‘Ordering number TENA2OTA, “Thick Film Hybrid IC STK6712AMK3 Unipolar Fixed-current Chopper-type 4-phase Stepping Motor Driver Overview Package Dimensions The STK6712AMK3 is a unipolar fixed-current nit: mm chopper-type 4-phase stepping motor driver hybrid IC 4. (HIC) which uses a MOSFET power device. The 129, excitation sequence signal is active high. TSTRE7ABANTT Applications + Serial printer, line printer, and laser beam printer (LBP) paper feed and carriage motor drivers, + PPC scanner and LBP paper feed drivers + XY plotter pen drivers + Industral robot applications, etc, Features + Uses IMST (Insulated Metal Substrate Technology) substrate + This IC is the same as the STK6712AMK2 without the regulator and with modifications to the MOSFET. Internal power dissipation has been cut by about 30%, and the external 2 W resistance is also unneeded. + Self-excitation design means chipping frequency is determined by motor L and R. Supports chopping at 20 kHz or higher. + Very low number of external components required. + Wide operating supply voltage range (Vecl = 18 to av) + Excitation sequence signal is active high, and is TTL level for direct interfacing to the microcomputer, + The unipolar design enables use as a driver for hybrid, PW, or VR type stepping motors. + Supports W1-2 phase operation, with @ dual Vref pin. 256 1972, 54220 STV eNs ke ee ee iacls eae Deer Wey SU99SHA (OT/DO982YO No. 4291-1710STK6712AMK3 Maximum Ratings at Ta = 25°C Parameter Symbol Condont Ras Unit Maximum soppy voltage 1 Veclmax No‘npot sgnat 2 v Maximum soppy volage? Vectmax Noinput signal 7 v “Maximum phate cument Forme perpae, RIL =50, 100, 25 A 0511 pul cigs, Operning saber ternperstre Tema 105 ca uncon tempeenure Tmax 130 cf Storage temperate Tag 010 +125 °c Repeated avalanche handling capability Ear max 38 ™ Allowable Operating Ranges at Ta = 25°C Unit ‘Supply voltage 1 Veet Withinpat signal 181042 v ‘Supply vatage 2 Veo? Withinparsignat 478 05.25 v Phase driver withstand volage Voss (oiayn20 v Phase current Tegimax Daly 0% (wax) a Junction Thermal Resistance Unit Power FET ie bs sow Electrical Characteristics at Ta = 25°C, Vecl = 36V, Vec? = ain mx Unit ‘Ouipat saturation vlinge Ver R230, Viy=24V uu 15 v ‘Outpt current (average) Tone as 050 ass A Pin current consumption (verge) To 10 2» ma FET diode veliage ver 12 18 v ‘TTL inpot ON voltage Vo lip volage when F1,2,3,40N 20 v ‘TTL inpot OFF votage Ve Tap voage when F1,2,3,4 OFF 08 v Switching time ‘os Rp24M, Ve 24V 6s a oer RUR240, Vge2.tV 02 bs Note: With regulated voltage power supply. Equivalent Circuit wee 8 FR pete wet Newer tat gg 3 i Je ae fel SW Rite Tics ‘ : Na of Ay Tn “Suvnaw Sample Application Circult jeanEEEeEHY tt Hae eeeeeeee ge) 8 Capt comet wator wen puerhe enon BE oes ceive i) theme oa] ended Hf eee U pee wo ae ‘Measure oupat current values in this state Unit (resistance:2 ,capacitance:F) No. 291-210‘STK6712AMK3 Note For reference, when Ioy 1.04, Roy = 6.8K and Rp = 390 2 =Kx Ro Tons Kx gE x Voce K= 12 Rp=Rs 0.33043% To reduce noise during motor hold, itis possible to mount Co} = 0.01 AF and Coz = 100 to 200 pF. Normally these are not required, Note Both input signals cannot be H at the same time. ‘STK6712AMKG Circult Operation Ga Oa On rer ge Fig. 1 STK6712AMK3 Internal Equivalent Circuit ‘The operation for a 4-phase dual-excitatic ‘The STK6712AMKS equivalent circuit is given in Fig. 1. The circuit consists of the phase drivers, the comparator, the PWM excitation select and the current detect resistance. In Fig. 1 @A is input with high, and @A- with low. When Ql oes on, the +pin of IC1 (comparator) goes low, making ICI output A low also. A winding current ig through Q] increases ‘example is described below. wool =Vsar 7 } jotor winding inductance : Sum of winding resistance and current detect resistance For this reason, pin voltage VR7 at source resistor R7 increases, and when the Vgop voltages of pin 8 and RO2 are equal output A goes high, and QI turns off. The inverse voltage