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TB6551F
TOSHIBA Bi-CMOS Integrated Circuit Silicon Monolithic
TB6551F
3-Phase Full-Wave Sine-Wave PWM Brushless Motor Controller Features
* * * * * * * * Sine-wave PWM control Built-in triangular-wave generator (carrier cycle = fosc/252 (Hz)) Built-in lead angle control function (0 to 58 in 32 steps) Built-in dead time function (setting 2.6 s or 3.8 s) Supports bootstrap circuit Overcurrent protection signal input pin Built-in regulator (Vref = 5 V (typ.), 30 mA (max)) Operating supply voltage range: VCC = 6 V to 10 V Weight: 0.33 g (typ.)
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TB6551F
Block Diagram
LA 23 6-bit triangular wave generator 10 Td Comparator 9U Comparator 6X 8V 5Y 7W 4Z 5-bit AD 4 bits Counter Output waveform generator Data select Phase W Comparator 120/180 Charger FG Rotating direction PWM HU HV HW Comparator Phase V Phase U
Xin 14
System clock generator
Xout 15
HU 21
HV 20
Position detector
HW 19 Internal Phase reference matching voltage
Ve 22
Setting dead time
VCC 1
Regulator
P-GND 3
S-GND 13
Vrefout 24
12 OS
Power-on reset
Switching 120/180 and gate block protection on/off 120turn-on matrix
RES 11
Idc 3
CW/CCW 18
FG 17
ST/SP Protection CW/CCW & ERR reset GB
REV 16
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TB6551F
Pin Description
Pin No. 21 20 19 Symbol HU HV HW Description Positional signal input pin U Positional signal input pin V Positional signal input pin W Rotation direction signal input pin L: Forward H: Reverse L: Reset (Output is non-active) 11 RES Reset-signal-input pin Operation/Halt operation Also used for gate block protection 22 23 Ve LA Inputs voltage instruction signal Lead angle setting signal input pin Inputs output logic select signal With built-in pull-down resistor Sets 0 to 58 in 32 steps L: Active low H: Active high Inputs DC link current. 3 Idc Inputs overcurrentprotection-signal Inputs clock signal With built-in feedback resistor Outputs clock signal Outputs reference voltage signal FG signal output pin Reverse rotation detection signal Outputs turn-on signal Outputs turn-on signal Outputs turn-on signal Select active high or active low using the output logic select pin. 6 5 4 1 10 2 13 X Y Z VCC Td P-GND S-GND Outputs turn-on signal Outputs turn-on signal Outputs turn-on signal Power supply voltage pin Inputs setting dead time Ground for power supply Ground for signals VCC = 6 V~10 V L: 3.8 ms, H or Open: 2.6 ms Ground pin Ground pin 5 V (typ.), 30 mA (max) Outputs 3PPR of positional signal Detects reverse rotation. Reference voltage: 0.5 V With built-in filter ( ~ 1 ms) 14 15 24 17 16 9 8 7 Xin Xout Vrefout FG REV U V W When positional signal is HHH or LLL, gate block protection operates. With built-in pull-up resistor Remarks
18
CW/CCW
12
OS
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TB6551F
Input/Output Equivalent Circuits
Pin Description Symbol Digital Positional signal input pin U HU With Schmitt trigger Positional signal input pin V HV Hysteresis 300 mV (typ.) Vrefout Vrefout 240 k9 2.4 kW Positional signal input pin W HW L : 0.8 V (max) H: Vrefout - 1 V (min) Digital Forward/reverse switching input pin CW/CCW L: Forward (CW) H: Reverse (CCW) 2.4 kW L : 0.8 V (max) H: Vrefout - 1 V (min) Digital Vrefout Reset input With Schmitt trigger RES L: Stops operation (reset). H: Operates. L : 0.8 V (max) H: Vrefout - 1 V (min) Hysteresis 300 mV (typ.) 2.4 kW 120 k9 VCC 120 W 240 k9 VCC 120 W 240 k9 Vrefout Vrefout With Schmitt trigger Hysteresis 300 mV (typ.) 120 k9 Input/Output Signal Input/Output Internal Circuit
Voltage instruction signal input pin Ve
Analog
Turn on the lower transistor at 0.2 V or less. (X, Y, Z pins: On duty of 8%)
Input range 0 V to 5.0 V Input voltage of Vrefout or higher is clipped to Vrefout.
