E-L6219DS - STMICROELECTRONICS

September 2008 Rev 13 1/16

L6219

Stepper motor driver

Features

■Able to drive both windings of bipolar stepper

motor

■Output current up to 750 mA each winding

■Wide voltage range: 10 V to 46 V

■Half-step, full-step and microstepping mode

■Built-in protection diodes

■Internal PWM current control

■Low output saturation voltage

■Designed for unstabilized motor supply voltage

■Internal thermal shutdown

Description

The L6219 is a bipolar monolithic integrated

circuits intended to control and drive both winding

of a bipolar stepper motor or bidirectionally control

two DC motors.

The L6219 with a few external components form a

complete control and drive circuit for LS-TTL or

microprocessor controlled stepper motor system.

The power stage is a dual full bridge capable of

sustaining 46V and including four diodes for

current recirculation.

A cross conduction protection is provided to avoid

simultaneous cross conduction during switching

current direction.

An internal pulse-width-modulation (PWM)

controls the output current to 750 mA with peak

startup current up to 1 A.

Wide range of current control from 750 mA (each

bridge) is permitted by means of two logic inputs

and an external voltage reference. A phase input

to each bridge determines the load current

direction. A thermal protection circuitry disables

the outputs if the chip temperature exceeds safe

operating limits.

PDIP24 (20+2+2) SO24 (20+2+2)

Table 1. Device summary

Part number Package Packing

E-L6219 PDIP24 Tube

E-L6219DS SO24 Tube

E-L6219DS013TR SO24 Tape & reel

www.st.com

Contents L6219

2/16

Contents

1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.1 Input logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.3 Current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.4 Single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.5 Output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.6 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3 Application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

L6219 List of tables

3/16

List of tables

Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Table 2. Absolute maximum rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table 3. Pin functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 4. Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Table 5. Electrical characteristcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Table 6. Current levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 7. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

List of figures L6219

4/16

List of figures

Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Figure 2. SO24/PDIP24 pins connection (top view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Figure 3. Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Figure 4. Principle operating sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Figure 5. Typical application circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Figure 6. SO24 mechanical data and package dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Figure 7. PDIP24 mechanical data and package dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

L6219 Block diagram

5/16

1 Block diagram

Figure 1. Block diagram

Table 2. Absolute maximum rating

Parameter Description Value Unit

VsSupply voltage 50 V

IOOutput current (peak) ±1 A

IOOutput current (continuous) ±0.75 A

Vss Logic supply voltage 7 V

Vin Logic input voltage range -0.3 to +7 V

Vsense Sense output voltage 1.5 V

TjJunction temperature +150 °C

Top Operating temperature range -20 to +85 °C

Tstg Storage temperature range -55 to +150 °C

Block diagram L6219

6/16

Figure 2. SO24/PDIP24 pins connection (top view)

Table 3. Pin functions

Pin # Name Description

1, 2 Output A See pins 5, 21

3, 23 Sense resistor Connection to lower emitters of output stage for insertion of

current sense resistor

4, 22 Comparator input

Input connected to the comparators. The voltage across the

sense resistor is feedback to this input throught the low pass

filter RC CC. The higher power transistors are disabled

when the sense voltage exceeds the reference voltage of

the selected comparator. When this occurs the current

decays for a time set by RT CT (toff = 1.1 RT CT). See

Figure 3.

5, 21 Output B

Output connection. The output stage is a H bridge formed

by four transistors and four diodes suitable for switching

applications

6, 19 Ground See pins 7, 18

7, 18 Ground Ground connection. With pins 6 and 19 also conducts heat

from die to printed circuit copper

8, 20 Input 0 See Input 1 (pins 9, 17)

9, 17 Input 1

These pins and pins 8, 20 (input 0) are logic inputs which

select the outputs of the comparators to set the current

level. Current also depends on the sensing resistor and

reference voltage. See functional description

L6219 Block diagram

7/16

Note: ESD on GND, VS, VSS, OUT 1 A and OUT 2 A is guaranteed up to 1.5 KV (human body

model, 1500 W, 100 pF).

