UCC2626
UCC3626
PRELIMINARY
04/99
FEATURES
Two Quadrant and Four Quadrant
Operation
Integrated Absolute Value Current
Amplifier
Pulse-by-Pulse and Average Current
Sensing
Accurate, Variable Duty Cycle
Tachometer Output
Trimmed Precision Reference
Precision Oscillator
Direction Output
Brushless DC Motor Controller
17
HALLC
8
DIR_OUT
14
PWM_NI
13
PWM_I
16
HALLB
SYNCH
11
OC_REF
9
SNS_I
3
4
1
5
22
CLOW
C_TACH
R_TACH
TACH_OUT
GND
2
VREF
27
AHI
25
BHI
23
CHI
26
ALOW
10
SNS_NI
IOUT
7
6
12
CT
18
COAST
21
DIR_IN
15
HALLA
19
BRAKE
20
QUAD
SENSE AMPLIFIER
OVER-CURRENT
COMPARATOR
OSCILLATOR
DIRECTION
DETECTOR
EDGE
DETECTOR
28
VDD
ONE SHOT
R C
5 VOLT
REFERENCE
Q
Q
S
R
PWM LOGIC
24
BLOW
1.75V
DIRECTION
SELECT
HALL
DECODER
PWM COMPARATOR
X5
Q
Q
S
R
BLOCK DIAGRAM
UDG-97173
DESCRIPTION
The UCC3626 motor controller IC combines many of the functions re-
quired to design a high performance, two or four quadrant, 3-phase,
brushless DC motor controller into one package. Rotor position inputs
are decoded to provide six outputs that control an external power stage.
A precision triangle oscillator and latched comparator provide PWM mo-
tor control in either voltage or current mode configurations. The oscilla-
tor is easily synchronized to an external master clock source via the
SYNCH input. Additionally, a QUAD select input configures the chip to
modulate either the low side switches only, or both upper and lower
switches, allowing the user to minimize switching losses in less de-
manding two quadrant applications.
The chip includes a differential current sense amplifier and absolute
value circuit which provide an accurate reconstruction of motor current,
useful for pulse by pulse over current protection as well as closing a
current control loop. A precision tachometer is also provided for imple-
menting closed loop speed control. The TACH_OUT signal is a variable
duty cycle, frequency output which can be used directly for digital con-
trol or filtered to provide an analog feedback signal. Other features in-
clude COAST, BRAKE, and DIR_IN commands along with a direction
output, DIR_OUT.
application
INFO
available
2
UCC2626
UCC3626
ELECTRICAL CHARACTERISTICS:
Unless otherwise stated, these specifications apply for VCC = 12V; CT = 1nF,
R
TACH
= 250K, C
TACH
= 100pF, T
A
= T
J
, T
A
= 40C to +85C for the UCC2626, and 0C to +70C for the UCC3626.
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNITS
Overall
Supply Current
3
10
mA
Under-Voltage Lockout
Start Threshold
10.5
V
UVLO Hysteresis
0.5
V
5.0 V Reference
Output Voltage
I
VREF
= 2mA
4.9
5
5.1
V
Line Regulation
11V < VCC < 14.5V
10
mV
Load Regulation
1 > I
VREF
> 5mA
30
mV
Short Circuit Current
40
120
mA
Coast Input Comparator
Threshold
1.75
V
Hysteresis
0.1
V
Input Bias Current
0.1
A
IOUT
BHI
ALO
AHI
BRAKE
BLOW
CHI
CLOW
VDD
TACH_OUT
VREF
SNS_I
SYNCH
SNS_NI
R_TACH
C_TACH
CT
GND
DIR_OUT
OC_REF
HALLC
DIR_IN
QUAD
COAST
PWM_NI
PWM_I
HALLA
HALLB
14
13
12
11
10
9
8
7
6
5
4
3
2
1
15
16
17
18
19
20
21
22
23
24
25
26
27
28
CONNECTION DIAGRAMS
ABSOLUTE MAXIMUM RATINGS
Supply Voltage V
DD
. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . +15V
Inputs
Pins 20, 19, 18, 21, 15, 16, 17, 7, 12, 9, 10 . . . . 0.3V to V
DD
Pins 13, 14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 0.3V to 8.0V
Output Current
Pins 22, 23, 24, 25, 26, 27 . . . . . . . . . . . . . . . . . . . . .
