MDrotiveorrsSLA7075M, SLA7076M, SLA7077M, and SLA7078M
Motor Driver IC Family
The SLA7075M, SLA7076M, SLA7077M, and SLA7078M motor driver ICs feature 2-phase stepper unipolar drivers. The clock-in type input interface allows simplified control logic, and options for built-in sense current detection and load circuit short or open protection (patent pending) provide lower loss, and lower thermal resistance. All products in the SLA7070M series are pin-compatibile, supporting rapid design of application variants.
The built-in excitation distribution circuit (sequencer) allows motor control using only the CLOCK signal for simple operations (rotate/stop), with motor speed control by frequency input into CLOCK pin. This eliminates logic signal lines required for conventional phase-input methods, and reduces demand on heavily-used CPUs.
Contact Allegro® for application information and additional information on device performance and logic.
Data Sheet28210.05BABSOLUTE MAXIMUM RATINGS
AT TA = 25°CLoad (Motor) Supply Voltage, VM.........46 VMain Power Supply Voltage, VBB..........46 VLogic Supply Voltage, VDD...........................7 VOutput Current, IOUT
SLA7075M.................................1.0 ASLA7076M.................................1.5 ASLA7077M.................................2.0 ASLA7078M.................................3.0 ALogic Input Voltage, VIN
..............................–0.3 to VDD+0.3 VREF Input Voltage, VREF
............................................–0.3 to VDD+0.3 VSense Voltage, VSInt
tw < 1 μs is not considered..........±2 VPower Dissipation, PD
Without heat sink......................4.7 WJunction Temperature, TJ.......................150°CAmbient Temperature, TA.......–20 to 85°CStorage Temperature, Tstg...–30 to 150°C
FEATURES AND BENEFITSFeatures
Power supply voltages, VBB : 46 V(max.), 10 to 44 V normal operating range Logic supply voltages, VDD: 3.0 to 5.5 V Maximum output currents: 1 A, 1.5 A, 2 A, 3 A Built-in sequencer
Simplified clock-in stepping control
Microstepping at full-, half-, quarter-, eighth-, and sixteenth-steps Built-in sense resistor, RSInt
All variants are pin-compatible for enhanced design flexibility ZIP type 23-pin molded package (SLA package)
Self-excitation PWM current control with fixed off-time; off-time adjusted automatically by step reference current ratio (3 levels) Built-in synchronous rectifying circuit reduces losses at PWM off Synchronous PWM chopping function prevents motor noise in Hold mode Sleep mode for reducing the IC input current in stand-by state
Built-in protection circuitry against motor coil opens/shorts option available
Sanken Power Devicesfrom Allegro MicroSystems
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SLA7075M, SLA7076M, SLA7077M, and SLA7078MMotor Driver ICs
PART NUMBERS AND OPTIONS
The following are the product variants and optional features available for these variants of the SLA7070M series.
Not all combinations of standard models and product op-tions are available in high-volume production quantities. For information on product availability, and assistance with deter-mining the IC features that are the best fit for your application, please contact our sales office or representative.
NOTE
The following abbreviations are used throughout this document to refer to product variants:
PR – Product with both Protection Circuitry and built-in RSInt options
R – Product with the built-in RSInt option
Part NumberSLA7075MRSLA7075MPRSLA7076MRSLA7076MPRSLA7077MRSLA7077MPRSLA7078MRSLA7078MPR
RSInt
Protection
Output Current, IOUT
(A)
11.523
Sequencer
Blanking Time
(μs)
Clock Edge
Protection Circuitry and RSIntRSInt
Protection Circuitry and RSIntRSInt
Protection Circuitry and RSIntRSInt
Protection Circuitry and RSInt
Microstep1.7
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SLA7075M, SLA7076M, SLA7077M, and SLA7078M
Motor Driver ICs
FUNCTIONAL BLOCK DIAGRAM AND PIN ASSIGNMENTS
MDrotiveor rsRef/Sleep1ResetClockOutBOutBOutB1OutA52OutAOutB3OutA4OutAMICVBB14Pre-DriverProtectSenseA+Comp-RSIntOSCFor R products, protection circuits not built-in. FLAG pin is not connected internally.
