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this is information on a product in full production. october 2012 doc id 4970 rev 4 1/12 12 l6219dsa stepper motor driver datasheet ? production data features drives both windings of a bipolar stepper motor output current up to 750 ma for each winding wide voltage range: 10 v to 46 v half-step, full-step and microstepping mode built-in protection diodes internal pwm current control low output saturation voltage designed for unstabilized motor supply voltage internal thermal shutdown description the l6219dsa is a bipolar monolithic integrated circuit intended to control and drive both windings of a bipolar stepper motor or bidirectionally control two dc motors. with only a few external components, the l6219dsa controls and drives the circuit for ls- ttl or microprocessor-controlled stepper motor systems. the power stage is a dual full bridge sustaining 46 v and including four diodes for current recirculation. cross conduction protection is provided to avoid simultaneous cross conduction during switching current direction. an internal pulse-width modulation (pwm) controls the output current to 750 ma with peak startup current up to 1 a. a wide range of current control from 750 ma (each bridge) is permitted by two logic inputs and an external voltage reference. a phase input to each bridge determines the load current direction. thermal protection circuitry disables the outputs if the chip temperature exceeds safe operating limits. so24 table 1. device summary order code package packing E-L6219DSA so24 tube E-L6219DSAtr so24 tape and reel www.st.com
contents l6219dsa 2/12 doc id 4970 rev 4 contents 1 block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 2 functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1 input logic (i0 and i1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.4 single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.5 output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 2.6 vs, vss, vref . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 3 application information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 4 package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 5 revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
l6219dsa block diagram doc id 4970 rev 4 3/12 1 block diagram figure 1. block diagram table 2. absolute maximum ratings parameter description value unit v s supply voltage 50 v i o output current (peak) 1 a i o output current (continuous) 0.75 a v ss logic supply voltage 7 v v in logic input voltage range -0.3 to +7 v v sense sense output voltage 1.5 v t j junction temperature +150 c t op operating temperature range -40 to +125 c t stg storage temperature range -55 to +150 c am1515 8 v1
block diagram l6219dsa 4/12 doc id 4970 rev 4 figure 2. so24 pin connection (top view) table 3. pin functions pin # name description 1, 21 output of bridge 1 see pins 2, 5 3, 23 sense resistor connection to lower emitters of output stage for insertion of current sense resistor 4, 22 comparator input input connected to the comparators. the voltage across the sense resistor is feedback to this input throught the low pass filter rc cc. the higher power transistors are disabled when the sense voltage exceeds the reference voltage of the selected comparator. when this occurs the current decays for a time set by r t c t (t off = 1.1 r t c t ). see figure 3 . 2, 5 output of bridge 2 output connection. the output stage is a h bridge formed by four transistors and four diodes suitable for switching applications. 6, 7, 18, 19 ground ground connection. they also conduct heat from die to printed circuit copper 8, 20 input 0 see input 1 (pins 9, 17) 9, 17 input 1 these pins and pins 8, 20 (input 0) are logic inputs which select the outputs of the comparators to set the current level. current also depends on the sensing resistor and reference voltage. see section 2: functional description . 10, 16 phase these ttl-compatible logic inputs set the direction of current flow through the load. a high level causes current to flow from output a (source) to output b (sink). a schmitt trigger on this input provides a good noise immunity and a delay circuit prevents output stage short-circuits during switching. 11, 15 reference voltage a voltage applied to this pin sets the reference voltage of the comparators, this determining the output current (also thus depending on rs and the two inputs input 0 and input 1) am15159v1
l6219dsa block diagram doc id 4970 rev 4 5/12 note: esd on gnd, vs, vss, out 1 a and out 2 a is guaranteed up to 1.5 kv (human body model, 1500 w, 100 pf). figure 3. timing diagram 12, 14 rc a parallel rc network connected to this pin sets the off time of the higher power transistors. the pulse generator is a monostable triggered by the output of the comparators (t off = 1.1 r t c t ) 13 v ss - logic supply supply voltage input for logic circuitry 24 v s - load supply supply voltage input for the output stages table 3. pin functions (continued) pin # name description table 4. thermal data parameter description pdip unit r thj-case thermal resistance junction-case max. 18 c/w r thj-amb thermal resistance junction-ambient max. 75 (1) 1. with minimized copper area. c/w am15160v1
block diagram l6219dsa 6/12 doc id 4970 rev 4 table 5. electrical characteristcs ( t j = -40 c to -125 c, v s = 46 v, v ss = 4.75 v to 5.25 v, v ref = 5 v, unless otherwise specified ) see figure 5 . parameter description test condition min. typ. max. unit output drivers (out a or out b ) v s motor supply range 10 - 46 v i cex output leakage current v s = 52 v v out = 50 v v s = 52 v v out = 1 v -200 - - 200 a a v ce(sat) output saturation voltage sink driver, i out = +500 ma sink driver, i out = +750 ma source driver, i out = -500 ma source driver, i out = -750 ma - - - - - - - - 0.75 1.15 1.6 1.8 v v v v v f clamp diode forward voltage high stage i f =750 ma low stage i f =750 ma - - - - 1.7 1.6 v v i s(on) driver supply current both bridges on, no load - - 17 ma i s(off) driver supply current both bridges off - - 12 ma control logic v in(h) input voltage all inputs 2.4 - - v v in(l) input voltage all inputs - - 0.8 v i in(h) input current v in = 2.4 v - <1 20 a i in(l) input