Sla7024m(Motor Driver)

The SLA7024M, SLA7026M, and SMA7029M are designed forhigh-efficiency and high-performance operation of 2-phase, unipolarstepper motors. An automated, innovative packaging technologycombined with power FETs and monolithic logic/control circuitry ad-vances power multi-chip modules (PMCMs™) toward the completeintegration of motion control. Highly automated manufacturing tech-niques provide low-cost and exceptionally reliable PMCMs suitable forcontrolling and directly driving a broad range of 2-phase, unipolarstepper motors. The three stepper motor multi-chip modules differprimarily in output current ratings (1.5 A or 3.0 A) and package style.

All three PMCMs are rated for an absolute maximum limit of 46 Vand utilize advanced NMOS FETs for the high-current, high-voltagedriver outputs. The avalanche-rated (≥100 V) FETs provide excellentON resistance, improved body diodes, and very-fast switching. Themulti-chip ratings and performance afford significant benefits andadvantages for stepper drives when compared to the higher dissipationand slower switching speeds associated with bipolar transistors.Normally, heat sinks are not required for the SLA7024M or SMA7029M.The SLA7026M, in demanding, higher-current systems designs,necessitates suitable heat transfer methods for reliable operation.

Complete applications information is given on the following pages.PWM current is regulated by appropriately choosing current-sensingresistors, a voltage reference, a voltage divider, and RC timing net-works. The RC components limit the OFF interval and control currentdecay. Inputs are compatible with 5 V logic and microprocessors.

BENEFITS AND FEATURES Cost-Effective, Multi-Chip Solution ‘Turn-Key’ Motion-Control Module Motor Operation to 3 A and 46 V 3 rd Generation High-Voltage FETs 100 V, Avalanche-Rated NMOS Low r DS(on) NMOS Outputs Advanced, Improved Body Diodes Single-Supply Motor/Module

Operation

SMA7029M

HIGH-CURRENT PWM, UNIPOLAR STEPPERMOTOR CONTROLLER/DRIVERS

Data S

heet28201

Always order by complete part number:

Part Number Package Output Current

SLA7024M 18-Lead Power-Tab SIP 1.5 A

SLA7026M 18-Lead Power-Tab SIP 3.0 A

SMA7029M 15-Lead SIP 1.5 A

ABSOLUTE MAXIMUM RATINGSat TA = +25°C

Load Supply Voltage, VBB . . . . . . . . . . . . 46 VFET Output Voltage, VDS . . . . . . . . . . . 100 VControl Supply Voltage, VCC . . . . . . . . . . 46 VPeak Output Current, IOUTM (tw ≤ 100 µs)

SLA7024M . . . . . . . . . . . . . . . . . . . . . 3.0 ASLA7026M . . . . . . . . . . . . . . . . . . . . . 5.0 ASMA7029M . . . . . . . . . . . . . . . . . . . . 3.0 A

Continuous Output Current, IOUTSLA7024M . . . . . . . . . . . . . . . . . . . . . 1.5 ASLA7026M . . . . . . . . . . . . . . . . . . . . . 3.0 ASMA7029M . . . . . . . . . . . . . . . . . . . . 1.5 A

Input Voltage Range, VIN . . . . -0.3 V to 7.0 VReference Voltage, VREF . . . . . . . . . . . 2.0 VPackage Power Dissipation, PD . See GraphJunction Temperature, TJ . . . . . . . . . +150°COperating Temperature Range,

TA . . . . . . . . . . . . . . . . . . . . -20°C to +85°CStorage Temperature Range,

Tstg . . . . . . . . . . . . . . . . . . -40°C to +150°C

Half- or Full-Step Unipolar Drive High-Efficiency, High-Speed PWM Dual PWM Current Control (2-Phase) Programmable PWM Current Control Low Component Count PWM Drive Low Internal Power Dissipation Heat Sinking (Normally) Unnecessary Electrically Isolated Power Tab Logic IC- and µP-Compatible Inputs Machine-Insertable Package

REFERENCE A

VREF

12

34

56

78

910

1112

1314

15

Dwg. PK-007

OUT A

OUTB

SENSEA

GROUND A

VREF

VCC

+

+

OUTA

CO

NT

RO

L/LOG

IC

OUTB

GROUND B

REFERENCEB

CNTRL SPLY

IN A

IN B

SENSEB

OFF DELAYA

OFF DELAYB

CO

NT

RO

L/LOG

IC

™

SLA7024M, SLA7026M,AND SMA7029M

115 Northeast Cutoff, Box 15036Worcester, Massachusetts 01615-0036 (508) 853-5000

™

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERS

SLA7024M and SLA7026M FUNCTIONAL BLOCK DIAGRAM

Note that channels A and B are electrically isolated.

