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0181、THB6128 步进电机驱动芯片资料大全,毕业设计论文

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1THB6128 Development Specification Proposal 1. Application: PWM current control stepping motor driver 2. Package: MFP30KR 3. Features z 1 channel PWM current control stepping motor driver z BiCDMOS process IC z Output on-resistance( High side 0.3 , Low side 0.25 , Total 0.55 ; Ta = 25C, Io = 2.0 A) z 2, 1-2, W1-2, 2W1-2, 4W1-2, 8W1-2, 16W1-2, 32W1-2 phase excitation are selectable z Advance the excitation step with the only step signal input z Available forward reverse control z Iomax=2.2A z Over current protection circuit z Thermal shutdown circuit z Input pull down resistance z With reset pin and enable pin 4. Absolute Maximum Ratings at Ta = 25C Parameter Symbol Ratings Unit Supply voltage VMmax 36 V Output current Iomax 2.2 A Logic input voltage VINmax 6 V VREF input voltage VREFmax 3 V MO input voltage VMOmax 6 V DOWN input voltage VDOmax 6 V Operating temperature Topg -20 to +85 C Storage temperature Tstg -55 to +150 C 5. Recommended Operating Range at Ta=25C Parameter Symbol Ratings Unit Supply voltage range VM 9 to 32 V Logic input voltage range VIN 0 to 5 V VREF input voltage range VREF 0 to 3 V nts 2 6. Electrical Characteristics at Ta =25C, VM=24V, VREF=1.5V Parameter Symbol Conditions min typ max Unit Standby mode current drain IMstn ST=”L” 70 A current drain IM ST=”H”,OE=”H”, no load 4 mA Thermal shutdown temperature TSD Design guarantee 180 C Thermal hysteresis width TSD Design guarantee 40 C IinL1 VIN=0.8V 8 A Logic pin input current IinH1 VIN=5V 50 A Logic input high-level voltage Vinh 2.0 V Logic input low-level voltage Vinl 0.8 V FDT pin high-level voltage Vfdth 3.5 V FDT pin middle-level voltage Vfdtm 1.1 3.1 V FDT pin low-level voltage Vfdtl 0.8 V Chopping frequency Fch Cosc1=100pF 100 KHz OSC1 pin charge/discharge current Iosc1 10 A Vtup1 1 V Chopping oscillator circuit threshold voltage Vtdown1 0.5 V VREF pin input voltage Iref VREF=1.5V -0.5 A DOWN output residual voltage VolDO Idown=1mA 400 mV MO pin residual voltage VolMO Imo=1mA 400 mV Hold current switching frequency Falert Cosc2=1500pF 1.6 Hz OSC2 pin charge/discharge current Iosc2 10 A Vtup2 1 V Hold current switching frequency threshold voltage Vtdown2 0.5 V REG1 output voltage Vreg1 5 V REG2 output voltage Vreg2 19 V Blanking time Tbl 1 uS Output block Ronu Io=2.0A, high-side ON resistance 0.3 Output on-resistance Rond Io=2.0A, low-side ON resistance 0.25 Output leakage current Ioleak VM=36V 50 A Diode forward voltage VD ID=-2.0A 1 V Current setting reference voltage VRF VREF=1.5V, Current ratio 100% 300 mV Output short-circuit protection block Timer latch time Tscp 256 s nts 37. PIN ARRANGEMENT (Proposal) 123456789101112131415302928272625242322212019181716VREG2VMOUT1APGNDAVMANFAOUT2ANCOUT1BNFBVMBPGNDBOUT2BGNDVREFVREG1ST/VCCM1M2M3ENABLERESETGNDCW/CCWCLKOSC1OSC2FDTDOWNMOnts 4 8. Pin Functions Pin No. Pin symbol Pin Functions 17 DOWN Holding current output 14，23 