L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
1
POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
D
Featuring Unitrode L293 and L293D
Products Now From Texas Instruments
D
Wide Supply-Voltage Range: 4.5 V to 36 V
D
Separate Input-Logic Supply
D
Internal ESD Protection
D
Thermal Shutdown
D
High-Noise-Immunity Inputs
D
Functional Replacements for SGS L293 and
SGS L293D
D
Output Current 1 A Per Channel
(600 mA for L293D)
D
Peak Output Current 2 A Per Channel
(1.2 A for L293D)
D
Output Clamp Diodes for Inductive
Transient Suppression (L293D)
description
The L293 and L293D are quadruple high-current
half-H drivers. The L293 is designed to provide
bidirectional drive currents of up to 1 A at voltages
from 4.5 V to 36 V. The L293D is designed to
provide bidirectional drive currents of up to
600-mA at voltages from 4.5 V to 36 V. Both
devices are designed to drive inductive loads such
as relays, solenoids, dc and bipolar stepping
motors, as well as other high-current/high-voltage
loads in positive-supply applications.
All inputs are TTL compatible. Each output is a complete totem-pole drive circuit, with a Darlington transistor
sink and a pseudo-Darlington source. Drivers are enabled in pairs, with drivers 1 and 2 enabled by 1,2EN and
drivers 3 and 4 enabled by 3,4EN. When an enable input is high, the associated drivers are enabled and their
outputs are active and in phase with their inputs. When the enable input is low, those drivers are disabled and
their outputs are off and in the high-impedance state. With the proper data inputs, each pair of drivers forms
a full-H (or bridge) reversible drive suitable for solenoid or motor applications.
On the L293, external high-speed output clamp diodes should be used for inductive transient suppression.
A VCC1 terminal, separate from VCC2, is provided for the logic inputs to minimize device power dissipation.
The L293and L293D are characterized for operation from 0°C to 70°C.
Copyright 2002, Texas Instruments Incorporated
PRODUCTION DATA information is current as of publication date.
Products conform to specifications per the terms of Texas Instruments
standard warranty. Production processing does not necessarily include
testing of all parameters.
Please be aware that an important notice concerning availability, standard warranty, and use in critical applications of
Texas Instruments semiconductor products and disclaimers thereto appears at the end of this data sheet.
HEAT SINK AND
GROUND
HEAT SINK AND
GROUND
1
2
3
4
5
6
7
8
16
15
14
13
12
11
10
9
1,2EN
1A
1Y
2Y
2A
VCC2
VCC1
4A
4Y
3Y
3A
3,4EN
N, NE PACKAGE
(TOP VIEW)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
28
27
26
25
24
23
22
21
20
19
18
17
16
15
1,2EN
1A
1Y
NC
NC
NC
NC
NC
2Y
2A
VCC2
VCC1
4A
4Y
NC
NC
NC
NC
NC
3Y
3A
3,4EN
DWP PACKAGE
(TOP VIEW)
HEAT SINK AND
GROUND
HEAT SINK AND
GROUND
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
2POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
block diagram
1
0
3
4
5
6
7
89
10
11
12
13
14
15
16
1
2
1
01
1
0
2
4
3
M
M
M
1
0
1
0
1
0
VC
VCC1
NOTE: Output diodes are internal in L293D.
TEXAS INSTRUMENTS
AVAILABLE OPTIONS
PACKAGE
TAPLASTIC
DIP
(NE)
0°C to 70°CL293NE
L293DNE
AVAILABLE OPTIONS
PACKAGED DEVICES
TASMALL
OUTLINE
(DWP)
PLASTIC
DIP
(N)
0°C to 70°CL293DWP
L293DDWP L293N
L293DN
The DWP package is available taped and reeled. Add
the suffix TR to device type (e.g., L293DWPTR).
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
3
POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
FUNCTION TABLE
(each driver)
INPUTS†OUTPUT
A EN Y
H H H
LHL
X L Z
H = high level, L = low level, X = irrelevant,
Z = high impedance (off)
†In the thermal shutdown mode, the output is
in the high-impedance state, regardless of
the input levels.
