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1 motorola
by bill lucas and warren schultz a mosfet power stage that is designed to run brush or brushless dc motors with input signals from an asb124 motion control development board is presented here. it will supply up to 4 amps continuous current from dc bus voltages up to 48 volts. figure 1. itc122 e low voltage micro to motor interface evaluation board description a summary of the information required to use itc122 low voltage micro to motor interface boards is presented as follows. a discussion of the design appears under the heading design considerations. function the evaluation board shown in figure 1 is designed to provide a direct interface between microcomputers and fractional horsepower motors. it accepts 6 logic inputs which control 3 complementary halfbridge outputs, and is arranged such that a logic zero at the input turns on the corresponding power transistor. this type of configuration is applicable to pulse width modulated (pwm) systems where the pwm signal is generated in a microcomputer, digital signal processor, or other digital system. it is suitable for driving fractional horsepower brush and brushless dc motors. in addition to controlling the motor, current sense, temperature sense, and bus voltage feedback are provided. this board is designed to interface directly with motorola asb124 motor control development boards. order this document by an1607/d
semiconductor application note ? motorola, inc. 1998 rev 1
2 motorola coupled with an asb124 control board, it completes the link between software development tools and a motor. its use allows code to be written before hardware design is completed in an environment where mechanical outputs can be seen. the design can also be used as a reference for speeding hardware development. electrical characteristics the following electrical characteristics apply to operation at 25 degrees celsius, and unless otherwise specified, b+ = 24 volts. table 1. electrical characteristics characteristic symbol min typ max units power supply voltage b+ 12 48 volts rms motor current e two phases active e three phases active i m 4 5 amps amps input current @ v in = 5 v i in 500 m a min logic 1 input voltage v ih 2.7 volts max logic 0 input voltage v il 2.0 volts quiescent current i cc 25 ma bus current sense voltage i sense 250 mv/a temperature sense voltage v temp .65 volts bus voltage sense voltage v bus 50 mv/v power dissipation e two phases active e three phases active p diss 5.5 6.75 watts watts the above numbers for power dissipation assume still air and no additional heat sinking. maximum current ratings are based upon applying pulse width modulation signals only to the top inputs, a maximum pwm frequency of 23 khz, and a maximum supply voltage of 40 volts. bonding heat sinks to the back of the board and/or providing air flow will significantly increase both power dissipation and output current ratings.
