Sanken

Bulletin No I02 EB0 (Jul,2000) Motor Driver ICs

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 s2-Phase Stepper Motor Unipolar Driver ICs Excitation Output current (A) Motor supply Package Remarks Page method 1 1.2 1.25 1.5 3 voltage (V) SLA7022MU to 46 ZIP15Pin 5 SMA7022MU to 46 ZIP15Pin 5 2-phase SLA7029M to 46 ZIP15Pin 5 excitation SMA7029M to 46 ZIP15Pin 5 SMA7036M to 46 ZIP15Pin 12 SDK03M to 46 SMD16Pin 1 motor driven by 2 packages 36 SLA7027MU to 46 ZIP18Pin 20 Internal sequencer, 2-phase/ UCN5804B to 35 DIP16Pin 42 constant voltage driver 1-2 phase SLA7024M to 46 ZIP18Pin 20 excitation SLA7032M to 46 ZIP18Pin 28 SLA7026M to 46 ZIP18Pin 20 SLA7033M to 46 ZIP18Pin 28 2W1-2 phase SLA7042M to 46 ZIP18Pin 44 Micro-step support SLA7044M to 46 ZIP18Pin 44 sSerial Signal Generator IC for SLA704xM Supply voltage (V) Package page PG001M 4.5 to 5.5 DIP16Pin 48 s2-Phase Stepper Motor Bipolar Driver ICs Excitation Output current (A) Motor supply Package Remarks Page method 0.65 0.75 0.8 1.3 1.5 2 voltage (V) A3966SA Vcc to 30 DIP16Pin 54 A3966SLB Vcc to 30 SOP16Pin 54 A3964SLB Vcc to 30 SOP20Pin 58 A3953SB Vcc to 50 DIP16Pin One motor driven by 2 ICs 60 2-phase/ A3953SLB Vcc to 50 SOP16Pin One motor driven by 2 ICs 60 1-2 phase A2918SW 10 to 45 ZIP18Pin 68 excitation A3952SB Vcc to 50 DIP16Pin One motor driven by 2 ICs 70 A3952SLB Vcc to 50 SOP16Pin One motor driven by 2 ICs 70 A3952SW Vcc to 50 SIP12Pin One motor driven by 2 ICs 70 2-phase/1-2 UDN2916B 10 to 45 DIP24Pin 78 phase/W1-2 UDN2916LB 10 to 45 SOP24Pin 78 phase excitation UDN2917EB 10 to 45 PLCC44Pin 84 2W1-2 phase A3955SB Vcc to 50 DIP16Pin One motor driven by 2 ICs 88 excitation/ micro-step support A3955SLB Vcc to 50 SOP16Pin One motor driven by 2 ICs 88 4W1-2 phase excitation/micro- A3957SLB Vcc to 50 SOP24Pin One motor driven by 2 ICs 94 step support s3-Phase Stepper Motor Driver Control ICs Motor supply Excitation method Part No. Package Remarks Page voltage (V) 2-phase/ SI-7600 SOP20Pin 15 to 45 Use with SLA5017 or others 98 2-3 phase excitation SI-7600D DIP20Pin s5-Phase Stepper Motor Driver Control ICs Motor supply Drive method Part No. Package Remarks Page voltage (V) Pentagon Powder SI-7502 15 to 42 Use with SLA6503 and SLA5011 104 connection coating 27 pin 2 Selection Guide

Motor Driver ICs Product Index by Part Number Output current Supply voltage Part No. Drive method Excitation method Package Remarks Page (A) (V) A2918SW 1.5 10 to 45 Bipolar 2-phase/1-2 phase excitation ZIP18pin 68 A3952SB 2 VCC to 50 Bipolar 2-phase/1-2 phase excitation DIP16pin One motor driven by 2 ICs 70 A3952SLB 2 VCC to 50 Bipolar 2-phase/1-2 phase excitation SOP16pin One motor driven by 2 ICs 70 A3952SW 2 VCC to 50 Bipolar 2-phase/1-2 phase excitation SIP12pin One motor driven by 2 ICs 70 A3953SB 1.3 VCC to 50 Bipolar 2-phase/1-2 phase excitation DIP16pin One motor driven by 2 ICs 60 A3953SLB 1.3 VCC to 50 Bipolar 2-phase/1-2 phase excitation SOP16pin One motor driven by 2 ICs 60 A3955SB 1.5 VCC to 50 Bipolar 2W/1-2 phase micro-step support DIP16pin One motor driven by 2 ICs 88 A3955SLB 1.5 VCC to 50 Bipolar 2W/1-2 phase micro-step support SOP16pin One motor driven by 2 ICs 88 A3957SLB 1.5 VCC to 50 Bipolar 4W/1-2 phase micro-step support SOP24pin One motor driven by 2 ICs 94 A3964SLB 0.8 VCC to 30 Bipolar 2-phase/1-2 phase excitation SOP20pin 58 A3966SA 0.65 VCC to 30 Bipolar 2-phase/1-2 phase excitation DIP16pin 54 A3966SLB 0.65 VCC to 30 Bipolar 2-phase/1-2 phase excitation SOP16pin 54 Serial signal generator IC for PG001M − 4.5 to 5.5 − − DIP16pin 48 SLA704xM SDK03M 1 to 46 Unipolar 2-phase/1-2 phase excitation SMD16pin One motor driven by 2 ICs 36 Powder coat SI-7502 − 15 to 42 Pentagon connection 5-phase excitation Control IC 104 27pin Star connection/ SI-7600 − 15 to 45 2-phase/2-3 phase excitation SOP20pin Control IC 98 delta connection Star connection/ SI-7600D − 15 to 45 2-phase/2-3 phase excitation DIP20pin Control IC 98 delta connection SLA7022MU 1 to 46 Unipolar 2-phase excitation ZIP15pin 5 SLA7024M 1.5 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin 20 SLA7026M 3 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin 20 SLA7027MU 1 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin 20 SLA7029M 1.5 to 46 Unipolar 2-phase excitation ZIP15pin 5 SLA7032M 1.5 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin SLA7024M equivalent 28 SLA7033M 3 to 46 Unipolar 2-phase/1-2 phase excitation ZIP18pin SLA7026M equivalent 28 SLA7042M 1.2 to 46 Unipolar 2W/1-2 phase micro-step support ZIP18pin 44 SLA7044M 3 to 46 Unipolar 2W/1-2 phase micro-step support ZIP18pin 44 SMA7022MU 1 to 46 Unipolar 2-phase excitation ZIP15pin 5 SMA7029M 1.5 to 46 Unipolar 2-phase excitation ZIP15pin 5 SMA7036M 1.5 to 46 Unipolar 2-phase excitation ZIP15pin SMA7029M equivalent 12 Internal sequencer, constant UCN5804B 1.25 to 35 Unipolar 2-phase/1-2 phase excitation DIP16pin 42 voltage driver 2-phase/1-2 phase/W1-2 phase UDN2916B 0.75 10 to 45 Bipolar DIP24pin 78 excitation 2-phase/1-2 phase/W1-2 phase UDN2916LB 0.75 10 to 45 Bipolar SOP24pin 78 excitation 2-phase/1-2 phase/W1-2 phase UDN2917EB 1.5 10 to 45 Bipolar PLCC44pin 84 excitation Product Index by Part Number 3

Motor Driver ICs Notes on SLA7000/SMA7000 Series sFeatures sConstant Current Chopper Method q Employs a constant-current chopper control method. In the constant current chopper method, a voltage higher than q 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. rises, the chopper transistor is switched on thereby shortening q One-fifth the size and one-fourth the power dissipation com- the current rise time. After the current rises, the coil current is pared with conventional SANKEN ICs held by the PWM chopper to a constant current level deter- mined by the current sense resistor. This method has the ad- vantage of improving the motor's high frequency response and the efficiency response and efficiency of the driver circuitry. Comparison of power dissipation. Basic constant current chopper circuitry 8 Transient-suppression diode 7 Motor coil Current sense resistor Power dissipation PH (W) 6 5 Sanken product: SI-7300A Motor : 23LM-C202 VCC IO=1A 4 IO: Output current 2-phase excitation, holding mode 3 2 SLA7024M, SLA7029M PWM control SMA7029M IO=1A and phase 1 switching Used as both chopper control MOSFET and phase 0 0 10 20 30 40 50 switching MOSFET Supply voltage VCC (V) q Eliminates the need for heatsink thereby decreasing part-in- sertion workload and increasing flexibility in mounting. q Reduces the size of power supplies required. q Lineup: 2-phase excitation, 2-phase/1-2 phase excitation, 2W1-2 phase micro-step support ICs sApplications The SLA7000 and SMA7000 series are ideal for the following applications. q Sheet feeders and carriage drivers in printers. q Sheet feeders for PPC and facsimile machines. q Numeric control equipment. q Industrial robots. sHandling Precautions q Recommended screw torque 0.588 to 0.784 [N•m](6.0 to 8.0 [kgf•cm]) q Recommended silicon grease Shin-Etsu Chemical Co., Ltd.: G746 GE Toshiba Silicone Co., Ltd.: YG-6260 Dow Corning Toray Silicone Co., Ltd.: SC102 Please be careful when selecting silicone grease since the oil in some grease may penetrate the product, which will result in an extremely short product life. 4 Notes on SLA7000/SMA7000 Series

2-Phase Excitation SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 2-Phase Stepper Motor Unipolar Driver ICs sAbsolute Maximum Ratings (Ta =25°C) Ratings Parameter Symbol Units SLA7022MU SLA7029M SMA7022MU SMA7029M Motor supply voltage VCC 46 V FET Drain-Source voltage VDSS 100 V Control supply voltage VS 46 V TTL input voltage V IN 7 V Reference voltage V REF 2 V Output current IO 1 1.5 1 1.5 A P D1 4.5 (Without Heatsink) 4.0 (Without Heatsink) W Power dissipation P D2 35 (TC=25°C) 28(TC=25°C) W Channel temperature Tch +150 °C Storage temperature Tstg −40 to +150 °C sElectrical Characteristics (Ta =25°C) Ratings Parameter Symbol SLA7022MU SLA7029M SMA7022MU SMA7029M Units min typ max min typ max min typ max min typ max IS 10 15 10 15 10 15 10 15 Control supply current mA Condition V S=44V V S=44V VS =44V V S=44V Control supply voltage VS 10 24 44 10 24 44 10 24 44 10 24 44 V FET Drain-Source VDSS 100 100 100 100 V voltage Condition VS =44V, IDSS=250 µA VS =44V, IDSS=250 µ A VS=44V, IDSS=250 µA VS=44V, IDSS=250 µA V DS 0.85 0.6 0.85 0.6 FET ON voltage V Condition ID=1A, VS =14V ID=1A, VS =14V ID=1A, VS=14V ID=1A, VS =14V IDSS 4 4 4 4 FET drain leakage current mA Condition VDSS=100V, VS=44V VDSS=100V, VS=44V VDSS=100V, VS =44V VDSS=100V, V S=44V DC characteristics FET diode forward V SD 1.2 1.1 1.2 1.1 V voltage Condition ID=1A ID=1A ID=1A ID=1A IIH 40 40 40 40 µA Condition VIH=2.4V, VS =44V VIH=2.4V, VS =44V VIH=2.4V, VS=44V VIH=2.4V, VS =44V TTL input current IIL −0.8 −0.8 −0.8 −0.8 mA Condition VIL=0.4V, V S=44V VIL=0.4V, VS=44V V IL=0.4V, VS =44V V IL=0.4V, VS =44V VIH 2 2 2 2 TTL input voltage Condition ID=1A ID=1A ID=1A ID=1A V (Active High) VIL 0.8 0.8 0.8 0.8 Condition VDSS=100V VDSS=100V VDSS=100V VDSS=100V VIH 2 2 2 2 TTL input voltage Condition VDSS=100V VDSS=100V VDSS=100V VDSS=100V V (Active Low) VIL 0.8 0.8 0.8 0.8 Condition ID=1A ID=1A ID=1A ID=1A Tr 0.5 0.5 0.5 0.5 AC characteristics Condition VS =24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=0.8A V S=24V, ID=1A T stg 0.7 0.7 0.7 0.7 Switching time µs Condition VS =24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=0.8A V S=24V, ID=1A Tf 0.1 0.1 0.1 0.1 Condition VS =24V, ID=0.8A VS=24V, ID=1A VS=24V, ID=0.8A V S=24V, ID=1A SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 5

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M sInternal Block Diagram 6 1 5 8 14 10 15 INA INB VS 1, 6, 10, 15pin Description of pins Excitation input Reg Reg Active H Active L 1pin OUT A OUT A 6pin OUT A OUT A 10pin OUT B OUT B + + – + + – 15pin OUT B OUT B – – GNDA GNDB REFB REFA RSA RSB TDA TDB 7 2 3 4 12 13 11 9 sDiagram of Standard External Circuit (Recommended Circuit Constants) Excitation signal time chart VCC (46V max) 2-phase excitation + clock 0 1 2 3 0 1 IN A H H L L H H IN B L H H L L H 1-2 phase excitation Vb (5V) 8 1 6 10 15 clock 0 1 2 3 4 5 6 7 0 1 2 3 VS r3 r4 r1 5 IN A H H H H L L L L H H H H INA INA td A L L L H L L L H L L L H 2 IN B L L H H H H L L L L H H TdA 14 TdB INB INB td B L H L L L H L L L H L L 11 C1 C2 q tdA and tdB are signals before the inverter stage. r2 RSA REFA REFB RSB GA GB 7 3 13 9 4 12 r1 : 510Ω r2 : 100Ω (VR) C3 C4 Rs Rs r3 : 47kΩ r5 r6 r4 : 47kΩ Open r5 : 2.4kΩ collector r6 : 2.4kΩ C1 : 330 to 500pF C2 : 330 to 500pF C3 : 2200pF tdA tdB C4 : 2200pF Rs : 1.8Ω typ(7022MU) (1 to 2W) 1Ω typ(7029M) 6 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M sExternal Dimensions SLA7022MU/SLA7029M (Unit: mm) 31±0.2 Epoxy resin package φ 3.2±0.15 24.4±0.2 φ 3.2±0.15×3.8 4.8±0.2 16.4±0.2 1.7±0.1 16 ±0.2 13 ±0.2 9.9 ±0.2 Part No. 4.6±0.6 2.45±0.2 3±0.6 Lot No. 6.7±0.5 9.7 –0.5 +1 R-End +0.2 0.65 –0.1 1.6±0.6 +0.2 0.55 –0.1 2.2±0.4 (3) +0.2 +0.2 +0.2 1.15 –0.1 0.65 –0.1 1.15 –0.1 0.55 –0.1 +0.2 6.3±0.6 4±0.7 7.5±0.6 14×P2.03±0.4=28.42±0.8 14×P2.03±0.7=28.42±1.0 31.3±0.2 1 2 3 · · · · · · · 15 12 3 · · · · · · · 15 Forming No. No.853 Forming No. No.855 sExternal Dimensions SMA7022MU/SMA7029MA (Unit: mm) Epoxy resin package 4±0.2 31±0.2 2.5±0.2 10.2±0.2 30° 3 ±0.6 (4.6) 8.5max Lot No. 1.45±0.15 Part No. 6.7 ±0.5 (9.7) 0.62±0.1 1.2±0.1 1.6 ±0.6 +0.2 0.55 –0.1 1.16±0.15 (3) +0.2 (5.9) 0.65 –0.1 +0.2 0.55 –0.1 1.16 +0.2 (7.5) –0.1 4±0.7 P2.03±0.1×14=28.42 P2.03±0.1×14=28.42 31.3 +0.2 12 3 · · · · · · · 15 1 2 3 · · · · · · · 15 Forming No. No.1054 Forming No. No.1055 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 7

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M Application Notes sDetermining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil cur- rent). The method of determining the peak value of the output IO current (IO) based on this waveform is shown below. Phase A (Parameters for determining the output current IO) Vb: Reference supply voltage 0 r1,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. (See Fig.2.) r2 V b ................................................................ Fig. 2 Normal mode IO ≅ • (1) r1+r2 RS 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,(13) coil current. IO is then determined as follows. 1 Vb r2 C3 IOPD ≅ • ......................................................... (2) 7,(9) r1(r2+rX) RS 1+ r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 Vb 1 −1 − r1 Rs • IOPD r2 Fig. 3 Power down mode Fig. 4 and 5 show the graphs of equations (1) and (2) respec- Vb(5V) tively. r6 r1 r5 3,(13) rx r2 7,(9) Power down C3 signal Tr RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 4 2.0 3 RS =0.5Ω 1.5 Output current IOPD (A) Output current IO (A) r2 · V b IO= 1 r1+r2 RS IOPD= · Vb r1(r2+rX) RS r1=510Ω 1+ 2 RS =0.8Ω r2 · rX r2=100Ω 1.0 r1=510Ω rx=∞ RS =1Ω r2=100Ω Vb=5V Vb=5V 1 0.5 0 00 0 1 2 3 4 200 400 600 800 1000 1200 Current sense resistor RS (Ω) 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 the response from RS to the comparator becomes slow. Hence is also generated in feedback signals from RS which may there- 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(r6) and C3(C4) are added to act as a noise filter. 8 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M sDetermining the chopper frequency Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF The SLA7000M and SMA7000M series are self-excited chop- pers. The chopping OFF time T OFF is fixed by r 3/C1 and r4/C 2 60 15 connected to terminal Td. 50 Chopping frequency f (kHz) T OFF can be calculated using the following formula: ON time TON (µ s) 40 20 r3 = r4 = 47kΩ 2 2 C1 C2 500pF TOFF≅−r3 • C1rn (1− =−r4 • C2rn (1− ) 30 4V TOFF =12µs Vb Vb C =2 25 RS =1Ω VC Lm V =1~3ms The circuit constants and the T OFF value shown below are rec- 20 =36 30 Rm VCC 35 40 ommended. 10 T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V 0 0 2 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) sChopper frequency vs. Supply voltage sChopper frequency vs. Output current 50 50 40 40 30 30 f (kHz) f (kHz) Motor : 23LM-C202 Motor : 23LM-C202 IO = 0.8A at VCC=24V VCC=24V RS=1Ω RS=1Ω 20 20 10 10 0 0 0 10 20 30 40 50 0 0.2 0.4 0.6 0.8 1.0 VCC (V) IO (A) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 9

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M sThermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for calculating heat dissipation is shown below. 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) (1)Obtain the value of P H that corresponds to the motor coil 1-2 phase excitation: Pdiss ≅ 3 P H+0.015×VS (W) 2 current IO from Fig. 7 "Heat dissipation per phase PH vs. Out- (3) Obtain the temperature rise that corresponds to the calcu- put current IO." lated value of Pdiss from Fig. 8 "Temperature rise." Fig. 7 Heat dissipation per phase PH vs. Output current IO SLA7022MU, ASMA7022MU SLA7029M, SMA7029M 1.2 1.2 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1 1.0 4V 0.8 =4 0.8 V VC C V 36 36 Motor : 23LM-C202 V Motor : 23LM-C004 0.6 24 V Holding mode 0.6 =44 VCC V Holding mode 5V 15 1 0.4 0.4 24V 0.2 0.2 0 0 0 0.2 0.4 0.6 0.8 1.0 0 0.2 0.4 0.6 0.8 1.0 Output current IO (A) Output current IO (A) Fig. 8 Temperature rise SLA7000M series SMA7000M series 150 150 j j ∆T ∆T 100 100 C ∆T ∆TC–a (°C) (°C) C Natural cooling ∆T Natural cooling ∆TC–a Without heatsink ∆Tj–a ∆Tj–a Without heatsink 50 50 0 0 0 1 2 3 4 5 0 1 2 3 4 Total Power (W) Total Power (W) Thermal characteristics SLA7022MU SLA7029M 35 30 Without heatsink Case temperature rise ∆TC–a (°C) Without heatsink Case temperature rise ∆TC–a (°C) 30 Natural cooling 25 Natural cooling 25 20 20 TC ( 4 pin) TC ( 4 pin) 15 15 Motor : PH265-01B Motor : PH265-01B Motor current IO=0.8A 10 Motor current IO=0.8A 10 Ta=25°C Ta=25°C VCC=24V, VS=24V VCC=24V, VS=24V 5 2-phase excitation 5 2-phase excitation 0 0 200 500 1K 200 500 1K Response frequency (pps) Response frequency (pps) SMA7022MU SMA7029MU 35 30 Without heatsink Without heatsink Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 Natural cooling Natural cooling 25 25 20 20 TC ( 4 pin) TC ( 4 pin) 15 15 Motor : PH265-01B Motor : PH265-01B Motor current IO=0.8A Motor current IO=0.8A 10 10 Ta=25°C Ta=25°C VCC=24V, VS=24V VCC=24V, VS=24V 5 2-phase excitation 5 2-phase excitation 0 0 200 500 1K 200 500 1K Response frequency (pps) Response frequency (pps) 10 SLA7022MU/SLA7029M/SMA7022MU/SMA7029M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase Excitation) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M sSupply Voltage VCC vs. Supply Current ICC SLA7022MU, SMA7022MU SLA7029M, SMA7029M 500 500 400 400 Supply current ICC (mA) Supply current ICC (mA) Motor : 23LM-C202 Motor : 23LM-C004 300 300 1-phase excitation 1-phase excitation Holding mode Holding mode IO : Output current IO : Output current 200 200 IO=1A IO=1A 100 100 0.4A 0.2A 0.5A 0.2A 0 0 0 10 20 30 40 50 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) sTorque Characteristics SLA7022MU, SMA7022MU SLA7029M, SMA7029M 2.0 2.0 Pull-out torque (kg-cm) 1.5 Pull-out torque (kg-cm) 1.5 Motor : PX244-02 Motor : 23LM-C202 Output current IO =0.6A Output current IO =0.8A 1.0 1.0 Motor supply voltage VCC =24V Motor supply voltage VCC =24V 2-phase excitation 2-phase excitation 0.5 0.5 0 0 100 500 1K 5K 100 500 1K 5K Response frequency (pps) Response frequency (pps) SLA7022MU/SLA7029M/SMA7022MU/SMA7029M 11

2-Phase Excitation SMA7036M 2-Phase Stepper Motor Unipolar Driver IC sAbsolute Maximum Ratings Parameter Symbol Ratings Units Motor supply voltage V CC 46 V Control supply voltage VS 46 V FET Drain-Source voltage VDSS 100 V TTL input voltage VIN −0.3 to +7 V SYNC terminal voltage VSYNC −0.3 to +7 V Reference voltage VREF −0.3 to +7 V Sense voltage V RS −5 to +7 V Output current IO 1.5 A PD1 4.0 (Ta =25°C) W Power dissipation PD2 28 (Tc=25°C) W Channel temperature Tch 150 °C Storage temperature Tstg −40 to +150 °C Ambient operating temperature Ta −20 to +85 °C sElectrical Characteristics Ratings Parameter Symbol Units min typ max IS 10 15 Control supply current mA Condition VS =44V Control supply voltage VS 10 24 44 V FET Drain-Source VDSS 100 V voltage Condition VS =44V, IDSS=250 µA VDS 0.6 FET ON voltage V Condition ID=1A, V S=10V VSD 1.1 FET diode forward voltage V Condition ISD=1A IDSS 250 FET drain leakage current µA Condition VDSS=100V, VS =44V V IH 2 Condition ID=1A Active H V VIL 0.8 Condition V DSS=100V V IH 2 IN terminal DC characteristics Condition V DSS=100V Active L V VIL 0.8 Condition ID=1A Input II ±1 µA current Condition V S=44V, VI=0 or 5V VSYNCH 4.0 Input Condition Synchronous chopping mode V voltage V SYNCL 0.8 Condition Asynchronous chopping mode SYNC terminal ISYNCH 0.1 Input Condition VS =44V, VYS=5V mA current ISYNCL −0.1 Condition VS =44V, VYS=0V V REF 0 2.0 Input Condition Reference voltage input voltage V V REF 4.0 5.5 Condition Output FET OFF REF terminal Input IREF ±1 µA current Condition No synchronous trigger Internal RREF 40 Ω resistance Condition Resistance between GND and REF terminal at synchronous trigger Ton 1.5 Condition VS =24V, ID=1A Tr 0.5 AC characteristics Condition VS =24V, ID=1A Switching time µs Tstg 0.9 Condition VS =24V, ID=1A Tf 0.1 Condition VS =24V, ID=1A TOFF 12 Chopping OFF time µs Condition VS =24V 12 SMA7036M

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

2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M sExternal Dimensions (Unit: mm) Epoxy resin package 4±0.2 31±0.2 2.5±0.2 10.2±0.2 30° 3 ±0.6 (4.6) 8.5max Lot No. 1.45±0.15 Part No. 6.7 ±0.5 (9.7) 0.62±0.1 1.2±0.1 1.6 ±0.6 +0.2 0.55 –0.1 1.16±0.15 (3) +0.2 (5.9) 0.65 –0.1 0.55 –0.1 +0.2 1.16 +0.2 (7.5) –0.1 4±0.7 P2.03±0.1×14=28.42 P2.03±0.1×14=28.42 31.3 +0.2 12 3 · · · · · · · 15 1 2 3 · · · · · · · 15 Forming No. No.1054 Forming No. No.1055 14 SMA7036M

