DATA SHEET MOS INTEGRATED CIRCUIT PD168113 SERIAL CONTROL 7-CHANNEL H-BRIDGE DRIVER DESCRIPTION The PD168113 is a serial control 7-channel H-bridge driver that consists of a CMOS controller and a MOS output stage. It can reduce the current consumption and the voltage loss at the output stage compared with a conventional driver using bipolar transistors, thanks to employment of a MOS process. The PD168113 can drive various motor coils by controlling the serial, so that the number of signal lines necessary for controlling the motor can be decreased. The package is a 56-pin WQFN that helps reduce the mounting area and height. The PD168113 can be used to drive two stepping motors, or two DC motors and one coil. FEATURES * Seven H-bridge circuits employing power MOS FET * Low-voltage driving VDD = 2.7 to 3.6 V VM = 2.7 to 5.5 V * Output on-state resistance: 1.0 TYP., 1.5 MAX. (sum of top and bottom stage) * Output current <1 ch to 6 ch> DC current: 0.4 A/ch (when each channel is used independently) Peak current: 0.7 A/ch (when each channel is used independently) <7 ch> DC current: 0.5 A/ch (when used independently) Peak current: 0.7 A/ch (when used independently) * Input logic frequency: 6 MHz supported * Undervoltage lockout circuit Shuts down the internal circuit at VDD = 1.7 V TYP. * Overheat protection circuit Operates at 150C or more and shuts down internal circuitry. * 56-pin WQFN (8 mm, 0.5 mm pitch) ORDERING INFORMATION Part Number Package 56-pin plastic WQFN (8 x 8) PD168113K9-9B4-A The information in this document is subject to change without notice. Before using this document, please confirm that this is the latest version. Not all products and/or types are available in every country. Please check with an NEC Electronics sales representative for availability and additional information. Document No. S16423EJ2V0DS00 (2nd edition) Date Published April 2004 NS CP(K) Printed in Japan The mark shows major revised points. 2003 PD168113 1. PIN CONFIGURATION Package: 56-pin plastic WQFN (8 x 8) PGND34 OUT3B OUT3A OUT4B OUT4A MOB2 EXT2 30 42 TEST (NC) FB7 PGND7 OUT7A VM7 OUT7B PGND7 CLKB CLK COSC VDD IN7B IN7A 43 44 45 46 47 48 49 50 51 52 53 54 55 56 1 41 40 39 38 37 36 35 34 33 32 31 29 28 27 26 25 24 23 22 MOB1 FIL1 FIL2 FB1 OUT1B VM12 OUT1A EXT1 21 PGND12 20 19 18 17 16 15 OUT2B VM12 OUT2A FB2 LGND SCLK 14 VM34 VM34 FIL4 10 2 3 4 5 6 7 8 9 11 FIL3 FB3 FB4 12 13 2 Data Sheet S16423EJ2V0DS RESETB PGND56 LATCH SDATA OUT6B OUT6A OUT5A OUT5B IN6B IN6A IN5B IN5A VM6 VM5 PD168113 2. PIN FUNCTIONS (1/2) Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 IN6B IN6A OUT6B VM6 OUT6A PGND56 OUT5A VM5 OUT5B IN5B IN5A LATCH SDATA RESETB SCLK LGND FB2 OUT2A VM12 OUT2B PGND12 OUT1A VM12 OUT1B FB1 FIL2 FIL1 MOB1 EXT1 EXT2 MOB2 FIL3 FIL4 FB4 OUT4A VM34 OUT4B PGND34 Pin Name H-bridge 6 input pin B H-bridge 6 input pin A H-bridge 6 output pin B H-bridge 6 power supply pin H-bridge 6 output pin A H-bridge 5, H-bridge 6 GND pin H-bridge 5 output pin A H-bridge 5 power supply pin H-bridge 5 output pin B H-bridge 5 input pin B H-bridge 5 input pin A Chip select input pin Serial data input pin Reset pin (low active) Serial clock input pin Logic block GND pin Current detection resistor connection pin 2 H-bridge 2 output pin A H-bridge 1, H-bridge 2 power supply pin H-bridge 2 output pin B H-bridge 1, H-bridge 2 GND pin H-bridge 1 output pin A H-bridge 1, H-bridge 2 power supply pin H-bridge 1 output pin B Current detection resistor connection pin 1 Filter capacitor connection pin 2 Filter capacitor connection pin 1 MOB signal output pin 1 (open-drain output) EXT signal output pin 1 EXT signal output pin 2 MOB signal output pin 2 (open-drain output) Filter capacitor connection pin 3 Filter capacitor connection pin 4 Current detection resistor connection pin 4 H-bridge 4 output pin A H-bridge 3, H-bridge 4 power supply pin H-bridge 4 output pin B H-bridge 3, H-bridge 4 GND pin Function Data Sheet S16423EJ2V0DS 3 PD168113 (2/2) Pin No. 