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DRV8809, DRV8810
SLVS854E – JULY 2008 – REVISED DECEMBER 2014
DRV8809/10 Combination Motor Drivers With DC-DC Converters
1 Features
2 Applications
•
•
•
•
•
1
•
•
•
•
•
•
•
Configurable to Eight Modes of Combination
Motor Driver
– Bipolar Stepper Motor Driver
– 16-Step Current-Mode Control
– 800-mA Average Output Current as
Stepper Motor Drive
– DC Motor Driver
– 800-mA Maximum Continuous Current and
8-A/500-ns or 3-A/100-ms Peak Current for
Each DC Motor Drive
– Low ON resistance Rds(ON) = 0.55 Ω at
TJ = 25°C (Typ)
Three Integrated DC-DC Converters
– On/Off Selectable Using C_SELECT Pin and
Serial Interface
– Outputs Programmable With External Resistor
Network From 1.5 V to VDIN × 0.8
– 1.5-A Output Capability for All Three Channels
7-V to 40-V Operating Voltage Range for DC-DC
Converters
Two Serial Interfaces for Communications
Thermally Enhanced Surface-Mount 64-Pin QFP
PowerPAD™ Package
(Eco-Friendly – RoHS and No Sb/Br)
Power-Down Function (Deep-Sleep Mode)
Reset Signal Output (Active Low)
Reset (All Clear) Control Input
Printers
Document Scanners
POS
Copiers
3 Description
The DRV8809/DRV8810 provides an integrated
motor driver solution. The chip has four H-bridges
internally and is configurable to eight different modes
of combination motor driver control.
The output driver block for each H-bridge consists of
N-channel power MOSFETs configured as full Hbridges to drive the motor windings. The stepper
motor control has a 16-step mode programmable
through the 3-wire serial interface (SPI). The SPI
input pins are 3.3-V compatible and 5-V tolerant.
The DRV8809/DRV8810 has three DC-DC switchmode buck converters to generate a programmable
output voltage from 1.5 V to 80% of VDIN (channel A)
or up to 10 V (for channel B and channel C), with up
to 1.5-A load current capability. The outputs are
selected using the C_SELECT terminal at start-up or
using serial interface during operation.
An internal shutdown function is provided for
overcurrent protection (OCP), short-circuit protection,
overvoltage/undervoltage lockout (UVLO), and
thermal shutdown (TSD). Also, the device has a reset
function that operates at power on and at input to the
In-Reset pin.
Device Information(1)
PART NUMBER
DRV8809
PACKAGE
HTQFP (64)
DRV8810
BODY SIZE (NOM)
10.00 mm x 10.00 mm
(1) For all available packages, see the orderable addendum at
the end of the datasheet.
spacing
Block Diagram
RdsON vs Idrain
OUTA+
OD_A
DC/DC
convertor
Ch-A
Motor Drive
Output
Control A
1.1
VM
1
OUTA-
FBA
OUTB+
DC/DC
convertor
Ch-B
VM
0.9
Stepper
Motor
RSB
OUTBOUTSC+
FBB
Motor Drive
Output
Control C
VM
RSC
DC
Motor
RdsON (:)
Motor Drive
Output
Control B
OD_B
TJ=120qC
TJ=70qC
TJ=25qC
RSA
0.8
0.7
0.6
OD_C
OUTSC-
DC/DC
convertor
Ch-C
FBC
0.5
OUTSD+
Motor Drive
Output
Control D
VM
RSD
DC
Motor
0.4
0
0.5
1
1.5
2
Idrain (A)
2.5
3
3.5
D001
OUTSD1
An IMPORTANT NOTICE at the end of this data sheet addresses availability, warranty, changes, use in safety-critical applications,
intellectual property matters and other important disclaimers. PRODUCTION DATA.
DRV8809, DRV8810
SLVS854E – JULY 2008 – REVISED DECEMBER 2014
www.ti.com
Table of Contents
1
2
3
4
5
6
Features ..................................................................
Applications ...........................................................
Description .............................................................
Revision History.....................................................
Pin Configuration and Functions .........................
Specifications.........................................................
6.1
6.2
6.3
6.4
6.5
6.6
7
1
1
1
2
3
7
Absolute Maximum Ratings ...................................... 7
Handling Ratings....................................................... 7
Recommended Operating Conditions....................... 7
Thermal Information .................................................. 7
Electrical Characteristics........................................... 8
Typical Characteristics ............................................ 11
Detailed Description ............................................ 12
7.1 Overview ................................................................. 12
7.2 Functional Block Diagram ....................................... 13
7.3 Feature Description................................................. 14
7.4 Device Functional Modes........................................ 35
7.5 Register Maps ......................................................... 36
8
Application and Implementation ........................ 41
8.1 Application Information............................................ 41
8.2 Typical Application ................................................. 42
9 Power Supply Recommendations...................... 44
10 Layout................................................................... 44
10.1 Layout Guidelines ................................................. 44
10.2 Layout Example .................................................... 45
11 Device and Documentation Support ................. 46
11.1
11.2
11.3
11.4
11.5
Device Support......................................................
Related Links ........................................................
Trademarks ...........................................................
Electrostatic Discharge Caution ............................
Glossary ................................................................
46
46
46
46
46
12 Mechanical, Packaging, and Orderable
Information ........................................................... 46
4 Revision History
Changes from Revision D (May 2012) to Revision E
•
2
Page
Added Handling Rating table, Feature Description section, Device Functional Modes, Application and
Implementation section, Power Supply Recommendations section, Layout section, Device and Documentation
Support section, and Mechanical, Packaging, and Orderable Information section................................................................ 1
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Copyright © 2008–2014, Texas Instruments Incorporated
Product Folder Links: DRV8809 DRV8810
DRV8809, DRV8810
www.ti.com
SLVS854E – JULY 2008 – REVISED DECEMBER 2014
5 Pin Configuration and Functions
64
63
62
61
60
59
58
57
56
55
54
53
52
51
50
49
In-Reset
nSLEEP
CLK_AB
DATA_AB
CLK_CD
DATA_CD
OSCM_mon
LGND
nORT
STROBE_AB
(nc)
LOGIC_OUT
TH_OUT
STROBE_CD
(nc)
C_SELECT
PAP Package
64 Pins
Top View
Test-LGND
MGND
OUTA–
RSA
RSA
OUTA+
MGND
MGND
OUTB+
RSB
RSB
OUTB–
MGND
LGND
DCDC_MODE
FBC
48
47
46
45
44
43
42
41
40
39
38
37
36
35
34
33
GND
MGND
OUTD–
RSD
RSD
OUTD+
MGND
MGND
OUTC+
RSC
RSC
OUTC–
MGND
LGND
OD_A
OD_A
OD_C
OD_C
OD_B
OD_B
FBB
VCP
OSCD_mon
CP2
CP1
VDIN
VDIN
VDIN
VM
VREF_AB
VREF_CD
FBA
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Pin Functions
PIN
PULLUP/
PULLDOWN
SHUNT
RESISTOR
NO.
NAME IN
SETUP MODE
NAME IN
OPERATION
I/O
DESCRIPTION
1
Test-LGND
Test-LGND
-
Low power or analog ground
2
MGND
MGND
-
Power ground for motor
3
OUTA-
OUTA-
O
Motor-drive output for winding A–
4
RSA
RSA
I
Channel A current-sense resistor
5
RSA
RSA
I
Channel A current-sense resistor
6
OUTA+
OUTA+
O
Motor-drive output for winding A+
7
MGND
MGND
-
Power ground for motor
8
MGND
MGND
-
Power ground for motor
9
OUTB+
OUTB+
O
Motor-drive output for winding B+
10
RSB
RSB
I
Channel B current-sense resistor
11
RSB
RSB
I
Channel B current-sense resistor
12
OUTB-
OUTB-
O
Motor-drive output for winding B–
13
MGND
MGND
-
Power ground for motor
14
LGND
LGND
-
15
DCDC_MODE
DCDC_MODE
I
Low-power or analog ground
Up
200 kΩ
DC-DC Ch-B/Ch-C operation mode select
16
FBC
FBC
I
Feedback signal for DC-DC converter C
17
OD_C
OD_C
O
Output for DC-DC switch mode regulator C
18
OD_C
OD_C
O
Output for DC-DC switch mode regulator C
19
OD_B
OD_B
O
Output for DC-DC switch mode regulator B
20
OD_B
OD_B
O
Output for DC-DC switch mode regulator B
21
FBB
FBB
I
Feedback signal for DC-DC converter B
Copyright © 2008–2014, Texas Instruments Incorporated
Product Folder Links: DRV8809 DRV8810
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SLVS854E – JULY 2008 – REVISED DECEMBER 2014
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Pin Functions (continued)
PIN
NO.
4
NAME IN
SETUP MODE
NAME IN
OPERATION
I/O
PULLUP/
PULLDOWN
SHUNT
RESISTOR
DESCRIPTION
22
VCP
VCP
-
Charge pump capacitor
23
OSCD_mon
OSCD_mon
O
OSCD clock monitoring
24
CP2
CP2
-
Charge-pump bucket capacitor (high side)
25
CP1
CP1
-
Charge-pump bucket capacitor (low side)
26
VDIN
VDIN
Voltage supply for DC-DC converter
27
VDIN
VDIN
Voltage supply for DC-DC converter
28
VDIN
VDIN
29
VM
VM
-
Voltage supply for motors
30
VREF_AB
VREF_AB
I
Voltage reference for maximum stepper motor
current through A and B bridges
31
VREF_CD
VREF_CD
I
Voltage reference for maximum stepper motor
current through C and D bridges
Voltage supply for DC-DC converter
32
FBA
FBA
I
Feedback signal for DC-DC converter A
33
OD_A
OD_A
O
Output for DC-DC switch mode regulator A
34
OD_A
OD_A
O
Output for DC-DC switch mode regulator A
35
LGND
LGND
-
Low-power or analog ground
36
MGND
MGND
-
Power ground for motor
37
OUTC–
OUTC–
O
Motor-drive output for winding C–
38
RSC
RSC
I
Channel C current-sense resistor
39
RSC
RSC
I
Channel C current-sense resistor
40
OUTC+
OUTC+
O
Motor-drive output for winding C+
41
MGND
MGND
-
Power ground for motor
42
MGND
MGND
-
Power ground for motor
43
OUTD+
OUTD+
O
Motor-drive output for winding D+
44
RSD
RSD
I
Channel D current-sense resistor
45
RSD
RSD
I
Channel D current-sense resistor
46
OUTD–
OUTD–
O
Motor drive output for winding D–
47
MGND
MGND
-
Power ground for motor
48
GND
GND
-
Must be grounded
49
C_SELECT
C_SELECT
I
Up
200 kΩ
DC-DC converter selector
50
-
ENABLE_SD
I
Down
100 kΩ
Enable input for DC motor D control
50
-
Reserved
I
Down
100 kΩ
Reserved for DC motor operation
51
STROBE_CD
ENABLE_SC
I
Down
100 kΩ
Enable for DC motor C control
51
STROBE_CD
ENABLE_LCD
I
Down
100 kΩ
Enable for large DC motor CD control
51
STROBE_CD
STROBE_CD
I
Down
100 kΩ
Serial interface data strobe for H-bridge C, D
stepper motor drive (latch on rising edge)
52
TH_OUT
TH_OUT
O
Open drain
53
LOGIC OUT
LOGIC OUT
O
Open drain
54
-
Reserved
I
Down
100 kΩ
Reserved for four DC motor operation
54
-
ENABLE_SB
I
Down
100 kΩ
Enable for DC motor B control
55
STROBE_ AB
STROBE_ AB
I
Down
100 kΩ
Serial interface data strobe for H-bridge A, B
stepper motor drive (latch on rising edge)
55
STROBE_AB
ENABLE_LAB
I
Down
100 kΩ
Enable for large DC motor AB control
55
STROBE_AB
ENABLE_SA
I
Down
100 kΩ
Enable for DC motor A control
56
nORT
nORT
O
Open drain
57
LGND
LGND
-
58
OSCM_mon
OSCM_mon
O
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Temperature-sensing output
Protection-monitoring output
Reset output (open drain)
Low power or analog ground
Open drain
OSCM clock monitoring
Copyright © 2008–2014, Texas Instruments Incorporated
Product Folder Links: DRV8809 DRV8810
DRV8809, DRV8810
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SLVS854E – JULY 2008 – REVISED DECEMBER 2014
Pin Functions (continued)
PIN
NO.