200mA
Pins 2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20mA
Pins 3. 8, 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1mA
Storage Temperature . . . . . . . . . . . . . . . . . . . 65C to +150C
Junction Temperature . . . . . . . . . . . . . . . . . . . 55C to +150C
Lead Temperature (Soldering 10 Seconds). . . . . . . . . . +300C
Note: Unless otherwise indicated, voltages are referenced to
ground. Currents are positive into, negative out of specified ter-
minal. Consult packaging section of Databook for thermal limi-
tations and considerations of package.
DIL-28, SOIC-28, TSSOP-28 (Top View)
N Package, DW Package, PW Package
UCC
PACKAGE
626
TEMPERATURE RANGE
ORDERING INFORMATION
TEMPERATURE RANGE
PACKAGE
UCC2626N
DIL
UCC2626DW
40
C to +85 C
SOIC
UCC2626PW
TSSOP
UCC3626N
DIL
UCC3626DW
0
C to +70 C
SOIC
UCC3626PW
TSSOP
3
UCC2626
UCC3626
ELECTRICAL CHARACTERISTICS:
Unless otherwise stated, these specifications apply for VCC = 12V; CT = 1nF,
R
TACH
= 250K, C
TACH
= 100pF, T
A
= T
J
, T
A
= 40C to +85C for the UCC2626, and 0C to +70C for the UCC3626.
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNITS
Current Sense Amplifier
Input Offset Voltage
VCM = 0V
5
mV
Input Bias Current
VCM = 0V
10
A
Gain
VCM = 0V
4.9
5
5.1
V/V
CMRR
0.3V < VCM < 0.5
60
dB
PSRR
11V < VCC <14.5V
60
dB
Output High Voltage
I
IOUT
= 100
A
5
V
Output Low Voltage
I
IOUT
= 100
A
50
mV
Output Source Current
V
IOUT
= 2V
500
A
PWM Comparator
Input Common Mode Range
2.0
8.0
V
Propogation Delay
75
nS
Over-Current Comparator
Input Common Mode Range
0.0
5.0
V
Propogation Delay
175
nS
Logic Inputs
Logic High
QUAD, BRAKE, DIR
3.5
V
Logic Low
QUAD, BRAKE, DIR
1.5
V
Input Current
QUAD, BRAKE, DIR
0.1
A
Hall Buffer Inputs
VIL
HALLA, HALLB, HALLC
1
V
VIH
HALLA, HALLB, HALLC
1.9
V
Input Current
0V < V
IN
< 5V
25
A
Oscillator
Frequency
R
TACH
= 250k, C
T
= 1nF
10
KHz
Frequency Change With Voltage
12V < VCC < 14.5V
5
%
CT Peak Voltage
7.5
V
CT Valley Voltage
2.5
V
CT Peak-to-Valley Voltage
5.0
V
SYNCH Pin Minimum Pulse Width
500
ns
Tachometer
V
OH
/V
REF
I
OUT
= 10
A
99
100
%
Vol
I
OUT
= 10
A
0
20
mV
R
ON
High
I
OUT
= 100
A
1
k
R
ON
Low
I
OUT
= 100
A
1
k
Ramp Threshold, Lo
20
mV
Ramp Threshold, Hi
2.52
V
C
TACH
Charge Current
R
TACH
= 49.9k
50
A
T-on Accuracy
Note 1
3
3
%
Direction Output
DIR OUT High Level
I
OUT
= 100
A
3.5
5.1
V
DIR OUT Low Level
I
OUT
= 100
A
0
1
V
4
UCC2626
UCC3626
PIN DESCRIPTIONS
AHI, BHI, CHI: Digital outputs used to control the high
side switches in a three phase inverter. For specific de-
coding information reference Table I.
ALOW, BLOW, CLOW: Digital outputs used to control
the low side switches in a three phase inverter. For spe-
cific decoding information reference Table I.
BRAKE: BRAKE is a digital input which causes the de-
vice to enter brake mode. In brake mode all three high
side outputs are turned off, AHI, BHI & CHI, while all
three lowside outputs are turned on, ALOW, BLOW,
CLOW. During brake mode the tachometer output re-
mains operational. The only conditions which can inhibit
the low side commands during brake are UVLO, ex-
ceeding peak current, the output of the PWM compara-
tor, or the COAST command.
