TCA 3727 2-Phase Stepper-Motor Driver Bipolar IC Features * * * * * * * * * 2 x 0.75 amp. / 50 V outputs Integrated driver, control logic and current control (chopper) Fast free-wheeling diodes Max. supply voltage 52 V Outputs free of crossover current Offset-phase turn-ON of output stages Z-diode for logic supply Low standby-current drain Full, half, quarter, mini step Description TCA 3727 is a bipolar, monolithic IC for driving bipolar stepper motors, DC motors and other inductive loads that operate on constant current. The control logic and power output stages for two bipolar windings are integrated on a single chip which permits switched current control of motors with 0.75 A per phase at operating voltages up to 50 V. P-DSO-24-1, -3 The direction and value of current are programmed for each phase via separate control inputs. A common oscillator generates the timing for the current control and turn-on with phase offset of the two output stages. The two output stages in a full-bridge configuration have integrated, fast free-wheeling diodes and are free of crossover current. The logic is supplied either separately with 5 V or taken from the motor supply voltage by way of a series resistor and an integrated Z-diode. The device can be driven directly by a microprocessor with the possibility of all modes from full step through half step to mini step. Type Ordering Code Package TCA 3727 Q67000-A8302 P-DIP-20-6 TCA 3727 G Q67000-A8335 P-DSO-24-3 Data Sheet 1 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 10 1 20 20 11 2 19 21 Phase 1 3 18 Phase 2 OSC 4 17 Inhibit GND 5 16 GND GND 6 15 GND Q11 7 14 Q21 R1 8 13 R2 VS 9 12 VL Q12 10 11 Q22 IEP00696 Figure 1 Data Sheet Pin Configuration TCA 3727 (top view) 2 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 10 11 Phase 1 OSC GND GND GND GND Q11 R1 + VS Q12 1 2 3 4 5 6 7 8 9 10 11 12 24 23 22 21 20 19 18 17 16 15 14 13 20 21 Phase 2 Inhibit GND GND GND GND Q21 R2 +VL Q22 IEP00898 Figure 2 Pin Configuration TCA 3727 G (top view) Table 1 Pin Definitions and Functions Pin No. Function 1, 2, 19, 20 (1, 2, 23, 24)1) Digital control inputs IX0, IX1 for the magnitude of the current of the particular phase. See Table 2. 3 Input Phase 1; controls the current through phase winding 1. On H-potential the phase current flows from Q11 to Q12, on L-potential in the reverse direction. 5, 6, 15, 16 (5, 6, 7, 8, 17, 18, 19, 20)1) Ground; all pins are connected internally. 4 Oscillator; works at approx. 25 kHz if this pin is wired to ground across 2.2 nF. 8 (10)1) Resistor R1 for sensing the current in phase 1. 7, 10 (9, 12)1) Push-pull outputs Q11, Q12 for phase 1 with integrated freewheeling diodes. Data Sheet 3 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Table 1 Pin Definitions and Functions (cont'd) Pin No. Function 9 (11)1) Supply voltage; block to ground, as close as possible to the IC, with a stable electrolytic capacitor of at least 10 F in parallel with a ceramic capacitor of 220 nF. 12 (14)1) Logic supply voltage; either supply with 5 V or connect to +VS across a series resistor. A Z-diode of approx. 7 V is integrated. In both cases block to ground directly on the IC with a stable electrolytic capacitor of 10 F in parallel with a ceramic capacitor of 100 nF. 11, 14 (13, 16)1) Push-pull outputs Q22, Q21 for phase 2 with integrated free wheeling diodes. 13 (15)1) Resistor R2 for sensing the current in phase 2. 17 (21)1) Inhibit input; the IC can be put on standby by low potential on this pin. This reduces the current consumption substantially. 18 (22)1) Input phase 2; controls the current flow through phase winding 2. On H-potential the phase current flows from Q21 to Q22, on L potential in the reverse direction. 