2-Phase Stepper-Motor Driver TLE 4728 Gceeg.ir/wp-content/uploads/TLE47281.pdf · 2-Phase...
Transcript of 2-Phase Stepper-Motor Driver TLE 4728 Gceeg.ir/wp-content/uploads/TLE47281.pdf · 2-Phase...
Data Sheet 1 2004-03-01
2-Phase Stepper-Motor Driver
Bipolar-IC
TLE 4728 G
• Error-flag for overload, open load, overtemperature• SMD package P-DSO-24-3
Description
TLE 4728 G is a bipolar, monolithic IC for driving bipolar stepper motors, DC motors andother inductive loads that operate by constant current. The control logic and poweroutput stages for two bipolar windings are integrated on a single chip which permitsswitched current control of motors with 0.7 A per phase at operating voltages up to 16 V.
The direction and value of current are programmable for each phase via separate controlinputs. A common oscillator generates the timing for the current control and turn-on withphase offset of the two output stages. The two output stages in full-bridge configurationinclude fast integrated free wheeling diodes and are free of crossover current. Thedevice can be driven directly by a microprocessor in several modes by programmingphase direction and current control of each bridge independently.
With the two error outputs the TLE 4728 G signals malfunction of the device. Setting thecontrol inputs high resets the error flag and by reactivating the bridges one by one thelocation of the error can be found.
Type Ordering Code Package
TLE 4728 G Q67006-A9077 P-DSO-24-9
Overview
Features
• 2 × 0.7 amp. full bridge outputs• Integrated driver, control logic and current control
(chopper)• Fast free-wheeling diodes• Max. supply voltage 45 V• Output stages are free of crossover current• Offset-phase turn-ON of output stages• All outputs short-circuit proof
TLE 4728 G
Data Sheet 2 2004-03-01
Figure 1 Pin Configuration (top view)
IEP01211
Q12 12 13 Q2211 14 Error 210 159 16 Q218 17 GND7 186 19
GND 5 20OSC 4 21
Phase 1 3 222 23
Ι 1 24
GNDGNDError 1
1011Ι
GNDGNDGNDQ11R1VS+
2R
Ι 2120Ι
GND
Phase 2
TLE 4728 G
TLE 4728 G
Data Sheet 3 2004-03-01
Pin Definitions and Functions
Pin No. Function
1, 2, 23, 24 Digital control inputs IX0, IX1 for the magnitude of the current of the particular phase.
1) “No current” in both bridges inhibits the circuit and current consumption will sink below 3 mA
3 Input phase 1; controls the current through phase winding 1. On H-potential the phase current flows from Q11 to Q12, on L-potential in the reverse direction.
5 ... 8, 17 ... 20 Ground; all pins are connected at leadframe internally.
4 Oscillator; works at approx. 25 kHz if this pin is wired to ground across 2.2 nF.
10 Resistor R1 for sensing the current in phase 1.
9, 12 Push-pull outputs Q11, Q12 for phase 1 with integrated free-wheeling diodes.
11 Supply voltage; block to ground, as close as possible to the IC, with a stable electrolytic capacitor of at least 47 µF in parallel with a ceramic capacitor of 100 nF.
14 Error 2 output; signals with “low” the errors: short circuit to ground of one or more outputs or overtemperature.
13, 16 Push-pull outputs Q22, Q21 for phase 2 with integrated free-wheeling diodes.
15 Resistor R2 for sensing the current in phase 2.
Iset = 450 mA with Rsense = 1 Ω
IX1 IX0 Phase Current Example of Motor Status
H H 0 No current1)
H L 0.155 × Iset Hold
L H Iset Normal mode
L L 1.55 × Iset Accelerate
TLE 4728 G
Data Sheet 4 2004-03-01
Figure 2 Block Diagram
21 Error 1 output; signals with “low” the errors: open load or short circuit to + VS of one or more outputs or short circuit of the load or overtemperature.
22 Input phase 2; controls the current flow through phase winding 2. On H-potential the phase current flows from Q21 to Q22, on L-potential in the reverse direction.