VDDFlagF/RMoM1M2M31318671610151120212223Reg.Sequencer&SleepCircuitPre-DriverProtectDACSynchroControlDAC+Comp-OSCRSInt19PWMControlPWMControlSenseB17Sync12GndPin No.1234567101112
SymbolOutAOutASenseAMoM1M2M3ClockVBBGND
Step clock input
Functions
Output of phase AOutput of phase A¯Phase A current sensing
Output from monitor of 2-phase excitation status
Commutation and Sleep2 setting
Pin No.1314151617181920212223
SymbolRef / Sleep1
VDDResetF / RSyncFlag*SenseBOutB
Functions
Input for control current and Sleep1 settingPower supply to logicReset for internal logicForward / reverse switch input
Synchronous PWM control switch inputOutput from protection circuits monitorPhase B current sensingOutput of phase B¯
Main power supply (for motor)Ground
OutBOutput of phase B
*Flag pin active on PR products only; not internally connected for R products.
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SLA7075M, SLA7076M, SLA7077M, and SLA7078MMotor Driver ICs
ELECTRICAL CHARACTERISTICS, valid at TA = 25°C, VBB = 24 V, VDD = 5 V, applicable to both PR and R products, unless otherwise specified
Characteristics
Main Power Supply CurrentLogic Power CurrentMOSFET Breakdown VoltageMaximum Response FrequencyLogic Supply VoltageLogic Supply Current
SymbolIBBIBBSIDDVDSSfclkVILVIHIILIIHVREF
REF Input VoltageREF Input CurrentSENSE Voltage
Sleep-Enable Recovery TimeSwitching Time
VREFSIREFVSInttSEtcontcoff
VREF = 0.1 V to 0.5 V, Step reference current ratio: 100%
VREF = 2.0 V → 1.5 VClock → Output ONClock → Output OFFSee pages 6 and 7
Output OFF, Sleep1 mode, IBBS in specification, sequencer = enableVBB = 44 V, IDS = 1 mAClock Duty Cycle = 50%Normal mode
Sleep1 and Sleep2 modes
Test Conditions
Min.––––250–0.75 × VDD
–––2.0–VREF – 0.03
100––
Typ.–––––––±1±1––±10VREF–2.01.5
Max.151005––0.25 × VDD
––––VDD–VREF + 0.03
–––
UnitsmAμAmAVkHzVVμAμAVVμAVμsμsμs
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SLA7075M, SLA7076M, SLA7077M, and SLA7078M
Motor Driver ICs
MDrotiveor rsCharacteristics
STEPPING CHARACTERISTICS, applicable to both PR and R products; representative values from SLA7070M series shownValid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified
SymbolMode FMode EMode DMode CMode BMode AMode 9
Step Reference Current Ratio
Mode 8Mode 7Mode 6Mode 5Mode 4Mode 3Mode 2Mode 1
Mo (Load) Output VoltageMo (Load) Output CurrentPWM Minimum On-Time
PWM Off-Time
VMOLVMOHIMOLIMOHton(min)toff1toff2toff3
Mode 8 to Mode FMode 4 to Mode 7Mode 1 to Mode 3IMOL = 1.25 mAIMOH = –1.25 mA
VREF ≈ VSInt = 100 %, VREF = 0.1 to 0.5 V
Test Conditions
Min.––––––––––––––––VDD – 1.25
––1.25––––
Typ.10098.195.792.488.283.177.370.763.455.547.138.22919.59.8––––1.71297
Max.–––––––––––––––1.25–1.25–––––
Units%%%%%%%%%%%%%%%VVmAmAμsμsμsμs
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SLA7075M, SLA7076M, SLA7077M, and SLA7078MMotor Driver ICs
