3952

3952 ALLEGRO

Document overview

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Technical content

29319.1* FULL-BRIDGE PWM MOTOR DRIVER Designed for bidirectional pulse-width modulated current control of inductive loads, the A3952S– is capable of continuous output currents to ±2 A and operating voltages to 50 V. Internal fixed off-time PWM current-control circuitry can be used to regulate the maximum load current to a desired value. The peak load current limit is set by the user’s selection of an input reference voltage and external sensing resistor. The fixed OFF-time pulse duration is set by a user-selected external RC timing network. Internal circuit protection includes thermal shutdown with hysteresis, transient suppression diodes, and crossover- current protection. Special power-up sequencing is not required. With the ENABLE input held low, the PHASE input controls load current polarity by selecting the appropriate source and sink driver pair. The MODE input determines whether the PWM current-control circuitry operates in a slow current-decay mode (only the selected sink driver switching) or in a fast current-decay mode (selected source and sink switching). A user-selectable blanking window prevents false triggering of the PWM current control circuitry. With the ENABLE input held high, all output drivers are disabled. A sleep mode is provided to reduce power consumption when inactive. When a logic low is applied to the BRAKE input, the braking function is enabled. This overrides ENABLE and PHASE to turn OFF both source drivers and turn ON both sink drivers. The brake function can be safely used to dynamically brake brush dc motors. The A3952S– is supplied in a choice of four power packages. In all package styles, the batwing/power tab is at ground potential and needs no isolation. These devices are also available for operation from -40°C to +125°C. To order, change the suffix from 'S–' to 'K–'.

FEATURES

I ±2 A Continuous Output Current Rating I 50 V Output Voltage Rating I Internal PWM Current Control I Fast and Slow Current-Decay Modes I Sleep (Low Current Consumption) Mode I Internal Transient Suppression Diodes I Under-Voltage Lockout I Internal Thermal Shutdown Circuitry I Crossover-Current Protection Always order by complete part number: Part Number Package R θJA R θJT A3952SB 16-Pin DIP 43 °C/W 6.0 °C/W A3952SEB 28-Lead PLCC 42 °C/W 6.0 °C/W A3952SLB 16-Lead SOIC 67 °C/W 6.0 °C/W A3952SW 12-Pin Power-Tab SIP 36 °C/W 2.0 °C/W A3952SB Note that the A3952SB (DIP) and the A3952SLB (SOIC) are electrically identical and share acommon terminal number assignment. ABSOLUTE MAXIMUM RATINGS Output Current, IOUT Logic Input Voltage Range, Package Power Dissipation, Operating Temperature Range, Storage Temperature Range, Output current rating may be limited by duty cycle, ambient temperature, heat sinking and/or forced cooling. Under any set of conditions, do not exceed the specified current rating or a junction temperature of +150°C. * Fault conditions that produce excessive junction temperature will activate device thermal shutdown circuitry. These conditions can be tolerated but should be avoided. 3952 MODE GROUND GROUND LOGIC SUPPLY PHASE GROUND GROUND RC SENSE LOAD SUPPLY Dwg. PP-056 BRAKE REF LOAD SUPPLY VCC OUT B OUT A VBB VBB LOGIC ENABLE

115 Northeast Cutoff, Box 15036

Worcester, Massachusetts 01615-0036 (508) 853-5000 VBB RC VCCLOGIC SUPPLY LOAD SUPPLY PHASE EMITTERS UVLO & TSD R S Dwg. FP-036 MODE REF OUT A OUT B ENABLE SENSE– BRAKE R INPUT LOGIC GROUND Q R S

