The 12 Volt Combo chip is a combination spindle
motor driver, voice coil driver and D/A converter.
The part can be used in,application like HDD.
The VCM amplifiers drive a low impedance coil
and are set up to accept RC compensation, which
allows a wide bandwidth with absolute minimum
phase lag. The sense resistor/amplifier arrangement allows full current loop operation. The loop
gain is changeable by attenuating the VCM DAC
voltage amplitude in cascadable stages.
The Spindle driver is a PWM only voltage loop
with power supply feedforward, driving a 3 phase
sensorless brushless DC motor. Since it uses
PWM operation at full run speed, it has output
slew rate control during start and run modes.
There is an inductive clamp circuit to limit flyback
voltage transients across the supply voltage during motor phase changes and during the braking
sequence. Only the 2 phase or bipolar commutation pattern is produced by the internal commutation circuitry. A commutation register allows arbi-
Figure 1. Block Diagram
L6256
12V COMBO
PLCC44
ORDERING NUMBER:
trary winding sequencing during certain operations. Internal protection against crossover
spikes is built in.
3 phase or tripolar commutation can be supported
in software during start by writing a commutation
pattern directly to the preload register.
Tripolar operation requires that more than two
phase drivers contribute current simultaneously.
The current limit circuitry reflects this and allows
33% higher current limit, which produces nearly
L6256
CP_OUT
CP_CAP
H_VPWR
VDD
VCC
nPOR
POR_RC
PARK
SCLK
SDIO
CSELB
BYPASSC
QDRIVE
VREG_IN
CUR_IN
December 1997
18
19
33
34
15
10
9
27
13
14
28
16
20
21
22
3.3V LINEAR
REGULATOR
6,7,17,29,39,40
CHARGE
PUMP
VPWR
2
UV
DETECT
POR
CLK
SYNC
SERIAL INTERFACE
3
ANALOG
TEST MUX
3
VCM
LOGIC
h_vpwr
BRAKE
DELAY
COUNTER
SH_
OUT
A_INI_VCIO_VC
BEMF SENSING
ZERO CROSSING
DETECTION
BEMF_
DET
DAC
VCM
COMMAND
10 BIT
DAC
81136375381235444
R_
SLEW
CHANNEL
VCM CONTROL
BANDGAP
24
FEEDFORWARD
COMPENSATION
PWM_INPWM_DCFF_
VOLTAGE
REFERENCE
SPINDLE SEQUENCER
SYNC
CLAMP
COMP
VCM
RETRACT
CURRENT
SOURCES
SPINDLE LOGIC
SP_
CLK
THERMAL
upper
lower
PRE-DRIVERS
VCM CLASS AB
DRIVERS
-
+
A
AMP
CURRENT
LIMIT
SENSING
REF_
IN
A_OUT B_OUT
232530263132
PWR GND
SPINDLE DRIVERS
DYNAMIC
CLAMPING
SP_G2SP_
AMP
B
24
VC_PWR
-
+
h_vpwr
2
SP_P1
42
SP_P2
43
SP_A
1
SP_B
3
SP_C
41
C_TAP
D97IN571
G1
1/28
L6256
DESCRIPTION
(Continued)
constant torque. This is a very high power dissipation mode, meant only for momentary operation in unusual circumstances.
Spindown during a power failure uses the back
EMF voltage generated by the spindle motor to
provide power to the VCM amplifier. The Spindle
motor coasts during the Brake Delay time to allow
time to park the head actuator. The park circuit is
a constant voltage circuit settable externally.
After the head is parked, braking commences.
The brake operates by shorting all 3 windings.
required to bring the motor to a complete stop,
even if no power is applied to the part.
A Power On Reset (POR) function provides pulse
stretching for the bidirectional POR\ bus, to ensure that the processor and clocks are at running
speed before allowing them to function.
5 volt and 12 volt pins are used directly for the undervoltage detect circuit.
This allows direct use internally of both supplies.
Voltage monitor margining is supported.
An external 3.3V linear regulator is provided and
tied into the POR circuit.
The spindle output stages stay on as long as is
OPERATING CONDITIONS
= 4.5 to 5.5V
V
CC
= 10.8 to 13.2V
V
dd
0°C < T
amb
< 70°C.