SGND Signal GND 20 OSC1 Chopping frequency setting capacitor connection 18 FDT Decay mode select voltage input 15 VREF Constant-current control reference voltage input 11 VMB B phase motor supply connection 28 M1 Excitation-mode switching pin 27 M2 Excitation-mode switching pin 26 M3 Excitation-mode switching pin 13 OUT2B B phase OUTB output 10 NFB B phase current sense resistance connection 9 OUT1B B phase OUTA output 12 PGNDB B phase power GND 7 OUT2A A phase OUTB output 6 NFA A phase current sense resistance connection 3 OUT1A A phase OUTA output 4 PGNDA A phase power GND 25 ENABLE Output enable signal input 24 RESET RESET signal input 5 VMA A phase motor supply connection 21 CLK Clock pulse signal input 22 CW/CCW Forward/Reverse signal input 19 OSC2 Holding current detection time setting capacitor connection 16 MO Position detecting monitor 30 VREG1 Internal regulator capacitor connection 1 VREG2 Internal regulator capacitor connection 2 VM Motor power connection 29 ST/VCC Chip enable input nts 59. Description of functions 9-1) Stand-by function When ST/VCC pin is at low levels, the IC enters stand-by mode, all logic is reset and output is turned OFF. When ST/VCC pin is at high levels, the stand-by mode is released. 9-2) Step pin function CLK pin step signal input allows advancing excitation step. Input ST/VCC CLK Operation L * Stand-by mode H Excitation step feed H Excitation step hold 9-3) Excitation setting method Set the excitation setting as shown in the following table by setting M1 pin, M2 pin and M3 pin. Input Initial position M3 M2 M1 Mode (Excitation) A phase current B phase current L L L 2 phase 100% -100% L L H 1-2 phase 100% 0% L H L W1-2 phase 100% 0% L H H 2W1-2 phase 100% 0% H L L 4W1-2 phase 100% 0% H L H 8W1-2 phase 100% 0% H H L 16W1-2 phase 100% 0% H H H 32W1-2 phase 100% 0% The initial position is also the default state at start-up and excitation position at counter-reset in each excitation mode. 9-4) Output current setting Output current is set as shown below by the VREF pin (applied voltage) and a resistance value between NFA (B) pin and GND. Iout = (VREF / 5)/ NFA (B) resistance * The setting value above is a 100% output current in each excitation mode. (Example) When VREF=1.5V and NFA (B) resistance is 0.3 , the setting current is shown below. Iout = (1.5 V / 5) / 0.3 = 1.0 A nts 69-5) Output enable function When the ENABLE pin is set Low, the output is forced OFF and goes to high impedance. However, the internal logic circuits are operating, so the excitation position proceeds when the CLK is input. Therefore, when ENABLE pin is returned to High, the output level conforms to the excitation position proceeded by the CLK input. CLK ENABLE A phase output B ph ase output MO High impedance outpu t 0% 9-6) Reset function When the RESET pin is set Low, the output goes to initial mode and the excitation position is fixed in the initial position for CLK pin and CW/CCW pin input. MO pin outputs at low levels at the initial position. (Open drain connection) 