HIT HA13609ANT Datasheet
HA13609ANT
Three-Phase Brushless Motor Driver
ADE-207-232 (Z)
1st. Edition
May 1997
Description
The HA13609ANT is a 3-phase brushless motor driver IC with digital speed control. It is designed for use
as a PPC or LBP scanner motor driver and provides the functions and features listed below.
Function
• Power MOS and power bipolar transistor driver circuits
• 16-bit serial interface
• Variable-speed digital speed control circuit
• Digital PLL
• Digital ready circuit
• PWM oscillator circuit
• Charge pump circuit
• Integrating amplifier circuit
• Current limit circuit
• Overshoot prevention circuit
• Braking function (with braking compete signal)
• Forward/reverse direction circuit
• Hall open circuit protection
• Watchdog timer (LVI, POR, and RST outputs)
• Stuck rotor protection
Features
• High breakdown voltage (50V/30mA) power transistor drive circuit
• PWM drive
• Variable speed control is possible (varying the servo filter constants is not required)
• Selectable rotation control method (discriminator control, PLL plus discriminator control)
• Selectable feedback type (voltage or current)
• Allows both PWM frequency switching and 100% duty operation
• Selectable current limiting level
• Braking mode selection (reverse braking, regeneration braking)
HA13609ANT
Block Diagram
V
SS
R101
Hu
Hv
Hw
V
SS
R102
R126
R127
C108
RST
Monitor output
(Ready: Low)
DATA OUT
CLK
f
= 8 MHz
MAX
ENABLE
DATA
Rotation monitor output
V
SS
MR
SPEED CLK
(0.2 to 5 kHz)
20 p 20 p
42
41
40
39
38
37
20
22
8
7
4
1
2
3
6
29
28
5
9
1 M
8 MHz
MAX
U+
U–
V+
V–
W+
W–
FH × 3
1.4 V
Hall amplifier
+
–
+
–
+
–
Open circuit
protection
R/F
RWD/FWD
P.O.R L.V.I
BRAKE
Serial port
(16 bits)
+
AMP
–
OSC D2
10
21
Wave-
shaping
D2
V
SS
1.25 V
BRAKE
form
(5 V)
C101
Matrix
FH × 3
Overshoot
OSI
preven-
tion
Duty 100
No/8
Counter
MOTOR ON
BRAKE (2 bit)
DUTY 100
READY
O.S.I ON
(2 bit)
V
Ref
MASK
CONTROL
RWD/FWD
D1 (2 bit)
D2 (2 bit)
PLL SEL OR Icp, PC ON
VP (3 bit)
f
(2 bit)
PWM
MODE SEL
D1
D1
Programmable
discriminator
(1024 to 4095)
11 30
Ready
PLL
13
25
PWM
comp.
Current
sense
V
Ref
Stuck rotor
protector
Ready
±4, ±8%
Discrimi-
V
–
+
–
+
V
nator
14
PS
C102
PWM OSC
f
PWM
40 k
Ref
PC
Precharge
Integral
CONT.
Icp × 2
Charge
pump
R4
R5
V
= Bip use
SS
10 to 50 V= MOS use
U
36
U
35
V
34
V
33
W
32
W
31
12
Error
amp
–
27
+
17
MASK
26
MASK
24
18
1.1 V
–
+
Buffer
23
16
–+
15
19
VpVp
R6
C4
(Open collector)
(Push-pull)
C106
Current feedback input
Error amplifier input
V
SS
R106
R107
C105
C3
R3
R7
R1
2
HA13609ANT
Pin Functions
Pin No. Pin Name Function
1 CLK Serial port reference signal input
2 ENABLE Serial port data write/latch signal input
3 DATA Serial port data input
4 DATA OUT Serial port data transfer complete signal output
5 SPEED CLK Speed command signal input
6 TACHO OUT Rotation monitor (MR, Hall ×3) output
7 READY Ready and braking done (no/8) output (open collector output)
8 RST Power supply (VSS) monitor output. High when a reduced power-supply
voltage is detected.
9 OSC IN Oscillator circuit input. Reference signal for all circuits other than the
serial port.
