Post on 12-Oct-2020
2-Phase Bipolar Stepping Motor Driver Using
TB62206FG
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 1
Design Kit
Contents
Slide #
1. Background
1.1 Bipolar Stepping Motors.......................................................................................
1.2 Torque vs. Speed.................................................................................................
1.3 Bipolar Operating Mode.......................................................................................
2. Application Circuit......................................................................................................
2.1 Specification........................................................................................................
2.2 Calculating Equations..........................................................................................
3. Stepper Motor Switching Sequences
3.1 Full Step Switching Sequence.............................................................................
3.2 Half Step Switching Sequence.............................................................................
4. Functions
4.1 STANDBY............................................................................................................
4.2 TORQUE.............................................................................................................
4.3 Phase A Over-current Protection..........................................................................
4.4 Phase B Over-current Protection.........................................................................
5. Output Ripple Current................................................................................................
5.1 Stepping Motor Phase Inductance at The Chopping Frequency..........................
5.2 Ripple Current Simulation....................................................................................
6. The Current Changing Rate.......................................................................................
6.1 Stepping Motor Phase Inductance at The Phase Frequency................................
6.2 Current Changing Rate Simulation.......................................................................
7. Optimization of The Drive Voltage VM.......................................................................
Simulations index............................................................................................................
3
4
5-6
7
8-9
10
11-12
13-14
15-16
17-18
19-20
21-22
23
24
25-26
27
28
29-30
31-32
33
2All Rights Reserved Copyright (C) Bee Technologies Corporation 2009
1.1 Bipolar Stepping Motors
• There are two winding with no center taps.
• The drive circuitry requires an H-bridge control circuit for each winding, as the drive circuit need to
change the polarity of each pair of motor poles.
• The current sequences are shown below.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 3
• Full Step • Half Step
Io(A)100%
-100%
100%
-100%Io(B)
time
Io(A)
100%
0%
Io(B)
time
-100%
100%
0%
-100%
1.2 Torque vs. Speed
• The inductance of the motor winding determines the rise and fall time of the current through the
winding.
• The current-vs-time function through each winding depend on the drive circuitry and the motor
characteristics.
• The rise time is determined by the drive voltage, while the fall time depends on the circuitry used
to dissipate the stored energy in the motor winding (fast or slow decay).
• The effect of the inductance of the motor windings is to reduce the available torque, as shown in
the Torque-vs-Speed curve.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 4
100%
-100%
Time
ideal
actual
Torque
Speed
Running Torque
Cutoff
Speed
Max. Speed
1.3 Bipolar Operating Mode
Charge mode Slow decay mode
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 5
Fast decay mode
OFF
ON
ON ONON ON
ONOFF
OFF
OFF OFF OFF
• These figure show how TB62206FG switches the current in each motor winding on and off, and
controlling its direction, in three different modes.
1.3 Bipolar Operating Mode
U1 U2 L1 L2
Charge ON OFF OFF ON
Slow OFF OFF ON ON
Fast OFF ON ON OFF
• In TB62206FG, three modes as shown above are automatically switched to control the
constant current
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 6
• Charge mode, the H-bridge forward state to allow current to flow from the supply
through the motor winding and onward to ground.
• Slow decay mode, in this mode, winding current is re-circulated by enabling both of
the low-side FETs in the bridge.
• Fast decay mode, the H-bridge reverses state to allow winding current to flow in a
reverse direction.
2. Application Circuit
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 7
O_A
O_A1
O_B1
O_BO_B
RRSA 0.5ohmO_B1
V5Vref AB1.25Vdc
O_A1
O_A
RSB
L2
IC = 0
1
2
0
Cv ref AB1uF
00
L1
IC = 012
RSA
RRSB 0.5ohm
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = 0
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
0
Cosc 560pF
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
Ph_BPh_A
Ph_B
Ph_A
2.1 Specification
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 8
Operating Conditions
Characteristics Symbol Value Unit
Power supply voltage VDD 5 V
Motor supply voltage VM 24 V
Reference voltage VREF 1.25 V
Logic input voltage VIN 5 V
Output current IOUT 0.5 A
Phase signal input frequency fPHASE 250 Hz
Chopping frequency fchop 101 kHz
Oscillation frequency fCR 813 kHz
2.1 Specification
Time
2.540ms 2.544ms 2.548ms 2.552ms 2.556ms 2.560ms 2.564ms 2.568ms 2.572ms 2.576ms 2.580ms
I(U1:OUT_A)
500mA
420mA
540mA
SEL>>
V(U1:CR)
1.0V
2.0V
3.0V
4.0V
• This figure shows the output current IOUT ,the oscillation frequency fCR ,and the
chopping frequency fchop.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 9
IOUT = 0.5A
fchop = 101kHz
fCR = 813kHz
Charge mode
Slow decay mode
Fast decay mode
2.2 Calculating Equations
• The output current value (set current value) can be determined by setting the sensing resistor (RRS) and reference voltage (Vref).
