DRV 10964

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DRV10964
SLDS227 – MARCH 2016
DRV10964 5-V, Three-Phase Sinusoidal Sensorless BLDC Motor Driver

1 Features 3 Description
1• Proprietary Sensorless Windowless The DRV10964 is a three-phase sensorless motor
180° Sinusoidal Control Scheme driver with integrated power MOSFETs. It is
specifically designed for high-efficiency, low-noise
• Input Voltage Range 2.1 to 5.5 V and low-external component count motor drive
• 500-mA Output Current applications. The proprietary sensorless windowless
• Low Quiescent Current 15 µA (Typical) at Sleep 180° sinusoidal control scheme offers ultra-quiet
Mode motor drive performance. The DRV10964 contains an
intelligent lock detect function, combined with other
• Total Driver H+L Rdson Less than 1.5 Ω internal protection circuits to ensure safe operation.
• Current Limit and Short-Circuit Current Protection The DRV10964 is available in a thermally efficient 10-
• Lock Detection pin USON package with an exposed thermal pad.
• Anti Voltage Surge (AVS) (1)
Device Information
• UVLO PART NUMBER PACKAGE BODY SIZE (NOM)
• Thermal Shutdown DRV10964 USON (10) 3.00 mm × 3.00 mm
(1) For all available packages, see the orderable addendum at
2 Applications the end of the data sheet.
• Notebook CPU Fans
• Game Station CPU Fans
• ASIC Cooling Fans
Simplified Schematic
VCC
100k
VCC
FG 1 FG PWM 10 PWMIN
FG Status 2 FGS CONFIG 9
VCC 3 VCC FR 8 Direction
4 W U 7
2.2 µF
5 GND V 6
An IMPORTANT NOTICE at the end of this data sheet addresses availability, warranty, changes, use in safety-critical applications,
intellectual property matters and other important disclaimers. PRODUCTION DATA.
DRV10964
SLDS227 – MARCH 2016 www.ti.com
Table of Contents
1 Features .................................................................. 1 7.3 Feature Description................................................... 7
2 Applications ........................................................... 1 7.4 Device Functional Modes........................................ 14
3 Description ............................................................. 1 8 Application and Implementation ........................ 17
4 Revision History..................................................... 2 8.1 Application Information............................................ 17
8.2 Typical Application .................................................. 17
5 Pin Configuration and Functions ......................... 3
6 Specifications......................................................... 4 9 Power Supply Recommendations...................... 20
6.1 Absolute Maximum Ratings ...................................... 4 10 Layout................................................................... 20
6.2 ESD Ratings.............................................................. 4 10.1 Layout Guidelines ................................................. 20
6.3 Recommended Operating Conditions....................... 4 10.2 Layout Example .................................................... 20
6.4 Thermal Information .................................................. 4 11 Device and Documentation Support ................. 21
6.5 Electrical Characteristics........................................... 5 11.1 Community Resources.......................................... 21
6.6 Typical Characteristics .............................................. 6 11.2 Trademarks ........................................................... 21
7 Detailed Description .............................................. 7 11.3 Electrostatic Discharge Caution ............................ 21
7.1 Overview ................................................................... 7 11.4 Glossary ................................................................ 21
7.2 Functional Block Diagram ......................................... 7 12 Mechanical, Packaging, and Orderable
Information ........................................................... 21
4 Revision History
DATE REVISION NOTES
February 2016 * Initial release.
2 Submit Documentation Feedback Copyright © 2016, Texas Instruments Incorporated
Product Folder Links: DRV10964

DRV10964
www.ti.com SLDS227 – MARCH 2016
5 Pin Configuration and Functions
DSN Package
10-Pin USON
Top View
FG 1 10 PWM
FGS 2 9 CONFIG
VCC 3 8 FR
W 4 7 U
GND 5 6 V
Pin Functions
PIN
I/O DESCRIPTION
NO. NAME
1 FG Output Motor speed indicator output (open drain).
Motor speed indicator selector. The state of this pin is latched on power up and can not be changed
2 FGS Input
dynamically.
3 VCC Power Input voltage for motor and chip supply.
4 W IO Motor Phase W
5 GND Ground Ground
6 V IO Motor Phase V
7 U IO Motor Phase U
8 FR Input Motor direction selector. This pin can be dynamically changed after power up.
Resistor setting for configuring the handoff threshold. The state of this pin is latched on power up and can
9 CONFIG Input
not be changed dynamically.
10 PWM Input Motor speed control input.
— Thermal Pad — Connect to Ground for maximum thermal efficiency. Thermal pad is on the bottom of the package.
Copyright © 2016, Texas Instruments Incorporated Submit Documentation Feedback 3

DRV10964
6 Specifications
6.1 Absolute Maximum Ratings
(1) (2)
over operating free-air temperature range (unless otherwise noted)
MIN MAX UNIT
VCC pin supply voltage –0.3 6 V
Motor phase pins (U, V, W) –1 7.7 V
Direction, speed indicator input, and speed input (FR, FGS, PWM, CONFIG) –0.3 6 V
Speed output (FG) –0.3 7.7 V
TJ Junction temperature –40 150 °C
TSDR Maximum lead soldering temperature, 10 seconds 260 °C
Tstg Storage temperature –55 150 °C
(1) Stresses beyond those listed under Absolute Maximum Ratings may cause permanent damage to the device. These are stress ratings
only, which do not imply functional operation of the device at these or any other conditions beyond those indicated under Recommended
Operating Conditions. Exposure to absolute-maximum-rated conditions for extended periods may affect device reliability.
(2) All voltages are with respect to ground.
6.2 ESD Ratings

