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MC33030

DC Servo Motor Controller/Driver DC SERVO MOTOR The MC33030 is a monolithic DC servo motor controller providing all CONTROLLER/DRIVER active functions necessary for a complete closed loop system. This device consists of an on–chip op amp and window comparator with wide input common–mode range, drive and brake logic with direction memory, Power SEMICONDUCTOR H–Switch driver capable of 1.0 A, independently programmable over–current TECHNICAL DATA monitor and shutdown delay, and over–voltage monitor. This part is ideally suited for almost any servo positioning application that requires sensing of temperature, pressure, light, magnetic flux, or any other means that can be converted to a voltage. Although this device is primarily intended for servo applications, it can be used as a switchmode motor controller. • On–Chip Error Amp for Feedback Monitoring 16 • Window Detector with Deadband and Self Centering Reference Input 1 P SUFFIX • Drive/Brake Logic with Direction Memory PLASTIC PACKAGE • 1.0 A Power H–Switch CASE 648C (DIP–16) • Programmable Over–Current Detector • Programmable Over–Current Shutdown Delay • Over–Voltage Shutdown 16 1 DW SUFFIX PLASTIC PACKAGE Representative Block Diagram CASE 751G Motor (SOP–16L) V CC VCC 9 11 10 14 Feedback PIN CONNECTIONS Position 8 Error Amp + Over–Current 7 Reference 116 – Delay 6 Input Over– Reference Over–Current Power 2 15 + Voltage Input Filter Reference H–Switch Driver Monitor Error Amp Output 3 14 Filter/Feedback Input Output A 4 13 + Drive/ Gnd Gnd – Brake 5 12 3 Logic Window Error Amp 6 11 V Detector Output CC Programmable Error Amp Driver + Over– 7 10 + Direction Inverting Input Output B V – Current Error Amp CC Memory Error Amp Non– 8 9 Detector Inverting Input Input Filter & Latch Reference (Top View) Position 1 Pins 4, 5, 12 and 13 are electrical ground and heat sink pins for IC.

2 ORDERING INFORMATION 4, 5, 12, 13 16 15 Operating CDLY ROC Device Temperature Range Package MC33030DW SOP–16L TA = – 40° to +85°C MC33030P DIP–16 This device contains 119 active transistors.

 Motorola, Inc. 1996 Rev 2 MOTOROLA ANALOG IC DEVICE DATA 1 MC33030

MAXIMUM RATINGS Rating Symbol Value Unit

Power Supply Voltage VCC 36 V Inputpgg Voltage Range VIR –0.3 to VCC V OOp AAmp, CComparator, t CCurrent t Limit Li it (Pins(Pi 1, 123678915) 2, 3, 6, 7, 8, 9, 15)

Input Differential Voltage Range VIDR –0.3 to VCC V Op AmpAmp, Comparator (Pins 1236789)1, 2, 3, 6, 7, 8, 9)

Delay Pin Sink Current (Pin 16) IDLY(sink) 20 mA Output Source Current (Op Amp) Isource 10 mA Drive Output Voltage Range (Note 1) VDRV –0.3 to (VCC + VF) V Drive Output Source Current (Note 2) IDRV(source) 1.0 A Drive Output Sink Current (Note 2) IDRV(sink) 1.0 A Brake Diode Forward Current (Note 2) IF 1.0 A Power Dissipation and Thermal °C/W CharacteristicsCharacteristics P Suffix,Su , Dual ua In Line e Case 6648C 8C Thermal Resistance, Junction–to–Air RθJA 80 ThermalThermal ResistanceResistance, Junction–to–CaseJunction–to–Case RθJC 15 (Pins 4, 5, 12, 13) DW Suffix, Dual In Line Case 751G Thermal Resistance, Resistance Junction–to–Air Junction to Air RθJA 94 Thermal Resistance,Resistance, Junction–to–CaseJunction to Case RθJC 18 (Pins 4, 5, 12, 13)

Operating Junction Temperature TJ +150 °C Operating Ambient Temperature Range TA –40 to +85 °C Storage Temperature Range Tstg –65 to +150 °C

NOTES: 1. The upper voltage level is clamped by the forward drop, VF, of the brake diode. 2. These values are for continuous DC current. Maximum package power dissipation limits must be observed.

