SLA7026

SLA7024M ALLEGRO

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The SLA7024M, SLA7026M, and SMA7029M are designed for high-efficiency and high-performance operation of 2-phase, unipolar stepper motors. An automated, innovative packaging technology combined with power FETs and monolithic logic/control circuitry ad- vances power multi-chip modules (PMCMs™) toward the complete integration of motion control. Highly automated manufacturing tech- niques provide low-cost and exceptionally reliable PMCMs suitable for controlling and directly driving a broad range of 2-phase, unipolar stepper motors. The three stepper motor multi-chip modules differ primarily in output current ratings (1.5 A or 3.0 A) and package style. All three PMCMs are rated for an absolute maximum limit of 46 V and utilize advanced NMOS FETs for the high-current, high-voltage driver outputs. The avalanche-rated (≥100 V) FETs provide excellent ON resistance, improved body diodes, and very-fast switching. The multi-chip ratings and performance afford significant benefits and advantages for stepper drives when compared to the higher dissipation and slower switching speeds associated with bipolar transistors. Normally, heat sinks are not required for the SLA7024M or SMA7029M. The SLA7026M, in demanding, higher-current systems designs, necessitates suitable heat transfer methods for reliable operation. Complete applications information is given on the following pages. PWM current is regulated by appropriately choosing current-sensing resistors, a voltage reference, a voltage divider, and RC timing net- works. The RC components limit the OFF interval and control current decay. Inputs are compatible with 5 V logic and microprocessors. BENEFITS AND FEATURES I Cost-Effective, Multi-Chip Solution I ‘Turn-Key’ Motion-Control Module I Motor Operation to 3 A and 46 V I 3rd Generation High-Voltage FETs I 100 V, Avalanche-Rated NMOS I Low rDS(on) NMOS Outputs I Advanced, Improved Body Diodes I Single-Supply Motor/Module Operation SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS Data Sheet 28201 Always order by complete part number: Part Number Package Output Current SLA7024M 18-Lead Power-Tab SIP 1.5 A SLA7026M 18-Lead Power-Tab SIP 3.0 A SMA7029M 15-Lead SIP 1.5 A ABSOLUTE MAXIMUM RATINGS at TA = +25°C Peak Output Current, IOUTM (tw ≤ 100 µs) Continuous Output Current, IOUT Package Power Dissipation, PD . See Graph Operating Temperature Range, Storage Temperature Range, I Half- or Full-Step Unipolar Drive I High-Efficiency, High-Speed PWM I Dual PWM Current Control (2-Phase) I Programmable PWM Current Control I Low Component Count PWM Drive I Low Internal Power Dissipation I Heat Sinking (Normally) Unnecessary I Electrically Isolated Power Tab I Logic IC- and µP-Compatible Inputs I Machine-Insertable Package REFERENCEA VREF Dwg. PK-007 OUTA OUTB SENSEA GROUNDA VREF VCC OUTA CONTROL/LOGIC OUTB GROUND B REFERENCEB CNTRL SPLY INA INB SENSEB OFF DELAYA OFF DELAYB CONTROL/LOGIC SLA7024M, SLA7026M, AND SMA7029M

115 Northeast Cutoff, Box 15036

Worcester, Massachusetts 01615-0036 (508) 853-5000 SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS SLA7024M and SLA7026M FUNCTIONAL BLOCK DIAGRAM Note that channels A and B are electrically isolated. SMA7029M FUNCTIONAL BLOCK DIAGRAM Note that except for the control supply, channels A and B are electrically isolated. Dwg. FK-005-1 REG. VCC SENSE GROUND OFF-TIME DELAY CONTROL SUPPLY IN A/B OUTA/B OUT A/B REFERENCE CHANNEL A PIN NUMBERS CHANNEL B PIN NUMBERS Dwg. FK-005 REG. VCC IN A/B SENSE GROUND OFF-TIME DELAY CONTROL SUPPLY IN A/B OUT A/B OUTA/B REFERENCE CHANNEL A PIN NUMBERS CHANNEL B PIN NUMBERS Copyright © 1994 Allegro MicroSystems, Inc.