Figure 3. Timing diagram

10, 16 Phase

This TTL-compatible logic inputs sets the direction of

current flow through the load. A high level causes current to

flow from output A (source) to output B (sink). A schmitt

trigger on this input provides good noise immunity and a

delay circuit prevents output stage short circuits during

switching

11, 15 Reference voltage

A voltage applied to this pin sets the reference voltage of the

comparators, this determining the output current (also thus

depending on Rs and the two inputs input 0 and input 1)

12, 14 RC

A parallel RC network connected to this pin sets the OFF

time of the higher power transistors. The pulse generator is

a monostable triggered by the output of the comparators

(toff = 1.1 RT CT)

13 VSS - Logic supply Supply voltage input for logic circuitry

24 VS - Load supply Supply voltage input for the output stages

Table 3. Pin functions (continued)

Pin # Name Description

Table 4. Thermal data

Parameter Description PDIP SO Unit

Rthj-case Thermal resistance junction-case max. 14 18 °C/W

Rthj-amb Thermal resistance junction-ambient max. 60 (1)

1. With minimized copper area.

75 (1) °C/W

Block diagram L6219

8/16

Table 5. Electrical characteristcs

(

= 25 °C, V

= 46 V, V

= 4.75 V to 5.25 V, V

REF

= 5 V, unless otherwise

specified

)

See Figure 5

Parameter Description Test condition Min. Typ. Max. Unit

Output drivers (OUT

or OUT

)

Motor supply range 10 46 V

CEX

Output leakage current V

OUT

= Vs,

OUT

= 0

<-1

-50

μA

CE(sat)

Output saturation voltage

Sink driver, I

OUT

= +500 mA

Sink driver, I

OUT

= +750 mA

Source driver, I

OUT

= -500 mA

Source driver, I

OUT

= -750 mA

0.3

0.7

1.1

1.3

0.6

1.4

1.6

Clamp diode leakage

current V

= 50 V - <1 50 μA

Clamp diode forward

voltage

Sink diode

Source diode I

= 750 mA

1.5

S(on)

Driver supply current Both bridges ON, no load - 8 15 mA

S(off)

Driver supply current Both bridges OFF - 6 10 mA

Control logic

IN(H)

Input voltage All inputs 2.4 - - V

IN(L)

Input voltage All inputs - - 0.8 V

IN(H)

Input current V

= 2.4 V - <1 20 μA

IN(L)

Input current V

= 0.84 V - -3 -200 μA

REF

Reference voltage Operating (1)

1. To reduce the switching losses the base bias of the bridge's low side NPN transistor is proportional to the

DAC output, then the output current driving capability is also proportional to the DAC output voltage, having

as reference 750 mA with VREF = 5 V and DAC =100%. For example using VREF = 2 V and DAC = 67% the

output maximum current driving capability will become 750 mA*(2V*0.67)/(5V*1) = 200 mA.

1.5 - 7.5 V

SS(ON)

Total logic supply current I

= I

= 0.8 V, no load - 64 74 mA

SS(OFF)

Total logic supply current I

= I

= 2.4 V, no load - 10 14 mA

Comparators

REF

/ V

sense

Current limit threshold (at

trip point)

= I

= 0.8 V 9.5 10 10.5 -

= 2.4 V, I

= 0.8 V 13.5 15 16.5 -

= 0.8 V, I

= 2.4 V 25.5 30 34.5 -

off

Cutoff time R

= 56 KΩ C

= 820 pF - 50 μs

Turn off delay Figure 3 -1 μs

Protection

Thermal shutdown

temperature -170-°C

L6219 Functional description

9/16

2 Functional description

The circuit is intended to drive both windings of a bipolar stepper motor.

The peak current control is generated through switch mode regulation. There is a choice of

three different current levels with the two logic inputs I01 - I11 for winding 1 and I02 - I12 for

winding 2.

The current can also be switched off completely.

2.1 Input logic (I0 and I1)

The current level in the motor winding is selected with these inputs. (See Figure 4). If any of

the logic inputs is left open, the circuit will treat it has a high level input.

2.2 Phase

This input determines the direction of current flow in the windings, depending on the motor

connections. The signal is fed through a schmidt-trigger for noise immunity, and through a

time delay in order to guarantee that no short-circuit occurs in the output stage during

phase-shift. High level on the phase input causes the motor current flow from out A through

the winding to out B.

2.3 Current sensor

This part contains a current sensing resistor (RS), a low pass filter (RC, CC) and three

comparators. Only one comparator is active at a time. It is activated by the input logic

according to the current level chosen with signals Io and I1. The motor current flows through

the sensing resistor RS. When the current has increased so that the voltage across RS

becomes higher than the reference voltage on the other comparator input, the comparator

goes high, which triggers the pulse generator.

The max peak current Imax can be defined by:

Table 6. Current levels

I0 I1 Current level

H H No current

L H Low current 1/3 IO max

H L Medium current 2/3 IO max

L L Maximum current IO max

Imax

Vref

10Rs

-------------=

Functional description L6219

10/16

2.4 Single-pulse generator

The pulse generator is a monostable triggered on the positive going edge of the comparator

output. The monostable output is high during the pulse time, toff, which is determined by the

time components Rt and Ct.

toff = 1.1 · RtCt

The single pulse switches off the power feed to the motor winding, causing the winding

current to decrease during toff. If a new trigger signal should occur during toff, it is ignored.

