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SAA1042 Stepper Motor Driver
The SAA1042 drives a two-phase stepper motor in the bipolar mode. The device contains three input stages, a logic section and two output stages. The IC is contained in a 16 pin dual-in-line heat tab plastic package for improved heatsinking capability. The center four ground pins are connected to the copper alloy heat tab and improve thermal conduction from the die to the circuit board. * Drive Stages Designed for Motors: 6.0 V and 12 V: SAA1042V
STEPPER MOTOR DRIVER
SEMICONDUCTOR TECHNICAL DATA
* * * * * * *
500 mA/Coil Drive Capability Built-In Clamp Diodes for Overvoltage Suppression Wide Logic Supply Voltage Range Accepts Commands for CW/CCW and Half/Full Step Operation Inputs Compatible with Popular Logic Families: MOS, TTL, DTL Set Input Defined Output State Drive Stage Bias Adaptable to Motor Power Dissipation for Optimum Efficiency
16 1
V SUFFIX PLASTIC PACKAGE CASE 648C
PIN CONNECTIONS
L2
1 2 3 4
16 L3 15 VM 14 L4 13 Gnd 12 11 VCC 10 CW/CCW 9 (Top View) Gnd
Figure 1. Representative Block Diagram
VD VZ L1 Gnd 5 3 7 Clock Driver 1 10 CW/CCW Logic 16 L3 8 Full/ Half Step Driver 14 9 Gnd RB Set A
(c) Motorola, Inc. 1996 Rev 2
VCC 11
VM 15 2
VD
L1 M L2
Set/ Driver Bias Clock Full/Half Step
6 7 8
L4
ORDERING INFORMATION
6 Driver Bias Device SAA1042V Operating Temperature Range TJ = - 30 to +125C Package Plastic DIP
MOTOROLA ANALOG IC DEVICE DATA
1
SAA1042
MAXIMUM RATINGS (TA = 25C, unless otherwise noted.)
Rating Clamping Voltage (Pins 1, 3, 14, 16) Over Voltage (VOV = Vclamp - VM) Supply Voltage Switching or Motor Current/Coil Input Voltage (Pins 7, 8, 10) Symbol Vclamp VOV VCC IM Vin clock Vin Full/Half Vin CW/CCW PD JA JC TJ Tstg SAA1042V 20 6.0 20 500 VCC Unit V V V mA V
Power Dissipation (Note 1) Thermal Resistance, Junction-to-Air Thermal Resistance, Junction-to-Case Operating Junction Temperature Range Storage Temperature Range
NOTE:
2.0 80 15 -30 to +125 -65 to +150
W C/W C C
1. The power dissipation (PD) of the circuit is given by the supply voltage (VM and VCC) and the motor current (IM), and can be determined from Figures 3 and 5. PD = Pdrive - Plogic.
ELECTRICAL CHARACTERISTICS (TA = 25C, unless otherwise noted.)
Characteristics Supply Current Motor Supply Current (IPin 6 = -400 A, Pins 1, 3, 14, 16 Open) VM = 6.0 V VM = 12 V VM = 24 V Input Voltage, High State Pin(s) 11 15 Symbol ICC IM 5.0 V 5.0 V 5.0 V 7, 8, 10 VIH 5.0 V 10 V 15 V 20 V 5.0 V 10 V 15 V 20 V 5.0 V 10 V 15 V 20 V 5.0 V 10 V 15 V 20 V 5.0 - 20 V 5.0 - 20 V 5.0 - 20 V -- 5.0 - 20 V 5.0 - 20 V -- -- -- -- -- 2.0 7.0 10 14 -- -- -- -- -- -- -- -- -10 -25 -40 -50 -- -- -- -- -100 -- 0 10 10 VM -- 25 30 40 -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- VM - 2.0 VM - 1.2 0.7 0.2 -- 2.5 -- -- -- -- -- -- -- -- -- -- -- -- 0.8 1.5 2.5 3.5 2.0 2.0 3.0 5.0 -- -- -- -- V -- -- -- -- -- 3.5 50 -- -- -- 0.5 A V kHz s s V A V VCC 5.0 V 20 V Min -- -- Typ -- -- Max 3.5 8.5 Unit mA mA
Input Voltage, Low State
VIL
Input Reverse Current, High State (Vin = VCC)
7, 8, 10
IIR
Input Forward Current, Low State (Vin = Gnd)
IIF
Output Voltage, High State (VM = 12 V) Iout = -500 mA Iout = -50 mA Output Voltage, Low State Iout = 500 mA Iout = 50 mA Output Leakage Current, Pin 6 = Open (VM = VD = Vclamp max) Clamp Diode Forward Voltage (Drop at IM = 500 mA) Clock Frequency Clock Pulse Width Set Pulse Width Set Control Voltage, High State Set Control Voltage, Low State
1, 3, 14, 16
VOH
VOL
1, 3, 14, 16 2 7 7 6 6
IDR VF fc tw ts --
2
MOTOROLA ANALOG IC DEVICE DATA
SAA1042
INPUT/OUTPUT FUNCTIONS
