SLA7024 - Micromouse Online

OUTAOFF DELAYAREFERENCE AGROUND AIN AOUT ASENSEACNTRL SPLYSENSE BOUT BOFF DELAY BGROUND BREFERENCE BIN BOUT B1 2 3 4 5 6 7 8 9 10 11 12 13 14 15SMA7029MV REFV CC+V REFABSOLUTE MAXIMUM RATINGSat T A= +25°CLoad Supply Voltage, V BB . . . . . . . . . . . . 46 VFET Output Voltage, V DS . . . . . . . . . . . 100 VControl Supply Voltage, V CC . . . . . . . . . . 46 VPeak Output Current, I OUTM (t w ≤ 100 µs)SLA7024M . . . . . . . . . . . . . . . . . . . . . 3.0 ASLA7026M . . . . . . . . . . . . . . . . . . . . . 5.0 ASMA7029M . . . . . . . . . . . . . . . . . . . . 3.0 AContinuous Output Current, I OUTSLA7024M . . . . . . . . . . . . . . . . . . . . . 1.5 ASLA7026M . . . . . . . . . . . . . . . . . . . . . 3.0 ASMA7029M . . . . . . . . . . . . . . . . . . . . 1.5 AInput Voltage Range, V IN . . . . -0.3 V to 7.0 VReference Voltage, V REF . . . . . . . . . . . 2.0 VPackage Power Dissipation, P D. See GraphJunction Temperature, T J . . . . . . . . . +150°COperating Temperature Range,T A . . . . . . . . . . . . . . . . . . . . -20°C to +85°CStorage Temperature Range,T stg . . . . . . . . . . . . . . . . . . -40°C to +150°C+HIGH-CURRENT PWM, UNIPOLAR STEPPERMOTOR CONTROLLER/DRIVERSCONTROL/LOGICCONTROL/LOGICDwg. PK-007SLA7024M, SLA7026M,AND SMA7029MThe 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 advancespower multi-chip modules (PMCMs) toward the completeintegration of motion control. Highly automated manufacturing techniquesprovide 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 networks.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/ModuleOperationAlways order by complete part number:■ 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 PackagePart Number Package Output CurrentSLA7024M 18-Lead Power-Tab SIP 1.5 ASLA7026M 18-Lead Power-Tab SIP 3.0 ASMA7029M 15-Lead SIP 1.5 AData Sheet28201

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSSLA7024M and SLA7026M FUNCTIONAL BLOCK DIAGRAMCONTROLSUPPLY IN A/BOUT A/BOUT A/B7 6 51217 16818111REG.REFERENCE314++13V CCIN A/BSENSE15 10OFF-TIMEDELAY2 4GROUNDCHANNEL A PIN NUMBERS9CHANNEL B PIN NUMBERSDwg. FK-005Note that channels A and B are electrically isolated.SMA7029M FUNCTIONAL BLOCK DIAGRAMCONTROLSUPPLY IN A/BOUT A/BOUT A/B8 5814V CC110615REG.REFERENCE313++12 9Note that except for the control supply, channels A and B are electrically isolated.11OFF-TIMEDELAY2 4GROUNDCHANNEL A PIN NUMBERSCHANNEL B PIN NUMBERS7SENSEDwg. FK-005-1115 Northeast Cutoff, Box 15036Worcester, Massachusetts 01615-0036 (508) 853-5000Copyright © 1994 Allegro MicroSystems, Inc.

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSALLOWABLE PACKAGEPOWER DISSIPATIONSLA7024M and SLA7026MALLOWABLE PACKAGE POWER DISSIPATION in WATTS252015105025PREFIX 'SLA'R θJM = 5.0°C/WPREFIX 'SMA'R θJM = 6.0°C/WPREFIX 'SLA'R θJA = 28°C/WPREFIX 'SMA'R θJA = 31°C/W50 75 100 125 150TEMPERATURE in °CDwg. GK-018+VREFREFERENCE AGROUND AIN AIN ACNTRL SPLY A VCCOUT ASENSEASENSE BOUT BCNTRL SPLY BVCCOFF DELAY BVREF1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18OUT AOFF DELAY ACONTROL/LOGICCONTROL/LOGIC+REFERENCE BGROUND BIN BIN BOUT BDwg. PK-006ELECTRICAL CHARACTERISTICS at T A= +25°CLimitsCharacteristic Symbol Test Conditions Min Typ Max UnitsFET Leakage Current I DSSV DS= 100 V, V CC= 44 V — — 4.0 mAFET ON Voltage V DS(ON)(SLA7024M & SMA7029M) V CC= 14 V, I OUT= 1 A — — 600 mV(SLA7026M) V CC= 14 V, I OUT= 3 A — — 850 mVFET ON Resistance r DS(on)(SLA7024M & SMA7029M) V CC= 14 V, I OUT= 1 A — — 600 mΩ(SLA7026M) V CC= 14 V, I OUT= 3 A — — 285 mΩBody Diode V SD(SLA7024M & SMA7029M) I OUT= –1 A — 0.9 1.5 VForward Voltage (SLA7026M) I OUT= –3 A — 0.9 1.6 VControl Supply Voltage V CCOperating 10 24 44 VControl Supply Current I CCV CC= 44 V — 10 15 mAInput Current I IN(H)V CC= 44 V, V IN= 2.4 V — — 40 µAI IN(L)V IN= 0.4 V — — -800 µAInput Voltage V IN(H)2.0 — — VV IN(L)— — 0.8 VNOTE: Negative current is defined as coming out of (sourcing) the specified device pin.

