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TA8435H/HQ
TOSHIBA BIPOLAR LINEAR INTEGRATED CIRCUIT SILICON MONOLITHIC
TA8435H/HQ
PWM CHOPPER-TYPE BIPOLAR STEPPING MOTOR DRIVER.
The TA8435H/HQ is a PWM chopper-type sinusoidal micro-step bipolar stepping motor driver. Sinusoidal micro-step operation is achieved using only a clock signal input by means of built-in hardware.
FEATURES
Single-chip bipolar sinusoidal micro-step stepping motor driver Output current up to 1.5 A (AVE.) and 2.5 A (PEAK) PWM chopper-type Structured by high voltage Bi-CMOS process technology Forward and reverse rotation are available 2-, 1-2-, W1-2-, and 2W1-2-phase modes, and one- or two-clock drives can be selected. Package: HZIP25-P Input pull-up resistor equipped with RESET pin: R = 100 k (typ.) Output monitor available with MO IO ( MO ) = 2 mA (MAX.) Equipped with RESET and ENABLE pins. Weight: 9.86 g (typ.)
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TA8435HQ: The TA8435HQ is an Sn-plated product that includes Pb. The following conditions apply to solderability: *Solderability 1. Use of Sn-63 Pb solder bath *solder bath temperature = 230C *dipping time = 5 seconds *number of times = once *use of R-type flux 2. Use of Sn-3.0Ag-0.5Cu solder bath *solder bath temperature = 245C *dipping time = 5 seconds *number of times = once *use of R-type flux
TA8435H/HQ
BLOCK DIAGRAM
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PIN CONNECTION (top view)
Note:
NC: No connection
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PIN FUNCTION
PIN No 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 SYMBOL SG RESET ENABLE OSC CW / CCW CK2 CK1 M1 M2 REF IN Signal GND L : RESET L : ENABLE, H: OFF Chopping oscillation is determined by the external capacitor Forward / Reverse switching terminal. Clock input terminal. Clock input terminal. Excitation control input Excitation control input VNF control input Monitor output No connection. Voltage supply for logic. No connection. Output power supply terminal. Output B Power GND. B-ch output current detection terminal. Output B Output A A-ch output current detection terminal. Power GND Output A Output power supply terminal. No connection FUNCTIONAL DESCRIPTION
MO
NC VCC NC VMB B PG-B NFB B A NFA PG-A A VMA NC
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OUTPUT CIRCUIT
INPUT CIRCUIT
CK1, CK2, CW / CCW, M1, M2, REF IN: Terminals
RESET , ENABLE : Terminals
OSC: Terminal
Equipped with 100 k of pull-up resistance.
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OSCILLATOR FREQUENCY CALCULATION
The sawtooth oscillator (OSC) circuit consists of Q1 through Q4 and R1 through R4. Q2 is turned off when VOSC is less than the voltage of 2.5 V + VBE (Q2), a value that is approximately equal to 2.85 V. VOSC is increased by COSC charging through R1. Q3 and Q4 are turned on when VOSC becomes 2.85 V (High level.) The Low level of V (4) pin is equal to VBE(Q2) + V(SAT)(Q4), which is approximately equal to 1.4 V. VOSC is calculated by following equation:
1 VOSC = 5* 1 - exp - C OSC *R 1
------------------- (1).
Assuming that VOSC = 1.4 V (t = t1) and = 2.85 V (t = t2), and given that COSC is the external capacitance connected to pin (4) and R1 is an on-chip 10 k resistor, the OSC frequency is calculated as follows:
t1 = - COSC* R 1* l n ( 1 -
1.4 ) ---------------------- (2), 5
2.85 ) -------------------- (3), 5
t2 = - COSC* R 1* l n ( 1 -
fOSC =
1 1 = 1.4 2.85 t2 - t1 C ) - R 1* l n ( 1 - )) OSC (R 1* l n ( 1 - 5 5
1 (kHz)(COSC : F) . 5.15*COSC
=
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ENABLE AND RESET FUNCTION AND MO SIGNAL
Figure 1:
1-2 phase drive mode (M1: H, M2: L)
The ENABLE signal at High level disables only the output signals. Internal logic functions proceed in accordance with input clock signals and without regard to the ENABLE signal. Therefore output current is initiated by the timing of the internal logic circuit after release of disable mode. Figure 1 shows the ENABLE functions for when 1-2 phase drive is selected for the system.
Figure 2:
1-2 phase drive mode (M1: H, M2: L)
The RESET signal at Low level not only turns off the output signals but also stops the internal clock functions, while MO (Monitor Output) signals are set to low. Output signals are initiated from the initial point after release of RESET (High), as shown in Figure 2. MO signals can be used as rotation and initial signals for stable rotation checking.
