ALLEGRO SLA7024M, SLA7026M, SMA7029M User Manual

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Data Sheet

SLA7024M, SLA7026M,

28201

OUT

OFF DELAY

REFERENCE

GROUND

OUT

SENSE

CNTRL SPLY

SENSE

OUT

OFF DELAY

GROUND

REFERENCE

OUT

SMA7029M

1

A

2

A

3

A

4

A

5

IN

A

6

A

7

A

8

9

B

10

B

11

B

12

B

13

B

14

IN

B

15

B

AND

SMA7029M

HIGH-CURRENT PWM, UNIPOLAR STEPPER

MOTOR CONTROLLER/DRIVERS

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-

CONTROL/LOGIC

V

REF

+

V

CC

CONTROL/LOGIC

+

V

REF

Dwg. PK-007

vances power multi-chip modules (PMCMs™) toward the complete
integration of motion control. Highly automated manufacturing tech­niques 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 net­works. The RC components limit the OFF interval and control current
decay. Inputs are compatible with 5 V logic and microprocessors.

ABSOLUTE MAXIMUM RATINGS

at TA = +25°C

Load Supply Voltage, VBB. . . . . . . . . . . . 46 V

FET Output Voltage, V
Control Supply Voltage, V
Peak Output Current, I

SLA7024M . . . . . . . . . . . . . . . . . . . . . 3.0 A

SLA7026M . . . . . . . . . . . . . . . . . . . . . 5.0 A

SMA7029M . . . . . . . . . . . . . . . . . . . . 3.0 A

Continuous Output Current, I

SLA7024M . . . . . . . . . . . . . . . . . . . . . 1.5 A

SLA7026M . . . . . . . . . . . . . . . . . . . . . 3.0 A

SMA7029M . . . . . . . . . . . . . . . . . . . . 1.5 A

Input Voltage Range, V
Reference Voltage, V
Package Power Dissipation, P
Junction Temperature, T
Operating Temperature Range,

. . . . . . . . . . . . . . . . . . . . -20°C to +85°C

T

A

Storage Temperature Range,

. . . . . . . . . . . . . . . . . . -40°C to +150°C

T

stg

. . . . . . . . . . . 100 V

DS

. . . . . . . . . . 46 V

CC

(t

≤ 100 µs)

OUTM

IN

REF

w

OUT

. . . . -0.3 V to 7.0 V

. . . . . . . . . . . 2.0 V

. See Graph

D

. . . . . . . . . +150°C

J

BENEFITS AND FEATURES

■ Cost-Effective, Multi-Chip Solution

■ ‘Turn-Key’ Motion-Control Module

■ Motor Operation to 3 A and 46 V

■ 3rd Generation High-Voltage FETs

■ 100 V, Avalanche-Rated NMOS

■ Low r

NMOS Outputs

DS(on)

■ Advanced, Improved Body Diodes

■ Single-Supply Motor/Module

Operation

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

™

■ Half- or Full-Step Unipolar Drive

■ High-Efficiency, High-Speed PWM

■ Dual PWM Current Control (2-Phase)

■ Programmable PWM Current Control

■ Low Component Count PWM Drive

■ Low Internal Power Dissipation

■ Heat Sinking (Normally) Unnecessary

■ Electrically Isolated Power Tab

■ Logic IC- and µP-Compatible Inputs

■ Machine-Insertable Package

SLA7024M, SLA7026M, AND SMA7029M

13

812915101411

853

2

467

1

14

12151011181617

13

765324198

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

SLA7024M and SLA7026M FUNCTIONAL BLOCK DIAGRAM

CONTROL

SUPPLY

V

CC

REG.

+

REFERENCE

DELAY

Note that channels A and B are electrically isolated.

SMA7029M FUNCTIONAL BLOCK DIAGRAM

CONTROL

SUPPLY IN

IN

IN

A/B

A/B

+

CHANNEL A PIN NUMBERS
CHANNEL B PIN NUMBERS

A/B

OUT

OUT

OUT

A/B

A/B

SENSEGROUNDOFF-TIME

Dwg. FK-005

OUT

A/B

A/B

V

CC

REG.

+

REFERENCE

DELAY

+

CHANNEL A PIN NUMBERS
CHANNEL B PIN NUMBERS

SENSEGROUNDOFF-TIME

Dwg. FK-005-1

Note that except for the control supply, channels A and B are electrically isolated.

115 Northeast Cutoff, Box 15036

™

Worcester, Massachusetts 01615-0036 [phone]
Copyright © 1994 Allegro MicroSystems, Inc.

