The document describes a 2-phase bipolar stepping motor driver circuit using the TB62206FG integrated circuit. It contains sections on bipolar stepping motors, the application circuit design including specifications, switching sequences for full-step and half-step modes, and functions of the driver including standby, torque control, and over-current protection. Simulations are provided to illustrate the output current, switching frequencies, and switching signals for different operating modes.

1. Design Kit
2-Phase Bipolar Stepping Motor Driver Using
TB62206FG
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 1

2. Contents
Slide #
1. Background
1.1 Bipolar Stepping Motors....................................................................................... 3
1.2 Torque vs. Speed................................................................................................. 4
1.3 Bipolar Operating Mode....................................................................................... 5-6
2. Application Circuit...................................................................................................... 7
2.1 Specification........................................................................................................ 8-9
2.2 Calculating Equations.......................................................................................... 10
3. Stepper Motor Switching Sequences
3.1 Full Step Switching Sequence............................................................................. 11-12
3.2 Half Step Switching Sequence............................................................................. 13-14
4. Functions
4.1 STANDBY............................................................................................................ 15-16
4.2 TORQUE............................................................................................................. 17-18
4.3 Phase A Over-current Protection.......................................................................... 19-20
4.4 Phase B Over-current Protection......................................................................... 21-22
5. Output Ripple Current................................................................................................ 23
5.1 Stepping Motor Phase Inductance at The Chopping Frequency.......................... 24
5.2 Ripple Current Simulation.................................................................................... 25-26
6. The Current Changing Rate....................................................................................... 27
6.1 Stepping Motor Phase Inductance at The Phase Frequency................................ 28
6.2 Current Changing Rate Simulation....................................................................... 29-30
7. Optimization of The Drive Voltage VM....................................................................... 31-32
Simulations index............................................................................................................ 33
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 2

3. 1.1 Bipolar Stepping Motors
• There are two winding with no center taps.
• The drive circuitry requires an H-bridge control circuit for each winding, as the drive circuit need to
change the polarity of each pair of motor poles.
• The current sequences are shown below.
• Full Step • Half Step
100%
100% Io(A) 0%
Io(A) -100%
-100%
100% 100%
Io(B)
-100% 0%
Io(B)
 time -100%
 time
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4. 1.2 Torque vs. Speed
Torque
Running Torque
100% ideal
actual Cutoff
Speed
 Time
Max. Speed
-100%
Speed
• The inductance of the motor winding determines the rise and fall time of the current through the
winding.
• The current-vs-time function through each winding depend on the drive circuitry and the motor
characteristics.
• The rise time is determined by the drive voltage, while the fall time depends on the circuitry used
to dissipate the stored energy in the motor winding (fast or slow decay).
• The effect of the inductance of the motor windings is to reduce the available torque, as shown in
the Torque-vs-Speed curve.
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5. 1.3 Bipolar Operating Mode
Charge mode Slow decay mode Fast decay mode
OFF OFF OFF OFF
ON ON
OFF OFF
ON ON ON ON
• These figure show how TB62206FG switches the current in each motor winding on and off, and
controlling its direction, in three different modes.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 5

6. 1.3 Bipolar Operating Mode
• Charge mode, the H-bridge forward state to allow current to flow from the supply
through the motor winding and onward to ground.
• Slow decay mode, in this mode, winding current is re-circulated by enabling both of
the low-side FETs in the bridge.
• Fast decay mode, the H-bridge reverses state to allow winding current to flow in a
reverse direction.
U1 U2 L1 L2
Charge ON OFF OFF ON
Slow OFF OFF ON ON
Fast OFF ON ON OFF
• In TB62206FG, three modes as shown above are automatically switched to control the
constant current
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 6

