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TB9060FN
Preliminary
TOSHIBA CMOS Digital Integrated Circuit Silicon Monolithic
TB9060FN
3-Phase Full-Wave Sensorless Controller for Brushless DC Motors
The TB9060FN is a 3-phase full-wave sensorless controller for brushless DC motors. It is capable of controlling voltage by PWM signal input. When combined with various drive circuits, it can be used for various types of motors.
Features
* * * * * * * * * 3-phase full-wave sensorless drive PWM control (PWM signal is applied externally.) Turn-on signal output current: 20 mA Overcurrent protection function Forward/reverse modes Lead angle control function (0, 7.5, 15 and 30) Lap turn-on function Two types of PWM output (upper PWM and upper/lower alternate PWM) Rotational speed sensing function Weight: 0.10 g (typ.)
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Block Diagram
VDD 13 SEL_BIT0 SEL_BIT1 SEL_LAP SEL_OUT PWM 6 7 9 5 PWM control 3 Rotation instruction circuit Timing control Turn-on signal forming circuit 15 OUT_UP 16 OUT_VP 17 OUT_WP 19 OUT_UN 20 OUT_VN 21 OUT_WN 14 OUT_FG
CW_CCW
4
LA0 LA1 XTin XT
1 2 11 10
Lead angle setting circuit
Overcurrent protection circuit Position detection circuit
23 OC
Clock generator circuit
24 WAVE
12 GND
8 TEST
Pin Assignment
TB9060FN LA0 LA1 PWM CW_CCW SEL_OUT SEL_BIT0 SEL_BIT1 TEST SEL_LAP XT XTin GND 1 2 3 4 5 6 7 8 9 10 11 12 24 23 22 21 20 19 18 17 16 15 14 13 WAVE OC NC OUT_WN OUT_VN OUT_UN NC OUT_WP OUT_VP OUT_UP OUT_FG VDD
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Pin Description
Pin No. Symbol I/O Lead angle setting signal input pin 1 LA0 I LA0 = Low, LA1 = Low: Lead angle 0 LA0 = High, LA1 = Low: Lead angle 7.5 LA0 = Low, LA1 = High: Lead angle 15 2 LA1 I LA0 = High, LA1 = High: Lead angle 30 Built-in pull-down resistor (100 kW) PWM signal input pin Applies active low PWM signal 3 PWM I Built-in pull-up resistor (100 kW) Disables input of duty-100% (low) signal High for 250 ns or longer is required. Rotation direction signal input pin 4 CW_CCW I High: Reverse (U (R) W (R) V) Low, Open: Forward (U (R) V (R) W) Built-in pull-down resistor (100 kW) Pin to select the synthesis method of turn-on signal and PWM signal Low: Upper PWM 5 SEL_OUT I High: Upper/Lower alternate PWM Built-in pull-down resistor (100 kW) The number of counter bit (within the IC) select pin 6 SEL_BIT0 I The forced commutation frequency at the time of start is determined by the resonator's frequency and the number of counter bit. SEL_BIT0 = High, SEL_BIT1 = High: 16 bits SEL_BIT0 = Low, SEL_BIT1 = High: 14 bits 7 SEL_BIT1 I SEL_BIT0 = High, SEL_BIT1 = Low: 12 bits SEL_BIT0: Built-in pull-down resistor (100 kW), SEL_BIT1: Built-in pull-up resistor (100 kW) Test pin 8 TEST I Built-in pull down resistor (10 kW) Please connect this pin to GND in your application. Lap turn-on select pin Low: Lap turn-on 9 SEL_LAP I High: 120 turn-on Built-in pull-up resistor (100 kW) 10 XT 3/4 3/4 3/4 Resonator connecting pin Selects starting commutation frequency. Starting commutation frequency fst = Resonator frequency fxt/(6 2
(BIT + 3)
Description
)
11 12
XTin GND
BIT: The number of counter bit which is decided by SEL_BIT0 and SEL_BIT1. Connected to ground.
