Unipolar Driver ICs

SLA7020M WITH MOSFETs

SLA7021M
Ratings
Absolute
maximum
ratings

Motor supply
Voltage

Type No.
SLA7020M

Control
voltage

(V)

FET output
breakdown
voltage
(V)

(V)

V CC

VDS

VS

46

SLA7021M

100

TTL input
voltage

Reference
voltage

Output
current

Power
dissipation

Channel
temperature

Storage
temperature

(V)

(V)

(A)

(W)

(C)

(C)

V IN

VREF

IO

PD

Tch

Tstg

4.5 (No Fin)

150

40 to +150

32

1.5

Characteristics (1) DC Characteristics

Electrical
characteristics

Control
current

Control
voltage

(mA)

(V)

FET turn-on voltage

VS = 30V
IS

Type No.

min typ

SLA7020M
SLA7021M

5.5 10

15

10

19

Type No.
SLA7020M
SLA7021M

12

FET diode
forward voltage
(V)
(7020M) I SD = 1A
(7021M) I SD = 3A
V SD
min

typ

max

1.1
2.3

TTL input
voltage

(V)

TTL input
voltage
(OUT)
(V)

(A)

(mA)

V IH = 2.4V
V S = 30V

V IL = 0.4V
VS = 30V

ID = 1A

VDSS = 100V

V DSS = 100V

I D = 1A

IIL

VIH

VIL

V IH

VIL

typ max min

typ

min

typ

IDSS
max

0.6
0.85

(s)
V S = 24V
ID = 1A
Tstg

Tf

min typ max min typ max min typ

0.7

IIH

min typ max min typ max min typ

Switching time

0.5

TTL input
voltage

(mA)

30

Tr

TTL input
voltage
(OUT)
(V)

VDSS = 100V
VS = 30V

(2) AC Characteristics
Electrical
characteristics

TTL input
current

(V)

VDS

typ max

TTL input
current

(7020M) ID =1A, VS =14V

(7021M) ID =3A, VS =14V
VS

max min

FET drain
leak current

0.1

max

40

max min typ max min

0.8 2.0

0.8 2.0

(V)

max min typ max

0.8

SLA7020M and SLA7021M

Block diagram
Motor main
power supply
VCC

Reference voltage
Vb
r1

r3/

r2

Auxiliary
Excitation
power supply
signal

r4

RC for setting
chopper OFF
time

Motor

C1/C2
VS

Td

r5/r

IN

OUT

OUT

RC for protection
against chopping
malfunctions

REF
C3/C4

Current peak
detector
circuit

Excitation signal
transfer circuit

Chopper OFF
time control
circuit

Current control and

counter EMF
canceller circuit

GND

RS
Current detection resistor
RS

Da/D

Internal circuit diagram (enclosed with chain line)

VCC

Reg

r3
C1

12
REFB

TDA

GNDA

RSA

C3

r2

13

11

9
Vb(5V)

r4

r1
r5

OUTB

REFA

15

Reg

Da

10

TDB

RS

14

r6

RSB

OUTB

VS

INA

GNDB

INB

OUTA

OUTA

Vs=10~30V

C4

Db

RS

C2

13

SLA7020M and SLA7021M

Diagram of standard external circuit (Recommended circuit constants)
VCC (46V max)

Excitation signal time chart

2-phase excitation
clock
INA
INB

VS (10~30V)

0
H
L

1
H
H

2
L
H

3
L
L

0
H
L

1
H
H

1-2 phase excitation

VREF (5V)

8
1
VS OUTA

r3

15
OUTB

r1

r4

INA
2
11

C1

6
10
OUTA OUTB

TdA
TdB

SLA7020M
SLA7021M

INB

C2

r2

RSA REFA REFB RSB

7
3 13
9

Open
collector

C4

C3

Da
Rs

r5

r6

GA
4
Db

Rs

GB
12

14

INA

INB

clock
INA
tdA
INB
tdB

0
H
L
L
L

1
H
L
L
H

2
H
L
H
L

3
H
H
H
L

4
L
L
H
L

5
L
L
H
H

6 7 0 1
L L H H
L H L L
L L L L
L L L H

2
H
L
H
L

tdA and tdB are signals before the inverter stage.