ELECTRICAL CHARACTERISTICS (VCC = 14 V, TA = 25°C, unless otherwise noted.) Characteristic Symbol Min Typ Max Unit ERROR AMP Input Offset Voltage (– 40°C p TA p 85°C) VIO – 1.5 10 mV VPin 6 = 77.0 0 VV, RL = 100 k

Input Offset Current (VPin 6 = 1.0 V, RL = 100 k) IIO – 0.7 – nA Input Bias Current (VPiPinn 6 = 7.07.0 V, RL = 100 k) IIB – 7.07.0 – nA

Input Common–Mode Voltage Range VICR – 0 to (VCC – 1.2) – V ∆VIO = 20 mVmV, RL = 100 k

Slew Rate, Open Loop (VID = 0.5 V, CL = 15 pF) SR – 0.40 – V/µs Unity–Gain Crossover Frequency fc – 550 – kHz Unity–Gain Phase Margin φm – 63 – deg. Common–Mode Rejection Ratio (VPin 6 = 7.0 V, RL = 100 k) CMRR 50 82 – dB Power Supply Rejection Ratio PSRR – 89 – dB VCC = 90to16VV9.0 to 16 V, VPin 6 = 7.0 70V V, R L = 100 100k k

Output Source Current (VPin 6 = 12 V) IO + – 1.8 – mA Output Sink Current (VPin 6 = 1.0 V) IO – – 250 – µA Output Voltage Swing (RL = 17 k to Ground) VOH 12.5 13.1 – V VOL – 0.02 – V

NOTES: 3. The upper or lower hysteresis will be lost when operating the Input, Pin 3, close to the respective rail. Refer to Figure 4. 4. Low duty cycle pulse techniques are used during test to maintain junction temperature as close to ambient temperature as possible.

2 MOTOROLA ANALOG IC DEVICE DATA MC33030

ELECTRICAL CHARACTERISTICS (continued) (VCC = 14 V, TA = 25°C, unless otherwise noted.) Characteristic Symbol Min Typ Max Unit WINDOW DETECTOR Input Hysteresis Voltage (V1 – V4, V2 – V3, Figure 18) VH 25 35 45 mV Input Dead Zone Range (V2 – V4, Figure 18) VIDZ 166 210 254 mV Input OffsetVoltage ([V2 – VPin 2] – [VPin 2 – V4] Figure 18) VIO – 25 – mV Inputpg() Functional Common–Mode Range (Note 3) V UThhldUpper Threshold VIH – (VCC – 11.05) 05) – LThhldLower Threshold VIL – 0240.24 –

Reference Input Self Centering Voltage VRSC – (1/2 VCC) – V Pins 1 and 2 Open

Window Detector Propagationpg Delay y tp(IN/DRV) – 2.0 – µs CComparator t Input, I t Pin Pi 3, 3 to t Drive D i Outputs O t t VID = 00.5 5 VV, RL(DRV) = 390 Ω OVER–CURRENT MONITOR Over–Current Reference Resistor Voltage (Pin 15) ROC 3.9 4.3 4.7 V Delay Pin Source Current IDLY(source)() – 5.5 6.9 µA VDLY = 0 V, V R OC = 27 kk, IDRV = 0 mA

Delayy( Pin Sink Current (ROC = 27 k, IDRV = 0 mA)) IDLY(sink) mA V50VVDLY = 5.0 V – 010.1 – V83VVDLY = 8.3 V – 070.7 – V14VVDLY = 14 V – 1616.5 5 –

Delay Pin Voltage, Low State (IDLY = 0 mA) VOL(DLY) – 0.3 0.4 V Over–Current Shutdown Threshold Vth(OC) V V14VVCC = 14 V 686.8 757.5 828.2 V80VVCC = 8.0 V 555.5 606.0 656.5

Over–Current Shutdown Propagation Delay tp(DLY/DRV) – 1.8 – µs Delay Capacitor Input, Pin 16, to Drive Outputs, VID = 0.5 V POWER H–SWITCH Drive–Outputp( Saturation (– 40°C p TA p+ 85°C, Note 4)) V HiHigh–State h St t (Isource = 100 mA) A) VOH(DRV)()(VCC – 2) (VCC – 00.85) 85) – LLow–State St t (Isink = 100 mA) A) VOL(DRV) – 0120.12 101.0

Drive–Outputpg Voltage Switching g( Time (CL = 15 p)pF) ns RiRise TiTime tr – 200 – FllTiFall Time tf – 200 –

Brake Diode Forward Voltage Drop (IF = 200 mA, Note 4) VF – 1.04 2.5 V TOTAL DEVICE Standby Supply Current ICC – 14 25 mA Over–Voltage Shutdown Threshold Vth(OV)() 16.5 18 20.5 V (40(– 40°C p TA p + 85°C)

Over–Voltage Shutdown Hysteresis (Device “off” to “on”) VH(OV) 0.3 0.6 1.0 V Operating Voltage Lower Threshold VCC – 7.5 8.0 V (40(– 40°C p TA p + 85°C)

NOTES: 3. The upper or lower hysteresis will be lost when operating the Input, Pin 3, close to the respective rail. Refer to Figure 4. 4. Low duty cycle pulse techniques are used during test to maintain junction temperature as close to ambient temperature as possible.