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 Pin Name OUT3A VM34 OUT3B FB3 TEST (NC) FB7 PGND7 OUT7A VM7 OUT7B PGND7 CLKB CLK COSC VDD IN7B IN7A H-bridge 3 output pin A H-bridge 3, H-bridge 4 power supply pin H-bridge 3 output pin B Current detection resistor connection pin 3 Test input pin (Connect to GND when normal using.) Unused Current detection resistor connection pin 7 H-bridge 7 GND pin H-bridge 7 output pin A H-bridge 7 power supply pin H-bridge 7 output pin B H-bridge 7 GND pin External clock output pin/crystal oscillator connection pin 2 External clock output pin/crystal oscillator connection pin 1 Chopping frequency setting capacitor connection pin Logic block power supply pin H-bridge 7 input pin B H-bridge 7 input pin A Function 4 Data Sheet S16423EJ2V0DS PD168113 3. BLOCK DIAGRAM PGND34 OUT3B OUT3A OUT4B OUT4A MOB2 EXT2 EXT1 VM34 VM34 FIL4 42 TEST (NC) FB7 43 41 40 39 38 37 36 35 34 33 32 FIL3 FB3 FB4 31 30 29 28 MOB1 FIL1 FIL2 FB1 OUT1B VM12 OUT1A Current Sense 3 Current Sense 4 44 45 H-bridge 3 H-bridge 4 Position Logic 27 26 PGND7 46 OUT7A VM7 OUT7B 47 Current Sense 7 H-bridge 3 Pre-driver H-bridge 4 Pre-driver H-bridge 1 Pre-driver Current Sense 1 25 24 H-bridge 7 49 H-bridge 1, H-bridge 2 Control 48 H-bridge 3, H-bridge 4 Control H-bridge 7 Pre-driver H-bridge 1 23 22 PGND7 50 UVLO H-bridge 5 to H-bridge 7 Control 21 PGND12 20 H-bridge 2 Pre-driver H-bridge 2 CLKB CLK COSC VDD IN7B IN7A 51 TSD OUT2B VM12 OUT2A FB2 LGND SCLK 52 53 54 55 56 1 IN6B H-bridge 6 H-bridge 5 OSC H-bridge 6 Pre-driver H-bridge 5 Pre-driver 19 18 Current Sense 2 17 16 Srial Controller 15 14 RESETB 2 IN6A 3 OUT6B 4 VM6 5 OUT6A 6 PGND56 7 OUT5A 8 VM5 9 OUT5B 10 IN5B 11 IN5A 12 LATCH 13 SDATA Cautions 1. Be sure to connect all of the pins which have more than one. 2. A pull-down resistor (50 to 200 k) is connected to the TEST, IN5A, IN5B, IN6A, IN6B, IN7A and IN7B pins. Fix these input pins to GND when they are not used. Data Sheet S16423EJ2V0DS 5 PD168113 4. STANDARD CONNECTION EXAMPLES (1) For external control of only ch7 when external CLK is input and two stepping motors are used 2 CPU 3V 330 pF LGND TEST FB1 FB2 VM12 OUT1A OUT1B PGND12 ch1 H-bridge ch3 H-bridge Pre-driver Current Sense 1 Current Sense 2 Serial Control Block OSC Current Sense 3 Current Sense 4 VDD LATCH SDATA EXT1 EXT2 MOB1 MOB2 SCLK RESETB CLK CLKB COSC FB3 FB4 VM34 OUT3A OUT3B PGND34 FIL3 M FIL1 VM12 OUT2A OUT2B FIL2 VM5 PGND56 ch5 H-bridge ch2 H-bridge M VM34 ch4 H-bridge OUT4A OUT4B FIL4 TSD ch6 H-bridge UVLO IN7A IN7B VM7 Current Sense 7 ch7 H-bridge PGND7 PGND7 3 to 5 V M OUT5A OUT5B IN5A IN5B IN6A IN6B OUT6AOUT6B VM6 FB7 OUT7A OUT7B M (2) For external control of ch5 to ch7 when crystal oscillator and one stepping motor are used 6 CPU 3V 330 pF LGND TEST FB1 FB2 VM12 OUT1A OUT1B PGND12 ch1 H-bridge ch3 H-bridge Pre-driver Current Sense 1 Current Sense 2 Serial Control Block OSC Current Sense 3 Current Sense 4 VDD LATCH SDATA EXT1 EXT2 MOB1 MOB2 SCLK RESETB CLK CLKB COSC FB3 FB4 VM34 OUT3A OUT3B PGND34 FIL3 M FIL1 VM12 OUT2A OUT2B FIL2 VM5 PGND56 ch5 H-bridge ch2 H-bridge VM34 ch4 H-bridge OUT4A OUT4B FIL4 TSD ch6 H-bridge UVLO IN7A IN7B VM7 Current Sense 7 ch7 H-bridge PGND7 PGND7 3 to 5 V M M OUT5A OUT5B IN5A IN5B IN6A IN6B OUT6AOUT6B VM6 FB7 OUT7A OUT7B M 6 Data Sheet S16423EJ2V0DS PD168113 5. FUNCTIONAL DEPLOYMENT 5.1 Serial Control All information for driving the motor is processed by serial data from the CPU. The following parameters can be set by commands. * Control of DC motor driving and output duty * Control during constant-current driving and current setting * Wait value for setting timing during stepping motor driving * Motor current, motor revolution direction, and output excitation mode * Pulse cycle, and number of pulses Each command is assigned an address. Each data can be updated by inputting 16-bit data. For the configuration of the data and details of commands, refer to 9. SERIAL INTERFACE SPECIFICATIONS. 