10 OSC OUT Oscillator circuit output
11 S-GND Small-signal ground
12 PWM OSC Connection for the capacitor that sets the oscillator frequency.
13 PLL OUT SPEED CLK vs. speed detection signal speed comparison output
14 DIS OUT SPEED CLK vs. speed detection signal phase comparison output
15 INTEG IN Integrating amplifier input
16 CP OUT Charge pump and integrating amplifier output
17 ERROR AMP IN Error amplifier input
18 BUFFER OUT Buffer amplifier output. Connect to pin 17 when current feedback is
selected.
19 R1 Charge pump output current and PWM oscillator frequency setting
20 LVI Reduced voltage detection level setting
21 V
SS
22 POR Power-on reset delay time setting
23 LOCK PRO Motor rotation constraint mode coil current on/off time setting
24 V
25 V
Ref
PS
26 C Sense Motor coil current detection
27 C F B Current feedback input
28 MR IN – Speed detection input
29 MR IN + Speed detection input
30 P-GND Output driver ground
Small-signal circuit power supply. 5.5V maximum
Current limit setting
Output driver power supply. 50V maximum
3
HA13609ANT
Pin Functions (cont)
Pin No. Pin Name Function
31, 33, 35 U, V, W Lower arm driver push-pull output. Driven by a PWM signal. (Connect
power NMOS or NPN transistors.)
32, 34, 36 U, V, W Upper arm driver open drain output. (Connect a power PMOS or PNP
transistor.)
37 to 42 U+, U–
V+, V–
W+, W–
Hall signal inputs
4
Serial Port Input Data Structure
HA13609ANT
MSB
A4
A3 A2 A1 A0 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0
Dummy Mode control
Dummy Data control
A0 = 1
A0 = 0
DATA OUT
DATA
CLK
Serial
port
(16 bits)
ENABLE
Mode Control Register (A0 = 1)
Bit
MD0
MD1
MD2
MD3
MD4
MD5
MD6
MD7
MD8
MD9
MD10
Symbol
MOTOR ON
BRAKE 1
BRAKE 2
DUTY 100
READY
O.S.I ON
V
Ref 1
V
Ref 2
MASK
CONTROL
R/F
Decoder
A0
MOTOR ON
MD1
MD2
BRAKE
DUTY 100%
4%
Active
MD6
MD7
V
Ref
×2
Discriminator
Reverse
Mode control register (11 bits)
A0 = 1
Data control register (11 bits)
A0 = 0
1
1
0
OFF
0
0
V
Ref
×2
Brake
←
×1
0
0
1
Brake
1
1
0
Brake
2
0
1
←
×0.75
MOTOR OFF
1
1
3
DUTY
8%
Non Active
1
1
←
×0.5
×1
Discriminator + PLL
Forward
LSB
Mode control
Data control
0
*10
*2
*3
5
HA13609ANT
Data Select Register (A0 = 0)
Bit
DD0
DD1
DD2
DD3
DD4
DD5
DD6
DD7
DD8
DD9
DD10
Symbol
D1 A
D1 B
D2 A
D2 B
PLLSEL1 OR Icp
PLLSEL2 OR PC ON
VP1
VP2
VP3
f
PWM1
f
PWM2
DD0
DD1
D1
DD2
DD3
D2
DD4
DD5
PLL OUT(Vp-p)
×100%
DD6
DD7
DD8
VP (V)
DD9
DD10
f
PWM
1/1
1/1
2.2
f
PWM
×1
1
0
0
0
0
0
0
0
0
0
0
Notes: 1. Off: The brake function does not operate.
Brake 1: Braking up to No/8.
Brake 2: Braking up to No/8, and then regenerative braking.
Brake 3: Regenerative braking. The No/8 signal is output.
During a braking operation, when the MR frequency when braking completes cannot be detected
in the circuit (During braking, the speed detection signal for under setting is not output over the
2/D1 occurrence. Thus this occurs more easily for lower settings.), reverse rotation may continue
in some cases. Note that this bit is also used to set the rotation monitor output (FH × 3 or the MR
frequency). FH × 3 is only output from the rotation monitor when motor on (MD0 = 1) and brake 3
are selected.
