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TMC239-SA

TMC239-SA

  • 厂商:

    ETC2

  • 封装:

  • 描述:

    TMC239-SA - High Current Microstep Stepper Motor Driver with protection / diagnosis and SPI Interfac...

  • 数据手册
  • 价格&库存
TMC239-SA 数据手册
TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 1 TMC 239 – DATA SHEET High Current Microstep Stepper Motor Driver with protection / diagnosis and SPI Interface MICROCHIPS ® TRINAMIC TRINAMIC Microchips GmbH Deelbögenkamp 4C D – 22297 Hamburg GERMANY T +49 - (0) 40 - 51 48 06 - 0 F +49 - (0) 40 - 51 48 06 - 60 WWW.TRINAMIC.COM INFO@TRINAMIC.COM Features The TMC239 is a dual full bridge driver IC for stepper motor control applications. It is realized in a HVCMOS technology and directly drives eight external Low-RDS-ON high efficiency MOSFETs. The driver transistors can be chosen depending on output current or environment temperature. Its low current consumption and high efficiency together with the miniature package make the TMC239 a perfect solution for embedded motion control and for battery powered devices. It supports more than 3000mA coil current. With additional drivers, motor current and voltage can be increased. Internal DACs allow microstepping as well as smart current control. The device can be controlled by a serial i interface (SPI™ ) or by analog / digital input signals. Short circuit, temperature and undervoltage protection is integrated. • • • • • • • • • • • • • • • • Control via SPI with easy-to-use 12 bit protocol or external analog / digital signals Short circuit and over temperature protection integrated Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage Integrated 4 bit DACs allow up to 16 times microstepping via SPI, any resolution via analog control Mixed decay feature for smooth motor operation Slope control user programmable to reduce electromagnetic emissions Chopper frequency programmable via a single capacitor or external clock Current control allows cool motor and driver operation Internal open load detector 7V to 30V motor supply voltage More than 3000mA using 8 external MOS transistors External drivers can be added for higher motor voltages and higher currents (e.g. 75V, 10A) Only 4 external PMOS transistors required for unipolar operation 3.3V or 5V operation for digital part Low power consumption via low RDS-ON power stage Standby and shutdown mode available Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 2 Life support policy TRINAMIC Microchips GmbH does not authorize or warrant any of its products for use in life support systems, without the specific written consent of TRINAMIC Microchips GmbH. Life support systems are equipment intended to support or sustain life, and whose failure to perform, when properly used in accordance with instructions provided, can be reasonably expected to result in personal injury or death. © TRINAMIC Microchips GmbH 2002 Information given in this data sheet is believed to be accurate and reliable. However no responsibility is assumed for the consequences of its use nor for any infringement of patents or other rights of third parties, which may result form its use. Specifications subject to change without notice. Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 3 Pinning LA1 LA2 SRA OSC SDO SDI SCK CSN ENN SPE BL1 SRB LB2 LB1 1 2 3 4 28 27 26 25 HA2 HA1 ANN GNDA SLP INA INB VCC GND VS VT BL2 HB1 HB2 5 6 7 8 9 10 11 12 13 14 TMC239 SO28 24 23 22 21 20 19 18 17 16 15 Package codes Package Temperature range Code/marking SO28 automotive *) TMC239-SA LPCC28 (6*6mm) automotive TMC239-LA to be announced *) ICs with date code prior to 0104 are not yet tested according to automotive standards, but are usable within the complete temperature range. SO28 Dimensions C I A H K REF A B C D E F G H I K MIN. 10 17.7 7.4 MAX. 10.65 18.1 7.6 1.4 2.65 0.25 0.1 0.3 0.36 0.49 0.4 1.1 1.27 G D F E B All dimensions are in mm. Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 4 Application Circuit / Block diagram +VM BL1 BL2 VS 220nF 100µF RSH TMC239 OSC 1nF VT OSC Current Controlled Gate Drivers HA1 +VCC VCC 100nF PWM-CTRL Undervoltage HA2 P P Coil A Temperature LA2 N N LA1 SRA RS SPIInterface [MDBN] SCK Control & Diagnosis 0 [PHA] SDI DAC 4 1 INA REFSEL VREF INB Parallel Control [ERR] SDO DAC 4 1 [PHB] CSN 0 SRB RS LB1 Current Controlled Gate Drivers PWM-CTRL LB2 N N Coil B HB2 P P REFSEL HB1 SPE ANN [MDAN] ENN AGND GND SLP stand alone mode RSLP [...]: function in stand alone mode Pin functions Pin VS VCC AGND INA SCK SDO ENN Function Motor supply voltage 3.0-5.5V supply voltage for analog and logic circuits Pin VT GND Function Short to GND detection comparator – connect to VS if not used Power ground Oscillator capacitor or external clock input for chopper Analog current control input phase B Data input of serial interface Chip select input of serial interface Enable SPI mode (high active). Tie to GND for non-SPI applications Slope control resistor. Tie to GND for fastest slope Bridge A/B current sense resistor input Outputs for low side N-channel transistors Analog ground (Reference for SRA, OSC SRB, OSC, SLP, INA, INB) Analog current control phase A Clock input of serial interface Data output of serial interface Device enable (low active), high causes a total shutdown and resets all registers Enable analog current control (low active): Enables INA and INB for output current control Digital blank time select INB SDI CSN SPE ANN SLP BL1, BL2 SRA, SRB LA1, LA2, LB1, LB2 HA1, HA2, Outputs for high side P-channel HB1, HB2 transistors Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 5 Selecting power transistors Selection of power transistors for the TMC239 depends on required current, voltage and thermal conditions. Driving transistors directly with the TMC239 is only limited by the gate capacity of these transistors. If the total gate charge is too high, slope time increases and leads to a higher switching power dissipation. Typical applications can reach a current in excess of 3A, while the maximum voltage is limited to 30V. A total gate charge of below 10nC per transistor is recommended. The table below shows a choice of transistors which can be driven directly by the TMC239. The maximum application current mainly is a function of cooling and environment temperature. The given values are more conservative. Peak currents typically can be higher by a factor of 1.5 for a limited time. List of recommended transistors Manufacturer and type Siliconix SI 3552 Siliconix SI 5504 ST Micro STS2DNF30L STS3DPF30L IRF 5851 IRF 9952 IRF 7509 Fairchild Semi FDS 8333C Siliconix SI 1901 Package (#Trans) TSOP6 (1N,1P) 1206-8 (1N,1P) SO8 (2N) (2P) TSOP6 (1N,1P) SO8 (1N,1P) Micro8 (1N,1P) SO8 (1N,1P) SOT363-6 (2P) Volts N-type Volts P-type 30V 30V 30V 30V 30V 30V 20V 20V 30V 30V 30V 30V 30V 30V 30V RDSON [Ohm] 0.105 0.200 0.085 0.165 0.11 0.15 0.090 0.135 0.10 0.25 0.11 0.20 0.08 0.13 0.480 Total gate charge [nC] 2.5 3.0 5.0 5.5 4.5 5.5 6.0 6.0 6.9 6.1 7.8 7.5 4.7 4.1 0.86 Typical maximum application current 1500mA 2000mA 2000mA 1500mA 2500mA 2000mA 3000mA 200mA unipolar Layout considerations For optimal operation of the circuit a careful board layout is important, because of the combination of high current chopper operation coupled with high accuracy threshold comparators. Please pay special attention to massive grounding. Depending on the required motor current, either a single massive ground plane or a ground plane plus star connection of the power traces may be used. The schematic shows how the high current paths can be routed separately, so that the chopper current does not flow through the system’s GND-plane. Tie the TMC239’s AGND and GND to the GND plane. Additionally, use enough filtering capacitors located near to the board’s power supply input and small ceramic capacitors near to the power supply connections of the TMC239. Use low inductance sense resistors, or add a ceramic capacitor in parallel to each resistor to avoid high voltage spikes. In some applications it may become necessary to introduce additional RC-filtering into the VT and SRA / SRB line, as shown in the schematic, to prevent spikes from triggering the short circuit VS optional filter protection or the chopper comparator. If you 100nF 4.7nF want to take advantage of the thermal VT protection and diagnosis, ensure, that the 100R +VM power transistors are very close to the GND package, and that there is a good thermal TMC239 Bridge A Bridge B optional filter contact between the TMC239 and the external SRA C transistors. Please be aware, that long or thin 100R SRB GND traces to the sense resistors may add R R 100R substantial resistance and thus reduce output 3.3 GND 10nF current. The same is valid for the high side AGND GNDshunt resistor. RSH VM SA SB Plane Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 6 Using additional power drivers For higher voltage and higher output current it is possible to add external MOSFET gate drivers. Both, dedicated transistor drivers are suitable, as well as a