logic diagram
ÁÁ
ÁÁ
ÁÁ
ÁÁ
ÁÁ
ÁÁ
ÁÁ
ÁÁ
ÁÁ
ÁÁ
2
1
7
10
9
15
3
6
11
14
1A
1,2EN
2A
3A
3,4EN
4A
1Y
2Y
3Y
4Y
schematics of inputs and outputs (L293)
Input
VCC2
Output
GND
TYPICAL OF ALL OUTPUTS
EQUIVALENT OF EACH INPUT
VCC1
Current
Source
GND
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
4POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
schematics of inputs and outputs (L293D)
Input
VCC2
Output
GND
TYPICAL OF ALL OUTPUTS
EQUIVALENT OF EACH INPUT
VCC1
Current
Source
GND
absolute maximum ratings over operating free-air temperature range (unless otherwise noted)†
Supply voltage, VCC1 (see Note 1) 36 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output supply voltage, VCC2 36 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input voltage, VI 7 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Output voltage range, VO –3 V to VCC2 + 3 V. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Peak output current, IO (nonrepetitive, t ≤ 5 ms): L293 ±2 A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Peak output current, IO (nonrepetitive, t ≤ 100 µs): L293D ±1.2 A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Continuous output current, IO: L293 ±1 A. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Continuous output current, IO: L293D ±600 mA. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Continuous total dissipation at (or below) 25°C free-air temperature (see Notes 2 and 3) 2075 mW. . . . . . .
Continuous total dissipation at 80°C case temperature (see Note 3) 5000 mW. . . . . . . . . . . . . . . . . . . . . . . . .
Maximum junction temperature, TJ 150°C. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Lead temperature 1,6 mm (1/16 inch) from case for 10 seconds 260°C. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Storage temperature range, Tstg –65°C to 150°C. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
†Stresses beyond those listed under “absolute maximum ratings” may cause permanent damage to the device. These are stress ratings only , and
functional operation of the device at these or any other conditions beyond those indicated under “recommended operating conditions” is not
implied. Exposure to absolute-maximum-rated conditions for extended periods may af fect device reliability.
NOTES: 1. All voltage values are with respect to the network ground terminal.
2. For operation above 25°C free-air temperature, derate linearly at the rate of 16.6 mW/°C.
3. For operation above 25°C case temperature, derate linearly at the rate of 71.4 mW/°C. Due to variations in individual device electrical
characteristics and thermal resistance, the built-in thermal overload protection may be activated at power levels slightly above or
below the rated dissipation.
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
5
POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
recommended operating conditions
MIN MAX UNIT
Su
pp
ly voltage
VCC1 4.5 7
V
Supply
voltage
VCC2 VCC1 36
V
VIH
High level in
p
ut voltage
VCC1 ≤ 7 V 2.3 VCC1 V
V
IH
High
-
level
input
voltage
VCC1 ≥ 7 V 2.3 7 V
VIL Low-level output voltage –0.3†1.5 V
TAOperating free-air temperature 0 70 °C
†The algebraic convention, in which the least positive (most negative) designated minimum, is used in this data sheet for logic voltage levels.
electrical characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER TEST CONDITIONS MIN TYP MAX UNIT
VOH High-level output voltage L293: IOH = –1 A
L293D: IOH = –0.6 A VCC2–1.8 VCC2–1.4 V
VOL Low-level output voltage L293: IOL = 1 A
L293D: IOL = 0.6 A 1.2 1.8 V
VOKH High-level output clamp voltage L293D: IOK = –0.6 A VCC2 + 1.3 V
VOKL Low-level output clamp voltage L293D: IOK = 0.6 A 1.3 V
IIH
High level in
p
ut current
A
VI=7V
0.2 100
µA
I
IH
High
-
level
input
current
EN
V
I =
7
V
0.2 10 µ
A
IIL
Low level in
p
ut current
A
VI=0
–3–10
µA
I
IL
Low
-
level
input
current
EN
V
I =
0
–2–100 µ
A
All outputs at high level 13 22
ICC1 Logic supply current IO = 0 All outputs at low level 35 60 mA
All outputs at high impedance 8 24
All outputs at high level 14 24
ICC2 Output supply current IO = 0 All outputs at low level 2 6 mA
All outputs at high impedance 2 4
switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER
L293NE, L293DNE
UNIT
PARAMETER
MIN TYP MAX
UNIT
tPLH Propagation delay time, low-to-high-level output from A input 800 ns
tPHL Propagation delay time, high-to-low-level output from A input
p
400 ns
tTLH T ransition time, low-to-high-level output
L =
,
300 ns
tTHL T ransition time, high-to-low-level output 300 ns
switching characteristics, VCC1 = 5 V, VCC2 = 24 V, TA = 25°C
PARAMETER TEST CONDITIONS L293DWP, L293N
L293DDWP, L293DN UNIT
MIN TYP MAX
tPLH Propagation delay time, low-to-high-level output from A input 750 ns
tPHL Propagation delay time, high-to-low-level output from A input
p
200 ns
tTLH T ransition time, low-to-high-level output
L =
,
100 ns
tTHL T ransition time, high-to-low-level output 350 ns
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
6POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
PARAMETER MEASUREMENT INFORMATION
Output
CL = 30 pF
(see Note A)
VCC1
Input
3 V
TEST CIRCUIT
tftr3 V
0
tPHL
VOH
tTHL tTLH
VOLTAGE WAVEFORMS
tPLH
Output
Input
VOL
tw
NOTES: A. CL includes probe and jig capacitance.
