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Data Sheet
AND SMA7029M
28201
HIGH-CURRENT PWM, UNIPOLAR STEPPER
MOTOR CONTROLLER/DRIVERS
The SLA7024M, SLA7026M, and SMA7029M are designed for
SMA7029M high-efficiency and high-performance operation of 2-phase, unipolar
stepper motors. An automated, innovative packaging technology
combined with power FETs and monolithic logic/control circuitry ad-
1
OUTA
OFF DELAYA
2
VREF
integration of motion control. Highly automated manufacturing tech-
REFERENCE A niques provide low-cost and exceptionally reliable PMCMs suitable for
3
GROUND A
controlling and directly driving a broad range of 2-phase, unipolar
4
OUT A
All three PMCMs are rated for an absolute maximum limit of 46 V
6
SENSE A and utilize advanced NMOS FETs for the high-current, high-voltage
7
OUT B
and slower switching speeds associated with bipolar transistors.
Normally, heat sinks are not required for the SLA7024M or SMA7029M.
11
OFF DELAY B
The SLA7026M, in demanding, higher-current systems designs,
CONTROL/LOGIC
12
REFERENCE B
VREF Complete applications information is given on the following pages.
PWM current is regulated by appropriately choosing current-sensing
14
IN B
resistors, a voltage reference, a voltage divider, and RC timing net-
15
OUT B
works. The RC components limit the OFF interval and control current
decay. Inputs are compatible with 5 V logic and microprocessors.
Dwg. PK-007
™
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
SLA7024M and SLA7026M FUNCTIONAL BLOCK DIAGRAM
CONTROL
SUPPLY IN A/B IN OUT A/B OUT A/B
A/B
7 6 5 8 1
12 17 16 18 11
VCC
REG.
REFERENCE
+
3 14 +
13 15 10
2 4 9
OFF-TIME GROUND SENSE
DELAY CHANNEL A PIN NUMBERS
8 5 1 6
8 14 10 15
V CC
REG.
REFERENCE
+
3 13 +
11 12 9
2 4 7
OFF-TIME GROUND SENSE
DELAY CHANNEL A PIN NUMBERS
Note that except for the control supply, channels A and B are electrically isolated.
™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000
Copyright © 1994 Allegro MicroSystems, Inc.
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
25
ALLOWABLE PACKAGE POWER DISSIPATION in WATTS
20
PREFIX 'SLA'
R θJM = 5.0°C/W
15 CONTROL/LOGIC CONTROL/LOGIC
PREFIX 'SMA'
RθJM = 6.0°C/W
+
+
10
VREF
VREF
VCC
VCC
PREFIX 'SLA'
5 R θJA = 28°C/W
PREFIX 'SMA' 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18
R θJA = 31°C/W
REFERENCE B
SENSE B
OUT B
OUT B
GROUND B
OFF DELAY B
CNTRL SPLY B
IN B
IN B
REFERENCEA
OUT A
SENSEA
GROUND A
OFF DELAY A
OUT A
IN A
CNTRL SPLY A
IN A
0
25 50 75 100 125 150
TEMPERATURE in ° C
Dwg. GK-018
Dwg. PK-006
NOTE: Negative current is defined as coming out of (sourcing) the specified device pin.
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
IN B IN B
A
OUT B
OUT B
12 17 16 18 11
V
CC
REG.
V b +5 V
R 1 510 Ω
TO
CHANNEL
A
VREF
+
14 +
2.4 kΩ
R 2 100 Ω
R
5
td SENSE
13 15 10
+5 V
C 3 2200 pF R
47 kΩ 470 pF S
R C1 ≤1 Ω
3
Dwg. EK-008
TRUTH TABLES
(Device Types as Designated)
WAVE DRIVE (FULL STEP) 2-PHASE (FULL STEP) OPERATION
for SLA7024M and SLA7026M for SLA7024M and SLA7026M
Sequence 0 1 2 3 0 Sequence 0 1 2 3 0
Input A H L L L H Input A H L L H H
Input A L L H L L Input A L H H L L
Input B L H L L L Input B H H L L H
Input B L L L H L Input B L L H H L
Output ON A B A B A Outputs ON AB AB AB AB AB
™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
IN B
A
OUT B
OUT B
8 14 10 15
VCC
REG.
V b +5 V
R 1 510 Ω
TO
CHANNEL
A
VREF
+
13 +
2.4 kΩ
R 2 100 Ω
R
5
td SENSE
11 12 9
+5 V C1
470 pF C 3 2200 pF R
R 3 47 kΩ S
≤1 Ω
OPEN-COLLECTOR
INVERTER
Dwg. EK-008-1
TRUTH TABLES
(SMA7029M Only)
WAVE DRIVE (FULL STEP) for SMA7029M 2- PHASE (FULL STEP) OPERATION
Sequence 0 1 2 3 0 for SMA7029M
Input A H L L L H Sequence 0 1 2 3 0
Input tdA* L L H L L Input A H H L L H
Input B L H L L L Input B L H H L L
Input tdB* L L L H L Outputs ON AB AB AB AB AB
Output ON A B A B A
*Logic signals to external open-collector inverter connected to tdA and tdB.
