APPLICATION NOTE

BIPOLAR STEPPER MOTOR CONTROL

This application note is intended to provide design details for the implementation of a stepper motor control, built around the TEA3717. This integrated circuit has been developed to offer control and current regulationof up to 1A, in one winding of a bipolar motor. Two TEA3717s and a minimum of external components are sufficient to implement the full control function of a two-phase bipolar stepper motor. The system can be commanded, according to the desired mode of operation, by either fixed or programmable logic. FUNCTIONAL DESCRIPTION The circuit is organized around a H-bridge configurated by four transistors and their integrated free wheel diodes. The Phase input controls the switching of the bridge transistors and also determines the direction of Figure 1 : TEA3717 Block Diagram.

the current flow in the winding. The signal applied to this input is first gated through a Schmidt trigger and then through a delay element so as to avoid a simultaneous conduction of transistors when direction of current in the bridge is reversed. Regulation of winding current is performed by chopping action on the power supply for a durationtoff determined by a monostable. This monostable is triggered by the output level swing of a comparator, to the input of which a voltage proportional to delivered output current is applied. The current spikes corresponding to the diodes reverse recovery time are filtered by a low pass filter RC CC to not trigger the comparator. Three comparators are available for this purpose : their thresholds are internally fixed ratios of VR input voltage. Each of them can be selected individually by using I1 and I0 inputs.

AN266/0189

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APPLICATION NOTE
Figure 2 : Typical Operating Sequences.

Direction of current flow

Transistors of the bridge are represented by switches : switch open : transistor cut-off

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APPLICATION NOTE
CONTROL OF BIPOLAR TWO-PHASE MOTOR The proposed diagram features two TEA3717s each controlling one winding. Full-step and fraction-of-a-step operation is performed by combined use of phase and current level selection control inputs. Figure 3 : Control of a Bipolar Two-phase Motor.

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APPLICATION NOTE
Figure 4 : Winding Currents for Rotation in Full-and Micro-steps.
IA , IB : Currents flowing through motor windings. IH , IM, IL : Current thresholds selected by IO, I1. I : any of IH, IM or IL values.

I0 1 0 1 0

I1 1 1 0 0

I 0 IL IM IH

N of steps 1 N of steps 1 2 3 4
Full step.

IA I I I 0 -I -I -I 0

IB I 0 -I -I -I 0 I I

IA I I I I

IB I I I I

2 3 4
1/2 step.

N of steps 1

IA I IM IM I

IB I IL - IL -I

2
1/3 step.

N of steps 1

IA I IM I IM I

IB I IL 0 - IL -I

N of steps 1

IA I IH IH IH IH I

IB I IM IL - IL - IM -I

N of steps 1

IA I IH IM I IM IH I

IB I IM IL 0 - IL - IM -I

2
1/4 step.

2
1/5 step.

2
1/6 step.

N of steps 1

IA I IH IM IH IH IM IH I

IB I IM IL IL - IL - IL IM -I

N of steps 1

IA I IH IM IH I IH IM IH I

IB I IM IL IL 0 - IL - IL - IM -I

2
1/7 step.

2
1/8 step.

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APPLICATION NOTE
FULL-STEP OPERATION : This is motos typical mode of operation. Simultaneous power supply to both windings guarantees availability of maximum torque. Phase inputs determine the direction of current flow in the windings, while inputs I0 and I1 at a constant level, select the level of this current. This is the simplest type of control implementation.

Figure 5 : Signals to Provide to Controller for Full-step Rotation.

1 - Motor not controlled. 2 - Rotation of 7 steps @ IH max. current. 3 - Rotation of 6 steps @ IL low current.

HALF-STEP OPERATION : This mode allows to doublethe motor resolution and also to eliminate certain vibrations. Power is applied alternately to one winding and then to both. In halfstep position, where only one winding is powered,

torque available on motor spindle is at its lowest value. Samecontrol signals as thoseused forfull-step operation are applied to phase inputs, and I0, I1 inputs are used to annul the current in one winding.

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Figure 6 : Signals to Provide to Controller for Full-step Rotation.

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MICRO-STEP OPERATION: Micro-steps of up to 1/8 are obtained by implementing the flow of different supply current levels through both windings. cro-steps :

difference between theoretical value and available value for winding current,

- comparator threshold levels dispersion, This type of operation may be envisaged if a good - motor winding characteristics dispersion. rotational regularity is required. These factors dont affect full-step position Some factors reduce the positioning precision of miFigure 7 : Signals to Provide to Controller for Rotation in 1/8th of a Step.

CHOICE OF OPERATING FREQUENCY Motors rotational speed is determinated by the frequency of PhA and PhB signals. This speed is limited by the mechanical characteristics and the time constant of L, r circuit formed by the winding. Figure 8 : Phase Currents for two Differents Speeds.