OUTPUT CHARACTERISTICS for both PR and R products
Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified
Characteristics
SymbolRDS(ON)
VfRDS(ON)
VfRDS(ON)
VfRDS(ON)
Vf
IDS = 1 AIf = 1 AIDS = 1.5 AIf = 1.5 AIDS = 2 AIf = 2 AIDS = 3 AIf = 3 A
Test Conditions
Min.––
Typ.0.70.85
Max.0.851.1
UnitsΩV
IOUT = 1.0 A (SLA7075M)
Output On ResistanceBody Diode Forward Voltage
IOUT = 1.5 A (SLA7076M)
Output On ResistanceBody Diode Forward Voltage
––––––
0.451.00.250.950.180.95
0.61.250.41.20.242.1
ΩVΩVΩV
IOUT = 2.0 A (SLA7077M)
Output On ResistanceBody Diode Forward Voltage
IOUT = 3.0 A (SLA7078M)
Output On ResistanceBody Diode Forward Voltage
BUILT-IN SENSE RESISTOR CHARACTERISTICS for PR and R productsValid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified
Characteristics
Sense Resistor Rating*REF Input VoltageSense Resistor Rating*REF Input VoltageSense Resistor Rating*REF Input VoltageSense Resistor Rating*REF Input Voltage
SymbolRSIntVREFRSIntVREFRSIntVREFRSIntVREF
Tolerance: ±3 %
Within specified current limitTolerance: ±3 %
Within specified current limitTolerance: ±3 %
Within specified current limitTolerance: ±3 %
Within specified current limit
Test Conditions
Min.0.2960.10.2960.10.1990.10.1500.1
Typ.0.305–0.305–0.205–0.155–
Max.0.3140.30.3140.450.2110.40.1600.45
UnitsΩVΩVΩVΩV
IOUT = 1.0 A (SLA7075MPR and SLA7075MR)
IOUT = 1.5 A (SLA7076MPR and SLA7076MR)
IOUT = 2.0 A (SLA7077MPR and SLA7077MR)
IOUT = 3.0 A (SLA7078MPR and SLA7078MR)
*RSInt includes approximately 5 mΩ circuit resistance in addition to the resistance of the resistor itself.
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SLA7075M, SLA7076M, SLA7077M, and SLA7078M
Motor Driver ICs
MDrotiveor rsPROTECTION CIRCUIT CHARACTERISTICS*
Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified
Characteristics
SymbolVOCPVFlagLVFlagH
FLAG Output Current
IFlagLIFlagH
*Protection circuits work on the condition of VSInt ≥ VOCP.
Test Conditions
Motor coils shortedIFLAGL = 1.25 mAIFLAGH = –1.25 mA
Min.0.65–VDD – 1.25
––1.25
Typ.0.7––––
Max.0.751.25–1.25–
UnitsVVVmAmA
PR products
Overcurrent Sense VoltageFLAG Output Voltage
RECOMMENDED OPERATING RANGES, applicable to both PR and R products, unless otherwise specified
Characteristics
Load (Motor) Supply VoltageMain Power Supply VoltageLogic Supply VoltageCase Temperature
SymbolVMVBBVDDTC
Surge voltage at VDD pin should be less than ±0.5 V to avoid malfunctioning in operation
Measured at pin 12, without heat sink
Remarks
Min–103.0–
Max44445.590
UnitsVVV°C
ALLOWABLE POWER DISSIPATION
PRandRProducts5AllowablePowerDissipation,PD(W)4ǰj-a=26.6͠/W32100102030405060708090AmbientTemperature,TA(°C) www.allegromicro.com7
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SLA7075M, SLA7076M, SLA7077M, and SLA7078MMotor Driver ICs
FUNCTIONAL DESCRIPTION
PWM Current Control
The description in this section is applicable to the PR and R products.