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

2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M sDetermining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil cur- rent). The method of determining the peak value of the output IO current (IO) based on this waveform is shown below. Phase A (Parameters for determining the output current I O) Vb: Reference supply voltage 0 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.) r2 Vb ................................................................ Fig. 2 Normal mode IO ≅ • (1) r1+r2 RS 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. I O is then determined as follows. 1 Vb r2 IOPD ≅ • ......................................................... (2) 7,(9) r1(r 2+rX) RS 1+ r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 Vb 1 −1 − Fig. 3 Power down mode r1 Rs • IOPD r2 Fig. 4 and 5 show the graphs of equations (1) and (2) respec- Vb(5V) tively. r1 3,(13) rx r2 7,(9) Power down signal Tr RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 4 2.0 RS =0.5Ω 3 1.5 Output current IOPD (A) Output current IO (A) r2 · Vb IO= 1 r1+r2 RS IOPD= · Vb r1(r2+rX) RS r1=510Ω 1+ RS =0.8Ω r2 · rX 2 r2=100Ω 1.0 r1=510Ω rx=∞ RS =1Ω r2=100Ω Vb=5V Vb=5V 1 0.5 0 00 200 400 600 800 1000 1200 0 1 2 3 4 Current sense resistor RS (Ω) Variable current sense resistor rX (Ω) 16 SMA7036M

2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M sThermal Design (2) The power dissipation Pdiss is obtained using the following An outline of the method for calculating heat dissipation is formula. shown below. 2-phase excitation: Pdiss ≅ 2PH +0.015×V S (W) 3 (1) Obtain the value of P H that corresponds to the motor coil 1-2 phase excitation: Pdiss ≅ PH +0.015×V S (W) 2 current IO from Fig. 6 "Heat dissipation per phase PH vs. Out- (3) Obtain the temperature rise that corresponds to the calcu- put current IO." lated value of Pdiss from Fig. 7 "Temperature rise." Fig. 6 Heat dissipation per phase PH vs. Output current IO Fig. 7 Temperature rise 1.2 150 Heat dissipation per phase PH (W) 1.0 j ∆T 0.8 100 V 36 (°C) C V Motor : 23LM-C004 ∆T 0.6 =44 Natural cooling ∆TC–a ∆Tj–a VCC V Holding mode Without heatsink 15 0.4 24V 50 0.2 0 0 0 0.2 0.4 0.6 0.8 1.0 0 1 2 3 4 Output current IO (A) Total Power (W) Thermal characteristics 30 Without heatsink Case temperature rise ∆TC–a (°C) 25 Natural cooling 20 TC ( 4 pin) 15 Motor : PH265-01B Motor current IO=0.8A 10 Ta=25°C VCC=24V, VS=24V 5 2-phase excitation 0 200 500 1K Response frequency (pps) SMA7036M 17

2-Phase Stepper Motor Unipolar Driver IC (2-Phase Excitation) SMA7036M sSupply Voltage VCC vs. Supply Current ICC sTorque Characteristics 500 2.0 400 Supply current ICC (mA) Pull-out torque (kg-cm) 1.5 300 Motor : 23LM-C004 1-phase excitation Motor : 23LM-C202 Holding mode Output current IO =0.8A 1.0 IO : Output current Motor supply voltage VCC =24V 200 2-phase excitation IO=1A 0.5 100 0.5A 0.2A 0 0 0 10 20 30 40 50 100 500 1K 5K Supply voltage VCC (V) Response frequency (pps) sChopper frequency vs. Supply voltage sChopper frequency vs. Output current 50 50 40 40 30 30 f (kHz) f (kHz) Motor : 23LM-C202 Motor : 23LM-C202 IO = 0.8A at VCC=24V VCC=24V RS=1Ω RS=1Ω 20 20 10 10 0 0 0 10 20 30 40 50 0 0.2 0.4 0.6 0.8 1.0 VCC (V) IO (A) sHandling Precautions The input terminals of this product use C-MOS circuits. Observe the following precautions. q Carefully control the humidity of the room to prevent the buildup of static electricity. Since static electricity is particularly a problem during the winter, be sure to take sufficient precautions. q Take care to make sure that static electricity is not applied to the IC during wiring and assembly. Take precautions such as shorting the terminals of the printed wiring board to ensure that they are at the same electrical potential. 18 SMA7036M

SMA7036M 19

2-Phase/1-2 Phase Excitation SLA7027MU/SLA7024M/SLA7026M 2-Phase Stepper Motor Unipolar Driver ICs sAbsolute Maximum Ratings (Ta=25°C) Ratings Parameter Symbol Units SLA7027MU SLA7024M SLA7026M Motor supply voltage VCC 46 V FET Drain-Source voltage V DSS 100 V Control supply voltage VS 46 V TTL input voltage VIN 7 V Reference voltage VREF 2 V Output current IO 1 1.5 3 A PD1 4.5 (Without Heatsink) W Power dissipation PD2 35 (TC=25°C) W Channel temperature Tch +150 °C Storage temperature Tstg −40 to +150 °C sElectrical Characteristics Ratings Parameter Symbol SLA7027MU SLA7024M SLA7026M Units min typ max min typ max min typ max IS 10 15 10 15 10 15 Control supply current mA Condition VS =44V VS=44V VS =44V Control supply voltage VS 10 24 44 10 24 44 10 24 44 V VDSS 100 100 100 FET Drain-Source voltage V Condition VS =44V, IDSS=250 µA VS=44V, IDSS=250µA VS =44V, IDSS=250 µA VDS 0.85 0.6 0.85 FET ON voltage V Condition ID=1A, AV S=14V ID=1A, VS =14V ID=3A, VS=14V IDSS 4 4 4 FET drain leakage current mA Condition V DSS=100V, VS =44V VDSS=100V, VS=44V V DSS=100V, VS =44V DC characteristics VSD 1.2 1.1 2.3 FET diode forward voltage V Condition ID=1A ID=1A ID=3A IIH 40 40 40 µA Condition VIH=2.4V, VS=44V VIH =2.4V, VS =44V VIH=2.4V, VS=44V TTL input current IIL −0.8 −0.8 −0.8 mA Condition V IL=0.4V, VS =44V VIL=0.4V, VS=44V V IL=0.4V, VS =44V V IH 2 2 2 TTL input voltage Condition ID=1A ID=1A ID=3A V (Active High) VIL 0.8 0.8 0.8 Condition VDSS=100V VDSS=100V VDSS=100V V IH 2 2 2 TTL input voltage Condition VDSS=100V VDSS=100V VDSS=100V V (Active Low) VIL 0.8 0.8 0.8 Condition ID=1A ID=1A ID=3A Tr 0.5 0.5 0.5 AC characteristics Condition VS=24V, ID=0.8A VS =24V, ID=1A V S=24V, ID=1A Tstg 0.7 0.7 0.7 Switching time µs Condition VS=24V, ID=0.8A VS =24V, ID=1A V S=24V, ID=1A Tf 0.1 0.1 0.1 Condition VS=24V, ID=0.8A VS =24V, ID=1A V S=24V, ID=1A 20 SLA7027MU/SLA7024M/SLA7026M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M sInternal Block Diagram 8 1 6 5 7 12 17 16 18 11 IN B IN B IN A IN A VSA VSB 1, 8, 11, 18pin Reg Reg Description of pins Excitation input Active H Active L Pin 1 OUTA OUTA + Pin 8 OUTA OUTA + – + + – – – Pin 11 OUT B OUT B Pin 18 OUT B OUT B REFA REFB RSA RSB TDA TDB GA GB 9 4 2 3 14 13 15 10 sDiagram of Standard External Circuit(Recommended Circuit Constants) Active High VCC (46V max) Excitation signal time chart 2-phase excitation + clock 0 1 2 3 0 1 r1 : 510Ω r2 : 100Ω (VR) IN A H L L H H L r3 : 47kΩ IN A L H H L L H r4 : 47kΩ IN B H H L L H H r5 : 2.4kΩ Vb (5V) r6 : 2.4kΩ 7 12 8 1 18 11 IN B L L H H L L VSA VSB OUTA OUTA OUTB OUTB C1 : 470pF r3 r4 r1 6 C2 : 470pF INA INA SLA7024M C3 : 2200pF 5 2 INA INA Active C4 : 2200pF TdA 7026M 17 High Rs : 1Ω typ(7024M) TdB INB INB (1 to 2W) 0.68Ω typ(7026M) C1 C2 13 7027MU 16 1.8Ω typ(7027MU) INB INB r2 RSA REFA REFB RSB GA GB 1-2 phase excitation 9 3 14 10 4 15 clock 0 1 2 3 4 5 6 7 0 1 2 3 C3 C4 IN A H H L L L L L H H H L L r5 r6 IN A L L L H H H L L L L L H Rs Rs IN B L H H H L L L L L H H H IN B L L L L L H H H L L L L Active Low VCC (46V max) Excitation signal time chart + 2-phase excitation clock 0 1 2 3 0 1 r1 : 510Ω r2 : 100Ω(VR) IN A L H H L L H r3 : 47kΩ IN A H L L H H L r4 : 47kΩ Vb (5V) IN B L L H H L L r5 : 2.4kΩ 7 12 8 1 18 11 r6 : 2.4kΩ VSA VSB OUTA OUTA OUTB OUTB IN B H H L L H H C1 : 470pF r3 r4 r1 INA 6 INA C2 : 470pF SLA7024M 5 C3 : 2200pF 2 TdA INA INA Active C4 : 2200pF 7026M 17 Low Rs : 1Ω typ(7024M) TdB INB INB C1 C2 13 7027MU 16 (1 to 2W) 0.68Ω typ(7026M) INB INB 1-2 phase excitation 1.8Ω typ(7027MU) r2 RSA REFA REFB RSB GA GB 9 3 14 10 4 15 clock 0 1 2 3 4 5 6 7 0 1 2 3 C3 C4 IN A L L H H H H H L L L H H r5 r6 IN A H H H L L L H H H H H L Rs Rs IN B H L L L H H H H H L L L IN B H H H H H L L L H H H H SLA7027MU/SLA7024M/SLA7026M 21

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M sExternal Dimensions (Unit: mm) 31±0.2 φ 3.2±0.15 24.4±0.2 φ 3.2±0.15×3.8 4.8±0.2 16.4±0.2 1.7±0.1 3. 16 ±0.2 13 ±0.2 9.9 ±0.2 4. 4.6 ±0.6 Part No. 2.45±0.2 3 ±0.6 Lot No. 5. 6.7±0.5 9.7 –0.5 +1 R-End +0.2 2.2±0.6 +0.2 +0.2 0.55 –0.1 1.6 ±0.6 0.65 –0.1 1 –0.1 (3) 6±0.6 +0.2 +0.2 +0.2 0.65 –0.1 1 –0.1 0.55 –0.1 7.5±0.6 4±0.7 17×P1.68±0.4=28.56±1 17×P1.68±0.4=28.56±1 31.3±0.2 1 2 3 · · · · · · · 18 123 · · · · · · · 18 Forming No. No.871 Forming No. No.872 22 SLA7027MU/SLA7024M/SLA7026M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M Application Notes sDetermining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil cur- rent). The method of determining the peak value of the output IO current (IO) based on this waveform is shown below. Phase A (Parameters for determining the output current IO) Vb: Reference supply voltage 0 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.) r2 Vb ................................................................ Fig. 2 Normal mode IO ≅ • (1) r1+r2 RS 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 Vb r2 C3 IOPD ≅ • ......................................................... (2) 9,(10) r1(r 2+rX) RS 1+ r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 Vb 1 −1 − Fig. 3 Power down mode r1 R s • I OPD r2 Vb(5V) Fig. 4 and 5 show the graphs of equations (1) and (2) respec- tively. r6 r1 r5 3,(14) rX r2 9,(10) Power down C3 signal Tr Fig. 4 Output current IO vs. Current sense resistor R S Fig. 5 Output current IOPD vs. Variable current sense resistor rx 4 2.0 3 RS =0.5Ω 1.5 Output current IOPD (A) Output current IO (A) r2 · V b IO= 1 r1+r2 RS IOPD= · Vb r1=510Ω r1(r2+rX) RS 1+ 2 r2=100Ω RS =0.8Ω r2 · rX 1.0 r1=510Ω rx=∞ r2=100Ω RS =1Ω Vb=5V Vb=5V 1 0.5 0 00 0 1 2 3 4 200 400 600 800 1000 1200 Current sense resistor RS (Ω) 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 the response from RS to the comparator becomes slow. Hence is also generated in feedback signals from RS which may there- 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) SLA7027MU/SLA7024M/SLA7026M sDetermining the chopper frequency 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 15 Td. 50 Chopping frequency f (kHz) T OFF can be calculated using the following formula: ON time TON (µ s) 40 20 r3 r4 47kΩ 2 2 C1 = C2 = 500pF TOFF≅−r3 • C1rn (1− =−r4 • C2rn (1− ) 30 4V TOFF =12µs Vb Vb C =2 25 RS =1Ω VC Lm V =1~3ms The circuit constants and the T OFF value shown below are rec- 20 =36 30 Rm VCC 35 ommended. 40 10 T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V 0 0 2 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) sChopper frequency vs. Supply voltage sChopper frequency vs. Output current 50 50 40 40 30 30 f (kHz) f (kHz) Motor : 23LM-C202 Motor : 23LM-C202 IO = 0.8A at VCC=24V VCC=24V RS=1Ω RS=1Ω 20 20 10 10 0 0 0 10 20 30 40 50 0 0.2 0.4 0.6 0.8 1.0 VCC (V) IO (A) 24 SLA7027MU/SLA7024M/SLA7026M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M sThermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for calculating heat dissipation is shown be- 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) 3 low. 1-2 phase excitation: Pdiss ≅ PH+0.015×VS (W) 2 (1) Obtain the value of PH that corresponds to the motor coil current (3) Obtain the temperature rise that corresponds to the calcu- IO from Fig. 7 "Heat dissipation per phase PH vs. Output current IO." lated value of Pdiss from Fig. 8 "Temperature rise." Fig. 7 Heat dissipation per phase P H vs. Output current IO SLA7027MU SLA7026M 1.2 4.0 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1 3.0 4V 0.8 =4 4V CC V V V =4 36 Motor : 23PM-C503 15 Motor : 23LM-C202 C V Holding mode VC 0.6 24 2.0 V Holding mode 24 V 15 V 36 0.4 1.0 0.2 0 0 0 0.2 0.4 0.6 0.8 1.0 0 1.0 2.0 3.0 Output current IO (A) Output current IO (A) Fig. 8 Temperature rise SLA7024M 1.2 150 Heat dissipation per phase PH (W) 1.0 j ∆T 0.8 100 V 36 ∆T C ∆TC–a (°C) V Motor : 23LM-C004 Natural cooling 0.6 =44 Without heatsink ∆Tj–a VCC Holding mode 15V 0.4 24V 50 0.2 0 0 0 0.2 0.4 0.6 0.8 1.0 0 1 2 3 4 5 Output current IO (A) Total Power (W) Thermal characteristics SLA7027MU SLA7026M 35 50 Without heatsink Without heatsink Case temperature rise ∆TC–a (°C) Case temperature rise ∆TC–a (°C) 30 Natural cooling Natural cooling 40 25 20 30 TC ( 4 pin) TC( 4 pin) 15 Motor : 23PM-C705 Motor : PH265-01B 20 Motor current IO=1.5A Motor current IO=0.8A Ta=25°C 10 Ta=25°C VCC=24V, VS=24V VCC=24V, VS=24V 10 2-phase excitation 5 2-phase excitation 0 0 200 500 1K 100 500 1K 5K Response frequency (pps) Response frequency (pps) SLA7024M 30 Case temperature rise ∆TC–a (°C) Without heatsink 25 Natural cooling 20 TC ( 4 pin) 15 Motor : PH265-01B 10 Motor current IO=0.8A Ta=25°C VCC=24V, VS=24V 5 2-phase excitation 0 200 500 1K Response frequency (pps) SLA7027MU/SLA7024M/SLA7026M 25

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SLA7027MU/SLA7024M/SLA7026M sSupply Voltage VCC vs. Supply Current ICC SLA7027MU SLA7026M 500 1.5 400 Supply current ICC (mA) Supply current ICC (A) 1.0 Motor : 23LM-C202 Motor : 23PM-C503 300 1-phase excitation 1-phase excitation Holding mode Holding mode IO : Output current IO : Output current 200 IO=3A IO=1A 0.5 100 IO=2A 0.4A 0.2A IO=1A 0 0 0 10 20 30 40 50 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) SLA7024M 500 400 Supply current ICC (mA) 300 Motor : 23LM-C004 1-phase excitation Holding mode IO : Output current 200 IO=1A 100 0.5A 0.2A 0 0 10 20 30 40 50 Supply voltage VCC (V) sNote The excitation input signals of the SLA7027MU, SLA7024M and SLA7026M can be used as either Active High or Active Low. Note, however, that the corresponding output (OUT) changes depending on the input (IN). Active High Active Low 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) 26 SLA7027MU/SLA7024M/SLA7026M

SLA7027MU/SLA7024M/SLA7026M 27

2-Phase/1-2 Phase Excitation SLA7032M/SLA7033M 2-Phase Stepper Motor Unipolar Driver ICs sAbsolute Maximum Ratings (Ta=25°C) Ratings Parameter Symbol Units SLA7032M SLA7033M Motor supply voltage VCC 46 V Control supply voltage VS 46 V FET Drain-Source voltage V DSS 100 V TTL input voltage VIN −0.3 to +7 V SYNC terminal voltage V SYNC −0.3 to +7 Reference voltage V REF −0.3 to +7 V Sense voltage VRS −5 to +7 V Output current IO 1.5 3 A P D1 4.5 (Without Heatsink) W Power dissipation P D2 35 (Tc = 25°C) W Channel temperature Tch +150 °C Storage temperature Tstg −40 to +150 °C sElectrical Characteristics Ratings Parameter Symbol SLA7032M SLA7033M Units min typ max min typ max IS 10 15 10 15 Control supply current mA Condition VS=44V V S=44V Control supply voltage VS 10 24 44 10 24 44 V FET Drain-Source VDSS 100 100 V voltage Condition V S=44V, IDSS=250µA VS =44V, IDSS=250 µA VDS 0.6 0.85 FET ON voltage V Condition ID=1A, VS =14V ID=3A, VS =14V VSD 1.1 2.3 FET diode forward voltage V Condition ISD =1A ISD=3A IDSS 250 250 FET drain leakage current µA Condition VDSS=100V, VS=44V V DSS=100V, VS =44V VIH 2.0 2.0 Condition ID=1A ID=3A OUT V VIL 0.8 0.8 Condition VDSS=100V VDSS=100V IN terminal VIH 2.0 2.0 DC characteristics Condition VDSS=100V VDSS=100V OUT V VIL 0.8 0.8 Condition ID=1A ID=3A Input II ±1 ±1 current µA Condition VS =44V, V I=0 or 5V VS=44V, VI =0 or 5V VSYNC 4.0 4.0 Condition Synchronous chopping mode Synchronous chopping mode Input V voltage VSYNC 0.8 0.8 SYNC terminal Condition Asynchronous chopping mode Asynchronous chopping mode ISYNC 0.1 0.1 Input Condition VS=44V, VYS=5V V S=44V, VYS=5V current¨ mA ISYNC −0.1 −0.1 Condition VS=44V, VYS=0V V S=44V, VYS=0V VREF 0 2.0 0 2.0 Input Condition Reference voltage input Reference voltage input V current VREF 4.0 5.5 4.0 5.5 REF terminal Condition Output FET OFF Output FET OFF Input IREF ±1 ±1 µA current Condition No synchronous trigger No synchronous trigger Internal RREF 40 40 Ω resistance Condition Resistance between GND and REF terminal at synchronous trigger Resistance between GND and REF terminal at synchronous trigger Tr 0.5 0.5 AC characteristics Condition VS =24V, ID=1A V S=24V, ID=1A Tstg 0.7 0.7 µs Switching time Condition VS =24V, ID=1A V S=24V, ID=1A Tf 0.1 0.1 Condition VS =24V, ID=1A V S=24V, ID=1A TOFF 12 12 Chopping OFF time µs Condition VS=24V V S=24V 28 SLA7032M/SLA7033M

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

2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M sExternal Dimensions (Unit: mm) 31±0.2 φ 3.2±0.15 24.4±0.2 φ 3.2±0.15×3.8 4.8±0.2 16.4±0.2 1.7±0.1 3. 16 ±0.2 13 ±0.2 9.9 ±0.2 4. 4.6 ±0.6 Part No. 2.45±0.2 3 ±0.6 Lot No. 5. 6.7±0.5 9.7 –0.5 +1 R-End +0.2 2.2±0.6 +0.2 +0.2 0.55 –0.1 1.6 ±0.6 0.65 –0.1 1 –0.1 (3) 6±0.6 +0.2 +0.2 +0.2 0.65 –0.1 1 –0.1 0.55 –0.1 7.5±0.6 4±0.7 17×P1.68±0.4=28.56±1 17×P1.68±0.4=28.56±1 31.3±0.2 1 2 3 · · · · · · · 18 123 · · · · · · · 18 Forming No. No.871 Forming No. No.872 30 SLA7032M/SLA7033M

2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M Application Notes sOutline the SYNC terminals open because they are for CMOS input. SLA7032M (SLA7033M) is a stepper motor driver IC developed Connect TTL or similar to the SYNC terminals and switch the to reduce the number of external parts required by the conven- SYNC terminal level high or low. tional SLA7024M (SLA7026M). This IC successfully eliminates When the motor is not running, set the TTL signal high (SYNC the need for some external parts without sacrificing the features terminal voltage: 4 V or more) to make chopping synchronous. of SLA7024M (SLA7026M). The basic function pins are com- When the motor is running, set the TTL signal low (SYNC terminal patible with those of SLA7024M (SLA7026M). voltage: 0.8 V or less) to make chopping asynchronous. If chop- ping is set to synchronous at when the motor is running, the motor sNotes on Replacing SLA7024M (SLA7026M) torque deteriorates before the coil current reaches the set value. SLA7032M (SLA7033M) is pin-compatible with SLA7024M If no abnormal noise occurs when the motor is not running, (SLA7026M). When using the IC on an existing board, the fol- ground the SYNC terminals (TTL not necessary). lowing preparations are necessary: (1) Remove the resistors and capacitors attached for setting the chopping OFF time. (r3, r4, C1, and C2 in the catalog) (2) Remove the resistors and capacitors attached for preventing SYNC_A TTL, etc. noise in the detection voltage VRS from causing malfunction- ing and short the sections from which the resistors were re- SYNC_B moved using jumper wires. (r5, r6, C3, and C4 in the catalog) (3) Normally, keep pins 2 and 13 grounded because their func- tions have changed to synchronous and asynchronous SLA7032M SLA7033M switching (SYNC terminals). For details, see "Circuit for Pre- venting Abnormal Noise When the Motor Is Not Running (Syn- SYNC voltage : Low → Chopping asynchronous chronous circuit)." (Low: asynchronous, High: synchronous) SYNC voltage : High → Chopping synchronous sCircuit for Preventing Abnormal Noise When the The built-in synchronous chopping circuit superimposes a trigger Motor Is Not Running (Synchronous Circuit) signal on the REF terminal for synchronization between the two A motor may generate abnormal noise when it is not running. This phases. The figure below shows the internal circuit of the REF phenomenon is attributable to asynchronous chopping between terminal. Since the ∆VREF varies depending on the values of R1 phases A and B. To prevent the phenomenon, SLA7032M and R2, determine these values for when the motor is not run- (SLA7033M) contains a synchronous chopping circuit. Do not leave ning within the range where the two phases are synchronized. 5V SLA7032M R1 To comparator SLA7033M (high impedance) 3 REF_A VREF Sync/async switching 14 REF_B R2 signal 40Ω (typ.) ONE SHOT FET A/A 40Ω (tw=2 µ S) gate drive signal (typ.) VREF waveform ONE SHOT FET B/B VREF (tw=2 µ S) gate drive signal 0 Synchronous circuit operating waveform VREF Phase A 0 VRS VREF Phase B 0 VRS Synchronous circuit OFF Synchronous circuit ON SLA7032M/SLA7033M 31

2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M sDetermining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil cur- rent). The method of determining the peak value of the output IO current (IO) based on this waveform is shown below. Phase A (Parameters for determining the output current I O) Vb: Reference supply voltage 0 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.) r2 Vb ................................................................ Fig. 2 Normal mode IO ≅ • (1) r1+r2 RS Vb(5V) (2) Power down mode r1 The circuit in Fig.3 (rx and Tr) is added in order to decrease the 3,(14) coil current. I O is then determined as follows. 1 Vb r2 IOPD ≅ • ......................................................... (2) 9,(10) r1(r 2+rX) RS 1+ r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 Vb 1 −1 − Fig. 3 Power down mode r1 R s • IOPD r2 Vb(5V) Fig. 4 and 5 show th e graphs of equations (1) and (2) respec- tively. r1 3,(14) rX r2 9,(10) Power down signal Tr Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor r x 4 2.0 3 RS =0.5Ω 1.5 Output current IOPD (A) Output current IO (A) r2 · V b IO= 1 r1+r2 RS IOPD= · Vb r1=510Ω r1(r2+rX) RS 1+ 2 r2=100Ω RS =0.8Ω r2 · rX 1.0 r1=510Ω rx=∞ r2=100Ω RS =1Ω Vb=5V Vb=5V 1 0.5 0 00 0 1 2 3 4 200 400 600 800 1000 1200 Current sense resistor RS (Ω) Variable current sense resistor rX (Ω) 32 SLA7032M/SLA7033M

