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L6219R
Stepper motor driver
Features

Able to drive both windings of bipolar stepper motor Output current up to 500mA each winding Wide voltage range 4.5V to 10V HAlf-step, full-step and microstepp-ing 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 500mA with peak start-up current up to 1A. Wide range of current control from 500mA (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.
SO-24 (20+2+2)
Description
The L6219R 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 L6219R 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 10V and including four diodes for current recirculation.
Order codes
Part number L6219R L6219R013TR E-L6219R(1) E-L6219R013TR (1)
1. Lead free package (ECOPACK(R)) see Chapter 5.
Package SO-24 SO-24 SO-24 SO-24
Packing Tube Tape & reel Tube Tape & reel
June 2006
Rev 3
1/16
www.st.com 1
Table of contents
L6219R
Table of contents
1 2 Block diagram & pins description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
2.1 2.2 2.3 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3
Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.1 3.2 3.3 3.4 3.5 3.6 Input Logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Current Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Single-pulse Generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Output Stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
4
Application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
4.1 Electrical characteristics curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
5 6
Package informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
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L6219R
List of tables
List of tables
Table 1. Table 2. Table 3. Table 4. Table 5. Table 6. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Electrical Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Input logic current level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
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List of figures
L6219R
List of figures
Figure 1. Figure 2. Figure 3. Figure 4. Figure 5. Figure 6. Figure 7. Figure 8. Figure 9. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Pin connection (Top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 Windings of a bipolar stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Principle Operating Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Typical Application Circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Max output current versus supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Maximum reference voltages vs. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 Maximum output current vs. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 SO-24 Mechanical Data & Package Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
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L6219R
Block diagram & pins description
1
Block diagram & pins description
Figure 1. Block diagram
Figure 2.
Pin connection (Top view)
Table 1.
Pin # 1;2 3;23
Pin description
Name OUTPUT A SENSE RESISTOR See pins 5;21 Connection to Lower Emitters of Output Stage for Insertion of Current Sense Resistor Description
4;22
Input connected to the comparators. The voltage across the sense resistor is feedback to this input throught the low pass filter RC CC. The COMPARATOR higher power transistors are disabled when the sense voltage exceeds INPUT 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 fig. 4. OUTPUT B GROUND Output Connection. The output stage is a "H" bridge formed by four transistors and four diodes suitable for switching applications. See pins 7;18
5;21 6;19
5/16
Block diagram & pins description Table 1.
Pin # 7;18 8;20
L6219R
Pin description (continued)
Name GROUND INPUT 0 Description 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 Funcional 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). Supply Voltage Input for Logic Circuitry Supply Voltage Input for the Output Stages.
9;17
INPUT 1
10;16
PHASE
11;15
REFERENCE VOLTAGE
12;14
RC Vss - LOGIC SUPPLY Vs - LOAD SUPPLY
13 24
Note:
ESD on GND, Vs, Vss, OUT 1A and OUT 2A is guaranteed up to 1.5KV (Human Body Model, 1500W, 100pF).
6/16
L6219R
Electrical specifications
2
2.1
Electrical specifications
Absolute maximum ratings
Table 2.
Symbol VS Io Io VSS VIN Vsense TJ Top Tstg 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
Absolute maximum ratings
Parameter Value 30 1 0.5 7 -0.3 to VSS 1.5 +150 -20 to +85 -55 to +150 Unit V A A V V V C C C
2.2
Thermal data
Table 3.
Symbol Rthj-case Rthj-amb
Thermal data
Description Thermal Resistance Junction-case Thermal Resistance Junction-ambient Max. Max. Value 18 75 (*) Unit C/W C/W
(*) With minimized copper area.
2.3
Table 4.
Electrical characteristics
Electrical Characteristics (Tj = 25C, VS = 4.5V, VSS = 4.75V to 5.25V, VREF = 2V; unless otherwise specified) See Figure 5.