Pin Definitions and Functions (cont’d)
Pin No. Function
TLE 4728 G
Data Sheet 5 2004-03-01
Note: Stresses above those listed here may cause permanent damage to thedevice. Exposure to absolute maximum rating conditions for extendedperiods may affect device reliability.
Absolute Maximum Ratings
Tj = – 40 to 150 °C
Parameter Symbol Limit Values Unit Remarks
min. max.
Supply voltage VS – 0.3 45 V –
Error outputs VErrIErr
– 0.3–
453
VmA
––
Output current IQ – 1 1 A –
Ground current IGND – 2 – A –
Logic inputs VIXX – 15 15 V IXX; Phase 1, 2
Oscillator voltage VOSC – 0.3 6 V –
R1, R2 input voltage VRX – 0.3 5 V –
Junction temperature TjTj
––
125150
°C°C
–Max. 10,000 h
Storage temperature Tstg – 50 125 °C –
Thermal resistancesJunction-ambientJunction-ambient
(soldered on a 35 µm thick20 cm2 PC board copperarea)
Junction-case
Rth jaRth ja
Rth jc
––
–
7550
15
K/WK/W
K/W
––
Measured on pin 5
TLE 4728 G
Data Sheet 6 2004-03-01
Note: In the operating range, the functions given in the circuit description are fulfilled.
For details see next four pages.These parameters are not 100% tested in production, but guaranteed by design.
Operating Range
Parameter Symbol Limit Values Unit Remarks
min. max.
Supply voltage VS 5 16 V –
Case temperature TC – 40 110 °C Measured on pin 5 Pdiss = 2 W
Output current IQ – 800 800 mA –
Logic inputs VIXX – 5 6 V IXX; Phase 1, 2
Error outputs VErrIErr
–0
251
VmA
––
CharacteristicsVS = 6 to 16 V; Tj = – 40 to 130 °C
Parameter Symbol Limit Values Unit Test Condition
min. typ. max.
Current Consumption
From + VSFrom + VS
ISIS
0.820
1.730
2.750
mAmA
IXX = HIXX = L;IQ1, 2 = 0 A
Oscillator
Output charging currentCharging thresholdDischarging thresholdFrequency
IOSCVOSCLVOSCHfOSC
900.81.718
1201.32.324
1351.92.930
µAVVkHz
–––COSC = 2.2 nF
TLE 4728 G
Data Sheet 7 2004-03-01
Phase Current (VS = 9 … 16 V)
Mode “no current”Voltage threshold of current Comparator at Rsense in mode:HoldSetpointAccelerate
IQ
VchVcsVca
– 2
40410630
0
70450700
2
100510800
mA
mVmVmV
IX0 = H; IX1 = H
IX0 = L; IX1 = HIX0 = H; IX1 = LIX0 = L; IX1 = L
Logic Inputs (IX1; IX0; Phase X)
ThresholdHysteresisL-input currentL-input currentH-input current
VIVIHyIILIILIIH
1.2–– 10– 100– 1
1.750– 1– 200
2.2–1– 510
VmVµAµAµA
––VI = 1.2 VVI = 0 VVI = 5 V
Error Outputs
Saturation voltageLeakage current
VErrSatIErrL
50–
200–
50010
mVµA
IErr = 1 mAVErr = 25 V
Thermal Protection
ShutdownPrealarmDelta
TjsdTjpa∆Tj
14012010
15013020
16014030
°C°CK
IQ1, 2 = 0 AVErr = L∆Tj = Tjsd – Tjpa
Characteristics (cont’d)VS = 6 to 16 V; Tj = – 40 to 130 °C
Parameter Symbol Limit Values Unit Test Condition
min. typ. max.
