SLVS854E July   2008  – December 2014 DRV8809

PRODUCTION DATA.  

  1. 1 Features
  2. 2 Applications
  3. 3 Description
  4. 4 Revision History
  5. 5 Pin Configuration and Functions
  6. 6 Specifications
    1. 6.1 Absolute Maximum Ratings
    2. 6.2 Handling Ratings
    3. 6.3 Recommended Operating Conditions
    4. 6.4 Thermal Information
    5. 6.5 Electrical Characteristics
    6. 6.6 Typical Characteristics
  7. 7 Detailed Description
    1. 7.1 Overview
    2. 7.2 Functional Block Diagram
    3. 7.3 Feature Description
      1. 7.3.1 Serial Interface
        1. 7.3.1.1 Setup Mode/Power-Down Mode
        2. 7.3.1.2 Extended Setup Mode
        3. 7.3.1.3 Serial Interface Timing
        4. 7.3.1.4 Bipolar Current Regulated Stepper Motor Drive
        5. 7.3.1.5 Short/Open for Motor Outputs
        6. 7.3.1.6 DCDC_MODE for Parallel-Mode Control
        7. 7.3.1.7 DCDC_MODE and C_SELECT Timing Delay and Start-Up Order
        8. 7.3.1.8 In-Reset: Input for System Reset
        9. 7.3.1.9 Blanking Time Insertion Timing for DC Motor Driving
      2. 7.3.2 Motor Driver Configuration
      3. 7.3.3 Charge Pump
    4. 7.4 Device Functional Modes
      1. 7.4.1 Operation With 7 V < VM and VDIN < 18 V
      2. 7.4.2 Operation With 18 V ≤ VM and VDIN ≤ 40 V
    5. 7.5 Register Maps
      1. 7.5.1 Setup Register Bit Assignment
  8. 8 Application and Implementation
    1. 8.1 Application Information
    2. 8.2 Typical Application
      1. 8.2.1 Design Requirements
      2. 8.2.2 Detailed Design Procedure
        1. 8.2.2.1 Output Voltage for Each DC-DC Converter
        2. 8.2.2.2 Output Voltage Startup Sequence
        3. 8.2.2.3 Motor Configuration
        4. 8.2.2.4 External Rsense-Motor Current Setting for Stepping Motor
      3. 8.2.3 Application Curves
  9. 9 Power Supply Recommendations
  10. 10Layout
    1. 10.1 Layout Guidelines
    2. 10.2 Layout Example
  11. 11Device and Documentation Support
    1. 11.1 Device Support
      1. 11.1.1 Third-Party Products Disclaimer
    2. 11.2 Related Links
    3. 11.3 Trademarks
    4. 11.4 Electrostatic Discharge Caution
    5. 11.5 Glossary
  12. 12Mechanical, Packaging, and Orderable Information

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メカニカル・データ（パッケージ｜ピン）
サーマルパッド・メカニカル・データ
発注情報

7 Detailed Description

7.1 Overview

The DRV8809/DRV8810 provides an integrated motor driver solution. The chip has four H-bridges internally and is configurable to eight different modes of combination motor driver control. The output driver block for each H-bridge consists of N-channel power MOSFETs configured as full H-bridges to drive the motor windings. Their Rdson is low, 0.55 ohm at Tj = 25 C, it allows 800 mA maximum continuous current and 3 A @ 100 ms peak current. The stepper motor control has a 16-step mode programmable through the three-wire serial interface (SPI). The SPI input pins are 3.3-V compatible and 5-V tolerant. The DRV8809/DRV8810 has three DC-DC switch-mode buck converters to generate a programmable output voltage from 1.5 V to 80% of VDIN (Channel A) or up to 10 V (for Channel B and Channel C), with up to 1.5-A load current capability. Their Rdson is low, 0.35 ohm only at Tj = 25 C. The outputs are selected using the C_SELECT terminal at start-up or using serial interface during operation. An internal shutdown function is provided for overcurrent protection (OCP), short-circuit protection, overvoltage/undervoltage lockout (UVLO), and thermal shutdown (TSD). Also, the device has a reset function that operates at power on and at input to the In-Reset pin.

7.2 Functional Block Diagram

bd_lvs854.gif

7.3 Feature Description

7.3.1 Serial Interface

The device has two serial interface circuit blocks for stepper motor driving control. These two serial interfaces provide controls to each motor driver independently.

CLKAB Serial clock for H-bridge A, B
DATAAB Serial data for H-bridge A, B
STROBEAB Strobe input for H-bridge A, B
CLKCD Serial clock for H-bridge C, D
DATACD Serial data for H-bridge C, D
STROBECD Strobe signal for H-bridge C, D

Sixteen bits serial data is shifted into the least significant bit (LSB) of the serial data input (DATA) shift register on the falling edge of the serial clock (CLK). After 16 bits of data transfer, the strobe signal (Strobe) rising edge latches all the shifted data. During data transfer, Strobe voltage level is acceptable high or low.

data_lvs854.gifFigure 5. Serial Interface

7.3.1.1 Setup Mode/Power-Down Mode

The motor output mode is configured through serial interface (DATA AB, CLK AB and STROBEAB) when nSLEEP = L. After setup, the nSLEEP pin must be pulled high for normal motor drive control. The condition that the device requires for setup (initialization) is after the nORT (Reset) output goes to high from the low level (power on, recovery from VM < 7 V). While nSLEEP is low, all the motor drive functions are shut down and their outputs are high-impedance state. Also the stepper parameters in the register are all reset to 0. This device forces motor driver functions to shut down for the power-down mode, and it is not damaged even if nSLEEP is asserted during motor driving. At the Strobe pulse rising edge, the DATA signal level must be low for normal setup mode (see the Extended Setup Mode section for another option).