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
APPLICATIONS INFORMATION
REGULATING THE PWM OUTPUT CURRENT
The output current (and motor coil current) waveform is illustrated in
Figure 1. Setting the PWM current trip point requires various external
components:
PHASE A
Dwg. WK-001
R3
R1
B
C1
R2 R5
td A A
V REF CURRENT
PEAK PWM CONTROL
CONTROL &
CURRENT OFF-TIME
DETECTOR CONTROL LOGIC RECIRCULATING
CURRENT
CONTROL
C3
SENSE
R
S
Dwg. EK-009
™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
For given values of R1, R2, and Vb (VREF ≈ 0.82 V), Figure 3 illustrates
output current as a function of current-sensing resistance (RS).
3.0
SLA7026M MAX.
2.5
1.5
0.5
0
0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0
CURRENT-SENSING RESISTANCE in OHMS Dwg. GK-014
R2 RX Vb
IHOLD ≈ • (3)
R1 R2 + R1 RX + R2 RX RS
or R2Õ Vb
IHOLD ≈ • (4)
R1 + R2Õ RS
R1
RX R5
V REF
HOLD
SENSE
R2 C3
RS
Dwg. EK-010
RS = 0.8 Ω
RS = 1.0 Ω
0.6
0.4
R1 = 510 Ω
R2 = 100 Ω
Vb = 5 V
0.2
0
0 100 200 300 400 500 600
HOLDING-CURRENT RESISTANCE in OHMS Dwg. GK-015
R1 = 510 Ω
2.5 R2 = 100 Ω
Vb = 5 V
RS = 0.33 Ω
OUTPUT TRIP CURRENT in AMPERES
2.0
RS = 0.47 Ω
1.5
1.0
0.5
0
0 100 200 300 400 500 600 700 800
HOLDING-CURRENT RESISTANCE in OHMS
Dwg. GK-015-1
™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
50
40
20
30
25
20 30
VCC = 36 V
35
40
10
0
0 2 4 6 8 10 12 14
MOTOR RESISTANCE in OHMS Dwg. GK-016
FIGURE 7.
PWM FREQUENCY vs MOTOR RESISTANCE
2.5
2.0
NORMALIZED FET ON RESISTANCE
1.5
1.0
0.5
0
-40 0 +40 +80 +120 +160
JUNCTION TEMPERATURE in °C Dwg. GK-017
™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
SLA7024M and SLA7026M
Dimensions in Inches
(for reference only)
±0.008
0.512
±0.008
0.390
0.096
±0.008
0.264
±0.020
0.118
1 18 0.022 +0.008
–0.004
1.232 ±0.008
+0.008 0.157
0.026 –0.004 0.066
±0.016 ±0.028
Dimensions in Millimeters
(controlling dimensions)
13 ±0.2
9.9 ±0.2
2.45
±0.2
6.7
±0.5
3.0
1 18 0.55 +0.2
31.3 ±0.2 –0.1
+0.2 4.0
0.65 –0.1 1.68
±0.4 ±0.7
Dwg. MK-002-18 mm
NOTES: 1. Exact body and lead configuration at vendor’s option within limits shown.
2. Recommended mounting hardware torque: 4.34 – 5.79 lbf•ft (6 – 8 kgf•cm or 0.588 – 0.784 Nm).
3. The hatched area is exposed (electrically isolated) heat spreader.
4. Recommend use of metal-oxide-filled, alkyl-degenerated oil base, silicone grease (Dow Corning 340 or equivalent).
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
SMA7029M
Dimensions in Inches
(for reference only)
30°
±0.008
0.402
0.335
MAX.
0.057
±0.006
0.264
±0.020
0.118
1 15 0.022 +0.008
–0.004
+0.008 0.157
0.026 –0.004 0.080
±0.004 ±0.028
Dimensions in Millimeters
(controlling dimensions)
31.5 MAX. 4.0
±0.2
31±0.2 2.5
±0.2
30°
10.2
±0.2
MAX.
8.5
1.45
±0.15
6.7
±0.5
3.0
1 15 0.55 +0.2
–0.1
+0.2 4.0
0.65 –0.1 2.03
±0.1 ±0.7
Dwg. MK-005-15 mm
NOTE: Exact body and lead configuration at vendor’s option within limits shown.
The products described here are manufactured in Japan by Sanken Electric Co.,
Ltd. for sale by Allegro MicroSystems, Inc.
Sanken Electric Co., Ltd. and Allegro MicroSystems, Inc. reserve the right to
make, from time to time, such departures from the detail specifications as may be
required to permit improvements in the design of their products.
The information included herein is believed to be accurate and reliable.
However, Sanken Electric Co., Ltd. and Allegro MicroSystems, Inc. assume no
responsibility for its use; nor for any infringements of patents or other rights of third
parties which may result from its use.
™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000