K   DIC218

Bulletin No
I02 EB0
(Jul,2000)

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

Motor Driver ICs

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

Contents
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

Contents

1

Motor Driver ICs

Selection Guide
■2-Phase Stepper Motor Unipolar Driver ICs
Excitation
method

1
SLA7022MU
SMA7022MU

2-phase
excitation

1.2

Output current (A)
1.25

1.5

SLA7029M
SMA7029M
SMA7036M
SDK03M
SLA7027MU
UCN5804B

2-phase/
1-2 phase
excitation

SLA7024M
SLA7032M

2W1-2 phase
Micro-step support

SLA7042M

Motor supply
Package
Remarks
voltage (V)
to 46
ZIP15Pin
to 46
ZIP15Pin
to 46
ZIP15Pin
to 46
ZIP15Pin
to 46
ZIP15Pin
to 46
SMD16Pin 1 motor driven by 2 packages
to 46
ZIP18Pin
Internal sequencer,
to 35
DIP16Pin
constant voltage driver
to 46
ZIP18Pin
to 46
ZIP18Pin
SLA7026M
to 46
ZIP18Pin
SLA7033M
to 46
ZIP18Pin
to 46
ZIP18Pin
SLA7044M
to 46
ZIP18Pin
3

Page
5
5
5
5
12
36
20
42
20
28
20
28
44
44

■Serial Signal Generator IC for SLA704xM
PG001M

Supply voltage (V)
4.5 to 5.5

Package
DIP16Pin

page
48

■2-Phase Stepper Motor Bipolar Driver ICs
Excitation
method

0.65
A3966SA
A3966SLB

Output current (A)
0.8
1.3

0.75

UDN2917EB

Motor supply
voltage (V)
Vcc to 30
Vcc to 30
Vcc to 30
Vcc to 50
Vcc to 50
10 to 45
Vcc to 50
Vcc to 50
Vcc to 50
10 to 45
10 to 45
10 to 45

DIP16Pin
SOP16Pin
SOP20Pin
DIP16Pin
SOP16Pin
ZIP18Pin
DIP16Pin
SOP16Pin
SIP12Pin
DIP24Pin
SOP24Pin
PLCC44Pin

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

1.5

2

A3964SLB
A3953SB
A3953SLB

2-phase/
1-2 phase
excitation

2-phase/1-2
phase/W1-2
phase excitation

A2918SW
A3952SB
A3952SLB
A3952SW
UDN2916B
UDN2916LB

2W1-2 phase
excitation/
micro-step
support
4W1-2 phase
excitation/microstep support

■3-Phase Stepper Motor Driver Control ICs
Excitation method

Part No.

2-phase/
2-3 phase excitation

SI-7600
SI-7600D

Motor supply
voltage (V)
15 to 45

Package
SOP20Pin
DIP20Pin

Remarks
Use with SLA5017 or others

Page
98

■5-Phase Stepper Motor Driver Control ICs

2

Drive method

Part No.

Pentagon
connection

SI-7502

Selection Guide

Motor supply
voltage (V)
15 to 42

Package

Remarks

Powder
Use with SLA6503 and SLA5011
coating 27 pin

Page
104

Package

Remarks

One motor driven by 2 ICs
One motor driven by 2 ICs
One motor driven by 2 ICs
One motor driven by 2 ICs
One motor driven by 2 ICs

Page
54
54
58
60
60
68
70
70
70
78
78
84

5 SDK03M 1 to 46 SI-7502 − 15 to 42 SI-7600 − 15 to 45 SI-7600D − 15 to 45 SLA7022MU SLA7024M SLA7026M SLA7027MU SLA7029M SLA7032M SLA7033M SLA7042M SLA7044M SMA7022MU SMA7029M SMA7036M 1 1.3 VCC to 50 1.25 to 35 Unipolar UDN2916B 0. A2918SW A3952SB A3952SLB A3952SW A3953SB A3953SLB A3955SB A3955SLB A3957SLB A3964SLB A3966SA A3966SLB Output current Supply voltage (A) (V) 1.5 to 5.5 1.5 VCC to 50 0.5 10 to 45 2 VCC to 50 2 VCC to 50 2 VCC to 50 1.5 10 to 45 Bipolar Remarks One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs One motor driven by 2 ICs Serial signal generator IC for SLA704xM One motor driven by 2 ICs SMD16pin Powder coat Control IC 27pin Page 68 70 70 70 60 60 88 88 94 58 54 54 48 36 104 2-phase/2-3 phase excitation SOP20pin Control IC 98 2-phase/2-3 phase excitation DIP20pin Control IC 98 2-phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2W/1-2 phase micro-step support 2W/1-2 phase micro-step support 2-phase excitation 2-phase excitation 2-phase excitation ZIP15pin ZIP18pin ZIP18pin ZIP18pin ZIP15pin ZIP18pin ZIP18pin ZIP18pin ZIP18pin ZIP15pin ZIP15pin ZIP15pin SLA7024M equivalent SLA7026M equivalent 5 20 20 20 5 28 28 44 44 5 5 12 2-phase/1-2 phase excitation DIP16pin 2-phase/1-2 phase/W1-2 phase excitation 2-phase/1-2 phase/W1-2 phase excitation 2-phase/1-2 phase/W1-2 phase excitation SMA7029M equivalent Internal sequencer.5 UCN5804B Drive method Excitation method Package Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar Bipolar 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2W/1-2 phase micro-step support 2W/1-2 phase micro-step support 4W/1-2 phase micro-step support 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation 2-phase/1-2 phase excitation ZIP18pin DIP16pin SOP16pin SIP12pin DIP16pin SOP16pin DIP16pin SOP16pin SOP24pin SOP20pin DIP16pin SOP16pin − − DIP16pin Unipolar 2-phase/1-2 phase excitation Pentagon connection 5-phase excitation to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 to 46 Star connection/ delta connection Star connection/ delta connection Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar Unipolar 1.Motor Driver ICs Product Index by Part Number Part No.8 VCC to 30 0. constant voltage driver 42 DIP24pin 78 SOP24pin 78 PLCC44pin 84 Product Index by Part Number 3 .3 VCC to 50 1.5 3 1.75 10 to 45 Bipolar UDN2916LB 0.2 3 1 1.65 VCC to 30 PG001M − 4.5 3 1 1.65 VCC to 30 0.75 10 to 45 Bipolar UDN2917EB 1.5 VCC to 50 1.5 VCC to 50 1.5 1.

0 [kgf•cm]) ● Recommended silicon grease Shin-Etsu Chemical Co. This method has the advantage of improving the motor's high frequency response and the efficiency response and efficiency of the driver circuitry. ■Handling Precautions ● Recommended screw torque 0. a voltage higher than ● Integrates power MOSFETs and monolithic chip control cir- the rated voltage of the motor is applied and when the current cuitry in a single package. ● Lineup: 2-phase excitation.588 to 0. ● Sheet feeders and carriage drivers in printers. ● Industrial robots. Ltd. which will result in an extremely short product life.Motor Driver ICs Notes on SLA7000/SMA7000 Series ■Features ■Constant Current Chopper Method ● Employs a constant-current chopper control method. In the constant current chopper method. the coil current is held by the PWM chopper to a constant current level determined by the current sense resistor..: YG-6260 Dow Corning Toray Silicone Co.784 [N•m](6. 2-phase/1-2 phase excitation. After the current rises. ● Reduces the size of power supplies required. rises. holding mode VCC 3 SLA7024M.. ● Numeric control equipment. Comparison of power dissipation. SLA7029M SMA7029M 2 IO=1A 1 0 0 10 20 30 40 50 Supply voltage VCC (V) ● Eliminates the need for heatsink thereby decreasing part-insertion workload and increasing flexibility in mounting. ● Sheet feeders for PPC and facsimile machines. the chopper transistor is switched on thereby shortening ● One-fifth the size and one-fourth the power dissipation compared with conventional SANKEN ICs the current rise time. Basic constant current chopper circuitry 8 Transient-suppression diode Power dissipation PH (W) 7 Motor coil 6 5 Sanken product: SI-7300A IO=1A 4 Motor : 23LM-C202 IO: Output current 2-phase excitation.0 to 8. 2W1-2 phase micro-step support ICs ■Applications The SLA7000 and SMA7000 series are ideal for the following applications. Ltd.. Ltd.: G746 GE Toshiba Silicone Co. 4 Current sense resistor Notes on SLA7000/SMA7000 Series PWM control and phase switching Used as both chopper control MOSFET and phase switching MOSFET .: SC102 Please be careful when selecting silicone grease since the oil in some grease may penetrate the product.

4V.8 ID=1A 0.1 V S=24V.4V.85 ID=1A. ID=0.8 VDSS=100V 2 VDSS=100V 0.0 (Without Heatsink) 28(TC=25°C) +150 −40 to +150 Units V V V V V A W W °C °C ■Electrical Characteristics (Ta =25°C) Ratings Parameter Symbol SLA7022MU typ max 10 15 V S=44V 10 24 44 100 VS =44V. VS =14V 4 VDSS=100V. ID=0.5 (Without Heatsink) 35 (TC=25°C) 1 1.8 VDSS=100V 2 VDSS=100V 0.8A 0.4V.8 ID=1A 0. VS=44V 2 ID=1A 0. ID=1A 0.SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 2-Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Symbol Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current VCC VDSS VS V IN V REF IO P D1 P D2 Tch Tstg Power dissipation Channel temperature Storage temperature (Ta =25°C) Ratings SLA7022MU SLA7029M SMA7022MU SMA7029M 46 100 46 7 2 1 1. VS =44V 2 ID=1A 0.8 ID=1A 0. IDSS=250 µA 0.4V.7 V S=24V.8 VIL=0. ID=1A Units min mA V V V mA V µA mA V V µs SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 5 . VS =44V −0.2 ID=1A 40 VIH=2.1 VS=24V. ID=0.2 ID=1A 40 VIH=2.8A min SMA7029M typ max 10 15 V S=44V 10 24 44 100 VS=44V.7 VS =24V.5 VS=24V.5 4.5 V S=24V. ID=0.1 ID=1A 40 VIH=2.8 VIL=0.8A 0. V S=44V 1. ID=1A 0. ID=1A 0.8A min Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage DC characteristics FET drain leakage current FET diode forward voltage TTL input current TTL input voltage (Active High) AC characteristics TTL input voltage (Active Low) Switching time IS Condition VS VDSS Condition V DS Condition IDSS Condition V SD Condition IIH Condition IIL Condition VIH Condition VIL Condition VIH Condition VIL Condition Tr Condition T stg Condition Tf Condition min SLA7029M typ max 10 15 V S=44V 24 44 10 100 VS =44V. VS=44V −0.6 ID=1A. VS =14V 4 VDSS=100V. VS =44V −0.8 V IL=0.7 VS=24V.8 VDSS=100V 2 VDSS=100V 0. ID=0.8A 0.6 ID=1A. IDSS=250 µ A 0.5 4.1 ID=1A 40 VIH=2. VS=14V 4 VDSS=100V.7 VS=24V. ID=0. V S=44V 2 ID=1A 0.4V.4V.5 VS=24V. VS =44V −0. IDSS=250 µA 0.1 VS =24V.5 VS =24V. VS =44V 1. VS =44V 2 ID=1A 0. ID=1A 0. ID=1A SMA7022MU typ max 10 15 VS =44V 10 24 44 100 VS=44V.1 VS=24V.8 ID=1A 0.8 VDSS=100V 2 VDSS=100V 0.85 ID=1A.8A 0. VS=44V 1.8 V IL=0. VS=44V 1.4V.4V. VS =14V 4 VDSS=100V. IDSS=250 µA 0.

10.8Ω typ(7022MU) (1 to 2W) 1Ω typ(7029M) . 15pin Description of pins 4 12 TDB REFB 3 GNDB 2 1pin 6pin 10pin 15pin + – + – GNDA 7 REFA + – TDA RSA + – Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B Reg RSB Reg 13 11 9 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Excitation signal time chart 2-phase excitation VCC (46V max) + clock 0 1 2 3 0 1 IN A IN B H L H H L H L L H L H H 1-2 phase excitation Vb (5V) 8 VS r3 6 10 15 r1 r4 INA 2 11 C1 1 TdA TdB INB C2 r2 Rs r5 GA 4 C4 r6 Rs Open collector 6 14 INA INB 0 H L L L 1 H L L H 2 H L H L 3 H H H L 4 L L H L 5 L L H H 6 L L L L 7 L H L L 0 H L L L 1 H L L H 2 3 H H L H H H L L ● tdA and tdB are signals before the inverter stage. RSA REFA REFB RSB 7 3 13 9 C3 tdA 5 clock IN A td A IN B td B tdB SLA7022MU/SLA7029M/SMA7022MU/SMA7029M GB 12 r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 330 to 500pF 330 to 500pF 2200pF 2200pF 1.4kΩ 2.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Internal Block Diagram 8 INB 5 VS 1 INA 6 10 14 15 1. 6.

6 +0.1 +0.15 –0.6 Epoxy resin package 4.5max 10.42 31.8 1.1 0.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■External Dimensions SLA7022MU/SLA7029M +1 9.55 –0.7 ±0.7 P2.2±0.3±0.1 +0.4 6.5 9.2 31±0.5±0.62±0.6±0.15 (3) 6. 4.2 0.15 –0.2 1 2 3 · · · · · · · 15 12 3 · · · · · · · 15 Forming No.2 16.4±0.4=28.55 –0. No.15 (Unit: mm) 31.2 0.6 +0.6±0.2 2.7 –0.15×3. No. Lot No.1 (3) R-End 3±0.3 +0.1054 Forming No.6 2.42 1.1 +0.6 +0.2±0.15 (9.2±0. Part No.03±0.6 ±0. No.16±0.1 (5.853 Forming No.55 –0. 1.65 –0.5 1.42±0.2±0.2 4±0.1 4±0.2 12 3 · · · · · · · 15 1 2 3 · · · · · · · 15 Forming No.7±0.3±0.2 +0.5±0.6) +0.42±1.8 0.03±0. No.2 16 ±0.2 Part No.2 0.1 1.6 2.2 30° 8.2 1.2 φ 3.7 14×P2.1 1.03±0.8±0.03±0.2 24.1×14=28.65 –0.2 1.1 31±0.2 P2.7=28.5) (4.7) Lot No.2 1.1055 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 7 .1×14=28.1 6.2 0.2±0.0 14×P2.2 –0.45±0.45±0.65 –0.5 +0.2 13 ±0.1 3 ±0.1 0.6 7.9 ±0.9) (7.55 –0.4±0.2 φ 3.2 0.16 +0.855 ■External Dimensions SMA7022MU/SMA7029MA (Unit: mm) Epoxy resin package 4±0.7±0.

.. 4 Output current IO vs..... 2 Normal mode Vb(5V) r6 (2) Power down mode r1 The circuit in Fig..) V b .. 1 rX= 1 1 Vb −1 − r1 Rs • IOPD r2 Fig... 1 Waveform of coil current (Phase A excitation ON) Fig..5Ω 1.......... (2) RS C3 7..(13) r2 7...... 5 Output current IOPD vs....(9) C3 Tr RS Fig.............. the response from RS to the comparator becomes slow......0 RS =1Ω 0.(13) coil current.. Hence the value of the output current IO is somewhat higher than the calculated value.. ..2...3 (rx and Tr) is added in order to decrease the r5 3.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Application Notes ■Determining the Output Current Fig.. 4 and 5 show the graphs of equations (1) and (2) respec- r6 tively.. 3 Power down mode Vb(5V) Fig..... (See Fig.(9) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx..... Variable current sense resistor rx 2..... Current sense resistor RS Fig...... To prevent chopping malfunctions..8Ω 1......0 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 0 1 2 3 4 Current sense resistor RS (Ω) (NOTE) Ringing noise is produced in the current sense resistor RS when the MOSFET is switched ON and OFF by chopping.... IO is then determined as follows.......... r1 r5 rx Power down signal 3...... This noise is also generated in feedback signals from RS which may therefore cause the comparator to malfunction.....5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) However...5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0........ 8 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Output current IOPD (A) Output current IO (A) 4 RS =0.... 1 IOPD ≅ r1(r2+rX) 1+ • r2 V b .. The method of determining the peak value of the output current (IO) based on this waveform is shown below.r 2: Voltage-divider resistors for the reference supply voltage Phase A RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation....... when the values of these constants are increased. r 5(r6) and C3(C4) are added to act as a noise filter. (Parameters for determining the output current IO) Phase A 0 Vb: Reference supply voltage r1. r2 (1) IO ≅ • r1+r2 RS Fig... 1 shows the waveform of the output current (motor coil curIO rent).

6 0. 20 30 VC 20 ■Chopper frequency vs. Supply voltage =2 VCC 0 0 2 25 V =36 30 35 40 40 40 Motor : 23LM-C202 IO = 0.0 IO (A) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 9 . The chopping OFF time T OFF is fixed by r 3/C1 and r4/C 2 60 connected to terminal Td. Motor coil resistance Determining T OFF The SLA7000M and SMA7000M series are self-excited choppers.8A at VCC=24V RS=1Ω 20 f (kHz) 50 30 r3 = r4 = 47kΩ 500pF C1 C2 TOFF =12µs RS =1Ω Lm =1~3ms Rm 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) ■Chopper frequency vs. Output current 50 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 10 0 C 4V 10 T OFF = 12µs at r3=47kΩ.4 0.8 1. C1=500pF.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) ■Determining the chopper frequency SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Fig. Vb=5V f (kHz) 40 Chopping frequency f (kHz) The circuit constants and the T OFF value shown below are rec- ON time TON (µ s) T OFF can be calculated using the following formula: 2 2 TOFF≅−r3 • C1rn (1− =−r4 • C2rn (1− ) Vb Vb 15 0 10 20 30 VCC (V) 40 50 0 0 0. 6 Chopper frequency vs.2 0. 50 ommended.

8 VC C =4 V 36 0. SMA7029M 1.015×VS (W) 2 (3) Obtain the temperature rise that corresponds to the calcu- (1)Obtain the value of P H that corresponds to the motor coil current IO from Fig.8A Ta=25°C VCC=24V. 7 "Heat dissipation per phase PH vs.4 0.4 0. Output current IO.4 0. VS=24V 2-phase excitation 10 5 0 200 500 Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 35 SLA7029M Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0." Fig.2 0 0 0. 8 "Temperature rise.8 Output current IO (A) 1.2 0. VS=24V 2-phase excitation 10 5 500 1K SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 Response frequency (pps) 10 1K SMA7029MU 35 0 200 500 Response frequency (pps) Response frequency (pps) Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.6 0.6 Motor : 23LM-C202 Holding mode V 24 5V 1 0.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula.015×VS (W) 1-2 phase excitation: Pdiss ≅ 3 P H+0. An outline of the method for calculating heat dissipation is shown below. 7 Heat dissipation per phase PH vs. VS=24V 2-phase excitation 10 5 0 200 500 Response frequency (pps) 1K . Output current IO SLA7022MU.0 Fig. 8 Temperature rise SMA7000M series SLA7000M series 150 150 j ∆T ∆Tj–a ∆TC–a (°C) Natural cooling Without heatsink 50 0 j 100 C ∆T ∆Tj–a (°C) ∆TC–a ∆T 100 C ∆T Natural cooling Without heatsink 50 0 1 2 3 Total Power (W) 4 0 5 0 1 2 3 Total Power (W) 4 Thermal characteristics SLA7022MU 30 Without heatsink Natural cooling 30 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.0 0 0.2 1 4V 0.6 0. VS=24V 2-phase excitation 10 5 0 200 1K SMA7022MU Without heatsink Natural cooling 30 25 TC ( 4 pin) 20 15 Motor : PH265-01B Motor current IO=0.8A Ta=25°C VCC=24V.2 Output current IO (A) 0. ASMA7022MU SLA7029M.8A Ta=25°C VCC=24V." lated value of Pdiss from Fig.6 VCC V V =44 Motor : 23LM-C004 V Holding mode 15 24V 0.2 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.8 1.0 0. 2-phase excitation: Pdiss ≅ 2PH+0.8 36 0.2 0 1.4 0.8A Ta=25°C VCC=24V.

4A 0.0 0.2A 0 Supply voltage VCC (V) 10 20 30 40 50 Supply voltage VCC (V) ■Torque Characteristics SLA7022MU.5 Motor : 23LM-C202 Output current IO =0. SMA7022MU 2. Supply Current ICC SLA7029M.5 0 100 500 1K 5K Response frequency (pps) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 11 .0 SLA7029M.0 1.2A 0 10 20 30 40 200 IO=1A 100 0 50 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 0.5A 0.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M ■Supply Voltage VCC vs. SMA7029M 1.5 Motor : PX244-02 Output current IO =0.6A Motor supply voltage VCC =24V 2-phase excitation 1. SMA7022MU 500 0.0 0. SMA7029M 500 400 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Supply current ICC (mA) Supply current ICC (mA) SLA7022MU.8A Motor supply voltage VCC =24V 2-phase excitation 1.5 0 100 500 1K Response frequency (pps) 5K Pull-out torque (kg-cm) Pull-out torque (kg-cm) 2.

1 ISD=1A 250 VDSS=100V. V S=10V 1.3 to +7 −0. ID=1A 12 VS =24V µA Ω µs µs .1 VS =44V.0 Reference voltage input 4.9 VS =24V.0 (Ta =25°C) 28 (Tc=25°C) 150 −40 to +150 −20 to +85 Units V V V V V V V A W W °C °C °C ■Electrical Characteristics Parameter Symbol IS Condition Control supply voltage VS FET Drain-Source VDSS voltage Condition VDS FET ON voltage Condition VSD FET diode forward voltage Condition IDSS FET drain leakage current Condition V IH Condition Active H VIL Condition V IH IN terminal Condition Active L VIL Condition II Input current Condition VSYNCH Condition Input voltage V SYNCL Condition SYNC terminal ISYNCH Condition Input current ISYNCL Condition V REF Input Condition voltage V REF Condition REF terminal IREF Input Condition current RREF Internal resistance Condition Ton Condition Tr Condition Switching time Tstg min AC characteristics DC characteristics Control supply current Chopping OFF time 12 SMA7036M Condition Tf Condition TOFF Condition 10 100 Ratings typ 10 VS =44V 24 max 15 44 Units mA V V VS =44V.8 V Asynchronous chopping mode 0. VYS=0V 0 2. IDSS=250 µA 0.1 VS =24V.SMA7036M 2-Phase Excitation 2-Phase Stepper Motor Unipolar Driver IC ■Absolute Maximum Ratings Parameter Motor supply voltage Control supply voltage FET Drain-Source voltage TTL input voltage SYNC terminal voltage Reference voltage Sense voltage Output current Power dissipation Channel temperature Storage temperature Ambient operating temperature Symbol V CC VS VDSS VIN VSYNC VREF V RS IO PD1 PD2 Tch Tstg Ta Ratings 46 46 100 −0.3 to +7 −0.5 4.8 V ID=1A ±1 V S=44V. ID=1A 0.6 ID=1A.1 mA VS =44V. ID=1A 0.5 VS =24V. VI=0 or 5V µA 4.5 VS =24V.3 to +7 −5 to +7 1.8 V V DSS=100V 2 V DSS=100V 0.5 V Output FET OFF ±1 No synchronous trigger 40 Resistance between GND and REF terminal at synchronous trigger 1. VS =44V V V µA 2 ID=1A 0. ID=1A 0.0 Synchronous chopping mode 0. VYS=5V −0.0 5.

6. Oscillator MOSFET gate drive circuit Reg. 10. 15pin Description of pins Reg.2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M ■Internal Block Diagram 5 8 14 10 15 Vs IN B 6 IN A 1 1. Chopping blanking timer (5 µ s typ) Chopping OFF timer (12 µ s typ) Chopping blanking timer (5 µ s typ) + + − − 12 11 Rs B SYNC B 13 GND B 3 REF B REF A 4 GND A Synchronous chopping circuit SYNC A Rs A 2 MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) Synchronous chopping circuit 7 1pin 6pin 10pin 15pin Oscillator Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B 9 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Vcc (46V max) + Excitation signal time chart 8 1 6 10 2-phase excitation 15 VS 2 SyncA INA 5 INB 14 INA SMA7036M Vb (5V) 11 PchMOS SyncB r1 RsA 7 r2 Rs RefA RefB 3 13 RsB 9 GA 4 GB INB clock IN A IN B 0 H L : r1 : r2 RS (1 to 2W) : PchMOS : Inv : 1 H H 2 L H 3 L L 0 H L 1 H H 8kΩ 2kΩ (VR) 1Ω typ HN1J02FU (Toshiba) 7404 12 Rs Inv Disable (High Active) SMA7036M 13 .

No.1054 14 SMA7036M Forming No.5max 10.1 4±0.03±0.2 30° 8.1 1.5 1.42 1.65 –0.2 12 3 · · · · · · · 15 1 2 3 · · · · · · · 15 Forming No.2±0.1×14=28.15 1. (4.2 +0.16 +0.15 0.6 +0.62±0. Part No.03±0.7 ±0.2 (3) 0.6) 2.1 1.5±0.2 –0.1×14=28.9) (7. No.2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M ■External Dimensions (Unit: mm) Epoxy resin package 4±0.2±0.5) P2.6 (9.1 (5.6 ±0.2 0.3 +0.45±0.2 0.55 –0.1055 +0.42 31.7) 6.7 P2.2 .16±0.1 Lot No.1 3 ±0.55 –0.2 31±0.

external parts without sacrificing the features of SMA7029M. (r5. and C2 in the catalog) (2) Remove the resistors and capacitors attached for preventing noise in the detection voltage VRS from causing malfunctioning and short the sections from which the resistors were re- SYNC_A TTL. the following preparations are necessary: ground the SYNC terminals (TTL not necessary). determine these values for when the motor is not run- terminals open because they are for CMOS input. set the TTL signal high (SYNC SMA7029M. r6. The figure below shows the internal circuit of the REF tween phases A and B. If chop- ■Notes on Replacing SMA7029M ping is set to synchronous when the motor is running.2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M Application Notes ■Outline Connect TTL or similar to the SYNC terminals and switch the SMA7036M is a stepper motor driver IC developed to reduce the number of external parts required by the conventional SYNC terminal level high or low.) Sync/async switching signal ONE SHOT (tw=2 µ S) FET A/A gate drive signal ONE SHOT (tw=2 µ S) FET B/B gate drive signal VREF waveform VREF 0 ■Synchronous circuit operating waveform VREF Phase A 0 VRS VREF Phase B 0 VRS Synchronous circuit OFF Synchronous circuit ON SMA7036M 15 . 5V SMA7036M R1 VREF R2 3 REF_A 14 REF_B To comparator (high impedance) 40 Ω (typ. For details. The built-in synchronous chopping circuit superimposes a trigger signal on the REF terminal for synchronization between the two This phenomenon is attributable to asynchronous chopping be- phases. 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. Since the ∆ VREF varies depending on the values of R1 and R2." (Low: asynchronous. and C4 in the catalog) (3) Normally. see "Circuit for Preventing Abnormal Noise When the Motor Is Not Running (SynSYNC voltage : Low → Chopping asynchronous SYNC voltage : High → Chopping synchronous chronous circuit). When the motor is running. Do not leave the SYNC terminal. keep pins 2 and 11 grounded because their functions have changed to synchronous and asynchronous SMA7036M switching (SYNC terminals). SYNC_B moved using jumper wires. the motor torque deteriorates before the coil current reaches the set value. C3. When the motor is not running.) 40 Ω (typ. (r3. ning within the range where the two phases are synchronized. When using If no abnormal noise occurs when the motor is not running. C1. set the TTL signal low (SYNC terminal voltage: 0.8 V or less) to make chopping asynchronous. r4. The basic function pins are compatible with those of SMA7029M. the IC on an existing board. SMA7036M contains a synchronous chopping circuit. etc. This IC successfully eliminates the need for some terminal voltage: 4 V or more) to make chopping synchronous. To prevent the phenomenon. (1) Remove the resistors and capacitors attached for setting the chopping OFF time. SMA7036M is pin-compatible with SMA7029M.

..... 5 Output current IOPD vs....... 2 Normal mode Vb(5V) (2) Power down mode r1 The circuit in Fig..3 (r x and Tr) is added in order to decrease the 3...(13) coil current...5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) ... Variable current sense resistor rx 2.. (See Fig...) r2 Vb ......5Ω 1.....2................. I O is then determined as follows.. r1 3...... rX= 1 1 Vb r1 Rs • IOPD −1 − 1 Fig. 3 Power down mode r2 Vb(5V) Fig....... 1 shows the waveform of the output current (motor coil curIO rent).5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.. Current sense resistor RS Fig.......(9) Tr RS Fig... (Parameters for determining the output current I O) Phase A 0 Vb: Reference supply voltage r1...... (2) RS 7.......0 3 r2 · Vb IO= r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V 2 1 0 0 1 2 3 Current sense resistor RS (Ω) 16 SMA7036M 4 Output current IOPD (A) Output current IO (A) 4 RS =0............8Ω 1..2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) ■Determining the Output Current SMA7036M Fig. 1 IOPD ≅ • r1(r 2+rX) 1+ r2 V b .... 4 and 5 show the graphs of equations (1) and (2) respectively.(13) rx Power down signal r2 7..(9) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx.. (1) IO ≅ • r1+r2 RS Fig......... 1 Waveform of coil current (Phase A excitation ON) Fig. The method of determining the peak value of the output current (IO) based on this waveform is shown below.. 4 Output current IO vs.......r2: Voltage-divider resistors for the reference supply voltage Phase A RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation.........0 RS =1Ω 0..

