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MP6509 2.7v-to-18v, 1.2a, bipolar stepper motor driver with integrated mosfets MP6509 rev.1.0 www.monolithicpower.com 1 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. the future of analog ic technology description the MP6509 is a bipolar stepper-motor driver with dual, built-in full-bridges consisting of n- channel power mosfets. it operates from a supply voltage ranging from 2.7v to 18v and can deliver motor current up to 1.2a per channel. the internal safety features include over-current protection(ocp), under-voltage lockout protection(uvlo) and thermal shutdown. a fault output flag is available to indicate ocp and thermal shutdown. the MP6509 comes in 20-pin, 6.5mmx6.4mm tssop-ep package with an exposed thermal pad on the backside. features ? wide 2.7v to 18v input voltage range ? two internal full bridge drivers ? low on resistance(hs:250m ? ; ls:250m ? ) ? four selectable current attenuation modes ? internal charger pump for the high-side driver ? low quiescent current:1.6ma ? low sleep current: 1ua ? over-current protection ? thermal shutdown and uvlo protection ? fault indication output ? thermally-enhanced surface-mount package applications ? pos printers ? video security camera ? digital still cameras ? battery powered toys for mps green status, please visit mps website under quality assurance. ?mps? and ?the future of analog ic technology? are registered trademarks of monolithic power systems, inc. typical application motor bst vin aout1 aout2 bout1 bout2 fault vdd v in MP6509 sena windinga senb r senb c1 c2 c3 off on windingb r sena gnd fault bin2 ain1 ain2 bin1 0.1uf 10uf 2.2uf nsleep att1 att2 stepper motor application dual dc motor application
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 2 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. ordering information part number* package top marking MP6509gf * tssop-20 ep see below * for tape & reel, add suffix ?z (e.g. MP6509gf?z); top marking mps: mps prefix: yy: year code; ww: week code: MP6509: part number; lllllllll: lot number; package reference tssop-20 ep
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 3 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. absolute maximum ratings (1) supply voltage v in ......................... -0.3v to 20v aoutx voltage v aoutx ...............-0.3v to v in +1v boutx voltage v boutx ...............-0.3v to v in +1v bst voltage v bst .................... -0.3v to v in +6.5v sense voltage v senx ..................... -0.3v to 0.5v all other pins ................................ -0.3v to 6.5v junction temper ature .............................. 150c lead temperat ure ................................... 260c continuous power dissipation (t a = +25c) (2) tssop-20 ep ........................................... 3.1w operating temperature .............. -40c to +85c recommended operating conditions (3) supply voltage v in .......................... 2.7v to 18v output current i a/bout .................................. 1.2a operating junction temp. (t j ). -40c to +125c thermal resistance (4) ja jc tssop-20 ep ............................. 40 ....... 8 .... c/w notes: 1) exceeding these ratings may damage the device. 2) the maximum allowable power dissipation is a function of the maximum junction temperature t j (max), the junction-to- ambient thermal resistance ja , and the ambient temperature t a . the maximum allowable continuous power dissipation a t any ambient temperature is calculated by p d (max) = (t j (max)-t a )/ ja . exceeding the maximum allowable powe r dissipation will cause excessive die temperature, and the regulator will go into thermal shutdown. internal thermal shutdown circuitry protects the device from permanen t damage. 3) the device is not guaranteed to function outside of its operating conditions. 4) measured on jesd51-7, 4-layer pcb.
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 4 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. electrical characteristics v in =9v, t a =25c, unless otherwise noted. paramete r symbol condition min typ max units power supply input supply voltage v in 2.7 18 v v dd voltage v dd 4.85 v quiescent current i in nsleep=1, i ou t =0, output disable 1.6 1.8 ma i in_sleep nsleep=0, v in =9v 1 a integrated mosfets output on resistance r hs i out =500ma, v in =9v t j =25c 250 350 m ? i out =500ma, v in =2.7v t j =25c 310 400 m ? i out =500ma, v in =9v t j =85c 350 m ? i out =500ma, v in =2.7v t j =85c 400 m ? r ls i out =500ma, v in =9v t j =25c 235 350 m ? i out =500ma, v in =2.7v t j =25c 310 400 m ? i out =500ma, v in =9v t j =85c 310 m ? i out =500ma, v in =2.7v t j =85c 400 m ? body-diode forward voltage v f i out =500ma 1 v control logic uvlo threshold (rising) v in rise 2.5 v uvlo hysteresis v hys 30 75 120 mv input logic ?low? threshold v il 0.6 v input logic ?high? threshold v ih 2 v nsleep logic, low v sleep l 0.4 v nsleep logic, high v sleep h 2 v fault output logic, low v fault_l flag triggered by otp 1ma current. 200 mv fault output leakage current i leak_fault v fault =5v 1 a constant off time t off 21 26 31 s propagation delay time (on) t on dela y (hs) 10ma source current 100 200 300 ns t on dela y (ls) 20 55 90 ns propagation delay time (off) t off dela y (hs) 135 180 225 ns t off dela y (ls) 80 130 180 ns
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 5 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. electrical characteristics (continued) v in =9v, t a = 25c, unless otherwise noted. paramete r symbol condition min typ max units cross over delay t cross ls off to hs on for one bridge arm 350 450 550 ns hs off to ls on for one bridge arm 275 355 435 ns sleep mode wakeup time t wake sleep active high to full bridge turn on (v bst =100nf) 0.65 0.75 0.9 ms protection circuitry current limit sense trip voltage v ref att1=l, att2=l 175 204 233 mv v trip att1=h, att2=l 135 163 191 mv att1=l, att2=h 76 103 130 mv att1=h, att2=h 15 44 73 mv blanking time t blank 2 2.5 3 s over-current trip level i ocp1 high side 2.2 3.4 4.6 a i ocp2 low side 1.8 2.4 3 a over-current deglitch time t deg 0.75 1.1 1.45 s over-current protection period t ocp 1.3 1.8 2.3 ms thermal shutdown 165 c thermal shutdown hysteresis 15 c
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 6 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. typical characteristics
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 7 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. typical characteristics
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 8 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. typical performance characteristics (continued) performance waveforms are tested on the evaluation board of the design example section. v in =12v, i out =1.2a, f step =200hz, r+l load: l=2mh, r=3.3 ? , t a =25c, unless otherwise noted.
