PBL3717-2N [ETC]
IC-STEPPER MOTOR DRIVER ; IC-步进电机驱动器\n
| 型号： | PBL3717-2N |
| 厂家： | 
ETC |
| 描述： | IC-STEPPER MOTOR DRIVER
|
| 文件： | 总8页 (文件大小：173K) |
| 中文： | 中文翻译 | 下载： | 下载PDF数据表文档文件 |
April 1997
PBL 3717/2
Stepper Motor
Drive Circuit
Description
Key Features
•
•
Half-step and full-step modes.
PBL 3717/2 is a bipolar monolithic circuit intended to control and drive the current in
one winding of a stepper motor.
The circuit consists of a LS-TTL compatible logic input stage, a current sensor, a
monostable multivibrator and a high power H-bridge output stage with built-in
protection diodes.
Switched mode bipolar constant
current drive.
•
Wide range of current control
5 - 1200 mA.
Two PBL 3717/2 and a small number of external components form a complete
control and drive unit for LS-TTL or microprocessor-controlled stepper motor systems.
•
•
Wide voltage range 10 - 50 V.
Designed for unstabilized motor supply
voltage.
•
•
Current levels can be selected in steps
or varied continuously.
Thermal overload protection.
PBL372
V
V
MM
V
CC
MM
16-pin plastic
batwing DIP
Schmitt
Trigger
Time
Delay
PBL
3717/2
Phase
1
1
1
M
A
I
1
M
I
B
0
V
R
≥1
≥1
28-pin plastic
PLCC package
&
&
&
&
+
–
Output Stage
+
–
Monostable
= 0.69 • R • C
+
–
PBL 37
t
T
off
T
GND
PBL 3717/2
Current Sensor
20-pin SO wide
batwing package
E
T
C
Figure 1. Block diagram.
1
PBL 3717/2
Maximum Ratings
Parameter
Symbol
Min
Max
Unit
*
Voltage
Logic supply
6
VCC
VMM
VI
0
7
V
V
V
V
V
Motor supply
3, 14
7, 8, 9
10
0
50
6
Logic inputs
-0.3
-0.3
-0.3
Comparator input
Reference input
Current
VC
VCC
15
11
VR
Motor output current
Logic inputs
1, 15
IM
II
-1200
-10
+1200
mA
mA
mA
7, 8, 9
10, 11
Analog inputs
Temperature
Operating temperature
Storage temperature
* refers to DIP package
IA
-10
TJ
-40
-55
+150
°C
°C
TS
+150
Recommended Operating Conditions
Parameter
Symbol
VCC
VMM
IM
Min
Typ
Max
5.25
40
Unit
V
Logic supply voltage
Motor supply voltage
Motor output current
Junction Temp
4.75
10
5
V
-1000
-20
+1000
+125
2
mA
°C
µs
µs
TJ
Rise time logic inputs
Fall time logic inputs
tr
tf
2
I
I
CC
MM
V
V
V
CC
MM
MM
14
6
3
Schmitt
Trigger
Time
Delay
I
I
I
I
IH
IL
Phase
8
7
1
1
1
M
I
I
OL
A
M
I
1
15
1
I
M
9
0
B
V
R
I
A
11
≥1
≥1
&
&
&
&
+
–
Output Stage
V
V
V
V
V
V
V
V
MM
M
+
–
A
I
CC
V
IH
IL
MA
R
+
–
Monostable
t
= 0.69 • R • C
4, 5,
GND 12, 13
PBL 3717/2
off
T
T
Current Sensor
16
2
T
10
C
I
E
C
1 kΩ
Pin no. refers
to DIP package
I
A
C
R
C
V
V
E
V
CH
820 pF
820 pF
56 kΩ
1Ω
C
C
R
R
C
T
S
T
Figure 2. Definition of symbols.
2
PBL 3717/2
Electrical Characteristics
Electrical characteristics over recommended operating conditions. unless otherwise noted -20°C≤ TJ≤ +125°C.
CT = 820 pF, RT = 56 kohm.
Ref.
Parameter
Symbol fig.
Conditions
Min
Typ
Max
Unit
General
Supply current
ICC
PD
2
3
25
mA
W
Total power dissipation
fs = 28 kHz, IM = 500 A, VMM = 36 V
1.4
2.8
1.7
Note 2, 4.
fs = 28 kHz, IM = 800 A, VMM = 36 V
Note 3, 4.