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 10
%1005
1 %)71,100(
RS
TorqueOUT
R
TorqueVrefI
• The oscillation frequency is calculated as follows:
(1)
(2))600(523.0
1
CRCf
OSCOSC
CR
• The chopping frequency fchop is calculated as follows:
(3)
8
chopCR
ff
O_B1
O_B
O_A
O_A1
RSB 7.9ohm
L29.15mHIC = -0.5
1
2
L19.15mHIC = -0.5
12
RSA7.9ohm
O_A
O_A1
O_B1
O_B
RRSA 0.5ohm
V5Vref AB1.25Vdc
0
Cv ref AB1uF
00
RRSB 0.5ohm
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/2}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
Ph_BPh_A
Ph_B
Ph_A
3.1 Full Step Switching Sequence
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 11
Full-step sequences
control signals
Analysis
Time Domain (Transient)
Run to time: 8ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
3.1 Full Step Switching Sequence
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 12
• This figure shows the simulation result of the circuit with Full-step switching sequence.
Phase A
Phase B
Enable A
Enable B
IOUT A
IOUT B
Time
0s 4.0ms 8.0ms
I(U1:OUT_B1)
-1.0A
0A
1.0A
I(U1:OUT_A1)
-1.0A
0A
1.0A
V(U1:ENABLE_B)
0V
SEL>>
V(U1:ENABLE_A)
0V
V(PH_B)
0V
V(PH_A)
0V
O_B1
O_B
O_A
O_A1
RSB 7.9ohm
L29.15mHIC = -0.5
1
2
L19.15mHIC = -0.5
12
RSA7.9ohm
O_A
O_A1
O_B1
O_B
RRSA 0.5ohm
V5Vref AB1.25Vdc
0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
0
V_ENABLE_A
TD = 0
TF = {tf phase}PW = {3*pwphase/4}
PER = {tphase/2}
V1 = 0
TR = {trphase}
V2 = 5V
00
V_ENABLE_B
TD = {tphase/8}
TF = {tf phase}PW = {1*pwphase/4}
PER = {tphase/2}
V1 = 5V
TR = {trphase}
V2 = 0
V_PHASE_A
TD = 0
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B1
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
EN
_B
EN
_A
EN_AEN_B
0
Cv ref AB1uF
00
RRSB 0.5ohm
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Half Step
Ph_BPh_A
Ph_B
Ph_A
3.2 Half Step Switching Sequence
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 13
Half-step sequences
control signals
Analysis
Time Domain (Transient)
Run to time: 8ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
3.2 Half Step Switching Sequence
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 14
• This figure shows the simulation result of the circuit with Half-step switching sequence.
Phase A
Phase B
Enable A
Enable B
IOUT A
IOUT B
Time
0s 2.0ms 4.0ms 6.0ms 8.0ms
I(U1:OUT_B1)
-1.0A
0A
1.0A
I(U1:OUT_A1)
-1.0A
0A
1.0A
V(U1:ENABLE_B)
0V
SEL>>
V(U1:ENABLE_A)
0V
V(U1:PHASE_B)
0V
V(U1:PHASE_A)
0V
O_A
O_A1
O_B1
O_B
RRSA 0.5ohm
V5T1 = 0T2 = 2000uT3 = 2000.1u
V1 = 0V2 = 0V3 = 5
Vref AB1.25Vdc
O_B
O_A1
O_B1
O_A
RSB 7.9ohm
L29.15mHIC = 0
1
2
L19.15mHIC = 0
12
RSA7.9ohm
0
Cv ref AB1uF
00
RRSB 0.5ohm
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = 0
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
Ph_BPh_A
Ph_B
Ph_A
0
VenT1 = 0
T2 = 0.1uV1 = 0
V2 = 5
4.1 STANDBY
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 15
STANBY turn on
(LH) at 2ms
Analysis
Time Domain (Transient)
Run to time: 8ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 10p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
4.1 STANDBY
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 16
• This figure shows the simulation result of the circuit when V(STANDBY) changes from
LH.