Lead angle setting signal input pin LA 0 V: 0 5 V: 58 (5-bit AD)
Analog
Input range 0 V to 5.0 V Input voltage of Vrefout or higher is clipped to Vrefout.
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Pin Description Symbol Input/Output Signal Input/Output Internal Circuit
Vrefout Vrefout Setting dead time input pin L : 3.8 ms H or Open: 2.6 ms Td L : 0.8 V (max) H: Vrefout - 1 V (min) 120 k9 1.2 kW Vrefout Vrefout 120 k9 2.4 kW VCC Analog Overcurrent protection signal input pin Idc Gate block protected at 0.5 V or higher (released at carrier cycle) 240 kW 5 pF 0.5 V Vrefout Comparator Vrefout Operating range Xin 2 MHz to 8 MHz (crystal oscillation) Clock signal output pin Xout 360 kW Xout VCC Digital OS L: Active low H: Active high L : 0.8 V (max) H: Vrefout - 1 V (min) VCC VCC Digital
Output logic select signal input pin
Clock signal input pin
Xin
Reference voltage signal output pin
Vrefout
5 0.5 V (max 30 mA)
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Pin Description Symbol Input/Output Signal Input/Output Internal Circuit
Vrefout
Vrefout
Digital Reverse-rotation-detection signal output pin REV Push-pull output: 1 mA (max) 120 W
Vrefout
Vrefout
Digital FG signal output pin FG Push-pull output: 1 mA (max) 120 W
Vrefout Turn-on signal output pin U Turn-on signal output pin V Turn-on signal output pin W Turn-on signal output pin X Turn-on signal output pin Y Turn-on signal output pin Z U V W X Y Z L : 0.78 V (max) H: Vrefout - 0.78 V (min) Push-pull output: 2 mA (max) 120 W Analog
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TB6551F
Maximum Ratings (Ta = 25C)
Characteristics Supply voltage Input voltage Turn-on signal output current Power Dissipation Operating temperature Storage temperature Symbol VCC Vin (1) Vin (2) IOUT PD Topr Tstg Rating 12 -0.3~VCC (Note 1) -0.3~5.5 2 0.9 -30~115 -50~150 (Note 3) (Note 4) (Note 2) mA W C C Unit V V
Note 1: Vin (1) pin: Ve, LA Note 2: Vin (2) pin: HU, HV, HW, CW/CCW, RES, OS, Idc, Td Note 3: When mounted on PCB (universal 50 50 1.6 mm, Cu 30%) Note 4: Operating temperature range is determined by the PD - Ta characteristic.
Recommended Operating Conditions (Ta = 25C)
Characteristics Supply voltage Crystal oscillation frequency Symbol VCC Xin Min 6 2 Typ. 7 4 Max 10 8 Unit V MHz
PD - Ta
1.5 (1) When mounted on PCB Universal
(W)
50 50 1.6 mm Cu 30% 1.0 (2) IC only Rth (j-a) = 200C/W (1) 0.5 (2)
Power dissipation
PD
0 0
50
100
150
200
Ambient temperature Ta (C)
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Electrical Characteristics (Ta = 25C, VCC = 15 V)
Characteristics Supply current Symbol ICC Iin (1) Input current Iin (2)-1 Iin (2)-2 Iin (2)-3 High Input voltage Vin Low Input hysteresis voltage VH VOUT (H)-1 VOUT (L)-1 VREV (H) Output voltage VREV (L) VFG(H) VFG(L) Vrefout Output leakage current Output off-time by upper/lower transistor (Note 1) Overcurrent detection IL (H) IL (L) TOFF(H) TOFF(L) Vdc TLA (0) Lead angle correction TLA (2.5) TLA (5) VCC (H) VCC monitor VCC (L) VH 3/4 3/4 3/4 3/4 3/4 HU, HV, HW, CW/CCW, RES IOUT = 2 mA IOUT = -2 mA IOUT = 1 mA IOUT = -1 mA IOUT = 1 mA IOUT = -1 mA IOUT = 30 mA VOUT = 0 V VOUT = 3.5 V U, V, W, X, Y, Z U, V, W, X, Y, Z REV REV FG FG Vrefout U, V, W, X, Y, Z U, V, W, X, Y, Z 3/4 3/4 Test Circuit 3/4 Vrefout = open Vin = 5 V Vin = 0 V Vin = 0 V Vin = 5 V Ve, LA HU, HV, HW CW/CCW, OS, Td RES Test Condition Min 3/4 3/4 -40 -80 3/4 Vrefout -1 3/4 3/4 Typ. 3 20 -20 -40 40 3/4 3/4 0.3 Max 6 40 3/4 3/4 80 Vrefout 0.8 3/4 3/4 0.78 3/4 1.0 3/4 1.0 5.5 10 10 3/4 ms 3.0 0.46 3/4 27.5 53.5 4.2 3.7 3/4 3.8 0.5 0 32 59 4.5 4.0 0.5 3/4 0.54 3/4 34.5 62.5 4.8 4.3 3/4 V V mA V V mA Unit mA
