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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
General Description
Combining low-power CMOS logic with high-current, high-voltage power FET outputs, the Series SLA706xM translator/drivers provide complete control and drive for a two-phase unipolar stepper motor with internal fixed off time and pulse-width modulation (PWM) control of the output current in a power multi-chip module (PMCMTM). There are no phase-sequence tables, high-frequency control lines, orcomplex interfaces to program.The CMOS logic section provides the sequencing logic, direction,control, synchronous/asynchronous PWM operation, and a "sleep"function. The minimum CLOCK input is an ideal fit for applications where a complex P is unavailable or overburdened. TTL or LSTTL may require the use of appropriate pull-up resistors to ensure a proper input-logic high. For PWM current control, the maximum output current is determined by the user's selection of a reference voltage and sensing resistor. The NMOS outputs are capable of sinking up to 1, 2, or 3 A (depending on device) and withstanding 46 V in the off state. Clamp diodes provide protection against inductive transients. Special power-up sequencing is not required. Half-, quarter-, eighth-, and sixteenth-step operation are externally selectable for the SLA7060/61/62M. Full-, Half-, quarter-, and eighth-step operation are externally selectable for the SLA7065/66/67M. Half-step excitation alternates between the one-phase and two-phase modes (A-AB-B-AB-A-AB-BAB),providing an eight-step sequence.
Package
Applications
PPC Printer OA Equipment
Key Specifications
Motor Supply Voltage (VM)44V max Load Supply Voltage (Vs)10V44V Logic Supply Voltage (Vcc)3V5.5V Output Current (Io)1A(SLA7060M,SLA7065M) 2A(SLA7061M,SLA7066M) 3A(SLA7062M,SLA7067M) Output Maximum Voltage (VDSS)100V min
Features
To 3 A Output Rating Internal Sequencer for Microstepping Operation PWM Constant-Current Motor Drive Cost-Effective, Multi-Chip Solution 100 V, Avalanche-Rated NMOS Outputs Low rDS(on) NMOS Outputs (150 milli-ohms typical) Advanced, Improved Body Diodes nputs Compatible with 3.3 V or 5 V Control Signals Sleep Mode Internal Clamp Diodes
Typical Connection
VBB=VM=10 44V
CA OutB/ OutA/ VDD=3.0 5.5V Disable Q1 Reset CB CW/CCW R1 C1 OutB OutA VDD VBB
6 8 9 10 12 13 14 15
16
1
2
3
4
18
19
20
21
-con
Clock M2 M1 Mo Sync
SLA706xM Series
7
REF SenseA
5
11
17
SenseB
R3
R2
RSA
RSB
GND
S-GND
P-GND
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Sanken Electric Co.,Ltd.
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
Scope
The present specifications shall apply to a micro-stepping capable 2-phase unipolar stepper motor driver IC, SLA706xM Series. The present specifications shall apply to SLA706xM Series which is performed RoHS instructions. Lead part solderPb free Inner solderLead content 85%
Outline
Type Structure Applications Hybrid integrated circuit Plastic molded (transfer mold) To drive a 2-phase stepper motor. (Micro-Stepping Capable. PWM Constant-Current Control.)
Absolute maximum ratings
Characteristic Load Supply Voltage Main Power Supply Voltage Logic Supply Voltage Output Current Logic Input Voltage REF Input Voltage Sense Voltage Power Dissipation Junction Temperature Operating Temperature Range Storage Temperature Range Symbol VM VBB VDD IO
Ratings 46 46 7 1.0 2.0 3.0 -0.3VDD+0.3 -0.3VDD+0.3
2
Unit V V V
Remarks
SLA7060M,SLA7065M
A V V V W W C C C
SLA7061M,SLA7066M SLA7062M,SLA7067M
VIN VREF VRS PD Tj Ta Tstg
Tw<1S doesn't contain it. at Ta=25 at TC=25
3.5 16 150 -2085 -30150
Output current rating may be limited by duty cycle, ambient temperature, and heat sinking. Under any set of conditions, do not exceed the specified junction temperature(Tj).
