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NJM3773
DUAL STEPPER MOTOR DRIVER
s GENERAL DESCRIPTION The NJM3773 is a switch-mode (chopper), constant-current driver with two channels: one for each winding of a two-phase stepper motor. The NJM3773 is also equipped with a Disable input to simplify half-stepping operation. The circuit is well suited for microstepping applications together with an external micro controller. The current control inputs are low current, high impedance inputs, which allows the use of unbuffered DAC or external high resistive resistor divider network. The NJM3773 contains a clock oscillator, which is common for both driver channels, a set of comparators and flip-flops implementing the switching control, and two output H-bridges, including recirculation diodes. Voltage supply requirements are +5 V for logic and +10 to +45 V for the motor. Maximum output current is 750mA per channel.
s PACKAGE OUTLINE
NJM3773D2
NJM3773E3
NJM3773FM2
s FEATURES * Dual chopper driver * 750 mA continuous output current per channel * High impedance current control inputs * Digital filter on chip eliminates external filtering components * Packages DIP22 / PLCC28 / EMP24(Batwing)
s BLOCK DIAGRAM
Phase 1
Dis1 VR1
C1
E1
NJM3773
VCC V
- + CC
R S
Q M A1 Logic M B1 V MM1
+ -
V MM2 M B2 Logic M A2
RC
+ -
S R
Q
Phase 2
Dis 2 V R2
C2
GND
E2
Figure 1. Block diagram
NJM3773
s PIN CONFIGURATIONS
4 VMM2
3 GND
2 GND
1 GND
28 GND
MB1 1
NC 1 MB1 2 E1 3 MA1 4 VMM1 5 GND 6 GND 7 VR1 8 C1 9 Phase1 10 Dis1 11 RC 12
24 23 22 21
22 21 20 19 18
MB2 E2 MA2 VMM2 GND GND V R2 C2 Phase 2
MA2 5 E2 6 M B2 7 M B1 8 GND 9 E1 10 M A1 11
27 V R2
NC MB2 E2 MA2 VMM2 GND GND VR2 C2 Phase2 Dis2 Vcc
E1 2 MA1 3 VMM1 4 GND 5 GND 6 VR1 7 C1 8 Phase 1 9 Dis1 10 RC 11
26 C 2
25 Phase 2 24 Dis 2 23 VCC
NJM 3773E3
20 19 18 17 16 15 14 13
NJM 3773D2
17 16 15 14 13 12
NJM3773FM2
22 RC 21 Dis 1 20 Phase1 19 C 1
VMM1 12
GND 13
GND 14
GND 15
GND 16
GND 17
Dis2 VCC
Figure 2. Pin configurations
s PIN DESCRIPTION
EMP DIP PLCC Symbol Description
2 3 4 5 6,7 18,19 8 9 10 11 12 13 14 15 16 17 20 21 22 23
1 2 3 4 5, 6, 17, 18 7 8 9 10 11 12 13 14 15 16 19 20 21 22
8 10 11 12 1-3, 9, 13-17, 28 18 19 20 21 22 23 24 25 26 27 4 5 6 7
Motor output B, channel 1. Motor current flows from MA1 to MB1 when Phase1 is HIGH. Common emitter, channel 1. This pin connects to a sensing resistor RS to ground. Motor output A, channel 1. Motor current flows from MA1 to MB1 when Phase1 is HIGH. Motor supply voltage, channel 1, +10 to +40 V. VMM1 and VMM2 should be connected together. Ground and negative supply. Note: these pins are used thermally for heat-sinking. Make sure that all ground pins are soldered onto a suitably large copper ground plane for efficient heat sinking. VR1 Reference voltage, channel 1. Controls the comparator threshold voltage and hence the output current. C1 Comparator input channel 1. This input senses the instantaneous voltage across the sensing resistor, filtered by the internal digital filter or an optional external RC network. Phase1 Controls the direction of motor current at outputs MA1 and MB1. Motor current flows from MA1 to MB1 when Phase1 is HIGH. Dis1 Disable input for channel 1. When HIGH, all four output transistors