A3982 DMOS Stepper Motor Driver with Translator Features and Benefits Description Low RDS(on) outputs Automatic current decay mode detection/selection Mixed and Slow current decay modes Synchronous rectification for low power dissipation Internal UVLO and thermal shutdown circuitry Crossover-current protection The A3982 is a complete stepper motor driver with builtin translator for easy operation. It is designed to operate bipolar stepper motors in full- and half-step modes, with an output drive capacity of up to 35 V and 2 A. The A3982 includes a fixed off-time current regulator which has the ability to operate in Slow or Mixed decay modes. The translator is the key to the easy implementation of the A3982. Simply inputting one pulse on the STEP input drives the motor one step. There are no phase sequence tables, high frequency control lines, or complex interfaces to program. The A3982 interface is an ideal fit for applications where a complex microprocessor is unavailable or is overburdened. The chopping control in the A3982 automatically selects the current decay mode (Slow or Mixed). When a signal occurs at the STEP input pin, the A3982 determines if that step results in a higher or lower current in each of the motor phases. If the change is to a higher current, then the decay mode is set to Slow decay. If the change is to a lower current, then the current decay is set to Mixed (set initially to a fast decay for a period amounting to 31.25% of the Package: 24 pin SOICW with internally fused leads (suffix LB) Continued on the next page... Not to scale Pin-out Diagram OUT2A 1 24 OUT1A SENSE2 2 23 SENSE1 22 VBB1 4 21 OUT1B ENABLE 5 20 DIR PGND 6 PGND 7 CP1 8 CP2 9 MS1 12 26184.28C 19 PGND 18 PGND 17 REF 16 STEP 15 VDD OSC VREG 11 Reg VCP 10 Translator & Control Logic 3 Charge Pump VBB2 OUT2B 14 ROSC 13 RESET A3982 DMOS Stepper Motor Driver with Translator Description (continued) fixed off-time, then to a slow decay for the remainder of the off-time). This current decay control scheme results in reduced audible motor noise, increased step accuracy, and reduced power dissipation. Internal synchronous rectification control circuitry is provided to improve power dissipation during PWM operation. Internal circuit protection includes: thermal shutdown with hysteresis, undervoltage lockout (UVLO), and crossover-current protection. Special power-on sequencing is not required. The A3982 is supplied in a 24-pin wide-body SOIC (package LB) with internally-fused power ground leads for enhanced thermal dissipation. It is lead (Pb) free, with 100% matte tin plated leadframe. Selection Guide Part Number Packing* A3982SLB-T 31 pieces per tube A3982SLBTR-T 1000 pieces per reel Package 24-pin Wide SOIC with pins 6 and 7, and 18 and 19, fused internally *Contact Allegro for additional packing options Absolute Maximum Ratings Rating Units Load Supply Voltage Characteristic VBB 35 V Logic Input Voltage VIN -0.3 to 7 V Sense Voltage Symbol Notes VSENSE 0.5 V Reference Voltage VREF 4 V Output Current IOUT 2 A -20 to 85 C Output 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 150C. Range S Operating Ambient Temperature TA Maximum Junction Temperature TJ(max) 150 C Tstg -55 to 150 C Storage Temperature Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 2 A3982 DMOS Stepper Motor Driver with Translator Functional Block Diagram 0.1 F 0.22 F VREG VDD Current Regulator ROSC CP1 CP2 Charge Pump OSC VCP 0.1 F REF DMOS Full Bridge DAC VBB1 OUT1A OUT1B PWM Latch Blanking Mixed Decay STEP DIR RESET SENSE1 Gate Drive Translator MS1 Control Logic DMOS Full Bridge RS1 VBB2 OUT2A OUT2B PWM Latch Blanking Mixed Decay ENABLE SENSE2 RS2 DAC VREF Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 3 A3982 DMOS Stepper Motor Driver with Translator ELECTRICAL CHARACTERISTICS1 at TA = 25C, VBB = 35 V (unless otherwise noted) Characteristics Output Drivers Load Supply Voltage Range Logic Supply Voltage Range Output On Resistance Min. Typ.2 Max. Units 8 3.0 - - - - - - - - - - 0.370 0.330 - - - - - - 35 5.5 0.460 0.380 1.2 1.2 4 2 8 5 V V V V mA mA mA mA VIN(1) VDDx0.7 - - V VIN(0) - - V A Symbol VBB VDD RDSON Body Diode Forward Voltage VF Motor Supply Current IBB Logic Supply Current IDD Test Conditions Operating Operating Source Driver, IOUT = -1.5 A Sink Driver, IOUT = 1.5 A Source