1.5 V PWM LATCHVCC + –

SLEEP & STANDBY MODES VTH 'EB' ONLY 'B', 'LB', & 'W' PACKAGES R T C T FUNCTIONAL BLOCK DIAGRAM TRUTH TABLE BRAKE ENABLE PHASE MODE OUT A OUT B DESCRIPTION H H X H Z Z Sleep Mode H H X L Z Z Standby, Note 1 H L H H H L Forward, Fast-Decay Mode H L H L H L Forward, Slow-Decay Mode H L L H L H Reverse, Fast-Decay Mode H L L L L H Reverse, Slow-Decay Mode L X X H L L Brake, Fast-Decay Mode L X X L L L Brake, No Current Control, Note 2 X = Irrelevant Z = High Impedance (source and sink both OFF) NOTES: 1. Includes active pull-offs for power outputs. 2. Includes internal default Vsense level for over-current protection. 50 75 100 125 150 TEMPERATURE IN °C Dwg. GP-007-1A ALLOWABLE PACKAGE POWER DISSIPATION IN WATTS 'W' TAB 'B' , 'EB', & 'LB' TAB 'W' AMBIENT 'B' & 'EB' AMBIENT 'LB' AMBIENT Copyright © 1994 Allegro MicroSystems, Inc.

ELECTRICAL CHARACTERISTICS at TA = +25°C, VBB = 50 V, VCC = 5.0 V, VBRAKE = 2.0 V, VSENSE = 0 V, RC = 20 kΩ /1000 pF to Ground (unless noted otherwise). Limits Characteristic Symbol Test Conditions Min. Typ. Max. Units Output Drivers Load Supply Voltage Range V BB Operating, IOUT = ±2.0 A, L = 3 mH V CC – 50 V Output Leakage Current I CEX VOUT = VBB – <1.0 50 µA VOUT = 0 V – <-1.0 -50 µA Output Saturation Voltage V CE(SAT) Source Driver, IOUT = -0.5 A – 0.9 1.2 V Source Driver, IOUT = -1.0 A – 1.0 1.4 V Source Driver, IOUT = -2.0 A – 1.2 1.8 V Sink Driver, IOUT = +0.5 A – 0.9 1.2 V Sink Driver, IOUT = +1.0 A – 1.0 1.4 V Sink Driver, IOUT = +2.0 A – 1.3 1.8 V Clamp Diode Forward Voltage V F IF = 0.5 A – 1.0 1.4 V (Source or Sink) I F = 1.0 A – 1.1 1.6 V IF = 2.0 A – 1.4 2.0 V Load Supply Current I BB(ON) VENABLE = 0.8 V – 2.9 6.0 mA (No Load) I BB(OFF) VENABLE = 2.0 V, VMODE = 0.8 V – 3.1 6.5 mA VBRAKE = 0.8 V – 3.1 6.5 mA IBB(SLEEP) VENABLE = VMODE = 2.0 V – <1.0 50 µA 12345 678 9 1 0 1 1 1 2 GROUND Dwg. PP-058 MODE LOGIC SUPPLY PHASE RC SENSE REF LOAD SUPPLY OUT B OUT A ENABLE VCC VBB LOGIC BRAKE GROUND GROUND GROUND GROUND Dwg. PP-057 NO CONNECTION EMITTERS RC LOAD SUPPLY REF VCC VBB LOGIC BRAKE LOGIC SUPPLY PHASE ENABLE MODESENSE LOAD SUPPLY OUT BOUT A Continued next page …

