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L6219
Stepper motor driver
Features

Able to drive both windings of bipolar stepper motor Output current up to 750 mA each winding Wide voltage range: 10 V to 46 V Half-step, full-step and microstepping mode Built-in protection diodes Internal PWM current control Low output saturation voltage Designed for unstabilized motor supply voltage Internal thermal shutdown A cross conduction protection is provided to avoid simultaneous cross conduction during switching current direction. An internal pulse-width-modulation (PWM) controls the output current to 750 mA with peak startup current up to 1 A. Wide range of current control from 750 mA (each bridge) is permitted by means of two logic inputs and an external voltage reference. A phase input to each bridge determines the load current direction. A thermal protection circuitry disables the outputs if the chip temperature exceeds safe operating limits.
PDIP24 (20+2+2) SO24 (20+2+2)
Description
The L6219 is a bipolar monolithic integrated circuits intended to control and drive both winding of a bipolar stepper motor or bidirectionally control two DC motors. The L6219 with a few external components form a complete control and drive circuit for LS-TTL or microprocessor controlled stepper motor system. The power stage is a dual full bridge capable of sustaining 46V and including four diodes for current recirculation. Table 1. Device summary
Order code E-L6219 E-L6219DS E-L6219DS013TR
Package PDIP24 SO24 SO24
Packing Tube Tube Tape & reel
March 2008
Rev 12
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www.st.com 1
Contents
L6219
Contents
1 2 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.1 2.2 2.3 2.4 2.5 2.6 Input logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3 4 5
Application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
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L6219
List of tables
List of tables
Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Table 7. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 Absolute maximum rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Pin functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Electrical characteristcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Current levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
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List of figures
L6219
List of figures
Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 SO24/PDIP24 pins connection (top view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Principle operating sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Typical application circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 SO24 mechanical data and package dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 PDIP24 mechanical data and package dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
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L6219
Block diagram
1
Figure 1.
Block diagram
Block diagram
Table 2.
Absolute maximum rating
Description Supply voltage Output current (peak) Output current (continuous) Logic supply voltage Logic input voltage range Sense output voltage Junction temperature Operating temperature range Storage temperature range Value 50 1 0.75 7 -0.3 to +7 1.5 +150 -20 to +85 -55 to +150 Unit V A A V V V C C C
Parameter Vs IO IO Vss Vin Vsense Tj Top Tstg
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Block diagram Figure 2. SO24/PDIP24 pins connection (top view)
L6219
Table 3.
Pin # 1, 2 3, 23
Pin functions
Name Output A Sense resistor See pins 5, 21 Connection to lower emitters of output stage for insertion of current sense resistor Input connected to the comparators. The voltage across the sense resistor is feedback to this input throught the low pass filter RC CC. The higher power transistors are disabled when the sense voltage exceeds the reference voltage of the selected comparator. When this occurs the current decays for a time set by RT CT (toff = 1.1 RT CT). See Figure 3. Output Connection. The output stage is a "H" bridge formed by four transistors and four diodes suitable for switching applications See pins 7, 18 Ground connection. With pins 6 and 19 also conducts heat from die to printed circuit copper See Input 1 (pins 9, 17) These pins and pins 8, 20 (input 0) are logic inputs which select the outputs of the comparators to set the current level. Current also depends on the sensing resistor and reference voltage. See functional description Description
4, 22
Comparator input
5, 21 6, 19 7, 18 8, 20
Output B Ground Ground Input 0
9, 17
Input 1
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L6219 Table 3.
Pin #
Block diagram Pin functions (continued)
Name Description This TTL-compatible logic inputs sets the direction of current flow through the load. A high level causes current to flow from output A (source) to output B (sink). A schmitt trigger on this input provides good noise immunity and a delay circuit prevents output stage short circuits during switching A voltage applied to this pin sets the reference voltage of the comparators, this determining the output current (also thus depending on Rs and the two inputs input 0 and input 1) A parallel RC network connected to this pin sets the OFF time of the higher power transistors. The pulse generator is a monostable triggered by the output of the comparators (toff = 1.1 RT CT)
10, 16
Phase
11, 15
Reference voltage
12, 14
RC
13 24
VSS - Logic supply Supply voltage input for logic circuitry VS - Load supply Supply voltage input for the output stages
Note:
ESD on GND, VS, VSS, OUT 1 A and OUT 2 A is guaranteed up to 1.5 KV (human body model, 1500 W, 100 pF). Figure 3. Timing diagram
Table 4.