Diode, IF = -1.5 A Sink Diode, IF = 1.5 A fPWM < 50 kHz Operating, outputs disabled fPWM < 50 kHz Outputs off Control Logic Logic Input Voltage Logic Input Current Input Hysteresis Blank Time IIN(1) IIN(0) VIN = VDDx0.7 VIN = VDDx0.3 VHYS(IN) tBLANK Fixed Off-Time tOFF Reference Input Voltage Range Reference Input Current VREF IREF Current Trip-Level Error3 errI Crossover Dead Time Protection Thermal Shutdown Temperature Thermal Shutdown Hysteresis UVLO Enable Threshold UVLO Hysteresis tDT OSC > 3 V ROSC = 25 k VREF = 2 V, %ITripMAX = 70.71% VREF = 2 V, %ITripMAX = 100.00% TJ TJHYS UVLO UVHYS VDD rising -20 <1.0 VDDx0.3 20 -20 <1.0 20 A 150 0.7 20 23 0 -3 - - 100 300 1 30 30 - 0 - - 475 500 1.3 40 37 4 3 5 5 800 mV s s s V A % % ns - - 2.35 0.05 165 15 2.7 0.10 - - 3 - C C V V 1Negative current is defined as coming out of (sourcing from) the specified device pin. 2Typical data are for initial design estimations only, and assume optimum manufacturing and application conditions. Performance may vary for individual units, within the specified maximum and minimum limits. I = (ITrip - IProg ) IProg , where IProg = %ITripMAX ITripMAX. 3err x Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 4 A3982 DMOS Stepper Motor Driver with Translator THERMAL CHARACTERISTICS Characteristic Symbol RJA Package Thermal Resistance Test Conditions* Value Units One-layer PCB, one-sided with copper limited to solder pads 77 C/W One-layer PCB, two-sided with copper limited to solder pads and 3.57 in.2 of copper area on each side, connected to PGND pins 45 C/W Four-layer PCB, based on JEDEC standard 35 C/W *Additional thermal information available on Allegro Web site. Power Dissipation versus Ambient Temperature 4.00 Power Dissipation, PD (W) 3.50 3.00 R J 2.50 A = 35 R J 2.00 1.50 A R JA 1.00 = 45 =7 C /W C /W 7 C /W 0.50 0 20 40 60 80 100 120 Temperature, TA (C) 140 160 Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 5 A3982 DMOS Stepper Motor Driver with Translator tA tB STEP tC tD MS1, RESET, or DIR Time Duration Symbol Typ. Unit STEP minimum, HIGH pulse width tA 1 s STEP minimum, LOW pulse width tB 1 s Setup time, input change to STEP tC 200 ns Hold time, input change to STEP tD 200 ns Figure 1. Logic Interface Timing Diagram Table 1. Stepping Resolution Truth Table MS1 Step Resolution Excitation Mode L Full Step 2 Phase H Half Step 1-2 Phase Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 6 A3982 DMOS Stepper Motor Driver with Translator Functional Description Device Operation. The A3982 is a complete stepper motor driver with a built-in translator for easy operation with minimal control lines. It is designed to operate bipolar stepper motors in full- and half-step modes. The currents in each of the two output full-bridges and all of the N-channel DMOS FETs are regulated with fixed off-time PMW (pulse width modulated) control circuitry. At each step, the current for each full-bridge is set by the value of its external currentsense resistor (RS1 or RS2), a reference voltage (VREF), and the output voltage of its DAC (which in turn is controlled by the output of the translator). At power-on or reset, the translator sets the DACs and the phase current polarity to the initial Home state (shown in figures 2 and 3), and the current regulator to Mixed Decay Mode for both phases. When a step command signal occurs on the STEP input, the translator automatically sequences the DACs to the next level and current polarity. (See table 2 for the current-level sequence.) The step resolution is set by input MS1, as shown in table 1. When stepping, if the new output levels of the DACs are lower than their previous output levels, then the decay mode for the active full-bridge is set to Mixed. If the new output levels of the DACs are higher than or equal to their previous levels, then the decay mode for the active full-bridge is set to Slow. This automatic current decay selection improves stepping performance by reducing the distortion of the current waveform that results from the back EMF of the motor. RESET Input (RESET). The RESET input sets the translator to a predefined Home state (shown in figures 2 and 3), and turns off all of the DMOS outputs. All STEP inputs are ignored until the RESET input is set to high. Step Input (STEP). A low-to-high transition on the STEP