3 motorola content board contents are described by the following schematic and parts list. a pin by pin circuit description follows in the next se ction. table 2. parts list designators qty. description rating manufacturer part number c11, c2c4, c8, c9 6 1 m f capacitor 25 v digikey pcs5105ctnd c5 1 .1 m f capacitor 50 v digikey pcc104bctnd c6 1 220 m f 63 v digikey p6736nd c7, c10 2 .1 m f capacitor 100 v sprague 1c105z5u104m100b c1 1 .001 m f capacitor 50 v sprague pcc102cctnd d1 1 led sot23 digikey lt1076nd d2d10 9 schottky diode sod123 40 v motorola mbr0540t1 d11 1 sod123 diode 30 v motorola mmsd1000t1 j1 1 2x7 .1o.c. jumper block note: 2 digikey s201136nd j2 1 2x8 .1o.c. jumper block note: 2 digikey s201136nd q13, q15, q17 3 nchannel power tmos fet motorola mtb36n06v q12, q14, q16 3 pchannel power tmos fet motorola mtb30p06v q3, q4, q6, q7, q9, q10 6 small signal npn transistor motorola mmbta06lt1 q5, q8, q11 3 small signal pnp transistor motorola mmbta56lt1 q1, q2 2 small signal npn transistor motorola bcp56t1 r36 1 .01 ohm resistor 1% 1.5 watt ohmite rw1s5car010f r13, r45 2 1.02k ohm resistor 1% yageo r15, r16 2 4.7k resistor 1 watt yageo r17 1 1.8k resistor yageo r37r39, r43 4 37.4k ohm resistor 1% yageo r40r42, r44 4 1.96k ohm resistor 1% yageo r14 1 24.3k ohm resistor 1% yageo r2, r4, r6, r8, r10, r12 6 1k resistor yageo r1, r3, r5, r7, r9, r11 6 10k resistor yageo r19, r27, r31 3 820 ohm resistor yageo r18, r26, r30 3 4.3k resistor yageo r20, r29, r33 3 56 ohm resistor yageo r21, r28, r32 3 91 ohm resistor yageo r22, r24, r34 3 270 ohm resistor yageo r23, r25, r35 3 150 ohm resistor yageo t1 1 7 screw terminal connector phoenix contact mkdsn 1,5/75,08 t2 1 6 screw terminal connector phoenix contact mkdsn 1,5/65,08 u1 1 5 volt regulator motorola mc78l05acd u2, u3 2 quad nand gate motorola mc74hc02d u4, u5 2 mosfet driver motorola mc34152d u6 1 dual rail to rail opamp motorola mc33202d z1z6 6 zener diode sot23 4.7 v motorola bzx84c4z7lt1 z7 1 zener diode smb 15 v motorola p6smb15at3 z8z10 3 zener diode sod123 12 v motorola mmsz5242bt1 no designator 4 self stick rubber feet itc122 1 printed circuit board
4 motorola z8 12 v r18 4.3 k q3 mmbt a06lt1 d8 r20 q4 mmbt a06lt1 r19 820 v cc q5 mmbt a56lt1 c8 1.0 f + 62 r21 91 r39 37.4 k 1% r42 1.96 k 1% agnd r22 270 pa j22 u4 mc34152 v cc d3 d2 r23 150 gnd bin ain bout aout q12 mtb30p06v atop t2 b+ z9 12 v r26 4.3 k q6 mmbt a06lt1 q7 mmbt a06lt1 r27 820 q8 mmbt a56lt1 b+ b+ q13 mtb36n06v abot c10 0.047 f q14 mtb30p06v btop q15 mtb36n06v bbot r24 270 r25 150 d5 d4 d9 r29 62 r28 91 j24 r41 1.96 k 1% r38 37.4 k 1% pb agnd z10 12 v r30 4.3 k q9 mmbt a06lt1 q10 mmbt a06lt1 r31 820 q11 mmbt a56lt1 b+ c12 q16 mtb30p06v ctop q17 mtb36n06v cbot d10 r33 62 r32 91 j26 r40 1.96 k 1% r37 37.4 k 1% pc agnd + r34 270 v cc c9 1.0 f + u5 mc34152 v cc gnd bin ain bout aout d7 r35 150 d6 7 5 mc33202 r45 1.02 k r13 1.02 k c1 0.001 3 t2 bout t2 cout r36 0.01 cs cs+ gnd r14 24.3 k j215 i sense +5.0 v 2 4 1 8 2 3 4 6 aout 4 2 3 5 7 6 +5.0 v +5.0 v +5.0 v +5.0 v +5.0 v +5.0 v + +5.0 v +5.0 v r11 10 k j12 atop t1 r12 1.0 k z6 4.7 v 2 3 1 j14 abot t1 r9 10 k r10 1.0 k z5 4.7 v mc74hc02 u2 5 6 4 mc74hc02 u2 12 11 13 mc74hc02 u2 z3 4.7 v r5 10 k r6 1.0 k r7 10 k r8 1.0 k j18 bbot t1 j16 btop t1 z4 4.7 v +5.0 v 8 9 11 12 u3 u3 13 10 mc74hc02 +5.0 v mc33202 u6 5 6 7 r3 10 k r4 1.0 k j110 ctop t1 z2 4.7 v mc74hc02 3 2 u3 7 1 14 r1 10 k r2 1.0 k j112 cbot t1 z1 4.7 v mc74hc02 5 6 4 u3 8 9 10 mc74hc02 u2 7 14 gnd t1 u6 0.047 f figure 2. schematic
