Datasheet A3968SLB, A3968SA Datasheet (Allegro)

3968

Data Sheet

29319.29

ADVANCE INFORMATION

(subject to change without notice)

September 3, 1999

A3968SLB

OUT

INPUT

INPUT

GROUND

SENSE

OUT

SUPPLY

REFERENCE

1

1A

V

2

1A

3

1B

4

5

1

6

1B

LOAD

710

89

REF

BB

LOGICLOGIC

V

BB

ABSOLUTE MAXIMUM RATINGS

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

Output Current, I

(continuous) .............................. ±650 mA

Logic Supply Voltage, VCC................. 7.0 V

Input Voltage, Vin..... -0.3 V to VCC + 0.3 V

Sense Voltage, VS................................ 1.0 V

Package Power Dissipation

A3968SA ................................... 2.08 W*

A3968SLB ................................. 1.87 W*

Operating Temperature Range,

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

Junction Temperature,

TJ................................................. +150°C

Storage Temperature Range,

TS................................. -55°C to +150°C

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 temperature
of 150°C.

* Per SEMI G42-88 Specification, Thermal Test

Board Standardization for Measuring Junction­to-Ambient Thermal Resistance of Semiconductor
Packages.

(peak) .......... ±750 mA

OUT

16

15

14

13

12

11

V

CC

RC

Dwg. PP-066

(TA = 25°C)

OUT

INPUT

INPUT

GROUND

SENSE

OUT

LOGIC
SUPPLY

RCV

, P

DUAL FULL-BRIDGE PWM

MOTOR DRIVER WITH BRAKE

The A3968SA and A3968SLB are designed to bidirectionally control two

dc motors. Each device includes two H-bridges capable of continuous output
currents of ±650 mA and operating voltages to 30 V. Motor winding current
can be controlled by the internal fixed-frequency, pulse-width modulated

2A

2A

2B

2

2B

D

(PWM), current-control circuitry. The peak load current limit is set by the
user’s selection of a reference voltage and current-sensing resistors. Except
for package style and pinout, the two devices are identical.

The fixed-frequency pulse duration is set by a user-selected external
RC timing network. 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.

To reduce on-chip power dissipation, the H-bridge power outputs have
been optimized for low saturation voltages. The sink drivers feature Allegro’s
patented Satlington™ output structure. The Satlington outputs combine the
low voltage drop of a saturated transistor and the high peak current capability
of a Darlington.

For each bridge, the INPUT

and INPUTB terminals determine the load

A

current polarity by enabling the appropriate source and sink driver pair.
When a logic low is applied to both INPUTs of a bridge, the braking function
is enabled. In brake mode, both source drivers are turned OFF and both sink
drivers are turned ON, thereby dynamically braking the motor. When a logic
high is applied to both INPUTs of a bridge, all output drivers are disabled.
Special power-up sequencing is not required. Internal circuit protection
includes thermal shutdown with hysteresis, ground-clamp and flyback diodes,
and crossover-current protection.

The A3968SA is supplied in a 16-pin dual in-line plastic package. The
A3968SLB is supplied in a 16-lead plastic SOIC with copper heat sink tabs.
The power tab is at ground potential and needs no electrical isolation.

FEATURES

■ ±650 mA Continuous Output Current

■ 30 V Output Voltage Rating

■ Internal Fixed-Frequency PWM Current Control

■ Satlington™ Sink Drivers

■ Brake Mode

■ User-Selectable Blanking Window

■ Internal Ground-Clamp & Flyback Diodes

■ Internal Thermal-Shutdown Circuitry

■ Crossover-Current Protection and UVLO Protection

Always order by complete part number:

Part Number Package R

θJA

A3968SA 16-pin DIP 60°C/W 38°C/W —

A3968SLB 16-lead batwing SOIC 67°C/W — 6°C/W

R

θJC

R

θJT

3968

DUAL FULL-BRIDGE
PWM MOTOR DRIVER
WITH BRAKE

FUNCTIONAL BLOCK DIAGRAM

(one-half of circuit shown)

