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DRV8873HPWPR

DRV8873HPWPR

  • 厂商:

    BURR-BROWN(德州仪器)

  • 封装:

    HTSSOP24_7.8X4.4MM_EP

  • 描述:

    H桥电机驱动器

  • 数据手册
  • 价格&库存
DRV8873HPWPR 数据手册
Order Now Product Folder Support & Community Tools & Software Technical Documents DRV8873 SLVSET1 – AUGUST 2018 DRV8873 H-Bridge Motor Driver 1 Features 3 Description • The DRV8873 device is an integrated driver IC for driving a brushed DC motor in industrial applications. Two logic inputs control the H-bridge driver, which consists of four N-channel MOSFETs that drive motors bi-directionally with up to 10-A peak current. The device operates from a single power supply and supports a wide input supply range from 4.5 V to 38 V. 1 • • • • • • • • • • H-Bridge Motor Driver – Drives One DC Motor, One Winding of a Stepper Motor, or Solenoid Loads 4.5-V to 38-V Operating Voltage Range 10-A Peak Current Drive Low HS + LS RDS(ON) – 150 mΩ at TJ = 25°C, 13.5 V – 250 mΩ at TJ = 150°C, 13.5 V Current Mirror for Output Current Sensing Configurable Control Interface – PH/EN – PWM (IN1/IN2) – Independent Half-Bridge Control Supports 1.8-V, 3.3-V, 5-V Logic Inputs SPI or Hardware Interface Options Low-Power Sleep Mode (10 µA) Small Package and Footprint – 24 HTSSOP PowerPAD™ IC Package Protection Features – VM Undervoltage Lockout (UVLO) – Charge Pump Undervoltage (CPUV) – Overcurrent Protection (OCP) – Output short to battery and short to ground protection – Open Load Detection – Thermal Shutdown (TSD) – Fault Condition Output (nFAULT / SPI) A PH/EN or PWM interface allows simple interfacing to controller circuits. Alternatively, independent halfbridge control is available to drive two solenoid loads. A current mirror allows the controller to monitor the load current. This mirror approximates the current through the high-side FETs, and does not require a high-power resistor for sensing the current. A low-power sleep mode is provided to achieve verylow quiescent current draw by shutting down much of the internal circuitry. Internal protection functions are provided for undervoltage lockout, charge pump faults, overcurrent protection, short-circuit protection, open-load detection, and overtemperature. Fault conditions are indicated on an nFAULT pin and through the SPI registers. Device Information(1) PART NUMBER DRV8873 PACKAGE HTSSOP (24) BODY SIZE (NOM) 7.70 mm × 4.40 mm (1) For all available packages, see the orderable addendum at the end of the data sheet. Simplified Schematic 4.5 to 38 V 2 Applications DRV8873 • • • • • • • ePOS and Currency Counters ATMs (Automated Teller Machines) Multi-Function Printers Laser Beam Printers Factory Automation and Robotics Motorized Window Blinds Adjustable Desks and Beds Controller PWM DISABLE H-Bridge Driver SPI or HW BDC nFAULT Current Sense Monitor Current Regulation Built-In Protection 1 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. DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Table of Contents 1 2 3 4 5 6 7 Features .................................................................. Applications ........................................................... Description ............................................................. Revision History..................................................... Pin Configuration and Functions ......................... Specifications......................................................... 1 1 1 2 3 4 6.1 6.2 6.3 6.4 6.5 6.6 6.7 4 5 5 5 5 8 9 Absolute Maximum Ratings ...................................... ESD Ratings.............................................................. Recommended Operating Conditions....................... Thermal Information .................................................. Electrical Characteristics........................................... SPI Timing Requirements ......................................... Typical Characteristics .............................................. 7.6 Register Maps ......................................................... 35 8 8.1 Application Information............................................ 40 8.2 Typical Application .................................................. 40 9 Overview ................................................................. Functional Block Diagram ....................................... Feature Description................................................. Device Functional Modes........................................ Programming........................................................... Power Supply Recommendations...................... 46 9.1 Bulk Capacitance Sizing ......................................... 46 10 Layout................................................................... 47 10.1 Layout Guidelines ................................................. 47 10.2 Layout Example .................................................... 47 11 Device and Documentation Support ................. 48 11.1 11.2 11.3 11.4 11.5 11.6 Detailed Description ............................................ 10 7.1 7.2 7.3 7.4 7.5 Application and Implementation ........................ 40 10 11 13 29 30 Documentation Support ....................................... Receiving Notification of Documentation Updates Community Resources.......................................... Trademarks ........................................................... Electrostatic Discharge Caution ............................ Glossary ................................................................ 48 48 48 48 48 48 12 Mechanical, Packaging, and Orderable Information ........................................................... 48 12.1 Package Option Addendum .................................. 49 4 Revision History NOTE: Page numbers for previous revisions may differ from page numbers in the current version. 2 DATE REVISION NOTES August 2018 * Initial release. September 2018 0.95 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 5 Pin Configuration and Functions DRV8873H PWP PowerPAD Package 24-Pin HTSSOP Top View DRV8873S PWP PowerPAD Package 24-Pin HTSSOP Top View DVDD 1 24 GND DVDD 1 24 GND nFAULT 2 23 CPL nFAULT 2 23 CPL MODE 3 22 CPH SDO 3 22 CPH SR 4 21 VCP SDI 4 21 VCP nITRIP 5 20 VM SCLK 5 20 VM nOL 6 19 OUT1 nSCS 6 19 OUT1 18 OUT1 Thermal EN/IN1 7 PH/IN2 Thermal 18 OUT1 EN/IN1 7 8 17 SRC PH/IN2 8 17 SRC DISABLE 9 16 SRC DISABLE 9 16 SRC IPROPI1 10 15 OUT2 IPROPI1 10 15 OUT2 nSLEEP 11 14 OUT2 nSLEEP 11 14 OUT2 IPROPI2 12 13 VM IPROPI2 12 13 VM Pad Not to scale Pad Not to scale Pin Functions PIN NAME NO. TYPE (1) DESCRIPTION DRV8873H DRV8873S CPH 22 22 PWR Charge pump switching node. Connect a X7R capacitor with a value of 47 nF between the CPH and CPL pins. CPL 23 23 PWR Charge pump switching node. Connect a X7R capacitor with a value of 47 nF between the CPH and CPL pins. DVDD 1 1 PWR Digital regulator. This pin is the 5-V internal digital-supply regulator. Bypass this pin to GND with a 6.3-V, 1-µF ceramic capacitor. EN/IN1 7 7 I Control Inputs. For details, see the Control Modes section. This pin has an internal pulldown resistor to GND. DISABLE 9 9 I Bridge disable input. A logic high on this pin disables the H-bridge Hi-Z. Internal pullup to DVDD. GND 24 24 PWR IPROPI1 10 10 O High-side FET current. The analog current proportional to the current flowing in the half bridge. IPROPI2 12 12 O High-side FET current. The analog current proportional to the current flowing in the half bridge. nITRIP 5 — I Internal current-regulation control pin (ITRIP). To enable the ITRIP feature, do not connect this pin (or tie it to GND). To disable the ITRIP feature, connect this pin to the DVDD pin. nOL 6 — I Open-load diagnostic control pin. To run the open-load diagnostic at power up, tie it to ground. Connect it to DVDD, open-load diagnostic will be disabled. Ground pin MODE 3 — I Input mode pin. Sets the PH/EN, PWM, or independent-PWM mode. OUT1 18 18 O Half-bridge output 1. Connect this pin to the motor or load. OUT1 19 19 O Half-bridge output 1. Connect this pin to the motor or load. OUT2 14 14 O Half-bridge output 2. Connect this pin to the motor or load. OUT2 15 15 O Half-bridge output 2. Connect this pin to the motor or load. (1) I = input, O = output, PWR = power, NC = no connect, OD = open-drain output, PP = push-pull output Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 3 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Pin Functions (continued) PIN TYPE (1) NO. NAME DESCRIPTION DRV8873H DRV8873S PH/IN2 8 8 I Control inputs. For details, see the Control Modes section. This pin has an internal pulldown resistor to GND. SCLK — 5 I Serial clock input. Serial data is shifted out and captured on the corresponding rising and falling edge on this pin. SDI — 4 I Serial data input. Data is captured on the falling edge of the SCLK pin. SDO — 3 PP Serial data output. Data is shifted out on the rising edge of the SCLK pin. This is a push-pull output. SR 4 — I Slew rate adjust. This pin sets the slew rate of the H-bridge outputs. SRC 16 16 O Power FET source. Tie this pin to GND through a low-impedance path. SRC 17 17 O Power FET source. Tie this pin to GND through a low-impedance path. VCP 21 21 PWR Charge pump output. Connect a 16-V, 1-µF ceramic capacitor from this pin to the VM supply. VM 13 13 PWR Power supply. This pin is the motor supply voltage. Bypass this pin to GND with a 0.1-µF ceramic capacitor and a bulk capacitor. VM 20 20 PWR Power supply. This pin is the motor supply voltage. Bypass this pin to GND with a 0.1-µF ceramic capacitor and a bulk capacitor. nFAULT 2 2 OD nSCS — 6 I Serial chip select. An active low on this pin enables the serial interface communications. Internal pullup to nSLEEP. nSLEEP 11 11 I Sleep input. To enter a low-power sleep mode, set this pin logic low. Fault indication pin. This pin is pulled logic low with a fault condition. This open-drain output requires an external pullup resistor. 6 Specifications 6.1 Absolute Maximum Ratings over operating free-air temperature range (unless otherwise noted) (1) MIN MAX UNIT Power supply voltage VM –0.3 40 V Charge pump voltage VCP, CPH –0.3 VVM + 5.7 V Charge pump switching pin CPL –0.3 VVM V Internal logic regulator voltage DVDD –0.3 5.7 V Digital pin voltage EN/IN1, PH/IN2, nSLEEP, DISABLE, nFAULT, MODE, SR, SCLK, SDI, SDO, nSCS –0.3 5.7 V VTRIP Analog pin voltage IPROPI1, IPROPI2 0 5.5 V VSRC H-Bridge source pin voltage V –0.3 0.3 VSRC – 1 VVM + 1 nFAULT 0 10 mA SDO 0 10 mA Phase node pin voltage OUTx Open drain output current Push-pull output current V TJ Operating junction temperature –40 150 °C Tstg Storage temperature –65 150 °C (1) 4 Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings only, which do not imply functional operation of the device at these or any other conditions beyond those indicated under Recommended Operating Conditions. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 6.2 ESD Ratings VALUE Human body model (HBM), per ANSI/ESDA/JEDEC JS-001, all pins (1) V(ESD) (1) (2) Electrostatic discharge Charged device model (CDM), per JEDEC specification JESD22-C101, all pins (2) UNIT ±2000 Corner pins (1, 12, 13, and 24) ±750 Other pins ±500 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 over operating free-air temperature range (unless otherwise noted) MIN MAX 4.5 38 V 0 5.5 V 100 kHz 125 °C 150 °C VVM Power supply voltage VI Logic level input voltage fPWM Applied PWM signal (EN/IN1, PH/IN2) TA Operating ambient temperature –40 TJ Operating junction temperature –40 UNIT 6.4 Thermal Information DRV8873-Q1 THERMAL METRIC (1) PWP (HTSSOP) UNIT 24 PINS RθJA Junction-to-ambient thermal resistance 27.8 °C/W RθJC(top) Junction-to-case (top) thermal resistance 18.8 °C/W RθJB Junction-to-board thermal resistance 5.1 °C/W ΨJT Junction-to-top characterization parameter 0.3 °C/W ΨJB Junction-to-board characterization parameter 5.2 °C/W RθJC(bot) Junction-to-case (bottom) thermal resistance 1.0 °C/W (1) For more information about traditional and new thermal metrics, see the Semiconductor and IC Package Thermal Metrics application report. 