Technical Presentation Stepper, DC and BLDC motors
Nov 24, 2014
Technical PresentationStepper, DC and BLDC motors
feedback
AC
DC
PFCAC
Power supply
Interface
MCU
Highvoltagedriver
ICs
Motor
3-phase inverter stage
System Integration with Integrated ICs
Power Stage
INPUTINPUTPOWERPOWER
SwitchArray
DrivingSection
Device incorporatingall necessary logic and power circuits
for driving the motor
Logic circuit that generatesthe proper command pattern
for the power stageSensors
LOGICLOGICSIGNALSSIGNALS
Driver
Controller
Power circuit feeding the motorincluding level shiftersand protection circuits
Voltage and currentlevel shifters(gate drivers)
Linear or switchmodeelectronic components
(MOSFETs, BJTs, IGBTs)
10 100Current (A)
10
100
1000
Vol
tage
(V
)
0.1 1
MonolithicSolutions
Discrete FET/IGBT with controller/driver ICs
STEPPER MOTOR DRIVE
Stepper Motor
PermanentMagnet Rotor
A typical stepper motor has permanent magnets on the rotor and a pair of coils on the stator
Driving methods :
Half stepFull Step two phase-onMicrostepping
Most commonly used stepper motor :
Permanent Magnet stepper motorBipolarUnipolar
Hybrid stepper motor
N S
NS
NS
Rotation Position is Controlled in Steps
Step signals
Stepper motors are ideally suited to application requiring precise position control such as computer peripherals or numerically controlled machine tools
H-B
rid
ge
H-B
rid
ge
Major Applications:Printers, Copiers, BillTransport, Automotive, Medical, Factory Automation Machine tools
I1I1
I2I2
UNIPOLAR MOTOR
BIPOLAR MOTOR
Motor Configuration
Drive Configuration
BIPOLAR MOTOR
UNIPOLAR MOTOR
Vs Vs
Torque ComparisonUnipolar vs Bipolar Motor
40% Bipolar
Log Scale
Unipolar
Torque
Speed
Full Step SequenceBipolar 2 Phase Stepper Motor
I1
I2
I1
I2
I2
I1
I2
1 3
5 7
I1
Half Step SequenceBipolar 2 Phase Stepper Motor
I1
I2
I1 I1
I1 I1
I2 I2
I2 I2
I1
I2
I1=0
I2=0
I1=0
I2=01 2 3 4
5 6 7 8
Rc
Lc
L/R Drive (Voltage Mode)
Vs
Ic = Vs/Rct = Lc/Rc
Rc
Lc
L/nR Drive (Voltage Mode)
Vs
Ic = Vs/(Rc+Rs)
Rs
t = L/(Rc+Rs)
Chopping Drive (Current Mode)
Rc
Lc
Vs
Vref
OSC S
RQ
Rsense
Ic = Vref/Rsense
Fixed Frequency PWM Current Control
L297 L6506
Chopping Drive (Current Mode)
Rc
Lc
Vs
Vref
T
_Q
Rsense
Ic = Vref/Rsense
Constant Off Time FMCurrent Control
Monostable
L6207, L6208 L6219, PBL3717
Current WaveformsL/R, L/5R, and Chopping Drive
Time
Current
0 10 20 30 40 50 60 70 80 90 1000
0.5
1
5V1
5V1
V1L/R Drive
L/5R Drive
Chopping Drive
Supply Voltage
PWM Current Decay modes
V
S
V
S
V
S
ON TimeCurrent builds
In winding
OFF TimeSlow Decay
Recirculation
OFF TimeFast Decay
Recirculation
Microstepping
IB
Full Step position
Half Step positionIB = -1, IA = 0
IA
IA = 2 IB
IA = IB
Microstepping Block Diagram
D/A
PWM HBridge
D/A
PWM HBridge
Typical Microstepping Waveform using L6208
VrefA
IB
VrefB
Clock
Typical Run Profile
Steps0 30 130 160
140
160
180
200
220
240
260Speed
Design point for torque
Two Phase Bipolar Stepper Motor DriveMonolithic (integrated) Approach - 1
MCUC
on
tro
lle
rDual H-Bridge
Interface
ST72264ST7Lite
L6506L297
L6202 L6203L6205 L6206RS232
Transceiver
ST232
L6207 L6208 L6258
8 to 45 VAC
DC
Power supplyVIPer
