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62911hkpc 5-7063/42011hkim/71608hkim no.a1137-1/15 STK673-011-E overview the STK673-011-E is a 3-phase stepping motor driver hybr id ic with built-in microstep controller having a bipolar constant current pwm system, in which a power mosfet is employed at an output stage. it includes a 3-phase distributed controller for a 3-phase stepping motor to realize a simple configuration of the motor driver circuit. the number of motor revolution can be controlled by the frequency of external clock input. 2, 2-3, w2-3 and 2w2-3- phase excitation modes are available. the basic step angle of the stepping motor can be separated as much as one-eighth 2-3-phase to 2w2-3-phase excitation mode control quasi-sine wave current, thereby realizing low vibration and low noise. applications ? as a 3-phase stepping motor driver fo r transmission and reception in a facsimile. ? as a 3-phase stepping motor driver for feeding paper feed or for an optical system in a copying machine. ? industrial machines or products employing 3-phase stepping motor driving. features ? number of motor revolution can be controlled by the frequency of external clock input. ? 4 types of modes, i.e., 2, 2-3, w2-3 and 2w2-3-phase excitations, are available which can be selected based on rising of clock signals, by switching highs and lows of mode a and mode b terminals. ? setting a mode c terminal low allows an excitation mode that is based on rising and falling of a clock signal. by setting the mode c terminal low, phases that are set only by mode a and mode b can be changed to other phases as follows without changing the number of motor revolution: 2-phase may be switched to 2-3-phase; 2-3-phase may be switched to w2-3-phase; and w2-3-phase may be switched to 2w2-3-phase. ? phase is maintained even when the excitation mode is changed. continued on next page. ordering number : ena1137b thick-film hybrid ic 3-phase stepping motor driver specifications of any and all sanyo semiconductor co.,l td. products described or contained herein stipulate the performance, characteristics, and functions of the described products in the independent state, and are not guarantees of the performance, characteristics, and functions of the described products as mounted in the customer ' s products or equipment. to verify symptoms and states that cannot be evaluated in an independent device, the customer should always evaluate and test devices mounted in the customer ' sproductsor equipment. any and all sanyo semiconductor co.,ltd. products described or contained herein are, with regard to "standard application", intended for the use as general el ectronics equipment (home appliances, av equipment, communication device, office equipment, industrial equ ipment etc.). the products mentioned herein shall not be intended for use for any "special application" (medica l equipment whose purpose is to sustain life, aerospace instrument, nuclear control device, burning appliances, t ransportation machine, traffic signal system, safety equipment etc.) that shall require extremely high level of re liability and can directly threaten human lives in case of failure or malfunction of the product or may cause har m to human bodies, nor shall they grant any guarantee thereof. if you should intend to use our products for app lications outside the standard applications of our customer who is considering such use and/or outside the scope of our intended standard applications, please consult with us prior to the intended use. if there is n o consultation or inquiry before the intended use, our customer shall be solely responsible for the use.
