ALLEGRO SLA7075M, SLA7076M, SLA7077M, SLA7078M DATA SHEET

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Motor

Drivers

SLA7075M, 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 pin­compatibile, 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 Sheet

28210.05

ABSOLUTE MAXIMUM RATINGS

AT TA = 25°C

Load (Motor) Supply Voltage, V
Main Power Supply Voltage, V
Logic Supply Voltage, V
Output Current, I

SLA7075M ................................. 1.0 A

SLA7076M ................................. 1.5 A

SLA7077M ................................. 2.0 A

SLA7078M ................................. 3.0 A

Logic Input Voltage, V

.............................. –0.3 to VDD+0.3 V

REF Input Voltage, V

............................................

Sense Voltage, V

tw < 1 μs is not considered..........±2 V

Power Dissipation, P

Without heat sink ......................4.7 W

Junction Temperature, T

Ambient Temperature, TA.......–20 to 85°C

Storage Temperature, T

OUT

DD ...........................

IN

REF

–0.3 to VDD+0.3 V

SInt

D

J.......................

...–30 to 150°C

stg

M .........

BB..........

46 V
46 V

7 V

150°C

FEATURES AND BENEFITS

Features

 Power supply voltages, V

 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, R

 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

: 46 V(max.), 10 to 44 V normal operating range

BB

SInt

Sanken Power Devices

from Allegro MicroSystems

SLA7075M, SLA7076M,
SLA7077M, and SLA7078M
Motor 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 op­tions are available in high-volume production quantities. For
information on product availability, and assistance with deter­mining the IC features that are the best fit for your application,
please contact our sales office or representative.

Part Number Protection

SLA7075MR R

SLA7075MPR Protection Circuitry and R

SLA7076MR R

SLA7076MPR Protection Circuitry and R

SLA7077MR R

SLA7077MPR Protection Circuitry and R

SLA7078MR R

SLA7078MPR Protection Circuitry and R

SInt

SInt

SInt

SInt

SInt

SInt

SInt

SInt

Output Current, I

NOTE
The following abbreviations are used throughout this
document to refer to product variants:
PR – Product with both Protection Circuitry and
built-in R
R – Product with the built-in R

OUT

(A)

1

1.5

2

3

Sequencer

Microstep 1.7 Positive

options

SInt

Blanking Time

(μs)

SInt

option

Motor

Drivers

Clock Edge

115 Northeast Cutoff, Box 15036

2

Worcester, Massachusetts 01615-0036
Copyright © 2005 Allegro MicroSystems, Inc.

SLA7075M, SLA7076M,

Motor

Drivers

SLA7077M, and SLA7078M

FUNCTIONAL BLOCK DIAGRAM AND PIN ASSIGNMENTS

Ref/Sleep1

Reset

OutA

OutA

OutA

OutA

1234

MIC

5

RSInt RSInt

VDD

1314 1516

Pre-

Driver

Protect Protect

DAC

+

Comp

-

OSC

PWM

Control

Flag

Mo

M1M2M3

6789 10 11

18

Sequencer

&

Sleep Circuit

Synchro

Control

F/R

Clock

PWM

Control

DAC

VBB

Reg.

Pre-

Driver

Comp

OSC

+

-

OutB

20 21 22 23

Motor Driver ICs

OutB

OutB

OutB

19

SenseBSenseA

12

17

GndSync

For R products, protection circuits not built-in. FLAG pin is not connected internally.

Pin No. Symbol Functions Pin No. Symbol Functions

1

2 14 VDD Power supply to logic

3

4 16 F / R Forward / reverse switch input

5 SenseA Phase A current sensing 17 Sync Synchronous PWM control switch input

6Mo

7M1

8M2 20

9M3 21

10 Clock Step clock input 22

12 GND Ground

*Flag pin active on PR products only; not internally connected for R products.

