS
Phase A 0
V
REF
V
RS
Synchronous circuit ONSynchronous circuit OFF
Phase B 0
Application Notes
the SYNC terminals open because they are for CMOS input.
Connect TTL or similar to the SYNC terminals and switch the
SYNC terminal level high or low.
When the motor is not running, set the TTL signal high (SYNC
terminal voltage: 4 V or more) to make chopping synchronous.
When the motor is running, set the TTL signal low (SYNC terminal
voltage: 0.8 V or less) to make chopping asynchronous. If chop-
ping is set to synchronous at when the motor is running, the motor
torque deteriorates before the coil current reaches the set value.
If no abnormal noise occurs when the motor is not running,
ground the SYNC terminals (TTL not necessary).
The built-in synchronous chopping circuit superimposes a trigger
signal on the REF terminal for synchronization between the two
phases. The figure below shows the internal circuit of the REF
terminal. Since the ∆VREF varies depending on the values of R1
and R2, determine these values for when the motor is not run-
ning within the range where the two phases are synchronized.
32 SLA7032M/SLA7033M
SLA7032M/SLA7033M2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
RS
r2
r1
Vb(5V)
9,(10)
3,(14)
r2
r1
Vb(5V)
9,(10)
3,(14)
rX
Tr
Power down
signal
■Determining the Output Current
Fig. 1 shows the waveform of the output current (motor coil cur-
rent). The method of determining the peak value of the output
current (IO) based on this waveform is shown below.
(Parameters for determining the output current IO)
Vb: Reference supply voltage
r1,r2: Voltage-divider resistors for the reference supply voltage
RS: Current sense resistor
(1) Normal rotation mode
IO is determined as follows when current flows at the maximum
level during motor rotation. (See Fig.2.)
(2) Power down mode
The circuit in Fig.3 (rx and Tr) is added in order to decrease the
coil current. IO is then determined as follows.
Equation (2) can be modified to obtain equation to determine rx.
Fig. 4 and 5 show th e graphs of equations (1) and (2) respec-
tively.
Fig. 2 Normal mode
0
Phase A
Phase A
I
O
Fig. 1 Waveform of coil current (Phase A excitation ON)
Fig. 3 Power down mode
4
3
2
1
001234
Current sense resistor R
S
(Ω)
Output current I
O
(A)
I
O
= r
1
+r
2
R
S
r
1
=510Ω
r
2
=100Ω
r
x
=∞
V
b
=5V
r
2
· V
b
Fig. 4 Output current IO vs. Current sense resistor RSFig. 5
Output current I
OPD
vs. Variable current sense resistor r
x
2.0
1.5
1.0
0.5
00200 400 600 800
Variable current sense resistor rX (Ω)
Output current IOPD (A)
1000 1200
RS =0.5Ω
RS =0.8Ω
RS =1Ω
IOPD= 1+ RS
r1=510Ω
r2=100Ω
Vb=5V
1 · Vb
r1
(r
2+rX
)
r
2 · rX
rX= 1
Vb
Rs • IOPD
1
r1−1 − 1
r2
................................................................ (1)
IO ≅ •
r2
r1+r2
Vb
RS
......................................................... (2)
IOPD ≅ •
1
r1(r2+rX)
r2 • rX
Vb
RS
1+
33
SLA7032M/SLA7033M
SLA7032M/SLA7033M2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
50
40
30
20
10
0
100 500 1K 5K
Case temperature rise ∆T
C–a
(°C)
Response frequency (pps)
Without heatsink
Natural cooling
Motor : 23PM-C705
Motor current I
O
=1.5A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
T
C
( 4 pin)
30
25
20
15
10
5
0
200 500 1K
Case temperature rise ∆T
C–a
(°C)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Response frequency
(pps)
Without heatsink
Natural cooling
T
C
( 4 pin)
SLA7032M SLA7033M
Thermal characteristics
Fig. 7 Temperature rise
Fig. 6 Heat dissipation per phase PH vs. Output current IO
Output current I
O
(A)
Heat dissipation per phase P
H
(W)
Motor : 23LM-C004
Holding mode
0 0.2 0.4 0.6 0.8
1.0
1.2
1.0
0.8
0.6
0.4
0.2
0
V
CC
=44V
36V
24V
15V
∆T
j–a
∆T
C–a
∆T
j
102345
∆T
C
Natural cooling
Without heatsin
k
150
100
50
0
Total Power (W)
(°C)
Heat dissipation per phase P
H
(W)
Motor : 23PM-C503
Holding mode
36V 15V
24V
V
CC
=44V
4.0
3.0
2.0
1.0
00 1.0 2.0 3.0
Output current I
O
(A)
SLA7032M SLA7033M
■Thermal Design
An outline of the method for calculated heat dissipation is shown below.
(1)Obtain the value of PH that corresponds to the motor coil current IO from Fig. 6 "Heat dissipation per phase PH vs. Output current IO."
(2)The power dissipation Pdiss is obtained using the following formula.
2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W)
1-2 phase excitation: Pdiss ≅ PH+0.015×VS (W)
(3)Obtain the temperature rise that corresponds to the computed value of Pdiss from Fig. 7 "Temperature rise."
3
2
34 SLA7032M/SLA7033M
SLA7032M/SLA7033M2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
■Supply Voltage VCC vs. Supply Current ICC
0
Supply current I
CC
(mA)
Supply voltage V
CC
(V)
500
400
300
200
100
010 20 30 40 50
0.2A
0.5A
I
O
=1A
Motor :
23LM-C004
1-phase excitation
Holding mode
IO :
Output current
■Torque Characteristics
100
Pull-out torque (kg-cm)
Response frequency
(pps)
2.0
1.5
1.0
0.5
05K
1K500
Motor : 23LM-C202
Output current I
O
=0.8A
Motor supply voltage V
CC
=24V
2-phase excitation
0
Supply current I
CC
(A)
Supply voltage V
CC
(V)
1.5
1.0
0.5
010 20 30 40 50
Motor : 23PM-C503
1-phase excitation
Holding mode
I
O
: Output current
I
O
=1A
I
O
=2A
I
O
=3A
100
Pull-out torque (kg-cm)
Response frequency
(pps)
6.0
5.0
4.0
3.0
2.0
1.0
05K 10K1K500
Motor : 23PM-C705
Output current IO =2.5A
Motor supply voltage VCC =24V
2-phase excitation
SLA7032M SLA7033M
SLA7032M SLA7033M
35
SLA7032M/SLA7033M
SLA7032M/SLA7033M2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
■Handling Precautions
The input terminals of this product use C-MOS circuits. Observe the following precautions.
●Carefully control the humidity of the room to prevent the buildup of static electricity. Since static electricity is particularly a problem
during the winter, be sure to take sufficient precautions.
●Take care to make sure that static electricity is not applied to the IC during wiring and assembly. Take precautions such as shorting
the terminals of the printed wiring board to ensure that they are at the same electrical potential.
Active Low Input Corresponding output
INA (pin6) OUTA (pin8)
INA (pin5) OUT A (pin1)
INB (pin17) OUTB (pin18)
INB (pin16) OUTB (pin11)
Active HighInput Corresponding output
INA (pin6) OUTA (pin1)
INA (pin5) OUTA (pin8)
INB (pin17) OUTB (pin11)
INB (pin16) OUTB (pin18)
■Note
The excitation input signals of the SLA7032M, SLA7033M can be used as either Active High or Active Low. Note, however, that the
corresponding output (OUT) changes depending on the input (IN).
■Chopper frequency vs. Supply voltage
0
f (kHz)
V
CC
(V)
50
40
30
20
10
010 20 30 40 50
Motor : 23LM-C202
I
O
= 0.8A at V
CC
=24V
R
S
=1Ω
■Chopper frequency vs. Output current
0
f (kHz)
I
O
(A)
50
40
30
20
10
00.2 0.4 0.6 0.8 1.0
Motor : 23LM-C202
V
CC
=24V
R
S
=1Ω
36 SDK03M
2-Phase Stepper Motor Unipolar Driver ICs
SDK03M
■Electrical Characteristics
■Absolute Maximum Ratings
Parameter Symbol Ratings Units
min typ max
Control supply current IS5 7.5 mA
Condition
VS=44V
Control supply voltage VS10 24 44 V
FET Drain-Source VDSS 100 V
voltage
Condition
VS=44V, IDSS=250
µ
A
FET ON voltage VDS 0.85 V
Condition
ID=1A, VS=14V
FET drain leakage current
IDSS 4mA
Condition
VDSS=100V, VS=44V
FET diode forward VSD 1.2 V
voltage
Condition
ID=1A
IIH 40
µ
A
TTL input current
Condition
VIH=2.4V, VS=44V
IIL −0.8 mA
Condition
VIL=0.4V, VS=44V
VIH 2
TTL input voltage
Condition
ID=1A V
(Active High) VIL 0.8
Condition
VDSS=100V
VIH 2
TTL input voltage
Condition
VDSS=100V V
(Active Low) VIL 0.8
Condition
ID=1A
Tr0.5
Condition
VS=24V, ID=0.8A
Switching time Tstg 0.7
µ
s
Condition
VS=24V, ID=0.8A
Tf0.1
Condition
VS=24V, ID=0.8A
Parameter Symbol Ratings Units
Motor supply voltage VCC 46 V
FET Drain-Source voltage VDSS 100 V
Control supply voltage VS46 V
TTL input voltage VIN 7V
Reference voltage VREF 2V
Output current IO1A
Power dissipation PD2.5 (Without Heatsink) W
Channel temperature Tch +150 °C
Storage temperature Tstg −40 to +150 °C
2-Phase/1-2 Phase Excitation
DC characteristics
AC characteristics
37
SDK03M
SDK03M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
■Internal Block Diagram
■Diagram of Standard External Circuit (Recommended Circuit Constants)
Excitation input
Active H Active L
Pin 1 OUT1OUT2
Pin 16
Pin 8 OUT2OUT1
Pin 9
8
Reg.
2312
16
10
57
+
–
+
–
15 13 4
169IN1IN2VS
14
11
NC
NC
RSRSRSGND GND REFTD
Active High
Active Low
+
VCC (46V max)
Motor coil
Phase A Motor coil
Phase B
Motor coil
Phase A Motor coil
Phase B
Vb (5V)
11689 7
6
5
IN1
IN2
12 10
15 13 3
C3r5
RS
4
C1C2
r2r6C4
RS
OUT1OUT2VS
GND RSREF TD
IN1
IN22
r3r1r4
2
SDK03M
Phase A
12
10 4
IN1
IN2
IN1
IN2
6
5
VSOUT2OUT1
REF RSGND
TD
SDK03M
Phase B
711689
313 15
Active
High Active
High
+
VCC (46V max)
Vb (5V)
11689 7
6
5
IN1
IN2
12 10
15 13 3
C3r5
RS
4
C1C2
r2r6C4
RS
OUT2OUT1VS
GND RSREF TD
IN1
IN22
r3r1r4
2
SDK03M
Phase A
12
10 4
IN1
IN2
IN1
IN2
6
5
VSOUT1OUT2
REF RSGND
TD
SDK03M
Phase B
711689
313 15
Active
Low Active
Low
1, 8, 9, 16pin Description of pins
Excitation signal time chart
2-phase excitation
Phase clock 0 1 2 3 0 1
Phase A
IN1HL L HH L
IN2LH HL L H
Phase B
IN1HH L L H H
IN2LL HHL L
1-2-phase excitation
Phase clock 012345670123
Phase A
IN1HHLLLLLHHHLL
IN2LLLHHHLLLLLH
Phase B
IN1LHHHLLLLLHHH
IN2LLLLLHHHLLLL
Excitation signal time chart
2-phase excitation
Phase clock 0 1 2 3 0 1
Phase A
IN1LH HL L H
IN2HL L HH L
Phase B
IN1LL HHL L
IN2HH L L H H
1-2-phase excitation
Phase clock 012345670123
Phase A
IN1LLHHHHHLLLHH
IN2HHHLLLHHHHHL
Phase B
IN1HLLLHHHHHLLL
IN2HHHHHLLLHHHH
r1: 510Ω
r2: 100Ω (VR)
r3: 47k Ω
r4: 47k Ω
r5: 2.4kΩ
r6: 2.4kΩ
C1: 470pF
C2: 470pF
C3: 2200pF
C4: 2200pF
RS: 1.8Ω typ
r1: 510Ω
r2: 100Ω (VR)
r3: 47k Ω
r4: 47k Ω
r5: 2.4kΩ
r6: 2.4kΩ
C1: 470pF
C2: 470pF
C3: 2200pF
C4: 2200pF
RS: 1.8Ω typ
(1 to 2W)
(1 to 2W)
38 SDK03M
SDK03M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
■External Dimensions (Unit: mm)
Part No.
Lot No.
2.54±0.25
0.75+0.15
–0.05
0.89±0.15
16
6.8max.
20.0max.
19.56±0.2
9
81
4.0max.
3.6±0.2
1.4±0.2
0.3+0.15
–0.05
8.0±0.5
6.3±0.2
3.0±0.2
0~0.1
1.0±0.3
9.8±0.3
0.25
39
SDK03M
SDK03M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
RS
C3
r2
r1r6
r5
Vb(5V)
10
3
1315
R
S
C
3
r
2
r
1
r
6
r
5
V
b
(5
V
)
10
3
r
X
T
r
Power down
signal
13 15
■Determining the Output Current
Fig. 1 shows the waveform of the output current (motor coil cur-
rent). The method of determining the peak value of the output
current (IO) based on this waveform is shown below.
(Parameters for determining the output current IO)
Vb: Reference supply voltage
r1,r2: Voltage-divider resistors for the reference supply voltage
RS: Current sense resistor
(1) Normal rotation mode
IO is determined as follows when current flows at the maximum
level during motor rotation. (See Fig.2.)
(2) Power down mode
The circuit in Fig.3 (rx and Tr) is added in order to decrease the
coil current. IO is then determined as follows.
Equation (2) can be modified to obtain equation to determine rx.
Fig. 4 and 5 show the graphs of equations (1) and (2) respec-
tively.
Fig. 2 Normal mode
0
Phase A
Phase A
I
O
Fig. 1 Waveform of coil current (Phase A excitation ON)
Fig. 3 Power down mode
4
3
2
1
001234
Current sense resistor R
S
(Ω)
Output current I
O
(A)
I
O
= r1+r2 R
S
r1=510Ω
r2=100Ω
r
x
=∞
V
b
=5V
r2 · Vb
Fig. 4 Output current IO vs. Current sense resistor RSFig. 5
Output current I
OPD
vs. Variable current sense resistor r
x
2.0
1.5
1.0
0.5
00200 400 600 800
Variable current sense resistor rX (Ω)
Output current IOPD (A)
1000 1200
RS =0.5Ω
RS =0.8Ω
RS =1Ω
IOPD= 1+ RS
r1=510Ω
r2=100Ω
Vb=5V
1 · Vb
r1(r2+rX)
r2 · rX
Application Notes
rX= 1
Vb
Rs • IOPD
1
r1−1 − 1
r2
(NOTE)
Ringing noise is produced in the current sense resistor RS when
the MOSFET is switched ON and OFF by chopping. This noise
is also generated in feedback signals from RS which may there-
fore cause the comparator to malfunction. To prevent chopping
malfunctions, r5(r6) and C3(C4) are added to act as a noise filter.
However, when the values of these constants are increased,
the response from RS to the comparator becomes slow. Hence
the value of the output current IO is somewhat higher than the
calculated value.
................................................................ (1)
IO ≅ •
r2
r1+r2
Vb
RS
......................................................... (2)
IOPD ≅ •
1
r1(r2+rX)
r2 • rX
Vb
RS
1+
40 SDK03M
SDK03M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
60
50
40
30
20
10
00246810 12 14 16
15
20
25
30
35
40
Motor coil resistance Rm (Ω)
ON time TON ( s)
V
CC
=24V
V
CC
=36V
Chopping frequency f (kHz)
TOFF =12 s
RS =1Ω
Lm
=1~3ms
R
m
= =
r
3
C
1
r
4
C
2
47kΩ
500pF
µ
µ
Fig. 6 Chopper frequency vs. Motor coil resistance■Determining the chopper frequency
Determining TOFF
SDK03M is self-excited choppers. The chopping OFF time TOFF
is fixed by r3/C1 and r4/C2 connected to terminal Td.
TOFF can be calculated using the following formula:
The circuit constants and the T OFF value shown below are rec-
ommended.
TOFF = 12
µ
s at r 3=47kΩ, C1=500pF, Vb=5V
■Chopper frequency vs. Supply voltage ■Chopper frequency vs. Output current
0
f (kHz)
V
CC
(V)
50
40
30
20
10
010 20 30 40 50
Motor : 23LM-C202
I
O
= 0.8A at V
CC
=24V
R
S
=1Ω
0
f (kHz)
I
O
(A)
50
40
30
20
10
00.2 0.4 0.6 0.8 1.0
Motor : 23LM-C202
V
CC
=24V
R
S
=1Ω
TOFF≅−r3 • C1 n (1− =−r4 • C2 n (1− )
rr
2
Vb
2
Vb
41
SDK03M
SDK03M2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)
■Supply Voltage VCC vs. Supply Current ICC ■Torque Characteristics
0
Supply current I
CC
(mA)
Supply voltage V
CC
(V)
500
400
300
200
100
010 20 30 40 50
Motor :
23LM-C202
1-phase excitation
Holding mode
I
O
:
Output current
I
O
=1A
0.4A
0.2A
100
Pull-out torque (kg-cm)
Response frequency (pps)
2.0
1.5
1.0
0.5
05K
1K500
Motor : PX244-02
Output current I
O
=0.6A
Motor supply voltage V
CC
=24V
2-phase excitation
1.2
1
0.8
0.6
0.4
0.2
00 0.2 0.4 0.6 0.8 1.0
Heat dissipation per phase P
H
(W)
Output current I
O
(A)
36V
24V
15V
V
CC
=44V
Motor : 23LM-C202
Holding mode
Fig. 7 Heat dissipation per phase PH vs. Output current IO
∆Tj
1023
∆T
C
Glass epoxy board
(mounted on level surface)
(95×69×1.2mm)
Natural cooling
150
100
50
0
Total power (W)
∆T
j–a
∆T
C–a
(°C)
50
40
30
20
10
0200 500 1K
Case temperature rise
∆T
C–a
(°C)
Response frequency (pps)
T
C
( 9 pin)
Natural cooling
Glass epoxy board
(mounted on level surface)
(95×69×1.2mm)
Motor : PH265-01B
Motor current I
O
=0.8A
T
a
=25°C
V
CC
=24V, V
S
=24V
2-phase excitation
Thermal characteristics
Fig. 8 Temperature rise
Active Low Input Corresponding output
IN1 (pin6) OUT1 (pin8, 9)
IN2 (pin5) OUT2 (pin1, 16)
Active HighInput Corresponding output
IN1 (pin6) OUT1 (pin1, 16)
IN2 (pin5) OUT2 (pin8, 9)
■Note
The excitation input signals of the SDK03M can be used as either Active High or Active Low. Note, However, that the corresponding
output (OUT) changes depending on the input (IN).
■Thermal Design
An outline of the method for computing heat dissipation is shown below .
(1) Obtain the value of PH that corresponds to the motor coil current
IO from Fig. 7 "Heat dissipation per phase PH vs. Output current
IO."
(2) The power dissipation Pdiss is obtained using the following formula.
2-phase excitation: Pdiss ≅ PH+0.0075×VS (W)
1-2 phase excitation: Pdiss ≅PH+0.0075×VS (W)
(3) Obtain the temperature rise that corresponds to the calcu-
lated value of Pdiss from Fig. 8 "Temperature rise."
3
4
42 UCN5804B
2-Phase Stepper Motor Unipolar Driver IC
UCN5804B
Allegro MicroSystems product
■Features
●Internal 1-phase/1-2 phase/2-phase excita-
tion pattern generator
●Output enable and direction control
●Power-on reset
●Internal thermal shutdown circuitry
●Internal transient-suppression diodes
●Low thermal resistance 16-pin DIP
■Electrical Characteristics
Parameter Symbol Conditions Limits Units
min typ max
Output drivers
Output leakage current ICEX VO=50V 10 50
µ
A
Output sustaining voltage VCE (SUS) IO=1.25A, L=3mH 3.5 V
IO=700mA 1.0 1.2 V
Output saturation voltage VCE (SAT) IO=1A 1.1 1.4 V
IO=1.25A 1.2 1.5 V
Clamp diode leakage current IRVR=50V 10 50
µ
A
Clamp diode forward voltage VFIF=1.25A 1.5 3.0 V
Turn-on delay tON 50% step inputs to 50% output 10
µ
s
Turn-off delay tOFF 50% step inputs to 50% output 10
µ
s
Thermal shutdown temperature Tj165 °C
Control logic
Input current IIH VIN=VDD 0.5 5.0
µ
A
IIL VIN=0.8V −0.5 −5.0
µ
A
Input voltage VIH VDD=5V 3.5 5.3 V
VIL −0.3 0.8 V
Supply current IDD 2 outputs ON 20 30 mA
Data setup time ts DAT (A) Inter-clock 100 ns
Data hold time t h DAT (B) Inter-clock 100 ns
Clock pulse width tw CLK (C) 500 ns
● "typ" values are for reference.
Absolute Maximum Ratings
Parameter Symbol Ratings Units
Output voltage VCE 50 V
Output sustaining voltage
VCE (SUS) 35 V
Output current (1 circuit) IO1.5 A/unit
Logic supply voltage VDD 7.0 V
Input voltage VIN 7.0 V
Package power dissipation
PD (Note1) 2.90 W/pkg
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
Note 1: When ambient temperature is 25°C or over, derate using −23.3mW/°C.
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
(Unless specified otherwise, Ta=25°C, VDD=4.5V to 5.5V)
(Ta=+25°C)
(Unless specified otherwise, VIN=VDD or GND)
■Terminal Connection Diagram■Timing Conditions
1
2
3
4
5
6
7
89
10
11
12
13
14
15
16
OUTPUT
B
OUTPUT
D
OUTPUT
C
OUTPUT
A
GROUND GROUND
SUPPLY
DIRECTION
OUTPUT
ENABLE
OE
GROUND
HALF-STEP
ONE-PHASE
STEP INPUT
GROUND
K
BD
V
DD
K
AC
LOGIC
CLOCK
ONE PHASE
HALF-STEP
OUTPUT
A
OUTPUT
B
OUTPUT
C
OUTPUT
D
OUTPUT
ENABLE
C
AB
TWO-PHASE HALF-STEP OUTPUT
DISABLED
WAVE DRIVE
2-Phase/1-2 Phase Excitation
43
UCN5804B2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation)
UCN5804B
■Derating ■Application Circuit
■I/O Equivalent Circuit■Truth Table
IN
V
DD
SUB
Input circuit Output driver
■External Dimensions
4
5
3
2
1
0
−20 0 25 50 75 10085
43°C/W
Ambient temperature Ta (°C)
Allowable package power dissipationP
D
(W)
K
OUT
Drive Format Pin 9 Pin 10
Two-Phase L L
One-Phase H L
Half-Step L H
Step-Inhibit H H
1.77
123 8
916
1.15 21.33
18.93
0.558
0.356 4.06
2.93
7.11
6.10
INDEX AREA 0.127MIN
7.62BSC
2.54BSC
5.33MAX
SEATING PLANE
0.39MIN
0.508
0.204
Note 1
●Thickness of lead is measured below seating plane.
●Allowable variation in distance between leads is not cumulative.
Note 1: Lead width of pin 1,8, 9, 16 may be half the value shown here.