MOTOROLA ANALOG IC DEVICE DATA 3 MC33030

Figure 1. Error Amp Input Common–Mode Figure 2. Error Amp Output Saturation Voltage Range versus Temperature versus Load Current 0 0 ∆ VIO = 20 mV VCC VCC RL = 100 k – 400 – 1.0 Source Saturation RL to Gnd TA = 25°C – 800 – 2.0

800 2.0 Sink Saturation RL to VCC TA = 25°C 400 1.0 , INPUT COMMON–MODE RANGE (mV) , INPUT , OUTPUT SATURATION VOLTAGE (V) VOLTAGE SATURATION , OUTPUT Gnd ICR Gnd sat V 0 V 0 – 55 – 25 0 25 50 75 100 125 30 100300 1.0 k 3.0 k TA, AMBIENT TEMPERATURE (°C) IL, LOAD CURRENT (± µA)

Figure 4. Window Detector Reference–Input Figure 3. Open Loop Voltage Gain and Common–Mode Voltage Range Phase versus Frequency versus Temperature 80 0 0 Max. Pin 2 VICR so that VCC – 0.5 Pin 3 can change state of drive outputs. 60 45 – 1.0 Gain – 1.5 Phase 40 90 0.3 VCC = 14 Phase 20 Vout = 7.0 V Margin 135 0.2

° , EXCESS PHASE (DEGREES) , OPEN–LOOP VOLTAGE GAIN (dB) VOLTAGE , OPEN–LOOP R = 100 k = 63 L φ CL = 40 pF COMMON–MODE RANGE (V) , INPUT 0.1 VOL

° ICR Gnd A T = 25 C 0 A 180 V 0 1.0 10 1001.0 k 10 k 100 k 1.0 M – 55 – 25 0 255075100125 f, FREQUENCY (Hz) TA, AMBIENT TEMPERATURE (°C)

Figure 5. Window Detector Feedback–Input Figure 6. Output Driver Saturation Thresholds versus Temperature versus Load Current 7.15 0 V2 VCC Source Saturation R to Gnd 7.10 L Upper Hysteresis V T = 25°C 3 – 1.0 A 7.05 VCC = 14 V Pin 2 = 7.00 V 7.00

6.95 V 1 1.0 Lower Hysteresis Sink Saturation , FEEDBACK–INPUT VOLTAGE (V) , FEEDBACK–INPUT VOLTAGE 6.90 V4 RL = VCC , OUTPUT SATURATION VOLTAGE (V) VOLTAGE SATURATION , OUTPUT

FB ° V TA = 25 C Gnd sat 6.85 V 0 – 55 – 250 25 50 75 100 125 0 200 400 600 800 ° TA, AMBIENT TEMPERATURE ( C) IL, LOAD CURRENT (± mA)

4 MOTOROLA ANALOG IC DEVICE DATA MC33030

Figure 7. Brake Diode Forward Current Figure 8. Output Source Current–Limit versus versus Forward Voltage Over–Current Reference Resistance 500 800 TA = 25°C VCC = 14 V T = 25°C 400 A 600

300 400 200

200 , FORWARD CURRENT (mA) CURRENT , FORWARD , OUTPUT SOURCE CURRENT (mA) SOURCE CURRENT , OUTPUT

F 100 I source 0 I 0 0.5 0.7 0.9 1.1 1.3 1.5 02040 60 80 100 VF, FORWARD VOLTAGE (V) ROC, OVER–CURRENT REFERENCE RESISTANCE (kΩ)

Figure 9. Output Source Current–Limit Figure 10. Normalized Delay Pin Source versus Temperature Current versus Temperature 600 1.04 V = 14 V ROC = 15 k CC 1.00 400 ROC = 27 k 0.96

200 (NORMALIZED) , DELAY PIN SOURCE CURRENT , DELAY 0.92 ROC = 68 k , OUTPUT SOURCE CURRENT (mA) SOURCE CURRENT , OUTPUT VCC = 14 V source I DLY(source)

