L297
STEPPER MOTOR CONTROLLERS
NORMAL/WAVE DRIVE HALF/FULL STEP MODES CLOCKWISE/ANTICLOCKWISE DIRECTION SWI TCHMODE LOAD CURRENT REGULATION PROGRAMMABLE LOAD CURRENT FEW EXTERNAL COMPONENTS RESET INPUT & HOME OUTPUT ENABLE INPUT DESCRIPTION The L297 Stepper Motor Controller IC generates four phase drive signals for two phase bipolar and four phase unipolar step motors in microcomputercontrolled applications. The motor can be driven in half step, normal and wawe drive modes and onchip PWM chopper circuits permit switch-mode control of the current in the windings. A feature of ABSOLUTE MAXIMUM RATINGS
Symbol Vs Vi Ptot Tstg, Tj Supply voltage Input signals Total power dissipation (Tamb = 70C) Storage and junction temperature Parameter
DIP20
SO20
ORDERING NUMBERS : L297/1 (DIP20) L297D (SO20)
this device is that it requires only clock, direction and mode input signals. Since the phase are generated internally the burden on the microprocessor, and the programmer, is greatly reduced. Mounted in DIP20 and SO20 packages, the L297 can be used with monolithic bridge drives such as the L298N or L293E, or with discrete transistors and darlingtons.
Value 10 7 1 -40 to + 150
Unit V V W C
TWO PHASE BIPOLAR STEPPER MOTOR CONTROL CIRCUIT
December 2001
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L297
PIN CONNECTION (Top view)
L297/1 L297D
BLOCK DIAGRAM (L297/1 - L297D)
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L297
PIN FUNCTIONS - L297/1 - L297D
N 1 NAME SYNC FUNCTION Output of the on-chip chopper oscillator. The SYNC connections The SYNC connections of all L297s to be synchronized are connected together and the oscillator components are omitted on all but one. If an external clock source is used it is injected at this terminal. Ground connection. Open collector output that indicates when the L297 is in its initial state (ABCD = 0101). The transistor is open when this signal is active. Motor phase A drive signal for power stage. Active low inhibit control for driver stage of A and B phases. When a bipolar bridge is used this signal can be used to ensure fast decay of load current when a winding is de-energized. Also used by chopper to regulate load current if CONTROL input is low. Motor phase B drive signal for power stage. Motor phase C drive signal for power stage. Active low inhibit control for drive stages of C and D phases. Same functions as INH1. Motor phase D drive signal for power stage. Chip enable input. When low (inactive) INH1, INH2, A, B, C and D are brought low. Control input that defines action of chopper. When low chopper acts on INH1 and INH2; when high chopper acts on phase lines ABCD. 5V supply input. Input for load current sense voltage from power stages of phases C and D. Input for load current sense voltage from power stages of phases A and B. Reference voltage for chopper circuit. A voltage applied to this pin determines the peak load current. An RC network (R to VCC, C to ground) connected to this terminal determines the chopper rate. This terminal is connected to ground on all but one device in synchronized multi - L297 configurations. f 1/0.69 RC Clockwise/counterclockwise direction control input. Physical direction of motor rotation also depends on connection of windings. Synchronized internally therefore direction can be changed at any time. Step clock. An active low pulse on this input advances the motor one increment. The step occurs on the rising edge of this signal.
2 3
GND HOME
4 5
A INH1
6 7 8 9 10 11
B C INH2 D ENABLE CONTROL
12 13 14 15
Vs SENS2 SENS1 Vref
16
OSC
17
CW/CCW
18
CLOCK
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L297
PIN FUNCTIONS - L297/1 - L297D (continued)
N 19 NAME HALF/FULL FUNCTION Half/full step select input. When high selects half step operation, when low selects full step operation. One-phase-on full step mode is obtained by selecting FULL when the L297's translator is at an even-numbered state. Two-phase-on full step mode is set by selecting FULL when the translator is at an odd numbered position. (The home position is designate state 1). Reset input. An active low pulse on this input restores the translator to the home position (state 1, ABCD = 0101).
20
RESET
THERMAL DATA
Symbol Rth-j-amb Parameter Thermal resistance junction-ambient max DIP20 80 SO20 100 Unit C/W
CIRCUIT OPERATION The L297 is intended for use with a dual bridge driver, quad darlington array or discrete power devices in step motor driving applications. It receives step clock, direction and mode signals from the systems controller (usually a microcomputer chip) and generates control signals for the power stage. The principal functions are a translator, which generates the motor phase sequences, and a dual PWM chopper circuit which regulates the current in the motor windings. The translator generates three different sequences, selected by the HALF/FULL input. These are normal (two phases energised), wave drive (one phase energised) and half-step (alternately one phase energised/two phases energised). Two inhibit signals are also generated by the L297 in half step and wave drive modes. These signals, which connect directly to the L298's enable inputs, are intended to speed current decay when a winding is de-energised. When the L297 is used to drive a unipolar motor the chopper acts on these lines. An input called CONTROL determines whether the chopper will act on the phase lines ABCD or the inhibit lines INH1 and INH2. When the phase lines
are chopped the non-active phase line of each pair (AB or CD) is activated (rather than interrupting the line then active). In L297 + L298 configurations this technique reduces dissipation in the load current sense resistors.