input sequences the translator and advances the motor one increment. The translator controls the input to the DACs and the direction of current flow in each winding. The size of the increment is determined by input MS1, as shown in table 1. Direction Input (DIR). This determines the direction of rotation of the motor. When low, the direction will be clockwise and when high, counterclockwise. Changes to this input do not take effect until the next STEP rising edge. Internal PWM Current Control. Each full-bridge is controlled by a fixed off-time PWM current control circuit that limits the load current to a desired value, ITRIP . Initially, a diagonal pair of source and sink DMOS outputs are enabled and current flows through the motor winding and the current sense resistor, RSx. When the voltage across RSx equals the DAC output voltage, the current sense comparator resets the PWM latch. The latch then turns off either the source DMOS FET (when in Slow Decay Mode) or the sink and source DMOS FETs (when in Mixed Decay Mode). The maximum value of current limiting is set by the selection of RSx and the voltage at the VREF pin. The transconductance function is approximated by the maximum value of current limiting, ITripMAX (A), which is set by ITripMAX = VREF / ( 8 x RS) where RS is the resistance of the sense resistor () and VREF is the input voltage on the REF pin (V). The DAC output reduces the VREF output to the current sense comparator in precise steps, such that Itrip = (%ITripMAX / 100) x ITripMAX (See table 2 for %ITripMAX at each step.) It is critical that the maximum rating (0.5 V) on the SENSE1 and SENSE2 pins is not exceeded. Fixed Off-Time. The internal PWM current control circuitry uses a one-shot circuit to control the duration of time that the DMOS FETs remain off. The one shot off-time, tOFF, Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 7 A3982 DMOS Stepper Motor Driver with Translator is determined by the selection of an external resistor connected from the ROSC timing pin to ground. If the ROSC pin is tied to an external voltage > 3 V, then tOFF defaults to 30 s. The ROSC pin can be safely connected to the VDD pin for this purpose. The value of tOFF (s) is approximately tOFF ROSC 825 Blanking. This function blanks the output of the current sense comparators when the outputs are switched by the internal current control circuitry. The comparator outputs are blanked to prevent false overcurrent detection due to reverse recovery currents of the clamp diodes, and switching transients related to the capacitance of the load. The blank time, tBLANK (s), is approximately tBLANK 1 s Charge Pump (CP1 and CP2). The charge pump is used to generate a gate supply greater than that of VBB for driving the source-side DMOS gates. A 0.1 F ceramic capacitor, should be connected between CP1 and CP2. In addition, a 0.1 F ceramic capacitor is required between VCP and VBB, to act as a reservoir for operating the high-side DMOS gates. VREG (VREG). This internally-generated voltage is used to operate the sink-side DMOS outputs. The VREG pin must be decoupled with a 0.22 F ceramic capacitor to ground. VREG is internally monitored. In the case of a fault condition, the DMOS outputs of the A3982 are disabled. Enable Input (ENABLE). This input turns on or off all of the DMOS outputs. When set to a logic high, the outputs are disabled. When set to a logic low, the internal control enables the outputs as required. The translator inputs STEP, DIR, and MS1, as well as the internal sequencing logic, all remain active, independent of the ENABLE input state. Shutdown. In the event of a fault, overtemperature (excess TJ) or an undervoltage (on VCP), the DMOS outputs of the A3982 are disabled until the fault condition is removed. At power-on, the UVLO (undervoltage lockout) circuit disables the DMOS outputs and resets the translator to the Home state. Mixed Decay Operation. The bridge can operate in Mixed Decay Mode, depending on the step sequence, as shown in figures 3 thru 5. As the trip point is reached, the A3982 initially goes into a fast decay mode for 31.25% of the off-time, tOFF. After that, it switches to Slow Decay Mode for the remainder of tOFF. Synchronous Rectification. When a PWM-off cycle is triggered by an internal fixed-off-time cycle, load current recirculates according to the decay mode selected by the control logic. This synchronous rectification feature turns on the appropriate FETs during current decay, and effectively shorts out the body diodes with the low DMOS RDSON. This reduces power dissipation significantly, and can eliminate the need for external Schottky diodes in many applications. Turning off synchronous rectification prevents the reversal of the load current when a zero-current level is detected. Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 8 A3982 DMOS Stepper Motor Driver with Translator STEP STEP 100.00 100.00 70.71 70.71 Slow Phase 1 IOUT1A Direction = H (%) 100.00 Phase 2 IOUT2A Direction = H (%) -100.00 100.00 70.71 Phase 2 IOUT2A Direction = H (%) 0.00 Slow Slow Slow Mixed Mixed Slow Slow Mixed 0.00 -70.71 -70.71 -100.00 -100.00 Figure 2. Decay Mode for Full-Step Increments Mixed 0.00 -70.71 70.71 Slow Mixed Home Microstep Position -100.00 Slow Mixed Home Microstep Position -70.71 Home Microstep Position 0.00 Home Microstep Position Phase 1 IOUT1A Direction = H (%) Slow Figure 3. Decay Modes for Half-Step Increments Table 2. Step Sequencing Settings Home step position at Step Angle 45; DIR = H Phase 1 Current Phase 2 Current [% ItripMax] [% ItripMax] (%) 100.00 (%) 0.00 Step Angle () 0.0 70.71 70.71 45.0 0.00 100.00 90.0 4 -70.71 70.71 135.0 5 -100.00 0.00 180.0 3 6 -70.71 -70.71 225.0 7 0.00 -100.00 270.0 4 8 70.71 -70.71 315.0 Full Step # Half Step # 1 1 2 3 2 Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 9 A3982 DMOS Stepper Motor Driver with Translator Pin List Table Name OUT2A Description Number DMOS Full Bridge 2 Output A 1 Sense resistor for Bridge 2 2 Load supply 3 DMOS Full Bridge 2 Output B 4 Logic input 5 PGND Power ground 6 PGND Power ground 7 CP1 Charge pump capacitor 1 8 CP2 Charge pump capacitor 2 9 VCP Reservoir capacitor 10 Regulator decoupling 11 MS1 Logic input 12 RESET Logic input 13 SENSE2 VBB2 OUT2B ENABLE VREG ROSC Timing set 14 VDD Logic supply 15 STEP Logic input 16 Current trip reference voltage input 17 PGND Power ground 18 PGND Power ground 19 Logic input 20 DMOS Full Bridge 1 Output B 21 Load supply 22 Sense resistor for Bridge 1 23 DMOS Full Bridge 1 Output A 24 REF DIR 1OUT1B VBB1 SENSE1 OUT1A Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 10 A3982 DMOS Stepper Motor Driver with Translator LB Package, 24-Pin Wide Body SOIC 15.400.20 4 4 24 +0.07 0.27 -0.06 2.20 10.300.33 7.500.10 A 1 24 9.60 +0.44 0.84 -0.43 2 1 2 0.65 0.25 24X SEATING PLANE 0.10 C 0.41 0.10 1.27 C SEATING PLANE GAUGE PLANE 1.27 B PCB Layout Reference View 2.65 MAX 0.20 0.10 For reference only Pins 6 and 7, and 18 and 19 internally fused Dimensions in millimeters (Reference JEDEC MS-013 AD) Dimensions exclusive of mold flash, gate burrs, and dambar protrusions Exact case and lead configuration at supplier discretion within limits shown A Terminal #1 mark area B Reference pad layout (reference IPC SOIC127P1030X265-24M) All pads a minimum of 0.20 mm from all adjacent pads; adjust as necessary to meet application process requirements and PCB layout tolerances Copyright (c)2005-2008, Allegro MicroSystems, Inc. The products described here are manufactured under one or more U.S. patents or U.S. patents pending. Allegro MicroSystems, Inc. reserves the right to make, from time to time, such departures from the detail specifications as may be required to permit improvements in the performance, reliability, or manufacturability of its products. Before placing an order, the user is cautioned to verify that the information being relied upon is current. Allegro's products are not to be used in life support devices or systems, if a failure of an Allegro product can reasonably be expected to cause the failure of that life support device or system, or to affect the safety or effectiveness of that device or system. The information included herein is believed to be accurate and reliable. However, Allegro MicroSystems, Inc. assumes no responsibility for its use; nor for any infringement of patents or other rights of third parties which may result from its use. For the latest version of this document, visit our website: www.allegromicro.com Allegro MicroSystems, Inc. 115 Northeast Cutoff Worcester, Massachusetts 01615-0036 U.S.A. 1.508.853.5000; www.allegromicro.com 11