This is information on a product in full production.
October 2012 Doc ID 4970 Rev 4 1/12
12
L6219DSA
Stepper motor driver
Datasheet − production data
Features
■Drives both windings of a bipolar stepper motor
■Output current up to 750 mA for each winding
■Wide voltage range: 10 V to 46 V
■Half-step, full-step and microstepping mode
■Built-in protection diodes
■Internal PWM current control
■Low output saturation voltage
■Designed for unstabilized motor supply voltage
■Internal thermal shutdown
Description
The L6219DSA is a bipolar monolithic integrated
circuit intended to control and drive both windings
of a bipolar stepper motor or bidirectionally control
two DC motors.
With only a few external components, the
L6219DSA controls and drives the circuit for LS-
TTL or microprocessor-controlled stepper motor
systems. The power stage is a dual full bridge
sustaining 46 V and including four diodes for
current recirculation.
Cross conduction protection is provided to avoid
simultaneous cross conduction during switching
current direction.
An internal pulse-width modulation (PWM)
controls the output current to 750 mA with peak
startup current up to 1 A.
A wide range of current control from 750 mA
(each bridge) is permitted by two logic inputs and
an external voltage reference. A phase input to
each bridge determines the load current direction.
Thermal protection circuitry disables the outputs if
the chip temperature exceeds safe operating
limits.
SO24
Table 1. Device summary
Order code Package Packing
E-L6219DSA SO24 Tube
E-L6219DSATR SO24 Tape and reel
www.st.com
Contents L6219DSA
2/12 Doc ID 4970 Rev 4
Contents
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 Input logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.3 Current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.4 Single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.5 Output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.6 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
3 Application information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
4 Package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
L6219DSA Block diagram
Doc ID 4970 Rev 4 3/12
1 Block diagram
Figure 1. Block diagram
Table 2. Absolute maximum ratings
Parameter Description Value Unit
VsSupply voltage 50 V
IOOutput current (peak) ±1 A
IOOutput current (continuous) ±0.75 A
Vss Logic supply voltage 7 V
Vin Logic input voltage range -0.3 to +7 V
Vsense Sense output voltage 1.5 V
TjJunction temperature +150 °C
Top Operating temperature range -40 to +125 °C
Tstg Storage temperature range -55 to +150 °C
AM15158v1
Block diagram L6219DSA
4/12 Doc ID 4970 Rev 4
Figure 2. SO24 pin connection (top view)
Table 3. Pin functions
Pin # Name Description
1, 21 Output of bridge 1 See pins 2, 5
3, 23 Sense resistor Connection to lower emitters of output stage for insertion of
current sense resistor
4, 22 Comparator input
Input connected to the comparators. The voltage across the
sense resistor is feedback to this input throught the low pass
filter RC CC. The higher power transistors are disabled
when the sense voltage exceeds the reference voltage of
the selected comparator. When this occurs the current
decays for a time set by RT CT (toff = 1.1 RT CT). See
Figure 3.
2, 5 Output of bridge 2
Output connection. The output stage is a H bridge formed
by four transistors and four diodes suitable for switching
applications.
6, 7, 18, 19 Ground Ground connection. They also conduct heat from die to
printed circuit copper
8, 20 Input 0 See input 1 (pins 9, 17)
9, 17 Input 1
These pins and pins 8, 20 (input 0) are logic inputs which
select the outputs of the comparators to set the current
level. Current also depends on the sensing resistor and
reference voltage. See Section 2: Functional description.
10, 16 Phase
These TTL-compatible logic inputs set the direction of
current flow through the load. A high level causes current to
flow from output A (source) to output B (sink). A Schmitt
trigger on this input provides a good noise immunity and a
delay circuit prevents output stage short-circuits during
switching.
11, 15 Reference voltage
A voltage applied to this pin sets the reference voltage of the
comparators, this determining the output current (also thus
depending on Rs and the two inputs input 0 and input 1)
AM15159v1
L6219DSA Block diagram
Doc ID 4970 Rev 4 5/12
Note: ESD on GND, VS, VSS, OUT 1 A and OUT 2 A is guaranteed up to 1.5 kV (human body
model, 1500 W, 100 pF).
