Reversible Motor Drivers for Brush Motors
0.5A or Less Reversible
Motor Driver (Single Motor)
BA6950FS
0.8A Reversible
Motor Driver (Single Motor)
BA6951FS
●Description
These drivers are reversible motor drivers that can directly drive brush motor which require forward and reverse rotations.
Four modes of output setting are available by the use of input logic (2 inputs); forward, reverse, stop (idling), and braking. In
addition, since voltage applied to motors varies in accord with the control terminal, motor rotating speed can be optionally
set and by the built-in current feedback amplifier, the motor can be driven at a constant speed.
●Features
1) Four-mode outputs of forward, reverse, stop (idling), and braking are enabled in compliance with two inputs
2) Motors can be driven at a constant speed by a current feedback amplifier
3) Built-in thermal shutdown circuit
4) Built-in current limiting function (BA6951FS)
●Applications
Audio-visual equipment; PC peripherals; Car audios; Car navigation systems; OA equipments
●Absolute maximum ratings (Ta=25℃, All voltages are with respect to ground)
Parameter Symbol
Supply voltage VCC 8 V
Supply voltage VB 18 V
Output current I
Operating temperature T
Storage temperature T
Power dissipation Pd 0.813*2 W
OMAX
OPR
STG
BA6950FS BA6951FS
0.4*1 0.8*1 A
-20 ~ 75 ℃
-55 ~ 150
Ratings
Unit
℃
No.11008ECT01
Junction temperature T
*1 Do not, exceed Pd or ASO.
*2 SSOP-A16 package. Mounted on a 70mm x 70mm x 1.6mm FR4 glass-epoxy board with less than 3% copper foil.
Derated at 6.4mW/℃ above 25℃.
●Operating conditions (Ta=25℃)
Parameter Symbol Ratings Unit
Supply voltage VCC 3 ~ 6 V
Supply voltage VB 3 ~ 16 V
VTCL voltage V
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jmax
0 ~ (VCC-1.8) V
CTL
1/10
℃
2011.05 - Rev.C
BA6950FS, BA6951FS
●Electrical characteristics (BA6950FS, unless otherwise specified, Ta=25℃ and VCC=4.8V, VB=4.8V)
Parameter Symbol
Supply current 1 I
Supply current 2 I
Supply current 3 I
Input threshold voltage H V
Input threshold voltage L V
Input bias current I
CTL amplifier offset voltage V
CTLOFS
CTL amplifier gain V
CTL output mirror ratio 1 I
CTL output mirror ratio 2 I
CTLR1
CTLR2
CS amplifier offset voltage CS
CS output mirror ratio 1 I
CS output mirror ratio 2 I
Min. Typ. Max.
- 4.0 6.0 mA FWD/REV mode, VCTL=0V
CC1
- 0.7 1.5 mA Standby mode, VCTL=0V
CC2
- 0 1 µA VCC=0V
BOFF
2.0 - VCC V
R/F H
0 - 0.8 V
R/F L
- 80 135 µA FIN=2V, RIN=2V
R/F H
-5 0 5 mV VCTL-RC, VCTL=0V, 1V
40 46 52 µA/V ΔI
CTLGA
0.85 1.00 1.15 ratio I
0.90 1.00 1.10 ratio I
-5 0 5 mV CS1-CS2, CS1=0V, 0.1V
OFS
0.85 1.00 1.15 ratio I
CSR1
0.90 1.00 1.10 ratio I
CSR2
Limits
Unit Conditions
, VCTL=2V, 1V
RT1
, IRC=20µA
RT1/IRC
, IRC=200µA
RT1/IRC
, ICS=20µA
RT2/ICS2
, ICS=200µA
RT2/ICS2
Output high voltage VH 2.0 4.6 - V M1, M2, VCTL=0.2V
Technical Note
Output saturation voltage H VOH - 0.09 0.3 V IO=50mA, RT1=VCC
Output saturation voltage L VOL - 0.07 0.2 V IO=50mA, RT1=VCC
●Electrical characteristics (BA6951FS, unless otherwise specified, Ta=25℃ and VCC=4.8V, VB=4.8V)
Parameter Symbol
Supply current 1 I
Supply current 2 I
Supply current 3 I
Input threshold voltage H V
Input threshold voltage L V
Input bias current I
CTL amplifier offset voltage V
CTLOFS
CTL amplifier gain V
CTL output mirror ratio 1 I
CTL output mirror ratio 2 I
CTLR1
CTLR2
CS amplifier offset voltage CS
CS output mirror ratio 1 I
CS output mirror ratio 2 I
TL-R
offset voltage TL-R
AOFS
Min. Typ. Max.