NAME IN
SETUP MODE
NAME IN
OPERATION
I/O
PULLUP/
PULLDOWN
SHUNT
RESISTOR
59
DATA_CD
PHASE_SD
I
Down
100 kΩ
Serial input data for H-bridge C and D control
59
DATA_CD
DATA_CD
I
Down
100 kΩ
Serial input data for H-bridge C and D control
60
CLK_CD
PHASE_SC
I
Down
100 kΩ
Phase input for DC motor C control
60
CLK_CD
CLK_CD
I
Down
100 kΩ
Clock input synchronization for serial data CD
60
CLK_CD
PHASE_LCD
I
Down
100 kΩ
Phase input for large DC motor CD control
61
DATA_AB
DATA_AB
I
Down
100 kΩ
Serial input data for H-bridge A and B control
61
DATA_AB
PHASE_SB
I
Down
100 kΩ
Phase input for DC motor B control
62
CLK_AB
CLK_AB
I
Down
100 kΩ
Clock input synchronization for serial data AB
62
CLK_AB
PHASE_LAB
I
Down
100 kΩ
Phase input for large DC motor AB control
62
CLK_AB
PHASE_SA
I
Down
100 kΩ
Phase input for DC motor A control
63
nSLEEP=L
nSLEEP
I
Down
100 kΩ
Enable/disable (part can be in sleep state)
64
In-Reset
In-Reset
I
Up
200 kΩ
Reset (L: Reset, H/open: Normal operation)
DESCRIPTION
Alternate Functions of Select Pins By Operation Mode
CONFIG
PIN
50
51
54
55
59
60
61
62
Default Name
ENABLE_SD
ENABLE_SC
ENABLE_SB
STROBE_AB
PHASE_ SD
PHASE_SC
DATA_AB
CLK_AB
Dual Stepper
-
STROBE_CD
-
STROBE_AB
DATA_CD
CLK_CD
DATA_AB
CLK_AB
Stepper +
Large DC
-
ENABLE_LCD
-
STROBE_AB
-
PHASE_LCD
DATA_AB
CLK_AB
Stepper + Dual
Small DC
ENABLE_SD
ENABLE_SC
-
STROBE_AB
PHASE_SD
PHASE_SC
DATA_AB
CLK_AB
Large DC +
Dual Small DC
ENABLE_SD
ENABLE_SC
-
ENABLE_LAB
PHASE _SD
PHASE_SC
-
PHASE_LAB
Dual Large DC
-
ENABLE_LCD
-
ENABLE_LAB
-
PHASE_LCD
-
PHASE_LAB
Quad Small
DC
ENABLE_SD
ENABLE_SC
ENABLE_SB
ENABLE_SA
PHASE_SD
PHASE_SC
PHASE_SB
PHASE_SA
Large Stepper
-
STROBE_CD
-
STROBE_AB
DATA_CD
CLK_CD
DATA_AB
CLK_AB
Ultra-Large DC
-
-
-
ENABLE_UL
-
-
-
PHASE_UL
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Product Folder Links: DRV8809 DRV8810
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SLVS854E – JULY 2008 – REVISED DECEMBER 2014
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Internal
3.3v
supply
200k ohm
(+/- 40%)
1) Pin open ; 3.0 to 3.3v ; A /ON, B /ON, C /ON
Soft start
Control
2) External R to GND ( 200kO +/-10% );
1.3 to 2.0v ; DC_MODE Dependant
# C_SELECT
3) GND; 0.0 to 0.3v ; All off
GND
Internal
3.3v
supply
200k ohm
(+/- 40%)
# DCDC_MODE
# In-Reset
Hysteresis
Deglitch
Reset
Control
Deglitch is for In-Reset only
GND
# nSLEEP
# ENABLE_x
# STROBE_CD/ENABLE
# STROBE_AB/ENABLE
# DATA_CD/PHASE
# CLK_CD/PHASE
# DATA_AB/ENABLE
# CLK_AB/ENABLE
Hysteresis
Serial
Interface
100k ohm
(+/- 30%)
GND
GND
External
3.3v
supply
1k ohm
( external )
# Th_OUT
# LOGIC_OUT
# nORT
# OSCM_mon
# OSCD_mon
GND
Figure 1. Input Pin Configurations
External
3.3 V
supply
# Th_out
# Logic_out
# nORT
1 kW
(external)
# OSCM_mon
# OSCD_mon
GND
Figure 2. Open-Drain Output Pin Configurations
6
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Product Folder Links: DRV8809 DRV8810
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SLVS854E – JULY 2008 – REVISED DECEMBER 2014
6 Specifications
6.1 Absolute Maximum Ratings
over operating free-air temperature range (unless otherwise noted)
MIN
MAX
UNIT
50
V
Supply voltage (1)
VM
Logic input voltage range, serial I/F inputs, and reset
(2)
5.5
V
Continuous total power dissipation (θJA = 20°C/W)
–0.3
4
W
Continuous motor-drive output current for each H-bridge (100 ms)
3
A
Peak motor-drive output current for each H-bridge (500 ns)
TJ
8
A
Continuous DC-DC converter output current
1.5
A
Continuous DC-DC converter output current ODB, C in parallel mode
3.0
A
150
°C
260
°C
Operating junction temperature range (1 h)
0
Lead temperature 1.6 mm (1/16 in) from case for 10 s
(1)
(2)
Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings
only and functional operation of the device at these or any other conditions beyond those indicated under Recommended Operating
Conditions is not implied. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
The negative spike less than –5 V and narrower than 50-ns duration should not cause any problem.
6.2 Handling Ratings
Tstg
Storage temperature range
V(ESD)
(1)
(2)
Electrostatic discharge
Human body model (HBM), per ANSI/ESDA/JEDEC JS-001, all
pins (1)
Charged device model (CDM), per JEDEC specification
JESD22-C101, all pins (2)
MIN
MAX
UNIT
–65
150
°C
-2
2
-500
500
kV
V
JEDEC document JEP155 states that 500-V HBM allows safe manufacturing with a standard ESD control process.
JEDEC document JEP157 states that 250-V CDM allows safe manufacturing with a standard ESD control process.
6.3 Recommended Operating Conditions
MIN
NOM
MAX
18
27
40
V
7
27
40
V
Average output current for motor driver for each H-bridge
800
mA
DC output current for DC-DC converter
1.2
A
DC output current for DC-DC in Ch-B/C parallel mode
2.4
A
–40
50
°C
0
120
°C
Supply voltage, VM for motor control
Supply voltage for DC-DC converter (VDIN) (1)
Operating ambient temperature (2)
Operating junction temperature
(1)
(2)
UNIT
VDIN should be connected to VM externally.
If the total power is less than 4 W, then the operating ambient temperature range is -40°C to 60°C.
6.4 Thermal Information
DRV8809
THERMAL METRIC (1)
HTQFP
UNIT
64 PINS
RθJA
Junction-to-ambient thermal resistance
26.2
RθJC(top)
Junction-to-case (top) thermal resistance
12.6
RθJB
Junction-to-board thermal resistance
10.4
ψJT
Junction-to-top characterization parameter
0.3
ψJB
Junction-to-board characterization parameter
10.3
RθJC(bot)
Junction-to-case (bottom) thermal resistance
0.5
(1)
°C/W
For more information about traditional and new thermal metrics, see the IC Package Thermal Metrics application report, SPRA953.
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Product Folder Links: DRV8809 DRV8810
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6.5 Electrical Characteristics
TJ = 0°C to 120°C, VM = 7 V to 40 V (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNIT
SUPPLY (SLEEP) CURRENT
ISLEEP1
Supply (sleep) current 1
nSLEEP = L, DC-DC all off
4
5
mA
ISLEEP2
Supply (sleep) current 2
nSLEEP = L, VM = 8 V, Full duty cycle
7
10
mA
ISLEEP3
Supply (sleep) current 3
nSLEEP = L, VM = 40 V, Full duty cycle
8
10
mA
DIGITAL INTERFACE CIRCUIT
VIH
Digital high-level input voltage
Digital inputs (1)
IIH
Digital high-level input current
Digital inputs
VIL
Digital low-level input voltage
Digital inputs
0.8
V
IIL
Digital low-level input current
Digital inputs
100
μA
Vhys
Digital input hysteresis
Digital inputs
0.3
0.6
V
Tdegl
Digital input deglitch time
In-Reset
2.5
7.5
μs
2
0.45
5
V
100
μA
CHARGE-PUMP VCP (CP = 0.1 μF to 0.47 μF, Cbk = 0.01 μF ± 10%)
VO(CP)
Output voltage
f(CP)
Switching frequency
tstart
Start-up time
ILOAD = 0 mA,
VM > VthVM2
VM + 10
VM + 13
1.6
CStorage = 0.1 μF,
VM ≥ 16 V
V
MHz
0.5
2
ms
INTERNAL CLOCK OSCI
fOSCi
System clock frequency
5.76
6.4
7.04
MHz
VREF
Reference voltage input
0.8
2.5
3.6
V
Ileak-vr
Input leak current
1
μA
VREF INPUT
C_SELECT FOR DC-DC START-UP SELECTION (DCDC_MODE = L)
Vcs0
DC-DC all off
Vcs1
DC-DC all off
Pull down by external 200-kΩ resistor
Vcs2
Turn on ODA then ODB
and ODC
As pin open
0
0.3
V
1.3
2
V
3
3.3
V
0.3
V
1.3
2
V
3
3.6
V
C_SELECT FOR DC-DC START-UP SELECTION (DCDC_MODE = H OR OPEN, CH-B/C PARALLEL MODE)
Vcs0
DC-DC all off
0
Vcs1
Turn on ODB/C then ODA
Pull down by external 200-kΩ resistor
Vcs2
Turn on ODA then ODB/C
As pin open
THREE DC-DC CONVERTERS (2)
1.25 =
VO
VDINOPE
Operating supply voltage
Ratio to VOUT(DC)
VoutA = 1.5 V – 30 V,
VoutB/C = 1.5 V – 10 V,
Programmable with external
reference on FBX
× VDIN > 1.25 × Vout (largest)
20 V ≤ VDIN < 40 V
–3%
VO
3%
ODA
ODB
ODC
6.5 V ≤ VDIN < 20 V
–3%
VO
5%
–3%
VO
5%
VFB
FBX feedback voltage
For ODA/B/C
IO ODx
ODx output current (dc)
With external L and C
IO ODBC
ODBC output current (DC)
in Ch-B/Ch-C parallel mode
With external L and C DCDC_MODE = H
IO ODx2
Output current (dc) at low VDIN
VDIN = 7 V,
VO = 5 V
IO ODx3
Output current (dc) at low VDIN
VDIN = 7 V,
VO = 3.3 V
fOSCD
Switching (chopping frequency)
fOSCD = (0,0)
Rds(ON)
FET ON resistance at 0.8 A for
OD_x
TJ = 25°C
(1)
(2)
8
VthVM– < VDIN < 6.5 V,
VO ≤ 3.3 V
V
1.50
90
100
V
1.5
A
3
A
0.8
A
1.5
A
110
kHz
0.35
TJ = 120°C
0.50
Ω
Absolute maximum rating for charge-pump circuit is 60 V.