Parameter Rthj-case Rthj-amb
Thermal data
Description Thermal resistance junction-case Thermal resistance junction-ambient max. max. PDIP 14 60 (1) SO 18 75 (1) Unit C/W C/W
1. With minimized copper area.
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Block diagram
L6219
Table 5.
Electrical characteristcs (Tj = 25 C, VS = 46 V, VSS = 4.75 V to 5.25 V, VREF = 5 V; unless otherwise specified) See Figure 5
Description Test condition Min. Typ. Max. Unit
Parameter
Output drivers (OUTA or OUTB) VS ICEX Motor supply range Output leakage current VOUT = Vs; VOUT = 0 Sink driver, IOUT= +500 mA Sink driver, IOUT = +750 mA Source driver, IOUT = -500 mA Source driver, IOUT = -750 mA VR = 50 V Sink diode Source diode IF = 750 mA Both bridges ON, no load Both bridges OFF All inputs All inputs VIN = 2.4 V VIN = 0.84 V Operating Io = I1 = 0.8 V, no load Io = I1 = 2.4 V, no load Io = I1 = 0.8 V Io = 2.4 V, I1 = 0.8 V Io = 0.8 V, I1 = 2.4 V toff td Protection TJ Thermal shutdown temperature 170 C Cutoff time Turn off delay Rt = 56 K Ct = 820 pF Figure 3 2.4 1.5 9.5 13.5 25.5 10 <1 <-1 0.3 0.7 1.1 1.3 <1 1 1 8 6 <1 -3 64 10 10 15 30 50 1 46 50 -50 0.6 1 1.4 1.6 50 1.5 1.5 15 10 0.8 20 -200 7.5 74 14 10.5 16.5 34.5 V A A V V V V A V V mA mA V V A A V mA mA s s
VCE(sat)
Output saturation voltage
IR VF IS(on) IS(off) VIN(H) VIN(L) IIN(H) IIN(L) VREF ISS(ON) ISS(OFF)
Clamp diode leakage current Clamp diode forward voltage Driver supply current Driver supply current Input voltage Input voltage Input current Input current Reference voltage Total logic supply current Total logic supply current
Control logic
Comparators VREF/ Vsense Current limit threshold (at trip point)
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L6219
Functional description
2
Functional description
The circuit is intended to drive both windings of a bipolar stepper motor. The peak current control is generated through switch mode regulation.There is a choice of three different current levels with the two logic inputs I01 - I11 for winding 1 and I02 - I12 for winding 2. The current can also be switched off completely.
2.1
Input logic (I0 and I1)
The current level in the motor winding is selected with these inputs. (See Figure 4). If any of the logic inputs is left open, the circuit will treat it has a high level input. Table 6.
I0 H L H L
Current levels
I1 H H L L No current Low current 1/3 IO max Medium current 2/3 IO max Maximum current IO max Current level
2.2
Phase
This input determines the direction of current flow in the windings, depending on the motor connections. The signal is fed through a Schmidt-trigger for noise immunity, and through a time delay in order to guarantee that no short-circuit occurs in the output stage during phase-shift.High level on the PHASE input causes the motor current flow from Out A through the winding to Out B.
2.3
Current sensor
This part contains a current sensing resistor (RS), a low pass filter (RC, CC) and three comparators. Only one comparator is active at a time. It is activated by the input logic according to the current level chosen with signals Io and I1. The motor current flows through the sensing resistor RS. When the current has increased so that the voltage across RS becomes higher than the reference voltage on the other comparator input, the comparator goes high, which triggers the pulse generator. The max peak current Imax can be defined by:
V ref I max = ------------10R s
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Functional description
L6219
2.4
Single-pulse generator
The pulse generator is a monostable triggered on the positive going edge of the comparator output. The monostable output is high during the pulse time, toff, which is determined by the time components Rt and Ct. toff = 1.1 * RtCt The single pulse switches off the power feed to the motor winding, causing the winding current to decrease during toff. If a new trigger signal should occur during toff, it is ignored.