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

ALLOWABLE PACKAGE

POWER DISSIPATION

25

20

PREFIX 'SLA'
R = 5.0°C/W

θJM

15

PREFIX 'SMA'
R = 6.0°C/W

θJM

10

PREFIX 'SLA'

5

R = 28°C/W

θJA

PREFIX 'SMA'
R = 31°C/W

θJA

0

25

ALLOWABLE PACKAGE POWER DISSIPATION in WATTS

50 75 100 125 150

TEMPERATURE in °C

Dwg. GK-018

SLA7024M and SLA7026M

CONTROL/LOGIC

+

A

IN

CC

V

A

A

OUT

CNTRL SPLY

A

SENSE

B

SENSE

B

OUT

REF

V

12345 678910111213 14 15 16 17 18

A

A

OUT

A

OFF DELAY

A

GROUND

REFERENCE

A

IN

CONTROL/LOGIC

+

REF

CC

V

V

B

B

OFF DELAY

CNTRL SPLY

B

B

GROUND

REFERENCE

B

IN

B

IN

Dwg. PK-006

B

OUT

ELECTRICAL CHARACTERISTICS at T

= +25°C

A

Limits

Characteristic Symbol Test Conditions Min Typ Max Units

FET Leakage Current I
FET ON Voltage V

FET ON Resistance

Body Diode V

DSS

DS(ON)

r

DS(on)

SD

Forward Voltage (SLA7026M) I
Control Supply Voltage V
Control Supply Current I
Input Current I

Input Voltage V

NOTE: Negative current is defined as coming out of (sourcing) the specified device pin.

IN(H)

I

IN(L)

IN(H)

V

IN(L)

CC

CC

VDS = 100 V, VCC = 44 V — — 4.0 mA
(SLA7024M & SMA7029M) VCC = 14 V, I
(SLA7026M) V

= 14 V, I

CC

= 3 A — — 850 mV

OUT

(SLA7024M & SMA7029M) VCC = 14 V, I
(SLA7026M) V

= 14 V, I

CC

(SLA7024M & SMA7029M) I

= –3 A — 0.9 1.6 V

OUT

= 3 A — — 285 mΩ

OUT

= –1 A — 0.9 1.5 V

OUT

= 1 A — — 600 mV

OUT

= 1 A — — 600 mΩ

OUT

Operating 10 24 44 V
VCC = 44 V — 10 15 mA
VCC = 44 V, VIN = 2.4 V — — 40 µA
VIN = 0.4 V — — -800 µA

2.0 — — V
— — 0.8 V

SLA7024M, SLA7026M, AND SMA7029M

14

12151018161713

11

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

TYPICAL STEPPER MOTOR APPLICATIONS

(Half of Each Device Shown)

SLA7024M and SLA7026M

V

BB

INBIN

B

V

CC

V +5 V

b

12

R 510 Ω

TO

CHANNEL

2.4 kΩ
R

5

A

REG.

V

REF

+

+

OUT

A

B

OUT

A

B

R 100 Ω

t

d

+5 V

47 kΩ

470 pF

R

C

1

3

(Device Types as Designated)

WAVE DRIVE (FULL STEP)
for SLA7024M and SLA7026M

Sequence 0 1 2 3 0
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 0 1 2 345670
Input A H H L LLLLHH
Input A or tdA*LLLHHHLLL
Input B L H H H LLLLL
Input B or tdB*LLLLLHHHL

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.

C 2200 pF

3

TRUTH TABLES

2-PHASE (FULL STEP) OPERATION
for SLA7024M and SLA7026M

Sequence 0 1 2 3 0
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

SENSE

R

S

≤1 Ω

Dwg. EK-008

115 Northeast Cutoff, Box 15036

™

Worcester, Massachusetts 01615-0036 [phone]

13

8

12

9

10

14

11

15

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

TYPICAL STEPPER MOTOR APPLICATIONS

(Half of Device Shown)

SMA7029M

V

BB

IN

B

V

CC

V +5 V

b

12

R 510 Ω

TO

CHANNEL

A

2.4 kΩ
R

5

REG.

V

REF

+

+

OUT

A

B

OUT

A

B

R 100 Ω

t

d

C

+5 V

OPEN-COLLECTOR

INVERTER

R 47 kΩ

3

1

470 pF C 2200 pF

TRUTH TABLES

(SMA7029M Only)

WAVE DRIVE (FULL STEP) for SMA7029M

Sequence 0 1 2 3 0
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.

SENSE

3

R

S

≤1 Ω

2- PHASE (FULL STEP) OPERATION
for SMA7029M

Sequence 0 1 2 3 0
Input A H H L L H
Input B L H H L L
Outputs ON A B AB A B AB A B

Dwg. EK-008-1

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

APPLICATIONS INFORMATION

REGULATING THE PWM OUTPUT CURRENT

The output current (and motor coil current) waveform is illustrated in
Figure 1. Setting the PWM current trip point requires various external
components:

Vb = Reference supply (typically 5 V)

R1, R2 = Voltage-divider resistors in the reference supply circuit

RS = Current sensing resistor(s)

NOTE: The maximum allowable V

input voltage is 2.0 V.

