Application Information
SLA7070MPRT Series Unipolar 2-Phase
Stepper Motor Driver ICs
General Description
This document describes the SLA7070MPRT series,
which are unipolar 2-phase stepping motor driver ICs. The
SLA7070MPRT series employs a clock input method as
a control signal input method, enabling full control of the
device operation using only a few signal lines, instead of
the conventional phase input method that requires about 10
signal lines. This allows simplification of the circuit design
and a reduced workload on the control microprocessor.
Figure 1. SLA7070MPRT packages are fully molded ZIPs with an
exposed pad for heatsink mounting.
In addition, the SLA7070MPRT series is improved in its
reliability by preventing the IC from damage due to abnormal conditions. For example, it has a flag output terminal
to signal that a protection circuit has operated. The series
also has a built-in protection circuitry against motor coil
opens/shorts and thermal shutdown protection as well.
• Built-in sense resistor, RSInt
• All variants are pin-compatible for enhanced
design flexibility
• ZIP type 23-pin molded package (SLA package)
• Self-excitation PWM current control with fixed off-time
(microstepping options off-time adjusted automatically by
step reference current ratio; 3 levels)
• Built-in synchronous rectifying circuit reduces losses at
PWM-off
• Synchronous PWM chopping function prevents motor
noise in Hold mode
• Sleep mode for reducing the IC input current in
stand-by state
• Built-in protection circuitry against motor coil
opens/shorts and thermal shutdown protection options
All the SLA7070MPRT series ICs are compatible in their
pin layouts and interface specifications, allowing customers the flexibility of choosing the IC that is optimal for the
target equipment characteristics.
Features and Benefits
• Power supply voltages, VBB : 46 V (max.), 10 to 44 V
normal operating range
• Logic supply voltages, VDD : 3.0 to 5.5 V
• Maximum output currents: 1 A, 1.5 A, 2 A, 3 A
• Built-in sequencer
• Full-, half-, and microstepping available (microstepping
options are capable of full-, half-, quarter-, eighth-, and
sixteenth-stepping
Applications
• LBPs, PPCs, ATMs, industrial robots, and so forth
The SLA7070MPRT series product variants and optional features
Part Number
Output Current
(IOUT)
(A)
SLA7070MPRT
1
SLA7071MPRT
1.5
SLA7072MPRT
Full and
half step
2
SLA7073MPRT
3
SLA7075MPRT
1
SLA7076MPRT
SLA7077MPRT
SLA7078MPRT
SLA7070MPRT-AN, Rev. 2.1
January 10, 2013
Stepping
Rate
Microstep
1.5
2
Input Clock
Edge Detection
Blanking Time
(µs)
Standard
Standard
Rising (positive)
edge
3.2
Rising (positive)
edge
1.7
3
SANKEN ELECTRIC CO., LTD.
http://www.sanken-ele.co.jp/en/
Table of Contents
Specifications
Functional Block Diagrams
Pin Descriptions
Package Outline Drawing
Electrical Characteristics
Allowable Power Dissipation
Typical Application
3
3
3
5
6
10
11
Device Logic
12
Functional Description
23
Application Information
29
Pin Logic and Timing
Common Input Pins
Monitor Output Pin
Logic Input Pins
Clock Edge Timing
Reset Release and Clock Input Timing
Logic Level Change
Stepping Sequence Diagrams
Motor Excitation Sequencing
Individual Circuit Descriptions
Monolithic IC (MIC)
Output MOSFET Chip
Sense Resistor
PWM Current Control
Blanking Time
PWM Off-Time
Protection Functions
12
12
12
13
13
13
13
14
21
22
22
22
22
23
23
26
27
Motor Current Ratio Setting (R1, R2, RS)
29
Lower Limit of Control Current
29
Avalanche Energy
29
On-Off Sequence of Power Supply (VBB
and VDD)
30
Motor Supply Voltage (VM) and Main Power
Supply Voltage (VBB)
31
Internal Logic Circuits
31
Reset
31
Clock Input
31
Chopping Synchronous Circuit
31
Output Disable (Sleep1 and Sleep2) Circuits 31
Ref/Sleep1 Pin
32
Logic Input Pins
32
Thermal Design Information
32
Characteristic Data
34
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
2
Functional Block Diagrams
SLA7070MPRT to SLA7073MPRT: Full and Half step
MIC
PreDriver
Sequencer
and
Sleep Circuit
Protect
Protect
DAC
+
-
Comp
5
20 21 22 23
Reg.
PreDriver
SenseA
OutB
11
OutB
9 16 10 15
OutB
8
OutB
7
VBB
Clock
Reset
M3
6
CW/CCW
18
M1
13
M2
14
Flag
OutA
4
N.C.
OutA
3
Ref/Sleep1
OutA
2
VDD
OutA
1
DAC
Synchro
Control
PWM
Control
OSC
Rs
TSD
SLA707xMPRT
17
+
-
Comp
PWM
Control
OSC
19
SenseB
Rs
12
Sync
Gnd
Pad Side
2
1
4
3
6
5
8
7
10
9
12
11
14
13
16
15
18
17
20
19
22
21
23
Pin Number.
Symbol
1, 2
OutA
Output of phase A
Function
3, 4
¯O¯ ¯u¯¯
¯t ¯A¯
¯
Output of phase A
5
SenseA
6
N.C.
7
M1
8
M2
9
M3
10
Clock
Step clock input
11
VBB
Main power supply (for motor)
12
Gnd
Ground
13
Ref/Sleep1
14
VDD
Power supply to logic
15
Reset
Reset for internal logic
16
CW/CCW
17
Sync
Synchronous PWM control switch input
18
Flag
Output from protection circuits monitor
Phase A current sensing
No connection
Commutation and Sleep2 setting
Input for control current and Sleep1 setting
Forward/reverse switch input
19
SenseB
20, 21
¯O¯ ¯u¯¯
¯t ¯B¯
¯
Output of phase B
22, 23
OutB
Output of phase B
SLA7070MPRT-AN, Rev. 2.1
Phase B current sensing
SANKEN ELECTRIC CO., LTD.
3
SLA7075MPRT to SLA7078MPRT: Microstep
11
MIC
PreDriver
Sequencer
and
Sleep Circuit
Protect
Protect
DAC
+
-
Comp
5
20 21 22 23
Reg.
PreDriver
SenseA
OutB
9 16 10 15
OutB
8
OutB
7
OutB
6
VBB
Clock
Reset
M3
CW/CCW
18
M2
13
M1
14
MO
OutA
4
Flag
OutA
3
Ref/Sleep1
OutA
2
VDD
OutA
1
Rs
TSD
Synchro
Control
PWM
Control
OSC
DAC
SLA707xMPRT
17
+
-
19
Comp
PWM
Control
SenseB
Rs
OSC
12
Sync
Gnd
Pad Side
2
1
4
3
6
5
8
7
10
9
12
11
14
13
Pin Number.
Symbol
1, 2
OutA
Output of phase A
3, 4
¯O¯ ¯u¯¯
¯t ¯A¯
¯
Output of phase A
5
SenseA
15
18
17
20
19
22
21
23
Function
Phase A current sensing
6
MO
7
M1
8
M2
9
M3
10
Clock
Step clock input
11
VBB
Main power supply (for motor)
Ground
2-phase commutation status monitor output
Commutation and Sleep2 setting
12
Gnd
13
Ref/Sleep1
14
VDD
Input for control current and Sleep1 setting
Power supply to logic
15
Reset
16
CW/CCW
Reset for internal logic
17
Sync
Synchronous PWM control switch input
18
Flag
Output from protection circuits monitor
Forward/reverse switch input
19
SenseB
20, 21
¯O¯ ¯u¯¯
¯t ¯B¯
¯
Output of phase A
22, 23
OutB
Output of phase B
SLA7070MPRT-AN, Rev. 2.1
16
Phase B current sensing
SANKEN ELECTRIC CO., LTD.