COAST: The COAST input consists of a hysteretic com-
parator which disables the outputs. The input is useful in
implementing an overvoltage bus clamp in four quadrant
applications. The outputs will be disabled when the input
is above 1.75V.
CT: This pin is used in conjunction with the R_TACH pin
to set the frequency of the oscillator. A timing capacitor
is normally connected between this point and ground
and is alternately charged and discharged between 2.5V
and 7.5V.
C_TACH: A timing capacitor is connected between this
pin and ground to set the width of the TACH_OUT pulse.
The capacitor is charged with a current set by the resis-
tor on pin RT.
DIR_IN: DIR_IN is a digital input which determines the
order in which the HALLA,B & C inputs are decoded. For
specific decode information reference Table I.
DIR_OUT: DIR_OUT represents the actual direction of
the rotor as decoded from the HALLA, B & C inputs. For
any valid combination of HALLA, B &C inputs there are
two valid transitions, one which translates to a clockwise
rotation and another which translates to a counterclock-
wise rotation. The polarity of DIR_OUT is the same as
DIR_IN while motoring, i.e. sequencing from top to bot-
tom in Table 1.
GND: GND is the reference ground for all functions of the
part. Bypass and timing capacitors should be terminated
as close to this point as possible.
HALLA, HALLB, HALLC: These three inputs are de-
signed to accept rotor position information positioned
120 apart. For specific decode information reference Ta-
ble I. These inputs should be externally pulled-up to
VREF or another appropriate external supply.
IOUT: IOUT represents the output of the current sense
and absolute value amplifiers. The output signal appear-
ing is a representation of the following expression:
I
ABS ISENS I ISENS NI
OUT
=
-
(
_
_
) 5
This output can be used to close a current control loop as
well as provide additional filtering of the current sense
signal.
OC_REF: OC_REF is an analog input which sets the trip
voltage of the overcurrent comparator. The sense input of
the comparator is internally connected to the output of the
current sense amplifier and absolute value circuit.
PWM_NI: PWM_NI is the noninverting input to the PWM
comparator.
PWM_I: PWM_I is the inverting input to the PWM com-
parator.
ELECTRICAL CHARACTERISTICS:
Unless otherwise stated, these specifications apply for VCC = 12V; CT = 1nF,
R
TACH
= 250K, C
TACH
= 100pF, T
A
= T
J
, T
A
= 40C to +85C for the UCC2626, and 0C to +70C for the UCC3626.
PARAMETER
TEST CONDITIONS
MIN
TYP
MAX
UNITS
Output Section
Maximum Duty Cycle
100
%
Output Low Voltage
I
OUT
= 10mA
0.4
V
Output High Voltage
I
OUT
= 10mA
4.0
5.1
V
Output Low Voltage
I
OUT
= 1mA
1
V
Output High Voltage
I
OUT
= 1mA
4.0
5.1
V
Rise/Fall Time
CI = 100pF
100
nS
Note 1: T(on) is calculated using the formula: T(on) = C
TACH
(V
HI
V
LO
)/I
CHARGE
. This number is compared to the formula T(on) =
R
TACH
C
TACH
.
5
UCC2626
UCC3626
Table 1 provides the decode logic for the six outputs,
AHI, BHI, CHI, ALOW, BLOW, and CLOW as a function
of the BRAKE, COAST, DIR_IN, HALLA, HALLB, and
HALLC inputs.
The UCC3626 is designed to operate with 120 position
sensor encoding. In this format, the three position sensor
signals are never simultaneously high or low. Motor's
whose sensors provide 60 encoding can be converted
to 120 using the circuit shown in Fig. 1.
In order to prevent noise from commanding improper
commutation states, some form of low pass filtering on
HALLA, HALLB, and HALLC is recommended. Passive
APPLICATION INFORMATION
QUAD: The QUAD input selects between "two" QUAD =
0 and "four" QUAD = 1 quadrant operation. When in
"two-quadrant" mode only the low side devices are ef-
fected by the output of the PWM comparator. In
"four-quadrant" mode both high and low side devices are
controlled by the PWM comparator.
