Ordering number : EN4867A

Thick Film Hybrid IC

STK6712BMK4
Unipolar Fixed-Current Chopper-Type
4-Phase Stepping Motor Driver

Overview Package Dimensions

The STK6712BMK4 is a unipolar fixed-current chopper- unit: mm
type 4-phase stepping motor driver hybrid IC (HIC) which 4129
uses a MOSFET power device. The excitation sequence
signal is active low. [STK6712BMK4]

Applications
• Serial printer, line printer, and laser beam printer (LBP)
paper feed and carriage motor drivers
• PPC scanner and LBP paper feed drivers
• XY plotter pen drivers
• Industrial robot applications, etc.

Features
• This IC has the features of the STK6712BMK3, plus a
simultaneous input prevention circuit that protects the
IC from any malfunction of the excitation signal.
• Self-excitation design means chopping frequency is
determined by motor L and R. Supports chopping at
20 kHz or higher.
• Very low number of external components required.
• Wide operating supply voltage range (V CC1 = 18 to
42V)
• Excitation sequence signal is active low, and is TTL
level for direct interfacing to the microcomputer and
gate array.
• The unipolar design enables use as a driver for hybrid,
PW, or VR type stepping motors.
• Supports W1-2 phase operation, with a dual Vref pin.

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O1895HA (OT)/N0794TH (OT) No. 4867-1/10
 STK6712BMK4

Specifications
Maximum Ratings at Ta = 25°C

Parameter Symbol Conditions Ratings Unit

Maximum supply voltage 1 VCC1 max No input signal 52 V
Maximum supply voltage 2 VCC2 max No input signal 7 V
Maximum phase current IOH max per phase, R/L = 5 Ω, 10 mH, 0.5 s 1 pulse, VCC input 2.5 A
Substrate temperature Tc max 105 °C
Junction temperature Tj max 150 °C
Storage temperature Tstg –40 to +125 °C
Repeated avalanche resistance Ear max 38 mJ

Allowable Operating Ranges at Ta = 25°C

Parameter Symbol Conditions Ratings Unit

Supply voltage 1 VCC1 With input signal 18 to 42 V
Supply voltage 2 VCC2 With input signal 4.75 to 5.25 V
Phase driver voltage resistance VDSS (min) 120 V
Phase current IOH max Duty 50% (max) 1.7 A

Junction Thermal Resistance

Parameter Symbol Conditions Ratings Unit

Power FET θj-c 13.5 °C/W

Electrical Characteristics at Tc = 25°C, VCC1 = 36 V, VCC2 = 5 V

Parameter Symbol Conditions min typ max Unit

Output saturation voltage VST RL = 23 Ω, VIN = 0.8 V 1.1 1.5 V
Output current (average) Io ave R/L = 3.5 Ω/3.8 mH, VIN = 0.8 V per phase 0.45 0.50 0.55 A
Pin current dissipation (average) ICC2 Load, R = 3.5 Ω, L = 3.8 mH, VIN = 0.8 V per phase 15 25 mA
FET diode voltage Vdf Idf = 1.0 A 1.2 1.8 V
TTL input ON voltage VIH Input voltage when F1, 2, 3, 4 ON 2.0 V
TTL input OFF voltage VIL Input voltage when F1, 2, 3, 4 OFF 0.8 V
tON RL = 24 Ω, VIN = 0.8 V 100 ns
Switching time
tOFF RL = 24 Ω, VIN = 0.8 V 0.2 µs
Note: With constant voltage power supply.

Internal Equivalent Circuit

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Sample Application Circuit

Output current waveform when phases are held (locked)

Measure output current values in this state.

Note: For reference, when IOH ≈ 1.1 A, RO1 = 6.8 kΩ and RO2 = 390 Ω.
RO2
IOH = K × R 1 + R 2 × VCC2/R7
O O

K ≈ 1.3
R7 = R8 ≈ 0.33 Ω ± 3%

To reduce noise during motor hold, it is possible to mount CO1 ≈ 0.01 µF and CO2 = 100-200 pF. Normally these are
not required.

STK6712BMK4 Circuit Operation

Fig. 1 STK6712BMK4 Internal Equivalent Circuit

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The operation for a 4-phase dual-excitation example is described below.

