TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003)
1
TMC 239 – DATA SHEET
High Current Microstep Stepper Motor Driver
with protection / diagnosis and SPI Interface
TRINAMIC
M I C R O C H I P S
TRINAMIC Microchips GmbH
Deelbögenkamp 4C
D – 22297 Hamburg
GERMANY
T +49 - (0) 40 - 51 48 06 - 0
F +49 - (0) 40 - 51 48 06 - 60
WWW.TRINAMIC.COM
INFO@TRINAMIC.COM
®
Features
The TMC239 is a dual full bridge driver IC for stepper motor control applications. It is realized in a
HVCMOS technology and directly drives eight external Low-RDS-ON high efficiency MOSFETs. The
driver transistors can be chosen depending on output current or environment temperature. Its low
current consumption and high efficiency together with the miniature package make the TMC239 a
perfect solution for embedded motion control and for battery powered devices. It supports more than
3000mA coil current. With additional drivers, motor current and voltage can be increased. Internal
DACs allow microstepping as well as smart current control. The device can be controlled by a serial
i
interface (SPI™ ) or by analog / digital input signals. Short circuit, temperature and undervoltage
protection is integrated.
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Control via SPI with easy-to-use 12 bit protocol or external analog / digital signals
Short circuit and over temperature protection integrated
Status flags for overcurrent, open load, over temperature, temperature pre-warning, undervoltage
Integrated 4 bit DACs allow up to 16 times microstepping via SPI, any resolution via analog control
Mixed decay feature for smooth motor operation
Slope control user programmable to reduce electromagnetic emissions
Chopper frequency programmable via a single capacitor or external clock
Current control allows cool motor and driver operation
Internal open load detector
7V to 30V motor supply voltage
More than 3000mA using 8 external MOS transistors
External drivers can be added for higher motor voltages and higher currents (e.g. 75V, 10A)
Only 4 external PMOS transistors required for unipolar operation
3.3V or 5V operation for digital part
Low power consumption via low RDS-ON power stage
Standby and shutdown mode available
Copyright © 2002, TRINAMIC Microchips GmbH
TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003)
2
Life support policy
TRINAMIC Microchips GmbH does not authorize
or warrant any of its products for use in life
support systems, without the specific written
consent of TRINAMIC Microchips GmbH.
Life support systems are equipment intended to
support or sustain life, and whose failure to
perform, when properly used in accordance with
instructions provided, can be reasonably
expected to result in personal injury or death.
© TRINAMIC Microchips GmbH 2002
Information given in this data sheet is believed to
be accurate and reliable. However no
responsibility is assumed for the consequences
of its use nor for any infringement of patents or
other rights of third parties, which may result form
its use.
Specifications subject to change without notice.
Copyright © 2002, TRINAMIC Microchips GmbH
TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003)
3
Pinning
LA1
LA2
SRA
OSC
SDO
SDI
SCK
CSN
ENN
SPE
BL1
SRB
LB2
LB1
1
2
3
4
28
27
26
25
HA2
HA1
ANN
GNDA
SLP
INA
INB
VCC
GND
VS
VT
BL2
HB1
HB2
5
6
7
8
9
10
11
12
13
14
TMC239 SO28
24
23
22
21
20
19
18
17
16
15
Package codes
Package
Temperature range Code/marking
SO28
automotive *)
TMC239-SA
LPCC28 (6*6mm) automotive
TMC239-LA
to be announced
*) ICs with date code prior to 0104 are not yet tested according to automotive standards, but are usable
within the complete temperature range.
SO28 Dimensions
C
I
A
H
K
REF
A
B
C
D
E
F
G
H
I
K
MIN.
10
17.7
7.4
MAX.
10.65
18.1
7.6
1.4
2.65
0.25
0.1
0.3
0.36
0.49
0.4
1.1
1.27
G
D
F
E
B
All dimensions are in mm.