HU, HV, HW, CW/CCW, RES, OS, Td
V
Vrefout Vrefout - 0.78 - 0.4 3/4 0.4
Vrefout Vrefout - 1.0 - 0.5 3/4 0.5
Vrefout Vrefout - 1.0 - 0.5 3/4 4.5 3/4 3/4 2.2 0.5 5.0 0 0 2.6
Td = High or open, Xin = 4.19 MHz, IOUT = 2 mA, OS = High/Low Td = Low, Xin = 4.19 MHz, IOUT = 2 mA, OS = High/Low Idc LA = 0 V or Open, Hall IN = 100 Hz LA = 2.5 V, Hall IN = 100 Hz LA = 5 V, Hall IN = 100 Hz Output start operation point No output operation point Input hysteresis width
Note 5: TOFF OS = High
0.78 V TOFF Turn-on signal (X, Y, Z) 0.78 V 0.78 V 0.78 V TOFF
Turn-on signal (U, V, W)
OS = Low
Turn-on signal (U, V, W) Vrefout - 0.78 V TOFF Vrefout - 0.78 V Turn-on signal (X, Y, Z) Vrefout - 0.78 V TOFF Vrefout - 0.78 V
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Functional Description
1. Basic operation
The motor is driven by the square-wave turn-on signal based on a positional signal. When the positional signal reaches number of rotations f = 5 Hz or higher, the rotor position is assumed according to the positional signal and a modulation wave is generated. The modulation wave and the triangular wave are compared then the sine-wave PWM signal is generated and the motor is driven. From start to 5 Hz: When driven by square wave (120 turn-on) f = fosc/(212 32 6) 5 Hz~: When driven by sine-wave PWM (180 turn-on) When fosc = 4 MHz, approx. 5 Hz
2. Function to stabilize bootstrap voltage
(1) (2) When voltage instruction is input at Ve < 0.2 V: = Turns on the lower transistor at regular (carrier) cycle. (On duty is approx. 8%) When voltage instruction is input at Ve > 0.2 V: During sine-wave drive, outputs drive signal as it is. During square-wave drive, forcibly turns on the lower transistor at regular (carrier) cycle. (On duty is approx. 8%) Note: At startup, to charge the upper transistor gate power supply, turn the lower transistor on for a fixed time with Ve < 0.2 V. =
3. Dead time function: upper/lower transistor output off-time
When driving the motor by sine-wave PWM, to prevent a short circuit caused by simultaneously turning on upper and lower external power devices, digitally generates dead time in the IC. When a square wave is generated in full duty cycle mode, the dead time function is turned on to prevent a short circuit.
Td Pin High or Open Low
Internal Counter 11/fosc 16/fosc
TOFF 2.6 ms 3.8 ms
TOFF values above are obtained when fosc = 4.19 MHz. fosc = reference clock (crystal oscillation)
4. Correcting lead angle
The lead angle can be corrected in the turn-on signal range from 0 to 58 in relation to the induced voltage. Analog input from LA pin (0 V to 5 V divided by 32) 0 V = 0 5 V = 58 (when more than 5 V is input, 58)
5. Setting carrier frequency
Sets triangular wave cycle (carrier cycle) necessary for generating PWM signal. (The triangular wave is used for forcibly turning on the lower transistor when driving the motor by square wave.) Carrier cycle = fosc/252 (Hz) fosc = Reference clock (crystal oscillation)
6. Switching the output of turn-on signal
Switches the output of turn-on signal between high and low. Pin OS: High = active high Low = active low
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7. Outputting reverse rotation detection signal
Detects motor rotation direction every electrical degrees of 360. (The output is high immediately after reset) REV terminal increases with a 180 turn-on mode at the time of low.