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FUNCTION
INPUT CK1 CK2 CW / CCW
INITIAL MODE
RESET H H H H H H H H L X ENABLE L L L L L L L L L H CW INHIBIT CCW INHIBIT CCW INHIBIT CW INHIBIT RESET Z (Note) (Note) (Note) (Note) MODE EXCITATION MODE 2-Phase 1-2- Phase W1-2-Phase 2W1-2-Phase A PHASE CURRENT 100% 100% 100% 100% B PHASE CURRENT -100% 0% 0% 0%
H L H L H L H L X X X X
L L L L H H H H X X
Z: High Impedance X: Don't Care
INPUT M1 L H L H M2 L L H H
MODE (EXCITATION) 2-Phase 1-2-Phase W1-2-Phase 2W1-2-Phase
2-PHASE EXCITATION
(M1: L, M2: L, CW MODE)
1-2-PHASE EXCITATION
(M1: H, M2: L, CW MODE)
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W1-2-PHASE EXCITATION (M1: L, M2: H, CW MODE)
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2W1-2-PHASE EXCITATION (M1: H, M2: H, CW MODE)
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MAXIMUM RATINGS (Ta = 25C)
CHARACTERISTIC Supply Voltage Output Voltage Output Current MO Output Current Input Voltage Power Dissipation Operating Temperature Storage Temperature Feed Back Voltage PEAK AVE SYMBOL VCC VM IO (PEAK) IO (AVE.) IO ( MO ) VIN PD Topr Tstg VNF RATING 5.5 40 2.5 1.5 2 ~VCC 5 (Note 1) 43 (Note 2) -40~85 -55~150 1.0 UNIT V V A mA V W C C V
Note 1: No heat sink Note 2: Tc = 85C
RECOMMENDED OPERATING CONDITIONS (Ta = -20~75C)
CHARACTERISTIC Supply Voltage Output Voltage Output Current Input Voltage Clock Frequency OSC Frequency SYMBOL VCC VM IOUT VIN fCK fOSC TEST CONDITION MIN 4.5 21.6 15 TYP. 5.0 24 MAX 5.5 26.4 1.5 VCC 5 80 UNIT
V
V A V kHz kHz
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ELECTRICAL CHARACTERISTICS (Ta = 25C, VCC = 5 V, VM = 24 V)
CHARACTERISTIC High Input Voltage Low Input Hysteresis Voltage VIN (L) VH IIN-1 (H) Input Current IIN-1 (L) IIN-2 (L) ICC1 1 M1, M2, REF IN, VIN = 5.0 V RESET , ENABLE , VIN = 0 V INTERNAL PULL-UP RESISTOR SOURCE TYPE, VIN = 0 V Output Open, RESET (2, 1-2 phase excitation) Quiescent Current VCC Terminal 1 Output Open, RESET ENABLE RESET : L, ENABLE : H RESET : H, ENABLE : H 3 REF IN H Output Open REF IN L Output Open IOH = -40 A IOL = 40 A COSC = 0.0033 F B / A, COSC = 0.0033 F, RNF = 0.8 VNF (L) / VNF (H) COSC = 0.0033 F, RNF = 0.8 SOURCE TYPE :H :L 10 18 mA :H 10 18 SYMBOL VIN (H) 1 TEST CIR- CUIT TEST CONDITION MIN 3.5 GND -0.4 10 TYP. 600 50 MAX VCC + 0.4 1.5 100 100 100 mV nA A nA UNIT
M1, M2, CW / CCW, REF IN ENABLE , CK1, CK2
RESET
V
ENABLE : L
ICC2
(W1-2, 2W1-2 phase excitation) ICC3 ICC4 Comparator Reference Voltage Output Differential VNF (H) - VNF (L) NF Terminal Current Maximum OSC Frequency Minimum OSC Frequency OSC Frequency Minimum Clock Pulse Width Output Voltage High Low VNF (H) VNF (L) VO VNF INF fOSC (MAX.) fOSC (MIN.) fOSC tW (CK) VOH ( MO ) VOL (MO) 0.72 (Note) 0.45 -10 56 100 25 4.5 GND 0.5 63 170 44 1.0 4.9 0.1 0.55 10 70 10 62 VCC 0.5 % % A kHz kHz kHz s V 5 5 0.8 0.88 V
Note:
2-phase excitation, RNF = 0.7 , COSC = 0.0033 F
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OUTPUT BLOCK
CHARACTERISTIC Upper Side Lower Side Output Saturation Voltage Upper Side Lower Side Upper Side Lower Side Upper Side Diode Forward Voltage Lower Side Upper Side Lower Side SYMBOL VSAT U1 VSAT L1 VSAT U2 VSAT L2 VSAT U3 VSAT L3 VF U1 VF L1 VF U2 VF L2 IM1 Output Dark Current (A + B Channels) IM2
2W1-2 W1-2 1-2 2W1-2
TEST CIR- CUIT
TEST CONDITION
MIN
TYP. 2.1 1.3 1.8 1.1 2.5 1.8 2.0 1.5 2.5 1.8
MAX 2.8 2.0 2.2 1.5 3.0 2.2 3.0 2.1 3.3 2.5 50
