2-Phase Stepper-Motor Driver

TLE4726G

Bipolar IC
Overview
Features
2 0.75 A / 50 V outputs
Integrated driver, control logic and
current control (chopper)
Fast free-wheeling diodes
Low standby-current drain
Full, half, quarter, mini step

PG-DSO-24-13

Type

Ordering Code

Package

TLE4726G

On Request

PG-DSO-24-13

Description
TLE4726G is a bipolar, monolithic IC for driving bipolar stepper motors, DC motors and
other inductive loads that operate on constant current. The control logic and power
output stages for two bipolar windings are integrated on a single chip which permits
switched current control of motors with 0.75 A per phase at operating voltages up to
50 V.
The direction and value of current are programmed for each phase via separate control
inputs. A common oscillator generates the timing for the current control and turn-on with
phase offset of the two output stages. The two output stages in a full-bridge configuration
have integrated, fast free-wheeling diodes and are free of crossover current. The logic
is supplied either separately with 5 V or taken from the motor supply voltage by way of
a series resistor and an integrated Z-diode. The device can be driven directly by a
microprocessor with the possibility of all modes from full step through half step to mini
step.

Data Sheet

Rev. 1.1, 2008-06-16

TLE4726G

10
11
Phase 1
OSC
GND
GND
GND
GND
Q11
R1
+ VS
Q12

1
2
3
4
5
6
7
8
9
10
11
12

24
23
22
21
20
19
18
17
16
15
14
13

20
21
Phase 2
Inhibit
GND
GND
GND
GND
Q21
R2
+VL
Q22

IEP00898

Figure 1

Data Sheet

Pin Configuration (top view)

Rev. 1.1, 2008-06-16

TLE4726G

Pin Definitions and Functions

Pin No.

Function

1, 2, 23, 24

Digital control inputs IX0, IX1 for the magnitude of the current of the
particular phase.

IX1

IX0

Phase
Current

Example of
Motor Status

No current

1/3 Imax

Hold

2/3 Imax

Set

Imax

Accelerate

typical Imax with

Rsense = 1 : 750 mA

Input Phase 1; controls the current through phase winding 1. On

H-potential the phase current flows from Q11 to Q12, on L-potential in
the reverse direction.

5, 6, 7, 8, 17, Ground; all pins are connected internally.

18, 19, 20
4

Oscillator; works at approx. 25 kHz if this pin is wired to ground across

2.2 nF.

10

Resistor R1 for sensing the current in phase 1.

9, 12

Push-pull outputs Q11, Q12 for phase 1 with integrated free-wheeling

diodes.

11

Supply voltage; block to ground, as close as possible to the IC, with a

stable electrolytic capacitor of at least 10 F in parallel with a ceramic
capacitor of 220 nF.

14

Logic supply voltage; either supply with 5 V or connect to + VS across

a series resistor. A Z-diode of approx. 7 V is integrated. In both cases
block to ground directly on the IC with a stable electrolytic capacitor of
10 F in parallel with a ceramic capacitor of 100 nF.

13, 16

Push-pull outputs Q22, Q21 for phase 2 with integrated free-wheeling

diodes.

15

Resistor R2 for sensing the current in phase 2.

21

Inhibit input; the IC can be put on standby by low potential on this pin.
This reduces the current consumption substantially.

22

Input phase 2; controls the current flow through phase winding 2. On

H-potential the phase current flows from Q21 to Q22, on L potential in
the reverse direction.

Data Sheet

Rev. 1.1, 2008-06-16

TLE4726G

+ VL
14
4

+ VS
11

Oscillator
D11

D12

T11
10

T12

11

Phase 1

Inhibit

21

Phase 1
Functional
Logic
Phase 1

D14

T13

T14

Q12

R1

Inhibit
D21

20

12

10

D22

T21

T22

16

Q21

24

Phase 2
D23

21

23

Phase 2

22

Functional
Logic
Phase 2

T23

D24
T24

13

15
5-8, 17-19
GND

Data Sheet

Q11

1
D13

Figure 2

Q22

R2

IEB00899

Block Diagram

Rev. 1.1, 2008-06-16

TLE4726G

Absolute Maximum Ratings

TA = 40 to 125 C
Parameter
Supply voltage
Logic supply voltage
Z-current of VL
Output current
Ground current
Logic inputs

Symbol

VS
VL
IL
IQ
IGND
VIxx

Limit Values

Unit Remarks

min.

max.