1
2
3
4
5
6
7
89
10
11
12
13
14
15
16
DIRECTION
CONTROL
OE
STEP INPUT
V
DD
LOGIC
1
2
3
4
5
6
7
89
10
11
12
13
14
15
16
OE
V
DD
LOGIC
5V
28V
OR
ICs per stick
25
(Unit: mm)
44 SLA7042M/SLA7044M
2-Phase Stepper Motor Unipolar Driver ICs
SLA7042M/SLA7044M
Parameter Symbol Ratings Units
SLA7042M SLA7044M
Motor supply voltage VCC 46 V
FET Drain-Source voltage VDSS 100 V
Control supply voltage VDD 7V
Input voltage VIN −0.5 to VDD+0.5 V
Output current IO1.2 3 A
Power dissipation PD4.5 (Without Heatsink) W
Channel temperature Tch +150 °C
Storage temperature Tstg −40 to +150 °C
■Absolute Maximum Ratings
■Electrical Characteristics
Terminals
DATA,
CLOCK
and
STROBE
Ratings
Parameter Symbol SLA7042M SLA7044M Units
min typ max min typ max
Control supply current IDD 77
mA
Conditions
VDD=5.5V VDD=5.5V
Control supply voltage VDD 4.5 5 5.5 4.5 5 5.5 V
VIH 3.5 5 3.5 5
Conditions
VDD=5V VDD=5V
VIL 0 1.5 0 1.5 V
Conditions
VDD=5V VDD=5V
VH11
V
Conditions
VDD=5V VDD=5V
II±1±1
µ
A
Conditions
VDD=5V, VI=0 or 5V VDD=5V, VI=0 or 5V
VREF 0.4 2.5 0.4 2.5
Conditions
VDD=5V VDD=5V V
REF VDISABLE VDD−1VDD VDD−1VDD
terminal
Conditions
VDD=5V VDD=5V
IREF ±1±1
µ
A
Conditions
VDD=5V, VI=0 or 5V VDD=5V, VI=0 or 5V
Vref 00
Conditions
MODE 0 MODE 0
Vref 20 20
Conditions
MODE 1 MODE 1
Vref 40 40
Conditions
MODE 2 MODE 2
Vref 55.5 55.5
Reference voltage
Conditions
MODE 3 MODE 3 %
selection output voltage Vref 71.4 71.4
Conditions
MODE 4 MODE 4
Vref 83 83
Conditions
MODE 5 MODE 5
Vref 91 91
Conditions
MODE 6 MODE 6
Vref 100 100
Conditions
MODE 7 MODE 7
FET ON voltage VDS 0.8 1.4 V
Conditions
ID=1.2A, VDD=4.75V ID=3A, VDD=4.75V
FET Drain-Source VDSS 100 100 V
voltage
Conditions
IDSS=4mA, VDD=5V IDSS=4mA, VDD=5V
FET drain leakage current IDSS 44
mA
Conditions
VDSS=100V, VDD=5V VDSS=100V, VDD=5V
FET diode forward voltage VSD 1.2 2.3 V
Conditions
ID=1.2A ID=3A
TOFF 77
Conditions
MODE 1, 2 MODE 1, 2
Chopper off time TOFF 99
µ
s
Conditions
MODE 3, 4, 5 MODE 3, 4, 5
TOFF 11 11
Conditions
MODE 6, 7 MODE 6, 7
Tr0.5 0.5
Conditions
VDD=5V, ID=1A VDD=5V, ID=1A
Switching time Tstg 0.7 0.7
µ
s
Conditions
VDD=5V, ID=1A VDD=5V, ID=1A
Tf0.1 0.1
Conditions
VDD=5V, ID=1A VDD=5V, ID=1A
Data setup time "A" tsDAT 75 75
Conditions
Inter-clock Inter-clock
Data hold time "B" thDAT 75 75
Conditions
Inter-clock Inter-clock
Data pulse time "C" twDAT 150 150
Conditions
ns
Clock pulse width "D" twhCLK 100 100
Conditions
Stabilization time tpsSTB 100 100
before strobe "E"
Conditions
Strobe=L from clock Strobe=L from clock
Strobe pulse H width "F" twhSTB 100 100
Conditions
2W1-2 Phase Excitation/Micro-step Support
Input
voltage
Input hysteresis
voltage
Input
current
Input
voltage
Input
current
DC characteristics
AC characteristics
45
SLA7042M/SLA7044M2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
SLA7042M/SLA7044M
■Internal Block Diagram
■Diagram of Standard External Circuit
■Output Current Formula
K: Reference voltage setting rate by serial signal
(See the internal block diagram)
IO = •
K VREF
3 RS
VDDAVDDB OUT A OUT A OUT B OUT B
REF A
REF B
GND A GND B RS A RS B
712 9 10
RSRS
R2C1
3
14
VREF
R1
5V
ENABLE
415181118
5
16
2
13
6
17
CLOCK A
CLOCK B
STROBE A
STROBE B
DATA A
DATA B
VCC
C1 : 500 to 10000pF
SLA7042M
SLA7044M
OUT A
OUT A
VDD A
VDD B
OUT B
Rs B
GND B
Ref B
Ref A
GND A
Rs A
DATA B
DATA A
CLOCK B
OUT B
CLOCK A
STROBE B
STROBE A
Enable
COMP
Phase
Vref
0%
20%
40%
55.5%
71.4%
83%
91%
100%
a
0
1
0
1
0
1
0
1
PWM
Reset Ph.
Reset
Enable
COMP
Phase PWM
Reset
Reset
OFF time timer
(TOFF 3-step switching)
Chopper ON
Noise filter
(2 s)
Latch
Reference voltage Reference voltage
abc
Ph.
Shift register
abc
Ph.
Latch
abc
Ph.abc
Shift register
b
0
0
1
1
0
0
1
1
c
0
0
0
0
1
1
1
1
c
0
0
0
0
1
1
1
1
b
0
0
1
1
0
0
1
1
a
0
1
0
1
0
1
0
1
Vref
0%
20%
40%
55.5%
71.4%
83%
91%
100%
µ
OFF time timer
(TOFF 3-step switching)
Chopper ON
Noise filter
(2 s)
µ
46
SLA7042M/SLA7044M2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
SLA7042M/SLA7044M
■External Dimensions (Unit: mm)
31
±0.2
24.4
±0.2
16.4
±0.2
3.2
±0.15
x3.8
1
+0.2
−0.1
0.65
+0.2
−0.1
17xP1.68
±0.4
=28.56
±1
31.3
±0.2
123 181716••••••••••••
3.2
±0.15
Part No.
Lot No.
16
±0.2
13
±0.2
9.9
±0.2
Forming No. No.871
4.8
±0.2
1.7
±0.1
2.45
±0.2
R-End
4
±0.7
0.55
+0.2
−0.1
(3) 6.7
±0.5
9.7+0.2
−
0.1
17xP1.68
±0.4
=28.56
±1
1
+0.2
−0.1
0.65
+0.2
−0.1
7.5
±0.6
6
±0.6
2.2
±0.1
0.55
+0.2
−0.1
1.6
±0.6
3
±0.6
4.6
±0.6
123 181716••••••••••••
Forming No. No.872
φφ
Successively output this serial data and set any current. Then, determine the step
time of the reference voltage Vref at STROBE signal intervals.
■Serial Data Pattern
See page 48 for details of
PG001M serial signal gen-
erator IC for SLA7042M and
SLA7044M.
OUT excitation (MODEχ) OUT excitation (MODEχ)
CLOCK
STROBE
MODE0
(0%)
MODE1
(20%)
MODE2
(40%)
MODE3
(55.5%)
MODE4
(71.4%)
MODE5
(83%)
MODE6
(91%)
MODE7
(100%)
DATA
0
0
0
0
0
0
0
0
0
0
Phase a b c
0
0
0
0
0
0
0
0
0
0
Phase a b c
47
SLA7042M/SLA7044M2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
SLA7042M/SLA7044M
■Current Vector Locus (One step of stepper motor normalized to 90 degrees)
20 40 55.5 71.4 83 91
A
0
B100
20
100
1234
5
6
7
89B
A
10
To rotate the motor, enter serial data as follows:
2W1-2 phase excitation
W1-2 phase excitation
1-2 phase excitation
2-2 phase excitation
: Vector 1→2→3→4→5→6→7→8→9 ...
: Vector 1→3→5→7→9→....
: Vector 1→5→9
: Vector 5 or 10
Combined
Current A Current B
vector
1 100% 0%
2 100% 20%
3 91% 40%
4 83% 55.5%
5 71.4% 71.4%
6 55.5% 83%
7 40% 91%
8 20% 100%
9 0% 100%
10 100% 100%
Sequence
DATA-A
MODE
DATA-B
MODE
20
0
7
27
7
1
■Serial Data Sequence Example (2W 1-2 Phase Excitation for CW)
A malfunction may occur just after the power (V DD) is turned on because the internal logic is unstable. Therefore, set
the RESET state (REF terminal voltage: VDD−1V to VDD) after the power is turned on.)
■Operation Current Waveform Examples
Torque-up waveform at start
Stationary waveform
Leading phase waveform at acceleration
A
0
A
B
0
B
A
0
A
B
0
B
A
0
A
B
0
B
Start
Time
Time
Time
0
4
4
0
4
4
1
3
5
2
2
6
3
1
7
4
0
7
5
1
7
6
2
6
7
3
5
8
4
4
9
5
3
10
6
2
11
7
1
12
7
0
13
7
1
14
6
2
15
5
3
16
4
4
17
3
5
18
2
6
19
1
7
21
1
7
22
2
6
23
3
5
24
4
4
25
5
3
26
6
2
28
7
0
29
7
1
30
6
2
31
5
3
These three types of waveforms can all be set with a serial signal.
48 PG001M
Serial Signal Generator IC for SLA7042M and SLA7044M
PG001M
CLOCK_IN
CLOCK_OUT
DATA
STROBE
T
CC
T
CS
1/F 1/F
CLOCK_OUT
DATA
STROBE
90%
10%
Tr Tf
CLOCK_IN
RESET
MO
MS1
MS2
CW/CCW
VC
A
B
C
DCDC
D
C
D
Excitation switching point
VC switching occurs only while CLOCK-IN level is L.
Fig. 1
Fig. 3 Timing conditions
Fig.2
(Ta=25°C)
Parameter Symbol Conditions Ratings Units
min typ max
Supply voltage VDD 4.5 5.5 V
Supply current IDD VDD=5.5V 0.35 0.45 mA
Output voltage VOH VDD=5V, IO=±3mA 4.5 V
VOL 0.4
Input current IIVDD=5V, VI=0 or 5V ±1
µ
A
Input voltage VIH VDD=5V 3.5 5 V
VIL −0.3 1.5
Input hysteresis voltage VHVDD=5V 1 V
Input capacity CIVDD=5V 5 10 pF
Internal oscillation frequency
FVDD=5V 1.5 MHz
Propagation delay time TCS See Fig. 1. 50 100 ns
TCC 430 550
Output voltage TrVDD=5V, CL=15pF 20 ns
Rise and fall time TfSee Fig. 2. 20
CLOCK IN terminal VCIH H level time, VDD=5V 4.5
µ
s
Input clock time VCIL L level time, VDD=5V 0.5
Reset setting time (A) tsR Inter-clock 100 ns
Stabilization time after reset (B)
tpsR See Fig. 3.
Signal setting time (C) tsSInter-clock
Stabilization time after tpsS See Fig. 3. 100 ns
signal input (D)
Parameter Symbol Ratings Units
Supply voltage VDD −0.5 to 7 V
Input voltage VI−0.5 to VDD+0.5 V
Input current II±10 mA
Output voltage VO−0.5 to VDD+0.5 V
Output current IO±15 mA
Power dissipation PD200 mW
Operating temperature TOP −20 to +85 °C
Storage temperature Tstg −40 to +150 °C
■Absolute Maximum Ratings
(Ta=25°C)
■Electrical Characteristics
DC characteristics
AC characteristics
49
PG001M
PG001MSerial Signal Generator IC for SLA7042M and SLA7044M
■Internal Block Diagram
(A)
Excitation mode setting section
MS1 6
MS1 7
VC
2h
a
b
c
Q1 Q2 Q3 Q4 Phase
15
GND
8
VDD
SET
16
CLOCK_OUT14
DATA_A11
DATA_B10
STROBE13
CP1
5CP2
4NC
12
MO 9
CLOCK_IN 2
RESET 1
CW/CCW 3
(B)
Parallel signal
generator (C)
Parallel-serial
signal converter
(D)
Up/Down counter
(E)
Oscillator
... Input
... Output
Number inside shape indicates pin number.
Fix all open input pins to H or L (Apart from CP1, CP2 and NC pins)
■Diagram of Standard External Circuit
5V
16
MPU
VDD
RESET
CLOCK_IN CLOCK
_OUT CLOCK_A
CLOCK_B
STROBE_A SLA7042M
SLA7044M
STROBE_B
DATA_A
DATA_B
STROBE
DATA_A
DATA_B
CW/CCW
MS1
MS2
VC
MO NC GND CP1 CP2
114
13
11
10
2
3
6
7
15
12
NC NC NC
Rs Rs
854
9
P
G
0
0
1
M
50 PG001M
PG001MSerial Signal Generator IC for SLA7042M and SLA7044M
■Output Mode Vs Output Pulse
Output pulse
OUT excitation
Output pulse
OUT excitation
CLOCK
_OUT
STROBE 0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
Phase a
0
1
2
3
4
5
6
7
0
1
2
3
4
5
6
7
b c Phase a b c
CLOCK
_OUT
STROBE
Output mode
Output mode
■External Dimensions
19.2
20.0max
6.3
6.65max
16 9
10.89
Lot No.
Part No.
2.54±0.25 0.48±0.10
0.51min
2.54min 5.08max
1.3 87.62
0.25
+0.11
−0.05
0 to 15°C
(Unit: mm)
51
PG001M
PG001MSerial Signal Generator IC for SLA7042M and SLA7044M
■Input and Output Function Correlation Table
Input Output
Mode RESET MO STROBE
CLOCK
_IN CW
/CCW CLOCK
_OUT DATA
-A
CW
CCW
CW LH
LH
HH
HH
×
×
L
L
CCW
RESET
CW
CCW
DATA
-B
Output Mode
4 or 7
Output
Mode
Input Mode
4 or 7
Output
Mode
×: Don't care
∗: MO outputs L level while CLOCK_IN
is H level when output mode is 4:4
(7:7), 4:4 (7:7), 4:4 (7:7),or 4:4 (7:7).
Modes in brackets ( ) are for 2-2
phase VC: H.
■Excitation Selection Table
■Output Mode Sequence
Excitation method
Input
0
VC
H
L
L
L
H
L
L
L
−
−
−
−
−
−
−
−
−
−
−
−
−
−−
−
−
−
−
−
−
−
L
H
×
×
HH
×
MS1 MS2 0% 20% 40%
55.5% 71.4%
83% 91%
100%
141%
100%
100%
100%
100%
1234567
Output current mode of SLA7042M/7044M
Excitation mode
selection Torque vector
2-2 Phase
Full Step
1-2 Phase
Half Step
W1-2 Phase
1/4 Step
2W1-2 Phase
1/8 Step
Excitation
method
2-2 Phase
Full Step (1)
(VC: H)
2-2 Phase
Full Step (2)
(VC: L)
1-2 Phase
Half Step
W1-2 Phase
1/4 Step
2W1-2 Phase
1/8 Step
1
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
3
5
5
3
CLOCK
MO
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
DATA_A
DATA_B
CW/CCW
CW
CCW
CW
CCW
CW
CCW
CW
CCW
CW
CCW
L
7
7
7
7
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
2
H
=
=
=
=
=
=
=
=
=
=
=
=
2
6
6
2
2
6
6
2
3
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
1
7
7
1
4
H
=
=
=
=
=
=
=
=
0
7
7
0
0
7
7
0
0
7
7
0
5
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
1
7
7
1
6
H
=
=
=
=
=
=
=
=
=
=
=
=
2
6
6
2
2
6
6
2
7
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
3
5
5
3
8
L
7
7
7
7
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
9
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
5
3
3
5
10
H
=
=
=
=
=
=
=
=
=
=
=
=
6
2
2
6
6
2
2
6
11
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
7
1
1
7
12
H
=
=
=
=
=
=
=
=
7
0
0
7
7
0
0
7
7
0
0
7
13
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
7
1
1
7
14
H
=
=
=
=
=
=
=
=
=
=
=
=
6
2
2
6
6
2
2
6
15
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
5
3
3
5
16
L
7
7
7
7
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
17
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
3
5
5
3
18
H
=
=
=
=
=
=
=
=
=
=
=
=
2
6
6
2
2
6
6
2
19
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
1
7
7
1
20
H
=
=
=
=
=
=
=
=
0
7
7
0
0
7
7
0
0
7
7
0
21
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
1
7
7
1
22
H
=
=
=
=
=
=
=
=
=
=
=
=
2
6
6
2
2
6
6
2
23
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
3
5
5
3
24
L
7
7
7
7
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
25
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
5
3
3
5
26
H
=
=
=
=
=
=
=
=
=
=
=
=
6
2
2
6
6
2
2
6
27
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
7
1
1
7
28
H
=
=
=
=
=
=
=
=
7
0
0
7
7
0
0
7
7
0
0
7
29
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
7
1
1
7
30
H
=
=
=
=
=
=
=
=
=
=
=
=
6
2
2
6
6
2
2
6
31
H
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
=
5
3
3
5
32
L
7
7
7
7
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
4
RESET
= : No output
52 PG001M
PG001MSerial Signal Generator IC for SLA7042M and SLA7044M
■Output Timing Chart (CW) … Excitation Current of SLA7042M/7044M
RESET
CLOCK_IN
2-2 Phase
Full Step
(VC: H)
1-2 Phase
Half Step
W1-2 Phase
1/4 Step
2W1-2 Phase
1/8 Step
B
A
B
A
B
A
B
A
For 2-2 phase VC : L, output mode is 7→4.
7
7
7
0
7
2
024
42
6
0
3
56
2
7
1
7
0
7
1
6
2
5
3
4
4
3
5
2
6
1
7
0
7
1
76543210 1
234567776543
5
4
3
2
1
0
1
2
3
4
5
6
77
7
6
5
4
3
2
7
2
6
4
4
6
2
7
0
6
2
4
4
2
6
0
7
2
6
4
4
6
7
6
4
40
4
4
0
74
47
0
4
4
7
7
7 7
77
7
7
MO
4
4
MO
4
4
MO
4
4
MO
53
PG001M
PG001MSerial Signal Generator IC for SLA7042M and SLA7044M
■Output Timing Chart (CCW) … Excitation Current of SLA7042M/7044M
RESET
CLOCK_IN
2-2 Phase
Full Step
(VC: H)
1-2 Phase
Half Step
W1-2 Phase
1/4 Step
2W1-2 Phase
1/8 Step
For 2-2 phase VC:L, output mode is 7→4.
7
7
MO
4
4
MO
4
4
MO
4
4
MO
B
A
B
A
B
A
B
A
7
0
7
2024
42
6
0
3
56
2
7
1
7
0
7
1
6
2
5
3
4
4
3
5
2
6
1
7
0
7
1
76543210 1
234567776543
10 1 2345
2
3
4
5
6
77
7
6
5
4
3
2
7
2
6
4
4
6
2
0
76
2
4
4
2
0
67
2
6
4
4
6
7
6
4
4
0
4
4
0
740
47
4
4
7
7
7 7
77
7
7
54 A3966SA/SLB
2-Phase Stepper Motor Bipolar Driver IC
A3966SA/SLB
Allegro MicroSystems product
■Features
●Maximum output ratings: 30V, ±650mA
●Internal fixed-frequency PWM current con-
trol
●Internal ground-clamp & flyback diodes
●Internal thermal shutdown, crossover-cur-
rent protection and UVLO protection cir-
cuitry
●Employs copper batwing lead frame with
low thermal resistance
■Electrical Characteristics
Parameter Symbol Conditions Ratings Units
min typ max
Power outputs (OUTA or OUT B)
Load supply voltage range VBB Operating, IO=±650mA, L=3mH VCC 30 V
Output leakage current ICEX VO=30V < 1.0 50
µ
A
VO=0V < −1.0 −50
µ
A
Source Driver, IO=−400mA 1.7 2.0 V
Output saturation voltage VCE (sat) Source Driver, IO=−650mA 1.8 2.1 V
Sink Driver, IO=+400mA, VSENSE=0.5V 0.3 0.5 V
Sink Driver, IO=+650mA, VSENSE=0.5V 0.4 1.3 V
Sense-current offset ISO IS−IO, IO=50~650mA 12 18 24 mA
Clamp diode forward voltage VFIF=400mA 1.1 1.4 V
IF=650mA 1.4 1.6 V
Motor supply current (No load) IBB (ON) VENABLE1=VENABLE2=0.8V 3.0 5.0 mA
IBB (OFF) VENABLE1=VENABLE2=2.4V < 1.0 200
µ
A
Control logic
Logic supply voltage range VCC Operating 4.75 5.50 V
Logic input voltage VIH 2.4 V
VIL 0.8 V
Logic input current IIH VIN=2.4V < 1.0 20
µ
A
IIL VIN=0.8V < −20 −200
µ
A
Reference input voltage range VREF Operating 0.1 2.0 V
Reference input current IREF −2.5 0 1.0
µ
A
Reference divider ratio VREF/VTRIP 3.8 4.0 4.2
Current-sense comparator input offset voltage
VIO VREF=0V −6.0 0 6.0 mV
Current-sense comparator input voltage range
VSOperating −0.3 1.0 V
PWM RC frequency fOSC CT=680pF, RT=56kΩ22.9 25.4 27.9 kHz
PWM propagation delay time tPWM Comparator Trip to Source OFF 1.0 1.4
µ
S
Cycle Reset to Source ON 0.8 1.2
µ
S
Cross-over dead time tcodt 1kΩ Load to 25V 0.2 1.8 3.0
µ
S
IO=±650mA, 50% to 90% : ENABLE ON to Source ON 100 ns
IO=±650mA, 50% to 90% : ENABLE OFF to Source OFF 500 ns
IO=±650mA, 50% to 90% : ENABLE ON to Sink ON 200 ns
Propagation delay time tpd IO=±650mA, 50% to 90% : ENABLE OFF to Sink OFF 200 ns
IO=±650mA, 50% to 90% : PHASE Change to Sink ON 2200 ns
IO=±650mA, 50% to 90% : PHASE Change to Sink OFF 200 ns
IO=±650mA, 50% to 90% : PHASE Change to Source ON 2200 ns
IO=±650mA, 50% to 90% : PHASE Change to Source OFF 200 ns
Thermal shutdown temperature Tj165 °C
Thermal shutdown hysteresis ∆ Tj15 °C
UVLO enable threshold VUVLO en Increasing VCC 4.1 4.6 V
UVLO hysteresis VUVLO hys 0.1 0.6 V
Logic supply current ICC (ON) VENABLE1=VENABLE2=0.8V 50 mA
ICC (OFF) VENABLE1=VENABLE2=2.4V 9 mA
● "typ" values are for reference.
■Absolute Maximum Ratings
Parameter Symbol Ratings Units
A3966SA A3966SLB
Load supply voltage VBB 30 V
Output current (peak) IO (Peak) ±750 mA
Output current (continuous)
IO±650 mA
Logic supply voltage VCC 7.0 V
Logic input voltage range VIN −0.3 to VCC+0.3 V
Sense voltage VS1.0 V
Package power dissipation
PD (Note1) 2.08 1.86 W
Ambient operating temperature
Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1: When ambient temperature is 25°C or over , derate using −16.67mW/°C (SA), −14.93mW/°C (SLB).