6 0. 6 "Heat dissipation per phase PH vs.2 0 0 0. Output current IO." formula.0 ∆T 0.2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) ■Thermal Design (2) The power dissipation Pdiss is obtained using the following An outline of the method for calculating heat dissipation is shown below.8 0.0 0 0 1 2 3 Total Power (W) 4 Thermal characteristics Case temperature rise ∆TC–a (°C) 30 Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0." Fig.6 VCC =44 V 24V 0. Output current IO 1. 6 Heat dissipation per phase PH vs.8 Output current IO (A) 1. VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) SMA7036M 17 . 7 "Temperature rise.015×V S (W) 2 (3) Obtain the temperature rise that corresponds to the calcu1-2 phase excitation: Pdiss ≅ lated value of Pdiss from Fig.2 Fig. 2-phase excitation: Pdiss ≅ 2PH +0.015×V S (W) 3 PH +0.8A Ta=25°C VCC=24V.4 j 100 V 36 Motor : 23LM-C004 Holding mode V 15 ∆Tj–a (°C) ∆TC–a Heat dissipation per phase PH (W) SMA7036M C ∆T Natural cooling Without heatsink 50 0. 7 Temperature rise 150 1.2 0.4 0. (1) Obtain the value of P H that corresponds to the motor coil current IO from Fig.

6 0. Output current f (kHz) f (kHz) ■Chopper frequency vs.8A at VCC=24V RS=1Ω 20 10 0 1K 5K ■Chopper frequency vs. be sure to take sufficient precautions.8A Motor supply voltage VCC =24V 2-phase excitation 1. Observe the following precautions.0 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Pull-out torque (kg-cm) Supply current ICC (mA) 500 1. Since static electricity is particularly a problem during the winter. ● Carefully control the humidity of the room to prevent the buildup of static electricity.2A 0 10 20 30 40 Motor : 23LM-C202 Output current IO =0.8 1.5 0.5 0. Supply voltage 30 500 Response frequency (pps) Supply voltage VCC (V) 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 0 10 20 30 40 50 0 0 0. ● Take care to make sure that static electricity is not applied to the IC during wiring and assembly. 18 SMA7036M .0 0 50 100 50 50 40 40 Motor : 23LM-C202 IO = 0.2 VCC (V) 0. Take precautions such as shorting the terminals of the printed wiring board to ensure that they are at the same electrical potential.2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) ■Supply Voltage VCC vs.5A 0. Supply Current ICC SMA7036M ■Torque Characteristics 2.0 IO (A) ■Handling Precautions The input terminals of this product use C-MOS circuits.4 0.

SMA7036M 19 .

4V. IDSS=250µA 0.1 VS =24V.2 1.5 VS =24V. VS =14V V DSS=100V.1 VS=24V. VS =44V 2 ID=1A ID=3A 0. ID=0.SLA7027MU/SLA7024M/SLA7026M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Symbol Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current VCC V DSS VS VIN VREF IO PD1 PD2 Tch Tstg Power dissipation Channel temperature Storage temperature (Ta=25°C) Ratings SLA7024M 46 100 46 7 2 1. ID=1A 0.7 VS =24V.5 VS=24V. VS =44V −0.7 V S=24V.8 VIH=2.8 ID=1A 0.8 ID=1A 0. VS =44V ID=1A mA V ID=3A.4V.8 2 VDSS=100V 0.85 ID=1A.4V.8 ID=3A 0. IDSS=250 µA 0.7 VS=24V.85 4 4 1.5 (Without Heatsink) 35 (TC=25°C) +150 −40 to +150 SLA7027MU 1 Units SLA7026M V V V V V A W W °C °C 3 ■Electrical Characteristics Parameter Symbol min IS Condition Control supply voltage VS VDSS FET Drain-Source voltage Condition VDS FET ON voltage Condition IDSS FET drain leakage current Condition VSD FET diode forward voltage Condition IIH Condition TTL input current IIL Condition V IH TTL input voltage Condition (Active High) VIL Condition V IH TTL input voltage Condition (Active Low) VIL Condition Tr Condition Tstg Switching time Condition Tf Condition AC characteristics DC characteristics Control supply current 20 10 100 SLA7027MU/SLA7024M/SLA7026M SLA7027MU typ 10 VS =44V 24 max 15 min 44 10 100 VS =44V. VS=44V 40 VIH =2. VS =44V −0.8 VIL=0.8 VDSS=100V 0. VS=44V ID=1A 44 0. AV S=14V 2 SLA7026M typ 10 VS =44V 24 VDSS=100V 0.4V.6 ID=1A.4V. ID=1A 0. IDSS=250 µA Ratings SLA7024M typ 10 VS=44V 24 max 15 min 44 10 100 VS=44V. ID=0.3 ID=3A 40 VIH=2.8A 0.8 VDSS=100V 2 V mA V µA mA V VDSS=100V 2 VDSS=100V V 2 ID=1A 0. VS =44V Units max 15 VS =44V.4V.1 40 2. ID=1A V µs . VS=44V −0. VS=44V V IL=0. ID=1A 0.8A 4 V DSS=100V.8A 0.5 V S=24V. ID=0.8 V IL=0. ID=1A 0. ID=1A 0. VS=14V VDSS=100V.1 V S=24V.5 4.

68Ω typ(7026M) 1.68Ω typ(7026M) 1.4kΩ 2. 11. 18pin Description of pins 2 3 14 13 1 8 11 18 input Active L OUTA OUTA OUT B OUT B RSB GB TDB REFB 4 Pin Pin Pin Pin + – + – REFA 9 + – TDA GA RSA + – Excitation Active H OUTA OUTA OUT B OUT B 15 10 ■Diagram of Standard External Circuit(Recommended Circuit Constants) Active High VCC (46V max) Excitation signal time chart 2-phase excitation + Vb (5V) r3 7 12 8 VSA VSB OUTA 11 OUTB r1 r4 2 C1 1 18 OUTA OUTB 13 C2 TdA TdB INA SLA7024M 7026M 7027MU RSA REFA REFB RSB 9 3 14 10 r2 C3 INA INB INB GB 15 GA 4 6 5 17 16 r6 0 H L H L 1 L H H L 2 L H L H 3 H L L H 0 H L H L r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : Rs : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1Ω typ(7024M) (1 to 2W) 0.4kΩ 470pF 470pF 2200pF 2200pF 1Ω typ(7024M) (1 to 2W) 0.4kΩ 2.8Ω typ(7027MU) 1 H L L H INA INA INB Active Low INB 1-2 phase excitation clock IN A IN A IN B IN B 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H : : : : : : : : : : : 3 H L L H SLA7027MU/SLA7024M/SLA7026M 21 . 8.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M 12 Reg Reg 17 16 18 IN B 7 VSB 5 VSA 6 IN A 1 IN A 8 IN B ■Internal Block Diagram 11 1.8Ω typ(7027MU) 1 L H H L INA INA INB Active High INB 1-2 phase excitation clock IN A IN A IN B IN B C4 r5 Rs clock IN A IN A IN B IN B Rs 0 H L L L 1 H L H L 2 L L H L 3 L H H L 4 L H L L 5 L H L H 6 L L L H 7 H L L H 0 H L L L 1 H L H L 2 L L H L 3 L H H L Active Low VCC (46V max) Excitation signal time chart 2-phase excitation + Vb (5V) r3 C1 7 12 8 1 18 VSA VSB OUTA OUTA OUTB 11 OUTB r1 r4 C2 r2 2 TdA TdB 13 C3 Rs INA SLA7024M 7026M 7027MU RSA REFA REFB RSB 9 3 14 10 C4 r5 r6 Rs clock IN A IN A IN B IN B INA INB GA 4 INB GB 15 6 5 17 16 0 L H L H 1 H L L H 2 H L H L 3 L H H L 0 L H L H r1 r2 r3 r4 r5 r6 C1 C2 C3 C4 Rs 510Ω 100Ω(VR) 47kΩ 47kΩ 2.

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)

SLA7027MU/SLA7024M/SLA7026M

■External Dimensions

+0.2

+0.2

0.65 –0.1

1 –0.1
17×P1.68±0.4=28.56±1

+0.2

+0.2

0.65 –0.1

1 –0.1

+0.2

0.55 –0.1
4±0.7

2.2±0.6
6±0.6
7.5±0.6

17×P1.68±0.4=28.56±1

31.3±0.2

1 2 3 · · · · · · · 18

Forming No. No.871

22

SLA7027MU/SLA7024M/SLA7026M

123 · · · · · · · 18

Forming No. No.872

+0.2

4.6 ±0.6

+1

(3)

R-End

3 ±0.6

2.45±0.2

0.55 –0.1
1.6 ±0.6

3.
4.
5.

Part No.
Lot No.

4.8±0.2
1.7±0.1

6.7±0.5

9.9 ±0.2

16 ±0.2

φ 3.2±0.15×3.8

9.7 –0.5

31±0.2
24.4±0.2
16.4±0.2

φ 3.2±0.15

13 ±0.2

(Unit: mm)

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)

SLA7027MU/SLA7024M/SLA7026M

Application Notes

■Determining the Output Current

Fig. 1 Waveform of coil current (Phase A excitation ON)

Fig. 1 shows the waveform of the output current (motor coil curIO

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)

Phase A
0

Vb: Reference supply voltage
r1,r2: Voltage-divider resistors for the reference supply voltage

Phase A

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.)
Vb ................................................................
r2
(1)
IO ≅

r1+r2 RS

Fig. 2 Normal mode
Vb(5V)

(2) Power down mode

r6

r1

The circuit in Fig.3 (rx and Tr) is added in order to decrease the

r5

3,(14)

coil current. IO is then determined as follows.
1

IOPD ≅

r1(r 2+rX)
1+

r2

V
b
.........................................................
(2)
RS

C3

9,(10)

r2 • rX

RS

Equation (2) can be modified to obtain equation to determine rx.
rX=

1
1

Vb

r1

R s • I OPD

−1

1
Fig. 3 Power down mode

r2

Vb(5V)

Fig. 4 and 5 show the graphs of equations (1) and (2) respectively.

r6
r5

r1

rX
Power down
signal

Fig. 4 Output current IO vs. Current sense resistor R S

C3
Tr

2.0

3
r2 · V b
r1+r2 RS
r1=510Ω
r2=100Ω
rx=∞
Vb=5V
IO=

2

1

0

1

2

3

4

Current sense resistor RS (Ω)

Output current IOPD (A)

Output current IO (A)

9,(10)

r2

Fig. 5 Output current IOPD vs. Variable current sense resistor rx

4

0

3,(14)

RS =0.5Ω

1.5

1
· Vb
r1(r2+rX) RS
1+
r2 · rX
r1=510Ω
r2=100Ω
Vb=5V
IOPD=

RS =0.8Ω

1.0

RS =1Ω
0.5

00

200

400

600

800

1000 1200

Variable current sense resistor rX (Ω)

(NOTE)
Ringing noise is produced in the current sense resistor RS when

However, when the values of these constants are increased,

the MOSFET is switched ON and OFF by chopping. This noise
is also generated in feedback signals from RS which may there-

the response from RS to the comparator becomes slow. Hence
the value of the output current IO is somewhat higher than the

fore cause the comparator to malfunction. To prevent chopping

calculated value.

malfunctions, r 5(r 6) and C3(C4) are added to act as a noise filter.
SLA7027MU/SLA7024M/SLA7026M

23

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation)

■Determining the chopper frequency

SLA7027MU/SLA7024M/SLA7026M

Fig. 6 Chopper frequency vs. Motor coil resistance

Determining T OFF
The SLA7000M series are self-excited choppers. The chopping
OFF time T OFF is fixed by r3/C1 and r4/C2 connected to terminal

60

Td.

50

TOFF≅−r3 • C1rn (1−

2

=−r4 • C2rn (1−

2

)

Vb
Vb
The circuit constants and the T OFF value shown below are recommended.
T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V

40
30

VC

40

10

0

4V

25

V

30
35
40

10

20

30

40

50

VCC (V)

SLA7027MU/SLA7024M/SLA7026M

47kΩ
r4
500pF
C1 = C2 =
TOFF =12µs
RS =1Ω
Lm
=1~3ms
Rm

4
6
8 10 12 14 16
Motor coil resistance Rm (Ω)

30

Motor : 23LM-C202
VCC=24V
RS=1Ω

20

10

0

r3

■Chopper frequency vs. Output current

f (kHz)

f (kHz)

2

40

20

24

0

50

Motor : 23LM-C202
IO = 0.8A at VCC=24V
RS=1Ω

=2

10

50

30

C

=36
VCC

20

0

■Chopper frequency vs. Supply voltage

20

Chopping frequency f (kHz)

T OFF can be calculated using the following formula:

ON time TON (µ s)

15

0

0

0.2

0.4

0.6

IO (A)

0.8

1.0

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula.015×VS (W) 1-2 phase excitation: Pdiss ≅ 2 (3) Obtain the temperature rise that corresponds to the calcu- IO from Fig.6 0.8A Ta=25°C VCC=24V.6 0.2 1. 7 "Heat dissipation per phase PH vs.0 15 V V 36 =4 4V V 0.2 0.8A Ta=25°C VCC=24V.8 100 V 36 0. 8 Temperature rise 150 1.4 0. Output current IO.8 2.0 Output current IO (A) Output current IO (A) 3.2 0 0 0.0 2.6 VCC V =44 Motor : 23LM-C004 Holding mode 5V 24V 0. VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) SLA7027MU/SLA7024M/SLA7026M 25 .6 3.2 0.8 V 1 36 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1." low.0 C =4 24 V CC VC 4V 0.0 0 0 1.0 Motor : 23LM-C202 Holding mode V 24 V 15 0.0 Motor : 23PM-C503 Holding mode 1.4 0." lated value of Pdiss from Fig. VS=24V 2-phase excitation 20 10 0 100 500 1K 5K Response frequency (pps) SLA7024M Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0. 8 "Temperature rise. Fig.0 Fig. Output current IO SLA7027MU SLA7026M 4. VS=24V 2-phase excitation 10 5 0 200 500 1K Response frequency (pps) Case temperature rise ∆TC–a (°C) 30 Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 35 Without heatsink Natural cooling 40 30 TC( 4 pin) Motor : 23PM-C705 Motor current IO=1. 7 Heat dissipation per phase P H vs.2 SLA7024M Natural cooling Without heatsink 50 0.8 Output current IO (A) 0 1.0 ∆T 0.0 0 1 2 3 Total Power (W) 4 5 Thermal characteristics SLA7027MU SLA7026M 50 Without heatsink Natural cooling 30 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.015×VS (W) 3 PH+0. An outline of the method for calculating heat dissipation is shown be(1) Obtain the value of PH that corresponds to the motor coil current 2-phase excitation: Pdiss ≅ 2PH+0.2 0 0 0.4 1 j C ∆T ∆Tj–a ∆TC–a (°C) Heat dissipation per phase PH (W) 1.4 0.5A Ta=25°C VCC=24V.

5A 0.2A 0 10 20 30 40 50 Supply voltage VCC (V) ■Note The excitation input signals of the SLA7027MU. Supply Current ICC SLA7027MU SLA7026M 1.2A 0 10 20 30 40 IO=1A 50 0 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) SLA7024M Supply current ICC (mA) 500 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 0. SLA7024M and SLA7026M can be used as either Active High or Active Low. that the corresponding output (OUT) changes depending on the input (IN). Active Low Active High 26 Input Corresponding output Input Corresponding output INA (pin6) OUTA (pin1) INA (pin6) OUTA (pin8) INA (pin5) OUTA (pin8) INA (pin5) OUTA (pin1) INB (pin17) OUTB (pin11) INB (pin17) OUTB (pin18) INB (pin16) OUTB (pin18) INB (pin16) OUTB (pin11) SLA7027MU/SLA7024M/SLA7026M .2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M ■Supply Voltage VCC vs.5 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Supply current ICC (A) Supply current ICC (mA) 500 1.4A 0.0 Motor : 23PM-C503 1-phase excitation Holding mode IO : Output current IO=3A 0. Note.5 IO=2A 0. however.

SLA7027MU/SLA7024M/SLA7026M 27 .

5 Condition VS =24V.3 ISD =1A ISD=3A IDSS 250 Condition VDSS=100V. IDSS=250 µA ID=1A. VS =44V V V µA 2.3 to +7 −5 to +7 V V V V 1.0 Reference voltage input 4. ID=1A 0. ID=1A Tstg 0.1 mA V S=44V. VYS=0V VREF 0 2.8 Condition Asynchronous chopping mode ISYNC 0. VS=44V VIH 2. VYS=5V −0.0 Condition Synchronous chopping mode VSYNC 0.5 V V A W W °C °C 3 4.1 Condition VS=44V.1 V S=24V.1 Condition VS=44V. VS =14V mA 250 V DSS=100V. ID=1A 0.SLA7032M/SLA7033M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter (Ta=25°C) Ratings Symbol Motor supply voltage Control supply voltage FET Drain-Source voltage TTL input voltage SYNC terminal voltage Reference voltage Sense voltage Output current SLA7032M VCC VS V DSS VIN V SYNC V REF VRS IO P D1 P D2 Tch Tstg Power dissipation Channel temperature Storage temperature Units SLA7033M 46 46 100 −0.8 V VDSS=100V 2.0 Condition Reference voltage input VREF 4. VYS=5V ISYNC −0.0 Synchronous chopping mode 0.3 to +7 −0.1 V S=44V.1 2. ID=1A TOFF 12 Condition VS=24V V V VS =44V.8 Condition ID=1A II ±1 Condition VS =44V.7 Condition VS =24V.7 V S=24V.0 Condition VDSS=100V VIL 0.0 5. IDSS=250µA SLA7033M typ 10 V S=44V 24 Units max 15 44 0.5 (Without Heatsink) 35 (Tc = 25°C) +150 −40 to +150 ■Electrical Characteristics Ratings Parameter Symbol min Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage FET diode forward voltage FET drain leakage current DC characteristics OUT IN terminal OUT Input current Input voltage SYNC terminal Input current¨ Input current REF terminal Input current AC characteristics Internal resistance 28 Switching time Chopping OFF time SLA7032M/SLA7033M IS Condition VS VDSS Condition VDS Condition VSD Condition 10 100 SLA7032M typ 10 VS=44V 24 max 15 min 44 10 100 V S=44V.6 0.0 VDSS=100V 0.0 Condition ID=1A VIL 0. ID=1A Tf 0.85 ID=3A. ID=1A 12 V S=24V µA Ω µs µs .0 ID=3A 0. V I=0 or 5V VSYNC 4.8 Condition VDSS=100V VIH 2. VS =14V 1.8 V ID=3A ±1 VS=44V.0 5.5 V Output FET OFF ±1 No synchronous trigger 40 Resistance between GND and REF terminal at synchronous trigger 0.8 V Asynchronous chopping mode 0.5 Condition Output FET OFF IREF ±1 Condition No synchronous trigger RREF 40 Condition Resistance between GND and REF terminal at synchronous trigger Tr 0.1 Condition VS =24V. VI =0 or 5V µA 4.5 V S=24V. VYS=0V 0 2.3 to +7 −0.

11. 8. 10 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Active High Excitation signal time chart 2-phase excitation Vcc (46Vmax) clock IN A IN A IN B IN B + 7 12 VsA 2 Vb (5V) 8 VsB 1 18 11 OUTA OUTA OUTB OUTB SYNC A SLA7032M SLA7033M 13 SYNC B INA 6 INA INA 5 INA INB 17 INB INB 16 INB 0 H L H L 1 L H H L 2 L H L H 3 H L L H 0 H L H L r1 : 4kΩ r2 : 1kΩ(VR) R s : 1Ω typ(7032M) (1 to 2W) 0.68Ω typ(7033M) 1 H L L H Active Low 1-2 phase excitation clock IN A IN A IN B IN B 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H 3 H L L H SLA7032M/SLA7033M 29 . 18pin Description of pins Reg. Chopping blanking timer (5 µ s typ) Oscillator MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) Chopping blanking timer (5 µ s typ) + + − − MOSFET gate drive circuit Chopping OFF timer (12 µ s typ) 14 13 Rs B GB 15 SYNC B 3 REF B GA 4 REF A Synchronous chopping circuit SYNC A Rs A 2 1pin 8pin 11pin 18pin Oscillator Synchronous chopping circuit 9 Excitation input Active H Active L OUT A OUT A OUT A OUT A OUT B OUT B OUT B OUT B Reg.68Ω typ(7033M) 1 L H H L Active High 1-2 phase excitation RsA r1 REFA REFB RsB 3 9 14 GA 10 4 Rs GB clock IN A IN A IN B IN B 15 Rs r2 0 H L L L 1 H L H L 2 L L H L 3 L H H L 4 L H L L 5 L H L H 6 L L L H 7 H L L H 0 H L L L 1 H L H L 2 L L H L 3 L H H L Active Low Excitation signal time chart 2-phase excitation Vcc (46Vmax) clock IN A IN A IN B IN B + 7 VsA 2 Vb (5V) 13 8 VsB 1 18 11 OUTA OUTA OUTB OUTB SYNC A SLA7032M SLA7033M SYNC B RsA r1 9 Rs r2 12 REFA REFB RsB 3 14 GA 10 4 Rs INA 6 INA INA 5 INA INB 17 INB INB 16 INB GB 15 0 L H L H 1 H L L H 2 H L H L 3 L H H L 0 L H L H r1 : 4kΩ r2 : 1kΩ(VR) R s : 1Ω typ(7032M) (1 to 2W) 0.2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Internal Block Diagram 17 16 11 IN B 12 IN B 7 Vs B 5 Vs A 6 IN A 8 IN A 1 18 1.

4. Part No.65 –0.2±0.2 24.68±0.1 +0.4±0.6 ±0.2 0.1 17×P1.2 16 ±0.2 16.1 1 –0.8 9.2±0.15 13 ±0.1 1 –0.7±0.1 1.2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■External Dimensions +0.55 –0.1 4±0.7 2.6 ±0.8±0.2 +0. No.871 30 SLA7032M/SLA7033M 123 · · · · · · · 18 Forming No.4=28.5 9.2±0.7±0.7 –0.5±0. 4.872 +0.4±0. Lot No.68±0.9 ±0.6 +1 (3) R-End 3 ±0.3±0.65 –0.2 +0.2 0.55 –0.2 0.2 1 2 3 · · · · · · · 18 Forming No.45±0.6 2.2 0.2 φ 3.2 1. No.2 (Unit: mm) .56±1 31.6 17×P1.4=28. 5.56±1 +0.6 3.2 φ 3.6 7.2 4.6 6±0.1 6.15×3.5 31±0.

SYNC_B moved using jumper wires. The figure below shows the internal circuit of the REF terminal. see "Circuit for Preventing Abnormal Noise When the Motor Is Not Running (Syn- SYNC voltage : Low → Chopping asynchronous SYNC voltage : High → Chopping synchronous chronous circuit). the following preparations are necessary: the SYNC terminals open because they are for CMOS input. To prevent the phenomenon. C3. This phenomenon is attributable to asynchronous chopping between phases A and B." (Low: asynchronous. r6. Connect TTL or similar to the SYNC terminals and switch the SYNC terminal level high or low.8 V or less) to make chopping asynchronous. Do not leave The built-in synchronous chopping circuit superimposes a trigger signal on the REF terminal for synchronization between the two phases. the motor torque deteriorates before the coil current reaches the set value. If chopping is set to synchronous at when the motor is running. etc. When the motor is running. When using the IC on an existing board. This IC successfully eliminates the need for some external parts without sacrificing the features of SLA7024M (SLA7026M). set the TTL signal high (SYNC terminal voltage: 4 V or more) to make chopping synchronous. keep pins 2 and 13 grounded because their funcSLA7032M SLA7033M tions have changed to synchronous and asynchronous switching (SYNC terminals). For details.) 40Ω (typ. 5V R1 VREF R2 3 REF_A 14 REF_B To comparator (high impedance) 40Ω (typ.2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M Application Notes ■Outline SLA7032M (SLA7033M) is a stepper motor driver IC developed to reduce the number of external parts required by the conventional SLA7024M (SLA7026M). and C2 in the catalog) (2) Remove the resistors and capacitors attached for preventing noise in the detection voltage VRS from causing malfunctioning and short the sections from which the resistors were re- SYNC_A TTL. determine these values for when the motor is not running within the range where the two phases are synchronized. C1. (r5. ground the SYNC terminals (TTL not necessary). The basic function pins are compatible with those of SLA7024M (SLA7026M). SLA7032M (SLA7033M) contains a synchronous chopping circuit. If no abnormal noise occurs when the motor is not running. 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. Since the ∆VREF varies depending on the values of R1 and R2. and C4 in the catalog) (3) Normally. (r3.) SLA7032M SLA7033M Sync/async switching signal ONE SHOT (tw=2 µ S) FET A/A gate drive signal ONE SHOT (tw=2 µ S) FET B/B gate drive signal VREF waveform VREF 0 Synchronous circuit operating waveform VREF Phase A 0 VRS VREF Phase B 0 VRS Synchronous circuit OFF Synchronous circuit ON SLA7032M/SLA7033M 31 . set the TTL signal low (SYNC terminal voltage: 0. When the motor is not running. (1) Remove the resistors and capacitors attached for setting the chopping OFF time. ■Notes on Replacing SLA7024M (SLA7026M) SLA7032M (SLA7033M) is pin-compatible with SLA7024M (SLA7026M). r4.

........0 RS =1Ω 0.....2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) ■Determining the Output Current SLA7032M/SLA7033M Fig. 3 Power down mode r2 Vb(5V) Fig...... 1 Waveform of coil current (Phase A excitation ON) Fig...(10) r2 Fig........ (Parameters for determining the output current I O) Phase A 0 Vb: Reference supply voltage r1.... 2 Normal mode Vb(5V) (2) Power down mode r1 The circuit in Fig... (See Fig...(14) RS =0.. 4 and 5 show th e graphs of equations (1) and (2) respectively............5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0.. 1 shows the waveform of the output current (motor coil curIO rent)... 4 Output current IO vs......0 Current sense resistor RS (Ω) 32 9............5Ω 1.... (1) RS Fig.. r1 rX Power down signal Fig.(14) coil current.... I O is then determined as follows. rX= 1 1 r1 Vb R s • IOPD −1 − 1 Fig..........(10) r2 • rX RS Equation (2) can be modified to obtain equation to determine rx...........3 (rx and Tr) is added in order to decrease the 3. Variable current sense resistor r x 4 0 3...2. (2) RS 9.......r2: Voltage-divider resistors for the reference supply voltage Phase A RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation.....8Ω 1....... The method of determining the peak value of the output current (IO) based on this waveform is shown below... 1 IOPD ≅ r1(r 2+rX) 1+ • r2 V b .. Current sense resistor RS 3 r2 · V b r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 1 2 3 SLA7032M/SLA7033M 4 Output current IOPD (A) Output current IO (A) Tr 2...5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) .... 5 Output current IOPD vs...) IO ≅ r2 • r1+r2 Vb ..

5A Ta=25°C VCC=24V. VS=24V 2-phase excitation 10 5 0 200 500 Response frequency (pps) 1K Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 Without heatsink Natural cooling 40 30 TC( 4 pin) Motor : 23PM-C705 Motor current IO=1.015×VS (W) 3 P H+0.0 2.8 36 1. 6 Heat dissipation per phase PH vs.4 0. VS=24V 2-phase excitation 20 10 0 100 500 1K 5K Response frequency (pps) SLA7032M/SLA7033M 33 ." (2) The power dissipation Pdiss is obtained using the following formula.0 15 Motor : 23PM-C503 Holding mode 1. 2-phase excitation: Pdiss ≅ 2PH+0." 1-2 phase excitation: Pdiss ≅ Fig.2 0.2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Thermal Design An outline of the method for calculated heat dissipation is shown below.0 V =4 4 C V V 44 C= 24 0.8A Ta=25°C VCC=24V.0 VC V 36 V 0. 7 "Temperature rise.0 Fig.2 1.2 0 0 0.8 Output current IO (A) V 2.6 3.4 1 0.0 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.0 VC Motor : 23LM-C004 Holding mode 5V 24V 0. Output current IO SLA7033M SLA7032M 4.0 0 0 1.0 Output current IO (A) 3. 6 "Heat dissipation per phase PH vs.6 0. 7 Temperature rise 150 ∆T 100 j ∆Tj–a ∆TC–a (°C) C ∆T Natural cooling Without heatsink 50 0 0 1 2 3 Total Power (W) 4 5 Thermal characteristics SLA7032M SLA7033M 50 Without heatsink Natural cooling 25 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.015×VS (W) 2 (3) Obtain the temperature rise that corresponds to the computed value of Pdiss from Fig. (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. Output current IO.