5.2 Reset Function An initialization operation is performed and all the internal data is cleared to 0 when RESETB = L. The output remains in the Hi-Z state. When RESETB = H, commands can be input. Once it sets the address 0 to address 2 for an initialization setting, they carry out latch operation inside, and prohibit overwriting. In order that initialization operation is performed again, the reset operation is needed. Be sure to perform a reset operation after turning on power supply. When RESETB = L, the internal circuitry is stopped whenever possible, so that the self current consumption can be reduced. When input of the external CLK is stopped, the current consumption can be lowered to 1 A MAX. Immediately after release of reset, excitation is started from the position where the current of ch1 is 100% and the current of ch2 is 0%, in the micro step drive mode and 1-2 phase excitation drive mode. In the 2-phase excitation drive mode, excitation is started from the position where the currents of ch1 and ch2 are 100%. Remark L: Low level, H: High level, Hi-Z: High impedance 5.3 Current Detection Resistor Connection (FB) Pin The current detection resistor is connected when current driving is necessary. For example: When micro step driving, when solenoid driving. The current that flows into the output is {set voltage value/FB pin resistance x 1000}. Example) Where the set voltage value is 200 mV, FB = 2 k Output current value = 200 (mV) /2 (k) x 1000 = 100 (mA) Therefore, the load is driven at a constant current of 100 mA. The set voltage value is a value that can be set by serial control. Data Sheet S16423EJ2V0DS 7 PD168113 5.4 Undervoltage Lockout (UVLO) Circuit This function is to forcibly stop the operation of the IC to prevent malfunctioning if VDD drops. If VDD drops abruptly in the order of several s, this function may not operate. 5.5 Overheat Protection (TSD) Circuit This function is to forcibly stop the operation of the IC to protect it from destruction due to overheating if the chip temperature of the IC rises. The overheat protection circuit operates when the chip temperature rises to 150C or more. When overheat is detected, all the circuits are stopped. When reset is performed or when UVLO is detected, the overheat protection circuit does not operate. 5.6 Power Up Sequence This IC has a circuit that prevents current from flowing into the VM pin when VDD = 0 V. Therefore, the current that flows into the VM pin is cut off when VDD = 0 V. Because the VDD pin voltage and VM pin voltage are monitored, a current of 3 A MAX. flows into the VM pin when VDD is applied. 8 Data Sheet S16423EJ2V0DS PD168113 6. COMMAND INPUT TIMING CHART This IC can drive a stepping motor, DC motor, and solenoid by serial control if serial control is set during initialization. If direct input is set, this IC can drive the load by an input/output PWM control method. With the serial control setting, two or more motors can be simultaneously controlled by commands. Be sure to execute initialization (addresses 0 to 2) immediately after power application and immediately after reset. After initialization, the motors can be controlled simply by inputting driving data (addresses 3 to F). To execute initialization again from the start, the RESET pin must be made high and data of addresses 0 to 2 must be input. 