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Pin No. 13 Symbol VDD I/O 3/4 Connected to 5-V power supply. Rotation signal output pin 14 OUT_FG O Motor is stopped or starting: Low Motor is in operation: The level is changed by electrical frequency of the motor. U-phase upper turn-on signal output pin 15 OUT_UP O U-phase winding wire positive ON/OFF switching pin ON: Low, OFF: High V-phase upper turn-on signal output pin 16 OUT_VP O V-phase winding wire positive ON/OFF switching pin ON: Low, OFF: High W-phase upper turn-on signal output pin 17 OUT_WP O W-phase winding wire positive ON/OFF switching pin ON: Low, OFF: High 18 NC 3/4 Not connected U-phase lower turn-on signal output pin 19 OUT_UN O U-phase winding wire negative ON/OFF switching pin ON: High, OFF: Low V-phase lower turn-on signal output pin 20 OUT_VN O V-phase winding wire negative ON/OFF switching pin ON: High, OFF: Low W-phase lower turn-on signal output pin 21 OUT_WN O W-phase winding wire negative ON/OFF switching pin ON: High, OFF: Low 22 NC 3/4 Not connected Overcurrent signal input pin 23 OC I High on this pin can put constraints on the turn-on signal which is performing PWM control. Built-in pull-up resistor (100 kW) Position signal input pin 24 WAVE I Applies majority logic synthesis signal of three-phase pin voltage. Built-in pull-up resistor (100 kW) Description
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Functional Description
1. Sensorless Drive
On receipt of PWM signal start instruction, turn-on signal for forced commutation (commutation irrespective of the motor's rotor position) is driven onto pins 15 to 17 and pins 19 to 21, and the motor starts to rotate. The motor's rotation causes induced voltage on winding wire pin for each phase. When signals indicating positive or negative for pin voltage (including induced voltage) for each phase are applied on respective position signal input pin, the turn-on signal for forced commutation is automatically switched to turn-on signal for position signal (induced voltage). Thereafter turn-on signal is formed according to the induced voltage contained in the pin voltage so as to drive the brushless DC motor. Sensorless drive timing charts (lead angles: 0, 7.5, 15 and 30) are shown below.
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Figure 1
Pin voltage Vu 30 30
Sensorless drive timing chart (lead angle: 0)
Reference voltage (Vn)
Vv
Vw
Position signal Pu Pv Pw
The waveform of the reference voltage (Vn) is compared with that of pin voltage (Vu, Vv and Vw) to generate Pu, Pv and Pw.
Ps is derived by the taking of a majority vote from Pu, Pv and Pw. Ps The Ps is squared to generate Qs. Acknowledge signal Qs (within the IC) A Mode B C D E F A
Timer 1 Delay time is set for T/2 by timer 2 based on T cycle of timer 1. T Timer 2 T/2 Period during which an inductive voltage is not detected is set for 3T/4 by timer 3 based on T cycle of timer 1. Timer 3 T
3T/4
Zero-cross point is detected after the 3T/4 period. Zero-cross detection period
Turn-on signal U + + + -
V
W
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Figure 2
Pin voltage Vu 37.5 22.5
Sensorless drive timing chart (lead angle: 7.5)
Reference voltage (Vn)
Vv
Vw
Position signal Pu Pv Pw
The waveform of the reference voltage (Vn) is compared with that of pin voltage (Vu, Vv and Vw) to generate Pu, Pv and Pw.
Ps is derived by the taking of a majority vote from Pu, Pv and Pw. Ps The Ps is squared to generate Qs. Acknowledge signal Qs (within the IC) A Mode B C D E F A
Timer 1 Timer 2 T/2-7.5 Period during which an inductive voltage is not detected is set for 3T/4 by timer 3 based on T cycle of timer 1. Delay time is set for T/2 - 7.5 by timer 2 based on T cycle of timer 1.
T Timer 3
3T/4 Zero-cross point is detected after the 3T/4 period. Zero-cross detection period Turn-on signal U + + + -
V
W
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Figure 3
Pin voltage Vu 45 15
Sensorless drive timing chart (lead angle: 15)
Reference voltage (Vn)
Vv
Vw
Position signal Pu Pv Pw
The waveform of the reference voltage (Vn) is compared with that of pin voltage (Vu, Vv and Vw) to generate Pu, Pv and Pw.
Ps is derived by the taking of a majority vote from Pu, Pv and Pw. Ps The Ps is squared to generate Qs. Acknowledge signal Qs (within the IC) A Mode B C D E F A
Timer 1 T Delay time is set for T/2 - 15 by timer 2 based on T cycle of timer 1.