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
(Unless specified otherwise, T
a
=25°C, V
BB
=30V, V
CC
=4.75V to 5.5V, V
REF
=2V, V
S
= 0V, 56kΩ & 680pF RC to ground)
2-Phase/1-2 Phase Excitation
55
A3966SA/SLB2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A3966SA/SLB
■Derating
Allowable package power dissipation P
D
[W]
0
0.5
1
1.5
2
2.5
Ambient temperature Ta (°C)
−20 0 25 50 75 85 100
A3966SLB 67°C/W
A3966SA 60°C/W
■Internal Block Diagram (1/2 circuit)
PHASE
ENABLE
(ACTIVE LOW)
GROUND OSC
RC
QR
+4
+
−
+
S
TO OTHER
BRIDGE
TO OTHER
BRIDGE
TO OTHER
BRIDGE
BLANKING
GATE
PWM LATCH CURRENT-SENSE
COMPARATOR SENSE
R
T
C
T
R
S
UVLO
& TSD
LOGIC
SUPPLY
LOAD
SUPPLY
OUT
A
OUT
B
REFERENCE
V
CC
V
BB
■Truth Table ■Load-Current Paths
PHASE ENABLE OUTAOUTB
XHZZ
HLHL
LLLH
X: Don't care (either L or H)
Z: High impedance (source and sink both OFF)
V
BB
R
S
BRIDGE ON
SOURCE OFF
ALL OFF
■Terminal Connection Diagram
1
2
3
4LOGIC LOGIC
5
6
7
8
16
15
14
13
12
11
10
9
OUT1A
PHASE1
ENABLE1
GROUND
SENSE1
OUT1B
LOAD
SUPPLY
REFERENCE
OUT2A
PHASE2
ENABLE2
GROUND
SENSE2
OUT2B
VBB
VBB VCC
VREF
LOGIC
SUPPLY
RCRC
1
2
3
4
LOGIC LOGIC
5
6
7
8
16
15
14
13
12
11
10
9
OUT1A
PHASE1
ENABLE1
SENSE1
OUT1B
LOAD
SUPPLY
REFERENCE
OUT2A
PHASE2
ENABLE2
GROUND
GROUND
SENSE2
OUT2B
VBB
VCC
VREF
LOGIC
SUPPLY
RC RC
A3966SA A3966SLB
56
A3966SA/SLB2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A3966SA/SLB
■External Dimensions (Unit: mm)
7.11
6.10
5.33
MAX
3.81
2.93
1.77
1.15 0.13
MIN
0.355
0.204
0.39
MIN
0.558
0.356
16
18
2.54
BSC
9
19.68
18.67
7.62
BSC
10.92
MAX
0.32
0.23
1.27
0.40
1.27
BSC 0° to 8°
10.65
10.00
7.60
7.40
2.65
2.35
0.51
0.33 1
16 9
23
0.10 MIN.
10.50
10.10
A3966SA A3966SLB
■Typical Application
ITRIP≅IOUT+ISO≅VREF/(4 • RS)
tblank≅1,900 • CT
fOSC≅1/ (RT • CT+tblank)
RT=56kΩ (20kΩ to 100kΩ)
CT=680pF(470pF to 1,000pF)
Example of stepper motor drive
3
5
6
7
8
15
14
13
12
11
10
9
LOGIC LOGIC
V
BB
V
BB
V
CC
V
REF
RC
116
PHASE
A
PHASE
B
ENABLE
B
+5 V
ENABLE
A
39 kΩ
56 kΩ
680 pF
0.5 Ω
10 kΩ
+5V
+24 V
0.5 Ω
2
4
+
47 F
µ
(A3966SLB)
57
A3966SA/SLB
58 A3964SLB
2-Phase Stepper Motor Bipolar Driver IC
A3964SLB
Allegro MicroSystems product
■Features
●Fixed off-time PWM current control
●Internally generated, precision 2.5V refer-
ence
●External filter for sense terminal not required
●Internal thermal shutdown circuitry
●Internal crossover-current protection cir-
cuitry
●Internal UVLO protection
●Internal transient-suppression diodes
●Low thermal resistance 20-pin SOP
■Absolute Maximum Ratings
Parameter Symbol Ratings Units
Load supply voltage VBB 30 V
Output current (continuous)
IO±0.80 A
Logic supply voltage VCC 7.0 V
Logic input voltage range VIN −0.3 to VCC+0.3 V
Continuous output emitter voltage
VE1.0 V
Reference output current IREF-OUT 1.0 mA
Package power dissipation
PD (Note1) 2.08 W
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1:When ambient temperature is 25°C or over, derate using −16.7mW/°C.
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
Parameter Symbol Conditions Ratings Units
min typ max
Power outputs (OUTA or OUTB)
Load supply voltage range VBB Operating 5 30 V
Output leakage current ICEX Sink driver, VO=VBB < 1.0 50
µ
A
Source driver, VO=0V <− 1.0 −50
µ
A
Sink driver, IO=+500mA 0.3 0.6 V
Sink driver, IO=+750mA 0.5 1.2 V
Output saturation voltage VCE (SAT) Sink driver, IO=+800mA 1.5 V
Source driver, IO=−500mA 1.0 1.2 V
Source driver, IO=−750mA 1.1 1.5 V
Source driver, IO=−800mA 1.7 V
Output sustaining voltage VCE (SUS) IO=±800mA, L=3mH 30 V
Clamp diode leakage current IRVR=30V < 1.0 50
µ
A
Clamp diode forward voltage VFIF=800mA 1.6 2.0 V
Motor supply current IBB (ON) VEN1=VEN2=0.8V, no load 10 mA
IBB (OFF) VEN1=VEN2=2.4V, no load 10 mA
Control logic
Logic input voltage VIH 2.4 V
VIL 0.8 V
Logic input current IIH VIN=2.4V < −1.0 20
µ
A
IIL VIN=0.8V < −20 −200
µ
A
Reference output voltage VREF • OUT1 VCC=5.0V, IREF • OUT=90~900
µ
A 2.45 2.50 2.55 V
Current-sense comparator input current IREF • IN VREF • IN=1V −5.0 5.0
µ
A
Current-sense comparator input voltage range
VREF • IN Operating −0.3 1.0 V
Current-sense comparator input offset voltage
VTH VREF • IN=0V −66mV
Timer blanking charge current (RC off) IRC VRC=2.0V 1.0 mA
Timer blanking threshold (RC off) VBLTH(1) 3.0 V
VBLTH(0) 1.0 V
Timer blanking OFF voltage (RC off) VRCOFF RT=20kΩ3.0 V
Thermal shutdown temperature Tj165 °C
Thermal shutdown hysteresis ∆Tj15 °C
Logic supply current ICC (ON) VEN1=VEN2=0.8V, no load 65 85 mA
ICC (OFF) VEN1=VEN2=2.4V, no load 17 mA
Logic supply current/temperature coefficient
∆ICC (ON) VEN1=VEN2=0.8V, no load 0.18 mA/°C
● "typ" values are for reference.
Note) Logic input: En1, En2, Ph1, Ph2
(Unless specified otherwise, VIN=VDD or GND)
OUT
1B
OUT
1A
GROUND
GROUND
V
BB
RC
1
PHASE
1
ENABLE
1
V
REF
IN
SENSE
1
OUT
2B
OUT
2A
GROUND
GROUND
V
CC
RC
2
PHASE
2
ENABLE
2
V
REF
OUT
SENSE
2
1
2
3
4
5
6
7
8
9
10 11
12
13
14
15
16
17
18
19
20
2.5
1.5
1.0
0.5
2.0
0
−20 0 25 50 75 10085
60°C/W
Ambient temperature Ta (°C)
Allowable package power dissipation P
D (
W)
■Terminal Connection Diagram ■Derating
2-Phase/1-2 Phase Excitation
■Electrical Characteristics (Unless specified otherwise, Ta=25°C, VBB=30V, VCC=4.75V to 5.25V, VREF=2V, VSENSE= 0V)
59
A3964SLB2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A3964SLB
■External Dimensions
Wide body plastic SOP (300mil)
■Internal Block Diagram(Dotted Line)/
Diagram of Standard External Circuit (Recommended Circuit Constants)
■Excitation Sequence
[1-2 phase excitation]
(Unit: mm)
[2-phase excitation]
■Truth Table
ICs per stick
37
Phase
Phase 1
01230
HLLHH
LLLLL
HHLLH
LLLLL
Enable 1
Enable 2
Phase 2
Phase 1
012345670
HHXLLLXHH
LLHLLLHLL
XHHHXLLLX
HLLLHLLLH
Enable 1
Enable 2
Phase 2
Enable Out A Out B
H
L
L
LL
L
ZZH
H
H
X
X = Don't care, Z = High impedance
+
−
+
−
Blanking time &
one shot multi Blanking time &
one shot multi
RC
1
R
T1
R
S1
R
S2
C
T2
R
T2
R
1
=
20kΩ
R
2
=
5kΩ (VR)
R
T
=
30kΩ
C
T
=
1000pF
R
S
=
0.68 to 1.5Ω
(1 to 2W)
R
C2
V
CC
V
BB
V
BB
(5~30V) V
CC
(5V)
Sen
1V
REF
V
REF Sen
2
R
1
R
2
C
T1
8
GND
OUT
IN 13
12
18
20
17
4
11
19
16
15
6
5
7
214
Phase 2
Enable 2
Source off
TSD
3
1
9
10
Phase 1
Enable 1
Source off
1.27
0.40
0.32
0.23
10.65
10.00
7.60
7.40
13.00
12.60
0.51
0.33 110
1120
*1
2.65
2.35 SEATING PLANE
0.10 MIN
1.27
BSC 0° TO 8°
OUT
2A
OUT
2B
OUT
1A
OUT
1B
Note) [Pin] material : copper
Surface treatment : solder plating
Note) Package index may be *1.
Reference voltage
power supply
+
60 A3953SB/SLB
2-Phase Stepper Motor Bipolar Driver ICs
A3953SB/SLB
■Terminal Connection Diagram
1
MODE
GROUND
GROUND
LOGIC
SUPPLY
PHASE
GROUND
GROUND
RC
SENSE
LOAD
SUPPLY
BRAKE
REF
LOAD
SUPPLY
OUTB
OUTA
VBB
VBB
VCC
ENABLE
2
6
7
8
16
15
314
9
10
11
LOGIC
A3953SLBA3953SB
1
MODE
GROUND
GROUND
LOGIC
SUPPLY
PHASE
GROUND
GROUND
RC
SENSE
LOAD
SUPPLY
BRAKE
REF
LOAD
SUPPLY
OUTB
OUTA
VBB
VBB
VCC
ENABLE
2
6
7
8
16
15
314
9
10
11
4
512
13
4
512
13
■Absolute Maximum Ratings
Parameter Symbol Ratings Units
A3953SB A3953SLB
Load supply voltage VBB 50 V
Output current (continuous)
IO±1.3 A/unit
Logic supply voltage VCC 7.0 V
Logic/reference input VIN −0.3 to VCC+0.3 V
voltage range
Sense voltage VSENSE D.C. 1.0 (VCC=5.0V) V
0.4 (VCC=3.3V)
Package power dissipation
PD (Note1) 2.90 1.86 W/pkg
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1: When ambient temperature is 25°C or over, derate using −23.26mW/°C(SB) or −14.93mW/°C(SLB).
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
■Features
●Fixed off-time PWM current control
●Switching between power supply regenera-
tion mode and loop regeneration mode in
order to improve motor current response in
microstepping
●External filter for sense terminal not required
●3.3V and 5V logic supply voltage
●Sleep (low current consumption) mode
●Brake operation with PWM current limiting
●Internal thermal shutdown circuitry
●Internal crossover-current protection cir-
cuitry
●Internal UVLO protection
●Internal transient-suppression diodes
●Low thermal resistance package
Allegro MicroSystems product
2-Phase/1-2 Phase Excitation
61
A3953SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
■Electrical Characteristics
Parameter Symbol Conditions Limits Units
min typ max
Power outputs (OUTA or OUT B)
Load supply voltage range VBB Operating, IO=±1.3A, L=3mH VCC 50 V
Output leakage current ICEX VO=VBB <1.0 50
µ
A
VO=0V <−1.0 −50
µ
A
Sense current offset ISO ISENSE−IO, IO=850mA, VSENSE=0V, VCC=5V 18 33 50 mA
V
SENSE
=0.4V, V
CC
=3.0V, BRAKE=H:
Source driver,
I
O
=
−
0.85A
1.0 1.1 V
Output saturation voltage VCE (SAT)
V
SENSE
=0.4V, V
CC
=3.0V, BRAKE=H:
Source driver,
I
O
=
−
1.3A
1.7 1.9 V
(Forward/reverse mode)
V
SENSE
=0.4V, V
CC
=3.0V, BRAKE=H:
Sink driver,
I
O
=0.85A
0.4 0.9 V
V
SENSE
=0.4V, V
CC
=3.0V, BRAKE=H:
Sink driver,
I
O
=1.3A
1.1 1.3 V
Output saturation voltage VCE (SAT)
V
SENSE
=0.4V, V
CC
=3.0V, BRAKE=L:
Sink driver,
I
O
=0.85A 1.2 1.4 V
(Brake mode)
V
SENSE
=0.4V, V
CC
=3.0V, BRAKE=L:
Sink driver,
I
O
=1.3A
1.4 1.8 V
Clamp diode forward voltage VFIF=0.85A 1.2 1.4 V
IF=1.3A 1.4 1.8 V
IBB (ON) VENABLE=0.8V, VBRAKE=2.0V 2.5 4.0 mA
Motor supply current IBB (OFF) VENABLE=VBRAKE=2.0V, VMODE=0.8V 1.0 50
µ
A
(No load) IBB (BRAKE) VBRAKE=0.8V 1.0 50
µ
A
IBB (SLEEP) VENABLE=VBRAKE=VMODE=2.0V 1.0 50
µ
A
Control logic
Thermal shutdown temperature Tj165 °C
Thermal shutdown hysteresis ∆Tj8°C
UVLO enable threshold VUVLO 2.5 2.75 3.0 V
UVLO hysteresis ∆VUVLO 0.12 0.17 0.25 V
ICC (ON) VENABLE=0.8V, VBRAKE=2.0V 42 50 mA
Logic supply current ICC (OFF) VENABLE=VBRAKE=2.0V, VMODE=0.8V 12 15 mA
ICC (BRAKE) VBRAKE=0.8V 42 50 mA
ICC (SLEEP) VENABLE=VBRAKE=VMODE=2.0V 500 800
µ
A
Logic supply voltage range VCC Operating 3.0 3.3 V
5.0 5.5
Logic input voltage VIH 2.0 V
VIL 0.8 V
Logic input current IIH VIN=2.0V <1.0 20
µ
A
IIL VIN=0.8V <−2.0 −200
µ
A
Sense voltage range VSENSE (3.3) VCC=3.0V to 3.6V 0 0.4 V
VSENSE (5.0) VCC=4.5V to 5.5V 0 1.0 V
Reference input current IREF VREF=0V to 1V ±5.0
µ
A
Comparator input offset voltage VIO VREF=0V ±2.0 ±5.0 mV
AC timing
PWM RC fixed off-time tOFF RC CT=680pF, R T=30kΩ, VCC=3.3V 18.3 20.4 22.5
µ
s
PWM turn-off time tPWM (OFF) Comparator Trip to Source OFF, Io=25mA 1.0 1.5
µ
s
Comparator Trip to Source OFF, Io=1.3A 1.8 2.6
µ
s
PWM turn-on time tPWM (ON) IRC Charge ON to Source ON, Io=25mA 0.4 0.7
µ
s
IRC Charge ON to Source ON, Io=1.3A 0.55 0.85
µ
s
PWM minimum on-time tPWM (ON) VCC=3.3V, RT≥12kΩ, CT=680pF 0.8 1.4 1.9
µ
s
VCC=5.0V, RT≥12kΩ, CT=470pF 0.8 1.6 2.0
µ
s
IO=±1.3A, 50% to 90% ENABLE ON to Source ON 1.0
µ
s
IO=±1.3A, 50% to 90% ENABLE OFF to Source OFF 1.0
µ
s
IO=±1.3A, 50% to 90% ENABLE ON to Sink ON 1.0
µ
s
Propagation delay time tpd IO=±1.3A, 50% to 90% ENABLE OFF to Sink OFF (MODE=L) 0.8
µ
s
IO=±1.3A, 50% to 90% PHASE Change to Sink ON 2.4
µ
s
IO=±1.3A, 50% to 90% PHASE Change to Sink OFF 0.8
µ
s
IO=±1.3A, 50% to 90% PHASE Change to Source ON 2.0
µ
s
IO=±1.3A, 50% to 90% PHASE Change to Source OFF 1.7
µ
s
Crossover dead time tCODT 1kΩ Load to 25V, VBB=50V 0.3 1.5 3.0
µ
s
●“typ” values are for reference.
(Unless specified otherwise, Ta=25°C, VBB=5V to 50V, VCC=3.0V to 5.5V)
62
A3953SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
■Derating ■Internal Block Diagram
■Truth Table
■External Dimensions
■Application Circuit
(16-pin wide SOIC)
ENABLEBRAKE PHASE MODE Operating ModeOUT
A
OUT
B
H
H
H
H
H
H
L
L
H
H
L
L
L
L
X
X
X
X
H
H
L
L
X
X
H
L
H
L
H
L
H
L
Z
Z
H
H
L
L
L
L
Z
Z
L
L
H
H
L
L
Sleep mode
Standby
Forward, fast current-decay mode
Forward, slow current-decay mode
Reverse, fast current-decay mode
Reverse, slow current-decay mode
Brake, fast current-decay mode
Brake, no current control
ICs per stick
47
X : Don't Care
Z : High impedance
V
BB
RC
V
CC
LOGIC
SUPPLY
LOAD
SUPPLY
PHASE
R
S
MODE
REF
OUT
A
OUT
B
ENABLE
SENSE
−
+
BRAKE
GROUND
PWM LATCH
V
CC
BLANKING
SLEEP &
STANDBY MODES
V
TH
R
T
C
T
6
GROUND
LOAD
SUPPLY
14
7
8
1
5
4
INPUT LOGIC
QR
S
32
+
−
11
12
13
10 15 16
9
UVLO
& TSD
2.0
3.0
2.5
1.5
1.0
0.5
0−20 0 25 50 75 10085
A3953SB 43
C°
/W
A3953SLB 67
C°
/W
Ambient temperature Ta (C°)
Allowable package power dissipation P
D
(W)
1.27
0.40
0.32
0.23
10.65
10.00
7.60
7.40
10.50
10.10
0.51
0.33 18
916
*1
2.65
2.35 SEATING PLANE
0.10 MIN.
1.27
BSC 0° TO 8°
●
●
●
●
Pin material: copper,
pin surface treatment: solder plating
Package index may be *1.
Allowable variation in distance between
leads is not cumulative.
Web (batwing) type lead frames are used for
pin 4, 5, 12, 13. The pins are connected to GND.
47 F
+
1VBB
VBB
VCC
VBB
LOGIC
30 kΩ
0.5 Ω
MODE
PHASE
ENABLE
BRAKE
680 pF
+5 V
REF
9
2
3
4
5
6
7
8
15
16
12
13
14
10
11
t
OFF≅
R
T•
C
T
R
T=
12k to 100kΩ
C
T=
470 to 1500pF (Operating at V
CC=
5V)
C
T=
680 to 1500pF (Operating at V
CC=
3.3V)
Off-time setting
(DC motor drive)
(A3953SB)
Plastic DIP (300mil)
1.77
123 8
916
1.15 21.33
18.93
0.558
0.356 4.06
2.93
7.11
6.10
INDEX AREA 0.127MIN
7.62BSC
2.54BSC
5.33MAX SEATING PLANE
0.39MIN
0.381
0.204
●
●
Note 1:
2:
Thickness of lead is measured
below seating plane.
Allowable variation in distance between
leads is not cumulative.
Lead width of pin 1, 8, 9, 16 may be
half the value shown here.
Maximum thickness of lead is 0.508mm.
ICs per stick
25
A3953SB A3953SLB
(Unit: mm)
µ
63
A3953SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
■Outline
Designed for bidirectional pulse-width modulated (PWM) cur-
rent control of inductive loads, the A3953S- is capable of con-
tinuous output currents to ±1.3A and operating voltages to 50V.
Internal fixed off-time PWM current-control circuitry can be used
to regulate the mximum load current to a desired value. The
peak load current limit is set by the user’s selection of an input
reference voltage and external sensing resistor. The fixed off-
time pulse duration is set by a userselected external RC timing
network. Internal circuit protection includes thermal shutdown
with hysteresis, transient-suppression diodes, and crossover cur-
rent protection. Special power-up sequencing is not required.
With the ENABLE input held low , the PHASE input controls load
current polarity by selecting the appropriate source and sink
driver pair . The MODE input determines whether the PWM cur-
rent-control circuitry operates in a slow current-decay mode (only
the selected source driver switching) or in a fast current-decay
mode (selected source and sink switching). A user-selectable
blanking window prevents false triggering of the PWM current-
control circuitry. With the ENABLE input held high, all output
drivers are disabled. A sleep mode is provided to reduce power
consumption.
When a logic low is applied to the Brake input, the braking func-
tion is enabled. This overrides ENABLE and PHASE to turn OFF
both source drivers and turn ON both sink drivers. The brake
function can be used to dynamically brake brush dc motors.
■FUNCTIONAL DESCRIPTION
(A)Internal PWM Current Control During Forward and Re-
verse Operation.
The A3953S-contains a fixed off-time pulse-width modulated
(PWM) current-control circuit that can be used to limit the load
current to a desired value. The peak value of the current limiting
(ITRIP) is set by the selection of an external current sensing re-
sistor (RS) and reference input voltage (VREF). The internal cir-
cuitry compares the voltage across the external sense resistor
to the voltage on the reference input terminal (REF) resulting in
a transconductance function approximated by:
where ISO is the offset due to base drive current.
In forward or reverse mode the current-control circuitry limits
the load current as follows: when the load current reaches ITRIP,
the comparator resets a latch that turns off the selected source
driver or selected sink and source driver pair depending on
whether the device is operating in slow or fast current-decay
mode, respectively.
In slow current-decay mode, the selected source driver is dis-
abled; the load inductance causes the current to recirculate
through the sink driver and ground clamp diode. In fast current-
I
TRIP
−I
SO
R
SENSE
V
REF
R
S
V
BB
DRIVE CURRENT
RECIRCULATION (SLOW-DECAY MODE)
RECIRCULATION (FAST-DECAY MODE)
Fig. 1 Load-current Paths
ENABLE
MODE
LOAD
CURRENT
RC
ITRIP
RC
Fig. 2 Fast and Slow Current-Decay Waveforms
Application Notes
decay mode, the selected sink and source driver pair are dis-
abled; the load inductance causes the current to flow from ground
to the load supply via the ground clamp and flyback diodes.
The user selects an external resistor (RT) and capacitor (CT) to
determine the time period (tOFF=RT•CT) during which the drivers
remain disabled (see “RC Fixed Off-time” below). At the end of
the RC interval, the drivers are enabled allowing the load cur-
rent to increase again. The PWM cycle repeats, maintaing the
peak load current at the desired value (see figure 2).
(B)INTERNAL PWM CURRENT CONTROL DURING BRAKE-
MODE OPERATION
(1)Brake Operation-MODE Input High.
The brake circuit turns OFF both source drivers and turns ON
both sink drivers. For dc motor applications, this has the effect
of shoring the motor ’s back-EMF voltage resulting in current
flow that dynamically brakes the motor. If the back-EMF volt-
age is large, and there is no PWM current limiting, the load cur-
rent can increase to a value that approaches that of a locked
rotor condition. To limit the current, when the ITRIP level is reaced,
the PWM circuit disables the conducting sink drivers. The en-
ergy stored in the motor’s inductance is discharged into the load
supply causing the motor current to decay.
As in the case of forward/reverse operation, the drivers are en-
abled after a time given by tOFF=RT•CT (see “RC Fixed Off-time”
below). Depending on the back-EMF voltage (proportional to
the motor ’s decreasing speed), the load current again may in-
64
A3953SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
1.05
•
(ton (min) max + toff)
•
RLOAD
[(VBB−VSAT (source + sink))
•
ton (min) max]−[1.05
•
(VSAT (sink) + VF)
•
toff]
I
AVE
≅
ITRIP BRAKE MH RSENSE
VREF
IPEAK BRAKE ML RLOAD
VBEMF−1V
t
off RT
• C
T
crease to ITRIP. If so, the PWM cycle will repeat, limiting the peak
load current to the desired value.
During braking, when the MODE input is high, the peak current
limit can be approximated by:
CAUTION: Because the kinetic energy stored in the motor and
load inertia is being converted into current, which charges the
VBB supply bulk capacitance (power supply output and
decoupling capacitance), care must be taken to ensure the ca-
pacitance is suf ficient to absorb the energy without exceeding
the voltage rating of any devices connected to the motor sup-
ply.
(2)Brake Operation-MODE Input Low.
During braking, with the MODE input low, the internal current-
control circuitry is disabled. Therefore, care should be taken to
ensure that the motor’s current does not exceed the ratings of
the device. The braking current can be measured by using an
oscilloscope with a current probe connected to one of the motor’s
leads, or if the back-EMF voltage of the motor is known, ap-
proximated by:
(C)RC Fixed Off-Time.
The internal PWM current-control circuitry uses a one shot to
control the time the driver (s) remain (s) off. The one-shot time,
tOFF (fixed off-time), is determined by the selection of an exter-
nal resistor (RT) and capacitor (CT) connected in parallel from
the RC timing terminal to ground. The fixed off-time, over a range
of values of C T=470pF to 1500pF and RT=12kΩ to 100kΩ, is
approximated by:
The operation of the circuit is as follows: when the PWM latch is
reset by the current comparator , the voltage on the RC terminal
will begin to decay from approximately 0.60VCC. When the volt-
age on the RC terminal reaches approximately 0.22 VCC, the
PWM latch is set, thereby enabling the driver (s).
(D)RC Blanking.
In addition to determining the fixed off-time of the PWM control
circuit, the CT component sets the comparator blanking time.
This function blanks the output of the comparator when the out-
puts are switched by the internal current-control circuitry (or by
the PHASE, BRAKE, or ENABLE inputs). The comparator out-
put is blanked to prevent false over-current detections due to
reverse recovery currents of the clamp diodes, and/or switching
transients related to distributed capacitance in the load.
During internal PWM operation, at the end of the tOFF time, the
comparator’s output is blanked and C T begins to be charged
from approximately 0.22 VCC by an internal current source of
approximately 1 mA. The comparator output remains blanked
until the voltage on C T reaches approximately 0.60 VCC.