52

6.5

Z-diode

50

mA

VL +

IXX ; Phase 1, 2;

0.3

R1, R2, oscillator input voltage

Junction temperature
Storage temperature

VRX,
VOSC
Tj
Tj
Tstg

0.3

VL +

Inhibit
V

0.3

125
150

C
C

max. 10,000 h

50

125

Note: Stresses above those listed here may cause permanent damage to the
device. Exposure to absolute maximum rating conditions for extended
periods may affect device reliability.

Data Sheet

Rev. 1.1, 2008-06-16

TLE4726G

Operating Range
Parameter

Symbol

Limit Values

Unit Remarks

min.

max.

50

Logic supply voltage

VS
VL

4.5

6.5

without series
resistor

Case temperature

TC

25

110

measured on
pin 5
Pdiss = 2 W

Output current

IQ
VIXX

800

800

mA

VL

IXX ; Phase 1, 2;

Supply voltage

Logic inputs

Inhibit
Thermal Resistances
Junction ambient
Junction ambient (soldered on a
35 m thick
20 cm2 PC boar
copper area)
Junction case

Rth ja
Rth ja

75
50

K/W PG-DSO-24-13
K/W PG-DSO-24-13

Rth jc

15

K/W measured on
pin 5
PG-DSO-24-13

Note: In the operating range, the functions given in the circuit description are fulfilled.
Characteristics
VS = 40 V; VL = 5 V; 25 C Tj 125 C
Parameter

Symbol

Limit Values
min.

typ.

max.

Unit Test Condition

Current Consumption
from + VS
from + VS

IS
IS

0.2
16

0.5
20

mA
mA

from + VL
from + VL

IL
IL

1.7
18

3
25

mA
mA

Data Sheet

Vinh = L
Vinh = H
IQ1/2 = 0, IXX = L
Vinh = L
Vinh = H
IQ1/2 = 0, IXX = L

Rev. 1.1, 2008-06-16

TLE4726G

Characteristics (contd)
VS = 40 V; VL = 5 V; 25 C Tj 125 C
Parameter

Symbol

Limit Values

Unit Test Condition

min.

typ.

max.

IOSC

110

VOSCL
VOSCH
fOSC

18

1.3
2.3
25

40

V
V
kHz

Vsense n
Vsense h
Vsense s
Vsense a

200
420
700

0
250
540
825

300
680
950

mV
mV
mV
mV

IX0 = H; IX1 = H
IX0 = L; IX1 = H
IX0 = H; IX1 = L
IX0 = L; IX1 = L

Threshold

VI

IIL
IIL
IIH

2.3
(LH)

10

L-input current
L-input current
H-input current

1.4
(HL)
10
100

A
A
A

VI = 1.4 V
VI = 0 V
VI = 5 V

1.7

2.3

2.9

VInhhy

0.3

0.7

1.1

VLZ

6.5

7.4

8.2

IL = 50 mA

Oscillator
Output charging
current
Charging threshold
Discharging threshold
Frequency

COSC = 2.2 nF

Phase Current Selection

Current Limit Threshold
No current
Hold
Setpoint
Accelerate
Logic Inputs
(IX1 ; IX0 ; Phase x)

Standby Cutout (inhibit)

Threshold

VInh
(LH)

Threshold

VInh
(HL)

Hysteresis
Internal Z-Diode
Z-voltage

Data Sheet

Rev. 1.1, 2008-06-16

TLE4726G

Characteristics (contd)
VS = 40 V; VL = 5 V; 25 C Tj 125 C
Parameter

Symbol

Limit Values
min.

Unit Test Condition

typ.

max.

0.3
0.5

0.9
1

0.6
1
300
1.3
1.4

V
V
A
V
V

IQ = 0.5 A
IQ = 0.75 A
VQ = 40 V
IQ = 0.5 A
IQ = 0.75 A

0.9

1.2

IQ = 0.5 A;

Power Outputs
Diode Transistor Sink Pair
(D13, T13; D14, T14; D23, T23; D24, T24)
Saturation voltage
Saturation voltage
Reverse current
Forward voltage
Forward voltage

Vsatl
Vsatl
IRl
VFl
VFl

Diode Transistor Source Pair

(D11, T11; D12, T12; D21, T21; D22, T22)
Saturation voltage

VsatuC

Saturation voltage

VsatuD

0.3

0.7

Saturation voltage

VsatuC

1.1

1.4

Saturation voltage

VsatuD

0.5

Reverse current
Forward voltage
Forward voltage
Diode leakage current

IRu
VFu
VFu
ISL

1
1.1
1

300
1.3
1.4
2

A
V
V
mA

charge
IQ = 0.5 A;
discharge
IQ = 0.75 A;
charge
IQ = 0.75 A;
discharge
VQ = 0 V
IQ = 0.5 A
IQ = 0.75 A
IF = 0.75 A

Note: The listed characteristics are ensured over the operating range of the integrated
circuit. Typical characteristics specify mean values expected over the production
spread. If not otherwise specified, typical characteristics apply at TA = 25 C and
the given supply voltage.