INPUT

UVLO
& TSD

INPUT

GROUND

A

LOGIC

SUPPLY

V

A

CC

OUT

V

BB

B

OUT

LOAD

SUPPLY

+

CONTROL LOGIC

B

R

T

SOURCE

ENABLE

RC

PWM LATCH

Q

C

T

OSC

BLANKING

GATE

R

S

CURRENT-SENSE

COMPARATOR

TO OTHER
BRIDGE

TO OTHER
BRIDGE

SENSE

+
–

TO OTHER
BRIDGE

÷4

REFERENCE

R

S

Dwg. FP-036-4

SENSE

OUT

LOAD

SUPPLY

REFERENCE

RC

LOGIC

SUPPLY

OUT

SENSE

A3968SA

TRUTH TABLE

INPUT

1

1

2

1B

3

V

4

REF

RC

5

V

6

CC

7

2B

8

2

V

LOGIC

BB

LOGIC

16

15

14

13

12

11

10

9

Dwg. PP-066-3

INPUT

OUT

1B

1A

1A

INPUTAINPUT

OUT

B

LLLLBrake mode
L H L H “Forward”
H L H L “Reverse”
H H Z Z Disable

GROUND

GROUND

OUT

2A

INPUT

2A

INPUT

2B

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

Copyright © 1998, Allegro MicroSystems, Inc.

Z = High impedance

OUT

A

B

Description

3968

DUAL FULL-BRIDGE

PWM MOTOR DRIVER

WITH BRAKE

ELECTRICAL CHARACTERISTICS at T
V

= 0 V, 56 kΩ & 680 pF RC to Ground (unless noted otherwise)

S

= +25°C, V

A

= 30 V, VCC = 4.75 V to 5.5 V, V

BB

REF

= 2 V,

Limits

Characteristic Symbol Test Conditions Min. Typ. Max. Units

Output Drivers

Load Supply Voltage Range V

Output Leakage Current I

Output Saturation Voltage V

CE(SAT)

Clamp Diode Forward Voltage V

Motor Supply Current I
(No Load)

BB(ON)

I

BB(OFF)

BB

CEX

F

Operating, I

V

= 30 V — <1.0 50 µA

OUT

V

= 0 V — <-1.0 -50 µA

OUT

Source Driver, I

Source Driver, I

Sink Driver, I

Sink Driver, I

= ±650 mA, L = 3 mH V

OUT

= -400 mA — 1.7 2.0 V

OUT

= -650 mA — 1.8 2.1 V

OUT

= +400 mA, VS = 0.5 V — 0.3 0.5 V

OUT

= +650 mA, VS = 0.5 V — 0.4 1.3 V

OUT

CC

—30 V

IF = 400 mA — 1.1 1.4 V

IF = 650 mA — 1.4 1.6 V

Both bridges ON (forward or reverse) — 3.0 5.0 mA

All INPUTs = 2.4 V — <1.0 200 µA

Control Logic

Logic Supply Voltage Range V

Logic Input Voltage V

V

Logic Input Current I

Reference Input Volt. Range V

Reference Input Current I

Reference Divider Ratio V

REF/VTRIP

Current-Sense Comparator V

IN(1)

I

IN(0)

REF

CC

IN(1)

IN(0)

REF

IO

Operating 4.75 — 5.50 V

V

IN

V

IN

Operating 0.1 – 2.0 V

V

REF

Input Offset Voltage

Current-Sense Comparator V

S

Operating -0.3 — 1.0 V

Input Voltage Range

Sense-Current Offset I

SO

IS – I

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

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

2.4 — — V

— — 0.8 V

= 2.4 V — <1.0 20 µA
= 0.8 V — <-20 -200 µA

-2.5 0 1.0 µA

3.8 4.0 4.2 —

= 0.1 V -6.0 0 6.0 mV

, 50 mA ≤ I

OUT

≤ 650 mA 12 18 24 mA

OUT

3968

DUAL FULL-BRIDGE
PWM MOTOR DRIVER
WITH BRAKE

ELECTRICAL CHARACTERISTICS at T
V

= 0 V, 56 kΩ & 680 pF RC to Ground (unless noted otherwise) (cont.)

