1991 DATA BOOK NTOUVeMIReT ite ene MANNrT NedML Micro Linear November 1990 PRELIMINARY ML4410 Sensorless Spindle Motor Controller GENERAL DESCRIPTION The ML4410 provides complete commutation for delta or wye wound Brushless DC (BLDC) motors without the need for signals from Hall Effect sensors. This IC senses the back EMF of the 3 motor windings (no neutral required) to determine the proper ‘commutation phase angle using phase lock loop techniques. This technique will commutate virtually any 3-phase BLDC motor and is insensitive to PWM noise and motor snubbing. Included in the ML4410 is the circuitry necessary for a Hard Disk Drive microcontroller driven control loop. The ML4410 controls motor current with either a constant off-time PWM or linear current control driven by the microcontroller. Speed feedback for the micro is a stable digital frequency equal to the commutation frequency of the motor. All-commutation is performed by the ML4410. Braking and Power Fail are also included in the ML4410. ‘Two different start-up’ sequencing (minimum start-up time or minimum reverse rotation at start up) algorithms are supported by the ML4410, Since the timing of the start-up sequencing is determined by the micro, the system can be optimized for a wide range ‘of motors and inertial loads. ‘The ML4410 modulates the gates of external N-channel power MOSFETs to regulate the motor current. The IC drives external PNP transistors or P-channel MOSFETS ctly. Special circuits are used to save base drive power at low load currents. FEATURES '= Back-EMF Commutation Provides Maximum Torque for Minimum “Spin-Up" Time for Spindle Motors ™ Accurate, Jitter-Free Phase Locked Motor Speed Feedback Output w Linear or PWM Motor Current Control = Easy Microcontroller Interface for Optimized Start- Up Sequencing and Speed Control = Power Fail Detect Circuit with Delayed Braking = Drives External N-Channel FETs and PNP’s or P-Channel FETs BLOCK DIAGRAM om fre pe coe en oe waar JCURRENTCONTROL| SENSE, OG PF Cos ene aa ‘DETECT 1, Micro Linear weML4410 PIN CONFIGURATION M4410, 28-Pin PCC pxr2 GND tary Yec2 | en |1iom) | BARE 2a w 6 wre PIN DESCRIPTION PIN # NAME FUNCTION. PIN # NAME FUNCTION 1 GND Signal and Power Ground. 16 RESET Input which holds the VCO off 2 PNP1 Drives the external PNP power and sets the ML4410 to the transistor driving motor PH RESET condition. 3 PNP2 Drives the external PNP power UES Tas UES USE a transistor driving motor PH2. is under-voltage. 4 Veco 12V power and power for the 18 ENABLE E/A A “1” logic input enables the ee error amplifier and closes the braking function back-EMF feedback loop. 5 PNP3 Drives the external PNP power transistor driving motor PH3. 9 +5V__5V power supply input G ca cama 20 RC VCO loop filter components. linear motor current amplifier 21 RAMP) Current into this pin sets the loop. initial acceleration rate of the 7 OTAOUT Output of motor current error CO during start-up. amplifier, normally connected to n PHI Motor Terminal 1 RAN sect 2 PH2 Motor Terminal 2. 8 TAIN _ Driving voltage for Ni-N3. pie | See ae Normally tied to OTA OUL 25 Voc BV power supe. Terminal 9-11 NILN2,N3__ Drives the external N-channel Efe = neler nr eer MOSFETs for PH, PH2, PH3. 25 ————IBRARE —A“0- actos the broking circuit. 12 IISENSE)_ Motor current sense input. ae me 27 INLIMIT) Sets the threshold for the PWM B Cos Timing capacitor for fixed off meen time PWM current control : 28 WCMD)_ Current Command for Linear 14 Cyco_Timing capacitor for VCO. cetanree 15 VCO OUT Open Collector Logic Output from VCO, — 1%, Micro LinearML4410 eC ABSOLUTE MAXIMUM RATINGS Lead Teper Sceting 1s) BC Absolute samum ratings are hose values beyond which the: Thermal Resstance i : Voor device could be permanently damaged. Absolute maximum. ratings are stress ratings only and functional device operation isnatimplied. OPERATING CONDITIONS Supply Voltage (pins 4,25)... Temperature Range ... oC tos7mrc Output Current pins 2 35,8, 16,11 Vee voltage #12 pin 25) av + 0% Logic Inputs (pins 16, 17, 18, a +5V (pin 19) .. 