3.3
1.5
W
Turn-off delay
td
Ta = +25°C, dVC/dt ≥ 50 mV/µs.
0.9
µs
°C
Thermal shutdown junction temperature
170
Logic Inputs
Logic HIGH input voltage
Logic LOW input voltage
Logic HIGH input current
Logic LOW input current
Reference Input
VIH
2
2
2
2
2.0
V
V
VIL
IIH
IIL
0.8
20
VI = 2.4 V
VI = 0.4 V
µA
mA
-0.4
Input resistance
RR
Ta = +25°C
6.8
kohm
Comparator Inputs
Threshold voltage
VCH
VCM
VCL
IC
2
2
2
2
VR = 5.0 V, I0 = I1 = LOW
400
240
70
415
250
80
430
265
90
mV
mV
mV
µA
Threshold voltage
VR = 5.0 V, I0 = HIGH, I1 = LOW
VR = 5.0 V, I0 = LOW, I1 = HIGH
Threshold voltage
Input current
-20
Motor Outputs
Lower transistor saturation voltage
2
2
2
2
2
IM = 500 mA
IM = 800 mA
0.9
1.1
1.2
1.4
V
V
Lower diode forward voltage drop
Upper transistor saturation voltage
Upper diode forward voltage drop
IM = 500 mA
IM = 800 mA
1.2
1.3
1.5
1.7
V
V
IM = 500 mA
IM = 800 mA
1.0
1.2
1.25
1.5
V
V
IM = 500 mA
IM = 800 mA
1.0
1.2
1.25
1.45
V
V
Output leakage current
Monostable
I0 = I1 = HIGH, Ta = +25°C
100
µA
Cut off time
toff
3
VMM = 10 V, ton ≥ 5 µs
27
31
35
µs
Thermal Characteristics
Ref.
Parameter
Symbol Fig.
Conditions
Min
Typ
Max
Unit
°C/W
°C/W
°C/W
°C/W
°C/W
°C/W
Thermal resistance
Rthj-c
DIP package.
11
Rthj-a 16
Rthj-c
DIP package. Note 2.
PLCC package.
PLCC package. Note 2.
SO package
40
9
Rthj-a 16
Rthj-c
35
11
40
Rthj-a
SO package
Notes
2. All ground pins soldered onto a 20 cm2 PCB
copper area with free air convection. TA +25°C.
3. DIP package with external heatsink (Staver
1. All voltages are with respect to ground.
Currents are positive into, negative out of
specified terminal.
V7) and minimal copper area. Typical RthJ-A
=
27.5°C/W. TA = +25°C.
4. Not covered by final test program.
3
PBL 3717/2
M
1
2
3
4
5
6
7
8
16
15
14
E
M
1
2
3
4
5
20
19
18
17
16
E
M
V
B
B
T
A
T
M
A
N/C
5
6
25 N/C
V
MM
MM
V
V
MM
MM
M
24
23
V
C
A
R
GND
GND
N/C
E
7
GND
13 GND
12 GND
GND
GND
GND
GND
PBL
3717/2N
PBL
3717/2
8
22 N/C
21
PBL 3717/2QN
15
14
13
12
11
6
7
GND
GND
GND
GND
9
I
0
M
B
10
11
20 Phase
19
V
CC
11
10
9
V
C
I
R
T
I
1
V
CC
8
V
R
I
1
I
1
9
C
Phase
Phase
I
10
0
0
Figure 3. Pin configurations.
Pin Description
DIP
1
SO
1
PLCC
10
Symbol
MB
Description
Motor output B, Motor current flows from MA to MB when Phase is high.
2
2
11
T
Clock oscillator. Timing pin connect a 56 kΩ resistor and a 820 pF in parallel
between T and Ground.
3,14
3,18
12,4
VMM
Motor supply voltage, 10 to 40 V. VMM pins should be wired together on PCB.
4,5,
4,5,6,7,14
15,16,17
1,2,3,9,13,
12,13
14,15,16,17
28
GND
Ground and negative supply. Note these pins are used for heatsinking. Make
sure that all ground pins are soldered onto a suitable large copper ground
plane for efficient heat sinking.
6
7
8
9
18
19
VCC
I1
Logic voltage supply normally +5 V.