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 9 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. pin functions pin # name description 1 nsleep sleep mode input. logic low to enter low-power sleep mode. internal pull down. 2 aout1 bridge a output terminal 1. 3,8 nc not connected. 4 sena bridge a sense resistor connector. connect to current sensor resistor for bridge a 5 aout2 bridge a output terminal 2. 6 bout2 bridge b output terminal 2. 7 senb bridge b sense resistor connector. connect to current sensor resistor for bridge b. 9 bout1 bridge b output terminal 1. 10 fault fault indication. open-drain output type, logic low when in fault condition (ocp, otp). 11 bin1 gate signal input to control bout1. 12 bin2 gate signal input to control bout2. 13 att2 current attenuation mode select. see applications notes for details. att1, att2 set the current setting reference voltage attenuation ratio ?100%, 80%, 50%, 20%. internal pull down. 14 att1 15 bst charge pump output. connect a 10nf-to-100nf ceramic capacitor to vin. 16 vin power supply input. ranges from 2.7v to 18v. 17 gnd ground. 18 vdd internal control and logic supply voltage. 19 ain2 gate signal input to control aout2. 20 ain1 gate signal input to control aout1.
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 10 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. block diagram figure 1: function block diagram
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 11 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. operation the MP6509 is a motor driver that integrates 8 n-channel power mosfets for dual, internal full- bridges with 1.2a output current capability over an input voltage range of 2.7v to 18v. it can drive a stepper motor or two dc motors. the motor output current can be either controlled by an external pulse width modulator (pwm) or internal pwm current controller. the MP6509 includes the following fault protections: over-current protection(ocp), under- voltage lockout(uvlo) and over-temperature protection(otp). it also provides a low-power sleep mode. external pwm current control the motor current can be regulated by applying external pwm signals on the input pins ain1, ain2, bin1 and bin2. for phase a, the ain1 and ain2 input pins control the state of the aout1 and aout2; similarly for phase b, the bin1 and bin2 input pins control the state of the bout1 and bout2. figure 2: full-bridge control circuit table 1 shows the input signal logic and bridge output state. table 1: full-bridge gate logic a/bin1 a/bin2 a/bout1 a/bout2 l l high impedance high impedance l h gnd vin h l vin gnd h h gnd gnd in external pwm control mode, the winding?s inductive current ramps up when the high-side mosfet is on and freewheels during the high- side mosfet?s off time to cause the recirculation current. there are two modes for this recirculation current: slow decay and fast decay, both of which are shown in figure 3 for forward operation and figure 4 for reverse operation. figure 3: forward operation figure 4: reverse operation for slow decay mode, the current circulates through the two low-side mosfets. for fast decay mode, the current flows through the body diodes of the other diagonal two mosfets. to configure the MP6509 for fast decay mode, apply the pwm signal to one input pin and keep
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 12 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. the other input pin low; for slow decay mode, apply the pwm signal to one input pin and keep the other input pin high. see table 2 for more configuration details and figure 5 for detailed waveforms. table 2: pwm control a/bin1 a/bin2 mode h (pwm) l forward l (pwm) l fast decay l h (pwm) reverse l l (pwm) fast decay h l (pwm) forward h h (pwm) slow decay l (pwm) h reverse h (pwm) h slow decay a/b in1 a/b in2 i a/bout1 forward reverse forward reverse slow decay fast decay 0 0 0 figure 5: external pwm current control waveform internal pwm current control for this control method, the motor current is regulated by an internal constant off-time pwm current control circuit as the following: ? initially, a diagonal pair of mosfets turns on so current can flow through the motor winding. ? the current increases in the motor winding, which is sensed by an external sense resistor (r sense ). during the initial blanking time t blank (3us), the high-side mosfet always turns on in spite of current limit detection. ? when the voltage across r sense reaches the internal reference voltage threshold v trip , the internal current comparator shuts off the high-side mosfet. ? the stepper motor?s inductance causes the current to freewheel through the two low-side mosfets (slow decay). ? during this freewheeling time, the current decreases until the internal clock reaches its? constant off time (typically 30s). after that, the high-side mosfet is enabled to increase the winding current again. ? the cycle then repeats. calculate the current limit as: ref limit sense v i r = (1) figure 6: internal pwm current control waveform the value of v ref can be switched to four-step settings depending on the status of the two inputs att1 and att2. this is helpful to reduce the power dissipation when motor holding current is supplied. see table 3 for more configuration details.