1) TCA 3727 G only Table 2 Digital Control Inputs IX0, IX1 typical Imax with Rsense = 1 , 750 mA IX1 IX0 Phase Current Example of Motor Status H H 0 No current H L 1/3 Imax Hold L H 2/3 Imax Set L L Imax Accelerate Data Sheet 4 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 + VL 12 4 + VS 9 OSC Q11 7 10 1 11 2 Phase 1 3 Inhibit 17 Phase 1 Q12 10 Function Logic Phase 1 8 R1 Inhibit Q21 14 20 20 21 19 Phase 2 18 Phase 2 11 Function Logic Phase 2 13 5, 6, 15, 16 GND Figure 3 Data Sheet Q22 R2 IEB00697 Block Diagram TCA 3727 5 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 +VL 14 4 + VS 11 Oscillator D11 D12 T11 10 T12 11 2 Phase 1 3 Inhibit 21 Phase 1 Functional Logic Phase 1 D14 T13 T14 Q12 R1 Inhibit D21 D22 T22 16 Q21 24 Phase 2 D23 21 23 Phase 2 22 Functional Logic Phase 2 T23 D24 T24 13 15 5-8, 17-19 GND Data Sheet 12 10 T21 Figure 4 Q11 1 D13 20 9 Q22 R2 IEB00899 Block Diagram TCA 3727 G 6 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Table 3 Absolute Maximum Ratings TA = -40 to 125 C Parameter Supply voltage Logic supply voltage Z-current of VL Output current Ground current Logic inputs Symbol VS VL IL IQ IGND VIXX R1, R2, oscillator input voltage VRX, VOSC Junction temperature Tj Storage temperature Tstg Limit Values Unit Remarks Min. Max. 0 52 V - 0 6.5 V Z-diode - 50 mA - -1 1 A - -2 2 A - -6 VL + 0.3 V IXX; Phase 1, 2; Inhibit -0.3 VL + 0.3 V - - - 125 150 C C - max. 10,000 h -50 125 C - Attention: Stresses above those listed here may cause permanent damage to the device. Exposure to absolute maximum rating conditions for extended periods may affect device reliability. Data Sheet 7 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Table 4 Operating Range Parameter Symbol Limit Values Unit Remarks Min. Max. 5 50 V - Logic supply voltage VS VL 4.5 6.5 V without series resistor Case temperature TC -40 110 C measured on pin 5 Pdiss = 2 W Output current IQ VIXX -1000 1000 mA - -5 VL V IXX; Phase 1, 2; Inhibit Rth ja Rth ja - 56 K/W P-DIP-20-6 - 40 K/W P-DIP-20-6 Junction case Rth jc - 18 K/W measured on pin 5 P-DIP-20-6 Junction ambient Rth ja Rth ja - 75 K/W P-DSO-24-3 - 50 K/W P-DSO-24-3 Rth jc - 15 K/W measured on pin 5 P-DSO-24-3 Supply voltage Logic inputs Thermal Resistances Junction ambient Junction ambient (soldered on a 35 m thick 20 cm2 PC board copper area) Junction ambient (soldered on a 35 m thick 20 cm2 PC board copper area) Junction case Note: In the operating range, the functions given in the circuit description are fulfilled. Data Sheet 8 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Table 5 Characteristics VS = 40 V; VL = 5 V; -25 C Tj 125 C Parameter Symbol Limit Values Unit Test Condition Min. Typ. Max. IS IS - 0.2 0.5 mA - 16 20 mA IL IL - 1.7 3 mA - 18 25 mA IOSC VOSCL Charging threshold Discharging threshold VOSCH Frequency fOSC Phase Current Selection (R1; R2) - 110 - A - - 1.3 - V - - 2.3 - V - 18 25 35 kHz COSC = 2.2 nF Vsense n Vsense h Vsense s Vsense a - 0 - mV IX0 = H; IX1 = H 200 250 300 mV IX0 = L; IX1 = H 460 540 620 mV IX0 = H; IX1 = L 740 825 910 mV IX0 = L; IX1 = L Current Consumption from +VS from +VS from +VL from +VL Vinh = L Vinh = H IQ1/2 = 0, IXX = L Vinh = L Vinh = H IQ1/2 = 0, IXX = L Oscillator Output charging current Current Limit Threshold No current Hold Setpoint Accelerate Logic Inputs (IX1; IX0; Phase x) Threshold VI 1.4 - (HL) 2.3 V (LH) L-input current IIL IIL IIH -10 - - A -100 - - A - - 10 A VI = 1.4 V VI = 0 V VI = 5 V VInh 2 3 4 V - VInh 1.7 2.3 2.9 V - VInhhy 0.3 0.7 1.1 V - L-input current H-input current - Standby Cutout (inhibit) Threshold (LH) Threshold (HL) Hysteresis Data Sheet 9 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Table 5 Characteristics (cont'd) VS = 40 V; VL = 5 V; -25 C Tj 125 C Parameter Symbol Limit Values Min. Typ. Max. 6.5 7.4 8.2 Unit Test Condition Internal Z-Diode Z-voltage VLZ V IL = 50 mA Power Outputs Diode Transistor Sink Pair (D13, T13; D14, T14; D23, T23; D24, T24) Saturation voltage Saturation voltage Reverse current Forward voltage Forward voltage Vsatl Vsatl IRl VFl VFl - 0.3 0.6 V - 0.5 1 V - - 300 A - 0.9 1.3 V - 1 1.4 V IQ = -0.5 A IQ = -0.75 A VQ = 40 V IQ = 0.5 A IQ = 0.75 A Diode