7.3.1.2 Extended Setup Mode

While nSLEEP = L, if the DATA signal level is set high when the Strobe pulse is set, the serial interface recognizes the input data to set the extended setup mode. This extended setup register enables monitoring and controlling the fault condition of this chip. One of the internal protection control signals is selected and provided to LOGIC OUT pin. Also, this enables the application to ignore the protection control and/or suppress the reset signal generation. This device has device ID (3-bit ROM) and vendor ID (1-bit ROM), which can be read out from LOGIC OUT. Four bits are assigned to select the LOGIC OUT signal, including the ID ROM bit readout.

serial_interface_lvs854.gif
A. A-B register at EXT-setup mode has device/vendor ID ROM. The ID must be read out at LOGIC OUT pin.
Figure 6. Serial Interface A-B
serial_interface2_lvs854.gifFigure 7. Serial Interface C-D

7.3.1.3 Serial Interface Timing

nsleep1_lvs854.gifFigure 8. nSLEEP = H: Set Stepper Motor Operating Parameters
nsleep2_lvs854.gifFigure 9. nSLEEP = L (Bit 16 = L): Setup Mode
nsleep3_lvs854.gif
A. For initial setup, nSLEEP state can be don’t care before the tss_min timing prior to the strobe.
Figure 10. nSLEEP = L (Bit 16 = H): Extended Setup Mode

7.3.1.4 Bipolar Current Regulated Stepper Motor Drive

The following functionality is common to all the H-bridge drives. A crossover delay is inherent to the control circuitry to prevent cross conduction of the upper and lower switches on the same side of the H-bridge. A blanking (deglitch) time is incorporated to prevent false triggering due to initial current spikes at turnon with a discharged capacitive load.

The stepper motor current can be programmed to 16 different current levels using a 4-bit register. The average current level for a particular angular rotation is shown in Table 1.

crossover_lvs854.gifFigure 11. Crossover and Blanking Timing for H-Bridge

For stepper motor configured H-bridges, only tab (stepper blanking time) is set for current sensing. For DC motor-configured H-bridges, tBLANK is included to ignore huge current spike due to rush current to varistor capacitance.

7.3.1.5 Short/Open for Motor Outputs

When a short/open situation happens, the protection circuit prevents device damage under certain conditions (short at start up, and so forth).

stepper_lvs854.gifFigure 12. Stepper Motor Driver

Table 1. Angular Rotation Setting for Stepping Motor Driver (Parameter Bit in Stepper Register)

STEP SET
ANGLE
(deg)		 BIT 14 BIT 13 BIT 12 BIT 11 BIT 7 BIT 6 BIT 5 BIT 4
CURRENT
A
(C) 3		 CURRENT
A
(C) 2		 CURRENT
A
(C) 1		 CURRENT
A
(C) 0		 CURRENT
B
(D) 3		 CURRENT
B
(D) 2		 CURRENT
B
(D) 1		 CURRENT
B
(D) 0
16 90 H H H H L L L L
15 84.4 H H H H L L L H
14 78.8 H H H L L L H L
13 73.1 H H L H L L H H
12 67.5 H H L L L H L L
11 61.2 H L H H L H L H
10 56.3 H L H L L H H L
9 50.6 H L L H L H H H
8 45 H L L L H L L L
7 39.4 L H H H H L L H
6 33.8 L H H L H L H L
5 28.1 L H L H H L H H
4 22.5 L H L L H H L L
3 16.9 L L H H H H L H
2 11.3 L L H L H H H L
1 5.6 L L L H H H H H
0 0 L L L L H H H H
dson_lvs854.gif
A. This plot includes both actual device characterization data and extrapolated data.
B. Actual device has self-heating effect to increase the junction temperature, with continuous loading current more than 1 A.
C. The device temperature is set to 70°C for the Rds(ON) test.
Figure 13. Typical Rds(ON) Value vs Drain Current (DMOS FET in H-Bridge)
dc_lvs854.gifFigure 14. DC Motor Drive

The motor configuration setup bits in the setup register can select three types of DC motor driving: utilizing a single H-bridge, utilizing two (A and B, or C and D) H-bridges in parallel, or utilizing four H-bridges in parallel.

For the setup register value (bit 2,1,0) = (1,0,1), the device configuration is 4× DC motor, which enables each H-bridge to drive a DC motor independently. The ENABLEx and PHASEx input terminals are reassigned from the serial interface pins and some reserved pins, after nSLEEP pin is set to H.