When a transition of the PHASE input occurs, CT is discharged
to near ground during the crossover delay time (the crossover
delay time is present to prevent simultaneous conduction of the
source and sink drivers). After the crossover delay, CT is charged
by an internal current source of approximately 1 mA. The com-
parator output remains blanked until the voltage on CT reaches
approximately 0.60VCC.
When the device is disabled, via the ENABLE input, CT is dis-
charged to near ground. When the device is reenabled, CT is
charged by an internal current source of approximately 1 mA.
The comparator output remains blanked until the voltage on C T
reaches approximately 0.60 VCC.
For 3.3 V operation,
the minimum recommended value for CT is 680pF±5%.
For 5.0V operation,
the minimum recommended value for CT is 470pF±5%.
These values ensure that the blanking time is sufficient to avoid
false trips of the comparator under normal operating conditions.
For optimal regulation of the load current, the ablove values for
CT are recommended and the value of R T can be sized to deter-
mine tOFF. For more information regarding load current regula-
tion, see below.
(E)LOAD CURRENT REGULATION WITH INTERNAL PWM
CURRENT-CONTROL CIRCUITRY
When the device is operating in slow current-decay mode, there
is a limit to the lowest level that the PWM current-control cir-
cuitry can regulate load current. The limitation is the minimum
duty cycle, which is a function of the user-selected value of tOFF
and the minimum on-time pulse tON (min) max that occurs each
time the PWM latch is reset. If the motor is not rotating (as in the
case of a stepper motor in hold/detent mode, a brush dc motor
when stalled, or at startup), the worst case value of current regu-
lation can be approximated by:
where tOFF=RT•CT, R LOAD is the series resistance of the load, VBB
is the motor supply voltage and tON (min) max is specified in the
electrical characteristics table. When the motor is rotating, the
back EMF generated will influence the above relationship. For
brush dc motor applications, the current regulation is improved.
For stepper motor applications, when the motor is rotating, the
effect is more complex. A discussion of this subject is included
in the section on stepper motors below.
The following procedure can be used to evaluate the worst-case
slow current-decay internal PWM load current regulation in the
system:
65
A3953SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
100 kΩ
20 kΩ
1N4001
2N2222
VCC
RC1
RCN
t1
t2
Fig. 3 Synchronous Fixed-Frequency Control Circuit
Set VREF to 0 volts. With the load connected and the PWM cur-
rent control operating in slow current-decay mode, use and os-
cilloscope to measure the time the output is low (sink ON) for
the output that is chopping. This is the typical minimum ON
time (tON (min) typ) for the device.
The CT then should be increased until the measured value of tON
(min) is equal to tON (min) max as specified in the electrical charac-
teristics table. When the new value of CT has been set, the value
of RT should be decreased so the value for tOFF=RT•CT (with the
artificially increased value of CT) is equal to the nominal design
value. The worst-case load-current regulation then can be mea-
sured in the system under operating conditions.
(F) PWM of the PHASE and ENABLE Inputs.
The PHASE and ENABLE inputs can be pulse-width modulated
to regulate load current. Typical propagation delays from the
PHASE and ENABLE inputs to transitions of the power outputs
are specified in the electrical characteristics table. If the internal
PWM current control is used, the comparator blanking function
is active during phase and enable transitions. This eliminates
false tripping of the over-current comparator caused by switch-
ing transients (see “RC Blanking” above).
(1)Enable PWM.
With the MODE input low, toggling the ENABLE input turns ON
and OFF the selected source and sink drivers. The correspond-
ing pair of flyback and ground-clamp diodes conduct after the
drivers are disabled, resulting in fast current decay. When the
device is enabled the internal current-control curcuitry will be
active and can be used to limit the load current in a slow cur-
rent-decay mode.
For applications that PWM the ENABLE input and desire the
internal current-limiting circuit to function in the fast decay mode,
the ENABLE input signal should be inverted and connected to
the MODE input. This prevents the device from being switched
into sleep mode when the ENABLE input is low.
(2)Phase PWM.
Toggling the PHASE terminal selects which sink/source pair is
enabled, producing a load current that varies with the duty cycle
and remains continuous at all times. This can have added ben-
efits in bidirectional brush dc servo motor applications as the
transfer function between the duty cycle on the PHASE input
and the average voltage applied to the motor is more linear
than in the case of ENABLE PWM control (withch produces a
discontinuous current at low current levels). For more informa-
tion see “DC Motor Applications” below.
(3)Synchronous Fixed-Frequency PWM.
The internal PWM current-control circuitry of multiple A3953S-
devices can be synchronized by using the simple circuit shown
in figure 3. A 555IC can be used to generate the reset pulse/
blanking signal (t1) for the device and the period of the PWM
cycle (t2). The value of t1 should be a minimum of 1.5ms. When
used in this configuration, the RT and CT components should be
omitted. The PHASE and ENABLE inputs should not be PWM
with this circuit configuration due to the absence of a blanking
function synchronous with their transitions.
(G)Miscellaneous Information.
A logic high applied to both the ENABLE and MODE terminals
puts the device into a sleep mode to minimize current consump-
tion when not in use.
An internally generated dead time prevents crossover currents
that can occur when switching phase or braking.
Thermal protection circuitry turns OFF all drivers should the junc-
tion termperature reach 165°C (typical). This is intended only to
protect the device from failures due to excessive junction tem-
peratures and should not imply that output short circuits are
permitted. The hysteresis of the thermal shutdown circuit is ap-
proximately 8°C.
■APPLICATION NOTES
(A)Current Sensing.
The actual peak load current (IPEAK) will be above the calculated
value of ITRIP due to delays in the turn off of the drivers. The
amount of overshoot can be approximated by:
where VBB is the motor supply voltage, VBEMF is the back-EMF
voltage of the load, RLOAD and LLOAD are the resistance and in-
ductance of the load respectively, and tPWM (OFF) is specified in
the electrical characteristics table.
The reference terminal has a maximum input bias current of
±5
µ
A. This current should be taken into account when deter-
mining the impedance of the external circuit that sets the refer-
ence voltage value.
To minimize current-sensing inaccuracies caused by ground
trace I•R drops, the current-sensing resistor should have a sepa-
rate return to the ground terminal of the device. For low-value
sense resistors, the I •R drops in the printed wiring board can be
significant and should be taken into account. The use of sock-
ets should be avoided as their contact resistance can cause
variations in the effective value of RS.
Generally, larger values of RS reduce the aforementioned ef-
fects but can result in excessive heating and power loss in the
I
OS
L
LOAD
(V
BB-
[(I
TRIP
•
R
LOAD
) + V
BEMF
])
•
t
PWM (OFF)
66
A3953SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
Fig. 4 Example of Circuit (including GND) and GND Wiring Pattern
TJ TTAB + (ILOAD
•
2
•
VF
•
R JT)
θ
Use jumper wiring
for dotted line.
A3953SLB
4, 5,
12, 13 RS
RC
REF
SENSE
VCCGND
VCCGND
VBBGND
Rt
Rt
Ct
Ct
Vref
Vref
VBB
OUTA
OUTB
VCC
VBB
GND Phase
Enable
Mode
+
+
1Pin
A3953SLB
sense resistor. The selected value of RS should not cause the
absolute maximum voltage rating of 1.0V (0.4V for
VCC=3.3Voperation), for the SENSE terminal, to be exceeded.
The current-sensing comparator functions down to ground al-
lowing the device to be used in microstepping, sinusoidal, and
other varying current-profile applications.
(B)Thermal Considerations.
For reliable operation it is recommended that the maximum junc-
tion termperature be kept below 110°C to 125°C. The junction
termperature can be measured best by attaching a thermocouple
to the power tab/batwing of the device and measuring the tab
temperature, TTAB. Tthe junction temperature can then be ap-
proximated by using the formula:
where VF may be chosen from the electrical specification table
for the given level of ILOAD. The value for R
θ
JT is given in the
package thermal resistance table for the appropriate package.
The power dissipation of the batwing packages can be improved
by 20% to 30% by adding a section of printed circuit board cop-
per (typically 6 to 18 square centimeters) connected to the
batwing terminals of the device.
The thermal performance in applications that run at high load
currents and/or high duty cycles can be improved by adding
external diodes in parallel with the internal diodes. In internal
PWM slow-decay applications, only the two ground clamp di-
odes need be added. For internal fast-decay PWM, or external
PHASE or ENABLE input PWM applications, all four external
diodes should be added for maximum junction temperature re-
duction.
(C)PCB Layout.
The load supply terminal, VBB should be decoupled with an elec-
trolytic capacitor (>47
µ
F is recommeded) placed as close to the
device as is physically practical. To minimize the elffect of sys-
tem ground I•R drops on the logic and reference input signals,
the system ground should have a low-resistance return to the
motor supply voltage.
See also “Current Sensing” and “Thermal Considerations” above.
(D)Fixed Off-Time Selection.
With increasing values of tOFF, switching losses will decrease,
low-level load-current regulation will improve, EMI will be re-
duced, the PWM frequency will decrease, and ripple current will
increase. The value of tOFF can be chosen for optimization of
these parameters. For applications where audible noise is a
concern, typical values of tOFF are chosen to be in the range of
15 ms to 35 ms.
(E)Stepper Motor Applications.
The MODE terminal can be used to optimize the performance
of the device in microstepping/sinusoidal stepper-motor drive
applications. When the load current is increasing, slow decay
mode is used to limit the switching losses in the device and iron
losses in the motor. This also improves the maximum rate at
which the load current can increase (as compared to fast de-
cay) due to the slow rate of decay during tOFF.
When the load current is decreasing, fast-decay mode is used
to regulate the load current to the desired level. This prevents
tailing of the current profile caused by the back-EMF voltage of
the stepper motor.
67
A3953SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3953SB/SLB
In stepper-motor applications applying a constant current to the
load, slow-decay mode PWM is typically used to limit the switch-
ing lossess in the device and iron losses in the motor.
(F) DC Motor Applications.
In closed-loop systems, the speed of a dc motor can be con-
trolled by PWM of the PHASE or ENABLE inputs, or by varying
the reference input voltage (REF). In digital systems (micropro-
cessor controlled), PWM of the PHASE or ENABLE input is used
typically thus avoiding the need to generate a variable analog
voltage reference. In this case, a dc voltage on the REF input is
used typically to limit the maximum load current.
In dc servo applications, which require accurate positioning at
low or zero speed, PWM of the PHASE input is selected typi-
cally . This simplifies the servo control loop because the transfer
function between the duty cycle on the PHASE input and the
average voltage applied to the motor is more linear than in the
case of ENABLE PWM comtrol (which produces a discontinu-
ous current at low current levels).
With bidirectional dc servo motors, the PHASE terminal can be
used for mechanical direction control. Similar to when branking
the motor dynamically, abrupt changes in the direction of a ro-
tating motor produces a current generated by the back-EMF.
The current generated will depend on the mode of operation. If
the internal current control circuitry is not being used, then the
maximum load current generated can be approximated by
ILOAD=(VBEMF+VBB)/RLOAD where VBEMF is proportional to the motor’s
speed. If the internal slow current-decay control circuitry is used,
then the maximum load current generated can be approximated
by ILOAD=VBEMF/RLOAD. For both cases care must be taken to en-
sure that the maximum ratings of the device are not exceeded.
If the internal fast current-decay control circuitry is used, then
the load current will regulate to a value given by:
CAUTION: In fast current-decay mode, when the direction of
the motor is changed abruptly, the kinetic energy stored in the
motor and load inertia will be converted into current that charges
the VBB supply bulk capacitance (power supply output and
decoupling capacitance). Care must be taken to ensure that the
capacitance is sufficient to absorb the energy without exceed-
ing the voltage rating of any devices connected to the motor
supply.
See also “Brake Operation” above.
ILOAD RS
VREF
68 A2918SW
2-Phase Stepper Motor Bipolar Driver IC
A2918SW
Allegro MicroSystems product
■Features
●Fixed off-time PWM current control
●Low saturation voltage (Sink transistor)
●Internal thermal shutdown circuitry
●Internal crossover-current protection cir-
cuitry
●Internal UVLO protection
●Internal transient-suppression diodes
●Low thermal resistance 18-pin SIP
■Absolute Maximum Ratings
Parameter Symbol Conditions Ratings Units
Motor supply voltage VBB 45 V
Output current (peak) IO (peak) tw≤20
µ
s±1.75 A
Output current (continuous)
IO±1.5 A
Logic supply voltage VCC 7.0 V
Logic input voltage range
VIN −0.3 to +7.0 V
Output emitter voltage VE1.5 V
Package power dissipation
PD (Note1) 4.0 W
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1:When ambient temperature is 25°C or over, derate using −32.0mW/°C.
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
■Electrical Characteristics
Parameter Symbol Conditions Limits Units
min typ max
Power outputs (OUTA or OUT B)
Motor supply voltage range VBB 10 45 V
Output leakage current ICEX VO=VBB 50
µ
A
VO=0V −50
µ
A
Output saturation voltage VCE (SUS) IO=±1.5A, L=3.5mH 45 V
Sink driver, IO=+1.0A 0.8 V
Output sustaining voltage VCE (SAT) Sink driver, IO=+1.5A 1.1 V
Source driver, IO=−1.0A 2.0 V
Source driver, IO=−1.5A 2.2 V
Clamp diode leakage current IRVR=45V 50
µ
A
Clamp diode forward voltage VFIF=1.5A 2.0 V
Motor supply current IBB (ON) Both bridges ON, no load 15 mA
IBB (OFF) Both bridges OFF 10 mA
Control logic
Input voltage VIH All inputs 2.4 V
VIL All inputs 0.8 V
Input current IIH VIN=2.4V 20
µ
A
IIL VIN=0.8V −200
µ
A
Reference voltage range VREF Operating 1.5 VCC V
Current control threshold VREF/VSENSE VREF=5V 9.5 10 10.5
Thermal shutdown temperature Tj170 °C
Logic supply current ICC VEN=0.8V, no load 140 mA
●“typ” values are for reference.
(Unless specified otherwise, Ta=25°C, VBB=45V, VCC=4.75V to 5.25V, VREF=5V)
■Terminal Connection Diagram
OUT1A
OUT2A
OUT2B
OUT1B
LOAD SUPPLY
E2
SENSE2
SENSE1
E1
PHASE2
PHASE1
REFERENCE
RC2
RC1
VCC
VBB 1
2
VREF
PWM1
TSD
GROUND
LOGIC SUPPLY
ENABLE2
ENABLE1
PWM2
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
■Derating
4
5
3
2
1
0−20 0 25 50 75 10085
Ambient temperature Ta (C°)
Allowable package power dissipation PD (W)
31.25C°/W
2-Phase/1-2 Phase Excitation
69
A2918SW2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation)
A2918SW
■Truth Table
■Internal Block Diagram
■External Dimensions
Plastic SIP
ENABLE PHASE OUTAOUTB
L
L
H
H
L
X
H
L
Z
L
H
Z
X=Don't Care Z=High impedance
3
()
6.7
±0.5
123 18
31.3
±0.2
1
0.2
0.1
0.65
0.2
0.1
31
±0.2
24.4
±0.2
16.4
±0.2
3.2
±0.15
4
±0.7
0.55
0.2
0.1
9.7
1
0.5
2.45
±0.2
1.7
4.8
±0.2
±0.1
R-End
9.9
16
±0.2
13
±0.2
±0.2
+
---
+
---
28.56
±1
P1.68
17
±0.7
×
=
3.2
±0.15
3.8
×
+
---
+
---
31.3
±0.2
0.65
0.2
0.1
+
---
1
0.2
0.1
+
---
28.56
±1
P1.68
17
±0.4
×
=
123 18
2.2
±0.1
1.6
±0.6
4.6
±0.6
3.0
±0.6
7.5
±0.6
6.0
±0.6
0.55
0.2
0.1
+
---
31
±0.2
24.4
±0.2
16.4
±0.2
3.2
±0.15
2.45
±0.2
1.7
4.8
±0.2
±0.1
9.9
16
±0.2
13
±0.2
±0.2
3.2
±0.15
3.8
×
A2918SWV A2918SWH
(Unit: mm)
SOURCE
DISABLE
LOGIC
SUPPLY
LOAD
SUPPLY
V
CC
V
BB
OUT
1A
OUT
2A
OUT
2B
OUT
1B
TSD
PWM2
PWM1
PHASE
1
ENABLE
1
R
T
C
T
C
C
C
C
C
T
R
C
R
C
R
S
R
S
R
T
RC
1
SENSE
1
SENSE
2
RC
2
REFERENCE
GROUND
E
1
E
2
V
REF
PHASE
2
ENABLE
2
12
11 1 17 5 2 4
8
7
13
14
ONE SHOT
SOURCE
DISABLE
ONE SHOT
9
63
1015
18
16
12
+
−
+
−
÷10÷10
ICs per stick
18
φφφφ
70 A3952SB/SLB/SW
2-Phase Stepper Motor Bipolar Driver ICs
A3952SB/SLB/SW
■Features
●Fixed off-time PWM current control
●Switching between power supply regenera-
tion mode and loop regeneration mode in
order to improve motor current response in
microstepping
●External filter for sense terminal not required
●Sleep (low current consumption) mode
●Brake operation with PWM current limiting
●Internal thermal shutdown circuitry
●Internal crossover-current protection circuitry
●Internal UVLO protection
●Internal transient-suppression diodes
●Low thermal resistance package
■Electrical Characteristics
■Absolute Maximum Ratings
Parameter Symbol Conditions Ratings Units
A3952SB A3952SLB A3952SW
Load supply voltage VBB 50 V
Output current (peak) IO (Peak) tw≤20
µ
s±3.5 A
Output current (continuous)
IO±2.0 A
Logic supply voltage VCC 7.0 V
Logic input voltage VIN −0.3 to VCC+0.3 V
Sense voltage VSENSE 1.5 V
Reference voltage VREF 15 V
Package power dissipation
PD (Note1) 2.90 1.86 3.47 W
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1: When ambient temperature is 25°C or over , derate using −23.26mW/°C(SB), −14.93mW/°C(SLB)
or −27.78mW/°C(SW).
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
(Unless specified otherwise, Ta=25°C, VBB=50V, VCC=5.0V, VBRAKE=2.0V, VSENSE= 0V, 20kΩ & 1000pF RC to ground)
Parameter Symbol Conditions Limits Units
min typ max
Power outputs
Load supply voltage range VBB Operating, IO=±2.0A, L=3mH VCC 50 V
Output leakage current ICEX VO=VBB <1.0 50
µ
A
VO=0V < −1.0 −50
µ
A
Source driver, IO=−0.5A 0.9 1.2 V
Source driver, IO=−1.0A 1.0 1.4 V
Output saturation voltage VCE (SAT) Source driver, IO=−2.0A 1.2 1.8 V
Sink driver, IO=+0.5A 0.9 1.2 V
Sink driver, IO=+1.0A 1.0 1.4 V
Sink driver, IO=+2.0A 1.3 1.8 V
Clamp diode forward voltage IF=0.5A 1.0 1.4 V
(Source or sink) VFIF=1.0A 1.1 1.6 V
IF=2.0A 1.4 2.0 V
IBB (ON) VENABLE=0.8V, VBRAKE=2.0V 2.9 6.0 mA
Load supply current IBB (OFF) VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V 3.1 6.5 mA
(No load) IBB (BRAKE) VBRAKE=2.0V 3.1 6.5 mA
IBB (SLEEP) VENABLE=VMODE=VBRAKE=2.0V <1.0 50
µ
A
Control logic
Logic supply voltage range VCC Operating 4.5 5.0 5.5 V
Logic input voltage VIH 2.0 V
VIL 0.8 V
Logic input current IIH VIH=2.0V <1.0 20
µ
A
IIL VIL=0.8V < −2.0 −200
µ
A
Reference voltage range VREF Operating 0 15 V
Reference input current IREF VREF=2.0V 25 40 55
µ
A
Reference voltage divider ratio VREF=15V 9.5 10.0 10.5
Comparator input offset voltage VIO VREF=0V ±1.0 ±10 mV
PWM RC fixed off-time toff CT=1000pF, RT=20kΩ18 20 22
µ
s
PWM minimum on-time ton (min) CT=820pF, RT≥12kΩ1.7 3.0
µ
s
CT=1200pF, RT≥12kΩ2.5 3.8
µ
s
IOUT=±2.0A, 50% EIN to 90% Eout Transition:
ENABLE ON to SOURCE ON 2.9
µ
s
ENABLE OFF to SOURCE OFF 0.7
µ
s
ENABLE ON to SINK ON 2.4
µ
s
Propagation delay time tpd ENABLE OFF to SINK OFF 0.7
µ
s
PHASE CHANGE to SOURCE ON 2.9
µ
s
PHASE CHANGE to SOURCE OFF 0.7
µ
s
PHASE CHANGE to SINK ON 2.4
µ
s
PHASE CHANGE to SINK OFF 0.7
µ
s
tpd (PWM) Comparator Trip to SINK OFF 0.8 1.5
µ
s
Thermal shutdown temperature Tj165 °C
Thermal shutdown hysteresis ∆Tj15 °C
UVLO enable threshold VCC (UVLO) 3.15 3.50 3.85 V
UVLO hysteresis ∆VCC (UVLO) 300 400 500 mV
ICC (ON) VENABLE=0.8V, VBRAKE=2.0V 20 30 mA
Logic supply current ICC (OFF) VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V 12 18 mA
(No load) ICC (BRAKE) VBRAKE=0.8V 26 40 mA
ICC (SLEEP) VENABLE=VMODE=VBRAKE=2.0V 3.0 5.0 mA
●“typ” values are for reference.
Allegro MicroSystems product
2-Phase/1-2 Phase Excitation
71
A3952SB/SLB/SW2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
■Derating ■Internal Block Diagram
■Truth Table
■External Dimensions (Unit: mm)
■Terminal Connection Diagram
Plastic DIP
(300mil) Wide body plastic SOP
(300mil) Plastic power SIP
ENABLEBRAKE PHASE MODE Operating ModeOUTAOUTB
H
H
H
H
H
H
L
L
H
H
L
L
L
L
X
X
X
X
H
H
L
L
X
X
H
L
H
L
H
L
H
L
Z
Z
H
H
L
L
L
L
Z
Z
L
L
H
H
L
L
Sleep mode
Standby (Note 1)
Forward, fast current-decay mode
Forward, slow current-decay mode
Reverse, fast current-decay mode
Reverse, slow current-decay mode
Brake, fast current-decay mode
Brake, no current control (Note 2)
BRAKE
PHASE
LOGIC
V
CC
V
BB
MODE
1
2
3
4
5
6
7
89
10
11
13
12
14
15
16
V
BB
LOAD
SUPPLY
OUT
B
GROUND
GROUND
SENSE
OUT
A
LOAD
SUPPLY
REF
RC
GROUND
GROUND
LOGIC
SUPPLY
ENABLE
BRAKE
PHASE
LOGIC
V
CC
V
BB
MODE
1
2
3
4
5
6
7
89
10
11
13
12
14
15
16
V
BB
LOAD
SUPPLY
OUT
B
GROUND
GROUND
SENSE
OUT
A
LOAD
SUPPLY
REF
RC
GROUND
GROUND
LOGIC
SUPPLY
ENABLE
PHASE
MODE
BRAKE
REF
RC
LOAD
SUPPLY
LOGIC
SUPPLY
OUTA
SENSE
ENABLE
109876541 32 1211
LOGIC
GROUND
OUTB
VBB
VCC
0
−20 0 25 50 75 10085
A3952SW 36
°C
/W
1
2
3
4
5
A3952SB 43°C/W
A3952SLB 67
°C
/W
Ambient temperatureTa (°C)
Allowable package power dissipation P
D
(W)
1.27
0.40
0.32
0.23
10.65
10.00
7.60
7.40
10.50
10.10
0.51
0.33 18
916
2.65
2.35 SEATING PLANE
0.10 MIN.
1.27
BSC 0° TO 8°
MODE
PHASE
ENABLE
BRAKE
LOGIC
SUPPLY V
CC
REF
9R
R
GROUND
1.5V V
CC
BLANKING
PWM LATCH
QR
S
+
−
−
+
V
TH
SENSE
"B", "LB" , & "W"
PACKAGESRC R
S
R
T
C
T
EMITTERS
"EB" ONLY
OUT
B
LOAD
SUPPLY
V
BB
OUT
A
SLEEP &
STANDBY MODES
UVLO
& TSD
INPUT LOGIC
1.77
123 8
916
1.15
21.33
18.93
0.558
0.356 4.06
2.93
7.11
6.10
INDEX AREA 0.127MIN
7.62BSC
2.54BSC
5.33MAX SEATING PLANE
0.39MIN
0.381
0.204
●Thickness of lead is measured below seating plane.