The STK6712BMK4 equivalent circuit is given in Fig. 1. The circuit consists of the phase drivers, the comparator, the
PWM excitation select and the current detect resistance. In Fig. 1 øA is input with low, and øA with high. When Q1
goes on, the +pin of IC1 (comparator) goes low, making IC1 output S low also. A winding current iON through Q1
increases as:
VCC1 – VSAT R
iON = (1 – e – L t ) ........................................................................................................... (1)
R
L: motor winding inductance
R: Sum of winding resistance and current detect resistance

For this reason, pin voltage VR7 at source resistor R7 increases, and when the VRO2 voltages of pin 8 and RO2 are equal
output A goes high, and Q1 turns off. The inverse voltage VTP is as:
RO2
VTP = Vref = R 1 + R 2 × VCC2.......................................................................................................... (2)
O O
In general stepping motor coils use BIFALAR windings, so the energy stored in L1 is generated by L2, at which time the
current in L2 is iOFF. iOFF conduction continues until the charges of capacitors C1 and C2 on R3 and R4 pins (EC) equal
VRO2. When they are equal, output S inverts and becomes low. Motor winding current iON again rises to VRO2 level.
This motor current on/off (constant current chopping) is repeated. This waveform is illustrated on the next page.

STK6712BMK4 Basic Circuit

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Waveform Timing Charts

Fig. 2

Control Logic Timing Chart

1. 2-phase excitation

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2. 1-2 phase excitation

STK6712BMK4 Excitation Circuit

Setting Output Current

The motor output current waveform is shown to the right.

Output current IOH can be set by the user by adjusting the
voltage of pin 9 (11).
The computation equation is indicated below.
RO 2
Vref = R 1 + R 2 × VCC2...............................(3)
O O

Vref Fig. 3 Output Motor Current Waveform

IOH ≈ K × RS ...............................................(4)
RS: Internal current detect resistance
(0.33 ± 3%)
K: 1.1 to 1.2 (correction for actual measurement)

Power down can be accomplished by reducing the synthetic

impedance by connecting a resistance in parallel to RO2.
The motor output current variation range can be set for the
range of:

IOH = 0.2 A to 1.7 A Fig. 4 Vref Peripheral Circuit

but when set to IOH = 0.2 A or lower note that the HIC GND pattern will be one-point earth with respect to the power
supply. If earth is poor, there may be no motor current when IOH = 0.2 A. We recommend a motor inductance usage
range of L = 1 mH to 10 mH.

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Determining Chopping Frequency

The STK6713BMK4 uses constant current for self-excitation.

The IOH tOFF time is set to about 14 µs, and the tON time can be expressed as:
R R
– t
L OFF
VCC + 0.88 – tOFF
VCC – ( IOH e – (1 – e L )) (R + 0.88)
L R
tON ≈ In ( ) ............................ (5)
R + 0.88 VCC – (R + 0.88) IOH

L: Motor winding inductance

R: Motor resistance
VCC: Motor supply voltage
IOH: Output current

As a result, the chopping frequency is

1 1
F≈ t +t = t + 14 × 10–6 (Hz) ................................................................................................ (6)
ON OFF ON

However, note that when the following conditions exist the value for F will change.
–L VCC + 0.88
14 × 10–6 ≥ In ( I × R + V + 0.88 ) = tOFF2 ............................................................................. (7)
R OH CC

tOFF ≈ tOFF1 + tOFF2 = 14 × 10-6 + tOFF

1
∴F = t + 14 × 10–6 + t 2 (Hz)........................................................................................................ (8)
ON OFF

Because the STK6712BMK4 is self-exciting there will be minor variation in motor inductance during motor revolution.
Final design verification is required in an actual model.

Thermal Radiation Design

The HIC radiator plate size is dependent on the motor output current IOH (A), motor electrical characteristics, excitation
mode, and excitation input signal clock frequency fclock (Hz).

The thermal resistance for the radiator can be determined from the following expression.
Tc max – Ta
θc – a = (°C/W).................................................................................................................. (9)
Pd
Tc max = HIC substrate temperature (°C)
Ta = set internal temperature (°C)
Pd = HIC internal mean power dissipation (W)

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With a 2.00 mm aluminum radiation plate, the required area can be determined from Fig. 6. Note that substrate
temperature will vary widely with set internal air temperature, and therefore the rear side of the HIC (the aluminum plate
side) must always be kept below the maximum temperature of 105°C.

Fig. 5 Fig. 6

HIC Internal Mean Power Dissipation Pd

The internal mean power dissipation of the STK6712BMK4 is primarily due to the current control device, the
regenerating current diode, the current detect resistance and the predriver circuit.