SYNCH: The SYNCH input is used to synchronize the
PWM oscillator with an external digital clock. When using
the SYNCH feature, a resistor equal to R
TACH
must be
placed in parallel with CT. When not used, ground
SYNCH.
SNS_NI, SNS_I: These inputs are the noninverting and
inverting inputs to the current sense amplifier, respec-
tively. The integrated amplifier is configured for a gain of
five. An absolute value function is also incorporated into
the output in order to provide a representation of actual
motor current when operating in four quadrant mode.
TACH_OUT: TACH_OUT is the output of a monostable
triggered by a change in the commutation state, thus pro-
viding a variable duty cycle, frequency output. The
on-time of the monostable is set by the timing capacitor
connected to C_TACH. The monostable is capable of be-
ing retriggered if a commutation occurs during it's
on-time.
R_TACH: A resistor connected between R_TACH and
ground programs the current for both the oscillator and
tachometer.
VDD: VDD is the input supply connection for this device.
Undervoltage lockout keeps the outputs off for inputs be-
low 10.5V. The input should be bypassed with a 0.1
F ce-
ramic capacitor, minimum.
VREF: VREF is a 5V, 2% trimmed reference output with
5mA of maximum available output current. This pin
should be bypassed to ground with a 0.1
F ceramic ca-
pacitor, minimum.
PIN DESCRIPTIONS (cont.)
B
R
A
K
E
C
O
A
S
T
D
I
R
_
IN
HALL
INPUTS
HIGH SIDE
OUTPUTS
LOW SIDE
OUTPUTS
A
B
C
A
B
C
A
B
C
0
0
1
1
0
1
1
0
0
0
1
0
0
0
1
1
0
0
1
0
0
0
0
1
0
0
1
1
1
0
0
1
0
0
0
1
0
0
1
0
1
0
0
1
0
1
0
0
0
0
1
0
1
1
0
0
1
1
0
0
0
0
1
0
0
1
0
0
1
0
1
0
0
0
0
1
0
1
0
1
0
1
0
0
0
0
0
0
0
1
0
1
0
0
0
1
0
0
0
0
1
1
1
0
0
0
0
1
0
0
0
0
1
0
1
0
0
0
1
0
0
0
0
1
1
0
0
0
1
0
1
0
0
0
0
1
0
0
0
0
1
1
0
0
X
1
X
X
X
X
0
0
0
0
0
0
1
0
X
X
X
X
0
0
0
1
1
1
0
0
X
1
1
1
0
0
0
0
0
0
0
0
X
0
0
0
0
0
0
0
0
0
Table 1. Commutation truth table.
1k
2N2222A
1k
1k
1k
VREF
VREF
VREF
HALLB
HALLA
HALLC
HALLA
HALLB
HALLC
2.2nF
2.2nF
2.2nF
499
499
Figure 1. Circuit to convert 60 hall code to 120
code.
6
UCC2626
UCC3626
RC networks generally work well and should be located
as close to the IC as possible. Fig. 2 illustrates these
techniques.
Configuring the Oscillator
The UCC3626 oscillator is designed to operate at fre-
quencies up to 250kHz and provide a triangle waveform
on CT with a peak to peak amplitude of 5V for improved
noise immunity. The current used to program CT is de-
rived off of the R_TACH resistor according to the follow-
ing equation:
I
R TACH
Amps
OSC
=
25
_
Oscillator frequency is set by R_TACH and CT according
to the following relationship:
Frequency
R TACH CT
Hz
=
2 5
.
( _
)
Timing resistor values should be between 25k
and
500k
while capacitor values should fall between 100pF
and 1
F. Fig. 4 provides a graph of oscillator frequency
for various combinations of timing components. As with
any high frequency oscillator, timing components should
be located as close to the IC pins as possible when lay-
ing out the printed circuit board. It is also important to ref-
erence the timing capacitor directly to the ground pin on
the UCC3626 rather than daisy chaining it to another
trace or the ground plane. This technique prevents
switching current spikes in the local ground from causing
jitter in the oscillator.