5V + 10% Junetion Temperature ne. RAMP) Current (pin 2 0 to 10 Storage Temperature Range 1 Control Voge: Range (pins 27 28)" tow Te ELECTRICAL CHARACTERISTICS Unless otherwise specified, Ta = Operating Temperature Range, Voc = Voca = 12V, Rsense = 19, Cora = Cvco = Ol, Cog = 02uF PARAMETER CONDITIONS [min [We [Max] unns Oscilator (VEO) Section (Mode 1 or 2 unless otherwise specified) Frequency vs. Van 20 WS Vw = 10V 300 Ha Frequency Woco = 6 ‘00 [1000 | 2400 | Hz Wo = 5¥ 70 wo | 210 He Reset Voltage at Gyco Mode = 0 725-5 | 250 mv. Sampling Amplifier Vac Mode 0 ao av tec Mode 1, Rrayip = 39K. 70 100 130 uA ‘Mode 28, Veun = 4V 30 50 70 mn Mode 2A, Vou = 6V 5 2 5 [HA Mode 2A, Ver: = 8V 30 50 -70 HA ‘Motor Curent Control Secon SENSE) Gain Von a7 = 5V, OV = Vow mn = 25V 8D 5 eo [Ww One Shot Off Time @ 5 3 16 NOMD)Transconductance Gain 19 imho Power Fail Detection Circuit BV Threshold 3 38 [ws Vv Hysteresis 150 mv. 5 Threshold ae | aas as v Hysteresis 70 mv Logic Inputs: Voltage High (Veo 2 v Voltage Low Vi) 2 v Current High diy) a0 1 0 Pn Current Low th) 500 | 350 | 200 [aa 1%. Micro Linear =eML4410 ELECTRICAL CHARACTERISTICS (continuea) Unless otherwise specified, Ty = Operating Temperature Range, Vec = Veco = 12V, Rsexse = 19, Coma = Gyco = Olah, Cos = .02uF PARAMETER ‘CONDITIONS: Te | Max _|_ UNITS Outputs EMD) = UMM) = 25V loyp Low 30 5 100 mA lige High Off State =100 100 mn Vu High Vow a = 10 97 70 703 v Vw tow eee $ v Ay Pin 8 to Vw. Vow a = 6V 8 4 105 we LOGIE Low Tour = 05mA 4 v LOGIC tour 5 HA Supply Currents {N and PNP Outputs’ Open) 5 Current 2 4 mA Vcc Current 38 50 mA Vccx Current 4 10 mA FUNCTIONAL DESCRIPTION ‘The ML4410 provides closed-loop commutation for 3- : phase brushless motors. To accomplish this task, a VCO, Pin Pin Pin | KuMm | Integrating Back-EMF Sampling error amplifier and Step 16 18 a CMD) sequencer form a phase-locked loop, locking the VCO ji a it aa i to the back-EMF of the motor. The IC also contains we circuitry to control motor current with either linear or 2 1 0 Fixed ax constant off-time PWM modes. Braking and power fail 3 7 5 0 ia detect functions are also provided on chip. The ML4S10 is designed to drive external power transistors (N-channel MOSFET sinking transistors and PNP sourcing transistors) directly, and contains a special circuit to reduce PNP base currents when output current demand is reduced. Start-up sequencing and motor speed control are accomplished by.a microcontroller. Speed sensing is accomplished by monitoring the output of the VCO, which will be a signal is phased-locked to the ‘commutation frequency of the motor. START-UP SEQUENCING When the motor is initially at rest, it is generating no back-EMF. Because a back-EMF signal is required for closed loop commutation, the motor must be started “open-loop” until a velocity sufficient to generate some back-EMF js attained (around 100 RPM). ‘wo modes are possible for starting the motor. For the lowest possible starting time, the chip is held in the reset (mode R) state by holding pin 16 low and providing full current to the motor (figure 1a). Figure 1a. Minimum Time Start-Up Sequence Step 1: The IC is held in reset (mode R) with full power applied to the windings (see figure 4). This aligns the rotor to a position which is 30° (electrical) before the center of the first commutation state. Step 2: A fixed current is input to pin 21 and appears as a current on pin 20, and will accelerate the motor at a fixed rate. Step 3: When the motor speed reaches about 100 RPM, the back-EMF loop can be closed by pulling pin 18 low. Using this technique, some reverse rotation is possible, ‘The maximum amount of reverse rotation is 360/N, where N is the number of poles. For an 8 pole motor, 45° reverse rotation is possible. The second technique minimizes inital reverse rotation, at the expense of spin-up time. This technique (figure 1b) establishes a fixed low-frequency rotation on the motor and slowly ramps the current to the motor. 5-100 1%, Micro LinearML4410 —_—$—S— Step 1: Reset is held low briefly (10us) to initialize the internal logic. Pin Pin Pin (LIMIT) Step 16. 