circuit based on standard HCMOS drivers. It is important to understand the function of dedicated gate drivers for N-channel transistors: Since the chopping also can be stopped in open load conditions, the gate drive circuit for the upper transistors should allow for continuous ON conditions. In the schematic below this is satisfied by attaching a weak additional charge pump oscillator and pumping the VS up to the high voltage supply. Do not enable the TMC239, before the gate driver capacitors are charged to an appropriate voltage. A current sensing comparator in the VM line pulling down the VT pin by some 100mV on overcurrent can be added, if required. Since the TMC239 senses switch-off of the transistor gates to ensure break-before-make operation, the break before-make-delays can be increased by capacitive loading of its transistor drive outputs. The capacitors CdHS and CdLS are charged / discharged with the nominal gate current. The opposite output is not enabled, before the switching-off output has been discharged to 0.5V. Both circuits do not show decoupling capacitors and further details. +15V VS VT C-Pump 20kHz ICM7555 to other bridges +VM e.g. 75V 10nF 1µF 15V High current, high voltage MOS bridge CDHS HA1 small signal PMOS, e.g. SI1901 1K HS-Driver N N Coil TMC239 LA1 LSDriver N N CDLS IR2101 SRA 100R 10nF opt. RS +VS 7..15V VS 1K VT 120R VCC 1/2 74HC244 on high side +VM 20..60V High voltage logic level MOS bridge P CDHS HA1 55V low current N-MOS 1K ADJ LM337 HV IN 1/2 74HC244 on low side LA1 1K CDLS /OE GND SRA 100R 390R /OE GND VM-5.2V 100R P OUT +5V VCC Coil TMC239 N N RS SLP 15K set to 7 mA highside drive current Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 7 Serial interface word assignment The SPI data word sets the current and polarity for both coils. By applying consecutive values, describing a sine and a cosine wave, the motor can be driven in microsteps. Every microstep is initiated by its own telegram. Please refer to the description of the analog mode for details on the waveforms required. Serial data word transmitted to TMC239 (MSB transmitted first) Bit 11 10 9 8 7 6 5 4 3 2 1 0 Name MDA CA3 CA2 CA1 CA0 PHA MDB CB3 CB2 CB1 CB0 PHB Function mixed decay enable phase A current bridge A.3 current bridge A.2 current bridge A.1 current bridge A.0 polarity bridge A mixed decay enable phase B current bridge B.3 current bridge B.2 current bridge B.1 current bridge B.0 polarity bridge B LSB “0” = current flow from OB1 to OB2 LSB “0” = current flow from OA1 to OA2 “1” = mixed decay MSB Remark “1” = mixed decay MSB Serial data word transmitted from TMC239 (MSB transmitted first) Bit 11 10 9 8 7 6 5 4 3 2 1 0 Name 0 0 0 1 OT OTPW UV OCHS OLB OLA OCA OCB Function always “0” always “0” always “0” always “1” overtemperature temperature prewarning driver undervoltage overcurrent high side open load bridge B open load bridge A overcurrent bridge B low side overcurrent bridge A low side “1” = chip off due to overtemperature “1” = prewarning temperature exceeded “1” = undervoltage on VS 3 PWM cycles with overcurrent within 63 PWM cycles no PWM switch off for 14 oscillator cycles no PWM switch off for 14 oscillator cycles 3 PWM cycles with overcurrent within 63 PWM cycles 3 PWM cycles with overcurrent within 63 PWM cycles Remark Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 8 Typical winding current values Current setting CA3..0 / CB3..0 0000 0001 0010 ... 1110 1111 Percentage of current 0% 6.7% 13.3% ... 93.3% 100% 317 mV 340 mV Typical trip voltage of the current sense comparator (internal reference or analog input voltage of 2V is used) 0V 23 mV 45 mV (bridge continuously in slow decay condition) The current values correspond to a standard 4 Bit DAC, where 100%=15/16. The contents of all registers is cleared to “0” on power-on reset or disable via the ENN pin, bringing the chip to a low power standby mode. All SPI inputs have Schmitt-Trigger function. Base current control via INA and INB In SPI mode, the chip can use an external reference voltage for each DAC. This allows the adaptation to different motors. This mode is enabled by tying pin ANN to GND. A 2.0V input voltage gives full scale current of 100%. In this case, the typical trip voltage of the current sense comparator is determined by the input voltage and the DAC current setting (see table above) as follows: VTRIP,A = 0.17 VINA × “percentage SPI current setting A” VTRIP,B = 0.17 VINB × “percentage SPI current setting B” A maximum of 3.0V VIN is possible. Multiply