Transistor Source Pair (D11, T11; D12, T12; D21, T21; D22, T22) Saturation voltage Saturation voltage Saturation voltage Saturation voltage Reverse current Forward voltage Forward voltage Diode leakage current VsatuC - VsatuD - VsatuC - VsatuD - IRu VFu VFu ISL - - 300 A - 1 1.3 V - 1.1 1.4 V - 1 2 mA 0.9 1.2 V IQ = 0.5 A; charge 0.3 0.7 V IQ = 0.5 A; discharge 1.1 1.4 V IQ = 0.75 A; charge 0.5 1 V IQ = 0.75 A; discharge VQ = 0 V IQ = -0.5 A IQ = -0.75 A IF = -0.75 A Note: The listed characteristics are ensured over the operating range of the integrated circuit. Typical characteristics specify mean values expected over the production spread. If not otherwise specified, typical characteristics apply at TA = 25 C and the given supply voltage. Data Sheet 10 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Quiescent Current IS, IL versus Supply Voltage VS Quiescent Current IS, IL versus Junction Temperature Tj IED01655 40 IED01656 40 mA mA S, L S, L T j = 25 C 30 V S = 40V 30 XX = L L 20 XX = H L 20 L XX = L L 10 10 XX = H S S 0 0 10 20 30 V VS 0 50 Output Current IQX versus Junction Temperature Tj QX 0 25 50 75 100 C 150 Tj Operating Condition: * * * * * * * IED01657 800 -25 mA 600 VL = 5 V VInh = H COSC = 2.2 nF Rsense = 1 Load: L = 10 mH, R = 2.4 fphase = 50 Hz mode: fullstep 400 200 0 -25 Data Sheet 0 25 50 75 100 C 150 Tj 11 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Output Saturation Voltages Vsat versus Output Current IQ Forward Current IF of Free-Wheeling Diodes versus Forward Voltages VF F IED01167 1.0 A V Fl V Fu 0.8 T j = 25 C 0.6 0.4 0.2 0 0 0.5 1.0 V 1.5 VF Typical Power Dissipation Ptot versus Output Current IQ (non stepping) Permissible Power Dissipation Ptot versus Case Temperature TC IED01660 12 Measured at pin 5. W Ptot 10 P-DSO-24 8 6 P-DIP-20 4 2 0 -25 Data Sheet 12 http://store.iiic.cc/ 0 25 50 75 100 125 C 175 Tc Rev. 2.0, 2004-10-01 TCA 3727 Input Current of Inhibit versus Junction Temperature Tj Input Characteristics of IXX, Phase X, Inhibit IED01661 0.8 mA IXX 0.6 V L = 5V 0.4 0.2 0 0.2 0.4 0.6 0.8 -6 -5 -2 3.9 2 V 6 V IXX Oscillator Frequency fOSC versus Junction Temperature Tj 30 kHz f OSC IED01663 V S = 40V V L = 5V COSZ = 2.2nF 25 20 15 -25 0 Data Sheet 25 50 75 100 125 C 150 Tj 13 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 100 F L H 220 nF 1 10 2 11 3 17 12 9 VL Inhibit 20 19 21 V L V H S Phase 2 OSC 4 OSC VOSC 2.2 nF 100 F 220 nF VS VS Q11 Phase 1 20 18 L Q12 TCA 3727 Q21 Q22 13 8 R2 1 VSense 7 10 14 11 Q - Fu -R Ru VSatl - VFl GND 5, 6 15, 16 R1 1 GND VSatu - VFu VSense IES00706 Figure 5 Data Sheet Test Circuit 14 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 +5 V +40 V 100 F 12 1 2 3 Micro Controller 17 20 19 18 3 VS VL 10 7 Q11 11 Phase 1 Inhibit Q12 10 TCA 3727 Q21 20 21 Q22 Phase 2 OSC 4 2.2 nF 100 F 220 nF 220 nF 13 R2 1 8 R1 1 14 11 M GND 5, 6 15, 16 IES00707 Figure 6 Data Sheet Application Circuit 15 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Normal Mode Accelerate Mode H 10 L t H 11 L t H Phase 1 L t i acc i set Q1 t i set i acc i acc i set Q2 t i set i acc Phase 2 20 21 t H L t H L t H L IED01666 Figure 7 Data Sheet Full-Step Operation 16 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Normal Mode Accelerate Mode 10 H L 11 H L t t H L Phase 1 t i acc i set Q1 t - i set - i acc i acc i set Q2 t - i set - i acc Phase 2 H L 20 H L 21 t t H L t IED01667 Figure 8 Data Sheet Half-Step Operation 17 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Figure 9 Data Sheet Quarter-Step Operation 18 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 10 H 11 H L t L t H Phase 1 L t i acc i set i hold Q1 t i hold i set i acc i acc i set i hold Q2 t i hold i set i acc Phase 2 20 21 H L t H L t H L t IED01665 Figure 10 Data Sheet Mini-Step Operation 19 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 V Osc 2.4 V 1.4 V 0 T t GND 0 t V Q12 + VS V FU V sat 1 0 t V Q11 V satu D + VS V satu C t V Q22 + VS 0 t V Q21 + VS