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DATA SHEET
MOS INTEGRATED CIRCUIT
PD168113
SERIAL CONTROL 7-CHANNEL H-BRIDGE DRIVER
DESCRIPTION
The PD168113 is a serial control 7-channel H-bridge driver that consists of a CMOS controller and a MOS output stage. It can reduce the current consumption and the voltage loss at the output stage compared with a conventional driver using bipolar transistors, thanks to employment of a MOS process. The PD168113 can drive various motor coils by controlling the serial, so that the number of signal lines necessary for controlling the motor can be decreased. The package is a 56-pin WQFN that helps reduce the mounting area and height. The PD168113 can be used to drive two stepping motors, or two DC motors and one coil.
FEATURES
* Seven H-bridge circuits employing power MOS FET * Low-voltage driving VDD = 2.7 to 3.6 V VM = 2.7 to 5.5 V * Output on-state resistance: 1.0 TYP., 1.5 MAX. (sum of top and bottom stage) * Output current <1 ch to 6 ch> DC current: 0.4 A/ch (when each channel is used independently) Peak current: 0.7 A/ch (when each channel is used independently) <7 ch> DC current: 0.5 A/ch (when used independently) Peak current: 0.7 A/ch (when used independently) * Input logic frequency: 6 MHz supported * Undervoltage lockout circuit Shuts down the internal circuit at VDD = 1.7 V TYP. * Overheat protection circuit Operates at 150C or more and shuts down internal circuitry. * 56-pin WQFN (8 mm, 0.5 mm pitch)
ORDERING INFORMATION
Part Number Package 56-pin plastic WQFN (8 x 8)
PD168113K9-9B4-A
The information in this document is subject to change without notice. Before using this document, please confirm that this is the latest version.
Not all products and/or types are available in every country. Please check with an NEC Electronics sales representative for availability and additional information.
Document No. S16423EJ2V0DS00 (2nd edition) Date Published April 2004 NS CP(K) Printed in Japan
The mark
shows major revised points.
2003
PD168113
1. PIN CONFIGURATION
Package: 56-pin plastic WQFN (8 x 8)
PGND34 OUT3B OUT3A OUT4B OUT4A MOB2
EXT2
30
42 TEST (NC) FB7 PGND7 OUT7A VM7 OUT7B PGND7 CLKB CLK COSC VDD IN7B IN7A 43 44 45 46 47 48 49 50 51 52 53 54 55 56 1
41
40
39
38
37
36
35
34
33
32
31
29 28 27 26 25 24 23 22 MOB1 FIL1 FIL2 FB1 OUT1B VM12 OUT1A
EXT1
21 PGND12 20 19 18 17 16 15 OUT2B VM12 OUT2A FB2 LGND SCLK 14
VM34
VM34
FIL4
10
2
3
4
5
6
7
8
9
11
FIL3
FB3
FB4
12
13
2
Data Sheet S16423EJ2V0DS
RESETB
PGND56
LATCH
SDATA
OUT6B
OUT6A
OUT5A
OUT5B
IN6B
IN6A
IN5B
IN5A
VM6
VM5
PD168113
2. PIN FUNCTIONS
(1/2)
Pin No. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 IN6B IN6A OUT6B VM6 OUT6A PGND56 OUT5A VM5 OUT5B IN5B IN5A LATCH SDATA RESETB SCLK LGND FB2 OUT2A VM12 OUT2B PGND12 OUT1A VM12 OUT1B FB1 FIL2 FIL1 MOB1 EXT1 EXT2 MOB2 FIL3 FIL4 FB4 OUT4A VM34 OUT4B PGND34 Pin Name H-bridge 6 input pin B H-bridge 6 input pin A H-bridge 6 output pin B H-bridge 6 power supply pin H-bridge 6 output pin A H-bridge 5, H-bridge 6 GND pin H-bridge 5 output pin A H-bridge 5 power supply pin H-bridge 5 output pin B H-bridge 5 input pin B H-bridge 5 input pin A Chip select input pin Serial data input pin Reset pin (low active) Serial clock input pin Logic block GND pin Current detection resistor connection pin 2 H-bridge 2 output pin A H-bridge 1, H-bridge 2 power supply pin H-bridge 2 output pin B H-bridge 1, H-bridge 2 GND pin H-bridge 1 output pin A H-bridge 1, H-bridge 2 power supply pin H-bridge 1 output pin B Current detection resistor connection pin 1 Filter capacitor connection pin 2 Filter capacitor connection pin 1 MOB signal output pin 1 (open-drain output) EXT signal output pin 1 EXT signal output pin 2 MOB signal output pin 2 (open-drain output) Filter capacitor connection pin 3 Filter capacitor connection pin 4 Current detection resistor connection pin 4 H-bridge 4 output pin A H-bridge 3, H-bridge 4 power supply pin H-bridge 4 output pin B H-bridge 3, H-bridge 4 GND pin Function
Data Sheet S16423EJ2V0DS
3
PD168113
(2/2)
Pin No. 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 Pin Name OUT3A VM34 OUT3B FB3 TEST (NC) FB7 PGND7 OUT7A VM7 OUT7B PGND7 CLKB CLK COSC VDD IN7B IN7A H-bridge 3 output pin A H-bridge 3, H-bridge 4 power supply pin H-bridge 3 output pin B Current detection resistor connection pin 3 Test input pin (Connect to GND when normal using.) Unused Current detection resistor connection pin 7 H-bridge 7 GND pin H-bridge 7 output pin A H-bridge 7 power supply pin H-bridge 7 output pin B H-bridge 7 GND pin External clock output pin/crystal oscillator connection pin 2 External clock output pin/crystal oscillator connection pin 1 Chopping frequency setting capacitor connection pin Logic block power supply pin H-bridge 7 input pin B H-bridge 7 input pin A Function
4
Data Sheet S16423EJ2V0DS
PD168113
3. BLOCK DIAGRAM
PGND34 OUT3B OUT3A OUT4B OUT4A MOB2 EXT2 EXT1
VM34
VM34
FIL4
42 TEST (NC) FB7 43
41
40
39
38
37
36
35
34
33
32
FIL3
FB3
FB4
31
30
29 28 MOB1 FIL1 FIL2 FB1 OUT1B VM12 OUT1A
Current Sense 3
Current Sense 4
44 45
H-bridge 3
H-bridge 4
Position Logic
27 26
PGND7 46 OUT7A VM7 OUT7B 47
Current Sense 7
H-bridge 3 Pre-driver
H-bridge 4 Pre-driver
H-bridge 1 Pre-driver
Current Sense 1
25 24
H-bridge 7
49
H-bridge 1, H-bridge 2 Control
48
H-bridge 3, H-bridge 4 Control
H-bridge 7 Pre-driver
H-bridge 1
23 22
PGND7 50
UVLO
H-bridge 5 to H-bridge 7 Control
21 PGND12 20
H-bridge 2 Pre-driver H-bridge 2
CLKB CLK COSC VDD IN7B IN7A
51
TSD
OUT2B VM12 OUT2A FB2 LGND SCLK
52 53 54 55 56 1
IN6B
H-bridge 6 H-bridge 5 OSC H-bridge 6 Pre-driver H-bridge 5 Pre-driver
19 18
Current Sense 2
17 16
Srial Controller
15 14
RESETB
2
IN6A
3
OUT6B
4
VM6
5
OUT6A
6
PGND56
7
OUT5A
8
VM5
9
OUT5B
10
IN5B
11
IN5A
12
LATCH
13
SDATA
Cautions 1. Be sure to connect all of the pins which have more than one. 2. A pull-down resistor (50 to 200 k) is connected to the TEST, IN5A, IN5B, IN6A, IN6B, IN7A and IN7B pins. Fix these input pins to GND when they are not used.
