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september 2008 rev 4 1/16 1 l6219r stepper motor driver features able to drive both windings of bipolar stepper motor output current up to 500 ma each winding wide voltage range 4.5 v to 10 v half-step, full-step and microstepping mode built-in protection diodes internal pwm current control low output saturation voltage designed for unstabilized motor supply voltage internal thermal shutdown description the l6219r is a bipolar monolithic integrated circuits intended to control and drive both winding of a bipolar stepper motor or bidirectionally control two dc motors.the l6219r with a few external components form a complete control and drive circuit for ls-ttl or microprocessor controlled stepper motor system.the power stage is a dual full bridge capable of sustaining 10 v and including four diodes for current recirculation. a cross conduction protection is provided to avoid simultaneous cross conduction during switching current direction. an internal pulse-width-modulation (pwm) controls the output current to 500ma with peak start-up current up to 1 a. wide range of current control from 500 ma (each bridge) is permitted by means of two logic inputs and an external voltage reference. a phase input to each bridge determines the load current direction. a thermal protection circuitry disables the outputs if the chip temperature exceeds safe operating limits. table 1. device summary so-24 (20+2+2) part number package packing l6219r so-24 tube l6219r013tr so-24 tape & reel e-l6219r (1) so-24 tube E-L6219R013TR (1) so-24 tape & reel 1. lead free package (ecopack?) see chapter 5 . www.st.com
table of contents l6219r 2/16 table of contents 1 block diagram and pins descripti on . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 2 electrical specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.1 absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 3 functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.1 input logic (i0 and i1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.2 phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.3 current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 3.4 single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.5 output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 3.6 vs, vss, vref . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 4 application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 4.1 electrical characteristics curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 5 package informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 6 revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
l6219r list of tables 3/16 list of tables table 1. device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 table 2. pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 table 3. absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 table 4. thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 table 5. electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 table 6. input logic current level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 table 7. document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
list of figures l6219r 4/16 list of figures figure 1. block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 figure 2. pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5 figure 3. windings of a bipolar stepper motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 figure 4. principle operating sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 figure 5. typical application circuit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 figure 6. maximum output current vs. supply voltage (dac=100%) . . . . . . . . . . . . . . . . . . . . . . . . . 13 figure 7. maximum reference voltages vs. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 figure 8. maximum output current vs. reference voltage (dac=100%) . . . . . . . . . . . . . . . . . . . . . . 13 figure 9. so-24 mechanical data and package dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
l6219r block diagram and pins description 5/16 1 block diagram and pins description figure 1. block diagram figure 2. pin connection (top view)