6.5 Electrical Characteristics Over recommended operating conditions unless otherwise noted. Typical limits apply for TA = 25°C and VVM = 13.5 V PARAMETER TEST CONDITIONS MIN TYP MAX UNIT POWER SUPPLIES (VM, DVDD) VVM VM operating voltage 4.5 IVM VM operating supply current VVM = 13.5 V; nSLEEP = 1; DISABLE =0 IVM(Q) VM sleep mode supply current VVM = 13.5 V; nSLEEP = 0 VDVDD Internal logic regulator voltage 2-mA load, VVM > 5.5 V 4.7 t(SLEEP) Sleep time nSLEEP low to start device shutdown 50 t(RESET) nSLEEP reset pulse nSLEEP low to only clear fault registers t(WAKE) 38 V 10 mA 15 30 µA 5 5.3 V 5 µs 5 20 µs Wake-up time nSLEEP high to device ready for input signals 1.5 ms ton Turn-on time VM > V(UVLO); nSLEEP = 1, to output transition 1.5 ms t(DISABLE) DISABLE deglitch time DISABLE signal transition 2.5 µs CHARGE PUMP (VCP, CPH, CPL) VVCP VCP operating voltage with respect to VM IVCP VCP current VVM = 13.5 V f(VCP) Charge pump switching frequency VVM > V(UVLO); nSLEEP = 1 VVM+5 7 V 10 400 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 mA kHz 5 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Electrical Characteristics (continued) Over recommended operating conditions unless otherwise noted. Typical limits apply for TA = 25°C and VVM = 13.5 V PARAMETER TEST CONDITIONS MIN TYP MAX UNIT LOGIC-LEVEL INPUTS (EN/IN1, PH/IN2, nSLEEP, SCLK, SDI) VIL Input logic-low voltage VIH Input logic-high voltage VHYS Input logic hysteresis IIL Input logic-low current VIN = 0 V IIH Input logic-high current VIN = 5 V RPD Internal pulldown resistance Propagation delay (EN/IN1, PH/IN2 to OUTx = 50%) tpd 0 0.8 V 1.6 5.3 V 150 mV –5 5 µA 50 µA to GND 100 kΩ SR = 000b; IO = 1 A 1.2 SR = 001b; IO = 1 A 1.6 SR = 010b; IO = 1 A 2.6 SR = 011b; IO = 1 A 3.4 SR = 100b; IO = 1 A 4.1 SR = 101b; IO = 1 A 5.2 SR = 110b; IO = 1 A 7.8 SR = 111b; IO = 1 A 13.3 DISABLE to DVDD 100 µs LOGIC-LEVEL INPUT (DISABLE) RPU,DIS Internal pull-up resistance VIL,DIS Input logic-low voltage VIH,DIS Input logic-high voltage kΩ 0 0.8 V 1.6 5.3 V 0 0.8 V 1.6 5.3 LOGIC-LEVEL INPUT (nSCS) VIL,nSCS Input logic-low voltage VIH,nSCS Input logic-high voltage RPU,nSCS Internal pull-up resistance nSCS to nSLEEP 450 V kΩ LOGIC-LEVEL INPUT (nSLEEP) VIL,SLEEP Input logic-low voltage VIH,SLEEP Input logic-high voltage IIH,SLEEP Input logic-high current 0 0.8 2.7 5.3 VIN = 5 V; nSCS is High 80+ISDO (1) V V µA THREE-LEVEL INPUT (MODE) RIN-1 Input mode 1 Tied to GND RIN-2 Input mode 2 Tied to GND RIN-3 Input mode 3 Tied to DVDD 105 190 Ω kΩ 105 Ω 30 50 Ω 120 240 Ω PUSH-PULL OUTPUT (SDO) RPD,SDO Internal pull-down resistance With respect to GND RPU,SDO Internal pull-up resistance With respect to nSLEEP OPEN DRAIN OUTPUT (nFAULT) VOL Output logic-low voltage IO = 2 mA IOZ Output high-impedance leakage VO = 5 V –2 0.1 V 2 µA MOTOR DRIVER OUTPUTS (OUT1, OUT2) RDS(ON) High-side FET on-resistance RDS(ON) Low-side FET on-resistance t(DEAD) VF(DIODE) (1) 6 VVM = 13.5 V; TA = 25°C; TJ = 25°C 75 VVM = 13.5 V; TA = 25°C; TJ = 150°C 125 155 mΩ VVM = 13.5 V; TA = 25°C; TJ = 25°C 75 VVM = 13.5 V; TA = 25°C; TJ = 150°C 125 Output dead time SR = 100b 500 ns Body diode forward voltage IO = 1 A 0.8 V 155 mΩ SDO output current external to the device Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 Electrical Characteristics (continued) Over recommended operating conditions unless otherwise noted. Typical limits apply for TA = 25°C and VVM = 13.5 V PARAMETER ISINK SR Sink current when OUTx = Hi-Z Slew rate (H/W Device) OUTx 10% to 90% changing TEST CONDITIONS MIN nSLEEP = 0 SR MAX 62 nSLEEP = 1, DISABLE = 1 340 IO = 1 A; Connect to GND 53.2 IO = 1 A; R(SR) = 22 kΩ ± 5% to GND 34 IO = 1 A; R(SR) = 68 kΩ ± 5% to GND 18.3 IO = 1 A; No connect (Hi-Z) 13 IO = 1 A; R(SR) = 51 kΩ ± 5% to DVDD 7.9 IO = 1 A; Connect to DVDD Slew rate (SPI Device) OUTx 10% to 90% changing TYP UNIT µA V/µs 2.6 IO = 1 A; SR = 000b 53.2 IO = 1 A; SR = 001b 34 IO = 1 A; SR = 010b 18.3 IO = 1 A; SR = 011b 13 IO = 1 A; SR = 100b 10.8 IO = 1 A; SR = 101b 7.9 IO = 1 A; SR = 110b 5.3 IO = 1 A; SR = 111b 2.6 V/µs CURRENT SENSE OUTPUTS (IPROPI1, IPROPI2) k Current mirror scaling kERR Current mirror scaling t(IPROPI) OUTx to IPROPI 1100 A/A IO < 1 A –50 50 mA IO ≥ 1 A –5 5 % VO = 2 V; SR = 000b 2.2 VO = 2 V; SR = 111b 10.5 µs CURRENT REGULATION ITRIP Current limit threshold tOFF PWM off-time tBLANK PWM blanking time ITRIP_LVL = 00b; VVM = 13.5 V 3.27 3.85 4.43 ITRIP_LVL = 01b; VVM = 13.5 V 4.6 5.4 6.2 ITRIP_LVL = 10b; VVM = 13.5 V 5.5 6.5 7.5 ITRIP_LVL = 11b; VVM = 13.5 V 5.95 7 8.1 TOFF = 00b 20 TOFF = 01b 40 TOFF = 10b 60 TOFF = 11b 80 A µs 5 µs PROTECTION CIRCUITS 4.35 4.45 VM rising; UVLO recovery 4.5 4.7 VM UVLO falling deglitch time VM falling; UVLO report 10 VM UVLO reset VM falling; UVLO report; device reset VVCP(UV) Charge pump undervoltage VVM = 12 V; TA = 25°C; CPUV report I(OCP) Overcurrent protection trip level t(OCP) Overcurrent deglitch time t(RETRY) Overcurrent retry time (H/W Device) V(UVLO) VM undervoltage lockout t(UVLO) V(RST) t(RETRY) Overcurrent retry time (SPI Device) VOLA Open load active mode VM falling; UVLO report µs 4.1 VVM + 2.25 A 3 5 4 OCP_TRETRY = 00b 0.5 OCP_TRETRY = 01b 1 OCP_TRETRY = 10b 2 ms ms 300 450 Submit Documentation Feedback Product Folder Links: DRV8873 µs 4 150 Copyright © 2018, Texas Instruments Incorporated V V 10 OCP_TRETRY = 11b V mV 7 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Electrical Characteristics (continued) Over recommended operating conditions unless otherwise noted. Typical limits apply for TA = 25°C and VVM = 13.5 V PARAMETER TEST CONDITIONS MIN TYP OL_DLY = 0b 0.3 OL_DLY = 1b 1.2 MAX UNIT td(OL) Open load diagnostic delay time ms IOL Open load current TOTW Thermal warning temperature Die temperature (TJ) 140 150 160 °C TTSD Thermal shutdown temperature Die Temperature (TJ) 165 175 185 °C Thys Thermal shutdown hysteresis Die temperature (TJ) 3 mA 20 °C 6.6 SPI Timing Requirements MIN NOM MAX UNIT t(READY) SPI ready, VM > V(UVLO) t(CLK) SCLK minimum period 100 ns t(CLKH) SCLK minimum high time 50 ns t(CLKL) SCLK minimum low time 50 ns tsu(SDI) SDI input setup time 20 ns th(SDI) SDI input hold time 30 td(SDO) SDO output delay time, SCLK high to SDO valid, CL = 20 pF tsu(nSCS) nSCS input setup time th(nSCS) nSCS input hold time t(HI_nSCS) nSCS minimum high time before active low tdis(nSCS) nSCS disable time, nSCS high to SDO high impedance t(HI_nSCS) 1 ms ns 30 ns 50 ns 50 ns 500 ns 10 ns th(nSCS) tsu(nSCS) t(CLK) t(CLKH) X t(CLKL) LSB MSB X tsu(SDI) th(SDI) Z LSB MSB td(SDO) Z tdis(nSCS) Figure 1. SPI Slave-Mode Timing Definition 8 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 6.7 Typical Characteristics 160 6 140 5 Operating Current (mA) RDS(ON) (m:) 120 100 80 60 40 4 3 2 1 20 0 -50 0 50 100 Temperature (qC) 150 0 -50 200 0 D001 Figure 2. RDS(on) vs Temperature 50 100 Temperature (qC) 150 200 D002 Figure 3. Operating Current (IVM) vs Temperature 20 6.2 18 6 14 ITRIP Current (A) Sleep Current (PA) 16 12 10 8 6 4 5.8 5.6 5.4 5.2 2 0 -50 0 50 100 Temperature (qC) 150 5 -50 200 0 D003 50 100 Temperature (qC) 150 200 D004 ITRIP = 01b Figure 4. Sleep Current (IVM(Q)) vs Temperature Figure 5. ITRIP Current vs Temperature 7.8 8 7.7 7 7.6 7.5 ITRIP Current (A) ITRIP Current (A) 6 5 4 3 7.4 7.3 7.2 7.1 7 6.9 2 6.8 1 6.7 0 -50 0 50 100 Temperature (qC) 150 200 6.6 -50 0 D005 ITRIP = 10b 50 100 Temperature (qC) 150 200 D006 ITRIP = 11b Figure 6. ITRIP Current vs Temperature Figure 7. ITRIP Current vs Temperature Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 9 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 7 Detailed Description 7.1 Overview The device is an integrated, 4.5-V to 38-V motor driver for industrial brushed-motor applications. The device is capable of high output-current drive using low-RDS(ON) integrated MOSFETs. A standard 4-wire serial peripheral interface (SPI) decreases the device pin count by allowing the various device settings and fault reporting to be managed through an external controller. Alternatively a hardware interface option device is available for easy configuration with less detailed control of all device functions. The device integrates a current mirror which provides an output current proportional to the current through the high-side FETs. This feature allows the system to monitor the motor current without the need for a large highpower resistor for current sensing. The device has a built-in current regulation feature with a fixed off-time current-chopping scheme. The current-chopping level is selected through SPI in the SPI version of the device and in the hardware version of the device is it a fixed value. In addition to the high level of driver integration, the device provides a broad range of integrated protection features. These features include power-supply undervoltage lockout (UVLO), charge-pump undervoltage lockout, overcurrent faults, open-load detection, output short to battery and short to ground protection, and thermal shutdown. Device faults are indicated by the nFAULT pin with detailed information available in the device registers. The device integrates a spread spectrum clocking feature for both the internal digital oscillator and internal charge pump. This feature combined with output slew rate control minimizes the radiated emissions from the device. The device is available in a 24-pin HTSSOP package with a thermal pad. 10 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 7.2 Functional Block Diagram 1 µF DVDD VM VM VCP Power 1 µF VM VM VCP 0.1 µF CPH Charge Pump 47 nF Internal Regulators CPL 0.1 µF + bulk OUT1 Predriver IN1 VCP BDC VM IN2 Core Logic nSLEEP OUT2 Predriver DVDD SRC DISABLE nSLEEP Control Inputs VTRIP nOL IPROPI1 Protection SR Undervoltage Overcurrent MODE Thermal nITRIP RSENSE-1 Current Sense Output IPROPI2 Open Load RSENSE-2 RnFAULT nFAULT Output GND PPAD Copyright © 2017, Texas Instruments Incorporated Figure 8. Hardware Device Block Diagram Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 11 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Functional Block Diagram (continued) 1 µF DVDD VM VM VCP Power 1 µF VM VM VCP 0.1 µF CPH Charge Pump 47 nF Internal Regulators CPL 0.1 µF + bulk OUT1 Predriver IN1 VCP BDC VM IN2 Control Inputs nSLEEP Core Logic OUT2 Predriver DVDD SRC DISABLE RnFAULT VTRIP Output nFAULT IPROPI1 Protection nSLEEP Undervoltage nSCS SPI nSLEEP SDI Overcurrent Thermal RSENSE-1 Current Sense Output IPROPI2 Open Load RSENSE-2 SDO SCLK GND PPAD Copyright © 2017, Texas Instruments Incorporated Figure 9. Software Device Block Diagram 12 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 7.3 Feature Description Table 1 lists the recommended external components for the device. Table 1. External Components COMPONENT PIN 1 PIN 2 RECOMMENDED CVM1 VM GND 0.1-µF ceramic capacitor rated for VM CVM2 VM GND Bulk capacitor rated for VM CVCP VCP VM 16-V, 1-µF ceramic capacitor CFLY CPH CPL 47-nF capacitor rated for VM CDVDD DVDD GND 6.3-V, 1-µF ceramic capacitor (1) RnFAULT VCC nFAULT ≥ 10-kΩ pullup resistor RMODE MODE GND or DVDD Device hardware interface RSENSE-1 IPROPI1 GND Resistors to convert mirrored current into a voltage RSENSE-2 IPROPI2 GND Resistors to convert mirrored current into a voltage (1) VCC is not a pin on the device, but a VCC supply-voltage pullup is required for the open-drain output nFAULT. 