Data Sheet S16423EJ2V0DS
5
PD168113
4. STANDARD CONNECTION EXAMPLES
(1) For external control of only ch7 when external CLK is input and two stepping motors are used
2 CPU
3V 330 pF LGND TEST FB1 FB2 VM12 OUT1A OUT1B PGND12 ch1 H-bridge ch3 H-bridge Pre-driver Current Sense 1 Current Sense 2 Serial Control Block OSC Current Sense 3 Current Sense 4 VDD LATCH SDATA EXT1 EXT2 MOB1 MOB2 SCLK RESETB CLK CLKB COSC
FB3 FB4 VM34 OUT3A OUT3B PGND34 FIL3
M
FIL1 VM12 OUT2A OUT2B FIL2 VM5 PGND56 ch5 H-bridge ch2 H-bridge
M
VM34 ch4 H-bridge OUT4A OUT4B FIL4 TSD ch6 H-bridge UVLO IN7A IN7B VM7 Current Sense 7 ch7 H-bridge PGND7 PGND7 3 to 5 V
M
OUT5A OUT5B
IN5A IN5B
IN6A IN6B OUT6AOUT6B VM6
FB7
OUT7A
OUT7B
M
(2) For external control of ch5 to ch7 when crystal oscillator and one stepping motor are used
6 CPU
3V 330 pF LGND TEST FB1 FB2 VM12 OUT1A OUT1B PGND12 ch1 H-bridge ch3 H-bridge Pre-driver Current Sense 1 Current Sense 2 Serial Control Block OSC Current Sense 3 Current Sense 4 VDD LATCH SDATA EXT1 EXT2 MOB1 MOB2 SCLK RESETB CLK CLKB COSC
FB3 FB4 VM34 OUT3A OUT3B PGND34 FIL3
M
FIL1 VM12 OUT2A OUT2B FIL2 VM5 PGND56 ch5 H-bridge ch2 H-bridge
VM34 ch4 H-bridge OUT4A OUT4B FIL4 TSD ch6 H-bridge UVLO IN7A IN7B VM7 Current Sense 7 ch7 H-bridge PGND7 PGND7 3 to 5 V
M
M
OUT5A OUT5B
IN5A IN5B
IN6A IN6B OUT6AOUT6B VM6
FB7
OUT7A
OUT7B
M
6
Data Sheet S16423EJ2V0DS
PD168113
5. FUNCTIONAL DEPLOYMENT
5.1 Serial Control All information for driving the motor is processed by serial data from the CPU. The following parameters can be set by commands. * Control of DC motor driving and output duty * Control during constant-current driving and current setting * Wait value for setting timing during stepping motor driving * Motor current, motor revolution direction, and output excitation mode * Pulse cycle, and number of pulses Each command is assigned an address. Each data can be updated by inputting 16-bit data. For the configuration of the data and details of commands, refer to 9. SERIAL INTERFACE SPECIFICATIONS. 5.2 Reset Function An initialization operation is performed and all the internal data is cleared to 0 when RESETB = L. The output remains in the Hi-Z state. When RESETB = H, commands can be input. Once it sets the address 0 to address 2 for an initialization setting, they carry out latch operation inside, and prohibit overwriting. In order that initialization operation is performed again, the reset operation is needed. Be sure to perform a reset operation after turning on power supply. When RESETB = L, the internal circuitry is stopped whenever possible, so that the self current consumption can be reduced. When input of the external CLK is stopped, the current consumption can be lowered to 1 A MAX. Immediately after release of reset, excitation is started from the position where the current of ch1 is 100% and the current of ch2 is 0%, in the micro step drive mode and 1-2 phase excitation drive mode. In the 2-phase excitation drive mode, excitation is started from the position where the currents of ch1 and ch2 are 100%. Remark L: Low level, H: High level, Hi-Z: High impedance 5.3 Current Detection Resistor Connection (FB) Pin The current detection resistor is connected when current driving is necessary. For example: When micro step driving, when solenoid driving. The current that flows into the output is {set voltage value/FB pin resistance x 1000}. Example) Where the set voltage value is 200 mV, FB = 2 k Output current value = 200 (mV) /2 (k) x 1000 = 100 (mA) Therefore, the load is driven at a constant current of 100 mA. The set voltage value is a value that can be set by serial control.
Data Sheet S16423EJ2V0DS
7
PD168113
5.4 Undervoltage Lockout (UVLO) Circuit
This function is to forcibly stop the operation of the IC to prevent malfunctioning if VDD drops. If VDD drops abruptly in the order of several s, this function may not operate.
5.5 Overheat Protection (TSD) Circuit
This function is to forcibly stop the operation of the IC to protect it from destruction due to overheating if the chip temperature of the IC rises. The overheat protection circuit operates when the chip temperature rises to 150C or more. When overheat is detected, all the circuits are stopped. When reset is performed or when UVLO is detected, the overheat protection circuit does not operate.
5.6 Power Up Sequence
This IC has a circuit that prevents current from flowing into the VM pin when VDD = 0 V. Therefore, the current that flows into the VM pin is cut off when VDD = 0 V. Because the VDD pin voltage and VM pin voltage are monitored, a current of 3 A MAX. flows into the VM pin when VDD is applied.
8
Data Sheet S16423EJ2V0DS
PD168113
6. COMMAND INPUT TIMING CHART
This IC can drive a stepping motor, DC motor, and solenoid by serial control if serial control is set during initialization. If direct input is set, this IC can drive the load by an input/output PWM control method. With the serial control setting, two or more motors can be simultaneously controlled by commands. Be sure to execute initialization (addresses 0 to 2) immediately after power application and immediately after reset. After initialization, the motors can be controlled simply by inputting driving data (addresses 3 to F). To execute initialization again from the start, the RESET pin must be made high and data of addresses 0 to 2 must be input.
6.1 Setting Examples
6.1.1 Stepping motor
Starts output after wait time synchronized with LATCH has fallen.
LATCH SCLK/SDATA Wait time Pulse output
Pulse output Excited status (stopped) Pulse output Excited status (stopped)
6.1.2 DC motor/coil
Starts output after LATCH has fallen.
LATCH SCLK/SDATA Output status
ON OFF ON OFF
6.2 Example of Address Setting
LATCH SCLK
Address 0 Address 1 Address 2 Address 7 Address 8 to address B Address 5 Address 3 Address 4
SDATA
Initializaition Address 0 Address 1 Address 2 Constant-current driving Address 7 Stepping motor DC motor Constant-current driving Address 8 to address B Address 5 Address 3 Address 4
Data Sheet S16423EJ2V0DS
9
PD168113
7. SERIAL DATA INPUT SEQUENCE
The PD168113 can control driving of two or more motors with only a few CPU signals by using a serial data input method. The serial data is input as follows.
(1) Input addresses 0 to 2 after power up and initialization. (2) Depending on the type of the motor set, input the necessary data of addresses 3 to F (two or more addresses may be input). (3) When performing the driving setting, only the necessary data of addresses 3 to F has to be input because the previous data is retained. Only the output related to the input address will change. To perform an initialization operation such as selecting the motor, initialize the internal registers by using the RESETB pin.
Figure 7-1. Operation Sequence When Serial Data Is Input
Address 0 to address 2
Stepping motor
Motor type
Constant-current driving
DC Motor Address 8 to address B or Address C to address F Address 3, address 4, address 7
Address 5, address 6
Data updated ? N
Y
10
Data Sheet S16423EJ2V0DS
PD168113
8. NOTES ON TRANSMITTING DATA
* The first input data is loaded when SCLK changes from L to H after LATCH has changed from L to H. Data is transmitted in 16-bit units, and is determined when LATCH changes from H to L. Invalid data of less than 16-bit is discarded. * Data of different addresses can be input successively while LATCH = H. * The access time can be shortened by updating only the necessary data after initialization has been performed. If an address is not input, the previous value of that address is held as the data.
Examples)
DC motor and constant current: The ON/OFF state is held. Stepping motor: The excitation position is held if the excitation state is in ON.
* If the same address is input more than one while LATCH = H, the last input data is valid. * If invalid data and correct data are input while LATCH = H, only the correct data is valid. * If only LATCH is input, the data is not updated, and the driver holds the current status. * If a command related to stepping motors (addresses 8 to F) is input during the "wait period" that lasts from input of the preceding data to the start of counting, the data is ignored. A command related to the DC motor and coil (addresses 3 to 7) is valid during the synchronization period. * Data that is input when RESETB = L is ignored.
Data Sheet S16423EJ2V0DS
11
PD168113
9. SERIAL INTERFACE SPECIFICATIONS
The internal data is determined by inputting 16-bit serial data SDATA synchronized with serial clock SCLK, and making LATCH = L. Serial data is input from the LSB (D0) to the MSB (Df). SDATA: When LATCH = H, data is loaded to the internal circuitry at the rising edge of SCLK, and latch operation performed a the falling of SCLK LATCH: Inputting SDATA is prohibited when LATCH is L. Inputting SDATA is enabled when it is H. The internal data is determined when LATCH changes from H to L. Because this IC generates the internal timing via the external CLK (OSCIN) its set values depend upon the frequency of CLK. An example where CLK = 5 MHz is given below. To input a frequency other than 5 MHz to CLK, use the following expression. Items related to the serial register are marked Time: Set value = Setting example x (5/CLK [MHz] ) Frequency: Set value = Setting example x (CLK [MHz] /5) 16-bit data consists of address: 4-bit and data: 12-bit. Four bits (Dc, Dd, De and Df) are used to set an address. Sixteen types of addresses 0 to F can be used. Twelve bits (D0 to Db) are used to set data.
Bit Data Df De Dd Dc Db Data Da D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
.
Address
Examples)
Address 1: (Df, De, Dd, Dc) = (0, 0, 0, 1) Address A: (Df, De, Dd, Dc) = (1, 0, 1, 0)
For how to set data, refer to Table 10-1. to Table 10-4. Serial Register List, and 11. SERIAL COMMAND DETAILS. The following chart shows an example of serial command waveforms.