are turned off, which results in a rapidly decreasing output current to zero. RC Clock oscillator RC pin. Connect a 12 kohm resistor to VCC and a 4 700 pF capacitor to ground to obtain the nominal switching frequency of 23.0 kHz and a digital filter blanking time of 1.0s. VCC Logic supply voltage, nominally +5 V. Dis2 Disable input for channel 2. When HIGH, all four output transistors are turned off, which results in a rapidly decreasing output current to zero. Phase2 Controls the direction of motor current at outputs MA2 and MB2. Motor current flows from MA2 to MB2 when Phase2 is HIGH. C2 Comparator input channel 2. This input senses the instantaneous voltage across the sensing resistor, filtered by the internal digital filter or an optional external RC network. VR2 Reference voltage, channel 2. Controls the comparator threshold voltage and hence the output current. VMM2 Motor supply voltage, channel 2, +10 to +40 V.VMM1 and VMM2 should be connected together. MA2 Motor output A, channel 2. Motor current flows from MA2 to MB2 when Phase2 is HIGH. E2 Common emitter, channel 2. This pin connects to a sensing resistor RS to ground. MB2 Motor output B, channel 2. Motor current flows from MA2 to MB2 when Phase2 is HIGH.
MB1 E1 MA1 VMM1 GND
VR1 18
NJM3773
s FUNCTIONAL DESCRIPTION Each channel of the NJM3773 consists of the following sections: an output H-bridge with four transistors and four recirculation diodes, capable of driving up to 750 mA continuous current to the motor winding, a logic section that controls the output transistors, an S-R flip-flop, and a comparator. The clock-oscillator is common to both channels. Constant current control is achieved by switching the output current to the windings. This is done by sensing the peak current through the winding via a current-sensing resistor RS, effectively connected in series with the motor winding. As the current increases, a voltage develops across the sensing resistor, which is fed back to the comparator. At the predetermined level, defined by the voltage at the reference input VR, the comparator resets the flipflop, which turns off the upper output transistor. The turn-off function of the two channels works independently of each other. The current decreases until the clock oscillator triggers the flip-flops of both channels simultaneously, which turns on the output transistors again, and the cycle is repeated. To prevent erroneous switching due to switching transients at turn-on, the NJM3773 includes a digital filter. The clock oscillator provides a blanking pulse which is used for digital filtering of the voltage transient across the current sensing resistor during turn-on. The current paths during constant current switching and phase shift are shown in figure 3.
V MM 1
2
3
RS
Motor Current
1
2
3
Fast Current Decay Slow Current Decay
Time
Figure 3. Output stage with current paths during turn-on, turn-off and phase shift.
NJM3773
s ABSOLUTE MAXIMUM RATINGS
Parameter Pin no. [DIP] Symbol Min Max Unit
Voltage Logic supply Motor supply Logic inputs Analog inputs Current Motor output current Logic inputs Analog inputs Temperature Operating junction temperature Storage temperature Power Dissipation (Package Data) Power dissipation at TGND = +25C, DIP and PLCC package Power dissipation at TGND = +125C, DIP package Power dissipation at TGND = +125C, PLCC package