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
Electrical characteristics
Recommendable Operating Range Characteristic Load Supply Voltage
Main Power Supply Voltage Range
Symbol VM VBB VDD VREF TC
Ratings MIN MAX 44 10 44 3.0 0.1 5.5 1.0 90
Unit V V V V
Remarks
Logic Supply Voltage Range REF Input Voltage Range Case Temperature
Please adjust the Vcc surge voltage to 0.5V or less. The control current accuracy decreases in 0.1V or less.
C
11Pin temperature at No Fin
Electrical Characteristic (Ta=25C,VBB=24V,VDD=5V Unless Otherwise Noted.) Limits Characteristic Symbol Unit Test Condition Min. Typ. Max. IBB 15 mA Regularity Main Power Supply Current 100 A atSLEEPoperates IBBS Logic Supply Current IDD 4 mA VBB=44V Drain-Source Breakdown V(BR)DS 100 V ID=1mA Output On Resistance RDS(on) 0.25 0.4 ID=2A Body Diode Forward Voltage VF 0.95 1.2 V IF=2A 250 Maximum Clock Frequency fclk kHz duty=50% VIL 0.25 VDD V Logic Input Voltage 0.75VDD V VIH IIL 1 A Clock , Reset , IIH 1 A CW/CCW , Sync Logic Input Current -75 -50 -25 IILM A M1 ,M2 1 A IIHM Stationary current control VREF 0 1.5 V REF Input Voltage Range atSLEEPoperates 2.0 VDD V VREFS REF Input Current IREF 10 A VREF=0~VDD VMOL 1.25 V IMOL =1.5mA Mo Output Voltage VDD-1.25 IMOH =-1.5mA V VMOH IMOL 3 mA Mo Output Current -3 IMOH mA Operation at a step frequency greater than the specified minimum value is possible but not warranted. Note. Negative current is defined as coming out of the specified pin.
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I03-003EA-051006
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Electrical Characteristic(continued) (Ta=25C,VBB =24V,VDD =5V Unless Otherwise Noted.) Limits Characteristic Symbol Unit Test Condition Min. Typ. Max. VREF=1.0V Sense Voltage VSENSE 0.95 1.00 1.05 V at Mode F Sense pins Sink Current ISENSE 10 A Mode F 100 % Mode E 98.1 % Mode D 95.7 % Mode C 92.4 % Mode B 88.2 % Mode A 83.1 % Mode 9 77.3 % VSENSE=100% Step Reference Current Ratio Mode 8 70.7 % VREF=0.1~1V Mode 7 63.4 % Mode 6 55.5 % Mode 5 47.1 % Mode 4 38.2 % Mode 3 29.0 % Mode 2 19.5 % Mode 1 9.8 % VREF 2.01.5V Wake-Up time tSE 100 s ClockOut ON tpdon 2.0 s Switching Time Clock Out 1.5 s tpdoff OFF PWM Minimum On Time tON(min) 1.8 s tOFF1 12 s Mode 8~F PWM OFF Time tOFF2 9 s Mode 4~7 tOFF3 7 s Mode 1~3 Note. Negative current is defined as coming out of the specified pin. SLA7065M, SLA7066M, and SLA7067M of the item of * sign of Step Reference Current Ratio are off the subject.
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I03-003EA-051006
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Thermal Design Data
Thermal Ratings 4
Allowable Package Power Dissipation PD [W]
3 2 1 0 0 25 50
j-a =35.7 C/W
75
100
Ambient Temperature Ta [C]
Truth Table Input Pin Pin Name Reset CW/CCW M1 M2 REF Sync Low Level Run Forward (CW) High Level Logic Reset Reverse (CCW) Clock -
Micro-Stepping Operation Mode Setting Enable Asynchronous PWM operation Sleep Mode Synchronous PWM operation -
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Sanken Electric Co.,Ltd.
