STSPIN240

Low voltage dual brush DC motor driver

Datasheet - production data

Description
The STSPIN240 is a dual brush DC motor driver
integrating a low RDS(ON) power stage in a small
QFN 3 x 3 mm package.
Both the full-bridges implement an independent
PWM current controller with fixed OFF time.
The device is designed to operate in battery-
QFN 3 x 3 mm (16-pin) powered scenarios and can be forced into a zero-
consumption state allowing a significant increase
in battery life.

Features The device offers a complete set of protection

features including overcurrent, overtemperature
 Operating voltage from 1.8 to 10 V and short-circuit protection.
 Maximum output current 1.3 Arms
 RDS(ON) HS + LS = 0.4  typ.
 Current control with programmable off-time
 Full protection set
– Non-dissipative overcurrent protection
– Short-circuit protection
– Thermal shutdown
 Energy saving and long battery life with
standby consumption less than 80 nA

Applications
Battery-powered DC motor applications such as:
 Toys
 Portable printers
 Robotics
 Point of sale (POS) devices
 Portable medical equipment
 Healthcare and wellness devices (shavers and
toothbrushes)

August 2017 DocID029313 Rev 4 1/26

This is information on a product in full production. www.st.com
Contents STSPIN240

Contents

1 Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

2 Electrical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.2 Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.3 Thermal data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
2.4 ESD protections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

4 Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

5 Typical applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12

6 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.1 Standby and power-up . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.2 Motor driving . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
6.3 PWM current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
TOFF adjustment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
6.4 Overcurrent and short-circuit protections . . . . . . . . . . . . . . . . . . . . . . . . . 18
6.5 Thermal shutdown . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

7 Graphs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

8 Package information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
8.1 VFQFPN 3 x 3 x 1.0 mm - 16L package information . . . . . . . . . . . . . . . . 23

9 Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

10 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

2/26 DocID029313 Rev 4

STSPIN240 List of tables

List of tables

Table 1. Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Table 2. Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 3. Thermal data. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Table 4. ESD protection ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Table 5. Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Table 6. Pin description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Table 7. Typical application values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Table 8. Truth table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
Table 9. ON and slow decay states . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Table 10. Recommended RRCOFF and CRCOFF values according to ROFF . . . . . . . . . . . . . . . . . . . . 17
Table 11. VFQFPN 3 x 3 x 1.0 mm - 16L package mechanical data . . . . . . . . . . . . . . . . . . . . . . . . . 24
Table 12. Device summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Table 13. Document revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

DocID029313 Rev 4 3/26

26
List of figures STSPIN240

List of figures

Figure 1. Block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

Figure 2. Pin connection (top view) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Figure 3. Typical application schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Figure 4. Timing diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Figure 5. PWM current control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Figure 6. OFF time regulation circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 7. OFF time vs. ROFF value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
Figure 8. Overcurrent and short-circuit protections management . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Figure 9. Disable time versus REN and CEN values (VDD = 3.3 V) . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 10. Disable time versus REN and CEN values (VDD = 1.8 V) . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Figure 11. Thermal shutdown management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Figure 12. Power stage resistance versus supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 13. Power stage resistance versus temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Figure 14. Overcurrent threshold versus supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Figure 15. VFQFPN 3 x 3 x 1.0 mm - 16L package outline . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Figure 16. VFQFPN 3 x 3 x 1.0 mm - 16L recommended footprint . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

4/26 DocID029313 Rev 4

STSPIN240 Block diagram

1 Block diagram

Figure 1. Block diagram









  


 

 
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DocID029313 Rev 4 5/26

26
Electrical data STSPIN240

2 Electrical data

2.1 Absolute maximum ratings

Table 1. Absolute maximum ratings
Symbol Parameter Test condition Value Unit

VS Supply voltage - -0.3 to 11 V

VIN Logic input voltage - -0.3 to 5.5 V
VOUT - VSENSE Output to sense voltage drop - up to 12 V
VS - VOUT Supply to output voltage drop - up to 12 V
VSENSE Sense pins voltage - -1 to 1 V
VREF Reference voltage input - -0.3 to 1 V
IOUT,RMS Continuous power stage output current (each bridge) - 1.3 Arms
Tj,OP Operative junction temperature - -40 to 150 °C
Tj,STG Storage junction temperature - -55 to 150 °C