6.1 Setting Examples 6.1.1 Stepping motor Starts output after wait time synchronized with LATCH has fallen. LATCH SCLK/SDATA Wait time Pulse output Pulse output Excited status (stopped) Pulse output Excited status (stopped) 6.1.2 DC motor/coil Starts output after LATCH has fallen. LATCH SCLK/SDATA Output status ON OFF ON OFF 6.2 Example of Address Setting LATCH SCLK Address 0 Address 1 Address 2 Address 7 Address 8 to address B Address 5 Address 3 Address 4 SDATA Initializaition Address 0 Address 1 Address 2 Constant-current driving Address 7 Stepping motor DC motor Constant-current driving Address 8 to address B Address 5 Address 3 Address 4 Data Sheet S16423EJ2V0DS 9 PD168113 7. SERIAL DATA INPUT SEQUENCE The PD168113 can control driving of two or more motors with only a few CPU signals by using a serial data input method. The serial data is input as follows. (1) Input addresses 0 to 2 after power up and initialization. (2) Depending on the type of the motor set, input the necessary data of addresses 3 to F (two or more addresses may be input). (3) When performing the driving setting, only the necessary data of addresses 3 to F has to be input because the previous data is retained. Only the output related to the input address will change. To perform an initialization operation such as selecting the motor, initialize the internal registers by using the RESETB pin. Figure 7-1. Operation Sequence When Serial Data Is Input Address 0 to address 2 Stepping motor Motor type Constant-current driving DC Motor Address 8 to address B or Address C to address F Address 3, address 4, address 7 Address 5, address 6 Data updated ? N Y 10 Data Sheet S16423EJ2V0DS PD168113 8. NOTES ON TRANSMITTING DATA * The first input data is loaded when SCLK changes from L to H after LATCH has changed from L to H. Data is transmitted in 16-bit units, and is determined when LATCH changes from H to L. Invalid data of less than 16-bit is discarded. * Data of different addresses can be input successively while LATCH = H. * The access time can be shortened by updating only the necessary data after initialization has been performed. If an address is not input, the previous value of that address is held as the data. Examples) DC motor and constant current: The ON/OFF state is held. Stepping motor: The excitation position is held if the excitation state is in ON. * If the same address is input more than one while LATCH = H, the last input data is valid. * If invalid data and correct data are input while LATCH = H, only the correct data is valid. * If only LATCH is input, the data is not updated, and the driver holds the current status. * If a command related to stepping motors (addresses 8 to F) is input during the "wait period" that lasts from input of the preceding data to the start of counting, the data is ignored. A command related to the DC motor and coil (addresses 3 to 7) is valid during the synchronization period. * Data that is input when RESETB = L is ignored. Data Sheet S16423EJ2V0DS 11 PD168113 9. SERIAL INTERFACE SPECIFICATIONS The internal data is determined by inputting 16-bit serial data SDATA synchronized with serial clock SCLK, and making LATCH = L. Serial data is input from the LSB (D0) to the MSB (Df). SDATA: When LATCH = H, data is loaded to the internal circuitry at the rising edge of SCLK, and latch operation performed a the falling of SCLK LATCH: Inputting SDATA is prohibited when LATCH is L. Inputting SDATA is enabled when it is H. The internal data is determined when LATCH changes from H to L. Because this IC generates the internal timing via the external CLK (OSCIN) its