0 I 0.88 – 55 – 250 25 50 75 100 125 – 55– 25 0 25 5075 100 125 TA, AMBIENT TEMPERATURE (°C) TA, AMBIENT TEMPERATURE (°C)

Figure 11. Normalized Over–Current Delay Figure 12. Supply Current versus Threshold Voltage versus Temperature Supply Voltage 1.04 28 Pins 6 to 7 24 Pins 2 to 8 T = 25°C 1.02 A 20

16 1.00 12 (NORMALIZED)

, SUPPLY CURRENT (mA) CURRENT , SUPPLY 8.0 0.98 Minimum Over– CC VCC = 14 V I Operating Voltage 4.0 Voltage Shutdown Range Range , OVER–CURRENT DELAY THRESHOLD VOLTAGE THRESHOLD DELAY , OVER–CURRENT 0.96 0 – 55 – 25 0 25 50 75 100 125 0168.0 24 32 40

th(OC) ° V TA, AMBIENT TEMPERATURE ( C) VCC, SUPPLY VOLTAGE (V)

MOTOROLA ANALOG IC DEVICE DATA 5 MC33030

Figure 13. Normalized Over–Voltage Shutdown Figure 14. Normalized Over–Voltage Shutdown Threshold versus Temperature Hysteresis versus Temperature 1.4

1.02 1.2

1.00 1.0

0.98 0.8 (NORMALIZED) (NORMALIZED)

0.6 0.96 , OVER–VOLTAGE SHUTDOWN THRESHOLD SHUTDOWN , OVER–VOLTAGE THRESHOLD SHUTDOWN , OVER–VOLTAGE 0.4

th(OV) – 55– 25 0 25 50 75 100 125 th(OV) – 55– 25 0 25 50 75 100 125 V V TA, AMBIENT TEMPERATURE (°C) TA, AMBIENT TEMPERATURE (°C)

Figure 15. P Suffix (DIP–16) Thermal Resistance and Maximum Power Dissipation versus P.C.B. Copper Length 100 5.0 Printed circuit board heatsink example

80 2.0 oz 4.0 ÎÎÎ LÎÎÎ Copper

° ÎÎÎ RθJA ÎÎÎL 3.0 mm 60 Graphs represent symmetrical layout 3.0

40 2.0

° JA PD(max) for TA = 70 C JUNCTION–TO–AIR ( JUNCTION–TO–AIR C/W) 20 1.0 θ R RESISTANCE , THERMAL , MAXIMUM POWER DISSIPATION (W) , MAXIMUM POWER DISSIPATION D P 0 0 0 10 20 30 40 50 L, LENGTH OF COPPER (mm)

Figure 16. DW Suffix (SOP–16L) Thermal Resistance and Maximum Power Dissipation versus P.C.B. Copper Length 100 2.8 PD(max) for TA = 50°C 90 2.4

80 2.0 ° Graph represents symmetrical layout

70 1.6 ÎÎÎ ÎÎÎ2.0 oz. L

Copper

60 ÎÎÎ 1.2

ÎÎÎ ÎÎÎ

L 3.0 mm ÎÎÎ 50 ÎÎÎ 0.8 JA

JUNCTION–TO–AIR ( JUNCTION–TO–AIR C/W) R θ θJA

R RESISTANCE , THERMAL 40 0.4 , MAXIMUM POWER DISSIPATION (W) , MAXIMUM POWER DISSIPATION D 30 0 P 020305010 40 L, LENGTH OF COPPER (mm)