0 SCLK 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
SDATA
LATCH
SCLK
SDATA
D0
From D1
Df
LATCH
12
Data Sheet S16423EJ2V0DS
PD168113
10. ADDRESS LIST
Address Df Address 0 Address 1 Address 2 Address 3 Address 4 Address 5 Address 6 Address 7 Address 8 Address 9 0 0 0 0 0 0 0 0 1 1
Address Data De 0 0 0 0 1 1 1 1 0 0 Dd 0 0 1 1 0 0 1 1 0 0 Dc 0 1 0 1 0 1 0 1 0 1
Item to Be Set
Input mode selection, motor selection, wait setting Chopping frequency setting, MOB output selection Test function Constant current ch3 Constant current ch4 DC motor ch5 DC motor ch6 Constant current ch7 Motor driving initialization setting, motor current setting Acceleration/deceleration parameter setting, plus number multiplication factor setting
Address A Address B Address C Address D
1 1 1 1
0 0 1 1
1 1 0 0
0 1 0 1
Pulse cycle setting Number of pulses setting Motor driving initialization setting, motor current setting Acceleration/deceleration parameter setting, plus number multiplication factor setting
Address E Address F
1 1
1 1
1 1
0 1
Pulse cycle setting Number of pulses setting
Data Sheet S16423EJ2V0DS
13
PD168113
Table 10-1. Serial Register List (Address 0 to Address 3)
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 0 (0000) 0 Address 0 0 0 0 (unused) 0 (unused) ch7 serial/direct input mode selection ch6 serial/direct input mode selection ch5 serial/direct input mode selection ch3, ch4 driving motor setting Wait setting 5 Wait setting 4 Wait setting 3 Wait setting 2 Wait setting 1 Wait setting 0
Bit f e d c b a 9 8
Address 1 (0001) 0 Address 0 0 1 0 (unused) 0 (unused) 0 (unused) MOB output position setting (when micro step driving or 1-2 phase excitation driving)
7
MOB output selection setting (only when micro step driving)
6 5 4 3 2 1 0
Pulse output function selection when EXT output Chopping frequency 5 Chopping frequency 4 Chopping frequency 3 Chopping frequency 2 Chopping frequency 1 Chopping frequency 0
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 2 (0010) 0 Address 0 1 0 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused) 0 (unused)
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 3 (0011) 0 Address 0 1 1 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch3 output current value setting 4 ch3 output current value setting 3 ch3 output current value setting 2 ch3 output current value setting 1 ch3 output current value setting 0 0 (unused) ch3 excitation direction ch3 excitation ON/OFF
14
Data Sheet S16423EJ2V0DS
PD168113
Table 10-2. Serial Register List (Address 4 to Address 7)
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 4 (0100) 0 Address 1 0 0 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch4 output current value setting 4 ch4 output current value setting 3 ch4 output current value setting 2 ch4 output current value setting 1 ch4 output current value setting 0 0 (unused) ch4 excitation direction ch4 excitation ON/OFF
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 5 (0101) 0 Address 1 0 1 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch5 output duty setting 4 ch5 output duty setting 3 ch5 output duty setting 2 ch5 output duty setting 1 ch5 output duty setting 0 ch5 brake mode ch5 revolution direction ch5 motor ON/OFF
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 6 (0110) 0 Address 1 1 0 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch6 output duty setting 4 ch6 output duty setting 3 ch6 output duty setting 2 ch6 output duty setting 1 ch6 output duty setting 0 ch6 brake mode ch6 revolution direction ch6 motor ON/OFF
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 7 (0111) 0 Address 1 1 1 0 (unused) 0 (unused) 0 (unused) 0 (unused) ch7 output current value setting 4 ch7 output current value setting 3 ch7 output current value setting 2 ch7 output current value setting 1 ch7 output current value setting 0 0 (unused) ch7 excitation direction ch7 excitation ON/OFF
Data Sheet S16423EJ2V0DS
15
PD168113
Table 10-3. Serial Register List (Address 8 to Address B)
Bit f e d c b a
Address 8 (1000) 1 Address 0 0 0 0 (unused) Constant-current changing when two-phase/1-2 phase driving
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address 9 (1001) 1 Address 0 0 1 0 (unused) Acceleration valid/invalid change Deceleration valid/invalid change For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control Motor pulse multiplication factor setting 1 Motor pulse multiplication factor setting 0
9 8 7 6 5 4 3 2 1 0
Driving mode selection 1 Driving mode selection 0 Output enable setting Stop mode setting Revolution direction mode (CW/CCW) Motor current setting 4 Motor current setting 3 Motor current setting 2 Motor current setting 1 Motor current setting 0
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address A (1010) 1 Address 0 1 0 Motor pulse cycle setting 11 Motor pulse cycle setting 10 Motor pulse cycle setting 9 Motor pulse cycle setting 8 Motor pulse cycle setting 7 Motor pulse cycle setting 6 Motor pulse cycle setting 5 Motor pulse cycle setting 4 Motor pulse cycle setting 3 Motor pulse cycle setting 2 Motor pulse cycle setting 1 Motor pulse cycle setting 0
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address B (1011) 1 Address 0 1 1 Number of motor pulses setting 11 Number of motor pulses setting 10 Number of motor pulses setting 9 Number of motor pulses setting 8 Number of motor pulses setting 7 Number of motor pulses setting 6 Number of motor pulses setting 5 Number of motor pulses setting 4 Number of motor pulses setting 3 Number of motor pulses setting 2 Number of motor pulses setting 1 Number of motor pulses setting 0
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Data Sheet S16423EJ2V0DS
PD168113
Table 10-4. Serial Register List (Address C to Address F)
Bit f e d c b a
Address C (1100) 1 Address 1 0 0 0 (unused) Constant-current changing when two-phase/1-2 phase driving
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address D (1101) 1 Address 1 0 1 0 (unused) Acceleration valid/invalid change Deceleration valid/invalid change For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control For acceleration/deceleration control Motor pulse multiplication factor setting 1 Motor pulse multiplication factor setting 0
9 8 7 6 5 4 3 2 1 0
Driving mode selection 1 Driving mode selection 0 Output enable setting Stop mode setting Revolution direction mode (CW/CCW) Motor current setting 4 Motor current setting 3 Motor current setting 2 Motor current setting 1 Motor current setting 0
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address E (1110) 1 Address 1 1 0 Motor pulse cycle setting 11 Motor pulse cycle setting 10 Motor pulse cycle setting 9 Motor pulse cycle setting 8 Motor pulse cycle setting 7 Motor pulse cycle setting 6 Motor pulse cycle setting 5 Motor pulse cycle setting 4 Motor pulse cycle setting 3 Motor pulse cycle setting 2 Motor pulse cycle setting 1 Motor pulse cycle setting 0
Bit f e d c b a 9 8 7 6 5 4 3 2 1 0
Address F (1111) 1 Address 1 1 1 Number of motor pulses setting 11 Number of motor pulses setting 10 Number of motor pulses setting 9 Number of motor pulses setting 8 Number of motor pulses setting 7 Number of motor pulses setting 6 Number of motor pulses setting 5 Number of motor pulses setting 4 Number of motor pulses setting 3 Number of motor pulses setting 2 Number of motor pulses setting 1 Number of motor pulses setting 0
Data Sheet S16423EJ2V0DS
17
PD168113
11. SERIAL COMMAND DETAILS
11.1 Address 0
Bit Data
Df 0
De 0
Dd 0
Dc 0
Db 0
Da 0
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
Note 4 Note 3 Note 2 Note 1
Wait setting
Notes 1. ch3, ch4 driving motor setting 2. ch5 serial/direct input mode selection
3. ch6 serial/direct input mode selection 4. ch7 serial/direct input mode selection
11.1.1 Wait value When the stepping motor is to be controlled, counting is started from the falling of the LATCH signal and the motor is excited when the count value reaches 0. Even if transmission of serial data is delayed by the wait value, the stepping motor can be driven at a predetermined timing if the LATCH signal is periodically input. Note that the wait value must not be set to 0. The wait time can be set in a range of 64 to 2048 s with a resolution of 32 s using data. 11.1.2 Example of setting wait value
D5......D0 000000 000001 000010 : 111101 111110 111111
Set Value (s) Input prohibited 64 96 : 1984 2016 2048
11.1.3 Definition by wait value
LATCH
Wait 1
Fixed to 32 s
Wait 2
Set value: -32 s
Wait period Output enable Driving mode (when two-phase driving immediately after reset) EVR (output current setting) Output disable Driving mode (microstep, 1-2 phase, two-phase) Pulse output
18
Data Sheet S16423EJ2V0DS
PD168113
11.1.4 ch3, ch4 driving motor setting
D6 = 0: Stepping motor driving D6 = 1: Constant-current driving mode that can be set only by serial mode.
When D6 = 0, ch3 and ch4 have functions equivalent to ch1 and ch2, and can be used to drive a stepping motor. When D6 = 1, ch3 and ch4 are independently used for constant-current driving. However, because ch3 and ch4 internally share the same driving power supply, these channels must be supplied from the same source.
11.1.5 ch5 to ch7 serial/direct input mode selection
D7 = 0: ch5 is a setting mode by serial mode D7 = 1: ch5 is a setting mode by direct input mode
D8 = 0: ch6 is a setting mode by serial mode D8 = 1: ch6 is a setting mode by direct input mode
D9 = 0: ch7 is a setting mode by serial mode D9 = 1: ch7 is a setting mode by direct input mode
If each or all of ch5 to ch7 is setting mode by direct input mode, refer to 13. FUNCTION OPERATION TABLE.
