ST L6219 User Manual

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Features

■ Able to drive both windings of bipolar stepper

motor

■ Output current up to 750 mA each winding

■ Wide voltage range: 10 V to 46 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

L6219

Stepper motor driver

PDIP24 (20+2+2) SO24 (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 750 mA with peak startup current up to 1 A.

The L6219 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 L6219 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 46V and including four diodes for current recirculation.

Table 1. Device summary

Part number Package Packing

E-L6219 PDIP24 Tube

E-L6219DS SO24 Tube

E-L6219DS013TR SO24 Tape & reel

Wide range of current control from 750 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.

September 2008 Rev 13 1/16

www.st.com

Contents L6219

Contents

1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.1 Input logic (I0 and I1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2 Phase . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.3 Current sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.4 Single-pulse generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.5 Output stage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.6 VS, VSS, VRef . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

3 Application informations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

4 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

5 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

2/16

L6219 List of tables

List of tables

Table 1. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

Table 2. Absolute maximum rating . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Table 3. Pin functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 4. Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Table 5. Electrical characteristcs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Table 6. Current levels . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Table 7. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

3/16

List of figures L6219

List of figures

Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Figure 2. SO24/PDIP24 pins connection (top view). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Figure 3. Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Figure 4. Principle operating sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Figure 5. Typical application circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

Figure 6. SO24 mechanical data and package dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

Figure 7. PDIP24 mechanical data and package dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4/16

L6219 Block diagram

1 Block diagram

Figure 1. Block diagram

Table 2. Absolute maximum rating

Parameter Description Value Unit

sense

stg

Supply voltage 50 V

Output current (peak) ±1 A

Output current (continuous) ±0.75 A

Logic supply voltage 7 V

Logic input voltage range -0.3 to +7 V

Sense output voltage 1.5 V

Junction temperature +150 °C

Operating temperature range -20 to +85 °C

Storage temperature range -55 to +150 °C

5/16

Block diagram L6219

Figure 2. SO24/PDIP24 pins connection (top view)

Table 3. Pin functions

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 3.

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 functional description

6/16

L6219 Block diagram

Table 3. Pin functions (continued)

Pin # Name Description

This TTL-compatible logic inputs sets the direction of current flow through the load. A high level causes current to

10, 16 Phase

11, 15 Reference voltage

12, 14 RC

flow from output A (source) to 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)

A parallel RC network connected to this pin sets the OFF time of the higher power transistors. The pulse generator is a monostable triggered by the output of the comparators (toff = 1.1 RT CT)

13 V

24 V

- Logic supply Supply voltage input for logic circuitry

- Load supply 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).

Figure 3. Timing diagram

Table 4. Thermal data

Parameter Description PDIP SO Unit

thj-case

thj-amb

1. With minimized copper area.

Thermal resistance junction-case max. 14 18 °C/W

Thermal resistance junction-ambient max. 60

(1)

°C/W

7/16

Block diagram L6219

Table 5. Electrical characteristcs

(

Tj = 25 °C, VS = 46 V, VSS = 4.75 V to 5.25 V, V

specified

Parameter Description Test condition Min. Typ. Max. Unit

Output drivers (OUTA or OUTB)

CEX

CE(sat)

S(on)

S(off)

Control logic

IN(H)

IN(L)

IN(H)

IN(L)

REF

SS(ON)

SS(OFF)

Comparators

/ V

REF

off

Protection

1. 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, having as reference 750 mA with V output maximum current driving capability will become 750 mA*(2V*0.67)/(5V*1) = 200 mA.

Motor supply range 10 46 V

Output leakage current

Output saturation voltage

Clamp diode leakage current

Clamp diode forward

voltage

Driver supply current Both bridges ON, no load - 8 15 mA

Driver supply current Both bridges OFF - 6 10 mA

Input voltage All inputs 2.4 - - V

Input voltage All inputs - - 0.8 V

Input current VIN = 2.4 V - <1 20 μA

Input current VIN = 0.84 V - -3 -200 μA

Reference voltage Operating

Total logic supply current Io = I1 = 0.8 V, no load - 64 74 mA

Total logic supply current Io = I1 = 2.4 V, no load - 10 14 mA

Current limit threshold (at

sense

trip point)