Synchronizing the Oscillator
A common system specification is for all oscillators in a
design to be synchronized to a master clock. The
UCC3626 provides a SYNCH input for exactly this pur-
pose. The SYNCH input is designed to interface with a
digital clock pulse generated by the master oscillator. A
positive going edge on this input causes the UCC3626
oscillator to begin discharging. In order for the slave os-
cillator to function properly it must be programmed for a
frequency slightly lower than that of the master. Also, a
resistor equal to R
TACH
must be placed in parallel with
CT. Fig. 3 illustrates the waveforms for a slave oscillator
programmed to 20kHz with a master frequency of 30kHz.
The SYNCH pin should be grounded when not used.
APPLICATION INFORMATION (cont.)
1.E+03
1.E+04
1.E+05
1.E+06
1.E-10
1.E-09
1.E-08
1.E-07
CT (F)
P
W
M
F
RE
Q
U
E
NCY
(
H
z
)
R_TACH = 25k
R_TACH = 500k
R_TACH = 100k
R_TACH = 250k
Figure 4. PWM oscillator frequency vs. C
T
and
R_TACH.
SYNCH
CT
WITHOUT SYNCH
WITH SYNCH
Figure 3. Synchronized and unsynchronized
oscillator waveforms.
1k
1k
1k
VREF
VREF
VREF
HALLA
HALLB
HALLC
HALLA
HALLB
HALLC
2.2nF
2.2nF
2.2nF
499
499
499
Figure 2. Passive hall filtering technique.
7
UCC2626
UCC3626
Programming the Tachometer
The UCC3626 tachometer consists of a precision, 5V
monostable, triggered by either a rising or falling edge on
any of the three Hall inputs, HALLA, HALLB, HALLC. The
resulting TACH_OUT waveform is a variable dutycycle
square wave whose frequency is proportional to motor
speed, as given by:
TACH OUT
V
P
Hz
_
(
)
=
20
where
P
is the number of motor pole pairs and
V
is motor
velocity in RPM.
The on-time of the monostable is programmed via timing
resistor R_TACH and capacitor C_TACH according to the
following equation:
On Time R TACH C TACH
-
=
_
_
sec
Fig. 5 provides a graph of On-Time for various combina-
tions of R_TACH and C_TACH. On-Time is typically set to
a value less than the minimum TACH-OUT period as
given by:
T Period
V
P
MIN
MAX
_
sec
=
20
where
P
is the number of motor pole pairs and
V
is motor
velocity in RPM.
The TACH_OUT signal can be used to close a digital
velocity loop using a microcontroller, as shown in Fig. 6,
or directly low pass filtered in an analog implementation,
Fig. 7.
APPLICATION INFORMATION (cont.)
1.E-06
1.E-05
1.E-04
1.E-03
1.E-02
1.E-01
1.E+00
1.E-10
1.E-09
1.E-08
1.E-07
1.E-06
Ctach (F)
T
o
n
(
se
c)
R_TACH = 25k
R_TACH = 500k
R_TACH = 100k
R_TACH = 250k
Figure 5. Tachometer on-time vs. C_TACH and
R_TACH.
5
4
14
R_TACH
C_TACH
PWM_NI
PWM_I
13
TACH_OUT
3
6
CT
UCC3626
DB0 DB7
VOUT
AD558
V
OUT
SENSE
V
OUT
SELECT
VCE
VCS
IC1
PB0 PB7
PC0
MC68HC11
Figure 6. Digital velocity loop implementation using MC68HC11.
UDG-97188
8
UCC2626
UCC3626
Two Quadrant vs Four Quadrant Control
Fig. 8 illustrates the four possible quadrants of operation
for a motor. Two quadrant control refers to a system
whose operation is limited to quadrants I and III where
torque and velocity are in the same direction. With a two
quadrant brushless DC amplifier, there are no provisions
other than friction to decelerate the load, limiting the ap-
proach to less demanding applications. Four quadrant
controllers, on the other hand, provide controlled opera-
tion in all quadrants, including II and IV, where torque and
rotation are of opposite direction.
When configured for two quadrant operation, (QUAD=0),
the UCC3626 will only modulate the low side devices of
the output power stage. The current paths within the out-
put stage during the PWM on and off times are illus-
trated in Fig. 9. During the 'on' interval, both switches
are on and current flows through the load down to
ground. During the 'off' time, the lower switch is shut off
and the motor current circulates through the upper half
bridge via the flyback diode. The motor is assumed to be
operating in either quadrant I or III.