ABSOLUTE MAXIMUM RATINGS
SymbolParameterValueUnit
V
PWR
V
PVR
V
dd
V
CC
I_VCM, Aout-2 to V
Logic I/O, SH_Out, PWM_DC-0.3 to V
All other pins-0.3 to V
T
stg
(1) Limited by chip clamp voltage.
Normal Operating Voltage15V
Inductive Clamp Voltage @ 2mH, 1.6A, 3% Duty Cycle<20V (1)
Storage Ambient Temperature-65 to +150°C
ESD capability
15V
6.4V
+2V
PWR
+0.3
CC
+0.3V
PWR
2kV
±
PIN CONNECTION
2/28
GND
R_SLEW
POR_RC
nPOR
PWM_IN
BEMF_DET
SCLK
SDIO
VCC
BYPASSC
5V_GND
7
8
9
10
11
12
13
14
15
16
17
SP_CLK
GND
CP_CAP
CP_OUT
SP_C
SP_G1
QDRIVE
VREG_IN
SP_B
SP_P1
123564
23222119182028272624 25
B_OUT
CUR_IN
SP_G2
SP_A
A_OUT
VC_PWR
C_TAP
SP_P2
I_VC
PARK
GND
40414244 43
CSELB
39
38
37
36
35
34
33
32
31
30
29
GND
SH_OUT
FF_COMP
PWM_DC
REF_IN
VDD
H_VPWR
DAC
IO_VC
A_IN
GND
D97IN572
THERMAL DATA
SymbolDescriptionValueUnit
R
th j-pins
R
th j-amb
(*) Mounted on board with minimized dissipating copper area.
The Charge Pump provides bias for the upper drivers, for the brake circuit, and for internal circuitry as
required for normal and spindown operation. Slew
rate control is built in for quiet operation.
Serial Interface
The serial interface will transfer all control, status
and data to and from the processor. Internal testing provisions have also been made through this
port. The interface is compatible with an
8X196MP,NU or K17 series processor at low
speed only, due to internal limitations of the processors. External chip select is mandatory on the
L6256. Chip Select is also used to reset and synchronize the serial port. The serial port is used to
indicate thermal shutdown of the Dolphin chip.
Brake Delay Timer
The brake delay will, upon start of a park or brake
sequence, delay 128 negative zero crossings of
the A spindle phase to allow the park circuit to operate. (The delay will typically be on the order of
400 msecs.) Then the braking sequence can begin. The output of this timer is provided to the serial port registers to indicate the start of the brake
action, and to indicate the start and end of the
park period.
Spindle Section
SPINDLE CURRENT LIMIT
The spindle current limit value in start mode is set
by the value of the external resistor on the Ref_In
pin during start (which at start is shorted to Vcc,
and the current out of the pin sets the current limit
value).
During run, various internal methods are used to
set a nominal maximum current value for circuit
protection only. Consult the data sheets and application notes for a description of this circuitry.
Current limit operates on a cycle by cycle basis.
The current limit comparator output is provided to
the serial port to indicate when the spindle is in
current limit. The current limit bit is reset when
the status register is read.
NOTE: Current limit operation involves chaotic
states, and careful firmware control can be used,
if desired, to prevent audible squels. Actual current limit value is also affected significantly by
motor inductance. See application notes.
COMMUTATION COUNTER (CCTR)
The Commutation Counter provides commutation
control for the spindle motor. It advances the
spindle phases according to the bipolar phase
control sequence, every time a SPIN_CLK positive edge is received. Its reset state (B C\) is governed by the Commutation Preload Register
(CPR). Operation of the register is synchronous
with SP_CLK, but the reset is asynchronous.
3.3V Regulator
The 3.3V external regulator provides a logic 3.3V
using an external pass element (N channel FET),
tied into the undervoltage detection system. It has
the following features:
●
Voltage mode control, using no external compensation.
●
3:1 foldback current limit to protect the pass
element in case of component failure.
●
Absolute regulation of 8% under all operating
conditions
Control Registers
See serial port section.
Internal Testing
This circuitry is per vendor’s specifications. No
test functions actuated by the serial port software
allow chip or drive damage to inadvertently occur.
Double level write enabling is used. Differing vendor test requirements are accomodated using the
unique vendor code bits. Various external pins
are used for this function; consult the manufacturer’s data sheets.