For the setup register value (bit 2,1,0) = (0,1,1), the device configuration is 1× large DC + 2× DC motor mode. The large DC driving utilizes two H-bridges in parallel and controlled by ENABLE_AB and PHASE_AB pins. Two Rsens pins should be connected together.

The VREF inputs are used for the Rsense comparator reference voltage. VREF_AB provides the voltage to both H-bridge A and B, and VREF_CD provides the voltage for H-bridge C and D.

Table 2. DC Motor Drive Truth Table

FAULT CONDITION nSLEEP ENABLEX PHASEX + HIGH SIDE + LOW SIDE - HIGH SIDE - LOW SIDE
0 0 X X OFF OFF OFF OFF
0 1 0 X OFF OFF OFF OFF
0 1 1 0 OFF ON ON OFF
0 1 1 1 ON OFF OFF ON
Motor OCP 1 X X OFF OFF OFF OFF
TSD X X X OFF OFF OFF OFF

7.3.1.6 DCDC_MODE for Parallel-Mode Control

The DCDC_MODE pin selects the DC-DC converter parallel driving for Ch-B and Ch-C. The input is pulled up to internal 3.3 V by a 200-kΩ resistor. When the pin is H or left open, Ch-B and Ch-C are driven in parallel.

Table 3. C_SELECT for Start-Up

C_SELECT PIN VOLTAGE DC-DC Vout1,
ODA		 DC-DC Vout2,
ODB 		DC-DC Vout3,
ODC
Gnd 0 V to 0.3 V OFF OFF OFF
Pull Down
(by external 200 kW)		 1.3 V to 2 V See Table 4
OPEN 3 V to 3.3 V ON ON ON

7.3.1.7 DCDC_MODE and C_SELECT Timing Delay and Start-Up Order

DCDC_MODE and C_SELECT play a role in the order of regulator enablement, as well as the time when the first regulator is enabled to when the second is enabled. Regulators B and C are always enabled together, whether they are working in parallel mode or not.

Table 4. DCDC_MODE and C_SELECT Timing Delay (DRV8809)

DCDC_MODE C_SELECT TIMING DELAY DESCRIPTION
L GND None No regulator is enabled.
L Pull down None No regulator is enabled.
L 3 V to 3.3 V 1.6 ms Ch-A followed by Ch-B and Ch-C
H GND None No regulator is enabled.
H Pull down 1.6 ms Ch-B and Ch-C followed by Ch-A
H 3 V to 3.3 V 1.6 ms Ch-A followed by Ch-B and Ch-C

Table 5. DCDC_MODE and C_SELECT Timing Delay (DRV8810)

DCDC_MODE C_SELECT TIMING DELAY DESCRIPTION
L GND None No regulator is enabled.
L Pull down None No regulator is enabled.
L 3 V to 3.3 V 1.6 ms Ch-A followed by Ch-B and Ch-C
H GND None No regulator is enabled.
H Pull down 20 ms to 40 ms Ch-B and Ch-C followed by Ch-A
H 3 V to 3.3 V 20 ms to 40 ms Ch-A followed by Ch-B and Ch-C

7.3.1.8 In-Reset: Input for System Reset

In-Reset pin assertion stops all the DC-DC converters and H-bridges. It also reset all the register contents to default value. After deassertion of the input, the device follows the initial start-up sequence. The C_SELECT state is captured after the In-Reset deassertion. The input is pulled up to internal 3.3 V by 200-kΩ resistor. When the pin = H or left open, reset function is asserted. Also it has deglitch filter of 2.5 μs to 7.5 μs.

powerup_lvs854.gif
A. Charge-pump wake-up delay, from 10 ms to 20 ms, due to asynchronous event capture
B. For the DRV8809, delay is 1.6 ms for both DC_MODE high and low. For the DRV8810, delay is 20 ms to 40 ms for DC_MODE high and 1.6 ms for DC_MODE low.
Figure 15. Power-Up Timing (Power Up With DC-DC Turn-On By C_SELECT)

NOTE

When VM crosses VthVM+ (about 6 V), the C_select state is captured. If C_SELECT is open (pulled up to internal 3.3 V), all DC-DC regulator channels (A, B, and C) are turned on. The time of channels B and C to be turned on, with regards to channel A, depends on the state of DC_MODE.
powerup2_lvs854.gifFigure 16. Power-Up Timing (Power Up Without DC-DC Turn-On: C_SELECT = GND)

NOTE

When VM crosses VthVM+ (about 6 V) with C_SELECT = GND, none of the three regulators are turned on. The nORT output is released to H after 300 ms from the VthVM+ crossing.
powerup3_lvs854.gif
A. 120 ms to 140 ms due to asynchronous event capture
B. After VM power up, DC-DC starts at the setup register strobe.
Figure 17. Power-Up Timing (DC-DC Regulator Wake Up by Setup Register)