VALUE UNIT
(1)
Human-body model (HBM), per ANSI/ESDA/JEDEC JS-001 ±2500
V(ESD) Electrostatic discharge (2)
V
Charged-device model (CDM), per JEDEC specification JESD22-C101 ±1000
(1) JEDEC document JEP155 states that 500-V HBM allows safe manufacturing with a standard ESD control process.
(2) JEDEC document JEP157 states that 250-V CDM allows safe manufacturing with a standard ESD control process.
6.3 Recommended Operating Conditions

over operating free-air temperature range (unless otherwise noted)
MIN MAX UNIT
VCC VCC pin supply voltage 2.1 5.5 V
U, V, W Motor phase pins –0.7 7 V
FR, FGS, PWM, CONFIG Direction, speed indicator input, and speed input –0.1 5.5 V
FG Speed output –0.1 7.5 V
TJ Junction temperature –40 125 °C
6.4 Thermal Information

DRV10964
(1)
THERMAL METRIC DSN (USON) UNIT
10 PINS
Rθ JA Junction-to-ambient thermal resistance 40.9 °C/W
Rθ JC(top) Junction-to-case (top) thermal resistance 46.6 °C/W
Rθ JB Junction-to-board thermal resistance 15.8 °C/W
ψJT Junction-to-top characterization parameter 0.5 °C/W
ψJB Junction-to-board characterization parameter 16 °C/W
Rθ JC(bot) Junction-to-case (bottom) thermal resistance 2.9 °C/W
(1) For more information about traditional and new thermal metrics, see the Semiconductor and IC Package Thermal Metrics application
report, SPRA953.

DRV10964
6.5 Electrical Characteristics

(VCC = 5 V, TA = 25°C unless otherwise noted)
PARAMETER TEST CONDITIONS MIN TYP MAX UNIT
SUPPLY CURRENT
IVCC Operating current PWM = VCC, no motor connected 6.5 mA
IVCC_SLEEP Sleep current PWM = 0 V 15 20 µA
UVLO
VUVLO_H Undervoltage threshold high 2 2.1 V
VUVLO_L Undervoltage threshold low 1.7 1.8 V
VUVLO_HYS Undervoltage threshold hysteresis 100 200 300 mV
INTEGRATED MOSFET
RDSON Series resistance (H+L) VCC = 5 V; IOUT = 0.5 A 1 1.5 Ω
PWM
VIH_PWM Input high threshold 0.45 × VCC V
VIL_PWM Input low threshold 0.15 × VCC V
FPWM PWM input frequency Duty cycle >0% and <100% 15 100 kHz
Active mode 40 kΩ
RPU_PWM_VCC PWM pin pullup resistor
Standby mode 1.5 MΩ
PWM = 0 V and the motor speed
tSLEEP Sleep entry time 1 ms
less than 10 Hz
FG
IOL_FG FG sink current VFG = 0.3 V 5 mA
ISC_FG FG short circuit current VFG = 5 V 13 25 mA
FGS and FR
VIH_FGS Input high threshold 0.45 × VCC V
VIL_FGS Input low threshold 0.15 × VCC V
VIH_FR Input high threshold 0.45 × VCC V
VIL_FR Input low threshold 0.15 × VCC V
Active Mode 40 kΩ
RPU_FGS_VCC FGS pin pullup resistor
Standby Mode 1.5 MΩ
RPU_FR_VCC FR pin pullup resistor 425 kΩ
BEMF COMPARATOR
Voffset Input offset -10 10 mV
VHYS Input hysteresis 14 21 28 mV
Tdelay_r Output delay rising 25-mV step 1.5 μs
Tdelay_f Output delay falling 25-mV step 1.5 μs
Vcom Common mode voltage 0.3 VCC – 0.7 V
RATE LIMITING
Ramp time for align (from 0 to
tARamp 300 ms
50% duty cycle)

DRV10964
Electrical Characteristics (continued)

(VCC = 5 V, TA = 25°C unless otherwise noted)
PARAMETER TEST CONDITIONS MIN TYP MAX UNIT
CONFIG
Handoff speed threshold 87.5 Hz 0 3.1 5.4 % VCC
Handoff speed threshold 12.5 Hz 7.3 9.4 11.7 % VCC
Handoff speed threshold 25 Hz 13.5 15.6 17.9 % VCC
CONFIGtrip CONFIG pin trip points
Handoff speed threshold 187.5 Hz 94.5 96.9 100 % VCC
ri CONFIG pin input impedance 10 MΩ
LOCK PROTECTION
tON_LOCK Lock detect time Abnormal Kt lock 0.3 0.33 s
tOFF_LOCK Lock release time 5 5.9 s
SHORT CIRCUIT CURRENT PROTECTION
ISHT Short circuit current protection 1.8 A
THERMAL SHUTDOWN
TSD Thermal shutdown temperature 160 °C
TSD_HYS Thermal shutdown hysteresis 10 °C
6.6 Typical Characteristics