7.3.1 Bridge Control The device output has four N-channel MOSFETs configured in a H-bridge. The driver can be controlled using a PH/EN, PWM, or independent half-bridge input mode. Table 2 lists the control mode configurations. Table 2. Control Mode Configuration HARDWARE DEVICE MODE PIN SPI DEVICE MODE REGISTER CONTROL MODE L 00b PH/EN H 01b (default) PWM 200 kΩ ± 5% to GND 10b Independent half bridge Not applicable 11b Input disabled, bridge Hi-Z In the hardware version of the device, the MODE pin determines the control interface and latches on power-up or when exiting sleep mode. During the device power-up sequence, the DVDD pin is enabled first, and then the MODE pin latches. Tying the MODE pin directly to ground sets the mode to phase and enable. Tying the MODE pin to the DVDD pin, or an external 5 V rail, sets the mode to PWM. Connecting the MODE pin to ground with a 200 kΩ ± 5% resistor sets the mode to independent half-bridge where the two half-bridges can be independently controlled by their respective input (INx) pins. Table 3 lists the different MODE pin settings. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 13 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Table 3. DRV8873H MODE Pin Settings CONNECTION MODE CIRCUIT Connect to GND Phase and Enable 200 kΩ ± 5% to GND Independent half-bridge MODE MODE RMODE DVDD Connect to DVDD MODE PWM In the SPI version of the device, the mode setting can be changed by writing to the MODE register in the IC1 control register because this device version has no dedicated MODE pin. The device mode gets latched when the DISABLE signal transitions from high to low. 7.3.1.1 Control Modes The device output consists of four N-channel MOSFETs that are designed to drive high current. The MOSFETs are controlled by two logic inputs, EN/IN1 and PH/IN2, in three different input modes to support various commutation and control methods, as shown in the logic tables (Table 4, Table 5, and Table 6). In the Independent PWM mode, the fault handling is performed independently for each half bridge. For example, if an overcurrent condition (OCP) is detected in half-bridge 1, only the half-bridge 1 output (OUT1) is disabled and half-bridge 2 continues to operate based on the IN2 input. Table 4. PH/EN Mode Truth Table 14 nSLEEP DISABLE EN/IN1 PH/IN2 OUT1 OUT2 0 X X X Hi-Z Hi-Z 1 1 X X Hi-Z Hi-Z 1 0 0 X H H 1 0 1 0 L H 1 0 1 1 H L Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 Table 5. PWM Mode Truth Table nSLEEP DISABLE EN/IN1 PH/IN2 OUT1 OUT2 0 X X X Hi-Z Hi-Z 1 1 X X Hi-Z Hi-Z 1 0 0 0 Hi-Z Hi-Z 1 0 0 1 L H 1 0 1 0 H L 1 0 1 1 H H Table 6. Independent Mode Truth Table nSLEEP DISABLE EN/IN1 PH/IN2 OUT1 OUT2 0 X X X Hi-Z Hi-Z 1 1 X X Hi-Z Hi-Z 1 0 0 0 L L 1 0 0 1 L H 1 0 1 0 H L 1 0 1 1 H H The inputs can be set to static voltages for 100% duty cycle drive, or they can be pulse-width modulated (PWM) for variable motor speed. When using PWM mode (MODE = 1), switching between driving and braking typically is best. For example, to drive a motor forward with 50% of its maximum revolutions per minute (RPM), the IN1 pin is high and the IN2 pin is low during the driving period. During the other period in this example, the IN1 pin is high and the IN2 pin is high. VM VM VM VM 2 2 1 SH1 3 SH2 SH1 SH2 SH1 SH2 SH1 SH2 1 Forward drive 2 High-side recirculation (brake) 3 Reverse drive Figure 10. Half-Bridge Current Paths In the Independent PWM mode, to independently put the outputs of the half bridge in the high-impedance (Hi-Z) state, the OUT1_DIS or OUT2_DIS bit in the IC3 register must be set to 1b. Writing a logic 1 to the OUT1_DIS bit disables the OUT1 output. Writing a logic 1 to the OUT2_DIS bit disables the OUT2 output. The default value in these registers is 0b. The option to independently set the outputs of the half bridge in the Hi-Z state is not available for the hardware version of the device. 7.3.1.2 Half-Bridge Operation The device can be used to drive two solenoids or unidirectional brushed DC-motor loads instead of a brushedDC motor in full H-bridge configuration. Independent half-bridge control is preferred for operation in this mode; however, using the PH/EN or PWM modes is not restricted if the correct driving and braking states can be achieved. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 15 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com VCP VM VM + 0.1 µF bulk OUT1 Predriver BDC VCP VM OUT2 Predriver SRC BDC Copyright © 2017, Texas Instruments Incorporated Figure 11. Independent Half bridge Mode Driving Two Low-Side Loads TI does not recommend tying the OUT1 and OUT2 pins together and drive a load. The half bridges may be out of synchronization in this configuration and any mismatch in the input commands can momentarily result in shoot through condition. This mismatch can be mitigated by adding an inductor in-line with the outputs. If loads are connected between the OUTx and VM pins, the device can draw more current than specified in the Electrical Characteristics table. To avoid this condition, TI recommends connecting loads in the configuration shown in Figure 11. Depending on how the loads are connected on the outputs pin, some of the features offered by the device could have reduced functionality. For example, having a load between the OUTx and GND pins, as shown in Figure 11, results in false trips of the open-load diagnosis in active-mode (OLA). Having a load tied between the OUTx and VM pins restricts the use of internal current regulation because no means of measuring current flowing through the load with the current mirror block is available. Table 7 lists these use cases. Table 7. Control Mode Configuration LOAD CONNECTIONS 16 FUNCTIONALITY NODE 1 NODE 2 OLA OUTx GND Not Available Operational OUTx VM Operational Not Available Submit Documentation Feedback CURRENT REGULATION (ITRIP) Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 7.3.1.3 Internal Current Sense and Current Regulation The IPROPI pin outputs an analog current that is proportional to the current flowing in the H-bridge. The output current is typically 1/1100 of the current in both high-side FETs. The IPROPI pin is derived from the current through either of the high-side FETs. Because of this, the IPROPI pin does not represent the half bridge current when operating in a fast decay mode or low-side slow decay mode. The IPROPI pin represents the H-bridge current under forward drive, reverse drive, and high-side slow decay. The IPROPI output is delayed by approximately 2 µs for the fastest slew-rate setting (43.2 V/µs) after the high-side FET is switched on. VM HS1 SENSE_FET 1/1100 scaled HS1 PWR_FET OUT1 Current Sense and Current Regulation IPROPI1 RSENSE-1 VM HS2 SENSE_FET 1/1100 scaled HS2 PWR_FET Current Sense and Current Regulation OUT2 IPROPI2 RSENSE-2 Figure 12. Current-Sense Block Diagram The selection of the external resistor should be such that the voltage on the IPROPI pin is less than 5 V. Therefore the resistor must be sized less than this value based on Equation 1. The range of current that can be monitored is from 100 mA to 10 A assuming the selected external resistor meets the calculated value from Equation 1. If the current exceeds 10 A, the device could reach overcurrent protection (OCP) or overtemperature shutdown (TSD). If OCP occurs, the device disables the internal MOSFETs and protects itself (for the hardware version of the device) or based on the OCP_MODE setting (for the SPI version of the device). For guidelines on selecting a sense resistor, see the Sense Resistor section. R(SENSE) = k × 5 V / IO where • • k is the current mirror scaling factor, which is typically 1100. IO is the maximum drive current to be monitored. (1) NOTE Texas Instruments recommends the load current not exceed 8 A during normal operation. If slew rate setting of 2.6 V/µs (SR = 111b) is used when the load current is about 8 A, choose TOFF to be either 40 µs or 60 µs. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 17 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com The SPI version of the device limits the output current based on the trip level set in the SPI registers. In the hardware version of the device, the current trip limit is set to 6.5 A. The current regulation feature is enabled by default on both the outputs (OUT1 and OUT2). To disable current regulation in the hardware version of the device, the nITRIP pin must be connected to DVDD. To disable current regulation in the SPI version of the device, the DIS_ITRIP bits in the IC4 Control register must be written to. The bit settings are: • 01b to disable current regulation only on the OUT1 pin • 10b to disable current regulation only on the OUT2 pin • 11b to disable current regulation on both the OUT1 and OUT2 pins Table 8. Control Regulation Threshold PARAMETER ITRIP Current limit threshold ITRIP_LVL BIT MIN TYP MAX UNIT ITRIP_LVL = 00b 3.4 4 4.6 A ITRIP_LVL = 01b 4.6 5.4 6.2 A ITRIP_LVL = 10b 5.5 6.5 7.5 A ITRIP_LVL = 11b 6 7 8 A When the ITRIP current has been reached, the device enforces slow current decay by enabling both the high-side FETs for a time of tOFF . In the hardware version of the device, the tOFF time is 40 µs. The tOFF time is selectable through SPI in the SPI version of the device, as shown in Table 9. The default setting is 01b (tOFF = 40 µs). Table 9. PWM Off Time Settings PARAMETER tOFF PWM off time TOFF BIT tOFF DURATION UNIT TOFF = 00b 20 µs TOFF = 01b 40 µs TOFF = 10b 60 µs TOFF = 11b 80 µs Drive Current (A) ITRIP tBLANK Drive Brake or Slow Decay Drive Brake or Slow Decay tDRIVE tOFF tDRIVE tOFF Figure 13. Current Regulation Time Periods When the tOFF time has elapsed and the current level falls below the current regulation (ITRIP) level, the output is re-enabled according to the inputs. If, after the tOFF time has elapsed the current is still higher than the ITRIP level, the device enforces another tOFF time period of the same duration. The drive time (tDRIVE) occurs until another ITRIP event is reached and depends heavily on the VM voltage, the back-EMF of the motor, and the inductance of the motor. During the tDRIVE time, the current-sense regulator does not enforce the ITRIP limit until the tBLANK time has elapsed. While in current regulation, the inputs can be toggled to drive the load in the opposite direction to decay the current faster. For example, if the load was in forward drive prior to entering current regulation it can only go into reverse drive when the driver enforces current regulation. 18 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 The IPROPI1 pin represents the current flowing through the HS1 MOSFET of half-bridge 1. The IPROPI2 pin represents the current flowing through the HS2 MOSFET of half-bridge 2. To measure current with one sense resistor, the IPROPI1 and IPROPI2 pins must be connected together with the RSENSE resistor as shown in Figure 14. In this configuration, the current-sense output is proportional to the sum of the currents flowing through the both high-side FETs. IPROPI1 Current-Sense Output RSENSE-1 IPROPI2 GND PPAD Figure 14. Current Sense Output 7.3.1.4 Slew-Rate Control The rise and fall times (tr and tf) of the outputs can be adjusted on the hardware version of the device by changing the value of an external resistor connected from the SR pin to ground. On the SPI version of the device, the slew rate can be adjusted through the SPI. The output slew rate is adjusted internally to the device by controlling the ramp rate of the driven FET gate. The voltage or resistance on the SR pin sets the output rise and fall times in the hardware version of the device. Table 10. DRV8873H Slew Rate (SR) Pin Connections CONNECTION SR Connect to GND 53.2 V/µs 22 kΩ ± 5% to GND 34 V/µs CIRCUIT SR SR RSR 68 kΩ ± 5% to GND SR 18.3 V/µs RSR Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 19 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Table 10. DRV8873H Slew Rate (SR) Pin Connections (continued) CONNECTION SR > 2 MΩ to GND (Hi-Z) 13 V/µs CIRCUIT SR DVDD 51 kΩ ± 5% to DVDD SR 7.9 V/µs DVDD Connect to DVDD SR 2.6 V/µs Figure 15 shows the internal circuit block for the SR pin. SLEW RATE 53.2 V/µs + VREF ± 34 V/µs DVDD + VREF ± SR 18.3 V/µs + VREF ± 13 V/µs + VREF ± 7.9 V/µs + VREF ± 2.6 V/µs Figure 15. SR Block Diagram 20 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 Table 11 lists the settings in the SPI register that set the output rise and fall times in the SPI version of the device. Table 11. DRV8873S Slew Rate Settings SR RISE TIME (V/µs) FALL TIME (V/µs) 000b 53.2 53.2 001b 34 34 010b 18.3 18.3 011b 13 13 100b 10.8 10.8 101b 7.9 7.9 110b 5.3 5.3 111b 2.6 2.6 The typical voltage on the SR pin is 3 V and is driven internally. Changing the resistor value on the SR pin changes the slew-rate setting from approximately 2.6 V/µs to 53.2 V/µs. The recommended values for the external resistor are shown in the Slew Rate section. If the SR pin is grounded then the slew rate is 53.2 V/µs. Leaving the SR pin as a no-connect pin sets the slew rate to 13 V/µs. Tying it to the DVDD pin sets the slew rate to 2.6 V/µs. 7.3.1.5 Dead Time The dead time (t(DEAD)) is measured as the time when the OUTx pin is in the Hi-Z state between turning off one of the half bridge MOSFETs and turning on the other. For example, the output is in the Hi-Z state between turning off the high-side MOSFET and turning on the low-side MOSFET, or turning on the high-side MOSFET and turning off the low-side MOSFET. IN1 IN2 OUT1 tPD t(DEAD) tR tPD t(DEAD) tF tPD t(DEAD) tF tPD t(DEAD) tR OUT2 Figure 16. Propagation Delay Time If the output pin is measured during the tDEAD time the voltage depends on the direction of the current. If the current is leaving the pin, the voltage is a diode drop below ground. If the current is entering the pin, the voltage is a diode drop above VM. The diode drop is associated with the body diode of the high-side or the low-side FET. The dead time is dependent on the slew-rate setting because a portion of the FET gate ramp includes the observable dead time. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 21 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 7.3.1.6 Propagation Delay The propagation delay time (tPD) is measured as the time between an input edge to an output change. This time comprises two parts: an input deglitcher and output slewing delay. The input deglitcher prevents noise on the input pins from affecting the output state. The adjustable slew rate also contributes to the propagation delay time. For the fastest slew-rate setting, the tPD time is typically 1.5 µs, and for the slowest slew-rate setting, the tPD time is typically 4.5 µs. For the output to change state during normal operation, one FET must first be turned off. 7.3.1.7 nFAULT Pin The nFAULT pin has an open-drain output and should be pulled up to a 5-V or 3.3-V supply. When a fault is detected, the nFAULT line is logic low. For a 3.3-V pullup the nFAULT pin can be tied to the DVDD pin with a resistor (see the Application and Implementation section). For a 5-V pullup, an external 5-V supply must be used. Output nFAULT Figure 17. nFAULT Pin During the device power-up sequence, or when exiting sleep mode, the nFAULT pin is held low until the digital core is alive and functional. This low level signal on the nFAULT line does not represent a fault condition. The signal can be used by the external MCU to determine when the digital core of the device is ready; however, this does not mean that the device is ready to accept input commands via the INx pins. 7.3.1.8 nSLEEP as SDO Reference The nSLEEP pin manages the state of the device. The device goes into sleep mode with a logic-low signal, and comes out of sleep mode when the nSLEEP pin goes high. The signal level when the nSLEEP pin goes high determines the logic level on the SDO output in the SPI version of the device. A 3.3-V signal on the nSLEEP pin provides a 3.3-V output on the SDO output. A 5-V signal on the nSLEEP pin provides a 5-V output on the SDO pin. If the sleep feature is not required, the nSLEEP pin can be connected to the MCU power supply. In that case, when the MCU is powered-up, the motor driver device is also be powered-up. DVDD nSLEEP Digital Core 400 k 100 k nSCS Figure 18. nSCS and nSLEEP Circuit In the SPI version of the device, if the nSLEEP reset pulse is used to clear faults, the SDO voltage reference is not available for the duration of the nSLEEP reset pulse. No data can be transmitted on the SDO line for the duration when the nSLEEP pin is held low. Therefore, TI recommends using the CLR_FLT bit in the IC3 control register to clear the faults. 22 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 7.3.2 Motor Driver Protection Circuits The device is fully protected against VM undervoltage conditions, charge-pump undervoltage conditions, overcurrent events, and overtemperature events. 7.3.2.1 VM Undervoltage Lockout (UVLO) If at any time the voltage on the VM pin falls below the UVLO-threshold voltage, V(UVLO), for the voltage supply, all the outputs (OUTx) are disabled, and the nFAULT pin is driven low. The charge pump is disabled in this condition. The FAULT and UVLO bits are latched high in the SPI registers. Normal operation resumes (motordriver operation and nFAULT released) when the VM undervoltage condition is removed. The UVLO bit remains set until it is cleared through the CLR_FLT bit or an nSLEEP reset pulse. NOTE During the power-up sequence VM must exceed V(UVLO) recovery max limit in order to power-up and function properly. After a successful power-up sequence, the device can operate down to the V(UVLO) report limit before going into the undervoltage lockout condition. 7.3.2.2 VCP Undervoltage Lockout (CPUV) If at any time the voltage on the VCP pin falls below the VVCP(UV) voltage for the charge pump, all the outputs (OUTx) are disabled, and the nFAULT pin is driven low. The charge pump remains active during this condition. The FAULT and CPUV bits are latched high in the SPI registers. Normal operation resumes (motor-driver operation and nFAULT released) when the VCP undervoltage condition is removed. The CPUV bit remains set until it is cleared through the CLR_FLT bit or an nSLEEP reset pulse. This protection feature can be disabled by setting the DIS_CPUV bit high. 7.3.2.3 Overcurrent Protection (OCP) If the current in any FET exceeds the I(ocp) limits for longer than the t(OCP) time, all FETs in the half bridge are disabled and the nFAULT pin is driven low. The charge pump remains active during this condition. The overcurrent protection can operate in four different modes: latched shutdown, automatic retry, report only, and disabled. In the independent PWM mode (MODE = 10b or MODE pin to ground with a 200-kΩ ± 5% resistor) the fault handling is performed independently for each half-bridge based on the OCP mode selected. This protection scheme protects the outputs from shorts to battery and shorts to ground. 7.3.2.3.1 Latched Shutdown (OCP_MODE = 00b) In this mode, after an OCP event, all the outputs (OUTx) are disabled and the nFAULT pin are driven low. The FAULT, OCP, and corresponding MOSFET OCP bits are latched high in the SPI registers. Normal operation resumes (motor-driver operation and nFAULT released) when the OCP condition is removed and a clear faults command has been issued either through the CLR_FLT bit or an nSLEEP reset pulse. This mode is the default mode for an OCP event for both the hardware version and SPI version of the device. 7.3.2.3.2 Automatic Retry (OCP_MODE = 01b) In this mode, after an OCP event all the outputs (OUTx) are disabled and the nFAULT pin is driven low. The FAULT, OCP, and corresponding MOSFET OCP bits are latched high in the SPI registers. Normal operation resumes automatically (motor-driver operation and nFAULT released) after the t(RETRY) time has elapsed and the fault condition is removed. 7.3.2.3.3 Report Only (OCP_MODE = 10b) In this mode, no protective action is performed when an overcurrent event occurs. The overcurrent event is reported by driving the nFAULT pin low and latching the FAULT, OCP, and corresponding MOSFET OCP bits high in the SPI registers. The motor driver continues to operate. The external controller acts appropriately to manage the overcurrent condition. The reporting is cleared (nFAULT released) when the OCP condition is removed and a clear faults command has been issued either through the CLR_FLT bit or an nSLEEP reset pulse. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 23 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 7.3.2.3.4 Disabled (OCP_MODE = 11b) In this mode, no protective or reporting action is performed when an overcurrent event occurs. The device continues to drive the load based on the input signals. 7.3.2.4 Open-Load Detection (OLD) If the motor is disconnected from the device, an open-load condition is detected and the nFAULT pin is latched low until a clear faults command is issued by the MCU either through the CLR_FLT bit or an nSLEEP reset pulse. The fault also clears when the device is power cycled or comes out of sleep mode. The OLD test is designed for applications that have capacitance less than 15 nF when the OL_DLY bit set to 0b and for less than 60 nF when the OL_DLY bit is set to 1b on the OUTx pins. This setting is equivalent to measuring the resistance values listed in Table 12. Table 12. Resistance for Open Load Detection NODE 1 NODE 2 RESISTANCE OUT1 OUT2 2 kΩ OUTx VM 12 kΩ OUTx GND 3 kΩ COMMENTS VVM = 13.5 V Open load detection works in both standby mode (OLP) and active mode (OLA). OLP detects the presence of the motor prior to commutating the motor. OLA detects the motor disconnection from the driver during commutation. 7.3.2.4.1 Open-Load Detection in Passive Mode (OLP) The open-load passive diagnostic (OLP) is different for the hardware and SPI version of the device. The OLP test is available in all three modes of operation (PN/EN, PWM, and independent half-bridge). When the openload test is running, the internal power MOSFETs are disabled. For the hardware version of the device, the OLP test is performed at power-up or after exiting sleep mode if the nOL pin is left as a no connect pin (or tied to GND). If the nOL pin is tied to the DVDD pin (or an external 5-V rail), the OLP test is not performed by the device. For the SPI version of the device, the OLP test is performed when commanded. The following sequence shows how to perform the OLP test directly after the device powers up: 1. Power up the device (DISABLE pin high). 2. Select the mode through SPI. 3. Wait for the t(DISABLE) time to expire. 4. Write 1b to the EN_OL bit in the IC1 register. 5. Perform the OLP test. – If an open load (OL) is detected, the nFAULT pin is driven low, the FAULT and OLx bits are latched high. When the OL condition is removed, a clear faults command must be issued by the MCU either through the CLR_FLT bit or an nSLEEP reset pulse which resets the OLx register bit. – If an OL condition is not detected, the EN_OL bits return to the default setting (0b) after the td(OL) time expires. 6. Set the DISABLE pin low so that the device drives the motor or load based on the input signals. If an open-load diagnostic is performed at any other time, the following sequence must be followed: 1. Set the pin DISABLE high (to disable the half bridge outputs). 2. Wait for the t(DISABLE) time to expire. 3. Write 1b to the EN_OL bit in the IC1 register. 4. Perform the OLP test. – If an OL condition is detected, the nFAULT pin is driven low, and the FAULT and OLx bits are latched high. When the OL condition is removed, a clear faults command must be issued by the MCU either through the CLR_FLT bit or an nSLEEP reset pulse which resets the OLx register bits. – If an OL condition is not detected, the EN_OL bits return to the default setting (0b) after the td(OL) time expires. 