TLE 4728 G
Data Sheet 8 2004-03-01
Power Outputs
Diode Transistor Sink Pair(D13, T13; D14, T14; D23, T23; D24, T24)
Saturation voltageSaturation voltageReverse currentForward voltageForward voltage
VsatIVsatIIRIVFIVFI
0.10.25000.60.7
0.30.510000.91
0.50.815001.21.3
VVµAVV
IQ = – 0.45 AIQ = – 0.7 AVS = VQ = 40 VIQ = 0.45 AIQ = 0.7 A
Diode Transistor Source Pair(T11, D11; T12, D12; T21, D21; T22, D22)
Saturation voltageSaturation voltage
Saturation voltageSaturation voltage
Reverse currentForward voltageForward voltageDiode leakage current
VsatuCVsatuD
VsatuCVsatuD
IRuVFuVFuISL
0.60.1
0.70.2
4000.70.80
10.3
1.20.5
80011.13
1.20.6
1.50.8
12001.31.410
VV
VV
µAVVmA
IQ = 0.45 A; chargeIQ = 0.45 A;dischargeIQ = 0.7 A; chargeIQ = 0.7 A; dischargeVS = 40 V,VQ = 0 VIQ = – 0.45 AIQ = – 0.7 AIF = – 0.7 A
Error Output Timing
Time Phase X to IXXTime IXX to Phase XDelay Phase X to Error 2Delay Phase X to Error 1Delay IXX to Error 2Reset delay after Phase XReset delay after IXX
tPItIPtPEsctPEoltIEsctRPtRI
–––––––
51245153031
15–803060105
µsµsµsµsµsµsµs
–––––––
Characteristics (cont’d)VS = 6 to 16 V; Tj = – 40 to 130 °C
Parameter Symbol Limit Values Unit Test Condition
min. typ. max.
TLE 4728 G
Data Sheet 9 2004-03-01
Diagrams
Timing between IXX and Phase X to prevent setting the error flag
Operating conditions:+ VS = 14 V, Tj = 25 °C, Ierr = 1 mA, load = 3.3 mH, 1 Ω
Figure 3
Figure 4
t PIIET01888
Phase X
XXΙ
a) If tPI < typ. 5 µs, an error “open load” will be set.
t IPIET01889
Phase X
XXΙ
b) If tIP < typ. 12 µs, an error “open load” will be set.
TLE 4728 G
Data Sheet 10 2004-03-01
This time strongly depends on + VS and inductivity of the load, see diagram below.
Time tIP versus Load Inductivity
Propagation Delay of the Error Flag
Operating conditions:+ VS = 14 V, Tj = 25 °C, Ierr = 1 mA, load = 3.3 mH, 1 Ω
Figure 5
t PEsc
Error 2
IET01883
Phase X
a) IXX = L, error condition: short circuit to GND.
typ. tPEsc: 45 µs
TLE 4728 G
Data Sheet 11 2004-03-01
Figure 6
Figure 7
t PEol
Error 1
IET01884
Phase X
b) IXX = L, error condition: open load (equivalent: short circuit to + VS).
typ. tPEol: 15 µs
t IEscIET01885
Error 2
XXΙ
c) Phase X = H or L, const.; error condition: short circuit to GND.
typ. tIEsc: 30 µs
tIEsc is also measured under the condition: begin of short circuit to GND till error flag set.
TLE 4728 G
Data Sheet 12 2004-03-01
Figure 8
Figure 9
t RPIET01886
Error X
Phase x
d) IXX = L, reset of error flag when error condition is not true.
typ. tRP: 3 µs
t RIIET01887
Error X
XXΙ
typ. tRI: 1 µs
e) Phase X = H or L, const.; reset of error flag when error condition is not true.