CW/CCW Pin Low (CW) Actual Motor Rotating Direction CW (forward) CCW (reverse) CW (forward) High (CCW) CCW (reverse) Low REV Pin Low High High
8. Protecting input pin
1. Overcurrent protection (Pin Idc) When the DC-link-current exceeds the internal reference voltage, performs gate block protection. Overcurrent protection is released for each carrier frequency. Reference voltage = 0.5 V (typ.) Gate block protection (Pin RES) When the input signal level is Low, turns off the output; when High, restarts the output. Detects abnormality externally and inputs the signal to the pin RES.
Output Turn-on Signal (U, V, W, X, Y, Z) High Low
2.
RES Pin Low
OS Pin Low High
3.
(When RES = Low, bootstrap capacitor charging stops.) Internal protection * Positional signal abnormality protection * When the positional signal is HHH or LLL, turns off the output; otherwise, restarts the output. Low power supply voltage protection (VCC monitor) When power supply is on/off, prevents damage caused by short-circuiting power device by keeping the turn-on signal output at high impedance outside the operating voltage range.
VCC Power supply voltage 4.5 V (typ.) 4.0 V (typ.) GND
VM Turn-on signal Output at high impedance Output Output at high impedance
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TB6551F
Operation Flow
Positional signal (Hall IC) Position detector Phase U Counter X Phase V Phase matching V Y Phase Sine-wave pattern W (modulation signal) Comparator W Voltage instruction System clock generator Triangular wave (carrier frequency) Z U
Oscillator
Driven by square wave
(Note) 92%
Output ON duty
(U, V, W)
0.2 V (typ.)
4.6 V
Voltage instruction Ve
Note: Output ON time is decreased by the dead time. (carrier frequency 92% - Td 2)
Driven by sine wave
100%
Modulation ratio (modulation signal)
0
0.2 V (typ.)
5 V (Vrefout)
Voltage instruction Ve
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TB6551F
The modulation waveform is generated using Hall signals. Then, the modulation waveform is compared with the triangular wave and a sine-wave PWM signal is generated. The time (electrical degrees: 60) from the rising (or falling) edges of the three Hall signals to the next falling (or rising) edges are counted. The counted time is used as the data for the next 60 phase of the modulation waveform. There are 32 items of data for the 60 phase of the modulation waveform. The time width of one data item is 1/32 of the time width of the 60 phase of the previous modulation waveform. The modulation waveform moves forward by the width.
HU (6) HV (5) (2) (1) (3)
*HU, HV, HW: Hall signals
HW (6)' SU (1)' (2)' (3)'
SV
Sw
In the above diagram, the modulation waveform (1)' data moves forward by the 1/32 time width of the time (1) from HU: to HW: . Similarly, data (2)' moves forward by the 1/32 time width of the time (2) from HW: to HV: . If the next edge does not occur after the 32 data items end, the next 32 data items move forward by the same time width until the next edge occurs.
*t
32 31 30
6 5 4 3 2 1 SV (1)' 32 data items * t = t(1) 1/32
The modulation wave is brought into phase with every zero-cross point of the Hall signal. The modulation wave is reset in synchronization with the rising and falling edges of the Hall signal at every 60 electrical degrees. Thus, when the Hall device is not placed at the correct position or when accelerating/decelerating, the modulation waveform is not continuous at every reset.
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Timing Charts
Hu Hv Hw
Hall signal (input)
FG signal (output)
FG
Turn-on signal when driven by square wave (output)
U V W X Y Z
Su Modulation waveform when driven by sine wave (inside of IC) Sv
Sw Forward Hu Hv Hw
Hall signal (input)
FG signal (output)
FG
U V Turn-on signal W when driven by square wave X (output) Y Z
Su Modulation waveform when driven by sine wave (inside of IC) S
v
Sw Reverse
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TB6551F
Operating Waveform When Driven by Square Wave (CW/CCW = Low, OS = High)
Hall signal HU HV HW
Output waveform U
X
V
Y
W
Z
Enlarged waveform W TONU Z Td Td TONL
To stabilize the bootstrap voltage, the lower outputs (X, Y, and Z) are always turned on at the carrier cycle even during off time. At that time, the upper outputs (U, V, and W) are assigned dead time and turned off at the timing when the lower outputs are turned on. (Td varies with input Ve) Carrier cycle = fosc/252 (Hz) TONL = carrier cycle 8% (s) (Uniformity) When the motor is driven by a square wave, acceleration/deceleration is determined by voltage Ve. The motor accelerates/decelerates according to the On duty of TONU (see the diagram of output On duty on page 11). Note: At startup, the motor is driven by a square wave when the Hall signals are 5 Hz or lower (fosc = 4 MHz) and the motor is rotating in the reverse direction as the TB6551F controls it (REV = High). Dead time: Td = 16/fosc (s) (In more than Ve = 4.6 V)
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TB6551F
Operating Waveform When Driven by Sine-Wave PWM (CW/CCW = Low, OS = High)
Generation inside of IC Modulation signal Triangular wave (carrier frequency)
Phase U
Phase V
Phase W
Output waveform
U
X
V
Y
W
Z
Inter-line voltage
VUV
(U-V)
VVW
(V-W)
VWU
(W-U)
When the motor is driven by a sine wave, the motor is accelerated/decelerated according to the On duty of TONU when the amplitude of the modulation symbol changes by voltage Ve (see the diagram of output On duty on page 11). Triangular wave frequency = carrier frequency = fosc/252 (Hz) Note: At startup, the motor is driven by a sine wave when the Hall signals are 5 Hz or higher (fosc = 4 MHz) and the motor is rotating in the same direction as the TB6551F controls it (REV = Low).