1.8
1.6
1.4
Rdson
1.2
1.0
0.8
0.6
2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0
Power Supply at 25ƒC C001
Figure 1. RDS(ON) vs Power Supply at 25°C

DRV10964
7 Detailed Description
7.1 Overview
The DRV10964 device is a three phase sensorless motor driver with integrated power MOSFETs. It is
specifically designed for high efficiency, low noise and low external component count motor drive applications.
The proprietary sensorless windowless 180° sinusoidal control scheme provides ultra-quiet motor operation by
keeping electrically induced torque ripple small.
Upon start-up, the DRV10964 device will spin the motor in the direction indicated by the FR input pin. The
DRV10964 device will operate a three phase BLDC motor using a sinusoidal control scheme. The magnitude of
the applied sinusoidal phase voltages is determined by the duty cycle of the PWM pin. As the motor spins, the
DRV10964 device provides the speed information at the FG pin.
The DRV10964 device contains an intelligent lock detect function. In the case where the motor is stalled by an
external force, the system will detect the lock condition and will take steps to protect itself as well as the motor.
The operation of the lock detect circuit is described in detail in Lock Detection .
The DRV10964 device also contains several internal protection circuits such as overcurrent protection,
overvoltage protection, undervoltage protection, and overtemperature protection.
7.2 Functional Block Diagram

FG
U
CONFIG Decode
V
ADC V/I Sensor
W
VCC GND
DRV10964
VCC
PWM and
PWM WakeUp
FR
FGS Logic
Core
Lock
U
Over Current
V
Thermal
W
UVLO
DRV10964 GND
7.3 Feature Description

7.3.1 Sleep Mode
When the PWM commanded duty cycle input is lower than 0.38%, but not 0%, the phase outputs will be put into
a high impedance state. The device will stop driving the motor. The device logic is still active during standby
mode and the DRV10964 device will consume current as specified by IVCC.

DRV10964
Feature Description (continued)

When the PWM commanded duty cycle input is driven to 0% (less than VIL_PWM for at least tSLEEP time), the
DRV10964 device will enter a low power sleep mode. In sleep mode, most of the circuitry in the device will be
disabled to minimize the system current. The current consumption in this state is specified by IVCC_SLEEP.
The device will remain in sleep mode until either the PWM commanded duty cycle input is driven to a logic high
(higher than VIH_PWM) or the PWM input pin is allowed to float. If the input is allowed to float an internal pullup
resistor will raise the voltage to a logic high level.
Recovering from sleep mode is treated the same as power on condition as illustrated in Figure 14.
As part of the device initialization the motor resistance value and the motor Kt value are measured during the
initial motor spin up as shown in Figure 14.
7.3.2 Speed Input and Control

The DRV10964 provides three-phase 25-kHz PWM outputs which have an average value of sinusoidal
waveforms from phase to phase. When any phase is measured with reference to ground, the waveform observed
will be a PWM encoded sinusoid coupled with third order harmonics as shown in Figure 2. This encoding
scheme simplifies the driver requirements because there will always be one phase output that is equal to zero.
U-V U
V-W V
W-U W
Sinusoidal Voltage from Phase to Phase Sinusoidal Voltage from Phase to GND
With Third Order Harmonics
PWM Output
Average Value
PWM Encoded Phase Output and the Average Value
Figure 2. Sinusoidal Phase Encoding Used in DRV10964
The output amplitude is determined by the supply voltage (VCC) and the commanded PWM duty cycle (PWM) as
described in Equation 1 and illustrated in Figure 3. The maximum amplitude is applied when the commanded
PWM duty cycle is 100%.
Vphpk = PWMdc × VCC (1)
100% output VCC
Vphpk
VCC*PWMdc
Figure 3. Output Voltage Amplitude Adjustment
The motor speed is controlled indirectly by using the PWM command to control the amplitude of the phase
voltages which are applied to the motor.

DRV10964
Feature Description (continued)

The duty cycle of PWM input is converted into a 9-bit digital number (from 0 to 511). The control resolution is
1/512 ≈ 0.2%. The duty cycle analyzer implements a first order transfer function between the input duty cycle and
the 9-bit digital number. This is illustrated in Figure 4 and Figure 5.
9-bit Digital Amplitude of Output

PWM In PWM Output
Number Sin-wave
Duty Cycle Analyzer AVS
Figure 4. PWM Command Input Controls the Output Peak Amplitude
VCC/2
255
255
No AVS or Software
(511 is the Maximum) 50%
50% Current Limit Occurs
Output at Peak
Figure 5. Example of PWM Command Input Controlling the Output
The transfer function between the PWM commanded duty cycle and the output peak amplitude is adjustable in
the DRV10964 device. The output peak amplitude is described by Equation 1 when PWMdc > minimum operation
duty cycle. The minimum operation duty cycle is 10%. When the PWM commanded duty cycle is lower than
minimum operation duty cycle and higher than 0.38%, the output will be controlled at the minimum operation duty
cycle. When the input duty cycle is lower than 0.38%, the DRV10964 device will not drive the output, and enters
the standby mode. This is illustrated in Figure 6.
Output Duty
10%
0 10% Input Duty
Minimum Duty Cycle = 10%
Figure 6. Speed Control Transfer Function
7.3.3 Motor Direction Change

