L293d Motor Driver Datasheet

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L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

D D D D D D D D D D

Featuring Unitrode L293 and L293D Products Now From Texas Instruments Wide Supply-Voltage Range: 4.5 V to 36 V Separate Input-Logic Supply Internal ESD Protection Thermal Shutdown High-Noise-Immunity Inputs Functional Replacements for SGS L293 and SGS L293D Output Current 1 A Per Channel (600 mA for L293D) Peak Output Current 2 A Per Channel (1.2 A for L293D) Output Clamp Diodes for Inductive Transient Suppression (L293D)

N, NE PACKAGE (TOP VIEW)

1,2EN 1A 1Y HEAT SINK AND GROUND

16

2

15

3

14

4

13

5

12

2Y 2A

6

11

7

10

VCC2

8

9

VCC1 4A 4Y HEAT SINK AND GROUND 3Y 3A 3,4EN

DWP PACKAGE (TOP VIEW)

1,2EN 1A 1Y NC NC NC

description The L293 and L293D are quadruple high-current half-H drivers. The L293 is designed to provide bidirectional drive currents of up to 1 A at voltages from 4.5 V to 36 V. The L293D is designed to provide bidirectional drive currents of up to 600-mA at voltages from 4.5 V to 36 V. Both devices are designed to drive inductive loads such as relays, solenoids, dc and bipolar stepping motors, as well as other high-current/high-voltage loads in positive-supply applications.

1

HEAT SINK AND GROUND

1

28

2

27

3

26

4

25

5

24

6

23

7

22

8

21

9

20

NC NC 2Y 2A

10

19

11

18

12

17

13

16

VCC2

14

15

VCC1 4A 4Y NC NC NC HEAT SINK AND GROUND NC NC 3Y 3A 3,4EN

All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are enabled and their outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms a full-H (or bridge) reversible drive suitable for solenoid or motor applications. On the L293, external high-speed output clamp diodes should be used for inductive transient suppression. A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device power dissipation. The L293and L293D are characterized for operation from 0°C to 70°C.

Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet. Copyright  2002, Texas Instruments Incorporated

PRODUCTION DATA information is current as of publication date. Products conform to specifications per the terms of Texas Instruments standard warranty. Production processing does not necessarily include testing of all parameters.

POST OFFICE BOX 655303

• DALLAS, TEXAS 75265

1

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

block diagram VCC1 1 0 1 0

1

16

2

15 1

M

14

4

13

5

12

6

11 3

7

10 9

8

VC NOTE: Output diodes are internal in L293D. TEXAS INSTRUMENTS AVAILABLE OPTIONS PACKAGE PLASTIC DIP (NE)

TA

L293NE L293DNE

0°C to 70°C

AVAILABLE OPTIONS PACKAGED DEVICES TA

0°C to 70°C

SMALL OUTLINE (DWP)

PLASTIC DIP (N)

L293DWP L293DDWP

L293N L293DN

The DWP package is available taped and reeled. Add the suffix TR to device type (e.g., L293DWPTR).

2

POST OFFICE BOX 655303

M

4

3

2 1 0

1 0

• DALLAS, TEXAS 75265

1 0 1 0

M

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

FUNCTION TABLE (each driver) INPUTS† OUTPUT A

EN

Y

H

H

H

L

H

L

X

L

Z

H = high level, L = low level, X = irrelevant, Z = high impedance (off) † In the thermal shutdown mode, the output is in the high-impedance state, regardless of the input levels.

logic diagram 1A 1,2EN 2A

3A 3,4EN 4A

2 1 7

10 9 15

ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ ÁÁ

3

6

11

14

1Y

2Y

3Y

4Y

schematics of inputs and outputs (L293) EQUIVALENT OF EACH INPUT

TYPICAL OF ALL OUTPUTS VCC2

VCC1 Current Source

Input

Output

GND

GND

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3

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

schematics of inputs and outputs (L293D) EQUIVALENT OF EACH INPUT

TYPICAL OF ALL OUTPUTS VCC2

VCC1 Current Source

Output

Input

GND GND

absolute maximum ratings over operating free-air temperature range (unless otherwise noted)† Supply voltage, VCC1 (see Note 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 V Output supply voltage, VCC2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 V Input voltage, VI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 V Output voltage range, VO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . –3 V to VCC2 + 3 V Peak output current, IO (nonrepetitive, t ≤ 5 ms): L293 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ±2 A Peak output current, IO (nonrepetitive, t ≤ 100 µs): L293D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ± 1.2 A Continuous output current, IO: L293 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ±1 A Continuous output current, IO: L293D . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . ± 600 mA Continuous total dissipation at (or below) 25°C free-air temperature (see Notes 2 and 3) . . . . . . . 2075 mW Continuous total dissipation at 80°C case temperature (see Note 3) . . . . . . . . . . . . . . . . . . . . . . . . . 5000 mW Maximum junction temperature, TJ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150°C Lead temperature 1,6 mm (1/16 inch) from case for 10 seconds . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260°C Storage temperature range, Tstg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . –65°C to 150°C † Stresses beyond those listed under “absolute maximum ratings” may cause permanent damage to the device. These are stress ratings only, and functional operation of the device at these or any other conditions beyond those indicated under “recommended operating conditions” is not implied. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability. NOTES: 1. All voltage values are with respect to the network ground terminal. 2. For operation above 25°C free-air temperature, derate linearly at the rate of 16.6 mW/°C. 3. For operation above 25°C case temperature, derate linearly at the rate of 71.4 mW/°C. Due to variations in individual device electrical characteristics and thermal resistance, the built-in thermal overload protection may be activated at power levels slightly above or below the rated dissipation.