4
Package Outline Drawing, SLA 23-Pin
31 ±0.2
24.4 ±0.2
4.8 ±0.2
φ3.2 ±0.15 x 3.8
16.4 ±0.2
1.7 ±0.1
b
16 ±0.2
5 ±0.5
c
9.9 ±0.2
Japan
a
(Heatsink Pad)
φ3.2 ±0.15
12.9 ±0.2
Gate Flash
2.45 ±0.2
(Measured at
Base of Pins)
+1
9.5 -0.5
4-(R1)
R-end
22 × P1.27±0.5 = 27.94±1
+0.2
0.55 -0.1
(4.3)
+0.2
0.65 -0.1
4.5 ±0.7
(Measured at
Pin Tips)
(Measured at Pin Tips)
31.3 ±0.2
(Includes Mold Flash)
1
2
3
4
5
6
7
9 11 13 15 17 19 21 23
8 10 12 14 16 18 20 22
Unit: mm
Pin material: Cu
Pin Plating: Solder plating (Pb free)
a: Item name 1: SLA707xMRT (x is 0 to 3, or 5 to 8; last digit
of part number, corresponding to current rating and stepping rate)
b: Item name 2: P
c: Lot number:
1st letter is last digit of year
2nd letter is month
January to September: 1 to 9
October: O
November: N
December: D
3rd and 4th are date of manufacture (01 to 31)
Leadframe plating Pb-free. Device composition
includes high-temperature solder (Pb >85%),
which is exempted from the RoHS directive.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
5
Electrical Characteristics
• This section provides separate sets of electrical characteristic data for each product.
• The polarity value for current specifies a sink as "+ ," and a source as “−,” referencing the IC.
• Please refer to the datasheet of each product for additional details.
Absolute Maximum Ratings Unless specifically noted, TA is 25°C
Characteristic
Symbol
Notes
Rating
Unit
Load (Motor Supply) Voltage
VM
46
V
Main Power Supply Voltage
VBB
46
V
6
V
≤1 μs (5% duty)
7
V
SLA7070MPRT
SLA7075MPRT
1.0
A
1.5
A
2.0
A
3.0
A
Logic Supply Voltage
VDD
Output Current
IO
SLA7071MPRT
SLA7076MPRT
SLA7072MPRT
SLA7077MPRT
Control current value
SLA7073MPRT
SLA7078MPRT
Logic Input Voltage
VIN
−0.3 to VDD+0.3
V
REF Input Voltage
VREF
−0.3 to VDD+0.3
V
Sense Voltage
VRS
Power Dissipation
PD
Junction Temperature
TJ
Without heatsink
±2
V
4.7
W
150
°C
Recommended Operating Conditions Unless specifically noted, TA is 25°C
Min.
Typ.
Max.
Load (Motor Supply) Voltage
Characteristic
VM
–
–
44
V
Main Power Supply Voltage
VBB
10
–
44
V
Logic Supply Voltage
VDD
3.0
–
5.5
V
–
–
90
°C
Case Temperature
SLA7070MPRT-AN, Rev. 2.1
Symbol
Tc
Test Conditions
Surge voltage at VDD pin should
be less than ±0.5 V to avoid
malfunctioning in operation
Measured at pin 12, without
heatsink
SANKEN ELECTRIC CO., LTD.
Unit
6
Electrical Characteristics Common to All Variants Unless specifically noted, TA is 25°C
Characteristic
Main Power Supply Current
Logic Power Current
Min.
Typ.
Max.
Unit
IBB
Normal mode
Test Conditions
–
–
15
mA
IBBS
Sleep1 and Sleep2 mode
–
–
100
μA
–
–
5
mA
IDD
MOSFET Breakdown Voltage
Maximum Response Frequency
Logic Supply Voltage
Logic Supply Current
VDSS
fclk
VBB = 44 V, ID = 1 mA
100
–
–
V
Clock duty = 50%
250
–
–
KHz
V
VIL
–
–
0.25 × VDD
VIH
0.75 × VDD
–
–
V
IIL
–
±1
–
μA
–
±1
–
μA
–
–
–
V
2.0
–
VDD
V
–
±10
–
μA
VREF –
0.03
–
VREF –
0.03
V
IIH
REF Input Voltage1
REF Input Current
VREF
See figure 1
VREFS
Output off, Sleep1 mode
IREF
SENSE Voltage
VSENSE
Sleep to Enable Recovery Time
Switching Time
Overcurrent Detection
Symbol
Voltage2
VREF = 0 to 1.5 V
Step reference current ratio: 100%
tSE
Sleep1 and Sleep2
100
–
–
μs
tcon
Clock edge to output on
–
2.0
–
μs
tcoff
Clock edge to output off
–
1.5
–
μs
VOCP
At motor coil short-circuit
0.65
0.7
0.75
V
SLA7070MPRT, SLA7075MPRT,
SLA7071MPRT, SLA7076MPRT
–
2.3
–
A
SLA7072MPRT, SLA7077MPRT
–
3.5
–
A
Overcurrent Detection Current
( VOCP / RS )
IOCP
SLA7073MPRT, SLA7078MPRT
–
4.6
–
A
Load Disconnection Undetected Time
topp
From PWM off
–
2
–
µs
Overheat Protection Temperature
Ttsd
Measured at back of device case (after heat
has saturated)
–
140
–
°C
VFlagL
IFlagL = 1.25 mA
–
–
1.25
V
VFlagH
IFlagH = –1.25 mA
VDD –
1.25
–
–
V
Flag Output Voltage
Flag Output Current
1In
2In
IFlagL
–
–
1.25
mA
IFlagH
–1.25
–
–
mA
a state of: Sleep1, IBBS, output off, and Sequencer enabled.
a condition of VSENSE ≥ VOCP , the protection circuit will activate.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
7
Electrical Characteristics Varying with Stepping Sequence Unless specifically noted, TA is 25°C, VBB = 24 V, VDD = 5 V
SLA7070MPRT, SLA7071MPRT, SLA7072MPRT, and SLA7073MPRT (Full- and Half-Stepping)
Characteristic
Step Reference Current Ratio
PWM Minimum On-Time
PWM Off-Time
Symbol
Mode F
Mode 8
Test Conditions
VREF ≈ VSENSE = 100 V,
VREF = 0 to 1.0 V
Min.
Typ.
Max.
Unit
–
100
–
%
–
70
–
%
ton(min)
–
3.2
–
µs
toff
–
12
–
µs
SLA7075MPRT, SLA7076MPRT, SLA7077MPRT, and SLA7078MPRT (Microstepping)
Mode F
–
100
–
%
Mode E
–
98.1
–
%
Mode D
–
95.7
–
%
Mode C
–
92.4
–
%
Mode B
–
88.2
–
%
Mode A
–
83.1
–
%
–
77.3
–
%
–
70.7
–
%
Mode 9
Step Reference Current Ratio
Mode 8
Mode 7
MO (Load) Output Voltage
MO (Load) Output Current
PWM Minimum On-Time
PWM Off-Time
SLA7070MPRT-AN, Rev. 2.1
VREF ≈ VSENSE = 100 V,
VREF = 0 to 1.0 V
–
63.4
–
%
Mode 6
–
55.5
–
%
Mode 5
–
47.1
–
%
Mode 4
–
38.2
–
%
Mode 3
–
29
–
%
Mode 2
–
19.5
–
%
Mode 1
–
9.8
–
%
–
–
1.25
V
VDD – 1.25
–
–
V
VMOL
IMOL = 1.25 mA
VMOH
IMOH = –1.25 mA
IMOL
–
–
1.25
mA
IMOH
–1.25
–
–
mA
ton(min)
–
1.7
–
µs
toff1
Mode 8, 9, A, B, C, D, E, and F
–
12
–
µs
toff2
Mode 4, 5, 6, and 7
–
9
–
µs
toff3
Mode 1, 2, and 3
–
7
–
µs
SANKEN ELECTRIC CO., LTD.