7. 2. Application Circuit
Rosc 3.6kohm
O_A
U1 O_A1
Cosc 560pF L1
CR TORQUE RSA
VDD OUT_B1 O_B1
IC = 0
0 VREF_A ENABLE_B 2 1
VREF_B ENABLE_A RSB
RS_B OUT_B O_B
O_B 1
RRSB 0.5ohm
RRSA 0.5ohm FIN
O_B1
L2
RS_A OUT_A 0 O_A
VM PHASE_B Ph_B
Ph_A IC = 0
CCP_C PHASE_A
CCP_B OUT_A1 O_A1 2
CCP_A STANDBY
TB62206FG
VDD Cv ref AB Cccp_2 VM = 24 V5
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF
10uF 1.25Vdc VM1 0.22uF ROSC = 3.6K
24V CVM1 CCP1 = 0.22UF
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = 0 TD = {tphase/4} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2}
TF = {tf phase} TF = {tf phase} pwphase = {-2*trphase+tphase/2}
PW = {pwphase} PW = {pwphase}
PER = {tphase} PER = {tphase} trphase = 100n
tf phase = {trphase}
0 0
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8. 2.1 Specification
Operating Conditions
Characteristics Symbol Value Unit
Power supply voltage VDD 5 V
Motor supply voltage VM 24 V
Reference voltage VREF 1.25 V
Logic input voltage VIN 5 V
Output current IOUT 0.5 A
Phase signal input frequency fPHASE 250 Hz
Chopping frequency fchop 101 kHz
Oscillation frequency fCR 813 kHz
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9. 2.1 Specification
4.0V
fCR = 813kHz
3.0V
2.0V
1.0V
V(U1:CR)
540mA
fchop = 101kHz
Charge mode
500mA IOUT = 0.5A
Slow decay mode
SEL>> Fast decay mode
420mA
2.540ms 2.544ms 2.548ms 2.552ms 2.556ms 2.560ms 2.564ms 2.568ms 2.572ms 2.576ms 2.580ms
I(U1:OUT_A)
Time
• This figure shows the output current IOUT ,the oscillation frequency fCR ,and the
chopping frequency fchop.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 9

10. 2.2 Calculating Equations
• The output current value (set current value) can be determined by setting the sensing
resistor (RRS) and reference voltage (Vref).
1 Torque(Torque  100, 71%)
IOUT   Vref  (1)
5 RRS 100 %
• The oscillation frequency is calculated as follows:
1
fCR  (2)
0.523  (COSC  ROSC  600  C )
• The chopping frequency fchop is calculated as follows:
fchop (3)
fCR 
8
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 10

11. 3.1 Full Step Switching Sequence
Rosc 3.6kohm
U1
Cosc 560pF O_A
CR TORQUE
VDD OUT_B1 O_B1
0 VREF_A ENABLE_B O_A1
L1
VREF_B ENABLE_A 9.15mH RSA
RS_B OUT_B O_B
IC = -0.5 7.9ohm
RRSB 0.5ohm 2 1
RRSA 0.5ohm FIN RSB 7.9ohm
O_A O_B 1
RS_A OUT_A 0
VM PHASE_B Ph_B
CCP_C PHASE_A Ph_A O_B1
L2
CCP_B OUT_A1 O_A1
9.15mH
CCP_A STANDBY IC = -0.5
TB62206FG 2
VDD Cv ref AB Cccp_2 VM = 24 V5
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF
10uF 1.25Vdc VM1 0.22uF ROSC = 3.6K
24V CVM1 CCP1 = 0.22UF
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = {tphase/4} TD = {tphase/2} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2}
TF = {tf phase}
PW = {pwphase}
TF = {tf phase}
PW = {pwphase}
pwphase = {-2*trphase+tphase/2} Analysis .Options
trphase = 100n
PER = {tphase} PER = {tphase}
tf phase = {trphase}
Time Domain (Transient) RELTOL: 0.01
0 0
Run to time: 8ms VNTOL: 1.0m
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 1p
GMIN: 1.0E-12
Full-step sequences ITL1: 500
control signals ITL2: 200
ITL4: 100
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 11

12. 3.1 Full Step Switching Sequence
Phase A
0V
V(PH_A)
Phase B
0V
V(PH_B)
Enable A
0V
V(U1:ENABLE_A)
Enable B SEL>>
0V
V(U1:ENABLE_B)
1.0A
IOUT A 0A
-1.0A
I(U1:OUT_A1)
1.0A
0A
IOUT B
-1.0A
0s 4.0ms 8.0ms
I(U1:OUT_B1)
Time
• This figure shows the simulation result of the circuit with Full-step switching sequence.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 12