Phase A
Phase B
Enable A
STANDBY
IOUT A
IOUT B
Enable B
Ccp1
Time
0s 4.0ms 8.0ms
I(U1:OUT_B1)
-1.0A
1.0ASEL>>
I(U1:OUT_A1)
0A
V(U1:ENABLE_B)
0V
V(U1:ENABLE_A)
0V
V(PH_B)
0V
V(PH_A)
0V
V(U1:CCP_A)
20V
30V
V(U1:STANDBY)
0V0 5V
Charge Pump Start
STANDBY TURN-ON
O_A
O_A1
VTRQT1 = 0T2 = 4000uT3 = 4000.1u
V1 = 5V2 = 5V3 = 0
O_B1
O_B
VenT1 = 0
T2 = 0.1uV1 = 0
V2 = 5
RRSA 0.5ohm
Vref AB1.25Vdc
O_B
O_A1
O_B1
O_A
RSB 7.9ohm
L29.15mHIC = -0.5
1
2
L19.15mHIC = -0.5
12
RSA7.9ohm
0
Cv ref AB1uF
00
RRSB 0.5ohm
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = 0
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
Ph_BPh_A
Ph_B
Ph_A
0
4.2 TORQUE
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 17
TORQUE (HL) at
4ms
Analysis
Time Domain (Transient)
Run to time: 8ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
Time
0s 4.0ms 8.0ms
I(U1:OUT_B1)
-500mA
500mA
SEL>>
I(U1:OUT_A1)
0A
V(U1:ENABLE_B)
0V
V(U1:ENABLE_A)
0V
V(PH_B)
0V
V(PH_A)
0V
V(U1:TORQUE)
0V
4.2 TORQUE
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 18
• This figure shows the simulation result of the circuit when V(TORQUE) changes from HL
,then the output current changes from 100% to 71%.
Phase A
Phase B
Enable A
TORQUE
IOUT A
IOUT B
Enable B
5 0V
IOUT =100% 70%
100% 71%
100% 71%
O_A
O_A1
O_B1
O_B
V5
T1 = 0T2 = 1200uT3 = 1200.1u
V1 = 0V2 = 0V3 = 5
VenT1 = 0
T2 = 0.1uV1 = 0
V2 = 5
+
-
+
-
S1S
VON = 1.0VVOFF = 0.0V
ROFF = 1.2RON = 0.15
Vref AB3Vdc
O_B1
O_B
O_A
O_A1
RSB 3.5ohm
L29.15mHIC = -0.5
1
2
L19.15mHIC = -0.5
12
RSA3.5ohm
0
0
Cv ref AB1uF
00
RRSB 1.2ohm
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/2}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
Ph_BPh_A
Ph_B
Ph_A
4.3 Phase A Over-current Protection
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 19
RRSA (1.2 0.15),
IOUT(0.54A) at 1ms
Analysis
Time Domain (Transient)
Run to time: 4.5ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
RS is a small value to test
over current condition.
Time
0s 2.0ms 4.0ms 4.5ms
I(U1:OUT_B1)
-0.75A
0.75A
SEL>>
I(U1:OUT_A1)
0A
2.0A
V(PH_B)
0V
7.5V
V(PH_A)
0V
7.5V
V(U1:STANDBY)
0V
7.5V
4.3 Phase A Over-current Protection
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 20
• This figure shows the simulation result of the circuit when Phase A output current exceeds
the ISD(3A), then OCP shutdowns the output.