5 4.2A 0 10 20 30 40 IO=1A 0 50 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) ■Torque Characteristics SLA7032M 2.5 IO=2A 100 0 0.0 0. Supply Current I CC SLA7033M SLA7032M 1.0 0 100 500 1K Response frequency (pps) 34 SLA7032M/SLA7033M 5K 0 100 500 1K 5K Response frequency (pps) 10K .2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M ■Supply Voltage VCC vs.0 1.0 6.0 Motor : 23PM-C503 1-phase excitation Holding mode IO : Output current IO=3A 0.5 Pull-out torque (kg-cm) Pull-out torque (kg-cm) 5.0 SLA7033M Motor : 23LM-C202 Output current IO =0.0 2.5 400 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 300 200 IO=1A Supply current ICC (A) Supply current ICC (mA) 500 1.8A Motor supply voltage VCC =24V 2-phase excitation 1.5A Motor supply voltage VCC =24V 2-phase excitation 3.0 Motor : 23PM-C705 Output current IO =2.5A 0.0 1.

Output current 50 50 40 40 30 Motor : 23LM-C202 IO = 0. Since static electricity is particularly a problem during the winter. that the corresponding output (OUT) changes depending on the input (IN). ● Carefully control the humidity of the room to prevent the buildup of static electricity.2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) ■Chopper frequency vs.6 0. Supply voltage SLA7032M/SLA7033M 0 10 20 30 40 0 50 0 0. SLA7032M/SLA7033M 35 . Active Low Active High Corresponding output Input Corresponding output INA (pin6) OUTA (pin1) INA (pin6) OUTA (pin8) INA (pin5) OUTA (pin8) INA (pin5) OUTA (pin1) INB (pin17) OUTB (pin11) INB (pin17) OUTB (pin18) INB (pin16) OUTB (pin18) INB (pin16) OUTB (pin11) Input ■Handling Precautions The input terminals of this product use C-MOS circuits. ● Take care to make sure that static electricity is not applied to the IC during wiring and assembly.2 0. Note. SLA7033M can be used as either Active High or Active Low. Observe the following precautions.8A at VCC=24V RS=1Ω 20 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 10 0 f (kHz) f (kHz) ■Chopper frequency vs. be sure to take sufficient precautions. however.0 IO (A) VCC (V) ■Note The excitation input signals of the SLA7032M. Take precautions such as shorting the terminals of the printed wiring board to ensure that they are at the same electrical potential.4 0.8 1.

1 V S=24V.8A V µs . ID=0.8A 0. IDSS=250µ A 0.8 ID=1A 0.SDK03M 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage TTL input voltage Reference voltage Output current Power dissipation Channel temperature Storage temperature Symbol V CC VDSS VS V IN VREF IO PD Tch Tstg Ratings 46 100 46 7 2 1 2.4V.8A 0.7 V S=24V. ID=0.5 V S=24V.4V.8 V V DSS=100V 2 V DSS=100V 0.5 44 Units mA V V VS =44V. VS=44V −0.85 ID=1A.8 VIL=0. VS=44V V mA V µA mA 2 ID=1A 0. VS=44V 1. V S=14V 4 VDSS=100V.2 ID=1A 40 V IH=2.5 (Without Heatsink) +150 −40 to +150 Units V V V V V A W °C °C ■Electrical Characteristics Parameter Control supply current Control supply voltage FET Drain-Source voltage FET ON voltage DC characteristics FET drain leakage current FET diode forward voltage TTL input current TTL input voltage (Active High) AC characteristics TTL input voltage (Active Low) 36 Switching time SDK03M Symbol min IS Condition VS VDSS Condition VDS Condition IDSS Condition VSD Condition IIH Condition IIL Condition VIH Condition VIL Condition VIH Condition VIL Condition Tr Condition Tstg Condition Tf Condition 10 100 Ratings typ 5 VS =44V 24 max 7. ID=0.

16pin Description of pins Excitation input Active H Active L Reg.4kΩ 2. 8. 9. 14 NC Pin 1 Pin 16 OUT1 OUT2 11 NC Pin 8 Pin 9 OUT2 OUT1 + – RS 15 RS 10 RS 13 GND 4 + – GND 12 TD 2 REF 3 ■Diagram of Standard External Circuit (Recommended Circuit Constants) Active High Excitation signal time chart 2-phase excitation VCC (46V max) + Motor coil Phase A 1 Active High 6 IN1 Motor coil Phase B Vb (5V) 9 7 OUT1 OUT2 IN1 16 8 VS 7 r 3 r1 r 4 SDK03M 5 IN2 12 RS TD 13 4 2 2 REF 3 3 IN2 GND RS 13 15 10 10 r5 C3 RS r2 C1 Active Low r6 5 1 Active Low IN1 IN2 5 9 7 OUT2 OUT1 IN1 16 8 VS Motor coil Phase B 16 8 SDK03M Phase B RS TD 2 2 TD REF 13 REF 3 3 10 15 10 C3 RS r5 r2 C1 r6 C2 IN2 GND RS 13 C4 RS 0 H L H L 1 L H H L 0 H L L L 1 H L H L 2 L L H L 3 L H H L 4 L H L L 5 L H L H 6 L L L H 7 H L L H 0 H L L L 1 H L H L 2 L L H L Excitation signal time chart 2-phase excitation Phase clock 0 1 2 3 0 IN 1 L H H L L Phase A IN 2 H L L H H IN 1 L L H H L Phase B H H L L H IN 2 5 IN1 510Ω 100Ω (VR) 47kΩ 47kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1.8Ω typ r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS : 510Ω 100Ω (VR) 47kΩ 47kΩ 2.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■Internal Block Diagram 8 9 1 6 IN1 16 5 IN2 7 VS 1.4kΩ 2.4kΩ 470pF 470pF 2200pF 2200pF 1.8Ω typ 3 L H H L 1 H L L H Active Low IN2 (1 to 2W) 1-2-phase excitation 12 r1 : r2 : r3 : r4 : r5 : r6 : C1 : C2 : C3 : C4 : RS : (1 to 2W) 9 OUT2 OUT1 6 IN1 Phase A 15 4 1 VS SDK03M IN2 GND 12 7 r 3 r1 r 4 3 H L L H IN2 Phase clock IN 1 IN 2 IN 1 Phase B IN 2 RS Vb (5V) 2 L H L H Active High Phase A + Motor coil Phase A 1 L H H L 1-2-phase excitation 4 VCC (46V max) 6 IN1 12 C4 C2 0 H L H L 9 Phase B TD REF 15 16 8 OUT1 OUT2 6 IN1 SDK03M Phase A IN2 GND 1 VS Phase clock IN 1 IN 2 IN 1 Phase B IN 2 Phase A 4 Phase clock IN 1 IN 2 IN 1 Phase B IN 2 Phase A 0 L H H H 1 L H L H 2 H H L H 3 H L L H 4 H L H H 5 H L H L 6 H H H L 7 L H H L 0 L H H H 1 L H L H 2 H H L H 3 H L L H SDK03M 37 .

Lot No.15 2.25 +0.4 ±0.0±0. 8 .0±0.05 9 16 6.3 38 SDK03M 4. 3. Part No.89±0.15 0.05 +0.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■External Dimensions (Unit: mm) 0.5 19.2 0~0. 1 8.2 0.2 1.3 –0.0max.75 –0.15 6.2 9.2 1.6 ±0.0max.56±0.25 0.1 3.3 20.3±0.8±0.8max.54±0.0±0.

..5 1 · Vb r1(r2+rX) RS 1+ r2 · rX r1=510Ω r2=100Ω Vb=5V IOPD= RS =0......3 (rx and Tr ) is added in order to decrease the 3 coil current.. Variable current sense resistor rx 2....0 RS =1Ω 0...... 1 IOPD ≅ r1(r 2+rX) 1+ • r2 Vb ........ The method of determining the peak value of the output current (IO) based on this waveform is shown below.. 5 Output current IOPD vs.... malfunctions..... the MOSFET is switched ON and OFF by chopping....0 3 r2 · Vb r1+r2 RS r1=510Ω r2=100Ω rx=∞ Vb=5V IO= 2 1 0 0 1 2 3 4 Current sense resistor RS (Ω) (NOTE) Ringing noise is produced in the current sense resistor RS when Output current IOPD (A) Output current IO (A) 4 RS =0... 1 rX= 1 1 Vb −1 − r1 R s • IOPD r2 Fig... (See Fig.. This noise the response from RS to the comparator becomes slow. SDK03M 39 .. 2 Normal mode Vb(5V) (2) Power down mode r6 r1 r5 The circuit in Fig........ IO is then determined as follows............ r1 r5 rX 3 r2 10 13 15 C3 Power down signal Tr RS Fig......... 4 and 5 show the graphs of equations (1) and (2) respec- r6 tively...5Ω 1........ To prevent chopping the value of the output current IO is somewhat higher than the calculated value.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M Application Notes ■Determining the Output Current Fig. Current sense resistor RS Fig.2. 1 Waveform of coil current (Phase A excitation ON) Fig...5 00 200 400 600 800 1000 1200 Variable current sense resistor rX (Ω) However. 4 Output current IO vs.....r2: Voltage-divider resistors for the reference supply voltage Phase A RS: Current sense resistor (1) Normal rotation mode IO is determined as follows when current flows at the maximum level during motor rotation...... (Parameters for determining the output current IO) Phase A 0 Vb: Reference supply voltage r1...) Vb r2 .. 1 shows the waveform of the output current (motor coil curIO rent). when the values of these constants are increased................ r 5(r 6) and C3(C4) are added to act as a noise filter..... (1) IO ≅ • r1+r2 RS Fig.. Hence is also generated in feedback signals from RS which may therefore cause the comparator to malfunction........ (2) RS C3 10 13 15 r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 3 Power down mode Vb(5V) Fig...8Ω 1..

2 0.0 . 6 Chopper frequency vs. Output current f (kHz) f (kHz) ■Chopper frequency vs. T OFF = 12µs at r3=47kΩ. C1=500pF.6 IO (A) 0. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal Td.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Determining the chopper frequency SDK03M Fig. Motor coil resistance Determining T OFF SDK03M is self-excited choppers. Supply voltage 0 Chopping frequency f (kHz) 15 T OFF can be calculated using the following formula: 0 0 0.8A at VCC=24V RS=1Ω 20 10 0 30 Motor : 23LM-C202 VCC=24V RS=1Ω 20 10 0 10 20 30 VCC (V) 40 2 SDK03M 40 50 r3 = r4 = 47kΩ 500pF C1 C2 TOFF =12µs RS =1Ω Lm =1~3ms Rm ■Chopper frequency vs.8 1. Vb=5V ON time TON (µ s) TOFF≅−r3 • C1rn (1− 50 40 20 30 VC 20 C =2 4V 25 V VCC =36 30 35 40 10 0 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) 50 50 40 40 30 Motor : 23LM-C202 IO = 0.4 0. 60 2 Vb =−r4 • C2 rn (1− 2 Vb ) The circuit constants and the T OFF value shown below are recommended.

2 1 4V C =4 100 V 36 0. 8 Temperature rise 150 Heat dissipation per phase PH (W) 1.8 C ∆T 50 0.5 0.2mm) Natural cooling ∆T j VC ∆Tj–a (°C) ∆TC–a 0. that the corresponding output (OUT) changes depending on the input (IN).8A Ta=25°C VCC=24V. 9) IN2 (pin5) OUT2 (pin1.0075×VS (W) 1-2 phase excitation: Pdiss ≅ 4 (3) Obtain the temperature rise that corresponds to the calcu- (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig." lated value of Pdiss from Fig. Output current IO Fig. 9) IN2 (pin5) OUT2 (pin8. 8 "Temperature rise.0075×VS (W) 3 P H+0.2A 0 10 20 30 40 50 0 100 Supply voltage VCC (V) 500 1K 5K Response frequency (pps) ■Note The excitation input signals of the SDK03M can be used as either Active High or Active Low. 7 "Heat dissipation per phase PH vs. Output current IO.4A 0. Supply Current I CC ■Torque Characteristics 2.2mm) Motor : PH265-01B Motor current IO=0.2 0 0 0.6A Motor supply voltage VCC =24V 2-phase excitation 1. 7 Heat dissipation per phase PH vs. 2-phase excitation: Pdiss ≅ PH+0.4 0. 16) SDK03M 41 . An outline of the method for computing heat dissipation is shown below. Active High Active Low Input Corresponding output Input Corresponding output IN1 (pin6) OUT1 (pin1.0 1 2 Total power (W) Output current IO (A) 3 Thermal characteristics Case temperature rise ∆TC–a (°C) 50 40 TC ( 9 pin) 30 Natural cooling Glass epoxy board (mounted on level surface) (95×69×1.6 Motor : 23LM-C202 Holding mode V 24 V 15 Glass epoxy board (mounted on level surface) (95×69×1.4 0.0 400 Motor : 23LM-C202 1-phase excitation Holding mode IO : Output current 300 200 IO=1A 100 0 Pull-out torque (kg-cm) Supply current ICC (mA) 500 1.2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M ■Thermal Design (2) The power dissipation Pdiss is obtained using the following formula.8 0 0 1.5 Motor : PX244-02 Output current IO =0. 16) IN1 (pin6) OUT1 (pin8.2 0.0 0.6 0." Fig. However. Note. VS=24V 2-phase excitation 20 10 0 200 1K 500 Response frequency (pps) ■Supply Voltage VCC vs.

Ta =25°C.UCN5804B 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Unipolar Driver IC Allegro MicroSystems product ■Features Absolute Maximum Ratings ● Internal 1-phase/1-2 phase/2-phase excita- Parameter Output voltage Output sustaining voltage Output current (1 circuit) Logic supply voltage Input voltage Package power dissipation Operating temperature Junction temperature Storage temperature 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 (Ta =+25°C) Symbol V CE VCE (SUS) IO VDD VIN PD (Note1) Ta T j (Note2) T stg Ratings 50 35 1.0 7.8 V 20 30 mA 100 ns 100 ns 500 ns 10 2 outputs ON Inter-clock Inter-clock ts DAT (A) th DAT (B) tw CLK (C) typ 50 3.5 5.5 7.0 µA −0.1 1. ■Timing Conditions max Units µA V 1.4 V 1.3mW/°C.5 3.0 V 10 µs 10 µs 165 °C (Unless specified otherwise.2 1.3 V −0.25A V R=50V IF=1.5V to 5. VIN=V DD or GND) 0. 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.5 5.90 −20 to +85 +150 −55 to +150 Units V V A/unit V V W/pkg °C °C °C Note 1: When ambient temperature is 25°C or over. ■Electrical Characteristics (Unless specified otherwise.25A.25A 50% step inputs to 50% output 50% step inputs to 50% output Clamp diode leakage current Clamp diode forward voltage Turn-on delay Turn-off delay Thermal shutdown temperature Control logic IR VF tON tOFF Tj IIH Input current VIL IDD Supply current Data setup time Data hold time Clock pulse width ● "typ" values are for reference.0 2. derate using −23.8V V DD=5V IIL VIH Input voltage min ■Terminal Connection Diagram CLOCK OUTPUTB 1 VDD 16 SUPPLY KBD 2 OE 15 OUTPUT ENABLE OUTPUTD 3 14 DIRECTION GROUND 4 13 GROUND C ONE PHASE HALF-STEP A OUTPUT ENABLE B LOGIC OUTPUTA OUTPUTB GROUND 5 12 GROUND OUTPUTC OUTPUTC 6 11 STEP INPUT KAC 7 10 HALF-STEP OUTPUTA 8 9 ONE-PHASE OUTPUTD TWO-PHASE 42 UCN5804B HALF-STEP WAVE DRIVE OUTPUT DISABLED .3 0.2 V 1. L=3mH IO =700mA IO=1A IO=1.0 µA 3.5 V 10 50 µA 1.5 −5.5 V IN=VDD V IN=0.5V) Limits Parameter Symbol Conditions Output drivers Output leakage current Output sustaining voltage ICEX VCE (SUS) Output saturation voltage VCE (SAT) V O=50V IO =1. VDD=4.0 1.

●Allowable variation in distance between leads is not cumulative.33MAX 0.356 0.508 0.8.204 16 9 7.39MIN 4. 9.15 2.33 18.2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) Allowable package power dissipationPD (W) ■Derating UCN5804B ■Application Circuit 5 5V 4 28V 3 43 °C / W 2 1 VDD 16 2 OE 15 3 14 4 13 DIRECTION CONTROL LOGIC 1 0 −20 0 25 50 75 85 100 5 12 6 11 7 10 8 9 STEP INPUT Ambient temperature Ta (°C) 1 VDD 16 2 OE 15 3 OR ■Truth Table Drive Format 14 4 13 LOGIC 5 12 6 11 7 10 8 9 ■I/O Equivalent Circuit Pin 9 Pin 10 Two-Phase L L One-Phase H L Half-Step L H Step-Inhibit H H Input circuit Output driver VDD K OUT IN SUB ■External Dimensions ICs per stick (Unit: mm) 25 0.558 0.127MIN 1.11 6.93 ●Thickness of lead is measured below seating plane.54BSC 21.93 Note 1 SEATING PLANE 5.10 INDEX AREA 7.62BSC 1 2 3 8 0.06 2.77 1. Note 1: Lead width of pin 1. UCN5804B 43 . 16 may be half the value shown here.

4. VI=0 or 5V 0.5 0 V DD=5V 0 V DD=5V 1 V DD=5V 5.5 VDD=5V. ID=1A 0.1 VDD=5V.5 0.2A 7 MODE 1.SLA7042M/SLA7044M 2W1-2 Phase Excitation/Micro-step Support 2-Phase Stepper Motor Unipolar Driver ICs ■Absolute Maximum Ratings Parameter Motor supply voltage FET Drain-Source voltage Control supply voltage Input voltage Output current Power dissipation Channel temperature Storage temperature Ratings Symbol SLA7042M VCC V DSS VDD VIN IO PD Tch Tstg Units SLA7044M 46 100 7 −0. ID=1A 0.5 VDD=5V V DD=5V mA V ±1 V DD=5V.5 MODE 3 71.7 V DD=5V. ID=1A 0.75V 100 100 IDSS=4mA.5 to VDD+0. VDD=5V 1.8 ID=3A.5 1. VDD=5V 4 µA % 1.5 3. VI=0 or 5V 0 MODE 0 20 MODE 1 40 MODE 2 55.5V 5 max 7 min 5.2A.5 5 1.4 VDD V DD−1 V µA VDD V VDD=5V ±1 ±1 VDD=5V.5 (Without Heatsink) +150 −40 to +150 ■Electrical Characteristics Ratings Parameter Symbol min Control supply current Control supply voltage Input Terminals voltage DATA. VDD=4. VI=0 or 5V V DD=5V VDD−1 VDD=5.5 3.2 V V V V A W °C °C 3 4.5 1.3 ID=1. 7 0. VDD=4. VDD=5V 4 VDSS=100V.5 V DD=5V.4 MODE 4 83 MODE 5 91 MODE 6 100 MODE 7 V DD=5V. ID=1A V V IDSS=4mA. 5 11 MODE 6.5 5 4.4 SLA7044M typ mA V µs µs 75 Inter-clock 75 Inter-clock 75 Inter-clock Inter-clock 150 150 100 100 ns 100 100 Strobe=L from clock 100 Strobe=L from clock 100 .4 MODE 4 83 MODE 5 91 MODE 6 100 MODE 7 0. VDD=5V V DSS=100V. 2 9 MODE 3.5 SLA7042M typ V DD=5. 4.1 V DD=5V. ID=1A ID=3A 7 MODE 1. 7 0. 2 9 MODE 3.5 VDD=5V 1 VDD=5V ±1 2.2 2. CLOCK Input hysteresis and voltage STROBE Input current DC characteristics REF terminal Input voltage Input current Reference voltage selection output voltage FET ON voltage FET Drain-Source voltage FET drain leakage current FET diode forward voltage AC characteristics Chopper off time Switching time Data setup time "A" Data hold time "B" Data pulse time "C" Clock pulse width "D" Stabilization time before strobe "E" Strobe pulse H width "F" 44 SLA7042M/SLA7044M IDD Conditions VDD VIH Conditions VIL Conditions VH Conditions II Conditions VREF Conditions VDISABLE Conditions IREF Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V ref Conditions V DS Conditions VDSS Conditions IDSS Conditions V SD Conditions T OFF Conditions T OFF Conditions T OFF Conditions Tr Conditions Tstg Conditions Tf Conditions tsDAT Conditions thDAT Conditions twDAT Conditions twhCLK Conditions tpsSTB Conditions twhSTB Conditions 4.75V 75 V 2. VI=0 or 5V 0 MODE 0 20 MODE 1 40 MODE 2 55.7 VDD=5V.4 ID=1. 5 11 MODE 6.5V 5 Units max 7 VDD=5V VDD=5V.5 MODE 3 71. ID=1A 0.

a Ph.2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M OFF time timer (TOFF 3-step switching) Reference voltage Vref b a c 0% 0 0 0 20% 0 1 0 40% 1 0 0 55.4% 0 0 1 83% 0 1 1 91% 1 0 1 100% 1 1 1 Reference voltage c b a Vref 0 0 0 0% 0 0 1 20% 0 1 0 40% 0 1 1 55.4% 1 0 1 83% 1 1 0 91% 1 1 1 100% Chopper ON Noise filter (2 µ s) Chopper ON Noise filter (2 µ s) Phase COMP Latch a Ph. Enable GND B Ref B CLOCK B DATA B STROBE B STROBE A DATA A Ref A CLOCK A Enable GND A Rs A PWM Phase Reset Reset OUT B OFF time timer (TOFF 3-step switching) Rs B PWM OUT B VDD B VDD A OUT A OUT A ■Internal Block Diagram ■Output Current Formula IO = K VREF • 3 RS K: Reference voltage setting rate by serial signal (See the internal block diagram) ■Diagram of Standard External Circuit VCC 5V 4 VDDA R1 15 1 8 11 18 VDDB OUT A OUT A OUT B OUT B CLOCK A 5 ENABLE VREF 3 14 R2 CLOCK B REF A REF B SLA7042M SLA7044M STROBE A STROBE B 16 2 13 DATA A C1 GND A GND B 7 12 RS A 9 RS 6 DATA B 17 RS B 10 RS C1 : 500 to 10000pF SLA7042M/SLA7044M 45 . a Reset Shift register b COMP Reset Latch b Shift register Ph.5% 1 1 0 71. c c a b c c b Ph.5% 1 0 0 71.

6 ±0.2 φ 3.4±0.2±0.8 4.1 Part No.3±0.7 17xP1. (3) 6.1 1.2 (Unit: mm) 31.2 −0. .2 1.1 0.55 +0.2 1 −0.2 Lot No.6 7.2 +0.9±0.6 ±0. No.7±0.1 +0.45±0.56±1 2.65 −0.6 2. No.1 6±0. 0.15x3.2 +0.2 0.4±0.1 17xP1. Then.1 9.56±1 4±0.871 Forming No.4%) 0 0 0 0 0 0 0 0 a b c MODE0 DATA MODE5 (83%) MODE6 (91%) MODE7 (100%) Successively output this serial data and set any current.65 −0.2 16.1 R-End 3 ±0.6 4.4=28.68±0.7 −0.55 −0.5±0.2±0.2 1 2 3 • • • • • • • • • • • • 16 17 18 1 2 3 • • • • • • • • • • • • 16 17 18 Forming No.2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M ■External Dimensions 31±0.2 13±0.68±0.2±0.6 +0.2 φ 3.7±0.872 ■Serial Data Pattern OUT excitation (MODE χ) Phase a b OUT excitation (MODE χ) c Phase CLOCK 0 0 STROBE 0 0 (0%) 0 0 MODE1 (20%) 0 0 MODE2 (40%) 0 0 MODE3 (55.4=28. determine the step time of the reference voltage Vref at STROBE signal intervals.2 1 −0.2 0.5%) 0 0 MODE4 (71.5 9. 46 SLA7042M/SLA7044M See page 48 for details of PG001M serial signal generator IC for SLA7042M and SLA7044M.8±0.1 +0.15 16±0.2 24.6 +0.

. set the RESET state (REF terminal voltage: V DD−1V to VDD ) after the power is turned on. Therefore.2-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) A 100 10 1 2 3 Combined Current A Current B vector To rotate the motor.5% 83% 7 40% 91% 8 20% 100% 9 0% 100% 10 100% 100% A ■Serial Data Sequence Example (2W 1-2 Phase Excitation for CW) 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Sequence 0 1 2 3 4 5 6 7 8 9 DATA-A MODE 0 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 DATA-B MODE 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 A malfunction may occur just after the power (VDD ) is turned on because the internal logic is unstable.) ■Operation Current Waveform Examples Stationary waveform A 0 A B 0 B Time Start Torque-up waveform at start A 0 A B 0 B Time Leading phase waveform at acceleration A 0 A B 0 B Time These three types of waveforms can all be set with a serial signal..5% 5 71..4% 71... 1-2 phase excitation : Vector 1→5→9 2-2 phase excitation : Vector 5 or 10 4 5 6 7 20 8 B 0 20 40 55.5 9 B 71.4% 6 55. enter serial data as follows: 2W1-2 phase excitation : Vector 1→2→3→4→5→6→7→8→9 .4 83 91 100 1 100% 0% 2 100% 20% 3 91% 40% 4 83% 55. SLA7042M/SLA7044M 47 . W1-2 phase excitation : Vector 1→3→5→7→9→.

1.5 0.5 0.5 to 7 −0.3 1. Inter-clock See Fig. S 100 550 ns 100 ns CLOCK_OUT DATA 10% STROBE TCC Tr TCS Tf Fig.PG001M Serial Signal Generator IC for SLA7042M and SLA7044M ■Absolute Maximum Ratings Parameter Supply voltage Input voltage Input current Output voltage Output current Power dissipation Operating temperature Storage temperature (Ta=25°C) Symbol VDD VI II VO IO PD T OP Tstg Ratings −0.45 0. CL=15pF See Fig.4 ±1 5 −0. IO =±3mA 3. 1 V mA V pF MHz 10 430 20 20 Units . 2. VI=0 or 5V VDD=5V VDD=5V VDD=5V 1 5 1.5V max 5.5 to VDD+0. 48 PG001M ns 100 90% CLOCK_IN V µs CLOCK_OUT DATA STROBE 1/F µA 4.5 0.2 Fig.5 ±10 −0. H level time.5 50 VDD=5V See Fig. VDD=5V L level time.5 ±15 200 −20 to +85 −40 to +150 Units V V mA V mA mW °C °C ■Electrical Characteristics DC characteristics Parameter Symbol Supply voltage Supply current Conditions V DD IDD VOH VOL II VIH VIL VH CI F T CS Output voltage Input current Input voltage Input hysteresis voltage Input capacity Internal oscillation frequency Propagation delay time AC characteristics (Ta=25°C) tps min 4. 3 Timing conditions Excitation switching point B A RESET MO D MS1 MS2 C CW/CCW VC C D C D C D VC switching occurs only while CLOCK-IN level is L.5 V DD=5V.5 V DD=5.5 to VDD+0. TCC Tr Tf V CIH VCIL tsR tpsR tsS Output voltage Rise and fall time CLOCK IN terminal Input clock time Reset setting time (A) Stabilization time after reset (B) Signal setting time (C) Stabilization time after signal input (D) Ratings typ V DD=5V. VDD=5V Inter-clock See Fig.35 4. 3.5 V DD=5V.5 CLOCK_IN 1/F V ns Fig. 3.

CP2 and NC pins) ■Diagram of Standard External Circuit 5V 16 1 2 MPU 3 6 7 15 9 VDD RESET CLOCK _OUT CLOCK_IN CW/CCW MS1 MS2 P G 0 0 1 M 14 CLOCK_A CLOCK_B STROBE 13 STROBE_A STROBE_B DATA_A VC DATA_B 11 10 SLA7042M SLA7044M DATA_A DATA_B MO NC 12 GND CP1 CP2 8 5 4 Rs NC NC Rs NC PG001M 49 .. Input . SET 2h VC 15 MO 9 a (B) Parallel signal generator 14 CLOCK_OUT b (C) Parallel-serial signal converter c 11 DATA_A 10 DATA_B 13 STROBE Phase Q1 Q2 Q3 Q4 CLOCK_IN 2 CW/CCW 3 RESET 1 (E) Oscillator (D) Up/Down counter 5 CP1 8 GND 4 CP2 12 NC Fix all open input pins to H or L (Apart from CP1. Output MS1 6 MS1 7 (A) Excitation mode setting section Number inside shape indicates pin number..Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Internal Block Diagram VDD 16 ...

08max 1 +0.48±0.2 20.25 −0.3 2.65max 16 Lot No.54±0.10 0 to 15°C ■Output Mode Vs Output Pulse Output pulse Output pulse OUT excitation Phase STROBE 0 1 Output mode 2 3 4 5 6 7 50 PG001M b OUT excitation c Phase 0 CLOCK _OUT 0 0 STROBE 0 0 0 0 1 0 2 0 0 0 0 0 0 Output mode CLOCK _OUT a 3 4 5 6 7 0 0 0 0 0 0 a b c .0max 9 6.89 8 7.25 0.51min 1.11 2.Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■External Dimensions (Unit: mm) 19.54min 5.3 6. Part No. 0.62 0.05 0.