12 4, 19 9, 10, 13, 14 7, 8, 15, 16 1, 3, 20, 22 9, 10, 13, 14 7, 8, 15, 16
VCC VMM VI VA IM II IA Tj Tstg PD PD PD
0 0 -0.3 -0.3 -850 -10 -10 -40 -55 -
7 45 6 VCC +850 +150 +150 5 2.2 2.6
V V V V mA mA mA C C W W W
s RECOMMENDED OPERATING CONDITIONS
Parameter Symbol Min Typ Max Unit
Logic supply voltage Motor supply voltage Output emitter voltage Motor output current Operating junction temperature Rise and fall time logic inputs Oscillator timing resistor
VCC VMM VE IM TJ tr,, tf RT
4.75 10 -750 -20 2
5 12
5.25 40 1.0 +750 +125 2 20
V V V mA C s k
| V MA - V MB |
Phase 1 9 Dis 1 VR1 10 7 C1 8 E1 2
NJM3773
50 %
I CC V CC V 12
-- + CC
t on
t off
R S
Q 3 Logic 1 M A1 M B1 V MM1 V MM2 M B2 M A2
IM I OL I MM
4
12 k +
VE ( I M ) V
R
t td
RT
19
--
22 Logic I RC RC 11
+ -- 4 700 pF
20
S R
Q
VCC CT Phase 2 II I IH IC VI V V
IH
t
14 13 16 15 C2 IC IA VC V Pin no. refers to DIP package 5, 6, 17, 18 GND 21 E2
V
Dis 2 V R2
RC
tb
I IL IA
VM V MA V MM
VA V
R
VRC
A
VE
IL
RB
RS
t
fs = t + t on off
1
D=
ton ton + t off
Figure 4. Definition of symbols
Figure 5. Definition of terms
NJM3773
s ELECTRICAL CHARACTERISTICS Electrical characteristics over recommended operating conditions, unless otherwise noted. -20C Tj +125C.
Parameter Symbol Conditions Min Typ Max Unit
General Supply current Supply current Total power dissipation Total power dissipation
ICC ICC PD PD
VR=500mV. Note 4. Dis1= Dis2= HIGH. VMM= 24 V, IM1= IM2= 500 mA. Notes 2, 3, 4. VMM= 24 V, IM1= 700 mA, IM2= 0 mA. Notes 2, 3, 4. TA = +25C, dVC/dt 50 mV/s, IM = 100 mA. Note 3. (one channel on).
-
55 7 2.0 1.7 160 1.1
70 10 2.3 2.0 2.0
mA mA W W C s
Thermal shutdown junction temperature Turn-off delay td Logic Inputs Logic HIGH input voltage Logic LOW input voltage Logic HIGH input current Logic LOW input current Analog Inputs Input current Threshold voltage | VC1 - VC2 | mismatch Motor Outputs Lower transistor saturation voltage Lower transistor leakage current Lower diode forward voltage drop Upper transistor saturation voltage Upper transistor leakage current Upper diode forward voltage drop Chopper Oscillator Chopping frequency Digital filter blanking time fs tb
VIH VIL IIH IIL IA VC VC,diff
VI = 2.4 V VI = 0.4 V
2.0 -0.2 -0.5 21.5 -
-0.1 -0.2 500 1 0.4 1.1 1.1 1.1 23.0 1.0
0.6 20 0.8 100 1.3 1.4 100 1.4 24.5 -
V V A mA A mV mV V A V V A V kHz s
VR= 500mV RB= 1 kohm. Note 3. IM = 500 mA VMM=41 V,TA = +25C. Dis1= Dis2= HIGH. IM = 500 mA IM = 500 mA. VMM=41 V,TA = +25C. Dis1= Dis2= HIGH.. IM = 500 mA. CT = 4 700 pF, RT = 12 kohm CT = 4 700 pF. Note 3.
s THERMAL CHARACTERISTICS
Parameter Symbol Conditions Min Typ Max Unit
Thermal resistance
RthJ-GND RthJ-A RthJ-GND RthJ-A RthJ-GND RthJ-A
DIP package. DIP package. Note 2. PLCC package. PLCC package. Note 2. EMP package EMP package
-
11 40 9 35 13 42
-
C/W C/W C/W C/W C/W C/W
Notes 1. All voltages are with respect to ground. Currents are positive into, negative out of specified terminal. 2. All ground pins soldered onto a 20 cm2 PCB copper area with free air convection, TA = +25C. 3. Not covered by final test program. 4. Switching duty cycle D = 30%, fs = 23.0 kHz.