I03-003EA-051006
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Micro-Stepping Operation Mode Setting SLA7060MSLA7061MSLA7062M Input Level Operation Mode M1 M2 4W 1-2phase (1/16 Step) L L 2W 1-2phase (1/8 Step) L H W 1-2phase (1/4 Step) H L 1-2phase (1/2 Step) H H SLA7065MSLA7066MSLA7067M Input Level Operation Mode M1 M2 2W 1-2phase (1/8 Step) L L W 1-2phase (1/4 Step) L H 1-2phase (1/2 Step) H L 2-2phase (Full Step) H H
Output Pin Pin Name Mo
High Level Half-Step Position (Mode 8)
Low Level -
Logic Input Timing Requirements
Reset
2s(min) 5s(min) 4s(min) 2s(min) 2s(min)
Clock
CW/CCW M1 M2
1s(min)
1s(min) 1s(min)
1s(min)
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Step Sequencing Chart
20
21
22
23
24
25
26
27
28
29
30
31
32
17
18
19
B
9
10
11
12
13
14
15
CW
16
A
0 9.8 19.5 29.0 38.2 47.1 55.5 63.4
4W1-2phase 4W124W1-2phase
2
3
4
5
6
7
8
70.7 77.3 83.1 88.2 95.7 92.4 95.7 98.1 0 10 0 9.8 19.5 29.0 38.2 47.1 55.5 63.4 70.7 77.3 83.1 88.2
0
1
Reset
Clock
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Sanken Electric Co.,Ltd.
I03-003EA-051006
7/18
B
A 92.4 98.1
2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Step Sequencing Chart (continued)
10
11
12
13
14
15
16
9
B
5
6
7
CW
8
A
0
4
19.5 3
38.2
W1-2phase 2W122W1-2phase
2
55.5 1
70.7 83.1
0
Reset
Clock
92.4 98.1 19.5 38.2 55.5 70.7 83.1 92.4 98.1 0 10 0
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Sanken Electric Co.,Ltd.
I03-003EA-051006
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B
A
2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Step Sequencing Chart (continued)
6
7
8
B
5
3
CW
4
A
0
2
38.2 1
W1-2phase W121-2phase
70.7
0
92.4 Reset Clock 38.2 70.7 92.4
0 10
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Sanken Electric Co.,Ltd.
I03-003EA-051006
9/18
B
0
A
2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Step Sequencing Chart (continued) Block diagram (Connection diagram) 1-2phase
121-2phase
Reset
Clock 0 1 2 3 4
A
B
0
B
70.7
CW
0 10
70.7
0 A
2phase
222-2phase
Reset
Clock 0 1 2
A
B
0
B
70.7
CW
0 10
70.7
0 A
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Sanken Electric Co.,Ltd.
I03-003EA-051006
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005 Internal functional block diagram
CW/CCW O utB / O utB / O utA/ O utA/ Reset Clo c k O utB O utB O utA O utA REF
V Mo M1 M2
DD
V
BB
1
23
4
7
6
14 13 12 9 10 8
16
Reg
18
19 20
21
MIC
PreDriver DAC Synchro Control PWM Control OSC PWM Control Sequencer & Sleep Circuit
PreDriver DAC
OSC
5
SenseA
15
Sync
11
GND
17
SenseB
Pin Assignment (Terminal Functions) Pin Symbol 1 OutA 2 3 OutA/ 4 5 SenseA 6 VDD 7 REF 8 Reset CW/CC 9 W 10 Clock 11 GND 12 M2 13 M1 14 Mo 15 16 17 18 19 20 21 Sync VBB SenseB OutB/ OutB B
Function Phase A Output Phase A/ Output Phase A Current Sense Logic Supply Control Current Set & OFF Output Reset Input for Logic Circuit Forward / Reverse Switch Input Step Clock Input GND Micro-Stepping Operation Mode Setting Input Position Monitoring Output PWM Chopping Function Select Input Main Power Supply (For Motor) Phase B Current Sense Phase B/ Output Phase B Output
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Sanken Electric Co.,Ltd.