Clock -- (Pin 7) This input is active on the positive edge of the clock pulse and accepts Logic `1' input levels dependent on the supply voltage and includes hysteresis for noise immunity. CW/CCW -- (Pin 10) This input determines the motor's rotational direction. When the input is held low, (OV, see the electrical characteristics) the motor's direction is nominally clockwise (CW). When the input is in the high state, Logic `1', the motor direction is nominally counter clockwise (CCW), depending on the motor connections. Full/Half Step -- (Pin 8) This input determines the angular rotation of the motor for each clock pulse. In the low state, the motor will make a full step for each applied clock pulse, while in the high state, the motor will make half a step. VD -- (Pin 2) This pin is used to protect the outputs (1, 3,14, 16) where large positive spikes occur due to switching the motor coils. The maximum allowable voltage on these pins is the clamp voltage (Vclamp). Motor performance is improved if a zener diode is connected between Pin 2 and 15, as shown in Figure 1. The following conditions have to be considered when selecting the zener diode: Vclamp = VM + 6.0 V VZ = Vclamp - VM - VF where: VF = clamp diodes forward voltage drop VF = (see Figure 4) Vclamp: 20 V for SAA1042V 30 V for Vclamp: SAA1042AV Pins 2 and 15 can be linked, in this case VZ = 0 V. Set/Bias Input -- (Pin 6) This input has two functions: 1) The resistor RB adapts the drivers to the motor current. 2) A pulse via the resistor RB sets the outputs (1, 3, 14, 16) to a defined state. The resistor RB can be determined from the graph of Figure 2 according to the motor current and voltage. Smaller values of RB will increase the power dissipation of the circuit and larger values of RB may increase the saturation voltage of the driver transistors. When the "set" function is not used, terminal A of the resistor RB must be grounded. When the set function is used, terminal A has to be connected to an open-collector (buffer) circuit. Figure 7 shows this configuration. The buffer circuit (off-state) has to sustain the motor voltage (VM). When a pulse is applied via the buffer and the bias resistor (RB), the motor driver transistors are turned off during the pulse and after the pulse has ended, the outputs will be in defined states. Figure 6 shows the Timing Diagram. Figure 7 illustrates a typical application in which the SAA1042 drives a 12 V stepper motor with a current consumption of 200 mA/coil. A bias resistor (RB) of 56 k is chosen according to Figure 2. The maximum voltage permitted at the output pin is VM + 6.0 V (see Maximum Ratings table), in this application VM = 12 V, therefore the maximum voltage is 18 V. The outputs are protected by the internal diodes and an external zener connected between Pins 2 and 15. From Figure 4, it can be seen that the voltage drop across the internal diodes is about 1.7 V at 200 mA. This results in a zener voltage between Pins 2 and 15 of: VZ = 6.0 V - 1.7 V = 4.3 V. To allow for production tolerances and a safety margin, a 3.9 V zener has been chosen for this example. The clock is derived from the line frequency which is phase-locked by the MC14046B and the MC14024. The voltage on the clock input is normally low (Logic `0'). The motor steps on the positive going transition of the clock pulse. The Logic `0' applied to the Full/Half input (Pin 8) operates the motor in Full Step mode. A Logic `1' at this input will result in Half Step mode. The logic level state on the CW/CCW input (Pin 10), and the connection of the motor coils to the outputs determines the rotational direction of the motor. These two inputs should be biased to a Logic `0' or `1' and not left floating. In the event of non-use, they should be tied to ground or the logic supply line, VCC. The output drivers can be set to a fixed operating point by use of the Set input and a bias resistor, RB. A positive pulse to this input turns the drivers off and sets the logic state of the outputs. After the negative going transition of the Set pulse, and until the first positive going transition of the clock, the outputs will be: L1 = L3 = high and L2 = L4 = low, (see Figure 6). The Set input can be driven by a MC14007B or a transistor whose collector resistor is RB. If the input is not used, the bottom of RB must be grounded. The total power dissipation of the circuit can be determined from Figures 3 and 5: PD = 0.9 W + 0.08 W = 0.98 W. The junction temperature can then be computed using Figure 8.