TLE 4728 G
Data Sheet 13 2004-03-01
Quiescent Current IS versus Supply VoltageVS; bridges not chopping; Tj = 25 °C
Oscillator Frequency fOsc versusJunction Temperature Tj
Quiesc. Current IS versus Junct. Temp. Tj; bridges not chopping, VS = 14 V
Output Current IQX versus JunctionTemperature Tj
IED01827
50
V
mA
V
SΙ
10 15
20
40
60=Ι QX
0.70 A
20
10
30
50
S
0.45 A
0.07 A
-5015
0
20
VC OSC
S
15010050 C
T j
Osc
kHzf
25
30IED01829
= 14 V= 2.2 nF
IED01828
-500
C
mA
T
SΙ
0 50
20
40
60
=Ι QX 0.70 A
150
10
30
50
j
0.50 A
0.07 A
500
-500
0
300
100
400
200R X
VS = 14 V
15010050 C
T j
700
800
600QXΙ
mA
X1 = H, X0 = HΙ
IED01830
Ι
X1 = H, X0 = LΙ Ι
= 1Ω
TLE 4728 G
Data Sheet 14 2004-03-01
Output Saturation Voltages Vsatversus Output Current IQ
Typical Power Dissipation Ptot versus Output Current IQ (non stepping)
Forward Current IF of Free-Wheeling Diodes versus Forward Voltages VF
Permissible Power Dissipation Ptot versusCase Temp. TC (measured at pin 5)
V
00
0.2
0.5
1.0
0.60.4 0.8A
Ι Q
satuDVV satl
satuC
satV= 14 VV
1.5
VT j
S= 25 C
2.0IED01831
both phases active
00
0.2
1
2
0.60.4 0.8A
Ι Q
SV = 14 V
totP= 10 mHL
OSC
phase x
phase x
C3TC
WR
= 25 C= 2.2 nF
= 2
4IED01832
Ω
IED01218
00
0.5 1.0 1.5V
0.2
0.4
0.6
0.8
1.0
A
VF
Ι F
= 25 ˚C
VFuVFl
T j
IED01833
-250
W
CT
totP
0 25 75
4
8
12
16
=Tjmax
150 C
120 C
125 175
2
6
10
C
TLE 4728 G
Data Sheet 15 2004-03-01
Input Characteristics of IXX, Phase X
Output Leakage Current
-20
=
-120-4-6 -2
-60
-100
-40
-80
jT
20 64 V
xxV Ι
40 C 25 C
150 C
xxi Ι
A
0
20
40
Phase X
xxΙ
IED01834
µ
0-0.8
-0.4
0
0.4
10 20 30 V
V Q
40
SV = 16 V
mA
0.8
Ι R
1.2
SV = 40 V
IED01835
TLE 4728 G
Data Sheet 16 2004-03-01
Figure 10 Application Circuit
Figure 11 Test Circuit
IES01223
Phase 1
Error 1
Phase 2
1
2
3
21
24
23
22
9
12
16
13
11
4 15 10 5, 6, 7, 8,
TLE 4728G
Q11
Q12
Q21
Q22
R2
1Ω Ω11R
2.2 nF
OSC GND
M
Microcontroller
100 nF
VS
µ100 F
+12 V
11Ι10Ι
21Ι20Ι
14 Error 2
17, 18, 19, 20
StepperMotor
V
V
V Err
2.2 nF
Osc
OSC
OSCΙ
Ι
Ι Ι
Ι
ErrorErr
X
XX, Phase XΙRl
Fu
sense
V C
SLΙ GNDΙ
GND R
1
RsenseΙ
V Fl
Output
V+ S
QΙ
satuV
Ι
V
V satl
IES01836
RuΙ
100 nF100 FSΙ
V S
Ω
µ
TLE 4728 G
TLE 4728 G
Data Sheet 17 2004-03-01
Figure 12 Full Step Operation
t
IED01776
Accelerate Mode Normal Mode
acc
set
L
H
L
H
L
H
Ι
Phase 1
i
Q1
i
Ι
Ι 10
11
seti
i acc
i set
i acc
i
Q2Ι
acc
seti
Ι 21
20Ι H
H
L
L
L
HPhase 2
t
t
t
t
t
t
t
TLE 4728 G
Data Sheet 18 2004-03-01
Figure 13 Half Step Operation
t
t
t
t
t
t
IED01777
t
Accelerate Mode Normal Mode
t
21Ι
20
Phase 2
ΙL
L
H
H
H
L
Q2Ι
-
-
-
i set
acci
i
set
acc
i
acci
Q1Ι
-
Phase 1
seti
seti
L
acci
H
10
Ι11
ΙH
H
L
L
TLE 4728 G
Data Sheet 19 2004-03-01
Figure 14 Current Control in Chop-Mode
V Osc
OscV
OscV
0
0
Ι Rsense 1
Rsense 2Ι
V Q12
0caV
Q11V
V Q22
+V Q21
V S
Q1Ιi acc
i acc
Q2Ιt
t
t
t
t
t
t
V FUsatlV
satu DV satu CV
phase x
phase x
Operating conditions:
V
RL
S = 14 V
Ω= 10 mH= 4
Phase = H
IED01778
0
ΙXX
+V S
+V S
+V S
= L
TLE 4728 G
Data Sheet 20 2004-03-01
Figure 15 Phase Reversal and Inhibit
OscV
Ι Rsense 1
S+ VQ11V
Phase 1Ι
t
t
t
phase 1
phase 1
Operating conditions:
V
RL
S == 14 V= 1 mH= 4
= L for t >
IED01779
t
t
2.3 V
1.3 V
0 V
OscillatorHigh Imped.