DCDC_MODE = H, Ch-B and Ch-C are in parallel driving mode.
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Electrical Characteristics (continued)
TJ = 0°C to 120°C, VM = 7 V to 40 V (unless otherwise noted)
PARAMETER
TEST CONDITIONS
5.5-V VO at VDIN = VthV_
5 V-Low
MIN
TYP
UNIT
4
VDIN = VthV_, VthV_ = 5-V load (dc)
= 0.5 A (3)
VO voltage to 5.5 V
V
–30%
VO voltage drop from VDIN
Vo_min6
MAX
1
VO setting without kick UVP
when VDIN = VthVM+
(VO setting at VDIN = 10 V)
VthVM+ = 6-V load (DC) = 0.5 A (4)
V
6
V
THREE DC-DC CONVERTER PROTECTION
IO DD ODx
Overcurrent detect for OD_x
source
Peak current in each ON cycle
tFILTOCP
OCP filtering time
By OSCi cycles
2
cycles
tODSD
DC-DC shutdown filter
Number of subsequent chopping cycles
with OCP detection
4
chop
cycles
Vovpx
Overvoltage protection (OVP)
Percentage of nominal Voutx detected at
VFB
25%
30%
35%
Vuvpx
Undervoltage protection (UVP)
Percentage of nominal Voutx detected at
VFB (VFB decreasing)
-25%
-30%
-35%
tVfilter
OVP/UVP filtering time
3
8
13
us
tsst
Start-up time with soft start
56
ms
Vstover
Start-up overshoot
1.8
3
Ratio to VO
A
3%
VM SUPERVISORY
VthVM–
nORT for VM low threshold
VM decreasing
4.5
5
6
V
VthVM+
nORT for VM high threshold
VM increasing
5.5
6
7
V
VthVMh
nORT for VM detect hysteresis
(VthVM+) - (VthV—)
0.5
1
VthVM2
For motor driver off
tVM filt
VM monitor filtering time
(5)
For VM threshold detect
10
V
15
V
30
μs
THERMAL SHUTDOWN (TSD)
TTSD
Thermal shutdown set points
150
170
190
°C
TEMPERATURE SENSE, PRE TSD (See Extended Setup Register Definition)
TTSD0
Temperature sense point 0
Register selectable,
Assert logic H at TH_OUT
130
150
170
°C
TTSD1
Temperature sense point 1
Register selectable,
Assert logic H at TH_OUT
120
140
160
°C
Tc_sens
TH_OUT (analog out)
temperature coefficient
Specified by design
6
mV/°C
RESET/NORT: OPEN-DRAIN OUTPUTS (NORT, LOGIC_OUT, TH_OUT)
VOH
High-state voltage
RL = 1 kΩ to 3.3 V
VOL
Low-state voltage
RL = 1 kΩ to 3.3 V
3
V
IOL
Low-state sink current
VO = 0.4 V
tr
Rise time
10% to 90%
1
μs
tf
Fall time
90% to 10%
50
ns
390
ms
0.3
3
V
mA
RESET/NORT DELAY: START-UP SEQUENCE
tord1
nORT delay 1
Reset deassertion from VthVM+ < VDIN for
DC-DC wake up falling
300
tord3
DC-DC turnon delay
From one DC-DC wake up to following
DC-DC to go soft-start sequence
1.7
tord4
nORT delay 4
Reset deassertion from 2nd DC-DC wake
up
120
(3)
(4)
(5)
ms
180
ms
Lower VDIN decrease gate drive and the voltage drop is increased. Specified by bench characterization only.
VOUT (at VDIN = VthVM+) is lower than VO setting. When VDIN is down to VthVM+, undervoltage protection (UVP) shuts down the
device, in case the VO is set as VO > 7 V. Specified by design.
No nORT assertion to VthVM2 detection
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Electrical Characteristics (continued)
TJ = 0°C to 120°C, VM = 7 V to 40 V (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNIT
5
10
μs
In-Reset
In-Reset assertion to nORT
assertion delay
treset
In-Reset falling to nORT failing
H-BRIDGE DRIVERS (OUTX+ AND OUTX–)
IOUT1(max)
Peak output current 1
Less than 500-ns period
8
A
IOUT2(max)
Peak output current 2
Less than 100-ms period
3
A
IOUT(max)
Average continuous output
current
0.8
A
Rds(ON)
FET ON resistance at 0.8 A
ICEX
Output leakage current
VOUTX = 0 V or 10 V
10
μA
IRS
Sense resistor supply current
nORT = Low
15
μA
IOC Motor
Motor overcurrent threshold for
each H-bridge (6)
5
A
tfilterM
Motor overcurrent filter time
2.5
5
8.5
μs
fOSCM
Motor oscillator frequency
F_OSCM = (0,0)
720
800
880
kHz
fchop
Motor chopping frequency
= fOSCM/8
F_OSCM = (0,0)
90
100
110
kHz
TJ = 25°C
0.55
TJ = 120°C
1
3
Ω
STEPPER MOTOR DRIVE (PARAMETERS ARE TESTED WITHOUT MOTOR LOADING)
ISTEPMOTORAVG
Average stepper motor current
for H-bridge
VM = 40 V
800
mA
ISTEPMOTORPeak
Peak stepper motor current
for H-bridge
VM = 40 V
1.3
A
Stepper motor current limit
threshold
(internal reference) (7)
VL16 , Phase angle = 90°
100%
VL15 , Phase angle = 84°
100%
VL14 , Phase angle = 79°
98%
VL13 , Phase angle = 73°
96%
VL12 , Phase angle = 68°
92%
VL11 , Phase angle = 62°
88%
VL10 , Phase angle = 56°
83%
VL9 , Phase angle = 51°
77%
VL8 , Phase angle = 45°
71%
VL7 , Phase angle = 40°
63%
VL6 , Phase angle = 34°
56%
VL5 , Phase angle = 28°
47%
VL4 , Phase angle = 23°
38%
VL3 , Phase angle = 17°
29%
VL2 , Phase angle = 11°
20%
VL1 , Phase angle = 6°
10%
VL0 , Phase angle = 0°
0%
IOUT
Output current accuracy at 100% Excludes VREF and RSENS errors,
setting (7)
IOUT > 1 A (7) (8)
IswLeakage
Switch (driver MOSFET) leakage
Outputs off
current
tab
Stepper motor blanking time
(6)
(7)
(8)
10
By OSCi cycles
–5%
5%
–10
10
μA
8
9
cycles
When the overcurrent is detected, all H-bridges are shut down and assert nORT pulse (40 ms).
This is not measured directly, checked by Itrip amplifier gain without motor loading
This device may show current setting error when motor current is less than 1 A, due to noise filter delay at the Itrip comparator.
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Electrical Characteristics (continued)
TJ = 0°C to 120°C, VM = 7 V to 40 V (unless otherwise noted)
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNIT
STEPPER AND DC MOTOR DRIVERS
tr
Rise time
VM = 27 V
100
300
ns
tf
Fall time
20% to 80%
100
300
ns
tPDOFF
Enable or strobe detection to
sink or source gate off delay
tCOD
Crossover delay time, to prevent
shoot through
tPDON
Enable or strobe detection to
sink or source gate on delay
50
150
400
ns
100
600
1000
ns
750
ns
DC MOTOR DRIVERS
TBLNK = (0,0) for Min, (1,1) for Max,
fCHOP = 100 kHz
5.65
μs
Minimum pulse duration (phase)
1
μs
Minimum pulse duration (enable)
1
μs
25
MHz
tblank
Blanking time
twPminp
twPmine
1.6
SERIAL INTERFACE
f(CLK)
Clock frequency
twh(CLK)
Minimum high-level pulse width
10
1
ns
twl(CLK)
Minimum low-level pulse width
10
ns
tsu
Setup time, data to CLK↓
10
ns
th
Hold time, CLK↓ to data
10
ns
tcs
CLK↓ to STROBE↑
10
ns
tsc
STROBE↓ to CLK↑
10
ns
tw(STRB)
Minimum strobe pulse duration
20
tss_min
Strobe mask time from nSLEEP
1.5
ns
4
μs
SERIAL INTERFACE: ID MONITOR FUNCTION AT LOGIC_OUT, EXTENDED SETUP MODE
tODL
0 data output delay bit 3 to bit 0
(ext-setup) = (1100)
From strobe rise to LOGIC_OUT,
1 kΩ to external 3.3 V
4000
ns
tODH
1 data output delay bit 3 to bit 0
(ext-setup) = (1111)
From strobe rise to LOGIC_OUT,
1 kΩ to external 3.3 V
4000
ns
6.6 Typical Characteristics
2.6
1.1
Unit
Linear
TJ=120qC
TJ=70qC
TJ=25qC
T sens output voltage (V)
1
RdsON (:)
0.9
0.8
0.7
0.6
2.4
2.2
2
1.8
0.5
0.4
1.6
0
0.5
1
1.5
2
Idrain (A)
2.5
3
3.5
0
30
D002
Figure 3. RdsON vs Idrain
60
90
120
Temperature (qC)
150
180
D003
Figure 4. Tsens (Analog Out) Temperature Coefficient
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7 Detailed Description
7.1 Overview
The DRV8809/DRV8810 provides an integrated motor driver solution. The chip has four H-bridges internally and
is configurable to eight different modes of combination motor driver control. The output driver block for each Hbridge consists of N-channel power MOSFETs configured as full H-bridges to drive the motor windings. Their
Rdson is low, 0.55 ohm at Tj = 25 C, it allows 800 mA maximum continuous current and 3 A @ 100 ms peak
current. The stepper motor control has a 16-step mode programmable through the three-wire serial interface
(SPI). The SPI input pins are 3.3-V compatible and 5-V tolerant. The DRV8809/DRV8810 has three DC-DC
switch-mode buck converters to generate a programmable output voltage from 1.5 V to 80% of VDIN (Channel
A) or up to 10 V (for Channel B and Channel C), with up to 1.5-A load current capability. Their Rdson is low, 0.35
ohm only at Tj = 25 C. The outputs are selected using the C_SELECT terminal at start-up or using serial
interface during operation. An internal shutdown function is provided for overcurrent protection (OCP), shortcircuit protection, overvoltage/undervoltage lockout (UVLO), and thermal shutdown (TSD). Also, the device has a
reset function that operates at power on and at input to the In-Reset pin.
