FULL-BRIDGE PWM MOTOR DRIVERS

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NC V,&RAKE RC (TMNG) PHASE OUTPUT ENABLE (ACTVE LOW) UDN2953B K OUTS A SENSE OUT, V BB Dwg. No.

continuous output currents to 2 A and peak start-up currents as high as 3.5 A.

characterized by maximum effic dissipation levels. Extensive intern shutdown with hysteresis, transien current protection. turned ON.

The UDN2954W, ipation requirements, is supplied in a package. n any package style, the and needs no insulation.

>% Thermal Shutdown H Crossover Current Protection w BRAKE, ENABLE, and Current-Limit Functions Minimum Clamp Diode Yolt&$e, V,....~?

1 NC V,&RAKE RC (TMNG) PHASE OUTPUT ENABLE (ACTVE LOW) UDN2953B K OUTS A SENSE OUT, V BB Dwg. No. A-l 3,024 FULL-BRDGE PWM MOTOR DRVERS The UDN2953B and UDN2954W are designed for bidirectional control of dc or stepper motors with continuous output currents to 2 A and peak start-up currents as high as 3.5 A. For pulse-width modulated (chopped-mode) o user s selection of OFF pulse duration is set by an external RC operation is characterized by maximum effic dissipation levels. Extensive intern shutdown with hysteresis, transien current protection. turned ON. When abs. The lead configuration ink while fitting a standard inte- Waring board layout. The UDN2954W, ipation requirements, is supplied in a package. n any package style, the and needs no insulation., i rnal Flyback Diodes $.>% Thermal Shutdown H Crossover Current Protection w BRAKE, ENABLE, and Current-Limit Functions Minimum Clamp Diode Yolt&$e, V,....~?.,;... Ground Logic Supply V.&&ge, Vcc V Logic nput Voltage, V PHASE VBB Sense Voltage, VsENSE V Reference Voltage, V,,,/BRAKE V Package Power Dissipation, P, See Graphs Operating Temperature Range, T, C to +85 C Storage Temperature Range, T, C to +15O C Always order by complete part number: Eff,

FUNCTONAL BLOCK DAGRAM (ACTVE LCYvVJ = 29538 (DP) = 2954w (SP) 25 50 75 100 125 150 TEMPERATURE N C Dwg. GP-01 OB UDN2954W Dwg. No.

GP-012A OUT, K %0 V,,,/BRAKE RC(TMNG) - rv w x 0 EEED TRUTH TABLE output Enable Phase V&BRAKE Out, Low High > 2.4 V Low Low > 2.4 V High X > 2.

2 FUNCTONAL BLOCK DAGRAM (ACTVE LCYvVJ = (DP) = 2954w (SP) TEMPERATURE N C Dwg. GP-01 OB UDN2954W Dwg. No. A-l 3,028 UDN2954W TEMPERATURE N C Dwg. GP-012A OUT, K %0 V,,,/BRAKE RC(TMNG) - rv w x 0 EEED TRUTH TABLE output Enable Phase V&BRAKE Out, Low High > 2.4 V Low Low > 2.4 V High X > 2.4 V X X < 0.8 V X = rrelevant Out, High Low Low High Open Open High High Vcc PHASE OUTPUT ENABLE OUT, Northeast Cutoff, Box Worcester, Massachusetts (508) Copyright , 1993 Allegro Microsystems, inc.