OutA Output of phase A

OutA Output of phase A¯

Output from monitor of 2-phase excitation
status

Commutation and Sleep2 setting

13 Ref / Sleep1 Input for control current and Sleep1 setting

15 Reset Reset for internal logic

18 Flag* Output from protection circuits monitor

19 SenseB Phase B current sensing

OutB Output of phase B¯

23

OutB Output of phase B11 VBB Main power supply (for motor)

www.allegromicro.com

3

SLA7075M, SLA7076M,
SLA7077M, and SLA7078M
Motor Driver ICs

Motor

Drivers

ELECTRICAL CHARACTERISTICS, valid at TA = 25°C, VBB = 24 V, VDD = 5 V, applicable to both PR and R products, unless
otherwise specified

Characteristics Symbol Test Conditions Min. Typ. Max. Units

I

Normal mode – – 15 mA

V

V

BB

I

BBS

DD

DSS

clk

V

V

I

I

IH

REF

REFS

REF

SInt

SE

t

con

t

coff

Sleep1 and Sleep2 modes – – 100 μA

––5mA

VBB = 44 V, IDS = 1 mA – – – V

Clock Duty Cycle = 50% 250 – – kHz

IL

IH

IL

See pages 6 and 7 – – – V

Output OFF, Sleep1 mode, I
sequencer = enable

V

= 0.1 V to 0.5 V, Step reference current

REF

ratio: 100%

V

= 2.0 V → 1.5 V 100 – – μs

REF

Clock → Output ON – 2.0 – μs

Clock → Output OFF – 1.5 – μs

in specification,

BBS

– – 0.25 × V

0.75 × V

V

DD

–±1–μA

–±1–μA

2.0 – V

– ±10 – μA

– 0.03 V

REF

––V

REF

V

REF

DD

DD

+ 0.03 V

Main Power Supply Current

Logic Power Current I

MOSFET Breakdown Voltage V

Maximum Response Frequency f

Logic Supply Voltage

Logic Supply Current

REF Input Voltage

REF Input Current I

SENSE Voltage V

Sleep-Enable Recovery Time t

Switching Time

V

V

115 Northeast Cutoff, Box 15036

4

Worcester, Massachusetts 01615-0036

SLA7075M, SLA7076M,

Motor

Drivers

SLA7077M, and SLA7078M

Motor Driver ICs

STEPPING CHARACTERISTICS, applicable to both PR and R products; representative values from SLA7070M series shown
Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified

Characteristics Symbol Test Conditions Min. Typ. Max. Units

Step Reference Current Ratio

Mo (Load) Output Voltage

Mo (Load) Output Current

PWM Minimum On-Time t

PWM Off-Time

Mode F

Mode E – 98.1 – %

Mode D – 95.7 – %

Mode C – 92.4 – %

Mode B – 88.2 – %

Mode A – 83.1 – %

Mode 9 – 77.3 – %

Mode 8 – 70.7 – %

Mode 7 – 63.4 – %

Mode 6 – 55.5 – %

Mode 5 – 47.1 – %

Mode 4 – 38.2 – %

Mode 3 – 29 – %

Mode 2 – 19.5 – %

Mode 1 – 9.8 – %

V

V

I

I

on(min)

V

≈ V

REF

MOLIMOL

MOHIMOH

MOL

MOH

t

Mode 8 to Mode F – 12 – μs

off1

t

Mode 4 to Mode 7 – 9 – μs

off2

t

Mode 1 to Mode 3 – 7 – μs

off3

= 100 %, V

SInt

= 1.25 mA – – 1.25 V

= –1.25 mA V

= 0.1 to 0.5 V

REF

– 100 – %

– 1.25 – – V

DD

– – 1.25 mA

–1.25 – – mA

– 1.7 – μs

www.allegromicro.com

5

SLA7075M, SLA7076M,
SLA7077M, and SLA7078M
Motor 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 Symbol Test Conditions Min. Typ. Max. Units

I

= 1.0 A (SLA7075M)

OUT

Output On Resistance R

Body Diode Forward Voltage V

I

= 1.5 A (SLA7076M)

OUT

Output On Resistance R

Body Diode Forward Voltage V

I

= 2.0 A (SLA7077M)

OUT

Output On Resistance R

Body Diode Forward Voltage V

I

= 3.0 A (SLA7078M)