SMA7029M FUNCTIONAL BLOCK DIAGRAM

Note that except for the control supply, channels A and B are electrically isolated.

+13

Dwg. FK-005-1

+

8

12 9

151014

11

REG.

8 5

3

2 4

6

7

1

VCC

SENSEGROUNDOFF-TIMEDELAY

CONTROLSUPPLY IN A/B OUTA/B OUTA/B

RE

FE

RE

NC

E

CHANNEL A PIN NUMBERS

CHANNEL B PIN NUMBERS

+14

Dwg. FK-005

+

12

15 10

11181617

13

REG.

7 6 5

3

2 4

1

9

8

VCC

IN A/B

SENSEGROUNDOFF-TIMEDELAY

CONTROLSUPPLY IN A/B OUT A/B OUTA/B

RE

FE

RE

NC

E

CHANNEL A PIN NUMBERS

CHANNEL B PIN NUMBERS

Copyright © 1994 Allegro MicroSystems, Inc.

ALLOWABLE PACKAGEPOWER DISSIPATION

SLA7024M and SLA7026M

ELECTRICAL CHARACTERISTICS at TA = +25°CLimits

Characteristic Symbol Test Conditions Min Typ Max Units

FET Leakage Current IDSS VDS = 100 V, VCC = 44 V — — 4.0 mA

FET ON Voltage VDS(ON) (SLA7024M & SMA7029M) VCC = 14 V, IOUT = 1 A — — 600 mV

(SLA7026M) VCC = 14 V, IOUT = 3 A — — 850 mV

FET ON Resistance rDS(on) (SLA7024M & SMA7029M) VCC = 14 V, IOUT = 1 A — — 600 mΩ

(SLA7026M) VCC = 14 V, IOUT = 3 A — — 285 mΩ

Body Diode VSD (SLA7024M & SMA7029M) IOUT = –1 A — 0.9 1.5 V

Forward Voltage (SLA7026M) IOUT = –3 A — 0.9 1.6 V

Control Supply Voltage VCC Operating 10 24 44 V

Control Supply Current ICC VCC = 44 V — 10 15 mA

Input Current IIN(H) VCC = 44 V, VIN = 2.4 V — — 40 µA

IIN(L) VIN = 0.4 V — — -800 µA

Input Voltage VIN(H) 2.0 — — V

VIN(L) — — 0.8 V

NOTE: Negative current is defined as coming out of (sourcing) the specified device pin.

50 75 100 125 150

25

15

10

5

0

TEMPERATURE in °°°°C

20

25

Dwg. GK-018

AL

LO

WA

BL

E P

AC

KA

GE

PO

WE

R D

ISS

IPA

TIO

N in

WA

TT

S

PREFIX 'SLA'R = 5.0°C/WθJM

PREFIX 'SMA'R = 31°C/WθJA

PREFIX 'SMA'R = 6.0°C/WθJM

PREFIX 'SLA'R = 28°C/WθJA

RE

FE

RE

NC

EA

VR

EF

VC

C

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18

Dwg. PK-006O

UT

A

OU

TB

SE

NS

EA

GR

OU

ND

A

CN

TR

L S

PLY

A

VR

EF

VC

C

+

+

OU

TA

CONTROL/LOGIC

OU

TB

GR

OU

ND

B

RE

FE

RE

NC

EB

CN

TR

L S

PLY

B

INA

INA

INB

INB

SE

NS

EB

OF

F D

ELA

YA

OF

F D

ELA

YB

CONTROL/LOGIC



™


2.4 kΩR

+14

Dwg. EK-008

+

12

15 10

181617

13

REG.