Phase change-overHL
Phase 1
0
HighImpedance
setΙ
slow current decay
setΙ-
1T
fast currentdecay
= 2XΙ = H
H for t < T 1
1TΙΙΙ
111110
+
V Q12
V S HighImpedance
t
slow current decay
Ω
TLE 4728 G
Data Sheet 21 2004-03-01
Calculation of Power Dissipation
The total power dissipation Ptot is made up ofsaturation losses Psat (transistor saturation voltage and diode forward
voltages),quiescent losses Pq (quiescent current times supply voltage) andswitching losses Ps (turn-ON / turn-OFF operations).
The following equations give the power dissipation for chopper operation without phasereversal. This is the worst case, because full current flows for the entire time andswitching losses occur in addition.
Ptot = 2 × Psat + Pq + 2 × Pswhere
Psat ≅ IN VsatI × d + VFu (1 – d ) + VsatuC × d + VsatuD ( 1 – d )
Pq = Iq × VS
IN = nominal current (mean value)Iq = quiescent currentiD = reverse current during turn-on delayiR = peak reverse currenttp = conducting time of chopper transistortON = turn-ON timetOFF = turn-OFF timetDON = turn-ON delaytDOFF = turn-OFF delayT = cycle durationd = duty cycle tp / TVsatl = saturation voltage of sink transistor (TX3, TX4)VsatuC = saturation voltage of source transistor (TX1, TX2) during charge cycleVsatuD = saturation voltage of source transistor (TX1, TX2) during discharge cycleVFu = forward voltage of free-wheeling diode (DX1, DX2)VS = supply voltage
PqVS
T------
iD tDON×2
----------------------iD iR+( ) tON×
4----------------------------------
IN
2----- tDOFF tOFF+( )+ +
≅
TLE 4728 G
Data Sheet 22 2004-03-01
Figure 16
Figure 17 Voltage and Current on Chopper Transistor
IET01209
D x 1 D x 2
D x 3 D x 4
T x 2
L
T x 4
T x 3
T x 1
R
+VS
CV
sense
IET01210
Voltage andCurrent atChopperTransistor
t D t ON OFFtOFFt
pt
Vsatl
VS FuV+
i D
i RΙ N
Turn-ON Turn-OFF
+VFuSV
tDON
TLE 4728 G
Data Sheet 23 2004-03-01
Application Hints
The TLE 4728 G is intended to drive both phases of a stepper motor. Special care hasbeen taken to provide high efficiency, robustness and to minimize external components.
Power Supply
The TLE 4728 G will work with supply voltages ranging from 5 V to 16 V at pin VS. Surgesexceeding 16 V at VS wont harm the circuit up to 45 V, but whole function is notguaranteed. As soon as the voltage drops below approximately 16 V the TLE 4728 Gworks promptly again.
As the circuit operates with chopper regulation of the current, interference generationproblems can arise in some applications. Therefore the power supply should bedecoupled by a 0.1 µF ceramic capacitor located near the package. Unstabilizedsupplies may even afford higher capacities.