APPLICATION INFORMATION (cont.)
2
5
4
14
VREF
R_TACH
C_TACH
PWM_NI
PWM_I
13
TACH_OUT
3
6
CT
+
UCC3626
Figure 7. Simple analog velocity loop.
UDG-97189
I
II
III
IV
VELOCITY
CW
TORQUE
CW
CCW
CCW
Figure 8. Four quadrants of operation.
IPHASE
+ BEMF -
VMOT
IOFF
ION
S1
S3
S5
S2
S4
S6
Figure 10. Two quadrant reversal.
IPHASE
+ BEMF -
VMOT
IOFF
ION
S1
S3
S5
S2
S4
S6
Figure 9. Two quadrant chopping.
9
UCC2626
UCC3626
If one attempts to operate in quadrants II or IV by chang-
ing the DIR bit and reversing the torque, switches 1 and 4
are turned off and switches 2 and 3 turned on. Under this
condition motor current will very quickly decay, reverse
direction and increase until the control threshold is
reached. At this point switch 2 will turn off and current will
once again circulate in the upper half bridge, however, in
this case the motor's BEMF is in phase with the current,
i.e. the motor's direction of rotation has not yet changed.
Fig. 10 illustrates the current paths when operating in this
mode. Under these conditions there is nothing to limit the
current other than motor and drive impedance. These
high circulating currents can result in damage to the
power devices in addition to high, uncontrolled torque.
By pulse width modulating both the upper and lower
power devices (QUAD=1), motor current will always de-
cay during the PWM "off" time, eliminating any uncon-
trolled circulating currents. In addition, current will always
flow through the current sense resistor, thus providing a
suitable feedback signal. Fig. 11 illustrates the current
paths during a four quadrant torque reversal. Motor drive
waveforms for both two and four quadrant operation are
illustrated in Fig. 12.
Power Stage Design Considerations
The flexible architecture of the UCC3626 requires the
user to pay close attention to the design of the power
output stage. Two and Four Quadrant applications that do
not require the brake function are able to utilize the
power stage approach illustrated in Fig. 13A. In many
cases the body diode of the MOSFET can be utilized to
reduce parts count and cost. If efficiency is a key require-
ment, Schottky diodes can be used in parallel with the
switches.
If the system requires a braking function, diodes must be
added in series with the lower power devices and the
lower flyback diodes returned to ground, as pictured in
Fig. 13B,C. This requirement prevents brake currents
from circulating in the lower half bridge and bypassing
the sense resistor. In addition, the combination of braking
and four quadrant control necessitates an additional re-
sistor in the diode path to sense current during the PWM
'off' time as illustrated in Fig. 13C.
Current Sensing
The UCC3626 includes a differential current sense am-
plifier with a fixed gain of five, along with an absolute
value circuit. The current sense signal should be low
pass filtered to eliminate leading edge spikes. In order to
maximize performance, the input impedance of the am-
plifier should be balanced. If the sense voltage must be
trimmed for accuracy reasons, a low value input divider
or a differential divider should be used to maintain im-
pedance matching, as shown in Fig. 14.
With four quadrant chopping motor current always flows
through the sense resistor. However, during the flyback
period the polarity across the sense resistor is reversed.
The absolute value amplifier cancels the polarity reversal
by inverting the negative sense signal during the flyback
time, see Fig. 15. Therefore, the output of the absolute
value amplifier is a reconstructed analog of the motor
current, suitable for protection as well as feedback loop
closure.
APPLICATION INFORMATION (cont.)
IPHASE
+ BEMF -
VMOT
IOFF
ION
S1
S3
S5
S2
S4
S6
Figure 11. Four quadrant reversal.