Copyright © 2002, TRINAMIC Microchips GmbH
TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003)
4
Application Circuit / Block diagram
+V
M
BL1
BL2
VS
220nF
100µF
R
SH
TMC239
OSC
1nF
VT
OSC
Current Controlled
Gate Drivers
HA1
+V
CC
VCC
100nF
PWM-CTRL
Under-
voltage
HA2
P
P
Coil A
Tem-
perature
LA2
N
N
LA1
SRA
R
S
SPI-
Interface
[MDBN]
SCK
Control & Diagnosis
0
[PHA]
SDI
DAC
4
1
INA
REFSEL
VREF
INB
Parallel
Control
[ERR]
SDO
DAC
4
1
[PHB]
CSN
0
SRB
R
S
LB1
Current Controlled
Gate Drivers
PWM-CTRL
LB2
N
N
Coil B
HB2
P
P
REFSEL
HB1
SPE
ANN
[MDAN]
ENN
AGND
GND
SLP
stand alone mode
R
SLP
[...]: function in stand alone mode
Pin functions
Pin
VS
VCC
AGND
INA
SCK
SDO
ENN
Function
Motor supply voltage
3.0-5.5V supply voltage for analog
and logic circuits
Pin
VT
GND
Function
Short to GND detection comparator –
connect to VS if not used
Power ground
Oscillator capacitor or external clock
input for chopper
Analog current control input phase B
Data input of serial interface
Chip select input of serial interface
Enable SPI mode (high active). Tie to
GND for non-SPI applications
Slope control resistor. Tie to GND for
fastest slope
Bridge A/B current sense resistor input
Outputs for low side N-channel
transistors
Analog ground (Reference for SRA, OSC
SRB, OSC, SLP, INA, INB)
Analog current control phase A
Clock input of serial interface
Data output of serial interface
Device enable (low active), high
causes a total shutdown and resets
all registers
Enable analog current control (low
active): Enables INA and INB for
output current control
Digital blank time select
INB
SDI
CSN
SPE
ANN
SLP
BL1, BL2
SRA, SRB
LA1, LA2,
LB1, LB2
HA1, HA2, Outputs for high side P-channel
HB1, HB2 transistors
Copyright © 2002, TRINAMIC Microchips GmbH
TMC239 DATA SHEET (V1.00 / Apr. 24th, 2003)
5
Selecting power transistors
Selection of power transistors for the TMC239 depends on required current, voltage and thermal
conditions. Driving transistors directly with the TMC239 is only limited by the gate capacity of these
transistors. If the total gate charge is too high, slope time increases and leads to a higher switching
power dissipation. Typical applications can reach a current in excess of 3A, while the maximum voltage
is limited to 30V. A total gate charge of below 10nC per transistor is recommended. The table below
shows a choice of transistors which can be driven directly by the TMC239. The maximum application
current mainly is a function of cooling and environment temperature. The given values are more
conservative. Peak currents typically can be higher by a factor of 1.5 for a limited time.
List of recommended transistors
Manufacturer
and type
Siliconix
SI 3552
Siliconix
SI 5504
ST Micro
STS2DNF30L
STS3DPF30L
IRF 5851
IRF 9952
IRF 7509
Fairchild Semi
FDS 8333C
Siliconix
SI 1901
Package
(#Trans)
TSOP6
(1N,1P)
1206-8
(1N,1P)
SO8
(2N)
(2P)
TSOP6
(1N,1P)
SO8
(1N,1P)
Micro8
(1N,1P)
SO8
(1N,1P)
SOT363-6
(2P)
Volts N-type
Volts P-type
30V
30V
30V
30V
30V
30V
20V
20V
30V
30V
30V
30V
30V
30V
30V
RDS
ON
[Ohm]
0.105
0.200
0.085
0.165
0.11
0.15
0.090
0.135
0.10
0.25
0.11
0.20
0.08
0.13
0.480
Total gate
charge [nC]
2.5
3.0
5.0
5.5
4.5
5.5
6.0
6.0
6.9
6.1
7.8
7.5
4.7
4.1
0.86
Typical maximum
application current
1500mA
2000mA
2000mA
1500mA
2500mA
2000mA
3000mA
200mA unipolar
Layout considerations
For optimal operation of the circuit a careful board layout is important, because of the combination of
high current chopper operation coupled with high accuracy threshold comparators. Please pay special
attention to massive grounding. Depending on the required motor current, either a single massive
ground plane or a ground plane plus star connection of the power traces may be used. The schematic
shows how the high current paths can be routed separately, so that the chopper current does not flow
through the system’s GND-plane. Tie the TMC239’s AGND and GND to the GND plane. Additionally,
use enough filtering capacitors located near to the board’s power supply input and small ceramic
capacitors near to the power supply connections of the TMC239. Use low inductance sense resistors,
or add a ceramic capacitor in parallel to each resistor to avoid high voltage spikes. In some
applications it may become necessary to introduce additional RC-filtering into the VT and SRA / SRB
line, as shown in the schematic, to prevent
spikes from triggering the short circuit
VS
optional filter
protection or the chopper comparator. If you
100nF
4.7nF
want to take advantage of the thermal
VT
protection and diagnosis, ensure, that the
100R
+VM
power transistors are very close to the
GND
package, and that there is a good thermal
TMC239
Bridge A
Bridge B
optional filter
contact between the TMC239 and the external
SRA
C
transistors. Please be aware, that long or thin
100R
SRB
GND traces to the sense resistors may add
R
R
100R
substantial resistance and thus reduce output
3.3 -
GND
10nF
current. The same is valid for the high side
AGND
GND-
shunt resistor.
R
SH
VM
SA
SB
Plane
Copyright © 2002, TRINAMIC Microchips GmbH
Analogue and Mixed Signal
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