COMMUTATION PRELOAD REGISTER (CPR)
During the initial start period, phase on/off control
is preloaded into the counters from the Commutation Preload Register, which is loaded from the
serial port. This allows direct commutation control from the processor. Various commutation
schemes are implemented during startup by software through this register. High side bits take
precedence over low side bits.
For both high and low drivers, logic high input to
this register turns on the respective driver. Any
pattern other than all 1’s holds the CCTR in reset,
and sets the MUX to bring data from the CPR
register for the drive pattern. An all 1’s pattern
(an illegal state) releases the CCTR reset and
switches the MUX to read the CCTR.
An all 0 pattern in the CPR spindle control bits
both tristates the spindle drivers and resets the
commutation counter.
The commutation latch holds data from either the
CPR or the CCTR depending on whether all 1’s
are loaded into the CPR. The latch loads the previous state of the counter when the SP_CLK edge
comes in. The latch circuitry also provides chop
commutation information.
5/28
L6256
UPPER AND LOWER SPINDLE DRIVERS
The spindle drivers provide commutation
switches. Internal inductive flyback protection is
provided, dumping the energy into Vpwr node.
This protection network also provides the energy
transfer to the VCM to allow parking after power
is lost.
The high/low and low/high slew rate of the drivers
during run mode is controlled by the R_Slew pin
to ensure that cross conduction with the lower
drivers does not occur, and that excessive voltage slew rates are not produced. Provisions are
made to drive inductive loads due to the possible
filtering requirements. Windings must be damped
with suitable external resistors to allow back EMF
to be detected through the chopping waveform.
INDUCTIVE CLAMP CIRCUIT
The inductive clamp is applied to the motor pins
to prevent the energy from the spindle motor coils
from producing excessive voltages on the part,
when the spindle drivers are tristated or when
commutation occurs.
Back Emf Detect
The back EMF voltage from the spindle motor is
monitored by a sample/hold circuit. First order
slope compensation, set by the value of Rsh and
Csh on the SH_Out pin, is used to reduce jitter.
Sampling will occur during the spindle PWM on
time, and hold during the off time and the
ON_DELAY time. Slope compensation must be
optimized for operation at run speed. During
startup, the zero crossings are detected from all
three phases. During run, only the falling edge of
phase A is useful for timing. A very small amount
of hysteresis is provided to prevent noise glitches.
A fixed offset of approximately
Vebias
millivolts is
internally introduced to the comparator during
start mode.
The inductive flyback pulse must be masked by
the width of the SP_CLK pulse provided by the
Western Digital controller chip. The width of this
pulse is affected by motor speed and current, as
well as inductance.
Additional back EMF conditioning circuitry is being provided by Western Digital’s digital controller
chip. The back EMF_Det pin is masked for approximately 1/4 of the expected commutation cycle, and is latched to prevent multiple transitions.
At power on reset, BEMF_Det is tristated to allow
for in circuit testing.
During run mode, the Ref_In pin sets a prequalifier comparator voltage level, which enables the
zero crossing detection circuit about 20µs ahead
of the actual position. Once speed has been stabilized, the spindle phase advance is used to adjust the EMF crossing to be coherent with the
PWM timing. This is done by observing the output
of the preqalifier comparator and comparing it
with the ON_DELAY signal internal to the chip.
This output comparison is provided through the
serial port.
Feedforward Compensation (FFWD Comp)
Any VPWR variations are nulled out by the ratiometric adjustment of the PWM duty cycle. This
circuit converts the fixed processor PWM frequency down to a frequency determined by the
R_Slew resistor and the FF_Comp capacitor.
This frequency is very constant over the entire
specified supply voltage range.
VCM Section
VCM DAC
The VCM DAC buffer brings the VCM_DAC out-
put up to the required drive capability. A 10 bit
monotonic DAC is provided for the VCM.
ATTENUATOR SWITCHES
These provide variable attenuators for the VCM
current control loop, settable from the control register. Attenuation settings are cascadable in binary form, thus requiring 1 bit for each attenuator.
Ratios of 1.5:1, 2:1 and 4:1 give the additional
combinatorial gains of 3:1 (1.5*2), 6:1 (1.5*4), 8:1
(2*4) and 12:1 (all 3 attenuators on simultaneously). Attenuator gain ratios are not precisely
controlled relative to one another and differ
slightly between manufacturers.