Timer 2 T/2-15 Period during which an inductive voltage is not detected is set for 3T/4 by timer 3 based on T cycle of timer 1.
T Timer 3
3T/4
Zero-cross point is detected after the 3T/4 period. Zero-cross detection period
Turn-on signal U + + + -
V
W
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Figure 4
Pin voltage Vu 60
Sensorless drive timing chart (lead angle: 30)
Reference voltage (Vn)
Vv
Vw
Position signal Pu Pv Pw
The waveform of the reference voltage (Vn) is compared with that of pin voltage (Vu, Vv and Vw) to generate Pu, Pv and Pw.
Ps is derived by the taking of a majority vote from Pu, Pv and Pw. Ps The Ps is squared to generate Qs. Acknowledge signal Qs (within the IC) F Mode A B C D E F A
Timer 1 Delay time is set for T/2 - 30 by timer 2 based on T cycle of timer 1. Timer 2 T/2-30 Period during which an inductive voltage is not detected is set for 3T/4 by timer 3 based on T cycle of timer 1.
Timer 3
3T/4 Zero-cross point is detected after the 3T/4 period. Zero-cross detection period Turn-on signal U + + + -
V
W
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2. Starting commutation frequency (resonator pin and counter bit select pin)
The forced commutation frequency at the time of start is determined by the resonator's frequency and the number of counter bit (within the IC). SEL_BIT0 = High, SEL_BIT1 = High: Bit = 16 SEL_BIT0 = Low, SEL_BIT1 = High: Bit = 14 SEL_BIT0 = High, SEL_BIT1 = Low: Bit = 12 Starting commutation frequency fst = Resonator frequency fxt/(6 2 (BIT + 3)) (BIT: The number of counter bit which is decided by SEL_BIT0 and SEL_BIT1.) The forced commutation frequency at the time of start can be adjusted using inertia of the motor and load. * The forced commutation frequency should be set higher as the number of magnetic poles increases. * The forced commutation frequency should be set lower as the inertia of the load increases.
2.1 Forced commutation pattern
Forced commutation is performed at the timings as shown below according to the state of CW_CCW. The commutation pattern immediately after the motor starts is always the same.
(1)
Forward rotation (CW_CCW = Low)
30 60 60 60
Electrical degree Start
60
60
H U-phase output voltage
H M L H H M L H H L M
V-phase output voltage L
M
W-phase output voltage
M L L
M
(2)
Reverse rotation (CW_CCW = High)
30 60 60 60 60 60
Electrical degree Start
H U-phase output voltage
H M L L H H M
M V-phase output voltage L L H W-phase output voltage L M
M
H M L
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3. PWM Control
PWM signal can be reflected in turn-on signal by applying PWM signal externally. The frequency of the PWM signal shoud be set adequately high with regard to the electrical frequency of the motor and in accordance to the switching characteristics of the drive circuit. Because positional detection is performed on the falling edges of PWM signal, positional detection cannot be performed with 0% duty or 100% duty.
Duty (max) 250 ns Duty (min)
250 ns
The voltage applied to the motor is duty 100% because of the storage time of the drive circuit even if the duty is 99%.
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4. Selecting PWM Output Form
PWM output form can be selected using SEL_OUT.
SEL_OUT = Low Upper turn-on signal Lower turn-on signal
Output voltage
SEL_OUT = High Upper turn-on signal Lower turn-on signal
Output voltage
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5. Positional Variation
Since positional detection is performed in synchronization with PWM signal, positional variation occurs in connection with the frequency of PWM signal. Be especially careful when the IC is used for high-speed motors.
PWM signal
Pin voltage
Pin voltage
Reference voltage
Position signal
Ideal detection timing
First detection Second detection Actual detection timing
Variation is calculated by detecting at two consecutive rising edges of PWM signal. 1/fp < Detection time variation < 2/fp fp: PWM frequency
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6. Lead Angle Control
The lead angle is 0 during the starting forced commutation and when normal commutation is started, automatically changes to the lead angle which has been set using LA0 and LA1. However, if both LA0 and LA1 are set high, the lead angle is 30 in the starting forced commutation as well as in natural commutation.
