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L6219R
May 2005
1
Features
ABLE TO DRIVE BOTH WINDINGS OF
BIPOLAR STEPPER MOTOR
OUTPUT CURRENT UP TO 500mA EACH
WINDING
WIDE VOLTAGE RANGE 4.5V TO 10V
HALF-STEP, FULL-STEP AND MICROSTEPP-
ING MODE
BUILT-IN PROTECTION DIODES
INTERNAL PWM CURRENT CONTROL
LOW OUTPUT SATURATION VOLTAGE
DESIGNED FOR UNSTABILIZED MOTOR
SUPPLY VOLTAGE
INTERNAL THERMAL SHUTDOWN
2
Description
The L6219R is a bipolar monolithic integrated circuits
intended to control and drive both winding of a bipolar
stepper motor or bidirectionally control two DC mo-
tors.The L6219R with a few external components
form a complete control and drive circuit for LS-TTL
or microprocessor controlled stepper motor sys-
tem.The power stage is a dual full bridge capable of
sustaining 10V and including four diodes for current
recirculation.A cross conduction protection is provid-
ed to avoid simultaneous cross conduction during
switching current direction.An internal pulse-width-
modulation (PWM) controls the output current to
500mA with peak start-up current up to 1A.
Wide range of current control from 500mA (each
bridge) is permitted by means of two logic inputs and
an external voltage reference. A phase input to each
bridge determines the load current direction.A ther-
mal protection circuitry disables the outputs if the
chip temperature exceeds safe operating limits.
STEPPER MOTOR DRIVER
Figure 2. Block Diagram
Figure 1. Package
Table 1. Order Codes
(1)
Lead free package.
To order these kinds of products, add the "E-" prefix before the
respective Part Numbers (eg. E-XXXXX).
Ecopack
(1)
Part Number
Package
E-
L6219R
SO24
SO24 (2+2)
Rev. 2
L6219R
2/11
Figure 3. Pin Connection (Top view)
Table 2. Pin Description
Note: ESD on GND, VS, VSS, OUT 1A and OUT 2A is guaranteed up to 1.5KV (Human Body Model, 1500W, 100pF).
Pin #
Name
Description
1;2
OUTPUT A
See pins 5;21
3;23
SENSE
RESISTOR
Connection to Lower Emitters of Output Stage for Insertion of Current Sense Resistor
4;22
COMPARATOR
INPUT
Input connected to the comparators. The voltage across the sense resistor is
feedback to this input throught the low pass filter RC CC. The higher power transistors
are disabled when the sense voltage exceeds the reference voltage of the selected
comparator. When this occurs the current decays for a time set by RT CT (toff = 1.1
RT CT). See fig. 4.
5;21
OUTPUT B
Output Connection. The output stage is a "H" bridge formed by four transistors and
four diodes suitable for switching applications.
6;19
GROUND
See pins 7;18
7;18
GROUND
Ground Connection. With pins 6 and 19 also conducts heat from die to printed circuit
copper.
8;20
INPUT 0
See INPUT 1 (pins 9;17)
9;17
INPUT 1
These pins and pins 8;20 (INPUT 0) are logic inputs which select the outputs of the
comparators to set the current level. Current also depends on the sensing resistor and
reference voltage. See Funcional Description.
10;16
PHASE
This TTL-compatible logic inputs sets the direction of current flow through the load. A
high level causes current to flow from OUTPUT A (source) to OUTPUT B (sink). A
schmitt trigger on this input provides good noise immunity and a delay circuit prevents
output stage short circuits during switching.
11;15
REFERENCE
VOLTAGE
A voltage applied to this pin sets the reference voltage of the comparators, this
determining the output current (also thus depending on Rs and the two inputs INPUT
0 and INPUT 1).
12;14
RC
A parallel RC network connected to this pin sets the OFF time of the higher power
transistors. The pulse generator is a monostable triggered by the output of the
comparators (toff = 1.1 RT CT).
13
Vss - LOGIC
SUPPLY
Supply Voltage Input for Logic Circuitry
24
Vs - LOAD
SUPPLY
Supply Voltage Input for the Output Stages.
3/11
L6219R
Table 3. Absolute Maximum Ratings
Table 4. Thermal Data
(*) With minimized copper area.
.
