e-book

An Engineer’s Guide
to Current Sensing
A collection of technical content on current sensing designs

TI.com/currentsense
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Table of contents

Introduction 3 with PWM Rejection 38

Current Mode Control in Switching Power
1. Current sense amplifier overview Systems 40
Introduction to Current Sense Amplifiers 4 Switching Power Supply Current Measurements 42
Integrating the Current Sensing Signal Path 6 Increase Measurement Accuracy using
Integrated, Current Sensing Analog-to-Digital High-Speed Amplifiers for Low-Side Shunt
Converter 8 Current Monitoring 44

Integrating the Current Sensing Resistor 11

Common uses for Multi-Channel Current 5. Extending common-mode range and isolated
Monitoring 13 current measurements
Extending Beyond the Max Common-Mode
2. Out-of-range current measurements with Range of Discrete Current-Sense Amplifiers 46
current-sense amplifiers Interfacing a Differential-Output (Isolated)
Measuring Current to Detect Out-of-Range Amp to a Single-Ended Input ADC 48
Conditions 15 Low-Drift, Precision, In-Line Isolated Magnetic
Monitoring Current for Multiple Out-of-Range Motor Current Measurements 50
Conditions 17
High-Side Motor Current Monitoring for 6. Current Sensing in Mobile Robots
Overcurrent Protection 19

7. Current Sensing in Collaborative and Industrial

3. Current sense amplifier application examples Robotic Arms
Shunt-Based Current-Sensing Solutions for
BMS Applications in HEVS and EVS 21
8. How to optimize PoE systems using discrete
12-V Battery Monitoring in an Automotive Module 23
current sensing
Simplify Voltage and Current Measurement
in Battery Test Equipment 25 Additional resources 52
Current Sensing Applications in Communication
Infrastructure Equpiment 28
Safety and Protection for Discrete Digital Outputs
in a PLC System using Current Sense Amplifiers 30
Current Sensing in High-Power USB Type-C®
Applications 32

4. Current sense amplifiers in switching systems

Low-Drift, Precision, In-Line Motor Current
Measurements with PWM Rejection 35
High-Side Drive, High-Side Solenoid Monitor

An Engineer’s Guide to Current Sensing 2 Texas Instruments Incorporated

Introduction

Designers have many options when addressing the Authors:

challenges associated with designing an accurate current- Scott Hill Maka Luo
measurement circuit for cost-optimized applications. Dennis Hudgins Raphael Puzio
Approaches range from using general-purpose operational Kurt Eckles Ben Damkroger
amplifiers to analog-to-digital converters, whether stand- Mubina Toa Kyle Stone
alone or embedded in a microcontroller. This expansive Zhao Tang Arjun Prakash
variety of approaches provides flexibility for designers of Guang Zhou Leaphar Castro
current sensing applications – allowing them specifically to Dan Harmon Steven Loveless
address their unique design challenges. Peter Iliya Tom Hendrick
Kevin Zhang
This e-book was created to further simplify the current
sensing design process by helping you quickly and efficiently
narrow down the list of potential devices that align best
with your particular system’s requirements. The current
sensing information featured in this e-book address specific
applications, focusing on identifying the most optimized
device to best serve the challenges faced in that particular
application and offer alternative solutions that may be
beneficial for other circuit optimizations.
Although this e-book is not an exhaustive collection of
current-sensing challenges, it does address many of the
more common and challenging functional circuits seen
today. If you have any questions about the topics covered
here or any other current-sensing questions, submit them to
the TI E2E™ design support forums Amplifiers forum.

An Engineer’s Guide to Current Sensing 3 Texas Instruments Incorporated

www.ti.com Introduction

Product Overview
Introduction to Current Sense Amplifiers

Introduction
What are Current Sense Amplifiers? Analog Output
Current sense amplifiers, also called current shunt monitors, are specialized differential
amplifiers with a precisely matched resistive gain network with the following characteristics:
+
• Designed to monitor the current flow by measuring the voltage drop across a sense

element, typically a shunt resistor.
• Tend to be easier to use, more precise, and less prone to noise.
• Support currents from 10s of μA to 100s of A.
Integrates the full analog signal
• Natively-support common-mode voltages from –16 to +80 V and with additional circuitry up processing and provides a voltage or
to 100s of volts. current output.
white
System Benefits Addressed by Using Current Sense Amplifiers
Digital Output
• Real-time overcurrent protection
• Current and power monitoring for system optimization
• Current measurement for closed-loop feedback
Integrates the full signal conditioning path
Key Parameters
and utilizes a standard two-wire digital
Common Mode Range This specification defines the DC voltage range at the input of interface.
an amplifier with respect to ground. Current sense amplifiers white
are typically designed to support common-mode voltages well
Comparator Output
beyond the chip supply voltage. For example, the INA240 is
capable of supporting a common-mode voltage between –4 V to 

+80 V while running on a supply as low as 2.7 V.white +
+
Offset Voltage This is a differential DC error at the input of the amplifier.
Historically, to reduce the impact of amplifiers with high
offsets, larger value shunt resistors were used to increase the
measured voltage drop. Today, TI is able to offer current sense
Provides a simple ALERT signal when the
amplifiers with offsets as low as 10 μV, enabling higher-precision load current exceeds a threshold.
measurements at low currents and allowing the use of smaller
white
value shunt resistors for improved system efficiency.white
Integrated Shunt
Gain Current sense amplifiers come with various gain options
that have robust performance over temperature and process
variations by integrating a precisely-matched resistive gain +

network. The gain options for fixed gain amplifiers vary from 
0.125 V/V to 1000 V/V with gain errors as low as 0.01%.white

Temperature Stability Current sense amplifiers integrate the amplifier along with
Offers a low-drift, precision-integrated
all the gain-setting resistors which enables small and unified sense element.
temperature drift. This allows for robust current measurements
white
across the whole specified temperature range. The achieved
temperature stability is one of the key advantages current sense
amplifiers have over discrete implementations.

SBOA534 – FEBRUARY 2022 Introduction to Current Sense Amplifiers 1

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Key Design Considerations www.ti.com

Key Design Considerations

High-Side Measurements
Sensing between supply bus and load.
System Advantages:
• Able to detect load short to ground Bus
• Current is monitored directly from the source voltage
+5 V

• High immunity to ground disturbance INA290

System Challenges: +
+5 V

• High bus voltage limits the availability of high input common-mode voltage devices  ADS114 I 2C

Advantages Over Discrete Current Sense Circuit:

LOAD
• Integrated gain resistors provide excellent matching to enable higher performance
• Reduction in board space requirements
• Unique input architecture allows for the common-mode voltage to greatly exceed the device
supply voltage

Low-Side Measurements
Sensing between the load and ground.
System Advantages:
• Simple to implement and low-cost solution
• Wide range of available options Bus
voltage

System Challenges: LOAD

INA181

• Difficult to detect load short to ground +5 V

• System ground disturbance by the shunt resistor +

 ADS114 I 2C

Advantages Over Discrete Current Sense Circuit:

• Integrated gain resistors provide excellent matching enable higher performance
• Reduction in board space requirements
• Sense a true differential measurement across the shunt resistor
• Lower VOFFSET saves system power by enabling the use of smaller value shunt resistors to
achieve the same error level

In-line Measurements
Sense current in-line to the load.
System Advantages:
• True phase current at all times reduces phase-to-phase errors Bus

• Best current feedback for greatest accuracy

System Challenges: Supply

(2.7 V to 5.5 V)

• PWM common-mode voltage seen by amplifier M

INA240

• High common-mode voltage combined with high dV/dT poses steep challenge to many IN-

OUT
amplifiers IN+ REF2

REF1

INA240 Advantages Over Discrete Current-Sense Circuit:

• Enhanced PWM rejection provides high levels of suppression for large common-mode
transients (dV/dT) in systems that use PWM signals

2 Introduction to Current Sense Amplifiers SBOA534 – FEBRUARY 2022

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Application Brief
Integrating the Current Sensing Signal Path

Scott Hill Current Sensing Products

Current measurements are used in electronic systems To optimize the current sensing signal chain, the
to provide feedback verifying operation is within shunt resistor value and amplifier gain must be
acceptable margins and to detect potential fault appropriately selected for the current range and full-
conditions. Analyzing a system’s current level can scale input range of the ADC. The selection of the
diagnose unintended or unexpected operating modes shunt resistor is based on a compromise between
allowing for adjustments to be made to improve measurement accuracy and power dissipation across
reliability or to protect the system components from the shunt resistor. A large value resistor will develop
damage. a larger differential voltage as the current passes
through. The measurement errors will be smaller due
Current is a signal that is difficult to measure directly.
to the fixed amplifier offset voltage. However, the
However, there are several measurement methods
larger signal creates a larger power dissipation across
that are capable of measuring the effect of flowing
the shunt resistor (P = I2R). A smaller shunt resistor
current. Current passing through a wire produces
develops a smaller drop across the shunt resistor
a magnetic field that can be detected by magnetic
reducing the power dissipation requirements but also
sensors (hall-effect and fluxgate for example). Current
increases the measurement errors as the amplifier’s
measurements can also be made by measuring the
fixed offset errors become a larger percentage of the
voltage developed across a resistor as current passes
signal.
through. This type of resistor is called a current
sensing, or shunt, resistor. The amplifier gain is selected to ensure that the
amplifier’s output signal will not exceed the ADCs full-
For current ranges reaching up to 100 amps on
scale input range at the full-scale input current level.
voltage rails below 100 volts, measuring current with
shunt resistors are typically preferred. The shunt The INA210 is a dedicated current sense amplifier
resistor approach commonly provides a physically that integrates the external gain setting resistors as
smaller, more accurate and temperature stable shown in Figure 2. Bringing these gain resistors
measurement compared to a magnetic solution. internal to the device allows for increased matching
and temperature drift stability compared to typical
For the system’s current information to be evaluated
external gain setting resistors. Space saving QFN
and analyzed, it must be digitized and sent to
packages significantly reduce the board space
the system controller. There are many methods
requirements of an operational amplifier and external
for measuring and converting the signal developed
gain resistors. Current sense amplifiers are commonly
across the shunt resistor. The most common
available in multiple fixed gain levels to better
approach involves using an analog front-end to
optimize the pairing with shunt resistor values based
convert the current sensing resistor’s differential
on the input current and ADC full-scale input ranges.
signal to a single-ended signal. This single-ended
signal is then connected to an analog to VCM = VS =
0V to 26V 2.7V to 26V
digital converter (ADC) that is connected to a
microcontroller. Figure 1 illustrates the current sensing INA210

signal chain. +
RSHUNT

VOUT
SUPPLY -
POWER
SUPPLY

+ LOAD
RSHUNT ADC CONTROLLER
-

LOAD REF
Figure 2. INA210: Current Sensing Amplifier
REF

Figure 1. Current Sensing Signal Path

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Figure 1 shows the operational amplifier measuring Supply

2.7V to 5.5V
the differential voltage developed across the shunt VCM =
0V to 36V
resistor and sending the amplified signal to the
single ended ADC. A fully differential input ADC can
Alert GPIO

CONTROlLER
SDA
monitor the differential voltage directly across the I2C

RSHUNT
16-Bit
ADC Interface SCL
shunt resistor. One drawback to using a typical ADC
is reduced input range used. The signal developed LOAD
INA226

across a shunt resistor will be small to limit the power

dissipation requirements of this component. Lower
ADC resolutions will also impact the small signal Figure 3. Digital Current/Power Monitor
measurement accuracy.
In addition to the ability to directly measure voltage
The ADC reference will also be an additional error
developed across the shunt resistor as current passes
source that must be evaluated in this signal path. A
through, the INA226 can also measure the common-
typical ADC will feature an input range that is based
mode voltage. The INA226 has an input multiplexer
on the converter's reference voltage. The actual
allowing the ADC input circuitry to switch between
reference voltage range varies from device to device
the differential shunt voltage measurement and the
but is typically in the 2 V to 5 V range. The LSB
single-ended bus voltage measurement.
(least significant bit) is based on the full-scale range
and resolution of the converter. For example, a 16-bit The current sensing resistor value present in the
converter with a full-scale input range of 2.5 V, the system can be programmed into a configuration
LSB value is roughly 38 µV. register on the INA226. Based on this current
sensing resistor value and the measured shunt
The INA226 is a specialized ADC designed
voltage, on-chip calculations convert of the shunt
specifically for bi-directional current sensing
voltage back to current and can provide a direct
applications. Unlike typical ADCs, this 16-bit converter
readout of the corresponding power level of
features a full-scale input range of +/- 80 mV
the system. Performing these calculations on-chip
eliminating the need to amplify the input signal
reduces processor resources that would normally be
to maximize the ADC's full-scale input range. The
required to convert this information.
INA226 is able to accurately measure small shunt
voltages based on the device's maximum input offset Alternate Device Recommendations
voltage of 10 µV and an LSB size of 2.5 µV. The
For applications with lower performance
INA226 provides 15 times more resolution than the
requirements, using the INA199 still takes advantage
equivalent standard 16-bit ADC with a full-scale input
of the benefits of the dedicated current sense
range of 2.5 V. The specialization of the INA226
amplifier. For applications implementing over-current
makes this device ideal for directly monitoring the
detection, the INA301 features an integrated
voltage drop across the current sensing resistor as
comparator to allow for on-chip over-current detection
shown in Figure 3.
as fast as 1µs. For applications with lower
performance requirements, using the INA219 is able
to take advantage of the specialized current sensing
ADC.
Table 1. Alternative Device Recommendations
Device Optimized Parameter Performance Trade-Off
INA199 Lower Cost Higher VOS and Gain Error
INA301 Signal Bandwidth, On-Board Comparator Larger Package: MSOP-8
INA219 Smaller Package Digital Monitor, Lower Cost Higher VOS and Gain Error
INA190 More Accurate N/A

