Sanken SLA7070MMPR Series Benutzerhandbuch

SANKEN ELECTRIC CO., LTD.

http://www.sanken-ele.co.jp/en/

SLA7070MPRT Series Unipolar 2-Phase

Stepper Motor Driver ICs

Application Information

SLA7070MPRT-AN, Rev. 2

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.

In addition, the SLA7070MPRT series is improved in its

reliability by preventing the IC from damage due to abnor-

mal 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.

All the SLA7070MPRT series ICs are compatible in their

pin layouts and interface specifications, allowing custom-

ers 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

Figure 1. SLA7070MPRT packages are fully molded ZIPs with an

exposed pad for heatsink mounting.

The SLA7070MMPR series product variants and optional features

Part Number Stepping

Rate

Output Current

(IOUT)

(A)

Input Clock

Edge Detection

Blanking Time

(µs)

Standard Standard

SLA7070MPRT

Full and

half step

Rising (positive)

edge 3.2

SLA7071MPRT 1.5

SLA7072MPRT 2

SLA7073MPRT 3

SLA7075MPRT

Microstep

Rising (positive)

edge 1.7

SLA7076MPRT 1.5

SLA7077MPRT 2

SLA7078MPRT 3

• 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

Applications

• LBPs, PPCs, ATMs, industrial robots, and so forth

January 10, 2013

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

Table of Contents

Specifications 3

Functional Block Diagrams 3

Pin Descriptions 3

Package Outline Drawing 5

Electrical Characteristics 6

Allowable Power Dissipation 10

Typical Application 11

Device Logic 12

Pin Logic and Timing 12

Common Input Pins 12

Monitor Output Pin 12

Logic Input Pins 13

Clock Edge Timing 13

Reset Release and Clock Input Timing 13

Logic Level Change 13

Stepping Sequence Diagrams 14

Motor Excitation Sequencing 21

Individual Circuit Descriptions 22

Monolithic IC (MIC) 22

Output MOSFET Chip 22

Sense Resistor 22

Functional Description 23

PWM Current Control 23

Blanking Time 23

PWM Off-Time 26

Protection Functions 27

Application Information 29

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

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

Functional Block Diagrams

SLA7070MPRT to SLA7073MPRT: Full and Half step

Sequencer

and

Sleep Circuit

Synchro

Control

PWM

Control

OSC

Comp

DAC

Pre-

Driver

PWM

Control

OSC

DAC

Pre-

Driver

MIC

SLA707xMPRT

Reg.

OutA

OutB

Ref/Sleep1

Flag

N.C.

CW/CCW

Clock

Reset

SenseBSenseA

GndSync

Rs Rs

1 2 3 4

6 7 8 9 10 11

1314 1516

20 21 22 23

Protect Protect

TSD

Comp

Pin Number. Symbol Function

1, 2 OutA Output of phase A

3, 4 ¯

¯Output of phase A

5 SenseA Phase A current sensing

6 N.C. No connection

7 M1

Commutation and Sleep2 setting8 M2

9 M3

10 Clock Step clock input

11 VBB Main power supply (for motor)

12 Gnd Ground

13 Ref/Sleep1 Input for control current and Sleep1 setting

14 VDD Power supply to logic

15 Reset Reset for internal logic

16 CW/CCW Forward/reverse switch input

17 Sync Synchronous PWM control switch input

18 Flag Output from protection circuits monitor

19 SenseB Phase B current sensing

20, 21 ¯

¯Output of phase B

22, 23 OutB Output of phase B

1357911 13 15 17 19 21 23

2 4 6 8 10 12 14 16 18 20 22

Pad Side

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

Sequencer

and

Sleep Circuit

Synchro

Control

PWM

Control

OSC

DAC

Pre-

Driver

PWM

Control

OSC

DAC

Pre-

Driver

Reg.