Worcester, Massachusetts 01615-0036 (508) 853-5000 Control Logic Logic Supply Voltage Range V CC Operating 4.5 5.0 5.5 V Logic Input Voltage V IN(1) 2.0 –– V VIN(0) –– 0.8 V Logic Input Current I IN(1) VIN = 2.0 V – <1.0 20 µA IIN(0) VIN = 0.8 V – <-2.0 -200 µA Reference Voltage Range V REF Operating 0 – 15 V Reference Input Current I REF VREF = 2.0 V 25 40 55 µA Reference Voltage Divider Ratio – VREF = 15 V 9.5 10.0 10.5 – Comparator Input Offset Voltage V IO VREF = 0 V – ±1.0 ±10 mV PWM RC Fixed OFF Time t off C T = 1000 pF, RT = 20 kΩ 18 20 22 µs PWM Minimum ON Time t on(min) C T = 820 pF, RT ≥ 12 kΩ – 1.7 3.0 µs C T = 1200 pF, RT ≥ 12 kΩ – 2.5 3.8 µs Propagation Delay Time t pd IOUT = ±2.0 A, 50% EIN to 90% EOUT Transition: ENABLE ON to Source ON – 2.9 – µs ENABLE OFF to Source OFF – 0.7 – µs ENABLE ON to Sink ON – 2.4 – µs ENABLE OFF to Sink OFF – 0.7 – µs PHASE Change to Source ON – 2.9 – µs PHASE Change to Source OFF – 0.7 – µs PHASE Change to Sink ON – 2.4 – µs PHASE Change to Sink OFF – 0.7 – µs tpd(pwm) Comparator Trip to Sink OFF – 0.8 1.5 µs Thermal Shutdown Temperature T J – 165 – °C Thermal Shutdown Hysteresis ∆TJ – 15 – °C UVLO Disable Threshold V CC(UVLO) 3.15 3.50 3.85 V UVLO Hysteresis ∆VCC(UVLO) 300 400 500 mV Logic Supply Current I CC(ON) VENABLE = 0.8 V, VBRAKE = 2.0 V – 20 30 mA (No Load) I CC(OFF) VENABLE = 2.0 V, VMODE = 0.8 V – 12 18 mA ICC(BRAKE) VBRAKE = 0.8 V – 26 40 mA ICC(SLEEP) VENABLE = VMODE = VBRAKE = 2.0 V – 3.0 5.0 mA NOTES: 1. Typical Data is for design information only. 2. Each driver is tested separately. 3. Negative current is defined as coming out of (sourcing) the specified device terminal. Limits Characteristic Symbol Test Conditions Min. Typ. Max. Units

Worcester, Massachusetts 01615-0036 (508) 853-5000 Brake Operation - MODE Input Low During braking, with the MODE input low, the peak current limit defaults internally to a value approximated by ITRIP = 1.5 V/RS. In this mode, the value of RS determines the ITRIP value independent of VREF . This is useful in applications with differing run and brake currents and no practical method of varying V REF . Choosing a small value for RS essentially disables the current limiting during braking. Therefore, care should be taken to ensure that the motor’s current does not exceed the absolute maximum ratings of the device. The braking current can be measured by using an oscilloscope with a current probe connected to one of the motor’s leads. RC Fixed OFF Time The internal PWM current control circuitry uses a one shot to control the time the driver(s) remain(s) OFF. The one shot time, t off (fixed OFF time), is determined by the selection of an external resistor (RT) and capacitor (CT) connected in parallel from the RC terminal to ground. The fixed OFF time, over a range of values of C T = 820 pF to 1500 pF and RT = 12 kΩ to 100 kΩ , is approximated by toff = RTC T. When the PWM latch is reset by the current compara- tor, the voltage on the RC terminal will begin to decay from approximately 3 volts. When the voltage on the RC terminal reaches approximately 1.1 volt, the PWM latch is set, thereby re-enabling the driver(s). RC Blanking In addition to determining the fixed OFF-time of the PWM control circuit, the C T component sets the compara- tor blanking time. This function blanks the output of the comparator when the outputs are switched by the internal current control circuitry (or by the PHASE, BRAKE, or ENABLE inputs). The comparator output is blanked to prevent false over-current detections due to reverse recovery currents of the clamp diodes, and/or switching transients related to distributed capacitance in the load. During internal PWM operation, at the end of the t off time, the comparator’s output is blanked and CT begins to be charged from approximately 1.1 V by an internal current source of approximately 1 mA. The comparator output remains blanked until the voltage on C T reaches approxi- mately 3.0 volts. Similarly, when a transition of the PHASE input occurs, C T is discharged to near ground during the crossover delay time (the crossover delay time is present to prevent simultaneous conduction of the source and sink drivers). After the crossover delay, C T is charged by an internal current source of approximately 1 mA. The comparator output remains blanked until the voltage on C T reaches approximately 3.0 volts. Similarly, when the device is disabled via the ENABLE input, CT is discharged to near ground. When the device is re-enabled, CT is charged by the internal current source. The comparator output remains blanked until the voltage on C T reaches approximately 3.0 V. For applications that use the internal fast-decay mode PWM operation, the minimum recommended value is CT = 1200 pF ±5 %. For all other applications, the minimum recommended value is CT = 820 pF ±5 %. These values ensure that the blanking time is sufficient to avoid false trips of the comparator under normal operating conditions. For optimal regulation of the load current, the above values for C T are recommended and the value of RT can be sized to determine toff. For more information regarding load current regulation, see below. LOAD CURRENT REGULATION WITH THE INTERNAL PWM CURRENT-CONTROL CIRCUITRY When the device is operating in slow-decay mode, there is a limit to the lowest level that the PWM current- control circuitry can regulate load current. The limitation is the minimum duty cycle, which is a function of the user- selected value of t off and the maxuimum value of the minimum ON-time pulse, ton(min), that occurs each time the PWM latch is reset. If the motor is not rotating, as in the case of a stepper motor in hold/detent mode, or a brush dc motor when stalled or at startup, the worst-case value of current regulation can be approximated by I (AV) ≈ [(VBB – VSAT(source+sink)) • ton(min)max] – [1.05 (VSAT(sink) + VD) • toff] 1.05 (ton(min)max + toff) • RLOAD where toff = RTC T, RLOAD is the series resistance of the load, VBB is the load/motor supply voltage, and ton(min)max is specified in the electrical characteristics table. When the motor is rotating, the back EMF generated will influ- ence the above relationship. For brush dc motor applica- tions, the current regulation is improved. For stepper motor applications when the motor is rotating, the effect is more complex. A discussion of this subject is included in the section on stepper motors under “Applications”.