0% CLK RESET A phase output B phase output MO Initial position nts 79-7) Forward/reverse switching function CW/CCW Operation L CW H CCW The internal D/A converter proceeds by a bit on the rising edge of the step signal input to the CLK pin. In addition, CW and CCW mode are switched by CW and CCW pin setting. In CW mode, the B phase current is delayed by 90relative to the A phase current. In CCW mode, the B phase current is advanced by 90relative to the A phase current. 9-8) DECAY mode setting Current DECAY method is selectable as shown below by applied voltage to the FDT pin. FDT voltage DECAY method 3.5V to SLOW DECAY 1.1V to 3.1V or OPEN MIXED DECAY to 0.8V FAST DECAY 9-9) DOWN, MO output pin Output pin is an open drain connection. Each pin is turned ON at predetermined state and outputs at low levels. Pin state DOWN MO Low Holding current state Initial position OFF Normal state Non initial position nts 89-10) Chopping frequency setting function Chopping frequency is set as shown below by a capacitor between OSC1 pin and GND. Fcp = 1 / (Cosc1 / 1010-6) (Hz) (Example) When Cosc1=100pF, the chopping frequency is shown below. Fcp = 1 / (10010-12/ 1010-6) = 100 (kHz) 9-11) Output current vector locus (1 step normalized 90) 0.033.366.7100.00.0 33.3 66.7 100.0Phase B current ratio (%)PhaseAcurrentratio(%)03210412864(2PHASE)120112968880726456484024168nts 9Current setting ratio in each excitation mode AchBchAchBchAchBchAchBchAchBchAchBchAchBchAchBch AchBchAchBchAchBchAchBchAchBchAchBchAchBchAchBch0 100 0 100 0 100 0 100 0 100 0 100 0 100 0 65 70 721 100 1 6 697269722 100 2 100 2 67 68 733 100 4 68 6774677467744 100 5 100 5 100 5 69 66 755 100 6 70 657665766 100 7 100 7 71 64 777 100 9 72 637 6377637763778 100 10 100 10 100 10 100 10 73 62 789 99 11 74 6279627910 99129912 75 61 8011 99 13 76 60806080608012 991599159915 7 598113 99 16 78 5882588214 99179917 79 57 8215 98 18 80 5683568356835683568316 98209820982098209820 81 5 8417 98 21 82 5384538418 98229822 83 52 8519 97 23 84 51865186518620 972497249724 85 508621 97 25 86 498749872 96279627 87 48 8823 96 28 8 478 47884788478824 9629962996299629 89 468925 95 30 90 4589458926 95319531 91 44 9027 95 33 92 43904390439028 943494349434 93 429129 94 35 94 4191419130 93369336 95 39 9231 93 37 96 38923892389238923892389232 923892389238923892389238 97 379333 92 39 98 3693369334 91419141 99 35 9435 91 42 100 34 94 34 94 34 9436 904390439043 101 3 9537 90 44 102 31 95 31 9538 89458945 103 30 9539 89 46 104 29 96 29 96 29 96 29 9640 8847884788478847 105 289641 88 48 106 27 96 27 9642 87498749 107 25 9743 86 50 108 24 97 24 97 24 974 865186518651 109 239745 85 52 110 22 98 22 9846 84538453 111 21 9847 84 55 112 20 98 20 98 20 98 20 98 20 9848 83568356835683568356 13 189849 82 57 114 17 99 17 9950 82588258 115 16 9951 81 59 116 15 99 15 99 15 9952 806080608060 17 13953 80 61 118 12 99 12 9954 79627962 119 11 9955 78 62 120 10 100 10 100 10 100 10 10056 7763776377637763 121 91057 77 64 122 710 710058 76657665 123 6 10059 75 66 124 510 5100 510060 