Data Sheet S16423EJ2V0DS
19
PD168113
11.2 Address 1 This address is used to set a chopping frequency that is the reference of PWM output.
MSB Bit Data Df 0 De 0 Dd 0 Dc 1 Db 0 Da 0 D9 0 D8 D7 D6 D5 D4 D3 LSB D2 D1 D0
Note 3 Note 2 Note 1
Chopping frequency
Notes 1. Pulse output function selection when EXT output 2. MOB output selection setting 3. MOB output position setting 11.2.1 Chopping frequency A chopping mode is employed for the output to drive the motor on a constant current. The chopping frequency that is the reference of the output can be changed with data, so that the PWM output does not interfere with the other signals. The chopping frequency can be set in a range of 40 to 250 kHz by the data of D0 to D5. The set chopping frequency is used for output when executing stepping motor and constant-current driving. * For constant-current driving with stepping motor (ch1 to ch4) * For constant-current driving (ch3, ch4, ch7) Refer to the following table for the set value.
D5......D0 000000 000001 : 000111 001000 001001 001010 001011 001100 001101 001110 001111 010000 010001 010010 010011 010100 010101 010110 010111 Chopping Frequency (kHz) 0 (no pulse output) 0 (no pulse output) : 0 (no pulse output) 40 45 50 55 60 65 70 75 80 85 90 95 10 105 110 115 D5......D0 011000 011001 011010 011011 011100 011101 011110 011111 100000 100001 100010 100011 100100 100101 100110 100111 101000 101001 101010 101011 210 190 180 165 155 140 145 Chopping Frequency (kHz) 120 125 130 D5......D0 101100 101101 101110 101111 110000 110001 110010 110011 110100 110101 110110 110111 111000 111001 111010 111011 111100 111101 111110 111111 250 Chopping Frequency (kHz) 225
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Data Sheet S16423EJ2V0DS
PD168113
11.2.2 Pulse output function selection when EXT output
If D6 is set, the function which acts as the monitor of the output state of the driving pulse by the EXT pin can be selected.
When D6 = 0, EXT1: Output pulse synchronization mode of the micro step output 1 EXT2: Output pulse synchronization mode of the micro step output 2
When D6 = 1, EXT1: Mode with output time of micro step output 1 fixed to H EXT2: Mode with output time of micro step output 2 fixed to H
The output synchronization mode is duty 50% TYP. in accordance with the pulse frequency setting. To count the number of pulses, count the rising edges.
11.2.3 Restrictions in pulse output synchronization mode
(1) Output is not guaranteed if the pulse period is 2 s (Db to D0: 000000000001). (2) Output is equivalent to the H time during steady-state driving (equivalent to pulse period setting) while an acceleration/deceleration operation is performed. (3) If the multiplication factor of the number of pulses is set to other than 1, the set number of pulses (address 5 x m) is output.
11.2.4 Restrictions in mode in which output time is fixed to H
The output falls in synchronization with the falling of the pulse that is to be output at the same timing in the pulse output synchronization mode. When the last pulse is output , therefore, it rises earlier than the period of the pulse cycle (50% of pulse cycle or less)
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PD168113
11.2.5 MOB output selection setting (only when micro step driving)
The output function of MOB can be selected by D7. It becomes effective only when the micro step driving mode selected. D7 = 0: MOB is output once per cycle. D7 = 1: MOB is output four times per cycle. For the output position of MOB, refer to 11.2.6 MOB output position setting (set by D8).
D7 0 1
MOB Output 1 pulse/cycle 4 pulses/cycle
11.2.6 MOB output position setting (when micro step driving or 1-2 phase excitation driving)
The MOB output timing position can be selected by D8. It becomes effective when the micro step driving mode or the 1-2 phase excitation driving mode selected. D8 = 0: MOB is output at the one-phase excitation position (where the current of ch1 or ch2 is 100%) . D8 = 1: MOB is output at the two-phase excitation position (where the currents of ch1 and ch2 are the same) . Selection of MOB output (D7) is made in accordance with the setting of D8. When D8 = 1, no signal is output from the MOB pin immediately after reset. In addition, MOB1 and MOB2 cannot be set individually.
D8 0 1
MOB Output Position one-phase excitation position two-phase excitation position
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Data Sheet S16423EJ2V0DS
PD168113
11.2.7 MOB output timing chart
Figure 11-1. MOB Output Timing Chart When Micro Step Driving
RESET position ch1 current
100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 -9.8 -19.5 -29.0 -38.3 -47.1 -55.6 -63.4 -70.7 -77.3 -83.1 -88.2 -92.4 -98.1 -95.7 -99.5 -100
0
100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 -9.8 -19.5 -29.0 -38.3 -47.1 -55.6 -63.4 -70.7 -77.3 -83.1 -88.2 -92.4 -98.1 -95.7 -100 -99.5
5
10
15
20
25
30
35
40
45
50
55
60
65
ch2 current
0
5
10
15
20
25
30
35
40
45
50
55
60
65
MOB output D7 = 0
0 5 10 15 20 25 30 35 40 45 50 55 60 65
MOB output D7 = 1
0 5 10 15 20 25 30 35 40 45 50 55 60 65
Data Sheet S16423EJ2V0DS
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PD168113
11.3 Address 2
This address is used as the test function for internal of the IC.
Bit Data
Df 0
De 0
Dd 1
Dc 0
Db
Da
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
(Test function)
The test function is used to check the internal operations of the IC. Be sure to input the data of D0 to Db when usually using.
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Data Sheet S16423EJ2V0DS
PD168113
11.4 Address 3, Address 4 and Address 7
These addresses set constant-current driving.
Address 3
Bit Data Df 0 De 0 Dd 1 Dc 1 Db 0 Da 0 D9 0 D8 0 D7 D6 D5 D4 D3 D2 0 D1 D0
ch3 output current value setting
Note 2 Note 1
Address 4
Bit Data Df 0 De 1 Dd 0 Dc 0 Db 0 Da 0 D9 0 D8 0 D7 D6 D5 D4 D3 D2 0 D1 D0
ch4 output current value setting
Note 2 Note 1
Address 7
Bit Data Df 0 De 1 Dd 1 Dc 1 Db 0 Da 0 D9 0 D8 0 D7 D6 D5 D4 D3 D2 0 D1 D0
ch7 output current value setting
Note 2 Note 1
Notes 1. Excitation ON/OFF 2. Excitation direction
11.4.1 Excitation ON/OFF
D0 selects whether the coil is to be driven. D0 = 0: The output goes into a Hi-Z state. D0 = 1: The output is turned ON, and the coil is driven in accordance with the revolution direction and the output current value setting.
D0 0 1
Driving Mode Hi-Z Output ON
11.4.2 Excitation direction
D1 selects the direction in which the coil is to be excited. In the forward direction, the current flows from phase A to B. In the reverse direction, the current flows from phase B to A.
D1 0 1
Operation Mode Current direction A B (forward direction) Current direction B A (reverse direction)
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PD168113
11.4.3 Output current value setting
Data of D3 to D7 sets the current value for constant-current control. These bits select the internal voltage that serves as a reference with a resolution of 20 mV. The current that flows to the output is { set voltage value/FB x 1000 } . A voltage lower than 100 mV is fixed to 100 mV, and a voltage exceeding 500 mV is fixed to 500 mV. Therefore, the reference voltage can be set in a range of 100 to 500 mV. The operation frequency of the output is the frequency oscillation by the oscillator connected to COSC (100 kHz TYP.).
Example) The set output current is calculated as follows where FB = 2 k for constant-current driving at 100 mA. Set voltage value = 100 (mA) x 2 (k) /1000 = 200 (mV) (D7......D3) = (01010)
D7......D3 00000 00001 : 00101 00110 00111 :
Reference Voltage (mV) 100 100 : 100 120 140 :
D7......D3 10110 10111 11000 11001 : 11110 11111
Reference Voltage (mV) 440 460 480 500 : 500 500
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Data Sheet S16423EJ2V0DS
PD168113
11.5 Address 5 and Address 6
These addresses specify how a DC motor is to be driven.
Address 5
Bit Data Df 0 De 1 Dd 0 Dc 1 Db 0 Da 0 D9 0 D8 0 D7 D6 D5 D4 D3 D2 D1 D0
ch5 output duty setting
Note 3 Note 2 Note 1
Address 6
Bit Data Df 0 De 1 Dd 1 Dc 0 Db 0 Da 0 D9 0 D8 0 D7 D6 D5 D4 D3 D2 D1 D0
ch6 output duty setting
Note 3 Note 2 Note 1
Notes 1. Motor ON/OFF 2. Revolution direction 3. Brake mode
11.5.1 Motor ON/OFF
D0 specifies whether the motor is to be driven. D0 = 0: The motor is stopped (stop mode) . The output status in the stop mode is Hi-Z or short brake mode, depending on the value of D2, which selects a brake mode. D0 = 1: The start mode is selected, and the motor is driven in accordance with the revolution direction and the output duty setting.