ELECTRICAL CHARACTERISTICS at TA = +25°C Limits Characteristic Symbol Test Conditions Min Typ Max Units FET Leakage Current IDSS VDS = 100 V, VCC = 44 V 4.0 mA FET ON Voltage VDS(ON) (SLA7024M & SMA7029M) VCC = 14 V, IOUT = 1 A 600 mV (SLA7026M) VCC = 14 V, IOUT = 3 A 850 mV FET ON Resistance rDS(on) (SLA7024M & SMA7029M) VCC = 14 V, IOUT = 1 A 600 mΩ (SLA7026M) VCC = 14 V, IOUT = 3 A 285 mΩ Body Diode VSD (SLA7024M & SMA7029M) IOUT = –1 A 0.9 1.5 V Forward Voltage (SLA7026M) IOUT = –3 A 0.9 1.6 V Control Supply Voltage VCC Operating V Control Supply Current ICC VCC = 44 V mA Input Current IIN(H) VCC = 44 V, VIN = 2.4 V µA IIN(L) VIN = 0.4 V -800 µA Input Voltage VIN(H) 2.0 V VIN(L) 0.8 V NOTE: Negative current is defined as coming out of (sourcing) the specified device pin. 100 125 150 TEMPERATURE in °C Dwg. GK-018 ALLOWABLE PACKAGE POWER DISSIPATION in WATTS PREFIX 'SLA' R = 5.0°C/W θJM PREFIX 'SMA' R = 31°C/W θJA PREFIX 'SMA' R = 6.0°C/W θJM PREFIX 'SLA' R = 28°C/W θJA REFERENCEA VREF VCC Dwg. PK-006 OUT A OUTB SENSEA GROUND A CNTRL SPLY A VREF VCC OUTA CONTROL/LOGIC OUTB GROUND B REFERENCEB CNTRL SPLY B IN A INA INB IN B SENSEB OFF DELAYA OFF DELAYB CONTROL/LOGIC SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS

Worcester, Massachusetts 01615-0036 (508) 853-5000 SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS 2.4 kΩ R Dwg. EK-008 REG. VCC VBB A B OUT A IN B IN B B OUT V +5 V +5 V R 510 Ω R 100 Ω 47 kΩ R 470 pF C C 2200 pF R ≤1 Ω S TO CHANNEL A VREF SENSE t d b TYPICAL STEPPER MOTOR APPLICATIONS (Half of Each Device Shown) SLA7024M and SLA7026M TRUTH TABLES (Device Types as Designated) WAVE DRIVE (FULL STEP) for SLA7024M and SLA7026M Sequence Input A H L L L H Input A L L H L L Input B L H L L L Input B L L L H L Output ON A B A B A HALF-STEP OPERATION (2-1-2 SEQUENCE) for SLA7024M, SLA7026M, and SMA7029M Sequence Input A H H L L L L L H H Input A or tdA* L L L H H H L L L Input B L H H H L L L L L Input B or tdB* L L L L L H H H L Output(s) ON A AB B A B A AB B A B A *Logic signals to external open-collector inverter connected to tdA and tdB. 2-PHASE (FULL STEP) OPERATION for SLA7024M and SLA7026M Sequence Input A H L L H H Input A L H H L L Input B H H L L H Input B L L H H L Outputs ON AB A B AB A B AB

2.4 kΩ R Dwg. EK-008-1 REG. VCC VBB A B OUT A IN B B OUT V +5 V +5 V R 510 Ω R 100 Ω R 47 kΩ C 470 pF C 2200 pF R ≤1 Ω S TO CHANNEL A VREF SENSE t d b OPEN-COLLECTOR INVERTER WAVE DRIVE (FULL STEP) for SMA7029M Sequence Input A H L L L H Input tdA* L L H L L Input B L H L L L Input tdB* L L L H L Output ON A B A B A *Logic signals to external open-collector inverter connected to tdA and tdB. TRUTH TABLES (SMA7029M Only) TYPICAL STEPPER MOTOR APPLICATIONS (Half of Device Shown) SMA7029M 2- PHASE (FULL STEP) OPERATION for SMA7029M Sequence Input A H H L L H Input B L H H L L Outputs ON A B AB A B AB A B SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS

FIGURE 2. PWM CONTROL (RUN MODE) Figure 1. Setting the PWM current trip point requires various external NOTE: The maximum allowable VREF input voltage is 2.0 V. The voltage-divider must be selected accordingly. FIGURE 1. PHASE A COIL CURRENT WAVEFORM

Worcester, Massachusetts 01615-0036 (508) 853-5000 SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS For given values of R1, R2, and Vb (VREF ≈ 0.82 V), Figures 5A and 5B illustrate output holding current as a function of RX for two values of current- sensing resistance (RS). 1.0 0.6 300 500 HOLDING-CURRENT RESISTANCE in OHMS OUTPUT TRIP CURRENT in AMPERES Dwg. GK-015 100 200 400 600 R1 = 510 Ω R2 = 100 Ω Vb = 5 V RS = 0.8 Ω RS = 1.0 Ω 0.8 0.4 0.2 FIGURE 5A. HOLD-CURRENT RESISTANCE (SLA7024M and SMA7029M) NOTE: Holding current determines holding torque, which is normally greater than running torque. Consult motor manufacturer for recommended safe holding current and motor winding temperature limits in “standstill” or “detent” mode. FIGURE 5B. HOLD-CURRENT RESISTANCE (SLA7026M) The MOSFET outputs create ringing noise with PWM, but the RC filter precludes malfunctions. The comparator operation is affected by R5 and C3 and, thus, current overshoot is influenced by component values. Empirical adjustment to “fine-tune” the current limit is likely. 3.0 2.0 1.0 300 500 700 0.5 HOLDING-CURRENT RESISTANCE in OHMS OUTPUT TRIP CURRENT in AMPERES Dwg. GK-015-1 1.5 2.5 100 200 400 600 800 R1 = 510 Ω R2 = 100 Ω Vb = 5 V RS = 0.33 Ω RS = 0.47 Ω