Table 2. Related TI Application Briefs

SBOA162 Measuring Current To Detect Out-of-Range Conditions
SBOA165 Precision Current Measurement On High Voltage Power Rail
SBOA160 High Precision, Low-Drift In-Line Motor Current Measurements
SBOA161 Low-Drift, Low-Side Current Measurements for Three-Phase Systems

7 Integrating the Current Sensing Signal Path SBOA167B – DECEMBER 2016 – REVISED SEPTEMBER 2021
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Application Brief
Integrated, Current Sensing Analog-to-Digital Converter

Scott Hill Current Sensing Products

The signal chain path for measuring current is configurations are common for this functional
typically consistent from system to system. Whether requirement. Dedicated current sense amplifiers,
current is measured in a computer, automobile or INA210 for example, feature integrated gain setting
motor, the common functional blocks used are found components and are designed specifically for this
in nearly all equipment. type of application. The INA210 has the capability to
accurately measure very small signals reducing the
The interface to a real world element such as light,
power dissipation requirement of the sensing resistor.
temperature or current in this case, requires a sensor
to convert the signal to a proportional value (voltage The next signal chain block is the ADC which is
or current) that can be more easily measured. There present to digitize the amplified sensor signal. This
are a several sensors that use magnetic field sensing device can require additional external components
for detecting the effects of current flow. These can (reference, oscillator) for more precise measurement
be very effective for detecting very large currents or capability. Similarly to the AFE, there are various
when isolated measurements are required. The most options available for the ADC block. Stand-alone
common sensor for measuring current is a current converters with the onboard references and oscillators
sensing, or shunt, resistor. Placing this component in are available as well as processors featuring onboard
series with the current being measured develops a ADC channels.
proportional differential voltage as the current passes
Both integrated and discrete ADC blocks have their
through the resistor.
benefits as well as limitations. Fewer components
The remaining blocks in the signal path are selected on the board is one obvious advantage with the
based on how this measured current information is ADC being integrated into the processor. Existing
to be used by the system. There are several blocks instruction sets for the onboard ADC channels further
that are common and found in most applications as reduces the requirement for additional software
shown in Figure 1. These blocks consist of an analog to be written to support a stand-alone ADC.
front end (AFE) to amplify a small signal from the However, silicon process nodes for digital controllers
sensor, an analog-to-digital converter (ADC) to digitize frequently are less optimized for precision analog,
the amplified signal from the sensor, and a processor limiting the performance capability of the onboard
to allow for the sensor information to be analyzed so converter. Discrete analog-to-digital converters have
the system can respond accordingly to the measured an advantage of allowing device selection based on
current level. optimized performance attributes such as resolution,
Power noise or conversion speed.
Supply A variation in this signal chain is to use an ADC
AFE to measure directly across the current sensing
resistor eliminating the current sense amplifier
RSHUNT +
ADC Controller entirely. A standard converter would have challenges
- in replacing the AFE and measuring the shunt
Load voltage directly. One challenge is the large full-scale
OSC REF range of the ADC. Without the amplification of the
sense resistor's voltage drop, either the full-range
Figure 1. Current Sensing Signal Chain of the ADC cannot be fully utilized or a larger
voltage drop will be needed across the resistor.
One requirement for the AFE is allow for direct A large voltage drop will result in a larger power
interface to the differential signal developed across dissipation across the sensing resistor. There are
the sense resistor. A single-ended output for ADCs available with modified input ranges designed
the AFE simplifies the interface to the following for measuring smaller signals directly which can
ADC. Operational amplifiers in differential amplifier allow for direct measurement of shunt voltages.

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An internal programmable gain amplifier (PGA) is While the INA226 is able to accurately measure small
typically integrated in these devices to leverage the shunt voltages this component has been designed
full-scale range of the ADC. with additional functionality useful for current sensing
applications. This device features an internal register
A limitation these small signal converters have is their
that is user-programmable with the specific value
limited common-mode input voltage range. These
of the current sensing resistor that is present on
ADCs have input voltage ranges that are limited
the PCB. Having the value of the current sensing
by their supply voltage which typically range from
resistor allows the INA226 to directly convert the
3 V to 5.5 V based on the core processor voltage
shunt voltage measured every conversion to the
being supported. The INA226, shown in Figure 2, is
corresponding current value and stores this to an
a current sensing specific analog-to-digital converter
additional output register. The INA226 also features
that solves this common-mode limitation. This device
an internal multiplexer allowing the device to switch
features a 16-bit delta-sigma core and can monitor
from a differential input measurement to a single
small differential shunt voltages on common-mode
ended voltage configuration to allow for measurement
voltage rails as high as 36 V while being powered off
of the common-mode voltage directly. The voltage
a supply voltage that can range from 2.7 V to 5.5 V.
measurement, along with the previously measured
Power Supply
(0V to 36V)
shunt voltage and corresponding current calculation,
allows the device the capability of computing power.
INA226 The device stores this power calculation and provides
Bus
Voltage Shunt this value along with the shunt voltage, current and
Bus
16-Bit
Current
I2C common-mode voltage information to the processor
RSHUNT
Shunt
Voltage
ADC
Power
Interface
over the two-wire serial bus.
Alert
In addition to the on-chip calculations of current and
Load power, the INA226 features a programmable alert
register that allows the device to compare each
Figure 2. INA226, Precision Current, Voltage, conversion value to a defined limit to determine
Power Sensing ADC if an out-of-range condition has occurred. This
alert monitor can be configured to measure out-of-
Similar to the ADCs with modified small input range range conditions such as overcurrent, overvoltage, or
capability, the INA226 has a full-scale input range of overpower. The device also includes programmable
about 80 mV enabling the device to measure directly signal averaging to further improve measurement
across the current sensing resistor. The INA226 has accuracy.
the ability to very accurately resolve small current The INA226 is optimized to support precision current
variations with an LSB step size of 2.5 μV and measurements. The additional features included in
a maximum input offset voltage of 10 μV. A 0.1- this device provide the capability of supporting the
μV/°C offset drift ensures the measurement accuracy signal management and monitoring needed in this
remains high with only an additional 12.5 μV of offset current measurement function reducing the burden on
induced at temperatures as high as 125°C. A 0.1% the system processor.
maximum gain error also enables the measurement
accuracy to remain high at the full-scale signal levels
as well.

9 Integrated, Current Sensing Analog-to-Digital Converter SBOA179A – DECEMBER 2016 – REVISED SEPTEMBER 2021
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Alternate Device Recommendations Table 1. Alternative Device Recommendations

Device Optimized Parameters Performance Trade-Off
For applications with lower performance
requirements, using the INA234 still leverages Higher VOS & Gain Error,
INA234 Lower Cost
Lower VCM Range
the benefits of the dedicated current sensing
analog-to-digital converter. For additional precision Lower System Level Gain Larger Package:
INA260
Error & Offset TSSOP-16
measurement capability where currents being
Isolated Measurement, Higher Cost, Higher VOS
measured are less than 15 A, the INA260 provides AMC1305
Higher Signal Bandwidth & Gain Error
similar functionality to the INA226 while also
INA210 Lower Cost Higher VOS & Gain Error
featuring a precision 2-mΩ integrated current sensing
resistor inside the package. For applications requiring
Table 2. Adjacent Tech Notes
significantly higher common-mode voltage capability,
Measuring Current To Detect Out-of-
the AMC1305 provides onboard isolation and is SBOA162
Range Conditions
capable of supporting working voltages as high as 1.5
Precision Current Measurement On High
kV DC and handling peak transients as high as 7 kV. SBOA165
Voltage Power Rail
For applications with lower performance requirements
Integrating The Current Sensing Signal
for the AFE, use the INA210 to take advantage of the SBOA167
Path
benefits of a dedicated current sense amplifier. SBOA170 Integrating the Current Sensing Resistor

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Application Brief
Integrating the Current Sensing Resistor

Scott Hill, Current Sensing Products

Current is one of the most common Amplifiers have fixed inherent errors associated with
signals used for evaluating and diagnosing them, input offset voltage for example, that impact
the operational effectiveness of an electronic the measurement accuracy. As the input signal
system. However, measuring this signal directly is increases, the influence of these internal errors on
very challenging. Instead, many types of sensors are the total measurement accuracy decreases. When
used to measure the proportional effects that occur the input signal decreases the corresponding
due to current flowing throughout the system. measurement error is a higher . This relationship
between the signal level and the acceptable
The most common sensing element used for
measurement accuracy provides general lower limits
detecting current flowing in a system is a
for the current sensing resistor selection. The upper
resistor. Placing a resistor, called a shunt, in series
limit value for the current sensing resistor should be
with the current path develops a differential voltage
limited based on an application’s acceptable power
across the resistor as current passes through it.
loss for this component.
One common signal chain configuration for monitoring
One benefit of using resistors for current
a current signal involves an analog front-end (AFE),
measurement is the availability of accurate
an analog to digital converter (ADC), and a system
components that provide both high precision
controller as shown in Figure 1. An AFE, such
and temperature stable measurements. Precision
as an operational amplifier or dedicated current
current sensing amplifiers are available featuring
sense amplifier, converts the small differential voltage
measurement capabilities optimized for interfacing
developed across the shunt resistor to a larger output
with very small signals to accommodate small value
voltage that the ADC can digitize before sending
resistors and low power losses.
the information to a controller. The system controller
uses the current information to optimize the system's There are two trends for resistors as the ohmic
operational performance or reduce functionality in the value decreases into the single digit milliohm level
event of an out-of-range condition to prevent potential and below. One trend for this segment of resistors
damaging conditions from occurring. is the reduced package availability and resistor
value combinations. The other trend is the increased
cost for precision and low temperature coefficient
components. Pairing a low ohmic, low temperature
+ coefficient current sensing resistors with precision
ADC CONTROLLER tolerance levels (~0.1%) result in solution costs in
the several dollar range without including the cost
associated with the precision amplifier.
A component such as the INA250, shown in
Figure 2, helps reduce the challenges of selecting
these increased accuracy, higher cost resistors for
Figure 1. Current Sensing Signal Chain
applications needing precise and temperature stable
The proper resistance value selection is critical in measurements. This device pairs a precision, zero-
optimizing the signal chain path. The resistance drift, voltage output current sense amplifier with
value and corresponding voltage developed across a 2mΩ integrated current sensing resistor with a
the shunt results in a system power loss. To limit 0.1% maximum tolerance and a temperature drift of
the power loss, it is preferred to minimize the shunt 15ppm/°C over the device's entire temperature range
resistance. The resistor value is directly proportional of -40°C to +125°C. This device can accommodate
to the signal developed and sent to the current continuous currents flowing through the on-board
sensing amplifier. resistor of up to 15A.

SBOA170C – JULY 2018 – REVISED MARCH 2022 Integrating the Current Sensing Resistor 11
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Supply 0V to 36V Supply

Voltage

0V to 36V
VS INA250 IN+ VBUS
INA260 SDA
SDA
Supply Load
IN+ IN- V SCL
SCL

I2C
GPIO
Interface Alert
+ ADC

- A0
I
A1
Reference
ADC
IN- GND Controller
Voltage
REF OUT
ADC
Load
GND
Controller
Figure 3. Integrated Signal Path
Figure 2. Integrating The Current Sensing Resistor Pairing the precision, low-drift current sensing with
these precision current sensing devices provides
In addition to the integrated precision resistor inside measurement solutions that are challenging to
this device, the INA250 also addresses one of the accomplish using discrete amplifier and resistor
most common issues associated with implementing a combinations. There are few catalog current sensing
current sensing solution. A low-ohmic shunt resistor is resistors available that are capable of enabling the
used to reduce the current sensing power dissipation. combination of precision and temperature stable
A challenge in accommodating this low resistance measurements but achieving this level of accuracy in
value is the potential impact of parasitic resistance on a solution size comparable to TSSOP-16 packaged
the PCB. Parasitic resistance in series with the shunt integrated solutions doesn't exist.
resistor can cause additional measurement errors as
current flows through the resistance to create the Alternate Device Recommendations
shunt voltage. The most common source for these For additional design flexibility, many stand-alone
measurement errors is poor layout techniques. A current sensing amplifiers and digital power monitors
Kelvin connection, also known as a four terminal are also available. For lower performance applications
connection or a force-sense, is required to ensure that with higher current requirements than the integrated
minimal additional resistance is present to alter the solutions support, use the INA210 stand-alone current
differential voltage developed between the amplifier's sensing amplifier. For applications requiring a stand-
input pins. There are PCB layout techniques to alone digital power monitor, use the INA226. For
reduce the effect of parasitic resistance, however, this applications implementing over-current detection, the
concern is removed with the INA250. INA301 features an integrated comparator for on-chip
For applications that require measuring current in a over-current detection as fast as 1μs.
high dv/dt common mode transients like motor control Table 1. Alternative Device Recommendations
and solenoid control, the INA253 is specifically design Device Optimized Parameter Performance Trade-Off
to reject PWM signals with a settling time of <10µs.
35μV VOS, Package: No on-boad current
INA210
As previously described, the typical current sensing SC70-6, QFN-10 sensing resistor
signal chain path includes the current sensing resistor, INA226
10μV VOS, Package: No on-boad current
the analog front-end, ADC and system controller. The MSOP-10 sensing resistor
INA250 combines the shunt resistor and the current INA301
Signal Bandwidth, On- No on-boad current
sensing amplifier. The INA260 combines the current Board Comparator sensing resistor
sensing resistor, measurement front-end and the ADC
into one single device.
Related Documentation
Figure 3 shows the INA260 featuring the same
1. Integrated-Resistor Current Sensors Simplify PCB
precision, integrated sensing resistor, pairing it with
Design
a 16-bit, precision ADC optimized for current sensing
2. Precision Current Measurements on High-Voltage
applications. This combination provides an even
Power Supply Rails
higher performance measurement capability than the
3. Integrating the Current Sensing Signal Path
INA250 resulting in a maximum measurement gain
4. Precision, Low-Side Current Measurement
error of 0.5% over the entire temperature range and a
maximum input offset current of 5mA.