The following procedure can be used to evaluate the worst-case slow-decay internal PWM load current regula- tion in the system: Set V REF to 0 volts. With the load connected and the PWM current control operating in slow-decay mode, use an oscilloscope to measure the time the output is low (sink ON) for the output that is chopping. This is the typical minimum ON time (t on(min)typ) for the device. CT then should be increased until the measured value of ton(min) is equal to ton(min)max) = 3.0 µs as specified in the electrical characteristics table. When the new value of CT has been set, the value of RT should be decreased so the value for toff = RT•C T (with the artificially increased value of CT) is equal to 105% of the nominal design value. The worst- case load current regulation then can be measured in the system under operating conditions. In applications utilizing both fast- and slow-decay internal PWM modes, the performance of the slow-decay current regulation should be evaluated per the above procedure and a t on(min)max of 3.8 µs. This corresponds to a CT value of 1200 pF, which is required to ensure suffi- cient blanking during fast-decay internal PWM. LOAD CURRENT REGULATION WITH EXTERNAL PWM OF THE PHASE AND ENABLE INPUTS The PHASE and ENABLE inputs can be pulse-width modulated to regulate load current. Typical propagation delays from the PHASE and ENABLE inputs to transitions of the power outputs are specified in the electrical charac- teristics table. If the internal PWM current control is used, then the comparator blanking function is active during phase and enable transitions. This eliminates false tripping of the over-current comparator caused by switch- ing transients (see “RC Blanking” above). E NABLE Pulse-Width Modulation With the MODE input low, toggling the ENABLE input turns ON and OFF the selected source and sink drivers. The corresponding pair of flyback and ground clamp diodes conduct after the drivers are disabled, resulting in fast current decay. When the device is enabled, the internal current control circuitry will be active and can be used to limit the load current in a slow-decay mode. For applications that PWM the ENABLE input, and desire that the internal current limiting circuit function in the fast-decay mode, the ENABLE input signal should be inverted and connected to the MODE input. This prevents the device from being switched into sleep mode when the ENABLE input is low. P HASE Pulse-Width Modulation Toggling the PHASE terminal determines/controls which sink/source pair is enabled, producing a load current that varies with the duty cycle and remains continuous at all times. This can have added benefits in bidirectional brush dc servo motor applications as the transfer function between the duty cycle on the phase input and the aver- age voltage applied to the motor is more linear than in the case of ENABLE PWM control (which produces a discon- tinuous current at low current levels). See also, “DC Motor Applications” below. SYNCHRONOUS FIXED-FREQUENCY PWM The internal PWM current-control circuitry of multiple A3952S – devices can be synchronized by using the simple circuit shown in figure 3. A 555 IC can be used to gener- ate the reset pulse/blanking signal (t 1) and the period of the PWM cycle (t2). The value of t1 should be a minimum of 1.5 µs in slow-decay mode and 2 µs in fast-decay mode. When used in this configuration, the RT and CT components should be omitted. The PHASE and ENABLE inputs should not be PWMed with this circuit configuration due to the absence of a blanking function synchronous with their transitions. Figure 3 — Synchronous Fixed-Frequency Control Circuit MISCELLANEOUS INFORMATION A logic high applied to both the ENABLE and MODE terminals puts the device into a sleep mode to minimize current consumption when not in use. An internally generated dead time prevents crossover currents that can occur when switching phase or braking. Thermal protection circuitry turns OFF all drivers should the junction temperature reach 165°C (typical). This is intended only to protect the device from failures due to excessive junction temperatures and should not Dwg. EP-060 100 kΩ 20 kΩ 1N4001 2N2222 V CC RC 1 RC N