Symbol
Parameter
Value
Unit
V
S
Supply Voltage
30
V
I
o
Output Current (peak)
1
A
I
o
Output Current (continuous)
0.3
A
V
SS
Logic Supply Voltage
7
V
V
IN
Logic Input Voltage Range
-0.3 to V
SS
V
V
sense
Sense Output Voltage
1.5
V
T
J
Junction Temperature
+150
C
T
op
Operating Temperature Range
-20 to +85
C
T
stg
Storage Temperature Range
-55 to +150
C
Symbol
Description
Value
Unit
R
thj-case
R
thj-amb
Thermal Resistance Junction-case
Max.
Thermal Resistance Junction-ambient
Max.
18
75 (*)
C/W
C/W
Table 5. Electrical Characteristics
(T
j
= 25C, V
S
= 4.5V, V
SS
= 4.75V to 5.25V, V
REF
= 2V; unless otherwise specified) See fig. 6
Symbol
Parameter
Test Condition
Min.
Typ.
Max.
Unit
OUTPUT DRIVERS (OUT
A
or OUT
B
)
VS
Motor Supply Range
4.5
10
V
I
CEX
Output Leakage Current
*)
Vs = 30V; V
OUT
= Vs;
Vs = 30V; V
OUT
= 0
-
-50
<1
<-1
50
A
A
V
CE(sat)
Output Saturation Voltage
Sink Driver, I
OUT
= +300mA
Sink Driver, I
OUT
= +500mA
Source Driver, I
OUT
= -300mA
Source Driver, I
OUT
= -500mA
-
-
-
-
0.3
0.7
1.1
1.3
0.6
1
1.4
1.6
V
V
V
V
V
F
Clamp Diode Forward Voltage
Sink Diode
Source Diode I
F
= 500mA
1
1
1.5
1.5
V
V
I
S(on)
Driver Supply Current
Both Bridges ON, No Load
V
s
= 10V
-
8
15
mA
I
S(off)
Driver Supply Current
Both Bridges OFF; V
s
= 10V
-
6
10
mA
CONTROL LOGIC
V
IN(H)
Input Voltage
All Inputs
2.4
-
-
V
V
IN(L)
Input Voltage
All Inputs
-
-
0.8
V
I
IN(H)
Input Current
V
IN
= 2.4V
-
<1
20
A
L6219R
4/11
*) I
CEX
is the sum of the leakage of the power switch and recirculation diode.
Figure 4.
I
IN(L)
Input Current
V
IN
= 0.84V
-
-3
-200
A
V
REF
Reference Voltage
Operating
1.5
-
2
V
I
SS(ON)
Total Logic Supply Current
I
o
= I
1
= 0.8V, No Load
-
44
60
mA
I
SS(OFF)
Total Logic Supply Current
I
o
= I
1
= 2.4V, No Load
-
10
14
mA
COMPARATORS
V
REF
/
V
sense
Current Limit Threshold (at trip
point)
I
o
= I
1
= 0.8V
9.5
10
10.5
-
I
o
= 2.4V, I
1
= 0.8V
13.5
15
16.5
-
I
o
= 0.8V, I
1
= 2.4V
25.5
30
34.5
-
t
off
Cutoff Time
R
t
= 56K
C
t
= 820pF
-
50
s
t
d
Turn Off Delay
Fig. 1
-
1
s
PROTECTION
T
J
Thermal Shutdown Temperature
-
170
-
C
Table 5. Electrical Characteristics (continued)
(T
j
= 25C, V
S
= 4.5V, V
SS
= 4.75V to 5.25V, V
REF
= 2V; unless otherwise specified) See fig. 6
Symbol
Parameter
Test Condition
Min.
Typ.
Max.
Unit
5/11
L6219R
3
Functional Description
The circuit is intended to drive both windings of a bipolar stepper motor.
The peak current control is generated through switch mode regulation.There is a choice of three different current
levels with the two logic inputs I
01
- I
11
for winding 1 and I
02
- I
12
for winding 2.
The current can also be switched off completely
3.1 Input Logic (I
0
and I
1
)
The current level in the motor winding is selected with these inputs. (See fig. 5)
If any of the logic inputs is left open, the circuit will treat it has a high level input.
Table 6.
3.2 Phase
This input determines the direction of current flow in the windings, depending on the motor connections. The
signal is fed through a Schmidt-trigger for noise immunity, and through a time delay in order to guarantee that
no short-circuit occurs in the output stage during phase-shift.High level on the PHASE input causes the motor
current flow from Out A through the winding to Out B
3.3 Current Sensor
This part contains a current sensing resistor (R
S
), a low pass filter (R
C
, C
C
) and three comparators.Only one
comparator is active at a time. It is activated by the input logic according to the current level chosen with signals
I
o
and I
1
.The motor current flows through the sensing resistor RS.When the current has increased so that the
voltage across RS becomes higher than the reference voltage on the other comparator input, the comparator
goes high, which triggers the pulse generator.