2.2 Recommended operating conditions

Table 2. Recommended operating conditions
Symbol Parameter Test condition Min. Typ. Max. Unit

VS Supply voltage - 1.8 - 10 V

VIN Logic input voltage - 0 - 5 V
VREF Reference voltage input - 0.1 - 0.5 V

2.3 Thermal data

Table 3. Thermal data
Symbol Parameter Conditions Value Unit

RthJA (1)
Junction to ambient thermal resistance Natural convection, according to JESD51-2a 57.1 °C/W
Junction to case thermal resistance
RthJCtop Simulation with cold plate on package top 67.3 °C/W
(top side)
Junction to case thermal resistance
RthJCbot Simulation with cold plate on exposed pad 9.1 °C/W
(bottom side)
RthJB Junction to board thermal resistance According to JESD51-8(1) 23.3 °C/W
JT Junction to top characterization According to JESD51-2a(1) 3.3 °C/W
JB Junction to board characterization According to JESD51-2a(1) 22.6 °C/W
1. Simulated on a 21.2 x 21.2 mm board, 2s2p 1 Oz copper and four 300 m vias below exposed pad.

6/26 DocID029313 Rev 4

STSPIN240 Electrical data

2.4 ESD protections

Table 4. ESD protection ratings
Symbol Parameter Test condition Class Value Unit

HBM Human body model Conforming to ANSI/ESDA/JEDEC JS-001-2014 H2 2 kV

CDM Charge device model Conforming to ANSI/ESDA/JEDEC JS-002-2014 C2a 500 V

DocID029313 Rev 4 7/26

26
Electrical characteristics STSPIN240

3 Electrical characteristics

Testing conditions: VS = 5 V, Tj = 25 °C unless otherwise specified.

Table 5. Electrical characteristics

Symbol Parameter Test condition Min. Typ. Max. Unit

Supply

VSth(ON) VS turn-on voltage VS rising from 0 V 1.45 1.65 1.79 V

VSth(OFF) VS turn-off voltage VS falling from 5 V 1.3 1.45 1.65 V
VSth(HYS) VS hysteresis voltage - - 180 - mV
No commutations, EN = 0
- 960 1300 A
ROFF = 160 k
IS VS supply current
No commutations, EN = 1
- 1500 1950 A
ROFF = 160 k
IS,STBY VS standby current STBY = 0 V - 10 80 nA
Standby low logic level input
VSTBYL - - - 0.9 V
voltage
Standby high logic level input
VSTBYH - 1.48 - - V
voltage

Power stage

VS = 10 V, IOUT = 1.3 A - 0.4 0.65

RDS(ON)HS+LS Total on resistance HS + LS VS = 10 V, IOUT = 1.3 A, Tj = 125 °C(1) - 0.53 0.87 
VS = 3 V, IOUT = 0.4 A - 0.53 0.8
OUTx = VS - - 1
IDSS Leakage current µA
OUTx = GND -1 - -
Freewheeling diode forward
VDF ID = 1.3 A - 0.9 - V
voltage
trise Rise time VS = 10 V; unloaded outputs - 10 - ns
tfall Fall time VS = 10 V; unloaded outputs - 10 - ns
tDT Dead time - - 50 - ns

PWM current controller

VREF = 0.5 V;
VSNS,OFFSET Sensing offset -15 - +15 mV
internal reference 20% VREF
ROFF = 10 k - 9 - µs
tOFF Total OFF time
ROFF = 160 k - 125 - µs
Internal oscillator precision
fOSC ROFF = 20 k -20% - +20% -
(fOSC/fOSC,ID)
tOFF,jitter Total OFF time jittering ROFF = 10 k - - 2% -

8/26 DocID029313 Rev 4

STSPIN240 Electrical characteristics

Table 5. Electrical characteristics (continued)

