Sanken SLA7070MMPR Series Application Information
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Sanken SLA7070MMPR Series Application Information

Unipolar 2-phase stepper motor driver ics
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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, V
BB
normal operating range
• Logic supply voltages, V
DD
• 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
The SLA7070MMPR series product variants and optional features
Part Number
SLA7070MPRT
SLA7071MPRT
SLA7072MPRT
SLA7073MPRT
SLA7075MPRT
SLA7076MPRT
SLA7077MPRT
SLA7078MPRT
SLA7070MPRT-AN, Rev. 2
January 10, 2013
SLA7070MPRT Series Unipolar 2-Phase
: 46 V (max.), 10 to 44 V
: 3.0 to 5.5 V
Output Current
Stepping
Rate
Full and
half step
Microstep
SANKEN ELECTRIC CO., LTD.
http://www.sanken-ele.co.jp/en/
Application Information
Stepper Motor Driver ICs
Figure 1. SLA7070MPRT packages are fully molded ZIPs with an
exposed pad for heatsink mounting.
• Built-in sense resistor, R
• 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
Input Clock
Edge Detection
(I
)
OUT
(A)
Standard
1
1.5
Rising (positive)
edge
2
3
1
1.5
Rising (positive)
edge
2
3
SInt
Blanking Time
(µs)
Standard
3.2
1.7

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Summary of Contents for Sanken SLA7070MMPR Series

  • Page 1 • Full-, half-, and microstepping available (microstepping Applications options are capable of full-, half-, quarter-, eighth-, and • LBPs, PPCs, ATMs, industrial robots, and so forth sixteenth-stepping The SLA7070MMPR series product variants and optional features Input Clock Blanking Time Output Current Stepping Edge Detection (µs)

  • Page 2: Table Of Contents

    ) and Main Power Supply Voltage (V Internal Logic Circuits Reset Clock Input Chopping Synchronous Circuit Output Disable (Sleep1 and Sleep2) Circuits 31 Ref/Sleep1 Pin Logic Input Pins Thermal Design Information Characteristic Data SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 3: Specifications

    Output from protection circuits monitor SenseB Phase B current sensing ¯ O ¯ ¯ u ¯ ¯ t ¯ ¯ B ¯ Output of phase B ¯ 20, 21 22, 23 OutB Output of phase B SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 4 Output from protection circuits monitor SenseB Phase B current sensing ¯ O ¯ ¯ u ¯ ¯ t ¯ ¯ B ¯ Output of phase A ¯ 20, 21 22, 23 OutB Output of phase B SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 5: Package Outline Drawing

    3rd and 4th are date of manufacture (01 to 31) Pin Plating: Solder plating (Pb free) Leadframe plating Pb-free. Device composition includes high-temperature solder (Pb >85%), which is exempted from the RoHS directive. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 6: Electrical Characteristics

    Main Power Supply Voltage – Surge voltage at VDD pin should Logic Supply Voltage be less than ±0.5 V to avoid – malfunctioning in operation Measured at pin 12, without Case Temperature – – °C heatsink SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 7 Flag Output Current –1.25 – – FlagH In a state of: Sleep1, I , output off, and Sequencer enabled. In a condition of V ≥ V , the protection circuit will activate. SENSE SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 8 Mode 8, 9, A, B, C, D, E, and F – – µs off1 PWM Off-Time Mode 4, 5, 6, and 7 – – µs off2 Mode 1, 2, and 3 – – µs off3 SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 9 Ω DS(on) Body Diode Forward Voltage = 3 A – 0.95 Sense Resistor* ±3% tolerance 0.150 0.155 0.160 Ω REF Input Voltage Within specified current limit, I = 3.0 A 0.04 – 0.45 *Includes the inherent bulk resistance (approximately 5 mΩ) of the resistor itself. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 10: Allowable Power Dissipation

    "prohibition zone" threshold. If the change- over time is too slow, OCP operation will start when V > V SInt Rθj-a= 26. 6℃/W Ambient Temperature, T [℃] Figure 2. Allowable Power Dissipation SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 11: Typical Application

    SYNC) must be pulled up or down to VDD or ground. If 10 kΩ 0.1 μF those unused pins are left open, the device malfunctions. • Unused logic output pins (Mo, Flag) must be kept open. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 12: Device Logic

    Normal operation Logic reset CW/CCW Forward (CW) Reverse (CCW) M1, M2, M3 Commutation (Sleep2 is not included) Ref / Sleep1 Normal operation Sleep1 function Sync Non-sync PWM control Sync PWM control (Positive Edge) SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 13: Logic Input Pins

    5 µs(min) 4 µs(min) 2 µs(min) Clock 2 µs(min) 2 µs(min) 1 µs(min) 1 µs(min) CW/CCW 2 µs(min) 1 µs(min) 1 µs(min) M1, M2, M3 Figure 4. Input Signal Timing. When awakening from Sleep1 or Sleep2 mode, a delay of 100 μs or  longer before sending a Clock pulse is recommended. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 14: Stepping Sequence Diagrams