NOTE

The regulator is started from the strobe input, same as charge pump. There is no 10-ms waiting period, because VCP pin already reached VM – 0.7 V.
power4_lvs854.gif
A. After VM power up, DC-DC starts at the setup register strobe.
B. For the DRV8809, delay is 1.6 ms for both DC_MODE high and low. For the DRV8810, delay is 20 ms to 40 ms for DC_MODE high and 1.6 ms for DC_MODE low.
Figure 18. Power-Up Timing (DC-DC Regulator Wake Up by Setup Register, All Three Channels On)
vm_power_lvs854.gif
A. Charge-pump wake-up delay, from 10 ms to 20 ms, due to asynchronous event capture
B. Start-up with VM glitch (not below VthV—). Only channels B and C are shown. Same applies to Channel A.
Figure 19. VM Start-Up/Power-Down and Glitch Condition
vm_power2_lvs854.gif
A. Charge-pump wake-up delay, from 10 ms to 20 ms, due to asynchronous event capture
B. Start-up with VM glitch (below VthV_). Only channels B and C are shown. Same applies to Channel A.
Figure 20. VM Startup/Power-Down and Glitch Condition
powerdown_lvs854.gif
A. Only channels B and C are shown. Same applies to Channel A.
Figure 21. Power Down (Normal)
powerdown2_lvs854.gif
A. Only channels B and C are shown. Same applies to Channel A.
Figure 22. Power Down (Glitch on VM)
powerdown3_lvs854.gif
A. Charge-pump wake-up delay, from 10 ms to 20 ms, due to asynchronous event capture
B. Only channels B and C are shown. Same applies to Channel A.
Figure 23. Power Down (Glitch on VM Below VthV_)
shutdown_lvs854.gifFigure 24. Shutdown by In-Reset

7.3.1.9 Blanking Time Insertion Timing for DC Motor Driving

For the DC motor driving H-bridge, tBlank is inserted at each phase reversal and also following each chopping cycle (once every eight OSCM clocks).

For a large n number (5 or 6) tBlank setup may decrease the itrip detect window. The user must be careful to optimize in the system.

Case A: Phase duty = 25%

Case A*1 for setup bit = (1,0)

Case A*2 for setup bit = (0,1)

case1_lvs854.gifFigure 25. Blanking Time Insertion Timing, Case A

Case B: Phase duty = 40%

Case B*1 for setup bit =(1,0)

Case B*2 for setup bit =(0,1)

case2_lvs854.gifFigure 26. Blanking Time Insertion Timing, Case B

Table 6. Function Table nORT, Power Down, VM < 4.5 V Conditions

DEVICE STATUS CHARGE PUMP OSCD OSCM nORT (RESET) OUTPUT MODE SETTING
nSLEEP Active Active Active Inactive Available
nORT Inactive Active Active Active Depend on power down
VM < 6 V during power down Active Active Active See timing chart Depend on power down
4.5 V < VM Inactive Inactive Inactive Active Unavailable

Table 7. Shutdown Functions

CASE OF SUPPLY SHUTDOWN DC-DC Vout1 DC-DC Vout2 DC-DC Vout3 MOTOR nORT (RESET)
DC-DC Vout1 OCP, OVP Shut down Shut down Shut down Shut down Reset ON (L out)
DC-DC Vout2 OCP, OVP Shut down Shut down Shut down Shut down Reset ON (L out)
DC-DC Vout3 OCP, OVP Shut down Shut down Shut down Shut down Reset ON (L out)
Motor OCP NA NA NA OFF Reset one pulse
(tlow = 40 ms)
TSD Shut down Shut down Shut down Shut down Reset ON (L out)
  • Shutdown of DC-DCs is released at VM > VthVM+ when VM is increasing. In case VM decreases, DC-DCs are shut down when VM <VthV_. When VM decreases and VthVM+ > VM > VthV_, the DC-DC output voltage supervisor is ignored.
  • Motor shutdown is released by VM < 4.5 V or nSLEEP rising edge.
  • nORT (reset) ON/OFF time is 40 ms.
  • The data in Table 21 is valid if the protection control bits in the EX-setup register are all 0.

Table 8. Modes of Operation(1)(2)

POR M OFF ISD OVP TSD EXTERNAL PIN IC BLOCK FUNCTIONS
VM VM Vout1 Vout2 Vout3 MOTOR Vout1 Vout2 Vout3 MOTOR nSLEEP CSEL MOTOR Vout1 Vout2 Vout3 nORT
0 0 0 0 0 0 0 0 0 0 H N On On On On H
1 X X X X X X X X X X X Off Off Off Off Off L
0 1 X X X X X X X X X X O On Off On/Off On/Off H
0 1 X X X X X X X X X p S/D S/D S/D S/D L
0 1 X X X X X X X X e S/D S/D S/D S/D L
0 1 X X X X X X X r S/D S/D S/D S/D L
0 1 X X X X X X a Off On On On L/P
0 1 X X X X X t S/D S/D S/D S/D L
0 1 X X X X I S/D S/D S/D S/D L
0 1 X X X o S/D S/D S/D S/D L
0 1 X X n S/D S/D S/D S/D L
0 Low X S Off On On On H
High All off X Off Off Off L
200 k X On On Off H
Open X Off On On H
(1) Valid only if the protection control bits (in EX-setup register) are all 0.
(2) N = Normal operation, S = Sleep mode, 0 = Off, 1 = On, X = Don’t care, S/D = Shutdown, P = Pulse after fault occurs (retry), OFF = Must toggle sleep terminal or power-on reset (nORT), S/D = Must do a power-on reset (nORT)