Induced voltage
U V W
(1) Lead angle: 0
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
Turn-on signal
30
(2) Lead angle 7.5
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
22.5
(3) Lead angle 15
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
15
(4) Lead angle 30
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
7. Lap Turn-on Control
When SEL_LAP = High, the turn-on degree is 120. When SEL_LAP = Low, Lap Turn-on Mode starts. In Lap Turn-on Mode, the time between zero-cross point and the 120 turn-on timing becomes longer (shaded area in the below chart) so as to create some overlap when switching turn on signals. The lap time differs depending on the lead angle setting.
Induced voltage
U V W
(1) Lead angle: 0
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
Turn-on signal
Lap Turn-on Area
(2) Lead angle 7.5
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
(3) Lead angle 15
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
(4) Lead angle 30
OUT_UP OUT_UN OUT_VP OUT_VN OUT_WP OUT_WN
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8. Start/Stop Control
Start/Stop is controlled using PWM signal input pin. A stop is acknowledged when PWM signal duty is 0, and a start is acknowledged when ON-signal of a frequency 2 times higher than the resonator frequency or even higher is applied successively.
Timing chart
PWM signal Detection timing
2 cycle periods or more at the resonator frequency Start 512 cycle periods at the resonator frequency PWM Detection
First detection
Second detection
Start
Stop 512 cycle periods at the resonator frequency
First detection
Second detection and stop
Note: Take sufficient care for noise on PWM signal input pin.
9. Rotation Signal Monitor Function
The rotation signal that senses rotational speed and indicates errors including motor lock is driven onto the OUT_FG pin. Low voltage is driven onto the pin at forced commutation of starting and stopping the motor. After natural commutation (position signal is detected) is performed for 480 electrical degrees, the rotation signal in synchronization with the U-phase position detection result is driven onto the pin. If motor lock occurs due to overload during rotation, the forced commutation of starting the motor is performed and low voltage is driven onto the pin. It is possible to determine an error from the relationship between duty cycle of PWM signal and rotation frequency.
480 electrical degrees Position signal
U-phase pin voltage
Rotation signal
OUT_FG
10. Pull-out of Synchronism
If you do not receive the OUT_FG output at the specified frequency while monitoring the rotation signal (OUT_FG output), please restart the TB9060FN.
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Maximum Ratings (Ta = 25C)
Characteristics Power supply voltage Input voltage Turn-on signal output current Power dissipation Operating temperature Storage temperature Lead TemperatureTime Symbol VDD VIN IOUT PD Topr Tstg Tsol Rating 6.0 -0.2~VDD + 0.2 20 850 -40~125 -55~150 260(10s) Unit V V mA mW C C C
Recommended Operating Conditions (Ta = -40~125C)
Characteristics Power supply voltage Input voltage PWM frequency Oscillation frequency Symbol VDD VIN fPWM fosc Test Condition 3/4 3/4 3/4 3/4 Min 4.5 -0.2 3/4 1.0 Typ. 5.0 3/4 16 3/4 Max 5.5 VDD + 0.2 3/4 10 Unit V V kHz MHz
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Electrical Characteristics (VDD = 5 V, Ta = -40 to 125C)