13. 3.2 Half Step Switching Sequence
Rosc 3.6kohm
U1
Cosc 560pF
CR TORQUE
VDD OUT_B1 O_B1 O_A
0 VREF_A ENABLE_B EN_B
VREF_B ENABLE_A EN_A O_A1
L1
RS_B OUT_B O_B
9.15mH RSA
RRSB 0.5ohm IC = -0.5 7.9ohm
RRSA 0.5ohm FIN 2 1
RSB 7.9ohm
RS_A OUT_A 0 O_A
Ph_B O_B 1
VM PHASE_B
CCP_C PHASE_A Ph_A
CCP_B OUT_A1 O_A1 O_B1
L2
CCP_A STANDBY 9.15mH
IC = -0.5
TB62206FG
VDD Cv ref AB Cccp_2 VM = 24 V5
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF 2
10uF 1.25Vdc VM1 0.22uF ROSC = 3.6K
24V CVM1 CCP1 = 0.22UF
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
250Hz Half Step
EN_A
EN_B
Ph_A
Ph_B
PARAMETERS:
V_ENABLE_A V_ENABLE_B V_PHASE_A V_PHASE_B1 f phase = 250Hz
V1 = 0 V1 = 5V V1 = 0 V1 = 0V
V2 = 5V V2 = 0 V2 = 5V V2 = 5 tphase = {1/f phase}
TD = 0 TD = {tphase/8} TD = 0 TD = {tphase/4} tdphase = {trphase+pwphase/2}
TR = {trphase} TR = {trphase} TR = {trphase} TR = {trphase} pwphase = {-2*trphase+tphase/2}
TF = {tf phase} TF = {tf phase} TF = {tf phase} TF = {tf phase}
PW = {3*pwphase/4} PW = {1*pwphase/4} PW = {pwphase} PW = {pwphase} trphase = 100n
PER = {tphase/2} PER = {tphase/2} PER = {tphase} PER = {tphase} tf phase = {trphase}
0 0 0 0
Analysis .Options
Time Domain (Transient) RELTOL: 0.01
Run to time: 8ms VNTOL: 1.0m
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 1p
Half-step sequences GMIN: 1.0E-12
control signals ITL1: 500
ITL2: 200
ITL4: 100
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 13

14. 3.2 Half Step Switching Sequence
Phase A
0V
V(U1:PHASE_A)
Phase B
0V
V(U1:PHASE_B)
Enable A
0V
V(U1:ENABLE_A)
Enable B SEL>>
0V
V(U1:ENABLE_B)
1.0A
0A
IOUT A
-1.0A
I(U1:OUT_A1)
1.0A
0A
IOUT B
-1.0A
0s 2.0ms 4.0ms 6.0ms 8.0ms
I(U1:OUT_B1)
Time
• This figure shows the simulation result of the circuit with Half-step switching sequence.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 14

15. 4.1 STANDBY
Rosc 3.6kohm
U1
Cosc 560pF
CR TORQUE
VDD OUT_B1 O_B1 O_A
0 VREF_A ENABLE_B
VREF_B ENABLE_A O_A1
L1
RS_B OUT_B O_B
Ven 9.15mH RSA
RRSB 0.5ohm T1 = 0 IC = 0 7.9ohm
RRSA 0.5ohm FIN V1 = 0 2 1
T2 = 0.1u RSB 7.9ohm
RS_A OUT_A 0 O_A
Ph_B V2 = 5 O_B 1
VM PHASE_B
CCP_C PHASE_A Ph_A 0
CCP_B OUT_A1 O_A1 O_B1
L2
CCP_A STANDBY 9.15mH
V5 IC = 0
TB62206FG
VDD Cv ref AB Cccp_2 VM = 24 T1 = 0 V1 = 0
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF T2 = 2000u V2 = 0 2
10uF 1.25Vdc VM1 0.22uF ROSC = 3.6K T3 = 2000.1u V3 = 5
24V CVM1 CCP1 = 0.22UF
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
STANBY turn on
Ph_A
Ph_B
250Hz Full Step (LH) at 2ms
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = 0 TD = {tphase/4} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2}
TF = {tf phase} TF = {tf phase} pwphase = {-2*trphase+tphase/2} Analysis .Options
PW = {pwphase} PW = {pwphase}
PER = {tphase} PER = {tphase} trphase = 100n Time Domain (Transient) RELTOL: 0.01
tf phase = {trphase}
0 0 Run to time: 8ms VNTOL: 1.0m
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 10p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
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16. 4.1 STANDBY
STANDBY 0 5V
0V
V(U1:STANDBY)
30V
Ccp1  Charge Pump Start
20V
V(U1:CCP_A)
Phase A
0V
V(PH_A)
Phase B
0V
V(PH_B)
Enable A
0V
V(U1:ENABLE_A)
Enable B
0V
V(U1:ENABLE_B)
STANDBY  TURN-ON
IOUT A 0A
I(U1:OUT_A1)
1.0A
IOUT B SEL>>
-1.0A
0s 4.0ms 8.0ms
I(U1:OUT_B1)
Time
• This figure shows the simulation result of the circuit when V(STANDBY) changes from
LH.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 16