2. The ready setting range has the following manufacturing variation:
4.3% ±25% (@MD4 = 1)
8.6% ±25% (@MD4 = 0)
3. This function masks the current limiter input (pin 27) (incorrect operation due to the recovery
current). See page 20 for details.
4. The PLL output setting indicates a change relative to 3.5 Vp-p. See the electrical characteristics.
This is valid when MD9 = 0 (PLL control). Note that DD4 also functions as the Icp selection in
discriminator control mode.
V
Icp =
DD4 = 1 . . . . . Icp × 2
DD4 = 0 . . . . . Icp × 1
R1
4 · R1
@MD9 = 1
1
0
1/2
1
0
1/2
1
0
←
×75%
1
0
0
+0.15
1
0
←
×1.4
0
1
1/4
0
1
1/4
0
1
←
×50%
0
1
0
+0.3
0
1
←
×1.9
1
1
1/8
1
1
1/8
1
1
←
×25%
0
0
1
+0.45
1
1
←
×2.8
1
1
0
+0.6
1
0
1
–0.15
0
*4
1
0
1
1
–0.3
*5
1
1
–0.45
*60
6
HA13609ANT
DD5 also controls the PC on function to reduce motor rotation overshoot when MD9 is 1
(discriminator control). This function does not operate when D9 is 0. The precharge voltage (i.e.,
the integrator output voltage initial clamp voltage) can be set by Vp1 to Vp3 (DD6 to DD8). The
figure shows the precharge operation.
MD0 or MD10
Ready lock range
NO
Integrator output Vp
0 V
Precharge
5. The Vp setting indicates the change relative to 2.2V. See the electrical characteristics.
6. Indicates the change relative to f
. See the setting formula.
PWM
(MD4)
7
HA13609ANT
Timing Chart (Forward Mode)
Hall amplifier input
V
U output
V
V output
V
W output
OH1
V
OH1
V
OH1
V
OL
OL
OL
+
Hu Hv Hw
0
Vhys
–
U output
V output
W output
V
OH
PWM PWM
V
OL
V
OH
PWM
V
OL
V
OH
PWM
V
OL
PWM
PWM
8
Serial Port Timing Chart
HA13609ANT
ENABLE
CLK
DATA
DATA OUT
Braking Function
Input and Output Logic
tr, tf < 20 nsec, tsu, th > 20 nsec
tw > 40 nsec
tsu
tw tw
A4 A3 D1 D0
tsu th tsu tsu
The tr and tf times are stipulated
at 10% and 90%, respectively.
th
th
50%
tsu
50%
50%
50%
td1 td2
≤ 50 nsec ≤ 50 nsec
Serial Port Input Output
MOTOR ON
(MD0)
1 * * 0 Forward OFF *1
0 0 0 * — OFF *2
Notes: 1. OFF: The braking function does not operate.
2. The IC goes to standby mode.
3. See the description of mode control for details on the braking operation.
BRAKE 1
(MD1)
* * 1 Reverse OFF
* * 0 Reverse Brake *3
* * 1 Forward
BRAKE 2
(MD2)
R/F
(DD10) Rotation Direction Braking
9
HA13609ANT
(
N1
Forward
Reverse
N2
MDO
(MOTOR ON)
MD10 (R/F)
MD1 (BRAKE1)
to
MD2 (BRAKE2)
SPEED
CLK input
Braking set
Braking or
regeneration
0
*3
tset up
Rotation monitor output set
Braking set
N2N1 N1
braking
Regeneration
braking
*2
*3
thold
Rotation monitor
output set
*1
*3
tset up
Monitor output
(open drain)
Notes: 1.
10
*4
ReadyReady Ready
The IC goes to standby mode when MOTOR ON, BRAKE1, and BRAKE2 are all 0.
2.
Hold the data values here.
3.
thold, tset up >
4.
The No/8 (braking completion) function does not operate when BRAKE1 and BRAKE2 are 0.
Note that the No/8 detection signal is initialized to the high level in the mode in note 1
standby mode).
1
f
SPEED CLK
× 4
No/8
detection
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