t Operating conditions: VS VL L phase x R phase x V phase x V Inhibit V xx Figure 11 Data Sheet = 40 V =5V = 10 mH = 20 =H =H =L IED01177 Current Control 20 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Inhibit L V Osc t 2.3 V 1.3 V 0 Oscillator High Imped. Oscillator High Imped. t Phase Changeover Phase 1 L GND t N 0 t V Fu V Q11 Vsatu C Vsatu D +V S High Impedance V Fl V satl High Impedance t V Q12 +V S High Impedance t Phase 1 Slow Current Decay Operating Conditions: = 40 V VS =5V V L phase 1 = 10 mH R phase 1 = 20 1X = L; 1X = H Figure 12 Data Sheet t Fast Current Decay Slow Current Decay Fast Current Decay by Inhibit IED01178 Phase Reversal and Inhibit 21 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Calculation of Power Dissipation The total power dissipation Ptot is made up of * * * saturation losses Psat (transistor saturation voltage and diode forward voltages), quiescent losses Pq (quiescent current times supply voltage) and switching losses Ps (turn-ON / turn-OFF operations). The following equations give the power dissipation for chopper operation without phase reversal. This is the worst case, because full current flows for the entire time and switching losses occur in addition. Ptot = 2 x Psat + Pq + 2 x Ps (1) where * * Psat IN {Vsatl x d + VFu (1 - d) + VsatuC x d + VsatuD (1 - d)} Pq = Iq x VS + IL x VL V i D x t DON i D + i R x t ON I N P S ------S ---------------------+ ------------------------------ + ----- t DOFF + t OFF T * * * * * * * * * * * * * * * * * * 2 4 2 (2) IN = nominal current (mean value) Iq = quiescent current iD = reverse current during turn-on delay iR = peak reverse current tp = conducting time of chopper transistor tON = turn-ON time tOFF = turn-OFF time tDON = turn-ON delay tDOFF = turn-OFF delay T = cycle duration d = duty cycle tp/T Vsatl = saturation voltage of sink transistor (T3, T4) VsatuC = saturation voltage of source transistor (T1, T2) during charge cycle VsatuD = saturation voltage of source transistor (T1, T2) during discharge cycle VFu = forward voltage of free-wheeling diode (D1, D2) VS = supply voltage VL = logic supply voltage IL = current from logic supply Data Sheet 22 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 +V S Dx1 Tx1 Dx2 Tx2 L Dx3 Tx3 Dx4 Tx4 V sense R sense IES01179 Figure 13 Voltage and Current at Chopper Transistor Turn-ON Turn-OFF iR N iD VS + VFu VS + VFu Vsatl t D ON t D OFF t ON tp t OFF t IET01210 Figure 14 Data Sheet 23 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Application Hints The TCA 3727 is intended to drive both phases of a stepper motor. Special care has been taken to provide high efficiency, robustness and to minimize external components. Power Supply The TCA 3727 will work with supply voltages ranging from 5 V to 50 V at pin VS. As the circuit operates with chopper regulation of the current, interference generation problems can arise in some applications. Therefore the power supply should be decoupled by a 0.22 F ceramic capacitor located near the package. Unstabilized supplies may even afford higher capacities. Current Sensing The current in the windings of the stepper motor is sensed by the voltage drop across R1 and R2. Depending on the selected current internal comparators will turn off the sink transistor as soon as the voltage drop reaches certain thresholds (typical 0 V, 0.25 V, 0.5 V and 0.75 V); (R1, R2 = 1 ). These thresholds are neither affected by variations of VL nor by variations of VS. Due to chopper control fast current rises (up to 10 A/s) will occur at the sensing resistors R1 and R2. To prevent malfunction of the current sensing mechanism R1 and R2 should be pure ohmic. The resistors should be wired to GND as directly as possible. Capacitive loads such as long cables (with high wire to wire capacity) to the motor should be avoided for the same reason. Synchronizing Several Choppers In some applications synchronous chopping of several stepper motor drivers