S

= +25°C, V

A

= 30 V, VCC = 4.75 V to 5.5 V, V

BB

REF

= 2 V,

Limits

Characteristic Symbol Test Conditions Min. Typ. Max. Units

Control Logic (continued)

PWM RC Frequency f

PWM Propagation Delay Time t

Cross-Over Dead Time t

Propagation Delay Times t

Thermal Shutdown Temp. T

Thermal Shutdown Hysteresis ∆T

UVLO Enable Threshold V

UVLO Hysteresis V

Logic Supply Current I

osc

PWM

codt

T(UVLO)+

T(UVLO)hys

CC(ON)

I

CC(OFF)

I

CC(BRAKE)

pd

J

J

CT = 680 pF, R

Comparator Trip to Source OFF — 1.0 1.4 µs
Cycle Reset to Source ON — 0.8 1.2 µs
1 kΩ Load to 25 V 0.2 1.8 3.0 µs

I

= ±650 mA, 50% to 90%:

OUT

Disable OFF to Source ON — 100 — ns
Disable ON to Source OFF — 500 — ns
Disable OFF to Sink ON — 200 — ns
Disable ON to Sink OFF — 200 — ns
Brake Enable to Sink ON — 2200 — ns
Brake Enable to Source OFF — 200 — ns

Increasing V

Both bridges ON (forward or reverse) — — 50 mA

All INPUTs = 2.4 V — — 9.0 mA

All INPUTs = 0.8 V — — 95 mA

= 56 kΩ 22.9 25.4 27.9 kHz

T

— 165 — °C
—15—°C

CC

— 4.1 4.6 V

0.1 0.6 — V

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]

FUNCTIONAL DESCRIPTION

3968

DUAL FULL-BRIDGE

PWM MOTOR DRIVER

WITH BRAKE

Internal PWM Current Control. The A3968SA and
A3968SLB dual H-bridges are designed to bidirectionally
control two dc motors. An internal fixed-frequency PWM
current-control circuit controls the load current in each
motor. The current-control circuitry works as follows:
when the outputs of the H-bridge are turned on, current
increases in the motor winding. The load current is sensed
by the current-control comparator via an external sense
resistor (R

). Load current continues to increase until it

S

reaches the predetermined value, set by the selection of
external current-sensing resistors and reference input
voltage (V

where I

) according to the equation:

REF

= I

I

TRIP

is the sense-current error (typically 18 mA) due

SO

+ ISO = V

OUT

REF

/(4 RS)

to the base-drive current of the sink driver transistor.

At the trip point, the comparator resets the source­enable latch, turning off the source driver of that H-bridge.
The source turn off of one H-bridge is independent of the
other H-bridge. Load inductance causes the current to
recirculate through the sink driver and ground-clamp
diode. The current decreases until the internal clock
oscillator sets the source-enable latches of both H-bridges,
turning on the source drivers of both bridges. Load current
increases again, and the cycle is repeated.

The frequency of the internal clock oscillator is set by

INPUT

A

the external timing components RTCT. The frequency can
be approximately calculated as:

= 1/(RT CT + t

f

osc

where t

is defined below.

blank

The range of recommended values for R

blank

)

and CT are

T

20 kΩ to 100 kΩ and 470 pF to 1000 pF respectively.
Nominal values of 56 kΩ and 680 pF result in a clock
frequency of 25.4 kHz.

Current-Sense Comparator Blanking. When the
source driver is turned on, a current spike occurs due to
the reverse-recovery currents of the clamp diodes and
switching transients related to distributed capacitance in
the load. To prevent this current spike from erroneously
resetting the source enable latch, the current-control
comparator output is blanked for a short period of time
when the source driver is turned on. The blanking time is
set by the timing component C

according to the equa-

T

tion:

t

= 1900 CT (µs).

blank

A nominal C

value of 680 pF will give a blanking

T

time of 1.3 µs.

The current-control comparator is also blanked when
the load current changes polarity (direction or phase
change). This internally generated blank time is approxi­mately 1.8 µs.

INPUT

I

OUTB

B

"FORWARD" "REVERSE"

BRIDGE

+
0

–

ON

BRIDGE

INTERNAL

OSCILLATOR

ON

ALL

OFF

SOURCE

I

TRIP

OFF

t

d

R C

T T

t

blank

Dwg. WM-003-3

V

BB

BRIDGE ON

SOURCE OFF

ALL OFF

R

S

Dwg. EP-006-16

3968

DUAL FULL-BRIDGE
PWM MOTOR DRIVER
WITH BRAKE

FUNCTIONAL DESCRIPTION (continued)

Load Current Regulation. Due to internal logic and

switching delays (t
slightly higher than the I

), the actual load current peak may be

d

value. These delays, plus the

TRIP

blanking time, limit the minimum value the current control
circuitry can regulate. To produce zero current in a
winding, the INPUTA and INPUTB terminals should be
held high, turning off all output drivers for that H-bridge.

