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Training Agenda
Intro to the Motor
H-Bridge Basics
DRV8818
2.5A Stepper Motor Driver with On-Chip 1/8 Micro-stepping Indexer
Features
Benefits
Applications
Controller
Step size
DRV8818
Motor Driver
3 to 5.5V
In Production
8 to 35V
1K Pricing: $2.40
Roadmap
1/8 u-steps
vcc
VM
Step/Direction control
with built in indexer
+8V to +35V
1.7A continuous
2.5A peak
Micro-stepping
up to 1/8-step
Adjustable PWM
blanking and off time
Itrip =
Vref / (Gain*Rsense)
DRV8818
BD63860
A3977
A3979
LV8731V
Rdson, typical
0.37 HS+LS
0.80 HS+LS
0.81 HS+LS
0.50 HS+LS
Operating
Voltage(s)
Vm - 8 to 35V
Vm - 16 to 28V
Vm - 8 to 35V
Vm - 8 to 35V
32V
Vcc - 3 to 5.5V
Vcc - 3 to 5.5V
Vcc - 3 to 5.5V
Vcc - 3 to 5.5V
932V
Runs Cooler!
Runs hotter
Runs hotter
Runs hotter
Runs hotter
3.5uA, typical
400uA, typical
40uA max
2mA max
20uA max
20uA max
50uA max
Protection
OTS, No
OCP,crossconduction
OTS, UVLO, No
OCP,crossconduction
OTS, UVLO, No
OCP,crossconduction
OTS, No OCP,
Short Circle
Protector (Latch or
Reset function)
Package(s)
28-HTSSOP (P2P)
28-HTSSOP (P2P)
28-HTSSOP (P2P)
28-HTSSOP (P2P)
SSOP44K
15.07.61.7mm
Cost
$2.40 @ 1ku
$3.75 @ 1ku
$2.95 @ 1ku
$4.00 @ 1ku
25RMB
Thermal
Comparison
Sleep Current
Micro-stepping
Replacement
Code
TI - DRV8818
Rohm
Roadmap
Allegro
DRV8812
ST L6219/UDN2916 (Allegro)
Supply Voltage
8.2V 47V
8V - 50V
Continuous current
1A
0.75A
Peak Current
About 1.6A
1A
Motor Support
Stepper
Stepper
Micro-stepping
Micro-steps
Decay Modes
RC setup
Current Regulation
Yes
Yes
RDSON (LS+HS)
0.7/1.3V (Vcesat)
Bipolar technology
Package Size
HTSSOP-28
Rja=40C/W
DIP-24.SOP-24
Rja=75 C/W
-40C to 85C
-20C to 85C
Protection circuitry
1K Price
Expensive
Speed control
Dead Time control
Over current protection
Hot plug and current
limit
Brake control
Efficiency
Device driving
Step resolution ( angle resolution )
Current control capability
Noise
Speed
Block detection
IC usage
Interface
Current range
Voltage range
Thermal
Flexibility for Bipolar and Unipolar
Flexibility for higher porformance
Common
Max speed capability
Control scheme SIN/TRA
Efficiency
Voltage range
Current capability
Dynamic response
Sensorless
Start up rate
Slow speed handling
VDD
VCP
VM
VM
Temperature
sense
10 trans.
Charge
Pump
VM
VCP
20
transistors
VM
VPROPI
VGD
Linear
Reg
15
transistors
+I
VREF
OUT1
LS pre-drive
30 trans.
Clock
Oscillator
15 trans.
Linear
Reg
15
transistors
Opamp
OCP
Power-up
Reset
10 trans.
+3.3V
VDD
HS pre-drive
30 trans
Comp
Digital
Logic
VCP
5,000
gates
HS pre-drive
30 trans.
VM
OCP
OUT2
LS pre-drive
30 trans.
Limit
Amp
FAULT
For equivalent functionality, need > 100 transistors, digital gates, 2 amplifiers
2 LDOs and temperature sensors. Also note costly fuse which would need to be
used if OCP circuit not implemented
H-Bridge
Half-bridge When two transistors are connected in a totem-pole arrangement as shown below, they are said to be in a halfbridge configuration. By turning each transistor on and off in a complimentary fashion, the half-bridge can drive the load
voltage alternately high and low to produce a PWM waveform at the motor terminal.