2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M sThermal Design An outline of the method for calculated heat dissipation is shown below. (1) Obtain the value of PH that corresponds to the motor coil current IO from Fig. 6 "Heat dissipation per phase PH vs. Output current IO." (2) The power dissipation Pdiss is obtained using the following formula. 2-phase excitation: Pdiss ≅ 2PH+0.015×VS (W) 3 1-2 phase excitation: Pdiss ≅ P H+0.015×VS (W) 2 (3) Obtain the temperature rise that corresponds to the computed value of Pdiss from Fig. 7 "Temperature rise." Fig. 6 Heat dissipation per phase PH vs. Output current IO SLA7032M SLA7033M 1.2 4.0 Heat dissipation per phase PH (W) Heat dissipation per phase PH (W) 1.0 3.0 0.8 V V 4 36 V =4 Motor : 23PM-C503 15 C V Motor : 23LM-C004 Holding mode VC 44 2.0 V 0.6 C= 24 VC Holding mode 15V V 24V 36 0.4 1.0 0.2 0 0 0 0.2 0.4 0.6 0.8 1.0 0 1.0 2.0 3.0 Output current IO (A) Output current IO (A) Fig. 7 Temperature rise 150 j ∆T 100 C ∆T ∆TC–a (°C) Natural cooling Without heatsink ∆Tj–a 50 0 0 1 2 3 4 5 Total Power (W) Thermal characteristics SLA7032M SLA7033M 30 50 Without heatsink Case temperature rise ∆TC–a (°C) Without heatsink Case temperature rise ∆TC–a (°C) 25 Natural cooling Natural cooling 40 20 30 TC ( 4 pin) TC( 4 pin) 15 Motor : 23PM-C705 Motor : PH265-01B 20 Motor current IO=1.5A 10 Motor current IO=0.8A Ta=25°C Ta=25°C VCC=24V, VS=24V VCC=24V, VS=24V 10 2-phase excitation 5 2-phase excitation 0 0 200 500 1K 100 500 1K 5K Response frequency (pps) Response frequency (pps) SLA7032M/SLA7033M 33

2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M sSupply Voltage VCC vs. Supply Current I CC SLA7032M SLA7033M 500 1.5 400 Supply current ICC (mA) Supply current ICC (A) 1.0 Motor : 23LM-C004 Motor : 23PM-C503 300 1-phase excitation 1-phase excitation Holding mode Holding mode IO : Output current IO : Output current 200 IO=3A IO=1A 0.5 100 IO=2A 0.5A IO=1A 0.2A 0 0 0 10 20 30 40 50 0 10 20 30 40 50 Supply voltage VCC (V) Supply voltage VCC (V) sTorque Characteristics SLA7032M SLA7033M 2.0 6.0 5.0 Pull-out torque (kg-cm) 1.5 Pull-out torque (kg-cm) 4.0 Motor : 23PM-C705 Motor : 23LM-C202 Output current IO =2.5A Output current IO =0.8A Motor supply voltage VCC =24V 1.0 3.0 Motor supply voltage VCC =24V 2-phase excitation 2-phase excitation 2.0 0.5 1.0 0 0 100 500 1K 5K 100 500 1K 5K 10K Response frequency (pps) Response frequency (pps) 34 SLA7032M/SLA7033M

2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) SLA7032M/SLA7033M sChopper frequency vs. Supply voltage sChopper frequency vs. Output current 50 50 40 40 30 30 f (kHz) f (kHz) Motor : 23LM-C202 Motor : 23LM-C202 IO = 0.8A at VCC=24V VCC=24V RS=1Ω RS=1Ω 20 20 10 10 0 0 0 10 20 30 40 50 0 0.2 0.4 0.6 0.8 1.0 VCC (V) IO (A) sNote The excitation input signals of the SLA7032M, SLA7033M can be used as either Active High or Active Low. Note, however, that the corresponding output (OUT) changes depending on the input (IN). Active High Active Low 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) sHandling Precautions The input terminals of this product use C-MOS circuits. Observe the following precautions. q Carefully control the humidity of the room to prevent the buildup of static electricity. Since static electricity is particularly a problem during the winter, be sure to take sufficient precautions. q Take care to make sure that static electricity is not applied to the IC during wiring and assembly. Take precautions such as shorting the terminals of the printed wiring board to ensure that they are at the same electrical potential. SLA7032M/SLA7033M 35

2-Phase/1-2 Phase Excitation SDK03M 2-Phase Stepper Motor Unipolar Driver ICs sAbsolute Maximum Ratings Parameter Symbol Ratings Units Motor supply voltage V CC 46 V FET Drain-Source voltage VDSS 100 V Control supply voltage VS 46 V TTL input voltage V IN 7 V Reference voltage VREF 2 V Output current IO 1 A Power dissipation PD 2.5 (Without Heatsink) W Channel temperature Tch +150 °C Storage temperature Tstg −40 to +150 °C sElectrical Characteristics Ratings Parameter Symbol Units min typ max IS 5 7.5 Control supply current mA Condition VS =44V Control supply voltage VS 10 24 44 V FET Drain-Source VDSS 100 V voltage Condition VS =44V, IDSS=250µ A VDS 0.85 FET ON voltage V Condition ID=1A, V S=14V IDSS 4 FET drain leakage current mA Condition VDSS=100V, VS=44V DC characteristics FET diode forward VSD 1.2 V voltage Condition ID=1A IIH 40 µA Condition V IH=2.4V, VS=44V TTL input current IIL −0.8 mA Condition VIL=0.4V, VS=44V VIH 2 TTL input voltage Condition ID=1A V (Active High) VIL 0.8 Condition V DSS=100V VIH 2 TTL input voltage Condition V DSS=100V V (Active Low) VIL 0.8 Condition ID=1A Tr 0.5 AC characteristics Condition V S=24V, ID=0.8A Tstg 0.7 Switching time µs Condition V S=24V, ID=0.8A Tf 0.1 Condition V S=24V, ID=0.8A 36 SDK03M

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

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M sExternal Dimensions (Unit: mm) 0.89±0.15 2.54±0.25 +0.15 0.75 –0.05 9 16 6.8max. Part No. Lot No. 1 8 20.0max. 8.0±0.5 19.56±0.2 6.3±0.2 +0.15 0.3 –0.05 4.0max. 3.6 ±0.2 0.25 0~0.1 1.4 ±0.2 1.0±0.3 3.0±0.2 9.8±0.3 38 SDK03M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M Application Notes sDetermining the Output Current Fig. 1 Waveform of coil current (Phase A excitation ON) Fig. 1 shows the waveform of the output current (motor coil cur- rent). The method of determining the peak value of the output IO current (IO) based on this waveform is shown below. Phase A (Parameters for determining the output current IO) Vb: Reference supply voltage 0 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.) r2 Vb Fig. 2 Normal mode IO ≅ • ................................................................ (1) r1+r2 RS 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 coil current. IO is then determined as follows. r2 C3 1 Vb 10 13 15 IOPD ≅ • ......................................................... (2) r1(r 2+rX) RS 1+ r2 • rX RS Equation (2) can be modified to obtain equation to determine rx. 1 rX= 1 Vb 1 −1 − Fig. 3 Power down mode r1 R s • IOPD r2 Fig. 4 and 5 show the graphs of equations (1) and (2) respec- Vb(5V) tively. r6 r1 r5 3 rX r2 C3 10 13 15 Power down Tr signal RS Fig. 4 Output current IO vs. Current sense resistor RS Fig. 5 Output current IOPD vs. Variable current sense resistor rx 4 2.0 3 RS =0.5Ω 1.5 Output current IOPD (A) Output current IO (A) r2 · Vb IO= 1 r1+r2 RS IOPD= · Vb r1=510Ω r1(r2+rX) RS 1+ 2 r2=100Ω RS =0.8Ω r2 · rX 1.0 r1=510Ω rx=∞ r2=100Ω Vb=5V RS =1Ω Vb=5V 1 0.5 0 00 0 1 2 3 4 200 400 600 800 1000 1200 Current sense resistor RS (Ω) 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 the response from RS to the comparator becomes slow. Hence is also generated in feedback signals from RS which may there- 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. SDK03M 39

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M sDetermining the chopper frequency Fig. 6 Chopper frequency vs. Motor coil resistance Determining T OFF SDK03M is self-excited choppers. The chopping OFF time TOFF is fixed by r3/C1 and r4/C2 connected to terminal Td. 60 15 T OFF can be calculated using the following formula: 50 Chopping frequency f (kHz) 2 2 TOFF≅−r3 • C1r (1− =−r4 • C2 r (1− ) ON time TON (µ s) n n 40 r3 = r4 = 47kΩ Vb Vb 20 C1 C2 500pF The circuit constants and the T OFF value shown below are rec- 30 4V TOFF =12µs C =2 25 RS =1Ω VC Lm ommended. 20 =36 V 30 Rm =1~3ms VCC 35 T OFF = 12µs at r3=47kΩ, C1=500pF, Vb=5V 40 10 0 0 2 4 6 8 10 12 14 16 Motor coil resistance Rm (Ω) sChopper frequency vs. Supply voltage sChopper frequency vs. Output current 50 50 40 40 30 30 f (kHz) f (kHz) Motor : 23LM-C202 Motor : 23LM-C202 IO = 0.8A at VCC=24V VCC=24V RS=1Ω RS=1Ω 20 20 10 10 0 0 0 10 20 30 40 50 0 0.2 0.4 0.6 0.8 1.0 VCC (V) IO (A) 40 SDK03M

2-Phase Stepper Motor Unipolar Driver ICs (2-Phase/1-2 Phase Excitation) SDK03M sThermal Design (2) The power dissipation Pdiss is obtained using the following formula. An outline of the method for computing heat dissipation is shown below. 2-phase excitation: Pdiss ≅ PH+0.0075×VS (W) 3 (1) Obtain the value of PH that corresponds to the motor coil current 1-2 phase excitation: Pdiss ≅ P H+0.0075×VS (W) 4 IO from Fig. 7 "Heat dissipation per phase PH vs. Output current (3) Obtain the temperature rise that corresponds to the calcu- IO." lated value of Pdiss from Fig. 8 "Temperature rise." Fig. 7 Heat dissipation per phase PH vs. Output current IO Fig. 8 Temperature rise 1.2 150 Heat dissipation per phase PH (W) 1 4V 0.8 C =4 100 ∆Tj–a (°C) VC V Glass epoxy board 36 j Motor : 23LM-C202 ∆T (mounted on level surface) ∆TC–a 0.6 V 24 Holding mode C (95×69×1.2mm) V ∆T Natural cooling 15 0.4 50 0.2 0 0 0 0.2 0.4 0.6 0.8 1.0 0 1 2 3 Output current IO (A) Total power (W) Thermal characteristics 50 Case temperature rise ∆TC–a (°C) 40 TC ( 9 pin) 30 Natural cooling Glass epoxy board (mounted on level surface) 20 (95×69×1.2mm) Motor : PH265-01B Motor current IO=0.8A Ta=25°C 10 VCC=24V, VS=24V 2-phase excitation 0 200 500 1K Response frequency (pps) sSupply Voltage VCC vs. Supply Current I CC sTorque Characteristics 500 2.0 400 Supply current ICC (mA) Pull-out torque (kg-cm) 1.5 Motor : 23LM-C202 300 Motor : PX244-02 1-phase excitation Holding mode Output current IO =0.6A 1.0 IO : Output current Motor supply voltage VCC =24V 200 2-phase excitation IO=1A 0.5 100 0.4A 0.2A 0 0 0 10 20 30 40 50 100 500 1K 5K Supply voltage VCC (V) Response frequency (pps) sNote The excitation input signals of the SDK03M can be used as either Active High or Active Low. Note, However, that the corresponding output (OUT) changes depending on the input (IN). Active High Active Low Input Corresponding output Input Corresponding output IN1 (pin6) OUT1 (pin1, 16) IN1 (pin6) OUT1 (pin8, 9) IN2 (pin5) OUT2 (pin8, 9) IN2 (pin5) OUT2 (pin1, 16) SDK03M 41

2-Phase/1-2 Phase Excitation UCN5804B 2-Phase Stepper Motor Unipolar Driver IC Allegro MicroSystems product sFeatures Absolute Maximum Ratings (Ta =+25°C) q Internal 1-phase/1-2 phase/2-phase excita- Parameter Symbol Ratings Units Output voltage V CE 50 V tion pattern generator Output sustaining voltage VCE (SUS) 35 V q Output enable and direction control Output current (1 circuit) IO 1.5 A/unit q Power-on reset Logic supply voltage VDD 7.0 V Input voltage VIN 7.0 V q Internal thermal shutdown circuitry Package power dissipation PD (Note1) 2.90 W/pkg q Internal transient-suppression diodes Operating temperature Ta −20 to +85 °C q Low thermal resistance 16-pin DIP Junction temperature T j (Note2) +150 °C Storage temperature T stg −55 to +150 °C Note 1: When ambient temperature is 25°C or over, derate using −23.3mW/°C. 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. sElectrical Characteristics (Unless specified otherwise, Ta =25°C, VDD=4.5V to 5.5V) Limits Parameter Symbol Conditions Units min typ max Output drivers Output leakage current ICEX V O=50V 10 50 µA Output sustaining voltage VCE (SUS) IO =1.25A, L=3mH 3.5 V IO =700mA 1.0 1.2 V Output saturation voltage VCE (SAT) IO=1A 1.1 1.4 V IO=1.25A 1.2 1.5 V Clamp diode leakage current IR V R=50V 10 50 µA Clamp diode forward voltage VF IF=1.25A 1.5 3.0 V Turn-on delay tON 50% step inputs to 50% output 10 µs Turn-off delay tOFF 50% step inputs to 50% output 10 µs Thermal shutdown temperature Tj 165 °C Control logic (Unless specified otherwise, VIN=V DD or GND) IIH V IN=VDD 0.5 5.0 µA Input current IIL V IN=0.8V −0.5 −5.0 µA VIH V DD=5V 3.5 5.3 V Input voltage VIL −0.3 0.8 V Supply current IDD 2 outputs ON 20 30 mA Data setup time ts DAT (A) Inter-clock 100 ns Data hold time th DAT (B) Inter-clock 100 ns Clock pulse width tw CLK (C) 500 ns q "typ" values are for reference. sTiming Conditions sTerminal Connection Diagram CLOCK OUTPUTB 1 VDD 16 SUPPLY C ONE PHASE KBD 2 OUTPUT OE 15 ENABLE HALF-STEP OUTPUTD 3 14 DIRECTION A B OUTPUT ENABLE GROUND 4 13 GROUND LOGIC OUTPUTA GROUND 5 12 GROUND OUTPUTB OUTPUTC OUTPUTC 6 11 STEP INPUT KAC 7 10 HALF-STEP OUTPUTD OUTPUT 8 9 ONE-PHASE DISABLED OUTPUTA TWO-PHASE HALF-STEP WAVE DRIVE 42 UCN5804B

2-Phase Stepper Motor Unipolar Driver IC (2-Phase/1-2 Phase Excitation) UCN5804B sDerating sApplication Circuit Allowable package power dissipationPD (W) 5 5V 4 28V 1 VDD 16 3 43 °C 2 OE 15 / W DIRECTION 3 14 2 CONTROL 4 13 LOGIC 5 12 1 6 11 STEP INPUT 7 10 0 −20 0 25 50 75 85 100 8 9 Ambient temperature Ta (°C) 1 VDD 16 2 OE 15 3 14 4 13 OR LOGIC 5 12 6 11 7 10 8 9 sTruth Table sI/O Equivalent Circuit Drive Format Pin 9 Pin 10 Two-Phase L L Input circuit Output driver VDD One-Phase H L K Half-Step L H Step-Inhibit H H OUT IN SUB sExternal Dimensions (Unit: mm) ICs per stick 25 0.508 0.204 16 9 7.11 7.62BSC 6.10 1 2 3 8 INDEX AREA 0.127MIN 1.77 1.15 2.54BSC 21.33 18.93 SEATING PLANE Note 1 5.33MAX 0.558 4.06 0.356 2.93 0.39MIN qThickness of lead is measured below seating plane. qAllowable variation in distance between leads is not cumulative. Note 1: Lead width of pin 1,8, 9, 16 may be half the value shown here. UCN5804B 43

2W1-2 Phase Excitation/Micro-step Support SLA7042M/SLA7044M 2-Phase Stepper Motor Unipolar Driver ICs sAbsolute Maximum Ratings Ratings Parameter Symbol Units SLA7042M SLA7044M Motor supply voltage VCC 46 V FET Drain-Source voltage V DSS 100 V Control supply voltage VDD 7 V Input voltage VIN −0.5 to VDD+0.5 V Output current IO 1.2 3 A Power dissipation PD 4.5 (Without Heatsink) W Channel temperature Tch +150 °C Storage temperature Tstg −40 to +150 °C sElectrical Characteristics Ratings Parameter Symbol SLA7042M SLA7044M Units min typ max min typ max IDD 7 7 Control supply current mA Conditions V DD=5.5V VDD=5.5V Control supply voltage VDD 4.5 5 5.5 4.5 5 5.5 V VIH 3.5 5 3.5 5 Input Conditions V DD=5V VDD=5V Terminals V voltage VIL 0 1.5 0 1.5 DATA, Conditions V DD=5V VDD=5V CLOCK Input hysteresis VH 1 1 and V voltage Conditions V DD=5V VDD=5V STROBE Input II ±1 ±1 µA current Conditions VDD=5V, VI=0 or 5V V DD=5V, VI=0 or 5V VREF 0.4 2.5 0.4 2.5 Input Conditions V DD=5V VDD=5V V REF voltage VDISABLE VDD−1 VDD V DD−1 VDD terminal Conditions V DD=5V VDD=5V Input IREF ±1 ±1 current µA Conditions VDD=5V, VI=0 or 5V V DD=5V, VI=0 or 5V DC characteristics V ref 0 0 Conditions MODE 0 MODE 0 V ref 20 20 Conditions MODE 1 MODE 1 V ref 40 40 Conditions MODE 2 MODE 2 V ref 55.5 55.5 Reference voltage Conditions MODE 3 MODE 3 % selection output voltage V ref 71.4 71.4 Conditions MODE 4 MODE 4 V ref 83 83 Conditions MODE 5 MODE 5 V ref 91 91 Conditions MODE 6 MODE 6 V ref 100 100 Conditions MODE 7 MODE 7 V DS 0.8 1.4 FET ON voltage V Conditions ID=1.2A, VDD=4.75V ID=3A, VDD=4.75V FET Drain-Source VDSS 100 100 voltage V Conditions IDSS=4mA, VDD=5V IDSS=4mA, VDD=5V IDSS 4 4 FET drain leakage current mA Conditions VDSS=100V, VDD=5V V DSS=100V, VDD=5V V SD 1.2 2.3 FET diode forward voltage V Conditions ID=1.2A ID=3A T OFF 7 7 Conditions MODE 1, 2 MODE 1, 2 T OFF 9 9 Chopper off time µs Conditions MODE 3, 4, 5 MODE 3, 4, 5 T OFF 11 11 Conditions MODE 6, 7 MODE 6, 7 Tr 0.5 0.5 Conditions VDD=5V, ID=1A V DD=5V, ID=1A Tstg 0.7 0.7 µs AC characteristics Switching time Conditions VDD=5V, ID=1A V DD=5V, ID=1A Tf 0.1 0.1 Conditions VDD=5V, ID=1A V DD=5V, ID=1A tsDAT 75 75 Data setup time "A" Conditions Inter-clock Inter-clock thDAT 75 75 Data hold time "B" Conditions Inter-clock Inter-clock twDAT 150 150 Data pulse time "C" Conditions ns twhCLK 100 100 Clock pulse width "D" Conditions Stabilization time tpsSTB 100 100 before strobe "E" Conditions Strobe=L from clock Strobe=L from clock twhSTB 100 100 Strobe pulse H width "F" Conditions 44 SLA7042M/SLA7044M

2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M sInternal Block Diagram OUT A OUT A VDD A VDD B OUT B OUT B Reference voltage Reference voltage Vref a b c c b a Vref 0% 0 0 0 0 0 0 0% 20% 1 0 0 0 0 1 20% 40% 0 1 0 0 1 0 40% 55.5% 1 1 0 0 1 1 55.5% 71.4% 0 0 1 1 0 0 71.4% 83% 1 0 1 1 0 1 83% OFF time timer 91% 0 1 1 1 1 0 91% OFF time timer (TOFF 3-step switching) 100% 1 1 1 1 1 1 100% (TOFF 3-step switching) Chopper ON Chopper ON Noise filter Noise filter PWM (2 µ s) (2 µ s) PWM Phase Phase COMP COMP Reset Latch Latch Reset Ph. a b c c b a Ph. Reset Shift register Shift register Reset Ph. a b c c b a Ph. Enable Enable Rs A GND A Ref A CLOCK A DATA A STROBE A STROBE B DATA B CLOCK B Ref B GND B Rs B sOutput Current Formula K VREF IO = • K: Reference voltage setting rate by serial signal 3 RS (See the internal block diagram) sDiagram of Standard External Circuit VCC 5V 4 15 1 8 11 18 R1 VDDA VDDB OUT A OUT A OUT B OUT B CLOCK A 5 ENABLE CLOCK B 16 VREF REF A SLA7042M STROBE A 3 2 REF B SLA7044M STROBE B 14 13 DATA A R2 C1 6 DATA B 17 GND A GND B RS A RS B 7 12 9 10 RS RS C1 : 500 to 10000pF SLA7042M/SLA7044M 45

2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M sExternal Dimensions (Unit: mm) 31±0.2 φ 3.2±0.15 24.4±0.2 φ 3.2±0.15x3.8 4.8±0.2 16.4±0.2 1.7±0.1 9.9±0.2 16±0.2 13±0.2 Part No. 2.45±0.2 ±0.6 3 ±0.6 Lot No. 4.6 (3) 6.7±0.5 +0.2 9.7 −0.1 R-End +0.2 0.65 −0.1 ±0.6 +0.2 1 −0.1 2.2±0.1 0.55 +0.2 −0.1 1.6 +0.2 +0.2 6±0.6 +0.2 0.65 −0.1 1 −0.1 0.55 −0.1 7.5±0.6 17xP1.68±0.4=28.56±1 4±0.7 17xP1.68±0.4=28.56±1 31.3±0.2 1 2 3 • • • • • • • • • • • • 16 17 18 1 2 3 • • • • • • • • • • • • 16 17 18 Forming No. No.871 Forming No. No.872 sSerial Data Pattern OUT excitation (MODE χ) OUT excitation (MODE χ) Phase a b c Phase a b c CLOCK 0 0 STROBE 0 0 MODE0 (0%) 0 0 MODE1 (20%) 0 0 See page 48 for details of MODE2 PG001M serial signal gen- (40%) erator IC for SLA7042M and 0 0 SLA7044M. MODE3 (55.5%) 0 0 DATA MODE4 (71.4%) 0 0 MODE5 (83%) 0 0 MODE6 (91%) 0 0 MODE7 (100%) 0 0 Successively output this serial data and set any current. Then, determine the step time of the reference voltage Vref at STROBE signal intervals. 46 SLA7042M/SLA7044M

2-Phase Stepper Motor Unipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) SLA7042M/SLA7044M sCurrent Vector Locus (One step of stepper motor normalized to 90 degrees) A 100 To rotate the motor, enter serial data as follows: Combined 2W1-2 phase excitation : Vector 1→2→3→4→5→6→7→8→9 ... Current A Current B W1-2 phase excitation : Vector 1→3→5→7→9→.... vector 1-2 phase excitation : Vector 1→5→9 10 2-2 phase excitation : Vector 5 or 10 1 100% 0% 1 2 100% 20% 2 3 4 3 91% 40% 4 83% 55.5% 5 5 71.4% 71.4% 6 6 55.5% 83% 7 20 7 40% 91% 8 8 20% 100% 9 9 0% 100% B B 0 20 40 55.5 71.4 83 91 100 10 100% 100% A sSerial Data Sequence Example (2W 1-2 Phase Excitation for CW) Sequence 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 0 DATA-A MODE 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 MODE A malfunction may occur just after the power (VDD ) is turned on because the internal logic is unstable. Therefore, set the RESET state (REF terminal voltage: V DD−1V to VDD ) after the power is turned on.) sOperation 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. SLA7042M/SLA7044M 47

PG001M Serial Signal Generator IC for SLA7042M and SLA7044M sAbsolute Maximum Ratings (Ta=25°C) Parameter Symbol Ratings Units Supply voltage VDD −0.5 to 7 V Input voltage VI −0.5 to VDD+0.5 V Input current II ±10 mA Output voltage VO −0.5 to VDD+0.5 V Output current IO ±15 mA Power dissipation PD 200 mW Operating temperature T OP −20 to +85 °C Storage temperature Tstg −40 to +150 °C sElectrical Characteristics (Ta=25°C) Ratings Parameter Symbol Conditions Units min typ max Supply voltage V DD 4.5 5.5 V Supply current IDD V DD=5.5V 0.35 0.45 mA DC characteristics VOH 4.5 Output voltage V DD=5V, IO =±3mA V VOL 0.4 Input current II V DD=5V, VI=0 or 5V ±1 µA VIH 3.5 5 Input voltage VDD=5V V VIL −0.3 1.5 Input hysteresis voltage VH VDD=5V 1 V Input capacity CI VDD=5V 5 10 pF Internal oscillation frequency F 1.5 MHz VDD=5V T CS 50 100 Propagation delay time See Fig. 1. ns TCC 430 550 AC characteristics Output voltage Tr V DD=5V, CL=15pF 20 ns Rise and fall time Tf See Fig. 2. 20 CLOCK IN terminal V CIH H level time, VDD=5V 4.5 µs Input clock time VCIL L level time, VDD=5V 0.5 Reset setting time (A) tsR Inter-clock 100 ns Stabilization time after reset (B) tpsR See Fig. 3. Signal setting time (C) tsS Inter-clock Stabilization time after 100 ns tps S See Fig. 3. signal input (D) Fig. 1 Fig.2 CLOCK_IN 90% CLOCK_OUT CLOCK_OUT DATA STROBE DATA 10% STROBE TCC Tr Tf 1/F 1/F TCS Fig. 3 Timing conditions Excitation switching point CLOCK_IN B A RESET MO MS1 D MS2 C CW/CCW VC C D C D C D VC switching occurs only while CLOCK-IN level is L. 48 PG001M