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TB6551F
Example of Application Circuit
Vrefout
23
LA Power supply for motor 10 Td U X V Y W 4 Z M Driver Comparator 9 Comparator Setting dead time 8 5 7 120/180 Charger Comparator 6 5V
Xin System clock generator Triangular wave generator 6-bit 5-bit AD 4 bit Position detector Output waveform generator Selecting data Phase W Phase V Counter Phase U
14
Xout
15
HU
21
HV
20
HW Internal Phase reference matching voltage
19
Ve
22
VCC
1
Regulator
Pre-driver (charge pump)
(Note 2) P-GND Comparator PWM
2
6 V to 10 V
S-GND FG Rotating direction HU HV HW 120turn-on matrix
13
24
Vref
12
Power-on reset
RES
11
Switching 120/180 & gate block protection on/off
OS
MCU
Idc
3
CW/CCW
18
FG
17
ST/SP Protection CW/CCW BRK (CHG) & ERR reset GB
REV
16 (Note 1)
(Note 1)
Hall IC signal
Note 1: For preventing the IC from misoperation caused by noise for example connect to ground as required.
Note 2: Connect P-GND to signal ground on an application circuit.
Note 3: A short circuit between the outputs, or between output and supply or ground may damage the device. Periferal parts may also be dameged by overvoltage and overcurrent. Design the output lines, VCC and GND lines so that short circuits do not occur. Also be careful not to insert the IC in the wrong direction because this could destroy the IC.
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Package Dimensions
Weight: 0.33 g (typ.)
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TB6551F
RESTRICTIONS ON PRODUCT USE
000707EBA
* TOSHIBA is continually working to improve the quality and reliability of its products. Nevertheless, semiconductor devices in general can malfunction or fail due to their inherent electrical sensitivity and vulnerability to physical stress. It is the responsibility of the buyer, when utilizing TOSHIBA products, to comply with the standards of safety in making a safe design for the entire system, and to avoid situations in which a malfunction or failure of such TOSHIBA products could cause loss of human life, bodily injury or damage to property. In developing your designs, please ensure that TOSHIBA products are used within specified operating ranges as set forth in the most recent TOSHIBA products specifications. Also, please keep in mind the precautions and conditions set forth in the "Handling Guide for Semiconductor Devices," or "TOSHIBA Semiconductor Reliability Handbook" etc.. * The TOSHIBA products listed in this document are intended for usage in general electronics applications (computer, personal equipment, office equipment, measuring equipment, industrial robotics, domestic appliances, etc.). These TOSHIBA products are neither intended nor warranted for usage in equipment that requires extraordinarily high quality and/or reliability or a malfunction or failure of which may cause loss of human life or bodily injury ("Unintended Usage"). Unintended Usage include atomic energy control instruments, airplane or spaceship instruments, transportation instruments, traffic signal instruments, combustion control instruments, medical instruments, all types of safety devices, etc.. Unintended Usage of TOSHIBA products listed in this document shall be made at the customer's own risk. * The products described in this document are subject to the foreign exchange and foreign trade laws. * The information contained herein is presented only as a guide for the applications of our products. No responsibility is assumed by TOSHIBA CORPORATION for any infringements of intellectual property or other rights of the third parties which may result from its use. No license is granted by implication or otherwise under any intellectual property or other rights of TOSHIBA CORPORATION or others. * The information contained herein is subject to change without notice.
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