D0 0 1
Driving Mode Stop mode Start mode
11.5.2 Revolution direction
D1 selects the revolution direction of the motor. In the forward direction, the current flows from phase A to B. In the reverse direction, the current flows from phase B to A.
D1 0 1
Operation Mode Current direction A B (forward direction) Current direction B A (reverse direction)
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PD168113
11.5.3 Brake mode
D2 is used to select the output status in the stop mode. D2 = 0: The output goes into a Hi-Z state. D2 = 1: The high side of both phase A and B is ON, and the short brake status is selected. At this time, the output goes H.
D2 0 1
Operation Mode Hi-Z Short brake (both phases A and B output H)
11.5.4 Output duty setting
The output duty for current control is selected, and can be selected in 32 steps by data of D3 to D7. The operation frequency of the output is set by counting the external CLK.
Operation frequency = 1/ (200 ns x 32) = 156.25 kHz (at 5 MHz)
D7......D3 00000 00001 00010 00011 : 01111
Output Duty (%) 100 3.125 6.25 9.375 : 46.875
D7......D3 10000 10001 10010 : 11110 11111
Output Duty (%) 50 53.125 56.25 : 93.75 96.875
Caution When all of D3 to D7 is 0, the output duty is 100%. Be sure to use the stop mode when the output duty is 0%.
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Data Sheet S16423EJ2V0DS
PD168113
11.6 Address 8
This address selects basic-operation setting of stepping motor (the maximum current value, the revolution direction of the motor and the operation mode).
Bit Data
Df 1
De 0
Dd 0
Dc 0
Db 0
Da
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
Note 6 Note 5 Note 4 Note 3 Note 2 Note 1 Output current setting
Notes 1. Motor revolution direction 2. Stop mode 3. Output enable setting
4. Driving mode selection 0 5. Driving mode selection 1 6. Constant-current changing when two-phase excitation driving or 1-2 phase excitation driving
11.6.1 Output current setting
An internal reference voltage value (EVRMAX) for constant-current driving is set. The internal reference voltage is specified by data of D0 to D4 at a resolution of 20 mV. Micro step driving can be performed with the set reference voltage as the maximum value. The peak value of the drive current is EVRMAX (V) /FB () x 1000.
Set value: EVRMAX = (D4......D0) x 20 mV However, 100 mV EVRMAX 500 mV
D4......D0 00000 00001 : 00101 00110 00111 :
Reference Voltage (mV) 100 100 : 100 120 140 :
D4......D0 10110 10111 11000 11001 : 11110 11111
Reference Voltage (mV) 440 460 480 500 : 500 500
Remark If a voltage less than 100 mV is set, the reference voltage is fixed to 100 mV. If a voltage higher than 500 mV is set, it is fixed to 500 mV.
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PD168113
11.6.2 Motor revolution direction setting
D5 is used to specify the motor revolution direction. In the CW mode, the current of ch2 (ch4 in the case of address C) is output, 90 degrees in phase behind the current of ch1 (ch3 in the case of address C). In the CCW mode, the current of ch2 (ch4 in the case of address C) is output, 90 ahead in phase behind the current of ch1 (ch3 in the case of address C).
D5 0 1
Operation Mode CW mode (forward revolution) CCW mode (reverse revolution)
11.6.3 Stop mode setting
When D6 = 1, the motor advances to the position of MOB1 output = L, and the output status is held. The set number of pulses is held even in the stop mode. Because the motor is driven regardless of the set number of pulses, however, the position information of the motor must be taken into consideration when a command is set to resume driving.
D6 0 1
Operation Mode Normal mode Stop mode
Caution Inputting data is prohibited while the stop mode is set (MOB1 reaches L). Do not update the data. No pulse is output if the stop mode is set while MOB1 = L In addition, MOB2 is output in the case of address C.
11.6.4 Output enable setting
D7 = 1: The motor can be driven. To drive the motor, be sure to set this bit to 1. D7 = 0: The output goes into a Hi-Z state, regardless of the other settings. If D7 is changed from 0 to 1, the internal information is held and therefore the excitation position is recorded. Therefore, excitation is started from the position where D7 is cleared to 0.
D7 0 1
Operation Mode Output Hi-Z Enable mode
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PD168113
11.6.5 Driving mode selection 0 and driving mode selection 1
D8 and D9 can be used to select driving mode of two-phase excitation, 1-2 phase excitation and micro step. D8 = 0: The micro step driving mode is selected. D8 = 1, D9 = 0: The two-phase excitation driving mode is selected. D8 = 1, D9 = 1: The 1-2 phase excitation driving mode is selected. Immediately after rest, The micro step driving mode is selected. When changing the driving mode from micro step to two-phase excitation or 1-2 phase excitation, note the following points.
The stop position when the constant current is changed may differ depending on Da, which selects a constant current in the two-phase or 1-2 phase excitation mode. When Da = 0, the execution jumps to the two-phase or 1-2 phase position on the quadrant at the excitation position after completion of wait, and the motor is excited at a duty factor of 100%. When Da = 1, the stop position is excited and held.
At the first pulse, the operation skips to the two-phase excitation position or the1-2 phase excitation position of the next quadrant and driving is started. If the two-phase excitation driving mode is changed while the motor is stopped at the one-phase excitation position, it is judged that the position is included in the quadrant in the CW direction, and motor operates. Refer to Figure11-3. Transition of Switching of Micro Step Driving Excitation (If Number of Pulses Is Set to 1 for Switching) for details. 1-2 Phase Excitation 2-phase
D8 0 0 1 1
D9 0 1 0 1
Operation Mode Micro step driving
Figure 11-2. Concept of Changing Driving Mode from Micro Step to Two-phase Excitation
2-phase excitation stop position Skipes to the next quadrant
Two-phase excitation driving 1-2 phase excitation driving
(4)
Microstep stop position (example 1)
(1)
Microstep stop position (example 2)
(3)
(2)
Data Sheet S16423EJ2V0DS
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PD168113
Figure 11-3. Transition of Switching of Micro Step Driving 1-2 Phase Excitation 2-phase Excitation
(If Number of Pulses Is Set to 1 for Switching)
1st quadrant Driving mode 0 Micro step 1 to 7 8 9 to 15
2nd quadrant 16 17 to 23 24 25 to 31 32
3rd quadrant 33 to 39 40 41 to 47 48
4th quadrant 49 to 55 56 57 to 63
1-2 phase excitation
two-phase excitation
1-2 phase excitation
Micro step
two-phase excitation
11.6.6 Constant-current changing when two-phase excitation/1-2 phase excitation
Da is used to select whether the motor is driven at an output duty of 100% (maximum torque operation) or under constant-current control when the two-phase excitation driving or the 1-2 phase excitation driving is selected. When Da = 0, the motor is driven at an output duty of 100%. It is excited in two-phase or 1-2 phase and driven at the maximum torque regardless of the current setting. When Da = 1, the motor is excited in two-phase or 1-2 phase at the motor current setting. The output current value is controlled to be the same value as the driving current at the phase A = phase B position (position of step 8) in the micro step driving mode.
Da 0 1
Operation Mode Output duty 100% drive Constant-current control drive
Examples of the motor current waveform is shown 12. STEPPING MOTOR DRIVING WAVEFORM.
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Data Sheet S16423EJ2V0DS
PD168113
11.7 Address 9
This address is used to set parameters for acceleration/deceleration control, the pulse multiplication factor. By setting the parameters for acceleration/deceleration control, the pulse cycle can be gradually changed while the motor is accelerated or decelerated, so that step out of the motor can prevent. By setting the pulse number multiplication factor to a value other than 1, the number of pulses can be extended in combination with the number of pulses set by address B. If the default value is not changed, the motor is driven without being accelerated or decelerated, and under the condition that the pulse number multiplication factor is 1.
MSB Bit Data Df 1 De 0 Dd 0 Dc 1 Db 0 Da D9 D8 D7 D6 D5 D4 D3
LSB D2
MSB D1 Pulse
LSB D0
Note 2 Note 1 For acceleration/deceleration control
multiplication factor setting
Notes 1. Selects whether deceleration is valid or invalid 2. Selects whether acceleration is valid or invalid
11.7.1 Pulse number multiplication factor
D1 and D0 are used to set the pulse number multiplication factor. By setting a multiplication factor, if the number of motor pulses set at address B is insufficient, the number of pulses can be extended maintaining 64 steps/cycle.
D1 0 0 1 1
D0 0 1 0 1
Pulse Number Multiplication Factor m m=1
m=2 m=4
Data Sheet S16423EJ2V0DS
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PD168113
11.7.2 For acceleration/deceleration control
Seven bits, D2 to D8, are used to set a driving profile for acceleration/deceleration. The pulse rate vs. time draws an S-shaped curve. The shape of this S-curve can be changed according to the values set to D2 to D7. The image of the operation during acceleration or deceleration is shown below. 94 pulses
Note
each are necessary for acceleration and deceleration.
Note
Usually, therefore, set 188 pulses
or more (acceleration pulses + deceleration pulses) to perform acceleration and
Note
deceleration. If the set number of pulses is less than 94 Example of acceleration/deceleration operation.