12 Integrating the Current Sensing Resistor SBOA170C – JULY 2018 – REVISED MARCH 2022
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Application Brief
Common Uses for Multi-Channel Current Monitoring

Dennis Hudgins, Current Sensing Products

As the need for system intelligence and power devices are also more flexible in that they can monitor
efficiency continues to grow, the need for better voltage drops across resistors that have voltages
monitoring of critical system currents is increasingly greater than the supply voltage.
paramount. In the past this may have been
In addition to simplifying the design process and
done with multiple operational amplifiers configured
reducing the number of external components,
as difference amplifiers or multiple current sense
having multiple current monitoring devices in a
amplifiers distributed within the system. As the
single package facilities several common application
number of current monitor channels increases so
solutions.
does the amount of external components needed to
realize a solution. The added components increase For example, consider the application shown in Figure
the design complexity and solution size, and can 2, where the total current drawn by the memory and
degrade the overall current sensing accuracy. processor is monitored by an external ADC.
For example, consider the case where two currents +12V

need to be measured as shown in Figure 1. DC/DC

IN+ INA180

Power Power
Supply Supply
+ OUT
RSENSE1


LOAD1 LOAD1
IN
OP-AMP1 INA2180 Dual Current
Sense Amplifier
Memory

OUT1
+ RSENSE1
OUT1 2:1
ADC
 MUX

IN+ INA180
DC/DC
Control
LOAD2 LOAD2
+ OUT
RSENSE1
OP-AMP2 

IN
+ RSENSE2 Other
RSENSE2 OUT2 OUT2 Processor
 Loads

Figure 2. Monitoring Total Current in Two Supply

Rails
Figure 1. Discrete vs. Integrated Current Sensing
Solutions One approach would be to monitor both the CPU
and memory current, multiplex the current to an
In this case, the operational amplifier-based solution ADC and then and add the resulting values together
requires 8 resistors to set the gain, 2 bypass in a microprocessor. This approach requires some
capacitors and 2 current sense resistors. The same mathematical processing as well as an ADC to
circuit implemented with an INA2180 only requires continually sample outputs at a fast enough rate to
the 2 current sense resistors and a single bypass be effective. A better approach would be to use the
capacitor. Since the integrated gain-set resistors are REF pin of the INA2181 to add the current drawn by
well matched, the accuracy of the INA2180 solution the memory to the current drawn by the CPU. This
is much better than what can be achieved in a can be done by connecting the output of channel 1
cost effective discrete implementation. The integrated that monitors the memory current to the REF2 pin as
gain-set resistors permit higher accuracy monitoring shown in Figure 3.
or allow use of a cheaper wider tolerance current
sense resistor. The INA2180, INA2181, and INA2290

SLYA024A – DECEMBER 2017 – REVISED SEPTEMBER 2021 Common Uses for Multi-Channel Current Monitoring 13
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+12V Power
Supply
INA2181

IN+1 REF1
INA2181 VREF1

IN+1 REF1
DC/DC + OUT1
RSENSE 
+ OUT1
RSENSE
 IN1

IN1 LOAD
Memory

IN+2 REF2

IN+2 REF2
DC/DC
+ OUT2
RSENSE ADC

+ OUT2
RSENSE ADC
 IN2

Other GND
Loads
IN2
Processor

GND VOUT2 = VREF1 if there is no leakage current

VOUT2 = (ILOAD1 + ILOAD2) × RSENSE × GAIN

Figure 4. Current Subtraction Using the INA2181,
for Leakage Current Detection
Figure 3. Analog Current Summing With INA2181
If the voltage at OUT2 is equal to the applied
The channel 2 output will be the amplified sum of reference voltage then no leakage path exists. If
the currents from the CPU and memory. The current VOUT2 is higher than the applied reference voltage
from the memory and the current from the total can then there is unexpected current leaving the load.
be monitored when desired by an ADC. However, Likewise if VOUT2 is below the reference voltage then
since the channel 2 output is an analog signal, a unexpected leakage current is entering the load. As
comparator with an appropriately set reference can before, for this circuit to function properly the values of
be used to interrupt the system when an over current the current sense resistors must be the same.
condition occurs. For this circuit to function properly
the values of the two sense resistors must be the Texas Instruments offers several solutions for
same. multichannel current monitoring. To monitor 4
channels the INA4180, INA4181, and INA4290
Another convenient use for multi-channel current devices are available with an analog voltage output.
monitors is to detect unexpected leakage paths. The INA3221 provides the ability to accurately
These leakage paths could be caused by unintended measure both system current and bus voltages for up
shorts to ground or some other potential not in the to 3 independent channels. The values of the currents
current measurement path. One technique to detect and voltages are reported through an I2C interface.
leakage current paths is to monitor all current going
into and coming out of a circuit. As long as there Table 1. Alternative Device Recommendations
PERFORMANCE TRADE­
are no unexpected leakage paths, the current into the DEVICE OPTIMIZED PARAMETERS
OFF
load must equal the current coming out. To detect 4-channel analog current
leakage currents all current in and out of a circuit INA4180
monitor
Unidirectional Measurement

should be monitored. If the currents in and out are Bidirectional 4-channel

INA4181 Larger package
equal, no unexpected current leakage path will be current monitor
detected. Use of the dual current monitor provides INA3221
3-channel digital current/
No analog output
voltage monitor
a simple technique to detect leakage current paths
2-channel, 120-V analog
without the need for multiple devices or the need to INA2290
current monitor
Unidirectional Measurement
externally add or subtract currents. The circuit shown
4-channel, 120-V analog
in Figure 4, uses the INA2181 to monitor the current INA4290
current monitor
Unidirectional Measurement

into and out of a load.

Table 2. Adjacent Tech Notes
By reversing the polarity of the resistor connections of
LITNUMBER TITLE
the second amplifier and connecting the output of the
Measuring Current To Detect Out-of-Range
first amplifier to the second amplifier, the current going SBOA162
Conditions
in to the load is subtracted from the current going out. SBOA169 Precision, Low-Side Current Measurement
SBOA190 Low-Side Current Sense Circuit Integration

14 Common Uses for Multi-Channel Current Monitoring SLYA024A – DECEMBER 2017 – REVISED SEPTEMBER 2021
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www.ti.com Application Brief

Application Brief
Measuring Current To Detect Out-of-Range Conditions

Scott Hill, Current Sensing Products

The amount of current flowing throughout a system Another overcurrent protection scheme becoming
provides insight in determining how effectively the more common is to allow the system to protect
system is operating. A basic insight into the system's itself when an excursion is detected but then enable
operation is a comparison between the current being the system to return to normal operation once the
pulled from a power supply and a pre-defined target fault condition has been cleared. This protection
range for that particular operating condition. Current method uses a comparator comparing the monitored
levels exceeding the expected current level indicate operating current levels to defined thresholds, looking
that an element in the system is consuming more for out-of-range conditions. Creating the necessary
power than expected. Likewise, if the current is lower level of detection for a particular application relies
than expected it may indicate some part of the system on system specific variables such as the adjustability
is not powered correctly or possibly disconnected. of the desired over-range threshold, the amount of
margin acceptable in the threshold level and how
There are multiple methods available to diagnose fault
quickly the excursion must be detected.
conditions in a system depending on how the out-of-
range indication is intended to be used. One method The INA300 is a specialized current sensing
is to monitor an entire system's current consumption comparator with the ability to perform the basic
to identify potentially damaging excursions for the comparison to expected operating thresholds required
power supply. In this case, measurement accuracy for out-of-range detection.
is typically not critical and requires a simple alert to
indicate an out-of-range condition. Power Supply +2.7 V to 5.5 V

INPUT
THRESHOLD
(0 V to 36 V)

VS RPULL-UP

Fuses are commonly used for short-circuit protection IN+

INPUT SI
GNAL

preventing damaging levels of current from flowing

RSHUNT

ALERT
CMP
IN-

in the system. In an out-of-range event the fuse will ALERT

OUTPUT
LIMIT
blow and break the circuit path. The fuse must be
RLIMIT
Load

replaced for the system to operate correctly again. In

worst case situations the system requires delivery to a
repair facility if the fuse is not easily accessible. Figure 2. INA300 Over-Current Comparator

There is a time-current dependency that limits the Figure 2 shows the INA300 measuring the differential
effectiveness of a fuse in responding to a specific voltage developed across a current sensing resistor
current threshold. An example time-current response and the comparison to a user-adjustable threshold
of a fuse is shown in Figure 1. level. The alert output is pulled low when the
10,000 threshold level is exceeded. The INA300’s alert
response is issued following a current excursion in as
20A Fuse
1,000 Rating short as 10µs.
100 45A Fuse
Rating
There may also be a need to provide information
on how much current is actually being pulled by the
TIME (s)

10 100A Fuse
Rating
supply or a particular load in addition to the fault
indication. For these requirements a typical approach
1
is to utilize a combination of a current sense amplifier
0.1 and a stand-alone comparator as shown in Figure 3.

0.01
1 10 100 1,000 10,000
CURRENT (A)

Figure 1. Typical Time-Current Fuse Curve

SBOA162D – MAY 2018 – REVISED MARCH 2022 Measuring Current To Detect Out-of-Range Conditions 15
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The INA301 provides a combination of performance

SUPPLY
POWER
SUPPLY
capability in addition to the integration of both
RPULL-UP
the current sensing amplifier as well as on-board

CONTROlLER
+

comparator. The INA301 amplifier's has a small

RSHUNT -
- GPIO

signal bandwidth of 450 kHz at a fixed gain of

+
LOAD REF
100 (gains of 20 and 50 are also available) and a
maximum input offset voltage of 35 µV. In addition
Figure 3. Discrete Over-Current Detection to the maximum gain error specification of 0.2%, the
amplifier's ability to detect the out-of-range condition
The current sense amplifier measures the differential is fast. The INA301 is able to achieve accurate input
voltage developed across the sense resistor and measurements and quickly respond to over-current
sends the output to both the comparator input and events with a response time including the input signal
analog to digital converter (ADC). measurement, comparison to the user-selected alert
The INA301 and INA381 combines both the current threshold, and assertion of the comparators output in
sense amplifier (providing a voltage output signal less than 1µs.
proportional to the measured input current) and an
on-board comparator (for over-current detection) into Alternate Device Recommendations
one device as shown in Figure 4.
For applications needing to monitor current on
voltage rails that are higher than the INA301's range
Power Supply
0V to 36V 2.7V to 5.5V

VS

of 36V with the on-board over-current detection,

INA301 RPULL-UP
IN+
RSHUNT

VOUT

use the INA200. The INA180 is a current sense

IN-
INPUT

CMP THRESHOLD
ALERT
Load

amplifier that is commonly used in the discrete over-

LIMIT
RLIMIT

current detection circuit using an external comparator.