STK673-011-E no.a1137-2/15 continued from preceding page. ? an moi output terminal which outputs 1 pulse per 1 cycle of phase current. ? a cw/ccw terminal which switches the rotational direction. ? a hold terminal which temporarily holds the motor in a state where the phase current is conducted. ? an enable terminal which can forcibly turns off a mo sfet of a 6 output driving element in normal operation. ? schmitt inputs with built- in pull-up resistor (20k typ) ? motor current can be set by changing the voltage of the vref terminal (0.63v per 1a, dealing as much as 0 to 1/2v cc 2 (4a)). ? the clock input for controlling the number of motor revolution lies in a range of 0 to 50khz. ? supply voltage: v cc 1 = 16 to 30v, v cc 2 = 5.0v 5% ? a built-in current detection resistor (0.227 ) ? a motor current during revolution can deal with as high as 2.4a at tc = 105 c and as high as 4a at tc = 50 c or lower. specifications maximum ratings at tc = 25 c parameter symbol conditions ratings unit maximum supply voltage 1 v cc 1 max v cc 2 = 0v 36 v maximum supply voltage 2 v cc 2 max no signal -0.3 to +7.0 v input voltage v in max logic input pins -0.3 to +7.0 v phase output current i o max v cc 2 = 0v, clock 100hz 4.0 a operating substrate temperature tc max 105 c junction temperature tj max 150 c storage temperature tstg -40 to +125 c allowable operating ranges at ta = 25 c parameter symbol conditions ratings unit operating supply voltage 1 v cc 1 with signal 16 to 30 v operating supply voltage 2 v cc 2 with signal 5.0v 5% v input voltage v ih 0 to v cc 2 v phase output current 1 i o 1 without heat sink 1.7 a phase output current 2 i o 2 tc = 105c 2.4 a clock frequency f cl pin 11 input frequency 0 to 50 khz electrical characteristics 1 at tc = 25 c, v cc 1 = 24v, v cc 2 = 5v rating parameters symbol conditions min typ max unit v cc 2 supply current i cco enable=low 6.1 12 ma effective output current ioave each phase r/l=2 /6mh 2w2-3-phase excitation vref = 0.61v 0.62 0.69 0.76 arms fet diode forward voltage vdf if= 1a (r l =23 ) 1.0 1.6 v output saturation voltage vsat r l = 23 0.45 0.56 v output leakage current i ol r l = 23 0.1 ma input high voltage v ih 9 terminals, pins 11 to 18, 22 4.0 v input low voltage v il 9 terminals, pins 11 to 18, 22 1.0 v input current i il pins 11 to 18 pin = gnd level pull-up resistance 20k (typ) 115 250 550 a vref input voltage vrh pin 10 0 v cc 2/2 v vref input current ir pin 10, pin 10 = 2.5v 440 625 810 a moi output high voltage v oh pin 20, pin 20 to 19 = 820 2.5 v moi output low voltage v ol pin 20, pin 21 to 20 = 1.6k 0.4 v pwm frequency fc 63 khz note: constant voltage supply is used as power supply.
STK673-011-E no.a1137-3/15 electrical characteristics 2 at tc = 25 c, v cc 1 = 24v, v cc 2 = 5v current division ratio at phase current of 1/4 electrorotation, in each excitation mode (unit = %, typ.) number of current division is put in parentheses. current division 2 phase (1) 2-3 phase (3) w2-3 phase (6) 2w2-3 phase (12) 1/96 0 2/96 0 3/96 13 4/96 0 5/96 26 6/96 26 7/96 38 8/96 0 9/96 50 10/96 50 11/96 61 12/96 50 13/96 71 14/96 71 15/96 79 16/96 17/96 87 18/96 87 19/96 92 20/96 87 21/96 96 22/96 96 23/96 98 24/96 100 100 100 100 note: constant voltage supply is used as power supply. electrical characteristic 2 represents design values. measurement for controlling the standard value is not conducted. package dimensions unit:mm (typ) 64.0 2.0 0.5 0.4 2.9 0.5 32.0 5.0 128 27 2.0=54.0 8.5