r1
r2
r3
r4
r5
r6
C1
C2
C3
C4

510
100 (VR)
47k
47k
2.4k
2.4k
470pF
470pF
2200pF
2200pF

Da. Db
Rs

7020M
EK03
1 typ

7021M
RK34
0.68 typ

tdB

tdA

External dimensions

(Unit: mm)
Epoxy resin package

+0.2

+0.2

0.65 0.1

1.15 0.1

40.7

14P2.030.4=28.420.8

2.20.4
6.30.6
7.50.6

14P2.030.7=28.421.0
31.30.2

1 2 3 15

Forming number No. 853

12 3 15

Forming number No. 855

4.60.6
+0.2

+0.2

1.15 0.1

+0.2

0.55 0.1

1.60.6

+1

+0.2

0.65 0.1

(3)

R-End

30.6

2.45 0.2

0.55 0.1

Type No.
Lot No.

4.8 0.2
1.7 0.1

9.7 0.5

9.9 0.2

16 0.2

13 0.2

3.2 0.153.8

6.70.5

310.2
24.40.2
16.40.2

3.20.15

14

3
H
H
H
L

SLA7024M, SLA7026M, SLA7027MU, SLA7022MU, SLA7029M,

SMA7022MU, SMA7029M, SLA7020M, SLA7021M and SDK03M
Application Note
Determining the output current
Fig. 1 shows the waveform of the output current (motor coil
current). The method of determining the peak value (lo) of
the output current based on this waveform is shown below.
<Parameters for determining the output current lo>
Vb
r 1, r 2
Rs

: Reference supply voltage

: Voltage-divider resistors for the reference supply
voltage
: Current detection resistor

(1) Normal rotation mode

lo is determined as follows when current flows at the
maximum level during motor rotation. See Fig. 2, 3 and
4.
Vb
r2
.
lo =.

................................................... q
r1+r2 R s

To determine rx, equation w can be modified to obtain

equation e.
1
.
.............................. e
rx =.
1
1
Vb
1
r2
r1 Rsl OPD

Fig. 3 Circuit for fixing the coil current

Vb(5V)

r5

(2) Power down mode

The circuits in Fig. 5, 6 and 7 (rx and Tr) are added in
order to decrease the coil current. lo is then determined
as follows.
1
Vb
.
IOPD =.

....................................... w
r1(r2+rx) Rs
1+
r 2rx

Fig. 1 Waveform of coil current (Phase A excitation ON)

SLA7024M
SLA7026M
SLA7027MU

r6

r1

r2

3,(14)
C3

9,(10)
RS

Fig. 4 Circuit for fixing the coil current

Vb(5V)

IO

r6

r1

SDK03M

r5

Phase A
r2

C3

10 13 15

Phase A
RS

Fig. 5 Circuit for fixing the coil current

Fig. 2 Circuit for fixing the coil current

SLA7022MU
SLA7029M
SMA7022MU
SMA7029M
SLA7020M
SLA7021M

Vb(5V)
Vb(5V)

SLA7022MU
SLA7029M
SMA7022MU
SMA7029M
SLA7020M
SLA7021M

r6
r1
r5
r2

3,(13)
C3

7,(9)
RS

r6
r1
r5
rX
Power down
signal

3,(13)

r2
C3

7,(9)

Tr
RS

17

SLA7024M, SLA7026M, SLA7027MU, SLA7022MU, SLA7029M,

SMA7022MU, SMA7029M, SLA7020M, SLA7021M and SDK03M
Application Note
Fig. 6 Circuit for fixing the coil current

Fig. 9 Output current lOPD vs. Variable current resistor r x

Vb(5V)
r6
r5

r1

Power down
signal

9,(10)

r2

SLA7024M, SLA7026M, SLA7029M, SLA7027MU, SLA7022MU,

SLA7020M, SLA7021M, SMA7029M, SMA7022MU, SDK03M
2

Output current IOPD (A)

rX

3,(14)