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

Serial Signal Generator IC for SLA7042M and SLA7044M PG001M sExternal Dimensions (Unit: mm) 19.2 20.0max 16 9 6.65max Lot No. 6.3 Part No. 1 8 0.89 1.3 7.62 2.54min 5.08max 0.51min +0.11 2.54±0.25 0.48±0.10 0.25 −0.05 0 to 15°C sOutput Mode Vs Output Pulse Output pulse Output pulse OUT excitation OUT excitation Phase a b c Phase a b c CLOCK CLOCK _OUT 0 _OUT 0 STROBE 0 STROBE 0 0 0 0 0 1 0 1 0 2 2 0 0 Output mode Output mode 3 0 3 0 4 0 4 0 5 0 5 0 6 6 0 0 7 7 0 50 PG001M

Serial Signal Generator IC for SLA7042M and SLA7044M PG001M sInput and Output Function Correlation Table Input Output × : Don't care ∗ : MO outputs L level while CLOCK_IN Mode CLOCK CW RESET MO CLOCK STROBE DATA DATA _IN /CCW _OUT -A -B is H level when output mode is 4:4 L H (7:7), 4:4 (7:7), 4:4 (7:7),or 4:4 (7:7). CW CW CW Modes in brackets ( ) are for 2-2 L H phase VC: H. H H CCW CCW CCW H H × L Output Mode Input Mode 4 or 7 4 or 7 RESET Output Output × L Mode Mode sExcitation Selection Table Input Output current mode of SLA7042M/7044M Excitation method Excitation mode 0 1 2 3 4 5 6 7 selection Torque vector VC MS1 MS2 0% 20% 40% 55.5% 71.4% 83% 91% 100% H L L − − − − − − − 141% 2-2 Phase Full Step L L L − − − − − − − 100% 1-2 Phase Half Step × H L − − − − − 100% W1-2 Phase 1/4 Step × L H − − − 100% 2W1-2 Phase 1/8 Step × H H 100% sOutput Mode Sequence RESET Excitation CLOCK 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 CW/CCW method 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 CW 2-2 Phase DATA_B 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 Full Step (1) (VC: H) DATA_A 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 CCW DATA_B 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 = = = = = = = 7 DATA_A 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 2-2 Phase CW DATA_B 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 Full Step (2) (VC: L) DATA_A 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 CCW DATA_B 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 = = = = = = = 4 DATA_A 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 CW 1-2 Phase DATA_B 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 Half Step DATA_A 4 = = = 7 = = = 4 = = = 0 = = = 4 = = = 7 = = = 4 = = = 0 = = = 4 CCW 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 CW W1-2 Phase DATA_B 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 1/4 Step DATA_A 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 = 6 = 7 = 6 = 4 = 2 = 0 = 2 = 4 CCW 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 CW 2W1-2 Phase 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 1/8 Step 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 CCW 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 sOutput Timing Chart (CW) … Excitation Current of SLA7042M/7044M RESET CLOCK_IN MO 7 7 7 A 2-2 Phase Full Step 7 7 (VC: H) 7 7 7 B 7 7 MO 7 4 4 4 0 A 0 1-2 Phase 4 4 Half Step 7 7 4 4 4 0 B 0 4 4 7 MO 7 4 6 6 4 4 2 2 0 A 0 2 2 W1-2 Phase 4 6 4 6 1/4 Step 7 7 6 4 6 4 4 2 2 0 B 0 2 2 4 6 4 6 7 MO 7 7 7 5 6 4 4 6 5 3 3 4 3 2 2 1 0 1 A 0 1 1 2 3 2 2W1-2 Phase 3 5 4 4 6 1/8 Step 5 6 7 7 7 7 7 7 6 5 6 4 5 5 4 3 4 2 2 3 1 0 1 B 0 1 1 2 2 3 3 4 4 6 5 5 6 7 7 7 For 2-2 phase VC : L, output mode is 7→4. 52 PG001M

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

2-Phase/1-2 Phase Excitation A3966SA/SLB 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Maximum output ratings: 30V, ±650mA Ratings Parameter Symbol Units A3966SA A3966SLB q Internal fixed-frequency PWM current con- Load supply voltage VBB 30 V trol Output current (peak) IO (Peak) ±750 mA q Internal ground-clamp & flyback diodes Output current (continuous) IO ±650 mA Logic supply voltage VCC 7.0 V q Internal thermal shutdown, crossover-cur- Logic input voltage range VIN −0.3 to V CC+0.3 V rent protection and UVLO protection cir- Sense voltage VS 1.0 V cuitry Package power dissipation PD (Note1) 2.08 1.86 W q Employs copper batwing lead frame with Ambient operating temperature Ta −20 to +85 °C Junction temperature T j (Note2) +150 °C low thermal resistance Storage temperature T stg −55 to +150 °C qOutput 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 −16.67mW/°C (SA), −14.93mW/°C (SLB). 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. sElectrical Characteristics (Unless specified otherwise, Ta =25°C, VBB=30V, V CC=4.75V to 5.5V, VREF =2V, V S= 0V, 56kΩ & 680pF RC to ground) Ratings Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUTB ) Load supply voltage range V BB Operating, IO=±650mA, L=3mH V CC 30 V VO =30V < 1.0 50 µA Output leakage current ICEX VO =0V < −1.0 −50 µA Source Driver, IO =−400mA 1.7 2.0 V Source Driver, IO =−650mA 1.8 2.1 V Output saturation voltage VCE (sat) Sink Driver, IO=+400mA, VSENSE=0.5V 0.3 0.5 V Sink Driver, IO=+650mA, VSENSE=0.5V 0.4 1.3 V Sense-current offset ISO IS −IO, IO=50~650mA 12 18 24 mA IF=400mA 1.1 1.4 V Clamp diode forward voltage VF IF=650mA 1.4 1.6 V IBB (ON) VENABLE1=VENABLE2=0.8V 3.0 5.0 mA Motor supply current (No load) IBB (OFF) VENABLE1=VENABLE2=2.4V < 1.0 200 µA Control logic Logic supply voltage range VCC Operating 4.75 5.50 V VIH 2.4 V Logic input voltage V IL 0.8 V IIH VIN =2.4V < 1.0 20 µA Logic input current IIL VIN =0.8V < −20 −200 µA Reference input voltage range VREF Operating 0.1 2.0 V Reference input current IREF −2.5 0 1.0 µA Reference divider ratio VREF/V TRIP 3.8 4.0 4.2 Current-sense comparator input offset voltage V IO VREF =0V −6.0 0 6.0 mV Current-sense comparator input voltage range VS Operating −0.3 1.0 V PWM RC frequency fOSC CT=680pF, RT=56kΩ 22.9 25.4 27.9 kHz Comparator Trip to Source OFF 1.0 1.4 µS PWM propagation delay time tPWM Cycle Reset to Source ON 0.8 1.2 µS Cross-over dead time tcodt 1kΩ Load to 25V 0.2 1.8 3.0 µS IO =±650mA, 50% to 90% : ENABLE ON to Source ON 100 ns IO =±650mA, 50% to 90% : ENABLE OFF to Source OFF 500 ns IO=±650mA, 50% to 90% : ENABLE ON to Sink ON 200 ns IO=±650mA, 50% to 90% : ENABLE OFF to Sink OFF 200 ns Propagation delay time tpd IO=±650mA, 50% to 90% : PHASE Change to Sink ON 2200 ns IO=±650mA, 50% to 90% : PHASE Change to Sink OFF 200 ns IO=±650mA, 50% to 90% : PHASE Change to Source ON 2200 ns IO=±650mA, 50% to 90% : PHASE Change to Source OFF 200 ns Thermal shutdown temperature Tj 165 °C Thermal shutdown hysteresis ∆ Tj 15 °C UVLO enable threshold VUVLO en Increasing VCC 4.1 4.6 V UVLO hysteresis VUVLO hys 0.1 0.6 V ICC (ON) VENABLE1=VENABLE2=0.8V 50 mA Logic supply current ICC (OFF) VENABLE1=VENABLE2=2.4V 9 mA q "typ" values are for reference. 54 A3966SA/SLB

2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A3966SA/SLB sDerating sInternal Block Diagram (1/2 circuit) SUPPLY SUPPLY LOGIC LOAD OUTA OUTB PHASE VCC Allowable package power dissipation PD [W] 2.5 + VBB 2 A3 96 6S A3 A 96 60 UVLO 1.5 6S °C & TSD LB /W 67 ENABLE °C (ACTIVE LOW) /W 1 BLANKING CURRENT-SENSE SENSE GATE COMPARATOR PWM LATCH + R − TO OTHER 0.5 Q TO OTHER BRIDGE S BRIDGE +4 GROUND RS OSC 0 −20 0 25 50 75 85 100 RC TO OTHER BRIDGE REFERENCE Ambient temperature Ta (°C) CT RT sTruth Table sLoad-Current Paths PHASE ENABLE OUTA OUTB VBB 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) BRIDGE ON SOURCE OFF ALL OFF RS sTerminal Connection Diagram A3966SA A3966SLB SENSE1 1 16 ENABLE1 OUT1A 1 16 OUT2A LOGIC VBB OUT1B 2 15 PHASE1 PHASE1 2 15 PHASE2 LOAD 3 14 OUT1A ENABLE1 3 14 ENABLE2 SUPPLY LOGIC LOGIC REFERENCE 4 VREF 13 GROUND GROUND 4 13 GROUND VBB RC 5 RC 12 GROUND SENSE1 5 12 SENSE2 LOGIC 6 VCC 11 OUT2A OUT1B 6 11 OUT2B SUPPLY LOGIC LOAD VBB LOGIC OUT2B 7 10 PHASE2 7 VCC 10 SUPPLY SUPPLY SENSE2 8 9 ENABLE2 REFERENCE 8 VREF RC 9 RC A3966SA/SLB 55

2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A3966SA/SLB sTypical Application (A3966SLB) Example of stepper motor drive 1 16 VBB PHASEA 2 15 PHASEB ENABLEA 3 14 ENABLEB LOGIC LOGIC 4 13 0.5 Ω 0.5 Ω 5 12 +5V 6 11 +24 V VBB 39 kΩ 7 VCC 10 +5 V 680 pF 8 VREF RC 9 ITRIP≅IOUT+ISO≅VREF /(4 • RS) 47 µ F + tblank≅1,900 • CT 10 kΩ 56 kΩ fOSC≅1/ (R T • CT+tblank) RT=56kΩ (20kΩ to 100kΩ) CT=680pF(470pF to 1,000pF) sExternal Dimensions (Unit: mm) A3966SA A3966SLB 16 9 0.355 0.32 0.204 0.23 16 9 10.92 7.11 7.62 MAX 7.60 10.65 6.10 BSC 7.40 10.00 1.27 1 8 0.40 1.77 2.54 0.13 1.15 19.68 BSC MIN 18.67 0.51 1 2 3 1.27 0.33 10.50 BSC 0° to 8° 5.33 10.10 MAX 0.39 3.81 MIN 2.93 2.65 0.558 2.35 0.356 0.10 MIN. 56 A3966SA/SLB

A3966SA/SLB 57

2-Phase/1-2 Phase Excitation A3964SLB 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Fixed off-time PWM current control Parameter Symbol Ratings Units Load supply voltage VBB 30 V q Internally generated, precision 2.5V refer- Output current (continuous) IO ±0.80 A ence Logic supply voltage VCC 7.0 V q External filter for sense terminal not required Logic input voltage range VIN −0.3 to V CC+0.3 V Continuous output emitter voltage VE 1.0 V q Internal thermal shutdown circuitry Reference output current IREF-OUT 1.0 mA q Internal crossover-current protection cir- Package power dissipation PD (Note1) 2.08 W cuitry Operating temperature Ta −20 to +85 °C q Internal UVLO protection Junction temperature T j (Note2) +150 °C Storage temperature T stg −55 to +150 °C q Internal transient-suppression diodes qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any q Low thermal resistance 20-pin SOP 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 −16.7mW/°C. 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. sElectrical Characteristics (Unless specified otherwise, T a =25°C, VBB=30V, VCC=4.75V to 5.25V, VREF=2V, VSENSE= 0V) Ratings Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUT B) Load supply voltage range VBB Operating 5 V 30 Sink driver, VO =VBB < 1.0 µA 50 Output leakage current ICEX Source driver, V O=0V <− 1.0 µA −50 Sink driver, IO=+500mA 0.3 V0.6 Sink driver, IO=+750mA 0.5 V1.2 Sink driver, IO=+800mA V1.5 Output saturation voltage VCE (SAT) Source driver, IO =−500mA 1.0 V1.2 Source driver, IO =−750mA 1.1 V1.5 Source driver, IO =−800mA V1.7 Output sustaining voltage VCE (SUS) IO=±800mA, L=3mH 30 V Clamp diode leakage current IR V R=30V < 1.0 50 µA Clamp diode forward voltage VF IF=800mA 1.6 2.0 V IBB (ON) VEN1=VEN2=0.8V, no load 10 mA Motor supply current IBB (OFF) VEN1=VEN2=2.4V, no load 10 mA Control logic (Unless specified otherwise, VIN=V DD or GND) VIH 2.4 V Logic input voltage VIL 0.8 V IIH V IN=2.4V < −1.0 20 µA Logic input current IIL V IN=0.8V < −20 −200 µA Reference output voltage VREF • OUT1 VCC=5.0V, IREF • OUT =90~900µ A 2.45 2.50 2.55 V Current-sense comparator input current IREF • IN VREF • IN=1V −5.0 5.0 µA Current-sense comparator input voltage range VREF • IN Operating −0.3 1.0 V Current-sense comparator input offset voltage VTH VREF • IN=0V −6 6 mV Timer blanking charge current (RC off) IRC VRC=2.0V 1.0 mA VBLTH(1) 3.0 V Timer blanking threshold (RC off) VBLTH(0) 1.0 V Timer blanking OFF voltage (RC off) VRCOFF RT=20kΩ 3.0 V Thermal shutdown temperature Tj 165 °C Thermal shutdown hysteresis ∆Tj 15 °C ICC (ON) VEN1=VEN2=0.8V, no load 65 85 mA Logic supply current ICC (OFF) VEN1=VEN2=2.4V, no load 17 mA Logic supply current/temperature coefficient ∆ICC (ON) VEN1=VEN2=0.8V, no load 0.18 mA/°C q "typ" values are for reference. Note) Logic input: En1, En2, Ph1, Ph2 sTerminal Connection Diagram sDerating Allowable package power dissipation PD (W) 2.5 OUT1B 1 20 OUT2B SENSE1 2 19 SENSE2 2.0 60 OUT1A 3 18 OUT2A °C /W VBB 4 17 VCC 1.5 GROUND 5 16 GROUND GROUND 6 15 GROUND 1.0 VREF IN 7 14 VREF OUT 8 13 RC2 0.5 RC1 PHASE1 9 12 PHASE2 0 ENABLE1 10 11 ENABLE2 −20 0 25 50 75 85 100 Ambient temperature Ta (°C) 58 A3964SLB

2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A3964SLB sInternal Block Diagram(Dotted Line)/ Diagram of Standard External Circuit (Recommended Circuit Constants) VBB (5~30V) VCC (5V) + VBB 4 17 VCC TSD Reference voltage OUT1A OUT2B power supply 3 20 1 18 OUT1B OUT2A 9 12 Phase 1 Phase 2 Enable 1 Enable 2 10 11 Source off Source off Blanking time & − − Blanking time & one shot multi one shot multi + + 2 7 14 5 6 15 16 19 RC1 8 Sen1 VREF VREF Sen2 13 RC2 IN OUT R1=20kΩ R1 GND R2=5kΩ (VR) RT1 CT1 RS1 RS2 RT2 RT=30kΩ CT2 CT=1000pF R2 RS=0.68 to 1.5Ω (1 to 2W) sTruth Table sExcitation Sequence Phase Enable Out A Out B [2-phase excitation] H L H L 0 1 2 3 0 L L L H Phase 1 H L L H H X H Z Z Enable 1 L L L L L X = Don't care, Z = High impedance Phase 2 H H L L H Enable 2 L L L L L [1-2 phase excitation] 0 1 2 3 4 5 6 7 0 Phase 1 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 sExternal Dimensions Wide body plastic SOP (300mil) (Unit: mm) ICs per stick 37 20 11 0.32 0.23 *1 7.60 10.65 7.40 10.00 1.27 0.40 0.51 1 10 1.27 0.33 BSC 13.00 0° TO 8° 12.60 2.65 2.35 SEATING PLANE Note) [Pin] material : copper Surface treatment : solder plating Note) Package index may be *1. 0.10 MIN A3964SLB 59

2-Phase/1-2 Phase Excitation A3953SB/SLB 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Fixed off-time PWM current control Ratings Parameter Symbol Units A3953SB A3953SLB q Switching between power supply regenera- Load supply voltage VBB 50 V tion mode and loop regeneration mode in Output current (continuous) IO ±1.3 A/unit order to improve motor current response in Logic supply voltage VCC 7.0 V Logic/reference input microstepping V IN −0.3 to VCC+0.3 V voltage range q External filter for sense terminal not required 1.0 (V CC=5.0V) Sense voltage VSENSE D.C. V q 3.3V and 5V logic supply voltage 0.4 (V CC=3.3V) q Sleep (low current consumption) mode Package power dissipation P D (Note1) 2.90 1.86 W/pkg Operating temperature Ta −20 to +85 °C q Brake operation with PWM current limiting Junction temperature Tj (Note2) +150 °C q Internal thermal shutdown circuitry Storage temperature Tstg −55 to +150 °C q Internal crossover-current protection cir- qOutput 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. cuitry Note 1: When ambient temperature is 25°C or over, derate using −23.26mW/°C(SB) or −14.93mW/°C(SLB). Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal q Internal UVLO protection shutdown circuitry. These conditions can be tolerated but should be avoided. q Internal transient-suppression diodes q Low thermal resistance package sTerminal Connection Diagram A3953SB A3953SLB LOAD 1 LOAD BRAKE 1 16 BRAKE 16 VBB SUPPLY VBB SUPPLY REF 2 15 OUTB REF 2 15 OUTB RC 3 14 MODE RC 3 14 MODE GROUND 4 13 GROUND GROUND 4 13 GROUND LOGIC GROUND 5 12 GROUND GROUND 5 12 GROUND LOGIC 6 LOGIC 6 VCC 11 SENSE VCC 11 SENSE SUPPLY SUPPLY PHASE 7 10 OUTA PHASE 7 10 OUTA VBB LOAD VBB LOAD ENABLE 8 9 ENABLE 8 9 SUPPLY SUPPLY 60 A3953SB/SLB

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB sElectrical Characteristics (Unless specified otherwise, T a=25°C, V BB=5V to 50V, VCC=3.0V to 5.5V) Limits Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUTB ) Load supply voltage range VBB Operating, IO =±1.3A, L=3mH VCC 50 V VO=V BB <1.0 50 µA Output leakage current ICEX V O=0V <−1.0 −50 µA Sense current offset ISO ISENSE−IO , IO =850mA, VSENSE=0V, VCC=5V 18 33 50 mA VSENSE=0.4V, V CC=3.0V, BRAKE=H:Source driver, IO=−0.85A 1.0 1.1 V Output saturation voltage VSENSE =0.4V, VCC=3.0V, BRAKE=H:Source driver, IO=−1.3A 1.7 1.9 V VCE (SAT) (Forward/reverse mode) VSENSE=0.4V, VCC=3.0V, BRAKE=H:Sink driver, IO=0.85A 0.4 0.9 V VSENSE=0.4V, VCC=3.0V, BRAKE=H:Sink driver, IO=1.3A 1.1 1.3 V Output saturation voltage VSENSE=0.4V, VCC=3.0V, BRAKE=L:Sink driver, IO=0.85A 1.2 1.4 V VCE (SAT) (Brake mode) VSENSE=0.4V, VCC=3.0V, BRAKE=L:Sink driver, IO=1.3A 1.4 1.8 V IF=0.85A 1.2 1.4 V Clamp diode forward voltage VF IF=1.3A 1.4 1.8 V IBB (ON) VENABLE =0.8V, VBRAKE=2.0V 2.5 4.0 mA Motor supply current IBB (OFF) VENABLE =VBRAKE=2.0V, VMODE=0.8V 1.0 50 µA (No load) IBB (BRAKE) VBRAKE=0.8V 1.0 50 µA IBB (SLEEP) VENABLE=V BRAKE=VMODE=2.0V 1.0 50 µA Control logic Thermal shutdown temperature Tj 165 °C Thermal shutdown hysteresis ∆T j 8 °C UVLO enable threshold VUVLO 2.5 2.75 3.0 V UVLO hysteresis ∆V UVLO 0.12 0.17 0.25 V ICC (ON) VENABLE =0.8V, VBRAKE=2.0V 42 50 mA ICC (OFF) VENABLE =VBRAKE=2.0V, VMODE=0.8V 12 15 mA Logic supply current ICC (BRAKE) VBRAKE=0.8V 42 50 mA ICC (SLEEP) VENABLE=V BRAKE=VMODE=2.0V 500 800 µA 3.0 3.3 Logic supply voltage range V CC Operating V 5.0 5.5 VIH 2.0 V Logic input voltage VIL 0.8 V IIH VIN=2.0V <1.0 20 µA Logic input current IIL VIN=0.8V <−2.0 −200 µA VSENSE (3.3) VCC=3.0V to 3.6V 0 0.4 V Sense voltage range VSENSE (5.0) VCC=4.5V to 5.5V 0 1.0 V Reference input current IREF VREF =0V to 1V ±5.0 µA Comparator input offset voltage VIO V REF=0V ±2.0 ±5.0 mV AC timing PWM RC fixed off-time tOFF RC C T=680pF, RT=30kΩ, VCC=3.3V 18.3 20.4 22.5 µs Comparator Trip to Source OFF, Io=25mA 1.0 1.5 µs PWM turn-off time tPWM (OFF) Comparator Trip to Source OFF, Io=1.3A 1.8 2.6 µs IRC Charge ON to Source ON, Io=25mA 0.4 0.7 µs PWM turn-on time tPWM (ON) IRC Charge ON to Source ON, Io=1.3A 0.55 0.85 µs V CC=3.3V, RT≥12kΩ, CT=680pF 0.8 1.4 1.9 µs PWM minimum on-time tPWM (ON) V CC=5.0V, RT≥12kΩ, CT=470pF 0.8 1.6 2.0 µs IO =±1.3A, 50% to 90% ENABLE ON to Source ON 1.0 µs IO =±1.3A, 50% to 90% ENABLE OFF to Source OFF 1.0 µs IO=±1.3A, 50% to 90% ENABLE ON to Sink ON 1.0 µs IO =±1.3A, 50% to 90% ENABLE OFF to Sink OFF (MODE=L) 0.8 µs Propagation delay time tpd IO=±1.3A, 50% to 90% PHASE Change to Sink ON 2.4 µs IO =±1.3A, 50% to 90% PHASE Change to Sink OFF 0.8 µs IO=±1.3A, 50% to 90% PHASE Change to Source ON 2.0 µs IO=±1.3A, 50% to 90% PHASE Change to Source OFF 1.7 µs Crossover dead time tCODT 1kΩ Load to 25V, VBB=50V 0.3 1.5 3.0 µs q“typ” values are for reference. A3953SB/SLB 61