Symbol Parameter Test condition Min. Typ. Max. Unit

Logic IOs

VIH High logic level input voltage - 1.6 - - V

VIL Low logic level input voltage - - - 0.6 V
FAULT open drain release
VRELEASE - - - 0.4 V
voltage
VOL Low logic level output voltage IOL = 4 mA - - 0.4 V
RSTBY STBY pull-down resistance - - 36 - k
IPDEN EN pull-down current - - 10.5 - µA
From EN falling edge to OUT high
tENd EN input propagation delay - 55 - ns
impedance
PWMX turn-on propagation
tPWM,d(ON) See Figure 4 on page 14 - 125 - ns
delay
PWMX turn-off propagation
tPWM,d(OFF) See Figure 4 - 140 - ns
delay
tPH,d PHX propagation delay See Figure 4 - 125 - ns

Protections

TjSD Thermal shutdown threshold - - 160 - °C

TjSD,Hyst Thermal shutdown hysteresis - - 40 - °C
IOC Overcurrent threshold See Figure 14 on page 22 - 2 - A
1. Based on characterization data on a limited number of samples, not tested during production.

DocID029313 Rev 4 9/26

26
Pin description STSPIN240

4 Pin description

Figure 2. Pin connection (top view)

STBY\
PWMB PHB RESET EN\FAULT

16 15 14 13

PHA 1 12 TOFF

PWMA 2 11 REF

EPAD

OUTA1 3 10 OUTB1

SENSEA 4 9 SENSEB

5 6 7 8

OUTA2 VS GND OUTB2

1. The exposed pad must be connected to ground.

Table 6. Pin description

No. Name Type Function

1 PHA Logic input Phase input for bridge A

2 PWMA Logic input PWM input for bridge A
3 OUTA1 Power output Power bridge output side A1
4 SENSEA Power output Sense output of the bridge A
5 OUTA2 Power output Power bridge output side A2
6 VS Supply Device supply voltage
7, EPAD GND Ground Device ground
8 OUTB2 Power output Power bridge output side B2
9 SENSEB Power output Sense output of the bridge B
10 OUTB1 Power output Power bridge output side B1
11 REF Analog input Reference voltage for the current limiter circuitry
12 TOFF Analog input Internal oscillator frequency adjustment
Logic input 5 V compliant with open drain output.
Logic input\
This is the power stage enable (when low, the power stage
13 EN\FAULT open drain
is turned off) and is forced low through the integrated open
output
drain MOSFET when a failure occurs.

10/26 DocID029313 Rev 4

STSPIN240 Pin description

Table 6. Pin description (continued)

No. Name Type Function

Logic input 5 V compliant.

14 STBY\RESET Logic input When forced low, the device is forced into low
consumption mode.
15 PHB Logic input Phase input for bridge B
16 PWMB Logic input PWM input for bridge B

DocID029313 Rev 4 11/26

26
Typical applications STSPIN240

5 Typical applications

Table 7. Typical application values

Name Value

CS 2.2 µF / 16 V
CSPOL 22 µF / 16 V
RSNSA, RSNSB 330 m / 1 W
CEN 10 nF / 6.3 V
REN 18 k
CSTBY 1 nF / 6.3 V
RSTBY 18 k
CRCOFF 22 nF
RRCOFF 1 k
ROFF 47 k (tOFF  37 µs)

Figure 3. Typical application schematic

VS
VDD
VS
CS CSPOL
RSTBY
STBY\RESET

C STBY OUTA1
Brush DC A

REN EN\FAULT
OUTA2
CEN SENSEA
PWMA

PHA RSNSA
PWMB STSPIN240 Brush DC B
OUTB1
PHB

OUTB2

REF SENSEB
PWM

TOFF RSNSB
RRCOFF
ROFF
CRCOFF
GND

12/26 DocID029313 Rev 4

STSPIN240 Functional description

6 Functional description

The STSPIN240 is a dual brush DC motor driver integrating two PWM current controllers
and a power stage composed by two fully-protected full-bridges.

6.1 Standby and power-up

The device provides a low settable consumption mode forcing the STBY\RESET input
below the VSTBYL threshold.
When the device is in standby status, the power stage is disabled (outputs are in high
impedance) and the supply to the integrated control circuitry is cut off.