12
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7.2 Functional Block Diagram
VM
0.01 uF
Cstorage
VDIN
Cbkt
VM
0.1 uF
TH_OUT
DCDC_MODE
C_SELECT
Vout 1
VCP
Temperature
Sens :
Pre-TSD or
Tsens (analog)
OD_A
DC/DC
convertor
Ch-A
Voltage
charge
pump
CP1
CP2
To
To
To Highside DC/DC H-bridges
gate drive
OUTA+
VM
Motor Drive
Output
Control A
Thermal
Shut down
RSA
FBA
OUTA MGND
Vout 2
OD_B
OUTB +
DC/DC
convertor
Ch-B
VM
FBB
Vout 3
RSB
Regulator
Internal
supply
Voltage
Supervisory
OD_C
OUTB -
OUTC +
Pre-Drive, Latch
Registers &
control circuitry
DC/DC
convertor
Ch-C
Stepper
Motor
VM
Motor Drive
Output
Control B
VM
Motor Drive
Output
Control C
RSC
DC
Motor
FBC
OUTCMGND
Freq divider
for DC/DC
In-Reset
OSCD_mon
OUTD+
OSCi
6.4 MHz
OSCM_mon
LOGIC_OUT
VM
Motor Drive
Output
Control D
Freq divider
Motor PWM
RSD
nORT
DC
Motor
OUTD-
nSLEEP
VREF_AB
Setup / ex-setup
registers
LGND
ENABLE_SD
MTR Config ;
Stepper x 2
Stepper + LDC
Step + SDCx2
LDC + SDCx2
LDC x 2
SDC x 4
Large Stepper
Ultra Large DC
Pin # 50
(NC)
(NC)
ENABLE_SD
ENABLE_SD
(NC)
ENABLE_SD
(NC)
(NC)
NC
Serial Interface A-B
STROBE_AB DATA_AB
Pin # 54
(NC)
(NC)
(NC)
(NC)
(NC)
ENABLE_SB
(NC)
(NC)
Pin # 55
STROBE_AB
STROBE_AB
STROBE_AB
ENABLE_LAB
ENABLE_LAB
ENABLE_SA
STROBE_AB
ENABLE_UL
Pin # 61
Data_AB
Data_AB
Data_AB
(NC)
(NC)
PHASE_SB
Data_AB
(NC)
CLK_AB
Pin # 62
CLK_AB
CLK_AB
CLK_AB
PHASE_LAB
PHASE_LAB
PHASE_SA
CLK_AB
PHASE_UL
VREF_CD
Serial Interface C-D
ENABLE_SC PHASE_SD PHASE_SC
Pin # 51
STROBE_CD
ENABLE_LCD
ENABLE_SC
ENABLE_SC
ENABLE_LCD
ENABLE_SC
STROBE_CD
(NC)
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Pin # 59
Data_CD
(NC)
PHASE_SD
PHASE_SD
(NC)
PHASE_SD
Data_CD
(NC)
Pin # 60
CLK_CD
PHASE_LCD
PHASE_SC
PHASE_SC
PHASE_LCD
PHASE_SC
CLK_CD
(NC)
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7.3 Feature Description
7.3.1 Serial Interface
The device has two serial interface circuit blocks for stepper motor driving control. These two serial interfaces
provide controls to each motor driver independently.
CLKAB
Serial clock for H-bridge A, B
DATAAB
Serial data for H-bridge A, B
STROBEAB
Strobe input for H-bridge A, B
CLKCD
Serial clock for H-bridge C, D
DATACD
Serial data for H-bridge C, D
STROBECD
Strobe signal for H-bridge C, D
Sixteen bits serial data is shifted into the least significant bit (LSB) of the serial data input (DATA) shift register
on the falling edge of the serial clock (CLK). After 16 bits of data transfer, the strobe signal (Strobe) rising edge
latches all the shifted data. During data transfer, Strobe voltage level is acceptable high or low.
DATA
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
CLK
Strobe
Figure 5. Serial Interface
7.3.1.1 Setup Mode/Power-Down Mode
The motor output mode is configured through serial interface (DATA AB, CLK AB and STROBEAB) when
nSLEEP = L. After setup, the nSLEEP pin must be pulled high for normal motor drive control. The condition that
the device requires for setup (initialization) is after the nORT (Reset) output goes to high from the low level
(power on, recovery from VM < 7 V). While nSLEEP is low, all the motor drive functions are shut down and their
outputs are high-impedance state. Also the stepper parameters in the register are all reset to 0. This device
forces motor driver functions to shut down for the power-down mode, and it is not damaged even if nSLEEP is
asserted during motor driving. At the Strobe pulse rising edge, the DATA signal level must be low for normal
setup mode (see the Extended Setup Mode section for another option).
7.3.1.2 Extended Setup Mode
While nSLEEP = L, if the DATA signal level is set high when the Strobe pulse is set, the serial interface
recognizes the input data to set the extended setup mode. This extended setup register enables monitoring and
controlling the fault condition of this chip. One of the internal protection control signals is selected and provided
to LOGIC OUT pin. Also, this enables the application to ignore the protection control and/or suppress the reset
signal generation. This device has device ID (3-bit ROM) and vendor ID (1-bit ROM), which can be read out from
LOGIC OUT. Four bits are assigned to select the LOGIC OUT signal, including the ID ROM bit readout.
14
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Serial Interface A-B: Set A-B motor operating parameters and access to setup/extended setup register
16-bit shift register
16-bit latch (A-B drivers)
Latch
select
16-bit latch (setup)
16-bit latch (extended setup)
Protection detect
signal selector
or
Device ID/Vendor ID
(ROM)
A.
A-B register at EXT-setup mode has device/vendor ID ROM. The ID must be read out at LOGIC OUT pin.
Figure 6. Serial Interface A-B
Serial interface C-D: Set C-D motor operating parameters
Data
16-bit shift register
Clock
16-bit latch (C-D drivers)
Strobe
Figure 7. Serial Interface C-D
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7.3.1.3 Serial Interface Timing
Data
Bit 0
tsu
Bit 1
Bit 14
Bit 15
th
Clock
twl(clk)
twh(clk)
tcs
Strobe
tw(strb)
nSleep
Figure 8. nSLEEP = H: Set Stepper Motor Operating Parameters
Data
Bit 0
Bit 1
tsu
Bit 15
Bit 16 = L
th
Clock
twl(clk)
twh(clk)
tcs
Strobe
tw(strb)
tss_min
nSleep
( Don't care )
Figure 9. nSLEEP = L (Bit 16 = L): Setup Mode
Bit 0
Data
tsu
Bit 1
Bit 15
Bit 16 = H
th
Clock
twl(clk)
tcs
twh(clk)
Strobe
tw(strb)
tss_min
nSleep
A.
( Don't care )
For initial setup, nSLEEP state can be don’t care before the tss_min timing prior to the strobe.
Figure 10. nSLEEP = L (Bit 16 = H): Extended Setup Mode
7.3.1.4 Bipolar Current Regulated Stepper Motor Drive
The following functionality is common to all the H-bridge drives. A crossover delay is inherent to the control
circuitry to prevent cross conduction of the upper and lower switches on the same side of the H-bridge. A
blanking (deglitch) time is incorporated to prevent false triggering due to initial current spikes at turnon with a
discharged capacitive load.
The stepper motor current can be programmed to 16 different current levels using a 4-bit register. The average
current level for a particular angular rotation is shown in Table 1.
16
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Enable
or Phase reversal
or Itrip detection
tPDON
Sink or source
gate off to on
tPDOFF
tCOD
Sink or source
gate on to off
tBLANK – DC motor blanking time
Current sense
blanking time
tab
Stepper blanking time
Figure 11. Crossover and Blanking Timing for H-Bridge
For stepper motor configured H-bridges, only tab (stepper blanking time) is set for current sensing. For DC
motor-configured H-bridges, tBLANK is included to ignore huge current spike due to rush current to varistor
capacitance.
7.3.1.5 Short/Open for Motor Outputs
When a short/open situation happens, the protection circuit prevents device damage under certain conditions
(short at start up, and so forth).
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VM
Charge
pump
RSA
VM
Rsens
OSCM_mon
OSCM
( 800kHz )
OUTA
OSCi
( 6.4MHz )
OUTA/
Control logic
& Pre-driver
DATA_AB
CLK_AB
Strobe_AB
Stepper
parameter
register
Current
Sens
Torque,
Decay,
Current,
& Phase
MGND
RSB
Current
limit
VM
Rsens
OUTB
Stepper
Motor
VM
supervisor
(15v)
turn on/off
OUTB/
over
current
detect
Protect
disable
Setup/ex-setup
register
Protection
control &
nORT assertion
Figure 12. Stepper Motor Driver
Table 1. Angular Rotation Setting for Stepping Motor Driver (Parameter Bit in Stepper Register)
STEP
18
SET
ANGLE
(deg)
BIT 14
BIT 13
BIT 12
BIT 11
BIT 7
BIT 6
BIT 5
BIT 4
CURRENT
A
(C) 3
CURRENT
A
(C) 2
CURRENT
A
(C) 1
CURRENT
A
(C) 0
CURRENT
B
(D) 3
CURRENT
B
(D) 2
CURRENT
B
(D) 1
CURRENT
B
(D) 0
16
90
H
H
H
H
L
L
L
L
15
84.4
H
H
H
H
L
L
L
H
14
78.8
H
H
H
L
L
L
H
L
13
73.1
H
H
L
H
L
L
H
H
12
67.5
H
H
L
L
L
H
L
L
11
61.2
H
L
H
H
L
H
L
H
10
56.3
H
L
H
L
L
H
H
L
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Table 1. Angular Rotation Setting for Stepping Motor Driver (Parameter Bit in Stepper
Register) (continued)
BIT 14
BIT 13
BIT 12
BIT 11
BIT 7
BIT 6
BIT 5
BIT 4
CURRENT
A
(C) 3
CURRENT
A
(C) 2
CURRENT
A
(C) 1
CURRENT
A
(C) 0
CURRENT
B
(D) 3
CURRENT
B
(D) 2
CURRENT
B
(D) 1
CURRENT
B
(D) 0
STEP
SET
ANGLE
(deg)
9
50.6
H
L
L
H
L
H
H
H
8
45
H
L
L
L
H
L
L
L
7
39.4
L
H
H
H
H
L
L
H
6
33.8
L
H
H
L
H
L
H
L
5
28.1
L
H
L
H
H
L
H
H
4
22.5
L
H
L
L
H
H
L
L
3
16.9
L
L
H
H
H
H
L
H
2
11.3
L
L
H
L
H
H
H
L
1
5.6
L
L
L
H
H
H
H
H
0
0
L
L
L
L
H
H
H
H
RdsON vs Idrain
1.0
TJ = 120°C
0.9
RdsON (W)
0.8
0.7
TJ = 70°C
0.6
0.5
TJ = 25°C
0.4
0.5
1
1.5
2
2.5
3
3.5
Idrain (A)
A.
This plot includes both actual device characterization data and extrapolated data.
B.
Actual device has self-heating effect to increase the junction temperature, with continuous loading current more than
1 A.
C.
The device temperature is set to 70°C for the Rds(ON) test.
Figure 13. Typical Rds(ON) Value vs Drain Current (DMOS FET in H-Bridge)
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VM
Charge
pump
VM
Rssx
Rsens
OSCM_mon
OSCM
( 800kHz )
Control logic
& Pre-driver
OSCi
( 6.4MHz )
OUTx
DC
Motor
Current
Sens
Enable_x
Phase_x
OUTx/
Current
limit
VM
supervisor
(15v)
turn on/off
over
current
detect
MGND
Protect
disable
Protection
control &
nORT assertion
Figure 14. DC Motor Drive
The motor configuration setup bits in the setup register can select three types of DC motor driving: utilizing a
single H-bridge, utilizing two (A and B, or C and D) H-bridges in parallel, or utilizing four H-bridges in parallel.
For the setup register value (bit 2,1,0) = (1,0,1), the device configuration is 4× DC motor, which enables each Hbridge to drive a DC motor independently. The ENABLEx and PHASEx input terminals are reassigned from the
serial interface pins and some reserved pins, after nSLEEP pin is set to H.
For the setup register value (bit 2,1,0) = (0,1,1), the device configuration is 1× large DC + 2× DC motor mode.