18 a CMD) 1 0 0 x o 2 1 0 1 0 et oO 0 RAMP to Imax 4 1 0 1 IMAX. 5 1 1 0 lax Figure 1b. Minimum Reverse Rotation Start-Up Sequence ‘Step 2: A low frequency rotational field is established with 0 current commanded. To establish the low frequency, inject a current (via a resistor ynnected to the microcontroller output port) into pin 21 and monitor the VEO OUT (pin. 15) frequency. Step 3: When the desired frequency is reached, set the current into pin 21 to 0, and begin to ramp the motor current by slowly increasing the current. ‘command (pins 27 or 28). Step 4: After full current is reached, inject some current into pin 21 to increase the frequency. Step 5: The back-EMF feedback loop can then be closed when the motor speed is sufficient. Some small amount of reverse rotation is still possible with this starting method SPEED CONTROL — CURRENT LOOP ‘To facilitate speed control, the ML4410 includes two. current control loops — linear and PWM (figure 2). The linear control loop senses the motor current on the SENSE) terminal through Rsgyse. An internal current sense amplifier’s output modulates the gates of the 3 N-channel MOSFET’s when’ OTA QUT is tied to OTA IN, or can modulate a single MOSFET gate to control current, The ML4410 also includes a current mode constant off- time PWM circuit: When motor current builds to the threshold set on (LIMIT) input (pin 27), a one-shot is, fired whose timing is set by Cos. The current in the motor will be controlled by the lower of pin 27 and pin 26. ‘The motor’s source transistor drivers are open-collector NPN's with internal 50KQ pull-up resistors, whose current is controlled according to the current demanded through the motor. To conserve power, the ‘ML4410 sets the current to PNP1, PNP2, and PNP3, proportional to the lower of pin 27 and pin 28. Drivers N1 through N3 are totem-pole outputs capable ‘of sourcing and sinking 10mA. Switching noise in the external MOSFETs can be reduced by adding resistance in series with the gates. BRAKING Applying a 0 on pin 26 activates the braking circuit. The brake circuit turns on PNP1 through PNP3 and turns off NPN7 through NPN3. PPL ~ PNP Figure 2. Current Control and Output Drive 1%, Micro Linear 5-101ML4410 BACK-EMF SENSING AND COMMUTATOR ‘The ML4410 contains a patented back-EMF sensing provide the basic integration time constant for the circuit which samples the phase isnot energized _motor/commutator phase lock loop while C2 is a noise to determine, whether to increase or decrease the filter. Larger inertial loads will require larger values of commutator (VCO) frequency. A late commutation Ri and Cl. These values are best determined Causes the efror amplifier to charge the integrator (RC). empirically, Analog speed control loops can use pin 20 ‘on pin 20, increasing the VCO input while early as a speed feedback voltage. ‘commutation causes pin 20 to discharge. C1 and RI SuTrUrs: : INPUT STATE Nt Nz NB NPI PNP2 PNPS SAMPLING Ror0 OFF ON OFF ON OFF ON | _NA a OFF OFF ON ON OFF OFF PH2 B OFF OFF ON OFF ON OFF PHI € ON OFF OFF OFF ON OFF PHS D ON OFF OFF OFF OFF ON PHO, E OFF ‘ON OFF OFF OFF ‘ON PHI F [or [ON OFF ‘ON OFF OF Pris Figure 3. Commutation State Table co veo our E Es 1 I ® ° A » E a a sot abe = tet te St a “ — ~ Figure 4, Start-Up Timing and Mode Sequencing 0 or 00003 00s as eo OHS cos Figure 5. VCO Output Frequency vs Vyco (pin 20) Figure 6. LIMIT) Output Off-Time vs Cos pie 1%, Micro LinearML4410 CS Neenah APPLICATIONS Figure 8 shows a typical application of the ML4410 in a hard disk drive spindle control. Although the timing necessary to start the motor in most applications would ww be generated by a microcontroller Figure 9 shows a simple “one shot” start-up timing approach, 0 — Speed control can be accomplished either by: . 1, Sensing the VCO OUT frequency with a i Microcontroller and adjusting (CMD) via an analog i [ee | Output from the Micro (PWM DAC). Z | 2. Using analog circuitry for speed control (Figure 10). » Q1, Q2, and Q3 are MJEZI0 or equivalent. Q4, Q5, and Q6 are IRFUOIO or equivalent. Base resistors (1000) are ott tri included to reduce power dissipation in the IC during Rego start-up. If requested currents are low, these can be eliminated. Switching transients due to,commutation can be reduced by increasing the 4709 gate resistors Figure 7. Available PNP Drive Current vs CMD) Input on Q4-O6. Bos vor [eter 0 i ue 1m mo 1» + oa 8 Kee Love ENABLE ERROR AMP Tosa et Symbol [Value Symbol_| Value Al 1358 4 100A a | auc 85 soKo__| p Dy D2 _|_1Newe | R6 50Ka Figure 9. Analog Start-Up Circuit = ae = ae m2 Ma a Bu m3 "00ke 3 Aru Figure 10. Analog Speed Control ORDERING INFORMATION TEMPERATURE PART NUMBER RANGE PACKAGE MLAHOCQ °C to 70°C 28:Pin Molded PCC ae i, Micro Linear