CW L ∗ : MO outputs L level while CLOCK_IN Modes in brackets ( ) are for 2-2 phase VC: H.or 4:4 (7:7).4% 83% 91% 100% H L L − − − − L L L − − − 1-2 Phase Half Step × H L − − W1-2 Phase 1/4 Step × L H − 2W1-2 Phase 1/8 Step × H H 2-2 Phase Full Step 4 − − − − − − − − − − − 141% − 100% 100% 100% 100% ■Output Mode Sequence Excitation method 2-2 Phase Full Step (1) (VC: H) 2-2 Phase Full Step (2) (VC: L) CW/CCW CW CCW CW CCW CW 1-2 Phase Half Step CCW CW W1-2 Phase 1/4 Step CCW 2W1-2 Phase 1/8 Step CW CCW CLOCK RESET 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 MO L H H H H H H H L H H H H H H H L H H H H H H H L H H H H H H H L DATA_A 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_B 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_A 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_B 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_A 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_B 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_A 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_B 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_A 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 DATA_B 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 DATA_A 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 DATA_B 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 DATA_A 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 DATA_B 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 DATA_A 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 DATA_B 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 DATA_A 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 DATA_B 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 DATA_A 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 DATA_B 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 3 2 1 0 1 2 3 4 5 6 7 7 7 6 5 4 = : No output PG001M 51 .Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Input and Output Function Correlation Table Input Mode CLOCK _IN × : Don't care Output CW /CCW RESET L H MO CLOCK STROBE _OUT DATA -A DATA -B CW CW H H H H H × L × L is H level when output mode is 4:4 (7:7). 4:4 (7:7).5% 71. 4:4 (7:7). CCW CCW CCW Output Mode Input Mode 4 or 7 4 or 7 Output Output Mode Mode RESET ■Excitation Selection Table Input Output current mode of SLA7042M/7044M Excitation method Excitation mode selection VC MS1 MS2 0 1 2 3 5 6 7 Torque vector 0% 20% 40% 55.

Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Output Timing Chart (CW) … Excitation Current of SLA7042M/7044M RESET CLOCK_IN MO 7 7 7 A 2-2 Phase Full Step (VC: H) 7 7 7 7 7 B 7 7 MO 7 4 4 4 0 A 0 4 1-2 Phase Half Step 4 7 7 4 4 4 0 B 0 4 4 7 MO 4 2 0 A 7 6 4 2 2 2 4 6 4 6 6 7 7 6 4 4 4 2 0 2 2 4 4 6 6 7 MO 3 2 A 1 0 0 1 2 2W1-2 Phase 1/8 Step 4 2 0 B B 4 0 W1-2 Phase 1/4 Step 4 6 5 6 7 7 3 4 5 7 6 5 4 3 6 2 6 7 7 5 4 3 2 1 2 3 4 5 6 7 7 6 5 4 3 4 3 1 7 0 1 0 7 1 2 3 4 5 6 6 7 7 5 4 3 2 1 2 5 1 7 For 2-2 phase VC : L. 52 PG001M . output mode is 7→4.

Serial Signal Generator IC for SLA7042M and SLA7044M PG001M ■Output Timing Chart (CCW) … Excitation Current of SLA7042M/7044M RESET CLOCK_IN MO 7 7 7 A 2-2 Phase Full Step (VC: H) 7 7 7 7 7 B 7 7 MO 7 4 4 4 0 A 0 4 1-2 Phase Half Step 4 7 7 4 4 4 0 B 0 4 4 7 MO 7 6 4 6 4 4 2 2 2 4 W1-2 Phase 1/4 Step 4 6 6 7 7 4 0 B 2 4 4 6 4 6 7 7 6 7 7 6 5 4 3 2 A 1 0 1 2W1-2 Phase 1/8 Step 4 B 3 2 4 2 3 4 5 6 7 1 6 7 0 0 2 0 2 5 6 6 4 2 MO 2 0 0 A 1 2 3 4 5 6 6 7 7 5 4 3 2 5 4 3 2 1 2 3 5 6 1 7 7 2 4 5 1 7 4 0 3 7 6 5 4 3 1 7 For 2-2 phase VC:L. output mode is 7→4. PG001M 53 .

do not exceed the specified current rating or a junction temperature of 150°C. VBB=30V. These conditions can be tolerated but should be avoided.8V VENABLE1=VENABLE2=2. 50% to 90% : ENABLE OFF to Source OFF IO=±650mA.5 3.0 0. L=3mH VO =30V VO =0V Source Driver.1 0.9 1. VSENSE=0.0 4. 50% to 90% : ENABLE ON to Sink ON IO=±650mA.0 2.5 1.08 Units A3966SLB 30 ±750 ±650 7.4V max < 1. Ta =25°C. ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB ) Load supply voltage range Output leakage current Output saturation voltage (Unless specified otherwise.A3966SA/SLB 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Maximum output ratings: 30V.0 30 50 −50 2. IO =−400mA Source Driver.1 VENABLE1=VENABLE2=0. IO=±650mA. V CC=4.8V VENABLE1=VENABLE2=2.0 4.5V Sink Driver. 50% to 90% : ENABLE ON to Source ON IO =±650mA.0 < −1.4V V CC Operating 4.4 3. derate using −16.8V Operating VREF =0V Operating CT=680pF. Note 1: When ambient temperature is 25°C or over.3 to V CC+0. 54 A3966SA/SLB VIN =2. −14.3 0.3 22.1 1.7 1.3 24 1.0 1. VSENSE=0. IO=+400mA.9 0. 50% to 90% : PHASE Change to Sink OFF IO=±650mA. 56kΩ & 680pF RC to ground) Symbol Conditions V BB Operating. 50% to 90% : PHASE Change to Source OFF min 12 ICC (OFF) 0.5V. IO =−650mA Sink Driver.4V VIN =0.0 −0.0 27.86 −20 to +85 +150 −55 to +150 V mA mA V V V W °C °C °C ●Output current rating may be limited by duty cycle.0 < 1.67mW/°C (SA).93mW/°C (SLB).50 V V V µA µA V µA < 1. RT=56kΩ Comparator Trip to Source OFF Cycle Reset to Source ON 1kΩ Load to 25V IO =±650mA.2 6.8 1. IO=50~650mA IF=400mA IF=650mA VENABLE1=VENABLE2=0.4 1. V S= 0V. crossover-current protection and UVLO protection circuitry ● Employs copper batwing lead frame with low thermal resistance Parameter Symbol Load supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Sense voltage Package power dissipation Ambient operating temperature Junction temperature Storage temperature VBB IO (Peak) IO VCC VIN VS PD (Note1) Ta T j (Note2) T stg Ratings A3966SA 2.6 5.8 0.75 2. VREF =2V.4 1.0 1.75V to 5.4 18 1.0 1. 50% to 90% : PHASE Change to Sink ON IO=±650mA.4 ICEX VCE (sat) Sense-current offset ISO Clamp diode forward voltage VF Motor supply current (No load) Control logic Logic supply voltage range Logic input voltage Logic input current IBB (ON) IBB (OFF) VCC VIH V IL IIH IIL Reference input voltage range VREF Reference input current IREF Reference divider ratio VREF/V TRIP Current-sense comparator input offset voltage V IO Current-sense comparator input voltage range VS PWM RC frequency fOSC PWM propagation delay time tPWM Cross-over dead time tcodt Propagation delay time tpd Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current ● "typ" values are for reference.8 −6.0 0 25.1 −2.0 200 V µA µA V V V V mA V V mA µA 5.1 0. Under any set of conditions. ambient temperature. 50% to 90% : ENABLE OFF to Sink OFF IO=±650mA.5V IS −IO. and heat sinking.6 0. 50% to 90% : PHASE Change to Source ON IO=±650mA. IO=+650mA.0 1.0 −0. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal shutdown circuitry.2 3. ±650mA ● Internal fixed-frequency PWM current control ● Internal ground-clamp & flyback diodes ● Internal thermal shutdown.3 1.8 20 −200 2.8 100 500 200 200 2200 200 2200 200 165 15 4.4 1.0 < −20 Tj ∆ Tj VUVLO en VUVLO hys ICC (ON) Ratings typ 0 4.6 50 9 Units mV V kHz µS µS µS ns ns ns ns ns ns ns ns °C °C V V mA mA .2 Increasing VCC 0.

5 + VBB A3 2 96 6S A A3 96 60 6S 1.5 LB 67 UVLO & TSD °C /W °C 1 ENABLE (ACTIVE LOW) /W PWM LATCH BLANKING GATE CURRENT-SENSE COMPARATOR 0.2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) LOAD SUPPLY OUTA VCC 2.5 SENSE + − R Q TO OTHER BRIDGE TO OTHER BRIDGE S +4 GROUND 0 −20 0 25 50 OSC RC 75 85 100 TO OTHER BRIDGE Ambient temperature Ta (°C) CT RT RS REFERENCE Allowable package power dissipation PD [W] PHASE OUTB ■Internal Block Diagram (1/2 circuit) LOGIC SUPPLY ■Derating A3966SA/SLB ■Load-Current Paths ■Truth Table PHASE ENABLE OUTA OUTB X H Z Z H L H L L L L H X: Don't care (either L or H) Z: High impedance (source and sink both OFF) VBB BRIDGE ON SOURCE OFF ALL OFF RS ■Terminal Connection Diagram A3966SA 1 OUT1B 2 LOAD SUPPLY 3 16 LOGIC SENSE1 A3966SLB REFERENCE 4 VREF VBB ENABLE1 15 PHASE1 14 OUT1A PHASE1 2 ENABLE1 3 GROUND GROUND 4 SENSE1 5 OUT1B 6 LOAD SUPPLY 7 REFERENCE 8 RC 5 RC 12 GROUND 6 VCC 11 OUT2A OUT2B 7 10 PHASE2 SENSE2 8 9 ENABLE2 16 OUT2A 15 PHASE2 14 ENABLE2 13 GROUND 12 SENSE2 11 OUT2B VCC 10 LOGIC SUPPLY RC 9 RC 1 13 LOGIC SUPPLY LOGIC OUT1A VBB LOGIC LOGIC VBB VREF A3966SA/SLB 55 .

558 0.77 1.900 • CT fOSC≅1/ (R T • CT+tblank) RT=56kΩ (20kΩ to 100kΩ) CT=680pF(470pF to 1.2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A3966SA/SLB ■Typical Application (A3966SLB) Example of stepper motor drive 1 PHASEA 2 ENABLEA 3 4 16 VBB LOGIC LOGIC 15 PHASEB 14 ENABLEB 13 0.93 0.10 1 1.5 Ω 0.60 7.65 2.000pF) ■External Dimensions (Unit: mm) A3966SA A3966SLB 16 16 9 10.10 5.32 0.68 18.13 MIN 0.50 10.33 MAX 3.40 10.00 1.355 0.15 19.54 BSC 8 9 7.92 7.5 Ω 5 12 +5V 6 11 VBB 7 8 VREF VCC 10 RC 9 56 kΩ 10 kΩ 47 µ F + +5 V 680 pF 39 kΩ +24 V ITRIP≅IOUT+ISO≅VREF /(4 • RS) tblank≅1.27 0.51 0.33 1 2 3 10.11 6.27 BSC 0° to 8° .81 2.23 0.62 MAX BSC 7.40 0.65 10.204 1.39 MIN 0.356 2.10 MIN. 56 A3966SA/SLB 0.35 0.67 2.

A3966SA/SLB 57 .

0 <− 1.3 0. no load Output saturation voltage VCE (SAT) Output sustaining voltage Clamp diode leakage current Clamp diode forward voltage VCE (SUS) IR VF IBB (ON) IBB (OFF) VIH VIL IIH IIL Logic input current Reference output voltage VREF • OUT1 Current-sense comparator input current IREF • IN Current-sense comparator input voltage range VREF • IN Current-sense comparator input offset voltage VTH Timer blanking charge current (RC off) IRC VBLTH(1) Timer blanking threshold (RC off) VBLTH(0) Timer blanking OFF voltage (RC off) VRCOFF Thermal shutdown temperature Tj Thermal shutdown hysteresis ∆Tj ICC (ON) Logic supply current ICC (OFF) Logic supply current/temperature coefficient ∆ICC (ON) Ratings typ min max 5 30 50 −50 0. and heat sinking.3 1. IREF • OUT =90~900µ A VREF • IN=1V Operating VREF • IN=0V VRC=2.0 V 1.6 1.0 0. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device's thermal shutdown circuitry.3 1.8 V < −1.0 5.25V.A3964SLB 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control Parameter Load supply voltage Output current (continuous) Logic supply voltage Logic input voltage range Continuous output emitter voltage Reference output current Package power dissipation Operating temperature Junction temperature Storage temperature ● Internally generated. VO =VBB Source driver. derate using −16. IO=+800mA Source driver.6 2.8V. T a =25°C.3 to V CC+0.0 20 µA < −20 −200 µA 2.5 0 −20 0 25 50 75 85 Ambient temperature Ta (°C) 58 A3964SLB Units V µA µA V V V 1.0 V 1. These conditions can be tolerated but should be avoided.4V.80 7. no load VEN1=VEN2=0.0 −0. IO=+500mA Sink driver.5V reference ● External filter for sense terminal not required ● Internal thermal shutdown circuitry ● Internal crossover-current protection circuitry ● Internal UVLO protection ● Internal transient-suppression diodes Parameter Power outputs (OUTA or OUT B) Load supply voltage range Output leakage current Symbol Conditions VBB Operating Sink driver.8V.1 V V 30 V < 1. no load VEN1=VEN2=2.45 2.0 1.4 V 0.0 2.0V RT=20kΩ VEN1=VEN2=0. IO =−750mA Source driver.0 mA 3. IO=+750mA Sink driver.7mW/°C.0 V 3.0 V 165 °C 15 °C 65 85 mA 17 mA 0. VREF=2V. no load VEN1=VEN2=2. En2.0 60 °C /W 1. Note) Logic input: En1. VIN=V DD or GND) 2.0 V −6 6 mV 1. VCC=4.2 1.5 2.2 1. no load ● "typ" values are for reference. VBB=30V. precision 2.4V V IN=0. Under any set of conditions.4V. ● Low thermal resistance 20-pin SOP ■Electrical Characteristics Symbol VBB IO VCC VIN VE IREF-OUT PD (Note1) Ta T j (Note2) T stg 100 . IO =−800mA IO=±800mA. ambient temperature.5 1.08 −20 to +85 +150 −55 to +150 ●Output current rating may be limited by duty cycle.0 0.50 2.0 µA −0.7 V IN=2.18 mA/°C < 1.0 50 µA 1. VSENSE= 0V) ICEX Motor supply current Ratings 30 ±0.8V VCC=5. Note 1: When ambient temperature is 25°C or over.55 V −5.0 V 10 mA 10 mA (Unless specified otherwise.5 Control logic Logic input voltage Units V A V V V mA W °C °C °C (Unless specified otherwise. Ph1.75V to 5.0V. IO =−500mA Source driver. L=3mH V R=30V IF=800mA VEN1=VEN2=0. Ph2 OUT1B 1 20 OUT2B SENSE1 2 19 SENSE2 OUT1A 3 18 OUT2A VBB 4 17 VCC GROUND 5 16 GROUND GROUND 6 15 GROUND VREF IN 7 14 VREF OUT RC1 8 13 RC2 PHASE1 9 12 PHASE2 ENABLE1 10 11 ENABLE2 ■Derating Allowable package power dissipation PD (W) ■Terminal Connection Diagram 2.5 1. do not exceed the specified current rating or a junction temperature of 150°C. V O=0V Sink driver.5 1.8V.

27 BSC 0° TO 8° SEATING PLANE Note) [Pin] material : copper Surface treatment : solder plating Note) Package index may be *1.51 0.68 to 1.32 0.40 0.00 12.2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A3964SLB ■Internal Block Diagram(Dotted Line)/ Diagram of Standard External Circuit (Recommended Circuit Constants) VBB (5~30V) VCC (5V) + 17 VCC VBB 4 Reference voltage power supply TSD OUT1A 3 1 OUT1B 9 10 Phase 1 OUT2B 20 18 Phase 2 Enable 1 Enable 2 Source off Source off Blanking time & one shot multi − − + + 2 7 14 5 Sen1 VREF VREF RC1 8 IN OUT R1 CT1 RT1 6 OUT2A 12 11 Blanking time & one shot multi 15 16 19 Sen2 13 RC2 GND RS1 RS2 RT2 CT2 R2 R1=20kΩ R2=5kΩ (VR) RT=30kΩ CT=1000pF RS=0.60 2.33 1 10 13.23 *1 10.35 1.40 1.65 10. 0.65 2.27 0.00 7.60 7. Z = High impedance 0 1 2 3 0 H L L H H L L L L L H H L L H L L L L [1-2 phase excitation] Phase 1 ■External Dimensions 0 1 2 3 4 5 6 7 0 H H X L L L X H H Enable 1 L L H L L L H L L Phase 2 X H H H X L L L X Enable 2 H L L L H L L L H Wide body plastic SOP (300mil) (Unit: mm) ICs per stick 37 20 11 0.5Ω (1 to 2W) ■Excitation Sequence ■Truth Table [2-phase excitation] Phase Enable Out A H L H L L L L H Phase 1 X H Z Z Enable 1 Phase 2 Enable 2 L Out B X = Don't care.10 MIN A3964SLB 59 .

86 −20 to +85 +150 −55 to +150 W/pkg °C °C °C ● Internal crossover-current protection cir.C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry.3 V 1. and heat sinking. These conditions can be tolerated but should be avoided. ambient temperature.93mW/°C(SLB).3 7.0V) VSENSE D.0 V A/unit V V IN −0.4 (V CC=3.0 (V CC=5. Note 1: When ambient temperature is 25°C or over.●Output current rating may be limited by duty cycle.3V and 5V logic supply voltage Package power dissipation Operating temperature Junction temperature Storage temperature ● Sleep (low current consumption) mode ● Brake operation with PWM current limiting ● Internal thermal shutdown circuitry Ratings Symbol A3953SB A3953SLB Units VBB IO VCC 50 ±1.90 D (Note1) 1. V 0.A3953SB/SLB 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control Parameter ● Switching between power supply regenera- Load supply voltage Output current (continuous) Logic supply voltage Logic/reference input voltage range tion mode and loop regeneration mode in order to improve motor current response in microstepping ● External filter for sense terminal not required Sense voltage ● 3. do not exceed the specified current rating or a junction temperature of 150°C. derate using −23.3V) P Ta Tj (Note2) Tstg 2. cuitry ● Internal UVLO protection ● Internal transient-suppression diodes ● Low thermal resistance package ■Terminal Connection Diagram A3953SB BRAKE 1 VBB A3953SLB 16 LOAD SUPPLY OUTB BRAKE 1 VBB 16 LOAD SUPPLY REF 2 15 OUTB RC 3 14 MODE GROUND 4 13 GROUND GROUND GROUND 5 12 GROUND SENSE LOGIC SUPPLY 6 11 SENSE PHASE 7 ENABLE 8 REF 2 15 RC 3 14 MODE GROUND 4 13 GROUND 12 LOGIC GROUND 60 5 LOGIC SUPPLY 6 PHASE 7 ENABLE 8 A3953SB/SLB VCC 11 VBB 10 OUTA 9 LOAD SUPPLY VCC VBB 10 OUTA 9 LOAD SUPPLY . Under any set of conditions.26mW/°C(SB) or −14.3 to VCC+0.

0V PWM turn-off time Crossover dead time ●“typ” values are for reference.0V. V BB=5V to 50V.3A.0V VIN=0. V CC=3.0V to 5.4 1. VBRAKE=2.8V VCC=3.3A IF=0. RT≥12kΩ.3V.0V to 3.3A. VCC=3. 50% to 90% PHASE Change to Source OFF 1kΩ Load to 25V. VMODE=0.6V VCC=4.0 V V V µA µA V V µA mV µs µs µs µs µs µs µs µs µs µs µs µs µs µs µs µs A3953SB/SLB 61 .0 1.85 1. BRAKE=H:Source driver. 50% to 90% PHASE Change to Sink OFF IO=±1.0 50 50 −50 50 1. RT=30kΩ.0 1. T a=25°C. A3953SB/SLB 20. VCC=3. 50% to 90% PHASE Change to Source ON IO=±1. L=3mH VO=V BB V O=0V ISENSE−IO .55 1.3A VSENSE=0.0 50 50 50 V µA µA mA V V V V V V V V mA µA µA µA 3.8V VENABLE=V BRAKE=VMODE=2.3A.3A.0V.4V. Io=1.0 22. 50% to 90% ENABLE OFF to Source OFF IO=±1.1 1.9 1. Io=1. Io=25mA IRC Charge ON to Source ON. VCC=3.0 VIN=2.8V.0V.3 1.85A VSENSE=0. 50% to 90% ENABLE ON to Source ON IO =±1.3 5.0 ±5.6 1. IO =850mA.0 <−1.4 0.5V) Symbol Conditions VBB Operating.0) IREF VIO tOFF RC tPWM (OFF) PWM turn-on time tPWM (ON) PWM minimum on-time tPWM (ON) Propagation delay time tpd tCODT Limits min 18 3. 50% to 90% ENABLE OFF to Sink OFF (MODE=L) IO=±1. BRAKE=H:Sink driver. IO=0.0 <−2. IO =±1.4 1.8 2.0 1. VMODE=0.7 0.2 1.85A VSENSE=0.3A VENABLE =0.0V.3A.0 0.3V Comparator Trip to Source OFF. BRAKE=L:Sink driver.8 0.8V VENABLE=V BRAKE=VMODE=2.0 1.0 0.3A V CC=3.0 5. CT=680pF V CC=5.4 1.85A VSENSE =0.25 50 15 50 800 °C °C V V mA mA mA µA 165 8 2.0 1.5 0.8V.8 4. IO=−0.9 0. Io=25mA Comparator Trip to Source OFF. VCC=3.0V VENABLE =VBRAKE=2. IO=−1.5 1.7 0.0 33 1.0V.3A VSENSE=0.0V.5V to 5.0V.12 VENABLE =0.3A. IO=1.4 1.17 42 12 42 500 3.0V VENABLE =VBRAKE=2.0 1.7 1.5 2. VCC=3.8 0. IO=1.3) VSENSE (5.0 ±5. VSENSE=0V.0 0 0 ±2.3A.4 1.0V Output leakage current ICEX Sense current offset ISO Output saturation voltage (Forward/reverse mode) VCE (SAT) Output saturation voltage (Brake mode) VCE (SAT) Clamp diode forward voltage Motor supply current (No load) Control logic Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current Logic supply voltage range Logic input voltage Logic input current Sense voltage range Reference input current Comparator input offset voltage AC timing PWM RC fixed off-time VF IBB (ON) IBB (OFF) IBB (BRAKE) IBB (SLEEP) Tj ∆T j VUVLO ∆V UVLO ICC (ON) ICC (OFF) ICC (BRAKE) ICC (SLEEP) V CC Operating VIH VIL IIH IIL VSENSE (3. 50% to 90% ENABLE ON to Sink ON IO =±1.4 2.8 1.5 0.4 1.8V VBRAKE=0.1 1.3 Units typ VCC 2.5V VREF =0V to 1V V REF=0V C T=680pF. VCC=3. VBB=50V <1.4V.5 2.3A IRC Charge ON to Source ON.75 0.9 2.0 1.4 1.4V.8 20 −200 0.2 1.85A IF=1.4V.8 0.0 3.0 18.6 0. VCC=3. 50% to 90% PHASE Change to Sink ON IO =±1.0 max <1.8V VBRAKE=0.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB ) Load supply voltage range (Unless specified otherwise. VBRAKE=2.0V. BRAKE=L:Sink driver. CT=470pF IO =±1. VCC=5V VSENSE=0.0V.3A. BRAKE=H:Source driver.3A.4V. BRAKE=H:Sink driver.4 0. IO=0.4V.3 0. RT≥12kΩ.8 2.5 1.

5. 1.54BSC 21. Maximum thickness of lead is 0.62BSC 1 INDEX AREA 2 3 8 1.10 7.06 2.65 2. 13.11 6. 8.204 16 ICs per stick 16 9 47 0.40 A3953SB/SLB 4.27 0. 9.508mm. .381 0.15 2. pin surface treatment: solder plating ● Package index may be *1. ● Web (batwing) type lead frames are used for pin 4.39MIN 62 10.60 7.00 7.35 SEATING PLANE 0.93 ● Thickness of lead is measured below seating plane.0 10 MODE 14 3S 2.50 10.558 0. slow current-decay mode H L H Reverse.127MIN 1. slow current-decay mode H L L Brake. The pins are connected to GND.51 0.5 9 SLEEP & STANDBY MODES A3 OUTB VCC 3. ● Allowable variation in distance between leads is not cumulative. 16 may be 2: half the value shown here.5 − Allowable package power dissipation PD (W) A3953SB/SLB + − RC 3 5 12 2 REF CT 13 GROUND VTH RT ■Truth Table BRAKE ENABLE PHASE MODE OUTA OUTB H H X H Z Z Sleep mode Operating Mode H H H L H L H L H L L X L X X H H L L X X L Z Z Standby H H L Forward. fast current-decay mode L L L Brake. fast current-decay mode L H L Forward.0 UVLO & TSD INPUT LOGIC B 2.65 10.3V) 10 VBB 9 ■External Dimensions (Unit: mm) A3953SB Plastic DIP (300mil) A3953SLB ICs per stick 25 (16-pin wide SOIC) 0.5 Ω (A3953SB) VCC 11 Off-time setting t OFF≅R T•CT RT=12k to 100kΩ CT=470 to 1500pF (Operating at VCC=5V) CT=680 to 1500pF (Operating at VCC=3.0 OUTA LOAD SUPPLY ■Internal Block Diagram LOGIC 6 SUPPLY BRAKE 1 R Q 0 25 50 75 85 100 GROUND Ambient temperature Ta (C°) VCC 4 11 SENSE RS S BLANKING 0 −20 + PWM LATCH 0.10 MIN. 2.23 9 *1 7.93 5.5 3S 43 LB C° PHASE 15 LOAD SUPPLY 16 VBB 7 /W 67 C° ENABLE 8 /W 1.33 1 8 10.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Derating 95 A3 95 1.32 0. Note 1: Lead width of pin 1. fast current-decay mode L L H Reverse.33 18. ● Allowable variation in distance between leads is not cumulative.40 0.10 SEATING PLANE 0.356 0. 12.33MAX 0.77 1.27 BSC 0° TO 8° ● Pin material: copper. no current control X : Don't Care Z : High impedance ■Application Circuit (DC motor drive) +5 V VBB REF 2 15 3 14 4 13 30 kΩ 680 pF 1 VBB 16 + BRAKE 47 µ F MODE LOGIC 12 5 6 PHASE 7 ENABLE 8 0.