REF

The voltage-divider must be selected accordingly.

Normal PWM (Full-Current/Running) Mode

I

is set to meet the specified running current for the motor (Figure 2)

OUT

and is determined by:

V

≈

≈

PHASE A

PHASE A

REF

R

S

R

2

R1 + R

0

V

b

•
R

2

S

or, if V

I

OUT

is not known

REF

I

OUT

FIGURE 1. PHASE A COIL CURRENT WAVEFORM

V

b

V

INPUT

CC

V

I

BB

OUT

(1)

(2)

Dwg. WK-001

R

PEAK

CURRENT

DETECTOR

3

C

1

t

d

PWM
OFF-TIME
CONTROL

CONTROL

LOGIC

R

1

R

R

5

2

V

REF

C

3

FIGURE 2. PWM CONTROL (RUN MODE)

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 [phone]

AA

CURRENT
CONTROL

&

RECIRCULATING

CURRENT
CONTROL

SENSE

R

S

B

B

Dwg. EK-009

™

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

For given values of R1, R2, and Vb (V

≈ 0.82 V), Figure 3 illustrates

REF

output current as a function of current-sensing resistance (RS).

3.0

2.5

2.0

1.5

1.0

0.5

OUTPUT TRIP CURRENT in AMPERES

SLA7026M MAX.

R1 = 510 Ω
R

2

= 100 Ω

X

= ∞

R
V

b

= 5 V

SLA7024M & SMA7029M MAX.

0

0 1.5 2.5 3.5

0.5 1.0 2.0 3.0 4.0

CURRENT-SENSING RESISTANCE in OHMS

Dwg. GK-014

FIGURE 3. CURRENT-SENSING RESISTANCE

Reduced/Holding Current Mode

Additional circuitry (Figure 4) enables reducing motor current. The
external transistor changes the voltage-divider ratio, V
output current. I

is determined by resistors R2 and RX in parallel:

HOLD

, and reduces the

REF

I

HOLD

or

I

HOLD

where R

R2 R

≈

X

R1 R2 + R1 RX + R2 R

R

’

2

≈

R1 + R

2

’

= the equivalent value of R2 and RX in parallel.

2

HOLD

•

’ R

V

b

S

R

X

V

b

•
R

X

S

V

b

R

1

R

5

R

C

2

V

REF

3

FIGURE 4. HOLD CURRENT MODE

SENSE

R

S

(3)

(4)

Dwg. EK-010

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

For given values of R1, R2, and Vb (V

≈ 0.82 V), Figures 5A and 5B

REF

illustrate output holding current as a function of RX for two values of current­sensing resistance (RS).

1.0

RS = 0.8 Ω

0.8

0.6

0.4

0.2

OUTPUT TRIP CURRENT in AMPERES

0

0 300 500

100 200 400 600

HOLDING-CURRENT RESISTANCE in OHMS

R1 = 510 Ω
R2 = 100 Ω
Vb = 5 V

RS = 1.0 Ω

Dwg. GK-015

FIGURE 5A. HOLD-CURRENT RESISTANCE

(SLA7024M and SMA7029M)

3.0

R1 = 510 Ω

2.5

2.0

1.5

1.0

OUTPUT TRIP CURRENT in AMPERES

0.5

0

0 300 500 700

R

2

= 100 Ω

V

b

= 5 V

100 200 400 600 800

HOLDING-CURRENT RESISTANCE in OHMS

RS = 0.33 Ω

RS = 0.47 Ω

Dwg. GK-015-1

FIGURE 5B. HOLD-CURRENT RESISTANCE (SLA7026M)

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.

The MOSFET outputs create ringing noise with PWM, but the RC filter
precludes malfunctions. The comparator operation is affected by R5 and C
and, thus, current overshoot is influenced by component values. Empirical
adjustment to “fine-tune” the current limit is likely.

3

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 [phone]

™

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

DETERMINING THE MOTOR PWM FREQUENCY

The modules function asynchronously, with PWM OFF time fixed by R
and C1 at input td. The OFF time can be calculated as:

t

≈ -R3 • C1 • logn (1 - 2 ) (5)

OFF

Recommended circuit constants and t

Vb = 5 V
R3 = 47 kΩ
C1 = 470 pF

t

= 12 µs

OFF

50

3

V

b

are:

OFF

40

RS = 1 Ω
L/R = 1 to 3 ms

30

20

ON TIME in µs

10

0

0 6 10 14

24 8 12

MOTOR RESISTANCE in OHMS

VCC = 24 V

VCC = 36 V

20

25

30
35

40

CHOPPING FREQUENCY in kHz

Dwg. GK-016

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 (I
(b) FET body diode power dissipation (VSD • I