STK673-011-E no.a1137-4/15 equivalent block diagram sample application circuit itf00807 mode a 12 mode b 13 mode c 18 tu 22 hold 14 cw / ccw 15 enable 16 reset 17 moi 20 vref 10 gnd1 19 cr oscillator reference clock f1 f4 f5 f6 clock 11 v cc 2(5v) 21 gnd2 9 v cc 1a 8 v z 7 v cc 1b 1 v cc 1c 2 u o 4 u i 23 v o v i 24 w o w i 25 p. gnd a 27 p. gndb 28 sub step switching of ref. voltage for setting current v cc side level shift gnd side level shift charging pump time chart generation f2 f3 6 5 f4, f5, f6 current detection f1, f2, f3 current detection f1, f2, f3 pwm control f4, f5, f6 pwm control itf00808 mode a 12 mode b 13 mode c 18 tu 22 hold 14 cw / ccw 15 enable 16 reset 17 moi r01 vref r02 c3 0.1 f c4 10 f c5 0.01 f c1 220 f p. gnd 3-phase stepping motor c2 2.2 f v cc 1 16 to 30v + 20 10 19 9 27 28 25 5 24 6 23 4 2 1 8 7 clock 11 v cc 2(5v) STK673-011-E 21 + w v u +
STK673-011-E no.a1137-5/15 set equation of output current i o peak value i o peak = vref k k = 0.63 (v/a) where vref 0.5 v cc 2 vref = v cc 2 rox (r01 + rox) rox = (r02 4.0k ) (r02 + 4.0k ) ? r02 is preferably set to be 100 in order to minimize the effect of the internal impedance (4.0k 30%) of STK673-011-E ? for noise reduction in 5v system, put the gnd side of bypass capacitor (220 f) of v cc 1 (shown in a thick line in the above sample application circuit) in the vicinity of pins 27 and 28 of the hybrid ic. ? set the capacitance value of the bypass capacitor c1 such that a ripple current of a capacitance, which varies in accordance with the increase of motor cu rrent, lies in an allowable range. ? k in the above-mentioned set equation varies within 5 to 10% depending on the inductance l and resistance value r of the used motor. check the peak value setting of i o upon actual setting. input/output terminals functions of 5v system terminal name no. function conditions upon functioning 0 = low, 1 = high clock 11 basic clock for switching phase current of motor input frequency range: dc to 50khz minimum pulse width: 10 s high level duty: 40 to 60% rising edge in mode c = 1 rising and falling edge in mode c = 0 mode a 12 sets excitation mode see table listed below mode b 13 sets excitation mode see table listed below mode c 18 sets excitation mode see table listed below tu 22 sets excitation mode switches 2-3 phase excitation of step current to rectangular current more effective in increasing torque than in lowering vibration of motor see table listed below hold 14 temporarily holds the motor in a state 0 cw/ccw 15 switches the rotational direction of the motor 1 = cw, 0 = ccw enable 16 turns off all of the driving mosfet 0 reset 17 system reset make sure to input a reset signal of 10 s or more 0 moi 20 monitors the number of revolution of the motor outputs 1 pulse of a high level signal per one cycle of phase current vref 10 sets the peak value of the motor current set at 0.63v per 1a maximum value 0.5 v cc 2 (4a max) excitation mode table input condition mode a mode b mode c tu excitation no. excitation mode number of current steps number of clock pulse per one cycle of phase current 0 0 1 1 (1) 2-phase 1 6 0 1 1 1 (2) 2-3-phase 3 12 0 1 1 0 (3) 2-3-phase tu 1 12 1 0 1 1 (4) w2-3-phase 6 24 1 1 1 1 (5) 2w2-3-phase 12 48 0 0 0 1 (6) 2-3-phase 3 6 0 0 0 0 (7) 2-3-phase tu 1 6 0 1 0 1 (8) w2-3-phase 6 12 1 0 0 1 (9) 2w2-3-phase 12 24 as shown in the table, tu terminal is onl y effective for excitation nos. (3) and (7). although the present hybrid ic is not damaged even when tu = 0 is mistakenly input in excitation, other than excitation nos. (3) and (7), motor vibr ation or motor current may increase. * timing charts for 3-phase stepping motor driver is illustra ted on pages 9 to 13 for exemplary operations of enable hold, cw/ccw for excitation nos. (1), (2), (3), (4), (5) and (9), and excitation no. (4).
