Datasheet 3962 Datasheet (ALLEGRO)

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3962

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

3962

Data Sheet

29319.27

DUAL FULL-BRIDGE PWM MOTOR DRIVER

Designed for pulse-width modulated (PWM) current control of

bipolar stepper motors, the A3962SLB is capable of continuous output

1

OUT

1B

1

OUT

LOAD

REF(IN)

RC

2

1

3

1A

4

5

6

7

9

8

1

9

1

10

1

V

BB

θ

1

PWM 1

SENSE

SUPPLY

GROUND

GROUND

V

PHASE

ENABLE

ABSOLUTE MAXIMUM RATINGS

Load Supply Voltage, VBB. . . . . . . . . 30 V

Output Current, I
Logic Supply Voltage, V
Logic Input Voltage Range,

V

. . . . . . . . . . . -0.3 V to VCC + 0.3 V

IN

Sense Voltage, V
Reference Output Current,

I

. . . . . . . . . . . . . . . . . . . 1.0 mA

REF OUT

Package Power Dissipation,

P

. . . . . . . . . . . . . . . . . . . . See Graph

D

Operating Temperature Range,

T

. . . . . . . . . . . . . . . . -20˚C to +85˚C

A

Junction Temperature, T
Storage Temperature Range,

DISCONTINUED PRODUCT

T

. . . . . . . . . . . . . . . -55˚C to +150˚C

S

* Output current rating may be limited by duty

cycle, ambient temperature, and heat sinking.
Under any set of conditions, do not exceed the
specified current rating or a junction tempera
ture of 150˚C.

† Fault conditions that produce excessive junction

temperature will activate the device’s thermal
shutdown circuitry. These conditions can be
tolerated but should be avoided.

. . . . . . . . . . ±800 mA*

OUT

CC

. . . . . . . . . . . . 1.0 V

SENSE

J

FOR REFERENCE ONLY

20

OUT

2B

2

19

SENSE

2

18

OUT

2A

LOGIC

17

V

CC

SUPPLY

16

GROUND

15

GROUND

14

V

REF(OUT)

13

RC

12

11

2

PHASE

ENABLE

Dwg. PP-047-1

2

PWM 2

θ

2

. . . . . . . . . 7.0 V

. . . . . . . +150˚C†

currents to ±800 mA and operating voltages to 30 V. Internal fixed
off-time PWM current-control circuitry can be used to regulate the
maximum load current to a desired value. An internal precision voltage
reference is provided to improve motor peak-current control accuracy.
The peak load current limit is set by the user’s selection of an external
resistor divider and current-sensing resistors.

The fixed off-time pulse duration is set by user-selected external
RC timing networks. The capacitor in the RC timing network also
determines a user-selectable blanking window that prevents false
triggering of the PWM current control circuitry during switching transi­tions. This eliminates the need for two external RC filter networks on
the current-sensing comparator inputs.

2

For each bridge the PHASE input controls load current polarity by
selecting the appropriate source and sink driver pair. For each bridge
the ENABLE input, when held high, disables the output drivers. Spe­cial power-up sequencing is not required. Internal circuit protection
includes thermal shutdown with hysteresis, transient-suppression
diodes, and crossover-current protection.

The A3962SLB is supplied in a 20-lead plastic SOIC with copper
heat sink tabs. The power tab is at ground potential and needs no
electrical isolation.

FEATURES

■ ±800 mA Continuous Output Current Rating

■ 30 V Output Voltage Rating

■ Internal PWM Current Control, Saturated Sink Drivers

■ Internally Generated Precision 2.5 V Reference

■ Internal Transient-Suppression Diodes

■ Internal Thermal-Shutdown Circuitry

■ Crossover-Current Protection, UVLO Protection

■ Automotive Capable

— See A3964SLB

Always order by complete part number: A3962SLB .

