September 2008 Rev 3 1/15
1
L6219DSA
Stepper motor driver for automotive range
Features
Able to drive both windings of bipolar stepper
motor
Output current up to 750 mA 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
circuits intended to control and drive both winding
of a bipolar stepper motor or bidirectionally control
two DC motors.
The L6219DSA with a few external components
form a complete control and drive circuit for LS-
TTL or microprocessor controlled stepper motor
system. The power stage is a dual full bridge
capable of sustaining 46 V and including four
diodes for current recirculation.
A 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.
Wide range of current control from 750 mA (each
bridge) is permitted by means of two logic inputs
and an external voltage reference. A phase input
to each bridge determines the load current
direction. A thermal protection circuitry disables
the outputs if the chip temperature exceeds safe
operating limits.
SO24 (20+2+2)
Table 1. Device summary
Order code Package Packing
E-L6219DSA SO24 Tube
E-L6219DSATR SO24 Tape & reel
www.st.com
Contents L6219DSA
2/15
Contents
1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 Input logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.4 Single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.5 Output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 Application information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
L6219DSA List of tables
3/15
List of tables
Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1
Table 2. Absolute maximum rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Table 3. Pin functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 4. Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 5. Electrical characteristcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Table 6. Current levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Table 7. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
List of figures L6219DSA
4/15
List of figures
Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
Figure 2. SO24 pins connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Figure 3. Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Figure 4. Principle operating sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 5. Typical application circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 6. SO24 mechanical data and package dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
L6219DSA Block diagram
5/15
1 Block diagram
Figure 1. Block diagram
Table 2. Absolute maximum rating
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
Block diagram L6219DSA
6/15
Figure 2. SO24 pins 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 conducts 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 functional description
L6219DSA Block diagram
7/15
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
10, 16 Phase
This TTL-compatible logic inputs sets 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 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)
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
Block diagram L6219DSA
8/15
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*(2V*0.67)/(5V*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
Cutoff 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
9/15
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 with these inputs. (See Figure 4). If any of
the logic inputs is left open, the circuit will treat it has 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.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, which triggers the pulse generator.
The max peak current Imax can be defined by:
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
10/15
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.
L6219DSA Functional description
11/15
Internal circuitry is added in order to increase the accuracy of the motor current particularly
with low current levels.
2.6 V
S
, V
SS
, V
Ref
The circuit will stand any order of turn-on or turn-off 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.
Application information L6219DSA
12/15
3 Application information
Some stepper motors are not designed for contin-uous 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
L6219DSA Package information
13/15
4 Package information
In order to meet environmental requirements, ST offers these devices in ECOPACK®
packages. These packages have a Lead-free second level interconnect. The category of
second Level Interconnect is marked on the package and on the inner box label, in
compliance with JEDEC Standard JESD97. The maximum ratings related to soldering
conditions are also marked on the inner box label.
ECOPACK is an ST trademark. ECOPACK specifications are available at: www.st.com.
Figure 6. SO24 mechanical data and package dimensions
OUTLINE AND
MECHANICAL DATA
DIM.
mm inch
MIN. TYP. MAX. MIN. TYP. MAX.
A 2.35 2.65 0.093 0.104
A1 0.10 0.30 0.004 0.012
B 0.33 0.51 0.013 0.200
C 0.23 0.32 0.009 0.013
D
(1)
15.20 15.60 0.598 0.614
E 7.40 7.60 0.291 0.299
e 1.27 0.050
H 10.0 10.65 0.394 0.419
h 0.25 0.75 0.010 0.030
L 0.40 1.27 0.016 0.050
k 0˚ (min.), (max.)
ddd 0.10 0.004
(1) “D” dimension does not include mold flash, protusions or gate
burrs. Mold flash, protusions or gate burrs shall not exceed
0.15mm per side.
SO24
0070769 C
Weight: 0.60gr
Revision history L6219DSA
14/15
5 Revision history
Table 7. Document revision history
Date Revision Changes
12-Nov-1998 1 First Issue
29-Apr-2008 2 Document reformatted.
05-Sep-2008 3 Added note 1 in Table 5 on page 8.
L6219DSA
15/15
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