STK673-011-E no.a1137-6/15 notes on use (1) input terminal use of 5v system [reset and clock (timing of input signal upon rising of power supply)] the driver is configured to include a 5v system logic section and a 24v mosfets section. the mosfets on both v cc 1 side and gnd side are n-channels. thus, the mosfets on the v cc 1 side is provided with a charging pump circuit for generating a voltage higher than that of v cc 1. when a low signal is input to a reset terminal for operating the reset, the charging pump is stopped. after the release of the reset (high input), it requires a period of 1.7ms to rise the charging pump. accordingly, even when a clock signal is input during the rising of the charging pump circuit, the mosfet cannot be operated. such a timing needs to be taken into consideration for inputting a clock signal. an example of timing is shown in figure 1. figure 1. timing chart of reset signal and clock signal when the reset terminal switches from low to high where a high period is 1.7ms or longer and the clock input is conducted in a low state, each phase current of th e motor is maintained at the following values. phase current in the case where the initial clock signal is maintained at low level (other than 2-3-phase tu excitation) current in the case where the initial clock signal is maintained at low level (2-3-phase tu excitation) u phase 0 0 v phase -87% of peak current during normal rotation -100% of peak current during normal rotation w phase +87% of peak current during normal rota tion +100% of peak current during normal rotation refer to the timing charts for operations. [clock] clock signals should be input under the following conditions so that all 9 types of excitation modes shown in the excitation mode table. input frequency range dc to 50khz minimum pulse width 10 s high level duty 40 to 60% when mode c is not used, it is an operation based on ri sing of the clock and thus the above-mentioned condition of high level duty is negligible. a minimum pulse width of 10 s or more allows excitation operation by mode a and mode b. since the operation is based on rising and falling of the clock under the use of mode c, it is most preferable to set the high level duty to 50% so as to obtain uniform step-wise current widths. [mode a, mode b, mode c and tu] these 4 terminals allow selection of excitation modes. for specific operations, refer to excitation mode table and timing charts. itf00809 rising of 5v power supply reset signal input clock signal > 10 s > 1.7ms
STK673-011-E no.a1137-7/15 [hold, cw/ccw] hold temporary holds the motor while a phase current of the motor is conducted, even when there are clock inputs of low input. high input releases the hold, and the motor current changes again synchronizing with the rising of clock signals. refer to timing chart for exemplary operations. cw/ccw switches the rotational direction of the motor. switching to high gives a rotational operation of cw, and low gives a rotation operation of ccw. the timing of switching the rotation is synchronizes the rising of the clock signals. refer to timing chart for exemplary operations. [enable] high input renders a normal operation and low input forcibly renders a gate signal of mosfets low, thereby cutting a motor current. once again high input re nders a current to conduct in the moto r. the timing of the current does not synchronize with the clock. since low input of enable forcibly cuts the motor current, it can be used to cut a v-phase or w-phase while clock is maintained in a low level state after the reset operation. figure 2. input timings of reset signal, enable signal and clock signal [vref (setting motor current peak value)] a peak value of a motor current i o is determined by r01, r02, v cc 2 (5v) and the following set equation (i). set equation of peak value of motor current i o i o peak = vref k (i) where vref 0.5 v cc 2 k = 0.63 (v/a) vref = v cc 2 rox (r01 + rox) rox = (r02 4.0k ) (r02 + 4.0k ) ? r02 is preferably set to be 100 in order to minimize the effect of the internal impedance (4.0k 30%) of STK673-011-E ? k in the above-mentioned set equation varies with in 5 to 10% depending on the inductance l and resistance value r of the used motor. check the peak value setting of i o upon actual setting. * refer to figure 4 for an example of vref-i o characteristics (2) allowable operating ranges of motor current set the peak value of the motor current i o so as to lie within a region below the curve shown in figure 5 on page 13. when the operation substrate temperature tc is set to 105 c, i o max should be 2.4a or lower and a hold operation should be conducted where i o max is 2.0a or lower. for operation where tc = 50 c, i o max should be 4.0a or lower and a hold operation should be conducted where i o max is 3.3a or lower. itf00810 enable signal rising of 5v power supply reset signal input clock signal > 10 s > 10 s > 1.7ms