746774677467 125 41061 73 68 126 210 210062 72697269 127 1 10063 72 70 128 010 0100 0100 0100 0100 0100 0102 phase(%)4W1-2 64 71717171717171717171717171711010phase(%) 2W1-2 phase(%) W1-2 phase(%) 1-2 phase(%)STEP32W1-2 phase(16W1-2 phase(%) 8W1-2 phase(%)2 phase(%)4W1-2 phase(%) 2W1-2 phase(%) W1-2 phase(%) 1-2 phase(%)STEP32W1-2 phase( )16W1-2 phase(%) 8W1-2 phase(%)nts 109-12) Current wave example in each excitation mode (2 phase, 1-2 phase, W1-2 phase, 4W1-2 phase) 2 phase excitation (CW mode) 1-2 phase excitation (CW mode) CLK IA IB 100 0 100 100 0 100 (%) (%) MO nts 11W1-2 phase excitation (CW mode) CLK IA IB 100 0 100 100 0 100 (%) (%) MO 4W1-2 phase excitation (CW mode) nts 12 9-13) Output short-circuit protection circuit Build-in output short-circuit protection circuit makes output to enter in stand-by mode. This function prevents the IC from damaging when the output shorts circuit by a voltage short or a ground short, etc. When output short state is detected, short-circuit detection circuit starts the operating and output is once turned OFF. After the timer latch time (typ: 256us), output is turned ON again. Still the output is at short state, the output is turned OFF and fixed in stand-by mode. When output is fixed in stand-by mode by output short protection circuit, output is released the latch by setting ST/VCC=”L”. 9-14) Open-drain pin for switching holding current The output pin is an open drain connection. This pin is turned ON when no rising edge of CLK between the input signals while a period determined by a capacitor between OSC2 and GND, and outputs at low levels. The open-drain output in once turned ON, is turned OFF at the next rising edge of CLK. Holding current switching time (Tdown) is set as shown below by a capacitor between OSC2 pin and GND. Tdown = Cosc2 0.4109(s) (Example) When Cosc2=1500pF, the holding current switching time is shown below. Tdown = 1500 pF 0.4109= 0.6 (s) nts 1310. Current control operation 10-1) SLOW DECAY current control operation When FDT pin voltage is a voltage over 3.5 V, the constant-current control is operated in SLOW DECAY mode. (Sine-wave increasing direction) Coil current fch op Setting current CH ARGE CLK Setting cur rent SLOW Current mode CHARGE SLOW Blanking Time (Sine-wave decreasing direction) Coil current fchop Setting currentCH ARGE CLK Setting current SLOW Current mode Blanking Time SLOW SLOWBlanking Time Blanking Time Each of current modes operates with the follow sequence. z The IC enters CHARGE mode at a rising edge of the chopping oscillation. (A period of CHARGE mode (Blanking Time) is forcibly present in approximately 1 s, regardless of the current value of the coil current(ICOIL)and set current (IREF). z After the period of the blanking time, the IC operates in CHARGE mode until ICOILIREF. After that, the mode switches to the SLOW DECAY mode and the coil current is attenuated until the end of a chopping period. At the constant-current control in SLOW DECAY mode, following to the setting current from the coil