Toshiba TB6600HG Schematic

1

TOSHIBA BiCD Integrated Circuit Silicon Monolithic

Weight: HZIP25-P-1.00F: 7.7g (typ.)

HZIP25-P-1.00F

TB6600HG

PWM Chopper-Type bipolar Stepping Motor Driver IC

The TB6600HG is a PWM chopper-type single-chip bipolar sinusoidal micro-step stepping motor driver. Forward and reverse rotation control is available with 2-phase, 1-2-phase, W1-2-phase, 2W1-2-phase, and 4W1-2-phase excitation modes. 2-phase bipolar-type stepping motor can be driven by only clock signal with low vibration and high efficiency.

Features

• Single-chip bipolar sinusoidal micro-step stepping motor driver

• Ron (upper + lower) = 0.4 Ω (typ.)

• Forward and reverse rotation control available

• Selectable phase drive (1/1, 1/2, 1/4, 1/8, and 1/16 step)

• Output withstand voltage: Vcc = 50 V

• Output current: I

I

• Packages: HZIP25-P-1.00F

• Built-in input pull-down resistance: 100 kΩ (typ.), (only TQ terminal: 70ｋΩ(typ.))

• Output monitor pins (ALERT): Maximum of I

• Output monitor pins (MO): Maximum of I

• Equipped with reset and enable pins

• Stand by function

• Single power supply

• Built-in thermal shutdown (TSD) circuit

• Built-in under voltage lock out (UVLO) circuit

• Built-in over-current detection (ISD) circuit

OUT

= 5.0 A (absolute maximum ratings, peak)

OUT

= 4.5 A (operating range, maximal value)

= 1 mA

ALERT

= 1 mA

MO

TB6600HG

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Pin Functions

Input pins

100k

VDD 10kΩ

7

TB6600HG

Pin No.

1 Output ALERT TSD / ISD monitor pin Pull-up by external resistance 2 ― SGND Signal ground 3 Input TQ Torque (output current) setting input pin 4 Input Latch/Auto Select a return type for TSD. L: Latch, H: Automatic return 5 Input Vref 6 Input Vcc Power supply 7 Input M1 Excitation mode setting input pin 8 Input M2 Excitation mode setting input pin

9 Input M3 Excitation mode setting input pin 10 Output OUT2B B channel output 2 11 ― NFB B channel output current detection pin 12 Output OUT1B 13 ― PGNDB 14 Output OUT2A 15 ― NFA A channel output current detection pin 16 Output OUT1A 17 ― PGNDA 18 Input ENABLE Enable signal input pin H: Enable, L: All outputs off 19 Input RESET Reset signal input pin L: Initial mode 20 Input Vcc Power supply 21 Input CLK CLK pulse input pin 22 Input CW/CCW Forward/reverse control pin L: CW, H:CCW 23 ― OSC Resistor connection pin for internal oscillation setting

24 Output Vreg Control side connection pin for power capacitor 25 Output MO Electrical angle monitor pin Pull-up by external resistance

I/O Symbol Functional Description Remark

Voltage input for 100% current level

B channel output 1 Power ground A channel output 2

A channel output 1 Power ground

Connecting capacitor to SGND

Input pins (M1, M2, M3,CLK, CW/CCW, ENABLE, RESET, Latch/Auto)

(TQ)

10kΩ

Ω

0kΩ

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（

MO

M1

RESETTQALERT

Vref

PGNDA

CLK

OSC

N

FA

PGNDB

N

FB

M3

23251113151719

21

1618202224

13579

Vcc

CW/CCW

Vreg

2468101214

SGND

Latch/Auto

VccM2OUT2B

OUT1B

OUT2A

OUT1A

ENA BLE

Pin Assignment

Top View）

TB6600HG

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Block Diagram

M1

M2

CLK

M3

OSC

1/3

TSD / ISD / UVLO

MO

ALERT

OUT1A

OUT2A

NFA

OUT1B

OUT2B

NFB

Vref

SGND

PGNDB

Current selector

circuit A

3 4 12

15

14

16

6, 20

1

25

24 7 8 9 22

21

19

18

17

2

Current selector

circuit B

11

10

RESET

13

PGNDA

23

5

Latch/Auto TQ

Vcc

Vreg

100%/30%

ENABLE

CW/CCW

Sett ing of Vref

Reg(5V)

Input

circuit

OSC

Input

TQ

L 30% H 100%

Voltage ratio

Pre

-drive

Pre

-drive

TB6600HG

H-Bridge

driver A

H-Bridge

driver B

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Description of Functions

1. Excitation Settings

The excitation mode can be selected from the following eight modes using the M1, M2 and M3 inputs. New excitation mode starts from the initial mode when M1, M2, or M3 inputs are shifted during motor operation. In this case, output current waveform may not continue.