●Allowable variation in distance between leads is not cumulative.
Lead width of pin 1, 8, 9, 16 may be half the value shown here.
Maximum thickness of lead is 0.508mm.
Note 1:
2:
ICs per stick
25
ICs per stick
47
ICs per stick
15
A3952SB A3952SLB A3952SW
A3952SB A3952SLB A3952SW
Don't Care
High impedance
Includes active pull-offs for power outputs
Includes internal default
V
SENSE
level for overcurrent protection
X :
Z :
Note 1:
Note 2:
●Thickness of lead is measured below seating plane.
●Allowable variation in distance between leads is not cumulative.
●Lead is measured 0.762mm below seating plane.
4.57MAX 1.40
1.14
3.43
2.54
2.03
1.78
0.59
0.46
0.76
0.51
19.69
19.43
32.00
31.50
1.65
0.89
3.94
3.68
6.22
5.71
14.48
13.72
3.56
9.27
7.37MIN
SEATING
PLANE
2.54±
0.25
123 12
INDEX
AREA
0.51
φ
72
A3952SB/SLB/SW2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
■Outline
Designed for bidirectional pulse-width modulated current con-
trol of inductive loads, the A3952S- is capable of continuous
output currents to ±2A and operating voltages to 50V. Internal
fixed off-time PWM current-control circuitry can be used to regu-
late the maximum load current to a desired value. The peak
load current limit is set by the user’s selection of an input refer-
ence voltage and external sensing resistor. The fixed OFF-time
pulse duration is set by a user-selected external RC timing net-
work. Internal circuit protection includes thermal shutdown with
hysteresis, transient suppression diodes, and crossover-current
protection. Special power-up sequencing is not required.
With the ENABLE input held low , the PHASE input controls load
current polarity by selecting the appropriate source and sink
driver pair . The MODE input determines whether the PWM cur-
rent-control circuitry operates in a slow current-decay mode (only
the selected sink driver switching) or in a fast current-decay
mode (selected source and sink switching). A user-selectable
blanking window prevents false triggering of the PWM current
control circuitry. With the ENABLE input held high, all output
drivers are disabled. A sleep mode is provided to reduce power
consumption when inactive.
When a logic low is applied to the BRAKE input, the braking
function is enabled. This overrides ENABLE and PHASE to turn
OFF both source drivers and turn ON both sink drivers. The
brake function can be safely used to dynamically brake brush
dc motors.
■FUNCTIONAL DESCRIPTION
(A)INTERNAL PWM CURRENT CONTROL DURING FOR-
WARD AND REVERSE OPERATION
The A3952S- contains a fixed OFF-time pulse-width modulated
(PWM) current-control circuit that can be used to limit the load
current to a desired value. The value of the current limiting (ITRIP)
is set by the selection of an external current sensing resistor
(RS) and reference input voltage (VREF). The internal circuitry
compares the voltage across the external sense resistor to one
tenth the voltage on the REF input terminal, resulting in a func-
tion approximated by
In forward or reverse mode the current-control circuitry limits
the load current. When the load current reaches ITRIP, the com-
parator resets a latch to turn OFF the selected sink driver (in the
slow-decay mode) or selected sink and source driver pair (in
the fast-decay mode). In slow-decay mode, the selected sink
driver is disabled; the load inductance causes the current to
recirculate through the source driver and flyback diode (see fig-
ure 1). In fast-decay mode, the selected sink and source driver
pair are disabled; the load inductance causes the current to flow
from ground to the load supply via the ground clamp and flyback
diodes.
Fig. 1 Load-Current Paths
R
S
V
BB
DRIVE CURRENT
RECIRCULATION (SLOW-DECAY MODE)
RECIRCULATION (FAST-DECAY MODE)
Fig. 2 Fast and Slow Current-Decay Waveforms
ENABLE
MODE
LOAD
CURRENT
RC
ITRIP
RC
I
TRIP
10 • R
S
V
REF
Application Notes
The user selects an external resistor (RT) and capacitor (CT) to
determine the time period (toff=RTCT) during which the drivers
remain disabled (see “RC Fixed OFF Time” below). At the end
of the RTCT interval, the drivers are re-enabled allowing the load
current to increase again. The PWM cycle repeats, maintaining
the load current at the desired value (see figure 2).
(B)INTERNAL PWM CURRENT CONTROL DURING BRAKE
MODE OPERATION
The brake circuit turns OFF both source drivers and turns ON
both sink drivers. For dc motor applications, this has the effect
of shorting the motor’s back-EMF voltage, resulting in current
flow that brakes the motor dynamically. However, if the back-
EMF voltage is large, and there is no PWM current limiting, then
the load current can increase to a value that approaches a locked
rotor condition. To limit the current, when the ITRIP level is reached,
the PWM circuit disables the conducting sink driver. The energy
stored in the motor’s inductance is then discharged into the load
supply causing the motor current to decay.
As in the case of forward/reverse operation, the drivers are re-
enabled after a time given by toff=RT•CT (see”RC Fixed OFF T ime”
below). Depending on the back-EMF voltage (proportional to
the motor ’s decreasing speed), the load current again may in-
crease to ITRIP. If so, the PWM cycle will repeat, limiting the load
current to the desired value.
(1)Brake Operation-MODE Input High
During braking, when the MODE input is high, the current limit
can be approximated by
73
A3952SB/SLB/SW2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
I
TRIP
10 • R
S
V
REF
I
TRIP
R
S
1.5V
tOFF
RT
•
CT
CAUTION: Because the kinetic energy stored in the motor and
load inertia is being converted into current, which charges the
VBB supply bulk capacitance (power supply output and
decoupling capacitance), care must be taken to ensure the ca-
pacitance is sufficient to absorb the energy without exceed-
ing the voltage rating of any devices connected to the motor
supply.
(2)Brake Operation-MODE Input Low
During braking,with the MODE input low, the peak current limit
defaults internally to a value approximated by
In this mode, the value of RS determines the ITRIP value indepen-
dent of VREF. This is useful in applicaions with differing run and
brake currents and no practical method of varying VREF.
Choosing a small value for R S essentially disables the current
limiting during braking. Therefore, care should be taken to en-
sure that the motor ’s current does not exceed the absolute
maximum ratings of the device. The braking current can be
measured by using an oscilloscope with a current probe con-
nected to one of the motor’s leads.
(C)RC Fixed OFF Time
The internal PWM current control circuitry uses a one shot to
control the time the driver (s) remain (s) OFF. The one shot
time, toff (fixed OFF time), is determined by the selection of an
external resistor (RT) and capacitor (CT) connected in parallel
from the RC terminal to ground. The fixed OFF time, over a
range of values of CT=820pF to 1500pF and RT=12kΩ to 100kΩ,
is approximated by
When the PWM latch is reset by the current comparator, the
voltage on the RC terminal will begin to decay from approxi-
mately 3 volts. When the voltage on the RC terminal reaches
approximately 1.1 volt, the PWM latch is set, thereby re-enabling
the driver (s).
(D)RC Blanking
In addition to determining the fixed OFF-time of the PWM con-
trol circuit, the CT component sets the comparator blanking time.
This function blanks the output of the comparator when the out-
puts are switched by the internal current control circuitry (or by
the PHASE, BRAKE, or ENABLE inputs). The comparator out-
put is blanked to prevent false over-current detections due to
reverse recovery currents of the clamp diodes, and/or switching
transients related to distributed capacitance in the load.
During internal PWM operation, at the end of the toff time, the
comparator’s output is blanked and CT begins to be charged
from approximately 1.1V by an internal current source of ap-
proximately 1mA. The comparator output remains blanked until
the voltage on CT reaches approximately 3.0 volts.
Similarly, when a transition of the PHASE input occurs, C T is
discharged to near ground during the crossover delay time (the
crossover delay time is present to prevent simultaneous con-
duction of the source and sink drivers). After the crossover de-
lay, CT is charged by an internal current source of approximately
1mA. The comparator output remains blanked until the voltage
on CT reaches approximately 3.0 volts.
Similarly, when the device is disabled via the ENABLE input, CT
is discharged to near ground. When the device is re-enabled,
CT is charged by the internal current source. The comparator
output remains blanked until the voltage on CT reaches approxi-
mately 3.0V.
For applications that use the internal fast-decay mode PWM
operation, the minimum recommended value is CT=1200pF±5%.
For all other applications, the minimum recommended value is
CT=820pF±5%. These values ensure that the blanking time is
sufficient to avoid false trips of the comparator under normal
operating conditions. For optimal regulation of the load current,
the above values for CT are recommended and the value of RT
can be sized to determine toff. For more information regarding
load current regulation, see below.
(E)LOAD CURRENT REGULATION WITH THE INTERNAL
PWM CURRENT-CONTROL CIRCUITRY
When the device is operating in slow-decay mode, there is a
limit to the lowest level that the PWM current-control circuitry
can regulate load current. The limitation is the minimum duty
cycle, which is a function of the user-selected value of toff and
the maxuimum value of the minimum ON-time pulse, ton (min), that
occurs each time the PWM latch is reset. If the motor is not
rotating, as in the case of a stepper motor in hold/detent mode,
or a brush dc motor when stalled or at startup, the worst-case
value of current regulation can be approximated by
where toff=RT•CT, RLOAD is the series resistance of the load, VBB is
the load/motor supply voltage, and ton (min) max is specified in the
electrical characteristics table. When the motor is rotating, the
back EMF generated will influence the above relationship. For
brush dc motor applications, the current regulation is improved.
For stepper motor applications when the motor is rotating, the
effect is more complex. A discussion of this subject is included
in the section on stepper motors under “Applications”.
The following procedure can be used to evaluate the worst-case
slow-decay internal PWM load current regulation in the system:
Set VREF to 0 volts. With the load connected and the PWM current
control operating in slow-decay mode, use an oscilloscope to
measure the time the output is low (sink ON) for the output that is
chopping. This is the typical minimum ON time (ton (min) t yp ) for the
1.05
•
(t
on (min)
max + t
off
)
•
R
LOAD
[(V
BB
−V
SAT (source
+
sink)
)
•
t
on (min)
max]−[1.05
•
(V
SAT (sink)
+ V
D
)
•
t
off
]
I
(AV)
≅
74
A3952SB/SLB/SW2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
100 kΩ
20 kΩ
1N4001
2N2222
VCC
RC1
RCN
t1
t2
Fig. 3 Synchronous Fixed-Frequency Control Circuit
device. CT then should be increased until the measured value
of ton (min) is equal to ton (min) max)=3.0
µ
s as specified in the electri-
cal characteristics table. When the new value of C T has been
set, the value of RT should be decreased so the value for
toff=RT•CT (with the artificially increased value of C T) is equal to
105% of the nominal design value. The worst-case load current
regulation then can be measured in the system under operating
conditions.
In applications utilizing both fast-and slow-decay internal PWM
modes, the performance of the slow-decay current regulation
should be evaluated per the above procedure and a ton (min) max
of 3.8
µ
s. This corresponds to a C T value of 1200pF, which is
required to ensure sufficient blanking during fast-decay internal
PWM.
(F) LOAD CURRENT REGULATION WITH EXTERNAL PWM
OF THE PHASE AND ENABLE INPUTS
The PHASE and ENABLE inputs can be pulse-width modulated
to regulate load current. Typical propagation delays from the
PHASE and ENABLE inputs to transitions of the power outputs
are specified in the electrical characteristics table. If the internal
PWM current control is used, then the comparator blanking func-
tion is active during phase and enable transitions. This elimi-
nates false tripping of the over-current comparator caused by
switching transients (see “RC Blanking” above).
(1)ENABLE Pulse-Width Modulation
With the MODE input low, toggling the ENABLE input turns ON
and OFF the selected source and sink drivers. The correspond-
ing pair of flyback and ground clamp diodes conduct after the
drivers are disabled, resulting in fast current decay. When the
device is enabled, the internal current control circuitry will be
active and can be used to limit the load current in a slow-decay
mode.
For applications that PWM the ENABLE input, and desire that
the internal current limiting circuit function in the fast-decay mode,
the ENABLE input signal should be inverted and connected to
the MODE input. This prevents the device from being switched
into sleep mode when the ENABLE input is low.
(2)PHASE Pulse-Width Modulation
Toggling the PHASE terminal determines/controls which sink/
source pair is enabled, producing a load current that varies with
the duty cycle and remains continuous at all times. This can
have added benefits in bidrectional brush dc servo motor appli-
cations as the transfer function between the duty cycle on the
phase input and the average voltage applied to the motor is
more linear than in the case of ENABLE PWM control (which
produces a discontinuous current at low current levels). See
also, “DC Motor Applications” below.
(3)SYNCHRONOUS FIXED-FREQUENCY PWM
The internal PWM current-control circuitry of multiple A3952S-
devices can be synchronized by using the simple circuit shown
in figure 3. A555IC can be used to generate the reset pulse/
blanking signal (t1) and the period of the PWM cycle (t2). The
value of t1 should be a minimum of 1.5
µ
s in slow-decay mode
and 2
µ
s in fast-decay mode. When used in this configuration,
the RT and C T components should be omitted. The PHASE and
ENABLE inputs should not be PWMed with this circuit configu-
ration due to the absence of a blanking function synchronous
with their transitions.
(G)MISCELLANEOUS INFORMATION
A logic high applied to both the ENABLE and MODE terminals
puts the device into a sleep mode to minimize current consump-
tion when not in use.
An internally generated dead time prevents crossover currents
that can occur when switching phase or braking.
Thermal protection circuitry turns OFF all drivers should the junc-
tion temperature reach 165°C (typical). This is intended only to
protect the device from failures due to excessive junction tem-
peratures and should not imply that output short circuits are
permitted. The hysteresis of the thermal shutdown circuit is ap-
proximately 15°C.
If the internal current-control circuitry is not used; the VREF ter-
minal should be connected to VCC, the SENSE terminal should
be connected to ground, and the RC terminal should be left
floating (no connection).
An internal under-voltage lockout circuit prevents simultaneous
conduction of the outputs when the device is powered up or
powered down.
75
A3952SB/SLB/SW2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
I
OUTP
L
LOAD
(
V
BB
−
[(
I
TRIP •
R
LOAD
)
+V
BEMF
]
)
•
t
pd (pwm)
R
S
I
TRIP
(0.375 to 1.125)
TJ TT + (2VF IOUT R JT)
θ
■APPLICATION NOTES
(A)Current Sensing
The actual peak load current (IOUTP) will be greater than the cal-
culated value of ITRIP due to delays in the turn OFF of the driv-
ers. The amount of overshoot can be approximated as
where V BB is the load/motor supply voltage, V BEMF is the back-
EMF voltage of the load, RLOAD and LLOAD are the resistance and
inductance of the load respectively, and tpd (pwm) is the propaga-
tion delay as specified in the electrical characteristics table.
The reference terminal has an equivalent input resistance of
50kΩ±30%. This should be taken into account when determin-
ing the impedance of the external circuit that sets the reference
voltage value.
To minimize current-sensing inaccuracies caused by ground
trace IR drops, the current-sensing resistor should have a sepa-
rate return to the ground terminal of the device. For low-value
sense resistors, the IR drops in the PCB can be significant and
should be taken into account. The use of sockets should be
avoided as their contact resistance can cause variations in the
effective value of RS.
Larger values of RS reduce the aforementioned effects but can
result in excessive heating and power loss in the sense resistor .
The selected value of RS must not cause the SENSE terminal
absolute maximum voltage rating to be exceeded. The recom-
mended value of RS is in the range of
The current-sensing comparator functions down to ground al-
lowing the device to be used in microstepping, sinusoidal, and
other varying current profile applications.
(B)Thermal Considerations
For reliable operation, it is recommended that the maximum
junction temperature be kept as low as possible, typically 90°C
to 125 °C. The junction temperature can be measured by at-
taching a thermocouple to the power tab/batwing of the device
and measuring the tab temperature, TT. The junction tempera-
ture can then be approximated by using the formula
where VF is the clamp diode forward voltage and can be deter-
mined from the electrical specification table for the given level
of IOUT. The value for R
θ
JT is given in the package thermal resis-
tance table for the appropriate package.
The power dissipation of the batwing packages can be improved
by 20 to 30% by adding a section of printed circuit board copper
(typically 6 to 18 square centimeters) connected to the batwing
terminals of the device.
The thermal performance in applications with high load currents
and/or high duty cycles can be improved by adding external
diodes in parallel with the internal diodes. In internal PWM slow-
decay applications, only the tow top-side (flyback) diodes need
be added. For internal fast-decay PWM, or external PHASE or
ENABLE input PWM applications, all four external diodes should
be added for maximum junction temperature reduction.
(C)PCB Layout
The load supply terminal, VBB, should be decoupled (>47
µ
F elec-
trolytic and 0.1
µ
F ceramic capacitors are recommended) as
close to the device as is physically practical. To minimize the
effect of system ground I•R drops on the logic and reference
input signals, the system ground should have a low-resistance
return to the load supply voltage.
See also “Current Sensing” and “Thermal Considerations” above.
(D)Fixed Off-Time Selection
With increasing values of toff, switching losses decrease, low-
level load-current regulation improves, EMI is reduced, the PWM
frequency will decrease, and ripple current will increase. The
value of toff can be chosen for optimization of these parameters.
For applications where audible noise is a concern, typical val-
ues of toff are chosen to be in the range of 15 to 35
µ
s.
(E)Stepper Motor Applications
The MODE terminal can be used to optimize the performance
of the device in microstepping/sinusoidal stepper motor drive
applications. When the average load current is increasing, slow-
decay mode is used to limit the switching losses in the device
and iron losses in the motor.
This also improves the maximum rate at which the load current
can increase (as compared to fast decay) due to the slow rate
of decay during toff. When the average load current is decreas-
ing, fast-decay mode is used to regulate the load current to the
desired level. This prevents tailing of the current profile caused
by the back-EMF voltage of the stepper motor.
In stepper motor applications applying a constant current to the
load, slow-decay mode PWM is used typically to limit the switch-
ing losses in the device and iron losses in the motor.
76
A3952SB/SLB/SW2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
ILOAD RLOAD
(VBEMF + VBB)
I
LOAD
V
REF
(10 • R
S
)
R
T•
C
T
(Chopping off-time setting)
12k~100kΩ
820~1500pF (When using slow current-decay mode only)
1200~1500pF (When using fast current-decay mode only)
toff ≅
R
T =
C
T =
PHASE
1
PHASE
2
MODE
1
MODE
2
V
REF1
V
REF2
ENABLE
1
ENABLE
2
109876541 32 1211
LOGIC
LOGIC
V
BB
V
BB
V
BB
V
CC
V
CC
109876541321211
0.5
Ω
R
T=
17k
Ω/
25k
Ω
R
T=
17k
Ω/
25k
Ω
C
T=
820pF/1200pF
C
T=
0.5
Ω
+5V
47 F
+
820pF/1200pF
µ
Fig. 4 Example of stepper motor drive
(F) Application circuit (Bipolar stepper motor drive)
(G)DC Motor Applications
In closed-loop systems, the speed of a dc motor can be con-
trolled by PWM of the PHASE or ENABLE inputs, or by varying
the REF input voltage (VREF). In digital systems (microproces-
sor controlled), PWM of the PHASE or ENABLE input is used
typically thus avoiding the need to generate a variable analog
voltage reference. In this case, a dc voltage on the REF input is
used typically to limit the maximum load current.
In dc servo applications that require accurate positioning at low
or zero speed, PWM of the PHASE input is selected typically.
This simplifies the servo-control loop because the transfer func-
tion between the duty cycle on the PHASE input and the aver-
age voltage applied to the motor is more linear than in the case
of ENABLE PWM control (which produces a discontinuous cur-
rent at low-current levels).
With bidirectional dc servo motors, the PHASE terminal can be
used for mechanical direction control. Similar to when braking
the motor dynamically, abrupt changes in the direction of a ro-
tating motor produce a currrent generated by the back EMF.
The current generated will depend on the mode of operation. If
the internal current-control circuitry is not being used, then the
maximum load current generated can be approximated by
where VBEMF is proportional to the motor’s speed. If the internal
slow-decay current-control circuitry is used, then the maximum
load current generated can be approximated by ILOAD=VBEMF/
RLOAD. For both cases, care must be taken to ensure the maxi-
mum ratings of the device are not exceeded. If the internal fast-
decay current-control circuitry is used, then the load current will
regulate to a value given by
CAUTION: In fast-decay mode, when the direction of the motor
is changed abruptly, the kinetic energy stored in the motor and
load inertia will be converted into current that charges the VBB
supply bulk capacitance (power supply output and decoupling
capacitance). Care must be taken to ensure the capacitance is
sufficient to absorb the energy without exceeding the voltage
rating of any devices connected to the motor supply.
See also, the sections on brake operation under “Functional
Description,” above.
77
A3952SB/SLB/SW2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)
A3952SB/SLB/SW
R
T
• C
T
(Chopping off-time setting)
12k to 100kΩ
820 to 1500pF (When using slow current-decay mode only)
1200 to 1500pF (When using fast current-decay mode only)
toff ≅
R
T
=
C
T
=
47 F
+
1V
BB
V
BB
V
CC
V
BB
LOGIC
0.5 Ω
MODE
PHASE
ENABLE
BRAKE
+5 V
9
2
3
4
5
6
7
8
15
16
12
13
14
10
11
RT=
17k
Ω/
25k
Ω
CT=
820pF/1200pF
µ
(H)Application circuit (DC motor drive)
Fig. 5 Example of DC motor drive
78 UDN2916B/LB
2-Phase Stepper Motor Bipolar Driver ICs
UDN2916B/LB
Allegro MicroSystems product
■Features
●Fixed off-time PWM current control
●Internal 1/3 and 2/3 reference divider
●1-phase/2-phase/W1-2 phase excitation
mode with digital input
●Microstepping with reference input
●Low saturation voltage (Sink transistor)
●Internal thermal shutdown circuitry
●Internal crossover-current protection cir-
cuitry
●Internal UVLO protection
●Internal transient-suppression diodes
●Low thermal resistance package
■Absolute Maximum Ratings
Parameter Symbol Conditions Ratings Units
UDN2916B UDN2916LB
Motor supply voltage VBB 45 V
Output current (peak) IO (peak) tw≤20
µ
s ±1.0 A
Output current (continuous)
IO±0.75 A
Logic supply voltage VCC 7.0 V
Logic input voltage range
VIN −0.3 to +7.0 V
Output emitter voltage VE1.5 V
Package power dissipation
PD (Note1) 3.12 2.27 W
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1:When ambient temperature is 25°C or over, derate using −25mW/°C (UDN2916B) or −18.2mW/
°C (UDN2916LB).
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
■Electrical Characteristics
Parameter Symbol Conditions Limits Units
min typ max
Power outputs (OUTA or OUT B)
Motor supply voltage range VBB 10 45 V
Output leakage current ICEX Sink driver, VO=VBB <1.0 50
µ
A
Source driver, VO=0V <−1.0 −50
µ
A
Output sustaining voltage VCE (SUS) IO=±750mA, L=3.0mH 45 V
Sink driver, IO=+500mA 0.4 0.6 V
Output saturation voltage VCE (SAT) Sink driver, IO=+750mA 1.0 1.2 V
Source driver, IO=−500mA 1.0 1.2 V
Source driver, IO=−750mA 1.3 1.5 V
Clamp diode leakage current IRVR=45V <1.0 50
µ
A
Clamp diode forward voltage VFIF=750mA 1.6 2.0 V
Motor supply current IBB (ON) Both bridges ON, no load 20 25 mA
IBB (OFF) Both bridges OFF 5.0 10 mA
Control logic
Input voltage VIH All inputs 2.4 V
VIL All inputs 0.8 V
Input current IIH VIH=2.4V <1.0 20
µ
A
IIL VIL=0.8V −3.0 −200
µ
A
Reference voltage range VREF Operating 1.5 7.5 V
I0=I1=0.8V 9.5 10.0 10.5
Current control threshold VREF/VSENSE I0=2.4V, I1=0.8V 13.5 15.0 16.5
I0=0.8V, I1=2.4V 25.5 30.0 34.5
Thermal shutdown temperature Tj170 °C
Logic supply current ICC (ON) I0=I1=0.8V, no load 40 50 mA
ICC (OFF) I0=I1=2.4V, no load 10 12 mA
●“typ” values are for reference.