V+
V+
V+
DC Bus
A
Motor
+
_
motor
Mod
Carrier
A
B
GND
Inverter
H-Bridge
PWM
efficiency
waveform
filtering structure
frequency setting
Center-Aligned PWMs
Dead-Time
C urrent with C orrection Disabled
ON
ON
Top transistor
Dead-Time
Bottom transistor
ON
ON
ON
VM
AH
BH
AH
BH
AL
BL
AL
BL
Critical Points:
The H-Bridge / motor driver amplifies the control signals to the proper voltage
and current level required to drive the motor.
Applied motor voltage may be PWMed (chopped) or continuous.
RDSON: FET On
Resistance
Source RDSON
Sink RDSON
VBB
Critical Points:
RDSON is the dominant factor in a Drivers efficiency
Switching losses are the other major factor
RDSON is a major factor in a Drivers thermal performance
Package and board layout are the others
Room Temp
VM
VM
Normal Operation
Asynchronous Decay
Synchronous Decay
Asynchronous Decay:
Recirculation current Free Wheels through the body diodes. Power loss = I x 2VD
Synchronous Decay:
Recirculation current flows through the FETs
.Power loss = I2 x (2xRDSON) and is typically lower than Asynchronous decay.
There are several types of synchronous decay modes: Fast, Slow, and Mixed
VM
Fast Decay
Slow Decay
Mode
Current
Decay
Torque
Ripple/
Audible
Noise
Voltage
to the load
Slow Decay
Slow
Good
Higher
OK
Fast Decay
Fast
Poor
Lower
Better
Critical Points:
Mixed decay: % of the decay cycle is fast decay followed by slow decay
Fast and slow decay ratio may be programmable depending on the driver
Mixed decay is ideally suited for micro-stepping
Current Mode Profiles
Phase Current
Enable Signal
Phase Voltage
The idea behind mixed decay mode is to provide faster decay than slow, but
slower than fast.
FET switching is coordinated so that Fast Decay mode is engaged for a fixed
period of time, followed by slow decay mode
Mixed decay mode is necessary for reliable micro-stepping
VM
Normal Operation
VM > BEMF
Braking
BEMF Stops Motor
Critical Points:
By shorting the motor leads, you allow the Back EMF voltage to drive current in the
opposite direction of the supply current, quickly bringing the motor to a stop.
The energy of the
motor
dissipated by the resistive load
Current
ModeisProfiles
DC Motor BRAKE
IM
RM
RM
LM
IG
L di/dt = 0
LM
DISABLEMENT
OCCURS
VS
RDSON * 2
BEMF
BEMF VS
Phase Current
Enable Signal
Phase Voltage
ENABLE
PHASE
A_High
LOGIC
ENABLE
M
A_Low
HIZ
HIZ
HIZ
HIZ
GND
VM
VM
GND
B_Low
Critical Points:
Enable signal turns on or off the entire H-Bridge
Phase signal selects which set of opposite high side / low side FETs are turned on
Single PWM signal can control speed and/or direction.(PWM the Phase Pin)
Indexer Interface
Step
Direction
Indexer
VM
uStep
Config
Critical Points:
PWM Interface
PWM I/F
Example #1
H-Bridge Logic
VM
LOGIC
PWM2
LOGIC
PWM1
PWM PWM
1
2
OU
T1
OUT
2
PWM
I/F
0
H
L
1 Example
1
H #2 H
H-Bridge Logic
1
PW
M1
PW
M2
Critical Points:
OUT OUT
1
2
Bridge A
STEP
DIRECTION
DRV8811
VREF_AB
Bridge B
ENABLE_A
PHASE_A
Bridge A
VREF_A
External
Reference
MSP430
DRV8812
ENABLE_B
PHASE_B
VREF_B
Bridge B
Winding Current
ENABLE B
MSP430F1612
PHASE A
PHASE B
DRV8812
DAC0
VREF A
DAC1
VREF B
VREF
PHASE
DRV8812, 8813, 8828, 8829, 8841, 8842, & 8843 support Vref microstepping
Requires external MCU / DAC support for microstepping
Protection Circuits
Current Regulation
Why do you need Current Regulation?