The rate of current increase in the winding depends on Vmm. Thus, if operation at maximum speed is desired, it would be a good practice to work with high supply voltages.

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APPLICATION NOTE
I 1 = I0 = Ph COMMAND Simultaneous application of control signals to three inputs Ph, I1 and I0 (or to Ph and one of I inputs while the otheris it at high level), is used for half-step operation or unipolar mode. It must be ensured that the time t during which Ph = I1 = I0 = 1 is higher than the time t min required to annul the winding current. Figure 9 : Operation with Ph = I1 = IO. If while the current is still positive, control signals Ph : I0 =I1 =1 are applied to correspondinginputs,diode D2 or D3 will conduct and cause Q1 and Q4 to be turned-off,which prevents the current rise in the winding and disturbs the proper motor operation. Blocking of Q1 and Q4 is performed by a built-in protectionunit and prevents the parasitics generatedby the conductionof D2 and D3 to cause any short-circuit within the bridge.

Normal circuit operation Direction of current

1b, 2b 3b :

Identical to 1a, 2a Q1 cut-off due of conduction of D3. Slow decrease of current since. VMB VMA = 0 instead of being Vmm. 2b 3a 1b.

4b 5b 6b

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APPLICATION NOTE
CHOICE OF TOF F : SWITCHING TIME FOR CURRENT REGULATION The value of toff determines the quality of thecurrent regulation in one phase. The larger the toff, the more important is the current ripple. Value of toff is found from the expression toff = 0.69 Rt.Ct where 1k Rt 100k Figure 10 : Winding Current @ off (max). A suitable value of toff for the majority of applications is 30s. to ff( max) This is the toff value over which the ripple value becomes excessive Lets k be the desired ripple value and t = L/r the time constant of motor winding, then : toff(max) is given approximately by : toff(max) kt

IH , M, L Imin k = IH, M, L toff

L t = r

= kt

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APPLICATION NOTE
t o ff( min) This is the limit under which the current regulation is not guaranteed. Even if the current continually exceeds the threshold levels IH, IM or IL, the device will ensure a minimum conduction time ton(min) which is combination of two periods : - td : comparator trigger time and transistor desaturation time implosed by TEA3717 Figure 11 : Winding Current @ TOFF(MIN). - td : this is the time required by VC toreach the comparator threshold level and is determined by low pass filter RC, CC. Therefore, toff must be selected to be long enough to allow the current to fall to a level below IH, IM or IL. Supply voltage Vmm and winding characteristics both determine the value of toff(min).

Figure 11 Bis : Winding Current, VE and VC Voltages @ TOFF(MIN).

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APPLICATION NOTE
SELECTION OF R S VALUES Three values of motor current IH, IM and IL are determinated by the choice of RS and VR values. The value of RS is calculated such that VCH = RS.IH 0.42 where VCH = 5 VR and IH is the maximum motor supply current. A choice of RS valuearound 1 will guarantee a fast increase of the winding current and offers the possibility of operation with a voltage around 5 V for VR, and thus is suitable for most applications. Figure 12 : Continuous Variation of Current Level. It is also possible to vary the motor current in a continuous mode :

by VR adjustment by feeding back a portion of the voltage drop across RS through a potentiometerwhose wiper is connected to the comparator input.

In order to minimize the differential voltage VE - VC due to comparators input current, care must be taken to avoid the appearance of a large impedance between E and C terminals. Appropriates values of P and RC would be : P = 1 k and RC = 470 . CABLING

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Sincethe TEA3717 operatesin switch mode, it is essential to take particular cabling precautions so as to avoid the generation of interferences susceptible to disturb the correct operation of the control electronics. Recommended precautions are :

Connection link between RS and the TEA3717 must be kept as short as possible Decoupling of Vmm by a ceramic capacitor (15 to 150nF) directly connected to the TEA3717 and also by an electrolytic of higher value : 10to 22F. Decoupling of VCC.

Separated ground connection for Vmm supply

Figure 13 : TEA3717 PC Board Layout.

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APPLICATION NOTE

Information furnished is believed to be accurate and reliable. However, SGS-THOMSON Microelectronics 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 SGS-THOMSON Microelectronics. Specifications mentioned in this publication are subject to change without notice. This publication supersedes and replaces all information previously supplied. SGS-THOMSON Microelectronics products are not authorized for use as critical components in life support devices or systems without express written approval of SGS-THOMSON Microelectronics. 1995 SGS-THOMSON Microelectronics All Rights Reserved SGS-THOMSON Microelectronics GROUP OF COMPANIES Australia - Brazil - France - Germany - Hong Kong - Italy - Japan - Korea - Malaysia - Malta - Morocco - The Netherlands - Singapore Spain - Sweden - Switzerland - Taiwan - Thaliand - United Kingdom - U.S.A.

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