24 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 5. Set the DISABLE pin low so that the device drives the motor or load based on the input signals. DVDD DVDD VM OL1_PU output 4V OUT1 1V OL1_PD output DVDD VM Digital Core OL2_PU output 4V OUT2 SRC OL2_PD output 1V Figure 19. Open-Load Detection Circuit The EN_OL register maintains the written command until the diagnostic is complete. The signal on the DISABLE pin must remain high for the entire duration of the test. While the OLP test is running, if the DISABLE pin goes low, the OLP test is aborted to resume normal operation and no fault is reported. The OLP test is not performed if the motor is energized. The OLD test checks for a high-impedance connection on the OUTx pins. The diagnostic runs in two steps. First the pullup current source is enabled. If a load is connected, the current passes through the pullup resistor and the OLx_PU comparator output remains low. If an OL condition exists, the current through the pullup resistor goes to 0 A and the OLx_PU comparator trips high. Second the pulldown current source is enabled. In the same way, the OLx_PD comparator output either remains low to indicate that a load is connected, or trips high to indicate an OL condition. If both the OLx_PU and OLx_PD comparators report an OL condition, the OLx bit in the SPI register latches high and the nFAULT line goes low to indicate an OL fault. When the OL condition is removed, a clear faults command must be issued by the MCU either through the CLR_FLT bit or an nSLEEP reset pulse which resets the OL1 and OL2 register bits. The charge pump remains active during this fault condition. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 25 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 7.3.2.4.2 Open-Load Detection in Active Mode (OLA) Open load in active mode is detected when the OUT1 and OUT2 voltages do not exhibit overshoot greater than the VOLA over VM between the time the low-side FET is switched off and the high-side FET is switched on during an output PWM cycle, as shown in Figure 20. An open load is not detected if the energy stored in the inductor is high enough to cause an overshoot greater than the VOLA over VM caused by the flyback current flowing through the body diode of the high-side FET. The OLA diagnostic is disabled by default and can be enabled by writing a 1b to the EN_OLA bit in IC4 control register. SH2 SH1 VM SH2 SH1 + SH1 VM Detects OLD if the diode VF drop < VOLA SH2 ± VM No OLD detected if the diode VF drop > VOLA Figure 20. Open-Load Active Mode Circuit In PH/EN and PWM mode, the motor current decays by high-side recirculation. In independent PWM mode, the motor can enter the brake state either by high-side or low-side recirculation. If the motor enters the brake state using low-side recirculation, the diode VF voltage of high-side FET is less than the VOLA voltage which flags an open load fault even though the load is connected across the OUT1 and OUT2 pins. In this case, the OLA mode should not be used. If high-side current recirculation is done with independent PWM mode, the OLA mode functions properly. NOTE The OLA mode is functional only when high-side recirculation of the motor current occurs. Depending on the operation conditions and external circuitry, such as the output capacitors, an open load condition could be indicated even though the load is present. This case might occur, for example, during a direction change or for small load currents with respectively small PWM duty cycles. Therefore, TI recommends evaluating the open load diagnosis only in known, suitable operating conditions and to ignore it otherwise. To avoid inadvertently triggering the open load diagnosis, a failure counter is implemented. Three consecutive occurrences of the internal open-load signal must occur, essentially three consecutive PWM pulses without freewheeling detected, before an open load condition is reported by the nFAULT pin and in the SPI register. In the hardware version of the device, OLA mode is active when the nOL pin if left as a no-connect pin or tied to ground. If low-side current recirculation is done with independent PWM control, an open load condition is detected even though the load is connected. To avoid this false trip, the OLD must be disabled by taking the nOL pin high; however, both OLA and OLP diagnostics will be disabled. 7.3.2.5 Thermal Shutdown (TSD) If the die temperature exceeds the thermal shutdown limit, the half bridge are disabled, and the nFAULT pin is driven low. The charge pump remains active during this condition. In addition, the FAULT bit and TSD bit are latched high. This protection feature cannot be disabled. The overtemperature protection can operate in two different modes: latched shutdown and automatic recovery. 26 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 7.3.2.5.1 Latched Shutdown (TSD_MODE = 0b) In this mode, after a TSD event all the outputs (OUTx) are disabled and the nFAULT pin is driven low. The FAULT and TSD bits are latched high in the SPI register. Normal operation resumes (motor-driver operation and the nFAULT line released) when the TSD condition is removed and a clear faults command has been issued either through the CLR_FLT bit or an nSLEEP reset pulse. This mode is the default mode for a TSD event in the SPI version of the device. 7.3.2.5.2 Automatic Recovery (TSD_MODE = 1b) In this mode, after a TSD event all the outputs (OUTx) are disabled and the nFAULT pin is driven low. The FAULT and TSD bits are latched high in the SPI register. Normal operation resumes (motor-driver operation and the nFAULT line released) when the junction temperature falls below the overtemperature threshold limit minus the hysteresis (TTSD – THYS). The TSD bit remains latched high indicating that a thermal event occurred until a clear faults command is issued either through the CLR_FLT bit or an nSLEEP reset pulse. This mode is the default mode for a TSD event in the hardware version of the device. 7.3.2.6 Thermal Warning (OTW) If the die temperature exceeds the trip point of the thermal warning (TOTW) the OTW bit is set in the registers of SPI devices. The device performs no additional action and continues to function. When the die temperature falls below the hysteresis point of the thermal warning, the OTW bit clears automatically. The OTW bit can also be configured to report on the nFAULT pin, and set the FAULT bit in the SPI version of the device, by setting the OTW_REP bit to 1b through the SPI registers. The charge pump remains active during this condition. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 27 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Table 13. Fault Response FAULT CONDITION CONFIGURATION REPORT HALF BRIDGE LOGIC RECOVERY VM undervoltage (UVLO) VVM < V(UVLO) (maximum 4.45 V) — nFAULT Hi-Z Reset Automatic: VVM > V(UVLO) (maximum 4.55 V) Charge pump undervoltage (CPUV) VVCP < VVCP(UV) (typical VVM + 2.25 V) DIS_CPUV = 0b nFAULT Hi-Z Active Automatic: VVCP > VVCP(UV) (typical VVM + 2.25 V) Overcurrent (OCP) IO > I(OCP) (minimum 10 A) Open load (OLD) No load detected Current regulation (ITRIPx) IO > ITRIP_LVL 28 Thermal shutdown (TSD) TJ > TTSD (minimum 165°C) Thermal Warning (OTW) TJ > TOTW (minimum 140°C) DIS_CPUV = 1b none Active Active No action OCP_MODE = 00b nFAULT Hi-Z Active Latched: CLR_FLT/nSLEEP OCP_MODE = 01b nFAULT Hi-Z Active Retry: t(RETRY) OCP_MODE = 10b nFAULT Active Active No action OCP_MODE = 11b none Active Active No action EN_OLP = 1b nFAULT Active Active Latched: CLR_FLT/nSLEEP EN_OLA = 1b nFAULT Active Active Latched: CLR_FLT/nSLEEP ITRIP_REP = 0b none Active Active No action ITRIP_REP = 1b nFAULT Active Active No action TSD_MODE = 0b nFAULT Hi-Z Active Latched: CLR_FLT/nSLEEP TSD_MODE = 1b nFAULT Hi-Z Active Automatic: TJ > TTSD – THYS (THYS typical 20°C) OTW_REP = 0b none Active Active No action OTW_REP = 1b nFAULT Active Active Automatic: TJ < TOTW – THYS Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 7.3.3 Hardware Interface The hardware-interface device option lets the device be configured without a SPI, however not all of the functionality is configurable. The following configuration settings are fixed for the hardware interface device option: • CPUV is enabled • OCP_MODE is latched shutdown • TSD_MODE is automatic recovery • OL_DLY is 300 µs • ITRIP level is 6.5-A if current regulation is enabled by the nITRIP pin • OLA is activated when the open load diagnostic is enabled by the nOL pin • No option to independently set the outputs (OUTx) to the Hi-Z state 7.3.3.1 MODE (Tri-Level Input) The MODE pin of the hardware version of the device determines the control interface and latches on power-up or when exiting sleep mode. Table 14 lists the different control interfaces that can be set with the MODE pin. Table 14. DRV8873H MODE Settings MODE CONTROL MODE L PH/EN H PWM Hi-Z (200 kΩ ± 5% to GND) Independent half bridge When the MODE pin is latched on power-up or when exiting sleep mode; any additional changes to the signal at the MODE pin are ignored by the device. To change the mode settings, a power cycle or sleep reset must be performed on the device. To use the device in PWM mode, tie the MODE pin to either the DVDD pin or an external 5-V rail. To use the device in independent half-bridge mode, the MODE pin must be connected to with a 200-kΩ ± 5% resistor (or left as a no connect). Tying the MODE pin to the GND pin puts the device in phase and enable (PH/EN) mode. 7.3.3.2 Slew Rate The rise and fall times of the outputs can be selected based on the configuration listed in Table 15 for the hardware version of the device. Table 15. Slew Rate Settings in H/W Device SR PIN CONNECTION RISE TIME (V/µs) FALL TIME (V/µs) 53.2 Connect to GND 53.2 22 kΩ ± 5% to GND 34 34 68 kΩ ± 5% to GND 18.3 18.3 > 2MΩ to GND (Hi-Z) 13 13 51 kΩ ± 5% to DVDD 7.9 7.9 Connect to DVDD 2.6 2.6 7.4 Device Functional Modes 7.4.1 Motor Driver Functional Modes 7.4.1.1 Sleep Mode (nSLEEP = 0) The nSLEEP pin sets the state of the device. When the nSLEEP pin is low, the device goes to a low-power sleep mode. In sleep mode, all the internal MOSFETs are disabled, the charge pump is disabled, and the SPI is disabled. The t(SLEEP) time must elapse after a falling edge on the nSLEEP pin before the device enters sleep mode. The device goes from sleep mode automatically if the nSLEEP pin is brought high. The t(WAKE) time must elapse before the device is ready for inputs. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 29 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Device Functional Modes (continued) 7.4.1.2 Disable Mode (nSLEEP = 1, DISABLE = 1) The DISABLE pin is used to enable or disable the half bridge in the device. When the DISABLE pin is high, the output drivers are disabled in the Hi-Z state. In this mode, the open-load diagnostic can be performed for the SPI version of the device because the SPI remains active. 7.4.1.3 Operating Mode (nSLEEP = 1, DISABLE = 0) When the nSLEEP pin is high, the DISABLE pin is low, and VM > V(UVLO), the device enters the active mode. The t(WAKE) time must elapse before the device is ready for inputs. In this mode, the charge pump and low-side gate regulator are enabled. 