Parameter Test Condition Min. Typ. Max. Unit
.
Symbol
OUTPUT DRIVERS (OUTA or OUTB) VS ICEX Motor Supply Range Output Leakage Current *) Vs = 30V; VOUT = Vs; Vs = 30V; VOUT = 0 Sink Driver, IOUT= +300mA Sink Driver, IOUT = +500mA Source Driver, IOUT = -300mA Source Driver, IOUT = -500mA 4.5 -50 <1 <-1 0.3 0.7 1.1 1.3 10 50 0.6 1 1.4 1.6 V A A V V V V
VCE(sat)
Output Saturation Voltage
7/16
Electrical specifications Table 4. Electrical Characteristics (continued) (Tj = 25C, VS = 4.5V, VSS = 4.75V to 5.25V, VREF = 2V; unless otherwise specified) See Figure 5.
Parameter Clamp Diode Forward Voltage Driver Supply Current Driver Supply Current Test Condition Sink Diode Source Diode IF = 500mA Both Bridges ON, No Load Vs = 10V Both Bridges OFF; Vs = 10V Min. Typ. 1 1 8 6 Max. 1.5 1.5 15 10
L6219R
Symbol VF IS(on) IS(off)
Unit V V mA mA
CONTROL LOGIC VIN(H) VIN(L) IIN(H) IIN(L) VREF ISS(ON) ISS(OFF) Input Voltage Input Voltage Input Current Input Current Reference Voltage Total Logic Supply Current Total Logic Supply Current All Inputs All Inputs VIN = 2.4V VIN = 0.84V Operating Io = I1 = 0.8V, No Load Io = I1 = 2.4V, No Load 2.4 1.5 <1 -3 44 10 0.8 20 -200 2 60 14 V V A A V mA mA
COMPARATORS Io = I1 = 0.8V VREF/ Vsense toff td Current Limit Threshold (at trip point) Cutoff Time Turn Off Delay Io = 2.4V, I1 = 0.8V Io = 0.8V, I1 = 2.4V Rt = 56K Ct = 820pF see Figure 1 9.5 13.5 25.5 10 15 30 50 1 10.5 16.5 34.5 s s
PROTECTION TJ Thermal Shutdown Temperature 170 C
8/16
L6219R Figure 3. Windings of a bipolar stepper motor
Electrical specifications
9/16
Functional description
L6219R
3
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
3.1
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 5.
I0 H L H L
Input logic current level
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
3.2
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
3.3
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 See figures Figure 3, 4 and 5 for maximum allowable output current and reference voltage versus Vs supply.
10/16
L6219R
Functional description
3.4
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.
3.5
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. Internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels.
3.6
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.
11/16
Application informations
L6219R
4
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 100nF 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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L6219R
Application informations
4.1
Figure 6.
Electrical characteristics curves
Max output current versus supply voltage Figure 7. Maximum reference voltages vs. supply voltage
600
8 7 6
500
Output current (mA)
400
5 Vref1,2 (V)
300
4 3
200 Vss=5V Vss=4.5V 100
2 1
0 0 2 4 6 Vs (V) 8 10 12
0 0 2 4 6 Vs (V) 8 10 12
Figure 8.
Maximum output current vs. supply voltage
600
500
Output current (mA)
400
300
200 Vss=5V Vss=4.5V 100
0 0 1 2 3 4 Vref (V) 5 6 7 8
13/16
Package informations
L6219R
5
Package informations
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 9. SO-24 Mechanical Data & Package Dimensions
mm 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 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
14/16
L6219R
Revision history
6
Revision history
Table 6.
Date January 2003 May 2005 22-Jun-2006
Document revision history
Revision 1 2 3 First Issue Modified Table 6 on page 5. Changed look anf fill. Changed value of the Output Current (continuous) in Table 2. Changed the curve diagrams of the Figure 6 and 7. Changes
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L6219R
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