SLA7024M, SLA7026M,

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

vances power multi-chip modules (PMCMs™) toward the complete

CONTROL/LOGIC

OFF DELAY A
2

integration of motion control. Highly automated manufacturing tech-

VREF
REFERENCE A niques provide low-cost and exceptionally reliable PMCMs suitable for
3

controlling and directly driving a broad range of 2-phase, unipolar

GROUND A
4

stepper motors. The three stepper motor multi-chip modules differ

IN A primarily in output current ratings (1.5 A or 3.0 A) and package style.
5

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

driver outputs. The avalanche-rated (≥100 V) FETs provide excellent

CNTRL SPLY VCC
8

ON resistance, improved body diodes, and very-fast switching. The

SENSE B multi-chip ratings and performance afford significant benefits and
9

advantages for stepper drives when compared to the higher dissipation

10

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

GROUND B
necessitates suitable heat transfer methods for reliable operation.
+
13

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
Dwg. PK-007
decay. Inputs are compatible with 5 V logic and microprocessors.

ABSOLUTE MAXIMUM RATINGS

at TA = +25°C BENEFITS AND FEATURES
Load Supply Voltage, VBB . . . . . . . . . . . . 46 V ■ Cost-Effective, Multi-Chip Solution ■ Half- or Full-Step Unipolar Drive
FET Output Voltage, VDS . . . . . . . . . . . 100 V ■ ‘Turn-Key’ Motion-Control Module ■ High-Efficiency, High-Speed PWM
Control Supply Voltage, VCC . . . . . . . . . . 46 V ■ Motor Operation to 3 A and 46 V ■ Dual PWM Current Control (2-Phase)
Peak Output Current, IOUTM (tw ≤ 100 µs) ■ 3rd Generation High-Voltage FETs ■ Programmable PWM Current Control
SLA7024M . . . . . . . . . . . . . . . . . . . . . 3.0 A
SLA7026M . . . . . . . . . . . . . . . . . . . . . 5.0 A
■ 100 V, Avalanche-Rated NMOS ■ Low Component Count PWM Drive
SMA7029M . . . . . . . . . . . . . . . . . . . . 3.0 A ■ Low r DS(on) NMOS Outputs ■ Low Internal Power Dissipation
Continuous Output Current, IOUT ■ Advanced, Improved Body Diodes ■ Heat Sinking (Normally) Unnecessary
SLA7024M . . . . . . . . . . . . . . . . . . . . . 1.5 A ■ Single-Supply Motor/Module ■ Electrically Isolated Power Tab
SLA7026M . . . . . . . . . . . . . . . . . . . . . 3.0 A Operation ■ Logic IC- and µP-Compatible Inputs
SMA7029M . . . . . . . . . . . . . . . . . . . . 1.5 A ■ Machine-Insertable Package
Input Voltage Range, VIN . . . . -0.3 V to 7.0 V
Reference Voltage, VREF . . . . . . . . . . . 2.0 V Always order by complete part number:
Package Power Dissipation, PD . See Graph
Junction Temperature, TJ . . . . . . . . . +150°C Part Number Package Output Current
Operating Temperature Range, SLA7024M 18-Lead Power-Tab SIP 1.5 A
TA . . . . . . . . . . . . . . . . . . . . -20°C to +85°C
Storage Temperature Range, SLA7026M 18-Lead Power-Tab SIP 3.0 A
Tstg . . . . . . . . . . . . . . . . . . -40°C to +150°C SMA7029M 15-Lead SIP 1.5 A

™
 SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
SLA7024M and SLA7026M FUNCTIONAL BLOCK DIAGRAM
CONTROL
IN
SUPPLY A/B IN A/B OUT
A/B
OUT
A/B
7 6 5 8 1
12 17 16 18 11
V
CC

REG.
REFERENCE

+
3 14 +

13 15 10
2 4 9
OFF-TIME GROUND SENSE
DELAY CHANNEL A PIN NUMBERS

CHANNEL B PIN NUMBERS Dwg. FK-005

Note that channels A and B are electrically isolated.