Loss in each excitation mode is:

fclock fclock
2 phase excitation Pd2EX ≈ (Vst + Vdf) IOHt2 + IOH (Vst × t1 + Vdf × t3)
2 2
..................................... (10)
3IOHt2 3I
1-2 phase excitation Pd1 – 2EX ≈ (Vst + Vdf) fclock + OH fclock (Vst × t1 + Vdf × t3)
8 3
..................................... (11)

Vst: RON voltage drop + R7 (R8) output voltage

Vdf: FET internal diode + R7 (R8) output voltage
fclock:Input clock (reference frequency before frequency divider)

t1, t2 and t3 are the time modes for the waveform indicated below.

t1: Time for winding current to rise to set current

t2: Time for constant current chopping region
t3: Time from end of phase input signal until inverse current regeneration is complete.

Fig. 7 Motor Output Current Waveform (model)

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–L R + 0.88
t1 ≈ In (1 – VCC × IOH) .............................................................................................. (12)
R + 0.88

–L VCC + 0.88
t3 ≈ In ( I · R + V + 0.88 ) ...................................................................................................... (13)
R OH CC

VCC : Motor supply voltage (V)

L: Motor inductance (H)
R: Motor internal resistance (Ω)
IOH : Motor output current peak (A)

The chopping frequency F and t2 for each excitation mode are:

2 phase excitation F = fclock/2, t2 = (1/F) – (t1 + t3).......................................................................... (14)

1-2 phase excitation F = 3fclock/8, t2 = (1/F) – t1.................................................................................. (15)

fclock: 4-phase divider input oscillation frequency

The characteristic diagrams (typ) for IOH and Vst, and IOH and Vdf are given in Figs. 8 and 9.

Fig. 8 Fig. 9

STK6712BMK4 No Thermal Radiation Range (example)

An example of STK6712BMK4 use in the no-fin state is indicated below.

Conditions:
• Motor supply voltage VCC1 = 30 V, stepping motor: Electrical characteristics 3.5 mH/ø, 3.5 Ω/ø
• Excitation: 2-phase
• Input clock frequency 500 Hz = fclock
• HIC ambient temperature Ta = 25°C, natural convection
• HIC rear substrate temperature Tc = 105°C saturation
• Motor output current IOH = 1.4 A

At this time, the HIC permissible loss can be calculated as:

Tc max – Ta 105 – 25
Maximum loss: Pd max = = = 3.4 (W)........................................................ (16)
θc – a 23

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From these conditions and expressions (12), (13) and (14):

t1 = 0.183 ms
t2 = 3.670 ms
t3 = 0.147 ms

Referring to Figs. 8 and 9, each value for Vst and Vdf is determined by expression (10) as follows :
fclock fclock
Pd2EX = (Vst + Vdf) IOHt2 + IOH (Vst × t1 + Vdf × t3).......................................... (17)
2 2
= 3.08 + 0.14 = 3.22 (W)

From expression (9), Tc is calculated as:

Tc = Pd2EX × θc – a + Ta = 3.22 × 23 + 25 ≈ 99.1 (°C).......................................................................... (18)

This is only one example, and because convection and other air movements around the HIC will not match mathematical
modelling verification with an actual model is essential.

Motor hold noise countermeasures

The STK6712BMK4 executes constant current chopping outside the audible range. During motor hold the current hold
is outside the range of audible frequencies, but for motors of sizes 30 to 40 mm square (when seen from the shaft
direction) with inductance of about 15 mH, there are cases where the output noise is converted to low-frequency noise.
In this case, addition of the following components will essentially eliminate such audible noise.

Fig. 10 Motor Hold Noise Countermeasure

■ No products described or contained herein are intended for use in surgical implants, life-support systems, aerospace
equipment, nuclear power control systems, vehicles, disaster/crime-prevention equipment and the like, the failure of
which may directly or indirectly cause injury, death or property loss.
■ Anyone purchasing any products described or contained herein for an above-mentioned use shall:
➀ Accept full responsibility and indemnify and defend SANYO ELECTRIC CO., LTD., its affiliates, subsidiaries and
distributors and all their officers and employees, jointly and severally, against any and all claims and litigation and all
damages, cost and expenses associated with such use:
➁ Not impose any responsibility for any fault or negligence which may be cited in any such claim or litigation on
SANYO ELECTRIC CO., LTD., its affiliates, subsidiaries and distributors or any of their officers and employees
jointly or severally.
■ Information (including circuit diagrams and circuit parameters) herein is for example only; it is not guaranteed for
volume production. SANYO believes information herein is accurate and reliable, but no guarantees are made or implied
regarding its use or any infringements of intellectual property rights or other rights of third parties.

This catalog provides information as of October, 1995. Specifications and information herein are subject to
change without notice.

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