7.3.2 Motor Driver Configuration

mc1_lvs854.gifFigure 27. Motor Configuration 0, Two Stepper
mc2_lvs854.gifFigure 28. Motor Configuration 1, One Stepper and One Large DC
mc3_lvs854.gifFigure 29. Motor Configuration 2, One Stepper and Two Small DCs
mc4_lvs854.gifFigure 30. Motor Configuration 3, One Large DC and Two Small DCs
mc5_lvs854.gifFigure 31. Motor Configuration 4, Two Large DCs
mc6_lvs854.gifFigure 32. Motor Configuration 5, Four Small DCs
mc7_lvs854.gifFigure 33. Motor Configuration 6, Single Large Stepper Motor
mc8_lvs854.gifFigure 34. Motor Configuration 7, Ultra-Large DC

7.3.3 Charge Pump

The charge-pump voltage-generator circuit utilizes external storage and bucket capacitors. It provides the necessary voltage to drive the high-side switches for both DC-DC regulators and motor drivers. The charge-pump circuit is driven at a frequency of 1.6 MHz (nom). Recommended bucket capacitance is 10 nF, 16 V (min), and storage capacitance is 0.1 μF, 60 V (min). The charge-pump storage capacitor, Cstage, should be connected from the VCP output, pin 22, to VM.

For power-saving purposes in sleep mode, the charge pump is stopped when n_sleep = L and all three regulators are turned OFF. When the part is powered up, the charge pump is started first after the C_select capture, and 10 ms after the CP startup, the first regulator is started up.

Table 9. Charge Pump

FAULT CONDITION DC-DC Ch-A DC-DC Ch-B DC-DC Ch-C nSLEEP CHARGE PUMP
0 OFF OFF OFF 0 OFF
0 ON X X X ON
0 X ON X X ON
0 X X ON X ON
0 X X X 1 ON
Motor OCP X X X 1 ON
TSD X X X X OFF
dcdc_lvs854.gifFigure 35. DC-DC Converter

This is a switch-mode regulator with integrated switches, to provide a programmed output set by the feedback terminal. The DC-DC converter has a fixed frequency variable duty cycle topology with a switching frequency of 100 kHz (nom). External filtering (inductor and capacitor) and external catch diode are required. The output voltage is short-circuit protected. If the system has a high input voltage and a very light load on the output, the converter may not provide energy to the inductor (skip) until the load line or the minimum voltage threshold is reached.

The regulator has a soft-start function to limit the rush current during start up. It is achieved by using VFB ramp during soft start.

For unused DC-DC converter channels, the external components can be removed if the channel is set to inactive by the C_SELECT pin and register bits. Also, the VFB pin can be left open or connected to ground.

DCDC_MODE selector can operate channel B and C in parallel mode to handle 2× output driving capability. VFB_B pin is active for feedback, and VFB_C pin must be pulled down internally.

7.4 Device Functional Modes

7.4.1 Operation With 7 V < VM and VDIN < 18 V

The devices starts operating with input voltages above 6.0 V typ. Between 7 V and 18 V, DC-DC converters can operate. Enabling motors in not allowed.

7.4.2 Operation With 18 V ≤ VM and VDIN ≤ 40 V

The device can operate with full function. Both DC-DC converter and motor drivers can be enabled.

7.5 Register Maps

7.5.1 Setup Register Bit Assignment

Setup register bits are assigned for motor configuration, blanking time, gain, and DC-DC switches. This register can be accessed only in Setup mode (nSLEEP = L and bit 16 data = L) .

Table 10. Setup Register

BIT NO. NAME DEFAULT DESCRIPTION
0 Motor select 0 0 Motor configuration, < 2,1,0 > (0,0,0): Stepper × 2 (default)
(0,0,1): Stepper + LDC, (0,1,0): Stepper + 2 × sDCs
(0,1,1): DCL + 2 × sDC, (1,0,0): DCL × 2 (1,0,1): 4 × sDC
(1,1,0): Large stepper (1,1,1): Ultra-large DC
1 Motor select 1 0
2 Motor select 2 0
3 TBLNK AB0 0 Tblank for DC motor driving, Tblank is inserted at any phase change and beginning of each chopping cycle.
AB1 AB0: Blanking time for A/B side drivers,
CD1 CD0: Blanking time for C/D side drivers,
00: (1 ÷ fCHOP) ÷ 8 × 5 (= 6.25 μs) (default)
01: (1 ÷ fCHOP) ÷ 8 × 6 (= 7.50 μs)
10: (1 ÷ fCHOP) ÷ 8 × 3 (= 3.75 μs)
11: (1 ÷ fCHOP) ÷ 8 × 4 (= 5.00 μs)
For stepper motor driving, only the fixed blanking time is applied.
4 TBLNK AB1 0
5 TBLNK CD0 0
6 TBLNK CD1 0
7 DC/DC_A SW 0 DC-DC ODA control, 0: ON (default), 1: OFF
8 DC/DC_B SW 0 DC-DC ODB control, 0: ON (default), 1: OFF
9 DC/DC_C SW 0 DC-DC ODC control, 0: ON (default), 1: OFF
This bit is ignored when DCDC_MODE = H or open
10 Motor_AB gain 0 0: 1/10 (default), 1: 0
11 Motor_CD gain 0 0: 1/10 (default), 1: 0
12 OSCD frequency 0 0 <1,0> = (0,0) 100 kHz (default)
(0,1) 50 kHz
(1,0) 200 kHz
(1,1) 132.5 kHz
These setup bits can be changed when the DC-DC regulators are in operation.
13 OSCD frequency 1 0
14 OSCM frequency 0 0 <1,0> = (0,0) 800 kHz (default)
(0,1) 400 kHz
(1,0) 1.06 MHz
(1,1) 1.6 MHz
15 OSCM frequency 1 0