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB sDerating sInternal Block Diagram SUPPLY SUPPLY LOAD OUTA LOAD OUTB LOGIC 6 VCC SUPPLY SLEEP & 9 10 15 16 Allowable package power dissipation PD (W) 3.0 STANDBY MODES A3 95 MODE 14 2.5 3S B VBB 43 PHASE 7 C° 2.0 /W A3 UVLO 95 & TSD 3S INPUT LOGIC LB 1.5 67 ENABLE 8 C° /W 1.0 BRAKE 1 PWM LATCH + 11 0.5 R − SENSE Q S RS 0 BLANKING −20 0 25 50 75 85 100 GROUND VCC 4 RC + − 12 Ambient temperature Ta (C°) 5 3 2 13 REF GROUND VTH CT RT sTruth Table BRAKE ENABLE PHASE MODE OUTA OUTB Operating Mode H H X H Z Z Sleep mode H H X L Z Z Standby H L H H H L Forward, fast current-decay mode H L H L H L Forward, slow current-decay mode H L L H L H Reverse, fast current-decay mode H L L L L H Reverse, slow current-decay mode L X X H L L Brake, fast current-decay mode X : Don't Care L X X L L L Brake, no current control Z : High impedance sApplication Circuit (A3953SB) +5 V (DC motor drive) VBB BRAKE 1 16 VBB 47 µ F + REF 2 15 3 14 MODE 680 pF 30 kΩ 4 13 LOGIC 0.5 Ω 5 12 6 VCC 11 PHASE 7 10 Off-time setting t OFF≅R T•CT VBB RT=12k to 100kΩ ENABLE 8 9 CT=470 to 1500pF (Operating at VCC=5V) CT=680 to 1500pF (Operating at VCC=3.3V) sExternal Dimensions (Unit: mm) A3953SB A3953SLB Plastic DIP (300mil) ICs per stick 25 (16-pin wide SOIC) ICs per stick 47 0.381 16 9 0.32 0.204 0.23 16 9 *1 7.11 7.62BSC 10.65 6.10 7.60 7.40 10.00 INDEX AREA 1 2 3 8 0.127MIN 1.27 1.77 0.40 1.15 2.54BSC 21.33 0.51 1 8 1.27 18.93 0.33 BSC 5.33MAX 10.50 SEATING PLANE 10.10 0° TO 8° 2.65 q Thickness of lead is measured 2.35 below seating plane. SEATING PLANE q Pin material: copper, q Allowable variation in distance between pin surface treatment: solder plating leads is not cumulative. q Package index may be *1. Note 1: Lead width of pin 1, 8, 9, 16 may be q Allowable variation in distance between 0.558 4.06 leads is not cumulative. 2: half the value shown here. 0.356 2.93 q Web (batwing) type lead frames are used for 0.39MIN Maximum thickness of lead is 0.508mm. 0.10 MIN. pin 4, 5, 12, 13. The pins are connected to GND. 62 A3953SB/SLB

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB Application Notes sOutline decay mode, the selected sink and source driver pair are dis- Designed for bidirectional pulse-width modulated (PWM) cur- abled; the load inductance causes the current to flow from ground rent control of inductive loads, the A3953S- is capable of con- to the load supply via the ground clamp and flyback diodes. tinuous output currents to ±1.3A and operating voltages to 50V. Internal fixed off-time PWM current-control circuitry can be used Fig. 1 Load-current Paths VBB to regulate the mximum load current to a desired value. The peak load current limit is set by the user’s selection of an input reference voltage and external sensing resistor. The fixed off- time pulse duration is set by a userselected external RC timing DRIVE CURRENT network. Internal circuit protection includes thermal shutdown RECIRCULATION (SLOW-DECAY MODE) with hysteresis, transient-suppression diodes, and crossover cur- RECIRCULATION (FAST-DECAY MODE) rent protection. Special power-up sequencing is not required. With the ENABLE input held low, the PHASE input controls load current polarity by selecting the appropriate source and sink RS driver pair. The MODE input determines whether the PWM cur- rent-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). 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. With the ENABLE input held high, all output remain disabled (see “RC Fixed Off-time” below). At the end of drivers are disabled. A sleep mode is provided to reduce power the RC interval, the drivers are enabled allowing the load cur- consumption. rent to increase again. The PWM cycle repeats, maintaing the When a logic low is applied to the Brake input, the braking func- peak load current at the desired value (see figure 2). tion is enabled. This overrides ENABLE and PHASE to turn OFF Fig. 2 Fast and Slow Current-Decay Waveforms both source drivers and turn ON both sink drivers. The brake function can be used to dynamically brake brush dc motors. ENABLE sFUNCTIONAL DESCRIPTION (A) Internal PWM Current Control During Forward and Re- MODE verse Operation. ITRIP The A3953S-contains a fixed off-time pulse-width modulated RC (PWM) current-control circuit that can be used to limit the load LOAD RC CURRENT current to a desired value. The peak value of the current limiting (I TRIP) is set by the selection of an external current sensing re- sistor (R S) and reference input voltage (VREF). The internal cir- cuitry compares the voltage across the external sense resistor (B)INTERNAL PWM CURRENT CONTROL DURING BRAKE- to the voltage on the reference input terminal (REF) resulting in MODE OPERATION a transconductance function approximated by: (1) Brake Operation-MODE Input High. The brake circuit turns OFF both source drivers and turns ON VREF I TRIP −I SO R SENSE both sink drivers. For dc motor applications, 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. flow that dynamically brakes the motor. If the back-EMF volt- age is large, and there is no PWM current limiting, 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, rotor condition. To limit the current, when the ITRIP level is reaced, the comparator resets a latch that turns off the selected source the PWM circuit disables the conducting sink drivers. 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. mode, respectively. As in the case of forward/reverse operation, the drivers are en- In slow current-decay mode, the selected source driver is dis- abled after a time given by tOFF=RT•CT (see “RC Fixed Off-time” abled; the load inductance causes the current to recirculate below). Depending on the back-EMF voltage (proportional to through the sink driver and ground clamp diode. In fast current- the motor’s decreasing speed), the load current again may in- A3953SB/SLB 63

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB crease to I TRIP. If so, the PWM cycle will repeat, limiting the peak comparator’s output is blanked and C T begins to be charged load current to the desired value. from approximately 0.22 VCC by an internal current source of During braking, when the MODE input is high, the peak current approximately 1 mA. The comparator output remains blanked limit can be approximated by: until the voltage on CT reaches approximately 0.60 V CC. VREF When a transition of the PHASE input occurs, CT is discharged I TRIP BRAKE MH RSENSE 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). After the crossover delay, CT is charged load inertia is being converted into current, which charges the by an internal current source of approximately 1 mA. The com- V BB supply bulk capacitance (power supply output and parator output remains blanked until the voltage on CT reaches decoupling capacitance), care must be taken to ensure the ca- approximately 0.60VCC. pacitance is sufficient to absorb the energy without exceeding When the device is disabled, via the ENABLE input, CT is dis- the voltage rating of any devices connected to the motor sup- charged to near ground. When the device is reenabled, CT is ply. charged by an internal current source of approximately 1 mA. (2) Brake Operation-MODE Input Low. The comparator output remains blanked until the voltage on CT During braking, with the MODE input low, the internal current- reaches approximately 0.60 VCC. control circuitry is disabled. Therefore, care should be taken to For 3.3 V operation, ensure that the motor’s current does not exceed the ratings of the minimum recommended value for CT is 680pF±5%. the device. The braking current can be measured by using an For 5.0V operation, oscilloscope with a current probe connected to one of the motor’s the minimum recommended value for CT is 470pF±5%. leads, or if the back-EMF voltage of the motor is known, ap- These values ensure that the blanking time is sufficient to avoid proximated by: false trips of the comparator under normal operating conditions. VBEMF−1V For optimal regulation of the load current, the ablove values for I PEAK BRAKE ML R LOAD CT are recommended and the value of RT can be sized to deter- mine tOFF. For more information regarding load current regula- tion, see below. (C) RC Fixed Off-Time. The internal PWM current-control circuitry uses a one shot to (E) LOAD CURRENT REGULATION WITH INTERNAL PWM control the time the driver (s) remain (s) off. The one-shot time, CURRENT-CONTROL CIRCUITRY tOFF (fixed off-time), is determined by the selection of an exter- When the device is operating in slow current-decay mode, 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 fixed off-time, over a range cuitry can regulate load current. The limitation is the minimum of values of C T=470pF to 1500pF and RT=12kΩ to 100kΩ, is duty cycle, which is a function of the user-selected value of tOFF approximated by: and the minimum on-time pulse tON (min) max that occurs each t off R T • CT time the PWM latch is reset. If the motor is not rotating (as in the case of a stepper motor in hold/detent mode, a brush dc motor The operation of the circuit is as follows: when the PWM latch is when stalled, or at startup), the worst case value of current regu- reset by the current comparator, the voltage on the RC terminal lation can be approximated by: will begin to decay from approximately 0.60VCC . When the volt- [(VBB−VSAT (source + sink)) • t on (min) max]−[1.05 • (VSAT (sink) + VF) • t off] age on the RC terminal reaches approximately 0.22 V CC, the I AVE ≅ 1.05 • (t on (min) max + t off) • R LOAD PWM latch is set, thereby enabling the driver (s). where tOFF=RT•CT, RLOAD is the series resistance of the load, VBB (D) RC Blanking. 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. When the motor is rotating, the circuit, the CT component sets the comparator blanking time. back EMF generated will influence the above relationship. For This function blanks the output of the comparator when the out- brush dc motor applications, the current regulation is improved. puts are switched by the internal current-control circuitry (or by For stepper motor applications, when the motor is rotating, the the PHASE, BRAKE, or ENABLE inputs). The comparator out- effect is more complex. 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. reverse recovery currents of the clamp diodes, and/or switching The following procedure can be used to evaluate the worst-case transients related to distributed capacitance in the load. slow current-decay internal PWM load current regulation in the During internal PWM operation, at the end of the tOFF time, the system: 64 A3953SB/SLB

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB Set VREF to 0 volts. With the load connected and the PWM cur- omitted. The PHASE and ENABLE inputs should not be PWM rent control operating in slow current-decay mode, 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. the output that is chopping. This is the typical minimum ON Fig. 3 Synchronous Fixed-Frequency Control Circuit time (t ON (min) typ) for the device. The C T then should be increased until the measured value of tON VCC (min) is equal to tON (min) max as specified in the electrical charac- teristics table. When the new value of CT has been set, the value 100 kΩ 20 kΩ of RT should be decreased so the value for t OFF=RT•C T (with the t2 artificially increased value of CT ) is equal to the nominal design RC1 value. The worst-case load-current regulation then can be mea- 1N4001 2N2222 sured in the system under operating conditions. RCN t1 (F) PWM of the PHASE and ENABLE Inputs. The PHASE and ENABLE inputs can be pulse-width modulated (G)Miscellaneous Information. to regulate load current. 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. If the internal tion when not in use. PWM current control is used, the comparator blanking function An internally generated dead time prevents crossover currents is active during phase and enable transitions. This eliminates that can occur when switching phase or braking. 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). tion termperature reach 165°C (typical). This is intended only to (1) Enable PWM. protect the device from failures due to excessive junction tem- With the MODE input low, 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 correspond- permitted. The hysteresis of the thermal shutdown circuit is ap- ing pair of flyback and ground-clamp diodes conduct after the proximately 8°C. drivers are disabled, resulting in fast current decay. When the device is enabled the internal current-control curcuitry will be sAPPLICATION NOTES active and can be used to limit the load current in a slow cur- (A)Current Sensing. rent-decay mode. 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. The internal current-limiting circuit to function in the fast decay mode, amount of overshoot can be approximated by: the ENABLE input signal should be inverted and connected to (VBB-[(ITRIP • RLOAD) + VBEMF]) • t PWM (OFF) the MODE input. This prevents the device from being switched I OS LLOAD into sleep mode when the ENABLE input is low. (2) Phase PWM. where VBB is the motor supply voltage, VBEMF is the back-EMF Toggling the PHASE terminal selects which sink/source pair is voltage of the load, RLOAD and L LOAD are the resistance and in- enabled, producing a load current that varies with the duty cycle ductance of the load respectively, and tPWM (OFF) is specified in and remains continuous at all times. This can have added ben- the electrical characteristics table. 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. 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. discontinuous current at low current levels). For more informa- To minimize current-sensing inaccuracies caused by ground tion see “DC Motor Applications” below. trace I•R drops, the current-sensing resistor should have a sepa- (3) Synchronous Fixed-Frequency PWM. rate return to the ground terminal of the device. For low-value The internal PWM current-control circuitry of multiple A3953S- sense resistors, 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 use of sock- in figure 3. 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. cycle (t 2). The value of t1 should be a minimum of 1.5ms. When Generally, larger values of RS reduce the aforementioned ef- used in this configuration, the RT and CT components should be fects but can result in excessive heating and power loss in the A3953SB/SLB 65

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3953SB/SLB sense resistor. The selected value of RS should not cause the (C)PCB Layout. absolute maximum voltage rating of 1.0V (0.4V for The load supply terminal, VBB should be decoupled with an elec- V CC=3.3Voperation), for the SENSE terminal, to be exceeded. trolytic capacitor (>47µF is recommeded) placed as close to the The current-sensing comparator functions down to ground al- device as is physically practical. To minimize the elffect of sys- lowing the device to be used in microstepping, sinusoidal, and tem ground I•R drops on the logic and reference input signals, other varying current-profile applications. the system ground should have a low-resistance return to the motor supply voltage. (B) Thermal Considerations. See also “Current Sensing” and “Thermal Considerations” above. For reliable operation it is recommended that the maximum junc- tion termperature be kept below 110°C to 125°C. The junction (D)Fixed Off-Time Selection. termperature can be measured best by attaching a thermocouple With increasing values of t OFF, switching losses will decrease, to the power tab/batwing of the device and measuring the tab low-level load-current regulation will improve, EMI will be re- temperature, TTAB. Tthe junction temperature can then be ap- duced, the PWM frequency will decrease, and ripple current will proximated by using the formula: increase. The value of tOFF can be chosen for optimization of these parameters. For applications where audible noise is a TJ TTAB + (ILOAD • 2 • V F • R θJT) concern, typical values of tOFF are chosen to be in the range of where V F may be chosen from the electrical specification table 15 ms to 35 ms. for the given level of ILOAD. The value for RθJT is given in the package thermal resistance table for the appropriate package. (E) Stepper Motor Applications. 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. When the load current is increasing, slow decay batwing terminals of the device. 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. 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. In internal cay) due to the slow rate of decay during t OFF. PWM slow-decay applications, only the two ground clamp di- When the load current is decreasing, fast-decay mode is used odes need be added. For internal fast-decay PWM, or external to regulate the load current to the desired level. This prevents PHASE or ENABLE input PWM applications, 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. duction. Fig. 4 Example of Circuit (including GND) and GND Wiring Pattern OUTB OUTA VBB + VCCGND A3953SLB RC VBB A3953SLB GND Phase REF Vref + Enable SENSE Rt Ct 1Pin VCC 4, 5, 12, 13 Mode RS Vref VBBGND Rt VCCGND Use jumper wiring Ct for dotted line. 66 A3953SB/SLB

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

2-Phase/1-2 Phase Excitation A2918SW 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Fixed off-time PWM current control Parameter Symbol Conditions Ratings Units Motor supply voltage VBB 45 V q Low saturation voltage (Sink transistor) Output current (peak) IO (peak) tw≤20µ s ±1.75 A q Internal thermal shutdown circuitry Output current (continuous) IO ±1.5 A q Internal crossover-current protection cir- Logic supply voltage VCC 7.0 V Logic input voltage range VIN −0.3 to +7.0 V cuitry Output emitter voltage VE 1.5 V q Internal UVLO protection Package power dissipation PD (Note1) 4.0 W q Internal transient-suppression diodes Operating temperature Ta −20 to +85 °C q Low thermal resistance 18-pin SIP Junction temperature T j (Note2) +150 °C Storage temperature T stg −55 to +150 °C qOutput 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 −32.0mW/°C. 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. sElectrical Characteristics (Unless specified otherwise, Ta =25°C, VBB=45V, VCC=4.75V to 5.25V, VREF =5V) Limits Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUTB ) Motor supply voltage range VBB 10 45 V VO=V BB 50 µA Output leakage current ICEX VO =0V −50 µA Output saturation voltage VCE (SUS) IO=±1.5A, L=3.5mH 45 V Sink driver, IO =+1.0A 0.8 V Sink driver, IO =+1.5A 1.1 V Output sustaining voltage VCE (SAT) Source driver, IO =−1.0A 2.0 V Source driver, IO =−1.5A 2.2 V Clamp diode leakage current IR V R=45V 50 µA Clamp diode forward voltage VF IF=1.5A 2.0 V IBB (ON) Both bridges ON, no load 15 mA Motor supply current IBB (OFF) Both bridges OFF 10 mA Control logic VIH All inputs 2.4 V Input voltage VIL All inputs 0.8 V IIH V IN=2.4V 20 µA Input current IIL V IN=0.8V −200 µA Reference voltage range VREF Operating 1.5 V CC V Current control threshold V REF/VSENSE VREF =5V 9.5 10 10.5 Thermal shutdown temperature Tj 170 °C Logic supply current ICC VEN=0.8V, no load 140 mA q“typ” values are for reference. sTerminal Connection Diagram sDerating OUT1A 1 Allowable package power dissipation PD (W) OUT2A 2 5 E2 3 OUT2B 4 4 2 LOAD SUPPLY 5 SENSE2 6 31 .2 5C ENABLE2 7 °/ PWM2 3 W VBB PHASE2 8 RC2 9 GROUND 10 2 1 VCC LOGIC SUPPLY 11 RC1 12 PHASE1 13 1 PWM1 ENABLE1 14 VREF TSD REFERENCE 15 0 SENSE1 16 −20 0 25 50 75 85 100 OUT1B 17 Ambient temperature Ta (C°) E1 18 68 A2918SW

2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase Excitation) A2918SW sTruth Table ENABLE PHASE OUTA OUTB L H H L L L L H H X Z Z X=Don't Care Z=High impedance sInternal Block Diagram SUPPLY SUPPLY LOGIC LOAD OUT1B OUT1A OUT2A OUT2B 11 1 17 5 2 4 VCC TSD VBB PHASE1 13 8 PHASE2 PWM1 PWM2 1 2 ENABLE1 14 7 ENABLE2 SOURCE SOURCE DISABLE DISABLE VREF − ÷10 ÷10 − ONE SHOT ONE SHOT + + 12 16 18 15 10 3 6 9 SENSE1 SENSE2 RC2 E1 E2 RC1 RC RC GROUND REFERENCE RT RS RS RT CT CC CC CT sExternal Dimensions Plastic SIP (Unit: mm) ICs per stick 18 A2918SWV A2918SWH 31±0.2 31±0.2 ±0.15 ±0.15 φ 3.2±0.15 24.4 ±0.2 φ 3.2 × 3.8 4.8 ±0.2 φ 3.2±0.15 24.4 ±0.2 φ 3.2 × 3.8 4.8 ±0.2 16.4 ±0.2 1.7 ±0.1 16.4 ±0.2 1.7 ±0.1 16 ±0.2 16 ±0.2 13±0.2 13±0.2 ±0.2 9.9 ±0.2 2.45±0.2 4.6 ±0.6 3.0 ±0.6 2.45±0.2 9.9 9.7 --- 0.5 ±0.5 +1 (3) 6.7 R-End + 0.2 + 0.2 2.2 ±0.1 + 0.2 0.55 --- 0.1 0.65 ---0.1 1--- 0.1 ±0.6 6.0 ±0.6 1.6 + 0.2 + 0.2 ±0.4 = 28.56±1 + 0.2 0.65 ---0.1 1 -- 0.1 - 0.55 - -- 0.1 17 × P1.68 ±0.7 7.5 ±0.6 17 × P1.68 = 28.56±1 4 ±0.7 31.3±0.2 31.3±0.2 12 3 18 123 18 A2918SW 69

2-Phase/1-2 Phase Excitation A3952SB/SLB/SW 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Fixed off-time PWM current control Parameter Symbol Conditions Ratings Units A3952SB A3952SLB A3952SW q Switching between power supply regenera- Load supply voltage VBB 50 V tion mode and loop regeneration mode in Output current (peak) IO (Peak) tw≤20µ s ±3.5 A order to improve motor current response in Output current (continuous) IO ±2.0 A Logic supply voltage VCC 7.0 V microstepping Logic input voltage VIN −0.3 to VCC+0.3 V q External filter for sense terminal not required Sense voltage VSENSE 1.5 V q Sleep (low current consumption) mode Reference voltage VREF 15 V q Brake operation with PWM current limiting Package power dissipation PD (Note1) 2.90 1.86 3.47 W Operating temperature Ta −20 to +85 °C q Internal thermal shutdown circuitry Junction temperature T j (Note2) +150 °C q Internal crossover-current protection circuitry Storage temperature T stg −55 to +150 °C q Internal UVLO protection qOutput 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. q Internal transient-suppression diodes Note 1: When ambient temperature is 25°C or over, derate using −23.26mW/°C(SB), −14.93mW/°C(SLB) or −27.78mW/°C(SW). q Low thermal resistance package 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. sElectrical Characteristics (Unless specified otherwise, Ta =25°C, VBB=50V, VCC=5.0V, VBRAKE=2.0V, VSENSE= 0V, 20kΩ & 1000pF RC to ground) Limits Parameter Symbol Conditions Units min typ max Power outputs Load supply voltage range VBB Operating, IO =±2.0A, L=3mH VCC 50 V VO =VBB <1.0 50 µA Output leakage current ICEX V O=0V < −1.0 −50 µA Source driver, IO =−0.5A 0.9 1.2 V Source driver, IO =−1.0A 1.0 1.4 V Source driver, IO =−2.0A 1.2 1.8 V Output saturation voltage VCE (SAT) Sink driver, IO=+0.5A 0.9 1.2 V Sink driver, IO=+1.0A 1.0 1.4 V Sink driver, IO=+2.0A 1.3 1.8 V IF=0.5A 1.0 1.4 V Clamp diode forward voltage VF IF=1.0A 1.1 1.6 V (Source or sink) IF=2.0A 1.4 2.0 V IBB (ON) V ENABLE=0.8V, VBRAKE=2.0V 2.9 6.0 mA Load supply current IBB (OFF) VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V 3.1 6.5 mA (No load) IBB (BRAKE) VBRAKE=2.0V 3.1 6.5 mA IBB (SLEEP) VENABLE =VMODE=VBRAKE=2.0V <1.0 50 µA Control logic Logic supply voltage range V CC Operating 4.5 5.0 5.5 V VIH 2.0 V Logic input voltage VIL 0.8 V IIH VIH=2.0V <1.0 20 µA Logic input current IIL V IL=0.8V < −2.0 −200 µA Reference voltage range VREF Operating 0 15 V Reference input current IREF VREF=2.0V 25 40 55 µA Reference voltage divider ratio VREF=15V 9.5 10.0 10.5 Comparator input offset voltage VIO V REF=0V ±1.0 ±10 mV PWM RC fixed off-time toff CT=1000pF, RT=20kΩ 18 20 22 µs CT=820pF, RT≥12kΩ 1.7 3.0 µs PWM minimum on-time ton (min) CT=1200pF, RT≥12kΩ 2.5 3.8 µs IOUT=±2.0A, 50% EIN to 90% Eout Transition: ENABLE ON to SOURCE ON 2.9 µs ENABLE OFF to SOURCE OFF 0.7 µs ENABLE ON to SINK ON 2.4 µs tpd ENABLE OFF to SINK OFF 0.7 µs Propagation delay time PHASE CHANGE to SOURCE ON 2.9 µs PHASE CHANGE to SOURCE OFF 0.7 µs PHASE CHANGE to SINK ON 2.4 µs PHASE CHANGE to SINK OFF 0.7 µs tpd (PWM) Comparator Trip to SINK OFF 0.8 1.5 µs Thermal shutdown temperature Tj 165 °C Thermal shutdown hysteresis ∆T j 15 °C UVLO enable threshold V CC (UVLO) 3.15 3.50 3.85 V UVLO hysteresis ∆VCC (UVLO) 300 400 500 mV ICC (ON) V ENABLE=0.8V, VBRAKE=2.0V 20 30 mA Logic supply current ICC (OFF) VENABLE=2.0V, VMODE=0.8V, VBRAKE=2.0V 12 18 mA (No load) ICC (BRAKE) VBRAKE=0.8V 26 40 mA ICC (SLEEP) VENABLE =VMODE=VBRAKE=2.0V 3.0 5.0 mA q“typ” values are for reference. 70 A3952SB/SLB/SW

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW sDerating sInternal Block Diagram SUPPLY OUTB OUTA LOAD SLEEP & Allowable package power dissipation PD (W) 5 VBB STANDBY MODES MODE 4 PHASE A3 UVLO INPUT LOGIC A3 95 & TSD 3 95 2S 2S W B4 36 ENABLE EMITTERS 3° C °C /W /W "EB" ONLY 2 A39 5 2SL BRAKE B6 7°C + / W LOGIC VCC 1 SUPPLY SENSE R Q − "B", "LB" , & "W" REF BLANKING S 1.5V PACKAGES VCC PWM LATCH 0 9R + − RC RS −20 0 25 50 75 85 100 Ambient temperatureTa (°C) R VTH GROUND RT CT sTruth Table BRAKE ENABLE PHASE MODE OUTA OUTB Operating Mode H H X H Z Z Sleep mode H H X L Z Z Standby (Note 1) H L H H H L Forward, fast current-decay mode H L H L H L Forward, slow current-decay mode H L L H L H Reverse, fast current-decay mode H L L L L H Reverse, slow current-decay mode X : Don't Care Z : High impedance L X X H L L Brake, fast current-decay mode Note 1: Includes active pull-offs for power outputs L X X L L L Brake, no current control (Note 2) Note 2: Includes internal default VSENSE level for overcurrent protection sTerminal Connection Diagram A3952SB A3952SLB A3952SW LOAD LOAD BRAKE 1 VBB 16 SUPPLY BRAKE 1 VBB 16 SUPPLY REF 2 15 OUTB REF 2 15 OUTB RC 3 14 MODE RC 3 14 MODE LOGIC GROUND 4 13 GROUND GROUND 4 13 GROUND LOGIC LOGIC 5 12 GROUND 5 12 GROUND VBB GROUND GROUND VCC LOGIC LOGIC SUPPLY 6 VCC 11 SENSE SUPPLY 6 VCC 11 SENSE PHASE 7 10 OUTA PHASE 7 10 OUTA 1 2 3 4 5 6 7 8 9 10 11 12 VBB LOAD VBB LOAD ENABLE 8 9 SUPPLY ENABLE 8 9 SUPPLY GROUND OUTB LOAD SUPPLY BRAKE REF RC LOGIC SUPPLY PHASE ENABLE MODE OUTA SENSE sExternal Dimensions (Unit: mm) A3952SB A3952SLB A3952SW Plastic DIP ICs per stick 25 Wide body plastic SOP ICs per stick 47 Plastic power SIP ICs per stick 15 (300mil) 0.381 0.204 (300mil) 16 9 0.32 16 9 0.23 32.00 4.57MAX 31.50 19.69 6.22 1.40 7.11 0.51 7.62BSC 19.43 5.71 1.14 6.10 3.94 φ 10.65 3.68 7.60 7.40 10.00 INDEX AREA 1 2 3 8 3.56 3.43 0.127MIN 2.54 1.77 1.27 14.48 1.15 2.54BSC 0.40 13.72 9.27 21.33 INDEX 0.51 1 8 1.27 18.93 AREA 0.33 BSC 5.33MAX 10.50 SEATING PLANE 0° TO 8° SEATING 10.10 7.37MIN PLANE 2.65 2.35 1 2 3 12 SEATING PLANE 1.65 0.59 0.76 0.89 0.51 0.46 2.03 2.54±0.25 0.558 1.78 4.06 0.356 2.93 0.39MIN 0.10 MIN. qThickness of lead is measured below seating plane. qThickness of lead is measured below seating plane. qAllowable variation in distance between leads is not cumulative. qAllowable variation in distance between leads is not cumulative. Note 1: Lead width of pin 1, 8, 9, 16 may be half the value shown here. qLead is measured 0.762mm below seating plane. 2: Maximum thickness of lead is 0.508mm. A3952SB/SLB/SW 71