10
UCC2626
UCC3626
0
60
120
180
240
300
360
420
480
540
600
660
720
ROTOR POSITION IN ELECTRICAL DEGREES
Code
101
100
110
010
011
001
101
100
110
010
011
001
H1
H2
H3
AHI
BHI
CHI
ALO
BLO
CLO
+
0
-
A
+
0
-
B
+
0
-
C
MOTOR
PHASE
CURRENTS
QUAD=0
LOW SIDE
OUTPUTS
QUAD=0
HIGH SIDE
OUTPUTS
QUAD=0
SENSOR
INPUTS
AHI
BHI
CHI
ALO
BLO
CLO
+
0
-
A
+
0
-
B
+
0
-
C
MOTOR
PHASE
CURRENTS
QUAD=1
LOW SIDE
OUTPUTS
QUAD=1
HIGH SIDE
OUTPUTS
QUAD=1
100% Duty Cycle PWM
50% Duty Cycle PWM
Figure 12. Motor drive and current waveforms for 2 quadrant (QUAD=0) and 4 quadrant (QUAD=1) operation.
APPLICATION INFORMATION (cont.)
UDG-97190
11
UCC2626
UCC3626
TWO
QUADRANT
FOUR
QUADRANT
SAFE
BRAKING
POWER
REVERSAL
CURRENT SENSE
PULSE BY
PULSE
AVERAGE
(a)
Yes
Yes
No
In 4-Quad Only
Yes
Yes
(b)
Yes
No
Yes
No
Yes
No
(c)
Yes
Yes
Yes
In 4-Quad Only
Yes
Yes
(b)
(c)
TO
MOTOR
VMOT
CURRENT
SENSE
TO
MOTOR
VMOT
CURRENT
SENSE
TO
MOTOR
VMOT
CURRENT
SENSE
(a)
Figure 13. Power stage topologies.
TYPICAL APPLICATIONS
Fig. 16 illustrates a simple 175V, 2A two quadrant velocity
controller using the UCC3626. The power stage is de-
signed to operate with a rectified off-line supply using
IR2210s to provide the interface between the low voltage
control signals and the power MOSFETs. The power to-
pology illustrated in Fig. 13C is implemented in order to
provide braking capability.
The controller's speed command is set by potentiometer
R30 while the speed feedback signal is obtained by low
pass filtering and buffering the TACH-OUT signal using
R11 and C9. Small signal compensation of the velocity
control loop is provided by amplifier U5A, whose output is
used to control the PWM duty cycle. The integrating ca-
pacitor, C8, places a pole at 0Hz and a zero in conjunc-
tion with R10. This zero can be used to cancel the low
frequency motor pole and cross the loop over with a
20dB gain response.
Four quadrant applications require the control of motor
current. Fig. 17 illustrates a sign/magnitude current con-
trol loop within an outer bipolar velocity loop using the
UCC3626. U1 serves as the velocity loop error amplifier
and accepts a +/-5V command signal. Velocity feedback
is provided by low pass filtering and scaling the
TACH_OUT signal using U2. The direction output,
DIR_OUT, switch and U3 set the polarity of the tachom-
eter gain according to the direction of rotation. The out-
put of the velocity error amplifier, U1, is then converted
to sign/magnitude form using U5 and U6. The sign por-
tion is used to drive the DIR input while the magnitude
commands the current error amplifier, U8. Current feed-
back is provided by the internal current sense amplifier
via the IOUT pin.
12
UCC2626
UCC3626
IPHASE
+ BEMF -
VMOT
IOFF
ION
S1
S3
S5
S2
S4
S6
X5
Is
If
Im
Is
If
Im
Ip
Ip
5*Ip
Figure 15. Current sense amplifier waveform.
R
F
R
F
Rs
R
ADJ
C
F
SNS_NI
SNS_I
(a)
R
F
Rs
R
ADJ
C
F
(b)
R
F
SNS_I
SNS_NI
R
F
R
ADJ
<< R
F
Figure 14. (a) Differential divider and (b) low value divider.
TYPICAL APPLICATION (cont.)
TYPICAL APPLICATIONS (cont.)