Worcester, Massachusetts 01615-0036 (508) 853-5000 APPLICATION NOTES The current-sensing comparator functions down to ground allowing the device to be used in microstepping, sinusoidal, and other varying current profile applications. Thermal Considerations For reliable operation, it is recommended that the maximum junction temperature be kept as low as possible, typically 90°C to 125°C. The junction temperature can be measured by attaching a thermocouple to the power tab/ batwing of the device and measuring the tab temperature, T T . The junction temperature can then be approximated by using the formula TJ ≈ TT + (2 VF IOUT RθJT) where VF is the clamp diode forward voltage and can be determined from the electrical specification table for the given level of I OUT . The value for RθJT is given in the package thermal resistance table for the appropriate package. The power dissipation of the batwing packages can be improved by 20 to 30% by adding a section of printed circuit board copper (typically 6 to 18 square centimeters) con- nected to the batwing terminals of the device. The thermal performance in applications with high load currents and/or high duty cycles can be improved by adding external diodes in parallel with the internal diodes. In internal PWM slow-decay applications, only the two top-side (flyback) diodes need be added. For internal fast-decay PWM, or external PHASE or ENABLE input PWM applica- tions, all four external diodes should be added for maximum junction temperature reduction. imply that output short circuits are permitted. The hyster- esis of the thermal shutdown circuit is approximately 15°C. If the internal current-control circuitry is not used; the V REF terminal should be connected to VCC , the SENSE terminal should be connected to ground, and the RC terminal should be left floating (no connection). An internal under-voltage lockout circuit prevents simultaneous conduction of the outputs when the device is powered up or powered down. Current Sensing The actual peak load current (I OUTP ) will be greater than the calculated value of ITRIP due to delays in the turn OFF of the drivers. The amount of overshoot can be approximated as I OUTP ≈ (VBB – [(ITRIP • RLOAD ) + VBEMF ]) • tpd(pwm) LLOAD where VBB is the load/motor supply voltage, VBEMF is the back-EMF voltage of the load, RLOAD and LLOAD are the resistance and inductance of the load respectively, and tpd(pwm) is the propagation delay as specified in the electrical characteristics table. The reference terminal has an equivalent input resis- tance of 50 kΩ ±30%. This should be taken into account when determining the impedance of the external circuit that sets the reference voltage value. To minimize current-sensing inaccuracies caused by ground trace IR drops, the current-sensing resistor should have a separate return to the ground terminal of the device. For low-value sense resistors, the IR drops in the PCB can be significant and should be taken into account. The use of sockets should be avoided as their contact resistance can cause variations in the effective value of R Larger values of RS reduce the aforementioned effects but can result in excessive heating and power loss in the sense resistor. The selected value of R S must not cause the SENSE terminal absolute maximum voltage rating to be exceeded. The recommended value of R S is in the range of R S = (0.375 to 1.125)/ITRIP.