Stepper Motors:
Winding resistance is very low
Very little back EMF
Maintain holding current
Brushed / Brushless DC:
Needed to limit stall / start up currents
Time ON
Time OFF
TBLANK
TBLANK
TBLANK
ITRIP
Critical Points:
At the beginning of each PWM cycle, a TBLANK period is inserted to filter out spurious
current spikes present as parasitic capacitances are charged, preventing false trips.
TBLANK varies depending on the part (~ 1.2 to 3.75us) and on some devices it can be
configured by the selection of external components
Stepper Winding Current
Current Mode Profiles
Without OCP:
Current rises to
destructive levels
TIME
CURRENT
CURRENT
POOF!
IOCP
TIME
TOCP
Designed to protect the device from damage in the event of a fault in the motor or wiring,
such as a short to ground, power, or across the winding.
Each power FET is protected individually, so protected against shorts to any other signal
Protection must be quick enough to prevent damage but not trigger on false trips. Body
diodes must be robust enough to handle shorts.
Can be a latched or auto-recovery. Some devices alert the system MCU via a Fault pin
on an OCP event.
Configuring Itrip
VREF
ITRIP
GAIN RSENSE
Winding Current
In Volts (V)
RSENSE
Amp
IMAX
Reference Voltage
VREF
To H Bridge Enable
VREF
COMP
VM
AMP
Coupled
PRE_DRIVE
HS_ON
(from digital)
OUTPUT
FET
+
AMP
OUT
Analog Ilimit
Critical Points:
Fault Pin
Short circuit
occurs
Winding current
Enable pin
After a deglitch of ~
3uS, outputs are tristated
Thermal Protection
Normal Operation
TSD
170 C
150 C
120 C
80 C
50 C
25 C
Temperature
Fault can be latched or auto-recovery. Some devices alert the system MCU
via a fault pin on an over temp event.
Undervoltage protection
Supply voltage level is constantly monitored and the device is tri-stated when the
voltage level is too low to ensure proper control over the H-Bridge
Shoot-through Protection
High side and low side are never allowed to turn on at the same time. A small amount
of delay (dead time) is inserted after turning off the high side and turning on the low
side. The longer the dead-time, the safer the operation but the worse the linearity and
efficiency.
VBB
AH
BH
AL
BL
Shootthrough!!
FEATURED
PRODUCTS
DRV8412
DRV8432
(6A @ 0 50V)
(12A @ 0 50V)
Up to 97% Efficient
DRV8811
DRV8818
(1.9A @ 8 to 38V)
1/8 -ustep
(2.5A @ 8 to 35V)
1/8 -ustep
DRV8824
DRV8825
Up to 32-steps (indexers)
DRV8812
DRV8813
DRV8834
Sampling
FEATURED
PRODUCTS
DRV8432
(12A @ 0 50V)
(24A @ 0 50V)
Single or Dual
Single or Dual
DRV8814
Dual Brushed
Dual Brushed
DRV8823
(1.5A @ 8 32V)
Quad Brushed
DRV8800
DRV8840
(2.2A @ 8 36V)
Single Brushed
DRV8832
(1A @ 2.75 6.8V)
DRV8833
(4A @ 2.7 10.8V)
Voltage regulation
Sampling
FEATURED
PRODUCTS
DRV8312
DRV8332
(6.5A @ 0 50V)
(13A @ 0 50V)
DRV8301
DRV8302
3-Phase pre-drivers
Production
Sampling
Status
# of
Motors
Voltage
Range (V)
Cont/Peak
Current (A)
RDSON
(m)
Inrush
Protection
1K
Comments
Released
8 - 36
1.5 / 2.2
480/350
Limited
$1.25
DRV8801
Released
8 - 36
1.5 / 2.2