the percentage of base current setting and the DAC table to get the overall coil current. It is advised to operate at a high base current setting, to reduce the effects of noise voltages. This feature allows a high resolution setting of the required motor current using an external DAC or PWM-DAC. Controlling the power down mode via the SPI interface Bit Standard function Control word function 11 10 9 8 7 6 5 4 3 2 1 0 MxA CA3 CA2 CA1 CA0 PhA MxB CB3 CB2 CB1 CB0 PhB - 0 0 0 0 - - 0 0 0 0 - Enable standby mode and clear error flags Programming current value “0000” for both coils at a time clears the overcurrent flags and switches the TMC239 into a low current standby mode with coils switched off. Open load detection Open load is signaled, whenever there are more than 14 oscillator cycles without PWM switch off. Note that open load detection is not possible while coil current is set to “0000”, because the chopper is off in this condition. The open load flag will then always be read as inactive (“0”). During overcurrent conditions, the open load flags also become active! Overcurrent protection and diagnosis The TMC239 uses the current sense resistors on the low side to detect an overcurrent: Whenever a voltage above 0.61V is detected, the PWM cycle is terminated at once and all transistors of the bridge are switched off for the rest of the PWM cycle. The error counter is increased by one. If the error Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 9 counter reaches 3, the bridge remains switched off for 63 PWM cycles and the error flag is read as “active”. The user can clear the error condition in advance by clearing the error flag. The error counter is cleared, whenever there are more than 63 PWM cycles without overcurrent. There is one error counter for each of the low side bridges, and one for the high side. The overcurrent detection is inactive during the blank pulse time for the corresponding bridge. The high side comparator detects a short to GND or an overcurrent, whenever the voltage between VS and VT becomes higher than 0.15 V at any time, except for the blank time period which is logically ORed for both bridges. Here all transistors become switched off for the rest of the PWM cycle, because the bridge with the failure is unknown. The overcurrent flags can be cleared by disabling and re-enabling the chip either via the ENN pin or by sending a telegram with both current control words set to “0000”. In high side overcurrent conditions the user can determine which bridge sees the overcurrent, by selectively switching on only one of the bridges with each polarity (therefore the other bridge should remain programmed to “0000”). Overtemperature protection and diagnosis The circuit switches off all output power transistors during an overtemperature condition. The overtemperature flag should be monitored to detect this condition. The circuit resumes operation after cool down below the temperature threshold. Enable pin behavior During disable conditions the circuit switches off all output power transistors and goes into a low current shutdown mode. All register contents is cleared to “0”, and all status flags are cleared. Chopper cycle The TMC239 uses a quiet fixed frequency chopper. Both coils are chopped with a phase shift of 180 degrees. The mixed decay option is realized as a self stabilizing system (pat. fi.), by shortening the fast decay phase, if the ON phase becomes longer. It is advised to enable this for each phase during the second half of each microstepping half-wave, when the current is meant to decrease. This leads to less motor resonance, especially at medium velocities. With low velocities or during standstill mixed decay should be switched off. The mixed decay mode can also be enabled when output current is near to zero, to reduce the minimum motor current which can be achieved. When polarity is changed on one bridge, the PWM cycle on that bridge becomes restarted at once. Fast decay switches off both upper transistors, while enabling the lower transistor opposite to the selected polarity. Slow decay always enables both lower side transistors. target current phase A actual current phase A on slow decay on fast decay slow decay oscillator clock resp. external clock mixed decay disabled mixed decay enabled Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 10 Blank time The TMC239 uses a digital blanking pulse for the current chopper comparators. This prevents current spikes, which can occur during switching action due to