Phase A
Phase B
STANDBY
IOUT A
IOUT B
Io > ISD (3A)
OUTPUT TURNED OFF
OUTPUT SHUT DOWN
O_A
O_A1
O_B1
O_B
V5
T1 = 0T2 = 2000uT3 = 2000.1u
V1 = 0V2 = 0V3 = 5
VenT1 = 0
T2 = 0.1uV1 = 0
V2 = 5
+
-
+
-
S1S
VON = 1.0VVOFF = 0.0V
ROFF = 1.2RON = 0.15
Vref AB3Vdc
0
0
Cv ref AB1uF
00
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/2}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
RRSA 1.2ohm
Ph_BPh_A
Ph_B
Ph_A
O_B
O_A1
O_B1
O_A
RSB 3.5ohm
L29.15mHIC = -0.5
1
2
L19.15mHIC = -0.5
12
RSA3.5ohm
4.4 Phase B Over-current Protection
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 21
RRSB (1.2 0.15),
IOUT(0.54A) at 1ms
Analysis
Time Domain (Transient)
Run to time: 6ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
RS is a small value to test
over current condition.
Time
0s 2.0ms 4.0ms 6.0ms
I(U1:OUT_B1)
2.0A
SEL>>
I(U1:OUT_A1)
0A
V(PH_B)
0V
7.5V
V(PH_A)
0V
7.5V
V(U1:STANDBY)
0V
7.5V
4.4 Phase B Over-current Protection
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 22
• This figure shows the simulation result of the circuit when Phase B output current exceeds
the ISD(3A), then OCP shutdowns the output.
Phase A
Phase B
STANDBY
IOUT A
IOUT B
Io > ISD (3A)
OUTPUT SHUT DOWN
OUTPUT SHUT DOWN
Time
2.54ms 2.58ms
I(U1:OUT_B1)
400mA
600mA
I(U1:OUT_A1)
400mA
600mA
SEL>>
5 Output Ripple Current
• This figure shows the output ripple current of the Mixed Decay Mode ,which consist of
Charge ,Slow decay ,and Fast decay mode ,with 101kHz chopping frequency.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 23
IOUT = 0.5A
fchop = 101kHz
IOUT A
IOUT BCharge mode
Slow decay mode Fast decay mode
5.1 Stepping Motor Phase Inductance at The Chopping Frequency
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 24
• Ls(H) vs. Frequency(Hz) is shown in figure above. Ls value at the chopping frequency
(approximately 100kHz) will be used as stepping motor phase inductance.
Stepping Motor Phase Inductance
0
0.002
0.004
0.006
0.008
0.01
0.012
1.E+02 1.E+03 1.E+04 1.E+05
Frequency (Hz)
Ls(H
)
Ls
Ls = 1.7mH @
fchop=100kHz
O_A
O_A1
O_B1
O_B
RRSA 1.2ohm
V5Vref AB3Vdc
0
Cv ref AB1uF
00
RRSB 1.2ohm
0
VM124V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/2}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
Ph_BPh_A
Ph_B
Ph_A
O_B1
O_B
O_A
O_A1
RSB 7.9ohm
L21.7mHIC = -0.5
1
2
L11.7mHIC = -0.5
12
RSA7.9ohm
5.2 Ripple Current Simulation
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 25
Ls = 1.7mH is input as
the stepping motor
phase inductance value
Analysis
Time Domain (Transient)
Run to time: 4ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
Time
2.593ms 2.595ms 2.597ms 2.599ms 2.601ms 2.603ms
I(U1:OUT_A1)
300mA
400mA
500mA
600mA
700mA
SEL>>
5.2 Ripple Current Simulation
• The simulation result shows the current ripple that agrees to the measurement data.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 26
Current ripple
Current ripple
Simulation
Measurement
Time
0s 4.0ms
I(U1:OUT_A1)
0A
-800mA
800mA
6. The Current Changing Rate
• This figure shows the current changing rate (rise and fall time) that is determined by
the phase inductance value.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 27
Fall timeRise time
100%
-100%
6.1 Stepping Motor Phase Inductance at The Phase Frequency
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 28
• Ls(H) vs. Frequency(Hz) is shown in figure above. Ls value at the phase frequency (250
Hz) will be used as stepping motor phase inductance.