SLA7024M
SLA7026M
SLA7027MU

C3
Tr

1.5

RS =0.5

RS =0.8
RS =1

Fig. 7 Circuit for fixing the coil current

00

Vb(5V)
r6
r5
rX

r2
C3

Power down
signal

10 13 15

Tr
RS

Fig. 8 and 9 show the graphs of equations q and w ,

respectively.
Fig. 8 Output current Io vs. Current detection resistor Rs
SLA7024M, SLA7026M, SLA7029M, SLA7027MU,
SLA7022MU, SLA7020M, SLA7021M, SMA7029M,
SMA7022MU, SDK03M

Output current IO (A)

3
IO= r2 Vb
r1+r2 RS
r1=510
r2=100
rx=
Vb=5V

Current detection resistor RS ()

18

2.0

4.0

Variable current resistor rX ()

SDK03M

r1

1
Vb
r1(r2+rX) RS
1+
r 2 rX
r1=510
r2=100
Vb=5V
1000
1200
6.0
8.00
IOPD=

0.5

NOTE:
Ringing noise is produced in the current detection resistor
Rs when the MOSFET is switched ON and OFF through
chopping. This noise is also generated in feedback signals
from Rs which may therefore causes the comparator to
malfunction.
To prevent chopping malfunctions, r 5(r 6 ) and C 3(C 4) are
added in order to act as noise filter.
However, when the values of these constants are increased,
the response from Rs to the comparator becomes slow.
Hence, the value of the output current lo is higher to some
extent than the computed value.

SLA7024M, SLA7026M, SLA7027MU, SLA7022MU, SLA7029M,

SMA7022MU, SMA7029M, SLA7020M, SLA7021M and SDK03M
Application Note
Determining the chopper frequency
Fig. 10 Chopper frequency vs. Motor coil resistance

r3

47k
r4
500PF
C1 = C2 =
TOFF =12s
RS =1
Lm
=1~3ms
Rm
4V
=2
C
VC
V
=36
VCC

60

2
2
.
TOFF =. r 3C1Rn(1
) = r 4C 2Rn(1
)
Vb
Vb
The circuit constants and the TOFF value shown below are
recommended.
TOFF
r3
C1
Vb

12 s
47 K
500 pF
5V

=
=
=
=

ON time TON (s)

50
40
30
20

15

20
25
30
35
40

10

Chopping frequency (KHz)

Determining TOFF: SLA7000M series, SMA7000M series and

SDK03M are self-excited choppers. The chopping OFF
time T OFF is fixed by r 3/C 1 and r 4/C 2 connected to terminal
Td.
TOFF can be computed through the following formula:

0
0

4
6
8
10 12 14
Motor coil resistance Rm ()

16

Thermal design
An outline on the method of computing heat dissipation is
shown below.

SDK03M
2-phase excitation

.
: Pdiss =. P H + 0.015 x Vs (W)
. 3
1-2 phase excitation : Pdiss =. PH + 0.015 x Vs (W)
4

SLA7026M and SLA7021M

2.0

=4

4V

Typ.
Motor : 23PM-C503
Rm=1.16 /
Lm=2.9mA/
Holding mode

3.0

15

SLA7000M and SMA7000M series

.
2-phase excitation : Pdiss =. 2P H + 0.015 x Vs (W)
. 3
1-2 phase excitation : Pdiss =. PH + 0.015 x Vs (W)
2

4.0

VC

(2) The power dissipation Pdiss is obtained through the

following formula.

Heat dissipation per phase PH (W)

(1) Obtain the PH that corresponds to the motor coil current

IO from Fig. 11 Heat dissipation per phase P H vs. Output current lo.

24
V

36

1.0
0
0

1.0
2.0
Output current IO (A)

(3) Obtain the temperature rise that corresponds to the

computed Pdiss from Fig. 12 Temperature rise curve.

