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OUTA OFF DELAY A REFERENCE A GROUND A IN A OUT A SENSE A CNTRL SPLY SENSE B OUT B OFF DELAY B GROUND B REFERENCE B IN B OUT B
CONTROL/LOGIC
VREF
2
VREF +
3 4 5 6 7 8 9 10 11 12 13 14 15
VCC
CONTROL/LOGIC
Dwg. PK-007
BENEFITS AND FEATURES s s s s s s s s Cost-Effective, Multi-Chip Solution Turn-Key Motion-Control Module Motor Operation to 3 A and 46 V 3rd Generation High-Voltage FETs 100 V, Avalanche-Rated NMOS Low rDS(on) NMOS Outputs Advanced, Improved Body Diodes Single-Supply Motor/Module Operation s s s s s s s s s s 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 P-Compatible Inputs Machine-Insertable Package
Always order by complete part number: Part Number SLA7024M SLA7026M SMA7029M Package 18-Lead Power-Tab SIP 18-Lead Power-Tab SIP 15-Lead SIP Output Current 1.5 A 3.0 A 1.5 A
TM
MicroSystems, Inc.
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
SLA7024M and SLA7026M FUNCTIONAL BLOCK DIAGRAM
CONTROL SUPPLY 7 12 V CC IN 6 17 A/B IN A/B 5 16 OUT A/B OUT 1 11 A/B
8 18
REG.
REFERENCE
+ 3 14 +
13 2 OFF-TIME DELAY
10 9 SENSE
Dwg. FK-005
REG.
REFERENCE
+ 3 13 +
11 2 OFF-TIME DELAY
9 7 SENSE
Dwg. FK-005-1
Note that except for the control supply, channels A and B are electrically isolated.
TM
MicroSystems, Inc.
115 Northeast Cutoff, Box 15036 115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000 Worcester, Massachusetts 01615-0036 (508) 853-5000 Copyright 1994 Allegro MicroSystems, Inc.
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
20
PREFIX 'SLA' R JM = 5.0C/W
15
PREFIX 'SMA' RJM = 6.0C/W
CONTROL/LOGIC
CONTROL/LOGIC
VREF
VCC
VCC
VREF
10
REFERENCE B
GROUND B
SENSE B
CNTRL SPLY B
OFF DELAY B
REFERENCE A
OUT A
OFF DELAY A
GROUND A
CNTRL SPLY A
SENSE A
OUTA
Dwg. PK-006
Min 10 2.0
Max 4.0 600 850 600 285 1.5 1.6 44 15 40 -800 0.8
Units mA mV mV m m V V V mA A A V V
rDS(on)
VSD
(SLA7024M & SMA7029M) IOUT = 1 A (SLA7026M) IOUT = 3 A Operating VCC = 44 V VCC = 44 V, VIN = 2.4 V VIN = 0.4 V
OUT B
OUTB
IN B
IN A
IN A
IN B
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
TYPICAL STEPPER MOTOR APPLICATIONS
(Half of Each Device Shown)
IN B
IN B
A
OUT B 12 VCC 17 16 18 11
OUT B
REG. V b +5 V
R 1 510
TO CHANNEL A
VREF
+ +
R 2 100
2.4 k R 5
14
td 13 15
SENSE
10
+5 V 47 k R3 470 pF C1
C 3 2200 pF
S 1
Dwg. EK-008
TRUTH TABLES
(Device Types as Designated) WAVE DRIVE (FULL STEP) for SLA7024M and SLA7026M
Sequence Input A Input A Input B Input B Output ON 0 H L L L A 1 L L H L B 2 L H L L A 3 L L L H B 0 H L L L A
TM
MicroSystems, Inc.
115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
TYPICAL STEPPER MOTOR APPLICATIONS
(Half of Device Shown)
SMA7029M
V BB
A
IN B
A
OUT B 8 V CC 14 10 15
OUT B
REG. V b +5 V
R 1 510
TO CHANNEL A
VREF
+ +
R 2 100
2.4 k R 5
13
td 11 12
SENSE
9
+5 V R 3 47 k OPEN-COLLECTOR INVERTER
C1 470 pF
C 3 2200 pF
S 1
Dwg. EK-008-1
TRUTH TABLES
(SMA7029M Only)
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
APPLICATIONS INFORMATION
REGULATING THE PWM OUTPUT CURRENT The output current (and motor coil current) waveform is illustrated in Figure 1. Setting the PWM current trip point requires various external components: 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) Mode IOUT is set to meet the specified running current for the motor (Figure 2) and is determined by: IOUT VREF RS R2 R1 + R2 Vb RS
I OUT PHASE A
(1)
PHASE A
Dwg. WK-001
R1
R3
R2
R5
C1
td
A A
C3
RS
Dwg. EK-009
TM
MicroSystems, Inc.
115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
For given values of R1, R2, and V b (VREF 0.82 V), Figure 3 illustrates output current as a function of current-sensing resistance (RS).
3.0 SLA7026M MAX.
2.0
1.0
0.5
0 0 0.5 1.0 1.5 2.0 2.5 3.0 CURRENT-SENSING RESISTANCE in OHMS 3.5 4.0
Dwg. GK-014
FIGURE 3. CURRENT-SENSING RESISTANCE Reduced/Holding Current Mode Additional circuitry (Figure 4) enables reducing motor current. The external transistor changes the voltage-divider ratio, VREF, and reduces the output current. IHOLD is determined by resistors R2 and RX in parallel: IHOLD or R2 RX R1 R2 + R1 RX + R2 RX R2 R1 + R2 Vb RS Vb RS (3)
IHOLD
(4)
RS
Dwg. EK-010
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
For given values of R1, R2, and V b (VREF 0.82 V), Figures 5A and 5B illustrate output holding current as a function of RX for two values of currentsensing resistance (RS).
