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L6506D013TR
CURRENT CONTROLLER FOR STEPPING MOTORS
L6506
L6506DJuly 2003
CURRENT CONTROLLER FOR STEPPING MOTORS
DESCRIPTIONThe L6506/D is a linear integrated circuit designed
to sense and control the current in stepping motors
and similar devices. When used in conjunction with
the L293, L298, L7150, L6114/L6115, the chip set
forms a constant current drive for an inductive load
and performs all the interface function from the con-
trol logic thru the power stage.
Two or more devices may be synchronized using
the sync pin. In this mode of operation the oscillator
in the master chip sets the operating frequency in all
chips.
BLOCK DIAGRAM (pin’s number referred to DIP-18)1/8
PIN CONNECTIONS (top view)
ABSOLUTE MAXIMUM RATINGS
THERMAL DATA
ELECTRICAL CHARACTERESTICS (VCC = 5.0V, Tamb = 25°C; unless otherwise noted)
COMPARATOR SECTION
L6506 -L6506D2/8
ELECTRICAL CHARACTERISTICS (continued)
COMPARATOR SECTION PERFORMANCE (Over Operating Temperature Range)
CIRCUIT OPERATIONThe L6506 is intended for use with dual bridge driv-
ers, such as the L298, quad darlington arrays, such
as the L7150, quad DMOS array such as L6114-
L6115, or discrete power transistors to drive stepper
motors and other similar loads. The main function of
the device is to sense and control the current in each
of the load windings.
A common on-chip oscillator drives the dual chopper
and sets the operating frequency for the pulse width
modulated drive. The RC network on pin 1 sets the
operating frequency which is given by the equationf = for R > 10 K0.69 RC
The oscillator provides pulses to set the two flip-
flops which in turn cause the outputs to activate the
drive. When the current in the load winding reaches
the programmed peak value, the voltage across the
sense resistor (Rsense) is equal to Vref and the cor-
responding comparator resets its flip-flop interrupt-
ing the drive current until the next oscillator pulse oc-
curs. The peak current in each winding is pro-
grammed by selecting the value of the sense resis-
tor and Vref. Since separate inputs are provided for
each chopper, each of the loads may be pro-
grammed independently allowing the device to be
used to implement microstepping of the motor.
Lower threshold of L6506’s oscillator is 1/3 VCC. Up-
per threshold is 2/3 VCC and internal discharge re-
sistor is 1 KΩ ± 30 %.
Ground noise problems in multiple configurations
can be avoided by synchronizing the oscillators.
This may be done by connecting the sync pins of
each of the devices with the oscillator output of the
master device and connecting the R/C pin of the un-
used oscillators to ground.
The equations for the active time of the sync pulse
(T2), the inactive time of the sync signal (T1) and the
duty cycle can be found by looking at the figure 1 and
are :
R1 RINT2 = 0.69 C1 (1)R1 + RIN
T1 = 0.69 R1 C1 (2)DC = (3)T1 + T2
LOGIC SECTION (Over Operating Temperature Range - TTL compatible inputs & outputs)
OSCILLATOR
L6506 - L6506D3/8
By substituting equations 1 and 2 into equation 3
and solving for the value of R1 the following equa-
tions for the external components can be derived :R1 = ( – 2) RIN (4)DCC1 = (5)0.69 R1
Looking at equation 1 it can easily be seen that the
minimum pulse width of T2 will occur when the value
of R1 is at its minimum and the value of R1 at its
maximum. Therefore, when evaluating equation 4
the minimum value for R1 of 700Ω (1 KΩ – 30 %)
should be used to guarantee the required pulse
width.
Figure 1 : Oscillator Circuit and Waveforms.
APPLICATIONS INFORMATIONThe circuits shown in figure 2 use the L6506 to im-
plement constant current drives for stepper motors.
Figure 2 shows the L6506 used with the L298 to
drive a 2 phase bipolar motor. The peak current can
be calculated using the equation :
VrefIpeak = Rsense
The circuit of Fig.2 can be used in applications re-
quiring different peak and hold current values by
modifying the reference voltage.
The L6506 may be used to implement either full step
or half step drives. In the case of 2 phase bipolar
stepper motor applications, if a half step drive is
used, the bridge requires an additional input to dis-
able the power stage during the half step. If used in
conjunction with the L298 the enable inputs may be
used for this purpose.
For quad darlington array in 4 phase unipolar motor
applications half step may be implemented using
the 4 phase inputs.
The L6506 may also be used to implement mi-
crostepping of either bipolar or unipolar motors.
L6506 -L6506D4/8
Figure 2 : Application Circuit Bipolar Stepper Motor Driver. (pin’s number referred to DIP18)
L6506 - L6506D5/8
L6506 -L6506D6/8