- 4.0 6.0 mA FWD/REV mode, VCTL=0V
CC1
- 0.7 1.5 mA Standby mode, VCTL=0V
CC2
- 0 1 µA VCC=0V
BOFF
2.0 - VCC V
R/F H
0 - 0.8 V
R/F L
- 80 135 µA FIN=2V, RIN=2V
R/F H
-5 0 5 mV VCTL-RC, VCTL=0V, 1V
40 46 52 µA/V ΔI
CTLGA
0.85 1.00 1.15 ratio I
0.90 1.00 1.10 ratio I
-5 0 5 mV ATC-CS, ATC=0V, 0.1V
OFS
0.85 1.00 1.15 ratio I
CSR1
0.90 1.00 1.10 ratio I
CSR2
6 18 30 mV TL=0.3V, R
AOFS
Limits
Unit Conditions
, VCTL=2V, 1V
RT1
, IRC=20µA
RT1/IRC
, IRC=200µA
RT1/IRC
, ICS=20µA
RT2/ICS
, ICS=200µA
RT2/ICS
ATC
Output high voltage VH 1.85 2.20 2.55 V M1, M2, VCTL=1.0V
=1.0Ω
Output saturation voltage H VOH - 0.28 0.56 V IO=300mA, RT1=VCC
Output saturation voltage L VOL - 0.32 0.64 V IO=300mA, RT1=VCC
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2011.05 - Rev.C
BA6950FS, BA6951FS
Technical Note
●Electrical characteristic curves (Reference data)
5
4
3
2
Supply Current: Icc1 [mA] _
1
34 56
Supply Voltag e: Vcc [V]
Fig.1 Supply current 1 (Forward) Fig.2 Supply current 2 (Standby) Fig.3 Supply current 3
(BA6950FS) (BA6950FS)
5
-20° C
25°C
75°C
0.9
0.8
0.7
-20°C
0.6
Circuit Current: Icc2 [mA] _
0.5
0.4
34 56
Supply Vol tage: Vc c [V]
0.9
25°C
75°C
0.4
0.3
0.2
0.1
Circuit Current: Icc3 [µA] _
0.0
34 56
Supply Vol tage: VB [ V]
400
-20°C
25°C
75°C
4
3
2
Supply Current: Icc1 [mA] _
1
34 56
Supply Voltag e: Vcc [V]
Fig.4 Supply current 1 (Forward) Fig.5 Supply current 2 (Standby) Fig.6 Input bias current
(BA6951FS) (BA6951FS)
5.0
-20° C
25°C
75°C
4.8
4.6
4.4
-20° C
25°C
75°C
4.2
Output High Voltage: VOH [V] _
4.0
0 0.1 0.2 0.3 0.4
Output Current: Iout [A]
Fig.7 Output saturation voltage H Fig.8 Output saturation voltage L Fig.9 Input threshold voltage
(BA6950FS) (BA6950FS)
0.8
0.7
-20°C
0.6
Circuit Current: Icc2 [mA] _
0.5
0.4
34 56
Supply Vol tage: Vc c [V]
1.0
0.8
0.6
0.4
0.2
Output Low Voltage: VOL [V] _
0.0
0 0.1 0.2 0.3 0.4
Output Current: Iout [A]
25°C
75°C
75°C
25°C
-25° C
300
200
100
Input Bias Current: IR/F H [µA] _
0
012345
Input Vol tage: VR/F [V]
5.0
4.0
3.0
2.0
1.0
Output High Voltage: VOH [V] _
0.0
01234
Input Vol tage: VR/F [V]
-25° C
25°C
75°C
75°C
25°C
-25°C
5.0
4.8
4.6
4.4
-20° C
25°C
75°C
1.0
75°C
0.8
0.6
0.4
25°C
-25° C
4.2
Output High Voltage: VOH [V] _
0.2
Output Low Voltage: VOL [V] _
1.5
ii) Mounted on ROHM standard PCB
(70mm x 70mm x 1.6mm FR4 g lass-epox y board)
i) Package only
1.0
ii) 0.813W
Pd [W]
0.5
i) 0.625W
4.0
0 0.2 0.4 0.6 0.8
Output Current: Iout [A]