8
Electrical Characteristics Varying with Output Current Range Unless specifically noted, TA is 25°C, VBB = 24 V, VDD = 5 V
SLA7070MPRT and SLA7075MPRT (IO = 1.0 A)
Characteristic
Output On-Resistance
Symbol
Test Conditions
Min.
Typ.
Max.
Unit
–
0.7
0.85
Ω
RDS(on)
ID = 1 A
Body Diode Forward Voltage
Vf
If = 1 A
–
0.85
1.1
V
Sense Resistor*
RS
±3% tolerance
0.296
0.305
0.314
Ω
Within specified current limit, IO = 1.0 A
0.04
–
0.3
V
REF Input Voltage
VREF
SLA7071MPRT and SLA7076MPRT (IO = 1.5 A)
Output On-Resistance
Body Diode Forward Voltage
Sense Resistor*
REF Input Voltage
RDS(on)
ID = 1.5 A
–
0.45
0.6
Ω
Vf
If = 1.5 A
–
1.0
1.25
V
RS
±3% tolerance
0.296
0.305
0.314
Ω
Within specified current limit, IO = 1.5 A
0.04
–
0.45
V
Ω
VREF
SLA7072MPRT and SLA7077MPRT (IO = 2.0 A) Electrical Characteristics
RDS(on)
ID = 2 A
–
0.25
0.4
Body Diode Forward Voltage
Output On-Resistance
Vf
If = 2 A
–
0.95
1.2
V
Sense Resistor*
RS
±3% tolerance
0.199
0.205
0.211
Ω
Within specified current limit, IO = 2.0 A
0.04
–
0.4
V
–
0.18
0.24
Ω
REF Input Voltage
VREF
SLA7073MPRT and SLA7078MPRT (IO = 3.0 A) Electrical Characteristics
Output On-Resistance
RDS(on)
ID = 3 A
Body Diode Forward Voltage
Vf
If = 3 A
–
0.95
2.1
V
Sense Resistor*
RS
±3% tolerance
0.150
0.155
0.160
Ω
Within specified current limit, IO = 3.0 A
0.04
–
0.45
V
REF Input Voltage
VREF
*Includes the inherent bulk resistance (approximately 5 mΩ) of the resistor itself.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
9
VDD
Sleep 1 Set Range
2.0V
Prohibition Zone
VOCP = 0.7 V
0.45V
0.4V
0.3V
1.0 A
Devices
0V
2.0 A
Devices
1.5 A and
3.0 A
Devices
Motor Current Set Range*
*Motor Current Set Range is determined
by the value of the resistor built into the device.
Figure 1. Reference Voltage Setting (VREF, REF/SLEEP1 Pin). Please pay extra
attention to the change-over between the motor current specification range, IMO , and
the Sleep1 Set Range. VOCP falls on the "prohibition zone" threshold. If the changeover time is too slow, OCP operation will start when VSInt > VOCP.
Allowable Power Dissipation, PD [W]
5
4
Rθj-a=26.6℃/W
3
2
1
0
0
10
20
30
40
50
60
70
Ambient Temperature, T A [℃]
80
90
Figure 2. Allowable Power Dissipation
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
10
Typical Application
(Microstepper Variants)
Vs =10 to 44 V
VCC =3.0 to 5.5V
Sleep
R1
Q1
C1
OutA
VDD
OutA
Reset/Sleep1
Clock
CW/CCW
M1
M2
M3
Sync
Mo
Flag
Ref/Sleep
Sense A
CB
Microcontroller
R2
R3
VBB
OutB
OutB
CA
SLA7075MPRT
SLA7076MPRT
SLA7077MPRT
SLA7078MPRT
Gnd
Sense B
C2
Pin12
Gnd
Logic Gnd
Power Gnd
Figure 3. Typical Application Circuit
External Component Typical Values
(for reference use only):
Component
Value
Component
Value
R1
10 kΩ
CA
100 μF / 50 V
R2
1 kΩ (varistor)
CB
10 μF / 10 V
R3
10 kΩ
C1
0.1 μF
SLA7070MPRT-AN, Rev. 2.1
• Take precautions to avoid noise on the VDD line; noise
levels greater than 0.5 V on the VDD line may cause device
malfunction. Noise can be reduced by separating the logic
ground and the power ground on a PCB from the GND pin
(pin 12).
• Unused logic input pins (CW / CCW, M1, M2, M3, Reset,
and SYNC) must be pulled up or down to VDD or ground. If
those unused pins are left open, the device malfunctions.
• Unused logic output pins (Mo, Flag) must be kept open.
SANKEN ELECTRIC CO., LTD.
11
Truth Tables
Common Input Pins
Table 1 shows the truth table for input pins common to both
half/full step and microstep variants of the SLA7070MPRT
series.
• The Reset function is asynchronous. If the input on the Reset
pin is high, the internal logic circuit is reset. At this point, if the
Ref pin stays low, then the DMOS outputs turn on at the starting
point of excitation. Note that the Disable control functions are not
available with the Reset pin signal set high.
• Voltage at the Ref / Sleep1 pin controls the PWM current and
the Sleep1 function. For normal operation, VREF should be below
1.5 V (low level). Applying a voltage greater than 2.0 V (high
level) to the Ref / Sleep1 pin disables the outputs and puts the
motor in a free state (coast). This function is used to minimize
power consumption when the device is not in use. Although
it disables much of the internal circuitry, including the output MOSFETs and regulator, the sequencer / translator circuit
remains active.
• The Sync function is active only for 2-phase excitation timing.
If this function is used during other than 2-phase excitation timing, the overall stepping sequence might collapse because PWM
off-time and set current are different in each phase A and phase
B control scenario. (2-phase excitation timing is when the step
reference current ratio of both phase A and phase B is Mode 8.)
Commutation/Sleep2 Function
Table 2 shows the logic of the pins (M1, M2, and M3) which set
commutation. In the Sleep2 function, the outputs are disabled and
the driver supply current (IBB) is reduced. However, unlike the
Sleep1 function, the logic circuitry is put into a standby state and
therefore the sequencer / translator circuit is not active.
Note: When awakening from Sleep2 mode, a delay of 100 μs or
longer before sending a Clock pulse is recommended.
Monitor Output Pin
The SLA7070MPRT series provides two device status monitor
outputs:
• Flag pin – Protection feature operation
• Mo pin (microstep variants only) – Stepping sequence
Table 3 shows the logic for the monitor pins. The outputs turn off
when the protection circuit starts operating. To release the protection state, cycle (set low, and then high) the logic supply voltage
(VDD).
Table 2. Commutation-Sleep2 Truth Table for
Common Input Pins (Half/Full and Microstep)
Pin Name
M1
M2
M3
Full / Half Step
Microstep
L
L
L
Full step (Mode 8 fixed)
Full step (Mode 8 fixed)
H
L
L
Full step (Mode F fixed)
Full step (Mode F fixed)
L
H
L
Half step
Half step
H
H
L
Half step (Mode F fixed)
Half step (Mode F fixed)
L
L
H
H
L
H
L
H
H
H
H
H
Quarter step
Eighth step
Sleep2 function
Sixteenth step
Sleep2 function
Table 3. Monitor Output Pins Logic
Pin Name
Low Level
High Level
Flag
Normal operation
Protection circuit operation
Mo
Other than 2-phase
excitation timing
2-phase excitation timing
Table 1. Truth Table for Common Input Pins (Half/Full and Microstep)
Pin Name
Low Level
High Level
Reset
Normal operation
Logic reset
CW/CCW
Forward (CW)
Reverse (CCW)
M1, M2, M3
SLA7070MPRT-AN, Rev. 2.1
Clock
Commutation (Sleep2 is not included)
Ref / Sleep1
Normal operation
Sleep1 function
Sync
Non-sync PWM control
Sync PWM control
SANKEN ELECTRIC CO., LTD.
