Sanken SLA7070MPRT Series User guide

SANKEN ELECTRIC CO., LTD.
http://www.sanken-ele.co.jp/en/
SLA7070MPRT Series Unipolar 2-Phase
Stepper Motor Driver ICs
Application Information
SLA7070MPRT-AN, Rev. 2.1
General Description
This document describes the SLA7070MPRT series,
which are unipolar 2-phase stepping motor driver ICs. The
SLA7070MPRT series employs a clock input method as
a control signal input method, enabling full control of the
device operation using only a few signal lines, instead of
the conventional phase input method that requires about 10
signal lines. This allows simplification of the circuit design
and a reduced workload on the control microprocessor.
In addition, the SLA7070MPRT series is improved in its
reliability by preventing the IC from damage due to abnor-
mal conditions. For example, it has a flag output terminal
to signal that a protection circuit has operated. The series
also has a built-in protection circuitry against motor coil
opens/shorts and thermal shutdown protection as well.
All the SLA7070MPRT series ICs are compatible in their
pin layouts and interface specifications, allowing custom-
ers the flexibility of choosing the IC that is optimal for the
target equipment characteristics.
Features and Benefits
• Power supply voltages, VBB : 46 V (max.), 10 to 44 V
normal operating range
• Logic supply voltages, VDD : 3.0 to 5.5 V
• Maximum output currents: 1 A, 1.5 A, 2 A, 3 A
• Built-in sequencer
• Full-, half-, and microstepping available (microstepping
options are capable of full-, half-, quarter-, eighth-, and
sixteenth-stepping
Figure 1. SLA7070MPRT packages are fully molded ZIPs with an
exposed pad for heatsink mounting.
The SLA7070MPRT series product variants and optional features
Part Number Stepping
Rate
Output Current
(IOUT)
(A)
Input Clock
Edge Detection
Blanking Time
(µs)
Standard Standard
SLA7070MPRT
Full and
half step
1
Rising (positive)
edge 3.2
SLA7071MPRT 1.5
SLA7072MPRT 2
SLA7073MPRT 3
SLA7075MPRT
Microstep
1
Rising (positive)
edge 1.7
SLA7076MPRT 1.5
SLA7077MPRT 2
SLA7078MPRT 3
• Built-in sense resistor, RSInt
• All variants are pin-compatible for enhanced
design flexibility
• ZIP type 23-pin molded package (SLA package)
• Self-excitation PWM current control with fixed off-time
(microstepping options off-time adjusted automatically by
step reference current ratio; 3 levels)
• Built-in synchronous rectifying circuit reduces losses at
PWM-off
• Synchronous PWM chopping function prevents motor
noise in Hold mode
• Sleep mode for reducing the IC input current in
stand-by state
• Built-in protection circuitry against motor coil
opens/shorts and thermal shutdown protection options
Applications
• LBPs, PPCs, ATMs, industrial robots, and so forth
January 10, 2013

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Table of Contents
Specifications 3
Functional Block Diagrams 3
Pin Descriptions 3
Package Outline Drawing 5
Electrical Characteristics 6
Allowable Power Dissipation 10
Typical Application 11
Device Logic 12
Pin Logic and Timing 12
Common Input Pins 12
Monitor Output Pin 12
Logic Input Pins 13
Clock Edge Timing 13
Reset Release and Clock Input Timing 13
Logic Level Change 13
Stepping Sequence Diagrams 14
Motor Excitation Sequencing 21
Individual Circuit Descriptions 22
Monolithic IC (MIC) 22
Output MOSFET Chip 22
Sense Resistor 22
Functional Description 23
PWM Current Control 23
Blanking Time 23
PWM Off-Time 26
Protection Functions 27
Application Information 29
Motor Current Ratio Setting (R1, R2, RS) 29
Lower Limit of Control Current 29
Avalanche Energy 29
On-Off Sequence of Power Supply (VBB
and VDD) 30
Motor Supply Voltage (VM) and Main Power
Supply Voltage (VBB) 31
Internal Logic Circuits 31
Reset 31
Clock Input 31
Chopping Synchronous Circuit 31
Output Disable (Sleep1 and Sleep2) Circuits 31
Ref/Sleep1 Pin 32
Logic Input Pins 32
Thermal Design Information 32
Characteristic Data 34