2.5
Output stage
The output stage contains four Darlington transistors (source drivers) four saturated transistors (sink drivers) and eight diodes, connected in two H bridge. Figure 4. Principle operating sequence
The source transistors are used to switch the power supplied to the motor winding, thus driving a constant current through the winding. It should be noted however, that is not permitted to short circuit the outputs.
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L6219
Functional description Internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels.
2.6
VS, VSS, VRef
The circuit will stand any order of turn-on or turn-off the supply voltages VS and VSS. Normal dV/dt values are then assumed. Preferably, VRef should be tracking VSS during power-on and power-off if VS is established.
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Application informations
L6219
3
Application informations
Some stepper motors are not designed for contin-uous operation at maximum current. As the circuit drives a constant current through the motor, its temperature might increase exceedingly both at low and high speed operation. Also, some stepper motors have such high core losses that they are not suited for switch mode current regulation. Unused inputs should be connected to proper voltage levels in order to get the highest noise immunity. As the circuit operates with switch mode current regulation, interference generation problems might arise in some applications. A good measure might then be to decouple the circuit with a 100 nF capacitor, located near the package between power line and ground. The ground lead between Rs, and circuit GND should be kept as short as possible. A typical application circuit is shown in Figure 5. Note that Ct must be NPO type or similar else. To sense the winding current, paralleled metal film resistors are recommended (Rs). Figure 5. Typical application circuit
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L6219
Package information
4
Package information
In order to meet environmental requirements, ST offers these devices in ECOPACK(R) packages. These packages have a Lead-free second level interconnect. The category of second Level Interconnect is marked on the package and on the inner box label, in compliance with JEDEC Standard JESD97. The maximum ratings related to soldering conditions are also marked on the inner box label. ECOPACK is an ST trademark. ECOPACK specifications are available at: www.st.com. Figure 6.
DIM. MIN. A A1 B C D (1) E e H h L k ddd 10.0 0.25 0.40 2.35 0.10 0.33 0.23 15.20 7.40 1.27 10.65 0.75 1.27 0.394 0.010 0.016 TYP. MAX. 2.65 0.30 0.51 0.32 15.60 7.60 MIN. 0.093 0.004 0.013 0.009 0.598 0.291 0.050 0.419 0.030 0.050 TYP. MAX. 0.104 0.012 0.200 0.013 0.614 0.299 Weight: 0.60gr
SO24 mechanical data and package dimensions
mm inch
OUTLINE AND MECHANICAL DATA
0 (min.), 8 (max.) 0.10 0.004
(1) "D" dimension does not include mold flash, protusions or gate burrs. Mold flash, protusions or gate burrs shall not exceed 0.15mm per side.
SO24
0070769 C
13/16
Package information Figure 7.
DIM. MIN. A A1 A2 B B1 c D E e E1 e1 L M 3.180 6.350 0.410 1.400 0.200 31.62 7.620 2.54 6.600 7.620 3.430 0.125 6.860 0.250 0.380 3.300 0.460 1.520 0.250 31.75 0.510 1.650 0.300 31.88 8.260 0.016 0.055 0.008 1.245 0.300 0.100 0.260 0.300 0.270
L6219 PDIP24 mechanical data and package dimensions
mm TYP. MAX. 4.320 0.015 0.130 0.018 0.060 0.010 1.250 0.020 0.065 0.012 1.255 0.325 MIN. inch TYP. MAX. 0.170
OUTLINE AND MECHANICAL DATA
0.135
PDIP 24 (0.300")
0 min, 15 max.
E1
A2
A
L
A1
B
B1
e
e1
D
24
13 c
1
12 M
SDIP24L
0034965 D
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L6219
Revision history
5
Revision history
Table 7.
Date 30-Oct-2001 11-May-2005
Document revision history
Revision 7 8 Changes First Issue on the EDOCS DMS. Changed the look & feel layout. Modified Table 6 on page 9. Change in the Features sections: "Wide voltage range 10 V to 46 V" "Output current up to 750 mA each winding". Corrected in the Table 5 the max. value of the "VREF" parameter from 2 V to 7.5 V. Corrected ISS(ON) values in the Table 5. Document reformatted.
14-Sep-2005
9
19-Dec-2005 28-Mar-2006 18-Mar-2008
10 11 12
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L6219
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