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW Application Notes sOutline Fig. 1 Load-Current Paths Designed for bidirectional pulse-width modulated current con- VBB trol of inductive loads, the A3952S- is capable of continuous output currents to ±2A and operating voltages to 50V. 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 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. The fixed OFF-time pulse duration is set by a user-selected external RC timing net- work. Internal circuit protection includes thermal shutdown with hysteresis, transient suppression diodes, and crossover-current RS protection. Special power-up sequencing is not required. With the ENABLE input held low, 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. 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). At the end the selected sink driver switching) or in a fast current-decay of the RTCT interval, the drivers are re-enabled allowing the load mode (selected source and sink switching). A user-selectable current to increase again. The PWM cycle repeats, maintaining blanking window prevents false triggering of the PWM current the load current at the desired value (see figure 2). control circuitry. With the ENABLE input held high, all output Fig. 2 Fast and Slow Current-Decay Waveforms drivers are disabled. A sleep mode is provided to reduce power consumption when inactive. ENABLE When a logic low is applied to the BRAKE input, the braking function is enabled. This overrides ENABLE and PHASE to turn OFF both source drivers and turn ON both sink drivers. The MODE brake function can be safely used to dynamically brake brush ITRIP dc motors. RC LOAD RC CURRENT sFUNCTIONAL DESCRIPTION (A) INTERNAL PWM CURRENT CONTROL DURING FOR- WARD AND REVERSE OPERATION The A3952S- contains a fixed OFF-time pulse-width modulated (B)INTERNAL PWM CURRENT CONTROL DURING BRAKE (PWM) current-control circuit that can be used to limit the load MODE OPERATION current to a desired value. 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. For dc motor applications, this has the effect (R S) and reference input voltage (VREF). The internal circuitry of shorting the motor’s back-EMF voltage, resulting in current compares the voltage across the external sense resistor to one flow that brakes the motor dynamically. However, if the back- tenth the voltage on the REF input terminal, resulting in a func- EMF voltage is large, and there is no PWM current limiting, then tion approximated by the load current can increase to a value that approaches a locked VREF rotor condition. To limit the current, when the ITRIP level is reached, I TRIP 10 • R S the PWM circuit disables the conducting sink driver. 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. When the load current reaches I TRIP, the com- supply causing the motor current to decay. parator resets a latch to turn OFF the selected sink driver (in the As in the case of forward/reverse operation, 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). In slow-decay mode, the selected sink below). Depending on the back-EMF voltage (proportional to driver is disabled; the load inductance causes the current to the motor’s decreasing speed), the load current again may in- recirculate through the source driver and flyback diode (see fig- crease to ITRIP. If so, the PWM cycle will repeat, limiting the load ure 1). In fast-decay mode, the selected sink and source driver current to the desired value. pair are disabled; 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, when the MODE input is high, the current limit diodes. can be approximated by 72 A3952SB/SLB/SW

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW VREF proximately 1mA. The comparator output remains blanked until I TRIP 10 • R S the voltage on CT reaches approximately 3.0 volts. CAUTION: Because the kinetic energy stored in the motor and Similarly, when a transition of the PHASE input occurs, CT is load inertia is being converted into current, 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), care must be taken to ensure the ca- duction of the source and sink drivers). After the crossover de- pacitance is sufficient to absorb the energy without exceed- lay, CT is charged by an internal current source of approximately ing the voltage rating of any devices connected to the motor 1mA. The comparator output remains blanked until the voltage supply. on CT reaches approximately 3.0 volts. (2) Brake Operation-MODE Input Low Similarly, when the device is disabled via the ENABLE input, CT During braking,with the MODE input low, the peak current limit is discharged to near ground. When the device is re-enabled, defaults internally to a value approximated by CT is charged by the internal current source. The comparator 1.5V output remains blanked until the voltage on CT reaches approxi- I TRIP RS mately 3.0V. In this mode, the value of R S determines the ITRIP value indepen- For applications that use the internal fast-decay mode PWM dent of V REF. This is useful in applicaions with differing run and operation, the minimum recommended value is CT=1200pF±5%. brake currents and no practical method of varying V REF. For all other applications, the minimum recommended value is Choosing a small value for R S essentially disables the current CT=820pF±5%. These values ensure that the blanking time is limiting during braking. Therefore, 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. For optimal regulation of the load current, maximum ratings of the device. 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. For more information regarding nected to one of the motor’s leads. load current regulation, see below. (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. The one shot When the device is operating in slow-decay mode, there is a time, toff (fixed OFF time), 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. The limitation is the minimum duty from the RC terminal to ground. The fixed OFF time, over a cycle, 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, the maxuimum value of the minimum ON-time pulse, ton (min), that is approximated by occurs each time the PWM latch is reset. If the motor is not rotating, as in the case of a stepper motor in hold/detent mode, t OFF RT • CT or a brush dc motor when stalled or at startup, the worst-case When the PWM latch is reset by the current comparator, the value of current regulation can be approximated by voltage on the RC terminal will begin to decay from approxi- [(VBB−VSAT (source + sink)) • t on (min) max]−[1.05 • (VSAT (sink) + VD) • t off] mately 3 volts. When the voltage on the RC terminal reaches I(AV) ≅ 1.05 • (t on (min) max + t off) • R LOAD approximately 1.1 volt, the PWM latch is set, thereby re-enabling the driver (s). where toff=RT•C T, RLOAD is the series resistance of the load, VBB is the load/motor supply voltage, and ton (min) max is specified in the (D) RC Blanking electrical characteristics table. When the motor is rotating, the In addition to determining the fixed OFF-time of the PWM con- back EMF generated will influence the above relationship. For trol circuit, the C T component sets the comparator blanking time. brush dc motor applications, the current regulation is improved. This function blanks the output of the comparator when the out- For stepper motor applications when the motor is rotating, the puts are switched by the internal current control circuitry (or by effect is more complex. A discussion of this subject is included the PHASE, BRAKE, or ENABLE inputs). The comparator out- in the section on stepper motors under “Applications”. 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, and/or switching slow-decay internal PWM load current regulation in the system: transients related to distributed capacitance in the load. Set VREF to 0 volts. With the load connected and the PWM current During internal PWM operation, at the end of the t off time, the control operating in slow-decay mode, 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 1.1V by an internal current source of ap- chopping. This is the typical minimum ON time (ton (min) typ) for the A3952SB/SLB/SW 73

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW device. CT then should be increased until the measured value blanking signal (t1) and the period of the PWM cycle (t2). The of ton (min) is equal to ton (min) max)=3.0µs as specified in the electri- value of t1 should be a minimum of 1.5µs in slow-decay mode cal characteristics table. When the new value of C T has been and 2µs in fast-decay mode. When used in this configuration, set, the value of R T should be decreased so the value for the RT and CT components should be omitted. 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. 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. conditions. In applications utilizing both fast-and slow-decay internal PWM Fig. 3 Synchronous Fixed-Frequency Control Circuit modes, the performance of the slow-decay current regulation VCC should be evaluated per the above procedure and a ton (min) max of 3.8 µs. This corresponds to a CT value of 1200pF, which is 100 kΩ 20 kΩ required to ensure sufficient blanking during fast-decay internal t2 PWM. RC1 1N4001 (F) LOAD CURRENT REGULATION WITH EXTERNAL PWM 2N2222 RCN OF THE PHASE AND ENABLE INPUTS t1 The PHASE and ENABLE inputs can be pulse-width modulated to regulate load current. 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. If the internal A logic high applied to both the ENABLE and MODE terminals PWM current control is used, then the comparator blanking func- puts the device into a sleep mode to minimize current consump- tion is active during phase and enable transitions. 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). that can occur when switching phase or braking. (1) ENABLE Pulse-Width Modulation Thermal protection circuitry turns OFF all drivers should the junc- With the MODE input low, toggling the ENABLE input turns ON tion temperature reach 165°C (typical). This is intended only to and OFF the selected source and sink drivers. 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, resulting in fast current decay. When the permitted. The hysteresis of the thermal shutdown circuit is ap- device is enabled, the internal current control circuitry will be proximately 15°C. active and can be used to limit the load current in a slow-decay If the internal current-control circuitry is not used; the VREF ter- mode. minal should be connected to VCC , the SENSE terminal should For applications that PWM the ENABLE input, 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, floating (no connection). the ENABLE input signal should be inverted and connected to An internal under-voltage lockout circuit prevents simultaneous the MODE input. 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. powered down. (2) PHASE Pulse-Width Modulation Toggling the PHASE terminal determines/controls which sink/ source pair is enabled, producing a load current that varies with the duty cycle and remains continuous at all times. This can have added benefits in bidrectional brush dc servo motor appli- cations 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). See also, “DC Motor Applications” below. (3) SYNCHRONOUS FIXED-FREQUENCY PWM The internal PWM current-control circuitry of multiple A3952S- devices can be synchronized by using the simple circuit shown in figure 3. A555IC can be used to generate the reset pulse/ 74 A3952SB/SLB/SW

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW sAPPLICATION 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. In internal PWM slow- culated value of I TRIP due to delays in the turn OFF of the driv- decay applications, only the tow top-side (flyback) diodes need ers. The amount of overshoot can be approximated as be added. For internal fast-decay PWM, or external PHASE or ENABLE input PWM applications, all four external diodes should (VBB − [(I TRIP • RLOAD)+VBEMF]) • t pd (pwm) I OUTP be added for maximum junction temperature reduction. LLOAD where V BB is the load/motor supply voltage, V BEMF is the back- (C)PCB Layout EMF voltage of the load, RLOAD and LLOAD are the resistance and The load supply terminal, VBB, should be decoupled (>47µF elec- inductance of the load respectively, and tpd (pwm) is the propaga- trolytic and 0.1µF ceramic capacitors are recommended) as tion delay as specified in the electrical characteristics table. close to the device as is physically practical. 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%. This should be taken into account when determin- input signals, 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. voltage value. See also “Current Sensing” and “Thermal Considerations” above. To minimize current-sensing inaccuracies caused by ground trace IR drops, the current-sensing resistor should have a sepa- (D)Fixed Off-Time Selection rate return to the ground terminal of the device. For low-value With increasing values of toff, switching losses decrease, low- sense resistors, the IR drops in the PCB can be significant and level load-current regulation improves, EMI is reduced, the PWM should be taken into account. The use of sockets should be frequency will decrease, and ripple current will increase. The avoided as their contact resistance can cause variations in the value of toff can be chosen for optimization of these parameters. effective value of R S. For applications where audible noise is a concern, 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. result in excessive heating and power loss in the sense resistor. The selected value of R S must not cause the SENSE terminal (E) Stepper Motor Applications absolute maximum voltage rating to be exceeded. 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. When the average load current is increasing, slow- (0.375 to 1.125) RS decay mode is used to limit the switching losses in the device I TRIP and iron losses in the motor. 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, sinusoidal, and can increase (as compared to fast decay) due to the slow rate other varying current profile applications. of decay during toff. When the average load current is decreas- ing, fast-decay mode is used to regulate the load current to the (B) Thermal Considerations desired level. This prevents tailing of the current profile caused For reliable operation, it is recommended that the maximum by the back-EMF voltage of the stepper motor. junction temperature be kept as low as possible, typically 90°C In stepper motor applications applying a constant current to the to 125°C. The junction temperature can be measured by at- load, 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. and measuring the tab temperature, T T. The junction tempera- ture 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 deter- mined from the electrical specification table for the given level of I OUT. The value for RθJT is given in the package thermal resis- tance table for the appropriate package. 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. A3952SB/SLB/SW 75

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase Excitation) A3952SB/SLB/SW (F) Application circuit (Bipolar stepper motor drive) Fig. 4 Example of stepper motor drive VBB +5V 47µ F + 12 1 11 2 VBB 10 MODE1 3 ENABLE1 0.5Ω 9 4 PHASE1 VREF2 8 5 0.5Ω LOGIC VCC 6 7 VCC LOGIC 7 6 VREF1 PHASE2 5 8 820pF/1200pF ENABLE2 17kΩ/25kΩ 4 9 CT= 10 MODE2 3 VBB RT= 11 2 12 1 RT= CT= 17kΩ/25kΩ 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, the speed of a dc motor can be con- regulate to a value given by trolled by PWM of the PHASE or ENABLE inputs, or by varying VREF I LOAD the REF input voltage (VREF). In digital systems (microproces- (10 • R S) sor controlled), PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog CAUTION: In fast-decay mode, when the direction of the motor voltage reference. In this case, a dc voltage on the REF input is is changed abruptly, the kinetic energy stored in the motor and used typically to limit the maximum load current. 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, PWM of the PHASE input is selected typically. capacitance). 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. age voltage applied to the motor is more linear than in the case See also, the sections on brake operation under “Functional of ENABLE PWM control (which produces a discontinuous cur- Description,” above. rent at low-current levels). With bidirectional dc servo motors, the PHASE terminal can be used for mechanical direction control. Similar to when braking the motor dynamically, abrupt changes in the direction of a ro- tating motor produce a currrent generated by the back EMF. The current generated will depend on the mode of operation. If the internal current-control circuitry is not being used, then the maximum load current generated can be approximated by (VBEMF + VBB) ILOAD RLOAD where V BEMF is proportional to the motor’s speed. If the internal slow-decay current-control circuitry is used, then the maximum load current generated can be approximated by I LOAD=VBEMF/ R LOAD. For both cases, care must be taken to ensure the maxi- mum ratings of the device are not exceeded. If the internal fast- decay current-control circuitry is used, then the load current will 76 A3952SB/SLB/SW

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 VBB BRAKE 1 16 VBB 47µ F + 2 15 RT= 17kΩ/25kΩ 3 14 MODE 4 13 LOGIC 0.5 Ω 5 12 CT= 6 VCC 11 820pF/1200pF PHASE 7 10 VBB ENABLE 8 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

2-Phase/1-2 Phase/W1-2 Phase Excitation UDN2916B/LB 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Fixed off-time PWM current control Parameter Symbol Conditions Ratings Units UDN2916B UDN2916LB q Internal 1/3 and 2/3 reference divider Motor supply voltage VBB 45 V q 1-phase/2-phase/W1-2 phase excitation Output current (peak) IO (peak) tw≤20 µ s ±1.0 A mode with digital input Output current (continuous) IO ±0.75 A Logic supply voltage VCC 7.0 V q Microstepping with reference input Logic input voltage range VIN −0.3 to +7.0 V q Low saturation voltage (Sink transistor) Output emitter voltage VE 1.5 V q Internal thermal shutdown circuitry Package power dissipation PD (Note1) 3.12 2.27 W q Internal crossover-current protection cir- Operating temperature Ta −20 to +85 °C Junction temperature T j (Note2) +150 °C cuitry Storage temperature T stg −55 to +150 °C q Internal UVLO protection qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any q Internal transient-suppression diodes 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/ q Low thermal resistance package °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. sElectrical Characteristics (Unless specified otherwise, T a=25°C, VBB=45V, VCC=4.75V to 5.25V, VREF=5.0V) Limits Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUTB ) Motor supply voltage range VBB 10 45 V Sink driver, VO =VBB <1.0 50 µA Output leakage current ICEX Source driver, V O=0V <−1.0 −50 µA Output sustaining voltage VCE (SUS) IO=±750mA, L=3.0mH 45 V Sink driver, IO=+500mA 0.4 0.6 V Sink driver, IO=+750mA 1.0 1.2 V Output saturation voltage VCE (SAT) Source driver, IO =−500mA 1.0 1.2 V Source driver, IO =−750mA 1.3 1.5 V Clamp diode leakage current IR V R=45V <1.0 50 µA Clamp diode forward voltage VF IF=750mA 1.6 2.0 V IBB (ON) Both bridges ON, no load 20 25 mA Motor supply current IBB (OFF) Both bridges OFF 5.0 10 mA Control logic VIH All inputs 2.4 V Input voltage VIL All inputs 0.8 V IIH V IH=2.4V <1.0 20 µA Input current IIL VIL=0.8V −3.0 −200 µA Reference voltage range VREF Operating 1.5 7.5 V I0 =I1 =0.8V 9.5 10.0 10.5 Current control threshold V REF/VSENSE I0=2.4V, I1=0.8V 13.5 15.0 16.5 I0=0.8V, I1=2.4V 25.5 30.0 34.5 Thermal shutdown temperature Tj 170 °C ICC (ON) I0 =I1=0.8V, no load 40 50 mA Logic supply current ICC (OFF) I0 =I1=2.4V, no load 10 12 mA q“typ” values are for reference. sTerminal Connection Diagram UDN2916B UDN2916LB I02 1 24 LOAD SUPPLY VBB PWM 2 OUT1A 1 24 LOAD SUPPLY I12 2 23 OUT2B OUT2A 2 23 E1 PHASE2 3 θ2 22 SENSE2 E2 3 1 22 SENSE1 2 VREF 2 4 21 E2 SENSE2 4 2 21 OUT1B RC2 5 20 OUT2A OUT2B 5 20 I01 GROUND 6 19 GROUND GROUND 6 19 GROUND VBB GROUND 7 18 GROUND GROUND 7 18 GROUND I02 8 17 I11 LOGIC SUPPLY 8 VCC 17 OUT1A PWM 1 I12 9 θ 1 16 PHASE1 PWM 2 RC1 9 16 E1 PHASE2 10 θ 2 15 VREF1 1 VREF1 10 15 SENSE1 VREF2 11 14 RC1 PWM 1 RC2 12 VCC 13 LOGIC SUPPLY PHASE1 11 θ 1 14 OUT1B I11 12 13 I01 78 UDN2916B/LB

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB sDerating sInternal Block Diagram (1/2 Circuit) VBB Allowable package power dissipation PD (W) 5 OUTB 4 OUTA UD 3 N2 91 VREF 6B UD 40 N2 °C 916 /W 20 kΩ E 2 LB 55° C/ W ÷10 − ONE SENSE SOURCE + SHOT DISABLE 1 40 kΩ 10 kΩ RC RC I0 0 RS CC −20 0 25 50 75 85 100 RT CT I1 Ambient temperature Ta (°C) sTruth Table sApplication Circuit (UDN2916LB) PHASE OUTA OUTB VBB *1 From µ P CBB H H L *2 VREF VBB L L H *1 1 24 *1 2 23 PWM 2 *1 3 θ 2 22 2 I0 I1 Output Current *2 4 21 RC L L VREF / (10×RS)=I TRIP 5 20 RT H L VREF / (15×RS)=I TRIP×2/3 CT 6 19 RS CC L H VREF / (30×RS)=I TRIP×1/3 7 18 VCC H H 0 8 VCC 17 +5V RT 9 16 1 CT *2 10 15 PWM 1 RC M *1 11 θ 1 14 RS *1 12 13 *1 CC qOff-time setting RS : 1.5Ω, 1/2W (1.0 to 2.0Ω, 1 to 1/2W) t off≅CTRT VREF : 5.0V (1.5 to 7.5V) RT : 56kΩ (20k to 100kΩ) CT : 470pF (100 to 1,000pF) RC : 1kΩ CC : 4,700pF (470 to 10,000pF) CBB : 100 µ F sExternal Dimensions (Unit: mm) UDN2916B ICs per stick 15 UDN2916LB ICs per stick 31 Plastic DIP (300mil) 0.381 Wide body plastic SOP (300mil) 0.204 24 13 24 13 0.32 0.23 *1 7.11 7.62BSC 6.10 7.60 10.65 7.40 10.00 INDEX AREA 1 2 3 12 0.127MIN 1.27 1.77 1.15 0.40 2.54BSC 32.30 0.51 1 2 3 12 1.27 28.60 0.33 BSC 15.60 5.33MAX 0° TO 8° 15.20 SEATING PLANE 2.65 2.35 SEATING PLANE 0.558 4.06 0.10 MIN qPin material: copper, pin surface treatment: solder plating 0.356 2.93 qPackage index may be *1. 0.39MIN qAllowable variation in distance between leads is not cumulative. qThickness of lead is measured below seating plane. qWeb (batwing) type lead frames are used for pin 6, 7, 18, 19. qAllowable variation in distance between leads is not cumulative. The pins are connected to GND. UDN2916B/LB 79

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB Application Notes qPWM CURRENT CONTROL Load-Current Paths The UDN2916B/LB dual bridges are designed to drive both wind- VBB ings of a bipolar stepper motor. Output current is sensed and controlled independently in each bridge by an external sense resistor (RS), internal comparator, and monostable multivibrator. PWM OUTPUT CURRENT WAVE FORM Load VPHASE + IOUT 0 − BRIDGE ON ITRIP RSENSE SOURCE OFF ALL OFF td t off When the bridge is turned ON, current increases in the motor qLOGIC 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%, 67%, 33%, or 0% of the maxi- input: mum level per the table. The 0% output current condition turns OFF all drivers in the bridge and can be used as an OUTPUT I TRIP=VREF / 10RS ENABLE function. 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 actual load current peak µP-controlled drive formats. will be slightly higher than the trip point (especially for low-in- During half-step operations, 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. This delay (td) is typically 2µs. After turn-off, the motor step sequence. This is accomplished by digitally selecting 100% current decays, circulating through the ground-clamp diode and drive current when only one phase is ON and 67% drive current sink transistor. The source driver’s OFF time (and therefore the when two phases are ON. 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, where toff=RT CT phases. This helps to ensure proper motor operation at high wihtin the range of 20kΩ to 100kΩ and 100pF to 1000 pF. step rates. When the source driver is re-enabled, 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. This cycle repeats itself, maintaining the average tions and/or increased current (and available torque) for start- motor winding current at the desired level. up conditions. Loads with high distributed capacitances may result in high turn- ON current peaks. This peak (appearing across RS) will attempt qSWITCHING THE EXCITATION CURRENT DIRECTION to trip the comparator, resulting in erroneous current control or The PHASE input to each bridge determines the direction moter high-frequency oscillations. An external RC CC time delay should winding current flows. An internally generated deadtime (ap- be used to further delay the action of the comparator. Depend- proximately 2µs) prevents crossover currents that can occur ing on load type, many applications will not require these exter- when switching the PHASE input. 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 qREDUCTION 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 (AK03 or other) between each The control sequence is as shown below. (This sequence uses output terminal and ground. In most applications, the chopping threshold signal terminals Io and I1 for PWM current control.) ON time is shorter than the chopping OFF time (small ON duty). Therefore, a great part of the power loss of the driver IC is at- tributable to the motor regenerative current during the chopping OUT1A OFF period. The regenerative current from the motor flows OUT1B through the current sensing resistor and ground clamp diode To motor OUT2A and returns to the motor. The voltage drop across this path OUT2B causes the power loss. On this path, the forward voltage VF of GND Schottky barrier diode ground clamp diode shows the greatest drop. This means that adding Schottky barrier diodes will improve the thermal perfor- mance if their V F characteristic is smaller than that of the inter- nal ground clamp diode. Combined vector (1/4 cycle) The external diodes also disperse the loss (a source of heat) (4) (3) and reduce the package power dissipation PD of the driver IC. Phase B Consequently, a greater output current can be obtained. (2) qCONTROL SEQUENCE OF 1-2 OR W1-2 PHASE EXCITATION To reduce vibration when the stepper motor is rotating, the (1) UDN2916B/LB can provide 1-2 or W1-2 phase excitation for the control sequence without varying the VREF terminal voltage. (0) The step angle is Phase A Control sequence (1-2/W1-2 phase) (NABLE1= ENABLE 2= 0) Sequence Phase A Phase B 1-2 phase W1-2 phase No. PH1 I 11 I 01 Current ratio PH2 I 12 I 02 Current ratio excitation excitation 0 0 0 0 1 X 1 1 0 * * 1 0 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 * Note: When the sequence no. is 0, 4, 8, or 12, power-down can be set as follows I11=1, I01=0: Sequence No. 0 or 8 I12=1, I02=0: Sequence No. 4 or 12 If power-down is necessary for a sequence other than 0, 4, 8, or 12, lower the VREF terminal voltage. However, do not set the voltage lower than the lower limit of the setting range. UDN2916B/LB 81