3.0

Heat dissipation per phase PH (W)

1.2

SLA7024M, SLA7029M, SMA7029M and SLA7020M

Typ.
Motor : 23LM-C004
Holding mode

1.0
0.8

VCC

0.6

36V

=44

24V

0.4

15V

0.2
0

0.2

0.4
0.6
Output current IO (A)

0.8

1.0

Heat dissipation per phase PH (W)

SLA7022MU, SLA7027MU, SMA7022MU and SDK03M

Fig. 11 Heat dissipation per phase PH vs. Output current lo

1.4

Typ.
Motor : 23LM-C202
Holding mode

1.2
1
0.8

VCC

0.6

V
=44
V
36
V
24
V

15
0.4
0.2
0

0.2

0.4

0.6

0.8

Output current IO (A)

19

SLA7024M, SLA7026M, SLA7027MU, SLA7022MU, SLA7029M,

SMA7022MU, SMA7029M, SLA7020M, SLA7021M and SDK03M
Application Note
Fig. 12 Temperature rise curve

Comparison of losses
8

SLA7000M series

150

Tja
TCa (C)

100

Power dissipation PH (W)

Natural cooling
Without heatsink

50

2
3
Total power (W)

6
5
Sanken product : SI-7300A

3
2 SLA7024M, SLA7029M,
SMA7029M and SLA7020M

Tja
(C)
TCa

100

50

2
Total power (W)

SDK03M

150

Tja (C)
TCa

100
C
T

50

20

Glass epoxy board

(mounted on level surface)
(95691.2mm)
Natural cooling

IO=1A

1
0

10

20

30

40

50

Supply voltage VCC (V)

Natural cooling
Without heatsink

IO=1A

150 SMA7000M series

Motor : 23LM-C202
IO : Output current
2-phase excitation,
holding mode

1
2
Total power (W)

SLA7024M, SLA7026M, SLA7027MU, SLA7022MU, SLA7029M,

SMA7022MU, SMA7029M, SLA7020M, SLA7021M and SDK03M
Application Note
Heat dissipation characteristics
SLA7026M and SLA7021M

Case temperature rise TCa (C)

Case temperature rise TCa (C)

30 SLA7024M, SLA7029M and SLA7020M

25
20
15
10
5

Without heatsink
Natural cooling

Motor : PH265-01B
(Rm=7 / , Lm=9mH/ )
Motor current IO=0.8A
Ta=25C
VCC=24V, VS=24V
2-phase excitation

0
200

500

50

40

30

20

10

TC ( 4 pin)
1K

Without heatsink
Natural cooling
Motor : 23PM-C705
(Rm=1.27 / , Lm=1.8mH/ )
VCC=24V, VS=24V, IO=1.5A
TC ( 4 pin) 2-phase excitation

0
100

2K

30
25
20

Without heatsink
Natural cooling

15

5
0
200

Motor : PH265-01B
(Rm=7 / , Lm=9mH/ )
Motor current IO=0.8A
Ta=25C
VCC=24V, VS=24V
2-phase excitation
500

25
20
15
10
5

TC ( 4 pin)
1K

0
200

2K

Motor : PH265-01B
(Rm=7 / , Lm=9mH/ )
Motor current IO=0.8A
Ta=25C
VCC=24V, VS=24V
2-phase excitation
500

25
20
15

0
200

Without heatsink
Natural cooling

500

TC ( 4 pin)
1K

Response frequency (pps)

2K

Case temperature rise TCa (C)

Case temperature rise TCa (C)

50

Motor : PH265-01B
(Rm=7 / , Lm=9mH/ )
Motor current IO=0.8A
Ta=25C
VCC=24V, VS=24V
2-phase excitation

Without heatsink
Natural cooling

TC ( 4 pin)
1K

2K

Response frequency (pps)

30 SMA7029M

5K

30

Response frequency (pps)

10

1K

35 SMA7022MU

Case temperature rise TCa (C)

Case temperature rise TCa (C)

35 SLA7022MU and SLA7027MU

10

500

Response frequency (pps)

Response frequency (pps)

SDK03M

40

30

20

10

Natural cooling
Glass epoxy board
(mounted on level surface)
(95691.2mm)
Motor : PH265-01B
(Rm=7 / , Lm=9mH/ )
Motor current IO=0.8A
Ta=25C
VCC=24V, VS=24V
2-phase excitation

0
200

500

TC
( 9 pin)
1K

2K

Response frequency (pps)