TB6600HG

Input

M1 M2 M3

L L L

L L H 1/1 (2-phase excitation, full-step)

L H L

L H H

H L L 1/4 (W1-2 phase excitation)

H L H 1/8 (2W1-2 phase excitation)

H H L 1/16 (4W1-2 phase excitation)

H H H

Note: To change the exciting mode by changing M1, M2, and M3, make sure not to set M1 = M2 = M3 = L or M1 = M2 =

M3 = H.

(Operation of the internal circuit is almost turned off.)

1/2A type (1-2 phase excitation A type)

1/2B type (1-2 phase excitation B type)

(Operation of the internal circuit is almost turned off.)

Mode

(Excitation)

Standby mode

( 0%, 71%, 100% )

( 0%, 100% )

Standby mode

The operation mode moves to the standby mode under the condition M1 = M2 = M3 = L or M1 = M2 = M3 = H. The power consumption is minimized by turning off all the operations except protecting operation. In standby mode, output terminal MO is HZ. Standby mode is released by changing the state of M1=M2=M3=L and M1=M2=M3=H to other state. Input signal is not accepted for about 200 μs after releasing the standby mode.

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2. Function

（例1）

内部電流設定

Z

出力電流(A相)

CLK

RESET

ENABLE

(Example 1)

Internal current set

Output

(*)

(1)To turn on the output, configure the ENABLE pin high. To turn off the output, configure the ENABLE pin low. (2) The output changes to the Initial mode shown in the table below when the ENABLE signal goes High level and the RESET signal goes Low level. (In this mode, the status of the CLK and CW/CCW pins are irrelevant.) (3) As shown in the below figure of Example 1, when the ENABLE signal goes Low level, it sets an OFF on the output. In this mode, the output changes to the initial mode when the RESET signal goes Low level. Under this condition, the initial mode is output by setting the ENABLE signal High level. And the motor operates from the initial mode by setting the RESET signal High level.

CLK CW/CCW RESET ENABLE

L H H CW

H H H CCW X X L H Initial mode X X X L Z

(phase A )

(*: Output current starts rising at the timing of PWM frequency just after ENABLE pin outputs high.)

current

Input

TB6600HG

Command of the standby has a higher priority

Output mode

than ENABLE. Standby mode can be turned on and off regardless of the state of ENABLE. X: Don’t Care

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fchop(kHz)

Min

Typ.

Max

30 - 60 - 51 - 40 - 120 - 20

-

3. Initial Mode

When RESET is used, the phase currents are as follows.

Excitation Mode Phase A Current Phase B Current

1/1 (2-phase excitation, full-step) 100% -100%

1/2A type (1-2 phase excitation A type) (0%, 71%, 100%) 100% 0%

1/2B type (1-2 phase excitation B type) (0%, 100%) 100% 0%

1/4 (W1-2 phase excitation) 100% 0%

1/8 (2W1-2 phase excitation)

1/16 (4W1-2 phase excitation)

current direction is defined as follows. OUT1A → OUT2A: For ward dir ec tion OUT1B → OUT2B: Forward direction

100% 0% 100% 0%

4. 100% current settings (Current value)

100% current value is determined by Vref inputted from external part and the external resistance for detecting output current. Vref is doubled 1/3 inside IC.

Io (100%) = (1/3 × Vref) ÷ R

The average current is lower than the calculated value because this IC has the method of peak current detection.

Pleas use the IC under the conditions as follows;

NF

TB6600HG

0.11Ω ≤ R

≤ 0.5Ω, 0.3V ≤ Vref ≤ 1.95V

NF

5. OSC

Triangle wave is generated internally by CR oscillation by connecting external resistor to OSC terminal. Rosc should be from 30kΩ to 120kΩ. The relation of Rosc and fchop is shown in below table and figure. The values of fchop of the below table are design guarantee values. They are not tested for pre-shipment.

Rosc(kΩ)

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TB6600HG

8

OSC Interna Waveform

f

chop

NF

40 fast Decay Mode

Charge mode → NF: Predefined current level → Slow mode →

Predefined Current Level

6. Decay Mode

It takes approximately five OSCM cycles for charging-discharging a current in PWM mode. The 40% fast decay mode is created by inducing decay during the last two cycles in Fast Decay mode. The ratio 40% of the fast decay mode is always fixed.