(Positive Edge)
12
Logic Input Pins
The low pass filter incorporated with the logic input pins (Reset,
Clock, CW/CCW, M1, M2, M3, and Sync) improves noise rejection. The logic inputs are CMOS input compatible, and therefore
they are in a high impedance state. Use the IC at a fixed input
level, either low or high.
edges and as setup and hold times. The sequencer logic circuitry
might malfunction if the logic polarity is changed during these
setup and hold times. (Refer to figure 4).
Input Logic Timing
When the timing of a Reset release (falling edge) and a Clock
edge is simultaneous, the internal logic might cause an unexpected operation. Therefore, a greater than 5 μs delay is required
between the falling edge of the Reset input and the next rising
edge of the Clock input. (Refer to figure 4).
Clock Signal
A low-to-high then high-to-low transition on the Clock input
advances the sequencer / translator. The Clock pulse width should
be set at 2 μs in both positive and negative polarities. Therefore,
clock response frequency should be 250 kHz. Only the positive
edge is used for timing, however, it is necessary to control the
logic levels of the Clock signal both before and after each Clock
signal edge sent to the sequencer logic circuit, in order to maintain proper stepping operation.
Clock Edge Timing
With regard to the input logic of the CW/CCW, M1, M2, and M3
pins, a 1 μs delay should occur both before and after the pulse
Reset
Clock
CW/CCW
M1, M2, M3
2 µs(min)
Reset Release and Clock Input Timing
The Reset pulse width is equivalent to the high pulse level hold
time. It should be greater than the 2 μs Clock input pulse width.
Logic Level Change
Logic level inputs on CW/CCW, M1, M2, and M3 set the translator step direction (CW/CCW) and step mode (M1, M2, and M3;
refer to the Commutation Truth Table). Changes to these inputs
do not take effect until the rising edge of the Clock input. However, depending on the type and state of a motor, there may be
errors in motor operation. A thorough evaluation on the changes
of sequence should be carried out.
5 µs(min)
4 µs(min)
2 µs(min)
2 µs(min)
1 µs(min) 1 µs(min)
2 µs(min)
1 µs(min) 1 µs(min)
2 µs(min)
Figure 4. Input Signal Timing. When awakening from Sleep1 or Sleep2 mode, a delay of 100 μs or
longer before sending a Clock pulse is recommended.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
13
Stepping Sequence Diagrams
RESET
CLOCK
0
2
1
B
CW
A
A
0
70.7
0
70.7
CCW
B
Figure 5. Full step; for microstep and full/half step products
Sequence Selection
Mode
Full Step
8
Pin Logic
M1
M2
M3
Low
Low
Low
Shows the state to which the stepping sequence progresses at the rising
(positive) edge of the Clock input.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
14
R ES ET
C LO C K
0
1
2
B
CW
A
A
0
CCW
0
0
10
B
Figure 6. Full step; for microstep and full/half step products
Sequence Selection
Mode
Full Step
F
Pin Logic
M1
M2
M3
High
Low
Low
Shows the state to which the stepping sequence progresses at the rising
(positive) edge of the Clock input.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
15
RESET
CLOCK
0
1
2
3
4
B
CW
A
A
0
70.7
0
10
0
70.7
CCW
B
Figure 7. Half step; for microstep and full/half step products
Sequence Selection
Mode
Half Step
8, F
Pin Logic
M1
M2
M3
Low
High
Low
Shows the state to which the stepping sequence progresses at the rising
(positive) edge of the Clock input.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
16
RESET
CLOCK
0
1
2
3
4
B
CW
A
A
0
10
0
0
CCW
B
Figure 8. Half step; for microstep and full/half step products
Sequence Selection
Mode
Half Step
F
Pin Logic
M1
M2
M3
High
High
Low
Shows the state to which the stepping sequence progresses at the rising
(positive) edge of the Clock input.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
17
RESET
…
CLOCK
0
1
2
3
4
5
6
7
８
B
CW
A
A
0
38.2
70.7
CCW
0
38.2
70.7
92.4
10
0
92.4
B
Figure 9. Quarter step; for microstep products
Sequence Selection
Mode
Quarter
Step
SLA7070MPRT-AN, Rev. 2.1
Pin Logic
M1
M2
M3
Low
Low
High
SANKEN ELECTRIC CO., LTD.
18
RESET
…
CLOCK
0
1
2
3
4
5
6
7
8
1
0
9
1
1
1
2
1
3
1
4
1
5
1
6
B
CW
A
A
0
19.5
38.2
55.5
70.7
83.1
0
19.5
38.2
55.5
70.7
83.1
92.4
CCW
10
0
98.1
92.4
98.1
B
Figure 10. Eighth step; for microstep products
Sequence Selection
Mode
Eighth
Step
Pin Logic
M1
M2
M3
High
Low
High
Shows the state to which the stepping sequence progresses at the rising
(positive) edge of the Clock input.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
19
RESET
CLOCK
0
1
2
3
4
5
6
7
8
9
1
0
1
1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
1
9
2
0
2
1
2
2
2
3
2
4
2
5
2
6
2
7
2
8
2
9
3
0
3
1
3
2
…
B
CW
A
A
0
9.8
19.5
29.0
38.2
47.1
55.5
63.4
70.7
77.3
CCW
0
9.8
19.5
29.0
38.2
55.5
63.4
70.7
77.3
47.1
B
92.4
98.1
88.2
83.1
95.7
10
0
98.1
83.1
88.2
95.7
92.4
Figure 11. Sixteenth step; for microstep products
Sequence Selection
Mode
Sixteenth
Step
Pin Logic
M1
M2
M3
Low
High
High
Shows the state to which the stepping sequence progresses at the rising
(positive) edge of the Clock input.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
20
Excitation Change Sequence
The change of excitation modes is determined by the settings of
the excitation pins (M1, M2, and M3) before and after the step
signal.Table 4 shows each excitation mode state setting.
Table 4. Excitation Mode States
Direction
Internal Sequence State
Phase A
Phase B
PWM
Mode
PWM
Mode
Full Step
Mode 8
Mode F
Step Sequencing
Half Step
1/4 Step
Mode 8, F
Mode F
1/8 Step
A
8
B
8
X
X*
X
X*
X
A
7
B
9
A
6
B
A
A
5
B
B
A
4
B
C
X
Counter
A
3
B
D
Clockwise
A
2
B
E
A
1
B
F
–
–
B
F
X
X
X
1
B
F
A
¯
2
B
E
A
¯
3
B
D
A
¯
4
B
C
X
A
¯
5
B
B
A
¯
6
B
A
A
¯
7
B
9
A
¯
8
B
8
X
X*
X
X*
X
A
¯
9
B
7
A
¯
A
B
6
A
¯
B
B
5
A
¯
C
B
4
X
A
¯
D
B
3
A
¯
E
B
2
A
¯
F
B
1
A
¯
F
–
–
X
X
X
A
¯
F
1
A
¯
B
¯
E
2
A
¯
B
¯
D
3
A
¯
B
¯
C
4
X
A
¯
B
¯
B
5
A
¯
B
¯
A
6
A
¯
B
¯
9
7
A
¯
B
¯
8
8
X
X*
X
X*
X
A
¯
B
¯
7
9
A
¯
B
¯
6
A
A
¯
B
¯
5
B
A
¯
B
¯
4
C
X
A
¯
B
¯
3
D
A
¯
B
¯
2
E
A
¯
B
¯
1
F
A
¯
B
¯
–
–
F
X
X
X
B
¯
A
1
F
B
¯
A
2
E
B
¯
A
3
D
B
¯
A
4
C
X
B
¯
A
5
B
B
¯
A
6
A
B
¯
A
7
9
B
¯
A
8
8
X
X*
X
X*
X
B
¯
A
9
7
B
¯
A
A
6
B
¯
A
B
5
B
¯
A
C
4
X
B
¯
A
D
3
B
¯
A
E
2
B
¯
A
F
1
B
¯
A
F
–
–
X
X
X
A
F
B
1
A
E
B
2
A
D
B
3
Clockwise
A
C
B
4
X
A
B
B
5
A
A
B
6
A
9
B
7
∗ Sequence state is Mode 8, but step reference current ratio is Mode F. Mode F has step reference current ratio of 100%, and PWM off-time of 12 μs.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
1/16 Step
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
X
21
Individual Circuit Descriptions
Monolithic IC (MIC)
• Sequencer Logic The single Clock input is used for step timing. Direction is controlled by the CW/CCW input. Commutation
mode is controlled by the combination of the M1, M2, and M3
inputs logic levels. For details, refer to the Commutation Truth
Table.