VCC

VBB A

BOUT

A

IN B IN B

11BOUT

V +5 V

+5 V

R

510

ΩR

1

00 Ω

47 kΩR

470 pFC

C 2200 pF R

≤1 ΩS

TOCHANNEL

A

VREF

SENSEt d

3

b

12

5

3 1

TYPICAL STEPPER MOTOR APPLICATIONS(Half of Each Device Shown)

SLA7024M and SLA7026M

TRUTH TABLES(Device Types as Designated)

WAVE DRIVE (FULL STEP)for SLA7024M and SLA7026M

Sequence 0 1 2 3 0Input A H L L L HInput A L L H L LInput B L H L L LInput B L L L H LOutput ON A B A B A

HALF-STEP OPERATION (2-1-2 SEQUENCE)for SLA7024M, SLA7026M, and SMA7029M

Sequence 0 1 2 3 4 5 6 7 0

Input A H H L L L L L H H

Input A or tdA* L L L H H H L L L

Input B L H H H L L L L L

Input B or tdB* L L L L L H H H L

Output(s) ON A AB B A B A AB B A B A

*Logic signals to external open-collector inverter connected to tdA and tdB.

2-PHASE (FULL STEP) OPERATIONfor SLA7024M and SLA7026MSequence 0 1 2 3 0Input A H L L H HInput A L H H L LInput B H H L L HInput B L L H H LOutputs ON AB A B AB A B AB

2.4 kΩR

+13

Dwg. EK-008-1

+

8

12 9

1014

11

REG.

VCC

VBB A

BOUT

A

IN B

15BOUT

V +5 V

+5 V

R

510

ΩR

1

00 Ω

R 47 kΩ

C 470 pF C 2200 pF R

≤1 ΩS

TOCHANNEL

A

VREF

SENSEt d

3

b

12

5

1

3OPEN-COLLECTOR

INVERTER

WAVE DRIVE (FULL STEP) for SMA7029M

Sequence 0 1 2 3 0Input A H L L L HInput tdA* L L H L LInput B L H L L LInput tdB* L L L H L

Output ON A B A B A

*Logic signals to external open-collector inverter connected to tdA and tdB.

TRUTH TABLES(SMA7029M Only)

TYPICAL STEPPER MOTOR APPLICATIONS(Half of Device Shown)

SMA7029M

2- PHASE (FULL STEP) OPERATIONfor SMA7029M

Sequence 0 1 2 3 0Input A H H L L HInput B L H H L LOutputs ON A B AB A B AB A B



™


FIGURE 2. PWM CONTROL (RUN MODE)

Dwg. EK-009

V INPUT

PEAKCURRENTDETECTOR

CONTROL

LOGIC

S

VBBV CC

CURRENTCONTROL

&RECIRCULATING

CURRENTCONTROL

R 2

R 1

R

A A

B

B

R 5

C3

R 3

C 1

REFV

t d

PWMOFF-TIMECONTROL

SENSE

b

APPLICATIONS INFORMATIONREGULATING THE PWM OUTPUT CURRENT

The output current (and motor coil current) waveform is illustrated inFigure 1. Setting the PWM current trip point requires various externalcomponents:

Vb = Reference supply (typically 5 V)

R1, R2 = Voltage-divider resistors in the reference supply circuit

RS = Current sensing resistor(s)

NOTE: The maximum allowable VREF input voltage is 2.0 V.The voltage-divider must be selected accordingly.

Normal PWM (Full-Current/Running) ModeIOUT is set to meet the specified running current for the motor (Figure 2)

and is determined by:

IOUT ≈VREF (1)RS

or, if VREF is not known

IOUT ≈R2 •

Vb (2)R1 + R2 RS

FIGURE 1. PHASE A COIL CURRENT WAVEFORMDwg. WK-001

PHASE A

PHASE A

0

I OUT

For given values of R1, R2, and Vb (VREF ≈ 0.82 V), Figure 3 illustratesoutput current as a function of current-sensing resistance (RS).

Reduced/Holding Current ModeAdditional circuitry (Figure 4) enables reducing motor current. The

external transistor changes the voltage-divider ratio, VREF, and reduces theoutput current. IHOLD is determined by resistors R2 and RX in parallel:

IHOLD ≈R2 RX •

Vb (3)R1 R2 + R1 RX + R2 RX RS

orIHOLD ≈

R2Õ •Vb (4)

R1 + R2Õ RS

where R2Õ = the equivalent value of R2 and RX in parallel.

