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sanken power devices from allegro microsystems data sheet 28210.05b sla7075m, sla7076m, SLA7077M, and sla7078m motor drivers motor driver ic family the sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics feature 2-phase stepper unipolar drivers. the clock-in type input interface allows simplified control logic, and options for built-in sense current detection and load circuit short or open protection (patent pending) provide lower loss, and lower thermal resistance. all products in the sla7070m series are pin- compatibile, supporting rapid design of application variants. the built-in excitation distribution circuit (sequencer) allows motor control using only the clock signal for simple operations (rotate/stop), with motor speed control by frequency input into clock pin. this eliminates logic signal lines required for conventional phase-input methods, and reduces demand on heavily-used cpus. contact allegro ? for application information and additional information on device performance and logic. features ? power supply voltages, v bb : 46 v(max.), 10 to 44 v normal operating range ? logic supply voltages, v dd : 3.0 to 5.5 v ? maximum output currents: 1 a, 1.5 a, 2 a, 3 a ? built-in sequencer ? simplified clock-in stepping control ? microstepping at full-, half-, quarter-, eighth-, and sixteenth-steps ? built-in sense resistor, r sint ? all variants are pin-compatible for enhanced design flexibility ? zip type 23-pin molded package (sla package) ? self-excitation pwm current control with fixed off-time; off-time adjusted automatically by step reference current ratio (3 levels) ? built-in synchronous rectifying circuit reduces losses at pwm off ? synchronous pwm chopping function prevents motor noise in hold mode ? sleep mode for reducing the ic input current in stand-by state ? built-in protection circuitry against motor coil opens/shorts option available features and benefits absolute maximum ratings at t a = 25c load (motor) supply voltage, v m ......... 46 v main power supply voltage, v bb .......... 46 v logic supply voltage, v dd ........................... 7 v output current, i out sla7075m ................................. 1.0 a sla7076m ................................. 1.5 a SLA7077M ................................. 2.0 a sla7078m ................................. 3.0 a logic input voltage, v in .............................. ?0.3 to v dd +0.3 v ref input voltage, v ref ............................................ ?0.3 to v dd +0.3 v sense voltage, v sint t w < 1 s is not considered.......... 2 v power dissipation, p d without heat sink ...................... 4.7 w junction temperature, t j....................... 150c ambient temperature, t a ....... ?20 to 85c storage temperature, t stg ... ?30 to 150c
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 2 motor drivers 115 northeast cutoff, box 15036 worcester, massachusetts 01615-0036 copyright ? 2005 allegro microsystems, inc. part numbers and options the following are the product variants and optional features available for these variants of the sla707 0 m series. not all combinations of standard models and product op- tions are available in high-volume production quantities. for information on product availability, and assistance with deter- mining the ic features that are the best fit for your application, please contact our sales office or representative. note the following abbreviations are used throughout this document to refer to product variants: pr ? product with both protection circuitry and built-in r sint options r ? product with the built-in r sint option part number protection output current, i out (a) sequencer blanking time ( s) clock edge sla7075mr r sint 1 sla7075mpr protection circuitry and r sint sla7076mr r sint 1.5 sla7076mpr protection circuitry and r sint microstep 1.7 positive SLA7077Mr r sint 2 SLA7077Mpr protection circuitry and r sint sla7078mr r sint 3 sla7078mpr protection circuitry and r sint
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 3 motor drivers www.allegromicro.com functional block diagram and pin assignments sequencer & sleep circuit synchro control pwm control osc comp + - dac pre- driver pwm control osc dac pre- driver comp + - mic reg. outa outa outa outa outb outb outb outb vdd ref/sleep1 flag mo m1 m2 m3 f/r clock reset vbb senseb sensea gnd sync rsint rsint 1234 5 6789 10 11 12 13 14 15 16 17 18 19 20 21 22 23 protect protect for r products, protection circuits not built-in. flag pin is not connected internally. pin no. symbol functions pin no. symbol functions 1 outa output of phase a 13 ref / sleep1 input for control current and sleep1 setting 2 14 vdd power supply to logic 3 outa output of phase a 15 reset reset for internal logic 4 16 f / r forward / reverse switch input 5 sensea phase a current sensing 17 sync synchronous pwm control switch input 6mo output from monitor of 2-phase excitation status 18 flag* output from protection circuits monitor 7m1 commutation and sleep2 setting 19 senseb phase b current sensing 8m2 20 outb output of phase b 9m3 21 10 clock step clock input 22 outb output of phase b 11 vbb main power supply (for motor) 23 12 gnd ground *flag pin active on pr products only; not internally connected for r products.