• PWM Control Each pair of outputs is controlled by a fixed offtime PWM current-control circuit. The internal oscillator (OSC)
sets the off-time. Its operation mechanism is identical to that of
the SLA7070M family. Refer to the PWM Current Control section for further details.
• Synchronous Control This function prevents occasional
motor noise during Hold mode, which normally results from
asynchronous PWM operation of both motor phases. A logic
high at the Sync input sets synchronous operation. A logic low
sets asynchronous operation. The use of synchronous operation
during normal stepping is not recommended because it produces
less motor torque and can cause motor vibration due to staircase
current. The use of synchronous operation when the motor is not
in operation is allowed only in full/half step sequence timing, due
to the difference in the current controlled and PWM off-time at
other step sequence timings.
• DAC (D-to-A Converter) In microstep sequencing, the current at each step is set by the value of a sense resistor (RSInt), a
reference voltage (VREF), and the output voltage of the DACs,
controlled by the output of the sequencer / translator). Please refer
the electric characteristic, Step Reference Current Ratio, page 8.
• Regulator Circuit The integrated regulator circuit is used in
driving the output MOSFET gates and powering other internal
linear circuits.
SLA7070MPRT-AN, Rev. 2.1
• Protect Circuit A built-in protection circuit against motor coil
opens or shorts is provided. Protection is activated by sensing
voltage on the internal RSInt resistors; therefore, an overcurrent
condition cannot be detected which results from the the Outx pins
or Sensex pins, or both, shorting to Gnd. Protection against motor
coil opens is available only during PWM operation; therefore,
it does not work at constant voltage driving, when the motor is
rotating at high speed. Operation of the protection circuit disables
all of the DMOS outputs. To come out of protection mode, cycle
the logic supply, VDD .
• TSD circuit This circuit protects a driver by shifting the output
to Disable mode when the temperature of a product control IC
(MIC) rises and becomes higher than threshold value. In order to
reset, cycle the logic supply, VDD .
Output MOSFET Chip
The value of the built-in output DMOS chip varies according
to which of the four different output current ratings has been
selected.
Sense Resistor
The resistance varies according to which of the four different
output current ratings has been selected, as follows:
Output Current
(A)
RSInt Resistance
(Ω typ)
1
0.305
1.5
0.305
2
0.205
3
0.155
Each resistance shown above includes the inherent resistance
(approximately 5 mΩ) in the resistor itself.
SANKEN ELECTRIC CO., LTD.
22
Functional Description
PWM Current Control
Blanking Time
The actual operating waveforms on the Sensex pins when driving
a motor are shown in figure 12. The actual operating waveforms
on the Sensex pins when driving a motor are shown in figure 13.
Immediately after PWM turns OFF, ringing (or spike) noise on
the Sensex pins isobserved for a few μs. Ringing noise can be
generated by various causes, such as capacitance between motor
coils and inappropriate motor wiring.
Each pair of outputs is controlled by a fixed off-time (7 to 12 μs,
depending on stepping mode) PWM current-control circuit that
limits the load current to a target value, ITRIP . Initially, an output
is enabled and current flows through the motor winding and the
current-sense resistors. When the voltage across the current sense
resistor equals the DAC output voltage, VTRIP , the current sense
comparator resets the PWM latch. This turns off the driver for the
fixed off-time, during which the load inductance causes the current to recirculate for the off-time period. Therefore, if the ringing
noise on the sense resistor equals and surpasses VTRIP , PWM
turns off.
To prevent this phenomenon, the blanking time is set to override
signals from the current-sense comparator for a certain period
immediately after PWM turns on.
5 µs/div
PWM Pulse Width
A
tOFF
(Fixed)
tON
ITRIP
0
A
Blanking Time
Figure 13. Sensex pin waveform during PWM control
500 ns/div
ITRIP
ITRIP
Figure 12. Operating waveforms on the Sensex pins during PWM chopping (circled area of left
panel is shown in expanded scale in right panel)
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
23
• Blanking time and seeking phenomenon Although current
control can be improved by shortening blanking time, the degree
of margin to a ringing noise decreases simultaneously. For this
reason, when a motor is driven by the device, a seeking phenomenon may occur. Figure 14 shows an example of the waveform
when the phenomenon occurs.
• Blanking time difference The difference in blanking time is
shown in table 5. This comparison is based on the case where
drive conditions, such as a motor, motor power supply voltage,
and Ref input voltage, and a circuit constant were kept the same
while only the indicated parameter was changed.
▫ Minimum PWM On-time ton(min) . The product blanking time is
fixed by the PWM control. Thus, when the on-time is shortened
in order to reduce the current, it would not go below the blanking
time. Minimum PWM On-time refers to the time the output is
on during this blanking period, that is, when the output MOSFET
actually is turned on. In other words, the blanking time determines the minimum time (small in table 5).
▫ Minimum coil current. This refers to the coil current when
PWM control is performed during PWM minimum on-time. In
other words, when the coil current is reduced when the power is
reduced, where blanking time is shorter can reduce current.
• Coil current waveform distortion during a high velocity
revolution While a microstep drive is active, the ITrip value
changes with the Clock input, to the predetermined value. The
Itrip value (internal reference voltage splitting ratio) is set up to be
a sine wave. Because PWM control of the motor coil current is
set according to the Itrip value, the coil current will be controlled
to be sine wave-like. In fact, according the inductance characteristic of the coil, the device requires some time to bring the coil
current completely to the targeted value.
Roughly, the relationship between the convergence time (tconv)
between the Itrip value of the coil current and the duty cycle (tclk)
of the input Clock pulse in any mode is:
tconv < tclk
(1)
where the coil current waveform amplitude serves as the limit
for Itrip .
When the current attempts to increase, the full limits of tconv are
determined by the damping time constant of power supply voltage and the coil used. When the current attempts to decrease, the
limits are determined by the power supply voltage, the damping
time constant, and the minimum on-time.
When the frequency of the input clock is raised, because tclk
becomes small, it is normal that the case will occur in which the
coil current cannot be raised to the Itrip value within a single clock
period. In this situation, the waveform amplitude of the coil current degenerates from the sine wave, referred to as waveform distortion.
20 µs/div
Table 5. Characteristic Comparison by the
Difference in Blanking Time
Parameter
Better Performance
Internal Blanking Time Setting
Short
PWM minimum on-time
Short
Maximize ringing noise suppression
Minimum coil current
Coil current waveform distortion at a
high rotation (mainly microstep)
Long
←
→
Small
Large
←
→
Large
Figure 14. Example of a Sensex terminal waveform during hunching
phenomenon
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
24
Figure 15 shows the compared result of the waveform distortion by observing the waveform of various devices for which the
operating condition of power supply voltage, the current preset
value, the motor, and so forth are kept the same. As shown in the
places circled (blanking time) in the figure, while the amplitude
envelope of the Sensex pin waveform, which is the same as the
current waveform, in the 1.7 μs case has become sine wave-like,
the blanking time in the 3.2 μs case has degenerated from an ideal
sine wave.