Power Supply
0V to 26V 2.7V to 5.5V

VS INA381

The INA381 provides a cost effective solution for

RPULL-UP
IN+
RSHUNT

+
VOUT
OUTPUT

VOUT
IN-

over current detection in applications that feature a

CMP
ALERT ALERT
Load
+5 V
CMPREF

common mode range less than 26 V. For applications

requiring monitoring of a second fault threshold
Figure 4. Integrated Over-Current Detection with
level, the INA302 features an additional out-of-range
INA301 and INA381
comparator with dedicated adjustable threshold level.
With both the current information and an out-of-range Table 1. Alternate Device Recommendations
indicator the system may utilize multiple monitoring Device Optimized Parameter Performance Trade-off
and protection schemes based on the operating Package: SC70-5, Reduced bandwidth,
conditions. One scheme used with this device is to INA180
SOT23-5 analog output only
initially monitor only the alert indicator as a fault Reduced bandwidth,
indicator. Once an out-of-range condition is detected INA381 Cost, Flexibility
Common mode voltage
and the alert pin is asserted, the system then begins Common-mode Voltage
actively monitoring the analog output voltage signal INA200 Reduced accuracy
Range: -16 V to +80 V
allowing the system to respond accordingly. The Two Independent Alert Larger Package:
INA302
system response typically will be to reduce system Comparators TSSOP-14
performance level, shut down entirely or to continue
monitoring to determine if the excursion continues to
become a more significant system concern. Having Related Documentation
both the proportional output voltage as well as the 1. Low-Drift, Low-Side Current Measurements for
on-board over-current detection function allows the Three Phase Systems
system to only actively monitor the current information 2. High-Side Motor Current Monitoring for Over-
when necessary optimizing system resources. The Current Protection
INA381 is similar in function to the INA301 except 3. Integrating The Current Sensing Signal Path
both inputs to the over-current comparator are directly 4. Monitoring Current for Multiple Out-of-Range
accessible for greater flexibility when setting the over Conditions
current trip threshold. 5. Safety and Protection for Discrete Digital Outputs
in a PLC System Using Current Sense Amplifiers

16 Measuring Current To Detect Out-of-Range Conditions SBOA162D – MAY 2018 – REVISED MARCH 2022
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Design Guide: INA300 INA301 INA302 INA303

Monitoring Current for Multiple Out-of-Range Conditions

Dennis Hudgins, Current Sensing Products

too fast of a response time can trigger false alerts,

One of the first parameters engineers look at when possibly resulting in system shutdown.
determining proper operation of a PCB design is
Figure 1-2 shows a simpler circuit that addresses the
the operating current. By examining the operating
design issues present in the discrete implementation.
current, an engineer can immediately tell if something
on the board is shorted, whether any of the devices
Power Supply
0V to 36V 2.7V to 5.5V
Supply
Fault Threshold

are damaged, and in some cases detect if the

VS
RPULL-UP
ALERT1

INPUT
software is running as expected. The traditional
CMP Warning Threshold
LIMIT1 RLIMIT 1

LATCH1

approach of using a current sense amplifier + ADC

IN+ INPUT SIGNAL
+ OUT

IN- Supply

to monitor current for out-of-range conditions does not RPULL-UP VOUT

OUTPUT
ALERT2

provide the required alert response time. Also, use

CMP ALERT1
Load
LIMIT2 RLIMIT 2

DELAY ALERT2

of an ADC to monitor over current alert thresholds

CDELAY
LATCH2
GND

requires constant communication between the ADC

tDELAY

and host processor which can unnecessarily burden Figure 1-2. INA302 Multi-Alert Over-Current
the system. Comparator
Being able to quickly know when a current level is The INA302 incorporates the ability to detect two out-
out of range allows improved safely, improved system of-range conditions. The lower out-of-range condition
intelligence/diagnostics and reduced downtime. is referred to as the over current warning threshold,
To address the response time required for out-of- while the higher out-of-range condition is referred
range current conditions, analog comparators are to as the over current fault threshold. The over
needed to detect when the current exceeds a given current warning threshold allows detection when the
reference threshold. However, in many cases having current is starting to get too high but has not yet
only one alert level is insufficient to determine reached the fault threshold where system shutdown
the system status and provide appropriate system may be initiated. When the current exceeds the
responses to out-of-range currents. To handle this warning threshold, the system may opt to reduce the
requirement the circuit shown in Figure 1-1 can system power consumption by disabling sub-circuits,
be used to monitor multiple out-of-range current controlling supply voltages, or reducing clocking
conditions. frequencies to lower the total system current to
SUPPLY
prevent a fault condition. If an over-current fault
condition does occur, it is important to respond quickly
REF1
to prevent further system damage or malfunctioning
behavior.
+
POWER GPIO1
SUPPLY - ALERT1
CONTROlLER

RSHUNT
+
SUPPLY
To minimize the component count and facilitate ease
of use, the alert thresholds of the INA302 are set
-

with single external resistors. The fault threshold

LOAD
-
GPIO2
ALERT2

should be set higher than the worst case current

+

REF2

the system could be expected to consume. When

Figure 1-1. Discrete Implementation to Detect the current exceeds this threshold, the alert pin of
Multiple Over-current Events the INA302 will respond within 1 μs. The value for
the warning threshold is application dependent, but is
This circuit is composed of 5 devices: a current sense usually higher than the nominal operating current. The
amplifier, two comparators, and two references. The response time of the warning threshold is adjustable
discrete implementation, shown in Figure 1-1 requires with an external capacitor from 3 μs to 10 s.
careful selection of the comparators to get the desired
alert response time. Slow response times may not By setting the warning threshold delay time
allow enough time for the system to take action; while appropriately, it is possible to set the over-current

SBOA168C – MAY 2018 – REVISED OCTOBER 2021 Monitoring Current for Multiple Out-of-Range Conditions 17
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warning threshold closer to the maximum DC In this case, the alert output can notify the system of
operating current while still avoiding false trips due this condition and fault handling procedures can be
to brief current spikes or noise. Wider separation implemented before system failure.
between the fault and warning thresholds provides the
Another use of under-current detection is to provide
system additional time for preventative action before
confirmation of proper system status. Some systems
the fault threshold is exceeded.
go into low power modes where the current is below
Some systems allow operation above the warning the normal operating range. In this case, the under-
threshold for a period of time before triggering an current alert output can be used to notify the host that
alert. One such application is monitoring the supply the system has indeed entered the shutdown state.
current to a processor. The processor may be
Some designs may only care to get notified if the
allowed to operate above the normal maximum
current is outside of expected operating bounds. For
current level for a brief period of time to maximize
these cases, the INA303 can be configured to run
computing throughput during critical operations. If the
in window mode by connecting the two alert outputs
current is above the warning threshold when the set
together as shown in Figure 1-4. In this mode, the
delay expires the alert output will pull low to notify the
single alert output will be high as long as the current is
host processor so the voltage or clocking frequency
with-in the normal operating window.
can be decreased before overheating occurs.
Power Supply
0V to 36V 2.7V to 5.5V

In some systems it is beneficial to detect when the VS

Supply

RPULL-UP
Normal
Operating

current is too low. For these applications, the INA303, Region

INPUT
ALERT1 ALERT
CMP
LIMIT1 RLIMIT 1

shown in Figure 1-3 provides both over and under

LATCH1 INPUT SIGNAL

IN+
+ OUT

current detection. IN- VOUT

OUTPUT
ALERT2 ALERT
Power Supply CMP
Load
LIMIT2 RLIMIT 2
0V to 36V 2.7V to 5.5V
Supply Over-Current DELAY
Threshold
VS
RPULL-UP LATCH2
GND
ALERT1 Under-Current
INPUT

CMP
RLIMIT 1 Threshold
LIMIT1
LATCH1 INPUT SIGNAL

Figure 1-4. INA303 Window mode Operation

IN+
+ OUT

IN- Supply VOUT

RPULL-UP

Alternate Device Recommendations

ALERT2
OUTPUT

CMP ALERT1
Load
LIMIT2 RLIMIT 2
ALERT2
DELAY
CDELAY
LATCH2
GND

tDELAY The INA226 can be used in applications that require

Figure 1-3. INA303 Over and Under Current digital current monitoring. If only a single digital alert
Detection output is needed, the INA300 provides an optimal
solution in a tiny 2mm x 2mm QFN package. For
When the current exceeds the over current fault applications that only require a single alert output in
threshold, the ALERT1 output will respond within 1 additional to the analog current signal, the INA301
μs. However, if the current goes below the under provides excellent current monitoring accuracy with
current threshold, the ALERT2 response time is set an alert response less than 1 μs. For cost sensitive
by the delay capacitor. Undercurrent situations may applications and added flexibility, the INA381 provides
briefly occur in normal operation; however, if this an current sense amplifier with an internal comparator
condition persists, it could be due to a damaged with accessible inputs.
device or system that is about to fail.

Table 1-1. Alternate Device Recommendations

Device Optimized Parameter Performance Trade-off
INA301 MSOP-8 package, single alert with analog monitor. Single alert
INA300 2mm x 2mm QFN package Alert only
INA381 Cost effective, accessible comparator inputs Single alert
INA226 Digital current monitor N/A

Table 1-2. Related TI Application Briefs

SBOA162 Measuring Current To Detect Out-of-Range Conditions
SBOA163 High-Side Motor Current Monitoring for Over-Current Protection
SBOA167 Integrating The Current Sensing Signal Path
SBOA193 Safety and Protection for Discrete Digital Outputs in a PLC System

18 Monitoring Current for Multiple Out-of-Range Conditions SBOA168C – MAY 2018 – REVISED OCTOBER 2021
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Application Brief
High-Side Motor Current Monitoring for Overcurrent
Protection

Scott Hill, Mubina Toa, Current Sensing Products

High power, precision motor systems commonly measurement function to support this common-mode
require detailed feedback such as speed, torque and input voltage range.
position to be sent back to the motor control circuitry
For larger voltage motors (24-V and 48-V, for
to precisely and efficiently control the motor’s
example), the available options reduces to dedicated
operation. Other motor control applications, such as
current sense and differential amplifiers. As the
fixed motion tasks, do not require the same level of
voltage requirements continue to increase,
system complexity to carry out their jobs. Information
measurement errors begin to impact the ability to
alerts that the motor had stalled, an unintended object
effectively identify out-of-range conditions. One
was found in the motor's path, or that a short was
specification that describes an amplifier's
detected in the motor's winding can be sent back to
effectiveness at operating at high input voltage levels
the motor control circuitry. More complex motor
is the common-mode rejection (CMR) term. This
control systems implementing dynamic control and
specification directly describes how well an amplifier's
active monitoring can also benefit from adding simple
input circuitry can reject the influence of large input
out-of-range detection function because of the faster
voltages.
indication of out-of-range events.
Ideally, an amplifier is able to completely reject and
By placing a current sense amplifier in series with the
cancel out any voltage common to both input pins and
DC power supply driving the high side of the motor
amplify only the differential voltage seen between
drive circuitry as shown in Figure 1, the overall current
them. However, as the common-mode voltage is
to the motor can be measured easily detecting out-of-
increased, leakage currents in the amplifier's input
range conditions. To detect small leakages the low-
stage result in additional input offset voltage. Larger
side return current can also be measured. A
input range levels being monitored will create
difference between the high-side and low-side current
proportionally larger measurement errors.
levels indicates a leakage path exists within the motor
or motor control circuitry. For example, an amplifier (difference amplifier or
current sense amplifier) that has a CMR (Common-
RSHUNT Mode Rejection) specification of 80 dB will have a
significant offset voltage introduced in the
measurement based on the input voltage level. An 80-
dB CMR specification corresponds to an additional
100 µV of offset voltage induced into the
measurement for every volt applied to the input.
RSHUNT Many devices are specified under defined conditions
(VCM = 12 V and VS = 5 V, for example) which
Figure 1. Low & High-Side Current Sensing establishes the base-line for the default specifications
(CMR and PSRR, specifically). In this example
The DC voltage level varies depending on the voltage operating at 60-V common-mode voltage creates a
rating of the motor leading to multiple current change in VCM of 48 V (60 V – 12 V). A 48-V change
measurement solutions to accommodate the with a 80-db CMR results in an additional 4.8 mV of
corresponding voltage levels. For low-voltage motors offset voltage in addition to the specified input offset
(approximately 5-V), the selection of circuitry to voltage found in the device’s data sheet.
monitor this current is much simpler with multiple
Applications employing calibration schemes are less
amplifier types (current sense, operational, difference,
concerned by this additional induced offset voltage.
instrumentation) and can perform the current
However, for applications where system calibration

SBOA163B – JULY 2016 – REVISED FEBRUARY 2021 High-Side Motor Current Monitoring for Overcurrent Protection 19
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cannot account for this shift in offset, selection of an range conditions. A fast signal bandwidth device, such
amplifier with better common-mode voltage rejection as the INA290, enables speedy response to a control
is required. unit to ensure other critical system components are
not damaged by the unintended excess current
The INA240 is a dedicated current sense amplifier
flowing in the system. The INA290 is a 1.1-MHz part
with a common-mode input voltage range of –4 V to
which can measure on the high-side between 2.7-V to
+80 V and a worst-case CMR (Common-Mode
120-V common mode.
Rejection) specification of 120 dB over the entire input
and temperature range of the device. 120 dB of CMR SUPPLY

corresponds to an additional 1 µV of input offset VCM =

voltage induced for every 1-V change in common- -4V to +80V

CONTROlLER
RPULL-UP
mode voltage. The temperature influence on the +
RSHUNT
amplifier's ability to rejection common-mode voltages
-
- GPIO

is not well documented in many product data sheets

+

so it should be evaluated in addition to the room REF

temperature specification. The INA240 maintains a

ensured 120-dB CMR specification over the entire –
40°C to +125°C temperature range. The typical CMR Figure 3. High-Side Overcurrent Detection
performance for the INA240 over the entire
temperature range is 135 dB (less than 0.2 µV for Alternate Device Recommendations
every 1-V change) as shown in Figure 2. If a comparator is required, the INA301 is a good
option as it is a precision current sense amplifier with
an onboard comparator that is ideal for detecting
overcurrent events on common-mode voltages up to
36 V. For applications requiring higher voltage
capability, the INA149 is a high performance
difference amplifier capable of interfacing with
common-mode voltages up to ±275 V off of a ±15-V
supply and has a ensured CMR of 90 dB (or 31.6 µV
for every 1-V input change). If isolation or high voltage
common-mode capability is required, the TMCS1100,
hall-effect current sensor, has ±600 V of basic
isolation.
Figure 2. Common-Mode Rejection vs. Table 1. Alternate Device Recommendations
Temperature DEVICE
OPTIMIZED PERFORMANCE
PARAMETER TRADE-OFFS
A system controller has the ability to use the current Package: SC-70, Signal High-side only (2.7 Vcm
INA290
sense amplifier's measurement to evaluate the Bandwidth (1.1 MHz) to 120 Vcm)
operation of the system. Comparing the current INA149 VCM Range: ±275 V CMR, Gain
information to pre-defined operating threshold allows Onboard Comparator;
INA301 VCM: 0 V to 36 V
for detection of out-of-range events. A comparator 35 µV VOS
following the high-side current sense amplifier can TMCS1100 ±600-V basic isolation Not as accurate as a
easily detect and provide alerts quickly to the system shunt-based solution
allowing for corrective actions to be taken.
Table 2. Related TI Application Briefs
Figure 3 illustrates the signal chain path for monitoring LITERATURE
and detecting out-of-range excursions when TITLE
NUMBER
measuring currents on a high-voltage rail driving the High Precision, Low-Drift In-Line Motor
motor drive circuitry. The output signal proportional to SBOA160
Current Measurements
the measured input current is directed to the ADC in Low-Drift, Low-Side Current Measurements
addition to be sent to the comparator to detect SBOA161
for Three-Phase Systems
overcurrent events. The comparator alert will assert if Measuring Current To Detect Out-of-Range
SBOA162
the input current level exceeds the predefined Conditions
threshold connected as the comparators reference Precision Current Measurement On High
SBOA165
voltage. Voltage Power Rail