At the end of drivers are disabled.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB Application Notes ■Outline decay mode. the PHASE input controls load current polarity by selecting the appropriate source and sink RS driver pair. The en- driver or selected sink and source driver pair depending on ergy stored in the motor’s inductance is discharged into the load whether the device is operating in slow or fast current-decay supply causing the motor current to decay. flow that dynamically brakes the motor. tinuous output currents to ±1. all output remain disabled (see “RC Fixed Off-time” below). The MODE input determines whether the PWM current-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). In fast current- the motor’s decreasing speed). As in the case of forward/reverse operation. The brake function can be used to dynamically brake brush dc motors. Internal circuit protection includes thermal shutdown RECIRCULATION (SLOW-DECAY MODE) with hysteresis. when the ITRIP level is reaced. rotor condition. respectively.is capable of con- to the load supply via the ground clamp and flyback diodes. the braking func- peak load current at the desired value (see figure 2). A sleep mode is provided to reduce power the RC interval. The fixed offtime pulse duration is set by a userselected external RC timing DRIVE CURRENT network. Depending on the back-EMF voltage (proportional to through the sink driver and ground clamp diode. the load inductance causes the current to recirculate below). With the ENABLE input held high.3A and operating voltages to 50V. and there is no PWM current limiting. the selected source driver is dis- abled after a time given by tOFF=RT•CT (see “RC Fixed Off-time” abled. transient-suppression diodes. Special power-up sequencing is not required. the comparator resets a latch that turns off the selected source the PWM circuit disables the conducting sink drivers. the drivers are enabled allowing the load cur- consumption. the drivers are en- In slow current-decay mode. mode. The internal circuitry compares the voltage across the external sense resistor to the voltage on the reference input terminal (REF) resulting in a transconductance function approximated by: I TRIP VREF −I SO R SENSE (B)INTERNAL PWM CURRENT CONTROL DURING BRAKEMODE OPERATION (1) Brake Operation-MODE Input High. Fig. rent to increase again. With the ENABLE input held low. the A3953S. 2 Fast and Slow Current-Decay Waveforms ENABLE ■FUNCTIONAL DESCRIPTION (A) Internal PWM Current Control During Forward and Re- MODE verse Operation. If the back-EMF voltage is large. the load inductance causes the current to flow from ground rent control of inductive loads. the load cur- In forward or reverse mode the current-control circuitry limits rent can increase to a value that approaches that of a locked the load current as follows: when the load current reaches I TRIP. the load current again may inA3953SB/SLB 63 . this has the effect of shoring the motor’s back-EMF voltage resulting in current where ISO is the offset due to base drive current. The peak load current limit is set by the user’s selection of an input reference voltage and external sensing resistor. and crossover cur- RECIRCULATION (FAST-DECAY MODE) rent protection. 1 Load-current Paths VBB to regulate the mximum load current to a desired value. The peak value of the current limiting (I TRIP) is set by the selection of an external current sensing resistor (R S) and reference input voltage (VREF). For dc motor applications. To limit the current. tion is enabled. the selected sink and source driver pair are dis- Designed for bidirectional pulse-width modulated (PWM) cur- abled. This overrides ENABLE and PHASE to turn OFF both source drivers and turn ON both sink drivers. maintaing the When a logic low is applied to the Brake input. Internal fixed off-time PWM current-control circuitry can be used Fig. A user-selectable The user selects an external resistor (RT) and capacitor (CT) to blanking window prevents false triggering of the PWM current- determine the time period (tOFF=RT•C T) during which the drivers control circuitry. ITRIP The A3953S-contains a fixed off-time pulse-width modulated (PWM) current-control circuit that can be used to limit the load RC LOAD CURRENT RC current to a desired value. The PWM cycle repeats. The brake circuit turns OFF both source drivers and turns ON both sink drivers.

is duty cycle. For This function blanks the output of the comparator when the out- brush dc motor applications. BRAKE. The comparator output remains blanked limit can be approximated by: until the voltage on CT reaches approximately 0. pacitance is sufficient to absorb the energy without exceeding When the device is disabled. leads. After the crossover delay. with the MODE input low. or at startup).60VCC. the PWM cycle will repeat. care must be taken to ensure the ca- approximately 0. or ENABLE inputs). I PEAK BRAKE ML VBEMF−1V R LOAD For optimal regulation of the load current. the system: A3953SB/SLB . ap- These values ensure that the blanking time is sufficient to avoid proximated by: false trips of the comparator under normal operating conditions. is determined by the selection of an exter- When the device is operating in slow current-decay mode. limiting the peak comparator’s output is blanked and C T begins to be charged load current to the desired value. a brush dc motor The operation of the circuit is as follows: when the PWM latch is when stalled.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB crease to I TRIP. the worst case value of current regu- reset by the current comparator. For 5. When the motor is rotating. the circuit. the voltage on the RC terminal lation can be approximated by: will begin to decay from approximately 0. the internal current- reaches approximately 0. the CT component sets the comparator blanking time.60VCC . The braking current can be measured by using an For 3. or if the back-EMF voltage of the motor is known. CT is dis- the voltage rating of any devices connected to the motor sup- charged to near ground. The limitation is the minimum of values of C T=470pF to 1500pF and RT=12kΩ to 100kΩ. the ablove values for CT are recommended and the value of RT can be sized to determine tOFF. The com- V BB supply bulk capacitance (power supply output and parator output remains blanked until the voltage on CT reaches decoupling capacitance). puts are switched by the internal current-control circuitry (or by For stepper motor applications. from approximately 0. is the motor supply voltage and tON (min) max is specified in the In addition to determining the fixed off-time of the PWM control electrical characteristics table. (C) RC Fixed Off-Time. thereby enabling the driver (s).22 V CC. the the PHASE. there nal resistor (RT ) and capacitor (CT) connected in parallel from is a limit to the lowest level that the PWM current-control cir- the RC timing terminal to ground. The one-shot time.05 • (VSAT (sink) + VF) • t off] 1. at the end of the tOFF time. Therefore. reverse recovery currents of the clamp diodes. charged by an internal current source of approximately 1 mA.60 VCC. back EMF generated will influence the above relationship. The fixed off-time.0V operation.3 V operation. care should be taken to ensure that the motor’s current does not exceed the ratings of the device. over a range cuitry can regulate load current. control circuitry is disabled. A discussion of this subject is included put is blanked to prevent false over-current detections due to in the section on stepper motors below. which is a function of the user-selected value of tOFF approximated by: t off R T • CT and the minimum on-time pulse tON (min) max that occurs each time the PWM latch is reset. CT is charged load inertia is being converted into current. For more information regarding load current regulation. RLOAD is the series resistance of the load. the current regulation is improved. The comparator out- effect is more complex. The comparator output remains blanked until the voltage on CT During braking. The internal PWM current-control circuitry uses a one shot to control the time the driver (s) remain (s) off.05 • (t on (min) max + t off) • R LOAD PWM latch is set. via the ENABLE input. VBB 64 (D) RC Blanking. the I AVE ≅ [(VBB−VSAT (source + sink)) • t on (min) max]−[1. see below. and/or switching The following procedure can be used to evaluate the worst-case transients related to distributed capacitance in the load. which charges the by an internal current source of approximately 1 mA. If so.60 V CC. the peak current approximately 1 mA. oscilloscope with a current probe connected to one of the motor’s the minimum recommended value for CT is 470pF±5%. When the device is reenabled. CT is discharged to near ground during the crossover delay time (the crossover delay time is present to prevent simultaneous conduction of the CAUTION: Because the kinetic energy stored in the motor and source and sink drivers). CT is ply. When the voltage on the RC terminal reaches approximately 0. where tOFF=RT•CT.22 VCC by an internal current source of During braking. I TRIP BRAKE MH VREF RSENSE When a transition of the PHASE input occurs. when the motor is rotating. the minimum recommended value for CT is 680pF±5%. (2) Brake Operation-MODE Input Low. (E) LOAD CURRENT REGULATION WITH INTERNAL PWM CURRENT-CONTROL CIRCUITRY tOFF (fixed off-time). when the MODE input is high. slow current-decay internal PWM load current regulation in the During internal PWM operation. If the motor is not rotating (as in the case of a stepper motor in hold/detent mode.

PWM current control is used. This is intended only to (1) Enable PWM. With the load connected and the PWM cur- omitted. false tripping of the over-current comparator caused by switch- Thermal protection circuitry turns OFF all drivers should the junc- ing transients (see “RC Blanking” above). This can have added ben- the electrical characteristics table. RCN t1 (F) PWM of the PHASE and ENABLE Inputs. This eliminates that can occur when switching phase or braking. the current-sensing resistor should have a sepa- (3) Synchronous Fixed-Frequency PWM. Fig. When Generally. protect the device from failures due to excessive junction tem- With the MODE input low. trace I•R drops. (2) Phase PWM. This prevents the device from being switched I OS (VBB-[(ITRIP • RLOAD) + VBEMF]) • t PWM (OFF) LLOAD into sleep mode when the ENABLE input is low. 3 Synchronous Fixed-Frequency Control Circuit The C T then should be increased until the measured value of tON VCC is equal to tON (min) max as specified in the electrical charac20 kΩ teristics table. the output that is chopping. the comparator blanking function An internally generated dead time prevents crossover currents is active during phase and enable transitions. amount of overshoot can be approximated by: the ENABLE input signal should be inverted and connected to the MODE input. When the device is enabled the internal current-control curcuitry will be ■APPLICATION NOTES active and can be used to limit the load current in a slow cur- (A)Current Sensing. The worst-case load-current regulation then can be mea- 1N4001 2N2222 sured in the system under operating conditions. The PHASE and ENABLE inputs should not be PWM rent control operating in slow current-decay mode. VBEMF is the back-EMF Toggling the PHASE terminal selects which sink/source pair is voltage of the load. This is the typical minimum ON time (t ON (min) typ) for the device.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB Set VREF to 0 volts. tion termperature reach 165°C (typical). The actual peak load current (IPEAK) will be above the calculated For applications that PWM the ENABLE input and desire the value of ITRIP due to delays in the turn off of the drivers. use and os- with this circuit configuration due to the absence of a blanking cilloscope to measure the time the output is low (sink ON) for function synchronous with their transitions. If the internal tion when not in use. The correspond- permitted. rate return to the ground terminal of the device. For low-value The internal PWM current-control circuitry of multiple A3953S- sense resistors. the RT and CT components should be fects but can result in excessive heating and power loss in the A3953SB/SLB 65 . the I•R drops in the printed wiring board can be devices can be synchronized by using the simple circuit shown significant and should be taken into account. The PHASE and ENABLE inputs can be pulse-width modulated (G)Miscellaneous Information. and tPWM (OFF) is specified in and remains continuous at all times. Typical propagation delays from the A logic high applied to both the ENABLE and MODE terminals PHASE and ENABLE inputs to transitions of the power outputs puts the device into a sleep mode to minimize current consump- are specified in the electrical characteristics table. producing a load current that varies with the duty cycle ductance of the load respectively. The value of t1 should be a minimum of 1. efits in bidirectional brush dc servo motor applications as the The reference terminal has a maximum input bias current of transfer function between the duty cycle on the PHASE input ±5 µA. the value t2 of RT should be decreased so the value for t OFF=RT•C T (with the 100 kΩ (min) artificially increased value of CT ) is equal to the nominal design RC1 value. A 555IC can be used to generate the reset pulse/ ets should be avoided as their contact resistance can cause blanking signal (t1) for the device and the period of the PWM variations in the effective value of RS. This current should be taken into account when deter- and the average voltage applied to the motor is more linear mining the impedance of the external circuit that sets the refer- than in the case of ENABLE PWM control (withch produces a ence voltage value. resulting in fast current decay. When the new value of CT has been set. to regulate load current. cycle (t 2). The internal current-limiting circuit to function in the fast decay mode. larger values of RS reduce the aforementioned ef- used in this configuration. drivers are disabled. discontinuous current at low current levels). where VBB is the motor supply voltage.5ms. rent-decay mode. The hysteresis of the thermal shutdown circuit is ap- ing pair of flyback and ground-clamp diodes conduct after the proximately 8°C. RLOAD and L LOAD are the resistance and in- enabled. toggling the ENABLE input turns ON peratures and should not imply that output short circuits are and OFF the selected source and sink drivers. The use of sock- in figure 3. For more informa- To minimize current-sensing inaccuracies caused by ground tion see “DC Motor Applications” below.

(E) Stepper Motor Applications.3Voperation). To minimize the elffect of sys- lowing the device to be used in microstepping. The value for RθJT is given in the package thermal resistance table for the appropriate package. and tem ground I•R drops on the logic and reference input signals. In internal cay) due to the slow rate of decay during t OFF. The selected value of RS should not cause the (C)PCB Layout. to be exceeded. the system ground should have a low-resistance return to the motor supply voltage. Fig. EMI will be re- temperature. PWM slow-decay applications. For reliable operation it is recommended that the maximum junction termperature be kept below 110°C to 125°C. for the SENSE terminal. When the load current is increasing. sinusoidal.0V (0. termperature can be measured best by attaching a thermocouple With increasing values of t OFF. For internal fast-decay PWM. 12. VBB should be decoupled with an elec- V CC=3. only the two ground clamp di- When the load current is decreasing. Tthe junction temperature can then be ap- duced. switching losses will decrease. TTAB. mode is used to limit the switching losses in the device and iron The thermal performance in applications that run at high load losses in the motor. fast-decay mode is used odes need be added. This prevents PHASE or ENABLE input PWM applications. other varying current-profile applications. The value of tOFF can be chosen for optimization of these parameters. This also improves the maximum rate at currents and/or high duty cycles can be improved by adding which the load current can increase (as compared to fast de- external diodes in parallel with the internal diodes. 4 Example of Circuit (including GND) and GND Wiring Pattern OUTB OUTA VBB + A3953SLB Vref REF Rt Phase GND + SENSE 4. to the power tab/batwing of the device and measuring the tab low-level load-current regulation will improve. See also “Current Sensing” and “Thermal Considerations” above. or external to regulate the load current to the desired level. the PWM frequency will decrease. 13 VCCGND A3953SLB VBB RC 1Pin Ct Enable VCC Mode RS Vref VBBGND VCCGND 66 A3953SB/SLB Rt Ct Use jumper wiring for dotted line. 5. duction.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB sense resistor. . and ripple current will proximated by using the formula: TJ increase. For applications where audible noise is a TTAB + (ILOAD • 2 • V F • R θJT) concern.4V for The load supply terminal. The junction (D)Fixed Off-Time Selection. (B) Thermal Considerations. typical values of tOFF are chosen to be in the range of 15 ms to 35 ms. where V F may be chosen from the electrical specification table for the given level of ILOAD. trolytic capacitor (>47µF is recommeded) placed as close to the The current-sensing comparator functions down to ground al- device as is physically practical. The power dissipation of the batwing packages can be improved The MODE terminal can be used to optimize the performance by 20% to 30% by adding a section of printed circuit board cop- of the device in microstepping/sinusoidal stepper-motor drive per (typically 6 to 18 square centimeters) connected to the applications. absolute maximum voltage rating of 1. slow decay batwing terminals of the device. all four external tailing of the current profile caused by the back-EMF voltage of diodes should be added for maximum junction temperature re- the stepper motor.

2-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. which require accurate positioning at low or zero speed. In closed-loop systems. then the maximum load current generated can be approximated by I LOAD=VBEMF/RLOAD. See also “Brake Operation” above. Similar to when branking the motor dynamically. With bidirectional dc servo motors. (F) DC Motor Applications. If the internal slow current-decay control circuitry is used. the speed of a dc motor can be controlled by PWM of the PHASE or ENABLE inputs. If the internal current control circuitry is not being used. The current generated will depend on the mode of operation. 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). PWM of the PHASE input is selected typically. or by varying the reference input voltage (REF). the PHASE terminal can be used for mechanical direction control. For both cases care must be taken to ensure that the maximum ratings of the device are not exceeded. abrupt changes in the direction of a rotating motor produces a current generated by the back-EMF. 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 discontinuous current at low current levels). slow-decay mode PWM is typically used to limit the switching lossess in the device and iron losses in the motor. If the internal fast current-decay control circuitry is used. then the load current will regulate to a value given by: I LOAD VREF RS CAUTION: In fast current-decay mode. Care must be taken to ensure that the capacitance is sufficient to absorb the energy without exceeding the voltage rating of any devices connected to the motor supply. In dc servo applications. In digital systems (microprocessor controlled). In this case. PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog voltage reference. a dc voltage on the REF input is used typically to limit the maximum load current. then the maximum load current generated can be approximated by ILOAD=(VBEMF+VBB)/RLOAD where VBEMF is proportional to the motor’s speed. when the direction of the motor is changed abruptly. A3953SB/SLB 67 .

4 1.0 2.0 −0. VBB=45V.0A Source driver.5A.5 0. do not exceed the specified current rating or a junction temperature of 150°C. derate using −32.3 to +7.A2918SW 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control ● Low saturation voltage (Sink transistor) ● Internal thermal shutdown circuitry ● Internal crossover-current protection circuitry ● Internal UVLO protection ● Internal transient-suppression diodes ● Low thermal resistance 18-pin SIP Parameter Motor supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Output emitter voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol VBB IO (peak) IO VCC VIN VE PD (Note1) Ta T j (Note2) T stg Conditions Ratings 45 ±1.0 −20 to +85 +150 −55 to +150 tw≤20µ s Units V A A V V V W °C °C °C ●Output current rating may be limited by duty cycle. VREF =5V) Symbol Power outputs (OUTA or OUTB ) Motor supply voltage range Limits Conditions min VBB Output leakage current ICEX Output saturation voltage VCE (SUS) Output sustaining voltage VCE (SAT) Clamp diode leakage current Clamp diode forward voltage IR VF IBB (ON) IBB (OFF) Motor supply current typ max 10 VO=V BB VO =0V IO=±1. ■Terminal Connection Diagram 2 E2 3 4 5 SENSE2 6 ENABLE2 7 8 RC2 9 10 11 RC1 12 REFERENCE 15 SENSE1 16 OUT1B 17 E1 18 TSD 14 VREF 13 PWM1 PHASE1 ENABLE1 1 GROUND LOGIC SUPPLY VBB PHASE2 2 OUT2B LOAD SUPPLY VCC A2918SW 1 OUT2A PWM2 68 OUT1A All inputs All inputs V IN=2. IO =−1. Under any set of conditions.75V to 5.0 1. L=3.75 ±1.8V Operating VREF =5V 2.1 2.0mW/°C. Note 1: When ambient temperature is 25°C or over.5 4.0A Sink driver.4V V IN=0. and heat sinking.5A V R=45V IF=1. IO =+1.5A Both bridges ON. ■Electrical Characteristics Parameter (Unless specified otherwise.25V.5mH Sink driver. IO =−1. no load Both bridges OFF 45 50 −50 45 0.5 10 170 VEN=0. ambient temperature. 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.5 9.8V.0 15 10 Units V µA µA V V V V V µA V mA mA Control logic IIH IIL VREF V REF/VSENSE Tj ICC Input current Reference voltage range Current control threshold Thermal shutdown temperature Logic supply current ●“typ” values are for reference. Ta =25°C. VCC=4.2 3 5C °/ W 2 1 0 −20 0 25 50 75 85 Ambient temperature Ta (C°) 100 V V µA µA V °C mA .8 1.8 20 −200 V CC 10.5A Source driver. no load 140 ■Derating Allowable package power dissipation PD (W) VIH VIL Input voltage 5 4 31 .5 7.2 50 2. IO =+1.

56±1 7.2 2.2 + 0.6 3.8 ±0.2 13±0.2 13±0.45±0.6 A2918SWV 0.6 ±0.2 --.1 6.1 31±0.2 16 ±0.1 + 0.2 1.2 24.1 ±0.15 1.2 31±0.7 ±0.4 ±0.2±0.2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A2918SW ■Truth Table ENABLE PHASE OUTA L H H L L L L H X Z Z H X=Don't Care OUTB Z=High impedance 17 LOAD SUPPLY 5 2 4 OUT2B 1 OUT2A 11 OUT1B OUT1A LOGIC SUPPLY ■Internal Block Diagram VCC TSD VBB 1 2 ENABLE1 14 PHASE2 7 ENABLE2 SOURCE DISABLE SOURCE DISABLE ÷10 − + RT RS CC CT 3 6 RC 9 SENSE2 10 E2 15 GROUND 18 RC REFERENCE 16 E1 SENSE1 12 ONE SHOT + RC2 VREF ÷10 − ONE SHOT RC1 8 PWM2 PWM1 PHASE1 13 RS RT CC CT ■External Dimensions Plastic SIP 18 + 0.7 --.3±0.2 0.2 × 3.2 ±0.7 17 × P1.5 R-End + 0.2 4.0 ±0.55 4 +1 9.6 ±0.3±0.4 ±0.7 ±0.2 9.68 2.1 16.8 ±0.2 9.0.15 A2918SWH ±0.5 ±0.0 ±0.2 24.9 16 ±0.9 ±0.55 --.1 ±0.7 ±0.1 ±0.2 φ 3.2 + 0.0.2 2.5 (3) 6.65 ---0.4 ±0.8 3.68 = 28.15 φ 3.2 31.6 ±0.2 φ 3.0.7 4.0.4 17 × P1.1 ICs per stick (Unit: mm) 31.2 --.56±1 0.2 0.0.6 = 28.2 16.4 ±0.6 × 1.2±0.15 φ 3.45±0.65 ---0.2 + 0.2 1 ±0.8 4.2 12 3 18 123 18 A2918SW 69 .1 1--.

VCC=5.15 300 V ENABLE=0. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry.0A Sink driver.0V VBRAKE=2. RT≥12kΩ CT=1200pF.7 2.0V V IL=0.2 1.0V max <1.0 1.0 ICEX VCE (SAT) VF IBB (ON) IBB (OFF) IBB (BRAKE) IBB (SLEEP) V CC VIH VIL IIH IIL VREF IREF VIO toff ton (min) tpd tpd (PWM) Tj ∆T j V CC (UVLO) ∆VCC (UVLO) ICC (ON) ICC (OFF) ICC (BRAKE) ICC (SLEEP) VIH=2.4 0.0V VENABLE=2. 20kΩ & 1000pF RC to ground) Limits Symbol Conditions VBB Operating. RT=20kΩ CT=820pF. Note 1: When ambient temperature is 25°C or over.9 3.5 V V V µA µA V µA <1.9 0.4 0. derate using −23. IO=+0.8V.5A Source driver.85 500 30 18 40 5.0V.8 165 15 3.7 2.0V.0A V ENABLE=0.8V VENABLE =VMODE=VBRAKE=2.6 2.9 0. ambient temperature.2 0.7 2.0 50 50 −50 1.0A.5 2. and heat sinking.0 0.8 20 −200 15 55 10.5A Sink driver.0V VENABLE =VMODE=VBRAKE=2. IO=+2. VBRAKE=2.0 6.0A IF=0.47 −20 to +85 +150 −55 to +150 Units V A A V V V V W °C °C °C ●Output current rating may be limited by duty cycle.78mW/°C(SW).5 ±2.0 5. 50% EIN to 90% Eout Transition: ENABLE ON to SOURCE ON ENABLE OFF to SOURCE OFF ENABLE ON to SINK ON ENABLE OFF to SINK OFF PHASE CHANGE to SOURCE ON PHASE CHANGE to SOURCE OFF PHASE CHANGE to SINK ON PHASE CHANGE to SINK OFF Comparator Trip to SINK OFF min 18 3.3 to VCC+0.5 15 2.0 < −2.8 1.0 < −1.8V Operating VREF=2. RT≥12kΩ IOUT=±2.0A IF=2. Ta =25°C. VMODE=0. Under any set of conditions.0V VENABLE=2. IO =±2.9 1.3 1. IO =−0.5 3.0 6.8V. These conditions can be tolerated but should be avoided. VMODE=0.0 1.0V.5 2.0 0.7 2.0A Source driver. VBRAKE=2.0V VBRAKE=0.8 1.0V VCC Operating 4.0 20 1.50 400 20 12 26 3.0 −0.1 3.90 1. IO =−2.5 ±10 22 3.8V.4 1.1 <1.5 6.1 1.0 7.8 1.5 Units typ 40 10. −14.0 0 25 9.0 1.0 mV µs µs µs µs µs µs µs µs µs µs µs µs °C °C V mV mA mA mA mA .4 1.93mW/°C(SLB) or −27.0A Sink driver. VBB=50V. do not exceed the specified current rating or a junction temperature of 150°C.0 ±1.0V. 70 A3952SB/SLB/SW VBB IO (Peak) IO VCC VIN VSENSE VREF PD (Note1) Ta T j (Note2) T stg Conditions tw≤20µ s Ratings A3952SB A3952SLB A3952SW 50 ±3.5A IF=1.4 2.0A.9 1.0V VREF=15V V REF=0V CT=1000pF.26mW/°C(SB). VBRAKE=2.4 1.7 0. ● Internal transient-suppression diodes ■Electrical Characteristics Load supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage Sense voltage Reference voltage Package power dissipation Operating temperature Junction temperature Storage temperature Symbol (Unless specified otherwise. IO=+1. IO =−1. L=3mH VO =VBB V O=0V Source driver.2 1.0 3.5 50 V µA µA V V V V V V V V V mA mA mA µA 5. VBRAKE=2.A3952SB/SLB/SW 2-Phase/1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control Parameter ● Switching between power supply regeneration 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 ● Low thermal resistance package Parameter Power outputs Load supply voltage range Output leakage current Output saturation voltage Clamp diode forward voltage (Source or sink) Load supply current (No load) Control logic Logic supply voltage range Logic input voltage Logic input current Reference voltage range Reference input current Reference voltage divider ratio Comparator input offset voltage PWM RC fixed off-time PWM minimum on-time Propagation delay time Thermal shutdown temperature Thermal shutdown hysteresis UVLO enable threshold UVLO hysteresis Logic supply current (No load) ●“typ” values are for reference.3 1. VBRAKE=2.8V. VSENSE= 0V.86 3.

48 13.14 3.62BSC 1 INDEX AREA 2 3 5. fast current-decay mode L L L Brake.69 19.5V R PWM LATCH − + Ambient temperatureTa (°C) GROUND SENSE "B".23 32.356 4. fast current-decay mode L L H Reverse.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) ■Internal Block Diagram SLEEP & STANDBY MODES 5 OUTB VBB Allowable package power dissipation PD (W) LOAD SUPPLY OUTA ■Derating A3952SB/SLB/SW MODE 4 PHASE A3 95 2 95 2S 2S B4 W 3° C A39 5 36 °C /W /W 2SL ENABLE BRAKE B6 7°C / LOGIC SUPPLY W 1 0 25 50 75 85 + Q BLANKING 1.65 0.50 0.43 6. ●Allowable variation in distance between leads is not cumulative.381 0.59 0.25 ●Thickness of lead is measured below seating plane.00 7. & "W" PACKAGES RC RS − S VCC 9R 100 EMITTERS "EB" ONLY VCC REF 0 −20 UVLO & TSD INPUT LOGIC A3 3 VTH R RT CT ■Truth Table BRAKE ENABLE PHASE MODE OUTA OUTB H H X H Z Z Sleep mode Operating Mode H H H L H L H L H L L X L X X H H L L X X L Z Z Standby (Note 1) H H L Forward.39MIN SEATING PLANE 12 0.93 0. 3.43 2.27 14.32 0.762mm below seating plane.35 0.558 0.71 1. Note 1: Lead width of pin 1.03 1.76 0.37MIN 1 1.10 SEATING PLANE 2. fast current-decay mode L H L Forward. 9. 16 may be half the value shown here.89 2 3 0.46 4.33 18.10 MIN.33MAX 1 8 10.204 Wide body plastic SOP (300mil) 16 9 A3952SW ICs per stick 9 47 Plastic power SIP 0. ●Allowable variation in distance between leads is not cumulative.65 2.00 31.40 8 1.27 0. slow current-decay mode H L H Reverse.56 0.65 10.11 6.127MIN 21.40 1.93 ICs per stick 10.78 0. no current control (Note 2) X : Don't Care Z : High impedance Note 1: Includes active pull-offs for power outputs Note 2: Includes internal default VSENSE level for overcurrent protection ■Terminal Connection Diagram A3952SLB A3952SW 16 BRAKE 1 16 REF 2 15 OUTB REF 2 15 OUTB RC 3 14 MODE RC 3 14 MODE GROUND 4 13 GROUND GROUND 4 13 GROUND GROUND 5 12 GROUND GROUND 5 12 GROUND LOGIC SUPPLY 6 11 SENSE LOGIC SUPPLY 6 11 SENSE PHASE 7 10 OUTA PHASE 7 10 OUTA ENABLE 8 ENABLE 8 VBB VBB 4 5 6 7 8 9 10 MODE 3 ENABLE VCC 2 PHASE 1 LOAD SUPPLY RC 9 LOGIC SUPPLY VBB REF LOAD SUPPLY BRAKE 9 OUTB VBB VCC LOAD SUPPLY VCC VBB LOGIC GROUND LOGIC ■External Dimensions A3952SLB ICs per stick 16 25 0.51 0.508mm.54BSC 0.06 2. slow current-decay mode H L L Brake. 2: Maximum thickness of lead is 0.68 3. ●Thickness of lead is measured below seating plane.15 12 (Unit: mm) A3952SB Plastic DIP (300mil) 11 OUTA 1 LOAD SUPPLY SENSE BRAKE LOAD SUPPLY LOGIC A3952SB SEATING PLANE 9.54±0. 8.40 2.33 15 1. A3952SB/SLB/SW 71 .10 7.50 10. ●Lead is measured 0.51 2.94 φ 3.57MAX 19.27 BSC 0° TO 8° 7.77 1.60 7.22 5. "LB" .54 2.51 7.72 INDEX AREA 1.