7.4.1.4 nSLEEP Reset Pulse In addition to the CLR_FLT bit in the SPI register, a latched fault can be cleared through a quick nSLEEP pulse. This pulse must be greater than the nSLEEP deglitch time of 5 µs and shorter than 20 µs. If nSLEEP is low for longer than 20 µs, the faults are cleared and the device may or may not shutdown, as shown in the timing diagram (see Figure 21). This reset pulse resets any SPI faults and does not affect the status of the charge pump or other functional blocks. nSLEEP 5 µs No Action. nSLEEP low pulse is too short (deglitch) 20 µs 30 µs 50 µs 60 µs All faults cleared, device stays active All faults cleared, device may or may not shutdown Device shutdowns down (goes into sleep mode, faults cleared by default) Device shutdowns down (sleep mode) Figure 21. nSLEEP Reset Pulse 7.5 Programming 7.5.1 Serial Peripheral Interface (SPI) Communication The SPI version of the device has full duplex, 4-wire synchronous communication. This section describes the SPI protocol, the command structure, and the control and status registers. The device can be connected with the MCU in the following configurations: • One slave device • Multiple slave devices in parallel connection • Multiple slave devices in series (daisy chain) connection 7.5.1.1 SPI Format The SDI input data word is 16 bits long and consists of the following format: • 1 read or write bit, W (bit 14) • 5 address bits, A (bits 13 through 9) • 8 data bits, D (bits 7 through 0) The SDO output-data word is 16 bits long and the first 8 bits make up the Status Register (S1). The Report word (R1) is the content of the register being accessed. For a write command (W0 = 0), the response word on the SDO pin is the data currently in the register being written to. For a read command (W0 = 1), the response word is the data currently in the register being read 30 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 Programming (continued) Table 16. SDI Input Data Word Format R/W ADDRESS DATA B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 0 W0 A4 A3 A2 A1 A0 X D7 D6 D5 D4 D3 D2 D1 D0 Table 17. SDO Output Data Word Format STATUS REPORT B15 B14 B13 B12 B11 B10 B9 B8 B7 B6 B5 B4 B3 B2 B1 B0 1 1 OTW UVLO CPUV OCP TSD OLD D7 D6 D5 D4 D3 D2 D1 D0 7.5.1.2 SPI for a Single Slave Device The SPI is used to set device configurations, operating parameters, and read out diagnostic information. The device SPI operates in slave mode. The SPI input-data (SDI) word consists of a 16-bit word, with 8 bits command and 8 bits of data. The SPI output data (SDO) word consists of 8 bits of status register with fault status indication and 8 bits of register data. Figure 22 shows the data sequence between the MCU and the SPI slave driver. nSCS A1 D1 S1 R1 SDI SDO Figure 22. SPI Transaction Between MCU and SPI version of the device A • • • • • • • • valid frame must meet the following conditions: The SCLK pin must be low when the nSCS pin goes low and when the nSCS pin goes high. The nSCS pin should be taken high for at least 500 ns between frames. When the nSCS pin is asserted high, any signals at the SCLK and SDI pins are ignored, and the SDO pin is in the high-impedance state (Hi-Z). Full 16 SCLK cycles must occur. Data is captured on the falling edge of the clock and data is driven on the rising edge of the clock. The most-significant bit (MSB) is shifted in and out first. If the data word sent to SDI pin is less than 16 bits or more than 16 bits, a frame error occurs and the data word is ignored. For a write command, the existing data in the register being written to is shifted out on the SDO pin following the 8-bit command data. 7.5.1.3 SPI for Multiple Slave Devices in Parallel Configuration Multiple devices can be connected in parallel as shown in Figure 23. In this configuration, all the slave devices can share the same SDI, SDO, and CLK lines from the micro-controller, but has dedicated chip-select pin (CSx) for each device from the micro-controller. The micro-controller activates the SPI of a given device via that device's chip-select input, the other devices remain inactive for SPI transactions. This configuration helps reduce micro-controller resources for SPI transactions if multiple slave devices are connected to the same micro-controller. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 31 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com SCLK nSCS SDI2 DRV8873_3 SDO2 SPI SDI3 SDO3 SPI SCLK SDO1 SPI nSCS SDI1 DRV8873_2 nSCS DRV8873_1 SCLK Microcontroller M-CS1 M-CS2 M-CS3 M-CLK M-SDO M-SDI Copyright © 2017, Texas Instruments Incorporated Figure 23. Three DRV8873S Devices Connected in Parallel Configuration 7.5.1.4 SPI for Multiple Slave Devices in Daisy Chain Configuration The device can be connected in a daisy chain configuration to keep GPIO ports available when multiple devices are communicating to the same MCU. Figure 24 shows the topology when three devices are connected in series. Slave Device (1) Master Device M-SDO SDI1 SDO1 / SDI2 Slave Device (2) Slave Device (3) SDO1 / SDI2 SDO3 M-nSCS M-SCLK M-SDI Figure 24. Three DRV8873S Devices Connected in Daisy Chain The first device in the chain receives data from the MCU in the following format for 3-device configuration: 2 bytes of header (HDRx) followed by 3 bytes of address (Ax) followed by 3 bytes of data (Dx). 32 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 nSCS HDR1 HDR2 A3 A2 A1 D3 D2 D1 S1 HDR1 HDR2 A3 A2 R1 D3 D2 S2 S1 HDR1 HDR2 A3 R2 R1 D3 S3 S2 S1 HDR1 HDR2 R3 R2 R1 SDI1 SDO1 / SDI2 SDO2 / SDI3 SDO3 All Address bytes reach destination Status response here All Data bytes reach destination Reads executed here Writes executed here Figure 25. SPI Frame With Three DRV8873S Devices After the data has been transmitted through the chain, the MCU receives the data string in the following format for 3-device configuration: 3 bytes of status (Sx) followed by 2 bytes of header followed by 3 bytes of report (Rx). nSCS HDR1 HDR2 A3 A2 A1 D3 D2 D1 S3 S2 S1 HDR1 HDR2 R3 R2 R1 SDI SDO Figure 26. SPI Data Sequence for Three DRV8873S Devices The header bytes contain information of the number of devices connected in the chain, and a global clear fault command that will clear the fault registers of all the devices on the rising edge of the chip select (nSCS) signal. Header values N5 through N0 are 6 bits dedicated to show the number of devices in the chain. Up to 63 devices can be connected in series for each daisy chain connection. The 5 LSBs of the HDR2 register are don’t care bits that can be used by the MCU to determine integrity of the daisy chain connection. Header bytes must start with 1 and 0 for the two MSBs. HDR 1 1 0 N5 N4 N3 HDR 2 N2 N1 No. of devices in the chain (up to 26 ± 1= 63) N0 1 0 CLR x x 1 = global FAULT clear 0 = GRQ¶W FDUH x x x 'RQ¶W FDUH Figure 27. Header Bytes The status byte provides information about the fault status register for each device in the daisy chain so that the MCU does not have to initiate a read command to read the fault status from any particular device. This keeps additional read commands for the MCU and makes the system more efficient to determine fault conditions flagged in a device. Status bytes must start with 1 and 1 for the two MSBs. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 33 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 1 0 N5 N4 N3 N2 N1 N0 1 0 CLR X X X X X Status Byte (Sx) 1 1 OTW UVLO CPUV OCP TSD OLD Address Byte (Ax) 0 R/W A4 A3 A2 A1 A0 X D7 D6 D5 D4 D3 D2 D1 D0 Header Bytes (HDRx) Data Byte (Dx) Figure 28. Contents of Header, Status, Address, and Data Bytes When data passes through a device, it determines the position of itself in the chain by counting the number of status bytes it receives followed by the first header byte. For example, in this 3-device configuration, device 2 in the chain receives two status bytes before receiving the HDR1 byte which is then followed by the HDR2 byte. From the two status bytes, the data can determine that its position is second in the chain. From the HDR2 byte, the data can determine how many devices are connected in the chain. In this way, the data only loads the relevant address and data byte in its buffer and bypasses the other bits. This protocol allows for faster communication without adding latency to the system for up to 63 devices in the chain. The address and data bytes remain the same with respect to a 1-device connection. The report bytes (R1 through R3), as shown in Figure 26, are the content of the register being accessed. nSCS SCLK SDI X MSB LSB X SDO Z MSB LSB Z Capture Point Propagate Point Figure 29. SPI Transaction 34 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 7.6 Register Maps Table 18 lists the memory-mapped registers for the device. All register addresses not listed in Table 18 should be considered as reserved locations and the register contents should not be modified. Table 18. Memory Map Register Name 7 6 FAULT Status RSVD FAULT OTW UVLO CPUV OCP DIAG Status OL1 OL2 ITRIP1 ITRIP2 OCP_H1 OCP_L1 IC1 Control 5 TOFF IC2 Control ITRIP_REP IC3 Control CLR_FLT IC4 Control RSVD 4 SPI_IN TSD_MODE 2 0 Access Type Address TSD OLD R 0x00 OCP_H2 OCP_L2 R 0x01 MODE RW 0x02 OCP_MODE RW 0x03 RW 0x04 RW 0x05 1 SR OTW_REP DIS_CPUV LOCK EN_OLP 3 OCP_TRETRY OUT1_DIS OLP_DLY EN_OLA OUT2_DIS EN_IN1 ITRIP_LVL PH_IN2 DIS_ITRIP Complex bit access types are encoded to fit into small table cells. Table 19 shows the codes that are used for access types in this section. Table 19. Access Type Codes Access Type Code Description R Read W Write Read Type R Write Type W Reset or Default Value -n Value after reset or the default value Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 35 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 7.6.1 Status Registers The status registers are used to reporting warning and fault conditions. Status registers are read-only registers Table 20 lists the memory-mapped registers for the status registers. All register offset addresses not listed in Table 20 should be considered as reserved locations and the register contents should not be modified. Table 20. Status Registers Summary Table Address Register Name Section 0x00 FAULT status Go 0x01 DIAG status Go 7.6.1.1 FAULT Status Register Name (address = 0x00) FAULT status is shown in Figure 30 and described in Table 21. Read-only Figure 30. FAULT Status Register 7 RSVD 6 FAULT R-0b 5 OTW R-0b 4 UVLO R-0b 3 CPUV R-0b 2 OCP R-0b 1 TSD R-0b 0 OLD R-0b Table 21. FAULT Status Register Field Descriptions Bit Field Type Default Description 7 RSVD R 0b Reserved 6 FAULT R 0b Global FAULT status register. Compliments the nFAULT pin 5 OTW R 0b Indicates overtemperature warning 4 UVLO R 0b Indicates UVLO fault condition 3 CPUV R 0b Indicates charge-pump undervoltage fault condition 2 OCP R 0b Indicates an overcurrent condition 1 TSD R 0b Indicates an overtemperature shutdown 0 OLD R 0b Indicates an open-load detection 7.6.1.2 DIAG Status Register Name (address = 0x01) DIAG status is shown in Figure 31 and described in Table 22. Read-only Figure 31. DIAG Status Register 7 OL1 R-0b 6 OL2 R-0b 5 ITRIP1 R-0b 4 ITRIP2 R-0b 3 OCP_H1 R-0b 2 OCP_L1 R-0b 1 OCP_H2 R-0b 0 OCP_L2 R-0b Table 22. DIAG Status Register Field Descriptions Bit Field Type Default Description 7 OL1 R 0b Indicates open-load detection on half bridge 1 6 OL2 R 0b Indicates open-load detection on half bridge 2 5 ITRIP1 R 0b Indicates the current regulation status of half bridge 1. 0b = Indicates output 1 is not in current regulation 1b = Indicates output 1 is in current regulation 36 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 Table 22. DIAG Status Register Field Descriptions (continued) Bit 4 Field Type Default Description ITRIP2 R 0b Indicates the current regulation status of half bridge 2. 