6 MOTOROLA ANALOG IC DEVICE DATA MC33030 OPERATING DESCRIPTION The MC33030 was designed to drive fractional horsepower rotor is locked, the system will time–out and shut–down. This DC motors and sense actuator position by voltage feedback. A feature eliminates the need for servo end–of–travel or limit typical servo application and representative internal block switches. Care must be taken so as not to select too large of diagram are shown in Figure 17. The system operates by a capacitance value for CDLY. An over–current condition for setting a voltage on the reference input of the Window an excessively long time–out period can cause the integrated Dectector (Pin 1) which appears on (Pin 2). A DC motor then circuit to overheat and eventually fail. Again, the maximum drives a position sensor, usually a potentiometer driven by a package power dissipation limits must be observed. The gear box, in a corrective fashion so that a voltage over–current latch is reset upon power–up or by readjusting proportional to position is present at Pin 3. The servo motor VPin 2 as to cause VPin 3 to enter or pass through the dead will continue to run until the voltage at Pin 3 falls within the zone. This can be achieved by requesting the motor to dead zone, which is centered about the reference voltage. reverse direction. The Window Detector is composed of two comparators, A An Over–Voltage Monitor circuit provides protection for and B, each containing hysteresis. The reference input, the integrated circuit and motor by disabling the Power common to both comparators, is pre–biased at 1/2 VCC for H–Switch functions if VCC should exceed 18 V. Resumption simple two position servo systems and can easily be of normal operation will commence when VCC falls below overriden by an external voltage divider. The feedback 17.4 V. voltage present at Pin 3 is connected to the center of two A timing diagram that depicts the operation of the resistors that are driven by an equal magnitude current Drive/Brake Logic section is shown in Figure 18. The source and sink. This generates an offset voltage at the input waveforms grouped in [1] show a reference voltage that was of each comparator which is centered about Pin 3 that can preset, appearing on Pin 2, which corresponds to the desired float virtually from VCC to ground. The sum of the upper and actuator position. The true actuator position is represented lower offset voltages is defined as the window detector input by the voltage on Pin 3. The points V1 through V4 represent dead zone range. the input voltage thresholds of comparators A and B that To increase system flexibility, an on–chip Error Amp is cause a change in their respective output state. They are provided. It can be used to buffer and/or gain–up the actuator defined as follows: position voltage which has the effect of narrowing the dead V1 = Comparator B turn–off threshold zone range. A PNP differential input stage is provided so that V2 = Comparator A turn–on threshold the input common–mode voltage range will include ground. V3 = Comparator A turn–off threshold The main design goal of the error amp output stage was to be V4 = Comparator B turn–on threshold able to drive the window detector input. It typically can source V –V = Comparator B input hysteresis voltage 1.8 mA and sink 250 µA. Special design considerations must 1 4 V –V = Comparator A input hysteresis voltage be made if it is to be used for other applications. 2 3 V –V = Window detector input dead zone range The Power H–Switch provides a direct means for motor 2 4 |(V –V ) – (V – V )| = Window detector input drive and braking with a maximum source, sink, and brake 2 Pin2 Pin2 4 voltage current of 1.0 A continuous. Maximum package power dissipation limits must be observed. Refer to Figure 15 for It must be remembered that points V1 through V4 always thermal information. For greater drive current requirements, try to follow and center about the reference voltage setting if a method for buffering that maintains all the system features it is within the input common–mode voltage range of Pin 3; is shown in Figure 30. Figures 4 and 5. Initially consider that the feedback input The Over–Current Monitor is designed to distinguish voltage level is somewhere on the dashed line between V2 between motor start–up or locked rotor conditions that can and V4 in [1]. This is within the dead zone range as defined occur when the actuator has reached its travel limit. A above and the motor will be off. Now if the reference voltage fraction of the Power H–Switch source current is internally is raised so that VPin 3 is less than V4, comparator B will fed into one of the two inverting inputs of the current turn–on [3] enabling Q Drive, causing Drive Output A to sink comparator, while the non–inverting input is driven by a and B to source motor current [8]. The actuator will move in programmable current reference. This reference level is Direction B until VPin 3 becomes greater than V1. Comparator controlled by the resistance value selected for ROC, and must B will turn–off, activating the brake enable [4] and Q Brake [6] be greater than the required motor run–current with its causing Drive Output A to go high and B to go into a high mechanical load over temperature; refer to Figure 8. During impedance state. The inertia of the mechanical system will an over–current condition, the comparator will turn off and drive the motor as a generator creating a positive voltage on allow the current source to charge the delay capacitor, CDLY. Pin 10 with respect to Pin 14. The servo system can be When CDLY charges to a level of 7.5 V, the set input of the stopped quickly, so as not to over–shoot through the dead over–current latch will go high, disabling the drive and brake zone range, by braking. This is accomplished by shorting the functions of the Power H–Switch. The programmable time motor/generator terminals together. Brake current will flow delay is determined by the capacitance value–selected for into the diode at Drive Output B, through the internal VCC rail, CDLY. and out the emitter of the sourcing transistor at Drive Output V C 7.5 C A. The end of the solid line and beginning of the dashed for ref DLY DLY t + + + 1.36 C in µF VPin 3 [1] indicates the possible resting position of the DLY I µ DLY DLY(source) 5.5 A actuator after braking. This system allows the Power H–Switch to supply motor start–up current for a predetermined amount of time. If the

MOTOROLA ANALOG IC DEVICE DATA 7 MC33030 Figure 17. Representative Block Diagram and Typical Servo Application VCC Gearbox and Linkage Motor