SMA7029M FUNCTIONAL BLOCK DIAGRAM

CONTROL
SUPPLY IN A/B OUT A/B OUT A/B

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

CHANNEL B PIN NUMBERS Dwg. FK-005-1

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

ALLOWABLE PACKAGE SLA7024M and SLA7026M

POWER DISSIPATION

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

GROUND B
REFERENCE B

OUT B
SENSE B

OFF DELAY B
CNTRL SPLY B
OUTB

IN B

IN B
REFERENCE A

OUT A

SENSE A
GROUND A
OFF DELAY A
OUTA

IN A

CNTRL SPLY A
IN A
0
25 50 75 100 125 150
TEMPERATURE in °C
Dwg. GK-018

Dwg. PK-006

ELECTRICAL CHARACTERISTICS at TA = +25°C

Limits
Characteristic Symbol Test Conditions Min Typ Max Units
FET Leakage Current IDSS VDS = 100 V, VCC = 44 V — — 4.0 mA
FET ON Voltage VDS(ON) (SLA7024M & SMA7029M) VCC = 14 V, IOUT = 1 A — — 600 mV
(SLA7026M) VCC = 14 V, IOUT = 3 A — — 850 mV
FET ON Resistance rDS(on) (SLA7024M & SMA7029M) VCC = 14 V, IOUT = 1 A — — 600 mΩ
(SLA7026M) VCC = 14 V, IOUT = 3 A — — 285 mΩ
Body Diode VSD (SLA7024M & SMA7029M) IOUT = –1 A — 0.9 1.5 V
Forward Voltage (SLA7026M) IOUT = –3 A — 0.9 1.6 V
Control Supply Voltage VCC Operating 10 24 44 V
Control Supply Current ICC VCC = 44 V — 10 15 mA
Input Current IIN(H) VCC = 44 V, VIN = 2.4 V — — 40 µA
IIN(L) VIN = 0.4 V — — -800 µA
Input Voltage VIN(H) 2.0 — — V
VIN(L) — — 0.8 V

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

TYPICAL STEPPER MOTOR APPLICATIONS

(Half of Each Device Shown)
SLA7024M and SLA7026M
V BB
A

IN B IN B
A
OUT B
OUT B
12 17 16 18 11
VCC

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
R3 C1 ≤1 Ω

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

HALF-STEP OPERATION (2-1-2 SEQUENCE)

for SLA7024M, SLA7026M, and SMA7029M
Sequence 0 1 2 3 4 5 6 7 0
Input A H H L L L L L H H
Input A or tdA* L L L H H H L L L
Input B L H H H L L L L L
Input B or tdB* L L L L L H H H L
Output(s) ON A AB B AB A AB B AB A
*Logic signals to external open-collector inverter connected to tdA and tdB.

™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000
 SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

TYPICAL STEPPER MOTOR APPLICATIONS

(Half of Device Shown)
SMA7029M
V
BB A

IN B
A
OUT B
OUT B
8 14 10 15
V
CC

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:

Vb = Reference supply (typically 5 V)

R1, R2 = Voltage-divider resistors in the reference supply circuit

RS = Current sensing resistor(s)

NOTE: The maximum allowable VREF input voltage is 2.0 V.

The voltage-divider must be selected accordingly.

Normal PWM (Full-Current/Running) Mode

IOUT is set to meet the specified running current for the motor (Figure 2)
and is determined by:
VREF
IOUT ≈ (1)
RS
or, if VREF is not known
R2 Vb
IOUT ≈ • (2)
R1 + R2 RS
I OUT
PHASE A

PHASE A

Dwg. WK-001

FIGURE 1. PHASE A COIL CURRENT WAVEFORM

Vb VCC INPUT V BB

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

RS

Dwg. EK-009

FIGURE 2. PWM CONTROL (RUN MODE)

™
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 V b (VREF ≈ 0.82 V), Figure 3 illustrates
output current as a function of current-sensing resistance (RS).
3.0
SLA7026M MAX.

2.5

OUTPUT TRIP CURRENT in AMPERES

R1 = 510 Ω
R2 = 100 Ω
2.0
RX = ∞
Vb = 5 V

1.5

SLA7024M & SMA7029M MAX.

1.0

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

FIGURE 3. CURRENT-SENSING RESISTANCE

Reduced/Holding Current Mode
Additional circuitry (Figure 4) enables reducing motor current. The
external transistor changes the voltage-divider ratio, VREF, and reduces the
output current. IHOLD is determined by resistors R2 and RX in parallel:

R2 RX Vb
IHOLD ≈ • (3)
R1 R2 + R1 RX + R2 RX RS

or R2’ Vb
IHOLD ≈ • (4)
R1 + R2’ RS

where R2’ = the equivalent value of R 2 and RX in parallel.