480/350
Limited
$1.25
DRV8802
Released
8 - 45
1.1 / 1.6
630/650
Yes
$1.65
DRV8814
Released
8.2 - 45
1.75 / 2.5
200/200
Yes
$2.25
DRV8840
Released
8.2 - 45
3.5 / 5.0
100/100
Yes
$2.25
Yes
$0.85
Released
2.75 6.0
1.0 / 1.0
250/200
Released
2.75 - 6.0
1.0 / 1.0
250/200
Yes
$0.85
Voltage Regulation
DRV8833
Released
2.7 - 10.8
1.5 / 2.0
200/160
Yes
$0.95
2x Brushed
2.7 - 10.8
3.0 / 4.0
100/80
Yes
$0.95
1x Brushed / Paralleled
DRV8841
Released
8.2 - 45
1.75 / 2.5
200/200
Yes
$2.25
Independent -H control
DRV8842
Released
8.2- 45
3.5 / 5.0
100/100
Yes
$2.25
Independent -H control
DRV8843
Released
8 .2- 45
1.75 / 2.5
200/200
Yes
$2.25
Independent -H control
Status
# of
Motors
Voltage
Range (V)
Cont/Peak
Current (A)
RDSON
(m)
Current
Levels
1K
Comments
Released
8.2 to 60
1A/2A
500
$1.50
DRV8811
Released
8 - 38
1.4 / 1.9
500/500
8x
-steps
$1.80
DRV8818
Released
8 - 35
1. 75 / 2.5
150/220
8x
-steps
$2.40
DRV8821
Released
8 - 32
1.5 / 1.5
250/300
8x
-steps
$2.00
DRV8824
Released
8.2 - 45
1.1 / 1.6
630/650
32x
-steps
$1.65
DRV8825
Released
8.2 - 45
1.75 / 2.5
200/200
32x
-steps
$2.40
Released
8.2 - 45
1.1 / 1.6
630/650
4x
$1.65
DRV8813
Released
8.2 - 45
1.75 / 2.5
200/200
4x
$2.25
DRV8828
Released
8.2 - 45
2.1 / 3.0
320/330
32x
$1.65
DRV8829
Released
8.2 - 45
3.5 / 5.0
100/100
32x
$2.25
Status
# of
Motors
Voltage
Range (V)
Cont/Peak
Current (A)
RDSON
(m)
Current
Levels
1K
8x
$2.00
Comments
Released
Released
2
1
8 - 32
8.2 to 60
1.5 / 1.5A
1A/2A
250/300
500
$1.450
Released
8.2 to 60
800mA
500
$1.40
DRV8833
Released
2.7 - 10.8
1.5 / 2.0
200/160
1x
$0.95
DRV8841
Released
8.2 45
1.75 / 2.5
200/200
4x
$2.25
Independent -H control
DRV8842
Released
8.2- 45
3.5 / 5.0
100/100
32x
$2.25
Independent -H control
DRV8412
Released
0 - 52
3.0 / 6.0
110/110
None
$3.85
DRV8432
Released
0 - 52
7.0 / 12.0
110/110
None
$5.50
Solenoid Drivers
Part
Number
Status
# of
Solenoids
Voltage
Range (V)
Cont/Peak
Current (A)
RDSON
(m)
Current
Levels
1K
Comments
Released
2.75 6.0
1.0 / 1.0
250/200
1x
$0.85
DRV8833
Released
2.7 - 10.8
1.5 / 2.0
200/160
1x
$0.95
DRV8841
Released
8.2 45
1.75 / 2.5
200/200
4x
$2.25
Independent -H control
DRV8842
Released
8.2 45
3.5 / 5.0
200/200
32x
$2.25
Independent -H control
DRV8803
Released
8.2 60
1A/2A
500
$1.40
DRV8804
Released
8.2 60
1A/2A
500
$1.40
DRV8844
Released
8.2 60
1A/2A
250
$1.40
Status
# of
Motors
Voltage
Range
Cont/Peak
Current
RDSON
(m)
1K
Comments
Released
0 - 52V
3.5 / 6.5A
110/110
$3.30
DRV8332
Released
0 - 52V
8 / 13A
110/110
$4.70
DRV8301
Released
8 - 60V
1.7A
Pre-driver
N/A
$2.50
DRV8302
Released
8 - 60V
1.7A
Pre-driver
N/A
$2.50
FEATURED
PRODUCTS
Stepper
Drivers
Brushed DC
Drivers
3-Phase
Brushless
Fully Protected
Shoot-through protection
Fully
Integrated
Solution
Embedded
Intelligence
CURRENT
IOCP
TIME
TOCP
Japan
Aizu
Miho
Portland NEW!
Texas
Dallas
Richardson
Sherman
Taipei
Philippines
Aguascalientes
Malaysia
Kuala Lumpur
NEW! Melaka
11 wafer fabs
7 assembly/test sites
3 bump facilities
Baguio City
Pampanga
Questions?