The relation between the master clock frequency (fMCLK), the OSCM frequency (fOSCM) and the PWM

frequency (fchop) is shown as follows:

fOSCM = 1/20 ×fMCLK

fchop = 1/100 ×fMCLK

When Rosc=51kΩ, the master clock=4MHz, OSCM=200kHz, the frequency of PWM(fchop)=40kHz.

6-1. Current Waveform and Mixed Decay Mode settings

The period of PWM operation is equal to five periods of OSCM. The ratio 40% of the fast decay mode is always fixed. The “NF” refers to the point at which the output current reaches its predefined current level.

MDT means the point of MDT (MIXED DECAY TIMMING) in the below diagram.

M

l

%

MDT(Mixed decay timing) → Fast mode → Current monitoring → (When predefined current level ＞ Output current) Charge mode

MDT

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6-2. Effect of Decay Mode

Predefined Curre

Slow

Fast

Predefined Curre

Slow

Charge

Fast

Slow

Even if the output current rises above the predefined current at the RNF point, the

Slow

Charge

Slow

Fast

Slow

Fast

Charge

Predefined Curre

Fast

Charge

Fast

ned current at the RNF point, the

Slow

Fast

Charge

Fast

Charge

Fast

Charge

Predefined Curre

• Increasing the current (sine wave)

nt Level

TB6600HG

nt Level

• Decreasing the current (In case the current is decreased to the predefined value in a short time because

it decays quickly.)

nt Level

Charge

Even if the output current rises abov e the predefi current control mode is briefly switched to Charge mode for current sensing.

• Decreasing the current (In case it takes a long time to decrease the current to the predefined value

because the current decays slowly.)

nt Level

Charge Charge

current control mode is briefly switched to Charge mode for current sensing.

During Mixed Decay and Fast Decay modes, if the predefined current level is less than the output current at the RNF (current monitoring point), the Charge mode in the next chopping cycle will disappear (though the current control mode is briefly switched to Charge mode in actual operations for current sensing) and the current is controlled in Slow and Fast Decay modes (mode switching from Slow Decay mode to Fast Decay mode at the MDT point).

Note: The above figures are rough illustration of the output current. In actual current waveforms, transient response

curves can be observed.

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NF

OS Internal waveform

I

OUT

f

chop

f

chop

Predefined

Predefined Current Level

40 Fast DECAY MODE

MDT (MIXED DECAY TIMMING) points

NF

40 Fast DECAY MODE

I

OUT

f

chop

f

chop

Predefined

Current Level

CLK signal input

Switches to Fast mode after Charge mode

NF

MDT (MIXED DECAY TIMMING) points

NF

I

OUT

f

chop

f

chop

Predefined

CLK signal input

f

chop

MDT (MIXED DECAY TIMMING) points

Predefined Current

Level

40 Fast DECAY MODE

t at the

switched to Charge

Predefined

Current Level

6-3. Current Waveforms in Mixed Decay Mode

CM

Current Level

%

• When the NF points come after Mixed Decay Timing points

%

• When the output current value > predefined current level in Mixed Decay mode

Current

Level

%

Even if the output current rises above the predefined curren RNF point, the current control mode is briefly mode for current sensing.

TB6600HG

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Output Stage Transistor Operation Mode

U1

L1

U2

L2

PGND

OFF

U1

L1

U2

L2

OFF

ON

Note

PGND

U1

L1

U2

L2

Note

PGND

Note

RNF

Vcc

ON

Charge Mode

Slow Mode

Fast Mode

ON

RNF

Vcc

RNF

Vcc

OFF

ON

TB6600HG

OUT1 OUT2

Load

OUT1 OUT2

Load

Output Stage Transistor Operation Functions

CLK U1 U2 L1 L2

CHARGE ON OFF OFF ON

SLOW OFF OFF ON ON

FAST OFF ON ON OFF

Note: The above chart shows an example of when the current flows as i ndicated b y the arrows in t he above figures .

If the current flows in the opposite direction, refer to the follo wing char t:

CLK U1 U2 L1 L2

CHARGE OFF ON ON OFF

SLOW OFF OFF ON ON

FAST ON OFF OFF ON

Upon transitions of above-mentioned functions, a dead time of about 300 ns (Design guarantee value) is inserted respectively.

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Toshiba TB6600HG Schematic [ru]