Page 1
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.
L6219R
Stepper motor driver
SO-24 (20+2+2)
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
Part number Package Packing
L6219R SO-24 Tube
L6219R013TR SO-24 Tape & reel
E-L6219R
E-L6219R013TR
1. Lead free package (ECOPACK®) see Chapter 5.
September 2008 Rev 4 1/16
(1)
(1)
SO-24 Tube
SO-24 Tape & reel
www.st.com
1
Page 2
Table of contents L6219R
Table of contents
1 Block diagram and pins description . . . . . . . . . . . . . . . . . . . . . . . . . . . . 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
2/16
Page 3
L6219R List of tables
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
3/16
Page 4
List of figures L6219R
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
4/16
Page 5
L6219R Block diagram and pins description
1 Block diagram and pins description
Figure 1. Block diagram
Figure 2. Pin connection (top view)
5/16
Page 6
Block diagram and pins description L6219R
Table 2. Pin description
Pin # Name Description
1,2 Output A See pins 5,21
3,23 Sense resistor
4,22
Comparator
input
5,21 Output B
6,19 Ground See pins 7,18
7,18 Ground
8,20 Input 0 See input 1 (pins 9,17)
9,17 Input 1
Connection to lower emitters of output stage for insertion of current
sense resistor
Input connected to the comparators. The voltage across the sense
resistor is feedback to this input throught 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
Output connection. The output stage is a H bridge formed by four
transistors and four diodes suitable for switching applications
Ground connection. With pins 6 and 19 also conducts heat from die to
printed circuit copper
These pins and pins 8,20 (input 0) are logic inputs which select the
outputs of the comparators to set the current level. Current also depends
on the sensing resistor and reference voltage. See funcional description
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
10,16 Phase
output B (sink). A schmitt trigger on this input provides good noise
immunity and a delay circuit prevents output stage short circuits during
switching
A voltage applied to this pin sets the reference voltage of the
comparators, this determining the output current (also thus depending on
Rs and the two inputs input 0 and input 1)
11,15
Reference
voltage
A parallel RC network connected to this pin sets the OFF time of the
12,14 RC
higher power transistors. The pulse generator is a monostable triggered
by the output of the comparators (toff = 1.1 RT CT)
13
24
Vss - Logic
supply
Vs - Load
supply
Supply voltage input for logic circuitry
Supply voltage input for the output stages
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).
6/16
Page 7
L6219R Electrical specifications
2 Electrical specifications
2.1 Absolute maximum ratings
Table 3. Absolute maximum ratings
Symbol Parameter Value Unit
V
V
T
V
V
sense
T
T
Supply voltage 30 V
S
Output current (peak) ±1 A
I
o
Output current (continuous) ±0.5 A
I
o
Logic supply voltage 7 V
SS
Logic input voltage range -0.3 to V
IN
Sense output voltage 1.5 V
Junction temperature +150 °C
J
Operating temperature range -20 to +85 °C
op
Storage temperature range -55 to +150 °C
stg
2.2 Thermal data
Table 4. Thermal data
Symbol Description Value Unit
R
thj-case
R
thj-amb
1. With minimized copper area.
Thermal resistance junction-case Max.
Thermal resistance junction-ambient Max.
75
18
(1)
SS
V
°C/W
°C/W
7/16
Page 8
Electrical specifications L6219R
2.3 Electrical characteristics
Table 5. Electrical characteristics
.
(T
= 25 °C, VS = 4.5 V, VSS = 4.75 V to 5.25 V, V
j
= 2 V, unless otherwise specified)
REF
See Figure 5.