NJM3773
s APPLICATIONS INFORMATION Current control The regulated output current level to the motor winding is determined by the voltage at the reference input and the value of the sensing resistor, RS. The peak current through the sensing resistor (and the motor winding) can be expressed as: IM,peak = VR / RS [A] With a recommended value of 0.5 ohm for the sensing resistor RS, a 0.25 V reference voltage will produce an output current of approximately 500 mA. RS should be selected for maximum motor current. Be should not to exceed the absolute maximum output current which is 850 mA. Chopping frequency, winding inductance and supply voltage also affect the current, but to much less extent. To improve noise immunity on the comparator inputs (VR and C), the control range may be increased to 0.5 V if RS is correspondingly changed to 1 ohm for a maximum output current of 500 mA. For accurate current regulation, the sensing resistor should be a 0.5 - 1.0 W precision resistor, i. e. less than 1% tolerance and low temperature coefficient.
+5 V VCC
+
V MM
0.1 F 12 V 9 10 7 Phase 1 Dis1 V R1
CC
0.1 F 4 V
MM1
10 F
19 V
MM2
MA1
3
MB1
1 20
14 13 16
NJM3773
Phase 2 Dis 2 V R2 RC 11 GND 5, 6, 17, 18 C1 8 E1 2 C2 15 MB2 E2 21 MA2
22
STEPPER MOTOR
+5 V 12 k
4 700 pF
RS 0.47
RS 0.47
Pin numbers refer to DIP package.
GND (V MM )
GND (VCC )
Figure 6. Typical stepper motor driver application with NJM3773.
+5 V V CC
+ 4.7 F +
V MM
0.1 F 12 4 V
MM1
0.1 F 19 V
MM2
10 F
Microcontroller
D/A
82 k
V 9 10 7 Phase 1 Dis1 V R1 Phase 2 Dis 2 V R2 RC GND 11
10 k 10 k 20 k
CC
MA1
3
MB1
1 20
NJM3773
MA2
14 13
D/A
82 k
16
MB2 C1 8
1 k
22
E1 2
C2 15
1 k
E2 21
5, 6, 17, 18
STEPPER MOTOR
1000 pF
1000 pF
2 700 pF
820 pF RS 0.68
820 pF RS 0.68
Pin numbers refer to DIP package.
GND (V MM )
GND (VCC )
Figure 7. Microstepping system where a microcontroller including DACs provides analog current control voltages as well as digital signals to the NJM3773.
NJM3773
Current sense filtering At turn-on a current spike occurs, due to the recovery of the recirculation diodes and the capacitance of the motor winding. To prevent this spike from reseting the flip-flops through the current sensing comparators, the clock oscillator generates a blanking pulse at turn-on. The blanking pulse disables the comparators for a short time. Thereby any voltage transient across the sensing resistor will be ignored during the blanking time. Choose the blanking pulse time to be longer than the duration of the switching transients by selecting a proper CT value. The time is calculated as: tb = 210 * CT [s] As the CT value may vary from approximately 2 200 pF to 33 000 pF, a blanking time ranging from 0.5 s to 7 s is possible. Nominal value is 4 700 pF, which gives a blanking time of 1.0 s. As the filtering action introduces a small delay, the peak value across the sensing resistor, and hence the peak motor current, will reach a slightly higher level than what is defined by the reference voltage. The filtering delay also limits the minimum possible output current. As the output will be on for a short time each cycle, equal to the digital filtering blanking time plus additional internal delays, an amount of current will flow through the winding. Typically this current is 1-10 % of the maximum output current set by RS. Sometimes it may be necessary to include an external in the feed back loop, the filtering may be done by adding an external low pass filter in series with the comparator C input. In this case the digital blanking time should be as short as possible. The recommended filter component values are 1 kohm and 820 pF. To create an absolute zero current, the Dis input should be HIGH. Switching frequency The frequency of the clock oscillator is set by the timing components RT and CT at the RC-pin. As CT sets the digital filter blanking time, the clock oscillator frequency is adjusted by RT. The value of RT is limited to 2 - 20 kohm. The frequency is approximately calculated as: fs = 1 / ( 0.77 * RT * CT) Nominal component values of 12 kohm and 4 700 pF results in a clock frequency of 23.0 kHz. A lower frequency will result in higher current ripple, but may improve low level linearity. A higher clock frequency reduces current ripple, but increases the switching losses in the IC and possibly the iron losses in the motor. Phase inputs A logic HIGH on a Phase input gives a current flowing from pin MA into pin MB. A logic LOW gives a current flow in the opposite direction. A time delay prevents cross conduction in the H-bridge when changing the Phase input. Dis (Disable) inputs A logic HIGH on the Dis inputs will turn off all four transistors of the output H-bridge, which results in a rapidly decreasing output current to zero.