The max peak current Imax can be defined by:
See figures 4, 5 and 6 for maximum allowable output current and reference voltage versus V
s
supply.
3.4 Single-pulse Generator
The pulse generator is a monostable triggered on the positive going edge of the comparator output.The
monostable output is high during the pulse time, toff , which is determined by the time components Rt and Ct.
t
off
= 1.1 R
t
C
t
The single pulse switches off the power feed to the motor winding, causing the winding current to decrease dur-
ing toff.If a new trigger signal should occur during toff, it is ignored.
3.5 Output Stage
The output stage contains four Darlington transistors (source drivers) four saturated transistors (sink drivers)
and eight diodes, connected in two H bridge.
I
0
I
1
Current Level
H
H
No Current
L
H
Low current 1/3 I
O
max
H
L
Medium current 2/3 I
O
max
L
L
Maximum current I
O
max
I
max
V
ref
10R
s
--------------
=
L6219R
6/11
Figure 5. Principle Operating Sequence
The source transistors are used to switch the power supplied to the motor winding, thus driving a constant cur-
rent through the winding.It should be noted however, that is not permitted to short circuit the outputs.
Internal circuitry is added in order to increase the accuracy of the motor current particularly with low current lev-
els.
3.6 V
S
, V
SS
, V
Ref
The circuit will stand any order of turn-on or turn-off the supply voltages V
S
and V
SS
. Normal dV/dt values are
then assumed.
Preferably, V
Ref
should be tracking V
SS
during power-on and power-off if V
S
is established.
7/11
L6219R
4
Application Informations (Note 1)
Some stepper motors are not designed for contin-uous operation at maximum current. As the circuit drives a
constant current through the motor, its temperature might increase exceedingly both at low and high speed op-
eration.Also, some stepper motors have such high core losses that they are not suited for switch mode current
regulation.
Unused inputs should be connected to proper voltage levels in order to get the highest noise immunity.
As the circuit operates with switch mode current regulation, interference generation problems might arise in
some applications. A good measure might then be to decouple the circuit with a 100nF capacitor, located near
the package between power line and ground.
The ground lead between Rs, and circuit GND should be kept as short as possible.
A typical Application Circuit is shown in Fig. 6.
Note that Ct must be NPO type or similar else.
To sense the winding current, paralleled metal film resistors are recommended (R
s
)
Figure 6. Typical Application Circuit.
L6219R
8/11
Figure 7. Maximum output current vs.
reference voltage
Figure 8. Maximum reference voltages vs.
supply voltage
Figure 9. Maximum output current vs. supply
voltage
0
100
200
300
400
500
600
700
800
0
1
2
3
4
5
6
7
8
Vref (V)
O
u
tp
u
t
c
u
r
r
e
n
t (m
A
)
Vss=5V
Vss=4.5V
0
1
2
3
4
5
6
7
8
0
2
4
6
8
10
12
Vs (V)
V
r
e
f1,2 (V
)
0
100
200
300
400
500
600
700
800
0
2
4
6
8
10
12
Vs (V)
O
u
t
put
c
u
r
r
e
nt
(
m
A)
Vss=5V
Vss=4.5V
9/11
L6219R
5
Package Information
Figure 10. SO24 Mechanical Data & Package
OUTLINE AND
MECHANICAL DATA
DIM.
mm
inch
MIN.
TYP.
MAX.
MIN.
TYP.
MAX.
A
2.35
2.65
0.093
0.104
A1
0.10
0.30
0.004
0.012
B
0.33
0.51
0.013
0.200
C
0.23
0.32
0.009
0.013
D
(1)
15.20
15.60
0.598
0.614
E
7.40
7.60
0.291
0.299
e
1.27
0.050
H
10.0
10.65
0.394
0.419
h
0.25
0.75
0.010
0.030
L
0.40
1.27
0.016
0.050
k
0 (min.), 8 (max.)
ddd
0.10
0.004
(1) "D" dimension does not include mold flash, protusions or gate
burrs. Mold flash, protusions or gate burrs shall not exceed
0.15mm per side.
SO24
0070769 C
Weight: 0.60gr
L6219R
10/11
6
Revision History
Table 7. Revision History
Date
Revision
Description of Changes
January 2003
1
First Issue
May 2005
2
Modified Table 6 on page 5.
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. Specifications 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.
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L6219R
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