17. 4.2 TORQUE
TORQUE (HL) at
Rosc 3.6kohm 4ms
U1
Cosc 560pF VTRQ
CR TORQUE T1 = 0 V1 = 5
VDD OUT_B1 O_B1
T2 = 4000u V2 = 5
0 VREF_A ENABLE_B T3 = 4000.1u V3 = 0
VREF_B ENABLE_A
RS_B OUT_B O_B
RRSB 0.5ohm 0
RRSA 0.5ohm FIN O_A
RS_A OUT_A 0 O_A O_A1
Ph_B L1
VM PHASE_B 9.15mH RSA
CCP_C PHASE_A Ph_A
IC = -0.5 7.9ohm
CCP_B OUT_A1 O_A1
2 1
CCP_A STANDBY RSB 7.9ohm
Ven O_B 1
TB62206FG
VDD Cv ref AB Cccp_2 VM = 24 T1 = 0
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF V1 = 0 O_B1
10uF 1.25Vdc VM1 0.22uF ROSC = 3.6K T2 = 0.1u L2
24V CVM1 CCP1 = 0.22UF V2 = 5 9.15mH
100uF CCP2 = 0.01UF IC = -0.5
0 0 0 0 0 0 0 0 2
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = 0 TD = {tphase/4} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2}
TF = {tf phase}
PW = {pwphase}
TF = {tf phase}
PW = {pwphase}
pwphase = {-2*trphase+tphase/2} Analysis .Options
PER = {tphase} PER = {tphase} trphase = 100n
Time Domain (Transient) RELTOL: 0.01
tf phase = {trphase}
0 0
Run to time: 8ms VNTOL: 1.0m
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 17

18. 4.2 TORQUE
TORQUE 5 0V
0V
V(U1:TORQUE)
Phase A
0V
V(PH_A)
Phase B
0V
V(PH_B)
Enable A
0V
V(U1:ENABLE_A)
Enable B
0V
V(U1:ENABLE_B) IOUT =100%  70%
IOUT A 0A 100% 71%
I(U1:OUT_A1)
500mA
IOUT B SEL>> 100% 71%
-500mA
0s 4.0ms 8.0ms
I(U1:OUT_B1)
Time
• This figure shows the simulation result of the circuit when V(TORQUE) changes from HL
,then the output current changes from 100% to 71%.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 18

19. 4.3 Phase A Over-current Protection
RS is a small value to test
RRSA (1.2  0.15), over current condition.
IOUT(0.54A) at 1ms Rosc 3.6kohm
O_A
U1 O_A1
Cosc 560pF L1
CR TORQUE 9.15mH RSA
VDD OUT_B1 O_B1
IC = -0.5 3.5ohm
0 VREF_A ENABLE_B 2 1
S1 VREF_B ENABLE_A RSB 3.5ohm
RS_B OUT_B O_B
S O_B 1
VOFF = 0.0V RRSB 1.2ohm
VON = 1.0V FIN
O_B1
V5 + + L2
RS_A OUT_A 0 O_A
Ph_B 9.15mH
V1 = 0 T1 = 0
- - VM PHASE_B IC = -0.5
CCP_C PHASE_A Ph_A
V2 = 0 T2 = 1200u ROFF = 1.2
CCP_B OUT_A1 O_A1 2
V3 = 5 T3 = 1200.1u RON = 0.15
CCP_A STANDBY
0 Ven
TB62206FG
VDD Cccp_2 VM = 24 T1 = 0
5Vdc C1 Vref AB 0.022uF Cccp_1 COSC = 560PF V1 = 0
10uF 3Vdc Cv ref AB VM1 0.22uF ROSC = 3.6K T2 = 0.1u
1uF 24V CVM1 CCP1 = 0.22UF V2 = 5
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = {tphase/4} TD = {tphase/2} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2}
TF = {tf phase} TF = {tf phase}
PW = {pwphase} PW = {pwphase}
pwphase = {-2*trphase+tphase/2}
Analysis .Options
PER = {tphase} PER = {tphase} trphase = 100n
tf phase = {trphase} Time Domain (Transient) RELTOL: 0.01
0 0
Run to time: 4.5ms VNTOL: 1.0m
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 19