block diagram and pins description l6219r 6/16 note: esd on gnd, vs, vss, out 1 a and out 2 a is guaranteed up to 1.5 kv (human body model, 1500 w, 100 pf). table 2. pin description pin # name description 1,2 output a see pins 5,21 3,23 sense resistor connection to lower emitters of out put stage for insertion of current sense resistor 4,22 comparator input input connected to the comparator s. the voltage across the sense resistor is feedback to this input th rought the low pass filter rc cc. the higher power transistors are disabled when the sense voltage exceeds the reference voltage of the selected comparator. when this occurs the current decays for a time set by rt ct (toff = 1.1 rt ct). see figure 4 5,21 output b output connection. the output stage is a h bridge formed by four transistors and four diodes suitable for switching applications 6,19 ground see pins 7,18 7,18 ground ground connection. with pins 6 and 19 also conducts heat from die to printed circuit copper 8,20 input 0 see input 1 (pins 9,17) 9,17 input 1 these pins and pins 8,20 (input 0) are logic inputs which select the outputs of the comparator s to set the current level. current also depends on the sensing resistor and referenc e voltage. see funcional description 10,16 phase this ttl-compatible logic inputs sets the direction of current flow through the load. a high level causes current to flow from output a (source) to output b (sink). a schmitt trigger on this input provides good noise immunity and a delay circuit prevents output stage short circuits during switching 11,15 reference voltage a voltage applied to this pin sets the reference voltage of the comparators, this determining the out put current (also thus depending on rs and the two inputs input 0 and input 1) 12,14 rc a parallel rc network connected to th is pin sets the off time of the higher power transistors. the pulse generator is a monostable triggered by the output of the comparators (toff = 1.1 rt ct) 13 vss - logic supply supply voltage input for logic circuitry 24 vs - load supply supply voltage input for the output stages
l6219r electrical specifications 7/16 2 electrical specifications 2.1 absolute maximum ratings 2.2 thermal data table 3. absolute maximum ratings symbol parameter value unit v s supply voltage 30 v i o output current (peak) 1 a i o output current (continuous) 0.5 a v ss logic supply voltage 7 v v in logic input voltage range -0.3 to v ss v v sense sense output voltage 1.5 v t j junction temperature +150 c t op operating temperature range -20 to +85 c t stg storage temperature range -55 to +150 c table 4. thermal data symbol description value unit r thj-case r thj-amb thermal resistance junction-case max. thermal resistance j unction-ambient max. 18 75 (1) 1. with minimized copper area. c/w c/w
electrical specifications l6219r 8/16 2.3 electrical characteristics . table 5. electrical characteristics (t j = 25 c, v s = 4.5 v, v ss = 4.75 v to 5.25 v, v ref = 2 v, unless otherwise specified) see figure 5 . symbol parameter test condition min. typ. max. unit output drivers (out a or out b ) v s motor supply range 4.5 10 v i cex output leakage current v s = 30 v, v out = v s , v s = 30 v, v out = 0 - -50 <1 <-1 50 a a v ce(sat) output saturation voltage sink driver, i out = +300 ma sink driver, i out = +500 ma source driver, i out = -300 ma source driver, i out = -500 ma - - - - 0.3 0.7 1.1 1.3 0.6 1 1.4 1.6 v v v v v f clamp diode forward voltage sink diode source diode i f = 500 ma 1 1 1.5 1.5 v v i s(on) driver supply current both bridges on, no load v s = 10 v -815ma i s(off) driver supply current both bridges off, v s = 10 v - 6 10 ma control logic v in(h) input voltage all inputs 2.4 - - v v in(l) input voltage all inputs - - 0.8 v i in(h) input current v in = 2.4 v - <1 20 a i in(l) input current v in = 0.84 v - -3 -200 a v ref reference voltage operating (1) (2) 1.5 - 2 v i ss(on) total logic supply current i o = i 1 = 0.8 v, no load - 44 60 ma i ss(off) total logic supply current i o = i 1 = 2.4 v, no load - 10 14 ma comparators v ref / v sense current limit threshold (at trip point) i o = i 1 = 0.8 v 9.5 10 10.5 - i o = 2.4 v, i 1 = 0.8 v 13.5 15 16.5 - i o = 0.8 v, i 1 = 2.4 v 25.5 30 34.5 - t off cutoff time r t = 56 k c t = 820 pf - 50 s t d turn off delay see figure 1 -1 s protection t j thermal shutdown temperature - 170 - c 1. the maximum reference voltage accepted by the device depends from t he supply voltage vs (see figure 7 ). 2. to reduce the switching losses the base bi as of the bridge's low side npn transisto r is proportional to the dac output, then the output current driving capability is al so proportional to the dac output voltage (see figure 6 and figure 8 for dac=100%, it is proportional for lower percentages).