A key requirement for overcurrent detection circuitry is

the ability to detect and respond quickly to out-of-

20 High-Side Motor Current Monitoring for Overcurrent Protection SBOA163B – JULY 2016 – REVISED FEBRUARY 2021
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Application Brief
Shunt-Based Current-Sensing Solutions for BMS
Applications in HEVs and EVs

Guang Zhou and Dan Harmon

BMS Topologies and Current Measurement The focus in this document is on non-isolated, shunt-
Methodologies based current-sensing amplifiers (CSA), also called
current shunt monitors (CSM), and digital power
Hybrid electric vehicles (HEV) and electric vehicles
monitors (DPM) for bottom-of-stack or top-of-stack in
(EV) continue to gain share in the overall global
12-V to 48-V BMS subsystems. The advantages of
automotive market. The battery management system
non-isolated shunt-based current sensing include
(BMS) for these vehicles carries out the important
simplicity, low cost, excellent linearity, and accuracy. A
tasks of keeping the battery inside the safe operating
drawback of shunt-based current sensing is the power
area (SOA), monitoring power distribution, and
dissipation requirements for the shunt resistor at the
tracking the state of charge (SoC). In a typical HEV
maximum current levels.
and EV, both high- and low-voltage subsystems are
present. The high-voltage subsystem operates at Current Sense Amplifiers in an HEV or EV Charger
several hundred volts, and interfaces directly with
Battery array is an important component of any HEV
utility grid or high-voltage DC sources. The low-
or EV. There are mainly two types of rechargeable
voltage subsystem generally operates at 48 V and 12
batteries: the lead acid battery that has been around
V.
for over 100 years, and the Li-Ion battery that has only
400-V and 800-V
Charger
48-V Conversion 12-V Conversion been put into practical use since the 1980s. Both lead
acid and Li-Ion batteries follow a certain constant
voltage-constant current charging profile. The CSA
plays an important role in making sure the battery
ISOLATION

remains within the SOA.

Isolated Non-isolated Non-isolated
CSA CSA CSA

Operational current for the traction inverter and

charging current can be greater than 1000 A in many
High-Voltage Load

48-V Load

12-V Load

systems. However, these BMS systems must also be

able to measure currents equal to or less than 1 A
when the vehicle is off as many systems continue to
function such as keyless entry or vehicle-to-world
Non-isolated Non-isolated Non-isolated
CSA CSA CSA

communications. BMS systems must monitor the

power distribution as accurately as possible during
Figure 1. Topologies of Current Sensing in BMS both operation and vehicle off-state to provide overall
system health and safety information. State of charge
High-voltage battery, top-of-stack measurements (SoC), which is the equivalent of a fuel gauge for the
require an isolated solution. Magnetic solutions battery pack in an HEV or EV, correlates to driving
enable the require isolation, but typically will not be range. Current sensing is one of the important
able to support the full current range. TI offers isolated methods to determine SoC. In addition to the
shunt-based current sensing solutions, such as the precision monitoring of the battery, most automotive
AMC3301-Q1. A summary of other examples of BMS systems will require a redundant measurement
isolated current sensing technology can be found in with relaxed accuracy requirements to enable system
the Comparing Shunt- and Hall-Based Isolated level functional safety goals.
Current-Sensing Solutions in HEV/EV application
The extreme difference between the traction motor
brief. Isolation is not typically required for top-of-the-
current (>1000 A) and the off-vehicle communications
stack 48-V or 12-V battery systems nor in bottom-of-
current (<1 A) creates a multi-decade, high-precision,
the-stack implementations.
bidirectional (charging versus vehicle operation)
current measurement challenge.

SBAA324B – DECEMBER 2018 – REVISED FEBRUARY 2021 Shunt-Based Current-Sensing Solutions for BMS Applications in HEVs and 21
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Sizing the Shunt Resistor mA on a 100-µΩ shunt resistor, well below the target
minimum current level of 1 A.
Historically, measuring the high current with shunt-
based topologies has been challenging. However, If even lower current levels are needed to be
with the availability of ultra-low resistance shunts, the accurately measured, system calibration may become
option is now viable. A typical analog current sense necessary. Zero-drift devices enable single-point
amplifier will have a fixed gain between 20 V/V and calibration, and make such challenging designs
200 V/V and operate from a 5-V supply. This 5-V possible by offering stable performance over
supply determines the maximum output voltage temperature.
(ignoring swing to supply limitations), and when we
For current sensing in HEV and EV BMS subsystems,
divide by the two gain extremes, we get a full-scale
the INA229-Q1 or INA228-Q1 are excellent choices
input voltage range of 250 mV to 25 mV. Assuming a
for any bottom-of-stack implementations or top-of-
bidirectional maximum current measurement of ±1000
stack implementations in 48-V or 12-V systems with
A, we can calculate a maximum shunt value of 125
an 85-V common-mode specification and ultra-low
µΩ to 12.5 µΩ. As discussed in the TI Precision Labs
offset of ±1 µV. The industry standard digital interface
- Current sense amplifiers videos, the amplifier offset
can further simplify the design by taking advantage of
will dominate the offset error at the low current range.
an existing communication bus. The INA240-Q1 with
If we use the ultra-precise INA240-Q1 with an offset of
its 80-V common mode voltage range could be used
25 µV, we get an error of 20% and 200% respectively
in 48-V system top-of-stack measurements for either
on the two shunt resistors. Table 1 summarizes these
the redundancy implementation or in applications
calculations along with the power dissipation across
requiring less total dynamic range. All three devices
these shunts at 1000 A.
are manufactured with TI proprietary Zero-Drift
Table 1. INA240-Q1 Shunt Resistor Value, Offset technology, which enable single temperature
Error, and Power Dissipation Calculations for calibration, if needed, to address lower current
±1000-A BMS Application accuracy.
GAIN OPTION INA240A1: 20 V/V INA240A4: 200 V/V
Automotive Device Recommendations
Full scale input 250 mV 25 mV
Maximum shunt 125 µΩ 12.5 µΩ
In addition to the INA229-Q1 and INA228-Q1, TI
offers other digital output current, voltage, and power
Offset error at 1 A 20% 200%
monitors. Some example products and adjacent
PDIS at 1000 A 125 W 12.5 W technical documents are compiled in Table 2 and
Table 3.
Solving the Multi-Decade Challenge
Table 2. Alternative Device Recommendations
This is where an ultra-precise, low-offset solution is DEVICE
DIGITAL
DESCRIPTION
INTERFACE
required. TI’s DPMs are specialized analog-to-digital
85-V, Bidirectional, Zero-Drift, 16-Bit,
converters (ADC) dedicated to measuring current. INA239-Q1 SPI Low- or High-Side, SPI Current/Voltage/
Most can also monitor bus voltage and can calculate Power Monitor
the power as well. The full-scale input range is scaled 85-V, Bidirectional, Zero-Drift, 16-Bit,
down from that of a typical ADC to accommodate the INA238-Q1 I2C, SMBUS Low- or High-Side, I2C Current/Voltage/
Power Monitor
typical small signal voltage drop across a shunt
INA226-Q1 I2C, SMBUS 36-V, Bidirectional, Zero-Drift, 16-Bit,
resistor. The INA229-Q1 (SPI Interface) and INA228- Low- or High-Side, I2C Current/Voltage/
Q1 (I2C interface) are 20-bit DPMs with VOFFSET = 1 Power Monitor
µV and a ±163.84-mV full-scale input range. Having a
defined full-scale input range makes calculating the Table 3. Adjacent Tech Notes
maximum shunt resistor value fairly straight forward, LITERATURE
LITERATURE TITLE
NUMBER
simply divide the full-scale input by the maximum
Current Sensing With INA226-Q1 in HEV/EV Low
current: 163.84 mV ÷ 1000 A = 163.84 µΩ. A more SBAA325
Voltage BMS Subsystems
commonly available 100-µΩ shunt resistor is used to Integrated, Current Sensing Analog-to-Digital
SBOA170
calculate a 1% error at 1 A. Converter

The final error check is to verify that the integrated

ADC is capable of resolving a signal level less than
the offset error level. The INA228-Q1 and INA229-Q1
feature a 20-bit delta-sigma converter with one bit
being the sign bit. Dividing the full-scale input of
163.84 mV by 19 bits of resolution results in 312.5 nV
per least significant bit (LSB). This corresponds to 3.1

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Application Brief
12-V Battery Monitoring in an Automotive Module

Peter Iliya

Monitoring current off an automotive 12-V battery Dedicated TI current sensors are low in power
provides critical data for a variety of applications such consumption and highly accurate (<1% error) in
as module current consumption, load diagnostics, and automotive environments even across temperature.
load feedback control. The TI current sensing portfolio
A matched internal gain network plus input offset
can address this space with analog and digital current
zeroing provides lower measurement drift across
sense amplifier (CSA) devices that come automotive
temperature compared to either discrete solutions
qualified, contain integrated features, and operate in
or ICs with supplemental integrated current sensing.
12-V environments even though powered with low-
This amplifier integration and technology can remove
voltage rails. This document provides recommended
the need for temperature and system calibrations, all
devices and architectures to address current sensing
at low cost.
in this space.
{1.8 V to 5 V} Usually, general system protection schemes do not
VS
fully suppress or protect against voltage surges, so
VBAT
+ Diagnostic these primary regulations translate into typical voltage
(12 V) OUT
Control / survivability requirements. Depending on the system,

ADC a current sensor may need to survive load dumps,
GND
Load reverse battery protection, fast load-switching, and
inductive kickback voltages. For example, working on
Current Sense Amplifier (CSA)
GND a 12-V battery rail requires at least 40-V survivability
Figure 1. Current Sense Amplifier on 12-V Rail during load dump conditions. It is important to choose
a current sensor that has an input common-mode
There are constraints in this space that stem from voltage (VCM) rating that complies with the worst-case
conditions such as electrical transient protection VCM condition of the system. Otherwise, input voltage
regulations ISO7637-2 and ISO16750-2, jump-starts, clamping schemes are needed to protect the device
reverse-polarity, and cold-cranking. In general, during such conditions.
system-level protection and suppression schemes can There are multiple TI Current (Power) Sensing
be used to protect downstream circuitry from these amplifiers that can operate on a 12-V automotive
voltage surge conditions. Types of devices included in battery and survive crucial voltage levels up to 40
these solutions are smart high-side switches, smart V and more. Ultimately, they provide very accurate,
diodes, or other discrete implementations. These zero-drift, high bandwidth, and low-cost solutions.
products may come with internal integrated current Using TI's Product selection tool online, Table 1
sensing features, but they often are not very accurate tabulates candidates for high-side current sensing
(±3% to ±20% maximum error) and have limited on an automotive 12-V battery rail requiring 40-V
dynamic range. survivability. It should be noted that all devices in
Table 1 have multiple gain variants ranging from 20
V/V to 500 V/V.