• Blanking time
The actual operating waveforms on the SENSEx pins when driving a motor are shown in figure 1. Immediately after PWM turns OFF, ringing (or spike) noise on the SENSEx pins is ob-served for a few μs. Ringing noise can be generated by various causes, such as capacitance between motor coils and inappropri-ate motor wiring.
Each pair of outputs is controlled by a fixed off-time (7 to 12 μs, depending on stepping mode) PWM current-control cir-cuit that limits the load current to a desired value, ITRIP. Initially,
tan output is enabled and current flows through the motor wind-ing and the current-sense resistors. When the voltage across the current-sense resistor equals the DAC output voltage, VTRIP , the current-sense comparator resets the PWM latch. This turns off the driver for the fixed off-time, during which the load induc-tance causes the current to recirculate for the off-time period. Therefore, if the ringing noise on the sense resistor equals and surpasses VTRIP , PWM turns off.
To prevent this phenomenon, the blanking time is set to override signals from the current-sense comparator for a certain period right after PWM turns on (figure 2).
tExpanded Time ScaleOutITRIP0Out500 5 μs/Div.Figure 1. Operating waveforms on the SENSEx pins during PWM chopping
APWMPulseWidthtONtOFF(Fixed)ITRIP0ABlankingTimeFigure 2. SENSEx pins pattern during PWM control
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SLA7075M, SLA7076M, SLA7077M, and SLA7078M
Motor Driver ICs
MDrotiveor rsPWM Off Period
The PWM off-time for the SLA7070M series is controlled as a fixed time by an internal oscillator. It also is switched in 3 levels by current proportion (see the Electrical Characteristics table).
In addition, the SLA7070M series provide a function that decreases losses occurring when the PWM turns off. This func-tion dissolves back EMF stored in the motor coil at MOSFET turn-on, as well as at PWM turn-on (synchronous rectification operation).
SLA7060MSeriesVBBIonIoffFigure 3 shows the difference in back EMF generative system between the SLA7060M series and SLA7070M series. The SLA7060M series performs on–off operations using only the MOSFET on the PWM-on side, but the SLA7070M series also performs on–off operations using only the MOSFET on the PWM-off side. To prevent simultaneous switching of the MOS-FETs at synchronous rectification operation, the IC has a dead time of approximately 0.5 μs. During dead time, the back EMF flows through the body diode on the MOSFET.
SLA7070MSeriesVBBIonIoffStepperMotorStepperMotorVgVgVgVgBackEMFatDeadTimeVSRSExtVSRSInt+VPWMOnPWMOffPWMOn+VPWMOnDeadTimePWMOffPWMOnDeadTimeVgFETGate0SignalVgVgFETGate0SignalVgttVREFVS0tVSVREF0tFigure 3. Synchronous rectification operation. During Dead Time, the Back EMF flows through the body diode of the MOSFET
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SLA7075M, SLA7076M, SLA7077M, and SLA7078MMotor Driver ICs
Protection Functions: PR Types
The PR types of the SLA7070M series include a motor coil short-circuit protection circuit and a motor coil open protection circuit. They are described in this section.
• Motor Coil Short-Circuit Protection (Load Short) CircuitThis protection circuit, embedded in the SLA7070M series, begins to operate when the device detects an increase in the volt-age level on the sense resistor, VSInt .
The voltage at which motor coil short-circuit protection starts its operation, VOCP, is set at approximately 0.7 V. The out-
put is disabled at the time the protection circuit starts.
In order for the motor coil short-circuit protection circuit to operate, VSInt must be greater than VOCP .
Overcurrent that flows without passing the sense resistor is undetectable. To resume the circuit after protection operates, VDD must be cycled.
• Motor Coil Open Protection
Details of this functions is not disclosed yet due to our pat-ent policy.
VMCoilShortCircuit+VCoilShortCircuitNormalOperationOutputDisableStepperMotorVOCPVgVREFVSVSRSInt0tFigure 4. Motor coil short circuit protect circuit operation. Overcurrent that flows with-out passing the sense resistor is undetectable. To recover the circuit after protection oper-ates, VDD must be cycled and started up again.