The term Large in table 5 means that the wave distortion will be
less where the blanking time is longer, assuming the same drive
conditions, while the wave distortion will be larger where the
blanking time is shorter, if the Clock frequency is the same. In
addition, when such waveform distortion is confirmed, there is
uncertainty if the motor characteristic will be affected. Therefore,
please make a final judgment after evaluating very thoroughly.
Blanking Time: 1.51.5
µs (typ)typ(
Clock
SenseA
SenseB
500 µs/div
Figure 15. Comparison of a Sense terminal waveform during high speed revolution
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
25
PWM Off-Time
The PWM off-time for the SLA7070MPRT series is controlled
at a fixed time by an internal oscillator. It also is switched in
three levels by current proportion (see the Electrical Characteristics table). In addition, the SLA7070MPRT series provides a
function that decreases losses occurring when the PWM turns
off. This function dissipates back EMF stored in the motor coil
at MOSFET turn-on, as well as at PWM turn-on (synchronous
rectification operation).
Figure 16 shows the difference in back EMF generation
between the SLA7060M series and SLA7070MPRT series. The
SLA7060M series performs on–off operations using only the
MOSFET on the PWM-on side, but the SLA7070MPRT series
also performs on–off operations using only the MOSFET on
the PWM-off side. To prevent simultaneous switching of the
MOSFETs at synchronous rectification operation, the IC has a
dead time of approximately 0.5 μs. During dead time, the back
EMF flows through the body diode of the MOSFET.
SLA7060M Series
SLA7070MPRT Series
VBB
VBB
Ion
Ioff
Ion
Ioff
Stepper Motor
Stepper Motor
Vg
Vg
Vg
Vg
Back EMF at Dead Time
VS
+V
PWM On
RSExt
PWM Off
VS
+V
PWM On
Vg
Vg
FET Gate 0
Signal
t
PWM On
Dead
Time
FET Gate 0
Signal
Vg
RSInt
PWM Off
PWM On
Dead
Time
t
Vg
VREF
VREF
VS
VS
0
t
0
t
Figure 16. Synchronous rectification operation
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
26
Protection Functions
The SLA7070MPRT series includes a motor coil short-circuit
protection circuit, a motor coil open protection circuit, and an
overheating protection circuit. An explanation of each protection
circuit is provided below.
• Motor Coil Short-Circuit Protection (Load Short) Circuit.
This protection circuit, embedded in the SLA7070MPRT series,
begins to operate when the device detects an increase in the sense
resistor voltage level, VRS. The voltage at which motor coil shortcircuit protection starts its operation, VOCP , is set at approximately 0.7 V. The output is disabled at the time the protection
circuit starts, where VRS exceeds VOCP . (See figure 17.)
• Motor Coil Open Protection (Patent acquired) Driver destruction can occur when one output pin (motor coil) is disconnected
in a unipolar drive during operation. This is because a MOSFET
connected after disconnection will be in the avalanche breakdown state, where very high energy is added with back EMF
when PWM is off. With an avalanche state, an output cancels
the energy stored in the motor coil where the resisting pressure
between the drain and source of the MOSFET is reached (the
condition which caused the breakdown).
Although MOSFETs with a certain amount of avalanche energy
tolerance rating are used in the SLA7070MPRT series, avalanche
energy tolerance falls as temperature increases.
Because high energy is added repeatedly whenever PWM operation disconnects the MOSFET, the temperature of the MOSFET
rises, and when the applied energy exceeds the tolerance, the
driver will be destroyed. Therefore, a circuit which detects
this avalanche state and protects the driver was added in the
SLA7070MPRT series. The operation is shown in figure 18.
As explained above, when the motor coil is disconnected, the
accumulated voltage in the MOSFET causes a reverse current to
flow during the PWM off-time. For this reason, VRS that is negative during the PWM off-time in a normal operation becomes
positive when the motor coil is disconnected. Thus, a disconnected motor is detectable by sensing that VRS in the PWM offtime is positive.
In the SLA7070MPRT series, in order to avoid detection malfunctions, when a state of motor disconnection is detected 3 times
continuously, the protection functions are enabled (figure 19).
Note: When the breakdown of an output is confirmed by the
occurrence of surge noise after PWM turn-off, when a breakdown
condition continues after an overload disconnection undetected
time (topp) has elapsed, even if the load is not actually disconnected, a protection feature may operate. Please review the placement of the motor, wiring, and so forth to improve and to settle
the breakdown time within the load disconnection undetected
time (topp) (application variations also must be taken into consideration). When the breakdown is not confirmed, there will be no
issue in operation. Moreover, the device may be made to operate
normally by inserting a capacitor for surge noise suppression
between the Out and Gnd pins as one possible corrective strategy.
VM
Coil Short Circuit
+V
Coil Short Circuit
Stepper Motor
VS
RSInt
Output Disable
VOCP
VREF
Vg
Normal Operation
VS
0
t
Figure 17. Motor coil short circuit protection circuit operation. Overcurrent that flows without passing the sense resistor is undetectable.
To recover the circuit after protection operates, VDD must be cycled and started up again.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
27
Surge does not
reach VDSS level
When the product temperature rises and exceeds Ttsdk , the protection circuit starts operating and all the outputs are set to Disable
mode.
Breakdown period
shorter than tOPP
tOPP
Breakdown period
longer than tOPP
tOPP
tOPP
VDSS
Note: This product has multichip composition (one IC for control,
four MOSFETs, and two chip resistors). Although the location which actually detects temperature is the control IC (MIC),
because the main heat sources are the MOSFET chips and the
chip resistors, which are separated by a distance from the control
IC, some delay will occur while the heat propagates to the control
IC. For this reason, because a rapid temperature change cannot
be detected, please perform worst-case thermal evaluations in the
application design phase.
VOUT
tCONFIRM
tCONFIRM
No problem
tCONFIRM
No problem
Improvement
required
Figure 19. Coil Open Protection (Patent acquired)
PWM Operation
at Normal Device Operation
VM
PWM Operation
at Motor Disconnection
VM
Stepper Motor
Stepper Motor
Ion
Ioff
Disconnection
Vg
Vg
VOUT
VOUT
VRS
RS
VRS
RS
Motor
Disconnection
FET
Gate Signal
Vg
0
FET
Gate Signal
Vg
0
VDSS
Vout
2 VM
VM
Vout
0
VREF
VREF
VRS
VRS
0
Breakdown (Avalanche state)
0
0
Motor
Disconnection
Sense
Figure 18. Motor coil short circuit protection circuit operation. Overcurrent that flows without passing the sense resistor is undetectable.
To recover the circuit after protection operates, VDD must be cycled and started up again.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
28
Application Information
Motor Current Ratio Setting (R1, R2, RS)
The setting calculation of motor current, IOUT , for the
SLA7070MPRT series is determined by the ratios of the external
components R1, R2, and current sense resistor, RS. The following
is a formula for calculating IOUT:
R2
IOUT =
VDD / RS
(2)
R1 + R2
when VREF is within specification. If VREF is set less than 0.1 V,
variation or impedance of the wiring pattern may influence the IC
and the possibility of less accurate current sensing becomes high.
The standard voltage for current ITrip that the SLA7070MPRT
series controls is partially divided by the internal DAC:
ITrip =
VREF
Mode Proportion
RS
(3)
Lower Limit of Control Current
The SLA7070MPRT series uses a self-oscillating PWM current
control topology in which the off- time is fixed. As energy stored
in motor coil is eliminated within the fixed PWM off-time, coil
current flows intermittently, as shown in figure 20. Thus, average
current decreases and motor torque also decreases.