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 4 motor drivers 115 northeast cutoff, box 15036 worcester, massachusetts 01615-0036 electrical characteristics, valid at t a = 25c, v bb = 24 v, v dd = 5 v, applicable to both pr and r products, unless otherwise specified characteristics symbol test conditions min. typ. max. units main power supply current i bb normal mode ? ? 15 ma i bbs sleep1 and sleep2 modes ? ? 100 a logic power current i dd ??5ma mosfet breakdown voltage v dss v bb = 44 v, i ds = 1 ma ? ? ? v maximum response frequency f clk clock duty cycle = 50% 250 ? ? khz logic supply voltage v il ? ? 0.25 v dd v v ih 0.75 v dd ??v logic supply current i il ?1? a i ih ?1? a ref input voltage v ref see pages 6 and 7 ? ? ? v v refs output off, sleep1 mode, i bbs in specification, sequencer = enable 2.0 ? v dd v ref input current i ref ? 10 ? a sense voltage v sint v ref = 0.1 v to 0.5 v, step reference current ratio: 100% v ref ? 0.03 v ref v ref + 0.03 v sleep-enable recovery time t se v ref = 2.0 v 1.5 v 100 ? ? s switching time t con clock output on ? 2.0 ? s t coff clock output off ? 1.5 ? s
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 5 motor drivers www.allegromicro.com stepping characteristics, applicable to both pr and r products; representative values from sla7070m series shown valid at t a = 25c, v bb = 24 v, v dd = 5 v, unless otherwise specified characteristics symbol test conditions min. typ. max. units step reference current ratio mode f v ref v sint = 100 %, v ref = 0.1 to 0.5 v ? 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 ? % mode 8 ? 70.7 ? % mode 7 ? 63.4 ? % mode 6 ? 55.5 ? % mode 5 ? 47.1 ? % mode 4 ? 38.2 ? % mode 3 ? 29 ? % mode 2 ? 19.5 ? % mode 1 ? 9.8 ? % mo (load) output voltage v mol i mol = 1.25 ma ? ? 1.25 v v moh i moh = ?1.25 ma v dd ? 1.25 ? ? v mo (load) output current i mol ? ? 1.25 ma i moh ?1.25 ? ? ma pwm minimum on-time t on(min) ? 1.7 ? s pwm off-time t off1 mode 8 to mode f ? 12 ? s t off2 mode 4 to mode 7 ? 9 ? s t off3 mode 1 to mode 3 ? 7 ? s
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 6 motor drivers 115 northeast cutoff, box 15036 worcester, massachusetts 01615-0036 output characteristics for both pr and r products valid at t a = 25c, v bb = 24 v, v dd = 5 v, unless otherwise specified characteristics symbol test conditions min. typ. max. units i out = 1.0 a (sla7075m) output on resistance r ds(on) i ds = 1 a ? 0.7 0.85 body diode forward voltage v f i f = 1 a ? 0.85 1.1 v i out = 1.5 a (sla7076m) output on resistance r ds(on) i ds = 1.5 a ? 0.45 0.6 body diode forward voltage v f i f = 1.5 a ? 1.0 1.25 v i out = 2.0 a (SLA7077M) output on resistance r ds(on) i ds = 2 a ? 0.25 0.4 body diode forward voltage v f i f = 2 a ? 0.95 1.2 v i out = 3.0 a (sla7078m) output on resistance r ds(on) i ds = 3 a ? 0.18 0.24 body diode forward voltage v f i f = 3 a ? 0.95 2.1 v i out = 3.0 a (sla7078mpr and sla7078mr) sense resistor rating* r sint tolerance: 3 % 0.150 0.155 0.160 ref input voltage v ref within specified current limit 0.1 ? 0.45 v *r sint includes approximately 5 m circuit resistance in addition to the resistance of the resistor itself. i out = 2.0 a (SLA7077Mpr and SLA7077Mr) sense resistor rating* r sint tolerance: 3 % 0.199 0.205 0.211 ref input voltage v ref within specified current limit 0.1 ? 0.4 v built-in sense resistor characteristics for pr and r products valid at t a = 25c, v bb = 24 v, v dd = 5 v, unless otherwise specified characteristics symbol test conditions min. typ. max. units i out = 1.0 a (sla7075mpr and sla7075mr) sense resistor rating* r sint tolerance: 3 % 0.296 0.305 0.314 ref input voltage v ref within specified current limit 0.1 ? 0.3 v i out = 1.5 a (sla7076mpr and sla7076mr) sense resistor rating* r sint tolerance: 3 % 0.296 0.305 0.314 ref input voltage v ref within specified current limit 0.1 ? 0.45 v