FIGURE 4. HOLD CURRENT MODE

FIGURE 3. CURRENT-SENSING RESISTANCE

3.0

2.0

1.0

0 1.5 2.5 3.5

0.5

CURRENT-SENSING RESISTANCE in OHMS

OU

TP

UT

TR

IP C

UR

RE

NT

in A

MP

ER

ES

Dwg. GK-014

1.5

2.5

00.5 1.0 2.0 3.0 4.0

R1 = 510 ΩR2 = 100 Ω

Vb = 5 V

RX = ∞

SLA7024M & SMA7029M MAX.

SLA7026M MAX.

Dwg. EK-010

RS

VREF

SENSE

R 1

R 2

HOLD

R 5

C3

R X

Vb



™


For given values of R1, R2, and Vb (VREF ≈ 0.82 V), Figures 5A and 5Billustrate output holding current as a function of RX for two values of current-sensing resistance (RS).

1.0

0.6

00 300 500

HOLDING-CURRENT RESISTANCE in OHMS

OU

TP

UT

TR

IP C

UR

RE

NT

in A

MP

ER

ES

Dwg. GK-015

100 200 400 600

R1 = 510 ΩR2 = 100 ΩVb = 5 V

RS = 0.8 Ω

RS = 1.0 Ω

0.8

0.4

0.2

FIGURE 5A. HOLD-CURRENT RESISTANCE(SLA7024M and SMA7029M)

NOTE: Holding current determines holding torque, which is normallygreater than running torque. Consult motor manufacturer for recommendedsafe holding current and motor winding temperature limits in “standstill” or“detent” mode.

FIGURE 5B. HOLD-CURRENT RESISTANCE (SLA7026M)

The MOSFET outputs create ringing noise with PWM, but the RC filterprecludes malfunctions. The comparator operation is affected by R5 and C3and, thus, current overshoot is influenced by component values. Empiricaladjustment to “fine-tune” the current limit is likely.

3.0

2.0

1.0

0 300 500 700

0.5

HOLDING-CURRENT RESISTANCE in OHMS

OU

TP

UT

TR

IP C

UR

RE

NT

in A

MP

ER

ES

Dwg. GK-015-1

1.5

2.5

0100 200 400 600 800

R1 = 510 ΩR2 = 100 ΩVb = 5 V

RS = 0.33 Ω

RS = 0.47 Ω

Vb

DETERMINING THE MOTOR PWM FREQUENCYThe modules function asynchronously, with PWM OFF time fixed by R3

and C1 at input td. The OFF time can be calculated as:tOFF ≈ -R3 • C1 • logn (1 -

2 ) (5)

Recommended circuit constants and tOFF are:Vb = 5 VR3 = 47 kΩC1 = 470 pF

tOFF = 12 µs

FIGURE 7.PWM FREQUENCY vs MOTOR RESISTANCE

POWER DISSIPATION CALCULATIONSExcepting high-current applications utilizing the SLA7026M above

approximately 2.0 A at +65°C (with 2-phase operation), the need for heatsinks is rare. The basic constituents of conduction losses (internal powerdissipation) include:(a) FET output power dissipation (IOUT

2 • rDS(on) or IOUT • VDS(ON)),(b) FET body diode power dissipation (VSD • IOUT), and(c) control circuit power dissipation (VCC • ICC).

Device conduction losses are calculated based on the operating mode(wave drive, half-step, or 2-phase). Assuming a 50% output duty cycle:Wave Drive = 0.5 (IOUT

2 • rDS(on)) + 0.5 (VSD • IOUT) + (VCC • 15 mA)Half-Step = 0.75 (IOUT

2 • rDS(on)) + 0.75 (VSD • IOUT) + (VCC • 15 mA)2-Phase = (IOUT

2 • rDS(on)) + (VSD • IOUT) + (VCC • 15 mA)

40

20

0 6 10 14

10

MOTOR RESISTANCE in OHMS

ON

TIM

E in

µµµµs

Dwg. GK-016

30

50

02 4 8 12

RS = 1 ΩL/R = 1 to 3 ms

CH

OP

PIN

G F

RE

QU

EN

CY

in k

Hz20

25

30

35

40

VCC = 24 V

VCC = 36 V



™


PACKAGE RATINGS/DERATING FACTORSThermal ratings/deratings for the multi-chip module packages vary

slightly. Normally, the SLA7024M and SMA7029M do not need heatsinking when operated within maximum specified output current (≤1.0 Awith 2-phase drive) unless the design ambient temperature also ex-ceeds +60°C. Thermal calculations must also consider the temperatureeffects on the output FET ON resistance. The applicable thermalratings for the PMCM packages are:

SLA7024M and SLA7026M 18-Lead Power-Tab SIPRΘJA = 28°C/W (no heat sink) or 4.5 W at +25°C and a derating

factor of -36 mW/°C for operation above +25°C. RΘJC = 5°C/W.