The device can be configured to one out of eight different motor control combination modes. When the device is powered on or is recovering from reset, the mode can be selected by writing to the setup register through the serial interface AB, during Setup mode (nSLEEP = L).

Table 11. DC and Stepper Motor Configuration

SETUP REGISTER H-BRIDGE AND MOTOR CONFIGURATION
BIT 2 BIT 1 BIT 0 OUTA+, OUTA– OUTB+, OUTB– OUTC+, OUTC– OUTD+, OUTD–
0 0 0 Stepper motor drive Stepper motor drive
0 0 1 Stepper motor drive Large DC motor drive
0 1 0 Stepper motor drive DC motor drive DC motor drive
0 1 1 Large DC motor drive DC motor drive DC motor drive
1 0 0 Large DC motor drive Large DC motor drive
1 0 1 DC motor drive DC motor drive DC motor drive DC motor drive
1 1 0 Large stepper motor drive: A + B for first winding, C + D for second winding
1 1 1 Ultra-large DC motor drive
Default setting is (M0, M1, M2) = (0, 0, 0)

Extended setup (EX-setup) register bits are assigned for protection control, pre TSD, and multiplexer test mode selection. This register can be accessed only in Setup mode (nSLEEP = L and bit 16 data = H).

Table 12. Extended Setup Register (EX-Setup) Bit Assignment

BIT NO. NAME DEFAULT DESCRIPTION
0 Signal select 0 0 Signal selector monitored on LOGIC_OUT
DC-DC OCP detection,
DC-DC voltage supervisor (OVP or UVP),
Motor overcurrent (four H-bridges),
TSD, and so forth [shutdown (protection) signals must be latched]
1 Signal select 1 0
2 Signal select 2 0
3 Signal select 3 0
4 Ignore SD 0 0 0 = Normal operation, 1 = Ignore DC-DC OCP
5 Ignore SD 1 0 0 = Normal operation, 1 = Ignore DC-DC voltage supervisor
6 Ignore SD 2 0 0 = Normal operation, 1 = Ignore motor OCP
7 Ignore SD 3 0 0 = Normal operation, 1 = Ignore thermal shutdown
8 Disable nORT 0
(selective shutdown for DC-DC Ch-C)		 0 0 = Normal operation
1 = Disable nORT assertion but shut down DC-DC Ch-C, in case of DC-DC Ch-C fault condition
Ch-C shutdown is released by nSLEEP rise edge. If fault condition is on the other channels (with bit = 0), assert nORT and shut down all three DC-DC channels.
This bit is ignored when DCDC_MODE = H or open
9 Disable nORT 1
(Selective shutdown for DC-DC Ch-B)		 0 0 = Normal operation
1 = Disable nORT assertion but shut down DC-DC channel B, in case of DC-DC Ch-B fault condition
Ch-B shutdown is released by nSLEEP rise edge. If fault condition on the other channels (with bit = 0), assert nORT and shut down all three DC-DC channels.
10 Disable nORT 2
(Selective shutdown for DC-DC Ch-A)		 0 0 = Normal operation, 1 = Disable nORT assertion but shutdown the DC-DC Ch-A, in case of DC-DC Ch-A fault condition.
Ch-A shutdown is released by nSLEEP rise edge. If fault condition on the other channels (with bit is 0), assert nORT and shut down all three DC-DC channels .
11 Pre TSD 0 0 0 = Ttsd0 = Ttsd - 20°C, 1 = Ttsd1= Ttsd - 30°C
12 Pre TSD 1 0 0 = Pre-TSD (logic) output, 1 = TH_OUT Analog output
13 Test mux 0 0 Test mode selection, < 2,1,0 > = (0,0,0) Normal operation
(0,0,1) TSD control – 1,
(0,1,0) TSD control – 2, (0,1,1) OSC monitor enable,
14 Test mux 1 0
15 Test mux 2 0