20. 4.3 Phase A Over-current Protection
7.5V
STANDBY
0V
V(U1:STANDBY)
7.5V
Phase A
0V
V(PH_A)
7.5V
Phase B
0V
V(PH_B) Io > ISD (3A)
2.0A
OUTPUT TURNED OFF
0A
IOUT A
I(U1:OUT_A1)
0.75A
IOUT B SEL>> OUTPUT SHUT DOWN
-0.75A
0s 2.0ms 4.0ms 4.5ms
I(U1:OUT_B1)
Time
• This figure shows the simulation result of the circuit when Phase A output current exceeds
the ISD(3A), then OCP shutdowns the output.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 20

21. 4.4 Phase B Over-current Protection
RS is a small value to test
RRSB (1.2  0.15), over current condition.
IOUT(0.54A) at 1ms Rosc 3.6kohm
O_A
U1 O_A1
S1Cosc 560pF L1
S CR TORQUE 9.15mH RSA
VDD OUT_B1 O_B1
VOFF = 0.0V IC = -0.5 3.5ohm
VON = 1.0V 0 VREF_A ENABLE_B 2 1
VREF_B ENABLE_A RSB 3.5ohm
+ +
RS_B OUT_B O_B
- - O_B 1
ROFF = 1.2 RRSA 1.2ohm FIN
O_B1
V5 RON = 0.15 L2
RS_A OUT_A 0 O_A
Ph_B 9.15mH
V1 = 0 T1 = 0 VM PHASE_B IC = -0.5
CCP_C PHASE_A Ph_A
V2 = 0 T2 = 2000u
CCP_B OUT_A1 O_A1 2
V3 = 5 T3 = 2000.1u
CCP_A STANDBY
0 Ven
TB62206FG
VDD Cccp_2 VM = 24 T1 = 0
5Vdc C1 Vref AB 0.022uF Cccp_1 COSC = 560PF V1 = 0
10uF 3Vdc Cv ref AB VM1 0.22uF ROSC = 3.6K T2 = 0.1u
1uF 24V CVM1 CCP1 = 0.22UF V2 = 5
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = {tphase/4} TD = {tphase/2} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2}
TF = {tf phase} TF = {tf phase}
PW = {pwphase} PW = {pwphase}
pwphase = {-2*trphase+tphase/2}
Analysis .Options
PER = {tphase} PER = {tphase} trphase = 100n
tf phase = {trphase} Time Domain (Transient) RELTOL: 0.01
0 0
Run to time: 6ms VNTOL: 1.0m
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 21

22. 4.4 Phase B Over-current Protection
7.5V
STANDBY
0V
V(U1:STANDBY)
7.5V
Phase A
0V
V(PH_A)
7.5V
Phase B
0V
V(PH_B)
OUTPUT SHUT DOWN
0A
IOUT A
I(U1:OUT_A1) Io > ISD (3A)
2.0A
IOUT B OUTPUT SHUT DOWN
SEL>>
0s 2.0ms 4.0ms 6.0ms
I(U1:OUT_B1)
Time
• This figure shows the simulation result of the circuit when Phase B output current exceeds
the ISD(3A), then OCP shutdowns the output.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 22

23. 5 Output Ripple Current
600mA
IOUT A
SEL>>
400mA
I(U1:OUT_A1)
600mA
fchop = 101kHz
IOUT = 0.5A
Charge mode
IOUT B
Slow decay mode Fast decay mode
400mA
2.54ms 2.58ms
I(U1:OUT_B1)
Time
• This figure shows the output ripple current of the Mixed Decay Mode ,which consist of
Charge ,Slow decay ,and Fast decay mode ,with 101kHz chopping frequency.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 23