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Functional Block Diagrams
SLA7070MPRT to SLA7073MPRT: Full and Half step
Sequencer
and
Sleep Circuit
Synchro
Control
PWM
Control
OSC
Comp
+
-
DAC
Pre-
Driver
PWM
Control
OSC
DAC
Pre-
Driver
+
-
MIC
SLA707xMPRT
Reg.
OutA OutA OutA OutA OutB OutB OutB
OutB
V
DD
Ref/Sleep1
Flag
N.C.
M1
M2 M3
CW/CCW
Clock
Reset
V
BB
SenseBSenseA
GndSync
Rs Rs
1 2 3 4
5
6 7 8 9 10 11
12
1314 1516
17
18
19
20 21 22 23
Protect Protect
TSD
Comp
Pin Number. Symbol Function
1, 2 OutA Output of phase A
3, 4 ¯ O
¯
¯
u
¯ ¯
t
¯ ¯
A
¯ Output of phase A ¯
5 SenseA Phase A current sensing
6 N.C. No connection
7 M1
Commutation and Sleep2 setting8 M2
9 M3
10 Clock Step clock input
11 VBB Main power supply (for motor)
12 Gnd Ground
13 Ref/Sleep1 Input for control current and Sleep1 setting
14 VDD Power supply to logic
15 Reset Reset for internal logic
16 CW/CCW Forward/reverse switch input
17 Sync Synchronous PWM control switch input
18 Flag Output from protection circuits monitor
19 SenseB Phase B current sensing
20, 21 ¯ O
¯
¯
u
¯ ¯
t
¯ ¯
B
¯ Output of phase B ¯
22, 23 OutB Output of phase B
1357911 13 15 17 19 21 23
2 4 6 8 10 12 14 16 18 20 22
Pad Side

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Sequencer
and
Sleep Circuit
Synchro
Control
PWM
Control
OSC
+
-
DAC
Pre-
Driver
PWM
Control
OSC
DAC
Pre-
Driver
+
-
Reg.
OutA OutA OutA OutA OutB OutB OutB
OutB
V
DD
Ref/Sleep1
Flag
MO
M1 M2 M3
Clock
Reset
V
BB
SenseBSenseA
GndSync
Rs Rs
1 2 3 4
5
6 7 8 9 10 11
12
1314 1516
17
18
19
20 21 22 23
Protect Protect
TSD
CW/CCW
Comp Comp
MIC
SLA707xMPRT
SLA7075MPRT to SLA7078MPRT: Microstep
Pin Number. Symbol Function
1, 2 OutA Output of phase A
3, 4 ¯ O
¯
¯
u
¯ ¯
t
¯ ¯
A
¯ Output of phase A ¯
5 SenseA Phase A current sensing
6 MO2-phase commutation status monitor output
7 M1
Commutation and Sleep2 setting8 M2
9 M3
10 Clock Step clock input
11 VBB Main power supply (for motor)
12 Gnd Ground
13 Ref/Sleep1 Input for control current and Sleep1 setting
14 VDD Power supply to logic
15 Reset Reset for internal logic
16 CW/CCW Forward/reverse switch input
17 Sync Synchronous PWM control switch input
18 Flag Output from protection circuits monitor
19 SenseB Phase B current sensing
20, 21 ¯ O
¯
¯
u
¯ ¯
t
¯ ¯
B
¯ Output of phase A ¯
22, 23 OutB Output of phase B
1357911 13 15 17 19 21 23
2 4 6 8 10 12 14 16 18 20 22
Pad Side

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Leadframe plating Pb-free. Device composition
includes high-temperature solder (Pb >85%),
which is exempted from the RoHS directive.
1.7 ±0.1
4.8 ±0.2
16.4 ±0.2
31 ±0.2
24.4 ±0.2
φ3.2 ±0.15
12.9 ±0.2
0.65 +0.2
-0.1
16 ±0.2
9.9 ±0.2
4-(R1)
5 ±0.5
0.55+0.2
-0.1
9.5 +1
-0.5
4.5
22 × P1.27±0.5 = 27.94±1
±0.7
R-end
31.3 ±0.2
1234 10 115 678912 13
14
15
16
17
18
19
20
21
22
23
(Includes Mold Flash)
2.45 ±0.2
(Measured at
Base of Pins)
(Measured at Pin Tips)
Unit: mm
Pin material: Cu
Pin Plating: Solder plating (Pb free)
a: Item name 1: SLA707xMRT (x is 0 to 3, or 5 to 8; last digit
of part number, corresponding to current rating and stepping rate)
b: Item name 2: P
c: Lot number:
1st letter is last digit of year
2nd letter is month
January to September: 1 to 9
October: O
November: N
December: D
3rd and 4th are date of manufacture (01 to 31)
(Measured at
Pin Tips)
(Heatsink Pad)
Gate Flash
Japan
a
bc
(4.3)
φ3.2 ±0.15 x 3.8
Package Outline Drawing, SLA 23-Pin