Table 13. LOGIC OUT Selection

NO. EX-setup REGISTER (BITS 3–0) SIGNAL SELECTION MONITORED ON LOGIC OUT
(LISTED SIGNALS TO BE MUXED BY OR)		 SIGNAL POINT
0 0000 (default) DC-DC OCP_A DC-DC OVP_A DC-DC UVP_A Latched out
1 0001 DC-DC OCP_B DC-DC OVP_B DC-DC UVP_B Latched out
2 0010 DC-DC OCP_C DC-DC OVP_C DC-DC UVP_C Latched out
This bit is ignored when DCDC_MODE pin = H or open.
3 0011 DC-DC OCP_A DC-DC OCP_B DC-DC OCP_C Latched out
4 0100 DC-DC OVP_A DC-DC OVP_B DC-DC OVP_C Latched out
5 0101 DC-DC UVP_A DC-DC UVP_B DC-DC UVP_C Latched out
6 0110 Motor OCP Latched out
7 0111 TSD Latched out
8 1000 Revision <0> = 1: For this device <2,1,0> = (1,0,1) = 5 ROM
9 1001 Revision <1> = 0: For this device ROM
10 1010 Revision <2> = 1: For this device ROM
11 1011 Vendor <0> = 0: For TI <1,0> = TI (0,0), NG (1,0) ROM
12 1100 Vendor <1> = 0: For TI <1,0> = Reserve (0,1), (1,1) ROM
13 1101 Internal oscillator clock (as divided by 32 = 200 kHz)
14 1110 Fixed value as 1 (open-drain output buffer off)
15 1111 Fixed value as 1 (open-drain output buffer off)

Table 14. Test Mux Selection

NO. BITS 15, 14, 13 DESCRIPTION
0 0, 0, 0 Normal operation
1 0, 0, 1 TSD control 1 At TSD event, shut down only motor driver part, DC-DC keep ON, keep setup register values, motor shutdown released by nSLEEP = L, no nORT assertion
2 0, 1, 0 TSD control 2 At TSD event, shut down only motor driver part, DC-DC keep ON, keep setup register values, motor shutdown released by nSLEEP = L, nORT assertion: 40-ms single pulse
3 0, 1, 1 OSC monitor enable Provide clock to OSCD_mon and OSCM_mon pins

The serial interfaces communicate to the stepper parameter registers during nSLEEP = H . When nSLEEP = L, all register values are cleared.(1)(2)

Table 15. Register Settings for Stepper Motor Driving Parameter

BIT NO. NAME DEFAULT VALUE DESCRIPTION
0 Torque 0 0 Torque control, b1 b0
00 equates to 50%
01 equates to 70 %
10 equates to 85%
11 equates to 100%
Specified by design
1 Torque 1 0
2 Decay B(D)0 0 Decay mode control(2)
B(D)1, B(D)0: 00 equates to 12.5 % (do not use)
01 equates to 37.5 % (do not use)
10 equates to 75%
11 equates to fast decay
Specified by design
3 Decay B(D)1 0
4 Current B(D)0 0 Phase B(D) current level setting(2)
5 Current B(D)1 0
6 Current B(D)2 0
7 Current B(D)3 0
8 Phase B(D) 0 Control direction of current flow through winding B(D). A logic 1 allows conventional current flow from OUTB(D)+ to OUTB(D)–.
9 Decay A(C)0 0 Decay mode control(2)
A(C)1, A(C)0: 00 equates to 12.5 % (do not use)
01 equates to 37.5 % (do not use)
10 equates to 75%
11 equates to fast decay
10 Decay A(C)1 0
11 Current A(C)0 0 Phase A current level setting(2)
12 Current A(C)1 0
13 Current A(C)2 0
14 Current A(C)3 0
15 Phase A(C) 0 Control direction of current flow through winding A(C). A logic 1 allows conventional current flow from OUTA(C)+ to OUTA(C)–.
(1) This device has issues with stepper motor current setting accuracy.
(2) Decay mode should be 75% or fast decay (do not use mode 00 and 01) in this device.

Table 16. Torque Control Bit

VREF INPUT CONTROL MOTOR TORQUE
BIT VALUE ROUGH OUTPUT CURRENT SETTING
Torque 0, 1 = 0, 0 50% high power consumption, I(max) = VREF * gain/RSense
Torque 0, 1 = 0, 1 70% power
Torque 0, 1 = 1, 0 85% power
Torque 0, 1 = 1, 1 100% power

Table 17. Decay Mode Control Bit

BIT VALUE DECAY MODE SETTING
Decay x0, x1 = 0, 0 12.5% decay mode (do not use)
Decay x0, x1 = 0, 1 37.5% decay mode (do not use)
Decay x0, x1 = 1, 0 75% decay mode
Decay x0, x1 = 1, 1 100% fast decay mode

Table 18. Current Flow Direction Bit

BIT VALUE CURRENT DIRECTION
Phase X = 0 OUTx+ = L, OUTx– = H
Phase X = 1 OUTx+ = H, OUTx– = L