capacitive loading, from terminating the chopper cycle. The lowest possible blanking time gives the best results for microstepping: A long blank time leads to a long minimum turn-on time, thus giving an increased lower limit for the current. Please remark, that the blank time should cover both, switch-off time of the lower side transistors and turn-on time of the upper side transistors plus some time for the current to settle. Thus the complete switching duration should never exceed 1.5µs. With slow external power stages it will become necessary to add additional RC-filtering for the sense resistor inputs. The TMC239 allows to adapt the blank time to the load conditions and to the selected slope in four steps: Blank time settings BL2 GND GND VCC VCC BL1 GND VCC GND VCC Typical blank time 0.6 µs 0.9 µs 1.2 µs 1.5 µs Standby and shutdown mode The circuit can be put into a low power standby mode by the user, or, automatically goes to standby on Vcc undervoltage conditions. Before entering standby mode, the TMC239 switches off all power transistors, and holds their gates in a disable condition using high ohmic resistors. In standby mode the oscillator becomes disabled and the oscillator pin is held at a low state. The standby mode is available via the interface in SPI-mode and via the ENN pin in non-SPI mode. The shutdown mode can only be entered in SPI-mode using the ENN pin. In shutdown all internal reference voltages also become switched off and the SPI circuit is held in reset. Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 11 Classical non-SPI control mode (stand alone mode) The driver can be controlled by analog current control signals and digital phase signals. To enable this mode, tie pin SPE to GND. In this mode, the SPI interface is disabled and the SPI input pins have alternate functions. The internal DACs are forced to “1111”. Pin functions in stand alone mode Pin SPE ANN SCK SDI CSN SDO ENN INA, INB MDAN MDBN PHA PHB ERR Stand alone mode name Function in stand alone mode Tie to GND to enable stand alone mode Enable mixed decay for bridge A (low = enable) Enable mixed decay for bridge B (low = enable) Polarity bridge A (low = current flow from output OA1 to OA2) Polarity bridge B (low = current flow from output OB1 to OB2) Error output (high = overcurrent on any bridge, or overtemperature). In this mode, the pin is never tristated. Standby mode (high active), high causes a low power mode of the device. Setting this pin high also resets all error conditions. Current control for bridge A, resp. bridge B. Refer to AGND. The sense resistor trip voltage is 0.34V when the input voltage is 2.0V. Maximum input voltage is 3.0V. Input signals for microstep control in stand alone mode INA INB 90° 180° 270° 360° PHA (SDI) PHB (CSN) MDAN (ANN) MDBN (SCK) Use dotted line to improve performance at medium velocities Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 12 Unipolar operation The TMC239 can also be used in an unipolar motor application with microstepping. In this configuration, only the four upper power transistors are required. Differences of short circuit behavior in unipolar operation mode Since there is no possibility to disable a short to VS condition, the circuit is not completely short circuit proof. In a low cost application a motor short would be covered, just using the bottom sense resistors (see schematic). Differences in chopper cycle in unipolar operation mode In unipolar mode, one of the upper side transistors is chopped, depending on the phase polarity. Slow decay mode always means, that both transistors are disabled. There is no difference between slow and fast decay mode, and the mixed decay control bits are “don’t care”. The transistors have to stand an off voltage, which is slightly higher than the double of the supply voltage. Voltage decay in the coil can be adapted to the application by adding additional diodes and a zener diode to feed back coil current in flyback conditions to the supply. +VM HA1 TMC239 HA2 P P LA2 One coil of the motor LA1 RS SRA Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 13 Calculation of the external components Sense resistor Choose an appropriate sense resistor (RS) to set the desired motor current. The maximum motor current is reached, when the coil current setting is programmed to “1111”. This results in a current sense trip voltage of 0.34V when the internal reference or a reference voltage of 2V is used. When operating your motor in fullstep mode, the maximum motor