Logic input, it controls, together with the I0 input, the current level in the
output stage. The controlable levels are fixed to 100, 60, 20, 0%.
8
10
11
12
13
20
21
23
24
Phase Controls the direction of the motor current of MA and MB outputs. Motor
current flows from MA to MB when the phase input is high.
9
I0
Logic input, it controls, together with the I1 input, the current level in the output
stage. The controlable levels are fixed to 100, 60, 20, 0%.
10
11
C
Comparator input. This input senses the instaneous voltage across the
sensing resistor, filtered through a RC Network.
VR
Reference voltage. Controls the threshold voltage of the comparator and
hence the output current. Input resistance: typically 6.8kΩ ± 20%.
15
16
19
20
6
8
MA
E
Motor output A, Motor current flows from MA to MB when Phase is high.
Common emitter. Connect the sence resistor between this pin and ground.
4
PBL 3717/2
Functional Description
| V
– V
|
MA
MB
t
The PBL 3717/2 is intended to drive a
bipolar constant current through one
motor winding of a 2-phase stepper
motor.
t
on
off
50 %
Current control is achieved through
switched-mode regulation, see figure 5
and 6.
Three different current levels and zero
current can be selected by the input logic.
The circuit contains the following
functional blocks:
t
V
E
t
d
V
CH
•
•
•
•
Input logic
Current sense
Single-pulse generator
Output stage
Input logic
t
Phase input. The phase input determines
the direction of the current in the motor
winding. High input forces the current
from terminal MA to MB and low input from
terminal MB to MA. A Schmitt trigger
provides noise immunity and a delay
circuit eliminates the risk of cross
conduction in the output stage during a
phase shift.
t
1
on
f =
D =
s
t
+ t
+
t
t
on
off
on
off
Figure 4. Definition of terms.
Current sensor
Overload protection
The current sensor contains a reference
The circuit is equipped with a thermal
shut-down function, which will limit the
junction temperature. The output current
will be reduced if the maximum permis-
sible junction temperature is exceeded. It
voltage divider and three comparators for
measuring each of the selectable current
levels. The motor current is sensed as a
voltage drop across the current sensing
Half- and full-step operation is possible.
Current level selection. The status of I0
and I1 inputs determines the current level
in the motor winding. Three fixed current
levels can be selected according to the
table below.
resistor, RS, and compared with one of the should be noted, however, that it is not
voltage references from the divider. When short circuit protected.
the two voltages are equal, the
Operation
comparator triggers the single-pulse
When a voltage VMM is applied across the
generator. Only one comparator at a time
motor winding, the current rise follows the
is activated by the input logic.
Motor current
High level
I0
I1
L
100% L
equation:
im = (VMM / R) • (1 - e-(R
R = Winding resistance
L = Winding inductance
)
• t ) / L
Medium level 60%
Low level 20%
Zero current 0%
H
L
L
Single-pulse generator
H
H
The pulse generator is a monostable
multivibrator triggered on the positive
edge of the comparator output. The
multivibrator output is high during the
pulse time, toff , which is determined by the
timing components RT and CT.
H
t
=
time
The specific values of the different current
levels are determined by the reference
voltage VR together with the value of the
sensing resistor RS.
(see figure 6, arrow 1)
The motor current appears across the
external sensing resistor, RS, as an
analog voltage. This voltage is fed
toff = 0.69 • RT • CT
The peak motor current can be calculated
as follows:
through a low-pass filter, RCCC, to the
voltage comparator input (pin 10). At the
moment the sensed voltage rises above
the comparator threshold voltage, the
monostable is triggered and its output
turns off the conducting sink transistor.
The polarity across the motor winding
reverses and the current is forced to
circulate through the appropriate upper
protection diode back through the source
transistor (see figure 6, arrow 2).
The single pulse switches off the power
feed to the motor winding, causing the
winding to decrease during toff.If a new
trigger signal should occur during toff , it is
ignored.
im = (VR • 0.083) / RS [A], at 100% level
im = (VR • 0.050) / RS [A], at 60% level
im = (VR • 0.016) / RS [A], at 20% level
The motor current can also be
continuously varied by modulating the
voltage reference input.
Output stage
The output stage contains four transistors
and four diodes, connected in an H-
bridge. The two sinking transistors are
used to switch the power supplied to the
motor winding, thus driving a constant
current through the winding. See figures 5
and 6.