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Recommended Operating Conditions Unless specifically noted, TA is 25°C
Characteristic Symbol Test Conditions Min. Typ. Max. Unit
Load (Motor Supply) Voltage VM– – 44 V
Main Power Supply Voltage VBB 10 – 44 V
Logic Supply Voltage VDD
Surge voltage at VDD pin should
be less than ±0.5 V to avoid
malfunctioning in operation
3.0 – 5.5 V
Case Temperature TcMeasured at pin 12, without
heatsink – – 90 °C
Electrical Characteristics
• This section provides separate sets of electrical characteristic data for each product.
• The polarity value for current specifies a sink as "+ ," and a source as “−,” referencing the IC.
• Please refer to the datasheet of each product for additional details.
Absolute Maximum Ratings Unless specifically noted, TA is 25°C
Characteristic Symbol Notes Rating Unit
Load (Motor Supply) Voltage VM46 V
Main Power Supply Voltage VBB 46 V
Logic Supply Voltage VDD
6 V
≤1μs(5%duty) 7 V
Output Current IO
SLA7070MPRT
SLA7075MPRT
Control current value
1.0 A
SLA7071MPRT
SLA7076MPRT 1.5 A
SLA7072MPRT
SLA7077MPRT 2.0 A
SLA7073MPRT
SLA7078MPRT 3.0 A
Logic Input Voltage VIN −0.3toVDD+0.3 V
REF Input Voltage VREF −0.3toVDD+0.3 V
Sense Voltage VRS ±2 V
Power Dissipation PDWithout heatsink 4.7 W
Junction Temperature TJ150 °C

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Electrical Characteristics Common to All Variants Unless specifically noted, TA is 25°C
Characteristic Symbol Test Conditions Min. Typ. Max. Unit
Main Power Supply Current IBB Normal mode – – 15 mA
IBBS Sleep1 and Sleep2 mode – – 100 μA
Logic Power Current IDD – – 5 mA
MOSFET Breakdown Voltage VDSS VBB = 44 V, ID = 1 mA 100 – – V
Maximum Response Frequency fclk Clockduty=50% 250 – – KHz
Logic Supply Voltage VIL – – 0.25 × VDD V
VIH 0.75 × VDD – – V
Logic Supply Current IIL – ±1 – μA
IIH – ±1 – μA
REF Input Voltage1VREF See figure 1 – – – V
VREFS Output off, Sleep1 mode 2.0 – VDD V
REF Input Current IREF – ±10 – μA
SENSE Voltage VSENSE VREF = 0 to 1.5 V
Stepreferencecurrentratio:100%
VREF –
0.03 –VREF – 0.03 V
Sleep to Enable Recovery Time tSE Sleep1 and Sleep2 100 – – μs
Switching Time tcon Clock edge to output on – 2.0 – μs
tcoff Clock edge to output off – 1.5 – μs
Overcurrent Detection Voltage2VOCP At motor coil short-circuit 0.65 0.7 0.75 V
Overcurrent Detection Current
( VOCP / RS )IOCP
SLA7070MPRT, SLA7075MPRT,
SLA7071MPRT, SLA7076MPRT – 2.3 – A
SLA7072MPRT, SLA7077MPRT – 3.5 – A
SLA7073MPRT, SLA7078MPRT – 4.6 – A
Load Disconnection Undetected Time topp From PWM off – 2 – µs
Overheat Protection Temperature Ttsd Measured at back of device case (after heat
has saturated) – 140 – °C
Flag Output Voltage
VFlagL IFlagL = 1.25 mA – – 1.25 V
VFlagH IFlagH = –1.25 mA VDD –
1.25 – – V
Flag Output Current IFlagL – – 1.25 mA
IFlagH –1.25 – – mA
1In a state of: Sleep1, IBBS, output off, and Sequencer enabled.
2In a condition of VSENSE ≥ VOCP , the protection circuit will activate.