Fig.10 Output saturation voltage H Fig.11 Output saturation voltage L Fig.12 Thermal derating curve
(BA6951FS) (BA6951FS) (SSOP-A16)
0.0
0 0.2 0.4 0.6 0.8
Output Current: Iout [A]
0.0
0 25 50 75 100 125 150
AMBIEN T TEMPER ATURE [°C ]
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2011.05 - Rev.C
BA6950FS, BA6951FS
●Block diagram and pin configuration
BA6950FS
VCC
12
C5 C6
FIN
10
RIN
5
GND
VCTL
1
2
Table 1 BA6950FS
Pin Name Function
1 GND GND
2 VCTL Control input
3 RC Control gain setting
4 PCT CTL amp phase compensation
5 RIN Control input (reverse)
6 VB Power supply (driver stage)
7 M1 Driver output
8 ATC Current sense pin
9 M2 Driver output
10 FIN Control input (forward)
11 PC Phase compensation
12 VCC Power supply (small signal)
13 CS1 CS amp gain setting
14 CS2 CS amp gain setting
15 RT2 CTL amp gain setting
16 RT1 CTL amp gain setting
CTRL
3
R1 C1
CTRL
AMP
4
VCC
CS
AMP
14
RT2 RT1 CS2 PCT RC
R4
Fig.13 BA6950FS
TSD
PRE
DRIVER
x4
8 15 16
CS1
13
ATC
R5
R2
R3
PC
11
C2
GND
VCTL
RC
PCT
RIN
VB
M1
ATC
Fig.14 BA6950FS (SSOP-A16)
6
7
9
RT1
RT2
CS2
CS1
VCC
PC
FIN
M2
Technical Note
VB
M1
C3
M
M2
C4
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2011.05 - Rev.C
BA6950FS, BA6951FS
T
●Block diagram and pin configuration
BA6951FS
VCC
12
C5 C6
FIN
RIN
GND
VCTL
10
5
1
2
CTRL
3
R1 C1
Table 2 BA6951FS
Pin Name Function
1 GND GND
2 VCTL Control input
3 RC Control gain setting
4 PCT CTL amp phase compensation
5 RIN Control input (reverse)
6 VB Power supply (driver stage)
7 M1 Driver output
8 ATC Current sense pin
9 M2 Driver output
10 FIN Control input (forward)
11 PC Phase compensation
12 VCC Power supply (small signal)
13 TL Torque limiter setting
14 CS CS amp gain setting
15 RT2 CTL amp gain setting
16 RT1 CTL amp gain setting
CTRL
AMP
4
VCC
14
CS
AMP
RT2 RT1 CS PCT RC
R4
Fig.15 BA6951FS
PRE
DRIVER
R2
R3
PC
TSD
x4
11
VB
6
M1
7
M2
9
TL
AMP
TL
C2
13
VCTL
GND
RC
PC
RIN
VB
M1
ATC
ATC
8 15 16
R5
Fig.16 BA6951FS (SSOP-A16)
Technical Note
C3
M
C4
RT1
RT2
CS
TL
VCC
PC
FIN
M2
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BA6950FS, BA6951FS
●External application components
1) Resistor for the current sensing, R5
This is a current sensing resistor, care must be taken to avoid changes in the ground wire pattern in any external
connected component.
2) Control amplifier gain setting resistor, R1
VCTL pin voltage is buffered to RC pin, and the control gain - V
decided here is output to RT1 pin.