Motor Control Driver & Power IC Product Matrix
Controller……. includes only the control function and drives Power Bridge ICsPower Bridge .. includes only the output power transistor stage and no control functionMotor Driver…. includes control function + Power Bridge blockGate Driver ….. includes only the driver stage for driving MOSFETs or IGBTs
Driver
Half Bridge Driver
H-Bridges
Dual H-Bridges
3-Phase Bridges
L297
Gate Driver Power BridgeController
L6506
L293
L298
L6201
L6202L6203
L6234
Perfo
rman
ces
L6207L6208
L6235
L6205
L6258E
L6204 L6219
PBL3718
L6384
L6386
L6206
L6387
L6226L6225
L6227
L6228
L6229
L6385
PBL3717TEA3717
New PowerSpin Product Range
Operating supply voltage from 8 to 52V Power MOS output stage:
– RDS(ON) = 0.3 Ω or 0.7 Ω – Intrinsic Fast Free Wheeling Diodes
Output current rating– L620x & L6235: 5.6 A peak and 2.8 A rms, – L622x: 2.8 A peak and 1.4 A rms
Non-dissipative over current protection Cross conduction protection Thermal protection Under voltage lock out
PowerSO36
DIP24
SO24
L6205, L6225 Fully Protected Dual Full Bridge
Vboot
GATE LOGIC
OCD
THERMAL
PROTECTION
GATE LOGIC
FULL FULL BRIDGEBRIDGE
OCD
CHARGE PUMP
ENA
IN1A
IN2A
ENB
IN1B
IN2B
VSA
OUT1A
OUT2A
SENSEA
VSB
OUT1B
OUT2B
SENSEB
VBOOT
VCP
FULL FULL BRIDGEBRIDGE
L6206, L6226 Fully Protected Dual Full Bridge
Vboot
GATE LOGIC
OCD
THERMAL
PROTECTION
GATE LOGIC
FULL FULL BRIDGEBRIDGE
OCD
CHARGE PUMP
ENA
IN1A
IN2A
ENB
IN1B
IN2B
VSA
OUT1A
OUT2A
SENSEA
VSB
OUT1B
OUT2B
SENSEB
VBOOT
VCP
OCDA
OCDB
PROGCLA
PROGCLB
FULL FULL BRIDGEBRIDGE
L6207, L6227Dual Full Bridge with Current Control
Vboot
GATE LOGIC
PWM CURRENT REGULATOR
OCD
THERMAL
PROTECTION
GATE LOGIC
PWM CURRENT REGULATOR
OCD
CHARGE PUMP
VREFA
VREFB
VSA
OUT1A
OUT2A
SENSEA
VSB
OUT1B
OUT2B
SENSEB
RCA
RCB
VBOOT
VCP
ENAIN1A
IN2A
ENB
IN1B
IN2B
Vref
RSENSE
1 µs
RCA (or B)
QRS
2.5 V
5 mA
From theLow-Side
gate drivers
(0) (1)
FULL FULL BRIDGEBRIDGE
FULL FULL BRIDGEBRIDGE
L6208, L6228 Fully Integrated Stepper Motor Driver
HALF / FULLVboot
GATE LOGIC
PWM CURRENT REGULATOR
OCD
THERMAL
PROTECTION
GATE LOGIC
PWM CURRENT REGULATOR
OCD
CHARGE
PUMP
ENCONTROL
VREFA
CLOCKRESET
CW / CCW
VREFB
VSA
OUT1A
OUT2A
SENSEA
VSB
OUT1B
OUT2B
SENSEB
RCA
RCB
VBOOT
VCP
Phase Phase Sequence Sequence GeneratorGenerator
Phase Phase Sequence Sequence GeneratorGenerator
FULL FULL BRIDGEBRIDGE
FULL FULL BRIDGEBRIDGE
L6258E Stepper Motor Driver
DISABLE
Vboot
GATE LOGIC
FULLBRIDGE
THERMALPROTECTION
PWM CURRENT REGULATOR
FULL BRIDGE
CHARGE PUMP
VREF1
VREF2
VS1
OUT1A
SENSE2
VS2
OUT2A
VBOOT
VCP1
RSENSE
OUT1B
SENSE2
RSENSE
OUT2B
VCP2
PH1
PH2
CLOCK GENERATOR
GATE LOGIC
I0_1I1_1I2_1I3_1
I0_2I1_2I2_2I3_2
DAC
DAC
PWM CURRENT REGULATOR
Stepper Motor Drive High Power
MCU
Co
ntr
oll
er
Dual H-BridgeInterface
ST72264ST7Lite
L6506
AC
DC
Highvoltagedriver
ICs
L6384 MOS
Power supplyVIPer
L6384 Half Bridge Driver
Key Features• 600 V rail max• High current drive 400/650 mA source/sink• Undervoltage lockout• Integrated bootstrap
diode• Single input controls high
and low side FETs• Adjustable dead time
LOGIC
UV DETECTION
LEVEL SHIFTER
R S
VCC
LSG DRIVER
VCC
IN
DT/SD
VBOOT
HVG DRIVER
HVG
H.V.