(Unless specified otherwise, Ta=25°C, VBB=45V, VCC=4.75V to 5.25V, VREF=5.0V)
■Terminal Connection Diagram
UDN2916B
OUT
1A
OUT
2A
V
BB
LOAD SUPPLY
E
1
SENSE
1
OUT
1B
I
01
I
11
PHASE
1
V
REF1
RC
1
LOGIC SUPPLY
GROUND
GROUND
OUT
2B
I
02
I
12
PHASE
2
V
REF2
RC
2
V
CC
2
1
GROUND
GROUND
PWM 2
PWM 1
E
2
SENSE
2
2
1
1
2
3
4
5
6
7
8
9
10
11
12 13
14
15
16
17
18
19
20
21
22
23
24
UDN2916LB
PHASE
2
V
REF 2
RC
2
RC
1
V
CC
V
BB
I
11
PHASE
1
V
REF1
GROUND
GROUND
LOGIC SUPPLY
I
12
I
02
2
24
23
22
21
20
19
18
17
16
15
14
13
3
4
5
6
7
8
9
10
11
12
1
1
2
2
1
PWM 1 PWM 2
LOAD SUPPLY
OUT
2B
OUT
2A
OUT
1B
OUT
1A
GROUND
GROUND
SENSE
2
SENSE
1
E
2
I
01
E
1
θ
θ
θ
θ
2-Phase/1-2 Phase/W1-2 Phase Excitation
79
UDN2916B/LB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
■Internal Block Diagram
(1/2 Circuit)
■Derating
■Truth Table
■External Dimensions
■Application Circuit
(UDN2916LB)
Plastic DIP (300mil) Wide body plastic SOP (300mil)
PHASE OUT
A
OUT
B
H
LH
LL
H
I
0
I
1
Output Current
L
H
L
H
L
L
H
H
V
REF
/ (10×R
S
)=I
TRIP
V
REF
/ (15×R
S
)=I
TRIP
×2/3
V
REF
/ (30×R
S
)=I
TRIP
×1/3
0
V
REF
R
S
R
C
RC
SOURCE
DISABLE
R
T
C
T
C
C
I
0
I
1
E
SENSE
20kΩ
40kΩ10kΩ
OUT
A
OUT
B
V
BB
÷10 ONE
SHOT
−
+
UDN2916B UDN2916LB
4
5
3
2
1
0−20 0 25 50 75 10085
UDN2916B 40°C/W
UDN2916LB 55°C/W
Ambient temperature Ta (°C)
Allowable package power dissipation P
D
(W)
1.27
0.40
0.32
0.23
10.65
10.00
7.60
7.40
15.60
15.20
0.51
0.33 123 12
1324
2.65
2.35 SEATING PLANE
0.10 MIN
1.27
BSC 0
°
TO 8
°
1.77
123 12
1324
1.15
32.30
28.60
0.558
0.356 4.06
2.93
7.11
6.10
INDEX AREA 0.127MIN
7.62BSC
2.54BSC
5.33MAX
SEATING PLANE
0.39MIN
0.381
0.204
●Thickness of lead is measured below seating plane.
●Allowable variation in distance between leads is not cumulative.
V
CC
V
BB
V
BB
C
BB
2
24
23
22
21
20
19
18
17
16
15
14
13
3
4
5
6
7
8
9
10
11
12
1
1
2
1
PWM 1 PWM 2
2
*1
*1
*1
*1 *1
*1
*2
*1
From P
*2 V
REF
*2
C
T
C
T
C
C
C
C
V
CC
R
T
R
T
R
C
R
C
R
S
R
S
M
+5V
●Off-time setting
t
off
≅C
T
R
T
(Unit: mm)
R
S
:
1.5Ω, 1/2W (1.0 to 2.0Ω, 1 to 1/2W)
V
REF
:
5.0V (1.5 to 7.5V)
R
T
:
56kΩ (20k to 100kΩ)
C
T
:
470pF (100 to 1,000pF)
R
C
:
1kΩ
C
C
:
4,700pF (470 to 10,000pF)
C
BB
:
100 F
ICs per stick
15
ICs per stick
31
●Pin material: copper, pin surface treatment: solder plating
●Package index may be *1.
●Allowable variation in distance between leads is not cumulative.
●Web (batwing) type lead frames are used for pin 6, 7, 18, 19.
The pins are connected to GND.
*1
µ
µ
θ
θ
80
UDN2916B/LB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
●PWM CURRENT CONTROL
The UDN2916B/LB dual bridges are designed to drive both wind-
ings of a bipolar stepper motor. Output current is sensed and
controlled independently in each bridge by an external sense
resistor (RS), internal comparator, and monostable multivibrator .
When the bridge is turned ON, current increases in the motor
winding and it is sensed by the external sense resistor until the
sense voltage (VSENSE) reaches the level set at the comparator’s
input:
The comparator then triggers the monostable which turns OFF
the source driver of the bridge. The actual load current peak
will be slightly higher than the trip point (especially for low-in-
ductance loads) because of the internal logic and switching de-
lays. This delay (td) is typically 2
µ
s. After turn-off, the motor
current decays, circulating through the ground-clamp diode and
sink transistor . The source driver’s OFF time (and therefore the
magnitude of the current decrease) is determined by the
monostable’s external RC timing components, where toff=RTCT
wihtin the range of 20kΩ to 100kΩ and 100pF to 1000 pF.
When the source driver is re-enabled, the winding current (the
sense voltage) is again allowed to rise to the comparator ’s
threshold. This cycle repeats itself, maintaining the average
motor winding current at the desired level.
Loads with high distributed capacitances may result in high turn-
ON current peaks. This peak (appearing across RS) will attempt
to trip the comparator, resulting in erroneous current control or
high-frequency oscillations. An external RCCC time delay should
be used to further delay the action of the comparator. Depend-
ing on load type, many applications will not require these exter-
nal components (SENSE connected to E.)
VPHASE
IOUT
ITRIP
tdtoff
+
−
0
I
TRIP
=V
REF
/ 10R
S
VBB
RSENSE
Load
BRIDGE ON
SOURCE OFF
ALL OFF
PWM OUTPUT CURRENT WAVE FORM
Load-Current Paths
Application Notes
●LOGIC CONTROL OF OUTPUT CURRENT
Two logic level inptus (I0 and I1) allow digital selection of the
motor winding current at 100%, 67%, 33%, or 0% of the maxi-
mum level per the table. The 0% output current condition turns
OFF all drivers in the bridge and can be used as an OUTPUT
ENABLE function.
These logic level inputs greatly enhance the implementation of
µ
P-controlled drive formats.
During half-step operations, the I0 and I1 allow the
µ
P to control
the motor at a constant torque between all positions in an eight-
step sequence. This is accomplished by digitally selecting 100%
drive current when only one phase is ON and 67% drive current
when two phases are ON. Logic highs on both I0 and I1 turn
OFF all drivers to allow rapid current decay when switching
phases. This helps to ensure proper motor operation at high
step rates.
The logic control inputs can also be used to select a reduced
current level (and reduced power dissipation) for ‘hold’ condi-
tions and/or increased current (and available torque) for start-
up conditions.
●SWITCHING THE EXCITATION CURRENT DIRECTION
The PHASE input to each bridge determines the direction moter
winding current flows. An internally generated deadtime (ap-
proximately 2
µ
s) prevents crossover currents that can occur
when switching the PHASE input.
81
UDN2916B/LB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
●REDUCTION AND DISPERSION OF POWER LOSS
The thermal performance can be improved by adding four ex-
ternal Schottky barrier diodes (AK03 or other) between each
output terminal and ground. In most applications, the chopping
ON time is shorter than the chopping OFF time (small ON duty).
Therefore, a great part of the power loss of the driver IC is at-
tributable to the motor regenerative current during the chopping
OFF period. The regenerative current from the motor flows
through the current sensing resistor and ground clamp diode
and returns to the motor. The voltage drop across this path
causes the power loss. On this path, the forward voltage VF of
ground clamp diode shows the greatest drop. This means that
adding Schottky barrier diodes will improve the thermal perfor-
mance if their VF characteristic is smaller than that of the inter-
nal ground clamp diode.
The external diodes also disperse the loss (a source of heat)
and reduce the package power dissipation PD of the driver IC.
Consequently, a greater output current can be obtained.
●
CONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITA TION
To reduce vibration when the stepper motor is rotating, the
UDN2916B/LB can provide 1-2 or W1-2 phase excitation for
the control sequence without varying the VREF terminal voltage.
The step angle is
OUT1A
OUT1B
OUT2A
OUT2B
GND Schottky barrier
diode
To motor
Note: When the sequence no. is 0, 4, 8, or 12, power-down can be set as follows
I
11
=1, I
01
=0: Sequence No. 0 or 8
I
12
=1, I
02
=0: Sequence No. 4 or 12
If power-down is necessary for a sequence other than 0, 4, 8, or 12, lower the V
REF
terminal voltage. However, do not set the voltage lower than the lower limit of the setting range.
(NABLE1= ENABLE2= 0)
Phase A
Sequence
No. I
11
I
01
Current ratio
PH
1
Phase B
I
12
I
02
Current ratio
PH
2
00001X110* *
1 0 0 0 1 0 1 0 1/3 *
2 0 0 1 2/3 0 0 1 2/3 * *
3 0 1 0 1/3 0 0 0 1 *
4 X1100001 * *
5 1 1 0 1/3 0 0 0 1 *
6 1 0 1 2/3 0 0 1 2/3 * *
7 1 0 0 1 0 1 0 1/3 *
81001X110* *
9 1 0 0 1 1 1 0 1/3 *
10 1 0 1 2/3 1 0 1 2/3 * *
11 1 1 0 1/3 1 0 0 1 *
12X1101001 * *
13 0 1 0 1/3 1 0 0 1 *
14 0 0 1 2/3 1 0 1 2/3 * *
15 0 0 0 0 1 1 0 1/3 *
1-2 phase
excitation
W1-2 phase
excitation
Phase B
Phase A
(4) (3)
(2)
(1)
(0)
Combined vector (1/4 cycle)
Control sequence (1-2/W1-2 phase)
1/2 step : 1-2 excitation
About 1/4 step : W1-2 excitation
The control sequence is as shown below . (This sequence uses
threshold signal terminals Io and I1 for PWM current control.)
82
UDN2916B/LB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
Note: The VREF terminal voltage cannot be set to 0 V. To make the output current ratio 0%, set I0X=I1X=1.
When the sequence is 0, 8, 16, or 24, power-down can be set as follows:
I11=1, I01=0: Sequence No. 0 or 16
I12=1, I02=0: Sequence No. 8 or 24
Phase A
Sequence
No. I11 I01
Current ratio (%)
PH1VREF1 (V) I12 I02
Current ratio (%)
PH2VREF2 (V) Phase B
0 0 7.5 0 0 100 X 1.5 1 1 0
1 0 7.4 0 0 98 0 1.5 0 0 20
2 0 6.9 0 0 92 0 2.9 0 0 38
3 0 6.2 0 0 83 0 4.2 0 0 56
4 0 5.3 0 0 71 0 5.3 0 0 71
5 0 4.2 0 0 56 0 6.2 0 0 83
6 0 2.9 0 0 38 0 6.9 0 0 92
7 0 1.5 0 0 20 0 7.4 0 0 98
8 X 1.5 1 1 0 0 7.5 0 0 100
9 1 1.5 0 0 20 0 7.4 0 0 98
10 1 2.9 0 0 38 0 6.9 0 0 92
11 1 4.2 0 0 56 0 6.2 0 0 83
12 1 5.3 0 0 71 0 5.3 0 0 71
13 1 6.2 0 0 83 0 4.2 0 0 56
14 1 6.9 0 0 92 0 2.9 0 0 38
15 1 7.4 0 0 98 0 1.5 0 0 20
16 1 7.5 0 0 100 X 1.5 1 1 0
17 1 7.4 0 0 98 1 1.5 0 0 20
18 1 6.9 0 0 92 1 2.9 0 0 38
19 1 6.2 0 0 83 1 4.2 0 0 56
20 1 5.3 0 0 71 1 5.3 0 0 71
21 1 4.2 0 0 56 1 6.2 0 0 83
22 1 2.9 0 0 38 1 6.9 0 0 92
23 1 1.5 0 0 20 1 7.4 0 0 98
24 X 1.5 1 1 0 1 7.5 0 0 100
25 0 1.5 0 0 20 1 7.4 0 0 98
26 0 2.9 0 0 38 1 6.9 0 0 92
27 0 4.2 0 0 56 1 6.2 0 0 83
28 0 5.3 0 0 71 1 5.3 0 0 71
29 0 6.2 0 0 83 1 4.2 0 0 56
30 0 6.9 0 0 92 1 2.9 0 0 38
31 0 7.4 0 0 98 1 1.5 0 0 20
●VREF terminal
VREF is the reference voltage input terminal for PWM constant
current control. To realize stable ensure a stable signal, make
sure noise is not applied to the terminal.
●VBB terminal
To prevent voltage spikes on the load power supply terminal
(VBB), connect a large capacitor (≥22
µ
F) between the VBB termi-
nal and ground as close to the device as possible. Make sure
the load supply voltage does not exceed 45 V.
Control sequence (microstepping)
●MICROSTEPPING (1/8 STEP) CONTROL SEQUENCE
Varying the VREF terminal voltage in steps provides 1/8 microstepping and reduces motor vibration greatly. The
microstepping control sequence is as follows:
●Thermal protection
Thermal protection circuitry turns OFF all drivers when the junc-
tion temperature reaches +170°C. It is only intended to protect
the device from failures due to excessive junction temperature
and should not imply that output short circuits are permitted.
The output drivers are re-enabled when the junction tempera-
ture cools to +145°C.
83
UDN2916B/LB2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2916B/LB
UDN2916B
UDN2916LB
RSRSRC
RTRT
CC
VBB GND
VCCGND
CCCTCT
RC
6, 7,
18, 19
+
+
OUT
2B
R
T
C
T
V
BB
V
BB
I
02
I
12
Ph
2
V
REF2
V
REF1
GND
V
CC
V
CC
V
BB
I
01
I
11
Ph
1
GND
C
T
R
T
OUT
1B
OUT
2A
OUT
1A
R
C
R
S
R
S
R
C
C
C
C
C
●Around the ground
Since the UDN2916B/LB is a chopping type power driver IC,
take great care around the ground when mounting. Separate
the power system and the small signal (analog) system. Pro-
vide a single-point connection to the GND terminal or a solid
pattern of low enough impedance.
Example of Circuit (including GND) and GND Wiring Pattern (UDN2916LB)
84 UDN2917EB
2-Phase Stepper Motor Bipolar Driver IC
UDN2917EB
Allegro MicroSystems product
■Features
●Fixed off-time PWM current control
●Internal 1/3 and 2/3 reference divider
●1-phase/2-phase/W1-2 phase excitation
mode with digital input
●Microstepping with reference input
●Low saturation voltage (Sink transistor)
●Internal thermal shutdown circuitry
●Internal crossover-current protection cir-
cuitry
●Internal UVLO protection
●Internal transient-suppression diodes
●Low thermal resistance 44-pin PLCC
■Absolute Maximum Ratings
Parameter Symbol Conditions Ratings Units
Motor supply voltage VBB 45 V
Output current (peak) IO (peak) tw≤20
µ
s ±1.75 A
Output current (continuous)
IO±1.5 A
Logic supply voltage VCC 7.0 V
Logic input voltage range
VIN −0.3 to +7.0 V
Output emitter voltage VE1.0 V
Package power dissipation
PD (Note1) 4.16 W
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1:When ambient temperature is 25°C or over, derate using −33.3mW/°C.
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
■Electrical Characteristics
Parameter Symbol Conditions Limits Units
min typ max
Power outputs (OUTA or OUT B)
Motor supply voltage range VBB 10 45 V
Output leakage current ICEX Sink driver, VO=VBB <1.0 50
µ
A
Source driver, VO=0V < −1.0 −50
µ
A
Output sustaining voltage VCE (SUS) IO=±1.5A, L=3.5mH 45 V
Sink driver, IO=+1.0A 0.5 0.7 V
Output saturation voltage VCE (SAT) Sink driver, IO=+1.5A 0.8 1.0 V
Source driver, IO=−1.0A 1.8 1.9 V
Source driver, IO=−1.5A 1.9 2.1 V
Clamp diode leakage current IRVR=45V <1.0 50
µ
A
Clamp diode forward voltage VFIF=1.5A 1.6 2.0 V
Motor supply current IBB (ON) Both bridges ON, no load 9.0 12 mA
IBB (OFF) Both bridges OFF 4.0 6.0 mA
Control logic
Logic supply voltage VCC Operating 4.75 5.0 5.25 V
Input voltage VIH All inputs 2.4 V
VIL All inputs 0.8 V
Input current IIH VIH=2.4V <1.0 20
µ
A
IIL VIL=0.8V −3.0 −200
µ
A
Reference voltage range VREF Operating 1.5 7.5 V
I0=I1=0.8V 9.5 10.0 10.5
Current control threshold VREF/VSENSE I0=2.4V, I1=0.8V 13.5 15.0 16.5
I0=0.8V, I1=2.4V 25.5 30.0 34.5
Thermal shutdown temperature Tj170 °C
Logic supply current ICC (ON) I0=I1=VEN=0.8V, no load 90 105 mA
ICC (OFF) I0=I1=2.4V, no load 10 12 mA
●“typ” values are for reference.
(Unless specified otherwise, Ta=25°C, VBB=45V, VCC=5.0V, VREF=5.0V)
■Terminal Connection Diagram
GROUND GROUND
GROUND
GROUND
8
9
10
11
12
13
14
15
16
17
39
38
37
36
35
34
33
32
31
30
29
7
OUT1A
OUT1B
I10
I11
VREF1
VCC
VBB
E1
SENSE1
PHASE1
RC1
1
EN1
LOGIC SUPPLY
ENABLE1
OUT2A
OUT2B
I20
I21
VREF2
E2
SENSE2
PHASE2
RC2
LOAD SUPPLY
ENABLE2
6
5
4
3
2
1
44
43
42
41
40
2
EN2
PWM 1
PWM 2
18
19
20
21
22
23
24
25
26
27
28
1
2
■Derating
4
5
3
2
1
0
−
20 0 25 50 75 10085
Ambient temperature
Ta (
°C
)
Allowable package power dissipation
P
D
(
W)
30
°C
/W
θθ
2-Phase/1-2 Phase/W1-2 Phase Excitation
85
UDN2917EB2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2917EB
■Truth Table
■External Dimensions
Plastic PLCC
■Application Circuit
(Unit: mm)
PWM 1
PWM 2
12
V
BB
V
BB
STEPPER
MOTOR
V
CC
V
CC
C
t
C
t
R
t
R
t
EN
1
1
2
EN
2
ENABLE1
Digital control signal
Digital control signal
PHASE
1
ENABLE2
PHASE
2
V
REF1
V
REF2
I
11
C
C
C
C
C
VBB
R
S
R
S
R
C
R
C
I
01
I
12
I
02
+
28
27
26
25
24
23
22
21
20
19
18
17
16
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
44
43
42
41
40
39
38
37
36
35
34
33
32
31
30
29
●Off-time setting t
off
≅C
T
R
T
R
S
:
0.82Ω, 1W (0.5 to 1.0Ω, 2 to 1W)
V
REF
:
5.0V (1.5 to 7.5V)
R
T
:
56kΩ (20k to 100kΩ)
C
T
:
470pF (200 to 500pF)
R
C
:
1kΩ
C
C
:
3,300pF (470 to 10,000pF)
C
VBB
:
100 F
0.51
MIN
4.57
4.19
0.533
0.331
16.66
16.51
16.66
16.51
17.65
17.40
17.65
17.40
1.27
BSC
44 1 2
INDEX AREA
0.812
0.661
ENABLE PHASE OUT
A
OUT
B
L
L
H
H
L
X
H
L
Z
L
H
Z
X=Don't Care Z=High impedance
I
0
I
1
Output Current
L
H
L
H
L
L
H
H
V
REF
/ (10×R
S
)=I
TRIP
V
REF
/ (15×R
S
)=I
TRIP
×2/3
V
REF
/ (30×R
S
)=I
TRIP
×1/3
0
●Allowable variation in distance between leads is not cumulative.
Note 1: Web type leads are internally connected together.
ICs per stick
27
■Internal Block Diagram
(1/2 Circuit)
V
REF
R
S
R
C
RC
SOURCE
DISABLE
R
T
C
T
C
C
I
0
I
1
E
SENSE
20k
Ω
40k
Ω
10k
Ω
OUT
A
OUT
B
V
BB
÷
10 ONE
SHOT
−
+
θ
θ
µ
86
UDN2917EB2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2917EB
Note: When the sequence no. is 0, 4, 8, or 12, power-down can be set as follows
I
11
=1, I
01
=0: Sequence No. 0 or 8
I
12
=1, I
02
=0: Sequence No. 4 or 12
If power-down is necessary for a sequence other than 0, 4, 8, or 12, lower the
V
REF
terminal voltage. However, do not set the voltage lower than the lower limit of the setting range.
(ENABLE1= ENABLE2=0)
Phase A
Sequence
No. I11 I01
Current ratio
PH1
Phase B
I12 I02
Current ratio
PH2
0 0001X110 * *
1 00010101/3 *
2 0 0 1 2/3 0 0 1 2/3 * *
3 0101/30001 *
4 X1100001 * *
5 1101/30001 *
6 1 0 1 2/3 0 0 1 2/3 * *
7 10010101/3 *
8 1001X110 * *
9 10011101/3 *
10 1 0 1 2/3 1 0 1 2/3 * *
11 1 1 0 1/3 1 0 0 1 *
12X1101001 * *
13 0 1 0 1/3 1 0 0 1 *
14 0 0 1 2/3 1 0 1 2/3 * *
15 0 0 0 0 1 1 0 1/3 *
1-2 phase
excitation
W1-2 phase
excitation
Application Notes
●REDUCTION AND DISPERSION OF POWER LOSS
The thermal performance can be improved by adding four ex-
ternal Schottky barrier diodes (EK13 or other) between each
output terminal and ground. In most applications, the chopping
ON time is shorter than the chopping OFF time (small ON duty).
Therefore, a great part of the power loss of the driver IC is at-
tributable to the motor regenerative current during the chopping
OFF period. The regenerative current from the motor flows
through the current sensing resistor and ground clamp diode
and returns to the motor. The voltage drop across this path
causes the power loss. On this path, the forward voltage VF of
ground clamp diode shows the greatest drop. This means that
adding Schottky barrier diodes will improve the thermal perfor-
mance if their VF characteristic is smaller than that of the inter-
nal ground clamp diode.
The external diodes also disperse the loss (a source of heat)
and reduce the package power dissipation PD of the driver IC.
Consequently, a greater output current can be obtained.
●
CONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITA TION
To reduce vibration when the stepper motor is rotating, the
UDN2917EB can provide 1-2 or W1-2 phase excitation for the
control sequence without varying the VREF terminal voltage.
The step angle is
OUT1A
OUT1B
OUT2A
OUT2B
GND Schottky barrier
diode
To motor
Combined vector (1/4 cycle)
Phase B
Phase A
(4) (3)
(2)
(1)
(0)
Control sequence (1-2/W1-2 phase)
1/2 step : 1-2 excitation
About 1/4 step : W1-2 excitation
The control sequence is as shown below . (This sequence uses
threshold signal terminals Io and I1 for PWM current control.)
87
UDN2917EB2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation)
UDN2917EB
Note: The VREF terminal voltage cannot be set to 0 V. To make the output current ratio 0%, set I0X=I1X=1.