1.0 RS = 0.8
0.8
RS = 1.0 0.6
RS = 0.47 1.5
1.0
0.5
FIGURE 5B. HOLD-CURRENT RESISTANCE (SLA7026M) NOTE: Holding current determines holding torque, which is normally greater than running torque. Consult motor manufacturer for recommended safe holding current and motor winding temperature limits in standstill or detent mode. The MOSFET outputs create ringing noise with PWM, but the RC filter precludes malfunctions. The comparator operation is affected by R5 and C3 and, thus, current overshoot is influenced by component values. Empirical adjustment to fine-tune the current limit is likely.
TM
MicroSystems, Inc.
115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
DETERMINING THE MOTOR PWM FREQUENCY The modules function asynchronously, with PWM OFF time fixed by R3 and C1 at input td. The OFF time can be calculated as: 2 tOFF -R3 C1 logn (1 - ) (5) Vb Recommended circuit constants and tOFF are: Vb = 5 V R3 = 47 k C1 = 470 pF tOFF = 12 s
50
40 RS = 1 L/R = 1 to 3 ms
ON TIME in s
VCC = 24 V
30 25
20 VCC = 36 V
30 35 40
10
POWER DISSIPATION CALCULATIONS Excepting high-current applications utilizing the SLA7026M above approximately 2.0 A at +65C (with 2-phase operation), the need for heat sinks is rare. The basic constituents of conduction losses (internal power dissipation) include: (a) FET output power dissipation (IOUT2 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 (IOUT2 rDS(on)) + 0.5 (VSD IOUT) + (VCC 15 mA) Half-Step = 0.75 (IOUT2 rDS(on)) + 0.75 (VSD IOUT) + (VCC 15 mA) 2-Phase = (IOUT 2 rDS(on)) + (VSD IOUT ) + (VCC 15 mA)
20
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
PACKAGE RATINGS/DERATING FACTORS Thermal ratings/deratings for the multi-chip module packages vary slightly. Normally, the SLA7024M and SMA7029M do not need heat sinking when operated within maximum specified output current (1.0 A with 2-phase drive) unless the design ambient temperature also exceeds +60C. Thermal calculations must also consider the temperature effects on the output FET ON resistance. The applicable thermal ratings for the PMCM packages are: SLA7024M and SLA7026M 18-Lead Power-Tab SIP RJA = 28C/W (no heat sink) or 4.5 W at +25C and a derating factor of -36 mW/C for operation above +25C. RJC = 5C/W. SMA7029M 15-Lead SIP RJA = 31C/W (no heat sink) or 4.0 W at +25C and a derating factor of -32 mW/C for operation above +25C. RJC = 6C/W.
TEMPERATURE EFFECTS ON FET rDS(on) Analyzing safe, reliable operation includes a concern for the relationship of NMOS ON resistance to junction temperature. Device package power calculations must include the increase in ON resistance (producing higher output ON voltages) caused by higher operating junction temperatures. Figure 8 provides a normalized ON resistance curve, and all thermal calculations should consider increases from the given +25C limits, which may be caused by internal heating during normal operation.
2.5
2.0
1.5
1.0
0.5
TM
MicroSystems, Inc.
115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
SLA7024M and SLA7026M
Dimensions in Inches (Based on 1" = 0.03937 mm)
1.22 0.008 0.126
0.006
0.067
0.004
0.008
0.630
0.008
0.390
0.008
0.512
0.096
0.008
0.264
0.020
18
0.066
0.016
0.157
0.028
Dwg. MK-002-18 in
Dimensions in Millimeters
310.2 3.2
0.15
1.7
0.1
16 0.2
9.9 0.2
13 0.2
2.45
0.2
6.7
0.5
18 1.68
0.4
0.55 +0.2
0.1
4.0
0.7
Dwg. MK-002-18 mm
NOTES: 1. Exact body and lead configuration at vendors option within limits shown. 2. Recommended mounting hardware torque: 4.34 5.79 lbfft (6 8 kgfcm 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).
SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS
SMA7029M
Dimensions in Inches (Based on 1" = 0.03937 mm)
1.24 MAX. 1.22 0.008 0.157
0.008
0.098
0.008
0.008
0.402
0.335
MAX.
30 0.057
0.006
0.264
0.020
15
0.157
0.028
Dwg. MK-005-15 in
Dimensions in Millimeters
31.5 MAX. 310.2 4.0
0.2
2.5
0.2
10.2
0.2
MAX.
30 1.45
0.15
8.5
6.7
0.5
15 2.03
0.1
Dwg. MK-005-15 mm
NOTE: Exact body and lead configuration at vendors option within limits shown.
Allegro MicroSystems, Inc. reserves the right to make, from time to time, such departures from the detail specifications as may be required to permit improvements in the design of its products. Components made under military approvals will be in accordance with the approval requirements. The information included herein is believed to be accurate and reliable. However, Allegro MicroSystems, Inc. assumes no responsibility for its use; nor for any infringements of patents or other rights of third parties which may result from its use.
TM
MicroSystems, Inc.
115 Northeast Cutoff, Box 15036 Worcester, Massachusetts 01615-0036 (508) 853-5000