VTP is as: R Vip= Veet Voc? sno a Rtg Ve! @) In general stepping motor coils use BIFALAR windings, so the energy stored in L1 is generated by L2, at which time the current in L2 is ipgp. ggg conduction continues until the charges of capecitors C1 and C2 on R3 and 4 pins Eq) equal Vagg. When they are equal, output A inverts and becomes low. Motor winding current ioy again rises to Voz level. This motor current on/off (constant current chopping) is repeated. ‘This waveform is illustrated on the next page. No. 4291-3/10STK6712AMK3 ‘STK6712AMK3 Basic Cireuit Waveform Timing Charts Nec? be Fe eee eae L— on Nee rr e195 ——_— re No. 4291-4710‘STK6712AMK3 Control Logie Timing Chart 8) 2-phase excitation Phase inpat cx0ex Gate inp ») 1-2 phase excitation Prate input | ae ingat ‘STK6712AMKG Excitation Circuit No.4291-5/10STK6712AMK3 Setting Output Current ‘The motor output current waveform is shown to the right ig Output current Joy can be set by the user by adjusting the voltage of pin 9 (11). ‘The computation equation is indicated below. oa vret= —Ror— x vec2» 3) Rot + Roz Fig. 3 Outpat Motor Current Waveform lou= K x (4) veea' | Rg: ermal eure detect resistance tot (0.3343%) = Sher L K: 1.1 10 1.2 (correction for actual measurement) 5 7 Power down can be accomplished by reducing the synthetic © impedance by connecting a resistance in parallel to Ro. ‘The motor output current varistion range can be set for the range of: Toy = 0.2 At01.7A but when set to lox = 0.2 A or lower note that the HIC GND pattem will be one-point earth with respect to the power supply. If earth is poor, there may be no motor current when Ioy;= 0.2 A. We recommend a motor inductance usage range of L = I mH to 10 mH. Fig. 4 Vref Peripheral Cireuit Determining Chopping Frequency ‘The STK6712AMK3 uses constant current for self-excitation. “The lox tory lime is set to about 14 is, and the toy time can be expressed as: R R ~ 7, “Orr ~[ lore L c Voo-(Tou® Nec ORB R +0.88) ‘on=B Oiae MC Veo=(R +0.88) Ton L: Motor inductance R: Motor resistance Voc: Motor supply voltage Joy Output current ‘As aresult, the chopping frequency is 1 —l— = 1 an ton + torr ton? 14x10 (Hz) (No. 4291-600STK6712AMK3 However, note that when the following conditions exist the value for F will change. rock tn (-_ —VOEt O88 gg Tax 1oveg’ In Ton XR + Voc + 0.88 d= ton? lope lope! + lope? = 14 10*+ tore (8) 7 1 Foe tome Because the STK6712AMK3 is self-exciting there will be minor variation in motor inductance during motor revolution, Final design verification is required in an actual model, ‘Thermal Radiation Design ‘The HIC radiator plate size is dependent on the motor output current Io}(A), motor electrical characteristics, excitation mode, and excitation input signal clock frequency fclock (Hz). ‘The thermal resistance for the radiator can be determined from the following expression. CAV): (9) ‘Tomax =HIC substrate temperature (°C) Ta= set intemal temperature, ec) Pd = HIC imemal mean power dissipation (W) With a 2.00 mm aluminum radiation plate, the required area can be determined from Fig. 6, Note that substrate temperature will vary widely with set internal air temperature, and therefore the rear side of the HIC (the aluminum plate side) must always be kept below the maximum temperature of 105°C. - Pd_~6ca | BeRcny = | \ Bes! B i 7 & g ye i 5 i d, é | i él Share 5 Soe 5 j | ere q [ 2 | | = sol | Tote eo? 7 7 XCinernl mean power dinspato, PEW Ratisor ara, Sem? Fes Figs No. 291-710‘STK6712AMK3 HIC Internal Mean Power Dissipation Pd ‘The internal mean power dissipation of the STK6712AMK3 is primarily due to the current control device, the regenerating current diode, the current detect resistance and the predriver circuit. Loss in each excitation mode is: 2 phase excitation Pa2ex = (Vst+ Vat) IRE Ioyta+ FEGCK. ton (Vsrxtl + VEE XI) 1.2 phase excitation Pal — 2x = (Vst+ Va aw? fetock + HOH fetock (Vst x + Vax 3) st: Roy voltage drop + R7 (R8) output voltage ‘Vdf : FET internal diode + R7 (R8) output