By Douglas W Jones; University of Iowa. Dept. of Computer Science
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Extra info for Control of stepping motors : a tutorial
12 illustrates a practical example, using the forward voltage drop across an ordinary silicon diode as the reference voltage. 4K resistor to provide a bias current of 10ma to the reference diode. A small capacitor should be added across the reference diode if the motor power supply is minimally regulated. 6 volts. The 1000 to 1 ratio on the feedback network around the comparator sets the allowed ripple in the regulated current to around 8 ma. 12 can be powered from the minimally regulated motor power supply, but only if it is able to operate with the inputs very close to its positive supply voltage.
7 poses problems. If R2 is large, the current through the motor windings will decay quickly when the higher level control system turns off this motor winding, but when the winding is turned on, the current ripple will be large and the power lost in R2 will be significant. If R2 is small, this circuit will be very energy efficient but the current through the motor winding will decay only slowly when this winding is turned off, and this will reduce the cutoff speed for the motor. The peak power dissapated in R2 will be I2R2 during Toff and zero during Ton; thus, the average power dissapated in R2 when the motor winding is on will be: P2 = I2R Toff / (Ton + Toff) Recall that the duty cycle D is defined as Ton/(Ton+Toff) and may be approximated as Vrunning/Vsupply.
The Toshiba TA7279 dual Hbridge driver would be another another excellent choice for motors under 1 amp, but again, it appears to have been made for internal use only. The SGS-Thompson (and others) L293 dual H-bridge is a close competitor for the above chips, but unlike them, it does not include protection diodes. The L293D chip, introduced later, is pin compatible and includes these diodes. If the earlier L293 is used, each motor winding must be set across a bridge rectifier (1N4001 equivalent).