The energy In forward or reverse mode the current-control circuitry limits stored in the motor’s inductance is then discharged into the load the load current. Special power-up sequencing is not required. 2 Fast and Slow Current-Decay Waveforms consumption when inactive. In slow-decay mode. the load inductance causes the current to flow (1) Brake Operation-MODE Input High from ground to the load supply via the ground clamp and flyback During braking. parator resets a latch to turn OFF the selected sink driver (in the As in the case of forward/reverse operation. maintaining blanking window prevents false triggering of the PWM current the load current at the desired value (see figure 2). the current limit diodes. The MODE brake function can be safely used to dynamically brake brush ITRIP dc motors.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW Application Notes ■Outline Fig. The MODE input determines whether the PWM cur- determine the time period (toff=RT CT) during which the drivers rent-control circuitry operates in a slow current-decay mode (only remain disabled (see “RC Fixed OFF Time” below). RC ■FUNCTIONAL DESCRIPTION LOAD CURRENT RC (A) INTERNAL PWM CURRENT CONTROL DURING FORWARD AND REVERSE OPERATION The A3952S. The internal circuitry of shorting the motor’s back-EMF voltage. the A3952S. If so. pair are disabled. resulting in a func- EMF voltage is large. can be approximated by A3952SB/SLB/SW .is capable of continuous output currents to ±2A and operating voltages to 50V. When a logic low is applied to the BRAKE input. A sleep mode is provided to reduce power Fig. limiting the load ure 1). For dc motor applications. the drivers are re- slow-decay mode) or selected sink and source driver pair (in enabled after a time given by toff=RT•CT (see”RC Fixed OFF Time” the fast-decay mode). when the ITRIP level is reached. When the load current reaches I TRIP. The peak RECIRCULATION (SLOW-DECAY MODE) load current limit is set by the user’s selection of an input refer- RECIRCULATION (FAST-DECAY MODE) ence voltage and external sensing resistor.contains a fixed OFF-time pulse-width modulated (PWM) current-control circuit that can be used to limit the load MODE OPERATION current to a desired value. then tion approximated by the load current can increase to a value that approaches a locked VREF 10 • R S rotor condition. This overrides ENABLE and PHASE to turn OFF both source drivers and turn ON both sink drivers. the load inductance causes the current to the motor’s decreasing speed). Depending on the back-EMF voltage (proportional to driver is disabled. if the back- tenth the voltage on the REF input terminal. With the ENABLE input held low. the braking ENABLE function is enabled. when the MODE input is high. the com- supply causing the motor current to decay. I TRIP 72 (B)INTERNAL PWM CURRENT CONTROL DURING BRAKE the PWM circuit disables the conducting sink driver. and there is no PWM current limiting. The value of the current limiting (ITRIP) The brake circuit turns OFF both source drivers and turns ON is set by the selection of an external current sensing resistor both sink drivers. Internal fixed off-time PWM current-control circuitry can be used to regu- DRIVE CURRENT late the maximum load current to a desired value. the PHASE input controls load current polarity by selecting the appropriate source and sink The user selects an external resistor (RT) and capacitor (CT) to driver pair. transient suppression diodes. the selected sink below). Internal circuit protection includes thermal shutdown with hysteresis. At the end the selected sink driver switching) or in a fast current-decay of the RTCT interval. control circuitry. this has the effect (R S) and reference input voltage (VREF). In fast-decay mode. To limit the current. 1 Load-Current Paths Designed for bidirectional pulse-width modulated current con- VBB trol of inductive loads. the drivers are re-enabled allowing the load mode (selected source and sink switching). The PWM cycle repeats. the selected sink and source driver current to the desired value. and crossover-current RS protection. A user-selectable current to increase again. the load current again may in- recirculate through the source driver and flyback diode (see fig- crease to ITRIP. all output drivers are disabled. However. the PWM cycle will repeat. resulting in current compares the voltage across the external sense resistor to one flow that brakes the motor dynamically. The fixed OFF-time pulse duration is set by a user-selected external RC timing network. With the ENABLE input held high.

use an oscilloscope to comparator’s output is blanked and CT begins to be charged measure the time the output is low (sink ON) for the output that is from approximately 1. In this mode. which is a function of the user-selected value of toff and range of values of CT=820pF to 1500pF and RT=12kΩ to 100kΩ. CT is charged by an internal current source of approximately ing the voltage rating of any devices connected to the motor 1mA. brush dc motor applications. over a cycle. the value of R S determines the ITRIP value indepen- For applications that use the internal fast-decay mode PWM dent of V REF. For all other applications. The one shot When the device is operating in slow-decay mode. When the voltage on the RC terminal reaches I(AV) ≅ [(VBB−VSAT (source + sink)) • t on (min) max]−[1. For optimal regulation of the load current. The comparator output remains blanked until the voltage on CT reaches approximately 3. With the load connected and the PWM current During internal PWM operation. The limitation is the minimum duty from the RC terminal to ground. there is a time.with the MODE input low. toff (fixed OFF time).0V. care should be taken to en- sufficient to avoid false trips of the comparator under normal sure that the motor’s current does not exceed the absolute operating conditions. Therefore. For trol circuit. brake currents and no practical method of varying V REF.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) VREF 10 • R S I TRIP A3952SB/SLB/SW proximately 1mA. When the motor is rotating. (2) Brake Operation-MODE Input Low Similarly. where toff=RT•C T. A discussion of this subject is included the PHASE. the minimum recommended value is CT=1200pF±5%. the In addition to determining the fixed OFF-time of the PWM con- back EMF generated will influence the above relationship. CT During braking. CAUTION: Because the kinetic energy stored in the motor and Similarly. After the crossover de- pacitance is sufficient to absorb the energy without exceed- lay. or a brush dc motor when stalled or at startup. Set VREF to 0 volts. CT is load inertia is being converted into current. and/or switching slow-decay internal PWM load current regulation in the system: transients related to distributed capacitance in the load. BRAKE. the control operating in slow-decay mode. For more information regarding nected to one of the motor’s leads. The comparator 1. load current regulation. which charges the discharged to near ground during the crossover delay time (the V BB supply bulk capacitance (power supply output and crossover delay time is present to prevent simultaneous con- decoupling capacitance). The comparator output remains blanked until the voltage supply. the current regulation is improved. the value of current regulation can be approximated by voltage on the RC terminal will begin to decay from approximately 3 volts. If the motor is not t OFF RT • CT rotating. the C T component sets the comparator blanking time.5V RS I TRIP output remains blanked until the voltage on CT reaches approximately 3. and ton (min) max is specified in the (D) RC Blanking electrical characteristics table. ton (min). This function blanks the output of the comparator when the out- For stepper motor applications when the motor is rotating.05 • (t on (min) max + t off) • R LOAD approximately 1. maximum ratings of the device. the PWM latch is set. when a transition of the PHASE input occurs. This is the typical minimum ON time (ton (min) typ) for the A3952SB/SLB/SW 73 . When the device is re-enabled. the worst-case When the PWM latch is reset by the current comparator. the maxuimum value of the minimum ON-time pulse. on CT reaches approximately 3. RLOAD is the series resistance of the load.0 volts. the puts are switched by the internal current control circuitry (or by effect is more complex.0 volts.1V by an internal current source of ap- chopping. or ENABLE inputs). care must be taken to ensure the ca- duction of the source and sink drivers). is determined by the selection of an limit to the lowest level that the PWM current-control circuitry external resistor (RT ) and capacitor (CT) connected in parallel can regulate load current.05 • (VSAT (sink) + VD) • t off] 1. (C) RC Fixed OFF Time (E) LOAD CURRENT REGULATION WITH THE INTERNAL The internal PWM current control circuitry uses a one shot to PWM CURRENT-CONTROL CIRCUITRY control the time the driver (s) remain (s) OFF. This is useful in applicaions with differing run and operation. that is approximated by occurs each time the PWM latch is reset. thereby re-enabling the driver (s). see below.1 volt. VBB is the load/motor supply voltage. The comparator out- in the section on stepper motors under “Applications”. The fixed OFF time. at the end of the t off time. the peak current limit is discharged to near ground. the minimum recommended value is Choosing a small value for R S essentially disables the current CT=820pF±5%. as in the case of a stepper motor in hold/detent mode. put is blanked to prevent false over-current detections due to The following procedure can be used to evaluate the worst-case reverse recovery currents of the clamp diodes. These values ensure that the blanking time is limiting during braking. The braking current can be the above values for CT are recommended and the value of R T measured by using an oscilloscope with a current probe con- can be sized to determine toff. defaults internally to a value approximated by CT is charged by the internal current source. when the device is disabled via the ENABLE input.

(2) PHASE Pulse-Width Modulation Toggling the PHASE terminal determines/controls which sink/ source pair is enabled. the internal current control circuitry will be proximately 15°C. The of ton (min) is equal to ton (min) max)=3. A555IC can be used to generate the reset pulse/ 74 A3952SB/SLB/SW . powered down. The correspond- protect the device from failures due to excessive junction tem- ing pair of flyback and ground clamp diodes conduct after the peratures and should not imply that output short circuits are drivers are disabled. the VREF ter- mode. resulting in fast current decay. (1) ENABLE Pulse-Width Modulation Thermal protection circuitry turns OFF all drivers should the junc- With the MODE input low. the value of R T should be decreased so the value for the RT and CT components should be omitted. The worst-case load current ration due to the absence of a blanking function synchronous regulation then can be measured in the system under operating with their transitions. which is required to ensure sufficient blanking during fast-decay internal 100 kΩ VCC should be evaluated per the above procedure and a ton (min) max PWM. This is intended only to and OFF the selected source and sink drivers. The hysteresis of the thermal shutdown circuit is ap- device is enabled. See also. This corresponds to a CT value of 1200pF. conditions. (3) SYNCHRONOUS FIXED-FREQUENCY PWM The internal PWM current-control circuitry of multiple A3952Sdevices can be synchronized by using the simple circuit shown in figure 3. producing a load current that varies with the duty cycle and remains continuous at all times.5µs in slow-decay mode cal characteristics table. minal should be connected to VCC . When used in this configuration. and desire that be connected to ground. and the RC terminal should be left the internal current limiting circuit function in the fast-decay mode. When the new value of C T has been and 2µs in fast-decay mode. then the comparator blanking func- puts the device into a sleep mode to minimize current consump- tion is active during phase and enable transitions. the SENSE terminal should For applications that PWM the ENABLE input. RC1 1N4001 (F) LOAD CURRENT REGULATION WITH EXTERNAL PWM OF THE PHASE AND ENABLE INPUTS 2N2222 t1 RCN The PHASE and ENABLE inputs can be pulse-width modulated to regulate load current. floating (no connection). When the permitted. “DC Motor Applications” below. active and can be used to limit the load current in a slow-decay If the internal current-control circuitry is not used. In applications utilizing both fast-and slow-decay internal PWM Fig. The PHASE and toff=RT•CT (with the artificially increased value of C T) is equal to ENABLE inputs should not be PWMed with this circuit configu- 105% of the nominal design value. Typical propagation delays from the PHASE and ENABLE inputs to transitions of the power outputs (G)MISCELLANEOUS INFORMATION are specified in the electrical characteristics table. This elimi- tion when not in use. nates false tripping of the over-current comparator caused by An internally generated dead time prevents crossover currents switching transients (see “RC Blanking” above). toggling the ENABLE input turns ON tion temperature reach 165°C (typical).2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW device. the performance of the slow-decay current regulation t2 20 kΩ of 3. This can have added benefits in bidrectional 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 (which produces a discontinuous current at low current levels). This prevents the device from being switched conduction of the outputs when the device is powered up or into sleep mode when the ENABLE input is low. CT then should be increased until the measured value blanking signal (t1) and the period of the PWM cycle (t2).0µs as specified in the electri- value of t1 should be a minimum of 1. 3 Synchronous Fixed-Frequency Control Circuit modes. If the internal A logic high applied to both the ENABLE and MODE terminals PWM current control is used. set. that can occur when switching phase or braking. the ENABLE input signal should be inverted and connected to An internal under-voltage lockout circuit prevents simultaneous the MODE input.8 µs.

the PWM should be taken into account. close to the device as is physically practical. the current-sensing resistor should have a sepa- (D)Fixed Off-Time Selection rate return to the ground terminal of the device. and tpd (pwm) is the propaga- trolytic and 0. To minimize current-sensing inaccuracies caused by ground trace IR drops. When the average load current is decreasing. T T. This prevents tailing of the current profile caused For reliable operation. The avoided as their contact resistance can cause variations in the value of toff can be chosen for optimization of these parameters. See also “Current Sensing” and “Thermal Considerations” above. low- sense resistors. A3952SB/SLB/SW 75 . voltage value. The junction temperature can be measured by at- load. should be decoupled (>47µF elec- inductance of the load respectively. 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 current-sensing comparator functions down to ground al- This also improves the maximum rate at which the load current lowing the device to be used in microstepping. where V BB is the load/motor supply voltage. and measuring the tab temperature. This should be taken into account when determin- input signals. or external PHASE or (VBB − [(I TRIP • RLOAD)+VBEMF]) • t pd (pwm) LLOAD I OUTP ENABLE input PWM applications. To minimize the The reference terminal has an equivalent input resistance of effect of system ground I•R drops on the logic and reference 50kΩ±30%. The value for RθJT is given in the package thermal resistance table for the appropriate package.375 to 1. In internal PWM slow- culated value of I TRIP due to delays in the turn OFF of the driv- decay applications. EMI is reduced. junction temperature be kept as low as possible. the system ground should have a low-resistance ing the impedance of the external circuit that sets the reference return to the load supply voltage. result in excessive heating and power loss in the sense resistor. of decay during toff. typical val- Larger values of RS reduce the aforementioned effects but can ues of toff are chosen to be in the range of 15 to 35µs. The recom- The MODE terminal can be used to optimize the performance mended value of RS is in the range of of the device in microstepping/sinusoidal stepper motor drive applications. For applications where audible noise is a concern. RLOAD and LLOAD are the resistance and The load supply terminal. For internal fast-decay PWM. the IR drops in the PCB can be significant and level load-current regulation improves. switching losses decrease. The use of sockets should be frequency will decrease. and ripple current will increase.125) I TRIP decay mode is used to limit the switching losses in the device and iron losses in the motor. fast-decay mode is used to regulate the load current to the (B) Thermal Considerations desired level. sinusoidal.1µF ceramic capacitors are recommended) as tion delay as specified in the electrical characteristics table. VBB. only the tow top-side (flyback) diodes need ers. effective value of R S. When the average load current is increasing. all four external diodes should be added for maximum junction temperature reduction. slow- RS (0. The junction temperature can then be approximated by using the formula TJ TT + (2VF IOUT Rθ JT) where V F is the clamp diode forward voltage and can be determined from the electrical specification table for the given level of I OUT. it is recommended that the maximum by the back-EMF voltage of the stepper motor. and can increase (as compared to fast decay) due to the slow rate other varying current profile applications. The selected value of R S must not cause the SENSE terminal (E) Stepper Motor Applications absolute maximum voltage rating to be exceeded. For low-value With increasing values of toff. typically 90°C In stepper motor applications applying a constant current to the to 125°C. The amount of overshoot can be approximated as be added. V BEMF is the back- (C)PCB Layout EMF voltage of the load.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW ■APPLICATION NOTES The thermal performance in applications with high load currents (A) Current Sensing and/or high duty cycles can be improved by adding external The actual peak load current (I OUTP) will be greater than the cal- diodes in parallel with the internal diodes. slow-decay mode PWM is used typically to limit the switch- taching a thermocouple to the power tab/batwing of the device ing losses in the device and iron losses in the motor.

Care must be taken to ensure the capacitance is This simplifies the servo-control loop because the transfer func- sufficient to absorb the energy without exceeding the voltage tion between the duty cycle on the PHASE input and the aver- rating of any devices connected to the motor supply. PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog CAUTION: In fast-decay mode. The current generated will depend on the mode of operation. PWM of the PHASE input is selected typically. then the maximum load current generated can be approximated by ILOAD (VBEMF + VBB) RLOAD where V BEMF is proportional to the motor’s speed.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW (F) Application circuit (Bipolar stepper motor drive) Fig. the kinetic energy stored in the motor and used typically to limit the maximum load current. then the maximum load current generated can be approximated by I LOAD=VBEMF/ R LOAD. the PHASE terminal can be used for mechanical direction control. abrupt changes in the direction of a rotating motor produce a currrent generated by the back EMF. the sections on brake operation under “Functional of ENABLE PWM control (which produces a discontinuous cur- Description. or by varying the REF input voltage (VREF). Similar to when braking the motor dynamically. age voltage applied to the motor is more linear than in the case See also. care must be taken to ensure the maximum ratings of the device are not exceeded. If the internal current-control circuitry is not being used. capacitance). 4 Example of stepper motor drive VBB +5V 47µ F 0. a dc voltage on the REF input is is changed abruptly. In this case. the speed of a dc motor can be con- regulate to a value given by trolled by PWM of the PHASE or ENABLE inputs. With bidirectional dc servo motors. load inertia will be converted into current that charges the VBB In dc servo applications that require accurate positioning at low supply bulk capacitance (power supply output and decoupling or zero speed. For both cases.” above. then the load current will 76 A3952SB/SLB/SW . rent at low-current levels).5Ω 10 9 8 0. If the internal slow-decay current-control circuitry is used. If the internal fastdecay current-control circuitry is used.5Ω VREF2 6 7 6 7 PHASE1 5 ENABLE1 VBB 4 VCC MODE1 3 LOGIC 2 11 1 12 + VCC LOGIC VREF1 CT= 820pF/1200pF 5 4 2 11 RT= 17kΩ/25kΩ MODE2 10 3 ENABLE2 9 VBB 8 PHASE2 1 12 RT= 17kΩ/25kΩ CT= 820pF/1200pF toff ≅ RT• CT (Chopping off-time setting) RT = 12k~100kΩ CT = 820~1500pF (When using slow current-decay mode only) 1200~1500pF (When using fast current-decay mode only) (G)DC Motor Applications In closed-loop systems. In digital systems (microproces- I LOAD VREF (10 • R S) sor controlled). when the direction of the motor voltage reference.

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation)

A3952SB/SLB/SW

(H) Application circuit (DC motor drive)
Fig. 5 Example of DC motor drive
+5 V

RT=
17kΩ/25kΩ

1

VBB

16

2

15

3

14

4

+

BRAKE

VBB

47µ F

MODE

13
12

5

CT=
820pF/1200pF
PHASE
ENABLE

6

VCC

11

7
8

0.5 Ω

LOGIC

10
VBB

9

toff ≅ RT • CT (Chopping off-time setting)
RT = 12k to 100kΩ
CT = 820 to 1500pF (When using slow current-decay mode only)
1200 to 1500pF (When using fast current-decay mode only)

A3952SB/SLB/SW

77

UDN2916B/LB

2-Phase/1-2 Phase/W1-2 Phase Excitation

2-Phase Stepper Motor Bipolar Driver ICs
Allegro MicroSystems product

■Features

■Absolute Maximum Ratings

● Fixed off-time PWM current control

Parameter

● Internal 1/3 and 2/3 reference divider

Motor supply voltage
Output current (peak)
Output current (continuous)
Logic supply voltage
Logic input voltage range
Output emitter voltage
Package power dissipation
Operating temperature
Junction temperature
Storage temperature

● 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 circuitry
● Internal UVLO protection

Symbol

Ratings

Conditions

VBB
IO (peak)
IO
VCC
VIN
VE
PD (Note1)
Ta
T j (Note2)
T stg

UDN2916B

Units

UDN2916LB

45
±1.0
±0.75
7.0
−0.3 to +7.0
1.5

tw≤20 µ s

3.12

V
A
A
V
V
V
W
°C
°C
°C

2.27
−20 to +85
+150
−55 to +150

●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.

● Internal transient-suppression diodes
● Low thermal resistance package

■Electrical Characteristics

(Unless specified otherwise, T a=25°C, VBB=45V, VCC=4.75V to 5.25V, VREF=5.0V)

Parameter

Symbol

Power outputs (OUTA or OUTB )
Motor supply voltage range

Limits

Conditions

min

VBB

Output leakage current

VCE (SUS)

Output saturation voltage

VCE (SAT)

Clamp diode leakage current
Clamp diode forward voltage

IR
VF
IBB (ON)

Motor supply current

max

<1.0
<−1.0

45
50
−50

0.4
1.0
1.0
1.3
<1.0
1.6
20
5.0

0.6
1.2
1.2
1.5
50
2.0
25
10

10
Sink driver, VO =VBB
Source driver, V O=0V
IO=±750mA, L=3.0mH
Sink driver, IO=+500mA
Sink driver, IO=+750mA
Source driver, IO =−500mA
Source driver, IO =−750mA
V R=45V
IF=750mA
Both bridges ON, no load
Both bridges OFF

ICEX

Output sustaining voltage

typ

IBB (OFF)

45

Units

V
µA
µA
V
V
V
V
V
µA
V
mA
mA

Control logic
VIH

Input voltage

VIL
IIH

Input current
Reference voltage range

IIL
VREF

Current control threshold

V REF/VSENSE

Thermal shutdown temperature

Tj
ICC (ON)

Logic supply current

All inputs
All inputs
V IH=2.4V
VIL=0.8V
Operating
I0 =I1 =0.8V
I0=2.4V, I1=0.8V
I0=0.8V, I1=2.4V

2.4
<1.0
−3.0
1.5
9.5
13.5
25.5

10.0
15.0
30.0
170
40
10

I0 =I1=0.8V, no load
I0 =I1=2.4V, no load

ICC (OFF)

●“typ” values are for reference.

■Terminal Connection Diagram

UDN2916LB

UDN2916B

2

E2
SENSE2

1

3

LOAD SUPPLY

23

E1

22

2

4

24

21

I02

1

I12

2

PHASE2

3

VREF 2

24

LOAD SUPPLY

23

OUT2B

22

SENSE2

4

21

E2

RC2

5

20

OUT2A

19

GROUND

18

GROUND

17

OUT1B

OUT1A

16

E1

15

SENSE1

14

OUT1B

13

I01

2

5

20

I01

6

19

GROUND

GROUND

6

GROUND

7

18

GROUND

GROUND

7

I02

8

17

I11

LOGIC SUPPLY

8

RC1

9

VREF2 11
RC2 12

θ

2

PWM 2

PHASE2 10

PWM 1

OUT2B

9

θ

1

16
15
14

VCC 13

UDN2916B/LB

VCC

PHASE1
VREF1
RC1
LOGIC SUPPLY

1
VREF1
PHASE1
I11

78

θ2

SENSE1

GROUND

I12

PWM 2

OUT2A

VBB

VBB

1

10
11 θ 1
12

PWM 1

OUT1A

0.8
20
−200
7.5
10.5
16.5
34.5
50
12

V
V
µA
µA
V

°C
mA
mA

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation)

UDN2916B/LB

■Internal Block Diagram (1/2 Circuit)

■Derating

5

OUTB

4

OUTA

UD
N2
91
6B
UD
40
N2
°C
916
/W
LB
55°
C/ W

3

2

VREF
20 kΩ

E
÷10

10 kΩ

0

25

50

75 85

ONE
SHOT

SOURCE
DISABLE

RC
CC

RS

100

RT

I1

Ambient temperature Ta (°C)

CT

■Application Circuit (UDN2916LB)

■Truth Table
OUTA

OUTB

H

H

L

L

L

H

VBB

*1 From µ P
*2 VREF

CBB

*1 2

I0

I1

L

L

VREF / (10×RS)=I TRIP

H

L

VREF / (15×RS)=I TRIP×2/3

L

H

VREF / (30×RS)=I TRIP×1/3

H

H

*1 3 θ 2
*2 4

Output Current

RT

CT
VCC
+5V

0

VBB

*1 1

RT

24
23

PWM 2

PHASE

RC

I0
0
−20

SENSE

+

40 kΩ

1

22

2
21

5

20

6

19

7

18

8 VCC

17

9

16

RC
CC

RS

1

CT

*2 10
*1 11 θ 1

15

PWM 1

Allowable package power dissipation PD (W)

VBB

*1 12

13

●Off-time setting
t off≅CTRT

M

RC
RS

14

CC

*1

RS :
VREF :
RT :
CT :
RC :
CC :
CBB :

1.5Ω, 1/2W (1.0 to 2.0Ω, 1 to 1/2W)
5.0V (1.5 to 7.5V)
56kΩ (20k to 100kΩ)
470pF (100 to 1,000pF)
1kΩ
4,700pF (470 to 10,000pF)
100 µ F

■External Dimensions

(Unit: mm)

UDN2916B

ICs per stick

UDN2916LB

15

Plastic DIP (300mil)
24

ICs per stick

31

Wide body plastic SOP (300mil)

0.381
0.204

24

13

13

0.32
0.23

*1

7.11
6.10

7.62BSC

1

INDEX AREA

2

3

10.65
10.00

7.60
7.40

12
0.127MIN

1.77
1.15

1.27
0.40

2.54BSC
32.30
28.60

0.51
0.33

1

2

3

12
15.60
15.20

5.33MAX
SEATING PLANE

0.558
0.356

2.65
2.35

4.06
2.93

0.39MIN
●Thickness of lead is measured below seating plane.
●Allowable variation in distance between leads is not cumulative.

1.27
BSC
0° TO 8°

SEATING PLANE

0.10 MIN

●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.

UDN2916B/LB

79

many applications will not require these exter- when switching the PHASE input. internal comparator. up conditions. and monostable multivibrator. the I0 and I1 allow the µP to control ductance loads) because of the internal logic and switching de- the motor at a constant torque between all positions in an eight- lays. circulating through the ground-clamp diode and drive current when only one phase is ON and 67% drive current sink transistor. After turn-off. This delay (td) is typically 2µs. step rates. current increases in the motor ●LOGIC CONTROL OF OUTPUT CURRENT winding and it is sensed by the external sense resistor until the Two logic level inptus (I0 and I1) allow digital selection of the sense voltage (V SENSE) reaches the level set at the comparator’s motor winding current at 100%. The comparator then triggers the monostable which turns OFF These logic level inputs greatly enhance the implementation of the source driver of the bridge. the winding current (the The logic control inputs can also be used to select a reduced sense voltage) is again allowed to rise to the comparator ’s current level (and reduced power dissipation) for ‘hold’ condi- threshold. 33%. Output current is sensed and controlled independently in each bridge by an external sense resistor (RS). This peak (appearing across RS) will attempt ●SWITCHING THE EXCITATION CURRENT DIRECTION to trip the comparator. Depend- proximately 2µs) prevents crossover currents that can occur ing on load type. resulting in erroneous current control or The PHASE input to each bridge determines the direction moter high-frequency oscillations. The source driver’s OFF time (and therefore the when two phases are ON. The 0% output current condition turns I TRIP=VREF / 10RS OFF all drivers in the bridge and can be used as an OUTPUT ENABLE function. Logic highs on both I0 and I1 turn magnitude of the current decrease) is determined by the OFF all drivers to allow rapid current decay when switching monostable’s external RC timing components. Loads with high distributed capacitances may result in high turnON current peaks. 67%. When the source driver is re-enabled. This is accomplished by digitally selecting 100% current decays. An internally generated deadtime (ap- be used to further delay the action of the comparator. PWM OUTPUT CURRENT WAVE FORM Load VPHASE + IOUT 0 − ITRIP td RSENSE BRIDGE ON SOURCE OFF ALL OFF t off When the bridge is turned ON. or 0% of the maxi- input: mum level per the table. maintaining the average tions and/or increased current (and available torque) for start- motor winding current at the desired level. the motor step sequence. This helps to ensure proper motor operation at high wihtin the range of 20kΩ to 100kΩ and 100pF to 1000 pF. An external RC CC time delay should winding current flows. The actual load current peak µP-controlled drive formats. nal components (SENSE connected to E.) 80 UDN2916B/LB .2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB Application Notes ●PWM CURRENT CONTROL Load-Current Paths The UDN2916B/LB dual bridges are designed to drive both wind- VBB ings of a bipolar stepper motor. will be slightly higher than the trip point (especially for low-in- During half-step operations. where toff=RT CT phases. This cycle repeats itself.

the forward voltage VF of To motor Schottky barrier diode ground clamp diode shows the greatest drop. power-down can be set as follows I11=1. Combined vector (1/4 cycle) The external diodes also disperse the loss (a source of heat) (4) and reduce the package power dissipation PD of the driver IC. do not set the voltage lower than the lower limit of the setting range. However. or 12. In most applications. 4. the (1) UDN2916B/LB can provide 1-2 or W1-2 phase excitation for the control sequence without varying the VREF terminal voltage.) ON time is shorter than the chopping OFF time (small ON duty). a great part of the power loss of the driver IC is attributable to the motor regenerative current during the chopping OUT1A OUT1B OUT2A OUT2B GND OFF period. UDN2916B/LB 81 . The regenerative current from the motor flows through the current sensing resistor and ground clamp diode and returns to the motor.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) ●REDUCTION AND DISPERSION OF POWER LOSS UDN2916B/LB 1/2 step : 1-2 excitation About 1/4 step : W1-2 excitation The thermal performance can be improved by adding four external Schottky barrier diodes (AK03 or other) between each The control sequence is as shown below. 0 or 8 I12=1. 8. I01=0: Sequence No. 4. The voltage drop across this path causes the power loss. the chopping threshold signal terminals Io and I1 for PWM current control. 4 or 12 If power-down is necessary for a sequence other than 0. a greater output current can be obtained. PH1 0 0 0 1 0 2 Phase B I 02 I 12 1-2 phase Current ratio excitation Current ratio PH2 0 1 X 1 1 0 0 0 1 0 1 0 1/3 0 0 1 2/3 0 0 1 2/3 3 0 1 0 1/3 0 0 0 1 4 X 1 1 0 0 0 0 1 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 8 1 0 0 1 X 1 1 0 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 12 X 1 1 0 1 0 0 1 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 * W1-2 phase excitation * * * * * * * * * * * * * * * * * * * * * * * Note: When the sequence no. or 12. (3) Phase B Consequently. 8. (This sequence uses output terminal and ground. This means that adding Schottky barrier diodes will improve the thermal performance if their V F characteristic is smaller than that of the internal ground clamp diode. (2) ●CONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITATION To reduce vibration when the stepper motor is rotating. (0) Phase A The step angle is Control sequence (1-2/W1-2 phase) (NABLE1= ENABLE 2= 0) Phase A I 11 I 01 Sequence No. lower the VREF terminal voltage. Therefore. On this path. is 0. I02=0: Sequence No.