voltage flock : Inputclock (reference frequency before frequency divider) 1, 12 and G are the time modes for the waveform indicated below. a ‘Time for winding current to rise to set current (2: Time for constant current chopping region 13; Time from end of phase input signal until inverse current regeneration is complete. — tox t t 4 6 & o Fig. 7 Motor Output Current Waveform (model) = Ry oes hd Aya low Serena a Voc + 0.88 See 13) INR Voc +088 Voc: Motor supply voltage (V) LL: Motor inductance (H) Ri Motor internal resistance (Q) Jon? Motor output current peak (A) ‘The chopping frequency F and (2 for each excitation mode are: 2 phase excitation F = folock/2, 2= (I/F) ~ (01+ 8) 1-2 phase excitation F = 3flock/8, 2 = (I/F) — tl -phase divider input oscillation frequency flock = ‘The characteristic diagrams (typ) for Toy and Vst, and Ioy and Vat are given in Figs. 8 and 9. No. 4291-8110STK6712AMK3 ' : 3 ost East Laie eee é Aap ae ‘STK6712AMK3 No Thermal Radiation Range (example) An example of STK6712AMK3 use in the no-fin state is indicated below. Conditions: + Motor supply voltage Vcc! = 30 V, stepping motor: Electrical characteristics 3.5mH/@, 3.5/0 + Excitation: 2-phase + Input clock frequency SOOH:z = felock + HIC ambient temperature Ta = 25°C, natural convection + HIC rear substrate temperature Te = 105°C, saturation + Motor ourput current Ioyy = 1.4A ‘At this time, the HIC permissible loss can be calculated as: Temax—Ta _ 105-25 ‘Maximum loss: Pd max = ~~(16) Oc-a From these conditions and expressions (12), (13) and (14): 11 =0.183ms 12=3.670ms 13=0.147ms Referring to Figs. 8 and 9, each value for Vst and Va is determined by expression (10) as follows : Padex=(Vst+ Va) AGE Iowa ABE Ig (Vstxct1 + VEE x13) 3.08 + 0.14 = 3.22 (W) From expression (9), Tc is calculated as: Te = Podpy x Oc—a + Ta=3.22 x 23 +25 = 99.1 (°C) wn(18) This is only one example, and because convection and other air movements around the HIC will not match ‘mathematical modelling verification with an actual model is essential No. 4291-910STK6712AMK3 Motor Hold Nolse Countermeasures ‘The STK6712AMKG executes constant current chopping outside the audible range. During motor hold the current hold is outside the range of audible frequencies, but for motors of sizes 30 to 40 mm square (when seen from the shaft direction) with inductance of about 15 mH, there are cases where the output noise is converted to low-frequency noise. In this case, addition of the following components will essentially eliminate such audible noise. abel eas ala oot Unit (esistanco:a , capactance:F) Fig. 10. Motor Hold Noise Countermeasure 1 No products described or contained herein are intended for use In surgical implants, Hfe-support systems, aerospace ‘equipment, nuclear powor contol sysioms, vohices, dsasteririme-pravention equipment and the lke, the failure of which may directly or indirectly cause Injury, death or property loss, 1m Anyone purchasing any producis described or contsined herein for an above-mentioned use shall: © Accept ful responsibilty end indemnity end defend SANYO ELECTRIC CO., LTD., its afliates, subsidiaries and stibutrs and all thir offcers and employees, jointly and several, against any ard all aims and litigation and all damages, cost and expenses associated with such uso @ Not impose eny responsibly for any fault or negligence which may be cited in any such claim or tigation on SANYO ELECTAIC CO,, LID,, is allies, subsidaries and cistibutors or ary of their officers and employees Joint or several. 1 Information (including cicult diagrams and circuit parameters) herein is for exemple only; itis not guaranteed for ‘volume preduction. SANYO believer Information horein is accurata and reliable, but no guarantees are made or implied regarding its use or any inkingements of intellectual propony rights or other righisof tid partes, This catalog provides information as of May, 1985. Specifications and information hi without notice subject to change No. 291-10/10