The large DC driving utilizes two H-bridges in parallel and controlled by ENABLE_AB and PHASE_AB pins. Two
Rsens pins should be connected together.
The VREF inputs are used for the Rsense comparator reference voltage. VREF_AB provides the voltage to both Hbridge A and B, and VREF_CD provides the voltage for H-bridge C and D.
Table 2. DC Motor Drive Truth Table
20
FAULT
CONDITION
nSLEEP
ENABLEX
PHASEX
+ HIGH SIDE
+ LOW SIDE
- HIGH SIDE
- LOW SIDE
0
0
X
X
OFF
OFF
OFF
OFF
0
1
0
X
OFF
OFF
OFF
OFF
0
1
1
0
OFF
ON
ON
OFF
0
1
1
1
ON
OFF
OFF
ON
Motor OCP
1
X
X
OFF
OFF
OFF
OFF
TSD
X
X
X
OFF
OFF
OFF
OFF
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7.3.1.6 DCDC_MODE for Parallel-Mode Control
The DCDC_MODE pin selects the DC-DC converter parallel driving for Ch-B and Ch-C. The input is pulled up to
internal 3.3 V by a 200-kΩ resistor. When the pin is H or left open, Ch-B and Ch-C are driven in parallel.
Table 3. C_SELECT for Start-Up
C_SELECT
PIN VOLTAGE
DC-DC Vout1,
ODA
DC-DC Vout2,
ODB
DC-DC Vout3,
ODC
OFF
OFF
OFF
Gnd
0 V to 0.3 V
Pull Down
(by external 200 kW)
1.3 V to 2 V
OPEN
3 V to 3.3 V
See Table 4
ON
ON
ON
7.3.1.7 DCDC_MODE and C_SELECT Timing Delay and Start-Up Order
DCDC_MODE and C_SELECT play a role in the order of regulator enablement, as well as the time when the first
regulator is enabled to when the second is enabled. Regulators B and C are always enabled together, whether
they are working in parallel mode or not.
Table 4. DCDC_MODE and C_SELECT Timing Delay (DRV8809)
DCDC_MODE
C_SELECT
TIMING DELAY
DESCRIPTION
L
GND
None
No regulator is enabled.
L
Pull down
None
No regulator is enabled.
L
3 V to 3.3 V
1.6 ms
H
GND
None
H
Pull down
1.6 ms
Ch-B and Ch-C followed by Ch-A
H
3 V to 3.3 V
1.6 ms
Ch-A followed by Ch-B and Ch-C
Ch-A followed by Ch-B and Ch-C
No regulator is enabled.
Table 5. DCDC_MODE and C_SELECT Timing Delay (DRV8810)
DCDC_MODE
C_SELECT
TIMING DELAY
DESCRIPTION
L
GND
None
No regulator is enabled.
L
Pull down
None
No regulator is enabled.
L
3 V to 3.3 V
1.6 ms
H
GND
None
H
Pull down
20 ms to 40 ms
Ch-B and Ch-C followed by Ch-A
H
3 V to 3.3 V
20 ms to 40 ms
Ch-A followed by Ch-B and Ch-C
Ch-A followed by Ch-B and Ch-C
No regulator is enabled.
7.3.1.8 In-Reset: Input for System Reset
In-Reset pin assertion stops all the DC-DC converters and H-bridges. It also reset all the register contents to
default value. After deassertion of the input, the device follows the initial start-up sequence. The C_SELECT
state is captured after the In-Reset deassertion. The input is pulled up to internal 3.3 V by 200-kΩ resistor. When
the pin = H or left open, reset function is asserted. Also it has deglitch filter of 2.5 μs to 7.5 μs.
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VM
(CSELECT = Open)
VthVM +
VM=6.0v
Capture C_select
then start
Charge Pump
VthVM VM=5.0v
VCP
C P s tart to
D C/ D C d el a y
10 ms
(Note A)
DC/DC_A
DC/DC_B
DC/DC_C
120 ms
(20 ms +
100 ms)
Delay
(Note B)
nORT
(= L )
Protection mask:
OCP/OVP/UVP
for CH-A/B/C
(= H )
A.
Charge-pump wake-up delay, from 10 ms to 20 ms, due to asynchronous event capture
B.
For the DRV8809, delay is 1.6 ms for both DC_MODE high and low. For the DRV8810, delay is 20 ms to 40 ms for
DC_MODE high and 1.6 ms for DC_MODE low.
Figure 15. Power-Up Timing (Power Up With DC-DC Turn-On By C_SELECT)
NOTE
When VM crosses VthVM+ (about 6 V), the C_select state is captured. If C_SELECT is
open (pulled up to internal 3.3 V), all DC-DC regulator channels (A, B, and C) are turned
on. The time of channels B and C to be turned on, with regards to channel A, depends on
the state of DC_MODE.
22
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Figure 16. Power-Up Timing (Power Up Without DC-DC Turn-On: C_SELECT = GND)
NOTE
When VM crosses VthVM+ (about 6 V) with C_SELECT = GND, none of the three
regulators are turned on. The nORT output is released to H after 300 ms from the VthVM+
crossing.
See Note B
120 ms
(See Note A)
A.
120 ms to 140 ms due to asynchronous event capture
B.
After VM power up, DC-DC starts at the setup register strobe.
Figure 17. Power-Up Timing (DC-DC Regulator Wake Up by Setup Register)
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NOTE
The regulator is started from the strobe input, same as charge pump. There is no 10-ms
waiting period, because VCP pin already reached VM – 0.7 V.
VM
( CSELECT
= GND )
VthVM+
VM=6.0v
DC/DC_B
( off -> on )
DC/DC_C
(off -> on )
Delay
(Note B)
DC/DC_A
( off -> on )
See Note A
Setup register
strobe
[ Setup (9,8,7)
=(0,0,0) ]
nORT
(= H)
protection
mask
(=L)
120 ms
A.
After VM power up, DC-DC starts at the setup register strobe.
B.
For the DRV8809, delay is 1.6 ms for both DC_MODE high and low. For the DRV8810, delay is 20 ms to 40 ms for
DC_MODE high and 1.6 ms for DC_MODE low.
Figure 18. Power-Up Timing (DC-DC Regulator Wake Up by Setup Register, All Three Channels On)
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10 ms
(Note A)
A.
Charge-pump wake-up delay, from 10 ms to 20 ms, due to asynchronous event capture
B.
Start-up with VM glitch (not below VthV—). Only channels B and C are shown. Same applies to Channel A.
Figure 19. VM Start-Up/Power-Down and Glitch Condition
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10 ms
(Note A)
10 ms
(Note A)
A.
Charge-pump wake-up delay, from 10 ms to 20 ms, due to asynchronous event capture
B.
Start-up with VM glitch (below VthV_). Only channels B and C are shown. Same applies to Channel A.
Figure 20. VM Startup/Power-Down and Glitch Condition
VthVM+
VM=6.0v
VM
VthVMVM=5.0v
Mask
Shutdown
DC/DC_B
DC/DC_C
nORT
protection
mask
A.
Only channels B and C are shown. Same applies to Channel A.
Figure 21. Power Down (Normal)
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VthVM+
VM=6.0v
VM
VthVM-
Mask
VM=5.0v
DC/DC_B
DC/DC_C
nORT
protection
mask
A.
Only channels B and C are shown. Same applies to Channel A.
Figure 22. Power Down (Glitch on VM)
VthVM+
VM=6.0v
VthVM+
VM
VM=5.0v
VthVM-
Restart
( CSELECT
= OPEN )
Shutdown
DC/DC_B
10 ms
(Note A)
10 ms
(Note A)
DC/DC_ C
t
40 ms
120 ms
in case
t VthVM+ when VM is increasing. In case VM decreases, DC-DCs are
shut down when VM VM > VthV_, the DC-DC output voltage
supervisor is ignored.
Motor shutdown is released by VM < 4.5 V or nSLEEP rising edge.
nORT (reset) ON/OFF time is 40 ms.
The data in Table 21 is valid if the protection control bits in the EX-setup register are all 0.
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Table 8. Modes of Operation (1)
POR
M
OFF
VM
VM
(1)
(2)
ISD
Vout1 Vout2 Vout3
MOTOR
OVP
TSD
Vout1 Vout2 Vout3
MOTOR
nSLE
EP
(2)
EXTERNAL PIN
IC
CSEL
BLOCK FUNCTIONS
MOT
OR
Vout1
Vout2
Vout3
nORT
H
0
0
0
0
0
0
0
0
0
0
H
N
On
On
On
On
1
X
X
X
X
X
X
X
X
X
X
X
Off
Off
Off
Off
Off
L
0
1
X
X
X
X
X
X
X
X
X
X
O
On
Off
On/Off
On/Off
H
0
1
X
X
X
X
X
X
X
X
X
p
S/D
S/D
S/D
S/D
L
0
1
X
X
X
X
X
X
X
X
e
S/D
S/D
S/D
S/D
L
0
1
X
X
X
X
X
X
X
r
S/D
S/D
S/D
S/D
L
0
1
X
X
X
X
X
X
a
Off
On
On
On
L/P
0
1
X
X
X
X
X
t
S/D
S/D
S/D
S/D
L
0
1
X
X
X
X
I
S/D
S/D
S/D
S/D
L
0
1
X
X
X
o
S/D
S/D
S/D
S/D
L
0
1
X
X
n
S/D
S/D
S/D
S/D
L
0
Low
X
S
Off
On
On
On
H
High
All off
X
Off
Off
Off
L
200 k
X
On
On
Off
H
Open
X
Off
On
On
H
Valid only if the protection control bits (in EX-setup register) are all 0.