After the monostable has timed out, the
current has decayed and the analog
voltage across the sensing resistor is
below the comparator threshold level.
5
PBL 3717/2
The sinking transistor then closes and
the motor current starts to increase again,
The cycle is repeated until the current is
turned off via the logic inputs.
1
2
200 mA/div
1 ms/div
By reversing the logic level of the phase
input (pin 8), both active transistors are
turned off and the opposite pair turned on
after a slight delay. When this happens,
the current must first decay to zero before
it can reverse. This current decay is
steeper because the motor current is now
forced to circulate back through the power
supply and the appropriate sinking
transistor protection diode. This causes
higher reverse voltage build-up across the
winding which results in a faster current
decay (see figure 6, arrow 4).
0
3
100 µs/div
R
S
Motor Current
Figure 5. Motor current (IM ),Vertical : 200
mA/div, Horizontal: 1 ms/div,
expanded part 100 µs/div.
For best speed performance of the
1
2
3
stepper motor at half-step mode opera-
tion, the phase logic level should be
changed at the same time the current-
inhibiting signal is applied (see figure 2).
Time
Fast Current Decay
Slow Current Decay
Heatsinking
Figure 6. Output stage with current paths
for fast and slow current decay.
The junction temperature of the chip
highly effects the lifetime of the circuit. In
high-current applications, the heatsinking
must be carefully considered.
The Rthj-a of the PBL 3717/2 can be
reduced by soldering the ground pins to a
suitable copper ground plane on the
printed circuit board (see figure 16) or by
applying an external heatsink type V7 or
V8, see figure 15.
Phase shift
here gives fast
current decay
Phase shift here
gives slow
current decay
I
0A
I
1A
The diagram in figure 14 shows the
maximum permissible power dissipation
versus the ambient temperature in °C, for
heatsinks of the type V7, V8 or a 20 cm2
copper area respectively. Any external
heatsink or printed circuit board copper
must be connected to electrical ground.
For motor currents higher than 500 mA,
heatsinking is recommended to assure
optimal reliability.
Ph
A
Ph
B
I
0B
I
1B
I
MA
100%
60%
The diagrams in figures 13 and 14 can
be used to determine the required
heatsink of the circuit. In some systems,
forced-air cooling may be available to
reduce the temperature rise of the circuit.
–20%
–60%
–100%
I
MB
100%
60%
20%
–60%
–100%
Applications Information
Full step position
Motor selection
Half step position
Stand by
Some stepper motors are not designed
for continuous operation at maximum
current. As the circuit drives a constant
current through the motor, its temperature
can increase, both at low- and high-speed
mode at 20%
Half step mode at 100 %
Full step mode at 60 %
Figure 7. Principal operating sequence.
6
PBL 3717/2
operation.
V
V
(+5 V)
V
MM
CC
Some stepper motors have such high
core losses that they are not suited for
switched-mode operation.
11
6
3, 14
STEPPER
MOTOR
V
V
1
8
7
9
R
Phase
I
CC MM
Phase
M
A
B
I
1A
0A
1
PBL 3717/2
I
I
M
0
Interference
15
A
T
C
GND
E
As the circuit operates with switched-
mode current regulation, interference-
generation problems can arise in some
applications. A good measure is then to
decouple the circuit with a 0.1 µF ceramic
capacitor, located near the package
across the power line VMM and ground.
Also make sure that the VR input is
sufficiently decoupled. An electrolytic
capacitor should be used in the +5 V rail,
close to the circuit.
The ground leads between RS, CC and
circuit GND should be kept as short as
possible. This applies also to the leads
connecting RS and RC to pin 16 and pin 10
respectively.
2
4, 5 10
12, 13
16
56 kΩ
1 kΩ
820 pF
820 pF
1 Ω
V
(+5 V)
Phase
V
MM
1
CC
6
3, 14
11
V
V
V
MM
8
7
9
R
CC
Phase
M
B
B
I
I
I
1
1B
0B
PBL 3717/2
I
M
0
15
A
T
GND
4, 5
12, 13
C
E
10
2
16
Pin no refers
to DIP package
56 kΩ
1 kΩ
820 pF
1 Ω
820 pF
In order to minimize electromagnetic
interference, it is recommended to route
MA and MB leads in parallel on the printed
circuit board directly to the terminal
connector. The motor wires should be
twisted in pairs, each phase separately,
when installing the motor system.