21

SLA7024M, SLA7026M, SLA7027MU, SLA7022MU, SLA7029M,

SMA7022MU, SMA7029M, SLA7020M, SLA7021M and SDK03M
Application Note
Torque characteristics

Supply voltage Vcc vs. Supply current Icc

SLA7024M, SLA7029M, SMA7029M and SLA7020M

SLA7024M, SLA7029M, SMA7029M and SLA7020M

Motor : 23LM-C004 (6V/1.2A)
1-phase excitation
Holding mode
Chopper period T = 47 s
IO : Output current

400

Pull-out torque (kg-cm)

Supply current ICC (mA)

Motor : 23LM-C202 (1V/1.1A)

Output current IO =0.8A
Motor supply voltage VCC =24V
2-phase excitation

2.0

500

300

200

IO=1A

100

1.5

1.0

0.5

IO=0.5A
IO=0.2A
0

10

20

30

40

0
100

50

500

2k 3k 4k 5k

1k

Response frequency (pps)

Supply voltage VCC (V)

SLA7026M and SLA7021M

SLA7026M and SLA7021M

6.0

Motor : 23PM-C503
Rm=1.16/
Lm=2.9mH/
1-phase excitation, holding mode
IO : Output current

5.0

Pull-out torque (kg-cm)

Supply current ICC (A)

1.5

1.0

0.5

IO=3A
IO=2A
IO=1A

10

20

30

40

4.0
3.0

Motor : 23PM-C705
Rm=1.27/
Lm=1.8mH/
VCC =24V
IO =2.5A
2-phase excitation

2.0
1.0
0
100

50

500

1k

3k

5k

Supply voltage VCC (V)

Response frequency (pps)

SLA7022MU, SLA7027MU, SMA7022MU and SDK03M

SLA7027MU, SLA7022MU, SMA7022MU and SDK03M

400

300

200

IO=1A
100

0.4A
0.2A
0

10

20

30

Supply voltage VCC (V)

22

40

Motor : PX244-02
Output current IO =0.6A
Motor supply voltage VCC =24V
2-phase excitation

2.0

Motor : 23LM-C202 (4V/1A)

1-phase excitation, holding mode
IO : Output current

50

Pull-out torque (kg-cm)

Supply current ICC (mA)

500

10k

1.5

1.0

0.5

0
100

500

1k

2k 3k

5k

Response frequency (pps)

10k

SLA7024M, SLA7026M, SLA7027MU, SLA7022MU, SLA7029M,

SMA7022MU, SMA7029M, SLA7020M, SLA7021M and SDK03M
Application Note
Chopper frequency vs. Output current

50

50

40

40

30

30

f (kHz)

f (kHz)

Chopper frequency vs. Supply voltage

20

Motor : 23LM-C202 (1V/1.1A)

IO = 0.8A at VCC=24V
RS=1

10

10

20

30

40

50

20

Motor : 23LM-C202 (1V/1.1A)

VCC=24V
RS=1

10

0.2

VCC (V)

0.4

0.6

0.8

1.0

IO (A)

NOTE
Either active high or active low excitation input signals can
be used for SLA7024M, SLA7026M, SLA7027MU and SDK03M.
However, take note of the output that corresponds to a
specified input as shown in the table below.
SLA7024M, SLA7026M and SLA7027MU
Active Low

Active High
Input
INA (6 pin)

Output
OUTA (1 pin)

Input
INA (6 pin)

Output
OUTA (8 pin)

INA (5 pin)
INB (17 pin)

OUTA (8 pin)
OUTB (11 pin)

INA (5 pin)
INB (17 pin)

OUTA (1 pin)
OUT B (18 pin)

INB (16 pin)

OUTB (18 pin)

INB (16 pin)

OUT B (11 pin)

SDK03M
Active High

Active Low

Input
IN1 (6 pin)

Output
OUT1 (1, 16 pin)

IN2 (5 pin)

OUT2 (8, 9 pin)

Input

Output

IN1 (6 pin)
IN2 (5 pin)

OUT 1 (8, 9 pin)

OUT 2 (1, 16 pin)

23

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