5 1.9 1.3 6. I01=0: Sequence No.4 7.9 6. It is only intended to protect sure noise is not applied to the terminal.5 1. set I0X=I1X=1.5 2.5 7. make tion temperature reaches +170°C. ●VBB terminal The output drivers are re-enabled when the junction tempera- To prevent voltage spikes on the load power supply terminal ture cools to +145°C.5 2.2 5.2 5.9 4. power-down can be set as follows: I11=1.2 2.4 6. 82 UDN2916B/LB .3 6.5 2.9 6.2 2.9 6. the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted.9 4.9 1.5 2.9 1.3 6.5 1.9 4. 8.3 4. 8 or 24 ●VREF terminal ●Thermal protection V REF is the reference voltage input terminal for PWM constant Thermal protection circuitry turns OFF all drivers when the junc- current control. To make the output current ratio 0%.5 7. (VBB).2 5.3 4.4 Phase A I 11 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 I 01 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 Current ratio (%) 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 PH2 X 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 V REF2 (V) 1.2 5. connect a large capacitor (≥22µF) between the VBB terminal and ground as close to the device as possible. Make sure the load supply voltage does not exceed 45 V.3 6.5 7.9 1. The Varying the V REF terminal voltage in steps provides 1/8 microstepping control sequence is as follows: Control sequence (microstepping) Sequence No.5 1.2 2.9 7.3 4.9 4. To realize stable ensure a stable signal.5 1.4 7.5 1.2 6.4 7.5 1.9 7.9 6.2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB ●MICROSTEPPING (1/8 STEP) CONTROL SEQUENCE microstepping and reduces motor vibration greatly.4 6.9 7.9 7.2 6.2 6. I02=0: Sequence No.5 Phase B I 12 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 I 02 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Current ratio (%) 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 Note: The VREF terminal voltage cannot be set to 0 V.4 6.4 6.2 5.2 5.2 6.3 4.2 5. 0 or 16 I12=1. 16.5 7. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 PH1 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 X 0 0 0 0 0 0 0 V REF1 (V) 7. or 24.2 5. When the sequence is 0.2 2.

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB ●Around the ground the power system and the small signal (analog) system. 18. Example of Circuit (including GND) and GND Wiring Pattern (UDN2916LB) OUT2B OUT2A OUT1A OUT1B RC RC CC UDN2916B UDN2916LB 6. vide a single-point connection to the GND terminal or a solid take great care around the ground when mounting. Separate pattern of low enough impedance. Pro- Since the UDN2916B/LB is a chopping type power driver IC. 19 CC RS RC RS VBB VBB + RS RC RS CC CT CT CC VCC GND VBB GND + I02 RT RT I12 VBB GND VCC GND RT RT Ph2 VCC I01 I11 Ph1 VREF2 VREF1 CT CT UDN2916B/LB 83 . 7.

5 25.7 1. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry. and heat sinking.0 1.0A Sink driver.5 16. VBB=45V.1 50 2.5A.0 30. IO =+1. no load 105 12 ●“typ” values are for reference.8V.6 9.0 −0.0 4.5 0. IO =−1.5 34. Note 1: When ambient temperature is 25°C or over.0 1.16 −20 to +85 +150 −55 to +150 tw≤20 µ s Units V A A V V V W °C °C °C ●Output current rating may be limited by duty cycle.4V.25 10 Sink driver.8V I0=0. L=3. derate using −33.8 20 −200 7. VO =VBB Source driver.0 −3. IO =+1.8V I0=2. VREF=5.8V Operating I0 =I1 =0.3mW/°C.3 to +7.75 ±1.8 1.0 45 50 −50 0.9 <1. no load I0 =I1=2. I1=2.5A V R=45V IF=1.0 15.75 2.4V 4. I1=0.5 10. V O=0V IO=±1.8V. VCC=5.5A Source driver.0 170 90 10 Tj ICC (ON) ICC (OFF) Limits typ I0=I1 =VEN =0. Under any set of conditions.0 4.0 0.0 5.4V. These conditions can be tolerated but should be avoided.9 2.UDN2917EB 2-Phase/1-2 Phase/W1-2 Phase Excitation 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Features ■Absolute Maximum Ratings ● Fixed off-time PWM current control Parameter Motor supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Output emitter voltage Package power dissipation Operating temperature Junction temperature Storage temperature ● 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 circuitry Symbol VBB IO (peak) IO VCC VIN VE PD (Note1) Ta T j (Note2) T stg Conditions Ratings 45 ±1.0V) Parameter Symbol Power outputs (OUTA or OUTB ) Motor supply voltage range Conditions min VBB Output leakage current ICEX Output sustaining voltage VCE (SUS) Output saturation voltage VCE (SAT) Clamp diode leakage current Clamp diode forward voltage IR VF IBB (ON) IBB (OFF) Motor supply current Control logic Logic supply voltage VCC VIH VIL Input voltage Reference voltage range IIH IIL VREF Current control threshold V REF/VSENSE Input current Thermal shutdown temperature Logic supply current max <1.5 9.5 10.0 12 6.5mH Sink driver.8 1.0 1. Ta =25°C. PWM 1 9 10 36 35 12 34 VBB 11 14 33 32 2 15 84 UDN2917EB GROUND 37 1 13 31 PWM 2 θ2 EN2 19 20 21 22 23 24 25 26 27 28 SENSE2 OUT2B LOAD SUPPLY I20 I21 VREF2 PHASE2 ENABLE2 RC2 29 18 30 17 E2 16 OUT2A GROUND 39 38 8 GROUND ■Derating Allowable package power dissipation PD (W) LOGIC SUPPLY 40 RC1 7 VCC VREF1 ENABLE1 I11 44 41 I10 1 PHASE1 OUT1B 2 42 SENSE1 3 EN1 E1 4 43 OUT1A 5 θ1 GROUND 6 ■Terminal Connection Diagram 5 4 30 °C /W 3 2 1 0 −20 0 25 50 75 85 Ambient temperature Ta (°C) 100 Units V µA µA V V V V V µA V mA mA V V V µA µA V °C mA mA . ● Internal UVLO protection ● Internal transient-suppression diodes ● Low thermal resistance 44-pin PLCC ■Electrical Characteristics (Unless specified otherwise. no load Both bridges OFF 45 Operating All inputs All inputs V IH=2.0 < −1.0 5.4V VIL=0. IO =−1.0V.0 1.5 7. ambient temperature.4 0. do not exceed the specified current rating or a junction temperature of 150°C.5 <1.5A Both bridges ON.5 13.0A Source driver.

66 16.0V (1.0Ω.51 INDEX AREA 1. 1W (0.51 17.66 16.331 17.19 1 2 16.661 0.5 to 1.533 0. Note 1: Web type leads are internally connected together.2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation) ■Internal Block Diagram (1/2 Circuit) UDN2917EB ■Truth Table ENABLE PHASE OUTA L H H L L L L H X Z Z VBB H OUTB X=Don't Care OUTB Z=High impedance OUTA VREF 20 kΩ E ÷10 SENSE − ONE SHOT + 40 kΩ 10 kΩ I0 RC SOURCE DISABLE RC I0 I1 Output Current L L VREF / (10×RS)=I TRIP H L VREF / (15×RS)=I TRIP×2/3 L H VREF / (30×RS)=I TRIP×1/3 H H 0 CC RS CT RT I1 ■Application Circuit 29 30 31 32 33 34 35 36 37 38 Ct Rt Ct 40 Rt 28 VCC EN1 PHASE1 43 θ1 VREF1 EN2 27 PWM 2 42 PWM 1 ENABLE1 θ 2 24 1 23 I01 2 I12 I02 1 RC RS ●Off-time setting t off≅CTRT 17 16 15 14 13 12 11 18 10 19 6 8 CC 20 2 5 7 VBB CVBB + 21 3 RC VREF2 22 VBB 4 RS PHASE2 25 44 CC ENABLE2 26 I11 9 Digital control signal 41 Digital control signal 39 VCC STEPPER MOTOR ■External Dimensions Plastic PLCC ICs per stick RS : VREF : RT : CT : RC : CC : CVBB : 0.5 to 7. UDN2917EB 85 .27 BSC 44 0.65 17. 2 to 1W) 5.40 ●Allowable variation in distance between leads is not cumulative.65 17.812 0.51 MIN 4.57 4.5V) 56kΩ (20k to 100kΩ) 470pF (200 to 500pF) 1kΩ 3.300pF (470 to 10.82Ω.40 16.000pF) 100µ F (Unit: mm) 27 0.

a greater output current can be obtained. 4 or 12 If power-down is necessary for a sequence other than 0. 4. (0) Phase A The step angle is Control sequence (1-2/W1-2 phase) (ENABLE1= ENABLE2=0) Phase A I 11 I 01 Sequence No. 0 or 8 I12=1. the chopping threshold signal terminals Io and I1 for PWM current control. 8. On this path. power-down can be set as follows I11=1. the forward voltage VF of To motor Schottky barrier diode ground clamp diode shows the greatest drop. or 12. In most applications. a great part of the power loss of the driver IC is attributable to the motor regenerative current during the chopping OUT1A OUT1B OUT2A OUT2B GND OFF period. lower the VREF terminal voltage. (2) ●CONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITATION To reduce vibration when the stepper motor is rotating. 4.) ON time is shorter than the chopping OFF time (small ON duty). I02=0: Sequence No. The regenerative current from the motor flows through the current sensing resistor and ground clamp diode and returns to the motor. This means that adding Schottky barrier diodes will improve the thermal performance if their V F characteristic is smaller than that of the interCombined vector (1/4 cycle) nal ground clamp diode.2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2917EB Application Notes ●REDUCTION AND DISPERSION OF POWER LOSS 1/2 step : 1-2 excitation The thermal performance can be improved by adding four ex- About 1/4 step : W1-2 excitation ternal Schottky barrier diodes (EK13 or other) between each The control sequence is as shown below. However. Consequently. PH1 0 0 0 1 0 0 Phase B I 02 I 12 1-2 phase Current ratio excitation Current ratio PH2 0 1 X 1 1 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 X 1 1 0 0 0 0 1 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 8 1 0 0 1 X 1 1 0 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 12 X 1 1 0 1 0 0 1 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 W1-2 phase excitation * * * UDN2917EB * * * * * * * * * * * * * * * * * * Note: When the sequence no. The external diodes also disperse the loss (a source of heat) (4) (3) Phase B and reduce the package power dissipation PD of the driver IC. Therefore. is 0. or 12. The voltage drop across this path causes the power loss. 86 * * * . the (1) UDN2917EB can provide 1-2 or W1-2 phase excitation for the control sequence without varying the VREF terminal voltage. (This sequence uses output terminal and ground. I01=0: Sequence No. do not set the voltage lower than the lower limit of the setting range. 8.

4 0 7. 0 or 16 I12=1. make tion temperature reaches +170°C.3 0 4.9 0 1.4 0 7.2 0 5.4 0 I 01 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 Current ratio (%) 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 PH2 X 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 Phase B V REF2 (V) I 12 1.4 0 6.9 0 4.2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2917EB ●MICROSTEPPING (1/8 STEP) CONTROL SEQUENCE microstepping and reduces motor vibration greatly.9 0 6. ●VBB terminal The output drivers are re-enabled when the junction tempera- To prevent voltage spikes on the load power supply terminal ture cools to +145°C. 8. set I0X=I1X=1.2 0 6.9 0 1.5 1 1.5 1 1.3 0 4.4 0 6.2 0 5.4 0 6. I01=0: Sequence No.3 0 6.3 0 4.5 0 2.2 0 2.9 0 4.9 0 1.2 0 5.3 0 6.9 0 4.2 0 2. the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted.5 0 1.9 0 7.5 0 2.5 0 7.2 0 5.5 0 1.3 0 6. It is only intended to protect sure noise is not applied to the terminal. power-down can be set as follows: I11=1.5 0 1. Make sure ●Around the ground the load supply voltage does not exceed 45V. To make the output current ratio 0%.9 0 6. When the sequence is 0. The Varying the V REF terminal voltage in steps provides 1/8 microstepping control sequence is as follows: Control sequence (microstepping) (ENABLE1= ENABLE 2=0) Sequence No. 16.5 0 7.2 0 5.2 0 5.3 0 4.2 0 2. connect a large capacitor (≥47µF) between the VBB terminal and ground as close to the device as possible.5 0 2. 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 PH1 0 0 0 0 0 0 0 0 X 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 X 0 0 0 0 0 0 0 Phase A V REF1 (V) I 11 7.5 1 1. I02=0: Sequence No.2 0 2. or 24.2 0 5. Provide a single-point connection to the GND terminal or a solid pattern of low enough impedance.2 0 6.9 0 7.5 1 1.2 0 6. 8 or 24 ●VREF terminal ●Thermal protection V REF is the reference voltage input terminal for PWM constant Thermal protection circuitry turns OFF all drivers when the junc- current control.2 0 5. To realize stable ensure a stable signal.9 0 4.9 0 7. (VBB ).9 0 6. take great care around the ground when mounting.2 0 6.3 0 6.5 0 I 02 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 Current ratio (%) 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 0 20 38 56 71 83 92 98 100 98 92 83 71 56 38 20 Note: The VREF terminal voltage cannot be set to 0 V.9 0 6.9 0 1. Since the UDN2917EB is a chopping type power driver IC.5 0 2.5 0 7.4 0 6. UDN2917EB 87 . Separate the power system and the small signal (analog) system.5 0 7.4 0 7.9 0 7.

crossover-cur- Ratings Symbol A3955SB Units A3955SLB VBB IO VCC 50 ±1.5 LB 67 °C /W 1 0.5A Parameter ● Internal 3-bit non-linear DAC for 8-division Load supply voltage Output current (continuous) Logic supply voltage Logic/reference input voltage range Sense voltage Package power dissipation Operating temperature Junction temperature Storage temperature microstepping enables 2W1-2.26mW/°C(SB) or −14. derate using −23.W1-2.90 V W °C °C °C 1.93mW/°C(SLB).86 −20 to +85 +150 −55 to +150 ●Output current rating may be limited by duty cycle. ambient temperature. These conditions can be tolerated but should be avoided. and heat sinking.A3955SB/SLB 2W1-2 Phase Excitation/Micro-step Support 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product ■Absolute Maximum Ratings ■Features ● Maximum output ratings: 50V. Note 1: When ambient temperature is 25°C or over. 1-2.0 2.5 7. which improves motor current response and stability without deterioration of motor iron loss ● External RC filter for sense terminal not required thanks to internal blanking circuitry ● Internal thermal shutdown. do not exceed the specified current rating or a junction temperature of 150°C.5 B 2 43 °C /W A3 95 5S 1. Under any set of conditions.3 V VS P D (Note1) Ta T j (Note2) Tstg 1.3 to VCC+0. ±1. 2-phase excitation drive without external sine wave generator ● Internal PWM current control in Mixed Decay mode (can also be used in Fast Decay and Slow Decay mode).5 0 −20 0 20 40 60 80 Ambient temperature Ta (°C) 100 . Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry.0 A3 95 5S 2. rent protection and transient-suppression diodes ● Special power-up and power-down sequencing for motor supply and logic supply not required ● Employs copper batwing lead frame with low thermal resistance ■Terminal Connection Diagram ■Derating (TOP VIEW) 88 PFD 1 16 LOAD SUPPLY REF 2 15 OUTB RC 3 14 D0 GROUND 4 13 GROUND GROUND 5 12 GROUND LOGIC SUPPLY 6 11 SENSE PHASE 7 10 OUTA D2 8 9 D1 A3955SB/SLB Allowable package power dissipation PD [W] A3955SB/SLB 3.0 V A V VIN −0.

7 0.0 1. RT≥43kΩ.2 1. D1 =D2 =2V D0=D 1=D2 =2V CT=470pF.5 3. A3955SB/SLB 89 .0V VIN =0.8V D0 =D1=0.0 2.5 38. IO=±1.35 0.5A IRC Charge ON to Source ON. D1=0.5 0.4 100 165 15 Tj ∆T j PWM turn-on time Crossover dead time A3955SB/SLB 18.0 1. L=3mH V O=V BB VO =0V VSENSE=1.0 mV µA ±3. D2 =0.1 92. IO =0.4 2.7 83. D2=2V D0 =0.5 1.0 % % mV % % % % % % % % °C °C 20.85A. VS=0V.2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB ) Load supply voltage range Output leakage current Output saturation voltage (Unless specified otherwise.5V at trip.8V.05 0.4 0.0 ±4.0V.8V.85A VSENSE=1.5 1.0V : Sink Driver.5 3.5V) Symbol Conditions VBB Operating.0V : Sink Driver. IO=0. IO =1.2 1.0V. D1=2V. ●“typ” values are for reference.8V.85 µS µS 1.0 < −1. IO =0.7 4. D1 =D2 =0.5 0.2 µS 0.5 µS 0.5V to 5.3 0.8 20 −200 0 3. IO =0.70 0. VBB=5V to 50V.1A IRC Charge ON to Source ON.1 5 V REF=0V~2.8V tOFFRC tPWM (OFF) tPWM (ON) PWM minimum on-time tON (min) tCODT 5.5A V SENSE=1. VCC=4.8V D0 =2.8V Operating Operating V CC=0→5V 4.3 33 1. D2 =0.8 ±20 V V V V mA mA V V µA µA V V V mV 55 ±5. D2 =2V D0 =2V.5 40 1.45 42 12 5.0 0 19.2 55. IO=1.8V Slow Decay Mode Mixed Decay Mode Fast Decay Mode 3.5 2.0 1.8V D0 =D1=2V. D0 =D1 =D2=2V VREF=1.1 0. IO =1. IO=0.3 1.0V : Source Driver.0 50 V µA µA V V V V mA V V mA µA 3.8V D0 =0.0 ±5.5 µS 1.85A VSENSE=1.6 2.5A VCC=5.8V.5 4.5A. T a =25°C. RT=43kΩ Current-Sense Comparator Trip to Source OFF.5 70.5V~1.3 µS 1.0V : Source Driver.0V VREF =0V D0=D 1=D 2=0.0 µS min Vcc 20 D0=D 1=D 2=0.85A IF=1.4 2.0 1.5A IS -IO .0 50 50 −50 1.6 1.0V~2.4 1. IO =−0.2 *1: The total error for the VREF/V SENSE function is the sum of the D/A error and the current-sense comparator input offset voltage.5A ICEX VCE (sat) Sense current offset ISO Clamp diode forward voltage VF Motor supply current (No load) Control logic Logic supply voltage range Reference voltage range UVLO enable threshold UVLO hysteresis Logic supply current IBB (ON) IBB (OFF) VCC V REF VUVLOen VUVLOhys ICC (ON) ICC (OFF) Logic input voltage V IH VIL Logic input current IIH IIL Mixed Decay comparator trip points V PFD Mixed Decay comparator input offset voltage VIO (PFD) Mixed Decay compartor hysteresis Reference input current Reference divider ratio ∆V IO (PFD) IREF VREF /VS DAC accuracy *1 DACERR Current-sense comparator input offset voltage *1 Step reference current ratio Thermal shutdown temperature Thermal shutdown hysteresis AC timing PWM RC fixed off-time PWM turn-off time VIO (S) SRCR Limits typ max <1.0 VIN =2.0 < −2.60 50 16 <1.1A 1kΩ Load to 25V 25 Units 3. CT=470pF.5V VREF=0.2 22.0 0.0 1.55 0.30 D0=D 1=D 2=0. VCC=5V IF=0.1A Current-Sense Comparator Trip to Source OFF. IO=−1.

5 15.62Ω CBB=47µ F+0.5 Ω 1 0.5V 1.1µ F VREF=0.2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB 6 PHASE LOAD SUPPLY OUTB OUTA LOGIC SUPPLY ■Internal Block Diagram 10 15 16 VCC 7 VBB GROUND 4 5 UVLO & TSD 12 13 MIXED-DECAY COMPARATOR BLANKING GATE CURRENT-SENSE COMPARATOR R + − SENSE 11 + − Q S +3 BLANKING D/A DISABLE RS 3 CT 2 8 9 14 D0 VTH D1 RC D2 + − VCC REF 1 PFD PWM LATCH RT ■Truth Table PHASE PHASE H L DAC OUTA H L OUTB L H D2 H H H H L L L L PFD VPFD ≥3.61 70.5 5.1V to 3.1µ F CCC=0.5V VPFD=1.41 38.7 4.1V (Mixed current-decay mode) ≥3.2 7.1 3.38 All Outputs Disabled where VS ≅ITRIP*RS ■Application Circuit VBB BRIDGE B BRIDGE A 15 47 µ F CBB1 D0A RT1 36 kΩ 3 560 pF + 13 LOGIC 5 12 6 VCC 11 7 10 9 8 10 7 11 RS1 D2B PHASEB CCC2 RS2 14 4 +5V D1B 12 5 LOGIC D0B +5 V VCC 6 13 4 14 3 RT2 36 kΩ 2 16 560 pF VREF VBB 0.4 3.1V ≤0.8V (Fast current-decay mode) .5V to 2.85 19.25 83.39Ω to 0.1V to 3.5 Ω CT1 VPFD CCC1 PHASEA D2A 8 9 47 µ F D1A 15 + VBB 16 CBB2 90 A3955SB/SLB 2 VREF 1 VPFD VBB CT2 ●Off-time setting : tOFF≅RT • CT RT=12kΩ to 100kΩ CT=470pF to 1500pF RS=0.00 92.24 55.8V Operating Mode Slow current-decay mode Mixed current-decay mode Fast current-decay mode DAC DATA D1 H H L L H H L L DAC [%] D0 H L H L H L H L V REF/VS 100 3.5V (Slow current-decay mode) ≤0.

4% 83.2% −19.5% 38.4% −83.5 7/8 S FULL STEP B 19.4% 83.2% 19.2 55.1 92.1% −70.7% 83.5% 0% 19.2% 55.5% 38.2% 19.2% −19.7% −83.7% −83.1% −92.5 70.7% −55.1% 92.5 A 38.2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB ■Step Sequence Bridge A Full Step 1 Half Step 1 Quarter Step 1 Eigth Step 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 2 2 3 4 2 3 5 6 4 7 8 3 5 9 10 6 11 12 4 7 13 14 8 15 16 PHASE A H H H H X L L L L L L L L L L L L L L L X H H H H H H H H H H H D2A H L L L L L L L H H H H H H H H H L L L L L L L H H H H H H H H D1A L H H L L L H H L L H H H H H L L H H L L L H H L L H H H H H L Bridge B D0A L H L H L H L H L H L H H H L H L H L H L H L H L H L H H H L H ILOADA 70.7% 83.1% 70.5% −38.7 83.2% −55.7% 55.7 ST 1/4 STE P TEP 10 0% 1/8 S 83.5% −38.4% −100% −100% −100% −92.5% −38.5% 38.4 EP C O N ST AN T 8 3/ CURRENT IN PERCENT 70.7% 55.5% 38.7% −55.5% 0% 19.4% −83.4 B 100 CURRENT IN PERCENT A3955SB/SLB 91 .4% −100% −100% −100% −92.1% 92.4% 100% 100% 100% 92.5 EP ST TO R Q U E EP 5/8 ST 38.2% −55.1% −92.2 3/4 EP ST TEP 19.2% 55.1% −70.4% 100% 100% 100% 92.5% −70.1 2 1/ 55.5% 0% −19.5% 70.1% PHASE B H H H H H H H H H H H H X L L L L L L L L L L L L L L L X H H H D2B H H H H H H H H H L L L L L L L H H H H H H H H H L L L L L L L D1B L L H H H H H L L H H L L L H H L L H H H H H L L H H L L L H H D0B L H L H H H L H L H L H L H L H L H L H H H L H L H L H L H L H ILOADB 70.5% ■Current Vector Locus A MAXIMUM FULL-STEP TORQUE (141%) 100 92.5% −38.5% 0% −19.5% −70.

27 BSC 0° to 8° .40 10.11 6.32 0.60 7.356 2.13 MIN 0.81 2.50 10.15 19.558 0.65 2. 92 A3955SB/SLB 0.204 1.92 7.10 MIN.39 MIN 0.508 0.00 1.77 1.51 0.62 MAX BSC 7.67 2.40 0.33 MAX 3.93 0.10 1 1.2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB ■External Dimensions (Unit: mm) A3955SB A3955SLB 16 16 9 10.54 BSC 8 9 7.27 0.68 18.35 0.65 10.10 5.33 1 2 3 10.23 0.

A3955SB/SLB 93 .

do not exceed the specified current rating or a junction temperature of 150°C. 1 24 PFD 2 23 VBB REF 3 22 OUTB N. 4 21 N.0 Units V A V VIN −0. 2W1-2.5A Parameter Load supply voltage Output current (continuous) Logic supply voltage Logic/reference input voltage range Sense voltage Package power dissipation Operating temperature Junction temperature Storage temperature ● Internal 4-bit non-linear DAC for 16-division microstepping enables 4W1-2.3 V 1. These conditions can be tolerated but should be avoided. RC 5 20 D0 N.5 0 −20 0 20 40 60 80 Ambient temperature Ta (°C) 94 A3957SLB 100 . 2-phase excitation drive without external sine wave generator ● Internal PWM current control in Mixed Decay mode (can also be used in Fast Decay and Slow Decay mode). W12. PHASE 10 15 OUTA D2 11 14 N. which improves motor current response and stability without deterioration of motor iron loss ● External RC filter for sense terminal not required thanks to internal blanking circuitry Symbol VBB IO VCC Ratings 50 ±1.C. 12 13 D1 Allowable package power dissipation PD [W] (TOP VIEW) 3 2. ±1. derate using −17.C.3 to VCC+0.86mW/°C. crossover-current protection and transient-suppression diodes ● Special power-up and power-down sequencing for motor supply and logic supply not required ● Employs copper batwing lead frame with low thermal resistance ■Terminal Connection Diagram ■Derating N.C. Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal shutdown circuitry.C. and heat sinking.C.C. N.23 −20 to +85 +150 −55 to +150 V W °C °C °C VS PD (Note1) Ta T j (Note2) Tstg ●Output current rating may be limited by duty cycle. ambient temperature.5 LB 56 °C /W 1 0.0 2.5 7. GROUND 6 19 GROUND GROUND 7 18 GROUND D3 8 17 SENSE VCC 9 16 N. Under any set of conditions.C. Note 1: When ambient temperature is 25°C or over.A3957SLB 4W1-2 Phase Excitation/Micro-step Support 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product ■Absolute Maximum Ratings ■Features ● Maximum output ratings: 50V. ● Internal thermal shutdown.5 A3 95 7S 2 1.

0 µS min Vcc 20 D0 =D1 =D2 =D3 =0. D1 =0.5V at trip.0V to 2.8V D0 =0.0 50 50 −50 1.5A.6 87.0V D 0=D1 =0.2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) ■Electrical Characteristics Parameter Power outputs (OUTA or OUTB) Load supply voltage range Output leakage current Output saturation voltage (Unless specified otherwise.0V D0 =2.8V.4 26.5 52.D1 =2.5 1. IO =1.4 2.85 µS µS 1.5 1.2 µS 0. D1=D 2=D 3=2.5A IRC Charge ON to Source ON.0 1.5 2.8V.0V.2 30 1.05 0.0V.0V.0V. IO=0.5V to 1. IO=−1. D2=D 3=2.8V.0 < −2.3 1. D1 =2. D2 =D3 =2.0V C T=470pF. D3=2.5A VSENSE=1.8V D 0=D1 =D2 =0.8V Slow Decay Mode Mixed Decay Mode Fast Decay Mode 3.0V : Source Driver.0V : Sink Driver.8V .8V.8V D0=D 1=0. D3 =2.8V.8V. RT=43kΩ Current-Sense Comparator Trip to Source OFF.9 78.0 2. D3=0.0 91. D2=2V.0V : Source Driver.0V. IO=±1. T a=25°C. D1 =D2 =2.55 0. D2=2.25 D0 =D1 =D2 =D3 =0. D2 =0.5 0.4 0. D2 =D3 =0.3 µS 1.5A ICEX V CE (sat) Sense current offset ISO Clamp diode forward voltage VF Motor supply current (No load) Control logic Logic supply voltage range Reference voltage range UVLO enable threshold UVLO hysteresis Logic supply current IBB (ON) IBB (OFF) VCC V REF VUVLOen VUVLOhys ICC (ON) ICC (OFF) Logic input voltage V IH VIL Logic input current IIH IIL Mixed Decay comparator trip point V PFD Mixed Decay comparator input offset voltage VIO (PFD) Mixed Decay compartor hysteresis Reference input current Reference divider ratio ∆V IO (PFD) IREF VREF /VS DAC accuracy *1 DACERR Current-sense comparator input offset voltage *1 Step reference current ratio Thermal shutdown temperature Thermal shutdown hysteresis AC timing PWM RC fixed off-time PWM turn-off time VIO (S) SRCR Limits typ max <1.3 95. D2=D 3=0.7 1.2 1.0 ±4.0V D 0=0.5 0.0 1. D3 =0.5 µS 0.0V D0 =D1 =D2 =D3 =2. L=3mH V O=VBB VO =0V VSENSE=1. IO=0. D3=0.3 82.2 22.7 0.0V : Sink Driver.5 3.0 mV µA ±3.8 20 −200 0 2. ●“typ” values are for reference.85A VSENSE=1.0V.8V.0V D0 =D1=2.8V.0 VIN =2.8V D 0=D1 =D2 =2.0 < −1.8V tOFFRC tPWM (OFF) tPWM (ON) PWM minimum on-time tON (min) tCODT 5.7 100 165 15 Tj ∆T j PWM turn-on time Crossover dead time A3957SLB 18.0V. A3957SLB 95 . IO=−0. D3=2.85A.5V) Symbol Conditions VBB Operating.4 1.1A IRC Charge ON to Source ON. VCC=4.5 3.2 1.0V.0V VIN =0.8V.6 2.6 73.2 *1: The total error for the VREF/V SENSE function is the sum of the D/A error and the current-sense comparator input offset voltage.5 40 1.0V VREF =0V D1=D 2=D3 =0. D3 =2.0 0.8V D 0=D1 =2. IO=0. VS =0V. IO =0.0V.8 ±20 V V V V mA mA V V µA µA V V V mV 55 ±5.9 0.5 µS 1. D1 =0.2 5 VREF=0V to 2.8V D0 =2.40 42 14 5.5A IS−IO.0 1. D1 =D2 =0. VBB=5V to 50V.5V VREF =0.8V Operating Operating V CC=0→5V 4.0 % % mV % % % % % % % % % % % % % % % °C °C 20.0 50 V µA µA V V V V mA V V mA µA 3.8 43.0V D0 =2.0V.0V.0 1.5V to 5.85A IF=1. D2 =0. IO=1.70 0.9 69.5 2.7 4.1A 1kΩ Load to 25V 25 Units 3. RT≥43kΩ.35 0.85A VSENSE=1. CT=470pF.0 1. D0=D1 =D2 =D3 =2V VREF =1. IO=0.55 50 17 <1. IO=1.8V D0 =0.8V. VCC=5V IF=0.2 60.0 −16 0 17.8V.1 34.5 4.4 0. D3 =0.5A VCC=5.1A Current-Sense Comparator Trip to Source OFF.0V D0=0.