An overall attenuator enable bit has been added
to the VCM_DAC register address field. If this bit
is a 1 (Combo compatible mode), then the attenuators are enabled. If the bit is a 0, then full gain is
requested. This enables the VCM_DAC write to
accomplish a complete gain shift and DAC write
in a single serial port operation (2 bytes).
LEVEL SHIFT
The level shift circuitry shifts the center voltage of
the VCM current command up to approximately
half of the supply voltage, to provide for symmetric operation of the VCM power amplifiers.
The reference voltage output is a high impedance
input point of approximately
Rref
ohms to allow
for external bypassing.
VCM AMPLIFIERS
The VCM amplifiers are complementary class AB
output amplifiers, with Bout having higher gain
than the Aout amplifier. This ensures uniform
saturation in either direction.
6/28
SATURATED SEEK BIT
The processor can command the VCM amplifiers
to hard saturate, in the polarity determined by the
sign bit of the DAC. The saturation detector bit is
not the echo of this bit, but is a separate comparator bit representing the true state of the amplifier. Thus, it can be used for loopback testing of
the DOLPHIN.
VCM CURRENT SENSE AMPLIFIER
The input differential voltage of the amplifier can
be limited to low voltage, but common mode rejection is very high. The amplifier is capable of
operating smoothly when the VCM amplifiers are
saturated, providing no input charge buildup or
other anomalies. Charge does not build up on
the inputs even when VCM inductance forces the
inputs substantially above the supply or below
ground.
SATURATION DETECTOR
This detector notifies the processor when the
commanded VCM current does not match the actual VCM current. The threshold is set by
VC_Sat.
L6256
●
An interlock circuit which provides for discharge of the one shot, and a clamp to hold
the POR\ line low during the timing interval.
●
Circuitry to pull POR\ high quickly after the 1
shot has timed out.
●
A current source or weak pullup to pull the
POR\ line high against external leakage currents.
Undervoltage conditions override external inputs
and force POR\ low. External inputs do not cause
pulse stretching; all internal inputs do.
PCBA in-circuit testing can arbitrarily pull this line
low as necessary to restart the system. Alternately, a 1 milliamp current can be introduced to
the timing capacitor to speed up the POR timeout.
THERMAL LIMIT
The thermal limit of the chip is set for
THhyst
relative voltage, above
degrees of hysteresis. Thermal limit is a
Thwarn
sons, and must protect the part; it indicates that
thermal limit is taking place by disabling the serial
port (see serial port section). A park and a spindle driver tristate is performed when thermal limit
occurs.
THlimit
with
for tolerance rea-
Fault Detection
UV DETECTION
The power supply undervoltage protection is set
up for the appropriate tolerances, and causes a
low signal on POR\. A small hysteresis is included on the voltage comparators, and bandwidth limiting techniques are used. Current limit
from the 3.3V regulator has been added to the
POR error inputs.
POWER ON RESET (see appendix B)
The power on reset circuit provides the following
functions:
●
A retriggerable one shot of several milliseconds.
THERMAL WARNING
Thermal warning is made available to the proces-
sor as a status bit in every register, to allow a
modified control algorithm strategy that reduces
power dissipation and drops chip temperature.
PARK CIRCUIT
The park circuit provides smooth head retraction.
In Park, the VCM is switched to voltage mode.
Bout
is grounded. The A amplifier’s positive input is switched from the normal half supply reference down to
Vpark
age determined by
Vpark
, and
Aout
applies the volt-
Rp1
and
and
Rp2
. This
damps any motion that may been in progress and
causes the head to retract into the latch.
7/28
L6256
Figure 2:
Spindle State Diagram.
POWER
UP
CPR*
CPR
BRAKE
CPR
START
NO SLEW
3ph EMF
CPR
limit
POR
SPINDLE
Z
(defaults)
START*
SP_EN*
SP_CLK
CPR=1's*
SP_CLK
START
CCTR
No Slew
3ph EMF
limit
START*
SP_CLK
D97IN585
UV
POR
RUN
SLEW
1ph EMF
CCTR
No limit
SP_CLK*
SP_EN*
START*
REG BRAKE
SP_EN
POR
REG BRAKE
UV
THSHUT
THWARN
UV
BRAKE
FAULT
TRISTATE
THERMAL
TRISTATE
BRAKE
DELAY
NOTE: In the spindle state diagram, in transitioning from Start mode to Brake, the CPR register is shown
as being one possible path. The CPR register can be used to command a brake, which then causes the
outputs to brake. This is called CPR Brake mode. However, a true brake state does not really occur.