3 ELECTRCAL CHARACTERSTCS at T, = +25 C, TJ +15O"C, VBB = 50 V, V,, = 5 V, V SENSE = 0 V, RC = 20 k&j/470 pf to Ground. Characteristic Symbol Test Conditions Min. Output Drivers (OUT, or OUT,) Limits TYP- Max. 1 Units 1 Output Supply Range V BB V Output Leakage Current CEX V = 5 V, VouT = V,,, (note) ENABLE PA = 5 v, VOUT = 0 V, (note) PA Output Sustaining Voltage V CE(sus) OUT = k2 A, L = 2 mh V Output Saturation Voltage V CE(SAT) = 0 V, out = +0.5 A V = 0 V, out = +l.o A V =OV, lout=&2.0a V 1 Clamp Diode Leakage Current 1, 1 V,= 50 V PA 1 Clamp Diode Forward Voltage 1 V, 1, = 2 A V Motor Supply Current BB(ON) V = 0.8 V, V,,, = 2.4 V, No Load ENABLE ma BB(OFF) = V,,, = 2.4 V, No Load ma V = 5 V, V,,, = 0.8 V, No Load ENABLE ma Control Logic Logic Supply Range V cc V Logic nput Current Logic nput Voltage V nef Open-Circuit Voltage Current Limit Threshold 1 Turn-On Delay Turn-Off Delay Thermal Shutdown Temp. Logic Supply Current N(l) All nputs = 2.4 V - <-.o -10 PA N(O) All nputs = 0.8 V PA V N(l) All nputs V V N(O) All nputs V = REF 0 - v,,/2 - V VREF/VSENSE at Trip Point t All Drivers - on PS All Drivers - l. u V REF(OPEN) t off T.J cc = V,,, = 2.4 V = 0.8 V, V,,, = 2.4 V NOTE: Tests performed at OUT, with VPHASE = 0.8 V and at OUT, with VPHASE = 2.4 V ma

4 APPLCATONS NFORMATON The UDN2953B and UDN2954W full-bridge motion control Cs are designed for pulse-width-modulated (PWM ) bidirectional interface to many types of dc (brush) servo, brushless dc, and 2-phase stepper motors. These power Cs permit various techniques of direct motor interface and offer internally and externally programmed current control. Pulse-width-modulated output current can be regulated by an (external) PWM control signal or use of an external sensing resistor (Rs~,,rs~) in combination with an RC network and/or voltage reference. TYPCAL APPLCATON UDN2953B +36 The output current trip point or sense resistor formulas are: TRP = RSENSE = VREF 10 RSENSE VREF 10 TRP The allowable reference voltage range is from 2.4 V to 15 V. f unconnected, the reference input (VREF) defaults to Vcc/2 (refer to Figure 1) and TRP = 0.5 A (per typical application where Rs = 0.5 a). PHASE ENABLE (ACTVE LOW) NOTE: Pin 3 must be connected to an RC network as shown, or to VCC. t must NOT be left unconnected. Dwg. No. A-12,649B When the motor current attains the specified design value, the internal comparator triggers the monostable ( one-shot ) multivibrator, which disables (switches OFF) the sink (lower) output. The actual load current may vary slightly, and the difference is (chiefly) related to the circuit propagation delays between comparator (trip point) command and power output switching. Applications involving very-low inductance windings may necessitate specific consideration; typical circuit delays (td) are about 2,us. After the sink ( low-side ) output is switched OFF, motor current starts to decay, and the circulation path is through the ON source (upper) drive output and the flyback diode protecting the sink (lower) output. The output OFF interval is set by an external RC timing network connected to the monostable. The magnitude of the current decay is directly related to the OFF period and the duration should allow the current level to drop below the trip point before reactivating the sink output. This ON-OFF PWM cycle repeats, sustaining the desired average current to the motor winding, and continues free-running until a new input command switches the output state. The RC network values range from 20 ksz to 100 kq for resistors, and capacitor values from 200 pf to 500 pf. The parallel RC network establishes the tofr interval and directly affects the decaying motor current. nternal timing circuitry is an alternative to the external RC timing network. However, with internal timing the logic supply current rises approximately 6 ma. Connecting the RC input to the logic supply activates internal circuitry; torf = 12 us with Vcc = +5 V and TA = +25 C, and increases with temperature. The sink (lower) output is repeatedly re-enabled until the motor is reversed, braked, or stopped. Current control via pulse modulating the lower outputs is based on the dynamic characteristics of the much faster NPN Darlington outputs. Another method of controlling motor current involves external circuitry to pulse modulate the OUTPUT ENABLE pin. Switching (toggling) the OUTPUT ENABLE affects both the sink (low-side) and upper (high-side) outputs. Both lower and upper transientprotection diodes conduct during the OFF interval. This method of operation produces very rapid current decay. The sink driver parallel diodes (common anode pin) are connected to ground; the source output flyback diodes (common cathode pin) are connected to the motor supply (Vss). The RC input pin is to be terminated to ground through 20 ka (minimum). The motor is braked by simultaneously activating both source driver outputs and disabling both sink outputs. Basically, this shorts both terminals of the motor winding to the supply. The back EMF (electromotive force) of the motor develops current which functions as a dynamic brake. Typically, the braking current approaches the values related to a locked rotor (or stall) condition. Fundamentally, locked rotor (or stall) current is dependent upon the motor winding impedance and driver output ON characteristics. nternal current control circuitry is not operational during braking. Therefore, designers should exercise caution to ensure that the current produced by the back EMF does not exceed the absolute maximum ratings of the power outputs. 115 Northeast Cutoff, Box Worcester, Massachusetts (508)