Current Sensing
The current in the windings of the stepper motor is sensed by the voltage drop acrossRsense. Depending on the selected current internal comparators will turn off the sinktransistor as soon as the voltage drop reaches certain thresholds (typical 0 V, 0.07 V,0.45 V and 0.7 V). These thresholds are not affected by variations of VS. Consequentlyunstabilized supplies will not affect the performance of the regulation. For precise currentlevel it must be considered, that internal bounding wire (typ. 60 mΩ) is a part of Rsense.
Due to chopper control fast current rises (up to 10 A/µs) will occur at the sensingresistors. To prevent malfunction of the current sensing mechanism Rsense should bepure ohmic. The resistors should be wired to GND as directly as possible. Capacitiveloads such as long cables (with high wire to wire capacity) to the motor should beavoided for the same reason.
Synchronizing Several Choppers
In some applications synchrone chopping of several stepper motor drivers may bedesirable to reduce acoustic interference. This can be done by forcing the oscillator ofthe TLE 4728 G by a pulse generator overdriving the oscillator loading currents(approximately ± 120 µA). In these applications low level should be between 0 V and0.8 V while high level should between 3 V and 5 V.
Optimizing Noise Immunity
Unused inputs should always be wired to proper voltage levels in order to obtain highestpossible noise immunity.
To prevent crossconduction of the output stages the TLE 4728 G uses a special breakbefore make timing of the power transistors. This timing circuit can be triggered by shortglitches (some hundred nanoseconds) at the phase inputs causing the output stage tobecome high resistive during some microseconds. This will lead to a fast current decay
TLE 4728 G
Data Sheet 24 2004-03-01
during that time. To achieve maximum current accuracy such glitches at the phaseinputs should be avoided by proper control signals.
To lower EMI a ceramic capacitor of max. 3 nF is advisable from each output to GND.
Thermal Shut Down
To protect the circuit against thermal destruction, thermal shut down has beenimplemented.
Error Monitoring
The error outputs signal corresponding to the logic table the errors described below.
Logic Table
Overtemperature is implemented as pre-alarm; it appears approximately 20 K beforethermal shut down. To detect an open load, the recirculation of the inductive load iswatched. If there is no recirculation after a phase change-over, an internal error flipflopis set. Because in most kinds of short circuits there won’t flow any current through themotor, there will be no recirculation after a phase change-over, and the error flipflop foropen load will be set, too. Additionally an open load error is signaled after a phasechange-over during hold mode.
Only in the case of a short circuit to GND, the most probably kind of a short circuit inautomotive applications, the malfunction is signaled dominant (see d) in logic table) by aseparate error flag. Simultaneously the output current is disabled after 30 µs to preventdisturbances.
A phase change-over or putting both current control inputs of the affected bridge on highpotential resets the error flipflop. Being a separate flipflop for every bridge, the error canbe located in easy way.
Kind of Error Error Output
Error 1 Error 2
a) No error H H
b) Short circuit to GND H L
c) Open load 1)
1) Also possible: short circuit to + VS or short circuit of the load.
L H
d) b) and c) simultaneously H L
e) Temperature pre-alarm L L
TLE 4728 G
Data Sheet 25 2004-03-01
Package Outlines
P-DSO-24-9 (Plastic Dual Small Outline Package)
Lead width can be 0.61 max. in dambar areaDoes not include plastic or metal protrusion of 0.15 max. per side
Index Marking
1.27
+0.150.35
15.61
24
2)
-0.41)
12
0.2
13
24x0.1
2.65
MA
X.
0.2
-0.1
2.45
-0.2
0.4 +0.8
10.3 ±0.3
0.35 x 45˚
-0.27.6 1)
0.23
+0.0
9
MA
X.
8˚
1)
2)
Sorts of PackingPackage outlines for tubes, trays etc. are contained in our Data Book “Package Information”.
Dimensions in mmSMD = Surface Mounted Device