set values depend upon the frequency of CLK. An example where CLK = 5 MHz is given below. To input a frequency other than 5 MHz to CLK, use the following expression. Items related to the serial register are marked Time: Set value = Setting example x (5/CLK [MHz] ) Frequency: Set value = Setting example x (CLK [MHz] /5) 16-bit data consists of address: 4-bit and data: 12-bit. Four bits (Dc, Dd, De and Df) are used to set an address. Sixteen types of addresses 0 to F can be used. Twelve bits (D0 to Db) are used to set data. Bit Data Df De Dd Dc Db Data Da D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 . Address Examples) Address 1: (Df, De, Dd, Dc) = (0, 0, 0, 1) Address A: (Df, De, Dd, Dc) = (1, 0, 1, 0) For how to set data, refer to Table 10-1. to Table 10-4. Serial Register List, and 11. SERIAL COMMAND DETAILS. The following chart shows an example of serial command waveforms. 0 SCLK 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 SDATA LATCH SCLK SDATA D0 From D1 Df LATCH 12 Data Sheet S16423EJ2V0DS PD168113 10. ADDRESS LIST Address Df Address 0 Address 1 Address 2 Address 3 Address 4 Address 5 Address 6 Address 7 Address 8 Address 9 0 0 0 0 0 0 0 0 1 1 Address Data De 0 0 0 0 1 1 1 1 0 0 Dd 0 0 1 1 0 0 1 1 0 0 Dc 0 1 0 1 0 1 0 1 0 1 Item to Be Set Input mode selection, motor selection, wait setting Chopping frequency setting, MOB output selection Test function Constant current ch3 Constant current ch4 DC motor ch5 DC motor ch6 Constant current ch7 Motor driving initialization setting, motor current setting Acceleration/deceleration parameter setting, plus number multiplication factor setting Address A Address B Address C Address D 1 1 1 1 0 0 1 1 1 1 0 0 0 1 0 1 Pulse cycle setting Number of pulses setting Motor driving initialization setting, motor current setting Acceleration/deceleration parameter setting, plus number multiplication factor setting Address E Address F 1 1 1 1 1 1 0 1 Pulse cycle setting Number of pulses setting Data Sheet S16423EJ2V0DS 13 PD168113 Table 10-1. Serial Register List (Address 0 to Address 3) Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 0 (0000) 0 Address 0 0 0 0 (unused) 0 (unused) ch7 serial/direct input mode selection ch6 serial/direct input mode selection ch5 serial/direct input mode selection ch3, ch4 driving motor setting Wait setting 5 Wait setting 4 Wait setting 3 Wait setting 2 Wait setting 1 Wait setting 0 Bit f e d c b a 9 8 Address 1 (0001) 0 Address 0 0 1 0 (unused) 0 (unused) 0 (unused) MOB output position setting (when micro step driving or 1-2 phase excitation driving) 7 MOB output selection setting (only when micro step driving) 6 5 4 3 2 1 0 Pulse output function selection when EXT output Chopping frequency 5 Chopping frequency 4 Chopping frequency 3 Chopping frequency 2 Chopping frequency 1 Chopping frequency 0 Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 2 (0010) 0 Address 0 1 0 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 3 (0011) 0 Address 0 1 1 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch3 output current value setting 4 ch3 output current value setting 3 ch3 output current value setting 2 ch3 output current value setting 1 ch3 output current value setting 0 0 (unused) ch3 excitation direction ch3 excitation ON/OFF 14 Data Sheet S16423EJ2V0DS PD168113 Table 10-2. Serial Register List (Address 4 to Address 7) Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 4 (0100) 0 Address 1 0 0 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch4 output current value setting 4 ch4 output current value setting 3 ch4 output current value setting 2 ch4 output current value setting 1 ch4 output current value setting 0 0 (unused) ch4 excitation direction ch4 excitation