7 91.9 52.1 17.51Ω (0. mixed current-decay mode Forward.9V ≤0. fast current-decay mode X: Don’t care High impedance (source and sink both OFF) DAC D3 1 1 1 1 1 1 1 1 D2 1 1 1 1 0 0 0 0 D1 1 1 0 0 1 1 0 0 D0 1 0 1 0 1 0 1 0 DAC [%] 100 95.3 87.5V 1. fast current-decay mode Reverse.6 78.8V ≥3.8V Power Output Operating Mode Disable Forward.1µ F CCC=0.2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) A3957SLB ■Internal Block Diagram MOTOR SUPPLY VBB UVLO AND TSD CBB OUTA OUTB PHASE CONTROL LOGIC AND LEVEL SHIFT VCC BLANKING TIME AND DRIVER TOFF CONTROL DECAY MODE CONTROL PFD − + (000X) GND RC RT − SENSE + RS REF 16 LEVEL DAC D0 D3 D2 D1 CT ■Truth Table Power Outputs D3. 18.39Ω to 0. 18. D1.19 5 9 6.8 26. D2. mixed current-decay mode Reverse.0 82. slow current-decay mode Reverse.5V VPFD =1. slow current-decay mode Forward.7.9 69.8V (Fast current-decay mode) .5V (Slow current-decay mode) ≤0.1µ F VREF =0.5V to 2.2V to 2.9V ≤0.5V 1.2V to 2.9V (Mixed current-decay mode) ≥3.2 43. D0 0000 or 0001 PHASE OUTA X Z 1XXX or X1XX or XX1X OUTB Z H H L L L H PFD X ≥3.4 0 0 ■Application Circuit VBB Vcc + Phase1 10 D10 20 D11 13 D12 11 D13 8 REF1 3 PFD1 2 9 23 CBB 15 + CCC 23 15 A3957SLB A3957SLB 22 22 6.2V to 2.3 73.5 34.7.19 17 17 10 Phase2 20 D20 13 D21 11 D22 8 D23 3 REF2 2 PFD2 5 CT1 CT2 RT1 96 A3957SLB Rs Rs RT2 ●Off-time setting : tOFF ≅R T • CT RT=36Ω (12kΩ to 100kΩ) CT=560pF (470pF to 1500pF) RS =0.62Ω) CBB=100 µ F+0.6 D3 0 0 0 0 0 0 0 0 D2 1 1 1 1 0 0 0 0 D1 1 1 0 0 1 1 0 0 D0 1 0 1 0 1 0 1 0 DAC [%] 60.

A3957SLB 97 .40/1.0/10.2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) A3957SLB ■External Dimensions 24 0.32 SEATING PLANE 2.40/7.51 15.27 1 1 0. ● Allowable variation in distance between leads is not cumulative.10MIN ● Pin material: copper.6 1. 7.65 0.33/0.65 *1 (Unit: mm) 0.2/15. The pins are connected to GND.35/2.40/7. 19. pin surface treatment: solder plating ● Package index may be *1.27 BSC 0°/ 8° 0. ● Web (batwing) type lead frames are used for pin 6. 18.23/0.33/0.60 24 10.60 7.51 19 7.

3 ±50 V CC−2 0 ±10 V REF×0.3 to VCC −0.SI-7600/SI-7600D Star Connection/Delta Connection 3-Phase Stepper Motor Driver ICs ■Absolute Maximum Ratings Parameter Load supply voltage Logic supply voltage Input voltage Reference input voltage Sense voltage Package power dissipation Junction temperature Operating temperature Storage temperature Symbol V BB VCC VIN V REF Vsense PD Tj Top Tstg Ratings 50 7 −0.75 VIN=V CC×0.5 1 −20 to +85 +125 −55 to +125 Units V V V V V W °C °C °C Ratings 15 to 45 3 to 5.5 0.75 VIL IIH IIL F V Slow VMix V Fast IPFD VREF IREF V S1 V S2 IRC Toff max 45 5.1×Rt ×Ct V V V µA V µA V V µA Sec.17 220 1.2 to Vcc−2 Units V V V ■Recommended Operating Voltage Ranges Parameter Load supply voltage Logic supply voltage Reference input voltage (Ta=25°C) Symbol V BB VCC V REF ■Electrical Characteristics Parameter Load supply voltage Logic supply voltage Output voltage Load supply current Logic supply current Logic input voltage Logic input current Maximum clock frequency PFD input voltage PFD input current Reference input voltage Reference input current Sense voltage RC source current Off time 98 SI-7600/SI-7600D Symbol VBB V CC VOL1 VOL2 VOH1 VOH2 IBB ICC VIH Ratings min 15 3. Conditions VCC=5.25 20 −20 200 100 1. AVREF =0~VCC−2V . VREF =0~VCC−2V Mode=0V.0 8 0 VBB−15 VBB−1 typ 3.3 0.7 Units V V V V V V mA mA V V µA µA kHz VCC 1.5V VCC=5.7 0.5V VIN=V CC×0.3 to VCC 1.25 Edge=0V Edge=VCC VREF=0~Vcc−2V Mode=VCC.2 VREF×0.5 15 1 VBB−8 VBB 25 10 1.

5 20 11 6.1 to 1Ω (1 to 5W) Rt:15k to 75kΩ Ct:420p to 1100pF C1:10 µ F/10V C2:100 µ F/63V C3 to C6:0.2 max 0.27 0. however the terminal connection is the same.27 max 7.3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D ■Internal Block Diagram/Diagram of Standard External Circuit + C1 Vcc C3 C2 + C4 VBB Clock OHA CW/CCW OHB Control signal C7 Reset OHC Control Logic PriBuffer OLA U Ena OLB V Edge OLC W F/H R5 Mode Vcc R1 C5 REF Current Control 1/5 Buffer Sense MOS Array R2 Rs PFD Vcc RC GND R3 C6 R4 Ct Rt Reference constants Rs:0.54 2.30 20 0.4 10 1.01 to 1 µ F C7:1000pF ex. SLA5017 at 4A max SLA5059 at 4A max SLA5060 at 6A max Io SLA5061 at 10A max (Sanken) R1+R2≤10kΩ (VREF:0.7 2.2 to VCC2-2V) R3+R4≤10kΩ (VPFD:0 to VCC2) R5:10kΩ ■Terminal Connection The package shapes of SI-7600 and SI-7600D are different.54 min 5.48 0° to 15° SI-7600/SI-7600D 99 .89 0.25 0.8 max 1. Name Pin No.51 min 2.8 0. Name Pin No.6 24. PFD RC S VBB Vcc OHA Reset CW/CCW EDGE OLA CK OLB F/H OLC Ena GND Mode REF Pin No.50 1 10 1 0.08 max 11 5. all values are typical) SI-7600 (Units: mm) SI-7600D 12.62 7.30 1. Name Pin1 PFD Pin8 Full/Half Pin15 OLA OHB Pin2 Sense Pin9 Enable Pin16 OHC OHA Pin3 Vcc Pin10 Mode Pin17 OHB Pin4 Reset Pin11 REF Pin18 OHA Pin5 CW/CCW Pin12 GND Pin19 V BB Pin6 Edge Pin13 OLC Pin20 RC Pin7 Clock Pin14 OLB ■External Dimensions (Unless specified otherwise.

Outline counter is reset. In this mode. phase excitation) when the Mode terminal level is high. Mixed Decay. citation (effective for star connection) The chopping OFF time is determined by the constant Ct/Rt. the chopping OFF time and by the PFD input voltage VPFD. FET array to drive a 3-phase stepper motor. or Edge when the clock level is low. set T OFF to a value where the chopping frequency becomes about 30 to 40kHz. ● Supports star connection (2/2-3phase excitation) and delta (When the voltage is less than 0. or Mixed De- 3. the accuracy of the refer- connection (3/2-3phase excitation) ence voltage divider ratio deteriorates. Determining the control current The full step is 2-phase excitation when this IC is in a star con- The control current Io can be calculated as follows: nection but 3-phase excitation when it is in a delta connection. Select the outputstage MOS FET according to the rated current of the motor. 4. tOFFS≅TOFF−tOFFf ……(3) Note 2: When the Edge terminal level is set high. Features When the Mode terminal level is high IO≅VREF/(5×RS) ● Suitable for both star connection drive and delta connection drive IO≅VREF/(5×RS)→ 3-phase excitation IO≅VREF/(5.1×Ct×Rt…… (1) excitation) ● Self-excitation constant-current chopping by external C/R The recommended range of constant Ct/Rt is as follows: ● Slow Decay. Fast Decay → insertion) SOP…SI-7600. The Fast Decay time is V PFD …… (2) tOFFf ≅−R T×CT ×ln ( ) 1.) ● Step switching timing by clock signal input ● Forward/reverse. the internal 100 SI-7600/SI-7600D . Fast Decay. DIP …SI-7600D 470pF/20kΩ) ● Maximum output current depends on the ratings of the MOS Usually. (Current control: 86% for 2-phase excitation. Output remains disabled as long as the The SI-7600/SI-7600D is a control IC used with a power MOS Reset terminal level is high. The Fast Decay time is then determined by the RC discharge The value of 100% control current is calculated at the time from the RC voltage (about 1.7V to Vcc Slow Decay 3-phase excitation: 100% Positive Positive/negative In Mixed Decay mode. the duty ratio of the input clock should be set The Slow Decay time (tOFFs) is calculated by subtracting the value at 50%. the Fast/Slow time ratio can be set using the voltage applied to the PFD terminal. Full/Half.3V Mixed Decay 2-phase excitation: 85% 1. the internal Note 3: When the Reset terminal level is set high. FET array used The mode can be set to Slow Decay.88×RS)→ 2-phase excitation ● Maximum load supply voltage VBB =45V ● Control logic supply voltage Vcc=3 to 5. 100% for 3-phase The constant Ct/Rt is calculated by the formula TOFF≅1. When the Mode terminal level is low 2. Note 1: The control current is always 85% for the full step (2- Formula (1) is used to determine the chopping OFF time.5V The reference voltage can be set within the range of 0.3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D Application Notes 1. and motor-free control ● Step switching at the positive edge or positive/negative edge 5.2V. About the Current Control System (Setting the Constant Ct/Rt) The SI-7600 uses a current control system of the self-excitation of the clock signal ● Control current automatic switching function for 2-3phase ex- type with a fixed chopping OFF time.2V to Vcc −2V. counter increments both at the rising and falling edges.5 Therefore. The calculated values (Note 2) Reset PFD applied voltage and decay mode PFD applied voltage 2-3phase excitation 2-phase excitation (Note 1) Edge cay depending on the PFD terminal input potential.7V to 1. Input Logic Truth Table Input terminal CW/CCW Full/Half Enable Mode Low level High level CW CCW Disable Always 100% Decay mode 0 to 0. the reference section. hold. the point of switching from Fast Decay to Slow Decay is determined by the RC terminal voltage that determines Select CW/CCW. of (2) from that of (1).3V Fast Decay Enable 0. or Fast Decay selectable Ct: 420 to 1100pF ● Two package lineup: SOP (surface mounting) and DIP (lead Rt: 15 to 75kΩ (Slow Decay or Mixed Decay →560pF/47kΩ.5V) to the PFD input voltage V REF/(5×Rs) terminal because a 1/5 buffer is built into (VPFD) when chopping is turned from ON to OFF. Enable (Note 3) Internal logic reset output disable are summarized below.

and following ratings: (4) ON resistance of MOS FET: RDS (ON) (5) Forward voltage of MOS FET body diode: VSD (W) 15 For (4) and (5).57°C/W Select a heatsink by considering the calculated losses. heat from the MOS FET array should actually be If the SLA5017 is used in an output section. P=3×PP+3×PN parameters are needed: The allowable losses of SLA5017 are (1) Control current Io (max) (2) Excitation method (3) Chopping ON-OFF time at current control: TON. a Pch MOS FET and an Nch MOS FET should be multiplied by ● Parameters for calculating power loss three and added to determine the total loss P of SLA5017. tOFFf: Fast Decay time at OFF) Without heatsink: 5W θj-a=25°C/W Infinite heatsink: 35W θj-c=3. tOFFf (TON: ON time. the chopping-OFF regenerative current 2m through the body diodes in Fast Decay mode. or Fast Decay.5N1+N2×TOFF/T)×(1/12) ●Determining power loss and heatsink when SLA5017 is This is an approximate value that does not reflect parameter variations or other factors during use in the actual application. use the maximum values of the MOS FET specifications. the power losses of measured. Select a heatsink so that the surface Al fin temperature of SLA5017 will not exceed 100°C under the worst conditions.5V Fast Decay Slow Decay Body diode loss N2: N2=IM×VSD With these parameters. 1. T OFF. The power loss b) 2-3 phase excitation (T=TON+TOFF) of this MOS FET array can be calculated as summarized below.3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) Relationship between RC terminal voltage and output current Ton SI-7600/SI-7600D ● Power loss of Nch MOS FETs The power loss of Nch MOS FETs is caused by the ON resis- Toff ITrip tance or by the chopping-OFF regenerative current flowing through the body diodes. PN=(N1+N2×T OFF/T)× (1/3) used Therefore. The losses are ON resistance loss P1: P1=I M2×RDS (ON) Body diode loss P2: P2=I M×V SD 0 0 25 50 75 100 125 Ambient temperature Ta (°C) 150 With these parameters. the following In other words. Al he at 5 does not flow the body diodes.5V VPFD VRC Mixed. IOUT (This loss is not related to the current control method. 0× tance and by the chopping-OFF regenerative current flowing 10 10 The power loss of Pch MOS FETs is caused by the ON resis- 0× ● Power loss of Pch MOS FETs 10 (3) should be confirmed on the actual application. TOFF: OFF time.5×P1×T ON/T+P2×tOFFf/ T)×(1/12) When selecting a heatsink for SLA5017. SI-7600/SI-7600D 101 .) k Wit hou t he ats ink sin Power dissipation P m (In Slow Decay mode. Method of Calculating Power Loss of Output MOS FET a) 2-phase excitation (T=TON+T OFF) The SI-7600 uses a MOS-FET array for output. the loss PN per MOS FET is calculated depending on the actual excitation method as follows: 6. Slow. To calculate the power loss of the MOS FET array. the loss Pp per MOS FET is calculated depending on the actual excitation method as follows: a) 2-phase excitation (T=T ON +TOFF) PP= (P1×TON/T+P2×tOFFf/T)× (1/3) b) 2-3 phase excitation (T=TON +TOFF) PP= (P1×T ON/T+P2×tOFFf/T)×(1/4)+(0. be sure to check the product temperature when in use in an actual applicaiton. The calculated loss is an approximate value and therefore contains a degree of error. PN=(N1+N2×T OFF/T)×(1/4)+(0.) The losses are ON resistance loss N1: N1=IM2×RDS(ON) 0. allowable losses.

3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D 7. I/O Timing Chart 2-phase excitation 2-3 phase excitation Positive edge Positive edge Positive/negative edge CCW CW CK Reset Full/Half EDGE CW/CCW Ena OHA OHB OHC OLA OLB OLC 2-3 phase excitation Positive edge Positive/negative edge CW CK Reset Full/Half ED CW/CCW Ena OHA OHB OHC OLA OLB OLC 102 SI-7600/SI-7600D Disable CCW .

SI-7600/SI-7600D 103 .

5V VIU=V IL=0. f=1. Parameter Oscillation frequency Detection voltage Gate threshold voltage Forward Transconductance DC ON-resistance Input capacitance Output capacitance Di forward voltage between source and drain Di reverse recovery time between source and drain Collector cut-off current Collector-emitter voltage DC current gain Collector emitter saturation voltage hFE VCE (sat) Input current Upper drive circuit drive current Lower drive circuit voltage SLA5011 SLA6503 104 Symbol ICC IS Ib IIU-L .6 11 10 VS −1.1 150 0. AIL to EIL pin open Vb =5V Vb =5V Vb =5V. IC=−3A IC=−3A.5 Units mA mA mA mA mA µA V V kHz V V S Ω pF pF V ns µA V V Conditions VCC=42V.4V Vb =5V. VREF pin open VDS =10V.5 50 1.2 1.V GS=0V ISD=5A ISD=±100mA VCB =−60V IC=−10mA VCE =−4V.5V VS =12.22 1. IB =−6mA . ID=5A VGS=10V. Vb=5. ID=250 µ A VDS =10V. IIL-L IOU -on IOU-off VOL-on VOL-off F V RS VTH Re (yts) RDS (ON) CISS COSS V SD trr ICBO VCEO Supply current SI-7502 (Ta=25°C) SI-7502 (SLA5011/SLA6503) min Limits typ 8 max 40 12.0 2.5 −10 −60 2000 1.8 2.5V Vb =5.SI-7502 (SLA5011/SLA6503) Pentagon Connection 5-Phase Stepper Motor Driver ICs ■Absolute Maximum Ratings Part No. AIU to EIU pin open Vb =5V Vb =5V.5 30 1.3 0.0MHz.0 3. ID=5A VDS =25V. SI-7502 SLA5011 SLA6503 (Ta=25°C) Parameter Motor supply voltage Auxiliary supply voltage Control voltage Reference voltage Detection voltage Power dissipation Ambient operating temperature Drain -Source voltage Drain current Avalanche energy capability (Single pulse) Symbol V CC VS Vb Vref V RS PD TOP VDSS ID EAS Power dissipation Channel temperature Storage temperature Collector-Base voltage Collector-Emitter voltage Emitter-Base voltage Collector current Collector current (Pulse) Base current Power dissipation Junction temperature Storage temperature Ratings 44 15 7 1.17 300 160 1.5 20 0.05 4.5 5 1 0 to +65 60 ±5 2 35 150 −40 to +150 −60 −60 −6 −3 −6 −1 35 150 −40 to +150 PT Tch Tstg V CBO V CEO VEBO IC IC (pulse) IB PT Tj Tstg Units V V V V V W °C V A mJ W °C °C V V V A A A W °C °C ■Electrical Characteristics Part No.

5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) ■Internal Block Diagram (Dotted Line) Auxiliary power supply Control power supply Vb SLA6503 SI-7502 Trigger pulse generator circuit Reference voltage Variable current resistor RX Main power supply VCC VS Motor Level shift current control unit Excitation signal Comparator amplifier SLA5011 Current sense resistor Rs ■Equivalent Circuit Diagram SI-7502 24 20 23 19 16 12 15 11 7 8 27 R17 R18 R19 R20 R21 1 R7 R1 R8 Trigger pulse generator circuit R4 R9 Tr3 Tr2 R3 R10 R11 Tr4 Tr5 Tr6 R6 R12 R13 R22 R23 R14 R24 R15 R25 R16 R26 − + 2 R2 26 R27 R5 R28 4 R29 R30 R31 Tr1 5 3 25 SLA6503 21 22 18 17 13 14 10 1 R1 9 12 R2 2 4 6 3 8 5 10 7 9 11 R1≅2kΩ Typ SLA5011 6 3 2 5 4 1 7 6 9 8 R2≅50Ω Typ 11 10 12 SI-7502 (SLA5011/SLA6503) 105 .

7±0.4±0.2 41 (max) Pin-1 marking (White dots) 106 (Unit: mm) SLA6503/SLA5011 1 2 3 4 5 6 7 8 9 10 11 12 0.54 =27.5 +0.2 2.0±0.4±0.45±0.0 # 31. 9.2 −0.5 +1 −0.15 ±0.7 13.94±1.2 1.2 −0.5max.8 ±0.2 3.3 +0.2±0.7 .27±0. SI-7502 (SLA5011/SLA6503) 0.15 31.9±0.5 Lot No.2 16.5max. Lot No.85+0.92/RS IOPD (typ) = (1.1 1.0±0.55+0.2 24.05 0.02 # 1pin 26pin 27pin 2.5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) ■Diagram of Standard External Circuit VS (12V) VB (5V) VCC (15~42V) C 1 + C2 + Ail Bil Cil Dil Eil 1 7407 26 27 25 22 17 14 6 SI-7502 7406 21 18 13 10 9 2 3 5 Active High 24 23 2 4 16 15 7 6 8 10 20 2 19 4 12 11 8 6 8 10 3 5 B0 7 9 11 C0 Stepper Motor 3 5 7 9 11 D0 E0 1 12 IO 4 RX IO (typ) = 0.15 12 0.2 8.3mm (Note) Dimensions marked with a # indicate dimensions of lead tip.1 2.15× 3.7 × 26=33.5min (10.2±0.8 max R 9.1 R 3.4) 16.2±0.15 −0.7 11×P2.2 ±0.01) / Rs a = Vb×R' / (30000+R') R' = 5100×Rx / (5100+Rx) R1 C4 PD ■External Dimensions (Unit: mm) SI-7502 RS : 100 µ F/63V : 50 µ F/25V : 10 µ F/10V : 470pF : 1kΩ : RK-34 (Sanken) A0 1 12 SLA6503 Excitation signal input Aiu Biu Ciu Diu Eiu SLA5011 C3 + C1 C2 C3 C4 R1 Di Di ■External Dimensions 8(max) φ 3. Pin 1 1.0±0.05 P1. 27pin 0.15 −0. R : 0.3×a−0. 30 (max) Part No.54±0.6 Part No.8 4.

when the maximum current ripple is designated as IOH.. the output current IO is different from the motor winding current... C Sense voltage vs..2 (0..19×Vb−0..... A.19×Vb×-0. supply voltage Vb. its value will be.... (1) RS VRSH can be calculated as follows: VRSH=0. 1................... A The main factors that determine the output current are current IOH sense resistor RS....4 shown in Figure D.... D Coil current flow at pentagonal driving IOM IOM IOM IOM 2×IOM 2×IOM VCC to SI-7502 Sense resistor Rs 4×IOM SI-7502 (SLA5011/SLA6503) 107 .5 IOH(min) (Vb=5V) 0.. the relation can also be as follows: IO=2×IOM 0........0 VRSH (max)= 7.2×RX ×Vb−0.. (A) From Fig......... B Output current vs.03 152..6+33.1×RX ×Vb−0.. VRSH .. Obtain a power (V) ■Relation between Output Current I O (Control Current) and Motor Winding Current IOM The SI-7502 uses the total current control system. set RX to Fig.212×Vb−0. The relation between IO and IOM is as follows: IO=4×IOM 0.... C and equation (1).. the output current IOH can be Output current IOH IOH= 3 calculated as follows: IOH= 1 RS 2 IOH(max)= 0... Current sense resistor infinity (open).8×RX 0.. Waveform of output current (1) Normal mode To operate a motor at the maximum current level....6+33..2 With some driving systems..03 (center value) ..5 1 2 5 10 20 (KΩ) Variable current resistor Rx Fig.....01 152... Variable current resistor shown in Fig.03) 1 2 The relationship between IOH and RS is shown in Fig........169×Vb−0.03 Rs 1 IOH(max) (Vb=5V) 0. therefore. B.. VRSH changes as Fig.01 Rs IOH(min)= 0.... 3 4 5 (Ω) Sense resistor Rs (2) Power down mode When an external resistor RX is connected...... and variable current resisO tor RX. In a general pentagonal driving system.8×RX V) =5 Vb 0.. the current flows as Sense voltage VRSH down output current IOHPD from Fig... C even when RS is retained.. (2) From equations (1) and (2).6 SH )( ax (m VR RS H (m in ) b (V V) =5 V 0..8 VRSH (min)= 6.5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) Application Notes ■Determining the Output Current IO (Control Current) Fig....

E SLA5011/SLA6503 Derating curve (W) 15 50 0 −40 2m N0 0 m AI FIN 50 N 5 0× FI ×5 AI Power dissipation PT mm ×2 00 1 0× 10 10 FI N 100 150 (°C) Ambient temperature Ta SI-7502 ■Handling Precautions Refer to the product specifications. Kerosene. This derating curve indicates Tj =150°C. when using this device. Figure E shows an SLA5011/SLA6503 derating curve. measure the temperature rise of the driver under the actual operating conditions to determine the size of the heatsink. etc. however. etc.5-Phase Stepper Motor Driver ICs (Pentagon Connection) ■Motor Connection The 5-phase stepper motor supports various driving systems and the motor connection varies depending on the driving system used. Aromatic hydrogen compounds: Benzene. Solvents. Therefore. Trichloroethane. Keton and Acetone group solvents Gasoline. Benzine. allow sufficient margin when selecting a heatsink so that T C≤100°C (AI FIN temperature on the back of the SLA) is obtained. Use of the motor with some driving systems may be restricted by patents. etc. ■Thermal design The driver (SLA5011/SLA6503) dissipation varies depending on a driving system used even if the output currents (control current) are the same. Therefore. be sure to ask the motor manufacturer about the motor connection and driving system to be used. Toluene. Xylene. SI-7502 (SLA5011/SLA6503) . Fig.Do not use the following solvents: Substances that can dissolve the package Substances that can weaken the package 108 SI-7502 (SLA5011/SLA6503) Chlorine-based solvents: Trichloroethylene.

SI-7502 (SLA5011/SLA6503) 109 .

SI-7200E SI-7201A SI-7202A SI-7230E SI-7235E SDK01M SMA7022M SLA7022M SLA7027M 110 List of Discontinued Products ■Not for new design Substitute − − − − − SDK03M SMA7022MU SLA7022MU SLA7027MU Part No.Stepper Motor Driver ICs List of Discontinued Products ■Discontinued Products Part No. SI-7115B SI-7300A SI-7330A SI-7200M SI-7230M SI-7500A Substitute SLA7032M SLA7032M SLA7033M A2918SW − − .

111 .

112 .

Seoul. Canton Road.2000) SANKEN ELECTRIC COMPANY LTD. PHONE: (508)853-5000 FAX: (508)853-7861 ●Europe ALLEGRO MICROSYSTEMS EUROPE LTD. U. Massachusetts 01615. 150 Beach Road #14-03. Balfour House. Box 15036 Worcester. Singapore PHONE: 291-4755 FAX: 297-1744 Motor Driver ICs SANKEN ELECTRIC HONG KONG COMPANY LTD. U. 1018 Ocean Centre. PHONE: 01932-253355 FAX: 01932-246622 PRINTED in JAPAN H1-I02EB0-0007020ND . Tokyo PHONE: 03-3986-6164 FAX: 03-3986-8637 TELEX: 0272-2323(SANKEN J) Overseas Sales Offices ●Asia SANKEN ELECTRIC SINGAPORE PTE LTD. Kowloon.Toshima-ku.S. 115 Northeast Cutoff. Mapo-ku. Surrey KT12 2TD. 1-11-1 Nishi -Ikebukuro.A. Korea PHONE: 82-2-714-3700 FAX: 82-2-3272-2145 ●North America ALLEGRO MICROSYSTEMS. 168 Kongduk-dong. Walton-on-Thames.K. INC. Hong Kong PHONE: 2735-5262 FAX: 2735-5494 TELEX: 45498 (SANKEN HX) SANKEN ELECTRIC KOREA COMPANY LTD. Churchfield Road.K   DIC218 Bulletin No I02 EB0 (Jul. West Singapore 0718. 121-705. SK Life B/D 6F. The Gateway.