6.2 Motor driving

The outputs of each bridge are controlled by the respective PWMx and PHx inputs as listed
in Table 8.

Table 8. Truth table

EN\FAULT PHx PWMx OUTx1 OUTx2 Full-bridge condition

0 X X HiZ HiZ Disabled

1 0 0 GND GND Both LS on
1 0 1 GND VS HS2 and LS1 on (current X1  X2)
1 1 0 GND GND Both LS on
1 1 1 VS GND HS1 and LS2 on (current X1  X2)

DocID029313 Rev 4 13/26

26
Functional description STSPIN240

Figure 4. Timing diagram

PHx

PWMx

tPWM,d(ON) tPWM,d(OFF)

90%

tPH,d

OUTx1

10% 10%

tPH,d

OUTx2

10%

14/26 DocID029313 Rev 4

STSPIN240 Functional description

6.3 PWM current control

The device implements two independent current controllers, one for each full-bridge.
The voltage on the sense pins (VSENSEA and VSENSEB) is compared to the reference voltage
applied on the REF pin (VREF).
When VSENSEX > VREF, the current limiter is triggered, the OFF time counter is started and
the decay sequence is performed.
The decay sequence starts turning on both low sides of the full-bridge.

Table 9. ON and slow decay states

PHx PWMx ON Decay

HSx1 = OFF
LSx1 = ON
0 0 N.A.(1)
HSx2 = OFF
LSx2 = ON
HSx1 = OFF HSx1 = OFF
LSx1 = ON LSx1 = ON
0 1
HSx2 = ON HSx2 = OFF
LSx2 = OFF LSx2 = ON
HSx1 = OFF
LSx1 = ON
1 0 N.A.(1)
HSx2 = OFF
LSx2 = ON
HSx1 = ON HSx1 = OFF
LSx1 = OFF LSx1 = ON
1 1
HSx2 = OFF HSx2 = OFF
LSx2 = ON LSx2 = ON
1. During decays the inputs values are ignored until the system returns to ON condition (decay time expired).

The reference voltage value, VREF, has to be selected according to the load current target
value (peak value) and sense resistors value.

Equation 1
VREF = RSNSx • ILOAD,peak
In choosing the sense resistor value, two main issues must be taken into account:
 The sensing resistor dissipates energy and provides dangerous negative voltages on
the SENSE pins during the current recirculation. For this reason the resistance of this
component should be kept low (using multiple resistors in parallel will help to obtain the
required power rating with standard resistors).
 The lower is the RSNSx value, the higher is the peak current error due to noise on the
VREF pin and to the input offset of the current sense comparator: too low values of
RSNSx must be avoided.

DocID029313 Rev 4 15/26

26
Functional description STSPIN240

Figure 5. PWM current control

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16/26 DocID029313 Rev 4

STSPIN240 Functional description

TOFF adjustment
The decay time is adjusted through an external resistor connected between the TOFF pin
and ground as shown in Figure 6. A small RC series must be inserted in parallel with the
regulator resistor in order to increase the stability of the regulation circuit according to
indications listed in Table 10.

Figure 6. OFF time regulation circuit

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The relation between the OFF time and the external resistor value is shown in the graph of
Figure 7. The value typically ranges from 10 µs to 150 µs.

Table 10. Recommended RRCOFF and CRCOFF values according to ROFF

ROFF RRCOFF CRCOFF

10 k ≤ ROFF < 82 k 1 k 22 nF
82 k ≤ ROFF ≤ 160 k 2.2 k 22 nF

Figure 7. OFF time vs. ROFF value

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DocID029313 Rev 4 17/26

26
Functional description STSPIN240

6.4 Overcurrent and short-circuit protections

The device embeds circuitry protecting each power output against the overload and short-
circuit conditions (short to ground, short to VS and short between outputs).
When the overcurrent or the short-circuit protection is triggered, the power stage is disabled
and the EN\FAULT input is forced low through the integrated open drain MOSFET
discharging the external CEN capacitor.
The power stage is kept disabled and the open drain MOSFET is kept ON until the
EN\FAULT input falls below the VRELEASE threshold, then the CEN capacitor is charged
through the REN resistor.