I03-003EA-051006
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
Example application circuit
VBB=VM=10 44V
CA OutB/ OutA/ VDD=3.0 5.5V Disable Q1 Reset CB CW/CCW R1 C1 OutB OutA VDD VBB
6 8 9 10 12 13 14 15
16
1
2
3
4
18
19
20
21
-con
Clock M2 M1 Mo Sync
SLA706xM Series
7
REF SenseA
5
11
17
SenseB
R3
R2
RSA
RSB
GND
S-GND
P-GND
Reference constant RSA,RSB0.12Loss attention PIo2xRS R110k R25.1k (VR) R310k
CA100F50V CB10F10V C10.1F
Precaution to avoid the noise on VDD line. Switching noise from PCB traces, where high current flows, to the VDD line should be minimized because the noise level more than 0.5V on the VDD line may cause malfunctioning operation. The tip for avoiding such problem is to separate the logic GND (S-GND) and the power GND (P-GND) on a PCB, and then connect them together at IC GND pin (#11).
The loss of `Rs' resistance will occur.
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
Package information
Package type and physical dimensions
LF2102
a.Type No. b.Lot No.
a.Type Number b.Lot Number 1st letter 2nd letter
SLA706xM
The last digit of year Month 19 Arabic Numerals 10 O 11 N 12 D Day 0131 Arabic Numerals
3rd &4th letter
Dimensions in millimeters Material of terminal : Cu Treatment of terminal : Ni planting + solder dip (Pb Free)
Appearance The body shall be clean and shall not bear any stain, rust or flaw. Marking The type number and lot number shall be clearly marked in white.
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I03-003EA-051006
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
Packing specifications
31
580
A rubber stopper is provided on both ends of the stick. 18 pieces in X direction (Maximum 18 pieces in one stick)
8 X
130 610
20 sticks in Y direction 3 sticks in Y direction
185
18piecesx20x3 =1080pieces(Max.)
Z Y
Dimensions in millimeters
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
Cautions and warnings
The calculation of control current SLA706xM Series control current Io (at Mode F) is calculated as follow.
IO =
V REF
RS
REF voltage is recommended to be from 0.1 to 1.0V. When the REF<0.1V,the accuracy of the current control becomes worst. Moreover, setting the REF voltage more than 2V activates the sleep mode (all outputs is in OFF state). However, the internal logic circuit is alive. Logic inputs/output (RESET, CLOCK, CW/CCW, M1, M2, SYNC, Mo) Following timing should comply with the "Logic input timing". -The rising edge timing of CW/CCW, M1, M2 and that of CLOCK input -The RESET release timing(=the falling edge on RESET input) and the rising edge timing of CLOCK input In case it does not comply with the "Logic input timing", it may operate at an unexpected sequence. Be sure to prevent the logic inputs(RESET, CLOCK, CW/CCW, M1, M2, SYNC) from being "OPEN". If some of the logic inputs are not used, be sure to connect them to VDD or GND. In case some of the logic inputs stay "OPEN", a malfunction may occur due to external noises. When the logic output(Mo) is not used, be sure to keep it "OPEN". In case it is connected to VDD or GND, it may cause the device's deterioration or/and breakdown. Installation to a heat sink 0.4900.822N*m 1) Recommended Clamping Torque (to External Heat sink) SHIN-ETSU CHEMICAL 2) Recommended Silicone G746 YG6260 TOSHIBA SILICONE DOW CORNING TORAY SILICONE SC102 Notice This driver has C-MOS inputs. Please notice as following contents. When static electricity is a problem, care should be taken to properly control the room humidity. This is particularly true in the winter when static electricity is most troublesome. Care should be taken with device leads and with assembly sequencing to avoid applying static charges to IC leads. PC board pins should be shorted together to keep them at the same potential to avoid this kind of trouble.
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Sanken Electric Co.,Ltd.