24. 5.1 Stepping Motor Phase Inductance at The Chopping Frequency
Stepping Motor Phase Inductance
0.012
0.01
0.008
Ls(H)
0.006 Ls
0.004 Ls = 1.7mH @
fchop=100kHz
0.002
0
1.E+02 1.E+03 1.E+04 1.E+05
Frequency (Hz)
• Ls(H) vs. Frequency(Hz) is shown in figure above. Ls value at the chopping frequency
(approximately 100kHz) will be used as stepping motor phase inductance.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 24

25. 5.2 Ripple Current Simulation
Ls = 1.7mH is input as
the stepping motor
Rosc 3.6kohm phase inductance value
U1
Cosc 560pF O_A
CR TORQUE
VDD OUT_B1 O_B1
0 VREF_A ENABLE_B O_A1
L1
VREF_B ENABLE_A 1.7mH RSA
RS_B OUT_B O_B
IC = -0.5 7.9ohm
RRSB 1.2ohm 2 1
RRSA 1.2ohm FIN RSB 7.9ohm
O_A O_B 1
RS_A OUT_A 0
VM PHASE_B Ph_B
CCP_C PHASE_A Ph_A O_B1
L2
CCP_B OUT_A1 O_A1
1.7mH
CCP_A STANDBY IC = -0.5
TB62206FG 2
VDD Cv ref AB Cccp_2 VM = 24 V5
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF
10uF 3Vdc VM1 0.22uF ROSC = 3.6K
24V CVM1 CCP1 = 0.22UF
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = {tphase/4} TD = {tphase/2} tphase = {1/f phase}
TR = {trphase}
TF = {tf phase}
TR = {trphase}
TF = {tf phase}
tdphase = {trphase+pwphase/2} Analysis .Options
pwphase = {-2*trphase+tphase/2}
PW = {pwphase} PW = {pwphase}
trphase = 100n
Time Domain (Transient) RELTOL: 0.01
PER = {tphase} PER = {tphase}
tf phase = {trphase} Run to time: 4ms VNTOL: 1.0m
0 0
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 25

26. 5.2 Ripple Current Simulation
SEL>>
700mA
600mA
Simulation 500mA
Current ripple
400mA
300mA
2.593ms 2.595ms 2.597ms 2.599ms 2.601ms 2.603ms
I(U1:OUT_A1)
Time
Measurement
Current ripple
• The simulation result shows the current ripple that agrees to the measurement data.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 26

27. 6. The Current Changing Rate
800mA
100%
0A
-100%
Rise time Fall time
-800mA
0s 4.0ms
I(U1:OUT_A1)
Time
• This figure shows the current changing rate (rise and fall time) that is determined by
the phase inductance value.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 27

28. 6.1 Stepping Motor Phase Inductance at The Phase Frequency
Stepping Motor Phase Inductance
0.012
Ls = 9.15mH @
0.01 fphase=250Hz
0.008
Ls(H)
0.006 Ls
0.004
0.002
0
1.E+02 1.E+03 1.E+04 1.E+05
Frequency (Hz)
• Ls(H) vs. Frequency(Hz) is shown in figure above. Ls value at the phase frequency (250
Hz) will be used as stepping motor phase inductance.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 28

29. 6.2 Current Changing Rate Simulation
Ls = 9.15mH is input as
the stepping motor
Rosc 3.6kohm phase inductance value.
U1
Cosc 560pF
CR TORQUE
VDD OUT_B1 O_B1 O_A
0 VREF_A ENABLE_B
VREF_B ENABLE_A O_A1
L1
RS_B OUT_B O_B
9.15mH RSA
RRSB 0.5ohm IC = -0.5 7.9ohm
RRSA 0.5ohm FIN 2 1
RSB 7.9ohm
RS_A OUT_A 0 O_A
Ph_B O_B 1
VM PHASE_B
CCP_C PHASE_A Ph_A
CCP_B OUT_A1 O_A1 O_B1
L2
CCP_A STANDBY 9.15mH
IC = -0.5
TB62206FG
VDD Cv ref AB Cccp_2 VM = 24 V5
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF 2
10uF 1.25Vdc VM 0.22uF ROSC = 3.6K
24V CVM1 CCP1 = 0.22UF
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = 0 TD = {tphase/4} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2} Analysis .Options
TF = {tf phase} TF = {tf phase}
PW = {pwphase} PW = {pwphase}
pwphase = {-2*trphase+tphase/2}
Time Domain (Transient) RELTOL: 0.01
PER = {tphase} PER = {tphase} trphase = 100n
tf phase = {trphase}
Run to time: 4ms VNTOL: 1.0m
0 0
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: - CHGTOL: 1p
GMIN: 1.0E-12
ITL1: 500
ITL2: 200
ITL4: 100
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 29