Pulse rate at constant velacity (address A)
during acceleration or deceleration, refer to 11.7.10
Pulse rate
Deceleration (= mirror of acceleration)
Pulse width at startup
Acceleration time (Sum of step 1 to step 15)
Deceleration time (= acceleration time)
Acceleration pulse number or deceleration pulse number: 94 pulses
Note
Note The number of pulses when startup time setting is one time is shown. If the startup time setting is two times and four times, the number of pulses is 188 pulses and 376 pulses. It is twice further the number of the pulses in acceleration/deceleration operation, and it is 376 pulses and 752 pulses.
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Data Sheet S16423EJ2V0DS
PD168113
11.7.3 Parameter for acceleration/deceleration control Reference increment = pulse cycle (address A) /reference increment setting Pulse cycle of each step = pulse cycle (address A) + reference increment x pulse cycle increment table Time of each step = pulse cycle of each step x selected data table (number of pulses) Table 11-1. Selected Data Table List
Table
STEP 1
STEP 2 5 4 3
STEP 3 2 4 3
STEP 4 1 3 4
STEP 5 1 2 3
STEP 6 1 2 4
STEP 7 1 2 3
STEP 8 1 2 3
STEP 9 1 2 3
STEP 10 1 2 3
STEP 11 2 4 5
STEP 12 3 6 9
STEP 13 11 12 13
STEP 14 31 17 15
STEP 15 31 31 22
1 2 3
2 1 1
Total: 94 pulses Table 11-2. Pulse Cycle Increment Table List
STEP 1 120
STEP 2 56
STEP 3 35
STEP 4 24
STEP 5 18
STEP 6 13
STEP 7 10
STEP 8 8
STEP 9 7
STEP 10 6
STEP 11 5
STEP 12 4
STEP 13 3
STEP 14 2
STEP 15 1
Example) Driving time at each step in case of table 1
STEP 1 STEP 2 STEP 3 STEP 4 STEP 5 STEP 6 STEP 7 STEP 8 STEP 9 STEP 10 STEP 11 STEP 12 STEP13 STEP 14 STEP 15
(Pulse cycle + reference increment x 120) (Pulse cycle + reference increment x 56) (Pulse cycle + reference increment x 35) (Pulse cycle + reference increment x 24) (Pulse cycle + reference increment x 18) (Pulse cycle + reference increment x 13) (Pulse cycle + reference increment x 10) (Pulse cycle + reference increment x 8) (Pulse cycle + reference increment x 7) (Pulse cycle + reference increment x 6) (Pulse cycle + reference increment x 5) (Pulse cycle + reference increment x 4) (Pulse cycle + reference increment x 3) (Pulse cycle + reference increment x 2) (Pulse cycle + reference increment x 1)
x2 x5 x2 x1 x1 x1 x1 x1 x1 x1 x2 x3 x 11 x 31 x 31
Remark The number of an end indicates the number of pulses in the case of table 1. To use table 2 or table 3, refer to Table 11-1. Selected Data Table List. Acceleration time = deceleration time = sum of STEP 1 to STEP 15
Data Sheet S16423EJ2V0DS
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PD168113
11.7.4 Reference increment setting
D2 to D4 are sued to set a parameter that determines the pulse cycle at each step. The reference increment is the pulse frequency set by address A that is divided by the reference increment setting. So that the speed changes draw a typical S-shape curve, it is recommended to set a value of 8 ( (D4, D3, D2) = (1, 0, 0) ) .
Reference increment = pulse cycle (address A) /reference increment setting
D4 0 0 0 0 1 1 1 1
D3 0 0 1 1 0 0 1 1
D2 0 1 0 1 0 1 0 1
Reference Increment Setting 2
4 8 16 32
11.7.5 Table selection
This IC approximates the speed change curve during acceleration/deceleration operation to the shape S. The speed change curve can be changed by selecting an internal table.
Table 1: S curve with abrupt speed change Table 2: S curve with gentle speed change Table 3: S curve with linear speed change (equivalent to trapezoid waveform)
D6 0 0 1 1
D5 0 1 0 1
Table Selection Table 1
Table 2 Table 3
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Data Sheet S16423EJ2V0DS
PD168113
11.7.6 Start time setting
D7 and D8 are used to select the operation time multiplication factor during an acceleration/deceleration operation. The number of pulses necessary for each step during acceleration/deceleration can be selected from x 1, x 2 and x 4. For the number of pulses at each step, refer to Table 11-1. Selected Data Table List.
D8
D7
Startup Time Setting
Number of Pulses Necessary for Acceleration or Deceleration
0 0 1 1
0 1 0 1
x1
94
x2 x4
188 376
11.7.7 Selects whether acceleration is valid or invalid
An acceleration operation can be performed in accordance with the acceleration control setting. The acceleration function can be valid or invalid by Da.
11.7.8 Selects whether deceleration is valid or invalid
An deceleration operation can be performed in accordance with the deceleration control setting. The deceleration function can be valid or invalid by D9.
Da
D9 Acceleration
Operation Mode Deceleration Invalid Invalid Valid Valid
0 1 0 1
0 0 1 1
Invalid Valid Invalid Valid
11.7.9 Example of recommended setting
The following values are recommended for the parameters for acceleration and deceleration. Note, however, that the characteristics differ depending on the motor to be used. Be sure to evaluate and confirm the values with the motor to be actually used, and set the parameters correctly.
Reference increment setting: 8 ( (D4, D3, D2) = (1, 0, 0) ) Table selection: Table 1 ( (D6, D5) = (0, 0) ) Start time setting: x 1 ( (D8, D7) = (0, 0) ) Acceleration/deceleration valid/invalid: Acceleration/deceleration valid ( (Da, D9) = (1, 1) )
Data Sheet S16423EJ2V0DS
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PD168113
11.7.10 Example of acceleration/deceleration operation
(1) Acceleration valid/deceleration valid (1') Acceleration valid/deceleration valid Note1
Pulses/s
Pulses/s
Set pulses Acceleration/ deceleration pulses
Set pulses
Condition: Set pulses/2 < acceleration/deceleration pulses
(2) Acceleration valid/deceleration invalid
(2') Acceleration valid/deceleration invalid Note2
Pulses/s
Pulses/s
Condition: Set pulses < acceleration/deceleration pulses
(3) Acceleration invalid/deceleration invalid
Pulses/s
(4) Acceleration invalid/deceleration valid
(4') Acceleration invalid/deceleration valid Note3
Pulses/s
Pulses/s
Condition: Set pulses < acceleration/deceleration pulses
The left side figures in upper figures show the ideal operation waveform. If the number of set pulses is less than the number of acceleration/deceleration control pulses, the operation as the right side figures in upper figures. Notes 1. The deceleration operation is stared when 1/2 of the set number of pulses has been reached during the acceleration operation. Therefore, acceleration and deceleration are always mirrored. 2. If the set number of pulses is less than the number of acceleration/deceleration control pulses during only the acceleration operation, the operation is stopped at the pulse rate in the middle of acceleration. 3. If the set number of pulses is less than the number of acceleration/deceleration control pulses during only the deceleration operation, the last pulse rate does not reach the target value. The set number of pulses is output in accordance with the deceleration pulse curve, and the operation is stopped.
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Data Sheet S16423EJ2V0DS
PD168113
11.8 Address A
This address is used to set the pulse cycle per step (64 steps/cycle) .
MSB Bit Data Df 1 De 0 Dd 1 Dc 0 Db Da D9 D8 D7 D6 D5 D4 D3 D2 D1
LSB D0
Pulse cycle
11.8.1 Pulse cycle
Twelve bits, D0 to Db, are used to set the pulse cycle per step. The pulse cycle can be set in a range of 0 to 8190 s at a resolution of 2.0 s. If all of the twelve-bit is 0, no pulse is output and the driving status is maintained. The pulse period indicates the time per step regardless of the driving mode (micro step, 1-2 phase excitation, or 2phase excitation). Therefore, the number of revolutions of the motor differs depending on the driving mode, even if the number of pulses is the same.
11.8.2 Example of pulse cycle setting
Db......D0 000000000000 000000000001 000000000010 : 111111111101 111111111110 111111111111
Set Value (s) 0 2.0 4.0 : 8186 8188 8190
Data Sheet S16423EJ2V0DS
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PD168113
11.9 Address B
This address is used to set the number of pulses. The actual number of pulses is set by the product to the pulse number multiplication factor and the number of pulses sets at address 9.
MSB Bit Data Df 1 De 0 Dd 1 Dc 1 Db Da D9 D8 D7 D6 D5 D4 D3 D2 D1
LSB D0
Number of pulses
11.9.1 Number of pulses
Set the number of pulses to drive the motor. D0 to Db can be set a pulse in a range of 0 to 4095 pulses. If the pulse number multiplication factor is set to a value other than 1 at address 9, the number of pulses set here is multiplied by the set multiplication factor (m). The number of pulses is internally multiplied by (m) and then counted. If it is set to output pulses to EXT1 (EXT2 in the case of address F), the number of counts output is the set value itself (0 to 4095 x m) . The number of pulses indicates the number of pulses per pulse period regardless of the driving mode (micro step, 12 phase excitation, or 2-phase excitation). Therefore, the number of revolutions of the motor differs depending on the driving mode, even if the number of pulses is the same.