I03-003EA-051006
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005

Asia Pacific
China
Sanken Electric Hong Kong Co., Ltd. Suite 1026 Ocean Centre, Canton Road, Tsimshatsui, Kowloon, Hong Kong Tel: 852-2735-5262 Fax: 852-2735-5494 Sanken Electric (Shanghai) Co., Ltd. Room3202, Maxdo Centre, Xingyi Road 8, Changning district, Shanghai, China Tel: 86-21-5208-1177 Fax: 86-21-5208-1757 Taiwan Sanken Electric Co., Ltd. Room 1801, 18th Floor, 88 Jung Shiau East Road, Sec. 2, Taipei 100, Taiwan R.O.C. Tel: 886-2-2356-8161 Fax: 886-2-2356-8261
India
Saket Devices Pvt. Ltd. Office No.13, First Floor, Bandal - Dhankude Plaza, Near PMT Depot, Paud Road, Kothrud, Pune - 411 038, India Tel: 91-20-5621-2340 91-20-2528-5449 Fax: 91-20-2528-5459
Japan
Sanken Electric Co., Ltd. Overseas Sales Headquaters Metropolitan Plaza Bldg. 1-11-1 Nishi-Ikebukuro, Toshima-ku, Tokyo 171-0021, Japan Tel: 81-3-3986-6164 Fax: 81-3-3986-8637
Korea
Sanken Electric Korea Co., Ltd. Mirae Asset Life Bldg. 6F, 168 Kongduk-dong, Mapo-ku, Seoul, 121-705, Korea Tel: 82-2-714-3700 Fax: 82-2-3272-2145
Singapore
Sanken Electric Singapore Pte. Ltd. 150 Beach Road, #14-03 The Gateway West, Singapore 189720 Tel: 65-6291-4755 Fax: 65-6297-1744
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
Europe
United Kingdom
Sanken Power Systems (UK) Limited Pencoed Technology Park, Pencoed, Bridgend CF35 5HY. UK Tel: 44-1656-869-100 Fax: 44-1656-869-162
North America
United States
Allegro MicroSystems, Inc. 115 Northeast Cutoff, Worcester, Massachusetts 01606, U.S.A. Tel: 1-508-853-5000 Fax: 1-508-853-3353 Allegro MicroSystems, Inc. (Southern California) 14 Hughes Street, Suite B105, Irvine, CA 92618 Tel: 1-949-460-2003 Fax: 1-949-460-7837
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2-Phase Unipolar Stepper Motor Driver
SLA7060M/61M/62M/65M/66M/67M
October 2005
CAUTION / WARNING
The information in this publication has been carefully checked and is believed to be accurate; however, no responsibility is assumed for inaccuracies. Sanken reserves the right to make changes without further notice to any products herein in the interest of improvements in the performance, reliability, or manufacturability of its products. Before placing an order, Sanken advises its customers to obtain the latest version of the relevant information to verify that the information being relied upon is current. Application and operation examples described in this catalog are quoted for the sole purpose of reference for the use of the products herein and Sanken can assume no responsibility for any infringement of industrial property rights, intellectual property rights or any other rights of Sanken or any third party which may result from its use. When using the products herein, the applicability and suitability of such products for the intended purpose or object shall be reviewed at the users' responsibility. Although Sanken undertakes to enhance the quality and reliability of its products, the occurrence of failure nd defect of semiconductor products at a certain rate is inevitable. Users of Sanken products are requested to take, at their own risk, preventative measures including safety design of the equipment or systems against any possible injury, death, fires or damages to the society due to device failure or malfunction. Sanken products listed in this catalog are designed and intended for the use as components in general purpose electronic equipment or apparatus (home appliances, office equipment, telecommunication equipment, measuring equipment, etc.). Before placing an order, the user's written consent to the specifications is requested. When considering the use of Sanken products in the applications where higher reliability is required (transportation equipment and its control systems, traffic signal control systems or equipment, fire/crime alarm systems, various safety devices, etc.), please contact your nearest Sanken sales representative to discuss and obtain written confirmation of your specifications. The use of Sanken products without the written consent of Sanken in the applications where extremely high reliability is required (aerospace equipment, nuclear power control systems, life support systems, etc.) is strictly prohibited. Anti radioactive ray design is not considered for the products listed herein. This publication shall not be reproduced in whole or in part without prior written approval from Sanken. This is notification that you, as purchaser of the products/technology, are not allowed to perform any of the following: 1. Resell or retransfer these products/technology to any party intending to disturb international peace and security. 2. Use these products/technology yourself for activities disturbing international peace and security. 3. Allow any other party to use these products/technology for activities disturbing international peace and security. Also, as purchaser of these products/technology, you agree to follow the procedures for the export or transfer of these products/technology, under the Foreign Exchange and Foreign Trade Law, when you export or transfer the products/technology abroad.
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