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SLA7075M, SLA7076M, SLA7077M, and SLA7078M
Motor Driver ICs
PACKAGE OUTLINE DRAWING, SLA-23 PIN
31±0.224.4±0.216.4±0.2Gate Flashφ3.2 ±0.15 x 3.84.8±0.21.7±0.1MDrotiveor rsφ3.2±0.1512.9±0.216±0.2Branding(Fin)9.9±0.25±0.52.45±0.2(Base Measurement)XXXXXXXXXXXX X4-(R1)R-end+19.5-0.5+0.20.55-0.1(4.3)4.5±0.7(Tip Measurement)31.3±0.2(Includes Mold Flash)+0.20.65-0.122 × P1.27 ±0.5 = 27.94 ±0.1(Tip Measurement)12
34
56
7911131517192123810121416182022
Terminal core material: Cu
Terminal treatment: Ni plating and solder dipLeadform: 2151
Dimensions in millimeters
Branding:
1st line, type: SLA707xMR2nd line-left, lot: YMDD Where:
Y is the last digit of the year of manufacture M is the month (1 to 9, O, N, D) DD is the 2-digit date
2nd line-right, subtype: P for Protection Circuitry option; otherwise, blank
Leadframe plating Pb-free. Device composition includes high-temperature solder (Pb >85%), which is exempted from the RoHS directive.
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PACKING SPECIFICATIONS
Plugateachendoftube858018Devices3118Devicespertube20Tubes3Layers
1080Devicespercarton
1303Layers61018520TubesDimensionsinmm
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SLA7075M, SLA7076M, SLA7077M, and SLA7078MMotor Driver ICs
WARNING — These devices are designed to be operated at lethal voltages and energy levels. Circuit designs that embody these components must conform with applicable safety requirements. Pre cau tions must be taken to prevent accidental contact with power-line potentials. Do not connect ground ed test equipment.The use of an isolation transformer is recommended during circuit development and breadboarding. The products described herein are manufactured in Ja pan by Sanken Electric Co., Ltd. for sale by Allegro MicroSystems, Inc.
Sanken and Allegro reserve the right to make, from time to time, such de par tures from the detail spec i fi ca tions as may be re quired to per mit im-prove ments in the per for mance, reliability, or manufacturability of its prod ucts. Therefore, the user is cau tioned to verify that the in for ma tion in this publication is current before placing any order.
When using the products described herein, the ap pli ca bil i ty and suit abil i ty of such products for the intended purpose shall be reviewed at the users responsibility.
Although Sanken undertakes to enhance the quality and reliability of its prod ucts, the occurrence of failure and defect of semi con duc tor products at a certain rate is in ev i ta ble. Users of Sanken products are requested to take, at their own risk, preventative measures including safety design of the equipment or systems against any possible injury, death, fires or damages to society due to device failure or malfunction.
Sanken products listed in this publication are designed and intended for use as components in general-purpose electronic equip ment or apparatus (home ap pli anc es, office equipment, tele com mu ni ca tion equipment, measuring equipment, etc.). Their use in any application requiring radiation hardness assurance (e.g., aero space equipment) is not supported. When considering the use of Sanken products in ap pli ca tions where higher reliability is re quired (transportation equipment and its control systems or equip ment, fire- or burglar-alarm systems, various safety devices, etc.), contact a company sales representative to discuss and obtain written confirmation of your spec ifi ca tions. The use of Sanken products without the written consent of Sanken in applications where ex treme ly high reliability is required (aerospace equip-ment, nuclear power-control stations, life-support systems, etc.) is strictly prohibited.
The information in clud ed herein is believed to be accurate and reliable. Ap pli ca tion and operation examples described in this pub li ca tion are given for reference only and Sanken and Allegro assume no re spon si bil i ty for any in fringe ment of in dus tri al property rights, intellectual property rights, or any other rights of Sanken or Allegro or any third party that may result from its use.
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