11.9.2 Example of pulse cycle setting
Db......D0 000000000000 000000000001 000000000010 : 111111111101 111111111110 111111111111
Set Value 0 m 2xm : 4093 x m 4094 x m 4095 x m
Remark m indicates the set value of the pulse number multiplication factor of address 9. If the value of the twelve-bit, D0 to Db, is 0, no pulse is output and the driving state is maintained.
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11.10 Address C to Address F Addresses C to F are used for setting stepping motor 2 (ch3 and ch4). The settings of other than addresses Dc, Dd, De, and Df are identical to the contents of addresses 8 to B. For details, refer to 11.6 Address 8 to 11.9 Address B.
Address C
Bit Data Df 1 De 1 Dd 0 Dc 0 Db 0 Da D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
Note 6 Note 5 Note 4 Note 3 Note 2 Note 1 Output current setting
Notes 1. Motor revolution direction 2. Stop mode 3. Output enable setting
4. Driving mode selection 0 5. Driving mode selection 1 6. Constant-current changing when two-phase excitation driving or 1-2 phase excitation driving
Address D
MSB Bit Data Df 1 De 1 Dd 0 Dc 1 Db 0 Da D9 D8 D7 D6 D5 D4 D3 LSB D2 MSB D1 Pulse multiplication factor setting Notes 1. Selects whether deceleration is valid or invalid 2. Selects whether acceleration is valid or invalid LSB D0
Note 2 Note 1 For acceleration/deceleration control
Address E
MSB Bit Data Df 1 De 1 Dd 1 Dc 0 Db Da D9 D8 D7 D6 D5 D4 D3 D2 D1 LSB D0
Pulse cycle
Address F
MSB Bit Data Df 1 De 1 Dd 1 Dc 1 Db Da D9 D8 D7 D6 D5 D4 D3 D2 D1 LSB D0
Number of pulses
Data Sheet S16423EJ2V0DS
41
PD168113
12. STEPPING MOTOR DRIVING WAVEFORM
Figure 12-1. Two-phase Excitation Output Mode
Phase A current
100%
Figure 12-2. 1-2 Phase Excitation Output Mode
Phase A current
100% 70%
-70%
-100% 0 1 2 3 4 5 6 7 8
-100% 0 1 2 3 4 5 6 7 8
Phase B current
100%
Phase B current
100% 70%
-70%
-100% 0 1 2 3 4 5 6 7 8
-100% 0 1 2 3 4 5 6 7 8
Remarks 1. Solid line: Output duty 100% drive, Dotted line: Current control drive (The current is in accordance with the current setting.) 2. The horizontal axis of the above charts indicates the number of steps. The above charts show an example in the CW (forward) mode. The current flowing into phases A and B is positive in the direction from OUT pin A to OUT pin B, and negative in the direction from OUT pin B to OUT pin A.
42
Data Sheet S16423EJ2V0DS
PD168113
Figure 12-3. Micro Step Driving Mode
RESET position
100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 -9.8 -19.5 -29.0 -38.3 -47.1 -55.6 -63.4 -70.7 -77.3 -83.1 -88.2 -92.4 -98.1 -95.7 -100 -99.5
ch1 current
0
100 99.5 98.1 95.7 92.4 88.2 83.1 77.3 70.7 63.4 55.6 47.1 38.3 29.0 19.5 9.8 0 -9.8 -19.5 -29.0 -38.3 -47.1 -55.6 -63.4 -70.7 -77.3 -83.1 -88.2 -92.4 -98.1 -95.7 -100 -99.5
5
10
15
20
25
30
35
40
45
50
55
60
65
ch2 current
0
5
10
15
20
25
30
35
40
45
50
55
60
65
Remark The horizontal axis of the above charts indicates the number of steps. The above charts show an example in the CW (forward) mode. The current flowing into phases A and B is positive in the direction from OUT pin A to OUT pin B, and negative in the direction from OUT pin B to OUT pin A.
Data Sheet S16423EJ2V0DS
43
PD168113
13. FUNCTION OPERATION TABLE
The table below shows the input/output logic when ch5 to ch7 are set in the external control mode by initialization. With ch7, an H-bridge current can be controlled by an external resistor for constant-current driving (output chopping operation by PWM driving). The external control mode is invalid immediately after reset and before an address is set. Therefore, address setting is necessary even when the external control mode is used. 13.1 Serial Setting Contents of ch5 and ch6 Even when the external control mode is selected, the contents of the set output duty factor of ch5 (address 5) and ch6 (address 6) are reflected. As the output duty factor of the output stage, therefore, the logical product of an external control signal and the serial command setting is output. For the setting method by a command, refer to 11.5 Address 5 and Address 6. 13.2 Setting of ch7 ch7 is used for constant-current driving with a resistor connected to the FB pin. The current that serves as a reference is set by a serial command. Therefore, set the current of ch7 (address 7) even when the external control mode is selected. For the setting method by a command, refer to 11.4 Address 3, Address 4, and Address 7. Figure 13-1. Truth Table of ch5 to ch7
Input INA L H L H x INB L L H H x RESETB H H H H L OUTA Hi-Z H L H Hi-Z
Output OUTB Hi-Z L H H Hi-Z
Current Direction
Stop (stop) OUTA OUTB (forward) OUTB OUTA (reverse) Brake (regenerative mode) All output stop
Remark x: Don't care
Forward
VM
Reverse
VM
ON
OFF
OFF
ON
LOAD A B A
LOAD B
OFF
ON
ON
OFF
GND
GND
Stop
VM
Brake
VM
OFF
OFF
ON
ON
LOAD A B A
LOAD B
OFF
OFF
OFF
OFF
GND
GND
44
Data Sheet S16423EJ2V0DS
PD168113
14. ELECTRICAL SPECIFICATIONS
Absolute Maximum Ratings (TA = 25C, glass epoxy board of 100 mm x 100 mm x 1 mm with copper foil area of 15%)
Parameter Power supply voltage Symbol VDD VM Input voltage Output pin voltage DC output current (1 ch to 6 ch) DC output current (7 ch) Instantaneous output current VIN VOUT ID(DC) ID(DC) ID(pulse) Motor block DC (during output independent operation) DC (during output independent operation) PW < 10 ms, Duty Cycle 20% (during output independent operation) Power consumption Peak junction temperature Storage temperature PT Tch(MAX) Tstg 1.0 150 -55 to +150 W C C Control block Motor block Condition Rating -0.5 to +6.0 -0.5 to +6.0 -0.5 to VDD +0.5 6.2 0.4 0.5 0.7 Unit V V V V A/ch A/ch A/ch
Remark The overheat protection circuit operates at Tch > 150C. When overheat is detected, all the circuits are stopped. The overheat protection circuit does not operate at reset or on detection of UVLO Caution Product quality may suffer if the absolute maximum rating is exceeded even momentarily for any parameter. That is, the absolute maximum ratings are rated values at which the product is on the verge of suffering physical damage, and therefore the product must be used under conditions that ensure that the absolute maximum ratings are not exceeded. Recommended Operating Conditions (TA = 25C, glass epoxy board of 100 mm x 100 mm x 1 mm with copper foil area of 15%)
Parameter Power supply voltage Symbol VDD VM Input voltage DC output current (1 ch to 6 ch) DC output current (7 ch) Instantaneous output current VIN ID(DC) ID(DC) ID(pulse) DC (during output independent operation) DC (during output independent operation) PW < 10 ms, Duty Cycle 20% (during output independent operation) Capacitor capacitance External CLK input frequency SCLK input frequency LATCH - SCLK time SDATA setup time SDATA hold time EXT pin output drive current MOB pin output sink current Logic input frequency Operating temperature range OSCIN fCLK fL-S fSETUP fHOLD IEXT IMOB fIN TA Buffer output Open-drain output IN5A, IN5B, IN6A, IN6B, IN7A, IN7B -10 200 80 80 -5 5 5 100 75 COSC 1 330 5 6 6 pF MHz MHz ns ns ns mA mA kHz C Control block Motor block Condition MIN. 2.7 2.7 0 -0.3 -0.4 -0.6 TYP. MAX. 3.6 5.5 VDD +0.3 +0.4 +0.6 Unit V V V A/ch A/ch A/ch
Data Sheet S16423EJ2V0DS
45
PD168113
Figure 14-1. Serial Command Timing Waveform
tSETUP = 80 ns MIN.
SCLK
SDATA
D0
D1 to De
Df
tHOLD = 80 ns MIN. LATCH
tL-S = 200 ns MIN.
tL-S = 200 ns MIN.
Electrical Characteristics (Unless otherwise specified, TA = 25C, VDD = 3.0 V, VM = 3.0 V)
Parameter VDD pin current in standby mode Symbol IDD(STB) Condition RESETB pin: Low level RESETB pin: High level VIN = VDD VIN = 0 V -1.0 50 2.7 V VDD 3.6 V 2.7 V VDD 3.6 V IM = 0.3 A, sum of upper and lower stages Output leakage current
Note 1
MIN.