N = Normal operation, S = Sleep mode, 0 = Off, 1 = On, X = Don’t care, S/D = Shutdown, P = Pulse after fault occurs (retry), OFF =
Must toggle sleep terminal or power-on reset (nORT), S/D = Must do a power-on reset (nORT)
7.3.2 Motor Driver Configuration
OUTAVREF_AB
Motor Drive
Output
Control A
NC
DATA_AB
RSA
OUTA+
Pre Drive
and
Control
STROBE_AB
VM
OUTB+
Motor Drive
Output
Control B
VM
Stepper
Motor
RSB
CLK_AB
OUTB-
OUTCVREF_CD
Motor Drive
Output
Control C
NC
OUTC+
Pre Drive
and
Control
STROBE_CD
VM
RSC
OUTD+
DATA_CD
Motor Drive
Output
Control D
CLK_CD
VM
Stepper
Motor
RSD
OUTD-
Figure 27. Motor Configuration 0, Two Stepper
30
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OUTAVREF_AB
Motor Drive
Output
Control A
NC
DATA_AB
RSA
OUTA+
Pre Drive
and
Control
STROBE_AB
VM
OUTB+
Motor Drive
Output
Control B
VM
Stepper
Motor
RSB
CLK_AB
OUTB-
OUTLCDVREF_CD
Motor Drive
Output
Control C
NC
OUTLCD+
Pre Drive
and
Control
ENABLE_LCD
VM
RSLB
OUTLCD+
NC
Motor Drive
Output
Control D
PHASE_LCD
Large
DC
Motor
RSLB
OUTLCD-
Figure 28. Motor Configuration 1, One Stepper and One Large DC
OUTAVREF_AB
Motor Drive
Output
Control A
NC
DATA_AB
RSA
OUTA+
Pre Drive
and
Control
STROBE_AB
VM
OUTB+
Motor Drive
Output
Control B
VM
Stepper
Motor
RSB
CLK_AB
OUTB-
OUTSCVREF_CD
Motor Drive
Output
Control C
ENABLE_SD
OUTSD+
PHASE_SD
Motor Drive
Output
Control D
PHASE_SC
DC
Motor
RSC
OUTSC+
Pre Drive
and
Control
ENABLE_SC
VM
VM
DC
Motor
RSD
OUTSD-
Figure 29. Motor Configuration 2, One Stepper and Two Small DCs
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OUTLABVREF_AB
Motor Drive
Output
Control A
NC
NC
RSLAB
OUTLAB+
Pre Drive
and
Control
ENABLE_LAB
VM
OUTLAB+
Motor Drive
Output
Control B
Large
DC
Motor
RSLAB
PHASE_LAB
OUTLAB-
OUTSCVREF_CD
Motor Drive
Output
Control C
ENABLE_SD
DC
Motor
OUTSC+
Pre Drive
and
Control
ENABLE_SC
VM
RSC
OUTSD+
PHASE_SD
Motor Drive
Output
Control D
PHASE_SC
VM
DC
Motor
RSD
OUTSD-
Figure 30. Motor Configuration 3, One Large DC and Two Small DCs
OUTLABVREF_AB
Motor Drive
Output
Control A
NC
ENABLE_LAB
OUTLAB+
Pre Drive
and
Control
NC
VM
RSLAB
OUTLAB+
Motor Drive
Output
Control B
Large
DC
Motor
RSLAB
PHASE_LAB
OUTLAB-
OUTLCDVREF_CD
Motor Drive
Output
Control C
NC
ENABLE_LCD
VM
RSLCD
OUTLCD+
Pre Drive
and
Control
OUTLCD+
NC
PHASE_LCD
Motor Drive
Output
Control D
Large
DC
Motor
RSLCD
OUTLCD-
Figure 31. Motor Configuration 4, Two Large DCs
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OUTSAVREF_AB
VM
Motor Drive
Output
Control A
ENABLE_SB
OUTSA+
Pre Drive
and
Control
ENABLE_SA
PHASE_SB
DC
Motor
RSA
OUTSB+
VM
Motor Drive
Output
Control B
DC
Motor
RSB
PHASE_SA
OUTSB-
OUTSCVREF_CD
VM
Motor Drive
Output
Control C
ENABLE_SD
OUTSC+
Pre Drive
and
Control
ENABLE_SC
OUTSD+
PHASE_SD
VM
Motor Drive
Output
Control D
PHASE_SC
DC
Motor
RSC
DC
Motor
RSD
OUTSD-
Figure 32. Motor Configuration 5, Four Small DCs
OUTAVREF_AB
Motor Drive
Output
Control A
NC
STROBE_AB
VM
RSA
OUTA+
Pre Drive
and
Control
OUTB+
DATA_AB
Motor Drive
Output
Control B
RSB
CLK_AB
OUTB-
OUTCVREF_CD
VM
Motor Drive
Output
Control C
NC
STROBE_CD
RSC
Stepper
Motor
OUTC+
Pre Drive
and
Control
OUTD+
DATA_CD
Motor Drive
Output
Control D
CLK_CD
RSD
OUTD-
Figure 33. Motor Configuration 6, Single Large Stepper Motor
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OUTSAVREF_AB
Motor Drive
Output
Control A
ENABLE_SB
PHASE_SB
RSA
OUTSA+
Pre Drive
and
Control
ENABLE_SA
VM
OUTSB+
Motor Drive
Output
Control B
PHASE_SA
OUTSB-
DC
Motor
OUTSCVREF_CD
Motor Drive
Output
Control C
ENABLE_SD
OUTSC+
Pre Drive
and
Control
ENABLE_SC
OUTSD+
PHASE_SD
Motor Drive
Output
Control D
PHASE_SC
OUTSD-
Figure 34. Motor Configuration 7, Ultra-Large DC
7.3.3 Charge Pump
The charge-pump voltage-generator circuit utilizes external storage and bucket capacitors. It provides the
necessary voltage to drive the high-side switches for both DC-DC regulators and motor drivers. The chargepump circuit is driven at a frequency of 1.6 MHz (nom). Recommended bucket capacitance is 10 nF, 16 V (min),
and storage capacitance is 0.1 μF, 60 V (min). The charge-pump storage capacitor, Cstage, should be
connected from the VCP output, pin 22, to VM.
For power-saving purposes in sleep mode, the charge pump is stopped when n_sleep = L and all three
regulators are turned OFF. When the part is powered up, the charge pump is started first after the C_select
capture, and 10 ms after the CP startup, the first regulator is started up.
Table 9. Charge Pump
FAULT CONDITION
DC-DC Ch-A
DC-DC Ch-B
DC-DC Ch-C
nSLEEP
CHARGE PUMP
0
OFF
OFF
OFF
0
OFF
0
ON
X
X
X
ON
0
X
ON
X
X
ON
0
X
X
ON
X
ON
0
X
X
X
1
ON
Motor OCP
X
X
X
1
ON
TSD
X
X
X
X
OFF
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VM
Charge
pump
OSCD
(100 kHz)
OSCi
(6.4 MHz)
Vref
1.5 V
Overcurrent
sense
OD_x
Control logic
and predriver
Current limit
Output
voltage
supervisor
Disable
(mask)
FBx
Over
current
detect
Protect
disable
UVP
OVP
(-30%) (+30%)
C_SELECT
Soft start,
Protection control, and
nORT assertion
Setup/
Extended Setup
register
Figure 35. DC-DC Converter
This is a switch-mode regulator with integrated switches, to provide a programmed output set by the feedback
terminal. The DC-DC converter has a fixed frequency variable duty cycle topology with a switching frequency of
100 kHz (nom). External filtering (inductor and capacitor) and external catch diode are required. The output
voltage is short-circuit protected. If the system has a high input voltage and a very light load on the output, the
converter may not provide energy to the inductor (skip) until the load line or the minimum voltage threshold is
reached.
The regulator has a soft-start function to limit the rush current during start up. It is achieved by using VFB ramp
during soft start.
For unused DC-DC converter channels, the external components can be removed if the channel is set to inactive
by the C_SELECT pin and register bits. Also, the VFB pin can be left open or connected to ground.
DCDC_MODE selector can operate channel B and C in parallel mode to handle 2× output driving capability.
VFB_B pin is active for feedback, and VFB_C pin must be pulled down internally.
7.4 Device Functional Modes
7.4.1 Operation With 7 V < VM and VDIN < 18 V
The devices starts operating with input voltages above 6.0 V typ. Between 7 V and 18 V, DC-DC converters can
operate. Enabling motors in not allowed.
7.4.2 Operation With 18 V ≤ VM and VDIN ≤ 40 V
The device can operate with full function. Both DC-DC converter and motor drivers can be enabled.
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7.5 Register Maps
7.5.1 Setup Register Bit Assignment
Setup register bits are assigned for motor configuration, blanking time, gain, and DC-DC switches. This register
can be accessed only in Setup mode (nSLEEP = L and bit 16 data = L) .
Table 10. Setup Register
BIT NO.
NAME
DEFAULT
0
Motor select 0
0
DESCRIPTION
1
Motor select 1
0
2
Motor select 2
0
3
TBLNK AB0
0
4
TBLNK AB1
0
5
TBLNK CD0
0
6
TBLNK CD1
0
7
DC/DC_A SW
0
DC-DC ODA control, 0: ON (default), 1: OFF
8
DC/DC_B SW
0
DC-DC ODB control, 0: ON (default), 1: OFF
9
DC/DC_C SW
0
DC-DC ODC control, 0: ON (default), 1: OFF
This bit is ignored when DCDC_MODE = H or open
10
Motor_AB gain
0
0: 1/10 (default), 1: 0
11
Motor_CD gain
0
0: 1/10 (default), 1: 0
12
OSCD frequency 0
0
13
OSCD frequency 1
0
= (0,0) 100 kHz (default)
(0,1) 50 kHz
(1,0) 200 kHz
(1,1) 132.5 kHz
These setup bits can be changed when the DC-DC regulators are in
operation.
14
OSCM frequency 0
0
15
OSCM frequency 1
0
Motor configuration, < 2,1,0 > (0,0,0): Stepper × 2 (default)
(0,0,1): Stepper + LDC, (0,1,0): Stepper + 2 × sDCs
(0,1,1): DCL + 2 × sDC, (1,0,0): DCL × 2 (1,0,1): 4 × sDC
(1,1,0): Large stepper (1,1,1): Ultra-large DC
Tblank for DC motor driving, Tblank is inserted at any phase change
and beginning of each chopping cycle.
AB1 AB0: Blanking time for A/B side drivers,
CD1 CD0: Blanking time for C/D side drivers,
00: (1 ÷ fCHOP) ÷ 8 × 5 (= 6.25 μs) (default)
01: (1 ÷ fCHOP) ÷ 8 × 6 (= 7.50 μs)
10: (1 ÷ fCHOP) ÷ 8 × 3 (= 3.75 μs)
11: (1 ÷ fCHOP) ÷ 8 × 4 (= 5.00 μs)
For stepper motor driving, only the fixed blanking time is applied.
= (0,0) 800 kHz (default)
(0,1) 400 kHz
(1,0) 1.06 MHz
(1,1) 1.6 MHz
The device can be configured to one out of eight different motor control combination modes. When the device is
powered on or is recovering from reset, the mode can be selected by writing to the setup register through the
serial interface AB, during Setup mode (nSLEEP = L).
Table 11. DC and Stepper Motor Configuration
SETUP REGISTER
H-BRIDGE AND MOTOR CONFIGURATION
BIT 2
BIT 1
BIT 0
OUTA+, OUTA–
0
0
0
Stepper motor drive
OUTB+, OUTB–
OUTC+, OUTC–
0
0
1
Stepper motor drive
0
1
0
Stepper motor drive
DC motor drive
DC motor drive
0
1
1
Large DC motor drive
DC motor drive
DC motor drive
1
0
0
1
0
1
1
1
0
Large stepper motor drive: A + B for first winding, C + D for second winding
1
1
1
Ultra-large DC motor drive
Large DC motor drive
Large DC motor drive
DC motor drive
OUTD+, OUTD–
Stepper motor drive
Large DC motor drive
DC motor drive
DC motor drive
DC motor drive
Default setting is (M0, M1, M2) = (0, 0,
0)
36
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Extended setup (EX-setup) register bits are assigned for protection control, pre TSD, and multiplexer test mode
selection. This register can be accessed only in Setup mode (nSLEEP = L and bit 16 data = H).
Table 12. Extended Setup Register (EX-Setup) Bit Assignment
BIT NO.
NAME
DEFAULT
DESCRIPTION
0
Signal select 0
0
1
Signal select 1
0
2
Signal select 2
0
3
Signal select 3
0
Signal selector monitored on LOGIC_OUT
DC-DC OCP detection,
DC-DC voltage supervisor (OVP or UVP),
Motor overcurrent (four H-bridges),
TSD, and so forth [shutdown (protection) signals must be latched]
4
Ignore SD 0
0
0 = Normal operation, 1 = Ignore DC-DC OCP
5
Ignore SD 1
0
0 = Normal operation, 1 = Ignore DC-DC voltage supervisor
6
Ignore SD 2
0
0 = Normal operation, 1 = Ignore motor OCP
7
Ignore SD 3
0
0 = Normal operation, 1 = Ignore thermal shutdown
8
Disable nORT 0
(selective shutdown for
DC-DC Ch-C)
0
0 = Normal operation
1 = Disable nORT assertion but shut down DC-DC Ch-C, in case of DC-DC Ch-C
fault condition
Ch-C shutdown is released by nSLEEP rise edge. If fault condition is on the other
channels (with bit = 0), assert nORT and shut down all three DC-DC channels.