Table 1. Current Sense Amplifiers for Monitoring 12-V Automotive Battery

TI Current VCM VOS_MAX Gain Error MAX IQ_MAX
BW Features
Sense Amplifier Survivability (25 °C) (25 °C) (25 °C)
PWM rejection (very high CMRR), AEC Q100 (temperature grades 1 and
INA240-Q1 -6 V to +90 V ±25 µV 400 kHz ±0.2% 2.4 mA
0)
INA190-Q1 -0.3 V to +42 V ±10 µV 45 kHz ±0.3% 65 µA More accurate version of INA186-Q1. Wide dynamic range.
Low input bias current (IB = ±500 pA typical). Wide dynamic range.
INA186-Q1 -0.3 V to +42 V ±50 µV 45 kHz ±1% 65 µA
Operates with supply voltage (VS) of 1.7 V.
INA180-Q1 (INA181-Q1) -0.3 V to +28 V ±500 µV 350 kHz ±1% 0.5 mA Single, dual, and quad channel. Uni- or bi-directional versions

SBOA343A – MARCH 2019 – REVISED MARCH 2022 12-V Battery Monitoring in an Automotive Module 23
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According to Table 1, the INA240-Q1 provides the and the internal ESD structure of the CSA, but it
best performance, but is not optimized to monitor a is usually not needed. If it is needed, R2 should be
12-V battery compared to INA186-Q1, which requires small compared to R1. The power rating of diodes
less power, cost, and package size. The INA186- depends on the maximum expected voltage rise, but
Q1 does have high AC CMRR (140 dB) and large more importantly on the turn-on current. The diode
dynamic range (VOUT swings to VS - 40 mV over current can be reduced by increasing R1 resistance,
temperature). Additionally, the INA186-Q1 possesses but this reduces the effective gain of the circuit and,
a unique capacitively-coupled input architecture that more critically, increases gain error variation for most
increases differential input-resistance by 3 orders of current sensors (except INA186-Q1).
magnitude compared to majority of CSAs. High input-
Given the internal resistor gain network and input
impedance allows the user to filter current noise at
differential resistance of the INA181-Q1, an engineer
the device input with minimal effect on gain. Using
can calculate the effective circuit gain with R1 using
the data sheet equation if R1 = 1 kΩ, the effective
the equation in the data sheet. Keep in mind that
gain is reduced 43.5 m% for all variants except A1
adding external resistors broaden the system gain
(25 V/V). Figure 2 shows use of INA186-Q1 in battery
error variance beyond the data sheet limits. This is
monitoring. Filtering at the input (instead of output)
due to the fact that INA181-Q1 internal resistors are
means current noise is not amplified and the INA186-
matched to be ratio metric, but are not trimmed to
Q1 can drive a cleaner signal into the ADC without an
their typical values, so their absolute values can vary
output filter loading down the ADC.
by ±20%.
VPEAK 42 V
f-3dB = Overall, an engineer can choose the INA181-Q1
1/(4R1C)
because total cost with input protection is lower
R1 1k
VBAT
RSHUNT
+
VBAT
RSHUNT
+
and increase in gain error variation is acceptable;
however, devices with higher rated VCM are more
 
R1 1k
INA186-Q1 INA186-Q1
straightforward solutions that provide accurate current
Load Noisy
load

sensing over temperature with less complexity and

GND GND

Figure 2. INA186-Q1 On 12-V Battery With and fewer components.

Without Noise Filtering
Alternate Device Recommendations
The breadth of the current sense portfolio enables
the user to optimize tradeoffs when incorporating See Table 2 for applications that need either larger
common input protection schemes. If the chosen VCM ranges or integrated features such as shunt
device states that the Absolute Maximum Common- resistors or comparators.
Mode Voltage rating cannot exceed your maximum
Table 2. Alternate Device Recommendations
expected voltage surge, then it needs input protection.
Performance
Along with some passives, the current sensor needs Device Optimized Parameters
Tradeoff
transient voltage suppression (TVS) or Zener diodes INA253
Integrated 2 mΩ shunt resistor (included in Gain Error
IQ
spec). Enhanced PWM rejection
at the inputs for protection. Figure 3 shows an
BW and slew rate. Internal comparator with adjustable
example using the cost-optimized current sensor INA301-Q1
threshold and 1 µs alert response time
40 V VCM max

INA181-Q1. INA302-Q1, BW and slew rate. Dual comparator output with

40 V VCM max
INA303-Q1 adjustable thresholds and 1 µs alert response time
VPEAK > 28 V LMP8278Q- -12 V to +50 V VCM survivability. Adjustable gain and
VOS
Q1 filtering. Buffered output
INA1x8-Q1, ≥60 VCM. Current output (adjustable gain). Trimmed
VOS
D1 INA1x9-Q1 input resistors. Low IB when powered off
INA181-Q1
VBAT R1 R2 optional
+
RSHUNT

R1 R2 optional

Related Documentation
Load
D1
1. Transient Robustness for Current Shunt Monitor
GND
2. Measuring Current To Detect Out-of-Range
Conditions
Figure 3. INA181-Q1 with Input Protection for VCM 3. Precision current measurements on high-voltage
> 28 V power-supply rails
4. Integrating the Current Sensing Signal Path
In Figure 3, diodes D1 clamp the input VCM of the 5. Shunt-based Current-Sensing Solutions for BMS
device to less than 28 V, which is the absolute applications in HEVs and EVs
maximum for INA181-Q1. R2 is optional and can
be included to prevent simultaneous turn-on for D1

24 12-V Battery Monitoring in an Automotive Module SBOA343A – MARCH 2019 – REVISED MARCH 2022
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Application Brief
Simplify Voltage and Current Measurement in Battery Test
Equipment

Kevin Zhang, Maka Luo, Raphael Puzio

Introduction Function Test

Battery test equipment is used to verify battery pack Functional testing verifies that the battery pack is
functionality and performance prior to shipment to the operational prior to shipment to the customer. This
customer. This application brief outlines three major assures that each battery cell and battery pack is
functional tests that a battery tester performs while working properly.
showing how to achieve the desired level of regulated
error. Amplifier Usage in Battery Test Equipment
Power Grid
...
...
In typical systems, a Buck converter is used
VAC
Single Cell Test Unit
as the power source for battery charging and a
Bidirectional Buck / Boost
Battery
Boost converter is used for battery discharge. Both
conventional operational amplifiers (Op Amps) and
AC/DC VDC Converter
I/V Sensing
0
instrumentation amplifiers (INAs) are used in the
feedback loop to control both the charging and
Amplifier
0
DC/DC
discharging voltage and current.
Loop Control
Amplifier
To charge the battery, the buck converter is enabled
while the first-stage voltage Op Amps and current-
Control
Battery
I/V Monitor sense INA are used to measure battery voltage and
MCU ADC MUX charging current of the battery cell or battery pack.
The switch between the current-sense Op Amp and
Figure 1. Traditional Battery Test the sense resistor s that the input to the current-
Equipment Block Diagram sense Op Amp is positive regardless of the direction
of current flow across the sense resistor. These
Formation and Grading of Batteries conditioned signals serve as the input to the second
stage error Op Amp for either the voltage loop or
After the battery cell or battery pack is assembled, current loop, respectively.
each unit must undergo at least one fully controlled
charge or discharge cycle to initialize the device, The gained up output from each error Op Amp
and convert it to a functional power storage device. serves as the input to the third-stage buffer Op
Battery vendors also use this process to grade Amp. The output of the buffer Op Amp feeds into
battery cells, the process of separating the cells the feedback pin of the buck converter to control
into different performance groups according to target the output voltage or current. Depending on the
specifications. For a more in-depth look at the battery output current requirements, the buck-boost functions
initialization circuit, view our Bi-Directional Battery can be accomplished several ways; however, two
Initialization System Power Board Reference Design. approaches are the most common.
For higher current requirements, an integrated charge
Loop and Feature Test controller and external FET can be used. However,
for lower-current requirements, which are common
The loop and feature test refers to cycling the battery in cost-sensitive systems, this function can be
cell or battery pack through repeated charging and implemented discretely as shown in Figure 2. The
discharging sequences. This verifies that the battery’s design engineer can adjust VV_ref and VI_ref on the
characteristic life and reliability parameters to assure positive input pins of the error Op Amps to adjust
they are within the specified range of the defined the target output voltage and current of the buck
tolerances. converter to the optimal value.

SBOA236A – OCTOBER 2017 – REVISED MARCH 2022 Simplify Voltage and Current Measurement in Battery Test Equipment 25
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In a typical battery charging application, the output Since the major errors come from the voltage- and
voltage of the current-loop error Op Amp starts current-sense amplifiers, it’s important to select high
high, putting the buck converter into constant current precision amplifiers.
output.
For example, if the desired regulated output current
In the next phase, the output voltage of the voltage- target, ISET is 10A, and the current sensing resistor,
loop error Op Amp goes high, putting the buck RSENSE is 20mΩ, the input error of amplifier will be:
converter into constant voltage output. When the
battery is being discharged, the boost converter is VI _ ERR _ RTI  ERRIOUT  I SET  R SENSE 200 V (1)
enabled. The Op Amps control the battery discharge
current and voltage, functioning in the same manner V V _ ERR _ RTI  ERR VOUT  V SET 21 mV (2)
as they do when the battery is being charged. The
boost converter boosts the battery voltage to VDC, If the desired regulated output voltage is set to VSET
which is usually 12 V. 4.2 V, the input error of amplifier will be:
Other Single
Cell Test Units
Assuming the temperature rises from 25°C to 85°C
Single Cell Test Unit
and the battery voltage is 4 V, we can easily calculate
Power Grid TPS54335A SN74LV4053
the real world error from one of our low-offset and low
SW
offset drift Op Amps, the TLV07.
Buck
Converter COMP
VAC Switch
INA125 (3)
Bidirectional
TPS6117B
AC/DC VDC
0
V TLV07 _ ERR _ RTI  VOS _ max  dV OS / dTmax  60 C  4 V / CMRR DC


SW
Boost  100 V  0.9 V /  C  60  C  4 V / 158489
Converter COMP
TLV07
0  154 V  VI _ ERR _ RTI and V V _ ERR _ RTI

To Monitoring Circuit -
Voltage Using the calculated numbers above, it is clear that
- - Sense
Voltage Amplifier a precision Op Amp similar to TLV07 is an ideal Op
Buffer
Amplifier
Loop Error
Amplifier
+ Amp to meet the system output current and voltage
+ + error requirements.
TLV07
(Optional)
TLV07
VV_ref to set VOUT
For our next example, we use an INA which integrates
To Monitoring Circuit -
all the feedback resistors. delivers VOS_max = 150
Current µV and dVOS/dTmax = 0.5 µV/°C and is a good fit
- Sense
Current Amplifier to perform the current-shunt amplifier function in a
Loop Error
Amplifier
+ system with a simplified design.
+
If the system requires even higher performance
TLV07 TLV07
INA188 specifications, the current and voltage error can be
VV_ref to set IOUT INA826
INA125
changed to 0.05% and 0.1%, respectively. In this
case, precision INAs such as the zero-drift INA188,
Figure 2. Battery Test Equipment can be used. Assuming the same conditions from the
Typical Amplifier Configuration above example, with a 60°C temperature rise and
VBAT of 4 V, the real-world error from the INA188 is:
VI_ERR_RTI= 67 µV and VV_ERR_RTI< = 4.2 mV
System and Amplifier Requirements
Typical system requirements: Reference Circuit of Amplifier in Each Stage
• Regulated current error ERRIout = 0.1% Looking at the voltage and current sense reference
• Regulated voltage error ERRVout = 0.5% circuit shown in Figure 3, I+ and I- contributions are
To achieve the above requirements, an Op Amp with resultant of the current sense resistors. The B+ and
low offset voltage (VOS), low VOS temperature drift B- components are from the positive and negative
and high CMRR, like the TLV07 is needed. terminals of the battery. Since the actual battery
voltage might be higher than 5 V, the typical Op Amp
The Op Amps create a closed loop with the power power supply is 12 V. The TLV07, INA188 and INA125
stage, the voltage on the inverting input of the error all have 36 V max (±18 V) supply voltage, meeting
Op Amp will be very close to the reference voltage system requirements.
VV_ref and VI_ref, thus minimizing the error from the
large loop gain.

26 Simplify Voltage and Current Measurement in Battery Test Equipment SBOA236A – OCTOBER 2017 – REVISED MARCH 2022
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As battery current can be close to zero during Conclusion

charge and discharge cycles, a bi-polar supply is
Voltage and current sensing are the two most
implemented in the first stage current-sensing Op
significant measurements in battery test equipment
Amp to avoid clipping the current sense signal. Type-
systems. Furthermore, the most important parametric
III compensation is applied on each stage of the
characteristics for this application is a precision Op
error Op Amp , with R12, C3, C4 and R6, C1, C2
Amp or INAs that feature low voltage-offset and
respectively. To assure loop stability, these values
drift. These parameters are critical to assure high-
should be fine-tuned based on the actual power
performance sensing while minimizing the first stage
supply design.
contribution to system error.
R9 10 k
+ 12 V
+ 12 V Table 1. Three Types of Op Amp for
B+
R7 20 k
+
VSET + COMP
Or
Battery Test Equipment
– Buffer
B+
R8 20 k
– R11 10 k
U4 TLV07 D2 Device System Benefits
C3 100 n
R4 50 k U3 TLV07
R12 1 k TLV07 Low-offset voltage and low-drift provide
(Op Amp) sufficient regulated current and voltage error for
C4 10 p
Device cost-sensitive systems
+5V High CMR (common mode rejection) of (100 dB
INA125
+ 12 V Min) increases dynamic range at the output; low
R3 50 k
(Instrumentation
+ 12 V offset voltage and low drift reduce the need for
R1 1 k ISET + amplifier)
I+ + costly and time-consuming calibration
R2 1 k – U2 TLV07
I
– R5 10 k D1
Low-offset voltage and zero-drift provide lower
C1 100 n INA188
R6 1 k regulated current error and voltage error while
R4 50 k U1 TLV07 (Instrumentation
a high CMR (104 dB Min) decreases common
C2 10 p amplifier)
mode interference

+ 12 V
+ 12 V
I+ + ISET +
R Q2 V+
C5 10p R3 1 k REF – U2 TLV07 D1
R5 10 k
R Q1 V-
I - U1 INA188 C1 100 n
R6 1 k
C6 10p - 12 V
C2 10 p
Use instrumentation amplifiers for
higher precision requirements

Figure 3. Voltage and Current Sense Circuit with

TLV07 and INA188 in High-end Application

SBOA236A – OCTOBER 2017 – REVISED MARCH 2022 Simplify Voltage and Current Measurement in Battery Test Equipment 27
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Application Brief
Current Sensing Applications in Communication
Infrastructure Equipment