OutA

OutB

Ref/Sleep1

Flag

Clock

Reset

SenseBSenseA

GndSync

Rs Rs

1 2 3 4

6 7 8 9 10 11

1314 1516

20 21 22 23

Protect Protect

TSD

CW/CCW

Comp Comp

MIC

SLA707xMPRT

SLA7075MPRT to SLA7078MPRT: Microstep

Pin Number. Symbol Function

1, 2 OutA Output of phase A

3, 4 ¯

¯Output of phase A

5 SenseA Phase A current sensing

6 MO2-phase commutation status monitor output

7 M1

Commutation and Sleep2 setting8 M2

9 M3

10 Clock Step clock input

11 VBB Main power supply (for motor)

12 Gnd Ground

13 Ref/Sleep1 Input for control current and Sleep1 setting

14 VDD Power supply to logic

15 Reset Reset for internal logic

16 CW/CCW Forward/reverse switch input

17 Sync Synchronous PWM control switch input

18 Flag Output from protection circuits monitor

19 SenseB Phase B current sensing

20, 21 ¯

¯Output of phase A

22, 23 OutB Output of phase B

1357911 13 15 17 19 21 23

2 4 6 8 10 12 14 16 18 20 22

Pad Side

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

Leadframe plating Pb-free. Device composition

includes high-temperature solder (Pb >85%),

which is exempted from the RoHS directive.

1.7 ±0.1

4.8 ±0.2

16.4 ±0.2

31 ±0.2

24.4 ±0.2

φ3.2 ±0.15

12.9 ±0.2

0.65 +0.2

-0.1

16 ±0.2

9.9 ±0.2

4-(R1)

5 ±0.5

0.55+0.2

-0.1

0.55+1

-0.5

4.5

22 × P1.27±0.5 = 27.94±1

±0.7

R-end

31.3 ±0.2

1234 10

115 678912

(Includes Mold Flash)

2.45 ±0.2

(Measured at

Base of Pins)

(Measured at Pin Tips)

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)

(Measured at

Pin Tips)

(Heatsink Pad)

Gate Flash

Japan

(4.3)

φ3.2 ±0.15 x 3.8

Package Outline Drawing, SLA 23-Pin

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

Recommended Operating Conditions Unless specifically noted, TAis 25°C

Characteristic Symbol Test Conditions Min. Typ. Max. Unit

Load (Motor Supply) Voltage VM– – 44 V

Main Power Supply Voltage VBB 10 – 44 V

Logic Supply Voltage VDD

Surge voltage at VDD pin should

be less than ±0.5 V to avoid

malfunctioning in operation

3.0 – 5.5 V

Case Temperature TcMeasured at pin 12, without

heatsink – – 90 °C

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, TAis 25°C

Characteristic Symbol Notes Rating Unit

Load (Motor Supply) Voltage VM46 V

Main Power Supply Voltage VBB 46 V

Logic Supply Voltage VDD

6 V

≤1μs(5%duty) 7 V

Output Current IO

SLA7070MPRT

SLA7075MPRT

Control current value

1.0 A

SLA7071MPRT

SLA7076MPRT 1.5 A

SLA7072MPRT

SLA7077MPRT 2.0 A

SLA7073MPRT

SLA7078MPRT 3.0 A

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 ±2 V

Power Dissipation PDWithout heatsink 4.7 W

Junction Temperature TJ150 °C

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

Electrical Characteristics Common to All Variants Unless specifically noted, TAis 25°C

Characteristic Symbol Test Conditions Min. Typ. Max. Unit

Main Power Supply Current IBB Normal mode – – 15 mA

IBBS Sleep1 and Sleep2 mode – – 100 μA

Logic Power Current IDD – – 5 mA

MOSFET Breakdown Voltage VDSS VBB = 44 V, ID = 1 mA 100 – – V

Maximum Response Frequency fclk Clockduty=50% 250 – – KHz

Logic Supply Voltage VIL – – 0.25× VDD V

VIH 0.75× VDD – – V

Logic Supply Current IIL – ±1 – μA

IIH – ±1 – μA

REF Input Voltage1VREF See figure 1 – – – V

VREFS Output off, Sleep1 mode 2.0 – VDD V

REF Input Current IREF – ±10 – μA

SENSE Voltage VSENSE VREF = 0 to 1.5 V

Stepreferencecurrentratio:100%

VREF –

0.03 –VREF –

0.03 V

Sleep to Enable Recovery Time tSE Sleep1 and Sleep2 100 – – μs

Switching Time tcon Clock edge to output on – 2.0 – μs

tcoff Clock edge to output off – 1.5 – μs

Overcurrent Detection Voltage2VOCP At motor coil short-circuit 0.65 0.7 0.75 V

Overcurrent Detection Current

(VOCP / RS

)IOCP

SLA7070MPRT, SLA7075MPRT,

SLA7071MPRT, SLA7076MPRT – 2.3 – A

SLA7072MPRT, SLA7077MPRT – 3.5 – A

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

Flag Output Voltage

VFlagL IFlagL = 1.25 mA – – 1.25 V

VFlagH IFlagH = –1.25 mA VDD –

1.25 – – V

Flag Output Current IFlagL – – 1.25 mA

IFlagH –1.25 – – mA

1In a state of: Sleep1, IBBS, output off, and Sequencer enabled.

