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(R)
L9909
DC MOTOR DRIVER WITH POSITION CONTROL
DESCRIPTION Oscillator. The output current at ROSC pin is mirrored to COSC pin with a proper direction according to its voltage slope. The triangular wave form at COSC pin, being compared with a threshold, defines the PWM duty cycle at the motor driver output M+ and M-. The oscillator also supplies the time base for the switch off and switch on delays and the Time Out Counter. The typical oscillator period is: Tosc = 7.04 x Rosc x Cosc BLOCK DIAGRAM
Vcc Vcc
Current ratio = 1 : 2
MInidip ORDERING NUMBER: L9909
1
Vcc
2
| 5 Verr| COMP7 Td_on switch on DELAY VR7 = 7.5% Vcc Tck START RES Tck TIME OUT
0 150K 150K
1 01 +-
COUN TER
-+
Vcc
OP1
switch off D ELAY Tck
+
COMP1 Td_off
375K
+
VR3=6.6% Vcc
STOP START STOP DIRECTION PWM Tck TEMP. SENSE over temp.
-
VR4 = 1.5V
+
COMP4
Td_pwm pwm DELAY
VR2=56.6%Vcc VR3=6.6%Vcc VR5 = 6.6% Vcc
DRIVE R CONTROL
OFF OFF
Td_ov_2 (1ms) Vcc VOLT. SENSE over volt. over volt. D ELAY2 Td_ov_1 (130s) VR2 = 56.6% Vcc VR3 = 6.6% Vcc COMP3 Vcc I open open 16V VR3 = 6.6% Vcc LATCH VR2 = 56.6% Vcc I OP8 I
curr. sense
Vcc 35V
COMP2 S FF R Tck
over volt. DELAY 1 curr. limit curr. limit
35V M+ 10V M-
Q VR8 = + 14.2% Vcc Latch
-
7V OSCILLATOR
IN
curr. limit
curr. limit
ROSC
GND
February 2001
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L9909
ABSOLUTE MAXIMUM RATINGS
Symbol VCC VCC_t Vin VROSC VCOSC DC battery supply voltage Transient battery supply voltage (Figs. 4 and 5) Voltage at VCOM and VFB pins Voltage AT ROSC pin Voltage at COSC pin for VCC >16V Voltage at COSC pin for VCC >16V ICC ICC_t Isig Pd Tj Tstg VESD Current at VCC GND, M+ and MTransient Current at VCC GND (figs. 4 and 5) Current at VFB, VCOM, COSC and ROSC Device Power Dissipation Junction Temperature Storage and Junction Temperature ESD Voltage Level (Human body Model - MIL STD883C) Parameter Value -0.3 to 55 -0.3 to VCC_CL (*) -0.3 to VCC +0.3 -0.3 to 7 -0.3 to16 -0.3 to VCC +0.3 1.9 4 10 internally limited -40 to 150 -55 to 150 2000 Unit V V V V V V A A mA W C C V
(*) NOTE: SELF PROTECTING Stressed above those listed under"Absolute Maximum Ratings" may cause permanent damage to the device . This is a stress rating anly and functional operation of the device at any condition above those indicated in the operational section of this specification is not implied. Exposure to absolute maximum rating conditions for extended periods may affect device reliability.
PIN CONNECTION
GND COSC VFB VCOM
1 2 3 4
D99AT436
8 7 6 5
M+ ROSC VCC M-
THERMAL DATA
Symbol Rth j-case Parameter Thermal resistance Junction to case (pin 1) Value 70 Unit C/W
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L9909
PIN FUNCTIONS
N. 1 2 3 4 5 6 7 8 Name GND COSC VFB VCOM MVCC ROSC M+ Ground Oscillator Capacitor Position Feedback Voltage Position Command Voltage Negative Motor Terminal Power Supply Oscillator Resistor Positive Motor Terminal Function
ELECTRICAL CHARACTERISTICS (VCC = 7 to 18V; Tj = -40 to 85C, unless otherwise specified.)
Pin Symbol Parameter Test Condition Min. Typ. Max. Unit
POWER SUPPLY
VCC ICC VCC_OV VCC_OVdel VCC_min Quiescent Supply Current Over Voltage Shut Down Over Voltage Shut Down Delay Minimum VCC Operating Voltage - Other Parameter may not be in spec Battery Supply Clamp Voltage Battery Supply Clamp Time Battery Supply Clamp Time Transients of Fig.5 Transients of Fig.5 Transients of Fig.4 70 130 1 IM+ = IM- = 0, IROSC = 100A; VCOSC = 0 18 130 5.5 10 20 mA V s V
VCC_CL Td_ov_1 Td_ov_2
80 1000
V s ms
OSCILLATOR
COSC ROSC ROSC COSC TOUT FOSC ROSC COSC Vrosc ICOSC VTHCOSC VTLCOSC VLINERR Oscillator Resistor Oscillator Capacitor Timer Run Time Oscillator Frequency Voltage at ROSC pin Current at COSC pin High Threshold Voltage Low Threshold Voltage Voltage Ramp Linearity Error -20 ROSC 27K; COSC = 10nF ROSC 27K ROSC 27K -20 430 10 2 16384 530 14.2 IROSC 56.6 6.6 20 630 100 100 K nF TOSC Hz %VCC %
1000 %VCC 1000 %VCC 20 %
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L9909
ELECTRICAL CHARACTERISTICS (continued.)