Characteristics Static power supply current Dynamic power supply current Symbol IDD IDD (opr) IIN-1 (H) IIN-1 (L) Input current IIN-2 (H) IIN-2 (L) Input voltage Input hysteresis voltage VIN (H) VIN (L) VH VO-1 (H) VO-1 (L) VO-2 (H) VO-2 (L) VO-3 (H) VO-3 (L) 3/4 3/4 3/4 3/4 3/4 3/4 3/4 3/4 3/4 3/4 3/4 3/4 Test Circuit 3/4 3/4 3/4 3/4 Test Condition PWM = H, XTin = H PWM = 50%Duty, XTin = 4 MHz VIN = 5 V, PWM, OC, WAVE SEL_LAP, SEL_BIT1 VIN = 0 V, PWM, OC, WAVE SEL_LAP, SEL_BIT1 VIN = 5 V, CW_CCW, LA0, LA1, SEL_OUT, SEL_BIT0 VIN = 0 V, CW_CCW, LA0, LA1, SEL_OUT, SEL_BIT0 PWM, OC, SEL_LAP CW_CCW, WAVE, LA0 LA1, SEL_OUT SEL_BIT0, SEL_BIT1 IOH = -1mA OUT_UP, OUT_VP, OUT_WP IOL = 20 mA OUT_UP, OUT_VP, OUT_WP IOH = -20 mA OUT_UN, OUT_VN, OUT_WN IOL = 1 mA OUT_UN, OUT_VN, OUT_WN IOH = 1 mA, OUT_FG IOL = 1 mA, OUT_FG VDD = 5.5 V, VOUT = 0 V OUT_UP, OUT_VP, OUT_WP OUT_UN, OUT_VN, OUT_WN OUT_FG VDD = 5.5 VVOUT = 5.5 V OUT_UP, OUT_VP, OUT_WP OUT_UN, OUT_VN, OUT_WN OUT_FG PWM - Output GND 4.0 GND 3/4 Min 3/4 3/4 3/4 -100 3/4 -1 4.0 GND 3/4 4.0 GND Typ. 0.1 1 0 -50 50 0 3/4 3/4 0.6 3/4 3/4 3/4 3/4 3/4 3/4 Max 0.3 3 1 3/4 mA 100 3/4 VDD 1.0 3/4 VDD 0.7 V 3.8 VDD 0.7 VDD 0.7 V V Unit mA mA
Output voltage
IL (H) Output leak current IL (L)
0
15 mA
3/4 3/4 3/4
3/4 3/4 3/4
0
15
Output delay time
tpLH tpHL
0.5 0.5
1 1
mS
Note1:
Output delay time test waveforms
5V PWM input 50 50 GND VOH PWM output (OUT_UP, OUT_VP,OUT_WP) 50 50 VOL tpHL tpHL tpLH PWM output (OUT_UN, OUT_VN,OUT_WN) 50 50 PWM input 50 50
5V
GND VOH
VOL
tpLH
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Application Circuit Example
VM 0.1 W 5V PWM VDD OUT_UP OUT_UN OUT_VP OUT_VN TB9060FN H/L H/L H/L H/L LA0 LA1 SEL_OUT SEL_LAP XT 10 kW 10 kW 100 kW 3 kW WAVE OUT_FG 1 kW 0.01 mF 1 kW 22 pF OUT_WP 1W OUT_WN OC 100 kW 3
M
CW_CCW H/L H/L SEL_BIT0 SEL_BIT1
XTin 4 MHz GND TEST
TA75393P 200 W
0.01 mF
TA75393P 100 W
CPU 10 kW 3 kW
1 kW 0.01 mF 1 kW
TA75393P 200 W
Note 2: Take enough care in designing output VDD line and ground line to avoid short circuit between outputs, VDD fault or ground fault which may cause the IC to break down. Note 3: The above application circuit and values mentioned are just an example for reference. Since the values may vary depending on the motor to be used, appropriate values must be determined through experiments before using the device. Note 4: TEST pin is only used for factory test, so connect it to ground in application.
0.01 mF
100 kW
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Package Dimensions
Weight: 0.10 g (typ.)
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RESTRICTIONS ON PRODUCT USE
000707EAA_S
* TOSHIBA is continually working to improve the quality and reliability of its products. Nevertheless, semiconductor devices in general can malfunction or fail due to their inherent electrical sensitivity and vulnerability to physical stress. It is the responsibility of the buyer, when utilizing TOSHIBA products, to comply with the standards of safety in making a safe design for the entire system, and to avoid situations in which a malfunction or failure of such TOSHIBA products could cause loss of human life, bodily injury or damage to property. In developing your designs, please ensure that TOSHIBA products are used within specified operating ranges as set forth in the most recent TOSHIBA products specifications. Also, please keep in mind the precautions and conditions set forth in the "Handling Guide for Semiconductor Devices," or "TOSHIBA Semiconductor Reliability Handbook" etc.. * The information contained herein is presented only as a guide for the applications of our products. No responsibility is assumed by TOSHIBA CORPORATION for any infringements of intellectual property or other rights of the third parties which may result from its use. No license is granted by implication or otherwise under any intellectual property or other rights of TOSHIBA CORPORATION or others. * The information contained herein is subject to change without notice.
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