3) Control amplifier phase compensation capacitor, C1
This phase compensation capacitor for the control amplifier. Please monitor the RT1 pin voltage and confirm no
oscillation. About 33pF is recommended.
4) Current feedback amplifier gain setting resistor, R4
CS1 pin voltage (the motor current detection) is buffered to CS2 pin - BA6950FS.
ATC pin voltage (the motor current detection) is buffered to CS pin - BA6951FS.
The current feedback gain can be set by R4 connecting to CS2 or CS pin. The current decided here is output to RT2
pin.
5) Pre-amplifier gain setting resistor, R2, R3
These resistors are to add the control amplifier output and the current feedback amplifier output. This amplifier has
about fourfold gain.
6) Pre-amplifier phase compensation capacitor, C2
Please connect the capacitor about 0.1µF as the phase compensation of the pre-amplifier, and monitor the driver
output no oscillation.
7) Stabilization capacitor for the power supply line, C5, C6
Please connect the capacitor of 1μF to 100μF for the stabilization of the power supply line, and confirm the motor
operation.
8) Phase compensating capacitor, C3, C4
Noise is generated in output pins or oscillation results in accord with the set mounting state such as power supply
circuit, motor characteristics, PCB pattern artwork, etc. As noise oscillation measures, connect 0.01μF to 0.1μF
capacitors.
9) Torque limiter setting, TL pin, BA6951FS only
The motor current is limited so that ATC pin voltage should not exceed TL pin voltage.
●Functional descriptions
Table 3 Logic table
FIN RIN M1 M2 Operation
L L OPEN* OPEN* Stop (idling)
H L L H Forward (M2 > M1)
L H H L Reverse (M1 > M2)
H H L L Brake (stop)
* OPEN is the off state of all output transistors. Please note that this is the state of the connected diodes, which differs from that of the mechanical relay.
- can be set by connecting R1. The current
CTLGA
Technical Note
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BA6950FS, BA6951FS
Technical Note
●External application components setting procedure
The relation between VCTL and the output high voltage is as follows.
= VCTL / R1 ····· (1) VCTL: Torque control voltage
· I
RT1
= I
· I
· V
· V
RT2
= R3 x ( I
RT1
= 4 x V
MX
x R5 / R4 ····· (2) I
ACT
+ I
RT1
····· (4) VM1, VM2: Output high voltage
RT1
) + R2 x I
RT2
····· (3)
RT1
: Motor current
ACT
VMX =
4 ( R2 + R3 )
R1 R4
x VTCL +
4 R3 R5
x I
ACT
····· (5)
To drive the motor by constant speed as follows.
+ RON + R5 =
R
L
4 R3 R5
R4 RON: On resistance of the driver IC
····· (6)
R
: Motor coil impedance
L
R3, R4, and R5 are first set, and then R1 and R2 are set afterwards.
Table 4 External components
Parts Default value Parameter Recommended condition
R1 22kΩ I
R2 + R3 1kΩ + 1.5kΩ V
R4 560Ω I
R5 5.5Ω V
C1 33pF V
C2 0.1µF VPC
C3, C4 0.1µF VM1, VM2
I
RT1
V
RT1
I
RT2
V
ATC
PCT
< 1mA
RT1
x 4 < VB
RT1
< 1mA
RT2
< 1V
ATC
Please confirm the motor
operation
C5, C6 1~100µF VCC, VB
●Interfaces
FIN
RIN
13.5k
3.6k
24k
10k
10k
10k
VCTL
1k
1k
20k
PCT
1k
RC
PC
Fig. 17 FIN, RIN Fig.18 VCTL, RC, PCT Fig.19 PC
RT1
1k
RT2
CS1
1k
1k
CS2
1k
1k
TL
M2 M1
CS
Fig. 20 RT1, RT2 Fig.21 CS1, CS2 Fig.22 CS, TL Fig.23 VB, ACT, M1,M2
(BA6950FS) (BA6951FS)
VB
ACT
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BA6950FS, BA6951FS
●Notes for use
1) Absolute maximum ratings
Devices may be destroyed when supply voltage or operating temperature exceeds the absolute maximum rating.