ON/OFF Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 5 (0101) 0 Address 1 0 1 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch5 output duty setting 4 ch5 output duty setting 3 ch5 output duty setting 2 ch5 output duty setting 1 ch5 output duty setting 0 ch5 brake mode ch5 revolution direction ch5 motor ON/OFF Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 6 (0110) 0 Address 1 1 0 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch6 output duty setting 4 ch6 output duty setting 3 ch6 output duty setting 2 ch6 output duty setting 1 ch6 output duty setting 0 ch6 brake mode ch6 revolution direction ch6 motor ON/OFF Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 7 (0111) 0 Address 1 1 1 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch7 output current value setting 4 ch7 output current value setting 3 ch7 output current value setting 2 ch7 output current value setting 1 ch7 output current value setting 0 0 (unused) ch7 excitation direction ch7 excitation ON/OFF Data Sheet S16423EJ2V0DS 15 PD168113 Table 10-3. Serial Register List (Address 8 to Address B) Bit f e d c b a Address 8 (1000) 1 Address 0 0 0 0 (unused) Constant-current changing when two-phase/1-2 phase driving Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address 9 (1001) 1 Address 0 0 1 0 (unused) Acceleration valid/invalid change Deceleration valid/invalid change For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control Motor pulse multiplication factor setting 1 Motor pulse multiplication factor setting 0 9 8 7 6 5 4 3 2 1 0 Driving mode selection 1 Driving mode selection 0 Output enable setting Stop mode setting Revolution direction mode (CW/CCW) Motor current setting 4 Motor current setting 3 Motor current setting 2 Motor current setting 1 Motor current setting 0 Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address A (1010) 1 Address 0 1 0 Motor pulse cycle setting 11 Motor pulse cycle setting 10 Motor pulse cycle setting 9 Motor pulse cycle setting 8 Motor pulse cycle setting 7 Motor pulse cycle setting 6 Motor pulse cycle setting 5 Motor pulse cycle setting 4 Motor pulse cycle setting 3 Motor pulse cycle setting 2 Motor pulse cycle setting 1 Motor pulse cycle setting 0 Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address B (1011) 1 Address 0 1 1 Number of motor pulses setting 11 Number of motor pulses setting 10 Number of motor pulses setting 9 Number of motor pulses setting 8 Number of motor pulses setting 7 Number of motor pulses setting 6 Number of motor pulses setting 5 Number of motor pulses setting 4 Number of motor pulses setting 3 Number of motor pulses setting 2 Number of motor pulses setting 1 Number of motor pulses setting 0 16 Data Sheet S16423EJ2V0DS PD168113 Table 10-4. Serial Register List (Address C to Address F) Bit f e d c b a Address C (1100) 1 Address 1 0 0 0 (unused) Constant-current changing when two-phase/1-2 phase driving Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address D (1101) 1 Address 1 0 1 0 (unused) Acceleration valid/invalid change Deceleration valid/invalid change For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control Motor pulse multiplication factor setting 1 Motor pulse multiplication factor setting 0 9 8 7 6 5 4 3 2 1 0 Driving mode selection 1 Driving mode selection 0 Output enable setting Stop mode setting Revolution direction mode (CW/CCW) Motor current setting 4 Motor current setting 3 Motor current setting 2 Motor current setting 1 Motor current setting 0 Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address E (1110) 1 Address 1 1 0 Motor pulse cycle setting 11 Motor pulse cycle setting 10 Motor pulse cycle setting 9 Motor pulse cycle setting 8 Motor pulse cycle