UNIT
IOUT = 1.5 A
4
IOUT = 0.8 A IOUT = 2.5 A Pulse width 30 ms IOUT = 1.5 A
V
5
IOUT = 2.5 A Pulse width 30 ms ENABLE : "H" Level, Output Open
V
A
2
RESET :
"L" Level REF IN : H RNF = 0.8 COSC = 0.0033 F 86 78 66.4 50.5 35 15 8 100 100 91 83 71.4 55.5 40 20 100 15 96 88 76.4 60.5 45 25 % mA
ENABLE : "L" Level Output Open RESET : =0 =1/8 =2/8 =3/8 "H" Level

2W1-2 W1-2
2W1-2 A-B Chopping 2W1-2 W1-2 1-2 Current 2W1-2 (Note) 2W1-2 W1-2 2W1-2
VECTOR
=4/8 =5/8 =6/8 =7/8

2 Phase Excitation Mode VECTOR
Note:
Maximum current ( = 0): 100% 2W1-2 : 2W1-2-phase excitation mode W1-2 : W1-2-phase excitation mode 1-2 : 1-2-phase excitation mode
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TEST CIR- CUIT =0 =1/8 =2/8 =3/8 VECTOR =4/8 =5/8 =6/8 =7/8 = 0 / 8 - 1 / 8 = 1 / 8 - 2 / 8 = 2 / 8 - 3 / 8 Feed Back Voltage Step VNF = 3 / 8 - 4 / 8 = 4 / 8 - 5 / 8 = 5 / 8 - 6 / 8 = 6 / 8 - 7 / 8 tr tf tpLH tpHL Output Tr Switching Characteristics tpLH tpHL tpLH tpHL tpLH tpHL Output Leakage Current Upper Side Lower Side IOH IOL 6 7 RL = 2 , VNF = 0 V, CL = 15 pF CK~Output REF IN : H RNF = 0.8 COSC = 0.0033 F REF IN : H RNF = 0.8 COSC = 0.0033 F
CHARACTERISTIC
2W1-2 2W1-2 2W1-2 W1-2 1-2
SYMBOL
TEST CONDITION
MIN 86 78 66.4 50.5 35 15 32 24 53 87 84 120
TYP. 100 100 91 83 71.4 55.5 40 20 100 0 72 64 93 127 124 160 0.3 2.2 1.5 2.7 5.4 6.3 2.0 2.5 5.0 6.0
MAX 96 88 76.4 60.5 45 25 112 104 133 167 164 200 50 50
UNIT
W1-2

A-B Chopping Current (Note)
2W1-2 2W1-2 2W1-2 2W1-2 2W1-2
W1-2 1-2
%
W1-2

2 Phase Excitation Mode VECTOR
mV
OSC~Output
s
RESET ~Output
ENABLE ~Output
VM = 30 V
A
Note:
Maximum current ( = 0): 100% 2W1-2 : 2W1-2-phase excitation mode W1-2 : W1-2-phase excitation mode 1-2 : 1-2-phase excitation mode
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TEST CIRCUIT 1
VIN (H), (L), IIN (H), (L)
TA8435H/HQ
TEST CIRCUIT 2
ICC, IM
TA8435H/HQ
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TEST CIRCUIT 3
VNF (H), (L)
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TEST CIRCUIT 4
VCE (SAT) UPPER SIDE, LOWER SIDE
TA8435H/HQ
Note:
Calibrate Io to 1.5 A / 0.8 A by RL
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TEST CIRCUIT 5
VFU, VFL
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TEST CIRCUIT 6
IOH, IOL
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AC ELECTRICAL CHARACTERISTICS, MEASUREMENT WAVE
CK (OSC)-OUT
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OUTPUT CURRENT VECTOR ORBIT (normalized to 90 per step)
0 1 2 3 4 5 6 7 8
ROTATION ANGLE IDEAL 0 11.25 22.5 33.75 45 56.25 67.5 78.75 90 TA8435H/HQ 0 11.31 23.73 33.77 45 56.23 66.27 78.69 90 IDEAL 100 100 100 100 100 100 100 100 100
VECTOR LENGTH TA8435H/HQ 100.00 101.98 99.40 99.85 100.97 99.85 99.40 101.98 100.00 141.42 2-Phase
1-2 / W1-2 / 2W1-2-Phase
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APPLICATION CIRCUIT
Note 1: A Schottky diode (3GWJ42) for preventing punch-through current should also be connected between each output (pin 16 / 19 / 20 / 23). Note 2: The GND pattern should be laid out at one point to prevent common impedance. Note 3: A capacitor for noise suppression should be connected between the power supply (VCC, VM) and GND to stabilize operation. Note 4: Utmost care is necessary in the design of the output, VM and GND lines since the IC may be destroyed by short-circuiting between outputs, air contamination faults, or faults due to improper grounding.