Specifically, current limit is still active.
NOTE: START and SP_EN bits and CPR is rewritten to get out of Spindle Z state. SP_EN must be
pulsed.
NOTE: All spindle state transitions require an SP_CLK edge.
Figure 3:
VCM section state diagram.
POWER
ON
GROUNDED
VCM_TRISTATE
VCM
VC_EN
VC_EN
(FAULT)= POR or UV or TH_LIMIT
TRISTATE
DELAY
DAC
VCM
ACTIVE
REG PARK
REG PARK
REG BRAKE
(DONE=1)
SP_ENB
FAULT
D97IN586
REGISTER
PARK
FAULT
FAULT
PARK
BRAKE
DELAY
NOTE: VC_EN must be rewritten to get out of VCM Grounded state.
NOTE: At start, the spindle and VCM can now be simultaneously enabled. This is a VERY HIGH
POWER DISSIPATION mode. If this is done, be sure to use the SAT_SK bit and duty cycle the
VCM to keep chip power dissipation at a reasonable level.
8/28
L6256
ELECTRICAL CHARACTERISTICS
Power On Reset Section
POR SPECIFICATIONS
Specification ParameterRequired Value
Vcc max undervoltage detect trip point, Vuv4.06 to 4.3
Vcc trip point hysteresis1%
Vdd undervoltage detect trip point Vuvd9.3 to 9.8 volts
Vdd trip point hysteresis1%
Max POR\ delay timing100 msecs
Forcing current to reset POR_RC (for in circuit test only)nominal 1 milliamp
AC UV detection - nondetectable pulse Tuvmin (1)1 µsec
AC UV detection - detectable pulse Tuvmax (1)20 µsecs
(1) AC detection test: done on either supply. With either supply at 0.2 volts above the trip point, a 1.2 volt negative pulse is applied.
Chip must not respond to pulse width of Tuvmin, and must respond to Tuvmax.
SymbolParameterTest ConditionMin.Typ.Max.Unit
V
min
Required VCC or Vdd for valid
POR\@25°C (7)
V
tcap
V
cth
T
strech
T
%POR\ pulse tolerance
tol
T
pmin acc
Timing Cap timeout threshold2/3 V
Timing Cap threshold(10)
POR\ pulse strech width540100ms (5)
external POR\ input required
pulse width
V
lw
Voltage measurement point for
Tpmin
I
weak
Pullup Current, POR\, steady
100
state (at 3V)
T
rise
Rise time on POR\, internal
driver with 100pF load (2)
I
pullup
Pullup Current, POR\,
3.2mA
momentary
Notes
:
(1) dVmarg% The margining limit is determined as a fraction of the actual chip margin circuitry.
(2) hysteresis on POR\ is optional.
Load: POR\ will see approximately 90 pF plus an external pullup source of approximately 6k ohms. No external bulk capacitance is used
on POR\.
(3) fall time measured from 2 volts to 0.8 volts.
(4) pulse width measured from Vporint volts on falling edge to 1.6 volts on rising edge.
(5) is capable of meeting this timing with a 0.1µF or less, 20% tolerance ceramic capacitor. Nominal design point, .047µF is 40 ms ±20%.
(6) Timing tolerance on POR pulse width irrespective of external parts.
(7) POR\ is valid if either Vcc or Vdd exceeds this voltage.
(8,9) Tpmin acc is the minimum POR\ pulse width which the combo must recognize as a valid external POR. This corresponds to the width of
the reset pulse from the processor. Pulse widths narrower than this may or may not be recognized. Tpmin rej is the value of pulse width
above which the combo should not recognize a pulse.
(10) V
in order to prevent deadly embrace with the microprocessor. The specified value is needed with 3.3V logic circuitry.
is caused by the transition between the external POR circuit and the internal POR clamp circuitry.
bounce
1.32.0V
CC
20%(6)
±
300ns (9)
0.8V
µ
100ns
V
A
9/28
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