4

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L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

recommended operating conditions

Supply voltage

VCC1 VCC2

VIH

High level input voltage High-level

VCC1 ≤ 7 V VCC1 ≥ 7 V

VIL

Low-level output voltage

MIN

MAX

4.5

7

VCC1 2.3

36

2.3 –0.3†

UNIT V

VCC1 7

V

1.5

V

V

TA Operating free-air temperature 0 70 °C † The algebraic convention, in which the least positive (most negative) designated minimum, is used in this data sheet for logic voltage levels.

electrical characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C PARAMETER

TEST CONDITIONS

VOH

High-level output voltage

L293: IOH = –1 A L293D: IOH = – 0.6 A

VOL

Low-level output voltage

L293: IOL = 1 A L293D: IOL = 0.6 A

VOKH VOKL

High-level output clamp voltage

L293D: IOK = – 0.6 A

Low-level output clamp voltage

L293D: IOK = 0.6 A

IIH

High level input current High-level

IIL

Low level input current Low-level

ICC1

Logic supply current

A EN A EN

MIN

TYP

VCC2–1.8

VCC2–1.4 1.2

Output supply current

IO = 0

V V V

100

0.2

10

–3

–10

–2

–100

All outputs at high level

13

22

All outputs at low level

35

60

All outputs at high impedance ICC2

1.8

0.2

VI = 0

UNIT V

VCC2 + 1.3 1.3

VI = 7 V

IO = 0

MAX

8

24

All outputs at high level

14

24

All outputs at low level

2

6

All outputs at high impedance

2

4

µA µA

mA

mA

switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C PARAMETER

TEST CONDITIONS

tPLH tPHL

Propagation delay time, low-to-high-level output from A input

tTLH tTHL

Transition time, low-to-high-level output

Propagation delay time, high-to-low-level output from A input

CL = 30 pF, pF

L293NE, L293DNE MIN

See Figure 1

Transition time, high-to-low-level output

TYP

MAX

UNIT

800

ns

400

ns

300

ns

300

ns

switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C PARAMETER

TEST CONDITIONS

L293DWP, L293N L293DDWP, L293DN MIN

TYP

UNIT

MAX

tPLH tPHL

Propagation delay time, low-to-high-level output from A input

750

ns

Propagation delay time, high-to-low-level output from A input

200

ns

tTLH tTHL

Transition time, low-to-high-level output

100

ns

350

ns

CL = 30 pF, pF

See Figure 1

Transition time, high-to-low-level output

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• DALLAS, TEXAS 75265

5

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

PARAMETER MEASUREMENT INFORMATION tf

tr

Input

5 V 24 V

Input

50%

50% 10%

Pulse Generator (see Note B)

VCC1 VCC2

10%

0

tw

A

tPLH

tPHL Y

3V

EN

Output CL = 30 pF (see Note A)

90%

90% 50%

50% 10%

tTHL TEST CIRCUIT

VOLTAGE WAVEFORMS

NOTES: A. CL includes probe and jig capacitance. B. The pulse generator has the following characteristics: tr ≤ 10 ns, tf ≤ 10 ns, tw = 10 µs, PRR = 5 kHz, ZO = 50 Ω.

Figure 1. Test Circuit and Voltage Waveforms

POST OFFICE BOX 655303

VOH

Output 10%

6

3V

90%

90%

• DALLAS, TEXAS 75265

VOL tTLH

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

APPLICATION INFORMATION 5V

24 V VCC2

VCC1 16

10 kΩ

3

1,2EN 1

Control A

1A

1Y

2

3

Motor 2A

2Y

7

6

3,4EN 9

Control B

3A

3Y

10

11

4A

4Y

15

14 Thermal Shutdown

4, 5, 12, 13 GND

Figure 2. Two-Phase Motor Driver (L293)

POST OFFICE BOX 655303

• DALLAS, TEXAS 75265

7

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

APPLICATION INFORMATION 5V

24 V VCC1

10 kΩ

VCC2 3

16

1,2EN 1

Control A

1Y

1A 2

3

Motor 2A

2Y

7

6

3,4EN 9

Control B

3A 10

3Y

4A 15

4Y

11

14 Thermal Shutdown

4, 5, 12, 13 GND

Figure 3. Two-Phase Motor Driver (L293D)