13
UCC2626
UCC3626
Q1
IRF
7
30
Q2
IRF
7
30
R3
1k
C2
0.1
F
+
12V
VR
EF
C3
2200pF
R4
499
R2
1k
C4
2200pF
R5
499
R1
1k
C5
2200pF
R6
499
C6
100pF
C1
1
0.1
F
VR
EF
C1
2
0.1
F
D1
6
11D
F
4
C1
3
0.1
F
+
12V
R1
8
47
R1
7
10
R1
6
47
R1
5
10
D1
1N
4148
D8
1N
5418
MO
T
O
R
PH
ASE
A
C2
2
10
F
VM
O
T
Q3
IRF
7
30
Q4
IR
F
730
C1
4
0.1
F
VR
EF
C1
5
0.1
F
D1
7
11D
F
4
C1
6
0.1
F
+
12V
R2
2
47
R2
1
10
R2
0
47
R1
9
10
D1
1
1N
5418
MO
T
O
R
PH
ASE
A
C2
1
10
F
VM
O
T
Q5
IRF
7
30
Q6
IR
F
730
C1
7
0.1
F
VR
EF
C1
8
0.1
F
D1
8
11D
F
4
C1
9
0.1
F
+
12V
R2
6
47
R2
5
10
R2
4
47
R2
3
10
D1
5
1N
5418
MO
T
O
R
PH
ASE
A
C2
0
10
F
VM
O
T
R2
7
0.1
R2
8
0.1
C1
0.1
F
R1
3
35k
R1
4
15k
VR
EF
C1
0
3900pF
R1
2
250k
R7
10k
VR
EF
R8
10k
R9
10k
U5
A
1/2
L
M358
R1
1
160k
C9
0.1
F
R1
0
C8
C7
VR
EF
FR
O
M
H
A
L
L
SEN
SO
R
S
R2
9
R3
0
2k
R3
1
2k
C2
3
0.01
F
R3
0
10K
VR
EF
Sp
e
e
d
Se
t
D2
1N
4148
D3
1N
5818
D4
1N
5818
D5
1N
5818
D6
1N
5818
IR
2110
VB
6
HO
7
VS
5
NC
4
VC
C
3
LO
1
CO
M
2
VD
D
9
NC
8
HIN
10
LIN
12
SD
11
NC
14
VSS
13
IR
2110
VB
6
HO
7
VS
5
NC
4
VC
C
3
LO
1
CO
M
2
VD
D
9
NC
8
HIN
10
LIN
12
SD
11
NC
14
VSS
13
IR
2110
VB
6
HO
7
VS
5
NC
4
VC
C
3
LO
1
CO
M
2
VD
D
9
NC
8
HIN
10
LIN
12
SD
11
NC
14
VSS
13
U
C
C
3626
AH
I
27
BH
I
25
CHI
AL
O
W
26
BL
O
W
CL
O
W
22
SN
S_
N
I
9
SN
S_
I
10
IO
UT
11
DIR_
O
U
T
8
OC
_
R
E
F
12
CT
A
C
H
5
RT
A
C
H
4
T
A
CH_
O
U
T
3
VD
D
28
VR
EF
2
GN
D
1
HA
L
L
A
15
HA
L
L
B
16
HA
L
L
C
17
QU
A
D
20
DIR_
IN
21
BR
AKE
19
C
O
AST
18
S
Y
NCH
7
CT
6
PWM
_
N
I
14
PWM
_
I
13
24
23
U5
B
1/2
L
M358
U1
U2
U3
U4
D7
1N
5821
D1
0
1N
5821
D1
3
1N
5821
UDG-97184
Figure 16. Two quadrant velocity controller.
14
UCC2626
UCC3626
UNITRODE CORPORATION
7 CONTINENTAL BLVD. MERRIMACK, NH 03054
TEL. (603) 424-2410 FAX (603) 424-3460
11
IOUT
+
13
PWM_I
CURRENT
ERROR
AMPLIFIER
+
U6
10k
10k
+
10k
10k
SIGN/MAGNITUDE CONVERTER
21
DIR
U7
CURRENT SIGN
3
TACH_OUT
+
U2
TACHOMETER
FILTER
4.99k
10k
2N7002
8
DIR_OUT
4.99k
+
U3
10k
BIPOLAR
TACH GAIN
10k
+
U1
VELOCITY
COMMAND
+/ 5V
CURRENT
MAGNITUDE
U5
U8
Figure 17. Four quadrant control loop.
TYPICAL APPLICATIONS (cont.)
UDG-99061
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CERTAIN APPLICATIONS USING SEMICONDUCTOR PRODUCTS MAY INVOLVE POTENTIAL RISKS OF
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Copyright
1999, Texas Instruments Incorporated
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