Phase 1
Dis 1
Thermal resistance [C/W]
80
Phase 2
Dis 2
70
22-pin DIP
V R1
140% 100%
60
V R2
140%
50
100%
I MA1
140%
40
24-pin EMP
100%
30
-100% -140%
I MA2
20 5 10 15 20 25 30 35
28-pin PLCC
140% 100%
PCB copper foil area [cm 2 ]
PLCC package DIP package
-100% -140%
Full step mode
Half step mode
Modified half step mode
Figure 8. Typical thermal resistance vs. PC Board copper area and suggested layout
Figure 9. Stepping modes
NJM3773
VR (Reference) inputs The comparator inputs of NJM3773 (VR and C) are high impedance, low current inputs (typically -0.2 A). This gives a great deal of flexibility in selecting a suitable voltage divider network to interface to different types of Digitalto-Analog converters. Unbuffered DACs are preferably interfaced by a high resistive divider network ( typ. 100 kohm), while for buffered DACs a low resistive network (typ. 5 kohm) is recommended. A filter capacitor in conjunction with the resistor network will improve noise rejection. A typical filter time constant is 10 s. See figure 7. In basic full and half-stepping applications, the reference voltage is easily divided from the VCC supply voltage. Interference Due to the switching operation of NJM3773, noise and transients are generated and coupled into adjacent circuitry. To reduce potential interference there are a few basic rules to follow: * Use separate ground leads for power ground (the ground connection of RS), the ground leads of NJM3773, and the ground of external analog and digital circuitry. The grounds should be connected together close to the GND pins of NJM3773. * Decouple the supply voltages close to the NJM3773 circuit. Use a ceramic capacitor in parallel with an electrolytic type for both VCC and VMM Route the power supply lines close together. * Do not place sensitive circuits close to the driver. Avoid physical current loops, and place the driver close to both the motor and the power supply connector. The motor leads could preferably be twisted or shielded. Motor selection The NJM3773 is designed for two-phase bipolar stepper motors, i.e. motors that have only one winding per phase. The chopping principle of the NJM3773 is based on a constant frequency and a varying duty cycle. This scheme imposes certain restrictions on motor selection. Unstable chopping can occur if the chopping duty cycle exceeds approximately 50%. See figure 5 for definitions. To avoid this, it is necessary to choose a motor with a low winding resistance and inductance, i.e. windings with a few turns. It is not possible to use a motor that is rated for the same voltage as the actual supply voltage. Only rated current needs to be considered. Typical motors to be used together with the NJM3773 have a voltage rating of 1 to 6 V, while the supply voltage usually ranges from 12 to 40 V. Low inductance, especially in combination with a high supply voltage, enables high stepping rates. However, to give the same torque capability at low speed, the reduced number of turns in the winding in the low resistive, low inductive motor must be compensated by a higher current. A compromise has to be made. Choose a motor with the lowest possible winding resistance and inductance, that still gives the required torque, and use as high supply voltage as possible, without exceeding the maximum recommended 40 V. Check that the chopping duty cycle does not exceed 50% at maximum current. Heat sinking NJM3773 is a power IC, packaged in a power DIP, EMP or PLCC package. The ground leads of the package (the batwing) are thermally connected to the chip. External heatsinking is achieved by soldering the ground leads onto a copper ground plane on the PCB. Maximum continuous output current is heavily dependent on the heatsinking and ambient temperature. Consult figures 8, 10 and 11 to determine the necessary heatsink, or to find the maximum output current under varying conditions. A copper area of 20 cm2 (approx. 1.8" x 1.8"), copper foil thickness 35 m on a 1.6 mm epoxy PCB, permits the circuit to operate at 2 x 450 mA output current, at ambient temperatures up to 85C. Thermal shutdown The circuit is equipped with a thermal shutdown function that turns the outputs off at a chip (junction) temperature above 160C. Normal operation is resumed when the temperature has decreased. Programming Figure 9 shows the different input and output sequences for full-step, half-step and modified halfstep operations. Full-step mode. Both windings are energized at all the time with the same current, IM1 = IM2. To make the motor take one step, the current direction (and the magnetic field direction) in one phase is reversed. The next step is then taken when the other phase current reverses. The current changes go through a sequence of four different states which equal four full steps until the initial state is reached again.