In this article, a fresh look is taken into the Current Sensing at Point Of Load
major electronic end equipment for cellular wireless
The typical WI electronic system is powered from a
infrastructure (WI) from the perspective of current
DC bus, such as 12 V to 48 V. Lower supply rails are
sensing (CS). Several types of CS applications in
derived from the bus voltage.
such equipment are reviewed.
These lower voltage rails are called point of load
Current Sensing in Power Supply Block (POL) supplies, stemming from the fact that they
satisfy a set of specific requirements and are
As shown in Figure 1, the power supply for the normally located in the vicinity of the loads they
WI equipment comes from the utility grid, solar serve. Depending on how critical or informative the
energy, or sometimes a combination of the two. The measurements are, sometimes it is desirable to
power supply is often backed up with battery storage monitor the current or voltage in one or more of these
for uninterrupted service during a power outage, POL supplies. The main requirements for the CSA in
especially in remote areas where solely depending on this situation may include (among others) accuracy,
grid electricity is not an option due to limitations from speed, dynamic range, and power dissipation by the
physical accessibility or economic feasibility. associated shunt resistor.
VDD
DCDC Charger AC/DC

CSA

High Side I-Sense

Point of Load

Load CSA

Low Side I-Sense

Figure 1. WI Power Supply Block Diagram

The power supply block can be either integrated Figure 2. Point of Load Current Sensing Options
into the WI end equipment, or it can be stand-
As shown in Figure 2, current can be sensed at either
alone. Regardless of the implementation, a common
side of the load, with analog or digital CSA, and
requirement is an intelligent power management
through either external or integrated shunt resistor.
system to charge batteries and ensure seamless
transitions between power sources. Current and CSA comes with a matched resistor gain network that
voltage sensing is an indispensable function in such provides value in terms of cost, board space, and
power management systems. performance. Most CSAs feature fixed-gain, ranging
from 10 to 1000. Some CSAs offer configurable
Current sensing can be implemented either on the
gain. For example, the INA225 has configurable gain
high side or on the low side. Dedicated high-voltage,
through two digital control pins, while other CSAs
shunt-based, Current Sense Amplifiers (CSA) such
have a gain that is configurable through an external
as the INA240 might be needed for fault to ground
resistor, such as INA139.
prevention. Magnetic current sensors such as the
TMCS1100 or TMCS1101 are both great choice System integration is further improved when a CSA
for high-voltage applications due to their inherent is chosen that comes with integrated analog to digital
galvanic isolation. conversion (ADC) and a shunt resistor.

SBOA366B – DECEMBER 2020 – REVISED MARCH 2022 Current Sensing Applications in Communication Infrastructure Equipment 28
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The key considerations in selecting a CSA and Power amplifier monitor and control systems such
associated shunt resistor for POL measurement starts as the AMC7834 are another option with integrated
with common-mode voltage, current range, accuracy, current sensing capability. Such a solution offers the
and speed. In addition, if overcurrent protection (OCP) possibility of further reducing board space.
is required, a CSA with an integrated fast-action VDD

comparator is often an ideal choice, where system

parameters such as offset and propagation delay Current/Voltage/Power/
Energy Sense

are specified. Compared with discrete components, ADC

such a CSA helps remove uncertainties and therefore

simplifies the design. PA Controller
(w/uC or FPGA)
Temperature Sense

To monitor multiple POLs, a multi-channel CSA like DAC d

the INA2290 or INA4180 might make sense, as g

it offers four channels of analog output. When a RF Input

s

microcontroller or FPGA is present in the equipment,

an ADC channel is normally available, as well as a Figure 3. PA Biasing and Current Sensing
digital bus such as I2C. In this situation, either an
analog or digital output CSA may be implemented
Alternate Device Recommendations
as a POL monitor. A multi-channel digital monitor
such as the INA3221 is another option that frees up TI offers a complete line of CSA and magnetic
controller ADC channels while taking advantage of sensors that serve well in WI end equipment, from
an existing I2C bus. This device offers a number of high-voltage supply current and PA current sensing
warning and alert signals for fast action in case of a to general purpose POL current monitoring. The
fault, as well as current, voltage, or power information high-voltage INA202 also comes with integrated
of three independent channels. comparator and reference output to facilitate the
OCP requirement. For applications where superior
Current Sensing in Power Amplifiers accuracy is required, the INA190 family of devices
are good choices with nA input bias current.
The bias current in power amplifiers (PA) is adjusted These devices are essential in situations where
to suit the need of an end application, modulation the sensed current is very small. Some of these
scheme, and operation class. A typical PA with devices come with Enable pins for further power
current sensing is shown in Figure 3. reduction; some are offered in a WCSP package for
The PA is often constructed with silicon LDMOS board space optimization. For applications with lower
or GaN technology. Current sensing is important in common mode voltage requirements, the INA180
PA applications, both from the standpoint of the PA offers excellent speed and overall performance value.
operation and from the standpoint of overall energy The INA301 family of devices features integrated fast
efficiency management. Under the same bias voltage, comparators and high-speed amplifiers. Both outputs
the PA bias current differs due to device variation. are available that suit the need of OCP.
Further, the bias current changes with temperature. Table 1. Alternate Device Recommendations
Consequently, in order for the PA controller to Device Characteristics
accurately control the bias current, both the current
Common mode range -16 V to 80 V;
and temperature information must be available. The INA202
Comparator
bias current information is necessary in improving
INA180 Low IQ; High bandwidth
system efficiency, where around 50% of total system
INA190 Low IQ; Low IB; Enable pin
power is consumed by the PA itself.
INA301 High bandwidth amplifier; Fast comparator
Integrated power amplifier monitor and control
systems, such as the AMC7836, can simplify PA
circuit design. As mentioned, due to natural device Related Documentation
variation, knowing gate voltage alone is sometimes
1. Hybrid Battery Charger With Load Control for
not sufficient in order to achieve accurate bias current
Telecom Equipment
control. When current sensing is required in the
2. Precision Current Measurements on High-Voltage
control loop, a separate high-voltage CSA, such as
Power Supply Rails
the INA290, can be used.
3. Common Uses for Multi-Channel Current
Monitoring

29 Current Sensing Applications in Communication Infrastructure Equipment SBOA366B – DECEMBER 2020 – REVISED MARCH 2022
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Application Brief
Safety and Protection for Discrete Digital Outputs in a
PLC System Using Current Sense Amplifiers

A Programmable Logic Controller (PLC) is the PLC digital outputs are used to turn ON-OFF the
most widely accepted computer protocol in industrial starter to engage a motor, to turn on a lamp to
control systems for factory automation application. indicate a fault, or to control the solenoid that engages
PLC system is a controller that controls, prioritizes, relay. The analog outputs include current level output
and provides status of the system. The controller and resistance level that can be used to control and
is programmed via basic binary logic much like a monitor heaters or control the speed of a motor.
modern computer. The PLC system consists of: Input Output
24V
1. PLC computer processor
24V

Solenoid Relay
2. The power supply rack
Push Button
(digital input) (digital output)
24V
3. Back plane for power
24V
Programmable
Logic
4. Digital input and output module
Lamp
Thermocouple Controller (digital output)
(analog input) (PLC)
5. Analog input and output module 24V

6. Computer software Pressure Sensor

(analog input)

7. A network interface for remote connectivity

Figure 1. PLC System Block Diagram
PLC systems are widely used in industrial applications
that is accelerating industrial 4.0 revolution.
PLC systems are enabling faster integration of Discrete PLC Digital Outputs Safety
semiconductor devices for control and automation to Figure 2 illustrates a description of a PLC digital
increase efficiency and improve factory throughput. output circuit. PLC digital outputs are designed with
Industrial automation and integration examples high-drive strength capability that can be as high as
include controlling of temperature, turning on and off 1 A. The digital outputs can be connected to drive
a light fault indication, weighing of a package using a solenoid relay to take control of an action initiated
pressure sensors, turning on and off a solenoid relay. by the PLC controller. Discrete current sensors
As industrial systems can be noisy environments connected in series with the load, as shown in Figure
with high-frequency signals and noise coupling 2, monitor current flowing to the load continuously
into low-voltage signals, the PLC system's output and report the presence of excessive currents to the
modules are optocoupled. Its robustness to noise, controller to take an action. As PLC digital outputs can
simple architecture, ease of programming language, swing from –0.7 V to 24 V, a high-side current sense
industrial certifications, and safety features are the amplifier with low-offset and low-gain error enables
reasons PLC systems are the most widely used safety for high-output drives.
industrial protocol.
Current
Sense
PLC System Block Diagram Amplifier
OptoCoupler
Load
The inputs and outputs of the PLC system are
categorized as digital or analog as illustrated in
Figure 1. The digital inputs provide an ON-OFF status Current Flow
+24V
to the control circuitry. Some examples of digital
input devices include limit switches, photoelectric
sensor, proximity, and pressure sensor. Analog input
Ground
devices such as thermocouples, tachometers, and PLC digital Output
force sensors provide variable output responses.
Figure 2. PLC Digital Output Sinking
Current Circuit

SBOA193B – DECEMBER 2020 – REVISED MARCH 2022 Safety and Protection for Discrete Digital Outputs in a PLC System Using 30
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As the PLC digital output drive can be high, the The signal throughput bandwidth of INA240 is 400
sinking current capability is one of the key safety kHz at the gain 20. The high bandwidth and high
parameters. The outputs are designed with NPN slew rate (2V/µs) enables the amplifier to be used for
transistors with a built in diodes for over voltage detecting fast over current or shorted load conditions
protection. The system ensures that when the PLC provided the sampling ADC within the PLC system is
digital outputs are engaged the sinking current from fast enough to sample currents.
the power supply is always within the PLC's specified,
over temperature operating range. A discrete current Alternate Device Recommendations
sense amplifier can protect the digital outputs from an
overcurrent condition, provide diagnostics to address The INA293 is another device to recommend for this
faulty load conditions and address preventive action application. The INA293 is a unidirectional current
for premature system failure. sense amplifier that can support a common-mode
voltage from –4 V to 110 V and can survive –20 V to
116 V. This large negative common-mode survivability
High-Current PLC Digital Outputs Safety
is important due to inductive kickbacks seen when
PLC digital outputs can be directly tied to high-current engaging the solenoid or a motor starter. The INA293
solenoid drivers or high-current LED lamps to close also has a high-bandwidth of 1MHz which enables
relays or to indicate a fault in a factory automation fast reaction times in the event of an overcurrent
application. If the current output drive is higher than scenario.
the PLC system is rated for, a discrete FET can
The INA290 is also another device that can be used
be used to control the current flow form the 24-V
in PLC systems. INA290 is designed to operate with
supply to the load. Figure 3 illustrates the connection
a common-mode voltage range from 2.7 V to 110 V.
of a PLC digital output to an external low RDS on
Although this is a high-side sense device, the INA290
FET to further increase the output drive strength.
can survive common-mode transients of –20 V to 120
One disadvantage of this approach is the reliability
V.
of the external FET. Using a current-sensing amplifier
to monitor the load current can ensure that the PLC Table 1. Alternate Device Recommendations
system is operating safely. Performance Trade-
Device Optimized Parameter
Off
Current Bandwidth : 1.3 MHz,
Sense
VCM: –4 V to 110 V,
Amplifier INA293 N/A
OptoCoupler Offset voltage: 15 µV,
Load
Gain error: 0.15%
Bandwidth : 1.3 MHz,
Current Flow
+24V Offset voltage: 55 µV,
INA281 VCM: –4 V to 110 V,
gain error: 0.5
Cost Optimized
Bandwidth: 1.1 MHz,
Ground
PLC digital Output Offset voltage: 12 µV, High-side only (VCM: -4
INA290
Gain error: 0.1%, to 110V)
Figure 3. PLC Discrete Digital Output Control Package: SC-70
Bandwidth: 1.1 MHz,
Offset Voltage: 150 μV,
INA240 is a high-precision, bidirectional current INA280 Package: SC-70,
Gain error: 0.5%
sense amplifier with low-input offset and gain drift Cost Optimized
across temperature range designed for measuring
currents on discrete PLC digital outputs. The INA240
is specifically designed to work in switched node Related Documentation
environments where the common-mode transients will 1. Current Sensing in an H-Bridge
have large dv/dt signals. The ability to reject high 2. Switching Power Supply Current Measurements
dv/dt signals enables accurate current measurements 3. High-Side Drive, High-Side Solenoid Monitor With
to ensure necessary protection and meet the required PWM Rejection
safety standards. The INA240 has low maximum 4. Measuring Current To Detect Out-of-Range
input offset voltage of 25 µV and a maximum gain Conditions
error of 0.2% allowing for smaller shunt resistance
values to be used without sacrificing measurement
accuracy. The offset drift and gain error drift is as low
as 0.25µV/°C and 2.5ppm/°C respectively enabling
accurate and stable current measurements across
temperature.