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 13 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. table 3: attenuation function for v ref value att1 a tt2 attenuation ratio l l 100% h l 80% l h 50% h h 20% the formula used to calculate the output current limit when using the function for attenuating the v ref value is given below: ref limit sense v i attenuation ratio r = (2) sleep mode the MP6509 provides low-power standby sleep mode. connect the nsleep pin to logic low to enable a low-power sleep state. in this state, the two full bridges are disabled and the internal circuits such as the gate drive, internal regulator, and charge pump all shut down. connect the nsleep pin to logic high to wake up the MP6509 from sleep mode, though there is a delay time of ~1ms until the internal circuitry stabilizes. blanking time there is usually a current spike during the switching transition due to the body diode?s reverse-recovery current or the distributed inductance or capacitance. this current spike requires filtering to prevent it from erroneously shutting down the high-side mosfet. an internal blanking time t blank blanks the output of the current sense comparator when the outputs are switched, which is also the minimum on time for high-side mosfet. enable if all the inputs (ain1, ain2, bin1 and bin2) are logic low, the MP6509?s outputs are disabled while the charger pump and internal regulator remain active. synchronous rectifier the MP6509 enters a synchronous rectifier (sr) mode during the constant off-time period when the current limit threshold is exceeded, and the load current freewheels in slow decay sr mode. in slow decay mode, the current freewheels through one low-side mosfet and the body diode of the other low-side mosfet to short the winding. the sr mode enables both two low-side mosfets, which feature a lower voltage drop and lower power dissipation during decay operation. over-current protection the over-current protection circuit limits the current through the fet by disable the gate driver. if the over-current limit threshold is reached and lasts for longer than the over- current deglitch time, all mosfets in the h- bridge will be disabled and the nfault pin will be driven low. the driver will remain disabled and is reset to enable state after 2ms(typ). please note that only the h-bridge in which the ocp is detected will be disabled while the other bridge will operate normally. over-current conditions on both high and low side devices; i.e., a short to ground, supply, or across the motor winding will all result in an over- current shutdown. note that over-current protection does not use the current sense circuitry used for pwm current control, and is independent of the sense resistor value or vref voltage. thermal shutdown the junction temperature of the ic is internally monitored. if the junction temperature exceeds the threshold value (typically 165oc), the converter is shut down (the fault pin goes low) and recoveries once the junction temperature drops to about 150oc (15oc hysteresis). uvlo protection the MP6509 has uvlo protection. when the vin exceeds the uvlo rising threshold, the MP6509 powers up. it shuts off when vin drops below the uvlo falling threshold.
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver MP6509 rev.1.0 www.monolithicpower.com 14 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. application information driver mode: the MP6509 could be configured for both full- step and half-step modes by sequentially energizing the two windings. full-step drive energizes two winding phases at any given time. the stator windings are energized as per the sequence shown in table 4. there are a total of four steps for one cycle in the sequence (5) : ab ? a ?? b ? a ?? b ?? ? ab ?? . half-step energizes the stator windings as per the sequence shown in table 5 . there are a total of eight steps for one cycle: ab ? b ? a ?? b ? a ?? ? a ?? b ?? ? b ?? ? ab ?? ? a. figure 7 shows the operating waveforms for both full and half step drives. ain1 ain2 bin1 bin2 h l h l h l h l a out1-out2 b out1-out2 +v in -v in 0 +v in -v in 0 ab ab ab b ab ab ab ab a b ab aab full step half step figure 7: signal logic sequences for full-step and half-step table 4 (6) : full-step drive sequence sequence (full step) 1 2 3 4 a + + b + + a ?? + + b ?? + + table 5 (6) : half-step drive sequence sequence (half step) 1 2 3 4 5 6 7 8 a + + + b +++ a ?? + + + b ?? + ++ note: 5) a means +vin between aout1 and aout2 for winding a, while a ? means -vin between aout1 and aout2. the same applies to winding b. 6) ?+? item is the selected winding voltage.
MP6509 ? 2.7v-to-18v, 1.2a stepper motor driver notice: the information in this document is subject to change without notice. please contact mps for current specifications. users should warrant and guarantee that third party intellectual property rights are not infringed upon when integrating mps products into any application. mps will not assume any legal responsibility for any said applications. MP6509 rev.1.0 www.monolithicpower.com 15 8/28/2014 mps proprietary information. patent protected. unauthorized photocopy and duplication prohibited. ? 2014 mps. all rights reserved. package information tssop-20 ep

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