Vb

R1
RX R5
V REF

HOLD
SENSE
R2 C3

RS

Dwg. EK-010

FIGURE 4. HOLD CURRENT MODE

SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
For given values of R1, R2, and V b (VREF ≈ 0.82 V), Figures 5A and 5B
illustrate output holding current as a function of RX for two values of current-
sensing resistance (RS).
1.0

RS = 0.8 Ω

OUTPUT TRIP CURRENT in AMPERES

0.8

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

FIGURE 5A. HOLD-CURRENT RESISTANCE

(SLA7024M and SMA7029M)
3.0

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

FIGURE 5B. HOLD-CURRENT RESISTANCE (SLA7026M)

NOTE: Holding current determines holding torque, which is normally
greater than running torque. Consult motor manufacturer for recommended
safe holding current and motor winding temperature limits in “standstill” or
“detent” mode.
The MOSFET outputs create ringing noise with PWM, but the RC filter
precludes malfunctions. The comparator operation is affected by R5 and C3
and, thus, current overshoot is influenced by component values. Empirical
adjustment to “fine-tune” the current limit is likely.

™
115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

DETERMINING THE MOTOR PWM FREQUENCY

The modules function asynchronously, with PWM OFF time fixed by R3
and C1 at input td. The OFF time can be calculated as:
2
tOFF ≈ -R3 • C1 • logn (1 - ) (5)
Vb
Recommended circuit constants and tOFF are:
Vb = 5 V
R3 = 47 kΩ
C1 = 470 pF
tOFF = 12 µs

50

40
20

CHOPPING FREQUENCY in kHz

RS = 1 Ω
VCC = 24 V
L/R = 1 to 3 ms
ON TIME in µs

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

POWER DISSIPATION CALCULATIONS

Excepting high-current applications utilizing the SLA7026M above
approximately 2.0 A at +65°C (with 2-phase operation), the need for heat
sinks is rare. The basic constituents of conduction losses (internal power
dissipation) include:
(a) FET output power dissipation (IOUT2 • rDS(on) or IOUT • VDS(ON)),
(b) FET body diode power dissipation (VSD • IOUT), and
(c) control circuit power dissipation (VCC • ICC ).

Device conduction losses are calculated based on the operating mode

(wave drive, half-step, or 2-phase). Assuming a 50% output duty cycle:
Wave Drive = 0.5 (IOUT2 • rDS(on)) + 0.5 (VSD • IOUT) + (VCC • 15 mA)
Half-Step = 0.75 (IOUT2 • rDS(on)) + 0.75 (VSD • IOUT) + (VCC • 15 mA)
2-Phase = (IOUT 2 • rDS(on)) + (VSD • IOUT ) + (VCC • 15 mA)
SLA7024M, SLA7026M, AND SMA7029M
HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS
PACKAGE RATINGS/DERATING FACTORS
Thermal ratings/deratings for the multi-chip module packages vary
slightly. Normally, the SLA7024M and SMA7029M do not need heat
sinking when operated within maximum specified output current (≤1.0 A
with 2-phase drive) unless the design ambient temperature also ex-
ceeds +60°C. Thermal calculations must also consider the temperature
effects on the output FET ON resistance. The applicable thermal
ratings for the PMCM packages are:

SLA7024M and SLA7026M 18-Lead Power-Tab SIP

RΘJA = 28°C/W (no heat sink) or 4.5 W at +25°C and a derating
factor of -36 mW/°C for operation above +25°C. RΘJC = 5°C/W.

SMA7029M 15-Lead SIP

RΘJA = 31°C/W (no heat sink) or 4.0 W at +25°C and a derating
factor of -32 mW/°C for operation above +25°C. RΘJC = 6°C/W.

TEMPERATURE EFFECTS ON FET r DS(on)

Analyzing safe, reliable operation includes a concern for the
relationship of NMOS ON resistance to junction temperature. Device
package power calculations must include the increase in ON resistance
(producing higher output ON voltages) caused by higher operating
junction temperatures. Figure 8 provides a normalized ON resistance
curve, and all thermal calculations should consider increases from the
given +25°C limits, which may be caused by internal heating during
normal operation.

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

FIGURE 8. NORMALIZED ON RESISTANCE

vs TEMPERATURE

™
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)

1.22 ±0.008 0.126 ±0.006 x 0.150

0.126 0.961 ±0.008
±0.006
ø 0.189
±0.008
0.646 0.067
±0.008 ±0.004
±0.008
0.630

±0.008
0.512
±0.008
0.390
0.096
±0.008
0.264
±0.020

0.118
1 18 +0.008
0.022
–0.004
1.232 ±0.008
+0.008 0.157
0.026 –0.004 0.066
±0.016 ±0.028

Dwg. MK-002-18 in

Dimensions in Millimeters
(controlling dimensions)

31±0.2 3.2 ±0.15 x 3.8

3.2 24.4 ±0.2
±0.15
ø 4.8
±0.2
16.4 ±0.2 1.7
±0.1
16 ±0.2

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)

1.24 MAX. 0.157

±0.008
1.22 ±0.008 0.098
±0.008

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

Dwg. MK-005-15 in

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