    Figure 5. Full step; for microstep and full/half step products Sequence Selection Pin Logic Mode Full Step Shows the state to which the stepping sequence progresses at the rising (positive) edge of the Clock input. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 15 Figure 6. Full step; for microstep and full/half step products Sequence Selection Pin Logic Mode Full Step High Shows the state to which the stepping sequence progresses at the rising (positive) edge of the Clock input. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 16 Figure 7. Half step; for microstep and full/half step products Sequence Selection Pin Logic Mode Half Step High 8, F Shows the state to which the stepping sequence progresses at the rising (positive) edge of the Clock input. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 17 Figure 8. Half step; for microstep and full/half step products Sequence Selection Pin Logic Mode Half Step High High Shows the state to which the stepping sequence progresses at the rising (positive) edge of the Clock input. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 18 RESET … CLOCK ８ 38.2 70.7 92.4 Figure 9. Quarter step; for microstep products Sequence Selection Pin Logic Mode Quarter High Step SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 19 Figure 10. Eighth step; for microstep products Sequence Selection Pin Logic Mode Eighth High High Step Shows the state to which the stepping sequence progresses at the rising (positive) edge of the Clock input. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 20 Figure 11. Sixteenth step; for microstep products Sequence Selection Pin Logic Mode Sixteenth High High Step Shows the state to which the stepping sequence progresses at the rising (positive) edge of the Clock input. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 21: Motor Excitation Sequencing

    B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ B ¯ – – Clockwise ∗ Sequence state is Mode 8, but step reference current ratio is Mode F. Mode F has step reference current ratio of 100%, and PWM off-time of 12 μs. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 22: Individual Circuit Descriptions

    The integrated regulator circuit is used in Regulator Circuit driving the output MOSFET gates and powering other internal Each resistance shown above includes the inherent resistance linear circuits. (approximately 5 mΩ) in the resistor itself. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 23: Functional Description

    PWM turns on. 5 µs/div 500 ns/div TRIP TRIP Figure 12. Operating waveforms on the Sensex pins during PWM chopping (circled area of left panel is shown in expanded scale in right panel) SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 24 Maximize ringing noise suppression → Large Minimum coil current Small ← Coil current waveform distortion at a → Large high rotation (mainly microstep) Figure 14. Example of a Sensex terminal waveform during hunching phenomenon SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 25 3.2 μs case has degenerated from an ideal sine wave. Blanking Time: 1.5 µs (typ) typ( Clock SenseA SenseB 500 µs /div Figure 15. Comparison of a Sense terminal waveform during high speed revolution SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 26: Pwm Off-Time

    Back EMF at Dead Time RSExt RSInt PWM On PWM Off PWM On PWM On PWM Off PWM On Dead Dead Time Time FET Gate FET Gate Signal Signal Figure 16. Synchronous rectification operation SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 27: Protection Functions

    Figure 17. Motor coil short circuit protection circuit operation. Overcurrent that flows without passing the sense resistor is undetectable. To recover the circuit after protection operates, VDD must be cycled and started up again. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 28 Figure 18. Motor coil short circuit protection circuit operation. Overcurrent that flows without passing the sense resistor is undetectable. To recover the circuit after protection operates, VDD must be cycled and started up again. SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 29: Application Information

    Sanken design expectations. Thus, users from the following formula: must test the avalanche energy applied to the IC under actual application conditions.

  • Page 30: On-Off Sequence Of Power Supply (Vbb And Vdd)

    Figure 22. Waveform at avalanche breakdown SLA7073M and SLA7078M SLA7072M and SLA7077M SLA7071M and SLA7076M SLA7070M and SLA7075M Product Temperature, T c [°C] Figure 23. SLA7070MPRT iterated avalanche energy tolerated level, E (max) SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 31: Motor Supply Voltage

    Figure 24. Clock signal shutoff detection circuit vibration. So, Sanken does not recommend using this function while the motor is rotating. In addition, the synchronous circuit should be disabled in order to control motor current properly in...

  • Page 32: Ref/Sleep1 Pin

    Given this situation, it is preferable to perform an approximate calculation at worst conditions. The following is a simplified formula for calculation of power dis- sipation: Maximum Allowable Power Dissipation, P DS(on) D(max) Figure 28. Temperature increase SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 33 The maximum recommended case temperatures (at the center, pin ∆T ∆T ≈ (10) θj-c 12) for the IC are: • With no external heatsink connection: 90°C • With external heatsink connection: 80° SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.

  • Page 34: Characteristic Data

    Product Temperature, T (°C) Product Temperature, T (°C) SLA7072MPRT/SLA7077MPRT SLA7073MPRT/SLA7078MPRT Io=3A Io=2A Io=2A Io=1A Io=1A 75 100 125 75 100 125 Product Temperature, T (°C) Product Temperature, T Product Temperature, T (°C) (°C) SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 35 75 100 125 Product Temperature, T (°C) Product Temperature, T (°C) SLA7073MPRT/SLA7078MP RT SLA7072MPRT/SLA7077MP RT Io=3A Io=2A Io=2A Io=1A Io=1A 100 125 75 100 125 Product Temperature, T (°C) Product Temperature, T (°C) SLA7070MPRT-AN, Rev. 2 SANKEN ELECTRIC CO., LTD.
  • Page 36 (aerospace equipment, nuclear power control systems, life support systems, etc.) is strictly prohibited. • In the case that you use Sanken products or design your products by using Sanken products, the reliability largely depends on the degree of derating to be made to the rated values. Derating may be interpreted as a case that an operation range is set by derating the load from each rated value or surge voltage or noise is considered for derating in order to assure or improve the reliability.

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