setting 7 Motor pulse cycle setting 6 Motor pulse cycle setting 5 Motor pulse cycle setting 4 Motor pulse cycle setting 3 Motor pulse cycle setting 2 Motor pulse cycle setting 1 Motor pulse cycle setting 0 Bit f e d c b a 9 8 7 6 5 4 3 2 1 0 Address F (1111) 1 Address 1 1 1 Number of motor pulses setting 11 Number of motor pulses setting 10 Number of motor pulses setting 9 Number of motor pulses setting 8 Number of motor pulses setting 7 Number of motor pulses setting 6 Number of motor pulses setting 5 Number of motor pulses setting 4 Number of motor pulses setting 3 Number of motor pulses setting 2 Number of motor pulses setting 1 Number of motor pulses setting 0 Data Sheet S16423EJ2V0DS 17 PD168113 11. SERIAL COMMAND DETAILS 11.1 Address 0 Bit Data Df 0 De 0 Dd 0 Dc 0 Db 0 Da 0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 Note 4 Note 3 Note 2 Note 1 Wait setting Notes 1. ch3, ch4 driving motor setting 2. ch5 serial/direct input mode selection 3. ch6 serial/direct input mode selection 4. ch7 serial/direct input mode selection 11.1.1 Wait value When the stepping motor is to be controlled, counting is started from the falling of the LATCH signal and the motor is excited when the count value reaches 0. Even if transmission of serial data is delayed by the wait value, the stepping motor can be driven at a predetermined timing if the LATCH signal is periodically input. Note that the wait value must not be set to 0. The wait time can be set in a range of 64 to 2048 s with a resolution of 32 s using data. 11.1.2 Example of setting wait value D5......D0 000000 000001 000010 : 111101 111110 111111 Set Value (s) Input prohibited 64 96 : 1984 2016 2048 11.1.3 Definition by wait value LATCH Wait 1 Fixed to 32 s Wait 2 Set value: -32 s Wait period Output enable Driving mode (when two-phase driving immediately after reset) EVR (output current setting) Output disable Driving mode (microstep, 1-2 phase, two-phase) Pulse output 18 Data Sheet S16423EJ2V0DS PD168113 11.1.4 ch3, ch4 driving motor setting D6 = 0: Stepping motor driving D6 = 1: Constant-current driving mode that can be set only by serial mode. When D6 = 0, ch3 and ch4 have functions equivalent to ch1 and ch2, and can be used to drive a stepping motor. When D6 = 1, ch3 and ch4 are independently used for constant-current driving. However, because ch3 and ch4 internally share the same driving power supply, these channels must be supplied from the same source. 11.1.5 ch5 to ch7 serial/direct input mode selection D7 = 0: ch5 is a setting mode by serial mode D7 = 1: ch5 is a setting mode by direct input mode D8 = 0: ch6 is a setting mode by serial mode D8 = 1: ch6 is a setting mode by direct input mode D9 = 0: ch7 is a setting mode by serial mode D9 = 1: ch7 is a setting mode by direct input mode If each or all of ch5 to ch7 is setting mode by direct input mode, refer to 13. FUNCTION OPERATION TABLE. Data Sheet S16423EJ2V0DS 19 PD168113 11.2 Address 1 This address is used to set a chopping frequency that is the reference of PWM output. MSB Bit Data Df 0 De 0 Dd 0 Dc 1 Db 0 Da 0 D9 0 D8 D7 D6 D5 D4 D3 LSB D2 D1 D0 Note 3 Note 2 Note 1 Chopping frequency Notes 1. Pulse output function selection when EXT output 2. MOB output selection setting 3. MOB output position setting 11.2.1 Chopping frequency A chopping mode is employed for the output to drive the motor on a constant current. The chopping frequency that is the reference of the output can be changed with data, so that the PWM output does not interfere with the other signals. The chopping frequency can be set in a range of 40 to 250 kHz by the data of D0 to D5. The set chopping frequency is used for output when executing stepping motor and constant-current driving. |