Data Sheet

Rev. 1.1, 2008-06-16

TLE4726G

Quiescent Current IS, IL versus

Supply Voltage VS

Quiescent Current IS, IL versus

Junction Temperature Tj

IED01655

40

IED01656

40

mA

mA

S, L

S, L

T j = 25 C

30

V S = 40V

30

XX = L
L

20

XX = H

20

XX = L

10

10

XX = H

S
0

10

20

30

V
VS

50

-25

25

50

75 100 C 150
Tj

Output Current IQX versus

Junction Temperature Tj

QX

Operating Condition:

IED01657

800

VL
VInh
COSC
Rsense

= 5V
= H
= 2.2 nF
= 1
Load: L = 10 mH
R = 2.4
fphase = 50 Hz
mode: fullstep

mA

600

400

200

Data Sheet

-25

25 50

75 100 C 150
Tj

Rev. 1.1, 2008-06-16

TLE4726G

Output Saturation Voltages Vsat

versus Output Current IQ

Forward Current IF of Free-Wheeling

Diodes versus Forward Voltages VF
F

IED01167

1.0
A

V Fl

V Fu

0.8

T j = 25 C
0.6

0.4

0.2

0.5

1.0

1.5

VF

Typical Power Dissipation Ptot versus

Output Current IQ (Non Stepping)

Permissible Power Dissipation Ptot

versus Case Temperature TC
IED01660

12

Measured
at pin 5.