DETERMINING THE MOTOR PWM FREQUENCY The modules function asynchronously, with PWM OFF time fixed by R3 and C1 at input td. The OFF time can be calculated as: tOFF ≈ -R3 • C1 • logn (1 - 2 ) (5) Recommended circuit constants and tOFF are: Vb = 5 V R3 = 47 kΩ C1 = 470 pF tOFF = 12 µs FIGURE 7. PWM FREQUENCY vs MOTOR RESISTANCE POWER DISSIPATION CALCULATIONS Excepting high-current applications utilizing the SLA7026M above approximately 2.0 A at +65°C (with 2-phase operation), the need for heat sinks is rare. The basic constituents of conduction losses (internal power dissipation) include: (a) FET output power dissipation (IOUT 2 • rDS(on) or IOUT • VDS(ON)), (b) FET body diode power dissipation (VSD • IOUT), and (c) control circuit power dissipation (VCC • ICC). Device conduction losses are calculated based on the operating mode (wave drive, half-step, or 2-phase). Assuming a 50% output duty cycle: Wave Drive = 0.5 (IOUT 2 • rDS(on)) + 0.5 (VSD • IOUT) + (VCC • 15 mA) Half-Step = 0.75 (IOUT 2 • rDS(on)) + 0.75 (VSD • IOUT) + (VCC • 15 mA) 2-Phase = (IOUT 2 • rDS(on)) + (VSD • IOUT) + (VCC • 15 mA) MOTOR RESISTANCE in OHMS ON TIME in µs Dwg. GK-016 RS = 1 Ω L/R = 1 to 3 ms CHOPPING FREQUENCY in kHz VCC = 24 V VCC = 36 V SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS

factor of -36 mW/°C for operation above +25°C. RΘJC = 5°C/W. factor of -32 mW/°C for operation above +25°C. RΘJC = 6°C/W. FIGURE 8. NORMALIZED ON RESISTANCE

(for reference only) Dimensions in Millimeters (controlling dimensions) NOTES: 1. Exact body and lead configuration at vendor’s option within limits shown. 3. The hatched area is exposed (electrically isolated) heat spreader. 4. Recommend use of metal-oxide-filled, alkyl-degenerated oil base, silicone grease (Dow Corning 340 or equivalent). Dwg. MK-002-18 mm 31±0.2 24.4 ±0.2 16.4 ±0.2 16 ±0.2 9.9 ±0.2 13 ±0.2 ø 3.2 ±0.15 1.68 ±0.4 6.7 ±0.5 3.0 4.0 ±0.7 2.45 ±0.2 4.8 ±0.2 1.7 ±0.1 3.2 ±0.15 x 3.8 31.3 ±0.2 0.65 +0.2 –0.1 0.55 +0.2 –0.1 Dwg. MK-002-18 in 1.22 ±0.008 0.961 ±0.008 0.646 ±0.008 0.630 ±0.008 0.512 ±0.008 ø 0.126 ±0.006 0.066 ±0.016 0.264 ±0.020 0.118 0.157 ±0.028 0.096 ±0.008 0.189 ±0.008 0.067 ±0.004 0.126 ±0.006 x 0.150 1.232 ±0.008 0.026 +0.008 –0.004 0.022 +0.008 –0.004 0.390 ±0.008 SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS

Worcester, Massachusetts 01615-0036 (508) 853-5000 SLA7024M, SLA7026M, AND SMA7029M HIGH-CURRENT PWM, UNIPOLAR STEPPER MOTOR CONTROLLER/DRIVERS Dwg. MK-005-15 in 1.22 ±0.008 0.402 ±0.008 0.080 ±0.004 0.264 ±0.020 0.118 0.157 ±0.028 0.057 ±0.006 0.157 ±0.008 0.098 ±0.008 1.24 MAX. 0.026 +0.008 –0.004 0.022 +0.008 –0.004 0.335 MAX. 30° SMA7029M Dimensions in Inches (for reference only) Dimensions in Millimeters (controlling dimensions) NOTE: Exact body and lead configuration at vendor’s option within limits shown. Dwg. MK-005-15 mm 31±0.2 10.2 ±0.2 2.03 ±0.1 6.7 ±0.5 3.0 4.0 ±0.7 1.45 ±0.15 4.0 ±0.2 2.5 ±0.2 31.5 MAX. 0.65 +0.2 –0.1 0.55 +0.2 –0.1 8.5 MAX. 30° The products described here are manufactured in Japan by Sanken Electric Co., Ltd. for sale by Allegro MicroSystems, Inc. Sanken Electric Co., Ltd. and Allegro MicroSystems, Inc. reserve 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 their products. The information included herein is believed to be accurate and reliable. However, Sanken Electric Co., Ltd. and Allegro MicroSystems, Inc. assume no responsibility for its use; nor for any infringements of patents or other rights of third parties which may result from its use.