This bit is ignored when DCDC_MODE = H or open
9
Disable nORT 1
(Selective shutdown for
DC-DC Ch-B)
0
0 = Normal operation
1 = Disable nORT assertion but shut down DC-DC channel B, in case of DC-DC
Ch-B fault condition
Ch-B shutdown is released by nSLEEP rise edge. If fault condition on the other
channels (with bit = 0), assert nORT and shut down all three DC-DC channels.
10
Disable nORT 2
(Selective shutdown for
DC-DC Ch-A)
0
0 = Normal operation, 1 = Disable nORT assertion but shutdown the DC-DC ChA, in case of DC-DC Ch-A fault condition.
Ch-A shutdown is released by nSLEEP rise edge. If fault condition on the other
channels (with bit is 0), assert nORT and shut down all three DC-DC channels .
11
Pre TSD 0
0
0 = Ttsd0 = Ttsd - 20°C, 1 = Ttsd1= Ttsd - 30°C
12
Pre TSD 1
0
0 = Pre-TSD (logic) output, 1 = TH_OUT Analog output
13
Test mux 0
0
14
Test mux 1
0
15
Test mux 2
0
Test mode selection, < 2,1,0 > = (0,0,0) Normal operation
(0,0,1) TSD control – 1,
(0,1,0) TSD control – 2, (0,1,1) OSC monitor enable,
Table 13. LOGIC OUT Selection
NO.
EX-setup
REGISTER
(BITS 3–0)
0
0000 (default)
DC-DC OCP_A
DC-DC OVP_A
DC-DC UVP_A
Latched out
1
0001
DC-DC OCP_B
DC-DC OVP_B
DC-DC UVP_B
Latched out
DC-DC OCP_C
DC-DC OVP_C
DC-DC UVP_C
Latched out
SIGNAL SELECTION MONITORED ON LOGIC OUT
(LISTED SIGNALS TO BE MUXED BY OR)
SIGNAL POINT
2
0010
3
0011
DC-DC OCP_A
DC-DC OCP_B
DC-DC OCP_C
Latched out
4
0100
DC-DC OVP_A
DC-DC OVP_B
DC-DC OVP_C
Latched out
5
0101
DC-DC UVP_A
DC-DC UVP_B
DC-DC UVP_C
Latched out
6
0110
Motor OCP
Latched out
7
0111
TSD
Latched out
8
1000
Revision = 1: For this device = (1,0,1) = 5
ROM
9
1001
Revision = 0: For this device
ROM
10
1010
Revision = 1: For this device
ROM
11
1011
Vendor = 0: For TI = TI (0,0), NG (1,0)
ROM
12
1100
Vendor = 0: For TI = Reserve (0,1), (1,1)
ROM
13
1101
Internal oscillator clock (as divided by 32 = 200 kHz)
14
1110
Fixed value as 1 (open-drain output buffer off)
This bit is ignored when DCDC_MODE pin = H or open.
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Table 13. LOGIC OUT Selection (continued)
NO.
EX-setup
REGISTER
(BITS 3–0)
15
1111
SIGNAL SELECTION MONITORED ON LOGIC OUT
(LISTED SIGNALS TO BE MUXED BY OR)
SIGNAL POINT
Fixed value as 1 (open-drain output buffer off)
Table 14. Test Mux Selection
NO.
BITS 15, 14, 13
DESCRIPTION
0
0, 0, 0
Normal operation
1
0, 0, 1
TSD control 1
At TSD event, shut down only motor driver part, DC-DC keep ON, keep setup register
values, motor shutdown released by nSLEEP = L, no nORT assertion
2
0, 1, 0
TSD control 2
At TSD event, shut down only motor driver part, DC-DC keep ON, keep setup register
values, motor shutdown released by nSLEEP = L, nORT assertion: 40-ms single pulse
3
0, 1, 1
OSC monitor
enable
Provide clock to OSCD_mon and OSCM_mon pins
The serial interfaces communicate to the stepper parameter registers during nSLEEP = H . When nSLEEP = L,
all register values are cleared. (1) (2)
Table 15. Register Settings for Stepper Motor Driving Parameter
(1)
(2)
(1)
38
BIT NO.
NAME
DEFAULT VALUE
0
Torque 0
0
1
Torque 1
0
2
Decay B(D)0
0
3
Decay B(D)1
0
4
Current B(D)0
0
5
Current B(D)1
0
6
Current B(D)2
0
7
Current B(D)3
0
8
Phase B(D)
0
9
Decay A(C)0
0
10
Decay A(C)1
0
11
Current A(C)0
0
12
Current A(C)1
0
13
Current A(C)2
0
14
Current A(C)3
0
15
Phase A(C)
0
DESCRIPTION
Torque control, b1 b0
00 equates to 50%
01 equates to 70 %
10 equates to 85%
11 equates to 100%
Specified by design
Decay mode control (1)
B(D)1, B(D)0: 00 equates to 12.5 % (do not use)
01 equates to 37.5 % (do not use)
10 equates to 75%
11 equates to fast decay
Specified by design
Phase B(D) current level setting (1)
Control direction of current flow through winding B(D). A logic 1 allows
conventional current flow from OUTB(D)+ to OUTB(D)–.
Decay mode control (1)
A(C)1, A(C)0: 00 equates to 12.5 % (do not use)
01 equates to 37.5 % (do not use)
10 equates to 75%
11 equates to fast decay
Phase A current level setting (1)
Control direction of current flow through winding A(C). A logic 1 allows
conventional current flow from OUTA(C)+ to OUTA(C)–.
This device has issues with stepper motor current setting accuracy.
Decay mode should be 75% or fast decay (do not use mode 00 and 01) in this device.
Decay mode should be 75% or fast decay (do not use mode 00 and 01) in this device.
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Table 16. Torque Control Bit
VREF INPUT CONTROL MOTOR TORQUE
BIT VALUE
ROUGH OUTPUT CURRENT SETTING
Torque 0, 1 = 0, 0
50% high power consumption, I(max) = VREF * gain/RSense
Torque 0, 1 = 0, 1
70% power
Torque 0, 1 = 1, 0
85% power
Torque 0, 1 = 1, 1
100% power
Table 17. Decay Mode Control Bit
BIT VALUE
DECAY MODE SETTING
Decay x0, x1 = 0, 0
12.5% decay mode (do not use)
Decay x0, x1 = 0, 1
37.5% decay mode (do not use)
Decay x0, x1 = 1, 0
75% decay mode
Decay x0, x1 = 1, 1
100% fast decay mode
Table 18. Current Flow Direction Bit
BIT VALUE
CURRENT DIRECTION
Phase X = 0
OUTx+ = L, OUTx– = H
Phase X = 1
OUTx+ = H, OUTx– = L
Table 19. Revision Code/Vendor Code ROM Readout at LOGIC OUT
NO.
EX-setup REGISTER
(BITS 3–0)
8
1000
Revision = 1: For this device * = (1,0,1) = 5
9
1001
Revision = 0: For this device
10
1010
Revision = 1: For this device
11
1011
Vendor = 0: For TI = TI (0,0), NG(1,0)
12
1100
Vendor = 0: For TI = Reserve (0,1), (1,1)
SIGNAL SELECTION MONITORED ON LOGIC OUT
Table 20. Different Motor Drive Configuration Pinouts (Selected By Setup Register Bits 0 to 3)
SETUP
0 (0,0,0)
1 (0,0,1)
2 (0,1,0)
3 (0,1,1)
4 (1,0,0)
5 (1,0,1)
6 (1,1,0)
7 (1,1,1)
STEPPER
MTR ×2
STEPPER
MTR AND DC
(LARGE)
STEPPER MTR
AND DC
(SMALL) ×2
DC (LARGE)
AND DC
(SMALL) ×2
DC (LARGE)
×2
DC (SMALL)
×4
LARGE
STEPPER
ULTRALARGE DC
1
Test-LGND
2
MGND
3
OUTA–
OUTA–
OUTA–
OUTA–
OUTLAB–
OUTLAB–
OUTSA–
OUTLAB–
OUTULABCD–
4
RSA1
RSA1
RSA1
RSA1
RSLAB1
RSLAB1
RSA1
RSLAB1
RSULABCD1
5
RSA2
RSA2
RSA2
RSA2
RSLAB2
RSLAB2
RSA2
RSLAB2
RSULABCD1
6
OUTA+
OUTA+
OUTA+
OUTA+
OUTLAB+
OUTLAB+
OUTSA+
OUTLAB+
OUTULABCD+
7
MGND
8
MGND
9
OUTB+
OUTB+
OUTB+
OUTB+
OUTLAB+
OUTLAB+
OUTSB+
OUTLAB+
OUTULABCD+
10
RSB2
RSB2
RSB2
RSB2
RSLAB2
RSLAB2
RSB2
RSLAB2
RSULABCD1
11
RSB1
RSB1
RSB1
RSB1
RSLAB1
RSLAB1
RSB1
RSLAB1
RSULABCD1
12
OUTB–
OUTB–
OUTB–
OUTB–
OUTLAB–
OUTLAB–
OUTSB–
OUTLAB–
OUTULABCD–
13
MGND
14
LGND
15
DCDC_MODE
16
FBC
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Table 20. Different Motor Drive Configuration Pinouts (Selected By Setup Register Bits 0 to 3) (continued)
SETUP
0 (0,0,0)
1 (0,0,1)
2 (0,1,0)
3 (0,1,1)
4 (1,0,0)
5 (1,0,1)
6 (1,1,0)
7 (1,1,1)
STEPPER
MTR ×2
STEPPER
MTR AND DC
(LARGE)
STEPPER MTR
AND DC
(SMALL) ×2
DC (LARGE)
AND DC
(SMALL) ×2
DC (LARGE)
×2
DC (SMALL)
×4
LARGE
STEPPER
ULTRALARGE DC
17
OD_C
18
OD_C
19
OD_B
20
OD_B
21
FBB
22
VCP
23
OSCD_mon
24
CP2
25
CP1
26
VDIN
27
VDIN
28
VDIN
29
VM
30
VREF_AB
31
VREF_CD
32
FBA
33
ODA
34
ODA
35
LGND
36
MGND
37
OUTC–
OUTC–
OUTLCD–
OUTSC–
OUTSC–
OUTLCD–
OUTSC–
OUTLCD–
OUTULABCD–
38
RSC1
RSC1
RSLCD1
RSC1
RSC1
RSLCD1
RSC1
RSLCD1
RSULABCD1
39
RSC2
RSC2
RSLCD2
RSC2
RSC2
RSLCD2
RSC2
RSLCD2
RSULABCD1
40
OUTC+
OUTC+
OUTLCD+
OUTSC+
OUTSC+
OUTLCD+
OUTSC+
OUTLCD+
OUTLABCD+
41
MGND
42
MGND
43
OUTD+
OUTD+
OUTLCD+
OUTSD+
OUTSD+
OUTLCD+
OUTSD+
OUTSD+
OUTULABCD+
44
RSD2
RSD2
RSLCD2
RSD2
RSD2
RSLCD2
RSD2
RSD2
RSULABCD1
45
RSD1
RSD1
RSLCD1
RSD1
RSD1
RSLCD1
RSD1
RSD1
RSULABCD1
46
OUTD–
OUTD–
OUTLCD–
OUTSD–
OUTSD–
OUTLCD–
OUTSD–
OUTSD–
OUTULABCD–
ENABLE_SD
-
ENABLE_SD
-
ENABLE_SC
ENABLE_
LCD
ENABLE_SC
ENABLE_
LCD
-
-
ENABLE_SB
-
ENABLE_LAB
ENABLE_
LAB
ENABLE_SA
ENABLE_
LAB
47
MGND
48
GND
49
C_SELECT
50
51
STROBE_CD
STROBE_CD
ENABLE_LCD
ENABLE_SD
ENABLE_SC
52
TH_OUT
53
LOGIC OUT
54
55
STROBE AB
STROBE AB
STROBE AB
STROBE AB
56
nORT
57
LGND
58
OSCM_mon
59
DATA_CD
DATA_CD
-
PHASE SD
PHASE SD
-
PHASE SD
-
60
CLK_CD
CLK_CD
PHASE_LCD
PHASE SC
PHASE SC
PHASE_LCD
PHASE SC
PHASE_LCD
61
DATA_AB
DATA_AB
DATA_AB
DATA_AB
-
-
PHASE SB
-
62
CLK_AB
CLK_AB
CLK_AB
CLK_AB
PHASE_LAB
PHASE_LAB
PHASE SA
PHASE_LAB
63
nSLEEP=L
nSLEEP=H
64
40
ENABLE_
ABCD
PHASE_ABCD
In-Reset
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8 Application and Implementation
NOTE
Information in the following applications sections is not part of the TI component
specification, and TI does not warrant its accuracy or completeness. TI’s customers are
responsible for determining suitability of components for their purposes. Customers should
validate and test their design implementation to confirm system functionality.