2In a condition of VSENSE ≥VOCP , the protection circuit will activate.

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

Electrical Characteristics Varying with Stepping Sequence Unless specifically noted, TAis 25°C, VBB = 24 V, VDD = 5 V

SLA7070MPRT, SLA7071MPRT, SLA7072MPRT, and SLA7073MPRT (Full- and Half-Stepping)

Characteristic Symbol Test Conditions Min. Typ. Max. Unit

Step Reference Current Ratio Mode F VREF≈VSENSE = 100 V,

VREF = 0 to 1.0 V

– 100 – %

Mode 8 – 70 – %

PWM Minimum On-Time ton(min) – 3.2 – µs

PWM Off-Time toff – 12 – µs

SLA7075MPRT, SLA7076MPRT, SLA7077MPRT, and SLA7078MPRT (Microstepping)

Step Reference Current Ratio

Mode F

VREF≈VSENSE = 100 V,

VREF = 0 to 1.0 V

– 100 – %

Mode E – 98.1 – %

Mode D – 95.7 – %

Mode C – 92.4 – %

Mode B – 88.2 – %

Mode A – 83.1 – %

Mode 9 – 77.3 – %

Mode 8 – 70.7 – %

Mode 7 – 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 – %

MO(Load) Output Voltage VMOL IMOL = 1.25 mA – – 1.25 V

VMOH IMOH = –1.25 mA VDD – 1.25 – – V

MO(Load) Output Current IMOL – – 1.25 mA

IMOH –1.25 – – mA

PWM Minimum On-Time ton(min) – 1.7 – µs

PWM Off-Time

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.

SLA7070MPRT-AN, Rev. 2

Electrical Characteristics Varying with Output Current Range Unless specifically noted, TAis 25°C, VBB = 24 V, VDD = 5 V

SLA7070MPRT and SLA7075MPRT (IO= 1.0 A)

Characteristic Symbol Test Conditions Min. Typ. Max. Unit

Output On-Resistance RDS(on) ID = 1 A – 0.7 0.85 Ω

Body Diode Forward Voltage VfIf= 1 A – 0.85 1.1 V

Sense Resistor* RS±3%tolerance 0.296 0.305 0.314 Ω

REF Input Voltage VREF Within specified current limit, IO= 1.0 A 0.04 – 0.3 V

SLA7071MPRT and SLA7076MPRT (IO= 1.5 A)

Output On-Resistance RDS(on) ID = 1.5 A – 0.45 0.6 Ω

Body Diode Forward Voltage VfIf= 1.5 A – 1.0 1.25 V

Sense Resistor* RS±3%tolerance 0.296 0.305 0.314 Ω

REF Input Voltage VREF Within specified current limit, IO= 1.5 A 0.04 – 0.45 V

SLA7072MPRT and SLA7077MPRT (IO= 2.0 A) Electrical Characteristics

Output On-Resistance RDS(on) ID = 2 A – 0.25 0.4 Ω

Body Diode Forward Voltage VfIf= 2 A – 0.95 1.2 V

Sense Resistor* RS±3%tolerance 0.199 0.205 0.211 Ω

REF Input Voltage VREF Within specified current limit, IO= 2.0 A 0.04 – 0.4 V

SLA7073MPRT and SLA7078MPRT (IO= 3.0 A) Electrical Characteristics

Output On-Resistance RDS(on) ID = 3 A – 0.18 0.24 Ω

Body Diode Forward Voltage VfIf= 3 A – 0.95 2.1 V

Sense Resistor* RS±3%tolerance 0.150 0.155 0.160 Ω

REF Input Voltage VREF Within specified current limit, IO= 3.0 A 0.04 – 0.45 V

*Includestheinherentbulkresistance(approximately5mΩ)oftheresistoritself.

SANKEN ELECTRIC CO., LTD.

SLA7070MPRT-AN, Rev. 2

OCP= 0.7 V

0.3V

VDD

2.0V

Sleep

Prohibition Zone

1 Set Range

0.4V

0.45V

1.0 A

Devices

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 change-

over time is too slow, OCP operation will start when VSInt > VOCP.

Rθj-a

26.6℃/W

0 10 20 30 40 50 60 70 80 90

Ambient Temperature, T

[℃]

Allowable Power Dissipation, P

D[W]

Figure 2. Allowable Power Dissipation

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