STK673-011-E no.a1137-8/15 (3) heat radiation design heat radiation design for reducing the operation substrate temp erature of the hybrid ic is effective in enhancing the quality of the hybrid ic. the size of a heat sink varies depending on the average power loss pd in the hybrid ic. as shown in figure 6 on page 13, pd increases in accordance w ith the increase of the output current. since the starting current and the stationary current coexist in an actual motor operation, pd cannot be obtained only from the data shown in figure 6. theref ore, pd is obtained assuming that the timing of the actual motor operation is a repeated operation shown in the following figure 3. figure 3. timing chart of motor operation the average power loss pd in the hybrid ic upon an operation shown in figure 3 can be obtained by the following equation (ii): pd = (t1 p1 + t1 p2 + t3 p3 + t4 p4) t0 (ii) when the value obtained by the above equation (ii) is equal to or less than 3.4w and the ambient temperature ta is equal to or lower than 60c, there is no need of providing a heat sink. refer to figure 7 for data of the operation substrate temperature when no heat sink is used. the size of the heat sink can be decided depending on c-a obtained by the following equation (iii) and from figure 8. c-a = (tc max ? ta) pd (iii) where tc max: maximum operation substrate temperature = 105 c ta: ambient temperature of hybrid ic although heat radiation design can be realized by following the above equations (ii) and (iii), make sure to check that the substrate temperature tc is equal to or lower than 105 c after mounting the hybrid ic into a set. itf00811 positive rotation current reverse rotation current t1 t1: starting time of positive rotation t2: stationary time of positive rotation t3: starting time of reverse rotation t4: stationary time of reverse rotation t0: one cycle time of repeated motor operation p1: pd of i o 1 p2: pd of i o 2 p3: pd of i o 3 p4: pd of i o 4 i o 1 i o 2 i o 3 t2 t0 t3 t4 0 i o 4
STK673-011-E no.a1137-9/15 timing chart of 3-phase stepping motor driver 2-phase excitation 2-3 phase excitation itf00812 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw itf00813 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw
STK673-011-E no.a1137-10/15 2-3 phase excitation tu w2-3 phase excitation itf00814 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw itf00815 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw
STK673-011-E no.a1137-11/15 2w2-3 phase excitation w2-3 phase excitation (enable operation) itf00816 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw itf00817 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw
STK673-011-E no.a1137-12/15 w2-3 phase excitation (hold operation) w2-3 phase excitation (cw/ccw operation) itf00818 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw itf00819 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw
STK673-011-E no.a1137-13/15 w2-3 phase excitation to 2w2-3 p hase excitation (mode c operation) itf00820 mode a mode b mode c clock moi u phase excitation 0 v phase excitation 0 w phase excitation 0 reset enable hold tu cw / ccw itf00821 0 1.0 2.0 0.5 1.5 2.5 3.0 3.5 4.0 motor current setting voltage, vref - v motor current i o (peak value of stepping current) - a vref - i o 0 1.0 1.5 2.0 2.5 3.0 0.5 itf00822 02040 80 60 100 120 motor current, i o - a operating substrate temperature, tc - c i o -- tc 1.5 2.0 0 1.0 0.5 4.0 4.5 3.0 2.5 3.5 r o t a t i o n a t c l o c k 1 0 0 h z h o l d tc= 105 c 4.0a 3.3a 2.0a 2.4a figure 4 figure 5 itf00823 0 1.0 2.0 0.5 1.5 2.5 3.0 3.5 4.0 hybrid ic's internal average power loss, p d - w motor current, i o - a p d - i o 0 6 10 8 12 14 16 18 2 4 itf00824 0123 5 467 substrate temperature rise, tc - c hybrid ic's internal average power loss, pc - w tc - pc 30 40 0 20 10 80 90 60 50 70 v cc 1=24v, v cc 2=5v, clock=1khz, continuous operation of w2-3 phase excitation star connection line load line r=1.8 , l=4mh figure 6 v cc 1=24v, v cc 2=5v, clock=1khz, continuous operation of w2-3 phase excitation star connection line load line r=1.8 , l=4mh typ value data figure 7 with out heat sink longitudinal self-cooling