8.1 Application Information
The DRV8809/DRV8810 provides an integrated motor driver solution. The chip has four H-bridges internally and
is configurable to eight different modes of combination motor driver control.
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8.2 Typical Application
0.1uF
Cstrage
DCDC_MODE
0.01uF
Cbkt
C_SELECT
VM
100uF
TH_OUT
VCP
CP1
CP2
VDIN
VM
200 k
Vout 1
Temperature
Sens :
Pre-TSD or
Tsens (analog)
330uH OD_A
5.0v
(12.0v) 0.1uF
220uF
FBA
5.6k
(9.1k)
DC/DC
convertor
Ch-A
Voltage
charge
pump
To Highside
gate drive
To
DC/DC
To
Hbridges
OUTA+
Motor Drive
Output
Control A
Thermal
Shut down
1.48v
2.4k
(1.3k)
VM
0.2 ohm
RSA
OUTAMGND
Vout 2
330uH OD_B
OUTB+
1.5v
DC/DC
convertor
Ch-B
220uF
0.1uF
Vout 3
FBB
1.50v
3.0k
330uH
0.1uF
Regulator
Internal
supply
Voltage
Supervisory
DC/DC
convertor
Ch-C
220uF
1.50v
0.2 ohm
VM
OUTC+
Motor Drive
Output
Control C
1.2k
1.0k
Stepper
Motor
RSB
OUTB-
Pre-Drive, Latch
Registers &
control circuitry
OD_C
3.3v
Motor Drive
Output
Control B
VM
0.2 ohm
RSC
DC
Motor
FBC
OUTCFreq divider
for DC/DC
In-Reset
MGND
OSCD_Mon
OUTD+
OSCi
6.4MHz
OSCM_Mon
Motor Drive
Output
Control D
Freq divider
Motor PWM
LOGIC_OUT
nORT
0.2 ohm
RSD
DC
Motor
OUTDVREF_AB
nSLEEP
Setup / ex-setup
registers
LGND
ENABLE_SD (reserved) STROBE_AB
2.5v
VREF_SCD
Serial Interface A-B
DATA_AB
Serial Interface C-D
CLK_AB ENABLE_SC PHASE_SD PHASE_SC
Figure 36. Application Schematic
8.2.1 Design Requirements
To
1.
2.
3.
4.
begin the design process, determine the following:
Output voltage for each DC-DC converters
Output voltage start up sequence
Motor configuration (DC motors or stepping motors)
External Rsense-motor current setting for stepping motor
For one stepper and two DC motor configuration:
• DC-DC Ch-A = 5 V (12 V)
42
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Typical Application (continued)
•
•
DC-DC Ch-B = 1.5 V
DC-DC Ch-C = 3.3 V
If start-up from Ch-B (1.5 V) ≥ Ch-A (5 V), Ch-C 3.3 V should be turned on by the setup register (200 kΩ
between C_SELECT pin and GND).
8.2.2 Detailed Design Procedure
8.2.2.1 Output Voltage for Each DC-DC Converter
Output voltage is set by external feedback resistor network. For example,
• 5.0 V Output : 5.6 KΩ and 2.4 KΩ
• 1.5 V Output : 0 Ω and 3.0 KΩ
• 3.3 V Output : 1.2 KΩ and 1.0 KΩ
8.2.2.2 Output Voltage Startup Sequence
DC-DC converters start up sequence is determined by CSELECT pin and DCDC_MODE combination. Refer to
the sections DCDC_MODE for Parallel-Mode Control and DCDC_MODE and C_SELECT Timing Delay and
Start-Up Order for details.
8.2.2.3 Motor Configuration
Motor configuration is set by SPI register setting. Ramp up device with nSLEEP = Low, then write Setup Register
Bits 0 to 3 for motor configuration. Refer to Table 11 for details.
I(max) = VREF * Gain / RSense
(1)
VREF input is typically 2.5V. For example, if Rsense = 5 ohm and Torque (Bit 0 to 1) = 100%
I(max) = 2.5V * 100% / 5ohm
(2)
= 500mA
8.2.2.4 External Rsense-Motor Current Setting for Stepping Motor
Stepping motor current level is determined by external Rsense value.
8.2.3 Application Curves
Die temperature can be monitored at TH_OUT pin when register is set as Tsense(analog). This is used for
evaluation purposes only. Typical characteristics are shown in Figure 37.
2.6
T sens output voltage (V)
Unit
Linear
2.4
2.2
2
1.8
1.6
0
30
60
90
120
Temperature (qC)
150
180
D003
Figure 37. Tsense (Analog Out) Voltage Plot Example
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9 Power Supply Recommendations
This device requires a single voltage supply only. Supply to VM and VDIN pins should be the same voltage.
VDIN and VM should be connected externally.
10 Layout
10.1 Layout Guidelines
•
•
•
•
•
44
VDIN and VM should be connected externally
Recommended to have GND plane layer for better thermal performance. Thermal pad directly going down to
GND layer just under the device is the best way.
VM is an analog sensing pin, not a power supply. Monitor the voltage between VM and RSx pin.
Distance between Odx to Inductance should be as close as possible. This line has switching from 0 V to
VDIN.
FBx pin and external feedback resistor should be as close as possible. This is the analog sensing pin for the
DC-DC converter.
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To 3.3 V
C_SELECT
To MCU
nc
STROBE_CD
TH_OUT
nc
LOGIC_OUT
STROBE_AB
To MCU
To 3.3 V
To MCU
To 3.3 V
To MCU
nORT
To MCU
LGND
DATA_CD
OSCM_mon
To MCU
To MCU
To MCU
CLK_CD
To MCU
To 3.3 V
TEST_LGN
GND
MGND
MGND
To Power GND
OUTA-
HighPowerRating
RSA
RSD
OUTD+
MGND
MGND
MGND
MGND
OUTB-
OUTC+
RSB
To Motor
terminal
LGND
To GND or NC
To Motor
terminal
HighPowerRating
RSD
OUTA+
HighPowerRating
Power
GND
OUTD-
RSA
To Motor
terminal
Power
GND
To Motor
terminal
V_Supply
Layer
DATA_AB
To MCU
V_Supply
Layer
nSLEEP
InRESET
Power
GND
To Motor
terminal
CLK_AB
To 3.3 V
10.2 Layout Example
HighPowerRating
RSC
RSB
RSC
OUTB+
OUTC-
MGND
MGND
LGND
LGND
DCDC_MOD
OD_A
FBC
OD_A
V_Supply
Layer
To Motor
terminal
Power
GND
To Motor
terminal
V_Supply
Layer
To Motor
terminal
LGND
Power
GND
FBA
VREF_CD
VREF_AB
VM
VDIN
VDIN
VDIN
CP1
CP2
VCP
OSCD_mon
FBB
OD_B
DC_C
DC_C
+
OD_B
LGND
DC/DC Ach Vout
To 3.3 V
To 3.3 V
PowerGN
D
+
V_Supply
Layer
+
DC/DC Cch Vout
LGND
Power
GND
DC/DC Bch Vout
+
Figure 38. Layout
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11 Device and Documentation Support
11.1 Device Support
11.1.1 Third-Party Products Disclaimer
TI'S PUBLICATION OF INFORMATION REGARDING THIRD-PARTY PRODUCTS OR SERVICES DOES NOT
CONSTITUTE AN ENDORSEMENT REGARDING THE SUITABILITY OF SUCH PRODUCTS OR SERVICES
OR A WARRANTY, REPRESENTATION OR ENDORSEMENT OF SUCH PRODUCTS OR SERVICES, EITHER
ALONE OR IN COMBINATION WITH ANY TI PRODUCT OR SERVICE.
11.2 Related Links
The table below lists quick access links. Categories include technical documents, support and community
resources, tools and software, and quick access to sample or buy.
Table 21. Related Links
PARTS
PRODUCT FOLDER
SAMPLE & BUY
TECHNICAL
DOCUMENTS
TOOLS &
SOFTWARE
SUPPORT &
COMMUNITY
DRV8809
Click here
Click here
Click here
Click here
Click here
DRV8810
Click here
Click here
Click here
Click here
Click here
11.3 Trademarks
PowerPAD is a trademark of Texas Instruments Inc.
All other trademarks are the property of their respective owners.
11.4 Electrostatic Discharge Caution
These devices have limited built-in ESD protection. The leads should be shorted together or the device placed in conductive foam
during storage or handling to prevent electrostatic damage to the MOS gates.
11.5 Glossary
SLYZ022 — TI Glossary.
This glossary lists and explains terms, acronyms, and definitions.
12 Mechanical, Packaging, and Orderable Information
The following pages include mechanical, packaging, and orderable information. This information is the most
current data available for the designated devices. This data is subject to change without notice and revision of
this document. For browser-based versions of this data sheet, refer to the left-hand navigation.
46
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Copyright © 2008–2014, Texas Instruments Incorporated
Product Folder Links: DRV8809 DRV8810
PACKAGE OPTION ADDENDUM
www.ti.com
10-Dec-2020
PACKAGING INFORMATION
Orderable Device
Status
(1)
Package Type Package Pins Package
Drawing
Qty
Eco Plan
(2)
Lead finish/
Ball material
MSL Peak Temp
Op Temp (°C)
Device Marking
(3)
(4/5)
(6)
DRV8809PAP
ACTIVE
HTQFP
PAP
64
160
RoHS & Green
NIPDAU
Level-3-260C-168 HR
-10 to 50
DRV8809
1
(1)
The marketing status values are defined as follows:
ACTIVE: Product device recommended for new designs.
LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect.
NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design.
PREVIEW: Device has been announced but is not in production. Samples may or may not be available.
OBSOLETE: TI has discontinued the production of the device.
(2)
RoHS: TI defines "RoHS" to mean semiconductor products that are compliant with the current EU RoHS requirements for all 10 RoHS substances, including the requirement that RoHS substance
do not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, "RoHS" products are suitable for use in specified lead-free processes. TI may
reference these types of products as "Pb-Free".
RoHS Exempt: TI defines "RoHS Exempt" to mean products that contain lead but are compliant with EU RoHS pursuant to a specific EU RoHS exemption.
Green: TI defines "Green" to mean the content of Chlorine (Cl) and Bromine (Br) based flame retardants meet JS709B low halogen requirements of
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