NJM3773
Half-step mode. In the half-step mode, the current in one winding is brought to zero before a complete current reversal is made. The motor will then have taken two half steps equalling one full step in rotary movement. The cycle is repeated, but on the other phase. A total of eight states are sequenced until the initial state is reached again. Half-step mode can overcome potential resonance problems. Resonances appear as a sudden loss of torque at one or more distinct stepping rates and must be avoided so as not to loose control of the motors shaft position. One disadvantage with the half-step mode is the reduced torque in the half step positions, in which current flows through one winding only. The torque in this position is approximately 70 % of the full step position torque. Modified half-step mode. The torque variations in half step mode will be elimi-nated if the current is increased about 1.4 times in the halfstep position. A constant torque will further reduce resonances and mechanical noise, resulting in better performance, life expectancy and reliability of the mechanical system. Modifying the current levels must be done by bringing the reference voltage up (or down) from its nominal value correspondingly. This can be done by using DACs or simple resistor divider networks. The NJM3773 is designed to handle about 1.4 times higher current in one channel on mode, for example 2 x 500 mA in the full-step position, and 1 x 700 mA in the half-step position. s TYPICAL CHARACTERISTICS
PD (W)
6 5
pin ing Batw
Am
Maximum allowable power dissipation [W]
VCE Sat (V)
3.0
1.2
bie
4
nt
1.0 0.8 0.6 0.4 0.2
te
m
pe
2.0
ls on
3
ra
tu
ture pera tem
re
1.0
Tw
o
c
ha
e nn
2
1
0
0
O
ha ne c
nne
l on
0 -25
0
25
50
75
100
125
150
Temperature [C]
0.20 0.40 0.60 0.80
0
0 0.20 0.40 0.60 0.80
I M (A)
PLCC package DIP package
All ground pins soldered onto a 20 cm2 PCB copper area with free air convection.
I M (A)
Figure 10. Typical power dissipation vs. motor current.Ta = 25C
Vd, ld (V)
Figure 11. Maximum allowable power Figure 12. Typical lower transistor saturation voltage vs. output current dissipation
VCE Sat (V)
Vd, ud (V)
1.2 1.0 0.8 0.6 0.4 0.2
1.2 1.0 0.8 0.6 0.4 0.2 0
1.2 1.0 0.8 0.6 0.4 0.2
0
0 0.20 0.40 0.60 0.80
0
0
0.20
0.40
0.60
0.80
0
0.20
0.40
0.60
0.80
I M (A)
I M (A)
I M (A)
Figure 13. Typical lower diode voltage drop vs. recirculating current
Figure 14. Typical upper transistor saturation voltage vs. output current
Figure 15. Typical upper diode voltage drop vs. recirculating current
The specifications on this databook are only given for information , without any guarantee as regards either mistakes or omissions. The application circuits in this databook are described only to show representative usages of the product and not intended for the guarantee or permission of any right including the industrial rights.

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