may be desirable to reduce acoustic interference. This can be done by forcing the oscillator of the TCA 3727 by a pulse generator overdriving the oscillator loading currents (approximately 100 A). In these applications low level should be between 0 V and 1 V while high level should be between 2.6 V and VL. Optimizing Noise Immunity Unused inputs should always be wired to proper voltage levels in order to obtain highest possible noise immunity. To prevent crossconduction of the output stages the TCA 3727 uses a special break before make timing of the power transistors. This timing circuit can be triggered by short glitches (some hundred nanoseconds) at the Phase inputs causing the output stage to become high resistive during some microseconds. This will lead to a fast current decay during that time. To achieve maximum current accuracy such glitches at the Phase inputs should be avoided by proper control signals. Data Sheet 24 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Thermal Shut Down To protect the circuit against thermal destruction, thermal shut down has been implemented. To provide a warning in critical applications, the current of the sensing element is wired to input Inhibit. Before thermal shut down occurs Inhibit will start to pull down by some hundred microamperes. This current can be sensed to build a temperature prealarm. Data Sheet 25 http://store.iiic.cc/ Rev. 2.0, 2004-10-01 TCA 3727 Package Outlines GPD05587 Figure 15 P-DIP-20-6 (Plastic Dual In-line Package) You can find all of our packages, sorts of packing and others in our Infineon Internet Page "Products": http://www.infineon.com/products. Data Sheet 26 http://store.iiic.cc/ Dimensions in mm Rev. 2.0, 2004-10-01 1.27 +0.0 9 7.6 -0.2 1) 8 MAX. 0.35 x 45 0.23 2.65 MAX. 2.45 -0.2 0.2 -0.1 TCA 3727 0.4 +0.8 0.1 0.35 +0.15 2) 0.2 24x 24 1 10.3 0.3 13 15.6 -0.4 1) 12 Index Marking 1) 2) Does not include plastic or metal protrusion of 0.15 max. per side Lead width can be 0.61 max. in dambar area GPS05144 Figure 16 P-DSO-24-3 (Plastic Dual Small Outline Package) You can find all of our packages, sorts of packing and others in our Infineon Internet Page "Products": http://www.infineon.com/products. Data Sheet 27 http://store.iiic.cc/ Dimensions in mm Rev. 2.0, 2004-10-01 TCA 3727 Revision History: 2004-10-01 Previous Version: 1.0, 1998-12-16 Page Rev. 2.0 Subjects (major changes since last revision) Template: ap_a5_vr_tmplt.fm / 2 / 2004-09-15 http://store.iiic.cc/ Edition 2004-10-01 Published by Infineon Technologies AG, St.-Martin-Strasse 53, 81669 Munchen, Germany (c) Infineon Technologies AG 2004. All Rights Reserved. Attention please! The information herein is given to describe certain components and shall not be considered as a guarantee of characteristics. Terms of delivery and rights to technical change reserved. We hereby disclaim any and all warranties, including but not limited to warranties of non-infringement, regarding circuits, descriptions and charts stated herein. Information For further information on technology, delivery terms and conditions and prices please contact your nearest Infineon Technologies Office (www.infineon.com). Warnings Due to technical requirements components may contain dangerous substances. For information on the types in question please contact your nearest Infineon Technologies Office. Infineon Technologies Components may only be used in life-support devices or systems with the express written approval of Infineon Technologies, if a failure of such components can reasonably be expected to cause the failure of that life-support device or system, or to affect the safety or effectiveness of that device or system. Life support devices or systems are intended to be implanted in the human body, or to support and/or maintain and sustain and/or protect human life. If they fail, it is reasonable to assume that the health of the user or other persons may be endangered. http://store.iiic.cc/