TYP.
MAX. 1.0 5.0 50
Unit
A
mA
VDD pin current in during operation IDD(ACT) High-level input current Low-level input current Input pull down resistance High-level input voltage Low-level input voltage H-bridge on-state resistance IIH IIL RIND VIH VIL Ron
A A
200
k V
0.7 x VDD 0.3 x VDD 1.0 1.5
V
IM(off)
Per VM pin, all control pins: Low level
1.0
A
Low-voltage detection voltage Internal reference voltage Current detection ratio (ch1 to ch4)
Note 2 Note 2 Note 2
VDDS VREF IM = 0.1 A, with sense resistor (connect to FB) of 2 k 950 ton toff VextH VextL EVRMAX IO = -100 A IO = +100 A (D0 to D4) = (1, 1, 1, 1, 1)
Note 3
1.7 450 900 500 1000
2.5 550 1100
V mV
Current detection ratio (ch7) Output turn-on time Output turn-off time
1050 0.5 0.5
1150 1.0 1.0
RL = 20
0.02 0.02 0.9 x VDD
s s
V
EXT high-level output voltage EXT low-level output voltage EVRMAX voltage
0.1 x VDD 450 500 550
V mV
Notes 1. This IC has a circuit that prevents current from flowing into the VM pin when VDD = 0 V. 2. The motor current accuracy varies depending on the motor actually used. With this IC, the total of the reference voltage VREF error and the current sense circuit error is within 10%. 3. Current setting parameter for address 3, address 4, address 7, address 8 and address C.
46
Data Sheet S16423EJ2V0DS
PD168113
15. PACKAGE DRAWING
56-PIN PLASTIC WQFN (8x8)
HD D D /2
42 43
HD /2
29 28
4-C0.5 A2
E /2 HE E HE /2
56 1 15 14
A1 DETAIL OF P PART
C
x4 ZE ZD y1 S A S y f SAB b1 b S B
P
c1 c2
(UNIT:mm) ITEM D E f HD HE t DIMENSIONS 7.75 7.75 0.20 8.00 8.00 0.20 0.67 +0.08 -0.04 0.03 +0.02 -0.025 0.64 0.230.05 0.200.03 0.17 0.14-0.16 0.14-0.20 0.50 0.400.10 0.05 0.08 0.10 0.625 0.625 P56K9-50-9B4
TERMINAL SECTION t SAB
x4
A
A A1 A2 b b1 c c1
0.08MIN. 0.08MIN. b x
M
c2
e
Lp SAB
e Lp x y y1 ZD ZE
NOTES 1 "t" AND "f" EXCLUDES MOLD FLASH 2 ALTHOUGH THERE ARE 4 TERMINALS IN THE CORNER PART OF A PACKAGE, THESE TERMINALS ARE NOT DESIGNED FOR INTERCONNECTION, BUT FOR MANUFACTURING PROCESS OF THE PACKAGE, THEREFOR DO NOT INTEND TO SOLDER THESE 4 TERMINALS, SOLDERABLITY OF THE 4 TERMINALS ARE NOT GUARANTEED.
Data Sheet S16423EJ2V0DS
47
PD168113
16. RECOMMENDED SOLDERING CONDITIONS
The PD168113 should be soldered and mounted under the following recommended conditions. For soldering methods and conditions other than those recommended below, contact an NEC Electronics sales representative. For technical information, see the following website.
Semiconductor Device Mount Manual (http://www.necel.com/pkg/en/mount/index.html)
Type of Surface Mount Device
PD168113K9-9B4-A: 56-pin plastic WQFN (8 x 8)
Process Infrared reflow Conditions Package peak temperature: 260C, Time: 60 seconds MAX. (at 220C or higher), Count: Three times or less, Exposure limit: 3 days, Flux: Rosin flux with low chlorine (0.2 Wt% or below) recommended Symbol IR60-103-3
Caution Do not use different soldering methods together (except for partial heating).
48
Data Sheet S16423EJ2V0DS
PD168113
NOTES FOR CMOS DEVICES
1 VOLTAGE APPLICATION WAVEFORM AT INPUT PIN Waveform distortion due to input noise or a reflected wave may cause malfunction. If the input of the CMOS device stays in the area between VIL (MAX) and VIH (MIN) due to noise, etc., the device may malfunction. Take care to prevent chattering noise from entering the device when the input level is fixed, and also in the transition period when the input level passes through the area between VIL (MAX) and VIH (MIN). 2 HANDLING OF UNUSED INPUT PINS Unconnected CMOS device inputs can be cause of malfunction. If an input pin is unconnected, it is possible that an internal input level may be generated due to noise, etc., causing malfunction. CMOS devices behave differently than Bipolar or NMOS devices. Input levels of CMOS devices must be fixed high or low by using pull-up or pull-down circuitry. Each unused pin should be connected to VDD or GND via a resistor if there is a possibility that it will be an output pin. All handling related to unused pins must be judged separately for each device and according to related specifications governing the device. 3 PRECAUTION AGAINST ESD A strong electric field, when exposed to a MOS device, can cause destruction of the gate oxide and ultimately degrade the device operation. Steps must be taken to stop generation of static electricity as much as possible, and quickly dissipate it when it has occurred. Environmental control must be adequate. When it is dry, a humidifier should be used. It is recommended to avoid using insulators that easily build up static electricity. Semiconductor devices must be stored and transported in an anti-static container, static shielding bag or conductive material. All test and measurement tools including work benches and floors should be grounded. The operator should be grounded using a wrist strap. Semiconductor devices must not be touched with bare hands. Similar precautions need to be taken for PW boards with mounted semiconductor devices. 4 STATUS BEFORE INITIALIZATION Power-on does not necessarily define the initial status of a MOS device. Immediately after the power source is turned ON, devices with reset functions have not yet been initialized. Hence, power-on does not guarantee output pin levels, I/O settings or contents of registers. A device is not initialized until the reset signal is received. A reset operation must be executed immediately after power-on for devices with reset functions.
Data Sheet S16423EJ2V0DS
49
PD168113
Reference Documents NEC Semiconductor Device Reliability/Quality Control System (C10983E) Quality Grades On NEC Semiconductor Devices (C11531E)
* The information in this document is current as of April, 2004. The information is subject to change without notice. For actual design-in, refer to the latest publications of NEC Electronics data sheets or data books, etc., for the most up-to-date specifications of NEC Electronics products. Not all products and/or types are available in every country. Please check with an NEC Electronics sales representative for availability and additional information. * No part of this document may be copied or reproduced in any form or by any means without the prior written consent of NEC Electronics. NEC Electronics assumes no responsibility for any errors that may appear in this document. * NEC Electronics does not assume any liability for infringement of patents, copyrights or other intellectual property rights of third parties by or arising from the use of NEC Electronics products listed in this document or any other liability arising from the use of such products. No license, express, implied or otherwise, is granted under any patents, copyrights or other intellectual property rights of NEC Electronics or others. * Descriptions of circuits, software and other related information in this document are provided for illustrative purposes in semiconductor product operation and application examples. The incorporation of these circuits, software and information in the design of a customer's equipment shall be done under the full responsibility of the customer. NEC Electronics assumes no responsibility for any losses incurred by customers or third parties arising from the use of these circuits, software and information. * While NEC Electronics endeavors to enhance the quality, reliability and safety of NEC Electronics products, customers agree and acknowledge that the possibility of defects thereof cannot be eliminated entirely. To minimize risks of damage to property or injury (including death) to persons arising from defects in NEC Electronics products, customers must incorporate sufficient safety measures in their design, such as redundancy, fire-containment and anti-failure features. * NEC Electronics products are classified into the following three quality grades: "Standard", "Special" and "Specific". The "Specific" quality grade applies only to NEC Electronics products developed based on a customerdesignated "quality assurance program" for a specific application. The recommended applications of an NEC Electronics product depend on its quality grade, as indicated below. Customers must check the quality grade of each NEC Electronics product before using it in a particular application. "Standard": Computers, office equipment, communications equipment, test and measurement equipment, audio and visual equipment, home electronic appliances, machine tools, personal electronic equipment and industrial robots. "Special": Transportation equipment (automobiles, trains, ships, etc.), traffic control systems, anti-disaster systems, anti-crime systems, safety equipment and medical equipment (not specifically designed for life support). "Specific": Aircraft, aerospace equipment, submersible repeaters, nuclear reactor control systems, life support systems and medical equipment for life support, etc. The quality grade of NEC Electronics products is "Standard" unless otherwise expressly specified in NEC Electronics data sheets or data books, etc. If customers wish to use NEC Electronics products in applications not intended by NEC Electronics, they must contact an NEC Electronics sales representative in advance to determine NEC Electronics' willingness to support a given application. (Note) (1) "NEC Electronics" as used in this statement means NEC Electronics Corporation and also includes its majority-owned subsidiaries. (2) "NEC Electronics products" means any product developed or manufactured by or for NEC Electronics (as defined above).
M8E 02. 11-1

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