0b = Indicates output 2 is not in current regulation 1b = Indicates output 2 is in current regulation 3 OCP_H1 R 0b Indicates overcurrent fault on the high-side FET of half bridge 1 2 OCP_L1 R 0b Indicates overcurrent fault on the low-side FET of half bridge 1 1 OCP_H2 R 0b Indicates overcurrent fault on the high-side FET of half bridge 2 0 OCP_L2 R 0b Indicates overcurrent fault on the low-side FET of half bridge 2 7.6.2 Control Registers The IC control registers are used to configure the device. Status registers are read and write capable. Table 23 lists the memory-mapped registers for the control registers. All register offset addresses not listed in Table 23 should be considered as reserved locations and the register contents should not be modified. Table 23. Control Registers Summary Table Address Register Name Section 0x02 IC1 control Go 0x03 IC2 control Go 0x04 IC3 control Go 0x05 IC4 control Go 7.6.2.1 IC1 Control Register (address = 0x02) IC1 control is shown in Figure 32 and described in Table 24. Read/Write Figure 32. IC1 Control Register 7 6 TOFF R/W-01b 5 SPI_IN R/W-0b 4 3 SR R/W-100b 2 1 0 MODE R/W-01b Table 24. IC1 Control Register Field Descriptions Bit Field Type Default Description 7-6 TOFF R/W 01b 00b = 20 µs 01b = 40 µs 10b = 60 µs 11b = 80 µs 5 SPI_IN R/W 0b 0b = Outputs follow input pins (INx) 1b = Outputs follow SPI registers EN_IN1 and PH_IN2 4-2 SR R/W 100b 000b = 53.2-V/µs rise time 001b = 34-V/µs rise time 010b = 18.3-V/µs rise time 011b = 13-V/µs rise time 100b = 10.8-V/µs rise time 101b = 7.9-V/µs rise time 110b = 5.3-V/µs rise time 111b = 2.6-V/µs rise time Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 37 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com Table 24. IC1 Control Register Field Descriptions (continued) Bit Field Type Default Description 1-0 MODE R/W 01b 00b = PH/EN 01b = PWM 10b = Independent half bridge 11b = Input disabled; bridge Hi-Z 7.6.2.2 IC2 Control Register (address = 0x03) IC2 control is shown in Figure 33 and described in Table 25. Read/Write Figure 33. IC2 Control Register 7 ITRIP_REP R/W-0b 6 TSD_MODE R/W-0b 5 OTW_REP R/W-0b 4 DIS_CPUV R/W-0b 3 2 1 OCP_TRETRY R/W-11b 0 OCP_MODE R/W-00b Table 25. IC2 Control Register Field Descriptions Bit Field Type Default Description 7 ITRIP_REP R/W 0b 0b = ITRIP is not reported on nFAULT or the FAULT bit 6 TSD_MODE R/W 0b 1b = ITRIP is reported on nFAULT and the FAULT bit 0b = Overtemperature condition causes a latched fault 1b = Overtemperature condition causes an automatic recovery fault 5 OTW_REP R/W 0b 0b = OTW is not reported on nFAULT or the FAULT bit 1b = OTW is reported on nFAULT and the FAULT bit 4 DIS_CPUV R/W 0b 0b = Charge pump undervoltage fault is enabled 1b = Charge pump undervoltage fault is disabled 3-2 OCP_TRETRY R/W 11b 00b = Overcurrent retry time is 0.5 ms 01b = Overcurrent retry time is 1 ms 10b = Overcurrent retry time is 2 ms 11b = Overcurrent retry time is 4 ms 1-0 OCP_MODE R/W 00b 00b = Overcurrent condition causes a latched fault 01b = Overcurrent condition causes an automatic retrying fault 10b = Overcurrent condition is report only but no action is taken 11b = Overcurrent condition is not reported and no action is taken 7.6.2.3 IC3 Control Register (address = 0x04) IC3 control is shown in Figure 34 and described in Table 26. Read/Write Figure 34. IC3 Control Register 7 CLR_FLT R/W-0b 38 6 5 LOCK R/W-100b 4 3 OUT1_DIS R/W-0b Submit Documentation Feedback 2 OUT2_DIS R/W-0b 1 EN_IN1 R/W-0b 0 PH_IN2 R/W-0b Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 Table 26. IC3 Control Register Field Descriptions Bit 7 6-4 3 Field Type Default Description CLR_FLT R/W 0b Write a 1b to this bit to clear the fault bits. This bit is automatically reset after a write. LOCK R/W 100b Write 011b to this register to lock all register settings in the IC1 control register except to these bits and address 0x04, bit 7 (CLR_FLT) Write 100b to this register to unlock all register settings in the IC1 control register OUT1_DIS R/W 0b Enabled only in the Independent PWM mode 0b = Half bridge 1 enabled 1b = Half bridge 1 disabled (Hi-Z) 2 OUT2_DIS R/W 0b Enabled only in the Independent PWM mode 0b = Half bridge 2 enabled 1b = Half bridge 2 disabled (Hi-Z) 1 EN_IN1 R/W 0b EN/IN1 bit to control the outputs through SPI (when SPI_IN = 1b) 0 PH_IN2 R/W 0b PH/IN2 bit to control the outputs through SPI (when SPI_IN = 1b) 7.6.2.4 IC4 Control Register (address = 0x05) IC4 control is shown in Figure 35 and described in Table 27. Read/Write Figure 35. IC4 Control Register 7 RSVD R/W-0b 6 EN_OLP R/W-0b 5 OLP_DLY R/W-0b 4 EN_OLA R/W-0b 3 2 1 ITRIP_LVL R/W-10b 0 DIS_ITRIP R/W-00b Table 27. IC4 Control Register Field Descriptions Bit Field Type Default Description 7 RSVD R/W 0b Reserved 6 EN_OLP R/W 0b Write 1b to run open load diagnostic in standby mode. When open load test is complete EN_OLP returns to 0b (status check) 5 OLP_DLY R/W 0b 0b = Open load diagnostic delay is 300 µs 1b = Open load diagnostic delay is 1.2 ms 4 EN_OLA R/W 0b 0b = Open load diagnostic in active mode is disabled 1b = Enable open load diagnostics in active mode 3-2 ITRIP_LVL R/W 10b 00b = 4 A 01b = 5.4 A 10b = 6.5 A 11b = 7 A 1-0 DIS_ITRIP R/W 00b 00b = Current regulation is enabled 01b = Current regulation is disabled for OUT1 10b = Current regulation is disabled for OUT2 11b = Current regulation is disabled for both OUT1 and OUT2 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 39 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 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 device is used mainly to drive a brushed DC motor. The on-board current regulation allows for limiting the motor current during start-up and stall conditions. The design procedures in the Typical Application section highlight how to use and configure the SPI version of the device. 8.2 Typical Application Figure 36 shows the typical application schematic for the SPI version of the device. 1 …F VCC 1 10 NŸ 2 DVDD GND nFAULT CPL SDO CPH SDI VCP 3 5 6 7 8 9 10 11 12 1.5 NŸ 1.5 NŸ SCLK VM nSCS OUT1 EN/IN1 SPI Device OUT1 PH/IN2 SRC DISABLE SRC IPROPI1 OUT2 nSLEEP OUT2 IPROPI2 PPAD 4 VM 24 23 22 47 nF 21 20 1 …F 0.1 …F VVM >10 …F 19 18 17 16 BDC 15 14 VVM 13 0.1 …F Figure 36. Typical Application Schematic 40 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 Typical Application (continued) 8.2.1 Design Requirements Table 28 lists the example input parameters for the system design. Table 28. Design Parameters DESIGN PARAMETERS REFERENCE EXAMPLE VALUE Supply voltage VM 13.5 V Motor RMS current IRMS 2.5 A Motor winding inductance LM 2.9 mH Motor current trip point ITRIP 6.5 A PWM frequency fPWM 10 kHz RSENSE 1.5 kΩ tSR 1 µs Sense resistor Rise and fall times (slew rate) 8.2.1.1 Motor Voltage The motor voltage used depends on the ratings of the motor selected and the desired RPM. A higher voltage spins a brushed DC motor faster with the same PWM duty cycle applied to the power FETs. A higher voltage also increases the rate of current change through the inductive motor windings. 8.2.1.2 Drive Current and Power Dissipation The current path is through the high-side sourcing power driver, motor winding, and low-side sinking power driver. The amount of current the device can drive depends on the power dissipation without going into thermal shutdown. The amount of current that can be power dissipation losses in one source and sink power driver are calculated in Equation 2. PD = (IRMS)2 × (RDS(on)High-side + RDS(on)Low-side) (2) The IOUT current is equal to the average current drawn by the DC motor. At 25°C ambient temperature, the power dissipation becomes (2.5 A)2 × (150 mΩ) = 0.94 W. The temperature that the device reaches depends on the thermal resistance to the air and PCB. Soldering the device PowerPAD to the PCB ground plane, with vias to the top and bottom board layers, is important to dissipate heat into the PCB and reduce the device temperature. In the example used here, the device had an effective thermal resistance RθJA of 27.8°C/W. The junction temperature TJ value becomes as shown in Equation 3. TJ = TA + (PD × RθJA) = 25°C + (0.94 W × 27.8°C/W) = 51°C (3) NOTE The values of RDS(on) increases with temperature, so as the device heats, the power dissipation increases. This fact must be taken into consideration when sizing the heatsink. At start-up and fault conditions, the current flowing through the motor is much higher than normal running current; these peak currents and their duration must also be considered. High PWM frequency also results in higher switching losses. Typically, switching the inputs at 100 kHz compared to 10 kHz causes 20% more power loss in heat. Power dissipation in the device is dominated by the power dissipated of the internal MOSFET resistance. The maximum amount of power that can be dissipated in the device is dependent on ambient temperature and heatsinking. Total power dissipation for the device is composed of three main components. These are the quiescent supply current dissipation, the power MOSFET switching losses, and the power MOSFET RDS(ON) (conduction) losses. While other factors may contribute additional power losses, these other items are typically insignificant compared to the three main items. PTOT = PVM + PSW + PD (4) PVM can be calculated from the nominal supply voltage (VM) and the supply current (IVM) in active mode. PVM = VM × IVM = 13.5 V × 5 mA = 67.5 mW (5) Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 41 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com PSW can be calculated from the nominal supply voltage (VM), average output current (IRMS), switching frequency (fPWM) and the device output rise and fall times (tSR) time specifications. PSW = PSW_RISE + PSW_FALL = 0.17 W + 0.17 W = 0.34 W PSW_RISE = 0.5 × VM × IRMS × tSR × fPWM = 0.5 × 13.5 V × 2.5 A × 1 µs × 10 kHz = 0.17 W PSW_FALL = 0.5 × VM × IRMS × tSR × fPWM = 0.5 × 13.5 V × 2.5 A × 1 µs × 10 kHz = 0.17 W (6) (7) (8) Therefore, total power dissipation (PTOT) at 25°C ambient temperature becomes = PVM + PSW + PD = 67.5 mW + 0.34 W + 0.94 W = 1.35 W PTOT makes the junction temperature (TJ) of the device to be TJ = TA + (PTOT × RθJA) = 25°C + (1.35 W × 27.8°C/W) = 63°C (9) The power dissipation from power MOSFET switching losses and quiescent supply current dissipation results is approximately 12°C rise in the junction temperature (different between Equation 9 and Equation 3). Care must be taken when doing the PCB layout and heatsinking the motor driver device so that the thermal characteristics are properly managed. Trace 0.22 × 34.5mm at 0.65mm pitch A PTH via at 2.54mm pitch Drill 300u; plate 18µ Array to fit the copper area PTH via at 1.2mm pitch Drill 300µ; plate 18µ A 3.2mm Copper (Cu) Area (cm2) Dimension A (mm) 2 17.9 4 23.9 8 32.2 16 44.0 32 60.6 49.23 74.2 8.2mm Figure 37. PCB Model (4-Layer PCB Shown, 2-Layer PCB Has No Vias) 42 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 30 6.1 Junction-to-Ambient Thermal Resistance (qC/W) Junction-to-Board Characterization Parameter (qC/W) 1oz 2oz 29 28 27 26 25 24 23 22 21 20 6 5.95 5.9 5.85 5.8 5.75 0 10 20 30 Copper Area (cm2) 40 50 0 10 D007 Figure 38. 4-Layer PCB Junction-to-Ambient Thermal Resistance vs Copper Area 20 30 Copper Area (cm2) 40 50 D008 Figure 39. 4-Layer PCB Junction-to-Board Characterization Parameter vs Copper Area 80 13 1oz 2oz 70 Junction-to-Board Characterization Parameter (qC/W) Junction-to-Ambient Thermal Resistance (qC/W) 1oz 2oz 6.05 60 50 40 30 20 1oz 2oz 12 11 10 9 8 7 0 10 20 30 Copper Area (cm2) 40 50 0 D009 Figure 40. 2-Layer PCB (No Vias) Junction-to-Ambient Thermal Resistance vs Copper Area 10 20 30 Copper Area (cm2) 40 50 D010 drv8 Figure 41. 2-Layer PCB (No Vias) Junction-to-Board Characterization Parameter vs Copper Area Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 43 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 8.2.1.3 Sense Resistor For optimal performance, the sense resistor must have the following features: • Surface-mount device • Low inductance • Placed closely to the motor driver device Use Equation 10 to calculate the power dissipation (PD) of the sense resistor. PD = (I(RMS) / k)2 × R(SENSE) (10) In this example, for the RMS motor current is 2.5 A, the sense resistor of 1.5 kΩ dissipates approximately 7.5 mW of power. The power quickly increases with higher current levels. Resistors typically have a rated power within some ambient temperature range, along with a derated power curve for high ambient temperatures. When a PCB is shared with other components that generate heat, the system designer should add margin. Measuring the actual sense resistor temperature in a final system is best. 8.2.2 Detailed Design Procedure 8.2.2.1 Thermal Considerations The device has thermal shutdown (TSD) at 165°C (mininum). If the die temperature exceeds this TSD threshold, the device will be disabled until the temperature drops below the temperature hysteresis level. Any tendency of the device to enter TSD is an indication of either excessive power dissipation, insufficient heatsinking, or too high of an ambient temperature. 