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSTYPICAL STEPPER MOTOR APPLICATIONS(Half of Each Device Shown)SLA7024M and SLA7026MV BBAIN B IN B11A121716OUTB18OUTBV CCV b+5 VREG.R 510 Ω1TOCHANNELAR 100 Ω22.4 kΩR5V REF14++t d313SENSE15 10+5 V47 kΩ 470 pFR3C1C 2200 pF RS≤1 ΩWAVE DRIVE (FULL STEP)for SLA7024M and SLA7026MSequence 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 ADwg. EK-008TRUTH TABLES(Device Types as Designated)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 ABHALF-STEP OPERATION (2-1-2 SEQUENCE)for SLA7024M, SLA7026M, and SMA7029MSequence 0 1 2 3 4 5 6 7 0Input A H H L L L L L H HInput A or t dA * L L L H H H L L LInput B L H H H L L L L LInput B or t dB * L L L L L H H H LOutput(s) ON A AB B A B A AB B A B A*Logic signals to external open-collector inverter connected to t dAand t dB.115 Northeast Cutoff, Box 15036Worcester, Massachusetts 01615-0036 (508) 853-5000

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSTYPICAL STEPPER MOTOR APPLICATIONS(Half of Device Shown)SMA7029MV BBAIN BA814OUTB1015OUTBV CCV b+5 VREG.R 510 Ω1TOCHANNELAR2100 Ω2.4 kΩR5V REF13++11SENSE12 9+5 VR3OPEN-COLLECTORINVERTER47 kΩt d3C 1470 pF C 2200 pF R≤1 SΩDwg. EK-008-1TRUTH TABLES(SMA7029M Only)WAVE DRIVE (FULL STEP) for SMA7029MSequence 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 LOutput ON A B A B A*Logic signals to external open-collector inverter connected to t dAand t dB.2- PHASE (FULL STEP) OPERATIONfor SMA7029MSequence 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

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSAPPLICATIONS INFORMATIONREGULATING THE PWM OUTPUT CURRENTThe output current (and motor coil current) waveform is illustrated inFigure 1. Setting the PWM current trip point requires various externalcomponents:V b= Reference supply (typically 5 V)R 1, R 2= Voltage-divider resistors in the reference supply circuitR S= Current sensing resistor(s)NOTE: The maximum allowable V REFinput voltage is 2.0 V.The voltage-divider must be selected accordingly.Normal PWM (Full-Current/Running) ModeI OUTis set to meet the specified running current for the motor (Figure 2)and is determined by:I OUT≈V REF(1)R Sor, if V REFis not knownI OUT≈R 2•R 1+ R 2V b(2)R SPHASE AI OUT0PHASE ADwg. WK-001FIGURE 1. PHASE A COIL CURRENT WAVEFORMV bVCCINPUTV BBBR 2RR 31C 1R 5VREFPEAKCURRENTDETECTORC 3t dPWMOFF-TIMECONTROLCONTROLLOGICAACURRENTCONTROL&RECIRCULATINGCURRENTCONTROLSENSEBRSDwg. EK-009FIGURE 2. PWM CONTROL (RUN MODE)115 Northeast Cutoff, Box 15036Worcester, Massachusetts 01615-0036 (508) 853-5000