The DRV10964 can be easily configured to drive the motor in either direction by setting the input on the FR
(Forward Reverse) pin to a logic 1 or logic 0 state. The direction of commutation as described by the
commutation sequence is illustrated in Table 1.
Table 1. Motor Direction Phase Sequencing

FR = 0 FR = 1
Motor direction U->V->W U->W->V

DRV10964
7.3.4 Motor Frequency Feedback (FG)

During operation of the DRV10964 device, the FG pin provides an indication of the speed of the motor. The
output provided on this pin is configured by applying a logic signal to the FGS pin.
The formula to determine the speed of the motor is:
IF FGS = 0, RPM = (FREQFG × 60)/number of pole pairs (2)
IF FGS = 1, RPM = (FREQFG × 60 × 3)/number of pole pairs (3)
During Open Loop Acceleration the FG pin will provide an indication of the frequency of the signal which is
driving the motor. The lock condition of the motor is not known during Open Loop Acceleration so it is possible
that the FG could be toggling during this time even though the motor is not moving.
The FG pin has built in short circuit protection, which limits the current in the event that the pin is shorted to VCC.
The current will be limited to ISC_FG.
7.3.4.1 Tach Feedback During Spin Down

The DRV10964 will provide feedback on the FG pin during spin down of the motor. Figure 7 illustrates the
behavior of the FG output. When DRV10964 PWM input is at 0% DRV10964 will provide the output of the U
phase comparator on the FG pin until the motor speed drops below 10 Hz. When the motor speed is below 10
Hz the device will enter into the Sleep state and the FG output will be held at a constant value based on the last
BEMF zero cross detection.
Closed Loop
FG = defined by FGS
Operation
Command PWM = 0%
Wait for Motor to Stop FG = U to CT BEMF comparator
Speed < 10 Hz
Sleep FG = 0 or 1 (will not toggle)
Figure 7. TACH Feedback on Spin Down
7.3.5 Lock Detection

When the motor is locked by some external condition the DRV10964 will detect the lock condition and will take
action to protect the motor and the device. The lock condition must be properly detected whether it occurs as a
result of a slowly increasing load or a sudden shock.
The DRV10964 reacts to lock conditions by stopping the motor drive. To stop driving the motor the phase
outputs are placed into a high impedance state. To prevent the current which is flowing in the motor from being
returned to the power supply (VCC) the DRV10964 uses an Ant-Voltage Surge feature. For more information on
this feature, see Anti-Voltage Surge (AVS). After successfully transitioning into a high impedance state as the
result of a lock condition the DRV10964 will attempt to restart the motor after tOFF_LOCK seconds.
The DRV10964 has a comprehensive lock detect function which includes 5 different lock detect schemes. Each
of these schemes detects a particular condition of lock as illustrated in Figure 8.

DRV10964
No motor
Frequency Overflow Tri-state

and Restart
BEMF abnormal Logic
Accelerate abnormal
Speed abnormal
Figure 8. Lock Detect
The behavior of each lock detect scheme is described in the following sections.
7.3.5.1 Lock0: No Motor

The Phase U current is checked after transitioning from open loop to closed loop. If Phase U current is not
greater than 50mA then the motor is not connected. This is reported as a locked condition.
7.3.5.2 Lock1: Frequency Overflow

For most applications the maximum electrical frequency of the motor will be less than 3 kHz. If the motor is
stopped then the BEMF voltage will be zero. Under this condition, when the DRV10964 device is in the closed
loop mode, the sensor less control algorithm will continue to accelerate the electrical commutation rate even
though the motor is not spinning. A lock condition is triggered if the electrical frequency exceeds 3 kHz.
7.3.5.3 Lock2: BEMF Abnormal

For any specific motor, the integrated value of BEMF during half of an electrical cycle will be a constant as
illustrated by the shaded green area in Figure 9. This is true regardless of whether the motor runs fast or slow.
The DRV10964 monitors this value and uses it as a criterion to determine if the motor is in a lock condition.
The DRV10964 uses the integrated BEMF to determine the Kt value of the motor during the initial motor start.
Based on this measurement a range of acceptable Kt values is established. This range is between 1/2 x Kt and 4
x Kt During closed loop motor operation the Ktc value is continuously updated. If the calculated Ktc goes beyond
the acceptable range a lock condition is triggered. This is illustrated in Figure 10.
Figure 9. BEMF Integration

DRV10964
4 x Kt
Ktc
Kt
0.5 x Kt
Lock detect
Figure 10. Abnormal Kt Lock Detect
7.3.5.3.1 Lock 3: Accelerate Abnormal

This lock condition is active when the DRV10964 device is operating in the closed loop mode. When the closed
loop commutation rate becomes lower than 1/2 of the previous commutation period then this is an indication that
the motor is not moving. Under this condition the accelerate abnormal condition will be triggered.
7.3.5.4 Lock4: Speed Abnormal