OUT

Output On Resistance R

Body Diode Forward Voltage V

DS(ON)IDS

DS(ON)IDS

DS(ON)IDS

DS(ON)IDS

f

f

f

f

= 1 A – 0.7 0.85 Ω

If = 1 A – 0.85 1.1 V

= 1.5 A – 0.45 0.6 Ω

If = 1.5 A – 1.0 1.25 V

= 2 A – 0.25 0.4 Ω

If = 2 A – 0.95 1.2 V

= 3 A – 0.18 0.24 Ω

If = 3 A – 0.95 2.1 V

Motor

Drivers

BUILT-IN SENSE RESISTOR CHARACTERISTICS for PR and R products
Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified

Characteristics Symbol Test Conditions Min. Typ. Max. Units

I

= 1.0 A (SLA7075MPR and SLA7075MR)

OUT

Sense Resistor Rating* R

REF Input Voltage V

I

= 1.5 A (SLA7076MPR and SLA7076MR)

OUT

Sense Resistor Rating* R

REF Input Voltage V

I

= 2.0 A (SLA7077MPR and SLA7077MR)

OUT

Sense Resistor Rating* R

REF Input Voltage V

I

= 3.0 A (SLA7078MPR and SLA7078MR)

OUT

Sense Resistor Rating* R

REF Input Voltage V

*R

includes approximately 5 mΩ circuit resistance in addition to the resistance of the resistor itself.

SInt

Tolerance: ±3 % 0.296 0.305 0.314 Ω

SInt

Within specified current limit 0.1 – 0.3 V

REF

Tolerance: ±3 % 0.296 0.305 0.314 Ω

SInt

Within specified current limit 0.1 – 0.45 V

REF

Tolerance: ±3 % 0.199 0.205 0.211 Ω

SInt

Within specified current limit 0.1 – 0.4 V

REF

Tolerance: ±3 % 0.150 0.155 0.160 Ω

SInt

Within specified current limit 0.1 – 0.45 V

REF

115 Northeast Cutoff, Box 15036

6

Worcester, Massachusetts 01615-0036

SLA7075M, SLA7076M,

ǰj-a =

26.6 /W

Motor

Drivers

SLA7077M, and SLA7078M

Motor Driver ICs

PROTECTION CIRCUIT CHARACTERISTICS*
Valid at TA = 25°C, VBB = 24 V, VDD = 5 V, unless otherwise specified

Characteristics Symbol Test Conditions Min. Typ. Max. Units

PR products

Overcurrent Sense Voltage V

FLAG Output Voltage V

V

FLAG Output Current I

I

*Protection circuits work on the condition of V

Motor coils shorted 0.65 0.7 0.75 V

OCP

FlagLIFLAGL

FlagHIFLAGH

FlagL

FlagH

= 1.25 mA – – 1.25 V

= –1.25 mA V

≥ V

OCP

.

SInt

– 1.25 – – V

DD

– – 1.25 mA

–1.25 – – mA

RECOMMENDED OPERATING RANGES, applicable to both PR and R products, unless otherwise specified

Characteristics Symbol Remarks Min Max Units

Load (Motor) Supply Voltage V

Main Power Supply Voltage V

Logic Supply Voltage V

Case Temperature T

M

BB

Surge voltage at VDD pin should be less
than ±0.5 V to avoid malfunctioning in

DD

operation

Measured at pin 12, without heat sink – 90 °C

C

–44V

10 44 V

3.0 5.5 V

www.allegromicro.com

ALLOWABLE POWER DISSIPATION

PR and R Products

5

4

(W)

D

3

2

1

Allowable Power Dissipation, P

0

0 102030405060708090

Ambient Temperature, TA(°C)

7

SLA7075M, SLA7076M,
SLA7077M, and SLA7078M
Motor 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 inappropri­ate motor wiring.

Each pair of outputs is controlled by a fixed off-time (7 to

12 μs, depending on stepping mode) PWM current-control cir­cuit that limits the load current to a desired value, I

. Initially,

TRIP

tt

Expanded Time Scale

Motor

Drivers

an 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, V

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 V

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).

, PWM turns off.

TRIP

TRIP

, the

I

TRIP

5 μs/Div.