A common on-chip oscillator drives the dual chopper. It supplies pulses at the chopper rate which set the two flip-flops FF1 and FF2. When the current in a winding reaches the programmed peak value the voltage across the sense resistor (connected to one of the sense inputs SENS1 or SENS2) equals Vref and the corresponding comparator resets its flip flop, interrupting the drive current until the next oscillator pulse arrives. The peak current for both windings is programmed by a voltage divider on the Vref input. Ground noise problems in multiple configurations can be avoided by synchronising the chopper oscillators. This is done by connecting all the SYNC pins together, mounting the oscillator RC network on one device only and grounding the OSC pin on all other devices.
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L297
MOTOR DRIVING PHASE SEQUENCES The L297's translator generates phase sequences for normal drive, wave drive and half step modes. The state sequences and output waveforms for these three modes are shown below. In all cases the translator advances on the low to high transistion of CLOCK. Clockwise rotation is indicate; for anticlockwise rotation the sequences are simply reversed RESET restores the translator to state 1, where ABCD = 0101.
HALF STEP MODE Half step mode is selected by a high level on the HALF/FULL input.
NORMAL DRIVE MODE Normal drive mode (also called "two-phase-on" drive) is selected by a low level on the HALF/FULL input when the translator is at an odd numbered state (1, 3, 5 or 7). In this mode the INH1 and INH2 outputs remain high throughout.
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L297
MOTOR DRIVING PHASE SEQUENCES (continued) WAVE DRIVE MODE Wave drive mode (also called "one-phase-on" drive) is selected by a low level on the HALF/FULL input when the translator is at an even numbered state (2, 4, 6 or 8).
ELECTRICAL CHARACTERISTICS (Refer to the block diagram Tamb = 25C, Vs = 5V unless otherwise specified)
Symbol Vs Is Vi Parameter Supply voltage (pin 12) Quiescent supply current (pin 12) Input voltage (pin 11, 17, 18, 19, 20) Input current (pin 11, 17, 18, 19, 20) Enable input voltage (pin 10) Outputs floating Low High Ii Vi = L Vi = H Ven Low High Ien Enable input current (pin 10) Ven = L Ven = H Vo Phase output voltage (pins 4, 6, 7, 9) Inhibit output voltage (pins 5, 8) Io = 10mA Io = 5mA Vinh Io = 10mA Io = 5mA VSYNC Sync Output Voltage Io = 5mA Io = 5mA 6/11 VOL VOH Vinh L Vinh H VSYNC H VSYNC V 3.9 3.3 0.8 3.9 0.4 2 2 100 Test conditions Min. 4.75 50 Typ Max. 7 80 0.6 Vs A 10 1.3 Vs 100 10 0.4 A V V A A V V V V V Unit V mA V V
L297
ELECTRICAL CHARACTERISTICS (continued)
Symbol Ileak Vsat Voff Io Vref tCLK tS tH tR tRCLK Parameter Leakage current (pin 3) Saturation voltage (pin 3) Comparators offset voltage (pins 13, 14, 15) Comparator bias current (pins 13, 14, 15) Input reference voltage (pin 15) Clock time Set up time Hold time Reset time Reset to clock delay Test conditions V CE = 7 V I = 5 mA Vref = 1 V -100 0 0.5 1 4 1 1 Min. Typ Max. 1 0.4 5 10 3 Unit A V mV A V s s s s s
Figure 1.
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L297
APPLICATION INFORMATION TWO PHASE BIPOLAR STEPPER MOTOR CONTROL CIRCUIT This circuit drives bipolar stepper motors with winding currents up to 2A. The diodes are fast 2A types.
Figure 2.
Figure 3 : Synchronising L297s
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L297
mm MIN. a1 B b b1 D E e e3 F I L Z 3.3 1.34 8.5 2.54 22.86 7.1 3.93 0.130 0.254 1.39 0.45 0.25 25.4 0.335 0.100 0.900 0.280 0.155 1.65 TYP. MAX. MIN. 0.010 0.055 0.018 0.010 1.000 0.065 inch TYP. MAX.
DIM.
OUTLINE AND MECHANICAL DATA
DIP20
0.053
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L297
mm DIM. MIN. A A1 B C D E e H h L K 10 0.25 0.4 2.35 0.1 0.33 0.23 12.6 7.4 1.27 10.65 0.75 1.27 0.394 0.010 0.016 TYP. MAX. 2.65 0.3 0.51 0.32 13 7.6 MIN. 0.093 0.004 0.013 0.009 0.496 0.291
inch TYP. MAX. 0.104 0.012 0.020 0.013 0.512 0.299 0.050 0.419 0.030 0.050
OUTLINE AND MECHANICAL DATA
SO20
0 (min.)8 (max.)
L
h x 45
A B e K H D A1 C
20
11 E
1
0 1
SO20MEC
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L297
Information furnished is believed to be accurate and reliable. However, STMicroelectronics assumes no responsibility for the consequences of use of such information nor for any infringement of patents or other rights of third parties which may result from its use. No license is granted by implication or otherwise under any patent or patent rights of STMicroelectronics. Specification mentioned in this publication are subject to change without notice. This publication supersedes and replaces all information previously supplied. STMicroelectronics products are not authorized for use as critical components in life support devices or systems without express written approval of STMicroelectronics. The ST logo is a registered trademark of STMicroelectronics 2001 STMicroelectronics Printed in Italy All Rights Reserved STMicroelectronics GROUP OF COMPANIES Australia - Brazil - Canada - China - Finland - France - Germany - Hong Kong - India - Israel - Italy - Japan - Malaysia - Malta - Morocco Singapore - Spain - Sweden - Switzerland - United Kingdom - United States. http://www.st.com
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