If the motor is in normal operation the motor BEMF will always be less than the voltage applied to the phase. The
DRV10964 sensorless control algorithm is continuously updating the value of the motor BEMF based on the
speed of the motor and the motor Kt as shown in Figure 11. If the calculated value for motor BEMF is higher than
the applied voltage (U) for a certain period of time (tON_LOCK) then there is an error in the system. The calculated
value for motor BEMF is wrong or the motor is out of phase with the commutation logic. When this condition is
detected a lock detect is triggered.
Rm
U M BEMF = kt * speed
If speed > U / kt
Lock is triggered.
Figure 11. BEMF Monitoring
7.3.6 Short Circuit Current Protection

The short circuit current protection function shuts off drive to the motor by placing the motor phases into a high
impedance state if the current in any motor phase exceeds the short circuit protection limit ISHT. The DRV10964
device will go through the initialization sequence and will attempt to restart the motor after the short circuit
condition is removed. This function is intended to protect the device and the motor from catastrophic failure when
subjected to a short circuit condition.
7.3.7 Anti-Voltage Surge (AVS)

Under normal operation the DRV10964 acts to transfer energy from the power supply to the motor to generate
torque, which results in angular rotation of the motor. Under certain conditions, however, energy which is stored
in the motor in the form of inductive energy or angular momentum (mechanical energy) can be returned to the
power supply. This can happen whenever the output voltage is quickly interrupted or whenever the voltage
applied to the motor becomes less than the BEMF voltage generated by the motor. The energy which is returned
to the supply can cause the supply voltage to increase. This condition is referred to as voltage surge.

DRV10964
The DRV10964 includes an anti-voltage-surge (AVS) feature which prevents energy from being transferred from
the motor to the power supply. This feature helps to protect the DRV10964 as well as any other components that
are connected to the power supply (VCC).
7.3.7.1 Protecting Against the Return of Mechanical Energy

Mechanical energy is typically returned to the power supply when the speed command is abruptly decreased. If
the voltage applied to the phase becomes less than the BEMF voltage then the motor will work as a generator
and current will flow from the motor back to VCC. This is illustrated in Figure 12. To prevent this from happening,
the DRV10964 buffers the speed command value and limits the rate at which it is able to change. The AVS
function acts to ensure that the effective output amplitude (U) is maintained to be larger than the BEMF voltage.
This prevents current from becoming less than zero. The value of BEMF used to perform this function is
calculated by the motor Kt and the motor speed.
Rm
I
U = BEMF + I * Rm M BEMF = kt * speed
If U < BEMF, I<0. AVS: UMIN = BEMF

If U > BEMF, I>0.
Figure 12. Mechanical AVS
7.3.7.2 Protecting Against the Return of Inductive Energy

When the DRV10964 suddenly stops driving the motor, the current which is flowing in the motor’s inductance will
continue to flow. It flows through the intrinsic body diodes in the mosfets and charges VCC. An example of this
behavior is illustrated by the two pictures in the top half of Figure 13. When the driver is active, the current flows
from S1 to the motor and then to S6 and is returned to ground. When the driver is placed into a high impedance
(tri-state) mode, the current goes flows from ground through the body diode of S2 to the motor and then through
the body diode of S5 to VCC. The current will continue to flow through the motor’s inductance in this direction
until the inductive energy is dissipated.
Figure 13. Inductive AVS
The lower two pictures in Figure 13 illustrate how the AVS circuit in the DRV10964 device prevents this energy
from being returned to the supply. When the AVS condition is detected the DRV10964 device will act to turn on
the low side device designated as S6. This allows the current flowing in the motor inductance to be returned to
ground instead of being directed to the VCC supply voltage.

DRV10964
7.3.8 Overtemperature Protection

The DRV10964 contains a thermal shut down function which disables motor operation when the device junction
temperature has exceeded TSD. Motor operation will resume when the junction temperature becomes lower than
TSD - TSD_HYS.
7.3.9 Undervoltage Protection

The DRV10964 contains an undervoltage lockout feature, which prevents motor operation whenever the supply
voltage (VCC) becomes too low. Upon power up, the DRV10964 will operate once VCC rises above VUVLO_H.
The DRV10964 will continue to operate until VCC falls below VUVLO_L.
7.3.10 CONFIG Configuration

The CONFIG pin provides an option for selecting the open loop to closed loop threshold. This is accomplished
with the selection of a resistor divider between VCC and GND which is connected to the CONFIG pin. See
Electrical Characteristics.
7.4 Device Functional Modes

7.4.1 Spin up Settings
7.4.1.1 Motor Kt and Rm

DRV10964 utilizes information about the motor's torque constant and resistance to control motor timing. These
parameters are measured during the initial motor spin up as shown in Figure 14.
7.4.1.2 Motor Start

DRV10964 will start the motor using a procedure which is illustrated in Figure 14.
Power On
Calibration 40 ms
Resistance
Align
Measurement
Open Loop
Accelerate
Kt
Wait TOFF_LOCK Coasting
Measurement
Close Loop Closed Loop

Lock Detected
Figure 14. DRV10964 Initialization and Motor Start-up Sequence
7.4.1.3 Initial Speed Detect (ISD)

The ISD function is used to identify the initial condition of the motor.
Phase-to-phase comparators are used to detect the zero crossings of the motor’s BEMF voltage while it is
coasting (motor phase outputs are in high-impedance state). Figure 15 shows the configuration of the
comparators.