Figure 3. Timing diagram
12, 14 RC
A parallel RC network connected to this pin sets the off time
of the higher power transistors. The pulse generator is a
monostable triggered by the output of the comparators (toff =
1.1 RT CT)
13 VSS - Logic supply Supply voltage input for logic circuitry
24 VS - Load supply Supply voltage input for the output stages
Table 3. Pin functions (continued)
Pin # Name Description
Table 4. Thermal data
Parameter Description PDIP Unit
Rthj-case Thermal resistance junction-case max. 18 °C/W
Rthj-amb Thermal resistance junction-ambient max. 75(1)
1. With minimized copper area.
°C/W
AM15160v1
Block diagram L6219DSA
6/12 Doc ID 4970 Rev 4
Table 5. Electrical characteristcs
(
T
j
= -40 °C to -125 °C, V
S
= 46 V, V
SS
= 4.75 V to 5.25 V, V
REF
= 5 V, unless otherwise specified
)
See Figure 5.
Parameter Description Test condition Min. Typ. Max. Unit
Output drivers (OUT
A
or OUT
B
)
V
S
Motor supply range 10 - 46 V
I
CEX
Output leakage current VS = 52 V VOUT = 50 V
VS = 52 V VOUT = 1 V -200
-
-
200 μA
μA
V
CE(sat)
Output saturation voltage
Sink driver, I
OUT
= +500 mA
Sink driver, I
OUT
= +750 mA
Source driver, I
OUT
= -500 mA
Source driver, I
OUT
= -750 mA
-
-
-
-
-
-
-
-
0.75
1.15
1.6
1.8
V
V
V
V
V
F
Clamp diode forward
voltage
High stage IF =750 mA
Low stage IF =750 mA
-
-
-
-
1.7
1.6
V
V
I
S(on)
Driver supply current Both bridges ON, no load - - 17 mA
I
S(off)
Driver supply current Both bridges OFF - - 12 mA
Control logic
V
IN(H)
Input voltage All inputs 2.4 - - V
V
IN(L)
Input voltage All inputs - - 0.8 V
I
IN(H)
Input current V
IN
= 2.4 V - <1 20 μA
I
IN(L)
Input current V
IN
= 0.84 V - -3 -200 μA
V
REF
Reference voltage Operating(1)
1. To reduce the switching losses the base bias of the bridge's low side NPN transistor is proportional to the
DAC output, then the output current driving capability is also proportional to the DAC output voltage, having
as reference 750 mA with VREF = 5 V and DAC =100%. For example using VREF = 2 V and DAC = 67% the
output maximum current driving capability will become 750 mA*(2 V*0.67)/(5 V*1) = 200 mA.
1.5 - 7.5 V
I
SS(ON)
Total logic supply current I
o
= I
1
= 0.8 V, no load - - 76 mA
I
SS(OFF)
Total logic supply current I
o
= I
1
= 2.4 V, no load - - 15 mA
Comparators
V
REF
/ V
sense
Current limit threshold (at
trip point)
I
o
= I
1
= 0.8 V 9.5 10 10.5 -
I
o
= 2.4 V, I
1
= 0.8 V 13.5 15 16.5 -
I
o
= 0.8 V, I
1
= 2.4 V 25.5 30 34.5 -
t
off
Cut off time R
t
= 56 KΩ, C
t
= 820 pF - 50 - μs
t
d
Turn off delay Figure 3 -1-μs
Protection
T
J
Thermal shutdown
temperature -170-°C
L6219DSA Functional description
Doc ID 4970 Rev 4 7/12
2 Functional description
The circuit is intended to drive both windings of a bipolar stepper motor.
The peak current control is generated through switch mode regulation.There is a choice of
three different current levels with the two logic inputs I01 - I11 for winding 1 and I02 - I12 for
winding 2.
The current can also be switched off completely.
2.1 Input logic (I0 and I1)
The current level in the motor winding is selected by these inputs. (See Figure 4). If any of
the logic inputs is left open, the circuit treats it as a high level input.
2.2 Phase
This input determines the direction of current flow in the windings, depending on the motor
connections. The signal is fed through a Schmidt trigger for noise immunity, and through a
time delay in order to guarantee that no short-circuit occurs in the output stage during
phase-shift. A high level on the Phase input causes the motor current flow from out A
through the winding to out B.