STK673-011-E no.a1137-14/15 itf00825 10 37 1000 25 37 25 100 heat sink thermal resistance, c-a - c/w heat sink surface, s - cm 2 c-a - s 3 2 5 7 100 10 3 2 5 7 1.0 n o s u r f a c e c o a t i n g b l a c k s u r f a c e c o a t itf00826 045 123 output saturation voltage, vst - v output current, i o - a vst - i o 0 1.5 2.0 2.5 3.0 0.5 1.0 t c = 1 0 5 c tc = 2 5 c t c = 1 0 5 c t c = 2 5 c t c= 1 0 5 c t c = 2 5 c t c = 1 0 5 c t c = 2 5 c t c = 1 0 5 c t c = 2 5 c t c = 1 0 5 c t c = 2 5 c itf00827 012345 diode forward voltage f1 to f6, vdf - v diode forward current, if - a vdf - if 0 1.0 1.5 2.0 2.5 0.5 itf00831 9 8 7 6 5 4 3 2 110 0 moi output low voltage, v ol - v 20 pins output current, i ol - ma v ol - i ol 0 0.3 0.4 0.5 0.6 0.1 0.2 itf00828 0 2.5 3.0 0.5 1.0 1.5 2.0 input current 11 to 18 pin, i il - a input voltage, v il - v i il - v il 0 300 400 500 100 200 250 350 450 50 150 0 3.0 4.0 5.0 1.0 2.0 2.5 3.5 4.5 0.5 1.5 itf00829 0 2.5 3.0 0.5 1.0 1.5 2.0 vref input current, ir - a vref input voltage, vrh - v ir - vrh 0 600 800 1000 200 400 itf00830 0910 13578 246 moi output high voltage, v ol - v 20 pins output current, i oh - ma v oh - i oh figure 8 figure 9 figure 10 figure 12 figure 14 figure 11 figure 13
STK673-011-E no.a1137-15/15 ps this catalog provides informati on as of june, 2011. specifications and information herein are subject to change without notice. sanyo semiconductor co.,ltd. assumes no responsibil ity for equipment failures that result from using products at values that exceed, even momentarily, rat ed values (such as maximum ratings, operating condition ranges, or other parameters) listed in products specif ications of any and all sanyo semiconductor co.,ltd. products described or contained herein. sanyo semiconductor co.,ltd. strives to supply high-quality high-reliab ility products, however, any and all semiconductor products fail or malfunction with some probab ility. it is possible that these probabilistic failures or malfunction could give rise to accidents or events that c ould endanger human lives, trouble that could give rise to smoke or fire, or accidents that could cause dam age to other property. when designing equipment, adopt safety measures so that these kinds of accidents or events cannot occur. such measures include but are not limited to protective circuits and error prevention c ircuits for safe design, redundant design, and structural design. upon using the technical information or products descr ibed herein, neither warranty nor license shall be granted with regard to intellectual property rights or any oth er rights of sanyo semiconductor co.,ltd. or any third party. sanyo semiconductor co.,ltd. shall not be liable for any claim or suits with regard to a third party's intellectual property rights which has resulted from th e use of the technical information and products mentioned above. information (including circuit diagrams and circuit parameters) herein is for example only; it is not guaranteed for volume production. any and all information described or contained he rein are subject to change without notice due to product/technology improvement, etc. when designing equi pment, refer to the "delivery specification" for the sanyo semiconductor co.,ltd. product that you intend to use. in the event that any or all sanyo semiconductor co.,ltd. products described or contained herein are controlled under any of applicable local export contro l laws and regulations, such products may require the export license from the authorities concerned in accordance with the above law. no part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying and recording, or any in formation storage or retrieval system, or otherwise, without the prior written consent of sanyo semiconductor co.,ltd.

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