Logic Inputs. The direction of current in the motor
winding is determined by the state of the INPUT

A

and
INPUTB terminals of each bridge (see Truth Table). An
internally generated dead time (t

) of approximately

codt

1.8 µs prevents cross-over current spikes that can occur
when switching the motor direction.

A logic high on both INPUTs turns off all four output
drivers of that H-bridge. This results in a fast current
decay through the internal ground clamp and flyback
diodes.

The appropriate INPUT

or INPUTB can be pulse-

A

width modulated for applications that require a fast cur­rent-decay PWM. The internal current-control logic can be
disabled by connecting the RTCT terminal to ground.

A logic low on the INPUTA and the INPUTB terminals
will place that H-Bridge in the brake mode. Both source
drivers are turned OFF and both sink drivers are turned
ON. This has the effect of shorting the dc motor’s back­EMF voltage, resulting in a current flow that dynamically
brakes the motor.

Note that during braking the internal current-control
circuitry is disabled. Therefore, care should be taken to
ensure that the motor’s current does not exceed the abso­lute maximum rating of the A3968.

The REFERENCE input voltage is typically set with a
resistor divider from V

. This reference voltage is

CC

internally divided down by 4 to set up the current-com­parator trip-voltage threshold. The reference input voltage
range is 0 to 2 V.

Output Drivers. To minimize on-chip power dissipa­tion, the sink drivers incorporate a Satlington™ structure.
The Satlington output combines the low V

CE(sat)

features
of a saturated transistor and the high peak-current capa­bility of a Darlington (connected) transistor. A graph
showing typical output saturation voltages as a function
of output current is on the next page.

Miscellaneous Information. Thermal protection
circuitry turns off all output 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. Normal operation is resumed
when the junction temperature has decreased about 15 °C.

The A3968 current control employs a fixed-fre­quency, variable duty cycle PWM technique. If the duty
cycle exceeds 50%, the current-control-regulation fre­quency may change.

To minimize current-sensing inaccuracies caused by
ground trace I

drops, each current-sensing resistor

R

should have a separate return to the ground terminal of
the device. For low-value sense resistors, the I•R drops
in the printed-wiring board 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.

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

The frequency of the clock oscillator will determine
the amount of ripple current. A lower frequency will
result in higher current ripple, but reduced heating in the
motor and driver IC due to a corresponding decrease in
hysteretic core losses and switching losses respectively.
A higher frequency will reduce ripple current, but will
increase switching losses and EMI.

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

2.5

2.0

3968

DUAL FULL-BRIDGE

PWM MOTOR DRIVER

WITH BRAKE

TA = +25°C

SOURCE DRIVER

Typical output saturation

voltages showing Satlington™

sink-driver operation.

TYPICAL APPLICATION

MOTOR

1

1

INPUT

INPUT

1A

1B

2

3

1.5

1.0

0.5
SINK DRIVER

OUTPUT SATURATION VOLTAGE IN VOLTS

0

200

OUTPUT CURRENT IN MILLIAMPERES

16

V

BB

15

14

INPUT

INPUT

2A

2B

400 700300

500

MOTOR

600

Dwg. GP-064-1

2

+5 V

4

0.5 Ω

5

6

+24 V

39 kΩ

47 µF

10 kΩ

710

V

89

REF

+

Dwg. EP-047-6

LOGICLOGIC

V

BB

13

0.5 Ω

12

11

V

CC

RC

+5 V

680 pF

56 kΩ

3968

DUAL FULL-BRIDGE
PWM MOTOR DRIVER
WITH BRAKE

THIS PAGE INTENTIONALLY LEFT BLANK

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

0.280

0.240

3968

DUAL FULL-BRIDGE

PWM MOTOR DRIVER

WITH BRAKE

A3968SA

Dimensions in Inches

(controlling dimensions)

0.014

16

9

0.008

0.300

BSC

0.430

MAX

0.210

MAX

7.11

6.10

0.015

MIN

1

0.070

0.045

16

0.022

0.014

8

0.775

0.735

0.100

BSC

Dimensions in Millimeters

(for reference only)

0.005

MIN

0.150

0.115

Dwg. MA-001-16A in

0.355

9

0.204

7.62

BSC

10.92

MAX

8

0.13

MIN

3.81

2.93

5.33

MAX

0.39

MIN

1

1.77

1.15

0.558

0.356

19.68

18.67

2.54

BSC

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

2. Lead spacing tolerance is non-cumulative

3. Lead thickness is measured at seating plane or below.

Dwg. MA-001-16A mm

3968

DUAL FULL-BRIDGE
PWM MOTOR DRIVER
WITH BRAKE

16 9

A3968SLB

Dimensions in Inches

(for reference only)