5 V REF/O Figure 1 v cc 50K 1 45K 1 n bidirectional drive applications, especially dc (brush) servos, the PHASE input is utilized for direction control. The current generated by back EMF at reversal is comparable to that of dynamic braking, and should be limited to the absolute maximum output current rating. An internally generated deadtime (approximately 3 ps) precludes the high crossover (or shoot-through ) currents associated with momentary, overlapping conduction of both upper and lower outputs. This very abrupt, coincident-on mode occurs with change of direction (PHASE reversal) and/or dynamic braking. - PHASE Figure 2 Dwg. No. A-l 3,025 ntegrated thermal shutdown protection circuitry switches OFF all power outputs should the junction temperature exceed +165 C (typical). The thermal protection is designed to avoid power C failures stemming from extreme, excessive junction heating. Thermal shutdown self protection does not afford a proper safeguard from shorted load and/or shorted output conditions, and should not be operated as such. The thermal selfprotection circuitry has a (typical) hysteresis of 8 C. CROSSOVER - CURRENT DELAY The printed wiring board should utilize a large, heavy ground plane. To optimize power C performance, the package should be soldered directly into the circuit board. The ground side of Rs should have an individual path to the ground terminal(s) of the device. Also, the load supply (VBB) should be closely decoupled with an electrolytic capacitor of between O PF and 100 PF (typically 247 PF) depending on printed wiring board layout. td -+- bff -4 Dwg. WM CURRENT CONTROL OPTONS Circuit Terminal 1 Control Option V&BRAKE RC (TMNG) VSENSE 1 OUTPUT ENABLE 1 No PWM VCC or High 220 kq to Ground Ground PWM with nternal Timing VCC or High kc RSENSE Low 1 PWM with External Timing 2.4Vor15V*orVcc kq/ pf 1 TENSE Low External PWM VCC or High 220 kq to Ground RSENSEt Togglet * Programmed reference, i.e., A/D converter. t Primarily, closed-loop speed and/or current control applications. TRP can be peak (or default) limit for protecting motor and/or driver C. Low

UDN2953B Dimensions in nches 0.280 0.240 NOTE 1 Dwg. MA-001-17 in Dimensions in Millimeters (Based on 1" = 25.4 mm) W 7.1 1 6.10 Dwg. MA-001-17 mm NOTES: 1.