Figure 1. Operating waveforms on the SENSEx pins during PWM chopping

A

0

A

Blanking Time

Figure 2. SENSEx pins pattern during PWM control

PWM Pulse Width

t

ON

t

OFF

(Fixed)

I

TRIP

500

Out

0

Out

115 Northeast Cutoff, Box 15036

8

Worcester, Massachusetts 01615-0036

SLA7075M, SLA7076M,

Motor

Drivers

PWM 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 func­tion dissolves back EMF stored in the motor coil at MOSFET
turn-on, as well as at PWM turn-on (synchronous rectification
operation).

SLA7060M Series SLA7070M Series

V

BB

I

on

I

off

SLA7077M, and SLA7078M

Motor Driver ICs

Figure 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 MOS­FETs 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.

V

BB

I

on

I

off

FET Gate

Signal

V

Stepper Motor Stepper Motor

V

g

V

S

+V

PWM On PWM Off PWM On

V

g

0 0

V

g

V

REF

S

0

RSExt

V

g

FET Gate

t t

V

S

t

Signal

V

g

V

S

+V

PWM On PWM Off PWM On

V

g

V

g

V

REF

0

Dead

Time

RSInt

V

g

Back EMF at Dead Time

Dead
Time

t

www.allegromicro.com

Figure 3. Synchronous rectification operation. During Dead Time,
the Back EMF flows through the body diode of the MOSFET

9

SLA7075M, SLA7076M,
SLA7077M, and SLA7078M
Motor 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) Circuit

This protection circuit, embedded in the SLA7070M series,
begins to operate when the device detects an increase in the volt­age level on the sense resistor, V

The voltage at which motor coil short-circuit protection
starts its operation, V

, is set at approximately 0.7 V. The out-

OCP

SInt

.

Motor

Drivers

put is disabled at the time the protection circuit starts.

In order for the motor coil short-circuit protection circuit to

operate, V

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.

must be greater than V

SInt

OCP .

V

Coil Short Circuit

V

g

V

S

M

RSInt

Stepper Motor

V

V

+V

OCP

REF

V

S

0

Coil Short Circuit

Normal Operation Output Disable

Figure 4. Motor coil short circuit protect circuit operation. Overcurrent that flows with­out passing the sense resistor is undetectable. To recover the circuit after protection oper­ates, VDD must be cycled and started up again.

t

10

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036

SLA7075M, SLA7076M,

Motor

Drivers

φ3.2 ±0.15

SLA7077M, and SLA7078M

PACKAGE OUTLINE DRAWING, SLA-23 PIN

31 ±0.2

24.4 ±0.2

16.4 ±0.2

Gate Flash

φ3.2 ±0.15 x 3.8

12.9 ±0.2

9.9 ±0.2

16 ±0.2

(Fin)

Motor Driver ICs

4.8 ±0.2

1.7 ±0.1

2.45 ±0.2

(Base

5 ±0.5

Measurement)

(Tip Measurement)

31.3 ±0.2

(Includes Mold Flash)

123

410

1156789

1213141516171819202122

23

0.6

4-(R1)

R-end

+0.15

-0.05

(4.5)

(Tip

+0.15

0.5

-0.05

4.5 ±0.7

Measurement)

Leadframe plating Pb-free. Device composition
includes high-temperature solder (Pb >85%),
which is exempted from the RoHS directive.

9.5 ±0.5

www.allegromicro.com

11

SLA7075M, SLA7076M,
SLA7077M, and SLA7078M
Motor Driver ICs

PACKING SPECIFICATIONS

Plug at each end of tube

8

31

130

3 Layers

580
18 Devices

Motor

Drivers

18 Devices per tube

20 Tubes

3 Layers

1080 Devices per carton

185

20 Tubes

610

Dimensions in mm

12

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036

SLA7075M, SLA7076M,
SLA7077M, and SLA7078M
Motor Driver ICs

Motor

Drivers

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 i fi ca tions.

The use of Sanken products without the written consent of Sanken in applications where ex treme ly high reliability is required (aerospace equip­ment, 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.

13

1234

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036