current may take time (or not follow) for the current delay attenuation. nts 1410-2) FAST DECAY current control operation When FDT pin voltage is a voltage under 0.8V, the constant-current control is operated in FAST DECAY mode. (Sine-wave increasing direction) Coil current fch op Setting current CHARGE CLK Setting current FAST Current mode CHARGE FAST Blanking Time (Sine-wave decreasing direction) Coil current fchop Set tin g cu rren t CH ARGE CLK Setting current FAST Current mode Blanking Time FAST FAST CH ARGE Blanking Time Each of current modes operates with the follow sequence. z The IC enters CHARGE mode at a rising edge of the chopping oscillation. (A period of CHARGE mode (Blanking Time) is forcibly present in approximately 1 s, regardless of the current value of the coil current (ICOIL) and set current (IREF). z After the period of the blanking time, The IC operates in CHARGE mode until ICOIL IREF. After that, the mode switches to the FAST DECAY mode and the coil current is attenuated until the end of a chopping period. At the constant-current control in FAST DECAY mode, following to the setting current from the coil current takes short-time for the current fast attenuation, but, the current ripple value may be higher. nts 1510-3) MIXED DECAY current control operation When FDT pin voltage is a voltage between 1.1 V to 3.1 V or OPEN, the constant-current control is operated in MIXED DECAY mode. (Sine-wave increasing direction) Coil current fch op Setting current CH ARGE STP Setting current SLOW FAST Current mode CH ARGE SLOW FAST Blanking Time (Sine-wave decreasing direction) Coil current fch op Setting current CH ARGE CLK Setting current SLOW FAST Current mode Blanking Time FAST SLOW CH ARGE Blanking Time nts 16Each of current modes operates with the follow sequence. z The IC enters CHARGE mode at a rising edge of the chopping oscillation. (A period of CHARGE mode (Blanking Time) is forcibly present in approximately 1 s, regardless of the current value of the coil current (ICOIL) and set current (IREF). z In a period of Blanking Time, the coil current (ICOIL) and the setting current (IREF) are compared. If an ICOIL IREF state exists during the charge period: The IC operates in CHAGE mode until ICOIL IREF. After that, it switches to SLOW DECAY mode and then switches to FAST DECAY mode in the last approximately 1 s of the period. If no ICOIL IREF state exists during the charge period: The IC switches to FAST DECAY mode and the coil current is attenuated with the FAST DECAY operation until the end of a chopping period. The above operation is repeated. Normally, in the sine wave increasing direction the IC operates in SLOW (+FAST) DECAY mode, and in the sine wave decreasing direction the IC operates in FAST DECAY mode until the current is attenuated and reaches the set value and the IC operates in SLOW (+FAST) DECAY mode. 11. Block diagram Output prestageOutput prestageOutput prestageOutput prestagents 1712. Wiring diagram 13.Package Dimensions ntsHHBY THB6666128 128128128 