The point at which current starts flowing to the coil is considered
as the lower limit of the control current, IOUT(min) , where IOUT is
the target current level. The lower limit of control current differs
by conditions of the motor or other factors, but it is calculated
from the following formula:
IO(min) =
VM
R
1
–t
exp OFF
tc
–1
(4)
RDS(on) is the MOSFET on-resistance,
IO is the target current level,
Rm is the motor winding resistance,
Lm is the motor winding reactance,
tOFF is the PWM off-time, and
tC is calculated as:
where
(5)
tc = Lm / R ,
R
= Rm + RDS(on) + RS
(6)
Even if the control current value is set at less than the lower limit
of the control current, there is no setting at which the IC fails to
operate. However, control current will worsen against setting
current.
Avalanche Energy
In the unipolar topology of the SLA7070MPRT series, a surge
voltage (ringing noise) that exceeds the MOSFET capacity to
withstand might be applied to the IC. To prevent damage, the
SLA7070MPRT series is designed with a built-in MOSFET having sufficient avalanche resistance to withstand this surge voltage. Therefore, even if surge voltages occur, users will be able
to use the IC without any problems. However, in cases in which
the motor harness is long or the IC is used above its rated current
or voltage, there is a possibility that an avalanche energy could
be applied that exceeds Sanken design expectations. Thus, users
must test the avalanche energy applied to the IC under actual
application conditions.
The following procedure can be used to check the avalanche
energy in an application.
where
VM is the motor supply voltage,
A
ITRIP(Big)
ITRIP(Small)
0
A
Figure 20. Control current lower limit model waveform
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
29
Given:
VM
From the waveform test result (reference figure 22)
VDS(AV) = 140 V,
ID
ID = 1 A, and
Stepper Motor
t = 0.5 μs.
VD S(A V )
The avalanche energy, EAV can be calculated using the following:
EAV = VDS(AV)
1/2
= 140 (V)
1/
2
ID
t
(7)
RSInt
1 (A) 0.5 10-6 (µs)
= 0.035 (mJ)
By comparing the EAV calculated with the graph shown in figure 23, the application can be evaluated if it is safe for the IC,
by being within the avalanche energy-tolerated does range of the
MOSFET.
Figure 21. Test points
V D S(A V )
On-Off Sequence of Power Supply (VBB and VDD)
There is no restriction of the on-off sequence between the main
power supply, VBB, and the logic supply, VDD.
ID
t
Figure 22. Waveform at avalanche breakdown
20
SLA7073M and
SLA7078M
EAV [mJ ]
16
12
SLA7072M
and SLA7077M
8
SLA7071M and
SLA7076M
4
SLA7070M and
SLA7075M
0
0
25
50
75
100
125
150
Product Temperature, Tc [°C]
Figure 23. SLA7070MPRT iterated avalanche energy tolerated level, EAV(max)
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
30
Motor Supply Voltage (VM) and Main Power Supply
Voltage (VBB)
Because the SLA7070MPRT series has a structure that separates the control IC (MIC) and the power MOSFETs as shown
in the Functional Block diagrams, the motor supply and main
power supply are separated. Therefore, it is possible to drive
the IC using different power supplies and different voltages for
motor supply and main power supply. However, extra caution is
required because the supply voltage ranges differ among power
supplies.
Internal Logic Circuits
Reset
The sequencer/translator circuit of this product is initialized after
logic supply (VDD) is applied, and the power-on reset function
operates. To initialize the sequencer/translator, the output immediately after power-on indicates the status that the power circuits
are in the home state. In a case where the sequencer/translator
must be reset after the motor has been operating, a reset signal
must be input on the Reset pin. In a case in which external reset
control is not necessary, and the Reset pin is not used, the Reset
pin must be pulled to logic low on the application circuit board.
Clock Input
When the Clock input signal stops, excitation changes to the
motor Hold state. At this time, there is no difference to the IC if
the Clock input signal is at the low level or the high level. The
SLA7070MPRT series is designed to move one sequence increment at a time, according to the current stepping mode, when a
positive Clock pulse edge is detected.
Chopping Synchronous Circuit
The SLA7070MPRT series has a chopping synchronous function to protect from abnormal noises that may occasionally occur
during the motor Hold state. This function can be operated by
setting the Sync pin at high level. However, if this function is
used during motor rotation, control current does not stabilize, and
therefore this may cause reduction of motor torque or increased
vibration. So, Sanken does not recommend using this function
while the motor is rotating. In addition, the synchronous circuit
should be disabled in order to control motor current properly in
case it is used other than in dual excitation state (Modes 8 and F)
or single excitation Hold state.
In normal operation, generally the input signal for switching can
be sent from an external microcomputer. However, in applications where the input signal cannot be transmitted adequately due
to limitations of the port, the following method can be taken to
use the functions.
SLA7070MPRT-AN, Rev. 2.1
The schematic diagram in figure 24 shows how the IC is designed
so that the Sync signal can be determined by the Clock input
signal. When a logic high signal is received on the Clock pin,
the internal capacitor, C, is charged, and the Sync signal is set to
logic low level. However, if the Clock signal cannot rise above
logic low level (such as when the circuit between the microcomputer and the IC is not adequate), the capacitor is discharged by
the internal resistor, R, and the Sync signal is set to logic high,
causing the IC to shift to synchronous mode.
The RC time constant in the circuit should be determined by the
minimum clock frequency used. In the case of a sequence that
keeps the Clock input signal at logic high, an inverter circuit must
be added. In a case where the Clock signal is set at an undetermined level, an edge detection circuit (figure 25) can be used to
prepare the signal for the Clock input, allowing correct processing by the circuit shown in figure 24.
Output Disable (Sleep1 and Sleep2) Circuits
There are two methods to set this IC at motor free-state (coast,
with outputs disabled). One is to set the Ref/Sleep1 pin to more
than 2 V (Sleep1), and the other (Sleep2) is to set the excitation
signals (pins M1, M2, and M3). In either way, the IC will change
to Sleep mode, stopping the main power supply at the same time,
and decreasing circuit current. The difference between the two
methods is that, in the first way, the internal sequencer remains
in an enabled state, and in the latter method, the IC enters the
VCC
Clock
74HC14
74HC14
R
Sync
C
Figure 24. Clock signal shutoff detection circuit
Step
Clock
Clock
Figure 25. Clock signal edge detection circuit
SANKEN ELECTRIC CO., LTD.
31
Hold state. Moreover, in the method using the excitation signals
(Sleep2), excitation timing remains in a standby state, even if a
signal is input on the Clock pin during Sleep mode.
When awaking to normal operating mode (motor rotation) from
Disable (Sleep1 or Sleep2) mode, set an appropriate delay time
from cancellation of the Disable mode to the initial Clock input
edge. In doing so, consider not only the rise time for the IC,
but also the rise time for the motor excitation current, which is
important (see figure 26).
Ref/Sleep1 Pin
The Ref/Sleep1 pin provides access to the following functions:
• Standard voltage setting for output current level setting
• Output Enable-Disable control input
These functions are further described in the Truth Table section,
and in the discussion of output disabling, above.
where
P is the power dissipation in the IC,
IOUT is the operating output current,
RDS(on) is the resistance of the output MOSFET, and
RS is the current sense resistance.
Based on the PD calculated using the above formula, the
expected increase in operating junction temperature, ΔTJ , of the
IC can be estimated using figure 28. This result must be added
to the worst case ambient temperature when operating, TA(max).
Based on the calculation, there is no problem unless TA(max) plus
ΔTJ exceeds 150°C.
Ref/Sleep1 or
M1, M2, and M3
100 µs
(minimum)
Range A. In this range, control current value also varies in
accordance with VREF. Therefore, losses in the IC and the sense
resistors must be given extra consideration.
Clock
t
Range B. In this range, the voltage that switches output enable
Logic Input Pins
If a logic input pin (Clock, Reset, CW/CCW, M1, M2, M3, or
Sync) is not used (fixed logic level), the pin must be tied to VDD
or Gnd. Please do not leave them floating, because there is possibility of undefined effects on IC performance when they are
left open.
Output Pins (MO and Flag). The MO and Flag output pins are
designed as monitor outputs, and inside of the IC is an output
inverter (see figure 27). Therefore, let these pins float if they are
not used.