3962

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

2.5

R = 6°C/W

2.0

1.5

R = 60°C/W

1.0

0.5

0

25

ALLOWABLE PACKAGE POWER DISSIPATION in WATTS

θJA

50 75 100 125 150

TEMPERATURE in °C

θJT

FUNCTIONAL BLOCK DIAGRAM AND TYPICAL

BIPOLAR STEPPER MOTOR APPLICATION

MOTOR SUPPLY

C

BB

Dwg. GP-019-1

V

BB

ENABLE PHASE OUT

H X Off Off
LHHL
LLLH

X = Irrelevant

V

CC

C

TRUTH TABLE

LOGIC SUPPLY

CC

OUT

A

B

1A

OUT

OUT

1B

ENABLE 1

PHASE 1

CONTROL LOGIC
AND LEVEL SHIFT

BLANKING

TIME AND

SOURCE

DRIVER T

CONTROL

RC

1

R

T1

OFF

SENSE

C

T1

OUT

2A

OUT

2B

ENABLE 2

CONTROL LOGIC
AND LEVEL SHIFT

UVLO

AND

+

_

TSD

VOLTAGE

REFERENCE

BLANKING

+

_

TIME AND

SOURCE

DRIVER T

OFF

PHASE 2

CONTROL

1

GND

R

S1

REF

OUT

R

1

REF

R

IN

2

SENSE

RC

S2

2

T2

RC

2

R

T2

115 Northeast Cutoff, Box 15036
Worcester, Massachusetts 01615-0036 [phone]
Copyright © 1995 Allegro MicroSystems, Inc.

3962

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

ELECTRICAL CHARACTERISTICS at T

= +25°C, V

A

= 30 V, VCC = 4.75 V to 5.25 V, V

BB

SENSE

V, 30 kΩ & 1000 pF RC to Ground (unless noted otherwise)

Limits

Characteristic Symbol Test Conditions Min. Typ. Max. Units

Output Drivers

Load Supply Voltage Range V
Output Sustaining Voltage V
Output Leakage Current I

Output Saturation Voltage V

Clamp Diode Forward Voltage V

BB

CE(sus)

CEX

CE(SAT)

F

(Sink or Source) IF = 750 mA — 1.3 1.6 V

Operating, I
I

= ±800 mA, L = 3 mH — — 30 +V

OUT

V

= V

OUT

V

= 0 V — <1.0 -50 µA

OUT

Source Driver, I
Source Driver, I
Source Driver, I
Sink Driver, I
Sink Driver, I
Sink Driver, I

= ±800 mA, L = 3 mH 5.0 — 30 V

OUT

BB

= -500 mA — 1.0 1.2 V

OUT

= -750 mA — 1.1 1.5 V

OUT

= -800 mA — — 1.7 V

OUT

= +500 mA — 0.3 0.6 V

OUT

= +750 mA — 0.5 1.2 V

OUT

= +800 mA — — 1.5 V

OUT

— <1.0 50 µA

F

IF = 500 mA — 1.1 1.4 V

= 0

V

Motor Supply Current I
(No Load) I

Control Logic

Logic Supply Voltage Range V
Logic Input Voltage V

Logic Input Current I

BB(ON)

BB(OFF)

CC

IN(1)

V

IN(0)

IN(1)

I

IN(0)

IF = 800 mA — — 1.7 V
V
V

= 0.8 V — 5.0 7.0 mA

ENABLE

= 2.4 V — 5.0 7.0 mA

ENABLE

Operating 4.75 — 5.25 V

2.4 — — V
— — 0.8 V

V

= 2.4 V — <1.0 20 µA

IN

V

= 0.8 V — <-2.0 -200 µA

IN

Continued next page…

3962

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

ELECTRICAL CHARACTERISTICS at T
V, 30 k

Ω & 1000 pF RC to Ground (unless noted otherwise) (cont.)

= +25°C, V

A

= 30 V, VCC = 4.75 V to 5.25 V, V

BB

SENSE

Limits

Characteristic Symbol Test Conditions Min. Typ. Max. Units

Control Logic (Continued)

Reference Output Voltage V
Reference Output Current I

REF OUT

REF OUT

Ref. Input Offset Current I
Comparator Input Offset Volt. V
Comparator Input Volt. Range V
PWM RC Fixed Off-time t

OFF RC

PWM Propagation Delay Time t
PWM Minimum On Time t

ON (min)