北京海华博远科技发展有限公司 2009 年 03 月 - 1 - THB6128 高细分高细分高细分高细分 两相混合式步进电机两相混合式步进电机两相混合式步进电机两相混合式步进电机 驱动驱动驱动驱动 芯片芯片芯片芯片 一一一 一、 、 、 特性特性特性特性 ： ： 双全桥 MOSFET驱动 ，低导通电阻 Ron0.55 最高耐压 36VDC，大电流 2.2A（峰值 ） 多种细分可选 （1、1/2、1/4、1/8、1/16、1/32、1/64、1/128） 自动半流锁定功能 快衰 、慢衰 、混合式衰减三种 衰减方式 可选 内置温度保护及过流保护 二二二 二、 、 、 管脚管脚管脚管脚 图图图 图 ： ： Output control logicCurrent select circuitCurrent select circuitOscillatorTSDISDVMBOUT1A OUT2A OUT1B OUT2BNFA NFBST M1 M2 RESETCLKRegulator 2VREG2Output pre stageOutput pre stageOutput pre stageOutput pre stageVREFSGNDVMENABLEVMACW/CCWVREG1MOM3PGNDBPGNDADOWNDecay Modesetting circuitOSC1OSC2 FDTRegulator 1ntsHHBY THB6666128 128128128 北京海华博远科技发展有限公司 2009 年 03 月 - 2 - 三三三 三、 、 、 管脚说明管脚说明管脚说明管脚说明 ： ： 端子 No 端子符号 端子说明 17 DOWN 通电锁定时输出端 14/23 SGND 信号地 20 OSC1 斩波频率设定电容连接端 18 PFD 衰减模式 选择电压输入端 15 VREF 电流 设定 端 11 VMB B 相 电机电源连接端 28 M1 细分设置端 27 M2 细分设置端 26 M3 细分设置端 13 OUT2B B 相 OUTB输出端 10 NFB B 相 电流检测电阻连接端 9 OUT1B B 相 OUTB输出端 12 PGNDB B 相 功率地 7 OUT2A A 相 OUTA输出端 6 NFA A 相 电流检测电阻连接端 3 OUT1A A 相 OUTA输出端 4 PGNDA A 相 功率地 25 ENABLE 脱机 信号 控制 端 24 RESET 复位 信号输入端 5 VMA A 相 电机电源连接端 21 CLK 脉冲 信号输入端 22 CW/CCW 正反转信号输入端 19 OSC2 通电锁定检出时间设定电容连接端 16 MO 位置检出 Monitor 端 30 VREG1 内部稳压器用电容连接端 1 VREG2 内部稳压器用电容连接端 2 VM 电机电源连接端 29 ST/VCC 待机控制 端 ntsHHBY THB6666128 128128128 北京海华博远科技发展有限公司 2009 年 03 月 - 3 - 四四四 四、 、 、 电器参数电器参数电器参数电器参数 ： ： 1、 、 最高额定值最高额定值最高额定值最高额定值 Absolute Maximum Ratings (Ta = 25C) 项目 符号 额定值 符号 最高 耐压 VMmax 36 最大输出电流 Iomax 2.2 最高逻辑输入电压 VINmax 6 VREF最高输入电压 VREFmax 3 工作环境温度 Topg 20 85 保存环境温度 Tstg 55 150 2、 、 正常正常正常正常 运行参数范围运行参数范围运行参数范围运行参数范围 Operating Range (Ta = 30 to 85C) 参数 符号 最小 典型 . 最大 单位 逻辑输入 电压 VIN 4.5 5.0 6 V 电源电压 VM 9 36 V 输出电流 Io 2 A 电流设定端 VREF 0 3 V ntsHHBY THB6666128 128128128 北京海华博远科技发展有限公司 2009 年 03 月 - 4 - 3、 、 电器特性电器特性电器特性电器特性 Electrical Characteristics (Ta = 25C, VREF =1.5 V, VM = 24 V) 项目 符号 条件 最小 标准 最大 符号 待机时消耗电流 IMstn ST=”L” 200 A 消耗电流 IM ST”H”、OE=”H”、无负载 4 mA TSD 温度 TSD 180 Thermal Hysteresis 值 TSD 40 IinL1 VIN=0.8V 8 A 逻辑端子输入电流 IinH1 VIN=5V 50 A 逻辑输入 “H”Level 电压 Vinh 2.0 逻辑输入 “L”Level 电压 Vinl 0.8 FDT 端子 “H”Level电压 Vfdth 3.5 V FDT 端子 “M”Level电压 Vfdtm 1.1 3.1 V FDT 端子 “L”Level电压 Vfdtl 0.8 V 斩波频率 Fch Cosc1=100pF 100 KHz OSC1端子充放电电流 Iosc1 10 A Vtup1 1 V 斩波振荡电路 电压阈值 Vtdown1 0.5 V VREF端子输入电流 Iref VREF=1.5V -0.5 A DOWN输出残电压 VolDO Idown=1mA 400 mV MO 端子残电压 VolMO Imo=1mA 400 mV 通电锁定切换频率 Falert Cosc2=1500pF 1.6 Hz OSC2端子充放 电电流 Iosc2 TBD A Vtup2 TBD V 通电锁定切换振荡电路 电压阈值 Vtdown2 TBD V REG1输出电压 Vreg1 5 V REG2输出电压 Vreg2 19 V Blanking时间 Tbl 1 uS 输出 Ronu Io=2.0A、上側 ON 阻抗 0.3 输出 ON 阻抗 Rond Io=2.0A、下側 ON 阻抗 0.25 输出漏电流 Ioleak VM=36V 50 A 二极管正向压降 VD ID 2.0A 1 V 电流设定基准电压 VRF VREF=1.5V、電流比 100% 300 mV 输出短路保护 Timer Latch 时间 Tscp 256 s ntsHHBY THB6666128 128128128 北京海华博远科技发展有限公司 2009 年 03 月 - 5 - 五五五 五、 、 、 使用说明使用说明使用说明使用说明 1、 、细分设定 细分设定细分设定细分设定 （ （M1M1、 、M2M2、 、M3M3） ） 2、 、衰减模式设定 衰减模式设定衰减模式设定衰减模式设定 PFD 为衰减方式 控制端 ，调节此端电压可以选择不同的衰减方式 ，从而获得更好的驱动效果。 VPFD 衰减方式 3.5VPFDVCC 慢衰减 模式 1.1VVPFD3.1V 混合式衰减 模式 VPFD0.8V 快衰减 模式 *混合式衰减模式中 ，80%为慢衰减 ，20%为快衰减 。 3、 、电流设定 电流设定电流设定电流设定 VREF电流设定端 ，调整此端电压即可设定驱动电流值 Io（100%）=VREF*（1/5