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 7 motor drivers www.allegromicro.com protection circuit characteristics* valid at t a = 25c, v bb = 24 v, v dd = 5 v, unless otherwise specified characteristics symbol test conditions min. typ. max. units pr products overcurrent sense voltage v ocp motor coils shorted 0.65 0.7 0.75 v flag output voltage v flagl i flagl = 1.25 ma ? ? 1.25 v v flagh i flagh = ?1.25 ma v dd ? 1.25 ? ? v flag output current i flagl ? ? 1.25 ma i flagh ?1.25 ? ? ma *protection circuits work on the condition of v sint v ocp . recommended operating ranges, applicable to both pr and r products, unless otherwise specified characteristics symbol remarks min max units load (motor) supply voltage v m ?44v main power supply voltage v bb 10 44 v logic supply voltage v dd surge voltage at vdd pin should be less than 0.5 v to avoid malfunctioning in operation 3.0 5.5 v case temperature t c measured at pin 12, without heat sink ? 90 c allowable power dissipation e j-a= 26.6 ` /w 0 1 2 3 4 5 0 102030405060708090 ambient temperature, t a (c) allowable power dissipation, p d (w) pr and r products
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 8 motor drivers 115 northeast cutoff, box 15036 worcester, massachusetts 01615-0036 pwm current control the description in this section is applicable to the pr and r products. ? blanking time the actual operating waveforms on the sense x pins when driving a motor are shown in figure 1. immediately after pwm turns off, ringing (or spike) noise on the sense x pins is ob- served for a few s. ringing noise can be generated by various causes, such as capacitance between motor coils and inappropri- ate motor wiring. each pair of outputs is controlled by a fixed off-time (7 to 12 s, depending on stepping mode) pwm current-control cir- cuit that limits the load current to a desired value, i trip . initially, an output is enabled and current flows through the motor wind- ing and the current-sense resistors. when the voltage across the current-sense resistor equals the dac output voltage, v trip , the current-sense comparator resets the pwm latch. this turns off the driver for the fixed off-time, during which the load induc- tance causes the current to recirculate for the off-time period. therefore, if the ringing noise on the sense resistor equals and surpasses v trip , pwm turns off. to prevent this phenomenon, the blanking time is set to override signals from the current-sense comparator for a certain period right after pwm turns on (figure 2). functional description figure 1. operating waveforms on the sense x pins during pwm chopping out out 0 5 s/div. 500 expanded time scale figure 2. sense x pins pattern during pwm control t on blanking time a a 0 i trip t off (fixed) pwm pulse width i trip tt
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 9 motor drivers www.allegromicro.com sla7060m series sla7070m series v bb rsext rsint v s v s v s fet gate signal fet gate signal v g stepper motor stepper motor v bb i off i on i off i on v s v g v g v g v g v g pwm on pwm off pwm on back emf at dead time v g +v v ref 0 t v g +v v ref 0 0 0 t t t pwm on pwm off pwm on dead time dead time figure 3. synchronous rectification operation. during dead time, the back emf flows through the body diode of the mosfet pwm off period the pwm off-time for the sla7070m series is controlled as a fixed time by an internal oscillator. it also is switched in 3 levels by current proportion (see the electrical characteristics table). in addition, the sla7070m series provide a function that decreases losses occurring when the pwm turns off. this func- tion dissolves back emf stored in the motor coil at mosfet turn-on, as well as at pwm turn-on (synchronous rectification operation). figure 3 shows the difference in back emf generative system between the sla7060m series and sla7070m series. the sla7060m series performs on?off operations using only the mosfet on the pwm-on side, but the sla7070m series also performs on?off operations using only the mosfet on the pwm-off side. to prevent simultaneous switching of the mos- fets at synchronous rectification operation, the ic has a dead time of approximately 0.5 s. during dead time, the back emf flows through the body diode on the mosfet.