30. 6.2 Current Changing Rate Simulation
7.5V
Current ripple
0V
V(PH_A)
7.5V
SEL>>
0V
V(PH_B)
0.75A
VM=24V
VM=24V
0A
-0.75A
0s 1.0ms 2.0ms 3.0ms 4.0ms Current ripple
I(U1:OUT_A1)
Time
• The simulation result shows the current changing rate (rise and fall time) that agrees to the
measurement data.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 30

31. 7. Optimization of The Drive Voltage VM
Rosc 3.6kohm
U1
Cosc 560pF
CR TORQUE
VDD OUT_B1 O_B1 O_A
0 VREF_A ENABLE_B
VREF_B ENABLE_A O_A1
L1
RS_B OUT_B O_B
9.15mH RSA
RRSB 0.5ohm IC = -0.5 7.9ohm
RRSA 0.5ohm FIN 2 1
RSB 7.9ohm
The Drive Voltage RS_A
VM
OUT_A
PHASE_B
0 O_A
Ph_B O_B 1
Ph_A
Source: VM CCP_C
CCP_B
PHASE_A
OUT_A1 O_A1 O_B1
L2
CCP_A STANDBY 9.15mH
IC = -0.5
TB62206FG
VDD Cv ref AB Cccp_2 VM = 24 V5
5Vdc C1 Vref AB 1uF 0.022uF Cccp_1 COSC = 560PF 2
10uF 1.25Vdc VM 0.22uF ROSC = 3.6K
24 CVM1 CCP1 = 0.22UF
100uF CCP2 = 0.01UF
0 0 0 0 0 0 0 0
Ph_A
Ph_B
250Hz Full Step
V_PHASE_A V_PHASE_B PARAMETERS:
V1 = 0 V1 = 0V f phase = 250Hz
V2 = 5V V2 = 5
TD = 0 TD = {tphase/4} tphase = {1/f phase}
TR = {trphase} TR = {trphase} tdphase = {trphase+pwphase/2} Analysis .Options
TF = {tf phase} TF = {tf phase}
PW = {pwphase} PW = {pwphase}
pwphase = {-2*trphase+tphase/2}
Time Domain (Transient) RELTOL: 0.01
PER = {tphase} PER = {tphase} trphase = 100n
tf phase = {trphase}
Run to time: 4.5ms VNTOL: 1.0m
0 0
Start saving data after: 0ms ABSTOL: 1.0n
Maximum step size: 1u CHGTOL: 10p
 (SKIPBP) GMIN: 1.0E-12
Parametric Sweep ITL1: 500
 Voltage source ITL2: 200
Name: VM ITL4: 100
 Value list: 12, 18, 24
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 31

32. 7. Optimization of The Drive Voltage VM
7.5V
Current ripple
0V
V(PH_A)
7.5V
0V
VM=24V
V(PH_B)
VM=18V
VM=24V VM=12V
VM=18V
0A
VM=12V
SEL>>
0s 4.0ms
Current ripple
I(U1:OUT_A1)
Time
• These figures show that the current changing rates (rise and fall time) depend on the drive voltage
(VM). The higher current changing rate means higher phase frequency is available.
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 32

33. Simulations index
Simulations Folder name
1. Full Step Switching Sequence....................................................... Full-Step
2. Half Step Switching Sequence....................................................... Half-Step
3. STANDBY....................................................................................... STANDBY
4. TORQUE........................................................................................ TORQUE
5. Phase A Over-current Protection.................................................... OCP_A
6. Phase B Over-current Protection................................................... OCP_B
7. Ripple Current Simulation.............................................................. RIPPLE
8. Current Changing Rate Simulation................................................. I_Step
9. Optimization of The Drive Voltage VM.......................................... VM
All Rights Reserved Copyright (C) Bee Technologies Corporation 2009 33