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Electrical Characteristics Varying with Stepping Sequence Unless specifically noted, TA is 25°C, VBB = 24 V, VDD = 5 V
SLA7070MPRT, SLA7071MPRT, SLA7072MPRT, and SLA7073MPRT (Full- and Half-Stepping)
Characteristic Symbol Test Conditions Min. Typ. Max. Unit
Step Reference Current Ratio Mode F VREF≈VSENSE = 100 V,
VREF = 0 to 1.0 V
– 100 – %
Mode 8 – 70 – %
PWM Minimum On-Time ton(min) – 3.2 – µs
PWM Off-Time toff – 12 – µs
SLA7075MPRT, SLA7076MPRT, SLA7077MPRT, and SLA7078MPRT (Microstepping)
Step Reference Current Ratio
Mode F
VREF≈VSENSE = 100 V,
VREF = 0 to 1.0 V
– 100 – %
Mode E – 98.1 – %
Mode D – 95.7 – %
Mode C – 92.4 – %
Mode B – 88.2 – %
Mode A – 83.1 – %
Mode 9 – 77.3 – %
Mode 8 – 70.7 – %
Mode 7 – 63.4 – %
Mode 6 – 55.5 – %
Mode 5 – 47.1 – %
Mode 4 – 38.2 – %
Mode 3 – 29 – %
Mode 2 – 19.5 – %
Mode 1 – 9.8 – %
MO (Load) Output Voltage VMOL IMOL = 1.25 mA – – 1.25 V
VMOH IMOH = –1.25 mA VDD – 1.25 – – V
MO (Load) Output Current IMOL – – 1.25 mA
IMOH –1.25 – – mA
PWM Minimum On-Time ton(min) – 1.7 – µs
PWM Off-Time
toff1 Mode 8, 9, A, B, C, D, E, and F – 12 – µs
toff2 Mode 4, 5, 6, and 7 – 9 – µs
toff3 Mode 1, 2, and 3 – 7 – µs

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
Electrical Characteristics Varying with Output Current Range Unless specifically noted, TA is 25°C, VBB = 24 V, VDD = 5 V
SLA7070MPRT and SLA7075MPRT (IO= 1.0 A)
Characteristic Symbol Test Conditions Min. Typ. Max. Unit
Output On-Resistance RDS(on) ID = 1 A – 0.7 0.85 Ω
Body Diode Forward Voltage VfIf = 1 A – 0.85 1.1 V
Sense Resistor* RS±3%tolerance 0.296 0.305 0.314 Ω
REF Input Voltage VREF Within specified current limit, IO = 1.0 A 0.04 – 0.3 V
SLA7071MPRT and SLA7076MPRT (IO= 1.5 A)
Output On-Resistance RDS(on) ID = 1.5 A – 0.45 0.6 Ω
Body Diode Forward Voltage VfIf = 1.5 A – 1.0 1.25 V
Sense Resistor* RS±3%tolerance 0.296 0.305 0.314 Ω
REF Input Voltage VREF Within specified current limit, IO = 1.5 A 0.04 – 0.45 V
SLA7072MPRT and SLA7077MPRT (IO= 2.0 A) Electrical Characteristics
Output On-Resistance RDS(on) ID = 2 A – 0.25 0.4 Ω
Body Diode Forward Voltage VfIf = 2 A – 0.95 1.2 V
Sense Resistor* RS±3%tolerance 0.199 0.205 0.211 Ω
REF Input Voltage VREF Within specified current limit, IO = 2.0 A 0.04 – 0.4 V
SLA7073MPRT and SLA7078MPRT (IO= 3.0 A) Electrical Characteristics
Output On-Resistance RDS(on) ID = 3 A – 0.18 0.24 Ω
Body Diode Forward Voltage VfIf = 3 A – 0.95 2.1 V
Sense Resistor* RS±3%tolerance 0.150 0.155 0.160 Ω
REF Input Voltage VREF Within specified current limit, IO = 3.0 A 0.04 – 0.45 V
*Includestheinherentbulkresistance(approximately5mΩ)oftheresistoritself.

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SANKEN ELECTRIC CO., LTD.
SLA7070MPRT-AN, Rev. 2.1
V
OCP= 0.7 V
0.3V
VDD
0V
2.0V
Sleep
Prohibition Zone
1 Set Range
0.4V
0.45V
1.0 A
Devices 2.0 A Devices 1.5 A and 3.0 A
Devices
Motor Current Set Range*
*Motor Current Set Range is determined
by the value of the resistor built into the device.
Figure 1. Reference Voltage Setting (VREF, REF/SLEEP1 Pin). Please pay extra
attention to the change-over between the motor current specification range, IMO , and
the Sleep1 Set Range. VOCP falls on the "prohibition zone" threshold. If the change-
over time is too slow, OCP operation will start when VSInt > VOCP.
Rθj-a
=
26.6℃/W
0
1
2
3
4
5
0 10 20 30 40 50 60 70 80 90
Ambient Temperature, T
A
[℃]
Allowable Power Dissipation, P
D[W]
Figure 2. Allowable Power Dissipation