OUT

2

• r

DS(on)

OUT

or I

), and

OUT

• V

DS(ON)

),

(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 (I
Half-Step = 0.75 (I
2-Phase = (I

OUT

2

• r

OUT

2

• r

OUT

2

• r

DS(on)

) + (VSD • I

) + 0.5 (VSD • I

DS(on)

) + 0.75 (VSD • I

DS(on)

OUT

) + (V

OUT

OUT

• 15 mA)

CC

) + (V

) + (V

• 15 mA)

CC

• 15 mA)

CC

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

PACKAGE RATINGS/DERATING FACTORS

Thermal ratings/deratings for the multi-chip module packages vary
slightly. Normally, the SLA7024M and SMA7029M do not need heat
sinking when operated within maximum specified output current (≤1.0 A
with 2-phase drive) unless the design ambient temperature also ex­ceeds +60°C. Thermal calculations must also consider the temperature
effects on the output FET ON resistance. The applicable thermal
ratings for the PMCM packages are:

SLA7024M and SLA7026M 18-Lead Power-Tab SIP

R

= 28°C/W (no heat sink) or 4.5 W at +25°C and a derating

ΘJA

factor of -36 mW/°C for operation above +25°C. R

SMA7029M 15-Lead SIP

R

= 31°C/W (no heat sink) or 4.0 W at +25°C and a derating

ΘJA

factor of -32 mW/°C for operation above +25°C. R

= 5°C/W.

ΘJC

= 6°C/W.

ΘJC

TEMPERATURE EFFECTS ON FET r

DS(on)

Analyzing safe, reliable operation includes a concern for the
relationship of NMOS ON resistance to junction temperature. Device
package power calculations must include the increase in ON resistance
(producing higher output ON voltages) caused by higher operating
junction temperatures. Figure 8 provides a normalized ON resistance
curve, and all thermal calculations should consider increases from the
given +25°C limits, which may be caused by internal heating during
normal operation.

2.5

2.0

1.5

1.0

0.5

NORMALIZED FET ON RESISTANCE

0

-40 +80 +160

0

+40 +120

JUNCTION TEMPERATURE in °C

FIGURE 8. NORMALIZED ON RESISTANCE

vs TEMPERATURE

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 [phone]

Dwg. GK-017

™

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

SLA7024M and SLA7026M

Dimensions in Inches

(for reference only)

1.22

±0.008

0.126

±0.006

ø

0.630

±0.008

118

0.026

0.961

0.646

±0.008

1.232

+0.008
–0.004

±0.008

±0.008

0.126

0.390

0.022

0.066

±0.016

±0.006

0.189

±0.008

±0.008

0.512

±0.008

0.264

±0.020

+0.008
–0.004

x 0.150

0.067

±0.004

0.096

±0.008

0.118

0.157

±0.028

3.2

±0.15

Dwg. MK-002-18 in

Dimensions in Millimeters

(controlling dimensions)

3.2

±0.15

0.55

±0.2

13

x 3.8

6.7

±0.5

+0.2
–0.1

4.0

±0.7

4.8

±0.2

1.7

±0.1

2.45

±0.2

3.0

Dwg. MK-002-18 mm

31

±0.2

24.4

16.4

±0.2

±0.2

±0.2

ø

±0.2

16

9.9

118

31.3

±0.2

+0.2

0.65

–0.1

1.68

±0.4

NOTES: 1. Exact body and lead configuration at vendor’s option within limits shown.

2. Recommended mounting hardware torque: 4.34 – 5.79 lbf•ft (6 – 8 kgf•cm or 0.588 – 0.784 Nm).

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).

SLA7024M, SLA7026M, AND SMA7029M

HIGH-CURRENT PWM,
UNIPOLAR STEPPER MOTOR
CONTROLLER/DRIVERS

SMA7029M

Dimensions in Inches

(for reference only)

1.24

MAX.

1.22

±0.008

0.402

±0.008

115

+0.008

0.026

–0.004

0.335

0.080

±0.004

MAX.

0.022

30°

0.157

±0.008

0.264

±0.020

+0.008
–0.004

0.157

±0.028

0.098

±0.008

0.057

±0.006

0.118

Dimensions in Millimeters

(controlling dimensions)

31.5 MAX.
31±0.2

±0.2

10.2

115

+0.2

0.65

–0.1

NOTE: Exact body and lead configuration at vendor’s option within limits shown.

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.

2.03

±0.1

8.5

MAX.

0.55

30°

4.0

±0.2

6.7

±0.5

+0.2
–0.1

4.0

±0.7

Dwg. MK-005-15 mm

Dwg. MK-005-15 in

2.5

±0.2

1.45

±0.15

3.0

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 [phone]

™