Drive Drive Input Output B Output A V Non– Filter CC Inverting 9 11 10 14 Input + 8 20 k Error Amp Over–Voltage Monitor Inverting 7 20 k 18 V Input Ref. Output 6 0.3 mA Drive Brake Logic + 20 k 35 Q Drive µA B Q Brake R Q 3 3.0 k Direction Power Error Amp Q Brake Output Filter/ 3.0 k Latch H–Switch Feedback A S Q Input 35 Q Drive µA Brake Enable VCC + Reference Input 1 100 k 20 k Q R 100 k Over– 5.5 Current µA 50 k 2 Latch Q S Reference + Input Filter 7.5 V Window Ref. Over–Current Detector Monitor 4, 5,12,13 Over–Current 16 15 Over–Current Delay R Reference Gnd CDLY OC

If VPin 3 should continue to rise and become greater than V2, Thus far, the operating description has been limited to the actuator will have over shot the dead zone range and cause servo systems in which the motor mechanically drives a the motor to run in Direction A until VPin 3 is equal to V3. The potentiometer for position sensing. Figures 19, 20, 27, and 31 Drive/Brake behavior for Direction A is identical to that of B. show examples that use light, magnetic flux, temperature, Overshooting the dead zone range in both directions can cause and pressure as a means to drive the feedback element. the servo system to continuously hunt or oscillate. Notice that the Figures 21, 22 and 23 are examples of two position, open last motor run–direction is stored in the direction latch. This loop servo systems. In these systems, the motor runs the information is needed to determine whether Q or Q Brake is to be actuator to each end of its travel limit where the Over–Current enabled when VPin 3 enters the dead zone range. The dashed Monitor detects a locked rotor condition and shuts down the lines in [8,9] indicate the resulting waveforms of an over–current drive. Figures 32 and 33 show two possible methods of using condition that has exceeded the programmed time delay. Notice the MC33030 as a switching motor controller. In each that both Drive Outputs go into a high impedance state until VPin example a fixed reference voltage is applied to Pin 2. This 2 is readjusted so that VPin 3 enters or crosses through the dead causes Vpin 3 to be less than V4 and Drive Output A, Pin 14, zone [7, 4]. to be in a low state saturating the TIP42 transistor. In Figure The inputs of the Error Amp and Window Detector can be 32, the motor drives a tachometer that generates an ac susceptible to the noise created by the brushes of the DC voltage proportional to RPM. This voltage is rectified, filtered, motor and cause the servo to hunt. Therefore, each of these divided down by the speed set potentiometer, and applied to inputs are provided with an internal series resistor and are Pin. 8. The motor will accelerate until VPin 3 is equal to V1 at pinned out for an external bypass capacitor. It has been which time Pin 14 will go to a high state and terminate the found that placing a capacitor with short leads directly across motor drive. The motor will now coast until VPin 3 is less than the brushes will significantly reduce noise problems. Good V4 where upon drive is then reapplied. The system operation quality RF bypass capacitors in the range of 0.001 to 0.1 µF of Figure 31 is identical to that of 32 except the signal at Pin may be required. Many of the more economical motors will 3 is an amplified average of the motors drive and back EMF generate significant levels of RF energy over a spectrum that voltages. Both systems exhibit excellent control of RPM with extends from DC to beyond 200 MHz. The capacitance value variations of VCC; however, Figure 32 has somewhat better and method of noise filtering must be determined on a torque characteristics at low RPM. system by system basis.

8 MOTOROLA ANALOG IC DEVICE DATA MC33030

Figure 18. Timing Diagram

Comparator A Non Inverting Input V2 Threshold V3 Reference Input Voltage (Desired Actuator [1] Position) Comparator B V Inverting Input 1 Threshold V Window 4 Detector Feedback Input (True Actuator Position)

Comparator [2] A Output

Comparator B Output [3]

[4] Brake Enable

Direction Latch Q Output [5] Direction Latch Q Output

Drive/Brake Logic

Q Brake [6]

Q Brake

Over–Current [7] Latch Reset Input

Source Drive High Z Output A Sink Power H–Switch [8] Source Drive High Z Output B Sink

7.5 V [9] Over–Current C Monitor DLY Direction B Dead Zone Direction A Dead Zone Direction B Feedback Input Feedback Input Feedback Input Feedback Input Feedback Input less than V1 between V1 & V2 greater than V2 between V3 & V4 less than V4

MOTOROLA ANALOG IC DEVICE DATA 9 MC33030

Figure 19. Solar Tracking Servo System Figure 20. Magnetic Sensing Servo System

R1, R2 – Cadium Sulphide Photocell Zero Flux R1, R2 – 5M Dark, 3.0 k light resistance Centering VCC 20 k R3 – 30 k, repositions servo during V ≈15° R1 CC R3 – darkness for next sunrise. 9 Offset VCC 9 Linear 20 k Error Amp Hall 8 R 8 20 k Error Amp 3 Effect 3.9 k 7 R2 + TL173C 7 Sensor 10 k 20 k – Servo Driven 20 k B 6 Wheel 6 Gain VCC

1 Centering Typical sensitivity with gain set at 3.9 k is 1.5 mV/gauss. Adjust 10 k Servo motor controls magnetic field about sensor.