SMA7029M 15-Lead SIPRΘJA = 31°C/W (no heat sink) or 4.0 W at +25°C and a derating

factor of -32 mW/°C for operation above +25°C. RΘJC = 6°C/W.

TEMPERATURE EFFECTS ON FET rDS(on)

Analyzing safe, reliable operation includes a concern for therelationship of NMOS ON resistance to junction temperature. Devicepackage power calculations must include the increase in ON resistance(producing higher output ON voltages) caused by higher operatingjunction temperatures. Figure 8 provides a normalized ON resistancecurve, and all thermal calculations should consider increases from thegiven +25°C limits, which may be caused by internal heating duringnormal operation.

FIGURE 8. NORMALIZED ON RESISTANCEvs TEMPERATURE

2.0

1.0

-40 +80 +160

0.5

JUNCTION TEMPERATURE in °°°°C

NO

RM

AL

IZE

D F

ET

ON

RE

SIS

TA

NC

E

Dwg. GK-017

1.5

2.5

00 +40 +120

SLA7024M and SLA7026MDimensions in Inches(for reference only)

Dimensions in Millimeters(controlling dimensions)

NOTES: 1. Exact body and lead configuration at vendor’s option within limits shown.2. Recommended mounting hardware torque: 4.34 – 5.79 lbf•ft (6 – 8 kgf•cm or 0.588 – 0.784 Nm).3. The hatched area is exposed (electrically isolated) heat spreader.4. Recommend use of metal-oxide-filled, alkyl-degenerated oil base, silicone grease (Dow Corning 340 or equivalent).

Dwg. MK-002-18 mm

1 18

31±0.2

24.4 ±0.2

16.4 ±0.2

16 ±

0.2

9.9

±0.2

13 ±

0.2

ø3.2±0.15

1.68±0.4

6.7±0.5

3.0

4.0±0.7

2.45±0.2

4.8±0.2

1.7±0.1

3.2 ±0.15 x 3.8

31.3 ±0.2

0.65+0.2–0.1

0.55 +0.2–0.1

1 18

1.22 ±0.008

0.961 ±0.008

0.646±0.008

0.63

0±0

.008

0.51

2±0

.008

ø0.126±0.006

0.066±0.016

0.264±0.020

0.118

0.157±0.028

0.096±0.008

0.189±0.008

0.067±0.004

0.126 ±0.006 x 0.150

1.232 ±0.008

0.026+0.008–0.004

0.022 +0.008–0.004

0.39

0±0

.008



™


SMA7029MDimensions in Inches(for reference only)

Dimensions in Millimeters(controlling dimensions)

NOTE: Exact body and lead configuration at vendor’s option within limits shown.

1 15

1.22 ±0.008

0.40

2±0

.008

0.080±0.004

0.264±0.020

0.118

0.157±0.028

0.057±0.006

0.157±0.008

0.098±0.008

1.24 MAX.

0.026+0.008–0.004

0.022 +0.008–0.004

0.33

5M

AX

. 30°

Dwg. MK-005-15 mm

1 15

31±0.2

10.2

±0.2

2.03±0.1

6.7±0.5

3.0

4.0±0.7

1.45±0.15

4.0±0.2

2.5±0.2

31.5 MAX.

0.65+0.2–0.1

0.55 +0.2–0.1

8.5

MA

X. 30°

The products described here are manufactured in Japan by Sanken Electric Co.,Ltd. for sale by Allegro MicroSystems, Inc.

Sanken Electric Co., Ltd. and Allegro MicroSystems, Inc. reserve the right tomake, from time to time, such departures from the detail specifications as may berequired to permit improvements in the design of their products.

The information included herein is believed to be accurate and reliable.However, Sanken Electric Co., Ltd. and Allegro MicroSystems, Inc. assume noresponsibility for its use; nor for any infringements of patents or other rights of thirdparties which may result from its use.

This datasheet has been download from:

www.datasheetcatalog.com

Datasheets for electronics components.

http://www.datasheetcatalog.com



Sla7024m(Motor Driver)

Documents

Transcript of Sla7024m(Motor Driver)