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSFor given values of R 1, R 2, and V b(V REF≈ 0.82 V), Figure 3 illustratesoutput current as a function of current-sensing resistance (R S).3.0SLA7026M MAX.OUTPUT TRIP CURRENT in AMPERES2.52.01.51.00.5SLA7024M & SMA7029M MAX.R1 = 510 ΩR2 = 100 ΩRX = ∞Vb = 5 V00 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0CURRENT-SENSING RESISTANCE in OHMSDwg. GK-014FIGURE 3. CURRENT-SENSING RESISTANCEReduced/Holding Current ModeAdditional circuitry (Figure 4) enables reducing motor current. Theexternal transistor changes the voltage-divider ratio, V REF, and reduces theoutput current. I HOLDis determined by resistors R 2and R Xin parallel:R 2R XI HOLD≈R 1R 2+ R 1R X+ R 2R XV b•(3)R SorR 2’I HOLD≈R 1+ R 2’V b•(4)R Swhere R 2’ = the equivalent value of R 2and R Xin parallel.V bR 1R 2R XV REFR 5C 3HOLDSENSER SDwg. EK-010FIGURE 4. HOLD CURRENT MODE

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSFor given values of R 1, R 2, and V b(V REF≈ 0.82 V), Figures 5A and 5Billustrate output holding current as a function of R Xfor two values of currentsensingresistance (R S).1.0RS = 0.8 ΩOUTPUT TRIP CURRENT in AMPERES0.80.60.40.2RS = 1.0 ΩR1 = 510 ΩR2 = 100 ΩVb = 5 V00 100 200 300 400 500 600HOLDING-CURRENT RESISTANCE in OHMS3.0FIGURE 5A. HOLD-CURRENT RESISTANCE(SLA7024M and SMA7029M)Dwg. GK-015R1 = 510 Ω2.5R2 = 100 ΩOUTPUT TRIP CURRENT in AMPERES2.01.51.0Vb = 5 VRS = 0.33 ΩRS = 0.47 Ω0.500 100 200 300 400 500 600 700 800HOLDING-CURRENT RESISTANCE in OHMSDwg. GK-015-1FIGURE 5B. HOLD-CURRENT RESISTANCE (SLA7026M)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.The MOSFET outputs create ringing noise with PWM, but the RC filterprecludes malfunctions. The comparator operation is affected by R 5and C 3and, thus, current overshoot is influenced by component values. Empiricaladjustment to “fine-tune” the current limit is likely.115 Northeast Cutoff, Box 15036Worcester, Massachusetts 01615-0036 (508) 853-5000

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSDETERMINING THE MOTOR PWM FREQUENCYThe modules function asynchronously, with PWM OFF time fixed by R 3and C 1at input t d. The OFF time can be calculated as:t OFF≈ -R 3• C 1• log n(1 - 2 ) (5)V bRecommended circuit constants and t OFFare:V b= 5 VR 3= 47 kΩC 1= 470 pFt OFF= 12 µs50ON TIME in µs40302010RS = 1 ΩL/R = 1 to 3 msVCC = 36 VVCC = 24 V2025303540CHOPPING FREQUENCY in kHz00 2 4 6 8 10 12 14MOTOR RESISTANCE in OHMSDwg. GK-016FIGURE 7.PWM FREQUENCY vs MOTOR RESISTANCEPOWER DISSIPATION CALCULATIONSExcepting high-current applications utilizing the SLA7026M aboveapproximately 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 (I OUT2• r DS(on)or I OUT• V DS(ON)),(b) FET body diode power dissipation (V SD• I OUT), and(c) control circuit power dissipation (V CC• I CC).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 (I OUT2• r DS(on)) + 0.5 (V SD• I OUT) + (V CC• 15 mA)Half-Step = 0.75 (I OUT2• r DS(on)) + 0.75 (V SD• I OUT) + (V CC• 15 mA)2-Phase = (I OUT2• r DS(on)) + (V SD• I OUT) + (V CC• 15 mA)

SLA7024M, SLA7026M, AND SMA7029MHIGH-CURRENT PWM,UNIPOLAR STEPPER MOTORCONTROLLER/DRIVERSSMA7029MDimensions in Inches(for reference only)1.24 MAX.1.22 ±0.0080.157±0.0080.098±0.0080.402±0.0080.335MAX.30°0.057±0.0060.264±0.0200.1181 150.022 +0.008–0.0040.026 +0.008–0.0040.080±0.0040.157±0.028Dwg. MK-005-15 inDimensions in Millimeters(controlling dimensions)31.5 MAX.31±0.24.0±0.22.5±0.210.2±0.28.5MAX.30°1.45±0.156.7±0.53.01 150.65 +0.2–0.12.03±0.10.55 +0.2–0.14.0±0.7Dwg. MK-005-15 mmNOTE: Exact body and lead configuration at vendor’s option within limits shown.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.115 Northeast Cutoff, Box 15036Worcester, Massachusetts 01615-0036 (508) 853-5000