This also improves the maximum rate at which the load current can increase (as compared to fast decay) due to the slow rate of decay during t off. When the average load current is decreasing, fast-decay mode is used to regulate the load current to the desired level. This prevents tailing of the current profile caused by the back-EMF voltage of the stepper motor. In stepper motor applications applying a constant current to the load, slow-decay mode PWM is used typically to limit the switching losses in the device and iron losses in the motor. DC Motor Applications In closed-loop systems, the speed of a dc motor can be controlled by PWM of the PHASE or ENABLE inputs, or by varying the REF input voltage (V REF ). In digital systems (microprocessor controlled), PWM of the PHASE or ENABLE input is used typically thus avoiding the need to generate a variable analog voltage reference. In this case, a dc voltage on the REF input is used typically to limit the maximum load current. In dc servo applications that require accurate position- ing at low or zero speed, PWM of the PHASE input is selected typically. This simplifies the servo-control loop because the transfer function between the duty cycle on the PHASE input and the average voltage applied to the PCB Layout The load supply terminal, V BB , should be decoupled (>47 µF electrolytic and 0.1 µF ceramic capacitors are recommended) as close to the device as is physically practical. To minimize the effect of system ground I•R drops on the logic and reference input signals, the system ground should have a low-resistance return to the load supply voltage. See also “Current Sensing” and “Thermal Consider- ations” above. Fixed Off-Time Selection With increasing values of t off, switching losses de- crease, low-level load-current regulation improves, EMI is reduced, the PWM frequency will decrease, and ripple current will increase. The value of t off can be chosen for optimization of these parameters. For applications where audible noise is a concern, typical values of t off are chosen to be in the range of 15 to 35 µs. Stepper Motor Applications The MODE terminal can be used to optimize the performance of the device in microstepping/sinusoidal stepper motor drive applications. When the average load current is increasing, slow-decay mode is used to limit the switching losses in the device and iron losses in the motor. Typical Bipolar Stepper Motor Application 25 kΩ 820 pF 0.5 Ω VBB 1234567891 01112 VCC VBB LOGIC 1 2 3 4 5 6 78 91 0 11 12 VCC VBB LOGIC Dwg. EP-048 MODE 2 ENABLE 2 PHASE 2 VREF2 MODE 1 ENABLE 1 PHASE 1 V REF1 47 µF +5 V 0.5 Ω 25 kΩ 820 pF

Worcester, Massachusetts 01615-0036 (508) 853-5000 Typical DC Servo Motor Application 47 µF 8 9 VCC VBB VBB LOGIC Dwg. EP-047 25 kΩ 0.5 Ω VBB MODE PHASE ENABLE BRAKE 820 pF +5 V motor is more linear than in the case of ENABLE PWM control (which produces a discontinuous current at low- current levels). With bidirectional dc servo motors, the PHASE termi- nal can be used for mechanical direction control. Similar to when braking the motor dynamically, abrupt changes in the direction of a rotating motor produce a current gener- ated by the back EMF. The current generated will depend on the mode of operation. If the internal current-control circuitry is not being used, then the maximum load current generated can be approximated by I LOAD = (VBEMF + VBB )/RLOAD where VBEMF is proportional to the motor’s speed. If the internal slow-decay current-control circuitry is used, then the maximum load current generated can be approximated by I LOAD = VBEMF /RLOAD . For both cases, care must be taken to ensure the maximum ratings of the device are not exceeded. If the internal fast-decay current-control circuitry is used, then the load current will regulate to a value given by I LOAD = VREF /(10•R S). CAUTION: In fast-decay mode, when the direction of the motor is changed abruptly, the kinetic energy stored in the motor and load inertia will be converted into current that charges the V BB supply bulk capacitance (power supply output and decoupling capacitance). Care must be taken to ensure the capacitance is sufficient to absorb the energy without exceeding the voltage rating of any devices connected to the motor supply. See also, the sections on brake operation under “Functional Description,” above.