Propagation Delay Times t

OS

IO

REF

PWM

pd

V

= 5.0 V, I

CC

3 kΩ ≤ RD = R1 + R
V
V

= 1 V -2.5 0 1.0 µA

REF IN

= 0 V -6.0 0 6.0 mV

REF

= 90 to 900 µA 2.45 2.50 2.55 V

REF OUT

≤ 15 kΩ 150 — 900 µA

2

Operating -0.3 — 1.0 V
CT = 1000 pF, RT = 30 kΩ 27 30 33 µs
Comparator Trip to Source OFF — 1.2 2.0 µs
CT = 1000 pF ± 5%, RT ≥ 15 kΩ, VCC = 5 V — 2.5 3.6 µs
I

= ±800 mA, 50% to 90%:

OUT

ENABLE ON to Source ON — 3.2 — µs

= 0

ENABLE OFF to Source OFF — 1.2 — µs
ENABLE ON to Sink ON — 3.2 — µs
ENABLE OFF to Sink OFF — 0.7 — µs
PHASE Change to Sink ON — 3.2 — µs
PHASE Change to Source ON — 3.2 — µs
PHASE Change to Sink OFF — 0.7 — µs

PHASE Change to Source OFF — 1.2 — µs
Thermal Shutdown Temp. T
Thermal Shutdown Hysteresis ∆T

J

J

— 165 — °C
—15—°C

UVLO Disable Threshold 2.5 2.7 2.9 V

UVLO Hysteresis 0.7 0.9 1.1 V
Logic Supply Current I

Logic Supply Current ∆I

CC(ON)

I

CC(OFF)

CC(ON)

V

ENABLE1

V

ENABLE1

V

ENABLE 1 = VENABLE 2

= V
= V

ENABLE2

ENABLE2

= 0.8 V — 60 85 mA
= 2.4 V — 11 17 mA

= 0.8 V — 0.18 — mA/°C

Temperature Coefficient

NOTES: 1. Typical Data is for design information only.

2. Negative current is defined as coming out of (sourcing) the specified device terminal.

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

3962

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

FUNCTIONAL DESCRIPTION

Internal PWM Current Control. The A3962SLB contains
a fixed off-time pulse-width modulated (PWM) current­control circuit that can be used to limit the load current to
a desired value. The peak value of the current limiting
(I

) is set by the selection of an external current-sensing

TRIP

resistor (RS) and reference input voltage (V
internal circuitry compares the voltage across the external
sense resistor to the voltage on the reference input
terminal (V

) resulting in a transconductance function

REF IN

approximated by:

V

I

TRIP

≈

REF IN

R

S

The reference input voltage is typically set with a

resistor divider from V

REF OUT

. To ensure proper operation
of the voltage reference, the resistor divider (RD = R1+R2)
should have an impedance of 3 kΩ to 15 kΩ. Within this
range, a low impedance will minimize the effect of the REF
IN input offset current.

The current-control circuitry limits the load current
as follows: when the load current reaches I
comparator resets a latch that turns off the selected source
driver. The load inductance causes the current to recircu­late through the sink driver and flyback diode.

For each bridge, the user selects an external resistor
(RT) and capacitor (CT) to determine the time period
(t

= RTCT) during which the source driver remains

OFF

disabled (see “RC Fixed Off-time” below). The range of
recommended values for CT and RT are 1000 pF to
1500 pF and 15 kΩ to 100 kΩ respectively. For optimal
load current regulation, CT is normally set to 1000 pF
(see “Load Current Regulation” below). At the end of the
RC interval, the source driver is enabled allowing the load
current to increase again. The PWM cycle repeats,
maintaining the peak load current at the desired value.

RC Blanking. In addition to determining the fixed off-time
of the PWM control circuit, the CT component sets the
comparator blanking time. This function blanks the output
of the comparator when the outputs are switched by the

REF IN

TRIP

). The

, the

internal current-control circuitry (or by the PHASE or
ENABLE inputs). The comparator output is blanked to
prevent false over-current detections due to reverse­recovery currents of the clamp diodes, and/or switching
transients related to distributed capacitance in the load.

During internal PWM operation, at the end of the t

OFF

time, the comparator’s output is blanked and CT begins to
be charged from approximately 1.1 volts by an internal
current source of approximately 1 mA. The comparator
output remains blanked until the voltage on CT reaches
approximately 3.0 volts.

When a transition of the PHASE input occurs, C

T

is discharged to near ground during the crossover delay
time (the crossover delay time is present to prevent
simultaneous conduction of the source and sink drivers).
After the crossover delay, CT is charged by an internal
current source of approximately 1 mA. The comparator
output remains blanked until the voltage on CT reaches
approximately 3.0 volts.