DRV10964
Device Functional Modes (continued)
60 degrees
±
V
+
U
+
W ±
Figure 15. Initial Speed Detect Function
The motor speed is determined by measuring the time between two rising edges of either of the comparators.
If neither of the comparator outputs toggle for a given amount of time (80 ms), the condition is defined as
stationary and the Align state will begin. If the comparators are toggling at a speed that is greater than this
threshold then the DRV10964 will wait for the motor to slow down until the toggling is less than the threshold and
it can be treated as stationary.
7.4.1.4 Align
To align the rotor to the commutation logic the DRV10964 applies a 50% duty cycle on phases V and W while
holding phase U at GND. This condition is maintained for 0.64 seconds. In order to avoid a sudden change in
current that could result in undesirable acoustics the 50% duty cycle is applied gradually to the motor over 0.3
seconds.
7.4.1.5 Handoff and Closed Loop

When the motor accelerates to the velocity defined by the voltage applied to the CONFIG pin, commutation
control transitions from open loop mode to closed loop mode. The commutation drive sequence and timing is
determined by the internal control algorithm and the applied voltage is determined by the PWM commanded duty
cycle input.
The selection of handoff threshold can be determined by experimental testing. The goal is to choose a handoff
threshold that is as low as possible and allows the motor to smoothly and reliably transition between the open
loop acceleration and the closed loop acceleration. Normally higher speed motors (maximum speed) require a
higher handoff threshold because higher speed motors have lower Kt and as a result lower BEMF. Table 2
shows the configurable settings for the handoff threshold. Maximum speed in electrical hertz are shown as a
guide to assist in identifying the appropriate handoff speed for a particular application.
Table 2. Motor Handoff Speed Threshold Options

MAXIMUM SPEED (Hz) Hand Off Frequency (Hz) CONFIG[3:0]
350 to approximately 400 87.5 0x0
<100 12.5 0x1
100 to approximately 150 25 0x2

DRV10964
Device Functional Modes (continued)

Table 2. Motor Handoff Speed Threshold Options (continued)
MAXIMUM SPEED (Hz) Hand Off Frequency (Hz) CONFIG[3:0]
500 to approximately 560 125 0xA
560 to approximately 620 137.5 0xB
620 to approximately 700 150 0xC
700 to approximately 800 162.5 0xD
800 to approximately 900 175 0xE
>900 187.5 0xF

DRV10964
8 Application and Implementation
NOTE
Information in the following applications sections is not part of the TI component
specification, and TI does not warrant its accuracy or completeness. TI’s customers are
responsible for determining suitability of components for their purposes. Customers should
validate and test their design implementation to confirm system functionality.
8.1 Application Information

DRV10964 is used in sensorless three-phase BLDC motor control. The driver provides a high performance, high
reliability, flexible and simple solution for compute fan applications. The following design shows a common
application of the DRV10964.
8.2 Typical Application

VCC
100k
VCC
FG 1 FG PWM 10 PWMIN
FG Status 2 FGS CONFIG 9
VCC 3 VCC FR 8 Direction
4 W U 7
2.2 µF
5 GND V 6
Figure 16. Typical Application Schematic
8.2.1 Design Requirements

Table 3 lists several key motor characteristics and recommended ranges which the DRV10964 is capable of
driving. However, that does not necessarily mean motors outside these boundaries cannot be driven by
DRV10964.
Recommended ranges listed in Table 3 can serve as a general guideline to quickly decide whether DRV10964 is
a good fit for an application. Motor performance is not ensured for all uses.
Table 3. Key Motor Characteristics and Recommended Ranges

Rm (Ω) Lm (µH) Kt (mV/Hz) fFG_max (Hz)
Recommended Value 2.5 ~ 10 50 ~ 1000 1 ~ 100 1300

DRV10964
Rm - Motor phase resistance between phase to phase;

Lm - Motor phase to phase inductance between phase to phase;
Kt - Motor BEMF constant from phase to center tape;
fFG_max - Maximum electrical frequency. Maximum motor speed can be calculated from:
• If FGS = 1, RPM = (fFG_max × 3 x 60)/ number of pole pairs
• If FGS = 0, RPM = (fFG_max × 120)/ number of pole pairs
8.2.2 Detailed Design Procedure

1. Refer to Design Requirements and make sure your system meets the recommended application range.
2. Refer to the DRV10964 Tuning Guide and measure the motor parameters.
3. Refer to the DRV10964 Tuning Guide. Configure the parameters using DRV10964 GUI, and optimize the
motor operation. The Tuning Guide takes the user through all the configurations step by step, including: start-up
operation, closed-loop operation, current control, initial positioning, lock detection, and anti-voltage surge.
4. Build your hardware based on Layout Guidelines.
5. Connect the device into system and validate your system solution
8.2.3 Application Curves
NOTE: FG_OUT Signal Being Held HIGH During Locked Rotor

Condition (Stall)
Figure 18. Reference PCB Start-Up (Align-Acceleration)

Figure 17. Reference PCB Sinusoidal Current Profile
Profile

DRV10964
Figure 19. Reference PCB Open Loop and Close Loop Figure 20. Reference PCB Closed Loop

DRV10964
9 Power Supply Recommendations

The DRV10964 is designed to operate from an input voltage supply, V(VCC), range from 2.1 and 5.5 V. The user
must place a 2.2-μF ceramic capacitor rated for VCC as close as possible to the VCC and GND pin.
10 Layout
10.1 Layout Guidelines