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When using TA8435H/HQ
0. Introduction
The TA8435H/HQ controls the PWM to set the stepping motor winding current to a constant current. The device is a micro-step driver IC used to drive the stepping motor efficiently at low vibration.
1.
Micro-step drive
The TA8435H/HQ drives the stepping motor in micro steps with a maximum resolution of 1/8 of the 2-phase stepping angle (in 2W1-2-phase mode). In micro step operation, A-phase and B-phase current levels are set inside the IC so that the composite vector size and the rotation angle are even. Just inputting clock signals rotates the stepping motor in micro steps.
2.
PWM control and output current setting
(1) Output current path (PWM control) The TA8435H/HQ controls the PWM by turning the upper power transistor on and off. Here, current flows as shown in the figure below.
(2)
Setting of output current by REF-IN input and current detection resistor The motor current (maximum current for micro-step drive) IO is set as shown in the following equation, using REF-IN input and the external current detection resistor RNF.
IO = VREF / RNF where, REF-IN = High, REF-IN = Low,
VREF = 0.8 V VREF = 0.5 V
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3. Logic control
(1) Clock input for rotation direction control To switch rotation between forward and reverse, there are two types of clock input: one-clock input and two-clock input. (a) One-clock input One clock pin, CK1 or CK2, is used for clock input. In this case, rotation is switched between forward or reverse using a CW or CCW signal.
(b)
Two-clock input Both clock pins, CK1 and CK2, are used for clock input. Switching between CK1 and CK2 controls forward and reverse rotation.

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(2) Mode setting Setting M1 and M2 selects one of the following modes: 2-phase, 1-2-phase, W1-2-phase, and 2W1-2-phase modes. Monitor ( MO ) output The product supports the use of monitor output to monitor the current waveform location. For 2-phase mode, the MO output is Low if the timing of the A-phase current = 100% and that of the B-phase current = -100%. For 1-2-phase, W1-2-phase, or 2W1-2-phase mode, the MO output is Low if the timing of the A-phase current = 100% and and that of the B-phase current = 0%. Reset pin The product supports the use of reset input to reset the internal counter. Setting RESET to Low resets the internal counter, forcing the output current to the same value as that when the MO output is Low. Phase mode switching To avoid step changing during motor rotation, the current must not fluctuate at phase mode switching. Pay attention to the following points.
(3)
(4)
(5)
(a) During switching between 2-phase and other phase modes, the current fluctuates. (b) When switching between phase modes other than 2-phase, the current can be switched without fluctuation if the timing of MO output = Low. However, when switching as follows, set RESET to Low beforehand: from 1-2-phase to W1-2-phase or 2W1-2-phase mode; from W1-2-phase to 2W1-2-phase mode.

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4. PWM oscillation frequency (external capacitor setting)
An external capacitor connected to the OSC pin is used to generate internally a sawtooth waveform. PWM is controlled using this frequency. Toshiba recommend 3300 pF for the capacitance, taking variations between ICs into consideration.
5.
External Schottky diode
A parasitic diode can be supported on the lower side of the output. When PWM is controlled, current flows to this parasitic diode. Unfortunately, this current has the effect of generating punch-through current and micro-step waveform fluctuation. For this reason, be sure to connect a Schottky barrier diode externally. This external diode can also reduce heat generated in the IC.
6.
Power dissipation
The IC power dissipation is determined by the following equation (where the Schottky diode is connected between the output pin and GND): P = VCC x ICC + VM x IM + IO (tON x VSAT-U + VSAT-L) tON = TON / TS (PWM control ON duty). The higher the ambient temperature, the smaller the power dissipation. Check the PD-Ta curve, and be sure to design the heat dissipation with a sufficient margin.