When the device is disabled, via the ENABLE input,
CT is discharged to near ground. When the device is
re-enabled, CT is charged by an internal current source of
approximately 1 mA. The comparator output remains
blanked until the voltage on CT reaches approximately

3.0 volts.

The minimum recommended value for CT is
1000 pF. This value ensures that the blanking time is

sufficient to avoid false trips of the comparator under
normal operating conditions. For optimal regulation of the
load current, the above value for CT is recommended and
the value of RT can be sized to determine t

. For more

OFF

information regarding load current regulation, see below.
Load Current Regulation. Because the device operates

in a slow decay mode (2-quadrant PWM mode), there is
a limit to the lowest level that the PWM current control
circuitry can regulate load current. The limitation is due
to the minimum PWM duty cycle, which is a function of the
user-selected value of t
t

max that occurs each time the PWM latch is reset.

ON(min)

and the minimum on-time pulse

OFF

If the motor is not rotating, as in the case of a stepper
motor in hold/detent mode, a brush dc motor when stalled
or at startup, the worst case value of current regulation can
be approximated by:

I

AVG

≈

[(VBB - V

SAT(SOURCE+SINK)

1.05 (t

) t

ON(min)

ON(min)

max] – (1.05 (V

max + t

OFF

) R

LOAD

SAT(SINK)

+ VF) t

OFF

)

3962

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

where t
load, VBB is the motor supply voltage and t

= RTCT, R

OFF

is the series resistance of the

LOAD

ON(min)

max is
specified in the electrical characteristics table. When the
motor is rotating, the back EMF generated will influence
the above relationship. For brush dc motor applications,
the current regulation is improved. For stepper motor
applications when the motor is rotating, the effect is
dependent on the polarity and magnitude of the motor’s
back EMF.

The following procedure can be used to evaluate the
worst case internal PWM load current regulation in the
system:

Set V

to 0 volts. With the load connected and the

REF

PWM current control operating in slow decay mode, use
an oscilloscope to measure the time the output is low
(sink ON) for the output that is chopping. This is the
typical minimum on time (t

typ) for the device. The

ON(min)

CT then should be increased until the measured value of
t

ON(min)

is equal to t

max as specified in the electrical

ON(min)

characteristics table. When the new value of CT has been
set, the value of RT should be decreased so the value for
t

= RTCT (with the artificially increased value of CT)

OFF

is equal to the nominal design value. The worst-case load­current regulation then can be measured in the system
under operating conditions.

PWM of the Phase and Enable Inputs. The PHASE and
ENABLE inputs can be pulse width modulated to regulate
load current. Typical propagation delays from the PHASE
and ENABLE inputs to transitions of the power outputs are
specified in the electrical characteristics table. If the
internal PWM current control is used, the comparator
blanking function is active during phase and enable
transitions. This eliminates false tripping of the over­current comparator caused by switching transients
(see “RC Blanking” above).

Enable PWM. Toggling the ENABLE input turns ON and
OFF the selected source and sink drivers. The corre­sponding pair of flyback and ground clamp diodes conduct
after the drivers are disabled, resulting in fast current
decay. When the device is enabled the internal current
control circuitry will be active and can be used to limit the
load current in a slow decay mode.

dc servo motor applications as the transfer function
between the duty cycle on the PHASE input and the
average voltage applied to the motor is more linear than in
the case of ENABLE PWM control (which produces a
discontinuous current at low current levels).

Miscellaneous Information. An internally generated dead
time prevents crossover currents that can occur when
switching phase.

Thermal protection circuitry turns OFF all drivers
should the junction temperature reach 165°C (typical).
This is intended only to protect the device from failures
due to excessive junction temperatures and should not
imply that output short circuits are permitted. The hyster­esis of the thermal shutdown circuit is approximately 15°C.

APPLICATION NOTES

Current Sensing. The actual peak load current (I
be above the calculated value of I

due to delays in the

TRIP

turn off of the drivers. The amount of overshoot can be
approximated by:

(VBB – [(I

TRIP

• R

LOAD

) + V

BEMF

]) t

PWM

IOS ≈

L

LOAD

where VBB is the motor supply voltage, V
EMF voltage of the load, R

LOAD

and L

LOAD

is the back-

BEMF

are the resis­tance and inductance of the load respectively, and t
specified in the electrical characteristics table.