Pin Symbol Parameter Test Condition Min. Typ. Max. Unit
INPUT OUTPUT TRANSER FUNCTION
VCOM VFB COSC M+ MAV VSTP VSTR Voff_c1 Ton Toff VCOM VFB Rdiff Input Output Gain Stop Motor Voltage Start Error Voltage Comp 1 Input Offset Voltage Switch on Delay Switch off Delay Differential Input Impedance (see fig 3) Common Mode Input (see fig 3) 2VCOM - VFB Icom - IFB VCOM + VFB Icom + IFB VSTP = 2 VR4 VSTR = VR7/5 Error Voltage when the motor starts braking 7 2.5 1 -20 1 1 100 300 10 3 1.5 14 3.5 2 20 2 2 V %VCC mV TOSC TOSC K
Rcom
50
K
OUTPUT DRIVERS
M+ MRON_H High Side RDS IM+ = IM- = 0.3A; VCC =13.5V IM+ = IM- = 0.3A; VCC =7V RON_L Low Side RDS IM+ = IM- = 0.3A; VCC =13.5V IM+ = IM- = 0.3A; VCC =7V ILIM Output Current Limit for each of 4 Output Transistors Separately Output Rise Time Output Fall Time |V(M+) - V(M-)| Output Voltage During VCC Transients Thermal Shutdown 20% to 80% 80% to20% Transients of figs.4 and 5 170 1 0.6 1 0.6 1 1.5 2.6 1.5 2.6 1.9 A
TR TF VMTRAN THSHDN
20 20 20
s s V C
Figure 1. Static Transfer Characteristic. Error Voltage vs. Output Voltage
VOUT Vcc VOUT VSTP VSTR = -1.5% Vcc
Verr
Figure 2. Static Transfer Characteristic. Position Error Voltage vs. Output Voltage Perr = Verr/VCC
VOUT Vcc VOUT
Verr
=10 Vcc-VSTP 10 VSTP -10 (1+ -------) Vcc Verr Vcc -100 VSTP -1.5 1.5 -VSTP
=10 VSTP 10 (1+ -------) Vcc 100
Vcc-VSTP 10 -Vcc
Perr [%]
VSTR = 1.5% Vcc -VSTP
-Vcc
-Vcc
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Figure 3. L9909 Simplified Application Diagram starts and the wiper voltage VFB of the feedback potentiometer moves in the direction of the input voltage VCOM, bringing the VERR voltage back to zero. When VERR becomes lower than (Vcc-VSTP)/10, a proportional control activates. The motor voltage at M+ and M- lowers with a rate factor of 10 times VERR. This motor voltage is generated, according to the motor direction, by connecting to Vcc one motor terminal and by switching the opposite one with a PWM control. When approaching the target position, at VERR=0, the motor jumps into the Rest Zone from a residual VSTP supply voltage. This control Figure 5. Inductive Switching Transient - Positive
t1 T tr 90% Vs 10% Time Vs = 60V Source resistance = 0.5 1ms < tr < 10ms T = 400ms t1 = 10s Vs = 100V Source resistance = 10 tr = 1s Vs 10% Time T = 200s to 500s t1 = 200ms to 500ms 90% Vcc T tr
Vcc IFB VFB VERR VCOM ICOM + U709 +MM+ VOUT M
Vcc
GND
Figure 4. Load Dump Transient
Vcc
Position Feedback. As shown in Figs. 3 and 6, a positive error voltage VERR = VCOM - VFBK drives the motor with a positive M+ voltage with respect to M-. A correct negative electro-mechanical feedback is established when the motor, supplied with a positive M+ voltage with respect to M-, drives the feedback potentiometerwiper to Vcc. Rest Zone. When the differential input voltage VERR crosses the zero Volts threshold, as detected by the precision comparator COMP1, the motor is braked by driving it with a zero Volts voltage. As long as VERR is kept inside the Rest Zone, ranging from -VSTR to +VSTR (see Figs. 1 and 2), no electrical stimulus is applied to the motor terminals. When in the Rest Zone M+ and M- are both driven to Vcc. Running Zone. When the input error voltage VERR goes out of the Rest Zone (see Figs. 1 and 2) the motor
is suitable for motors that still run with the min. VSTP=2.5V residual supply voltage in all conditions, ensuring that the rest position is finally reached. But at the same time the max. VSTP=3.5V should not make any motor run too fast and stop far away from the set point for mechanical inertia, or even get out of the rest zone possibly starting oscillations. Time Out Counter. The Time Out is performed by a 14 Bit Counter that counts 16384 Tosc periods. When the input error voltage VERR goes out of the Rest Zone the motor and the counter start. The motor stops at the VERR zero crossing or when the Counter times out, whichever comes first. Direction Control. The motor can be driven in both direction and stopped by the timer as shown in Fig. 7. The bias voltage at VFB input sets the threshold voltage for the direction control input pin (DIR). VFB and VCOM inputs may be swapped causing the motor to reverse directions.