Figure 21. Infrared Latched Two Position Figure 22. Digital Two Position Servo System Servo System VCC

470 VCC 9 Input MRD3056 9 1 MPS 8 20 k Error Amp Latch 0 A20 Drive A 39 k 8 20 k Error Amp 7 20 k MRD3056 7 6 Latch 20 k 1 – Activates Drive A Drive B 68 k 0 – Activates Drive B 470

VCC/2 1 Over–current monitor (not shown) shuts down servo when end stop is reached.

Over–current monitor (not shown) shuts down servo when end stop is reached.

Figure 23. 0.25 Hz Square–Wave Figure 24. Second Order Low–Pass Active Filter Servo Agitator

9 VCC R R 8 20 k Error Amp Vin 9 7 C1 C2 100 k 20 k Error Amp 8 20 k 6 7 100 k 1 20 k Ǹ 2 100 k R C1C2 130 k 6 R = 1.0 M fo + 2 p C1 = 1000 pF + R C = 100 pF 22 2 0.72 C f [ C RC Ǹ 1 q R 20 k C2 + Q 2

10 MOTOROLA ANALOG IC DEVICE DATA MC33030

Figure 25. Notch Filter Figure 26. Differential Input Amplifier

9 9 R R 8 20 k Error Amp Vin + R1 8 20 k Error Amp 7 VA + 2C – 7 20 k R2 – 6 20 k R/2 R3 C C VB R 4 6 f + 1 notch 2pRC For 60 Hz R = 53.6 k, C = 0.05 R ) R R R V + V ǒ 3 4Ǔ 2 – ǒ 4 V Ǔ Pin 6 A ) B R1 R2 R3 R3

Figure 27. Temperature Sensing Servo System Figure 28. Bridge Amplifier

VCC VRef Cabin 9 9 Temperature T R1 R + ∆R R Sensor 8 20 k Error Amp VB R1 8 20 k Error Amp + + 7 7 – R R R – 20 k 2 20 k R2 R3 R4 6 V R R 6 VCC A 3 4

1 Set D V * V + V ǒ R Ǔ Temperature A B Ref 4R ) 2DR R V ǒ 4 ) 1Ǔ + + uu CC R1 R3,R2 R4,R1 R R3 V + R Pin 6 R V + 4 (V –V ) 1 Pin 6 A B ǒ ) 1Ǔ R3 R2

In this application the servo motor drives the heat/air conditioner modulator door in a duct system.

Figure 29. Remote Latched Shutdown Figure 30. Power H–Switch Buffer

VCC VF(D ) ) VF(D )–VBE(ON) Q R + R [ 1 2 E I –I O.C. MOTOR DRV(max) Q S

RE Motor RE 7.5 V + D D D D VCC 1 2 1 2

16 15 8 2 A ROC 1 7 Vin CDLY 3 From Drive 4.7 k VRef 4 Outputs 470 LM311 B

A direction change signal is required at Pins 2 or 3 to This circuit maintains the brake and over–current reset the over–current latch. features of the MC33030. Set ROC to 15 k for IDRV(max) ≈ 0.5 A.

MOTOROLA ANALOG IC DEVICE DATA 11 MC33030

Figure 31. Adjustable Pressure Differential Regulator

VCC = 12 V Gas Flow 6.2 k 1.76 k Pressure Port LM324 Quad Zero Pressure 2.0 k 12 k Op Amp 8.06 k Offset Adjust 1.0 k 5.1 k 200 S – MPX11DP 5.1 k Silicon Pressure 200 Sensor

20 k 4.12 k Gain 1.0 k 2.4 k S + Vacuum Port 1.0 k 2.0 V for Zero Pressure Differential

VCC = 12 V 6.0 V for 100 kPa 0.01 (14.5 PSI) Motor Pressure Differential 9 11 10 14 + 8 7