Ptot

10
P-DSO-24
8

6
P-DIP-20
4

0
-25

Data Sheet

10

25 50 75 100 125 C 175

Tc

Rev. 1.1, 2008-06-16

TLE4726G

Input Characteristics of Ixx, Phase X,

Inhibit

Input Current of Inhibit versus Junction

Temperature Tj

IED01661

0.8
mA

IXX 0.6
V L = 5V
0.4
0.2
0
0.2
0.4
0.6
0.8
-6

-5

-2

3.9

V
6
V IXX

Oscillator Frequency fOSC versus

Junction Temperature Tj
30
kHz

f OSC

IED01663

V S = 40V
V L = 5V
COSZ = 2.2nF

25

20

15
-25 0

Data Sheet

25 50 75 100 125 C 150

Tj

11

Rev. 1.1, 2008-06-16

TLE4726G

100 F

220 nF

L
H

10

11

3
21

14

11

VL

100 F

220 nF

VS

VS
Q11

Phase 1

Q12

Inhibit

TLE4726G

24

20

Q21

23

21

Q22

22

V L
V H

Phase 2
OSC
4

15

OSC VOSC
2.2 nF

Q
- Fu

12

-R
Ru
VSatl

16
13

- VFl

GND
5, 6, 7, 8
17, 18, 19, 20

10

R2
1
VSense

VSatu
- VFu

R1
1

VSense

GND

AES02301

Figure 3

Test Circuit

+5 V

+40 V
100 F

220 nF

1
2
3
Micro
Controller

21
24
23
22

10

14
VL

11
VS
Q11

11
Phase 1
Inhibit

Q12

TLE4726G
Q21

20
21
Phase 2
OSC
4

2.2 nF

100 F

220 nF

Q22

15

R2
1

10

R1
1

9
12
16
13

GND
5, 6, 7, 8
17, 18, 19, 20

AES02302

Figure 4
Data Sheet

Application Circuit
12

Rev. 1.1, 2008-06-16

TLE4726G

Normal Mode

Accelerate Mode

10

11

Phase 1

i acc
i set

Q1

t
i set
i acc
i acc
i set

Q2

t
i set
i acc

Phase 2

20
21

H
L

H
L

H
L
IED01666

Figure 5

Data Sheet

Full-Step Operation

13

Rev. 1.1, 2008-06-16

TLE4726G

Normal Mode

Accelerate Mode

10

H
L

11

H
L

H
L

Phase 1

i acc
i set

Q1

t
- i set
- i acc

i acc
i set

Q2

t
- i set
- i acc

Phase 2

H
L

20

H
L

21

H
L

t
IED01667

Figure 6

Data Sheet

Half-Step Operation

14

Rev. 1.1, 2008-06-16

TLE4726G

Figure 7

Data Sheet

Quarter-Step Operation

15

Rev. 1.1, 2008-06-16

TLE4726G

10

11

Phase 1

i acc
i set
i hold

Q1

i hold
i set
i acc
i acc
i set
i hold

Q2

i hold
i set
i acc
Phase 2

20
21

H
L

H
L

H
L

t
IED01665

Figure 8

Data Sheet

Mini-Step Operation

16

Rev. 1.1, 2008-06-16

TLE4726G

V Osc

2.4 V
1.4 V
0

GND
0

V Q12
+ VS

V FU
V sat 1

t
V Q11

V satu D

+ VS

V satu C
t

V Q22

+ VS

t
V Q21

+ VS

Operating conditions:
VS
VL
L phase x
R phase x
V phase x
V Inhibit
V xx

Figure 9

Data Sheet

= 40 V
=5V
= 10 mH
= 20
=H
=H
=L

IED01177

Current Control

17

Rev. 1.1, 2008-06-16

TLE4726G

Inhibit
L

V Osc

t
2.3 V
1.3 V
0

Oscillator
High Imped.

Oscillator
High Imped.

t
Phase Changeover

Phase 1
L

GND

N
0

t
V Fu
V Q11

Vsatu C

Vsatu D

+V S

High
Impedance
V Fl

V satl
High
Impedance

t
V Q12

+V S
High
Impedance

Phase 1

Slow Current Decay

Operating Conditions:
= 40 V
VS
=5V
V
L phase 1 = 10 mH
R phase 1 = 20
1X
= L; 1X = H

t
Fast Current Decay

Slow
Current Decay

Fast
Current
Decay by
Inhibit
IED01178

Figure 10 Phase Reversal and Inhibit

Data Sheet

18

Rev. 1.1, 2008-06-16

TLE4726G

Calculation of Power Dissipation

The total power dissipation Ptot is made up of
saturation losses Psat (transistor saturation voltage and diode forward voltages),
quiescent losses Pq
(quiescent current times supply voltage) and
switching losses Ps
(turn-ON / turn-OFF operations).
The following equations give the power dissipation for chopper operation without phase
reversal. This is the worst case, because full current flows for the entire time and
switching losses occur in addition.

Ptot = 2 Psat + Pq + 2 Ps
where
Psat IN { Vsatl d + VFu (1 d ) + VsatuC d + VsatuD (1 d ) }
Pq = Iq VS + IL VL
V S i D t DON i D + i R t ON I N

P S ------ --------------------- + ------------------------------ + ----- t DOFF + t OFF

T
2
2
4

IN
Iq
iD
iR
tp
tON
tOFF
tDON
tDOFF
T
d
Vsatl
VsatuC
VsatuD
VFu
VS
VL
IL

= nominal current (mean value)

= quiescent current
= reverse current during turn-on delay
= peak reverse current
= conducting time of chopper transistor
= turn-ON time
= turn-OFF time
= turn-ON delay
= turn-OFF delay
= cycle duration
= duty cycle tp/T
= saturation voltage of sink transistor (T3, T4)
= saturation voltage of source transistor (T1, T2) during charge cycle
= saturation voltage of source transistor (T1, T2) during discharge cycle
= forward voltage of free-wheeling diode (D1, D2)
= supply voltage
= logic supply voltage
= current from logic supply