l6219r electrical specifications 9/16 figure 3. windings of a bipolar stepper motor
functional description l6219r 10/16 3 functional description the circuit is intended to drive both windings of a bipolar stepper motor. the peak current control is generated through switch mode regulation.there is a choice of three different current levels with the two logic inputs i 01 - i 11 for winding 1 and i 02 - i 12 for winding 2. the current can also be switched off completely 3.1 input logic (i 0 and i 1 ) the current level in the motor winding is selected with these inputs. (see figure 4 ) if any of the logic inputs is left open, the circuit will treat it has a high level input. 3.2 phase this input determines the direction of current flow in the windings, depending on the motor connections. the signal is fed through a schmidt-trigger for noise immunity, and through a time delay in order to guarantee that no short-circuit occurs in the output stage during phase-shift. high level on the phase input causes the motor current flow from out a through the winding to out b 3.3 current sensor this part contains a current sensing resistor (r s ), a low pass filter (r c , c c ) and three comparators. only one comparator is active at a time. it is activated by the input logic according to the current level chosen with signals i o and i 1 . the motor current flows through the sensing resistor rs. when the current has increased so that the voltage across r s becomes higher than the reference voltage on the other comparator input, the comparator goes high, which triggers the pulse generator. the max peak current imax can be defined by: see figures figure 3 , 4 and 5 for maximum allowable output current and reference voltage versus v s supply. table 6. input logic current level i 0 i 1 current level h h no current l h low current 1/3 i o max h l medium current 2/3 i o max l l maximum current i o max i max v ref 10r s ------------- - =
l6219r functional description 11/16 3.4 single-pulse generator the pulse generator is a monostable triggered on the positive going edge of the comparator output. the monostable output is high during the pulse time, toff , which is determined by the time components r t and c t . t off = 1.1 r t c t the single pulse switches off the power feed to the motor winding, causing the winding current to decrease during toff. if a new trigger signal should occur during toff, it is ignored. 3.5 output stage the output stage contains four darlington transistors (source drivers) four saturated transistors (sink drivers) and eight diodes, connected in two h bridge. figure 4. principle operating sequence the source transistors are used to switch the power supplied to the motor winding, thus driving a constant current through the winding. it should be noted however, that is not permitted to short circuit the outputs. internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels. 3.6 v s , v ss , v ref the circuit will stand any order of turn -on or turn-off the supply voltages v s and v ss . normal dv/dt values are then assumed. preferably, v ref should be tracking v ss during power-on and power-off if v s is established.
application informations l6219r 12/16 4 application informations some stepper motors are not designed for contin-uous operation at maximum current. as the circuit drives a constant current through the motor, its temperature might increase exceedingly both at low and high speed operation. also, some stepper motors have such high core losses that they are not suited for switch mode current regulation. unused inputs should be connected to proper volt age levels in order to get the highest noise immunity. as the circuit operates with switch mode current regulation, interference generation problems might arise in some applications. a good measure might then be to decouple the circuit with a 100 nf capacitor, located near the package between power line and ground. the ground lead between rs, and circuit gnd should be kept as short as possible. a typical application circuit is shown in figure 5 . note that ct must be npo type or similar else. to sense the winding current, paralleled metal film resistors are recommended (r s ) figure 5. typical application circuit.
l6219r application informations 13/16 4.1 electrical characteristics curves figure 6. maximum output current vs. supply voltage (dac=100%) figure 7. maximum reference voltages vs. supply voltage figure 8. maximum output current vs. reference voltage (dac=100%) 0 100 200 300 400 500 600 024681012 vs (v) output current (ma) vss=5v vss=4.5v 0 1 2 3 4 5 6 7 8 024681012 vs (v) vref1,2 (v) 0 100 200 300 400 500 600 012345678 vref (v) output current (ma) vss=5v vss=4.5v
package informations l6219r 14/16 5 package informations in order to meet environmental requirements, st offers these devices in ecopack? packages. these packages have a lead-free second level interconnect. the category of second level interconnect is marked on the package and on the inner box label, in compliance with jedec standard jesd97. the maximum ratings related to soldering conditions are also marked on the inner box label. ecopack is an st trademark. ecopack specifications are available at: www.st.com. figure 9. so-24 mechanical data and package dimensions outline and mechanical data dim. mm inch min. typ. max. min. typ. max. a 2.35 2.65 0.093 0.104 a1 0.10 0.30 0.004 0.012 b 0.33 0.51 0.013 0.200 c 0.23 0.32 0.009 0.013 d (1) 15.20 15.60 0.598 0.614 e 7.40 7.60 0.291 0.299 e 1.27 0.050 h 10.0 10.65 0.394 0.419 h 0.25 0.75 0.010 0.030 l 0.40 1.27 0.016 0.050 k 0? (min.), 8? (max.) ddd 0.10 0.004 (1) ?d? dimension does not include mold flash, protusions or gate burrs. mold flash, protusions or gate burrs shall not exceed 0.15mm per side. so24 0070769 c weight: 0.60gr
l6219r revision history 15/16 6 revision history table 7. document revision history date revision changes 09-jan-2003 1 first issue 06-may-2005 2 modified table 2 on page 6 . 22-jun-2006 3 changed look anf fill. changed value of the output current (continuous) in ta b l e 3 . changed the curve diagrams of the figure 6 and 7 . 05-sep-2008 4 added note 1 and 2 in table 5 on page 8 .
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