Stepping Motor Phase Inductance
0
0.002
0.004
0.006
0.008
0.01
0.012
1.E+02 1.E+03 1.E+04 1.E+05
Frequency (Hz)
Ls(H
)
Ls
Ls = 9.15mH @
fphase=250Hz
O_A
O_A1
O_B1
O_B
RRSA 0.5ohm
V5Vref AB1.25Vdc
0
Cv ref AB1uF
00
RRSB 0.5ohm
0
VM24V CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = 0
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
O_B
O_A1
O_B1
O_A
RSB 7.9ohm
L29.15mHIC = -0.5
1
2
L19.15mHIC = -0.5
12
RSA7.9ohm
Ph_BPh_A
Ph_B
Ph_A
6.2 Current Changing Rate Simulation
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 29
Ls = 9.15mH is input as
the stepping motor
phase inductance value.
Analysis
Time Domain (Transient)
Run to time: 4ms
Start saving data after: 0ms
Maximum step size: -
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
6.2 Current Changing Rate Simulation
• The simulation result shows the current changing rate (rise and fall time) that agrees to the
measurement data.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 30
Current ripple
Current ripple
VM=24VVM=24V
Time
0s 1.0ms 2.0ms 3.0ms 4.0ms
I(U1:OUT_A1)
0A
-0.75A
0.75A
V(PH_B)
0V
7.5V
SEL>>
V(PH_A)
0V
7.5V
O_A
O_A1
O_B1
O_B
O_B
RRSA 0.5ohm
O_B1
V5Vref AB1.25Vdc
O_A1
O_A
RSB 7.9ohm
L29.15mHIC = -0.5
1
2
0
Cv ref AB1uF
00
L19.15mHIC = -0.5
12
RSA7.9ohmRRSB 0.5ohm
0
VM24 CVM1
100uF
00
U1
TB62206FG
CCP1 = 0.22UFCCP2 = 0.01UF
VM = 24COSC = 560PFROSC = 3.6K
FIN
CRVDDVREF_AVREF_BRS_B
RS_AVMCCP_CCCP_BCCP_A STANDBY
OUT_A1PHASE_APHASE_B
OUT_A
OUT_BENABLE_AENABLE_B
OUT_B1TORQUE
V_PHASE_A
TD = 0
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0
TR = {trphase}
V2 = 5V
V_PHASE_B
TD = {tphase/4}
TF = {tf phase}PW = {pwphase}PER = {tphase}
V1 = 0V
TR = {trphase}
V2 = 5
0 0
PARAMETERS:
f phase = 250Hz
tphase = {1/f phase}
tdphase = {trphase+pwphase/2}
pwphase = {-2*trphase+tphase/2}
trphase = 100n
tf phase = {trphase}
VDD5Vdc C1
10uF
0 0
Rosc 3.6kohm
Cosc 560pF
0
0
Cccp_10.22uF
Cccp_20.022uF
250Hz Full Step
Ph_BPh_A
Ph_B
Ph_A
7. Optimization of The Drive Voltage VM
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 31
The Drive Voltage
Source: VM
Analysis
Time Domain (Transient)
Run to time: 4.5ms
Start saving data after: 0ms
Maximum step size: 1u
(SKIPBP)
Parametric Sweep
Voltage source
Name: VM
Value list: 12, 18, 24
.Options
RELTOL: 0.01
VNTOL: 1.0m
ABSTOL: 1.0n
CHGTOL: 10p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
Time
0s 4.0ms
I(U1:OUT_A1)
0A
SEL>>
V(PH_B)
0V
7.5V
V(PH_A)
0V
7.5V
7. Optimization of The Drive Voltage VM
• These figures show that the current changing rates (rise and fall time) depend on the drive voltage
(VM). The higher current changing rate means higher phase frequency is available.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 32
Current ripple
Current ripple
VM=18V
VM=24V
VM=12VVM=24V
VM=18V
VM=12V
Simulations index
Simulations Folder name
1. Full Step Switching Sequence.......................................................
2. Half Step Switching Sequence.......................................................
3. STANDBY.......................................................................................
4. TORQUE........................................................................................
5. Phase A Over-current Protection....................................................
6. Phase B Over-current Protection...................................................
7. Ripple Current Simulation..............................................................
8. Current Changing Rate Simulation.................................................
9. Optimization of The Drive Voltage VM..........................................
Full-Step
Half-Step
STANDBY
TORQUE
OCP_A
OCP_B
RIPPLE
I_Step
VM
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 33