6 +

B R Q 3 DIR. A S Q 12 V + 5.1 k Pressure Differential 1 + Reference Set 5.0 k Q R O.C. 1.8 k 0.01 Q S 2 +

4, 5,12,13 16 15

0.01 15 k

12 MOTOROLA ANALOG IC DEVICE DATA MC33030

Figure 32. Switching Motor Controller With Buffered Output and Tach Feedback

VCC = 12 V

+ + 100 10 100 0.24 100 1.0 k 0.002 TIP42 MPS Speed A70 TACH Set 9 11 10 14 1N4001 + Motor + 10 k 8 1.0 7

6 MZ2361 +

R Q 3 DIR. SQ

+ 12 V 1 + Over Q R Current 4.7 k O.C. Reset 2 Q S + 1N753

4, 5,12,13 16 15 30 k

1.0 k

MOTOROLA ANALOG IC DEVICE DATA 13 MC33030

Figure 33. Switching Motor Controller With Buffered Output and Back EMF Sensing

VCC = 12 V

+ + 100 0.24 10 100 + 100 1.0 k 1.0 TIP42 MPS Speed 9 11 10 14 A70 Set 2X–1N4001 + 8 Motor 10 k 10 k + 1.0 10 k 7 20 k 6 +

R Q 3 DIR. SQ

+

+ + 12 V 1 Over Q R Current O.C. Reset 2 Q S + 1N753

16 15 4, 5, 12, 13 1.0 k 30 k

14 MOTOROLA ANALOG IC DEVICE DATA MC33030

OUTLINE DIMENSIONS

P SUFFIX PLASTIC PACKAGE CASE 648C–03 (DIP–16)

–A– NOTES: 1. DIMENSIONING AND TOLERANCING PER ANSI Y14.5M, 1982. 16 9 2. CONTROLLING DIMENSION: INCH. 3. DIMENSION L TO CENTER OF LEADS WHEN –B– FORMED PARALLEL. 4. DIMENSION B DOES NOT INCLUDE MOLD 18 FLASH. L 5. INTERNAL LEAD CONNECTION, BETWEEN 4 AND 5, 12 AND 13.

INCHES NOTE 5 MILLIMETERS DIM MINMAX MIN MAX A 0.740 0.840 18.80 21.34 B 0.240 0.260 6.10 6.60 C C 0.145 0.185 3.69 4.69 D 0.015 0.021 0.38 0.53 –T– E 0.050 BSC 1.27 BSC M SEATING N F 0.040 0.070 1.02 1.78 G 0.100 BSC 2.54 BSC PLANE K E J 0.008 0.015 0.20 0.38 F J 16 PL K 0.115 0.135 2.92 3.43 G L 0.300 BSC 7.62 BSC M S D 16 PL 0.13 (0.005) T B M 0° 10° 0° 10° 0.13 (0.005)M T A S N 0.015 0.040 0.39 1.01

DW SUFFIX PLASTIC PACKAGE CASE 751G–02 –A– (SOP–16L) NOTES: 1. DIMENSIONING AND TOLERANCING PER 16 9 ANSI Y14.5M, 1982. 2. CONTROLLING DIMENSION: MILLIMETER. 3. DIMENSIONS A AND B DO NOT INCLUDE –B– P 8 PL MOLD PROTRUSION. 0.25 (0.010) M B M 4. MAXIMUM MOLD PROTRUSION 0.15 (0.006) 18 PER SIDE. 5. DIMENSION D DOES NOT INCLUDE DAMBAR PROTRUSION. ALLOWABLE DAMBAR PROTRUSION SHALL BE 0.13 G 14 PL J (0.005) TOTAL IN EXCESS OF D DIMENSION AT MAXIMUM MATERIAL CONDITION. MILLIMETERS INCHES DIM MINMAX MIN MAX F A 10.15 10.45 0.400 0.411 B 7.40 7.60 0.292 0.299 C 2.35 2.65 0.093 0.104 R X 45° D 0.35 0.49 0.014 0.019 F 0.50 0.90 0.020 0.035 C G 1.27 BSC 0.050 BSC J 0.25 0.32 0.010 0.012 –T– K 0.10 0.25 0.004 0.009 M 0° 7° 0° 7° K SEATING M D 16 PL PLANE P 10.05 10.55 0.395 0.415 R 0.25 0.75 0.010 0.029 0.25 (0.010)M T AS B S

MOTOROLA ANALOG IC DEVICE DATA 15 MC33030

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16 ◊ MOTOROLA ANALOG IC DEVICEMC33030/D DATA *MC33030/D* This datasheet has been download from:

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