7.
Heatsink fin processing
The IC fin (rear) is electrically connected to the rear of the chip. When current flows to the fin, the IC malfunctions. If there is any possibility of a voltage being generated between the IC GND and the fin, either ground the fin or insulate it.
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PACKAGE DIMENSIONS
HZIP25-P-1.27 Unit: mm
Weight: 9.86 g (typ.)
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Notes on contents 1. Block Diagrams
Some of the functional blocks, circuits, or constants in the block diagram may be omitted or simplified for explanatory purposes.
2. Equivalent Circuits
The equivalent circuit diagrams may be simplified or some parts of them may be omitted for explanatory purposes.
3. Timing Charts
Timing charts may be simplified for explanatory purposes.
4. Maximum Ratings
The absolute maximum ratings of a semiconductor device are a set of specified parameter values that must not be exceeded during operation, even for an instant. If any of these ratings are exceeded during operation, the electrical characteristics of the device may be irreparably altered, in which case the reliability and lifetime of the device can no longer be guaranteed. Moreover, any exceeding of the ratings during operation may cause breakdown, damage and/or degradation in other equipment. Applications using the device should be designed so that no maximum rating will ever be exceeded under any operating conditions. Before using, creating and/or producing designs, refer to and comply with the precautions and conditions set forth in this document.
5. Application Circuits
The application circuits shown in this document are provided for reference purposes only. Thorough evaluation is required in the mass production design phase. In furnishing these examples of application circuits, Toshiba does not grant the use of any industrial property rights.
6. Test Circuits
Components in test circuits are used only to obtain and confirm device characteristics. These components and circuits are not guaranteed to prevent malfunction or failure in application equipment.
Handling of the IC
Ensure that the product is installed correctly to prevent breakdown, damage and/or degradation in the product or equipment.
Over-current protection and heat protection circuits
These protection functions are intended only as a temporary means of preventing output short circuits or other abnormal conditions and are not guaranteed to prevent damage to the IC. If the guaranteed operating ranges of this product are exceeded, these protection features may not operate and some output short circuits may result in the IC being damaged. The over-current protection feature is intended to protect the IC from temporary short circuits only. Short circuits persisting over long periods may cause excessive stress and damage the IC. Systems should be configured so that any over-current condition will be eliminated as soon as possible.
Counter-electromotive force
When the motor reverses or stops, the effect of counter-electromotive force may cause the current to flow to the power source. If the power supply is not equipped with sink capability, the power and output pins may exceed the maximum rating. The counter-electromotive force of the motor will vary depending on the conditions of use and the features of the motor. Therefore make sure there will be no damage to or operational problem in the IC, and no damage to or operational errors in peripheral circuits caused by counter-electromotive force.
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RESTRICTIONS ON PRODUCT USE
000707EBA
* TOSHIBA is continually working to improve the quality and reliability of its products. Nevertheless, semiconductor devices in general can malfunction or fail due to their inherent electrical sensitivity and vulnerability to physical stress. It is the responsibility of the buyer, when utilizing TOSHIBA products, to comply with the standards of safety in making a safe design for the entire system, and to avoid situations in which a malfunction or failure of such TOSHIBA products could cause loss of human life, bodily injury or damage to property. In developing your designs, please ensure that TOSHIBA products are used within specified operating ranges as set forth in the most recent TOSHIBA products specifications. Also, please keep in mind the precautions and conditions set forth in the "Handling Guide for Semiconductor Devices," or "TOSHIBA Semiconductor Reliability Handbook" etc.. * The TOSHIBA products listed in this document are intended for usage in general electronics applications (computer, personal equipment, office equipment, measuring equipment, industrial robotics, domestic appliances, etc.). These TOSHIBA products are neither intended nor warranted for usage in equipment that requires extraordinarily high quality and/or reliability or a malfunction or failure of which may cause loss of human life or bodily injury ("Unintended Usage"). Unintended Usage include atomic energy control instruments, airplane or spaceship instruments, transportation instruments, traffic signal instruments, combustion control instruments, medical instruments, all types of safety devices, etc.. Unintended Usage of TOSHIBA products listed in this document shall be made at the customer's own risk. * The products described in this document are subject to the foreign exchange and foreign trade laws. * The information contained herein is presented only as a guide for the applications of our products. No responsibility is assumed by TOSHIBA CORPORATION for any infringements of intellectual property or other rights of the third parties which may result from its use. No license is granted by implication or otherwise under any intellectual property or other rights of TOSHIBA CORPORATION or others. * The information contained herein is subject to change without notice.
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