LOADOUT
LVG
GND
D97IN518A
DEAD TIME
VCC
Idt
Vthi
BOOTSTRAP DRIVER
CBOOT
DC Motor Drive
Permanent Magnet DC Motor
Stator Magnet
Brush
Commutator
s
N
The rotor includes a winding fed by DC voltage through carbon brushes
The stator has two or more permanent magnets Speed is proportional to the supply voltage Torque is a function of motor current
Direction of rotation is reversed by reversing rotor current (through an H-Bridge configuration)
Voltage: 6 to 320VdcPower: up to 20,000W
Speed: 0 to 20,000 RPM
Major applications :Cordless toolsToys
Automotive body functionsIndustrial drives & roboticsFactory automation
DC Motor DriveHigh Power
HalfBridge Driver
IC
MCU
L6384/5/6/7TD340 ST7
M
MOS or IGBT
Power supply
VIPer
Interface
AC
DC
Feedback
DC Motor Drive Integrated IC Solution
L6207 (Dual) - New -
ST7 Family L298 (Dual)L6201,02,03L6204 (Dual)L9925 (Dual)L9997ND
L6205 (Dual)L6206 (Dual)
RS232TransceiverST75185ST232
10 100Current (A)
10
100
1000
Vol
tage
(V
)
0.1 1
MonolithicSolutions
Discrete FET/IGBT with controller/driver ICs
M
Power supply
Interface
MCU
AC
DC
TD340 - Full H-Bridge Driver For DC Motor Control
Many more DC Motor Drivers ...
Part Type Description Application
L9925 Dual Full Bridge Driver
0.8 O.8A 1-16.5 V
Automotive & Industrial
small DC motors,
L9997ND Dual Half Bridge Driver
0.7 1.2A 7-16.5 V
Printers, scanners,
vending machines
L9909 Full Bridge with position control
1 , 1A 18VDC
VN770K Full Bridge for DC Motor0.22, 10A, 5.5-36V
High current automotive and industrial
VN771P Full Bridge for DC motor
0.22 10A 5.5-36V
VND670SP Dual High side FET with
Dual low side gate drivers
0.03 15A 5.5-26V
BLDC Motor Drive
feedback
AC
DC
Power supply
Interface
MCU
Motor
BLDC Motor Drive Integrated IC Solution
3-phase inverter stage
L6235
ST7 Family
L6235 Fully Integrated 3-Phase Brushless Motor Driver
Vboot
GATE LOGIC
33PHASEPHASE
BRIDGEBRIDGE
OCD
THERMAL
PROTECTION
CHARGEPUMP
ENFWD / REV
BRAKE
VREF
H3H2H1
RCPULSE
VSA
OUT1
OUT2
SENSEA
RCOFF
VBOOT
VCP
Phase Phase Sequence Sequence GeneratorGenerator
Phase Phase Sequence Sequence GeneratorGenerator
VSB
OUT3
SENSEB
PWM CURRENT REGULATOR
DIAG
TACHOTACHO
Monostable
feedback
AC
DC
Power supply
Interface
MCU
HalfBridgeDriver
ICs
Motor
BLDC Motor DriveHigh Power Solution
3-phase inverter stage
ST7 Family L6385/86/87
MOS or IGBT
PractiSPIN Architecture
One dedicated board for each deviceA common control board based on ST72264Windows Graphical User Interface
Stepper Motor Constant Speed Mode
Simple run profileM
otor
Cu
rren
tS
pee
d
0
0Accelerate DecelerateConstant Speed Hold
No. Steps
DC Motor fun screen
PractiSPIN System Availability
Device Eval Board Stepper DC BLDC SoftwareL6205, L6225 EVAL6205N X X PractiSPIN
EVAL6206NEVAL6206PD
L6207, L6227 EVAL6207N X X PractiSPINEVAL6208NEVAL6208PD
L6235 EVAL6235N X PractiSPINL6258 Contact Marketing X PractiSPIN-6258TEA3718 Contact Marketing X X PractiSPIN-6219TEA3717 Contact Marketing X X PractiSPIN-6219PBL3717 Contact Marketing X X PractiSPIN-6219L6219 Contact Marketing X X PractiSPIN-6219L6219R Contact Marketing X X PractiSPIN-6219
PractiSPINL6206, L6226 X X
PractiSPINL6208, L6228 X