current is as specified by the manufacturer. When operating in sinestep mode, multiply this value by 1.41 for the maximum current (Imax). RS = VTRIP / Imax In a typical application: RS = 0.34V / Imax RS: VTRIP: Imax: Current sense resistor of bridge A, B Programmed trip voltage of the current sense comparators Desired maximum coil current Examples for sense resistor settings RS 0.47Ω 0.33Ω 0.22Ω Imax 723mA 1030mA 1545mA High side overcurrent detection resistor RSH The TMC239 detects an overcurrent to ground, when the voltage between VS and VT exceeds 150mV. The high side overcurrent detection resistor should be chosen in a way that 100mV voltage drop are not exceeded between VS and VT, when both coils draw the maximum current. In a sinestep application, this is when sine and cosine wave have their highest sum, i.e. at 45 degrees, corresponding to 1.41 times the maximum current setting for one coil. In a fullstep application this is the double coil current. In a microstep application: RSH = 0.1V / (1.41 × Imax) In a fullstep application: RSH = 0.1V / (2 × Imax) RSH: Imax: High side overcurrent detection resistor Maximum coil current However, if the user desires to use higher resistance values, a voltage divider in the range of 10Ω to 100Ω can be used for VT. This might also be desired to limit the peak short to GND current, as described in the following chapter. Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 14 Making the circuit short circuit proof In practical applications, a short circuit does not describe a static condition, but can be of very different nature. It typically involves inductive, resistive and capacitive components. Worst events are unclamped switching events, because huge voltages can build up in inductive components and result in a high energy spark going into the driver, which can destroy the power transistors. The same is true when disconnecting a motor during operation: Never disconnect the motor during operation! There is no absolute protection against random short circuit conditions, but pre-cautions can be taken to improve robustness of the circuit: In a short condition, the current can become very high before it is interrupted by the short detection, due to the blanking during switching and internal delays. The high-side transistors allow full current flowing for the selected blank time. The lower the external inductivity, the faster the current climbs. If inductive components are involved in the short, the same current will shoot through the low-side resistor and cause a high negative voltage spike at the sense resistor. Both, the high current and the voltage spikes are a danger for the driver and transistors. Thus there are a two things to be done, if short circuits are expected: 1. Protect SRA/SRB inputs using a series resistance 2. Increase RSH to limit maximum transistor current: Use same value as for sense resistors The second measure effectively limits short circuit current, because the upper driver transistor with its fixed ON gate voltage of 7V forms a constant current source together with its internal resistance and RSH. A positive side effect is, that only one type of low ohmic resistor is required. The drawback is, that power dissipation increases. The schematic shows the modifications to be done. However, the effectiveness of these measures should be tested in the given application. VS 100nF VT R2 RSH 100R GND +VM TMC236 / TMC239 RSH=RSA=RSB Microstep: R2 = 27R Fullstep: R2 = 18R CVM SRA 100R SRB 100R RSA RSB GND Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 15 Oscillator capacitor The PWM oscillator frequency can be set by an external capacitor. The internal oscillator uses a 28kΩ resistor to charge / discharge the external capacitor to a trip voltage of 2/3 Vcc respectively 1/3 Vcc. It can be overdriven using an external CMOS level square wave signal. Do not set the frequency higher than 100kHz and do not leave the OSC terminal open! The two bridges are chopped with a phase shift of 180 degrees at the positive and at the negative edge of the clock signal. 1 fOSC ≈ 40 µs × COSC [nF] fOSC: COSC: PWM oscillator frequency Oscillator capacitor in nF Table of oscillator frequencies fOSC typ. 16.7kHz 20.8kHz 25.0kHz 30.5kHz 36.8kHz COSC 1.5nF 1.2nF 1.0nF 820pF 680pF Please remark, that an unnecessary high frequency leads to high switching losses in the power transistors and in the motor. Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 16 Slope Control Resistor The output-voltage slope of the full bridge is controlled by a constant current gate charge / discharge of the MOSFETs. The charge / discharge current for the high-side MOSFETs can be controlled by an external resistor: A reference current is generated by internally pulling the SLP-Pin to 1.25V via an integrated 4.7KΩ resistor. This current is used to generate the current for switching ON and OFF the upper side transistors. The gate-driver output current can be set in range of 0.5mA to 25mA by an external resistor: RSLP [kΩ] ≈ RSLP: IOUT: 123 − 4 .7 IOUT [mA] Slope control resistor Controlled output current of the low-side MOSFET driver The SLP-pin can directly be connected to AGND for the fastest output-voltage slope (respectively maximum output current). The low side MOSFETs are switched on/off with a constant current of typ. +/-15mA into their gate for charge and discharge. Slope control only affects the upper transistors, and thus the normal direction current, where the circuit feeds energy into the coils. The additional mixed decay slopes, where the coil feeds back current into the power supply, have fixed slope control (corresponding to a 5KΩ to 10KΩ slope control resistor). For applications where electromagnetic emission is very critical, it might be necessary to add additional LC (or capacitor only) filtering on the motor connections. For these applications emission is lower, if only slow decay operation is used. Please remark, that there is a trade off between reduced electromagnetic emissions (slow slope) and high efficiency because of low dynamic losses (fast slope). 25 20 IHDON 15 -IHDOFF 10 5 0 0 2 5 10 RSLP in KOhm 20 50 100 Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 17 Absolute Maximum Ratings The maximum ratings may not be exceeded under any circumstances. Symbol Parameter VS VSM VCC IOP VI VIA IIO Bridge supply voltage Bridge voltage spike / max. 20000s Logic supply voltage Gate driver peak current (1) Logic input voltage Analog input voltage Maximum current to / from digital pins and analog inputs VVT TJ TSTG Short-to-ground detector input voltage Junction temperature Storage temperature VS-1V -40 -55 VS+0.3V 150 150 V °C °C -0.3 -0.3 -0.5 Min Max 35 40 6.0 50 VCC+0.3V VCC+0.3V +/-10 Unit V V V mA V V mA (1) Internally limited Electrical Characteristics Operational Range Symbol Parameter TAI TAA TJ VS VCC fCLK Ambient temperature industrial (1) TMC 239 Ambient temperature automotive TMC 239 Junction temperature Bridge supply voltage Logic supply voltage Chopper clock frequency Min -25 -40 -40 7 3.1 Max 125 125 140 30 5.5 100 Unit °C °C °C V V kHz (1) The circuit can be operated up to 140°C, but output power might derate. Copyright © 2002, TRINAMIC Microchips GmbH TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003) 18 DC Characteristics DC characteristics contain the spread of values guaranteed within the specified supply voltage and temperature range unless otherwise specified. Typical characteristics represent the average value of all parts. Logic supply voltage: VCC = 3.0 V ... 5.5 V, Junction temperature: TJ = -40°C … 140°C, Bridge supply voltage : VS = 7 V…30 V (unless otherwise specified) Symbol ILDON Parameter Gate drive current low side switch ON Gate drive current low side switch OFF Gate drive current low side switch OFF Gate drive current high side switch ON Gate drive current high side switch OFF Gate drive voltage high side ON Gate drive voltage low side ON Gate drive voltage high side OFF Gate drive voltage low side OFF Gate driver clamping voltage Gate driver inverse clamping voltage VCC undervoltage VCC voltage o.k. VCC supply current VCC supply current standby VCC supply current shutdown VS undervoltage VS voltage o.k. VS supply current shutdown or standby High input voltage (all digital inputs) Low input voltage (all digital inputs) Input voltage hysteresis (all digital inputs) High output voltage (output SDO) Low output voltage (output SDO) -IOH = 1mA IOL = 1mA VS = 14V 2.2 -0.3 100 VCC – 0.6 0 300 VCC – 0.2 0.1 ENN = 1 5.5 6.1 fosc = 25 kHz -IH / IL = 20mA -IH / IL = -20mA 2.5 2.7 0.5 12 Conditions VLD < 4V Min 8.5 Typ 12 Max 20 Unit mA ILDOFF5 VLD > 3V VCC = 5V VLD > 3V VCC = 3.3V RSLP= 0K VS - VHD < 4V RSLP= 0K VS - VHD > 2V VS > 8V VS > 8V -15 -25 -35 mA ILDOFF3 -10 -15 -20 mA IHDON -20 -22.5 -35 mA IHDOFF 15 22.5 25 mA VGH1 VGL1 VGH0 VGL0 VGCL VGCLI VCCUV VCCOK ICC ICCSTB ICCSD VSUV VCCOK ISSD VIH VIL VIHYS VOH VOL -5.1 5.1 -6 6.1 0 0 16 -0.8 2.7 2.9 0.7 0.43
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