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB qMICROSTEPPING (1/8 STEP) CONTROL SEQUENCE microstepping and reduces motor vibration greatly. The Varying the V REF terminal voltage in steps provides 1/8 microstepping control sequence is as follows: Control sequence (microstepping) Sequence Phase A Phase B No. PH1 V REF1 (V) I 11 I 01 Current ratio (%) PH2 V REF2 (V) I 12 I 02 Current ratio (%) 0 0 7.5 0 0 100 X 1.5 1 1 0 1 0 7.4 0 0 98 0 1.5 0 0 20 2 0 6.9 0 0 92 0 2.9 0 0 38 3 0 6.2 0 0 83 0 4.2 0 0 56 4 0 5.3 0 0 71 0 5.3 0 0 71 5 0 4.2 0 0 56 0 6.2 0 0 83 6 0 2.9 0 0 38 0 6.9 0 0 92 7 0 1.5 0 0 20 0 7.4 0 0 98 8 X 1.5 1 1 0 0 7.5 0 0 100 9 1 1.5 0 0 20 0 7.4 0 0 98 10 1 2.9 0 0 38 0 6.9 0 0 92 11 1 4.2 0 0 56 0 6.2 0 0 83 12 1 5.3 0 0 71 0 5.3 0 0 71 13 1 6.2 0 0 83 0 4.2 0 0 56 14 1 6.9 0 0 92 0 2.9 0 0 38 15 1 7.4 0 0 98 0 1.5 0 0 20 16 1 7.5 0 0 100 X 1.5 1 1 0 17 1 7.4 0 0 98 1 1.5 0 0 20 18 1 6.9 0 0 92 1 2.9 0 0 38 19 1 6.2 0 0 83 1 4.2 0 0 56 20 1 5.3 0 0 71 1 5.3 0 0 71 21 1 4.2 0 0 56 1 6.2 0 0 83 22 1 2.9 0 0 38 1 6.9 0 0 92 23 1 1.5 0 0 20 1 7.4 0 0 98 24 X 1.5 1 1 0 1 7.5 0 0 100 25 0 1.5 0 0 20 1 7.4 0 0 98 26 0 2.9 0 0 38 1 6.9 0 0 92 27 0 4.2 0 0 56 1 6.2 0 0 83 28 0 5.3 0 0 71 1 5.3 0 0 71 29 0 6.2 0 0 83 1 4.2 0 0 56 30 0 6.9 0 0 92 1 2.9 0 0 38 31 0 7.4 0 0 98 1 1.5 0 0 20 Note: The VREF terminal voltage cannot be set to 0 V. To make the output current ratio 0%, set I0X=I1X=1. When the sequence is 0, 8, 16, or 24, power-down can be set as follows: I11=1, I01=0: Sequence No. 0 or 16 I12=1, I02=0: Sequence No. 8 or 24 qVREF terminal qThermal 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 realize stable ensure a stable signal, make tion temperature reaches +170°C. It is only intended to protect sure noise is not applied to the terminal. the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. qVBB 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. (VBB), connect a large capacitor (≥22µF) between the VBB termi- nal and ground as close to the device as possible. Make sure the load supply voltage does not exceed 45 V. 82 UDN2916B/LB

2-Phase Stepper Motor Bipolar Driver ICs (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2916B/LB qAround the ground the power system and the small signal (analog) system. Pro- Since the UDN2916B/LB is a chopping type power driver IC, 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. Example of Circuit (including GND) and GND Wiring Pattern (UDN2916LB) OUT2B OUT2A OUT1A OUT1B RC RC CC CC UDN2916B RS RS UDN2916LB RC VBB VBB + VCC 6, 7, VBB GND 18, 19 RC RS RS GND + VCC CC CT CT CC I02 I01 RT RT I12 I11 RT RT VBB GND Ph2 Ph1 VCC GND VREF2 VREF1 CT CT UDN2916B/LB 83

2-Phase/1-2 Phase/W1-2 Phase Excitation UDN2917EB 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Fixed off-time PWM current control Parameter Symbol Conditions Ratings Units Motor supply voltage VBB 45 V q Internal 1/3 and 2/3 reference divider Output current (peak) IO (peak) tw≤20 µ s ±1.75 A q 1-phase/2-phase/W1-2 phase excitation Output current (continuous) IO ±1.5 A mode with digital input Logic supply voltage VCC 7.0 V Logic input voltage range VIN −0.3 to +7.0 V q Microstepping with reference input Output emitter voltage VE 1.0 V q Low saturation voltage (Sink transistor) Package power dissipation PD (Note1) 4.16 W q Internal thermal shutdown circuitry Operating temperature Ta −20 to +85 °C q Internal crossover-current protection cir- Junction temperature T j (Note2) +150 °C Storage temperature T stg −55 to +150 °C cuitry qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any q Internal UVLO protection 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 −33.3mW/°C. q Internal transient-suppression diodes Note 2: Fault conditions where junction temperature (Tj) exceeds 150°C will activate the device’s thermal q Low thermal resistance 44-pin PLCC shutdown circuitry. These conditions can be tolerated but should be avoided. sElectrical Characteristics (Unless specified otherwise, Ta =25°C, VBB=45V, VCC=5.0V, VREF=5.0V) Limits Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUTB ) Motor supply voltage range VBB 10 45 V Sink driver, VO =VBB <1.0 50 µA Output leakage current ICEX Source driver, V O=0V < −1.0 −50 µA Output sustaining voltage VCE (SUS) IO=±1.5A, L=3.5mH 45 V Sink driver, IO =+1.0A 0.5 0.7 V Sink driver, IO =+1.5A 0.8 1.0 V Output saturation voltage VCE (SAT) Source driver, IO =−1.0A 1.8 1.9 V Source driver, IO =−1.5A 1.9 2.1 V Clamp diode leakage current IR V R=45V <1.0 50 µA Clamp diode forward voltage VF IF=1.5A 1.6 2.0 V IBB (ON) Both bridges ON, no load 9.0 12 mA Motor supply current IBB (OFF) Both bridges OFF 4.0 6.0 mA Control logic Logic supply voltage VCC Operating 4.75 5.0 5.25 V VIH All inputs 2.4 V Input voltage VIL All inputs 0.8 V IIH V IH=2.4V <1.0 20 µA Input current IIL VIL=0.8V −3.0 −200 µA Reference voltage range VREF Operating 1.5 7.5 V I0 =I1 =0.8V 9.5 10.0 10.5 Current control threshold V REF/VSENSE I0=2.4V, I1=0.8V 13.5 15.0 16.5 I0=0.8V, I1=2.4V 25.5 30.0 34.5 Thermal shutdown temperature Tj 170 °C ICC (ON) I0=I1 =VEN =0.8V, no load 90 105 mA Logic supply current ICC (OFF) I0 =I1=2.4V, no load 10 12 mA q“typ” values are for reference. sTerminal Connection Diagram sDerating LOGIC SUPPLY ENABLE1 SENSE1 PHASE1 OUT1A OUT1B VREF1 Allowable package power dissipation PD (W) RC1 5 I10 I11 E1 44 43 42 41 40 6 5 4 3 2 1 θ1 VCC EN1 GROUND 7 39 GROUND 4 30 8 38 °C 9 PWM 1 37 /W 10 1 36 3 11 35 12 34 2 VBB 13 33 14 2 32 15 PWM 2 31 16 30 1 GROUND 17 29 GROUND EN2 θ2 20 21 22 23 24 25 26 27 28 18 19 0 −20 0 25 50 75 85 100 OUT2A E2 SENSE2 OUT2B LOAD SUPPLY I20 I21 VREF2 PHASE2 ENABLE2 RC2 Ambient temperature Ta (°C) 84 UDN2917EB

2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2917EB sInternal Block Diagram (1/2 Circuit) sTruth Table ENABLE PHASE OUTA OUTB VBB L H H L L L L H H X Z Z OUTB X=Don't Care Z=High impedance OUTA VREF I0 I1 Output Current 20 kΩ E L L VREF / (10×RS)=I TRIP ÷10 − ONE SOURCE H L VREF / (15×RS)=I TRIP×2/3 SENSE SHOT VREF / (30×RS)=I TRIP×1/3 + DISABLE 40 kΩ L H 10 kΩ RC RC I0 H H 0 RS CC RT CT I1 sApplication Circuit VCC 39 38 37 36 35 34 33 32 31 30 29 Ct Ct Rt 40 VCC 28 Rt Digital control signal 41 EN2 27 ENABLE2 PWM 2 Digital control signal θ 26 PWM 1 ENABLE1 42 EN1 2 PHASE2 PHASE1 43 θ1 25 VREF2 VREF1 44 24 I12 I11 1 23 I02 I01 2 22 VBB VBB CVBB 3 21 + CC CC 4 20 1 2 RC 5 19 RC RS RS 6 18 qOff-time setting t off≅CTRT 10 11 12 13 14 15 16 17 RS : 0.82Ω, 1W (0.5 to 1.0Ω, 2 to 1W) 7 8 9 VREF : 5.0V (1.5 to 7.5V) RT : 56kΩ (20k to 100kΩ) CT : 470pF (200 to 500pF) RC : 1kΩ CC : 3,300pF (470 to 10,000pF) STEPPER MOTOR CVBB : 100µ F sExternal Dimensions Plastic PLCC (Unit: mm) ICs per stick 27 0.533 0.812 0.331 0.661 17.65 17.40 16.66 16.51 INDEX AREA 1.27 BSC 44 1 2 0.51 16.66 MIN 16.51 4.57 17.65 qAllowable variation in distance between leads is not cumulative. 4.19 17.40 Note 1: Web type leads are internally connected together. UDN2917EB 85

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

2-Phase Stepper Motor Bipolar Driver IC (2-Phase/1-2 Phase/W1-2 Phase Excitation) UDN2917EB qMICROSTEPPING (1/8 STEP) CONTROL SEQUENCE microstepping and reduces motor vibration greatly. 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 Phase A Phase B No. PH1 V REF1 (V) I 11 I 01 Current ratio (%) PH2 V REF2 (V) I 12 I 02 Current ratio (%) 0 0 7.5 0 0 100 X 1.5 1 1 0 1 0 7.4 0 0 98 0 1.5 0 0 20 2 0 6.9 0 0 92 0 2.9 0 0 38 3 0 6.2 0 0 83 0 4.2 0 0 56 4 0 5.3 0 0 71 0 5.3 0 0 71 5 0 4.2 0 0 56 0 6.2 0 0 83 6 0 2.9 0 0 38 0 6.9 0 0 92 7 0 1.5 0 0 20 0 7.4 0 0 98 8 X 1.5 1 1 0 0 7.5 0 0 100 9 1 1.5 0 0 20 0 7.4 0 0 98 10 1 2.9 0 0 38 0 6.9 0 0 92 11 1 4.2 0 0 56 0 6.2 0 0 83 12 1 5.3 0 0 71 0 5.3 0 0 71 13 1 6.2 0 0 83 0 4.2 0 0 56 14 1 6.9 0 0 92 0 2.9 0 0 38 15 1 7.4 0 0 98 0 1.5 0 0 20 16 1 7.5 0 0 100 X 1.5 1 1 0 17 1 7.4 0 0 98 1 1.5 0 0 20 18 1 6.9 0 0 92 1 2.9 0 0 38 19 1 6.2 0 0 83 1 4.2 0 0 56 20 1 5.3 0 0 71 1 5.3 0 0 71 21 1 4.2 0 0 56 1 6.2 0 0 83 22 1 2.9 0 0 38 1 6.9 0 0 92 23 1 1.5 0 0 20 1 7.4 0 0 98 24 X 1.5 1 1 0 1 7.5 0 0 100 25 0 1.5 0 0 20 1 7.4 0 0 98 26 0 2.9 0 0 38 1 6.9 0 0 92 27 0 4.2 0 0 56 1 6.2 0 0 83 28 0 5.3 0 0 71 1 5.3 0 0 71 29 0 6.2 0 0 83 1 4.2 0 0 56 30 0 6.9 0 0 92 1 2.9 0 0 38 31 0 7.4 0 0 98 1 1.5 0 0 20 Note: The VREF terminal voltage cannot be set to 0 V. To make the output current ratio 0%, set I0X=I1X=1. When the sequence is 0, 8, 16, or 24, power-down can be set as follows: I11=1, I01=0: Sequence No. 0 or 16 I12=1, I02=0: Sequence No. 8 or 24 qVREF terminal qThermal 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 realize stable ensure a stable signal, make tion temperature reaches +170°C. It is only intended to protect sure noise is not applied to the terminal. the device from failures due to excessive junction temperature and should not imply that output short circuits are permitted. qVBB 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. (VBB ), connect a large capacitor (≥47µF) between the VBB termi- nal and ground as close to the device as possible. Make sure qAround the ground the load supply voltage does not exceed 45V. Since the UDN2917EB is a chopping type power driver IC, take great care around the ground when mounting. Separate the power system and the small signal (analog) system. Provide a single-point connection to the GND terminal or a solid pattern of low enough impedance. UDN2917EB 87

2W1-2 Phase Excitation/Micro-step Support A3955SB/SLB 2-Phase Stepper Motor Bipolar Driver ICs Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Maximum output ratings: 50V, ±1.5A Parameter Symbol Ratings Units A3955SB A3955SLB q Internal 3-bit non-linear DAC for 8-division Load supply voltage VBB 50 V microstepping enables 2W1-2,W1-2, 1-2, Output current (continuous) IO ±1.5 A 2-phase excitation drive without external Logic supply voltage VCC 7.0 V Logic/reference input sine wave generator VIN −0.3 to VCC+0.3 V voltage range q Internal PWM current control in Mixed De- Sense voltage VS 1.0 V cay mode (can also be used in Fast Decay Package power dissipation P D (Note1) 2.90 1.86 W and Slow Decay mode), which improves Operating temperature Ta −20 to +85 °C Junction temperature T j (Note2) +150 °C motor current response and stability with- Storage temperature Tstg −55 to +150 °C out deterioration of motor iron loss qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any q External RC filter for sense terminal not 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 −23.26mW/°C(SB) or −14.93mW/°C(SLB). required thanks to internal blanking circuitry 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. q Internal thermal shutdown, crossover-cur- rent protection and transient-suppression diodes q Special power-up and power-down se- quencing for motor supply and logic sup- ply not required q Employs copper batwing lead frame with low thermal resistance sTerminal Connection Diagram sDerating A3955SB/SLB (TOP VIEW) Allowable package power dissipation PD [W] 3.0 A3 95 5S LOAD 2.5 B PFD 1 16 SUPPLY 43 °C 2 /W REF 2 15 OUTB A3 95 5S LB RC 3 14 D0 67 1.5 °C /W GROUND 4 13 GROUND 1 GROUND 5 12 GROUND LOGIC 0.5 6 11 SENSE SUPPLY PHASE 7 10 OUTA 0 −20 0 20 40 60 80 100 D2 8 9 D1 Ambient temperature Ta (°C) 88 A3955SB/SLB

2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB sElectrical Characteristics (Unless specified otherwise, T a =25°C, VBB=5V to 50V, VCC=4.5V to 5.5V) Limits Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUTB ) Load supply voltage range VBB Operating, IO=±1.5A, L=3mH Vcc 50 V V O=V BB <1.0 50 µA Output leakage current ICEX VO =0V < −1.0 −50 µA VSENSE=1.0V : Source Driver, IO =−0.85A 1.0 1.2 V VSENSE=1.0V : Source Driver, IO=−1.5A 1.3 1.5 V Output saturation voltage VCE (sat) V SENSE=1.0V : Sink Driver, IO =0.85A 0.5 0.6 V VSENSE=1.0V : Sink Driver, IO =1.5A 1.3 1.5 V Sense current offset ISO IS -IO , IO =0.85A, VS=0V, VCC=5V 20 33 40 mA IF=0.85A 1.2 1.4 V Clamp diode forward voltage VF IF=1.5A 1.4 1.7 V IBB (ON) 2.0 4.0 mA Motor supply current (No load) IBB (OFF) D0=D 1=D 2=0.8V 1.0 50 µA Control logic Logic supply voltage range VCC Operating 4.5 5.0 5.5 V Reference voltage range V REF Operating 0.5 2.5 V UVLO enable threshold VUVLOen V CC=0→5V 3.35 3.70 4.05 V UVLO hysteresis VUVLOhys 0.30 0.45 0.60 V ICC (ON) 42 50 mA Logic supply current ICC (OFF) D0=D 1=D 2=0.8V 12 16 mA V IH 2.0 V Logic input voltage VIL 0.8 V IIH VIN =2.0V <1.0 20 µA Logic input current IIL VIN =0.8V < −2.0 −200 µA Slow Decay Mode 3.5 V Mixed Decay comparator trip points V PFD Mixed Decay Mode 1.1 3.1 V Fast Decay Mode 0.8 V Mixed Decay comparator input offset voltage VIO (PFD) 0 ±20 mV Mixed Decay compartor hysteresis ∆V IO (PFD) 5 25 55 mV Reference input current IREF V REF=0V~2.5V ±5.0 µA Reference divider ratio VREF /VS at trip, D0 =D1 =D2=2V 3.0 VREF=1.0V~2.5V ±3.0 % DAC accuracy *1 DACERR VREF=0.5V~1.0V ±4.0 % Current-sense comparator input offset voltage *1 VIO (S) VREF =0V ±5.0 mV D0=D 1=D 2=0.8V 0 % D0 =2.0V, D1 =D2 =0.8V 19.5 % D0 =0.8V, D1=2V, D2 =0.8V 38.2 % D0 =D1=2V, D2 =0.8V 55.5 % Step reference current ratio SRCR D0 =D1=0.8V, D2 =2V 70.7 % D0 =2V, D1=0.8V, D2=2V 83.1 % D0 =0.8V, D1 =D2 =2V 92.4 % D0=D 1=D2 =2V 100 % Thermal shutdown temperature Tj 165 °C Thermal shutdown hysteresis ∆T j 15 °C AC timing PWM RC fixed off-time tOFFRC CT=470pF, RT=43kΩ 18.2 20.2 22.3 µS Current-Sense Comparator Trip to Source OFF, 1.0 1.5 µS IO=0.1A PWM turn-off time tPWM (OFF) Current-Sense Comparator Trip to Source OFF, 1.4 2.5 µS IO=1.5A IRC Charge ON to Source ON, IO =0.1A 0.4 0.7 µS PWM turn-on time tPWM (ON) IRC Charge ON to Source ON, IO =1.5A 0.55 0.85 µS VCC=5.0V, RT≥43kΩ, CT=470pF, PWM minimum on-time tON (min) 1.0 1.6 2.2 µS IO=0.1A Crossover dead time tCODT 1kΩ Load to 25V 0.3 1.5 3.0 µS *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. q“typ” values are for reference. A3955SB/SLB 89

2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB sInternal Block Diagram SUPPLY SUPPLY LOGIC LOAD OUTA OUTB 6 10 15 16 PHASE VCC 7 VBB GROUND 4 5 UVLO 12 & TSD 13 BLANKING CURRENT-SENSE SENSE MIXED-DECAY GATE COMPARATOR PWM LATCH 11 COMPARATOR + PFD 1 + R − Q − S BLANKING +3 D/A DISABLE VCC + − RS RC VTH 3 2 8 9 14 REF D2 D1 D0 CT RT sTruth Table PHASE DAC PHASE OUTA OUTB DAC DATA DAC [%] V REF/VS H H L D2 D1 D0 L L H H H H 100 3.00 H H L 92.4 3.25 PFD H L H 83.1 3.61 VPFD Operating Mode H L L 70.7 4.24 ≥3.5V Slow current-decay mode L H H 55.5 5.41 1.1V to 3.1V Mixed current-decay mode L H L 38.2 7.85 ≤0.8V Fast current-decay mode L L H 19.5 15.38 L L L All Outputs Disabled where VS ≅ITRIP*RS sApplication Circuit VBB BRIDGE A BRIDGE B D1B VPFD 1 16 9 8 D2B VBB + 47 µ F CBB1 VREF 2 15 10 7 PHASEB CT1 RT1 D0A RS2 CCC2 3 14 11 VCC 6 +5 V qOff-time setting : tOFF≅RT • CT RT=12kΩ to 100kΩ 560 pF 0.5 Ω RS1 RT2 CT2 36 kΩ 4 13 12 5 CT=470pF to 1500pF 560 pF 36 kΩ LOGIC LOGIC 0.5 Ω 5 12 13 4 RS=0.39Ω to 0.62Ω CBB=47µ F+0.1µ F D0B +5V 6 VCC 11 14 3 CCC=0.1µ F CCC1 PHASEA 7 10 15 2 VREF VREF=0.5V to 2.5V 47 µ F VPFD=1.1V to 3.1V (Mixed current-decay mode) + VBB D2A 8 9 D1A VBB 16 1 VPFD ≥3.5V (Slow current-decay mode) CBB2 ≤0.8V (Fast current-decay mode) 90 A3955SB/SLB

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

2-Phase Stepper Motor Bipolar Driver ICs (2W1-2 Phase Excitation/Micro-step Support) A3955SB/SLB sExternal Dimensions (Unit: mm) A3955SB A3955SLB 16 9 0.32 0.508 0.23 0.204 16 9 10.92 7.11 7.62 MAX 7.60 10.65 6.10 BSC 7.40 10.00 1.27 1 8 0.40 1.77 2.54 0.13 1.15 19.68 BSC MIN 18.67 0.51 1 2 3 1.27 0.33 10.50 BSC 0° to 8° 5.33 10.10 MAX 0.39 3.81 MIN 2.93 2.65 0.558 2.35 0.356 0.10 MIN. 92 A3955SB/SLB

A3955SB/SLB 93

4W1-2 Phase Excitation/Micro-step Support A3957SLB 2-Phase Stepper Motor Bipolar Driver IC Allegro MicroSystems product sFeatures sAbsolute Maximum Ratings q Maximum output ratings: 50V, ±1.5A Parameter Symbol Ratings Units Load supply voltage VBB 50 V q Internal 4-bit non-linear DAC for 16-division Output current (continuous) IO ±1.5 A microstepping enables 4W1-2, 2W1-2, W1- Logic supply voltage VCC 7.0 V 2, 2-phase excitation drive without exter- Logic/reference input VIN −0.3 to VCC+0.3 V voltage range nal sine wave generator Sense voltage VS 1.0 V q Internal PWM current control in Mixed De- Package power dissipation PD (Note1) 2.23 W cay mode (can also be used in Fast Decay Operating temperature Ta −20 to +85 °C and Slow Decay mode), which improves Junction temperature T j (Note2) +150 °C Storage temperature Tstg −55 to +150 °C motor current response and stability with- qOutput current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any out deterioration of motor iron loss 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 −17.86mW/°C. q External RC filter for sense terminal not 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. required thanks to internal blanking circuitry q Internal thermal shutdown, crossover-cur- rent protection and transient-suppression diodes q Special power-up and power-down se- quencing for motor supply and logic sup- ply not required q Employs copper batwing lead frame with low thermal resistance sTerminal Connection Diagram sDerating (TOP VIEW) Allowable package power dissipation PD [W] 3 N.C. 1 24 N.C. PFD 2 23 VBB 2.5 REF 3 22 OUTB A3 95 N.C. 4 21 N.C. 2 7S LB RC 5 20 D0 56 °C 1.5 /W GROUND 6 19 GROUND GROUND 7 18 GROUND 1 D3 8 17 SENSE VCC 9 16 N.C. 0.5 PHASE 10 15 OUTA D2 11 14 N.C. 0 −20 0 20 40 60 80 100 N.C. 12 13 D1 Ambient temperature Ta (°C) 94 A3957SLB