2.5 Output stage

The output stage contains four darlington transistors (source drivers) four saturated

transistors (sink drivers) and eight diodes, connected in two H bridge.

Figure 4. Principle operating sequence

The source transistors are used to switch the power supplied to the motor winding, thus

driving a constant current through the winding. It should be noted however, that is not

permitted to short circuit the outputs.

L6219 Functional description

11/16

Internal circuitry is added in order to increase the accuracy of the motor current particularly

with low current levels.

2.6 V

, V

Ref

The circuit will stand any order of turn-on or turn-off the supply voltages VS and VSS. Normal

dV/dt values are then assumed.

Preferably, VRef should be tracking VSS during power-on and power-off if VS is established.

Application informations L6219

12/16

3 Application informations

Some stepper motors are not designed for contin-uous operation at maximum current. As

the circuit drives a constant current through the motor, its temperature might increase

exceedingly both at low and high speed operation. Also, some stepper motors have such

high core losses that they are not suited for switch mode current regulation.

Unused inputs should be connected to proper voltage levels in order to get the highest noise

immunity. As the circuit operates with switch mode current regulation, interference

generation problems might arise in some applications. A good measure might then be to

decouple the circuit with a 100 nF capacitor, located near the package between power line

and ground. The ground lead between Rs, and circuit GND should be kept as short as

possible. A typical application circuit is shown in Figure 5. Note that Ct must be NPO type or

similar else. To sense the winding current, paralleled metal film resistors are recommended

(Rs).

Figure 5. Typical application circuit

L6219 Package information

13/16

4 Package information

In order to meet environmental requirements, ST offers these devices in ECOPACK®

packages. These packages have a Lead-free second level interconnect. The category of

second Level Interconnect is marked on the package and on the inner box label, in

compliance with JEDEC standard JESD97. The maximum ratings related to soldering

conditions are also marked on the inner box label.

ECOPACK is an ST trademark. ECOPACK specifications are available at: www.st.com.

Figure 6. SO24 mechanical data and package dimensions

OUTLINE AND

MECHANICAL DATA

DIM.

mm inch

MIN. TYP. MAX. MIN. TYP. MAX.

A 2.35 2.65 0.093 0.104

A1 0.10 0.30 0.004 0.012

B 0.33 0.51 0.013 0.200

C 0.23 0.32 0.009 0.013

(1)

15.20 15.60 0.598 0.614

E 7.40 7.60 0.291 0.299

e 1.27 0.050

H 10.0 10.65 0.394 0.419

h 0.25 0.75 0.010 0.030

L 0.40 1.27 0.016 0.050

k 0˚ (min.), 8˚ (max.)

ddd 0.10 0.004

(1) “D” dimension does not include mold flash, protusions or gate

burrs. Mold flash, protusions or gate burrs shall not exceed

0.15mm per side.

SO24

0070769 C

Weight: 0.60gr

Package information L6219

14/16

Figure 7. PDIP24 mechanical data and package dimensions

DIM. mm inch

MIN. TYP. MAX. MIN. TYP. MAX.

A 4.320 0.170

A1 0.380 0.015

A2 3.300 0.130

B 0.410 0.460 0.510 0.016 0.018 0.020

B1 1.400 1.520 1.650 0.055 0.060 0.065

c 0.200 0.250 0.300 0.008 0.010 0.012

D 31.62 31.75 31.88 1.245 1.250 1.255

E 7.620 8.260 0.300 0.325

e 2.54 0.100

E1 6.350 6.600 6.860 0.250 0.260 0.270

e1 7.620 0.300

L 3.180 3.430 0.125 0.135

M 0˚ min, 15˚ max.

PDIP 24 (0.300")

B eB1

SDIP24L

0034965 D

OUTLINE AND

MECHANICAL DATA

L6219 Revision history

15/16

5 Revision history

Table 7. Document revision history

Date Revision Changes

30-Oct-2001 7 First Issue on the EDOCS DMS.

11-May-2005 8 Changed the look & feel layout.

Modified Table 6 on page 9.

14-Sep-2005 9

Change in the Features sections:

Wide voltage range 10 V to 46 V

Output current up to 750 mA each winding.

19-Dec-2005 10 Corrected in the Ta bl e 5 the max. value of the V

REF

parameter from 2

V to 7.5 V.

28-Mar-2006 11 Corrected I

SS(ON)

values in the Ta bl e 5 .

18-Mar-2008 12 Document reformatted.

01-Sep-2008 13 Added note 1 in Table 5 on page 8.

L6219

16/16

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