5 motorola agnd b+ r15 4.7 k r16 4.7 k q1 bcp56t1 q2 bcp56t1 v cc z7 15 v ground u1 mc78l05acd in out c3 1.0 f + 8 d1 r17 1.8 k c4 1.0 f c5 0.1 f c11 1.0 f + + c2 1.0 f gnd 6, 7 1 + +5.0 v c6 220 f c7 0.1 f r43 37.4 k 1% t2 r44 1.96 k 1% j213 t1 t2 gnd gnd b+ vbus j21, 3, 5, 7, 8, 9, 10, 11 j15, 7, 9, 11, 13, 14 j214, 16 agnd d11 j212 agnd vtemp figure 3. schematic agnd
6 motorola pin by pin description inputs and outputs are grouped into four connectors. two connectors are provided for inputs, one with screw terminals and the other for ribbon cable. either can be used, they are wired in parallel. outputs to the motor, b+, and ground are also supplied on a screw connector. feedback signals are grouped together on a separate ribbon cable connector. in addition, throughhole pads have been placed immediately adjacent to r36 and d11 for easy access to the current feedback resistor and temperature sensing diode. ribbon connector pinouts are shown in figure 4. figure 4. connector pinouts 14 12 10 8 6 4 2 13 11 9 7 5 3 1 gnd cbot ctop bbot btop abot atop gnd gnd gnd gnd gnd +5 +5 input j1 14 12 10 8 6 4 2 13 11 9 7 5 3 1 agnd vtemp n/c n/c pc pb pa vbus gnd gnd gnd gnd gnd gnd feedback j2 16 15 agnd i sense top view inputs: inputs atop , abot , btop , bbot , ctop , and cbot are logic inputs. a logic 0 turns on the input's corresponding output transistor, i.e., a logic 0 on atop turns on output transistor atop, etc. logic levels are standard 5 volt cmos. input current is higher, typically 500 m a, since each of these inputs is pulled up with a 10k resistor. in the absence of any inputs all output transistors are turned off. if a logic 0 is inadvertently applied to both top and bottom inputs for one phase, i.e., atop & abot, the bottom input is locked out and only the top output transistor is turned on. this feature helps protect the bridge from errors that may occur during code development. motor outputs: motor output terminals are labeled aout, bout, and cout. this output configuration can be used to drive a fractional horsepower 3 phase brushless dc motor, a reversible brush dc motor, or 3 brush dc motors unidirectionally. when driving a single brush dc motor, thermal performance is optimized by using aout and cout for the motor connections. b+: b+ is the motor power input connection. it is the only supply required. acceptable input voltage range is 12.0 to 48 vdc. it is located on the output connector. gnd: there are multiple ground connections. one of the two grounds on the output connector should be used as the power supply return. isense: isense is a current sense feedback voltage that appears on pin 15 of connector j2. it is derived from a .01 ohm low inductance surface mount sense resistor that is in series with the ground return. the voltage across this resistor is amplified with a gain of 25. isense, therefore, represents motor current with a scale factor of 250 mv/amp. since only return current is measured, this output will not detect shorts from the motor outputs to ground. vbus: vbus is a bus voltage feedback signal that appears on pin 13 of connector j2. it is derived from a 37.4k/1.96k divider which scales b+ at a ratio of approximately 50 mv per volt. this is an unfiltered and unbuffered signal. vtemp: a temperature output signal derived from a forward biased diode's v f appears on connector j2 at pin 12. the diode, d11, is mounted such that it measures board temperature adjacent to power transistor q12.