8.2.2.2 Heatsinking The PowerPAD package uses an exposed pad to remove heat from the device. For proper operation, this pad must be thermally connected to copper on the PCB to dissipate heat. On a multi-layer PCB with a ground plane, this connection can be accomplished by adding a number of vias to connect the thermal pad to the ground plane. On PCBs without internal planes, a copper area can be added on either side of the PCB to dissipate heat. If the copper area is on the opposite side of the PCB from the device, thermal vias are used to transfer the heat between top and bottom layers. For details about how to design the PCB, refer to the PowerPAD™ Thermally Enhanced Package application report, and the PowerPAD™ Made Easy application report, available at www.ti.com. In general, the more copper area that can be provided, the more power can be dissipated. 44 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 8.2.3 Application Curves Figure 42. Overcurrent (OCP) Detection Figure 43. Current Regulation (ITRIP) Figure 44. ITRIP Across TOFF and Load Current Figure 45. Motor Motion at Different Speeds Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 45 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 9 Power Supply Recommendations The device is designed to operate with an input voltage supply (VM) range from 4.5 V to 40 V. A 0.1-µF ceramic capacitor rated for VM must be placed as close to the device as possible. Also, an appropriately sized bulk capacitor must be placed on the VM pin. 9.1 Bulk Capacitance Sizing Bulk capacitance sizing is an important factor in motor drive system design. It is beneficial to have more bulk capacitance, while the disadvantages are increased cost and physical size. The amount of local capacitance needed depends on a variety of factors including: • The highest current required by the motor system. • The capacitance of the power supply and the ability of the power supply to source current. • The amount of parasitic inductance between the power supply and motor system. • The acceptable voltage ripple. • The type of motor used (brushed DC, brushless DC, and stepper). • The motor braking method. The inductance between the power supply and motor drive system limits the rate that current can change from the power supply. If the local bulk capacitance is too small, the system responds to excessive current demands or dumps from the motor with a change in voltage. When sufficient bulk capacitance is used, the motor voltage remains stable, and high current can be quickly supplied. The data sheet provides a recommended value, but system-level testing is required to determine the appropriate sized bulk capacitor. Parasitic Wire Inductance Motor Drive System Power Supply VM + + Motor Driver ± GND Local Bulk Capacitor IC Bypass Capacitor Figure 46. Example Setup of Motor Drive System With External Power Supply The voltage rating for bulk capacitors should be higher than the operating voltage to provide a margin for cases when the motor transfers energy to the supply. 46 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 10 Layout 10.1 Layout Guidelines Each VM pin must be bypassed to ground using low-ESR ceramic bypass capacitors with recommended values of 0.1 μF rated for VM. These capacitors should be placed as close to the VM pins as possible with a thick trace or ground plane connection to the device GND pin. Additional bulk capacitance is required to bypass the high current path. This bulk capacitance should be placed such that it minimizes the length of any high current paths. The connecting metal traces should be as wide as possible, with numerous vias connecting PCB layers. These practices minimize inductance and allow the bulk capacitor to deliver high current. Place a low-ESR ceramic capacitor between the CPL and CPH pins. This capacitor should be 47 nF, rated for VM, and be of type X5R or X7R. Additionally, place a low-ESR ceramic capacitor between the VCP and VM pins. This capacitor should be 1 µF, rated for 16 V, and be of type X5R or X7R. The current sense resistors should be placed as close as possible to the device pins to minimize trace inductance between the device pin and resistors. 10.2 Layout Example + 1 µF 0.1 µF DVDD 1 24 GND nFAULT 2 23 CPL SDO 3 22 CPH SDI 4 21 VCP SCLK 5 20 VM nSCS 6 19 OUT1 EN/IN1 7 18 OUT1 PH/EN2 8 17 SRC DISABLE 9 16 SRC IPROPI1 10 15 OUT2 nSLEEP 11 14 OUT2 IPROPI2 12 13 VM 47 nF 1 µF 0.1 µF 0.1 µF Figure 47. Layout Example Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 47 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 11 Device and Documentation Support 11.1 Documentation Support 11.1.1 Related Documentation For related documentation see the following: • Texas Instruments, Calculating Motor Driver Power Dissipation application report • Texas Instruments, Daisy Chain Implementation for Serial Peripheral Interface application report • Texas Instruments, DRV8873x EVM User’s Guide • Texas Instruments, DRV8873x EVM GUI User's Guide • Texas Instruments, PowerPAD™ Thermally Enhanced Package application report • Texas Instruments, PowerPAD™ Made Easy application report • Texas Instruments, Understanding Motor Driver Current Ratings application report 11.2 Receiving Notification of Documentation Updates To receive notification of documentation updates, navigate to the device product folder on ti.com. In the upper right corner, click on Alert me to register and receive a weekly digest of any product information that has changed. For change details, review the revision history included in any revised document. 11.3 Community Resources The following links connect to TI community resources. Linked contents are provided "AS IS" by the respective contributors. They do not constitute TI specifications and do not necessarily reflect TI's views; see TI's Terms of Use. TI E2E™ Online Community TI's Engineer-to-Engineer (E2E) Community. Created to foster collaboration among engineers. At e2e.ti.com, you can ask questions, share knowledge, explore ideas and help solve problems with fellow engineers. Design Support TI's Design Support Quickly find helpful E2E forums along with design support tools and contact information for technical support. 11.4 Trademarks PowerPAD, E2E are trademarks of Texas Instruments. All other trademarks are the property of their respective owners. 11.5 Electrostatic Discharge Caution This integrated circuit can be damaged by ESD. Texas Instruments recommends that all integrated circuits be handled with appropriate precautions. Failure to observe proper handling and installation procedures can cause damage. ESD damage can range from subtle performance degradation to complete device failure. Precision integrated circuits may be more susceptible to damage because very small parametric changes could cause the device not to meet its published specifications. 11.6 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. 48 Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 12.1 Package Option Addendum 12.1.1 Packaging Information Orderable Device (1) (2) (3) (4) (5) (6) Status (1) Package Type Package Drawing Pins Package Qty Eco Plan (2) Lead/Ball Finish (3) MSL Peak Temp (4) Op Temp (°C) Device Marking (5) (6) 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. PRE_PROD Unannounced device, not in production, not available for mass market, nor on the web, samples not available. 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. space Eco Plan - The planned eco-friendly classification: Pb-Free (RoHS), Pb-Free (RoHS Exempt), or Green (RoHS & no Sb/Br) - please check http://www.ti.com/productcontent for the latest availability information and additional product content details. TBD: The Pb-Free/Green conversion plan has not been defined. Pb-Free (RoHS): TI's terms "Lead-Free" or "Pb-Free" mean semiconductor products that are compatible with the current RoHS requirements for all 6 substances, including the requirement that lead not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, TI Pb-Free products are suitable for use in specified lead-free processes. Pb-Free (RoHS Exempt): This component has a RoHS exemption for either 1) lead-based flip-chip solder bumps used between the die and package, or 2) lead-based die adhesive used between the die and leadframe. The component is otherwise considered Pb-Free (RoHS compatible) as defined above. Green (RoHS & no Sb/Br): TI defines "Green" to mean Pb-Free (RoHS compatible), and free of Bromine (Br) and Antimony (Sb) based flame retardants (Br or Sb do not exceed 0.1% by weight in homogeneous material) space Lead/Ball Finish - Orderable Devices may have multiple material finish options. Finish options are separated by a vertical ruled line. Lead/Ball Finish values may wrap to two lines if the finish value exceeds the maximum column width. space MSL, Peak Temp. -- The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature. space There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device space Multiple Device markings will be inside parentheses. Only one Device Marking contained in parentheses and separated by a "~" will appear on a device. If a line is indented then it is a continuation of the previous line and the two combined represent the entire Device Marking for that device. Important Information and Disclaimer: The information provided on this page represents TI's knowledge and belief as of the date that it is provided. TI bases its knowledge and belief on information provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. TI has taken and continues to take reasonable steps to provide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals. TI and TI suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release. In no event shall TI's liability arising out of such information exceed the total purchase price of the TI part(s) at issue in this document sold by TI to Customer on an annual basis. Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 49 DRV8873 SLVSET1 – AUGUST 2018 www.ti.com 12.1.2 Tape and Reel Information REEL DIMENSIONS TAPE DIMENSIONS K0 P1 B0 W Reel Diameter Cavity A0 B0 K0 W P1 A0 Dimension designed to accommodate the component width Dimension designed to accommodate the component length Dimension designed to accommodate the component thickness Overall width of the carrier tape Pitch between successive cavity centers Reel Width (W1) QUADRANT ASSIGNMENTS FOR PIN 1 ORIENTATION IN TAPE Sprocket Holes Q1 Q2 Q1 Q2 Q3 Q4 Q3 Q4 User Direction of Feed Pocket Quadrants Device 50 Package Type Package Drawing Pins SPQ Reel Diameter (mm) Reel Width W1 (mm) A0 (mm) Submit Documentation Feedback B0 (mm) K0 (mm) P1 (mm) W (mm) Pin1 Quadrant Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 DRV8873 www.ti.com SLVSET1 – AUGUST 2018 TAPE AND REEL BOX DIMENSIONS Width (mm) L W Device H Package Type Package Drawing Pins SPQ Length (mm) Width (mm) Height (mm) Submit Documentation Feedback Copyright © 2018, Texas Instruments Incorporated Product Folder Links: DRV8873 51 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) DRV8873HPWPR ACTIVE HTSSOP PWP 24 2000 RoHS & Green NIPDAU Level-3-260C-168 HR -40 to 125 8873H DRV8873HPWPT ACTIVE HTSSOP PWP 24 250 RoHS & Green NIPDAU Level-3-260C-168 HR -40 to 125 8873H DRV8873SPWPR ACTIVE HTSSOP PWP 24 2000 RoHS & Green NIPDAU Level-3-260C-168 HR -40 to 125 8873S DRV8873SPWPT ACTIVE HTSSOP PWP 24 250 RoHS & Green NIPDAU Level-3-260C-168 HR -40 to 125 8873S (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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DRV8873HPWPR
  •  国内价格 香港价格
  • 1+37.152871+4.60880
  • 5+31.340345+3.88776
  • 10+29.1196710+3.61229
  • 25+26.4264625+3.27819
  • 50+24.5572050+3.04631
  • 100+22.82049100+2.83087
  • 500+19.25116500+2.38810
  • 1000+17.892521000+2.21956

库存:3690

DRV8873HPWPR
    •  国内价格 香港价格
    • 1+65.667321+8.14600
    • 10+33.3657110+4.13900
    • 50+28.4080150+3.52400
    • 100+25.10288100+3.11400
    • 500+24.44185500+3.03200
    • 1000+23.950111000+2.97100
    • 2000+23.700212000+2.94000
    • 4000+23.619604000+2.93000

    库存:2000

    DRV8873HPWPR
    •  国内价格 香港价格
    • 2000+16.630212000+2.06297
    • 4000+15.457444000+1.91749

    库存:3690