2.3 Current sensor
This part contains a current sensing resistor (RS), a low pass filter (RC, CC) and three
comparators. Only one comparator is active at a time. It is activated by the input logic
according to the current level chosen with signals Io and I1. The motor current flows through
the sensing resistor RS. When the current has increased so that the voltage across RS
becomes higher than the reference voltage on the other comparator input, the comparator
goes high, triggering the pulse generator.
The max peak current Imax can be defined by:
Equation 1
Table 6. Current levels
I0I1Current level
H H No current
L H Low current 1/3 IO max
H L Medium current 2/3 IO max
L L Maximum current IO max
Imax
Vref
10Rs
------ ----- --=
Functional description L6219DSA
8/12 Doc ID 4970 Rev 4
2.4 Single-pulse generator
The pulse generator is a monostable triggered on the positive going edge of the comparator
output. The monostable output is high during the pulse time, toff, which is determined by the
time components Rt and Ct.
toff = 1.1 · RtCt
The single pulse switches off the power feed to the motor winding, causing the winding
current to decrease during toff. If a new trigger signal should occur during toff, it is ignored.
2.5 Output stage
The output stage contains four Darlington transistors (source drivers) four saturated
transistors (sink drivers) and eight diodes, connected in two H bridge.
Figure 4. Principle operating sequence
The source transistors are used to switch the power supplied to the motor winding, thus
driving a constant current through the winding. It should be noted however, that is not
permitted to short-circuit the outputs.
Internal circuitry is added in order to increase the accuracy of the motor current particularly
with low current levels.
AM15161v1
L6219DSA Application information
Doc ID 4970 Rev 4 9/12
2.6 V
S
, V
SS
, V
Ref
The circuit withstands any order of turn-on or turn-off of the supply voltages VS and VSS.
Normal dV/dt values are then assumed.
Preferably, VRef should be tracking VSS during power-on and power-off if VS is established.
3 Application information
Some stepper motors are not designed for continuous operation at maximum current. As the
circuit drives a constant current through the motor, its temperature might increase
exceedingly both at low and high speed operation. Also, some stepper motors have such
high core losses that they are not suited for switch mode current regulation.
Unused inputs should be connected to proper voltage levels in order to get the highest noise
immunity. As the circuit operates with switch mode current regulation, interference
generation problems might arise in some applications. A good measure might then be to
decouple the circuit with a 100 nF capacitor, located near the package between power line
and ground. The ground lead between Rs, and circuit GND should be kept as short as
possible. A typical application circuit is shown in Figure 5. Note that Ct must be NPO type or
similar else. To sense the winding current, paralleled metal film resistors are recommended
(Rs).
Figure 5. Typical application circuit
AM15162v1
Package mechanical data L6219DSA
10/12 Doc ID 4970 Rev 4
4 Package mechanical data
In order to meet environmental requirements, ST offers these devices in different grades of
ECOPACK® packages, depending on their level of environmental compliance. ECOPACK
specifications, grade definitions and product status are available at: www.st.com. ECOPACK
is an ST trademark.
Note: Dimension “D” does not include mold flash, protrusions or gate burrs.
Mold flash, protrusions or gate burrs do not exceed 0.15 mm per side.
Figure 6. SO24 mechanical data drawing
Table 7. SO24 mechanical data dimensions
Dim.
mm
Min. Typ. Max.
A2.35 2.65
A1 0.10 0.30
B0.33 0.51
C0.23 0.32
D 15.20 15.60
E7.40 7.60
e1.27
H 10.00 10.65
h0.25 0.75
L0.40 1.27
k0 8
ddd 0.10
0070769 C
L6219DSA Revision history
Doc ID 4970 Rev 4 11/12
5 Revision history
Table 8. Document revision history
Date Revision Changes
12-Nov-1998 1 Initial release.
29-Apr-2008 2 Document reformatted
05-Sep-2008 3 Added note1. to Ta bl e 5 .
24-Oct-2012 4
Changed the title of the document.
Reformatted document to current standards.
Minor text changes to improve the readability.
L6219DSA
12/12 Doc ID 4970 Rev 4
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