(controlling dimensions) Dimensions in Millimeters (for reference only) NOTES: 1. Leads 1, 8, 9, and 16 may be half leads at vendor’s option. 2. Webbed lead frame. Leads indicated are internally one piece. 3. Lead thickness is measured at seating plane or below. 4. Lead spacing tolerance is non-cumulative. 5. Exact body and lead configuration at vendor’s option within limits shown. 0.020 0.008 0.300 BSC Dwg. MA-001-17A in 0.430 MAX 1 8 0.280 0.240 0.210 MAX 0.070 0.045 0.015 MIN 0.022 0.014 0.100 BSC 0.005 MIN 0.150 0.115 0.775 0.735 NOTE 4 0.508 0.204 7.62 BSC Dwg. MA-001-17A mm 10.92 MAX 1 8 7.11 6.10 5.33 MAX 1.77 1.15 0.39 MIN 0.558 0.356 2.54 BSC 0.13 MIN 3.81 2.93 19.68 18.67 NOTE 4

Worcester, Massachusetts 01615-0036 (508) 853-5000 NOTES: 1. Index is centered on “D” side. 2. Webbed lead frame. Leads indicated are internally one piece. 3. Lead spacing tolerance is non-cumulative. 4. Exact body and lead configuration at vendor’s option within limits shown. 5. Intended to meet new JEDEC Standard when that is approved. A3952SEB Dimensions in Inches (controlling dimensions) Dimensions in Millimeters (for reference only) 18 12 0.020 MIN 0.050 BSC 128 INDEX AREA Dwg. MA-005-28A in 0.026 0.032 0.013 0.021 19 11 0.165 0.180 0.495 0.485 0.456 0.450 0.495 0.485 0.456 0.450 0.219 0.191 0.219 0.191 0.51 MIN 4.57 4.20 1.27 BSC 12.57 12.32 11.582 11.430 128 INDEX AREA Dwg. MA-005-28A mm 0.812 0.661 0.331 0.533 12.57 12.32 18 12 11.58 11.43 5.56 4.85 5.56 4.85

0° TO 8° 1 2 3 0.2992 0.2914 0.4133 0.3977 0.491 0.3940.020 0.0130.0926 0.1043 0.0040 MIN. 0.0125 0.0091 0.050 0.016 Dwg. MA-008-17 in 0.050 BSC 16 9 A3952SLB Dimensions in Inches (for reference only) Dimensions in Millimeters (controlling dimensions) 0° TO 8° 2 3 7.60 7.40 10.50 10.10 10.65 10.000.51 0.332.65 2.35 0.10 MIN. 0.32 0.23 1.27 0.40 Dwg. MA-008-17A mm 1.27 BSC NOTES: 1. Webbed lead frame. Leads indicated are internally one piece. 2. Lead spacing tolerance is non-cumulative. 3. Exact body and lead configuration at vendor’s option within limits shown.