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 10 motor drivers 115 northeast cutoff, box 15036 worcester, massachusetts 01615-0036 stepper motor coil short circuit coil short circuit normal operation output disable v m v ocp +v v ref 0 t rsint v s v s v g figure 4. motor coil short circuit protect circuit operation. overcurrent that flows with- out passing the sense resistor is undetectable. to recover the circuit after protection oper- ates, vdd must be cycled and started up again. protection functions: pr types the pr types of the sla7070m series include a motor coil short-circuit protection circuit and a motor coil open protection circuit. they are described in this section. ? motor coil short-circuit protection (load short) circuit this protection circuit, embedded in the sla7070m series, begins to operate when the device detects an increase in the volt- age level on the sense resistor, v sint . the voltage at which motor coil short-circuit protection starts its operation, v ocp , is set at approximately 0.7 v. the out- put is disabled at the time the protection circuit starts. in order for the motor coil short-circuit protection circuit to operate, v sint must be greater than v ocp . overcurrent that flows without passing the sense resistor is undetectable. to resume the circuit after protection operates, vdd must be cycled. ? motor coil open protection details of this functions is not disclosed yet due to our pat- ent policy.
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 11 motor drivers www.allegromicro.com 1.7 0.1 4.8 0.2 16.4 0.2 31 0.2 31.3 0.2 24.4 0.2 3.2 0.15 12.9 0.2 1 2 3 410 11 5 6 7 8 9 12 13 14 15 16 17 18 19 20 21 22 23 0.65 +0.2 -0.1 16 0.2 9.9 0.2 (tip measurement) 4-(r1) 5 0.5 0.55 +0.2 -0.1 9.5 +1 -0.5 4.5 0.7 r-end (includes mold flash) 2.45 0.2 (base measurement) (tip measurement) (fin) gate flash (4.3) 3.2 0.15 x 3.8 terminal core material: cu terminal treatment: ni plating and solder dip leadform: 2151 dimensions in millimeters branding: 1st line, type: sla707xmr 2nd line-left, lot: ymdd where: y is the last digit of the year of manufacture m is the month ( 1 to 9, o, n, d ) dd is the 2-digit date 2nd line-right, subtype: p for protection circuitry option; otherwise, blank branding xxxxxxxx xxxx x 22 p1.27 0.5 = 27.94 0.1 package outline drawing, sla-23 pin leadframe plating pb-free. device composition includes high-temperature solder (pb >85%), which is exempted from the rohs directive.
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 12 motor drivers 115 northeast cutoff, box 15036 worcester, massachusetts 01615-0036 130 8 31 185 610 580 dimensions in mm 20 tubes 20 tubes 18 devices plug at each end of tube 18 devices per tube 1080 devices per carton 3 layers 3 layers packing specifications
sla7075m, sla7076m, SLA7077M, and sla7078m motor driver ics 13 motor drivers 115 northeast cutoff, box 15036 worcester, massachusetts 01615-0036 1234 the products described herein are manufactured in ja pan by sanken electric co., ltd. for sale by allegro microsystems, inc. sanken and allegro reserve the right to make, from time to time, such de par tures from the detail spec i fi ca tions as may be re quired to per mit im- prove ments in the per for mance, reliability, or manufacturability of its prod ucts. therefore, the user is cau tioned to verify that the in for ma tion in this publication is current before placing any order. when using the products described herein, the ap pli ca bil i ty and suit abil i ty of such products for the intended purpose s hall be reviewed at the users responsibility. although sanken undertakes to enhance the quality and reliability of its prod ucts, the occurrence of failure and defect of sem i con duc tor products at a certain rate is in ev i ta ble. users of sanken products are requested to take, at their own risk, preventative measures including safety design of the equipme nt or systems against any possible injury, death, fires or damages to society due to device failure or malfunction. sanken products listed in this publication are designed and intended for use as components in general-purpose electronic equip ment or apparatus (home ap pli anc es, office equipment, tele com mu ni ca tion equipment, measuring equipment, etc.). their use in any applicat ion requiring radiation hardness assurance (e.g., aero space equipment) is not supported. when considering the use of sanken products in ap pli ca tions where higher reliability is re quired (transportation equipment and its control systems or equip ment, fire- or burglar-alarm systems, various safety devices, etc.), contact a company sales representative to discuss and obtain written confirmation of your spec i fi ca tions. the use of sanken products without the written consent of sanken in applications where ex treme ly high reliability is required (aerospace equip- ment, nuclear power-control stations, life-support systems, etc.) is strictly prohibited. the information in clud ed herein is believed to be accurate and reliable. ap pli ca tion and operation examples described in this pub li ca tion are given for reference only and sanken and allegro assume no re spon si bil i ty for any in fringe ment of in dus tri al property rights, intellectual property rights, or any other rights of sanken or allegro or any third party that may result from its use. warning ? these devices are designed to be operated at lethal voltages and energy levels. circuit designs that embody these components must conform with applicable safety requirements. pre cau tions must be taken to prevent accidental contact with power-line potentials. do not connect ground ed test equipment. the use of an isolation transformer is recommended during circuit development and breadboarding.

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