B. The pulse generator has the following characteristics: tr ≤ 10 ns, tf ≤ 10 ns, tw = 10 µs, PRR = 5 kHz, ZO = 50 Ω.
Pulse
Generator
(see Note B)
5 V 24 V
VCC2
A
EN
Y90% 90%
50%
10%
50%
10%
90% 90%
50%
10%
50%
10%
Figure 1. Test Circuit and Voltage Waveforms
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
7
POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
APPLICATION INFORMATION
24 V5 V
10 kΩ
VCC1 VCC2
Control A
Control B
4, 5, 12, 13
GND
Thermal
Shutdown
Motor
16 3
3
6
11
14
4Y
3Y
2Y
1Y
1,2EN
1A
2A
3,4EN
3A
4A
15
10
9
7
2
1
Figure 2. Two-Phase Motor Driver (L293)
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
8POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
APPLICATION INFORMATION
24 V5 V
10 kΩ
VCC1 VCC2
16 3
1,2EN
1
1A
2
2A
7
3,4EN
9
3A
10
4A
15
Control A
Control B
4, 5, 12, 13
GND
Thermal
Shutdown
Motor
1Y
3
2Y
6
3Y
11
4Y
14
Figure 3. Two-Phase Motor Driver (L293D)
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
9
POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
APPLICATION INFORMATION
EN 3A M1 4A M2
H H Fast motor stop H Run
H L Run L Fast motor stop
L X Free-running motor
stop XFree-running motor
stop
L = low, H = high, X = don’t care
EN 1A 2A FUNCTION
H L H T urn right
H H L Turn left
H L L Fast motor stop
H H H Fast motor stop
L X X Fast motor stop
L = low, H = high, X = don’t care
VCC2 SES5001
1/2 L293
4, 5, 12, 13
10
SES5001
VCC1
EN
1511 14
16
9
M2
M1
3A 4A
8
Figure 4. DC Motor Controls
(connections to ground and to
supply voltage)
GND
2 × SES5001
1/2 L293
4, 5, 12, 13
367
8
1
216
VCC2
2 × SES5001
2A 1A
VCC1
EN
M
Figure 5. Bidirectional DC Motor Control
GND
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
10 POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
APPLICATION INFORMATION
3
4
5
6
7
8
1
2
9
10
11
12
13
14
15
16
+
+
+
+
D7
D8 D4
D3
L2 IL2
C1
D5 D1
D6 D2
VCC1
L293
IL1/IL2 = 300 mA
0.22 µF
VCC2 L1 IL1
D1–D8 = SES5001
Figure 6. Bipolar Stepping-Motor Control
mounting instructions
The Rthj-amp of the L293 can be reduced by soldering the GND pins to a suitable copper area of the printed
circuit board or to an external heatsink.
Figure 9 shows the maximum package power PTOT and the θJA as a function of the side of two equal square
copper areas having a thickness of 35 µm (see Figure 7). In addition, an external heat sink can be used (see
Figure 8).
During soldering, the pin temperature must not exceed 260°C, and the soldering time must not be longer than
12 seconds.
The external heatsink or printed circuit copper area must be connected to electrical ground.
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
11
POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
APPLICATION INFORMATION
Copper Area 35-µm Thickness
Printed Circuit Board
Figure 7. Example of Printed Circuit Board Copper Area
(used as heat sink)
11.9 mm
17.0 mm
38.0 mm
Figure 8. External Heat Sink Mounting Example
(θJA = 25°C/W)
L293, L293D
QUADRUPLE HALF-H DRIVERS
SLRS008B – SEPTEMBER 1986 – REVISED JUNE 2002
12 POST OFFICE BOX 655303 • DALLAS, TEXAS 75265
APPLICATION INFORMATION
3
1
0
2
01020
P
4
MAXIMUM POWER AND JUNCTION
vs
THERMAL RESISTANCE
30
TOT – Power Dissipation – W
60
20
0
40
80
θJA – Thermal Resistance –°C/W
40
Side – mm
Figure 9
θJA
PTOT (TA = 70°C)
50
5
3
1
0
2
–50 0 50
4
MAXIMUM POWER DISSIPATION
vs
AMBIENT TEMPERATURE
100
TA – Ambient Temperature – °C
With Infinite Heat Sink
Free Air
Heat Sink With θJA = 25°C/W
Figure 10
150
PTOT – Power Dissipation – W
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Copyright 2002, Texas Instruments Incorporated