Figure 8. Overcurrent and short-circuit protections management

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The total disable time after an overcurrent event can be set by properly sizing the external
network connected to the EN\FAULT pin (refer to Figure 9 and Figure 10):

Equation 2
tDIS = tdischarge + tcharge
But tcharge is normally much higher than tdischarge, thus we can consider only the second one
contribution:

Equation 3
 V DD – R EN  I PDEN  – V RELEASE
t DIS  R EN  C EN  I n ------------------------------------------------------------------------------------------
 V DD – R EN  I PDEN  – V IH

Where VDD is the pull-up voltage of the REN resistor.

18/26 DocID029313 Rev 4

STSPIN240 Functional description

Figure 9. Disable time versus R%%

EN and CEN values (VDD = 3.3 V)


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Figure 10. Disable time versus REN and CEN values (VDD = 1.8 V)


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DocID029313 Rev 4 19/26

26
Functional description STSPIN240

6.5 Thermal shutdown

The device embeds circuitry protecting it from overtemperature conditions.
When the thermal shutdown temperature is reached, the power stage is disabled and the
EN\FAULT input is forced low through the integrated open drain MOSFET.
The protection and the EN\FAULT output are released when the IC temperature returns
below a safe operating value (TjSD - TjSD,Hyst).

Figure 11. Thermal shutdown management

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20/26 DocID029313 Rev 4

STSPIN240 Graphs

7 Graphs

Figure 12. Power stage resistance versus supply voltage

Figure 13. Power stage resistance versus temperature


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DocID029313 Rev 4 21/26

26
Graphs STSPIN240

Figure 14. Overcurrent threshold versus supply voltage



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22/26 DocID029313 Rev 4

STSPIN240 Package information

8 Package information

In order to meet environmental requirements, ST offers these devices in different grades of

ECOPACK® packages, depending on their level of environmental compliance. ECOPACK
specifications, grade definitions and product status are available at: www.st.com.
ECOPACK is an ST trademark.

8.1 VFQFPN 3 x 3 x 1.0 mm - 16L package information

Figure 15. VFQFPN 3 x 3 x 1.0 mm - 16L package outline

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Table 11. VFQFPN 3 x 3 x 1.0 mm - 16L package mechanical data

Dimensions (mm)
Symbol Notes
Min. Typ. Max.
(1)
A 0.80 0.90 1.00
A1 - 0.02 - -
A3 - 0.20 - -
b 0.18 0.25 0.30 -
D 2.85 3.00 3.15 -
D2 1.70 1.80 1.90 -
E 2.85 3.00 3.15 -
E2 1.70 1.80 1.90 -
e - 0.50 - -
L 0.45 0.50 0.55 -
1. VFQFPN stands for “Thermally Enhanced Very thin Fine pitch Quad Packages No lead”.
Very thin: 0.80 < A ≤ 1.00 mm / fine pitch: e < 1.00 mm.
The pin #1 identifier must be present on the top surface of the package by using an indentation mark or an
other feature of the package body.

Figure 16. VFQFPN 3 x 3 x 1.0 mm - 16L recommended footprint

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STSPIN240 Ordering information

9 Ordering information

Table 12. Device summary

Order code Package Packaging

STSPIN240 VFQFPN 3 x 3 x 1.0 16L Tape and reel

10 Revision history

Table 13. Document revision history

Date Revision Changes

06-May-2016 1 Initial release.

Updated document status to Datasheet - production
data on page 1.
Updated Table 1 on page 6 (changed Max. value of VS
30-Jun-2016 2
from 12 to 11).
Updated Table 7 on page 11 (changed value of tOFF
from 47 µs to 37 µs).
Updated Figure 1 on page 5 and Figure 12 on page 21
(replaced by new figures).
04-Nov-2016 3 Updated Table 2 on page 6 (added tINw symbol).
Updated Table 3 on page 6 (replaced by new table).
Minor modifications throughout document.
Updated Table 2 on page 6 (removed tINw parameter).
Updated title of Figure 12 on page 21 and Figure 13 on
11-Aug-2017 4
page 21 [removed “(normalized at ...”].
Minor modifications throughout document.

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