8

POST OFFICE BOX 655303

• DALLAS, TEXAS 75265

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

APPLICATION INFORMATION VCC2

SES5001 M1

SES5001 M2

3A 10

11

4A 15

EN

3A

H

H

Fast motor stop

H

Run

H

L

Run

L

Fast motor stop

X

Free-running motor stop

X

Free-running motor stop

14 16

8

VCC1

L 1/2 L293

9

EN

M1

4A

M2

L = low, H = high, X = don’t care

4, 5, 12, 13 GND

Figure 4. DC Motor Controls (connections to ground and to supply voltage) VCC2

2 × SES5001

M

2A

1A 7

6

3

1A

2A

H

L

H

Turn right

H

H

L

Turn left

EN

2 × SES5001 2 16 8 1/2 L293

1

VCC1

FUNCTION

H

L

L

Fast motor stop

H

H

H

Fast motor stop

L

X

X

Fast motor stop

EN L = low, H = high, X = don’t care

4, 5, 12, 13 GND

Figure 5. Bidirectional DC Motor Control

POST OFFICE BOX 655303

• DALLAS, TEXAS 75265

9

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

APPLICATION INFORMATION IL1/IL2 = 300 mA

C1 0.22 µF

16

L293

1 2 D5

L1

VCC2

IL1

15 +

D1

+

D8

3

14

4

13

5

12

6

11 +

D6

VCC1

D4

L2

IL2

+

7

10

8

9

D7

D3

D2

D1–D8 = SES5001

Figure 6. Bipolar Stepping-Motor Control

mounting instructions The Rthj-amp of the L293 can be reduced by soldering the GND pins to a suitable copper area of the printed circuit board or to an external heatsink. Figure 9 shows the maximum package power PTOT and the θJA as a function of the side of two equal square copper areas having a thickness of 35 µm (see Figure 7). In addition, an external heat sink can be used (see Figure 8). During soldering, the pin temperature must not exceed 260°C, and the soldering time must not be longer than 12 seconds. The external heatsink or printed circuit copper area must be connected to electrical ground.

10

POST OFFICE BOX 655303

• DALLAS, TEXAS 75265

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

APPLICATION INFORMATION Copper Area 35-µm Thickness

Printed Circuit Board

Figure 7. Example of Printed Circuit Board Copper Area (used as heat sink)

17.0 mm

11.9 mm

38.0 mm

Figure 8. External Heat Sink Mounting Example (θJA = 25°C/W)

POST OFFICE BOX 655303

• DALLAS, TEXAS 75265

11

L293, L293D QUADRUPLE HALF-H DRIVERS SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002

APPLICATION INFORMATION MAXIMUM POWER AND JUNCTION vs THERMAL RESISTANCE

MAXIMUM POWER DISSIPATION vs AMBIENT TEMPERATURE

4

80

2

60

40

PTOT (TA = 70°C)

1

20

0

0 0

10

30

20 Side

40

50

P TOT – Power Dissipation – W

θJA

3

θ JA – Thermal Resistance – °C/W

P TOT – Power Dissipation – W

5 With Infinite Heat Sink 4

3

Heat Sink With θJA = 25°C/W

2 Free Air 1

0 –50

50

100

TA – Ambient Temperature – °C

– mm

Figure 9

12

0

Figure 10

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• DALLAS, TEXAS 75265

150

IMPORTANT NOTICE Texas Instruments Incorporated and its subsidiaries (TI) reserve the right to make corrections, modifications, enhancements, improvements, and other changes to its products and services at any time and to discontinue any product or service without notice. Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete. All products are sold subject to TI’s terms and conditions of sale supplied at the time of order acknowledgment. TI warrants performance of its hardware products to the specifications applicable at the time of sale in accordance with TI’s standard warranty. Testing and other quality control techniques are used to the extent TI deems necessary to support this warranty. Except where mandated by government requirements, testing of all parameters of each product is not necessarily performed. TI assumes no liability for applications assistance or customer product design. Customers are responsible for their products and applications using TI components. To minimize the risks associated with customer products and applications, customers should provide adequate design and operating safeguards. TI does not warrant or represent that any license, either express or implied, is granted under any TI patent right, copyright, mask work right, or other TI intellectual property right relating to any combination, machine, or process in which TI products or services are used. Information published by TI regarding third–party products or services does not constitute a license from TI to use such products or services or a warranty or endorsement thereof. Use of such information may require a license from a third party under the patents or other intellectual property of the third party, or a license from TI under the patents or other intellectual property of TI. Reproduction of information in TI data books or data sheets is permissible only if reproduction is without alteration and is accompanied by all associated warranties, conditions, limitations, and notices. Reproduction of this information with alteration is an unfair and deceptive business practice. TI is not responsible or liable for such altered documentation. Resale of TI products or services with statements different from or beyond the parameters stated by TI for that product or service voids all express and any implied warranties for the associated TI product or service and is an unfair and deceptive business practice. TI is not responsible or liable for any such statements.

Mailing Address: Texas Instruments Post Office Box 655303 Dallas, Texas 75265

Copyright  2002, Texas Instruments Incorporated

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