Data Sheet

19

Rev. 1.1, 2008-06-16

TLE4726G

+V S

Tx1

Dx1

Dx2

Tx2

Tx3

Dx3

Dx4

Tx4

V sense
R sense
IES01179

Figure 11

Voltage and
Current at
Chopper
Transistor

Turn-ON

Turn-OFF

iR

iD

VS + VFu

VS + VFu
Vsatl
t D ON

t D OFF

t ON
tp

t OFF

t
IET01210

Figure 12

Data Sheet

20

Rev. 1.1, 2008-06-16

TLE4726G

Application Hints
The TLE726G is intended to drive both phases of a stepper motor. Special care has
been taken to provide high efficiency, robustness and to minimize external components.
Power Supply
The TLE726G will work with supply voltages ranging from 5 V to 50 V at pin VS. As the
circuit operates with chopper regulation of the current, interference generation problems
can arise in some applications. Therefore the power supply should be decoupled by a
0.22 F ceramic capacitor located near the package. Unstabilized supplies may even
afford higher capacities.
Current Sensing
The current in the windings of the stepper motor is sensed by the voltage drop across R1
and R2. Depending on the selected current internal comparators will turn off the sink
transistor as soon as the voltage drop reaches certain thresholds (typical 0 V, 0.25 V,
0.5 V and 0.75 V); (R1 , R2 = 1 ). These thresholds are neither affected by variations
of VL nor by variations of VS .
Due to chopper control fast current rises (up to 10 A/s) will occur at the sensing
resistors R1 and R2 . To prevent malfunction of the current sensing mechanism R1 and
R2 should be pure ohmic. The resistors should be wired to GND as directly as possible.
Capacitive loads such as long cables (with high wire to wire capacity) to the motor should
be avoided for the same reason.
Synchronizing Several Choppers
In some applications synchrone chopping of several stepper motor drivers may be
desireable to reduce acoustic interference. This can be done by forcing the oscillator of
the TLE726G by a pulse generator overdriving the oscillator loading currents
(approximately 100 A). In these applications low level should be between 0 V and 1 V
while high level should be between 2.6 V and VL .
Optimizing Noise Immunity
Unused inputs should always be wired to proper voltage levels in order to obtain highest
possible noise immunity.
To prevent crossconduction of the output stages the TLE4726G uses a special break
before make timing of the power transistors. This timing circuit can be triggered by short
glitches (some hundred nanoseconds) at the Phase inputs causing the output stage to
become high resistive during some microseconds. This will lead to a fast current decay
during that time. To achieve maximum current accuracy such glitches at the Phase
inputs should be avoided by proper control signals.

Data Sheet

21

Rev. 1.1, 2008-06-16

TLE4726G

Thermal Shut Down

To protect the circuit against thermal destruction, thermal shut down has been
implemented. To provide a warning in critical applications, the current of the sensing
element is wired to input Inhibit. Before thermal shut down occurs Inhibit will start to pull
down by some hundred microamperes. This current can be sensed to build a
temperature prealarm.

Data Sheet

22

Rev. 1.1, 2008-06-16

TLE4726G
Package Outlines

1.27

+0.0

7.6 -0.2 1)

8 MAX.

0.35 x 45

0.23

2.65 MAX.

2.45 -0.2

Package Outlines

0.2 -0.1

0.4 +0.8

0.35 +0.15

0.1

2)

10.3 0.3

0.2 24x

24

13

1
15.6 -0.4

1)

12

Index Marking

1) Does not include plastic or metal protrusion of 0.15 max. per side
2) Lead width can be 0.61 max. in dambar area
P/PG-DSO-24-1, -3, -8, -9, -13, -15, -16-PO V01

Figure 1

PG-DSO-24-13

Green Product (RoHS compliant)

To meet the world-wide customer requirements for environmentally friendly products and to be compliant with
government regulations the device is available as a green product. Green products are RoHS-Compliant (i.e
Pb-free finish on leads and suitable for Pb-free soldering according to IPC/JEDEC J-STD-020).

For further information on alternative packages, please visit our website:

http://www.infineon.com/packages.
Data Sheet

23

Dimensions in mm
Rev. 1.1, 2008-06-16

TLE4726G
Revision History

Revision History

Revision

Date

Changes

1.1

2008-06-17

Initial version of RoHS-compliant derivate of TLE4726

Page 1: AEC certified statement added
Page 1 and 23: added RoHS compliance statement and Green product feature
Page 1 and 23: Package changed to RoHS compliant version
Page 24-25: added Revision History, updated Legal Disclaimer

Data Sheet

24

Rev. 1.1, 2008-06-16

Edition 2008-01-04
Published by
Infineon Technologies AG
81726 Munich, Germany
2008 Infineon Technologies AG
All Rights Reserved.
Legal Disclaimer
The information given in this document shall in no event be regarded as a guarantee of conditions or
characteristics. With respect to any examples or hints given herein, any typical values stated herein and/or any
information regarding the application of the device, Infineon Technologies hereby disclaims any and all warranties
and liabilities of any kind, including without limitation, warranties of non-infringement of intellectual property rights
of any third party.
Information
For further information on technology, delivery terms and conditions and prices, please contact the nearest
Infineon Technologies Office (www.infineon.com).
Warnings
Due to technical requirements, components may contain dangerous substances. For information on the types in
question, please contact the nearest Infineon Technologies Office.
Infineon Technologies components may be used in life-support devices or systems only with the express written
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