6 UDN2953B Dimensions in nches NOTE 1 Dwg. MA in Dimensions in Millimeters (Based on 1" = 25.4 mm) W Dwg. MA mm NOTES: 1. Leads 1, 8, 9, and 16 may be half leads at vendor s option. 2. Webbed lead frame. Leads indicated are internally one piece. 3. Lead thickness is measured at seating plane or below. 4. Lead spacing tolerance is non-cumulative. 5. Exact body and lead configuration at vendor s option within limits shown. 115 Northeast Cutoff, Box Worcester, Massachusetts (508)

UDN2954W Dimensions in nches c 0.055 0.04 5 0.065 0.03 5 NOEX AREA- -- 0.365 A - L)lO 0.570 : 0.

080 +0D70 - Dimensions in Millimeters (Based on 1" = 25.4 mm) 32.00 0.51 - -z E, 4-4. 1 4-3.56 MAX.

Lead thickness is measured at seating plane or below. 2. Lead spacing tolerance is non-cumulative.

7 UDN2954W Dimensions in nches c NOEX AREA A - L)lO : : c MN o -+ i,t ,100 - Dwg. No. A-l 3,652 in D70 - Dimensions in Millimeters (Based on 1" = 25.4 mm) z E, MAX NDEX AREA- -f m i-73 Dwg. No. A-13,652 mm NOTES: 1. Lead thickness is measured at seating plane or below. 2. Lead spacing tolerance is non-cumulative Exact body and lead configuration at vendor s option within limits shown 4. Lead gauge plane is (0.762 mm) below seating plane.

8 MOTOR DRVERS SELECTON GUDE NTEGRATED CRCUTS FOR BRUSHLESS DC MOTORS 3-Phase Controller/Drivers 2-Phase Hall-Effect Sensor/Controller Hall-Effect Latched Sensors Hall-Effect Complementary Output Sensor 2-Phase Hall-Effect Sensor/Driver 2-Phase Hall-Effect Sensor/Driver Hall-Effect Comp. Output Sensor/Driver 3-Phase Back-EMF Controller/Driver 3-Phase Back-EMF Controller/Driver 3-Phase Controller/DMOS Driver 3-Phase Back-EMF Controller/Driver FULL-BRDGE DRVERS FOR DC AND BPOLAR STEPPER MOTORS PWM Current Controlled Dual Full Bridge PWM Current Controlled Dual Full Bridge PWM Current Controlled Dual Full Bridge PWM Current Controlled Full Bridges Dual Full Bridge Dual Full Bridge OTHER MOTOR DRVERS Unipolar Stepper Motor Driver Linear Servo Motor Driver Unipolar Stepper-Motor Translator/Driver Voice-Coil Motor Driver Voice-Coil Motor Driver Servo Controller System Servo Loop Compensator Voice-Coil Motor Driver Voice-Coil Motor Driver k2.0 A 45 v 2936 and ma 25 V 3235 OmA 24 v 3175 and ma 25 V ma 14v ma 26 V ma 60 V 5275 k900 ma 7v 8901 k900 ma 14v 8902 k4.0 A 14v 8925?.O A 7v k750 ma 45 v A 45 v 2917 *.5 A 45 v 2918 k2.0 A 50 v 2953and ma 40 v 2993 k2.0 A 50 v A 50 v +.O A 28 V 1.25 A 50 v +500 ma 6V +500 ma 6V - - &800 ma 16V &350 ma 7v A * Current is maximum specified test condition, voltage is maximum rating. See specification for sustaining voltage limits or over-current protection voltage Negative current is defined as coming out of (sourcing) the output. t Complete part number includes additional characters to indicate operating temperature range and package style. Allegro MicroSystems, nc. 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, nc. assumes no responsibility for its use; nor for any infringements of pa tents or other rights of third parties which may result from its use. 115 Northeast Cutoff, Box Worcester, Massachusetts (508)

PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER FEATURES

PHASE BRUSHLESS DC MOTOR CONTROLLER/DRIVER FEATURES Data Sheet 29318.20B 2936-120 Combining logic and power, the UDN2936W-120 provides commutation and drive for three-phase brushless dc motors. Each of the three outputs are rated at 45 V and ±2 A (±3 A