Because the cause of this damage cannot be identified as, for example, a short circuit or an open circuit, it is important
to consider circuit protection measures – such as adding fuses – if any value in excess of absolute maximum ratings is
to be implemented.
2) Connecting the power supply connector backward
Connecting the power supply in reverse polarity can damage the IC. Take precautions against reverse polarity when
connecting the power supply lines, such as adding an external direction diode.
3) Power supply lines
Return current generated by the motor’s Back-EMF requires countermeasures, such as providing a return current path
by inserting capacitors across the power supply and GND (10µF, ceramic capacitor is recommended). In this case, it is
important to conclusively confirm that none of the negative effects sometimes seen with electrolytic capacitors –
including a capacitance drop at low temperatures - occurs. Also, the connected power supply must have sufficient
current absorbing capability. Otherwise, the regenerated current will increase voltage on the power supply line, which
may in turn cause problems with the product, including peripheral circuits exceeding the absolute maximum rating. To
help protect against damage or degradation, physical safety measures should be taken, such as providing a voltage
clamping diode across the power supply and GND.
4) Electrical potential at GND
Keep the GND terminal potential to the minimum potential under any operating condition. In addition, check to
determine whether there is any terminal that provides voltage below GND, including the voltage during transient
phenomena. When both a small signal GND and high current GND are present, single-point grounding (at the set’s
reference point) is recommended, in order to separate the small signal and high current GND, and to ensure that
voltage changes due to the wiring resistance and high current do not affect the voltage at the small signal GND. In the
same way, care must be taken to avoid changes in the GND wire pattern in any external connected component.
5) Thermal design
Use a thermal design that allows for a sufficient margin in light of the power dissipation (Pd) under actual operating
conditions.
6) Inter-pin shorts and mounting errors
Use caution when positioning the IC for mounting on printed circuit boards. The IC may be damaged if there is any
connection error, or if pins are shorted together.
7) Operation in strong electromagnetic fields
Using this product in strong electromagnetic fields may cause IC malfunctions. Use extreme caution with
electromagnetic fields.
8) ASO - Area of Safety Operation
When using the IC, set the output transistor so that it does not exceed absolute maximum ratings or ASO.
9) Built-in thermal shutdown (TSD) circuit
The TSD circuit is designed only to shut the IC off to prevent thermal runaway. It is not designed to protect the IC or
guarantee its operation in the presence of extreme heat. Do not continue to use the IC after the TSD circuit is activated,
and do not operate the IC in an environment where activation of the circuit is assumed.
10) Capacitor between output and GND
In the event a large capacitor is connected between the output and GND, if VCC and VIN are short-circuited with 0V or
GND for any reason, the current charged in the capacitor flows into the output and may destroy the IC. Use a capacitor
smaller than 0.47μF between output and GND.
11) Testing on application boards
When testing the IC on an application board, connecting a capacitor to a low impedance pin subjects the IC to stress.
Therefore, always discharge capacitors after each process or step. Always turn the IC's power supply off before
connecting it to or removing it from the test setup during the inspection process. Ground the IC during assembly steps
as an antistatic measure. Use similar precaution when transporting or storing the IC.
12) Switching of rotating direction (FWD/REV)
When the rotating direction is changed over by the motor rotating condition, switch the direction after the motor is
temporarily brought to the BRAKE condition or OPEN condition. It is recommended to keep the relevant conditions as
follows: via BRAKE: Longer than braking time*.
via OPEN: The time longer than 1 ms is recommended.
(* the time required for the output voltage to achieve potential below GND when brake is activated.)
Technical Note
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BA6950FS, BA6951FS
13) Regarding the input pin of the IC
This monolithic IC contains P+ isolation and P substrate layers between adjacent elements, in order to keep them
isolated. P-N junctions are formed at the intersection of these P layers with the N layers of other elements, creating a
parasitic diode or transistor. For example, the relation between each potential is as follows:
When GND > Pin A and GND > Pin B, the P-N junction operates as a parasitic diode.