0.0125

0.0091

0.2992

0.2914

0.020

0.013

0.0926

0.1043

7.60

7.40

1 2

0.0040 MIN.

3

0.4133

0.3977

Dimensions in Millimeters

(controlling dimensions)

916

0.050

BSC

0.419

0.394

10.65

10.00

0° TO 8°

0.050

0.016

Dwg. MA-008-16A in

0.32

0.23

0.51

0.33

2.65

2.35

1 2

0.10

MIN.

3

10.50

10.10

1.27

BSC

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

2. Lead spacing tolerance is non-cumulative

3. Webbed lead frame. Leads 4 and 13 are internally one piece.

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

0° TO 8°

1.27

0.40

Dwg. MA-008-16A mm

3968

DUAL FULL-BRIDGE

PWM MOTOR DRIVER

WITH BRAKE

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.

3968

DUAL FULL-BRIDGE
PWM MOTOR DRIVER
WITH BRAKE

MOTOR DRIVERS SELECTION GUIDE

Function Output Ratings* Part Number

INTEGRATED CIRCUITS FOR BRUSHLESS DC MOTORS

3-Phase Power MOSFET Controller — 28 V 3933
3-Phase Power MOSFET Controller — 50 V 3932
3-Phase Power MOSFET Controller — 50 V 7600
2-Phase Hall-Effect Sensor/Driver 400 mA 26 V 3626

Bidirectional 3-Phase Back-EMF Controller/Driver ±600 mA 14 V 8906

2-Phase Hall-Effect Sensor/Driver 900 mA 14 V 3625

3-Phase Back-EMF Controller/Driver ±900 mA 14 V 8902–A
3-Phase Controller/Drivers ±2.0 A 45 V 2936 & 2936-120

INTEGRATED BRIDGE DRIVERS FOR DC AND BIPOLAR STEPPER MOTORS

Dual Full Bridge with Protection & Diagnostics ±500 mA 30 V 3976
PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3966
PWM Current-Controlled Dual Full Bridge ±650 mA 30 V 3968
PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2916
PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 2919
PWM Current-Controlled Dual Full Bridge ±750 mA 45 V 6219
PWM Current-Controlled Dual Full Bridge ±800 mA 33 V 3964
PWM Current-Controlled Full Bridge ±1.3 A 50 V 3953
PWM Current-Controlled Dual Full Bridge ±1.5 A 45 V 2917
PWM Current-Controlled Dual Full Bridge ±1.5 A 45 V 2918
PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3955
PWM Current-Controlled Microstepping Full Bridge ±1.5 A 50 V 3957
PWM Current-Controlled Dual DMOS Full Bridge ±1.5 A 50 V 3972
Dual Full-Bridge Driver ±2.0 A 50 V 2998
PWM Current-Controlled Full Bridge ±2.0 A 50 V 3952
DMOS Full Bridge PWM Driver ±2.0 A 50 V 3958
PWM Current-Controlled Dual DMOS Full Bridge ±2.5 A 50 V 3971

UNIPOLAR STEPPER MOTOR & OTHER DRIVERS

Voice-Coil Motor Driver ±500 mA 6 V 8932–A
Voice-Coil Motor Driver ±800 mA 16 V 8958

Unipolar Stepper-Motor Quad Drivers 1 A 46 V 7024 & 7029
Unipolar Microstepper-Motor Quad Driver 1.2 A 46 V 7042
Unipolar Stepper-Motor Translator/Driver 1.25 A 50 V 5804
Unipolar Stepper-Motor Quad Driver 1.8 A 50 V 2540
Unipolar Stepper-Motor Quad Driver 1.8 A 50 V 2544
Unipolar Stepper-Motor Quad Driver 3 A 46 V 7026

Unipolar Microstepper-Motor Quad Driver 3 A 46 V 7044

* Current is maximum specified test condition, voltage is maximum rating. See specification for sustaining voltage limits

or over-current protection voltage limits. Negative current is defined as coming out of (sourcing) the output.
† Complete part number includes additional characters to indicate operating temperature range and package style.
Also, see 3175, 3177, 3235, and 3275 Hall-effect sensors for use with brushless dc motors.

†

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