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L9909
Figure 6. Recommended Application Diagram for Positive Control
POWER Reverse Battery Protection Diode
VCC EMI Protection Network COMMAND POTENTIOMETER 1K VFB VERR 1nF 1K + M100nF U709 M+ FEEDBACK POTENTIOMETER 100nF DC MOTOR
M
+
VCOM 1nF OSCILLATOR
1nF
ROSC Rosc 27K
COSC Cosc 10nF
GND
GROUND
Figure 7. Recommended Application Diagram for Direction Control
POWER Reverse Battery Protection Diode
VCC DIR Threshold Voltage 10K DIR Protection Resistor 20K VCOM 1nF OSCILLATOR 100nF 1nF + 20K EMI Protection Capacitors VFB 1nF + M100nF U709 M+ DC MOTOR
M
ROSC Rosc 27K
COSC Cosc 10nF
GND
GROUND
Over Current Protection. The driver output pins (M+ and M-) are over current protected by 4 separate linear current limiters, one for each of the 4 power output transistors. The output drivers resume normal operation as soon as the over current is removed. Motor Over Voltage Protection. The motor is over voltage protected by switching off (to Hi-Z) the M+ and M- output drivers, when Vcc rises above the 19V typ. over voltage shut down threshold.
Over Temperature Protection. The chip is over temperature protected by switching off (to Hi-Z) the M+ and M- output drivers. Power Supply Transient Protections. The device provides over voltage suppression for fast Vcc voltage transients (Fig. 5). The Vcc is clamped at typ. 70V by turning on all four, bridge connected, power output transistors. They are roughly subjected to equal currents and voltages for even transient energy distribution. The over voltage suppression is deactivated for slow Vcc voltage transients (Fig. 4) by raising the Vcc voltage clamp at typ. 80V.
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L9909
The following is the discriminating algorithm between fast and slow Vcc transients. The transient voltage clamp is normally set at 70V. If Vcc rises above the Vcc_ov=19V typ. over voltage shutdown threshold, both Td_ov_1 and Td_ov_2 timers start. When the first timer stops (after 130s typ. delay) the clamp status is evaluated and locked. If the transient has been fast enough and the voltage clamp activated, then it remains 70V active until the second timer stops (after 1ms delay), then it deactivates by rising to 80V. If the transient has been slow and the voltage clamp unreached when the first timer stops, then it deactivates by rising to 80V. A new 70V clamp cycle may restart only by lowering Vcc below the 19V over voltage shutdown threshold. The VFB and VCOM input pins may connect to the Vcc or lower voltage during the power supply transients of Figs. 4 and 5.
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L9909
mm DIM. MIN. A a1 B b b1 D E e e3 e4 F I L Z 3.18 7.95 2.54 7.62 7.62 6.6 5.08 3.81 1.52 0.125 0.51 1.15 0.356 0.204 1.65 0.55 0.304 10.92 9.75 0.313 TYP. 3.32 0.020 0.045 0.014 0.008 MAX. MIN.
inch TYP. 0.131 MAX.
OUTLINE AND MECHANICAL DATA
0.065 0.022 0.012 0.430 0.384 0.100 0.300 0.300 0.260 0.200 0.150 0.060
Minidip
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L9909
Information furnished is believed to be accurate and reliable. However, STMicroelectronics assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of STMicroelectronics. Specification mentioned in this publication are subject to change without notice. This publication supersedes and replaces all information previously supplied. STMicroelectronics products are not authorized for use as critical components in life support devices or systems without express written approval of STMicroelectronics. The ST logo is a registered trademark of STMicroelectronics (c) 2001 STMicroelectronics - Printed in Italy - All Rights Reserved STMicroelectronics GROUP OF COMPANIES Australia - Brazil - China - Finland - France - Germany - Hong Kong - India - Italy - Japan - Malaysia - Malta - Morocco Singapore - Spain - Sweden - Switzerland - United Kingdom - U.S.A. http://www.st.com
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