The package uses an exposed pad to remove heat from the device. For proper operation, this pad must be
thermally connected to copper on the PCB to dissipate heat. On a multi-layer PCB with a ground plane, this can
be accomplished by adding a number of vias to connect the thermal pad to the ground plane. On PCBs without
internal planes, copper area can be added on either side of the PCB to dissipate heat. If the copper area is on
the opposite side of the PCB from the device, thermal vias are used to transfer the heat between top and bottom
layers.
For details about how to design the PCB, refer to TI application report, PowerPAD™ Thermally Enhanced
Package (SLMA002), and TI application brief, PowerPAD™ Made Easy (SLMA004), available at www.ti.com. In
general, the more copper area that can be provided, the more power can be dissipated.
10.2 Layout Example
2.2 uF
GND
100k
VCC
FG 1 10 PWM
100k
FGS 2 9 CONFIG
GND
VCC 3 (PPAD) 8 FR
W 4 7 U
GND 5 6 V
Figure 21. DRV10964 Layout Example

DRV10964
11 Device and Documentation Support
11.1 Community Resources

The following links connect to TI community resources. Linked contents are provided "AS IS" by the respective
contributors. They do not constitute TI specifications and do not necessarily reflect TI's views; see TI's Terms of
Use.
TI E2E™ Online Community TI's Engineer-to-Engineer (E2E) Community. Created to foster collaboration
among engineers. At e2e.ti.com, you can ask questions, share knowledge, explore ideas and help
solve problems with fellow engineers.
Design Support TI's Design Support Quickly find helpful E2E forums along with design support tools and
contact information for technical support.
11.2 Trademarks
E2E is a trademark of Texas Instruments.
All other trademarks are the property of their respective owners.
11.3 Electrostatic Discharge Caution
These devices have limited built-in ESD protection. The leads should be shorted together or the device placed in conductive foam
during storage or handling to prevent electrostatic damage to the MOS gates.
11.4 Glossary
SLYZ022 — TI Glossary.
This glossary lists and explains terms, acronyms, and definitions.
12 Mechanical, Packaging, and Orderable Information

The following pages include mechanical, packaging, and orderable information. This information is the most
current data available for the designated devices. This data is subject to change without notice and revision of
this document. For browser-based versions of this data sheet, refer to the left-hand navigation.

PACKAGE OPTION ADDENDUM
www.ti.com 10-Dec-2020
PACKAGING INFORMATION
Orderable Device Status Package Type Package Pins Package Eco Plan Lead finish/ MSL Peak Temp Op Temp (°C) Device Marking Samples
(1) Drawing Qty (2) Ball material (3) (4/5)
(6)
DRV10964FFDSNR ACTIVE SON DSN 10 3000 RoHS & Green NIPDAU Level-2-260C-1 YEAR -40 to 125 964FF1
DRV10964FFDSNT ACTIVE SON DSN 10 250 RoHS & Green NIPDAU Level-2-260C-1 YEAR -40 to 125 964FF1
(1)
The marketing status values are defined as follows:
ACTIVE: Product device recommended for new designs.
LIFEBUY: TI has announced that the device will be discontinued, and a lifetime-buy period is in effect.
NRND: Not recommended for new designs. Device is in production to support existing customers, but TI does not recommend using this part in a new design.
PREVIEW: Device has been announced but is not in production. Samples may or may not be available.
OBSOLETE: TI has discontinued the production of the device.
(2)
RoHS: TI defines "RoHS" to mean semiconductor products that are compliant with the current EU RoHS requirements for all 10 RoHS substances, including the requirement that RoHS substance
do not exceed 0.1% by weight in homogeneous materials. Where designed to be soldered at high temperatures, "RoHS" products are suitable for use in specified lead-free processes. TI may
reference these types of products as "Pb-Free".
RoHS Exempt: TI defines "RoHS Exempt" to mean products that contain lead but are compliant with EU RoHS pursuant to a specific EU RoHS exemption.
Green: TI defines "Green" to mean the content of Chlorine (Cl) and Bromine (Br) based flame retardants meet JS709B low halogen requirements of <=1000ppm threshold. Antimony trioxide based
flame retardants must also meet the <=1000ppm threshold requirement.
(3)
MSL, Peak Temp. - The Moisture Sensitivity Level rating according to the JEDEC industry standard classifications, and peak solder temperature.
(4)
There may be additional marking, which relates to the logo, the lot trace code information, or the environmental category on the device.
(5)
Multiple Device Markings will be inside parentheses. Only one Device Marking contained in parentheses and separated by a "~" will appear on a device. If a line is indented then it is a continuation
of the previous line and the two combined represent the entire Device Marking for that device.
(6)
Lead finish/Ball material - Orderable Devices may have multiple material finish options. Finish options are separated by a vertical ruled line. Lead finish/Ball material values may wrap to two
lines if the finish value exceeds the maximum column width.
Important Information and Disclaimer:The information provided on this page represents TI's knowledge and belief as of the date that it is provided. TI bases its knowledge and belief on information
provided by third parties, and makes no representation or warranty as to the accuracy of such information. Efforts are underway to better integrate information from third parties. TI has taken and
continues to take reasonable steps to provide representative and accurate information but may not have conducted destructive testing or chemical analysis on incoming materials and chemicals.
TI and TI suppliers consider certain information to be proprietary, and thus CAS numbers and other limited information may not be available for release.
In no event shall TI's liability arising out of such information exceed the total purchase price of the TI part(s) at issue in this document sold by TI to Customer on an annual basis.
Addendum-Page 1
PACKAGE OPTION ADDENDUM
www.ti.com 10-Dec-2020
Addendum-Page 2
IMPORTANT NOTICE AND DISCLAIMER
TI PROVIDES TECHNICAL AND RELIABILITY DATA (INCLUDING DATASHEETS), DESIGN RESOURCES (INCLUDING REFERENCE
DESIGNS), APPLICATION OR OTHER DESIGN ADVICE, WEB TOOLS, SAFETY INFORMATION, AND OTHER RESOURCES “AS IS”
AND WITH ALL FAULTS, AND DISCLAIMS ALL WARRANTIES, EXPRESS AND IMPLIED, INCLUDING WITHOUT LIMITATION ANY
IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE OR NON-INFRINGEMENT OF THIRD
PARTY INTELLECTUAL PROPERTY RIGHTS.
These resources are intended for skilled developers designing with TI products. You are solely responsible for (1) selecting the appropriate
TI products for your application, (2) designing, validating and testing your application, and (3) ensuring your application meets applicable
standards, and any other safety, security, or other requirements. These resources are subject to change without notice. TI grants you
permission to use these resources only for development of an application that uses the TI products described in the resource. Other
reproduction and display of these resources is prohibited. No license is granted to any other TI intellectual property right or to any third
party intellectual property right. TI disclaims responsibility for, and you will fully indemnify TI and its representatives against, any claims,
damages, costs, losses, and liabilities arising out of your use of these resources.
TI’s products are provided subject to TI’s Terms of Sale (www.ti.com/legal/termsofsale.html) or other applicable terms available either on
ti.com or provided in conjunction with such TI products. TI’s provision of these resources does not expand or otherwise alter TI’s applicable
warranties or warranty disclaimers for TI products.
Mailing Address: Texas Instruments, Post Office Box 655303, Dallas, Texas 75265
Copyright © 2020, Texas Instruments Incorporated