Table 19. Revision Code/Vendor Code ROM Readout at LOGIC OUT

NO. EX-setup REGISTER
(BITS 3–0)		 SIGNAL SELECTION MONITORED ON LOGIC OUT
8 1000 Revision <0> = 1: For this device * <2,1,0> = (1,0,1) = 5
9 1001 Revision <1> = 0: For this device
10 1010 Revision <2> = 1: For this device
11 1011 Vendor <0> = 0: For TI <1,0> = TI (0,0), NG(1,0)
12 1100 Vendor <1> = 0: For TI <1,0> = Reserve (0,1), (1,1)

Table 20. Different Motor Drive Configuration Pinouts (Selected By Setup Register Bits 0 to 3)

<setup> 0 (0,0,0) 1 (0,0,1) 2 (0,1,0) 3 (0,1,1) 4 (1,0,0) 5 (1,0,1) 6 (1,1,0) 7 (1,1,1)
SETUP STEPPER MTR ×2 STEPPER MTR AND DC (LARGE) STEPPER MTR AND DC (SMALL) ×2 DC (LARGE) AND DC (SMALL) ×2 DC (LARGE) ×2 DC (SMALL) ×4 LARGE STEPPER ULTRA-LARGE DC
1 Test-LGND
2 MGND
3 OUTA– OUTA– OUTA– OUTA– OUTLAB– OUTLAB– OUTSA– OUTLAB– OUTULABCD–
4 RSA1 RSA1 RSA1 RSA1 RSLAB1 RSLAB1 RSA1 RSLAB1 RSULABCD1
5 RSA2 RSA2 RSA2 RSA2 RSLAB2 RSLAB2 RSA2 RSLAB2 RSULABCD1
6 OUTA+ OUTA+ OUTA+ OUTA+ OUTLAB+ OUTLAB+ OUTSA+ OUTLAB+ OUTULABCD+
7 MGND
8 MGND
9 OUTB+ OUTB+ OUTB+ OUTB+ OUTLAB+ OUTLAB+ OUTSB+ OUTLAB+ OUTULABCD+
10 RSB2 RSB2 RSB2 RSB2 RSLAB2 RSLAB2 RSB2 RSLAB2 RSULABCD1
11 RSB1 RSB1 RSB1 RSB1 RSLAB1 RSLAB1 RSB1 RSLAB1 RSULABCD1
12 OUTB– OUTB– OUTB– OUTB– OUTLAB– OUTLAB– OUTSB– OUTLAB– OUTULABCD–
13 MGND
14 LGND
15 DCDC_MODE
16 FBC
17 OD_C
18 OD_C
19 OD_B
20 OD_B
21 FBB
22 VCP
23 OSCD_mon
24 CP2
25 CP1
26 VDIN
27 VDIN
28 VDIN
29 VM
30 VREF_AB
31 VREF_CD
32 FBA
33 ODA
34 ODA
35 LGND
36 MGND
37 OUTC– OUTC– OUTLCD– OUTSC– OUTSC– OUTLCD– OUTSC– OUTLCD– OUTULABCD–
38 RSC1 RSC1 RSLCD1 RSC1 RSC1 RSLCD1 RSC1 RSLCD1 RSULABCD1
39 RSC2 RSC2 RSLCD2 RSC2 RSC2 RSLCD2 RSC2 RSLCD2 RSULABCD1
40 OUTC+ OUTC+ OUTLCD+ OUTSC+ OUTSC+ OUTLCD+ OUTSC+ OUTLCD+ OUTLABCD+
41 MGND
42 MGND
43 OUTD+ OUTD+ OUTLCD+ OUTSD+ OUTSD+ OUTLCD+ OUTSD+ OUTSD+ OUTULABCD+
44 RSD2 RSD2 RSLCD2 RSD2 RSD2 RSLCD2 RSD2 RSD2 RSULABCD1
45 RSD1 RSD1 RSLCD1 RSD1 RSD1 RSLCD1 RSD1 RSD1 RSULABCD1
46 OUTD– OUTD– OUTLCD– OUTSD– OUTSD– OUTLCD– OUTSD– OUTSD– OUTULABCD–
47 MGND
48 GND
49 C_SELECT
50 - - - ENABLE_SD ENABLE_SD - ENABLE_SD -
51 STROBE_CD STROBE_CD ENABLE_LCD ENABLE_SC ENABLE_SC ENABLE_
LCD		 ENABLE_SC ENABLE_
LCD
52 TH_OUT
53 LOGIC OUT
54 - - - - - - ENABLE_SB -
55 STROBE AB STROBE AB STROBE AB STROBE AB ENABLE_LAB ENABLE_
LAB		 ENABLE_SA ENABLE_
LAB		 ENABLE_
ABCD
56 nORT
57 LGND
58 OSCM_mon
59 DATA_CD DATA_CD - PHASE SD PHASE SD - PHASE SD -
60 CLK_CD CLK_CD PHASE_LCD PHASE SC PHASE SC PHASE_LCD PHASE SC PHASE_LCD
61 DATA_AB DATA_AB DATA_AB DATA_AB - - PHASE SB -
62 CLK_AB CLK_AB CLK_AB CLK_AB PHASE_LAB PHASE_LAB PHASE SA PHASE_LAB PHASE_ABCD
63 nSLEEP=L nSLEEP=H
64 In-Reset