When the sequence is 0, 8, 16, or 24, power-down can be set as follows:
I11=1, I01=0: Sequence No. 0 or 16
I12=1, I02=0: Sequence No. 8 or 24
(ENABLE1= ENABLE2=0)
Phase A
Sequence
No. I11 I01
Current ratio (%)
PH1VREF1 (V) I12 I02
Current ratio (%)
PH2VREF2 (V) Phase B
0 0 7.5 0 0 100 X 1.5 1 1 0
1 0 7.4 0 0 98 0 1.5 0 0 20
2 0 6.9 0 0 92 0 2.9 0 0 38
3 0 6.2 0 0 83 0 4.2 0 0 56
4 0 5.3 0 0 71 0 5.3 0 0 71
5 0 4.2 0 0 56 0 6.2 0 0 83
6 0 2.9 0 0 38 0 6.9 0 0 92
7 0 1.5 0 0 20 0 7.4 0 0 98
8 X 1.5 1 1 0 0 7.5 0 0 100
9 1 1.5 0 0 20 0 7.4 0 0 98
10 1 2.9 0 0 38 0 6.9 0 0 92
11 1 4.2 0 0 56 0 6.2 0 0 83
12 1 5.3 0 0 71 0 5.3 0 0 71
13 1 6.2 0 0 83 0 4.2 0 0 56
14 1 6.9 0 0 92 0 2.9 0 0 38
15 1 7.4 0 0 98 0 1.5 0 0 20
16 1 7.5 0 0 100 X 1.5 1 1 0
17 1 7.4 0 0 98 1 1.5 0 0 20
18 1 6.9 0 0 92 1 2.9 0 0 38
19 1 6.2 0 0 83 1 4.2 0 0 56
20 1 5.3 0 0 71 1 5.3 0 0 71
21 1 4.2 0 0 56 1 6.2 0 0 83
22 1 2.9 0 0 38 1 6.9 0 0 92
23 1 1.5 0 0 20 1 7.4 0 0 98
24 X 1.5 1 1 0 1 7.5 0 0 100
25 0 1.5 0 0 20 1 7.4 0 0 98
26 0 2.9 0 0 38 1 6.9 0 0 92
27 0 4.2 0 0 56 1 6.2 0 0 83
28 0 5.3 0 0 71 1 5.3 0 0 71
29 0 6.2 0 0 83 1 4.2 0 0 56
30 0 6.9 0 0 92 1 2.9 0 0 38
31 0 7.4 0 0 98 1 1.5 0 0 20
Control sequence (microstepping)
●VREF terminal
VREF is the reference voltage input terminal for PWM constant
current control. To realize stable ensure a stable signal, make
sure noise is not applied to the terminal.
●VBB terminal
To prevent voltage spikes on the load power supply terminal
(VBB), connect a large capacitor (≥47
µ
F) between the VBB termi-
nal and ground as close to the device as possible. Make sure
the load supply voltage does not exceed 45V.
●MICROSTEPPING (1/8 STEP) CONTROL SEQUENCE
Varying the VREF terminal voltage in steps provides 1/8 microstepping and reduces motor vibration greatly. The
microstepping control sequence is as follows:
●Thermal protection
Thermal protection circuitry turns OFF all drivers when the junc-
tion temperature reaches +170°C. It is only intended to protect
the device from failures due to excessive junction temperature
and should not imply that output short circuits are permitted.
The output drivers are re-enabled when the junction tempera-
ture cools to +145°C.
●Around the ground
Since the UDN2917EB is a chopping type power driver IC, take
great care around the ground when mounting. Separate the
power system and the small signal (analog) system. Provide a
single-point connection to the GND terminal or a solid pattern of
low enough impedance.
88 A3955SB/SLB
2-Phase Stepper Motor Bipolar Driver ICs
A3955SB/SLB
■Features
●Maximum output ratings: 50V, ±1.5A
●Internal 3-bit non-linear DAC for 8-division
microstepping enables 2W1-2,W1-2, 1-2,
2-phase excitation drive without external
sine wave generator
●Internal PWM current control in Mixed De-
cay mode (can also be used in Fast Decay
and Slow Decay mode), which improves
motor current response and stability with-
out deterioration of motor iron loss
●External RC filter for sense terminal not
required thanks to internal blanking circuitry
●Internal thermal shutdown, crossover-cur-
rent protection and transient-suppression
diodes
●Special power-up and power-down se-
quencing for motor supply and logic sup-
ply not required
●Employs copper batwing lead frame with
low thermal resistance
■Absolute Maximum Ratings
Parameter Symbol Ratings Units
A3955SB A3955SLB
Load supply voltage VBB 50 V
Output current (continuous)
IO±1.5 A
Logic supply voltage VCC 7.0 V
Logic/reference input VIN −0.3 to VCC+0.3 V
voltage range
Sense voltage VS1.0 V
Package power dissipation
PD (Note1) 2.90 1.86 W
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1:When ambient temperature is 25°C or over , derate using −23.26mW/°C(SB) or −14.93mW/°C(SLB).
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
Allegro MicroSystems product
■Terminal Connection Diagram ■Derating
2
3
4
5
6
7
8
PFD
REF
RC
GROUND
GROUND
LOGIC
SUPPLY
PHASE
D2
15
14
13
12
11
10
9
LOAD
SUPPLY
OUTB
D0
GROUND
GROUND
SENSE
OUTA
D1
(TOP VIEW)
116
3.0
2.5
2
Allowable package power dissipation P
D
[W]
1.5
1
0.5
0
Ambient temperature Ta (°C)
−20 0 20 40 60 80 100
A3955SLB 67°C/W
A3955SB 43°C/W
A3955SB/SLB
2W1-2 Phase Excitation/Micro-step Support
89
A3955SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
■Electrical Characteristics (Unless specified otherwise, Ta=25°C, V BB=5V to 50V, VCC=4.5V to 5.5V)
Parameter Symbol Conditions Limits Units
min typ max
Power outputs (OUTA or OUT B)
Load supply voltage range VBB Operating, IO=±1.5A, L=3mH Vcc 50 V
Output leakage current ICEX VO=VBB <1.0 50
µ
A
VO=0V < −1.0 −50
µ
A
VSENSE=1.0V : Source Driver, IO=−0.85A 1.0 1.2 V
Output saturation voltage VCE (sat) VSENSE=1.0V : Source Driver, IO=−1.5A 1.3 1.5 V
VSENSE=1.0V : Sink Driver, IO=0.85A 0.5 0.6 V
VSENSE=1.0V : Sink Driver, IO=1.5A 1.3 1.5 V
Sense current offset ISO IS-IO, IO=0.85A, VS=0V, VCC=5V 20 33 40 mA
Clamp diode forward voltage VFIF=0.85A 1.2 1.4 V
IF=1.5A 1.4 1.7 V
Motor supply current (No load) IBB (ON) 2.0 4.0 mA
IBB (OFF) D0=D1=D2=0.8V 1.0 50
µ
A
Control logic
Logic supply voltage range VCC Operating 4.5 5.0 5.5 V
Reference voltage range VREF Operating 0.5 2.5 V
UVLO enable threshold VUVLOen VCC=0→5V 3.35 3.70 4.05 V
UVLO hysteresis VUVLOhys 0.30 0.45 0.60 V
Logic supply current ICC (ON) 42 50 mA
ICC (OFF) D0=D1=D2=0.8V 12 16 mA
Logic input voltage VIH 2.0 V
VIL 0.8 V
Logic input current IIH VIN=2.0V <1.0 20
µ
A
IIL VIN=0.8V < −2.0 −200
µ
A
Slow Decay Mode 3.5 V
Mixed Decay comparator trip points VPFD Mixed Decay Mode 1.1 3.1 V
Fast Decay Mode 0.8 V
Mixed Decay comparator input offset voltage VIO (PFD) 0±20 mV
Mixed Decay compartor hysteresis ∆VIO (PFD) 52555mV
Reference input current IREF VREF=0V~2.5V ±5.0
µ
A
Reference divider ratio VREF/VSat trip, D0=D1=D2=2V 3.0
DAC accuracy *1 DACERR VREF=1.0V~2.5V ±3.0 %
VREF=0.5V~1.0V ±4.0 %
Current-sense comparator input of fset voltage *1 VIO (S) VREF=0V ±5.0 mV
D0=D1=D2=0.8V 0 %
D0=2.0V, D1=D2=0.8V 19.5 %
D0=0.8V, D1=2V, D2=0.8V 38.2 %
Step reference current ratio SRCR D0=D1=2V, D2=0.8V 55.5 %
D0=D1=0.8V, D2=2V 70.7 %
D0=2V, D1=0.8V, D2=2V 83.1 %
D0=0.8V, D1=D2=2V 92.4 %
D0=D1=D2=2V 100 %
Thermal shutdown temperature Tj165 °C
Thermal shutdown hysteresis ∆Tj15 °C
AC timing
PWM RC fixed off-time tOFFRC CT=470pF, RT=43kΩ18.2 20.2 22.3
µ
S
Current-Sense Comparator Trip to Source OFF,
PWM turn-off time tPWM (OFF) IO=0.1A 1.0 1.5
µ
S
Current-Sense Comparator Trip to Source OFF,
IO=1.5A 1.4 2.5
µ
S
PWM turn-on time tPWM (ON) IRC Charge ON to Source ON, IO=0.1A 0.4 0.7
µ
S
IRC Charge ON to Source ON, IO=1.5A 0.55 0.85
µ
S
PWM minimum on-time tON (min) VCC=5.0V, RT≥43kΩ, CT=470pF, 1.0 1.6 2.2
µ
S
IO=0.1A
Crossover dead time tCODT 1kΩ Load to 25V 0.3 1.5 3.0
µ
S
*1: The total error for the VREF/VSENSE function is the sum of the D/A error and the current-sense comparator input offset voltage.
●“typ” values are for reference.
90
A3955SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
■Truth Table
■Application Circuit
●Off-time setting : tOFF≅RT • CT
RT=12kΩ to 100kΩ
CT=470pF to 1500pF
RS=0.39Ω to 0.62Ω
CBB=47
µ
F+0.1
µ
F
CCC=0.1
µ
F
VREF=0.5V to 2.5V
VPFD=1.1V to 3.1V (Mixed current-decay mode)
≥3.5V (Slow current-decay mode)
≤0.8V (Fast current-decay mode)
BRIDGE A
VBB
VBB
VCC
1VPFD
2VREF
3
RT1
36 kΩ
36 kΩ
560 pF
560 pF
CT1
6+5V
7PHASEA
8D2A
CCC1
5
4
16
15
14
11
10
9D1A
D0B
D1B
RS1
CBB1
D0A
+
+
47 F
47 F
12
13
LOGIC
0.5 Ω
0.5 Ω
BRIDGE B
VCC
9
10
11
RS2
14
15
16VBB CBB2
13
12
8
7
6
3
2
1VPFD
VREF
VBB
PHASEB
D2B
RT2
CCC2
CT2
+5 V
4
5
LOGIC
µ
µ
DAC DAC DATA DAC [%] VREF/VS
D2D1D0
H H H 100 3.00
H H L 92.4 3.25
H L H 83.1 3.61
H L L 70.7 4.24
L H H 55.5 5.41
L H L 38.2 7.85
L L H 19.5 15.38
L L L All Outputs Disabled
where VS≅ITRIP*RS
PHASE
PHASE OUTAOUTB
HHL
LLH
PFD VPFD Operating Mode
≥3.5V Slow current-decay mode
1.1V to 3.1V Mixed current-decay mode
≤0.8V Fast current-decay mode
■Internal Block Diagram
PHASE
RC
3
7
QR
+3 D/A
+
−
+
−
+
−
S
BLANKING
GATE
PWM LATCH CURRENT-SENSE
COMPARATOR
MIXED-DECAY
COMPARATOR
PFD
SENSE
DISABLE
BLANKING
RTCT
VTH
RS
UVLO
& TSD
LOGIC
SUPPLY
LOAD
SUPPLY
OUTA
REF
D2
D1
D0OUTB
VCC
VCC
VBB
GROUND
4
5
12
13
111
1615106
28914
91
A3955SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
■Step Sequence
■Current Vector Locus
Bridge A Bridge B
Full Half Quarter Eigth
Step Step Step Step PHASEAD2A D1A D0A ILOADA PHASEBD2B D1B D0B ILOADB
1111HHLL70.7% H H L L 70.7%
2 H L H H 55.5% H H L H 83.1%
2 3 H L H L 38.2% H H H L 92.4%
4 H L L H 19.5% HHHH100%
235XLLL0%HHHH100%
6LLLH−19.5% HHHH100%
47LLHL−38.2% H H H L 92.4%
8LLHH−55.5% H H L H 83.1%
2359LHLL−70.7% H H L L 70.7%
10 L H L H −83.1% H L H H 55.5%
611LHHL−92.4% H L H L 38.2%
12LHHH−100% H L L H 19.5%
4713LHHH−100% X L L L 0%
14LHHH−100% L L L H −19.5%
815LHHL−92.4% L L H L −38.2%
16 L H L H −83.1% L L H H −55.5%
35917LHLL−70.7% L H L L −70.7%
18LLHH−55.5% L H L H −83.1%
10 19 L L H L −38.2% L H H L −92.4%
20LLLH−19.5% L H H H −100%
61121XLLL0%LHHH−100%
22 H L L H 19.5% L H H H −100%
12 23 H L H L 38.2% L H H L −92.4%
24 H L H H 55.5% L H L H −83.1%
4 7 13 25 H H L L 70.7% L H L L −70.7%
26 H H L H 83.1% L L H H −55.5%
14 27 H H H L 92.4% L L H L −38.2%
28HHHH100%LLLH−19.5%
81529HHHH100%XLLL0%
30HHHH100%HLLH19.5%
16 31 H H H L 92.4% H L H L 38.2%
32 H H L H 83.1% H L H H 55.5%
100
92.4
83.1
70.7
55.5
38.2
19.5
B B
A
A
19.5 38.2 55.5 70.7 83.1 92.4 100
FULL STEP
7/8 STEP
3/4 STEP
5/8 STEP
1/2 STEP
3/8 STEP
1/4 STEP
1/8 STEP
100% CONSTANT TORQUE
MAXIMUM FULL-STEP
CURRENT IN PERCENT
CURRENT IN PERCENT
TORQUE (141%)
92
A3955SB/SLB2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support)
A3955SB/SLB
■External Dimensions (Unit: mm)
7.11
6.10
5.33
MAX
3.81
2.93
1.77
1.15 0.13
MIN
0.508
0.204
0.39
MIN
0.558
0.356
16
18
2.54
BSC
9
19.68
18.67
7.62
BSC
10.92
MAX
0.32
0.23
1.27
0.40
1.27
BSC 0° to 8°
10.65
10.00
7.60
7.40
2.65
2.35
0.51
0.33 1
16 9
23
0.10 MIN.
10.50
10.10
A3955SB A3955SLB
93
A3955SB/SLB
94 A3957SLB
2-Phase Stepper Motor Bipolar Driver IC
A3957SLB
■Features
●Maximum output ratings: 50V, ±1.5A
●Internal 4-bit non-linear DAC for 16-division
microstepping enables 4W1-2, 2W1-2, W1-
2, 2-phase excitation drive without exter-
nal sine wave generator
●Internal PWM current control in Mixed De-
cay mode (can also be used in Fast Decay
and Slow Decay mode), which improves
motor current response and stability with-
out deterioration of motor iron loss
●External RC filter for sense terminal not
required thanks to internal blanking circuitry
●Internal thermal shutdown, crossover-cur-
rent protection and transient-suppression
diodes
●Special power-up and power-down se-
quencing for motor supply and logic sup-
ply not required
●Employs copper batwing lead frame with
low thermal resistance
■Absolute Maximum Ratings
Parameter Symbol Ratings Units
Load supply voltage VBB 50 V
Output current (continuous)
IO±1.5 A
Logic supply voltage VCC 7.0 V
Logic/reference input VIN −0.3 to VCC+0.3 V
voltage range
Sense voltage VS1.0 V
Package power dissipation
PD (Note1) 2.23 W
Operating temperature Ta−20 to +85 °C
Junction temperature Tj (Note2) +150 °C
Storage temperature Tstg −55 to +150 °C
●Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any
set of conditions, do not exceed the specified current rating or a junction temperature of 150°C.
Note 1:When ambient temperature is 25°C or over, derate using −17.86mW/°C.
Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal
shutdown circuitry. These conditions can be tolerated but should be avoided.
Allegro MicroSystems product
■Terminal Connection Diagram ■Derating
1
2
3
4
5
6
7
8
9
10
11
12
24
23
22
21
20
19
18
17
16
15
14
13
N.C.
PFD
REF
N.C.
RC
GROUND
GROUND
D3
V
CC
PHASE
D2
N.C.
N.C.
(TOP VIEW)
V
BB
OUTB
N.C.
D0
GROUND
GROUND
SENSE
N.C.
OUTA
N.C.
D1
3
2.5
2
Allowable package power dissipation P
D
[W]
1.5
1
0.5
0
Ambient temperature Ta (°C)
−20 0 20 40 60 80 100
A3957SLB 56°C/W
4W1-2 Phase Excitation/Micro-step Support
95
A3957SLB2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support)
A3957SLB
■Electrical Characteristics (Unless specified otherwise, Ta=25°C, VBB=5V to 50V, VCC=4.5V to 5.5V)
Parameter Symbol Conditions Limits Units
min typ max
Power outputs (OUTA or OUTB)
Load supply voltage range VBB Operating, IO=±1.5A, L=3mH Vcc 50 V
Output leakage current ICEX VO=VBB <1.0 50
µ
A
VO=0V < −1.0 −50
µ
A
VSENSE=1.0V : Source Driver, IO=−0.85A 1.0 1.2 V
Output saturation voltage VCE (sat) VSENSE=1.0V : Source Driver, IO=−1.5A 1.4 1.5 V
VSENSE=1.0V : Sink Driver, IO=0.85A 0.5 0.7 V
VSENSE=1.0V : Sink Driver, IO=1.5A 1.2 1.5 V
Sense current offset ISO IS−IO, IO=0.85A, VS=0V, VCC=5V 20 30 40 mA
Clamp diode forward voltage VFIF=0.85A 1.2 1.4 V
IF=1.5A 1.5 1.7 V
Motor supply current (No load) IBB (ON) 2.0 4.0 mA
IBB (OFF) D0=D1=D2=D3=0.8V 1.0 50
µ
A
Control logic
Logic supply voltage range VCC Operating 4.5 5.0 5.5 V
Reference voltage range VREF Operating 0.5 2.5 V
UVLO enable threshold VUVLOen VCC=0→5V 3.35 3.70 4.05 V
UVLO hysteresis VUVLOhys 0.25 0.40 0.55 V
Logic supply current ICC (ON) 42 50 mA
ICC (OFF) D0=D1=D2=D3=0.8V 14 17 mA
Logic input voltage VIH 2.0 V
VIL 0.8 V
Logic input current IIH VIN=2.0V <1.0 20
µ
A
IIL VIN=0.8V < −2.0 −200
µ
A
Slow Decay Mode 3.5 V
Mixed Decay comparator trip point VPFD Mixed Decay Mode 1.2 2.9 V
Fast Decay Mode 0.8 V
Mixed Decay comparator input offset voltage VIO (PFD) 0±20 mV
Mixed Decay compartor hysteresis ∆VIO (PFD) 52555mV
Reference input current IREF VREF=0V to 2.5V ±5.0
µ
A
Reference divider ratio VREF/VSat trip, D0=D1=D2=D3=2V 3.0
DAC accuracy *1 DACERR VREF=1.0V to 2.5V ±3.0 %
VREF=0.5V to 1.0V ±4.0 %
Current-sense comparator input of fset voltage *1 VIO (S) VREF=0V −16 mV
D1=D2=D3=0.8V 0 %
D0=0.8V, D1=2.0V, D2=D3=0.8V 17.4 %
D0=D1=2.0V, D2=D3=0.8V 26.1 %
D0=D1=0.8V, D 2=2V, D3=0.8V 34.8 %
D0=2.0V, D1=0.8V, D2=2.0V, D3=0.8V 43.5 %
D0=0.8V, D1=D2=2.0V, D3=0.8V 52.2 %
D0=D1=D2=2.0V, D3=0.8V 60.9 %
Step reference current ratio SRCR D0=D1=D2=0.8V, D3=2.0V 69.6 %
D0=2.0V, D1=D2=0.8V, D3=2.0V 73.9 %
D0=0.8V ,D1=2.0V, D2=0.8V, D3=2.0V 78.3 %
D0=D1=2.0V, D2=0.8V, D3=2.0V 82.6 %
D0=D1=0.8V, D2=D3=2.0V 87.0 %
D0=2.0V, D1=0.8V, D2=D3=2.0V 91.3 %
D0=0.8V, D1=D2=D3=2.0V 95.7 %
D0=D1=D2=D3=2.0V 100 %
Thermal shutdown temperature Tj165 °C
Thermal shutdown hysteresis ∆Tj15 °C
AC timing
PWM RC fixed off-time tOFFRC CT=470pF, RT=43kΩ18.2 20.2 22.3
µ
S
Current-Sense Comparator Trip to Source OFF,
PWM turn-off time tPWM (OFF) IO=0.1A 1.0 1.5
µ
S
Current-Sense Comparator Trip to Source OFF,
IO=1.5A 1.4 2.5
µ
S
PWM turn-on time tPWM (ON) IRC Charge ON to Source ON, IO=0.1A 0.4 0.7
µ
S
IRC Charge ON to Source ON, IO=1.5A 0.55 0.85
µ
S
PWM minimum on-time tON (min) VCC=5.0V , RT≥43kΩ, CT=470pF, 1.0 1.6 2.2
µ
S
IO=0.1A
Crossover dead time tCODT 1kΩ Load to 25V 0.3 1.5 3.0
µ
S
*1: The total error for the VREF/VSENSE function is the sum of the D/A error and the current-sense comparator input offset voltage.
●“typ” values are for reference.
96
A3957SLB2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support)
A3957SLB
■Application Circuit
●Off-time setting : tOFF≅RT • CT
RT=36Ω (12kΩ to 100kΩ)
CT=560pF (470pF to 1500pF)
RS=0.51Ω (0.39Ω to 0.62Ω)
CBB=100
µ
F+0.1
µ
F
CCC=0.1
µ
F
VREF=0.5V to 2.5V
VPFD=1.2V to 2.9V (Mixed current-decay mode)
≥3.5V (Slow current-decay mode)
≤0.8V (Fast current-decay mode)
++
Phase1 10 9923 23
20
13
11 A3957SLB
6,7,
18,19
A3957SLB
6,7,
18,19
8
3
2
10
20
13
11
8
3
2
5517 17
15
C
BB
VBB Vcc
C
CC
22
15
22
D10
D11
D12
D13
REF1
PFD1
Phase2
D20
D21
D22
D23
REF2
PFD2
CT1 CT2
RT1 RT2Rs Rs
■Internal Block Diagram
+
−
+
−
PFD
PHASE
V
CC
OUT
B
V
BB
MOTOR
SUPPLY
OUT
A
GND RC
(000X)
D0
16
LEVEL
DAC
BLANKING
TIME AND
DRIVER
T
OFF
CONTROL
DECAY MODE
CONTROL
CONTROL
LOGIC
AND
LEVEL
SHIFT
UVLO
AND
TSD
D2
D3
REF
SENSE
D1
R
T
R
S
C
BB
C
T
Power Outputs
D3, D2, D1, D0 PHASE OUTA OUTB PFD Power Output Operating Mode
0000 or 0001 X Z Z X Disable
≥3.5V Forward, slow current-decay mode
H H L 1.2V to 2.9V
Forward, mixed current-decay mode
≤0.8V Forward, fast current-decay mode
≥3.5V Reverse, slow current-decay mode
L L H 1.2V to 2.9V
Reverse, mixed current-decay mode
≤0.8V Reverse, fast current-decay mode
X: Don’t care
High impedance (source and sink both OFF)
■Truth Table
DAC
D3 D2 D1 D0 DAC [%]
1111 100
1 1 1 0 95.7
1 1 0 1 91.3
1 1 0 0 87.0
1 0 1 1 82.6
1 0 1 0 78.3
1 0 0 1 73.9
1 0 0 0 69.6
1XXX
or
X1XX
or
XX1X
D3 D2 D1 D0 DAC [%]
0 1 1 1 60.9
0 1 1 0 52.2
0 1 0 1 43.5
0 1 0 0 34.8
0 0 1 1 26.1
0 0 1 0 17.4
0001 0
0000 0
97
A3957SLB2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support)
A3957SLB
■External Dimensions (Unit: mm)
15.2/15.6 0.23/0.32
24 19
1
24
*1
1
0.33/0.510.33/0.51
0.10MIN
1.27
BSC
2.35/2.65
7.40/7.60
10.0/10.65
7.40/7.60
SEATING
PLANE
0°/ 8°
0.40/1.27
●
●
●
●
Pin material: copper, pin surface treatment: solder plating
Package index may be *1.
Allowable variation in distance between
leads is not cumulative.
Web (batwing) type lead frames are used for pin
6, 7, 18, 19. The pins are connected to GND.