MOTOROLA ANALOG IC DEVICE DATA
3
SAA1042
Figure 2. Bias Resistor RB versus Motor Current
500 300 R B BIAS RESISTOR (k ) 200 VM = 12 V 100 70 50 VM = 6.0 V 30 20 10 VM = 24 V DRIVE STAGE POWER DISSIPATION (W) 5.0 4.0 3.0 2.0 1.0 0.7 0.5 0.3 0.2 0.1 VM = 24 V VM = 12 V VM = 6.0 V
Figure 3. Drive Stage Power Dissipation
0
20
30 40 50 60
80 100
200
300 400 500
0
20
MOTOR CURRENT/COIL (mA)
30 50 70 100 200 MOTOR CURRENT/COIL (mA)
300 400 500
Figure 4. Clamp Diode Forward Current versus Forward Voltage
500 400 500 PD , POWER DISSIPATION (mV) 300 200 100 70 50 30 20 10 0 1.0 2.0 3.0 4.0 5.0 VF , FORWARD VOLTAGE (V)
Figure 5. Power Dissipation versus Logic Supply Voltage
FORWARD CURRENT (mA)
300
200 100 0
0
5.0
10
15
20
25
VCC , SUPPLY VOLTAGE (V)
Figure 6. Timing Diagram
Full Step Motor Drive Mode. Full/Half Step Input = 0 Clock Set CW/CCW L1 L2 L3 L4 Half Step Motor Drive Mode. Full/Half Step Input = 1 Clock Set CW/CCW L1 L2 L3 L4 Don't Care High Output Impedance
4
MOTOROLA ANALOG IC DEVICE DATA
SAA1042
Figure 7. Typical Application Selectable Step Rates with the Time Base Derived from the Line Frequency
12 V
12 V
12 V 12 V VZ = 3.9 V Steps/Sec 12.5 25 50 100 200 400 800 CW CCW 10 9 Full Half Clock 7
MC14046B 220 k 220 V 50 Hz 0.1 F 14 15 Phase Comp 15 3 2 82 k 8.2 F
16
14
3 4 5 6 9 11
11 15 8 SAA1042
2 3 1 M 16 14 6 RB 56 k Set Input
VCO 9 11 6 7
1
MC14024 2
4
4.7 nF 120 k f0 = 1400 Hz
7 12
3 Set
5 MC14007
Figure 8. Thermal Resistance and Maximum Power Dissipation versus P.C.B. Copper Length
PD(max), MAXIMUM POWER DISSIPATION (W) 100
Printed circuit board heatsink example
5.0
R JA , THERMAL RESISTANCE
JUNCTION-TO-AIR ( C/W)
80 RJA
L
2.0 oz Copper
4.0
60
L 3.0 mm Graph represents symmetrical layout
3.0
40
2.0 1.0
20 0 0
PD(max) for TA = 70C
10
30 20 L, LENGTH OF COPPER (mm)
40
50
0
MOTOROLA ANALOG IC DEVICE DATA
5
SAA1042
OUTLINE DIMENSIONS
V SUFFIX PLASTIC PACKAGE CASE 648C-03 ISSUE C -A-
16 9 NOTES: 1. DIMENSIONING AND TOLERANCING PER ANSI Y14.5M, 1982. 2. CONTROLLING DIMENSION: INCH. 3. DIMENSION L TO CENTER OF LEADS WHEN FORMED PARALLEL. 4. DIMENSION B DOES NOT INCLUDE MOLD FLASH. 5. INTERNAL LEAD CONNECTION BETWEEN 4 AND 5, 12 AND 13.
-B-
1 8
L
NOTE 5
C -T-
SEATING PLANE
N F E G D 16 PL 0.13 (0.005)
M
M J
16 PL M
DIM A B C D E F G J K L M N
INCHES MIN MAX 0.740 0.840 0.240 0.260 0.145 0.185 0.015 0.021 0.050 BSC 0.040 0.70 0.100 BSC 0.008 0.015 0.115 0.135 0.300 BSC 0_ 10_ 0.015 0.040
MILLIMETERS MIN MAX 18.80 21.34 6.10 6.60 3.69 4.69 0.38 0.53 1.27 BSC 1.02 1.78 2.54 BSC 0.20 0.38 2.92 3.43 7.62 BSC 0_ 10_ 0.39 1.01
0.13 (0.005) TA
S
TB
S
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6
*SAA1042/D*
MOTOROLA ANALOG IC DEVICE DATA SAA1042/D

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