current v in = 0.84 v - -3 -200 a v ref reference voltage operating (1) 1. to reduce the switching losses th e base bias of the bridge's low side npn transistor is proportional to the dac output, then the output current driving capability is also proportional to the dac output voltage, having as reference 750 ma with v ref = 5 v and dac =100%. for example using v ref = 2 v and dac = 67% the output maximum current driving capability will become 750 ma*(2 v*0.67)/(5 v*1) = 200 ma. 1.5 - 7.5 v i ss(on) total logic supply current i o = i 1 = 0.8 v, no load - - 76 ma i ss(off) total logic supply current i o = i 1 = 2.4 v, no load - - 15 ma comparators v ref / v sense current limit threshold (at trip point) i o = i 1 = 0.8 v 9.5 10 10.5 - i o = 2.4 v, i 1 = 0.8 v 13.5 15 16.5 - i o = 0.8 v, i 1 = 2.4 v 25.5 30 34.5 - t off cut off time r t = 56 k , c t = 820 pf - 50 - s t d turn off delay figure 3 -1- s protection t j thermal shutdown temperature -170-c
l6219dsa functional description doc id 4970 rev 4 7/12 2 functional description the circuit is intended to drive both windings of a bipolar stepper motor. the peak current control is generated through switch mode regulation.there is a choice of three different current levels with the two logic inputs i 01 - i 11 for winding 1 and i 02 - i 12 for winding 2. the current can also be switched off completely. 2.1 input logic (i 0 and i 1 ) the current level in the motor winding is selected by these inputs. (see figure 4 ). if any of the logic inputs is left open, the circuit treats it as a high level input. 2.2 phase this input determines the direction of current flow in the windings, depending on the motor connections. the signal is fed through a schmidt trigger for noise immunity, and through a time delay in order to guarantee that no short-circuit occurs in the output stage during phase-shift. a high level on the phase input causes the motor current flow from out a through the winding to out b. 2.3 current sensor this part contains a current sensing resistor (r s ), a low pass filter (r c , c c ) and three comparators. only one comparator is active at a time. it is activated by the input logic according to the current level chosen with signals i o and i 1 . the motor current flows through the sensing resistor r s . when the current has increased so that the voltage across r s becomes higher than the reference voltage on the other comparator input, the comparator goes high, triggering the pulse generator. the max peak current i max can be defined by: equation 1 table 6. current levels i 0 i 1 current level h h no current l h low current 1/3 i o max h l medium current 2/3 i o max l l maximum current i o max i max v ref 10r s ------------- =
functional description l6219dsa 8/12 doc id 4970 rev 4 2.4 single-pulse generator the pulse generator is a monostable triggered on the positive going edge of the comparator output. the monostable output is high during the pulse time, t off , which is determined by the time components r t and c t . t off = 1.1 r t c t the single pulse switches off the power feed to the motor winding, causing the winding current to decrease during t off . if a new trigger signal should occur during t off , it is ignored. 2.5 output stage the output stage contains four darlington transistors (source drivers) four saturated transistors (sink drivers) and eight diodes, connected in two h bridge. figure 4. principle operating sequence the source transistors are used to switch the power supplied to the motor winding, thus driving a constant current through the winding. it should be noted however, that is not permitted to short-circuit the outputs. internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels. am15161v1
l6219dsa application information doc id 4970 rev 4 9/12 2.6 v s , v ss , v ref the circuit withstands any order of turn-on or turn-off of the supply voltages v s and v ss . normal dv/dt values are then assumed. preferably, v ref should be tracking v ss during power-on and power-off if v s is established. 3 application information some stepper motors are not designed for continuous operation at maximum current. as the circuit drives a constant current through the motor, its temperature might increase exceedingly both at low and high speed operation. also, some stepper motors have such high core losses that they are not suited for switch mode current regulation. unused inputs should be connected to proper voltage levels in order to get the highest noise immunity. as the circuit operates with switch mode current regulation, interference generation problems might arise in some applications. a good measure might then be to decouple the circuit with a 100 nf capacitor, located near the package between power line and ground. the ground lead between r s , and circuit gnd should be kept as short as possible. a typical application circuit is shown in figure 5 . note that c t must be npo type or similar else. to sense the winding current, paralleled metal film resistors are recommended (r s ). figure 5. typical application circuit am15162v1
package mechanical data l6219dsa 10/12 doc id 4970 rev 4 4 package mechanical data in order to meet environmental requirements, st offers these devices in different grades of ecopack ? packages, depending on their level of environmental compliance. ecopack specifications, grade definitions and product status are available at: www.st.com . ecopack is an st trademark. note: dimension ?d? does not include mold flash, protrusions or gate burrs. mold flash, protrusions or gate burrs do not exceed 0.15 mm per side. figure 6. so24 mechanical data drawing table 7. so24 mechanical data dimensions dim. mm min. typ. max. a2.35 2.65 a1 0.10 0.30 b0.33 0.51 c0.23 0.32 d 15.20 15.60 e7.40 7.60 e1.27 h 10.00 10.65 h0.25 0.75 l0.40 1.27 k0 8 ddd 0.10 0070769 c
l6219dsa revision history doc id 4970 rev 4 11/12 5 revision history table 8. document revision history date revision changes 12-nov-1998 1 initial release. 29-apr-2008 2 document reformatted 05-sep-2008 3 added note 1. to ta bl e 5 . 24-oct-2012 4 changed the title of the document. reformatted document to current standards. minor text changes to improve the readability.
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