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DRV10964 5-V, Three-Phase Sinusoidal Sensorless BLDC Motor Driver

FG Status 2 FGS CONFIG 9

VCC 3 VCC FR 8 Direction

2 Submit Documentation Feedback Copyright © 2016, Texas Instruments Incorporated

Product Folder Links: DRV10964

5 Pin Configuration and Functions

Copyright © 2016, Texas Instruments Incorporated Submit Documentation Feedback 3

6.2 ESD Ratings

6.3 Recommended Operating Conditions

6.4 Thermal Information

4 Submit Documentation Feedback Copyright © 2016, Texas Instruments Incorporated

Product Folder Links: DRV10964

6.5 Electrical Characteristics

Copyright © 2016, Texas Instruments Incorporated Submit Documentation Feedback 5

Electrical Characteristics (continued)

6.6 Typical Characteristics

Figure 1. RDS(ON) vs Power Supply at 25°C

6 Submit Documentation Feedback Copyright © 2016, Texas Instruments Incorporated

Product Folder Links: DRV10964

7.2 Functional Block Diagram

7.3 Feature Description

Copyright © 2016, Texas Instruments Incorporated Submit Documentation Feedback 7

Feature Description (continued)

7.3.2 Speed Input and Control

PWM Encoded Phase Output and the Average Value

Figure 2. Sinusoidal Phase Encoding Used in DRV10964

100% output VCC

Figure 3. Output Voltage Amplitude Adjustment

8 Submit Documentation Feedback Copyright © 2016, Texas Instruments Incorporated

Product Folder Links: DRV10964

Feature Description (continued)

9-bit Digital Amplitude of Output

Duty Cycle Analyzer AVS

Figure 4. PWM Command Input Controls the Output Peak Amplitude

Figure 5. Example of PWM Command Input Controlling the Output

0 10% Input Duty

Minimum Duty Cycle = 10%

Figure 6. Speed Control Transfer Function

7.3.3 Motor Direction Change

Table 1. Motor Direction Phase Sequencing

Copyright © 2016, Texas Instruments Incorporated Submit Documentation Feedback 9

7.3.4 Motor Frequency Feedback (FG)

7.3.4.1 Tach Feedback During Spin Down

Wait for Motor to Stop FG = U to CT BEMF comparator

Sleep FG = 0 or 1 (will not toggle)

Figure 7. TACH Feedback on Spin Down

7.3.5 Lock Detection

10 Submit Documentation Feedback Copyright © 2016, Texas Instruments Incorporated

Product Folder Links: DRV10964

Frequency Overflow Tri-state

7.3.5.1 Lock0: No Motor

7.3.5.2 Lock1: Frequency Overflow

7.3.5.3 Lock2: BEMF Abnormal

Figure 9. BEMF Integration

Copyright © 2016, Texas Instruments Incorporated Submit Documentation Feedback 11

Figure 10. Abnormal Kt Lock Detect

7.3.5.3.1 Lock 3: Accelerate Abnormal