2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) A3957SLB sElectrical Characteristics (Unless specified otherwise, T a=25°C, VBB=5V to 50V, VCC=4.5V to 5.5V) Limits Parameter Symbol Conditions Units min typ max Power outputs (OUTA or OUTB) Load supply voltage range VBB Operating, IO=±1.5A, L=3mH Vcc 50 V V O=VBB <1.0 50 µA Output leakage current ICEX VO =0V < −1.0 −50 µA VSENSE=1.0V : Source Driver, IO=−0.85A 1.0 1.2 V VSENSE=1.0V : Source Driver, IO=−1.5A 1.4 1.5 V Output saturation voltage V CE (sat) VSENSE=1.0V : Sink Driver, IO =0.85A 0.5 0.7 V VSENSE=1.0V : Sink Driver, IO =1.5A 1.2 1.5 V Sense current offset ISO IS−IO, IO=0.85A, VS =0V, VCC=5V 20 30 40 mA IF=0.85A 1.2 1.4 V Clamp diode forward voltage VF IF=1.5A 1.5 1.7 V IBB (ON) 2.0 4.0 mA Motor supply current (No load) IBB (OFF) D0 =D1 =D2 =D3 =0.8V 1.0 50 µA Control logic Logic supply voltage range VCC Operating 4.5 5.0 5.5 V Reference voltage range V REF Operating 0.5 2.5 V UVLO enable threshold VUVLOen V CC=0→5V 3.35 3.70 4.05 V UVLO hysteresis VUVLOhys 0.25 0.40 0.55 V ICC (ON) 42 50 mA Logic supply current ICC (OFF) D0 =D1 =D2 =D3 =0.8V 14 17 mA V IH 2.0 V Logic input voltage VIL 0.8 V IIH VIN =2.0V <1.0 20 µA Logic input current IIL VIN =0.8V < −2.0 −200 µA Slow Decay Mode 3.5 V Mixed Decay comparator trip point V PFD Mixed Decay Mode 1.2 2.9 V Fast Decay Mode 0.8 V Mixed Decay comparator input offset voltage VIO (PFD) 0 ±20 mV Mixed Decay compartor hysteresis ∆V IO (PFD) 5 25 55 mV Reference input current IREF VREF=0V to 2.5V ±5.0 µA Reference divider ratio VREF /VS at trip, D0=D1 =D2 =D3 =2V 3.0 VREF =1.0V to 2.5V ±3.0 % DAC accuracy *1 DACERR VREF =0.5V to 1.0V ±4.0 % Current-sense comparator input offset voltage *1 VIO (S) VREF =0V −16 mV D1=D 2=D3 =0.8V 0 % D0 =0.8V, D1 =2.0V, D2 =D3 =0.8V 17.4 % D 0=D1 =2.0V, D2=D 3=0.8V 26.1 % D0=D 1=0.8V, D2=2V, D3 =0.8V 34.8 % D0 =2.0V, D1 =0.8V, D2=2.0V, D3=0.8V 43.5 % D0 =0.8V, D1 =D2 =2.0V, D3 =0.8V 52.2 % D 0=D1 =D2 =2.0V, D3=0.8V 60.9 % Step reference current ratio SRCR D 0=D1 =D2 =0.8V, D3=2.0V 69.6 % D0 =2.0V, D1 =D2 =0.8V, D3 =2.0V 73.9 % D0=0.8V ,D1 =2.0V, D2 =0.8V, D3=2.0V 78.3 % D0 =D1=2.0V, D2 =0.8V, D3 =2.0V 82.6 % D 0=D1 =0.8V, D2=D 3=2.0V 87.0 % D0 =2.0V, D1 =0.8V, D2 =D3 =2.0V 91.3 % D 0=0.8V, D1=D 2=D 3=2.0V 95.7 % D0 =D1 =D2 =D3 =2.0V 100 % Thermal shutdown temperature Tj 165 °C Thermal shutdown hysteresis ∆T j 15 °C AC timing PWM RC fixed off-time tOFFRC C T=470pF, RT=43kΩ 18.2 20.2 22.3 µS Current-Sense Comparator Trip to Source OFF, 1.0 1.5 µS IO=0.1A PWM turn-off time tPWM (OFF) Current-Sense Comparator Trip to Source OFF, 1.4 2.5 µS IO=1.5A IRC Charge ON to Source ON, IO=0.1A 0.4 0.7 µS PWM turn-on time tPWM (ON) IRC Charge ON to Source ON, IO=1.5A 0.55 0.85 µS VCC=5.0V, RT≥43kΩ, CT=470pF, PWM minimum on-time tON (min) 1.0 1.6 2.2 µS IO=0.1A Crossover dead time tCODT 1kΩ Load to 25V 0.3 1.5 3.0 µS *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. q“typ” values are for reference. A3957SLB 95

2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) A3957SLB sInternal Block Diagram MOTOR VBB SUPPLY UVLO CBB AND TSD OUTA OUTB PHASE CONTROL LOGIC VCC AND LEVEL SHIFT − BLANKING DECAY MODE SENSE TIME AND + CONTROL RS DRIVER PFD TOFF − CONTROL REF + 16 LEVEL D3 (000X) DAC D2 GND RC D0 D1 RT CT sTruth Table Power Outputs D3, D2, D1, D0 PHASE OUTA OUTB PFD Power Output Operating Mode 0000 or 0001 X Z Z X Disable ≥3.5V Forward, slow current-decay mode 1XXX H H L 1.2V to 2.9V Forward, mixed current-decay mode or ≤0.8V Forward, fast current-decay mode X1XX ≥3.5V Reverse, slow current-decay mode or L L H 1.2V to 2.9V Reverse, mixed current-decay mode XX1X ≤0.8V Reverse, fast current-decay mode X: Don’t care High impedance (source and sink both OFF) DAC D3 D2 D1 D0 DAC [%] D3 D2 D1 D0 DAC [%] 1 1 1 1 100 0 1 1 1 60.9 1 1 1 0 95.7 0 1 1 0 52.2 1 1 0 1 91.3 0 1 0 1 43.5 1 1 0 0 87.0 0 1 0 0 34.8 1 0 1 1 82.6 0 0 1 1 26.1 1 0 1 0 78.3 0 0 1 0 17.4 1 0 0 1 73.9 0 0 0 1 0 1 0 0 0 69.6 0 0 0 0 0 sApplication Circuit VBB Vcc + + CBB CCC 10 9 23 23 9 10 Phase1 Phase2 D10 20 20 D20 13 15 15 13 D11 D21 D12 11 11 D22 A3957SLB A3957SLB D13 8 22 22 8 D23 qOff-time setting : tOFF ≅R T • CT RT=36Ω (12kΩ to 100kΩ) REF1 3 3 REF2 6,7, 6,7, CT=560pF (470pF to 1500pF) 2 18,19 18,19 2 RS =0.51Ω (0.39Ω to 0.62Ω) PFD1 PFD2 5 17 17 5 CBB=100 µ F+0.1µ F CT1 CT2 CCC=0.1µ F VREF =0.5V to 2.5V RT1 Rs Rs RT2 VPFD =1.2V to 2.9V (Mixed current-decay mode) ≥3.5V (Slow current-decay mode) ≤0.8V (Fast current-decay mode) 96 A3957SLB

2-Phase Stepper Motor Bipolar Driver IC (4W1-2 Phase Excitation/Micro-step Support) A3957SLB sExternal Dimensions (Unit: mm) *1 24 24 19 10.0/10.65 7.40/7.60 7.40/7.60 0.40/1.27 1 1 1.27 0°/ 8° 0.33/0.51 0.33/0.51 BSC 15.2/15.6 0.23/0.32 SEATING 2.35/2.65 PLANE 0.10MIN q Pin material: copper, pin surface treatment: solder plating q Package index may be *1. q Allowable variation in distance between leads is not cumulative. q Web (batwing) type lead frames are used for pin 6, 7, 18, 19. The pins are connected to GND. A3957SLB 97

Star Connection/Delta Connection SI-7600/SI-7600D 3-Phase Stepper Motor Driver ICs sAbsolute Maximum Ratings Parameter Symbol Ratings Units Load supply voltage V BB 50 V Logic supply voltage VCC 7 V Input voltage VIN −0.3 to VCC V Reference input voltage V REF −0.3 to VCC V Sense voltage Vsense 1.5 V Package power dissipation PD 1 W Junction temperature Tj −20 to +85 °C Operating temperature Top +125 °C Storage temperature Tstg −55 to +125 °C sRecommended Operating Voltage Ranges (Ta=25°C) Parameter Symbol Ratings Units Load supply voltage V BB 15 to 45 V Logic supply voltage VCC 3 to 5.5 V Reference input voltage V REF 0.2 to Vcc−2 V sElectrical Characteristics Ratings Parameter Symbol Units Conditions min typ max Load supply voltage VBB 15 45 V Logic supply voltage V CC 3.0 5.5 V VOL1 8 15 V VOL2 0 1 V Output voltage VOH1 VBB−15 VBB−8 V VOH2 VBB−1 VBB V Load supply current IBB 25 mA VCC=5.5V Logic supply current ICC 10 mA VCC=5.5V VIH 3.75 V Logic input voltage VIL 1.25 V IIH 20 µA VIN=V CC×0.75 Logic input current IIL −20 µA VIN=V CC×0.25 200 Edge=0V Maximum clock frequency F kHz 100 Edge=VCC V Slow 1.7 VCC V PFD input voltage VMix 0.7 1.3 V V Fast 0.3 V PFD input current IPFD ±50 µA Reference input voltage VREF 0 V CC−2 V Reference input current IREF ±10 µA VREF=0~Vcc−2V V S1 V REF×0.2 V Mode=VCC, VREF =0~VCC−2V Sense voltage V S2 VREF×0.17 V Mode=0V, AVREF =0~VCC−2V RC source current IRC 220 µA Off time Toff 1.1×Rt ×Ct Sec. 98 SI-7600/SI-7600D

3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D sInternal Block Diagram/Diagram of Standard External Circuit + Vcc VBB C4 C2 + C7 C1 C3 Clock OHA CW/CCW OHB Control signal Reset OHC Control Pri- F/H OLA U Logic Buffer Ena OLB V Edge OLC W R5 Mode Current 1/5 Sense R1 REF Control Vcc Buffer MOS Array ex. SLA5017 at 4A max C5 R2 Rs SLA5059 at 4A max PFD RC GND SLA5060 at 6A max Vcc Io R3 SLA5061 at 10A max C6 R4 Ct Rt (Sanken) Reference constants Rs:0.1 to 1Ω C1:10 µ F/10V R1+R2≤10kΩ R5:10kΩ (1 to 5W) C2:100 µ F/63V (VREF:0.2 to VCC2-2V) Rt:15k to 75kΩ C3 to C6:0.01 to 1 µ F R3+R4≤10kΩ Ct:420p to 1100pF C7:1000pF (VPFD:0 to VCC2) sTerminal Connection The package shapes of SI-7600 and SI-7600D are different, however the terminal connection is the same. PFD RC Pin No. Name Pin No. Name Pin No. Name S VBB Vcc OHA Pin1 PFD Pin8 Full/Half Pin15 OLA Reset OHB Pin2 Sense Pin9 Enable Pin16 OHC CW/CCW OHA Pin3 Vcc Pin10 Mode Pin17 OHB EDGE OLA Pin4 Reset Pin11 REF Pin18 OHA CK OLB Pin5 CW/CCW Pin12 GND Pin19 V BB F/H OLC Pin6 Edge Pin13 OLC Pin20 RC Ena GND Pin7 Clock Pin14 OLB Mode REF sExternal Dimensions (Unless specified otherwise, all values are typical) (Units: mm) SI-7600 SI-7600D 12.6 24.50 20 11 20 11 6.30 5.5 1 10 1 10 0.89 1.30 1.27 max 7.62 max 2.2 0.8 max 7.8 2.54 min 5.08 max 0.51 min 1.27 0.4 0.7 2.54 0.48 0.25 0° to 15° SI-7600/SI-7600D 99

3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D Application Notes 1. Outline counter is reset. 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. FET array to drive a 3-phase stepper motor. Select the output- stage MOS FET according to the rated current of the motor. 4. 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. When the Mode terminal level is low IO≅VREF/(5×RS) 2. Features When the Mode terminal level is high q Suitable for both star connection drive and delta connection drive IO≅VREF/(5×RS)→ 3-phase excitation q Maximum load supply voltage VBB =45V IO≅VREF/(5.88×RS)→ 2-phase excitation q Control logic supply voltage Vcc=3 to 5.5V The reference voltage can be set within the range of 0.2V to Vcc −2V. q Supports star connection (2/2-3phase excitation) and delta (When the voltage is less than 0.2V, the accuracy of the refer- connection (3/2-3phase excitation) ence voltage divider ratio deteriorates.) q Step switching timing by clock signal input q Forward/reverse, hold, and motor-free control 5. About the Current Control System (Setting the q Step switching at the positive edge or positive/negative edge Constant Ct/Rt) of the clock signal The SI-7600 uses a current control system of the self-excitation q Control current automatic switching function for 2-3phase ex- type with a fixed chopping OFF time. citation (effective for star connection) The chopping OFF time is determined by the constant Ct/Rt. (Current control: 86% for 2-phase excitation, 100% for 3-phase The constant Ct/Rt is calculated by the formula excitation) TOFF≅1.1×Ct×Rt…… (1) q Self-excitation constant-current chopping by external C/R The recommended range of constant Ct/Rt is as follows: q Slow Decay, Mixed Decay, or Fast Decay selectable Ct: 420 to 1100pF q Two package lineup: SOP (surface mounting) and DIP (lead Rt: 15 to 75kΩ insertion) (Slow Decay or Mixed Decay →560pF/47kΩ, Fast Decay → SOP…SI-7600, DIP …SI-7600D 470pF/20kΩ) q Maximum output current depends on the ratings of the MOS Usually, set T OFF to a value where the chopping frequency be- FET array used comes about 30 to 40kHz. The mode can be set to Slow Decay, Fast Decay, or Mixed De- 3. Input Logic Truth Table cay depending on the PFD terminal input potential. Input terminal Low level High level PFD applied voltage and decay mode CW/CCW CW CCW PFD applied voltage Decay mode Full/Half 2-3phase excitation 2-phase excitation 0 to 0.3V Fast Decay Enable Disable Enable 0.7V to 1.3V Mixed Decay Mode 2-phase excitation: 85% 1.7V to Vcc Slow Decay Always 100% (Note 1) 3-phase excitation: 100% Edge In Mixed Decay mode, the Fast/Slow time ratio can be set using Positive Positive/negative (Note 2) the voltage applied to the PFD terminal. The calculated values Reset Internal logic reset are summarized below. Enable (Note 3) output disable In this mode, the point of switching from Fast Decay to Slow Decay is determined by the RC terminal voltage that determines Select CW/CCW, Full/Half, or Edge when the clock level is low. the chopping OFF time and by the PFD input voltage VPFD. Note 1: The control current is always 85% for the full step (2- Formula (1) is used to determine the chopping OFF time. phase excitation) when the Mode 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 1.5V) 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. the reference section. The Fast Decay time is Note 2: When the Edge terminal level is set high, the internal V PFD …… tOFFf ≅−R T×CT ×ln ( ) (2) counter increments both at the rising and falling edges. 1.5 Therefore, the duty ratio of the input clock should be set The Slow Decay time (tOFFs) is calculated by subtracting the value at 50%. of (2) from that of (1). Note 3: When the Reset terminal level is set high, the internal tOFFS≅TOFF−tOFFf ……(3) 100 SI-7600/SI-7600D

3-Phase Stepper Motor Driver ICs (Star Connection/Delta Connection) SI-7600/SI-7600D Relationship between RC terminal voltage and output current q Power loss of Nch MOS FETs Ton Toff The power loss of Nch MOS FETs is caused by the ON resis- ITrip tance or by the chopping-OFF regenerative current flowing IOUT through the body diodes. 1.5V (This loss is not related to the current control method, Slow, VPFD Mixed, or Fast Decay.) VRC The losses are 0.5V ON resistance loss N1: N1=IM2×RDS(ON) Fast Slow Decay Body diode loss N2: N2=IM×VSD Decay With these parameters, the loss PN per MOS FET is calculated depending on the actual excitation method as follows: 6. Method of Calculating Power Loss of Output a) 2-phase excitation (T=TON+T OFF) MOS FET PN=(N1+N2×T OFF/T)× (1/3) The SI-7600 uses a MOS-FET array for output. The power loss b) 2-3 phase excitation (T=TON+TOFF) of this MOS FET array can be calculated as summarized below. PN=(N1+N2×T OFF/T)×(1/4)+(0.5N1+N2×TOFF/T)×(1/12) This is an approximate value that does not reflect parameter qDetermining power loss and heatsink when SLA5017 is variations or other factors during use in the actual application. used Therefore, heat from the MOS FET array should actually be If the SLA5017 is used in an output section, the power losses of measured. a Pch MOS FET and an Nch MOS FET should be multiplied by q Parameters for calculating power loss three and added to determine the total loss P of SLA5017. To calculate the power loss of the MOS FET array, the following In other words, P=3×PP+3×PN parameters are needed: The allowable losses of SLA5017 are (1) Control current Io (max) Without heatsink: 5W θj-a=25°C/W (2) Excitation method Infinite heatsink: 35W θj-c=3.57°C/W (3) Chopping ON-OFF time at current control: TON, T OFF, tOFFf Select a heatsink by considering the calculated losses, allow- (TON: ON time, TOFF: OFF time, tOFFf: Fast Decay time at OFF) able losses, and following ratings: (4) ON resistance of MOS FET: RDS (ON) (5) Forward voltage of MOS FET body diode: VSD (W) For (4) and (5), use the maximum values of the MOS FET speci- 15 fications. (3) should be confirmed on the actual application. 10 Power dissipation P 0× q Power loss of Pch MOS FETs 10 10 0× The power loss of Pch MOS FETs is caused by the ON resis- 2m m tance and by the chopping-OFF regenerative current flowing Al he through the body diodes in Fast Decay mode. at 5 Wit sin (In Slow Decay mode, the chopping-OFF regenerative current hou k t he does not flow the body diodes.) ats ink The losses are ON resistance loss P1: P1=I M2×RDS (ON) 0 0 25 50 75 100 125 150 Body diode loss P2: P2=I M×V SD Ambient temperature Ta (°C) With these parameters, the loss Pp per MOS FET is calculated depending on the actual excitation method as follows: a) 2-phase excitation (T=T ON +TOFF) When selecting a heatsink for SLA5017, be sure to check the PP= (P1×TON/T+P2×tOFFf/T)× (1/3) product temperature when in use in an actual applicaiton. b) 2-3 phase excitation (T=TON +TOFF) The calculated loss is an approximate value and therefore con- PP= (P1×T ON/T+P2×tOFFf/T)×(1/4)+(0.5×P1×T ON/T+P2×tOFFf/ tains a degree of error. T)×(1/12) Select a heatsink so that the surface Al fin temperature of SLA5017 will not exceed 100°C under the worst conditions. SI-7600/SI-7600D 101

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 Disable CW CCW CK Reset Full/Half ED CW/CCW Ena OHA OHB OHC OLA OLB OLC 102 SI-7600/SI-7600D

SI-7600/SI-7600D 103

Pentagon Connection SI-7502 (SLA5011/SLA6503) 5-Phase Stepper Motor Driver ICs sAbsolute Maximum Ratings (Ta=25°C) Part No. Parameter Symbol Ratings Units Motor supply voltage V CC 44 V Auxiliary supply voltage VS 15 V Control voltage Vb 7 V SI-7502 Reference voltage Vref 1.5 V Detection voltage V RS 5 V Power dissipation PD 1 W Ambient operating temperature TOP 0 to +65 °C Drain -Source voltage VDSS 60 V Drain current ID ±5 A Avalanche energy capability (Single pulse) EAS 2 mJ SLA5011 Power dissipation PT 35 W Channel temperature Tch 150 °C Storage temperature Tstg −40 to +150 °C Collector-Base voltage V CBO −60 V Collector-Emitter voltage V CEO −60 V Emitter-Base voltage VEBO −6 V Collector current IC −3 A SLA6503 Collector current (Pulse) IC (pulse) −6 A Base current IB −1 A Power dissipation PT 35 W Junction temperature Tj 150 °C Storage temperature Tstg −40 to +150 °C sElectrical Characteristics (Ta=25°C) Limits Part No. Parameter Symbol Units Conditions min typ max ICC 40 mA VCC=42V, Vb=5.5V Supply current IS 12.5 mA VS =12.5V Ib 50 mA Vb =5.5V Input current IIU-L , IIL-L 1.6 mA VIU=V IL=0.4V IOU -on 8 11 mA Vb =5V, AIU to EIU pin open SI-7502 Upper drive circuit drive current IOU-off 10 µA Vb =5V VOL-on VS −1.5 V Vb =5V, AIL to EIL pin open Lower drive circuit voltage VOL-off 1.5 V Vb =5V Oscillation frequency F 20 30 kHz Vb =5V Detection voltage V RS 0.8 1.05 V Vb =5V, VREF pin open Gate threshold voltage VTH 2.0 4.0 V VDS =10V, ID=250 µ A Forward Transconductance Re (yts) 2.2 3.3 S VDS =10V, ID=5A DC ON-resistance RDS (ON) 0.17 0.22 Ω VGS=10V, ID=5A SLA5011 Input capacitance CISS 300 pF VDS =25V, f=1.0MHz,V GS=0V Output capacitance COSS 160 pF Di forward voltage between source and drain V SD 1.1 1.5 V ISD=5A Di reverse recovery time between source and drain trr 150 ns ISD=±100mA Collector cut-off current ICBO −10 µA VCB =−60V Collector-emitter voltage VCEO −60 V IC=−10mA SLA6503 DC current gain hFE 2000 VCE =−4V, IC=−3A Collector emitter saturation voltage VCE (sat) 1.5 V IC=−3A, IB =−6mA 104 SI-7502 (SLA5011/SLA6503)

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

5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) sDiagram of Standard External Circuit C1 : 100 µ F/63V VS (12V) VB (5V) C2 : 50 µ F/25V C3 : 10 µ F/10V VCC (15~42V) C4 : 470pF C3 + C 1 + C2 + R1 : 1kΩ Di : RK-34 (Sanken) 1 26 27 A0 7407 1 12 Aiu 25 24 2 3 B0 SLA6503 Biu 22 23 4 5 Ciu 17 16 6 7 C0 Excitation signal input Diu 14 15 8 9 Eiu 6 7 10 11 7406 SI-7502 Stepper Motor Ail 21 20 2 3 SLA5011 Bil 18 19 4 5 Cil 13 12 6 7 Dil 10 11 8 9 D0 Eil 9 8 10 11 E0 1 12 Active High 2 3 5 4 IO IO (typ) = 0.92/RS RX R1 IOPD (typ) = (1.3×a−0.01) / Rs a = Vb×R' / (30000+R') R' = 5100×Rx / (5100+Rx) PD C4 RS Di sExternal Dimensions (Unit: mm) sExternal Dimensions (Unit: mm) SI-7502 SLA6503/SLA5011 31.0±0.2 ±0.15 ±0.2 8(max) φ 3.2 24.4±0.2 3.2±0.15× 3.8 4.8 16.4±0.2 1.7±0.1 41 (max) Pin-1 marking 9.5min (10.4) 16.0±0.2 (White dots) 13.0±0.2 0.8 max 9.9±0.2 8.5max. Part No. Part No. Lot No. R 30 (max) 2.7 Lot No. R Pin 1 12 −0.5 3.5 +1 1.2±0.15 0.85+0.2 −0.1 0.55+0.2 −0.1 2.2±0.7 27pin 26pin 1.45±0.15 11×P2.54 =27.94±1.0 0.5 +0.15 −0.05 ±0.7 P1.27±0.7 × 26=33.02 # 0.3 +0.15 −0.05 1pin 27pin # 2.54±0.6 31.5max. R : 0.3mm 1 2 3 4 5 6 7 8 9 10 11 12 (Note) Dimensions marked with a # indicate dimensions of lead tip. 106 SI-7502 (SLA5011/SLA6503)

5-Phase Stepper Motor Driver ICs (Pentagon Connection) SI-7502 (SLA5011/SLA6503) Application Notes sDetermining the Output Current IO Fig. A (Control Current) The main factors that determine the output current are current IOH sense resistor RS, supply voltage Vb, and variable current resis- O tor RX. Waveform of output current (1) Normal mode To operate a motor at the maximum current level, set RX to Fig. B Output current vs. Current sense resistor infinity (open). (A) From Fig. A, when the maximum current ripple is designated 0.212×Vb−0.01 IOH(max)= as IOH, its value will be, 3 Rs VRSH 2 0.169×Vb−0.03 IOH= ...................................................................... (1) IOH(min)= Output current IOH Rs RS VRSH can be calculated as follows: 1 VRSH=0.19×Vb−0.03 (center value) ............................... (2) IOH(max) (Vb=5V) 0.5 From equations (1) and (2), the output current IOH can be IOH(min) (Vb=5V) calculated as follows: 0.2 1 IOH= (0.19×Vb×-0.03) RS 1 2 3 4 5 (Ω) The relationship between IOH and RS is shown in Fig. B. Sense resistor Rs (2) Power down mode When an external resistor RX is connected, VRSH changes as Fig. C Sense voltage vs. Variable current resistor shown in Fig. C even when RS is retained. Obtain a power (V) down output current IOHPD from Fig. C and equation (1). 7.2×RX 1.0 VRSH (max)= ×Vb−0.01 152.6+33.8×RX sRelation between Output Current I O (Control Sense voltage VRSH 6.1×RX 0.8 VRSH (min)= ×Vb−0.03 152.6+33.8×RX V) Current) and Motor Winding Current IOM =5 =5 V) Vb )( b (V The SI-7502 uses the total current control system; therefore, 0.6 (m ax (m in ) SH H VR RS the output current IO is different from the motor winding current. V In a general pentagonal driving system, the current flows as 0.4 shown in Figure D. The relation between IO and IOM is as follows: 0.2 IO=4×IOM With some driving systems, the relation can also be as follows: IO=2×IOM 0.5 1 2 5 10 20 (KΩ) Variable current resistor Rx Fig. D Coil current flow at pentagonal driving IOM IOM 2×IOM IOM IOM 2×IOM VCC to SI-7502 Sense resistor Rs 4×IOM SI-7502 (SLA5011/SLA6503) 107

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

SI-7502 (SLA5011/SLA6503) 109

Stepper Motor Driver ICs List of Discontinued Products sDiscontinued Products sNot for new design Part No. Substitute Part No. Substitute SI-7200E − SI-7115B SLA7032M SI-7201A − SI-7300A SLA7032M SI-7202A − SI-7330A SLA7033M SI-7230E − SI-7200M A2918SW SI-7235E − SI-7230M − SDK01M SDK03M SI-7500A − SMA7022M SMA7022MU SLA7022M SLA7022MU SLA7027M SLA7027MU 110 List of Discontinued Products

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