Figure 8. Typical stepper motor driver application with PBL 3717/2.
VSat
VSat (V)
(V)
1.8
1.8
1.6
1.4
1.2
1.0
1.6
1.4
1.2
1.0
Unused inputs
°
C
Tj = 125
T = 25 °C
Unused inputs should be connected to
proper voltage levels in order to obtain the
highest possible noise immunity.
j
T = 25 °C
j
.8
.6
.8
.6
j = 125 °C
T
Ramping
.4
.2
.4
.2
A stepper motor is a synchronous motor
and does not change its speed due to
load variations. This means that the
torque of the motor must be large enough
to match the combined inertia of the
motor and load for all operation modes. At
speed changes, the requires torque
increases by the square, and the required
power by the cube of the speed change.
Ramping, i.e., controlled acceleration or
deceleration must then be considered to
avoid motor pull-out.
0
0
0
0
.20
.40
.60
.80
1.0
.20
.40
.60
.80
1.0
IM (A)
IM (A)
Figure 9. Typical source saturation vs.
output current.
Figure 10. Typical sink saturation vs.
output current.
VF (V)
VF (V)
1.8
1.8
1.6
1.6
1.4
1.4
T = 25°C
j
T = 25°C
1.2
1.0
V
CC , VMM
1.2
1.0
j
The supply voltages, VCC and VMM , can
T = 125°C
j
T = 125°C
j
be turned on or off in any order. Normal
dV/dt values are assumed.
.8
.6
.8
.6
Before a driver circuit board is removed
from its system, all supply voltages must
be turned off to avoid destructive
transients from being generated by the
motor.
.4
.2
0
.4
.2
0
0
.20
.40
.60
.80
1.0
0
.20
.40
.60
.80
1.0
IM (A)
IM (A)
Figure 11. Typical lower diode voltage
drop vs. recirculating current.
Figure 12. Typical upper diode voltage
drop vs. recirculating current.
7
PBL 3717/2
Analog control
PD (W)
PD (W)
As the current levels can be continuously
controlled by modulating the VR input,
limited microstepping can be achieved.
5
4
With Staver V8 (37.5
4.0
3.0
2.0
Switching frequency
PCB heatsink (40
The motor inductance, together with the
pulse time, toff , determines the switching
frequency of the current regulator. The
choice of motor may then require other
values on the RT , CT components than
those recommended in figure7, to obtain
a switching frequency above the audible
range. Switching frequencies above 40
kHz are not recommended because the
current regulation can be affected.
°
C/W)
3
2
1
°
C/W)
1.0
0
0
0
.20
.40
.60
.80
1.0
50
150
100
TAmb (°C)
IM (A)
Figure 14. Allowable power dissipation vs.
ambient temperature.
Figure 13. Typical power dissipation vs.
motor current.
Sensor resistor
The RS resistor should be of a non-
40.6 mm
inductive type, power resistor. A 1.0 ohm
resistor, tolerance ≤ 1%, is a good choice
for 415 mA max motor current at VR = 5V.
17.0 mm
Thepeak motor current, im , can be
calculated by using the formulas:
im = (VR • 0.083) / RS [A], at 100% level
im = (VR • 0.050) / RS [A], at 60% level
im = (VR • 0.016) / RS [A], at 20% level
Ordering Information
Package
Plastic DIP
PLCC
Part No.
PBL 3717/2N
PBL 3717/2QN
PBL 3717/2SO
SO
Figure 15. Heatsinks, Staver, type V7 and V8 by Columbia-Staver UK.
Thermal resistance [°C/W]
90
16-pin
DIP
Information given in this data sheet is believed to be
accurate and reliable. However no responsibility is
assumed for the consequences of its use 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 Ericsson Components. These products are
sold only according to Ericsson Components' general
conditions of sale, unless otherwise confirmed in
writing.
80
70
60
50
20-pin
SO
Specifications subject to change without
notice.
40
IC4 (88076) C-Ue
© Ericsson Components AB 1997
30
5
10
15
20
25
30
35
PCB copper foil area [cm2 ]
28-pin
PLCC
PLCC package
DIP and SO package
Ericsson Components AB
S-164 81 Kista-Stockholm, Sweden
Telephone: (08) 757 50 00
Figure 16. Copper foil used as a heatsink.
8
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