Cutoff time Rt = 56 KΩ Ct = 820 pF - 50 μs

Turn off delay Figure 3 -1 μs

Thermal shutdown

temperature

)

See Figure 5

= 5 V and DAC =100%. For example using V

REF

= Vs,

OUT

= 0

OUT

Sink driver, I

Sink driver, I Source driver, I Source driver, I

= +500 mA

OUT

= +750 mA

OUT

= -500 mA

OUT

= -750 mA

OUT

= 50 V - <1 50 μA

Sink diode

Source diode I

= I1 = 0.8 V 9.5 10 10.5 -

= 2.4 V, I1 = 0.8 V 13.5 15 16.5 -

= 0.8 V, I1 = 2.4 V 25.5 30 34.5 -

= 750 mA

(1)

= 5 V, unless otherwise

REF

<-150-50μAμA

0.3

0.7

1.1

1.3

1 1

1.5 - 7.5 V

-170-°C

= 2 V and DAC = 67% the

REF

0.6 1

1.4

1.6

1.5

1.5VV

V V V V

8/16

L6219 Functional description

2 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 I01 - I11 for winding 1 and I02 - I12 for winding 2.

The current can also be switched off completely.

2.1 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. Current levels

I0 I1 Current level

H H No current

L H Low current 1/3 IO max

H L Medium current 2/3 IO max

L L Maximum current IO max

2.2 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.

2.3 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.

The max peak current Imax can be defined by:

max

and I1. The motor current flows through

ref

-------------=

10R

9/16

Functional description L6219

2.4 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 Rt and Ct.

= 1.1 · RtCt

off

The single pulse switches off the power feed to the motor winding, causing the winding current to decrease during t

. If a new trigger signal should occur during t

off

, it is ignored.

off

2.5 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.

10/16

L6219 Functional description

Internal circuitry is added in order to increase the accuracy of the motor current particularly with low current levels.

2.6 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

should be tracking VSS during power-on and power-off if VS is established.

11/16

Application informations L6219

3 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 C similar else. To sense the winding current, paralleled metal film resistors are recommended (R

Figure 5. Typical application circuit

must be NPO type or

12/16

L6219 Package information

4 Package information

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 6. SO24 mechanical data and package dimensions

DIM.

A 2 .35 2.65 0.093 0.104

A1 0.10 0.30 0.004 0.0 12

B 0 .33 0.51 0.013 0.200

C 0.23 0.32 0.009 0.013

(1)

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 15.6 0 0.598 0.614

OUTLINE AND

MECHANICAL DATA

Weight: 0.60gr

SO24

0070769 C

13/16

Package information L6219

Figure 7. PDIP24 mechanical data and package dimensions

DIM.

A 4.320 0.170

A1 0.380 0.015

A2 3.300 0.130

B 0.410 0.460 0.510 0.016 0.018 0.020

B1 1.400 1.520 1.650 0.055 0.060 0.065

c 0.200 0.250 0.300 0.008 0.010 0.012

D 31.62 31.75 31.88 1.245 1.250 1.255

E 7.620 8.260 0.300 0.325

e 2.54 0.100

E1 6.350 6.600 6.860 0.250 0.260 0.270

e1 7.620

L 3.180 3.430 0.125 0.135

M 0˚ min, 15˚ max.

mm inch

MIN. TYP. MAX. MIN. TYP. MAX.

0.300

OUTLINE AND

MECHANICAL DATA

PDIP 24 (0.300")

B eB1

SDIP24L

0034965 D

14/16

L6219 Revision history

5 Revision history

Table 7. Document revision history

Date Revision Changes

30-Oct-2001 7 First Issue on the EDOCS DMS.

11-May-2005 8

Changed the look & feel layout. Modified Table 6 on page 9.

Change in the Features sections:

14-Sep-2005 9

Wide voltage range 10 V to 46 V Output current up to 750 mA each winding.

19-Dec-2005 10

28-Mar-2006 11 Corrected I

Corrected in the Tab l e 5 the max. value of the V V to 7.5 V.

values in the Tab l e 5.

SS(ON)

18-Mar-2008 12 Document reformatted.

01-Sep-2008 13 Added note 1 in Table 5 on page 8.

parameter from 2

REF

15/16

L6219

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