Thermal Design Information
It is not practical to calculate the power dissipation of the
SLA7070MPRT series accurately, because that would require
factors that are variable during operation, such as time periods
and excitation modes during motor rotation, input frequencies
and sequences, and so forth. Given this situation, it is preferable
to perform an approximate calculation at worst conditions. The
following is a simplified formula for calculation of power dissipation:
I2
PD = OUT
(RDS(on)+ RS) 2
(8)
Figure 26. Timing delay between Disable mode cancellation and the next
Clock input
VDD
Static electricity
protection circuit
Mo or FLAG
Figure 27. MO pin and Flag pin general internal circuit layout
150
Increase in Junction Temperature
∆TJ (°C)
and disable (Sleep mode) exists. At enable, the same cautions
apply as in range A. In addition, for some cases, there are possibilities that the output status will become unstable as a result of
iteration between enable and disable.
125
100
∆TJ-A = 26.6 x PD
75
∆TC-A = 21.3 x PD
50
25
0
0
0.5
1.0
1.5
2.0
2.5
3.0
3.5
4.0
4.5
5.0
Maximum Allowable Power Dissipation, PD(max) (W)
Figure 28. Temperature increase
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
32
CAUTION
When the IC is used with a heatsink attached, device package
thermal resistance, RθJA , is a variable used in calculating ΔTj-a.
The value of RθFIN is calculated from the following formula:
RθJA≈RθJC+RθFin=RθJA–RθCA+RθFin
(9)
where Rθj-a is the thermal resistance of the heatsink. ΔTj-a can be
calculated with using the value of RθJA.
The following procedure should be used to measure product temperature and to estimate junction temperature in actual operation:
First, measure the temperature rise at pin 12 of the device (ΔTc-a).
Second, estimate the loss (P) and junction temperature (Tj) from
the temperature rise with reference to figure 28, temperature
increase graph. At this point, the device temperature rise )(ΔTc-a)
and the junction temperature rise (Tj) are almost equivalent under
the following formula:
∆TJ ˜ ∆Tc-a+PD
Rθj-c
(10)
The SLA7070MPRT series is designed as a multichip, with
separate power elements (MOSFET), control IC (MIC), and
sense resistance. Consequently, because the control IC cannot
accurately detect the temperature of the power elements (which
are the primary sources of heat), the ICs do not provide a protection function against overheating. For thermal protection, users
must conduct sufficient thermal evaluations to be able to ensure
that the junction temperature does not exceed the warranty level
(150°C).
This thermal design information is provided for preliminary
design estimations only. The thermal performance of the IC will
be significantly determined by the conditions of the application,
in particular the state of the mounting PCB, heatsink, and the
ambient air. Before operating the IC in an application, the user
must experimentally determine the actual thermal performance.
The maximum recommended case temperatures (at the center, pin
12) for the IC are:
• With no external heatsink connection: 90°C
• With external heatsink connection: 80°
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
33
Characteristic Data
Output MOSFET On-Voltage, VDS(on)
SLA7070MPRT/SLA7075MPRT
SLA7071MPRT/SLA7076MPRT
1.4
1.4
Io=1.5A
Io=1A
1.2
1.2
1.0
0.8
Io=0.5A
0.6
V DS(on) (V)
V DS(on) (V)
1.0
0.8
0.4
0.4
0.2
0.2
0.0
-25
0
25
50
75
Io=1A
0.6
0.0
100 125
-25
Product Temperature, TC (°C)
0
25
50
75
100 125
Product Temperature, TC (°C)
SLA7073MPRT/SLA7078MPRT
SLA7072MPRT/SLA7077MPRT
1.4
1.2
Io=2A
Io=3A
1.2
1.0
1.0
0.6
Io=1A
0.4
V DS(on) (V)
V DS(on) (V)
0.8
Io=2A
0.8
0.6
Io=1A
0.4
0.2
0.2
0.0
0.0
-25
0
25
50
75
100 125
Product Temperature, TC (°C)
SLA7070MPRT-AN, Rev. 2.1
-25
0
25
50
75
100 125
Product
Temperature,
(°C)
(°C)
Product
Temperature,
TCTC
SANKEN ELECTRIC CO., LTD.
34
Output MOSFET Body Diode Forward Voltage, Vf
SLA7071MPRT/SLA7076MPRT
1.1
1.1
1.0
1.0
0.9
0.9
V f (V)
V f (V)
SLA7070MPRT/SLA7075MPRT
0.8
Io=1A
0.8
0.7
Io=0.5A
0.7
Io=1.5A
Io=1A
0.6
-25
0
25
50
0.6
75 100 125
-25
Product Temperature, TC (°C)
1.0
1.0
0.9
0.9
Io=1A
0.6
-25
0
25
50
75 100 125
Product Temperature, TC (°C)
SLA7070MPRT-AN, Rev. 2.1
V f (V)
V f (V)
1.1
0.7
50
75 100 125
SLA7073MPRT/SLA7078MP RT
1.1
0.8
25
Product Temperature, TC (°C)
SLA7072MPRT/SLA7077MP RT
Io=2A
0
Io=3A
Io=2A
0.8
Io=1A
0.7
0.6
-25
0
25
50
75
100 125
Product Temperature, TC (°C)
SANKEN ELECTRIC CO., LTD.
35
• The contents in this document are subject to changes, for improvement and other purposes, without notice. Make sure that this is the
latest revision of the document before use.
• Application and operation examples described in this document are quoted for the sole purpose of reference for the use of the products herein and Sanken can assume no responsibility for any infringement of industrial property rights, intellectual property rights or
any other rights of Sanken or any third party which may result from its use.
• Although Sanken undertakes to enhance the quality and reliability of its products, the occurrence of failure and defect of semiconductor products at a certain rate is inevitable. Users of Sanken products are requested to take, at their own risk, preventative measures
including safety design of the equipment or systems against any possible injury, death, fires or damages to the society due to device
failure or malfunction.
• Sanken products listed in this document are designed and intended for the use as components in general purpose electronic equipment or apparatus (home appliances, office equipment, telecommunication equipment, measuring equipment, etc.).
When considering the use of Sanken products in the applications where higher reliability is required (transportation equipment and
its control systems, traffic signal control systems or equipment, fire/crime alarm systems, various safety devices, etc.), and whenever
long life expectancy is required even in general purpose electronic equipment or apparatus, please contact your nearest Sanken sales
representative to discuss, prior to the use of the products herein.
The use of Sanken products without the written consent of Sanken in the applications where extremely high reliability is required
(aerospace equipment, nuclear power control systems, life support systems, etc.) is strictly prohibited.
• In the case that you use Sanken products or design your products by using Sanken products, the reliability largely depends on the
degree of derating to be made to the rated values. Derating may be interpreted as a case that an operation range is set by derating the
load from each rated value or surge voltage or noise is considered for derating in order to assure or improve the reliability. In general,
derating factors include electric stresses such as electric voltage, electric current, electric power etc., environmental stresses such
as ambient temperature, humidity etc. and thermal stress caused due to self-heating of semiconductor products. For these stresses,
instantaneous values, maximum values and minimum values must be taken into consideration.
In addition, it should be noted that since power devices or IC's including power devices have large self-heating value, the degree of
derating of junction temperature affects the reliability significantly.
• When using the products specified herein by either (i) combining other products or materials therewith or (ii) physically, chemically
or otherwise processing or treating the products, please duly consider all possible risks that may result from all such uses in advance
and proceed therewith at your own responsibility.
• Anti radioactive ray design is not considered for the products listed herein.
• Sanken assumes no responsibility for any troubles, such as dropping products caused during transportation out of Sanken's distribution network.
• The contents in this document must not be transcribed or copied without Sanken's written consent.
SLA7070MPRT-AN, Rev. 2.1
SANKEN ELECTRIC CO., LTD.
36
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