To minimize current sensing inaccuracies caused by
ground trace IR drops, each current-sensing resistor
should have a separate return to the ground terminal of the
device. For low-value sense resistors, the IR drops in the
PCB can be significant and should be taken into account.
The use of sockets should be avoided as their contact
resistance can cause variations in the effective value of
RS.

Generally, larger values of RS reduce the aforemen­tioned effects but can result in excessive heating and
power loss in the sense resistor. The selected value of R
should not cause the absolute maximum voltage rating of

1.0 V, for the SENSE terminal, to be exceeded. The
recommended value of RS is in the range of:

PEAK

PWM

) will

is

S

Phase PWM. Toggling the PHASE terminal selects which
sink/source pair is enabled, producing a load current that
varies with the duty cycle and remains continuous at all
times. This can have added benefits in bidirectional brush

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

RS ≈

I

TRIP

0.5
± 50%

max

3962

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

If desired, the reference input voltage can be filtered
by placing a capacitor from REFIN to ground. The ground
return for this capacitor as well as R2 should be indepen­dent from the high-current power-ground trace to avoid
changes in REFIN due to I•R drops.

Thermal Considerations. For reliable operation it is
recommended that the maximum junction temperature be
kept below 110 to 125°C. The junction temperature can
be measured best by attaching a thermocouple to the
power tab/batwing of the device and measuring the tab
temperature, T
approximated by using the formula:

. The junction temperature can then be

TAB

TJ ≈ T

TAB

+ (I

LOAD

2 VF R

θJT

)

where VF can be chosen from the electrical specification
table for the given level of I

. The value for R

LOAD

θJT

is
given in the package thermal resistance table for the
appropriate package.

The power dissipation of the batwing packages can
be improved by 20 to 30% by adding a section of printed
circuit board copper (typically 6 to 18 square centimeters)
connected to the batwing terminals of the device.

The thermal performance in applications that run
at high load currents and/or high duty cycles can be
improved by adding external diodes from each output to
ground in parallel with the internal diodes. Fast recovery
(≤200 ns) diodes should be used to minimize switching
losses.

The load supply terminal, VBB, should be decoupled
with an electrolytic capacitor (≥47 µF is recommended)
placed as close to the device as is physically practical.
To minimize the effect of system ground I•R drops on the
logic and reference input signals the system ground should
have a low-resistance return to the motor supply voltage.

See also “Current Sensing” and “Thermal Consider­ations” above.

Fixed Off-Time Selection. With increasing values of t
switching losses will decrease, low-level load current
regulation will improve, EMI will be reduced, the PWM
frequency will decrease, and ripple current will increase.
The value of t

can be chosen for optimization of these

OFF

parameters. For applications where audible noise is a
concern, typical values of t

are chosen to be in the

OFF

range of 15 to 35 ms.

OFF

,

3962

D

DUAL FULL-BRIDGE
PWM MOTOR DRIVER

Dimensions in Inches

(for reference only)

0.2992

0.2914

0.020

0.013

0.0926

0.1043

20 11

1 2

3

0.5118

0.4961

MIN.

0.0040

Dimensions in Millimeters

(controlling dimensions)

20

11

0.050

BSC

NOTE 1
NOTE 3

0.419

0.394

0° TO 8°

0.0125

0.0091

0.050

0.016

wg. MA-008-21A in

0.32

0.23

7.60

7.40

0.51

0.33

2.65

2.35

1

0.10

2

MIN.

3

13.00

12.60

1.27

BSC

NOTES: 1. Webbed lead frame. Leads 5, 6, 15, and 16 are internally one piece.

2. Lead spacing tolerance is non-cumulative.

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

NOTE 1
NOTE 3

10.65

10.00

1.27

0.40

0° TO 8°

Allegro MicroSystems, Inc. reserves 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 its products.

The information included herein is believed to be accurate and
reliable. However, Allegro MicroSystems, Inc. assumes no
responsibility for its use; nor for any infringements of patents or
other rights of third parties which may result from its use.

Dwg. MA-008-21A mm

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