98 SI-7600/SI-7600D
3-Phase Stepper Motor Driver ICs
SI-7600/SI-7600D
■Electrical Characteristics
■Recommended Operating Voltage Ranges
■Absolute Maximum Ratings
Parameter Symbol Ratings Units
Load supply voltage VBB 50 V
Logic supply voltage VCC 7V
Input voltage VIN −0.3 to VCC V
Reference input voltage VREF −0.3 to VCC V
Sense voltage Vsense 1.5 V
Package power dissipation PD1W
Junction temperature Tj−20 to +85 °C
Operating temperature Top +125 °C
Storage temperature Tstg −55 to +125 °C
Parameter Symbol Ratings Units Conditions
min typ max
Load supply voltage VBB 15 45 V
Logic supply voltage VCC 3.0 5.5 V
VOL1 815V
VOL2 01V
Output voltage VOH1 VBB−15 VBB−8V
VOH2 VBB−1VBB V
Load supply current IBB 25 mA VCC=5.5V
Logic supply current ICC 10 mA VCC=5.5V
Logic input voltage VIH 3.75 V
VIL 1.25 V
Logic input current IIH 20
µ
AVIN=VCC×0.75
IIL −20
µ
AVIN=VCC×0.25
Maximum clock frequency F 200 kHz Edge=0V
100 Edge=VCC
VSlow 1.7 VCC V
PFD input voltage VMix 0.7 1.3 V
VFast 0.3 V
PFD input current IPFD ±50
µ
A
Reference input voltage VREF 0VCC−2V
Reference input current IREF ±10
µ
AVREF=0~Vcc−2V
Sense voltage VS1 VREF×0.2 V Mode=VCC, VREF=0~VCC−2V
VS2 VREF×0.17 V Mode=0V, AVREF=0~VCC−2V
RC source current IRC 220
µ
A
Off time Toff 1.1×Rt×CtSec.
Parameter Symbol Ratings Units
Load supply voltage VBB 15 to 45 V
Logic supply voltage VCC 3 to 5.5 V
Reference input voltage VREF 0.2 to Vcc−2V
(Ta=25°C)
Star Connection/Delta Connection
99
SI-7600/SI-7600D
3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
■Internal Block Diagram/Diagram of Standard External Circuit
■Terminal Connection
The package shapes of SI-7600 and SI-7600D are different, however the terminal connection is the same.
■External Dimensions (Unless specified otherwise, all values are typical) (Units: mm)
Pin No. Name Pin No. Name Pin No. Name
Pin1 PFD Pin8 Full/Half Pin15 OLA
Pin2 Sense Pin9 Enable Pin16 OHC
Pin3 Vcc Pin10 Mode Pin17 OHB
Pin4 Reset Pin11 REF Pin18 OHA
Pin5 CW/CCW Pin12 GND Pin19 VBB
Pin6 Edge Pin13 OLC Pin20 RC
Pin7 Clock Pin14 OLB
+ +
C7 C1
R5
R1 REF
PFD RC GND
R2 Rs
MOS Array
ex. SLA5017 at 4A max
SLA5059 at 4A max
SLA5060 at 6A max
SLA5061 at 10A max
(Sanken)
RtR4
R3 CtC6
Io
C5
C3 C4
OHA
OHB
OHC
OLA U
V
W
OLB
OLC
Sense
Clock
CW/CCW
Reset
F/H
Ena
Edge
Mode
C2
Vcc
Vcc
Vcc
Reference constants
Rs:0.1 to 1Ω
(1 to 5W)
Rt:15k to 75kΩ
Ct:420p to 1100pF
C1:10 F/10V
C2:100 F/63V
C3 to C6:0.01 to 1 F
C7:1000pF
R1+R2≤10kΩ
(V
REF
:0.2 to V
CC
2-2V)
R3+R4≤10kΩ
(V
PFD
:0 to V
CC
2)
R5:10kΩ
V
BB
Current
Control
Control signal
Pri-
Buffer
Control
Logic
1/5
Buffer
µ
µ
µ
PFD RC
S VBB
Vcc OHA
Reset OHB
CW/CCW
OHA
EDGE OLA
CK OLB
F/H OLC
Ena GND
Mode REF
12.6
7.8
1120
101
0° to 15°
0.482.54
1.27 max
0.8 max
0.70.41.27
0.25
7.62
20
1
11
10
24.50
0.51 min
2.54 min5.08 max 6.30
5.5
2.2
max
0.89
SI-7600DSI-7600
1.30
100
SI-7600/SI-7600D3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
1. Outline
The SI-7600/SI-7600D is a control IC used with a power MOS
FET array to drive a 3-phase stepper motor. Select the output-
stage MOS FET according to the rated current of the motor.
The full step is 2-phase excitation when this IC is in a star con-
nection but 3-phase excitation when it is in a delta connection.
2. Features
●Suitable for both star connection drive and delta connection drive
●Maximum load supply voltage VBB=45V
●Control logic supply voltage Vcc=3 to 5.5V
●Supports star connection (2/2-3phase excitation) and delta
connection (3/2-3phase excitation)
●Step switching timing by clock signal input
●Forward/reverse, hold, and motor-free control
●Step switching at the positive edge or positive/negative edge
of the clock signal
●Control current automatic switching function for 2-3phase ex-
citation (effective for star connection)
(Current control: 86% for 2-phase excitation, 100% for 3-phase
excitation)
●Self-excitation constant-current chopping by external C/R
●Slow Decay, Mixed Decay, or Fast Decay selectable
●Two package lineup: SOP (surface mounting) and DIP (lead
insertion)
SOP…SI-7600, DIP…SI-7600D
●Maximum output current depends on the ratings of the MOS
FET array used
3. Input Logic Truth Table
Input terminal Low level High level
CW/CCW CW CCW
Full/Half 2-3phase excitation 2-phase excitation
Enable Disable Enable
Mode Always 100%
2-phase excitation: 85%
(Note 1)
3-phase excitation: 100%
Edge Positive Positive/negative
(Note 2)
Reset Enable Internal logic reset
(Note 3) output disable
Select CW/CCW , Full/Half, or Edge when the clock level is low.
Note 1:The control current is always 85% for the full step (2-
phase excitation) when the Mode terminal level is high.
The value of 100% control current is calculated at the
VREF/(5×Rs) terminal because a 1/5 buffer is built into
the reference section.
Note 2:When the Edge terminal level is set high, the internal
counter increments both at the rising and falling edges.
Therefore, the duty ratio of the input clock should be set
at 50%.
Note 3:When the Reset terminal level is set high, the internal
counter is reset. Output remains disabled as long as the
Reset terminal level is high.
4. Determining the control current
The control current Io can be calculated as follows:
When the Mode terminal level is low
IO≅VREF/(5×RS)
When the Mode terminal level is high
IO≅VREF/(5×RS)→ 3-phase excitation
IO≅VREF/(5.88×RS)→ 2-phase excitation
The reference voltage can be set within the range of 0.2V to Vcc −2V.
(When the voltage is less than 0.2V, the accuracy of the refer-
ence voltage divider ratio deteriorates.)
5.About the Current Control System (Setting the
Constant Ct/Rt)
The SI-7600 uses a current control system of the self-excitation
type with a fixed chopping OFF time.
The chopping OFF time is determined by the constant Ct/Rt.
The constant Ct/Rt is calculated by the formula
TOFF≅1.1×Ct×Rt…… (1)
The recommended range of constant Ct/Rt is as follows:
Ct: 420 to 1100pF
Rt: 15 to 75kΩ
(Slow Decay or Mixed Decay →560pF/47kΩ, Fast Decay →
470pF/20kΩ)
Usually, set TOFF to a value where the chopping frequency be-
comes about 30 to 40kHz.
The mode can be set to Slow Decay, Fast Decay, or Mixed De-
cay depending on the PFD terminal input potential.
PFD applied voltage and decay mode
PFD applied voltage Decay mode
0 to 0.3V Fast Decay
0.7V to 1.3V Mixed Decay
1.7V to Vcc Slow Decay
In Mixed Decay mode, the Fast/Slow time ratio can be set using
the voltage applied to the PFD terminal. The calculated values
are summarized below.
In this mode, the point of switching from Fast Decay to Slow
Decay is determined by the RC terminal voltage that determines
the chopping OFF time and by the PFD input voltage VPFD.
Formula (1) is used to determine the chopping OFF time.
The Fast Decay time is then determined by the RC discharge
time from the RC voltage (about 1.5V) to the PFD input voltage
(VPFD) when chopping is turned from ON to OFF.
The Fast Decay time is
……(2)
The Slow Decay time (tOFFs) is calculated by subtracting the value
of (2) from that of (1).
tOFFS≅TOFF−tOFFf ……(3)
Application Notes
tOFFf ≅−RT×CT×ln ( )
VPFD
1.5
101
SI-7600/SI-7600D
3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
Ton Toff
ITrip
I
OUT
1.5V
V
RC
0.5V
Fast
Decay
V
PFD
Slow Decay
15
5
10
02505075
Ambient temperature Ta (°C)
(W)
100 125 150
Power dissipation P
Without heatsink
100×100×2mm Al heatsink
6.Method of Calculating Power Loss of Output
MOS FET
The SI-7600 uses a MOS-FET array for output. The power loss
of this MOS FET array can be calculated as summarized below.
This is an approximate value that does not reflect parameter
variations or other factors during use in the actual application.
Therefore, heat from the MOS FET array should actually be
measured.
●Parameters for calculating power loss
To calculate the power loss of the MOS FET array, the following
parameters are needed:
(1) Control current Io (max)
(2) Excitation method
(3) Chopping ON-OFF time at current control: T ON, TOFF, tOFFf
(TON: ON time, TOFF: OFF time, tOFFf: Fast Decay time at OFF)
(4) ON resistance of MOS FET: RDS (ON)
(5) Forward voltage of MOS FET body diode: VSD
For (4) and (5), use the maximum values of the MOS FET speci-
fications.
(3) should be confirmed on the actual application.
●Power loss of Pch MOS FETs
The power loss of Pch MOS FETs is caused by the ON resis-
tance and by the chopping-OFF regenerative current flowing
through the body diodes in Fast Decay mode.
(In Slow Decay mode, the chopping-OFF regenerative current
does not flow the body diodes.)
The losses are
ON resistance loss P1: P1=IM2×RDS (ON)
Body diode loss P2: P2=IM×VSD
With these parameters, the loss Pp per MOS FET is calculated
depending on the actual excitation method as follows:
a) 2-phase excitation (T=TON +TOFF)
PP= (P1×TON/T+P2×tOFFf/T)× (1/3)
b) 2-3 phase excitation (T=TON +TOFF)
PP= (P1×TON/T+P2×tOFFf/T)×(1/4)+(0.5×P1×TON/T+P2×tOFFf/
T)×(1/12)
●Power loss of Nch MOS FETs
The power loss of Nch MOS FETs is caused by the ON resis-
tance or by the chopping-OFF regenerative current flowing
through the body diodes.
(This loss is not related to the current control method, Slow,
Mixed, or Fast Decay.)
The losses are
ON resistance loss N1: N1=IM2×RDS(ON)
Body diode loss N2: N2=IM×VSD
With these parameters, the loss PN per MOS FET is calculated
depending on the actual excitation method as follows:
a) 2-phase excitation (T=TON+TOFF)
PN=(N1+N2×TOFF/T)× (1/3)
b) 2-3 phase excitation (T=TON+TOFF)
PN=(N1+N2×TOFF/T)×(1/4)+(0.5N1+N2×TOFF/T)×(1/12)
●Determining power loss and heatsink when SLA5017 is
used
If the SLA5017 is used in an output section, the power losses of
a Pch MOS FET and an Nch MOS FET should be multiplied by
three and added to determine the total loss P of SLA5017.
In other words, P=3×PP+3×PN
The allowable losses of SLA5017 are
Without heatsink: 5W
θ
j-a=25°C/W
Infinite heatsink: 35W
θ
j-c=3.57°C/W
Select a heatsink by considering the calculated losses, allow-
able losses, and following ratings:
When selecting a heatsink for SLA5017, be sure to check the
product temperature when in use in an actual applicaiton.
The calculated loss is an approximate value and therefore con-
tains a degree of error.
Select a heatsink so that the surface Al fin temperature of
SLA5017 will not exceed 100°C under the worst conditions.
Relationship between RC terminal voltage and output current
102
SI-7600/SI-7600D3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection)
SI-7600/SI-7600D
2-phase excitation 2-3 phase excitation
Positive edge
2-3 phase excitation
Positive edge
Positive edge
Positive/negative edge
Disable
CCW
CK
Reset
Full/Half
EDGE
CW/CCW
Ena
OHA
OHB
OHC
OLA
OLB
OLC
CK
Reset
ED
Ena
OHA
OHB
OHC
OLA
OLB
OLC
CW
CW CCW
CW/CCW
Full/Half
Positive/negative edge
7. I/O Timing Chart
103
SI-7600/SI-7600D
104 SI-7502 (SLA5011/SLA6503)
Part No. Parameter Symbol Ratings Units
Motor supply voltage VCC 44 V
Auxiliary supply voltage VS15 V
Control voltage Vb7V
SI-7502 Reference voltage Vref 1.5 V
Detection voltage VRS 5V
Power dissipation PD1W
Ambient operating temperature TOP 0 to +65 °C
Drain -Source voltage VDSS 60 V
Drain current ID±5A
SLA5011 Avalanche energy capability (Single pulse) EAS 2mJ
Power dissipation PT35 W
Channel temperature Tch 150 °C
Storage temperature Tstg −40 to +150 °C
Collector-Base voltage VCBO −60 V
Collector-Emitter voltage VCEO −60 V
Emitter-Base voltage VEBO −6V
Collector current IC−3A
SLA6503 Collector current (Pulse) IC (pulse) −6A
Base current IB−1A
Power dissipation PT35 W
Junction temperature Tj150 °C
Storage temperature Tstg −40 to +150 °C
■Electrical Characteristics
■Absolute Maximum Ratings
5-Phase Stepper Motor Driver ICs
SI-7502 (SLA5011/SLA6503)
Pentagon Connection
(Ta=25°C)
(Ta=25°C)
Part No. Parameter Symbol Limits Units Conditions
min typ max
ICC 40 mA VCC=42V, Vb=5.5V
Supply current IS12.5 mA VS=12.5V
Ib50 mA Vb=5.5V
Input current IIU-L, IIL-L 1.6 mA VIU=VIL=0.4V
SI-7502 Upper drive circuit drive current IOU-on 8 11 mA Vb=5V, AIU to EIU pin open
IOU-off 10
µ
AVb=5V
Lower drive circuit voltage VOL-on VS−1.5 V Vb=5V, AIL to EIL pin open
VOL-off 1.5 V Vb=5V
Oscillation frequency F 20 30 kHz Vb=5V
Detection voltage VRS 0.8 1.05 V Vb=5V, VREF pin open
Gate threshold voltage VTH 2.0 4.0 V VDS=10V, ID=250
µ
A
Forward T ransconductance Re (yts) 2.2 3.3 S VDS=10V, ID=5A
DC ON-resistance RDS (ON) 0.17 0.22 ΩVGS=10V, ID=5A
SLA5011 Input capacitance CISS 300 pF VDS=25V, f=1.0MHz,VGS=0V
Output capacitance COSS 160 pF
Di forward voltage between source and drain VSD 1.1 1.5 V ISD=5A
Di reverse recovery time between source and drain
trr 150 ns ISD=±100mA
Collector cut-off current ICBO −10
µ
AVCB=−60V
SLA6503 Collector-emitter voltage V CEO −60 V IC=−10mA
DC current gain hFE 2000 VCE=−4V, IC=−3A
Collector emitter saturation voltage VCE (sat) 1.5 V IC=−3A, IB=−6mA
105
SI-7502 (SLA5011/SLA6503)
SI-7502 (SLA5011/SLA6503)5-Phase Stepper Motor Driver ICs (Pentagon Connection)
■Internal Block Diagram (Dotted Line)
Control power supply V
b
V
S
V
CC
Main power supply
SLA6503
SLA5011
Motor
Comparator
amplifier
Excitation signal
Variable current
resistor
R
X
Current sense
resistor Rs
SI-7502
Level shift
current control
unit
Auxiliary power
supply
Reference
voltage
Trigger pulse
generator circuit
■Equivalent Circuit Diagram
SI-7502
24 20 23 19 16 12 15 11 7 8 27
R21R20R19R18R17
R1 R3
R4 R6
R5R2
Tr1
25 21 22 18 17 13 14 10 6 9
R7 Tr2
R12 R22
R27
R13 R23
R8 Tr3 R9 Tr4 R10 Tr5 R11 Tr6
R16 R26R15 R25R14 R24
26
R31R30R29R28
SLA6503
R1 R2
2
3
4
1
5
6
7
8
9
10
11
12
R
1
≅2kΩ Typ R
2
≅50Ω Typ
SLA5011
2
4
5
3
Trigger pulse
generator circuit
−
+
1
12
119753
108642
1
106 SI-7502 (SLA5011/SLA6503)
SI-7502 (SLA5011/SLA6503)5-Phase Stepper Motor Driver ICs (Pentagon Connection)
41 (max)
#
P1.27
±0.7
× 26=33.02
0.5
+0.15
−0.05
1pin 27pin
0.3
+0.15
−0.05
#
2.54
±0.6
3.5
+1
−0.5
27pin 26pin
8(max)
30 (max)
R : 0.3mm
R
R
Pin-1 marking
(White dots)
Lot No.
Part No.
31.0
±0.2
24.4
±0.2
16.4
±0.2
3.2
±0.15
× 3.8 4.8
±0.2
1.7
±0.1
3.2
±0.15
16.0
±0.2
13.0
±0.2
9.9
±0.2
8.5max.
0.85+0.2
−0.1
1.45
±0.15
11×P2.54
±0.7
=27.94
±1.0
9.5min (10.4)
1.2
±0.15
31.5max.
123456789101112
Part No.
Lot No.
0.55+0.2
−0.1 2.2
±0.7
12Pin 1
2.7
0.8 max
φ
VB (5V)
C3+
7407
Aiu
Biu
Ciu
Diu
Eiu
Ail
Bil
Cil
Dil
Eil
7406
25
22
17
14
6
21
18
13
10
9
12627
C1+C2+
24
23
16
15
7
20
19
12
11
8
2
4
6
8
10
2
4
6
8
10
3
5
7
9
11
3
5
7
9
11
112
IO
VS (12V)
VCC (15~42V)
A0
B0
C0
D0
E0
Stepper Motor
C1
C2
C3
C4
R1
Di
: 100 F/63V
: 50 F/25V
: 10 F/10V
: 470pF
: 1kΩ
: RK-34 (Sanken)
IO (typ)
IOPD (typ)
a
R'
= 0.92/RS
= (1.3×a−0.01) / Rs
= Vb×R' / (30000+R')
= 5100×Rx / (5100+Rx)
DiRS
R1RX
PD
4532
C4
Active High
SI-7502
SLA5011 SLA6503
112
Excitation signal input
µ
µµ
(Note) Dimensions marked with a # indicate dimensions of
lead tip.
■Diagram of Standard External Circuit
■External Dimensions (Unit: mm) ■External Dimensions (Unit: mm)
SI-7502 SLA6503/SLA5011
107
SI-7502 (SLA5011/SLA6503)
SI-7502 (SLA5011/SLA6503)5-Phase Stepper Motor Driver ICs (Pentagon Connection)
Fig. A
Waveform of output current
IOH
O
I
OH(max)
=0.212×V
b
−0.01
Rs
I
OH(min)
=0.169×V
b
−0.03
Rs
I
OH(max)
(V
b
=5V)
I
OH(min)
(V
b
=5V)
12345(Ω)
(A)
3
2
1
0.5
0.2
Sense resistor Rs
Output current I
OH
VRSH (max)=7.2×RX
152.6+33.8×RX×Vb−0.01
VRSH (min)=6.1×RX
152.6+33.8×RX×Vb−0.03
VRSH (max) (Vb=5V)
VRSH (min) (Vb=5V)
0.5 1 2 5 10 (KΩ)
Variable current resistor Rx
20
0.2
1.0
0.8
0.6
0.4
(V)
Sense voltage VRSH
I
OM
I
OM
I
OM
I
OM
2×I
OM
2×I
OM
V
CC
4×I
OM
to SI-7502
Sense resistor Rs
Fig. B Output current vs. Current sense resistor
Fig. C Sense voltage vs. Variable current resistor
Fig. D Coil current flow at pentagonal driving
■Determining the Output Current IO
(Control Current)
The main factors that determine the output current are current
sense resistor RS, supply voltage Vb, and variable current resis-
tor RX.
(1) Normal mode
To operate a motor at the maximum current level, set RX to
infinity (open).
From Fig. A, when the maximum current ripple is designated
as IOH, its value will be,
VRSH can be calculated as follows:
VRSH=0.19×Vb−0.03 (center value)
From equations (1) and (2), the output current IOH can be
calculated as follows:
The relationship between IOH and RS is shown in Fig. B.
(2) Power down mode
When an external resistor RX is connected, V RSH changes as
shown in Fig. C even when RS is retained. Obtain a power
down output current IOHPD from Fig. C and equation (1).
■Relation between Output Current I O (Control
Current) and Motor Winding Current IOM
The SI-7502 uses the total current control system; therefore,
the output current IO is different from the motor winding current.
In a general pentagonal driving system, the current flows as
shown in Figure D. The relation between IO and I OM is as follows:
IO=4×IOM
With some driving systems, the relation can also be as follows:
IO=2×IOM
VRSH
RS
Application Notes
............................... (2)
IOH=...................................................................... (1)
IOH= (0.19×Vb×-0.03)
1
RS
108 SI-7502 (SLA5011/SLA6503)
SI-7502 (SLA5011/SLA6503)5-Phase Stepper Motor Driver ICs (Pentagon Connection)
−40 0 50 100 150 (°C)
15
10
5
0
Ambient temperature Ta
(W)
50×50×2mmAI FIN
N0 FIN
100×100×2mmAI FIN
Power dissipation P
T
Fig. E SLA5011/SLA6503 Derating curve
■Motor Connection
The 5-phase stepper motor supports various driving systems
and the motor connection varies depending on the driving sys-
tem used.
Use of the motor with some driving systems may be restricted
by patents. Therefore, be sure to ask the motor manufacturer
about the motor connection and driving system to be used.
■Thermal design
The driver (SLA501 1/SLA6503) dissipation varies depending on
a driving system used even if the output currents (control cur-
rent) are the same. Therefore, measure the temperature rise of
the driver under the actual operating conditions to determine
the size of the heatsink.
Figure E shows an SLA5011/SLA6503 derating curve. This de-
rating curve indicates Tj=150°C; however, when using this de-
vice, allow sufficient margin when selecting a heatsink so that
TC≤100°C (AI FIN temperature on the back of the SLA) is ob-
tained.
Substances that can dissolve
the package
Substances that can weaken
the package
SI-7502
■Handling Precautions
Refer to the product specifications.
Solvents- Do not use the following solvents:
Chlorine-based solvents: Trichloroethylene, Trichloroethane, etc.
Aromatic hydrogen compounds: Benzene, Toluene, Xylene, etc.
Keton and Acetone group solvents
Gasoline, Benzine, Kerosene, etc.
109
SI-7502 (SLA5011/SLA6503)
110
Part No. Substitute
SI-7200E −
SI-7201A −
SI-7202A −
SI-7230E −
SI-7235E −
SDK01M SDK03M
SMA7022M SMA7022MU
SLA7022M SLA7022MU
SLA7027M SLA7027MU
■Discontinued Products
List of Discontinued Products
Part No. Substitute
SI-7115B SLA7032M
SI-7300A SLA7032M
SI-7330A SLA7033M
SI-7200M A2918SW
SI-7230M −
SI-7500A −
■Not for new design
List of Discontinued Products
Stepper Motor Driver ICs
111
112
Bulletin No
I02 EB0
(Jul,2000)
K DIC218
SANKEN ELECTRIC COMPANY LTD.
1-11-1 Nishi -Ikebukuro,Toshima-ku, Tokyo
PHONE: 03-3986-6164
FAX: 03-3986-8637
TELEX: 0272-2323(SANKEN J)
Overseas Sales Offices
●Asia
SANKEN ELECTRIC SINGAPORE PTE LTD.
150 Beach Road #14-03,
The Gateway, West Singapore 0718, Singapore
PHONE: 291-4755
FAX: 297-1744
SANKEN ELECTRIC HONG KONG COMPANY LTD.
1018 Ocean Centre, Canton Road,
Kowloon, Hong Kong
PHONE: 2735-5262
FAX: 2735-5494
TELEX: 45498 (SANKEN HX)
SANKEN ELECTRIC KOREA COMPANY LTD.
SK Life B/D 6F,
168 Kongduk-dong, Mapo-ku, Seoul, 121-705, Korea
PHONE: 82-2-714-3700
FAX: 82-2-3272-2145
●North America
ALLEGRO MICROSYSTEMS, INC.
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615, U.S.A.
PHONE: (508)853-5000
FAX: (508)853-7861
●Europe
ALLEGRO MICROSYSTEMS EUROPE LTD.
Balfour House, Churchfield Road,
Walton-on-Thames, Surrey KT12 2TD, U.K.
PHONE: 01932-253355
FAX: 01932-246622
PRINTED in JAPAN H1-I02EB0-0007020ND
Motor Driver ICs