When GND > Pin B, the P-N junction operates as a parasitic transistor.
Parasitic diodes inevitably occur in the structure of the IC. The operation of parasitic diodes can result in mutual
interference among circuits, as well as operating malfunctions and physical damage. Therefore, do not use methods by
which parasitic diodes operate, such as applying a voltage lower than the GND (P substrate) voltage to an input pin.
Pin A
N
+
P
P
Parasitic element
P
P substrate
GND
Resistor
+
N N
Transistor (NPN)
Pin B
Pin A
N
+
P
Parasitic
element
Parasitic element
Appendix: Example of monolithic IC structure
B
C
N
E
P
P substrate
GND
+
P
N
GND
Technical Note
Pin B
B C
E
Parasitic
element
GND
Other adjacent elements
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BA6950FS, BA6951FS
●Ordering part number
B A 6 9 5 0 F S - E 2
Technical Note
Part No. Part No.
Package
6950
6951
SSOP-A16
6.6± 0.2
(MAX 6.95 include BURR)
1216 14
13
15
11
10
9
<Tape and Reel information>
6.2± 0.3
4.4± 0.2
2
1.5± 0.1
0.11
0.8
61
453
87
0.36± 0.1
0.1
0.3MIN
0.15± 0.1
(Unit : mm)
FS: SSOP-A16
Quantity
Direction
of feed
Packaging and forming specification
E2: Embossed tape and reel
Embossed carrier tapeTape
2500pcs
E2
The direction is the 1pin of product is at the upper left when you hold
()
reel on the left hand and you pull out the tape on the right hand
Direction of feed
Reel
1pin
Order quantity needs to be multiple of the minimum quantity.
∗
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Notes
No copying or reproduction of this document, in part or in whole, is permitted without the
consent of ROHM Co.,Ltd.
The content specied herein is subject to change for improvement without notice.
The content specied herein is for the purpose of introducing ROHM's products (hereinafter
"Products"). If you wish to use any such Product, please be sure to refer to the specications,
which can be obtained from ROHM upon request.
Examples of application circuits, circuit constants and any other information contained herein
illustrate the standard usage and operations of the Products. The peripheral conditions must
be taken into account when designing circuits for mass production.
Great care was taken in ensuring the accuracy of the information specied in this document.
However, should you incur any damage arising from any inaccuracy or misprint of such
information, ROHM shall bear no responsibility for such damage.
The technical information specied herein is intended only to show the typical functions of and
examples of application circuits for the Products. ROHM does not grant you, explicitly or
implicitly, any license to use or exercise intellectual property or other rights held by ROHM and
other parties. ROHM shall bear no responsibility whatsoever for any dispute arising from the
use of such technical information.
The Products specied in this document are intended to be used with general-use electronic
equipment or devices (such as audio visual equipment, ofce-automation equipment, communication devices, electronic appliances and amusement devices).
The Products specied in this document are not designed to be radiation tolerant.
While ROHM always makes effor ts to enhance the quality and reliability of its Products, a
Product may fail or malfunction for a variety of reasons.
Please be sure to implement in your equipment using the Products safety measures to guard
against the possibility of physical injur y, re or any other damage caused in the event of the
failure of any Product, such as derating, redundancy, re control and fail-safe designs. ROHM
shall bear no responsibility whatsoever for your use of any Product outside of the prescribed
scope or not in accordance with the instruction manual.
The Products are not designed or manufactured to be used with any equipment, device or
system which requires an extremely high level of reliability the failure or malfunction of which
may result in a direct threat to human life or create a risk of human injury (such as a medical
instrument, transportation equipment, aerospace machinery, nuclear-reactor controller, fuelcontroller or other safety device). ROHM shall bear no responsibility in any way for use of any
of the Products for the above special purposes. If a Product is intended to be used for any
such special purpose, please contact a ROHM sales representative before purchasing.
If you intend to export or ship overseas any Product or technology specied herein that may
be controlled under the Foreign Exchange and the Foreign Trade Law, you will be required to
obtain a license or permit under the Law.
Notice
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More detail product informations and catalogs are available, please contact us.
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A
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