Symbol Parameter Test Condition Min. Typ. Max. Unit
OUTPUT DRIVERS (OUT
V
Motor supply range 4.5 10 V
S
I
V
CE(sat)
I
S(on)
I
S(off)
Output leakage current
CEX
Output saturation voltage
Clamp diode forward voltage
V
F
Driver supply current
Driver supply current Both bridges OFF, Vs = 10 V - 6 10 mA
CONTROL LOGIC
V
V
I
IN(H)
I
IN(L)
V
I
SS(ON)
I
SS(OFF)
Input voltage All inputs 2.4 - - V
IN(H)
Input voltage All inputs - - 0.8 V
IN(L)
Input current VIN = 2.4 V - <1 20 μA
Input current VIN = 0.84 V - -3 -200 μA
Reference voltage Operating
REF
Total logic supply current Io = I1 = 0.8 V, no load - 44 60 mA
Total logic supply current Io = I1 = 2.4 V, no load - 10 14 mA
COMPARATORS
or OUTB)
A
V
= 30 V, V
s
= 30 V, V
V
s
Sink driver, I
Sink driver, I
Source driver, I
Source driver, I
OUT
OUT
= +300 mA
OUT
= +500 mA
OUT
= -300 mA
OUT
= -500 mA
OUT
= Vs,
= 0
Sink diode
Source diode I
= 500 mA
F
Both bridges ON, no load
= 10 V
V
s
(1) (2)
-
-50
-
-
-
-
<1
<-1
0.3
0.7
1.1
1.3
1
1
50 μA
0.6
1
1.4
1.6
1.5
1.5
-815mA
1.5 - 2 V
μA
V
V
V
V
V
V
= I1 = 0.8 V 9.5 10 10.5 -
I
V
V
sense
/
Current limit threshold (at trip
REF
point)
t
Cutoff time Rt = 56 KΩ Ct = 820 pF - 50 μs
off
Turn off delay see Figure 1 -1 μs
t
d
o
= 2.4 V, I1 = 0.8 V 13.5 15 16.5 -
I
o
= 0.8 V, I1 = 2.4 V 25.5 30 34.5 -
I
o
PROTECTION
T
Thermal shutdown temperature - 170 - °C
J
1. The maximum reference voltage accepted by the device depends from the supply voltage Vs (see Figure 7).
2. To reduce the switching losses the base bias of the bridge's low side NPN transistor is proportional to the DAC output, then
the output current driving capability is also proportional to the DAC output voltage (see Figure 6 and Figure 8 for
DAC=100%, it is proportional for lower percentages).
8/16
Page 9
L6219R Electrical specifications
Figure 3. Windings of a bipolar stepper motor
9/16
Page 10
Functional description L6219R
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
winding 2.
The current can also be switched off completely
3.1 Input logic (I0 and I1)
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.
Table 6. Input logic current level
- I11 for winding 1 and I02 - I12 for
01
I
0
H H No current
L H Low current 1/3 IO max
H L Medium current 2/3 I
L L Maximum current I
I
1
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 (RS), a low pass filter (RC, CC) 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
the sensing resistor RS. When the current has increased so that the voltage across R
becomes higher than the reference voltage on the other comparator input, the comparator
goes high, which triggers the pulse generator.
max
O
max
O
Current level
and I1. The motor current flows through
o
S
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
10/16
supply.
s
I
max
V
ref
------------- -=
10R
s
Page 11
L6219R Functional description
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
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.
and Ct.
t
t
= 1.1 · RtCt
off
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 VS, VSS, V
The circuit will stand any order of turn-on or turn-off the supply voltages VS and VSS. Normal
dV/dt values are then assumed.
Preferably, V
Ref
Ref
should be tracking VSS during power-on and power-off if VS is established.
11/16
Page 12
Application informations L6219R
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 voltage 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.
12/16
Page 13
L6219R Application informations
4.1 Electrical characteristics curves
Figure 6. Maximum output current vs. supply
voltage (DAC=100%)
600
500
400
300
200
Output current (mA)
100
0
024681012
Vs (V)
Vss=5V
Vss=4.5V
Figure 8. Maximum output current vs.
reference voltage (DAC=100%)
600
500
Figure 7. Maximum reference voltages vs.
supply voltage
8
7
6
5
4
Vref1,2 (V)
3
2
1
0
024681012
Vs (V)
400
300
200
Output current (mA)
100
0
012345678
Vref (V)
Vss=5V
Vss=4.5V
13/16
Page 14
Package informations L6219R
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
DIM.
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 0.0 13
(1)
D
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 f lash, protus ions or gate b urrs shall no t exceed
0.15mm per side.
mm inch
MIN. TYP. MAX. MIN. TYP. MAX.
15.20 15.60 0.598 0.614
OUTLINE AND
MECHANICAL DATA
Weight: 0.60gr
SO24
14/16
0070769 C
Page 15
L6219R Revision history
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.
Changed look anf fill.
22-Jun-2006 3
05-Sep-2008 4 Added note 1 and 2 in Table 5 on page 8.
Changed value of the Output Current (continuous) in Ta b le 3 .
Changed the curve diagrams of the Figure 6 and 7.
15/16
Page 16
L6219R
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