Worcester, Massachusetts 01615-0036 (508) 853-5000 Dwg. MP-007 in 1.260 1.240 0.775 0.765 0.020 0.155 0.145ø 0.180 MAX 0.055 0.045 0.135 0.100

0.290 MIN

0.080 0.070 0.365 0.100 ±0.010 0.030 0.020 0.065 0.035 1 0.023 0.018 0.140 0.570 0.540 0.245 0.225 INDEX AREA A3952SW Dimensions in Inches (controlling dimensions) Dimensions in Millimeters (for reference only) Dwg. MP-007 mm 32.00 31.49 19.69 19.45 0.51 3.94 3.68ø 4.57 MAX 1.40 1.14 3.43 2.54

7.36 MIN

2.03 1.77 9.27 2.54 ±0.254 0.76 0.51 1.65 0.89 1 0.59 0.45 3.56 14.48 13.71 6.22 5.71 INDEX AREA NOTES: 1. Lead thickness is measured at seating plane or below. 2. Lead spacing tolerance is non-cumulative. 3. Exact body and lead configuration at vendor’s option within limits shown. 4. Lead gauge plane is 0.030” (0.762 mm) below seating plane.

Allegro MicroSystems, Inc. reserves the right to make, from time to time, such departures from the detail specifications as may be required to permit improvements in the design of its products. The information included herein is believed to be accurate and reliable. However, Allegro MicroSystems, Inc. assumes no responsibility for its use; nor for any infringements of patents or other rights of third parties which may result from its use.

Worcester, Massachusetts 01615-0036 (508) 853-5000 MOTOR DRIVERS SELECTION GUIDE Function Output Ratings * Part Number † INTEGRATED CIRCUITS FOR BRUSHLESS DC MOTORS 3-Phase Controller/Drivers ±2.0 A 45 V 2936 & 2936-120 Hall-Effect Latched Sensors 10 mA 24 V 3175 & 3177 2-Phase Hall-Effect Sensor/Controller 20 mA 25 V 3235 Hall-Effect Complementary-Output Sensor 20 mA 25 V 3275 2-Phase Hall-Effect Sensor/Driver 900 mA 14 V 3625 2-Phase Hall-Effect Sensor/Driver 400 mA 26 V 3626 3-Phase Power MOSFET Controller — 28 V 3933 Hall-Effect Complementary-Output Sensor/Driver 300 mA 60 V 5275 3-Phase Back-EMF Controller/Driver ±900 mA 14 V 8902–A 3-Phase Back-EMF Controller/Driver ±1.0 A 7 V 8984 INTEGRATED BRIDGE DRIVERS FOR DC AND BIPOLAR STEPPER MOTORS PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2916 PWM Current-Controlled Dual Full Bridge ±1.5 A 45 V 2917 PWM Current-Controlled Dual Full Bridge ±1.5 A 45 V 2918 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2919 Dual Full-Bridge Driver ±2.0 A 50 V 2998 PWM Current-Controlled Full Bridge ±2.0 A 50 V 3952 PWM Current-Controlled Full Bridge ±1.3 A 50 V 3953 PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3955 PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3957 DMOS Full Bridge PWM Driver ±2.0 A 50 V 3958 PWM Current-Controlled Dual Full Bridge ±800 mA 33 V 3964 PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3966 PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3968 PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 6219 OTHER INTEGRATED CIRCUIT & PMCM MOTOR DRIVERS Unipolar Stepper-Motor Quad Driver 1.8 A 50 V 2544 Unipolar Stepper-Motor Translator/Driver 1.25 A 50 V 5804 Unipolar Stepper-Motor Quad Drivers 1 A 46 V 7024 & 7029 Unipolar Stepper-Motor Quad Drivers 3 A 46 V 7026 Unipolar Microstepper-Motor Quad Driver 1.2 A 46 V 7042 Unipolar Microstepper-Motor Quad Driver 3 A 46 V 7044 Voice-Coil Motor Driver ±500 mA 6 V 8932–A Voice-Coil Motor Driver ±800 mA 16 V 8958 Voice-Coil (and Spindle) Motor Driver ±350 mA 7 V 8984 * Current is maximum specified test condition, voltage is maximum rating. See specification for sustaining voltage limits or over-current protection voltage limits. Negative current is defined as coming out of (sourcing) the output. † Complete part number includes additional characters to indicate operating temperature range and package style.