7 motorola phase voltage feedback: phase voltage feedback signals pa, pb, & pc are also included on feedback connector j2. they are located on pins 2, 4, and 6. these pins provide motor phase voltages divided down with the same 50 mv/volt ratio as vbus. they are also unfiltered and unbuffered signals. application example an application example shown in figure 5 illustrates system connections to an asb124 control board and a brushless dc motor. this arrangement can be run stand alone, or the asb124 can be connected to an mmds05 for code development. the two boards are designed such that the drive and feedback ribbon connectors line up. ribbon cables are supplied with the asb124 board. once they are plugged in it is only a matter of connecting power supply, motor, and hall sensor leads to get a system up and running. figure 5. application example motion control development board low voltage micro to motor interface 7.528 v dc drive feedback motorola asb124 motorola itc122 brushless motor 1248 v dc aout bout cout b+ gnd gnd gnd b+ hall1 hall2 hall3 gnd +5 an important application's consideration is pulse width modulation topology. the controller that is shown in figure 5 pulse width modulates atop, btop, & ctop inputs, and commutates abot, bbot, & cbot. this configuration performs better from a power dissipation standpoint than its more commonly used alternative, namely lower half bridge pulse width modulation with upper half bridge commutation. when the upper half bridge is pulse width modulated, circulating currents flow through the lower rds(on) and lower forward diode voltages of the nchannel transistors. since transition times for both pchannel & nchannel transistors are approximately the same, high side pulse width modulation is considerably more efficient. with more efficient operation, available output power to the motor is maximized. design considerations a block diagram that provides an overview of the design is illustrated in figure 6. top and bottom inputs for each phase are coupled to gate drive circuits through cross coupled nor gates. this arrangement locks out the bottom input when both inputs for one phase are low, thereby adding robustness for lab use. if all six inputs are low, transistors atop, btop, and ctop are turned on, which brakes the motor. this condition can occur when an asb124 controller is powered down. the output is a 3 phase bridge that is made from complimentary 30 amp surface mount mosfet's. gate drive for the nchannel transistors is provided by mc33152 mosfet drivers and for the pchannels by a discrete circuit. a more detailed view of the gate drive circuits is shown in figure 7. both the pchannel & nchannel transistors have transition times targeted for approximately 200 nsec. this target allows high enough value gate drive resistors to somewhat soften diode snap, yet produces switching losses that are less than static losses at 23 khz.
8 motorola figure 6. block diagram atop btop ctop abot bbot cbot gnd abot bbot cbot aout bout cout atop btop ctop b+ (1248 volts)
9 motorola b+ mc34152 820 12 v 5.6 k aout 62 91 270 150 figure 7. gate drive conclusion the itc122 low voltage micro to motor interface is part of a motor control tool set that significantly reduces design and development time. it accepts signals from an asb124 motion control development board, and provides a 3 phase power output that is capable of supplying 4 amps from bus voltages up to 48 vdc.
10 motorola notes
11 motorola notes
12 motorola motorola reserves the right to make changes without further notice to any products herein. motorola makes no warranty, represe ntation or guarantee regarding the suitability of its products for any particular purpose, nor does motorola assume any liability arising out of the applicati on or use of any product or circuit, and specifically disclaims any and all liability, including without limitation consequential or incidental damages. atypicalo para meters which may be provided in motorola data sheets and/or specifications can and do vary in different applications and actual performance may vary over time. all ope rating parameters, including atypicalso must be validated for each customer application by customer's technical experts. motorola does not convey any license under it s patent rights nor the rights of others. motorola products are not designed, intended, or authorized for use as components in systems intended for surgical imp lant into the body, or other applications intended to support or sustain life, or for any other application in which the failure of the motorola product cou ld create a situation where personal injury or death may occur. should buyer purchase or use motorola products for any such unintended or unauthorized application, buyer shall indemnify and hold motorola and its officers, employees, subsidiaries, affiliates, and distributors harmless against all claims, costs, damages, and expens es, and reasonable attorney fees arising out of, directly or indirectly, any claim of personal injury or death associated with such unintended or unauthorized u se, even if such claim alleges that motorola was negligent regarding the design or manufacture of the part. motorola and are registered trademarks of motoro la, inc. motorola, inc. is an equal opportunity/affirmative action employer. mfax is a trademark of motorola, inc. how to reach us: usa / europe / locations not listed : motorola literature distribution; japan : nippon motorola ltd.; spd, strategic planning office, 141, p.o. box 5405, denver, colorado 80217. 13036752140 or 18004412447 4321 nishigotanda, shinagawaku, tokyo, japan. 813 54878488 customer focus center: 18005216274 mfax ? : rmfax0@email.sps.mot.com touchtone 1 6022446609 asia / pacific : motorola semiconductors h.k. ltd.; 8b tai ping industrial park, motorola fax back system us & canada only 18007741848 51 ting kok road, tai po, n.t., hong kong. 85226629298 http://sps.motorola.com/mfax/ home page : http://motorola.com/sps/ an1607/d ?

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