L6219DSA Stepper motor driver Datasheet - production data Features Drives both windings of a bipolar stepper motor Output current up to 750 mA for 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 SO24 Description The L6219DSA is a bipolar monolithic integrated circuit intended to control and drive both windings of a bipolar stepper motor or bidirectionally control two DC motors. With only a few external components, the L6219DSA controls and drives the circuit for LSTTL or microprocessor-controlled stepper motor systems. The power stage is a dual full bridge sustaining 46 V and including four diodes for current recirculation. Table 1. 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. A wide range of current control from 750 mA (each bridge) is permitted by two logic inputs and an external voltage reference. A phase input to each bridge determines the load current direction. Thermal protection circuitry disables the outputs if the chip temperature exceeds safe operating limits. Device summary Order code Package Packing E-L6219DSA SO24 Tube E-L6219DSATR SO24 Tape and reel October 2012 This is information on a product in full production. Doc ID 4970 Rev 4 1/12 www.st.com 12 Contents L6219DSA Contents 1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1 Input logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 Current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.4 Single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.5 Output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.6 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3 Application information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4 Package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2/12 Doc ID 4970 Rev 4 L6219DSA 1 Block diagram Block diagram Figure 1. Block diagram AM15158v1 Table 2. Absolute maximum ratings Parameter Description Value Unit Vs Supply voltage 50 V IO Output current (peak) 1 A IO Output 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 Tj Junction temperature +150 C Top Operating temperature range -40 to +125 C Tstg Storage temperature range -55 to +150 C Doc ID 4970 Rev 4 3/12 Block diagram L6219DSA Figure 2. SO24 pin connection (top view) AM15159v1 Table 3. Pin # Name 1, 21 Output of bridge 1 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. 2, 5 Output of bridge 2 Output connection. The output stage is a H bridge formed by four transistors and four diodes suitable for switching applications. 6, 7, 18, 19 Ground Ground connection. They also conduct heat from die to printed circuit copper 8, 20 Input 0 See input 1 (pins 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 Section 2: Functional description. 10, 16 Phase These TTL-compatible logic inputs set 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 a 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) 9, 17 4/12 Pin functions Description See pins 2, 5 Doc ID 4970 Rev 4 L6219DSA Block diagram Table 3. Pin # 12, 14 13 24 Note: Pin functions (continued) Name Description 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) VSS - Logic supply Supply voltage input for logic circuitry VS - Load supply Supply voltage input for the output stages 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 AM15160v1 Table 4. Thermal data Parameter Rthj-case Rthj-amb Description Thermal resistance junction-case max. Thermal resistance junction-ambient max. PDIP Unit 18 C/W 75(1) C/W 1. With minimized copper area. Doc ID 4970 Rev 4 5/12 Block diagram L6219DSA Table 5. Electrical characteristcs (Tj = -40 C to -125 C, VS = 46 V, VSS = 4.75 V to 5.25 V, VREF = 5 V, unless otherwise specified) See Figure 5. Parameter Description Test condition Min. Typ. Max. Unit 10 - 46 V VS = 52 V VOUT = 50 V VS = 52 V VOUT = 1 V - 200 -200 A A Sink driver, IOUT= +500 mA Sink driver, IOUT = +750 mA Source driver, IOUT = -500 mA Source driver, IOUT = -750 mA - - 0.75 1.15 1.6 1.8 V V V V Output drivers (OUTA or OUTB) VS ICEX VCE(sat) Motor supply range Output leakage current Output saturation voltage VF Clamp diode forward voltage High stage IF =750 mA Low stage IF =750 mA - - 1.7 1.6 V V IS(on) Driver supply current Both bridges ON, no load - - 17 mA IS(off) Driver supply current Both bridges OFF - - 12 mA Control logic VIN(H) Input voltage All inputs 2.4 - - V VIN(L) Input voltage All inputs - - 0.8 V IIN(H) Input current VIN = 2.4 V - <1 20 A IIN(L) Input current VIN = 0.84 V - -3 -200 A VREF Reference voltage Operating(1) 1.5 - 7.5 V ISS(ON) Total logic supply current Io = I1 = 0.8 V, no load - - 76 mA ISS(OFF) Total logic supply current Io = I1 = 2.4 V, no load - - 15 mA Io = I1 = 0.8 V 9.5 10 10.5 - Io = 2.4 V, I1 = 0.8 V 13.5 15 16.5 - Io = 0.8 V, I1 = 2.4 V 25.5 30 34.5 - Rt = 56 K, Ct = 820 pF - 50 - s Figure 3 - 1 - s - 170 - C Comparators Current limit threshold (at VREF/ Vsense trip point) toff Cut off time td Turn off delay Protection TJ Thermal shutdown temperature 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*(2 V*0.67)/(5 V*1) = 200 mA. 6/12 Doc ID 4970 Rev 4 L6219DSA 2 Functional description 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 by these inputs. (See Figure 4). If any of the logic inputs is left open, the circuit treats it as a high level input. Table 6. 2.2 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 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. A 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, triggering the pulse generator. The max peak current Imax can be defined by: Equation 1 V ref I max = ------------10R s Doc ID 4970 Rev 4 7/12 Functional description 2.4 L6219DSA 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 AM15161v1 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. Internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels. 8/12 Doc ID 4970 Rev 4 L6219DSA 2.6 Application information VS, VSS, VRef The circuit withstands any order of turn-on or turn-off of 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. 3 Application information Some stepper motors are not designed for continuous 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 AM15162v1 Doc ID 4970 Rev 4 9/12 Package mechanical data 4 L6219DSA Package mechanical data In order to meet environmental requirements, ST offers these devices in different grades of ECOPACK(R) packages, depending on their level of environmental compliance. ECOPACK specifications, grade definitions and product status are available at: www.st.com. ECOPACK is an ST trademark. Table 7. SO24 mechanical data dimensions mm Dim. Min. Typ. A 2.35 2.65 A1 0.10 0.30 B 0.33 0.51 C 0.23 0.32 D 15.20 15.60 E 7.40 7.60 e 1.27 H 10.00 10.65 h 0.25 0.75 L 0.40 1.27 k 0 8 ddd Note: Max. 0.10 Dimension "D" does not include mold flash, protrusions or gate burrs. Mold flash, protrusions or gate burrs do not exceed 0.15 mm per side. Figure 6. SO24 mechanical data drawing 0070769 C 10/12 Doc ID 4970 Rev 4 L6219DSA 5 Revision history Revision history Table 8. Document revision history Date Revision Changes 12-Nov-1998 1 Initial release. 29-Apr-2008 2 Document reformatted 05-Sep-2008 3 Added note1. to Table 5. 24-Oct-2012 4 Changed the title of the document. Reformatted document to current standards. Minor text changes to improve the readability. Doc ID 4970 Rev 4 11/12 L6219DSA Please Read Carefully: Information in this document is provided solely in connection with ST products. STMicroelectronics NV and its subsidiaries ("ST") reserve the right to make changes, corrections, modifications or improvements, to this document, and the products and services described herein at any time, without notice. All ST products are sold pursuant to ST's terms and conditions of sale. Purchasers are solely responsible for the choice, selection and use of the ST products and services described herein, and ST assumes no liability whatsoever relating to the choice, selection or use of the ST products and services described herein. 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