31 Safety and Protection for Discrete Digital Outputs in a PLC System Using SBOA193B – DECEMBER 2020 – REVISED MARCH 2022
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Analog Design Journal Signal Chain

Current sensing in high-power USB Type-C®

applications
By Ben Damkroger
Product Marketing Engineer, Sensing-CSPS
Introduction operation. For sink devices, due to lower manufacturing
®
The introduction of USB Type-C, also designated USB-C, ® costs of power adapters and corners cut during construc-
connectors eliminated the frustration of flipping USB tion as a result, there is no guarantee that consumers will
cables three and four times before finding the correct use power adapters with sufficient protection. Sometimes
orientation to plug in a device. A smaller, reversible cable faulty power adapters may provide the 20 V before USB
is not the only thing new with the evolution of USB tech- negotiation, which might overload sink devices. For source
nology, however; the standard also enables the replace- devices, cheap USB cables and USB-C PD devices may
ment of various electrical connectors including USB-B and have faulty wiring, causing a short on the load side of a
USB-A, HDMI, DisplayPort, and 3.5-mm audio cables. charger and ultimately requiring some protection.
Sadly, USB-C alone still has a power limit of only 15 W. When designing devices that act as power sources, such
However, USB Power Delivery (USB PD) increased that as docking stations or chargers, shield devices are
power limit to 100 W through the introduction of configu- required downstream, especially when running near the
rable voltage levels of 5 V, 9 V, 15 V or 20 V. This 100-W 100-W limit of USB PD. Integrated current sensing in USB
limit means that higher-power devices such as laptops, PD controllers is usually only ±10% to ±15% accurate.
tablets and monitors can all charge and operate using a These accuracy levels may be sufficient for some, but a
single USB PD cable. more accurate solution for overcurrent protection maxi-
This increased power has more design considerations mizes the amount of current that the USB port can
than previous standards, however. USB-C cables have provide while staying below a fixed power level.
24 pins, including four Vbus wires and four ground wires, For example, to account for current tolerance in a
more than USB 3.0. These Vbus lines require overvoltage, 20-V/5-A (100-W) system, the maximum current limit
overcurrent and reverse-current protection. Protections should be set 10% away from 5 A at 4.545 A (5 A × 1 ÷ 1.1).
should be implemented that detect transient spikes With a maximum current of 4.545 A, the maximum possible
caused by faults in the Vbus line or faults internal to a power delivered to a load device is 90.9 W. Additionally,
load device. These protections should be added in both when the current is 10% below the maximum current at
source and sink (load) devices to guarantee safe 4.090 A, a system would only deliver 81.8 W of power.

Figure 1. USB PD power range

100 W
65 W
4.5 W 7.5 W 15 W 25 W
2.5 W

USB Type-C® USB Type-C® and USB PD

USB 2.0 USB 3.0 USB BC 1.2

Texas Instruments 32 ADJ 1Q 2021

Analog Design Journal Signal Chain

To set a higher current threshold, a discrete current- In the most straightforward implementation, the analog
sense amplifier like the INA199, with its 150-µV voltage output of the comparator could be used to trip the FET.
offset and 1% gain error, can easily provide 1.5% accuracy Or digital logic could be used with an analog-to-digital
when the current is greater than 1 A in a 100-W applica- converter (ADC) and microcontroller (MCU) to decide
tion. This device enables the current limit to be set at when to switch the FET off. These overcurrent protection
4.926 A (5 A × 1 ÷ 1.015), which in turn means that the schemes provide a response time that is much faster than
USB port could deliver 98.52 W to the load. Figure 2 a thermal fuse and can be reset and reused without
shows the root-sum-square (RSS) error curves for the replacement. The INA381 current-sense amplifier, with its
INA199 and INA381. fast integrated comparator, shrinks the bill of materials by
eliminating the need for a comparator and makes the
Figure 2. INA199 and INA381 design process more straightforward. Figure 3 is a simpli-
total measurement error fied circuit using this device.

5.5
Figure 3. Simplified e-fuse
INA381A2 Voltage = 20 V
5 INA381A2 Voltage = 5 V circuit using the INA381
4.5 INA199B1 Voltage = 20 V
INA199B1 Voltage = 5 V
RSS Error (%)

4
ALERT
3.5 R Shunt INA381
3
2.5 +
V Bus
2 –
1.5
1
2 2.5 3 3.5 4 4.5 5 5.56 Z Load
Current (A)

For devices that sink power over a USB PD supply, it is

strongly suggested to include current sensing to protect
from internal faults. It is impossible to know whether Selecting the correct current sensor is essential, espe-
consumers will power peripheral devices with USB PD cially given their variety. Digital power monitors, for
controllers that have adequate overcurrent protection. example, provide an integrated ADC that frees up space
One easy solution is to design internal overcurrent protec- on a system’s MCU analog inputs, while also giving access
tion in the device’s Vbus input by wiring a discrete to extra features like power calculation and accumulation
current-sense amplifier, a comparator and a field-effect (energy). Analog current-sense amplifiers, on the other
transistor (FET) as an e-fuse. With an e-fuse, the current- hand, are more popular because of their low cost and
sense amplifier detects whether the current is too high versatility. The integrated gain resistors and input stages
and the comparator controls the FET triggers that turn off of analog current-sense amplifiers enable their inputs to
the FET and interrupts the current. detect common-mode voltages beyond their supply, thus
making these devices better for current sensing than stan-
dard operational amplifiers. Current-sense amplifiers can
also come integrated with comparators for faster response
times and alert signals for overcurrent protection; the latter
is especially important for protecting USB-C PD devices.

Texas Instruments 33 ADJ 1Q 2021

Analog Design Journal Signal Chain

Total Error = 2
Vos + CMRR 2 + PSRR 2 + Gain Error 2 + Shunt Tolerance2 + BiasCurrent 2 (1)

As previously mentioned, current-sense amplifiers are References

more accurate than the integrated current sensing of most
USB-C PD controllers. To understand why, first consider 1. TI Precision Labs – Current Sense Amplifiers, Texas
the various error sources found on current-sensing data Instruments training and videos
sheets and use these sources to calculate errors using the 2. Maximize your system with current sense amplifiers,
root-sum-square (RSS) method. The different error Overview, Texas Instruments products and reference
sources present in current-sensing amplifiers are shown designs
by Equation 1 above.
The input offset voltage (VOS) is the dominant source of
Related Web sites
error when measuring small currents because it is larger Product information:
in relation to the relatively small shunt voltage—it dimin- INA199
ishes as the shunt voltage increases at higher currents. INA381
This offset error is inherent to all amplifiers and is a result INA381 Design tools and simulation
of resistor and transistor mismatching. Gain error domi-
nates the error at larger currents, as it remains present
even at high currents, and does not diminish as the shunt
voltage increases. These error sources can be manually
calculated using Equation 1. For additional information,
consult the References and Related Web sites on this
page.
Conclusion
With the advent of USB PD, the number of high-power
USB devices continues to grow. This article presented the
options available to implement current protections and
power monitoring, and also compensate for tolerance
errors that are typically encountered with integrated
current sensing in USB PD controllers. The need to maxi-
mize power to a load in a power-source device or protect a
power-sink device is also highlighted. Current-sensing
amplifiers provide an easy solution to many of these
design challenges, with higher accuracy and greater design
flexibility.

Texas Instruments 34
4 ADJ 1Q 2021
www.ti.com

Application Brief
Low-Drift, Precision, In-Line Motor Current Measurements
With PWM Rejection

Scott Hill Current Sensing Products

The demand for higher efficiency systems continues voltage steps. Because real-world amplifiers do not
to increase, leading to direct pressure for have infinite common-mode rejection potentially large,
improvement in motor operating efficiency and unwanted disturbances appear at the amplifier output
control. This focus applies to nearly all classes of corresponding to each input voltage step as shown
electric motors including those used in white goods, in Figure 2. These output disturbances, or glitches,
industrial drives and in automotive applications. The can be very large and take significant time to
operational characteristics of the motor fed back into settle following the input transition depending on the
the control algorithm are critical to ensure the motor characteristics of the amplifier.
is operating at its peak efficiency. Phase current is
one of these critical diagnostic feedback elements
used by the system controller enabling optimum motor
performance.
Due to the continuity of the measurement signal
and direct correlation to the phase currents, an ideal
location to measure the motor current is directly in-line
with each phase as shown in Figure 1. Measuring
current in other locations, such as the low-side of
each phase, requires recombination and processing
before meaningful data can be utilized by the control
algorithm.
Figure 2. Typical Output Glitch From Large Input
VCM Step

A common approach to this measurement is to select

a current sense amplifier with a wide bandwidth. In
order to stay above the audible frequency range,
modulation frequencies ranging from 20kHz to 30kHz
are typically selected. Amplifier selection for making
in-line current measurements in these PWM-driven
applications targets amplifiers with signal bandwidths
Figure 1. In-Line Current Sensing
in the 200kHz to 500kHz range. The selection of the
The drive circuitry for the motor generates pulse amplifier was not historically based on actual signal
width modulated (PWM) signals to control the bandwidth which are significantly lower than the PWM
motor’s operation. These modulated signal subject signal. The higher amplifier bandwidths were selected
the measurement circuitry placed in-line with each to allow the output glitch to settle quickly following an
motor phase to common-mode voltage transitions input voltage transition.
that can switch between large voltage levels over The INA240 is a high common-mode, bi-directional
very short time periods. An ideal amplifier would current sense amplifier designed specifically for
have the ability to completely reject the common- these types of PWM-driven applications. This device
mode voltage component of the measurement and approaches the problem of measuring a small
only amplifier the differential voltage corresponding differential voltage in the presence of large common-
to the current flowing through the shunt resistor. mode voltage steps using integrated enhanced PWM
Unfortunately, real-world amplifiers are not ideal rejection circuitry to significantly reduce the output
and are influenced by the large PWM-driven input disturbance and settle quickly. Standard current sense

SBOA160C – JULY 2016 – REVISED SEPTEMBER 2021 Low-Drift, Precision, In-Line Motor Current Measurements With PWM 35
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amplifiers rely on a high signal bandwidth to allow Common system-level calibration frequently reduces
the output to recover quickly following the step, the reliance on an amplifier's performance at
while the INA240 features a fast current sense room temperature to provide precise measurement
amplifier with internal PWM rejection circuitry to accuracy. However, accounting for parameter shifts
achieve an improved output response with reduced such as input offset voltage and gain error as the
output disturbance. Figure 3 illustrates the improved operating temperature varies is more challenging.
response of the INA240 output due to this internal Good temperature compensation schemes are based
enhanced PWM rejection feature. on characterization of the amplifier’s performance
variation over temperature and rely on consistent
and repeatable response to external conditions from
system to system. Improving the capability of the
amplifier to remain stable with minimal temperature
induced shifts is ideal to reduce the need for complex
compensation methods.
The INA240 features a 25µV maximum input
offset voltage and a 0.20% maximum gain
error specification at room temperature. More
importantly for applications requiring temperature
stable measurements, the device's input offset voltage
drift is 250nV/°C with a 2.5ppm/°C amplifier gain drift.
Figure 3. Reduced Output Glitch By Enhanced Even as the operating temperature varies over the
PWM Rejection system’s entire temperature range, the measurement
accuracy remains consistent.
For many three-phase applications there are few The INA253 features all of the performance benefits
requirements on the accuracy of this in-line current of INA240 amplifier with the inclusion of integrated
measurement. Limited output glitch is necessary to shunt. The integrated shunt is a low inductive,
prevent false over-current indications in addition to precision, 2mΩ 0.1% with a temperature drift of
having an output that quickly responds to ensure <15ppm/°C. The INA253 is the most accurate current
sufficient control of the compensation loop. For sense amplifier that eliminates the error introduced
other systems, such as electronic power steering due to shunt and parasitic introduced due to the
(EPS), precise current measurements are needed to layout.
provide the required feedback control to the torque
assist system. The primary objectives in an EPS Combining the measurement temperature stability,
system are to assist with additional torque to the wide dynamic input range, and most importantly
driver’s applied torque on the steering wheel and enhanced PWM input rejection, the INA240 is an ideal
provide a representative feel in the steering response choice for PWM-driven applications requiring accurate
corresponding to the driving conditions. Phase to and reliable measurements for precisely controlled
phase current measurement errors can become very performance.
noticeable in this tightly controlled system. Any
unaccounted for variance between phases leads
directly to increased torque ripple that is perceptible
to the driver through the steering wheel. Reducing
the measurement errors, especially those induced
by temperature, is critical to maintain the accurate
feedback control and to deliver a seamless user
experience.

36 Low-Drift, Precision, In-Line Motor Current Measurements With PWM SBOA160C – JULY 2016 – REVISED SEPTEMBER 2021
Rejection Submit Document Feedback
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www.ti.com

Alternate Device Recommendations Table 1. Alternate Device Recommendations

Device Optimized Parameter Performance Trade-Off
Depending on the necessary system requirements,
there may be additional devices that provide the Common-Mode Input
Low Bandwidth, Ideal For
INA282 Range: -14V to +80V;
needed performance and functionality. The INA282 is MSOP-8 Package
DC Applications
able to measure very precisely large common-mode
Common-Mode Input
voltages that do not change as quickly as what LMP8481
Low Power: 155uA;
Range: 4.5V to 76V;
typically is seen in PWM driven applications making it MSOP-8 Package
Lower Accuracy
ideal for high voltage DC applications. The LMP8481
is a bi-directional current sense amplifier used for Table 2. Related TI Application Briefs
high common-mode voltages that do not require the SBOA202
Benefits of a Low Inductive Shunt for
amplifier to include ground within the input voltage Current Sensing in PWM Applications
range. Precision Brightness and Color Mixing in
SBOA189 LED Lighting Using Discrete Current Sense
Amplifiers
Low-Drift, Low-Side Current Measurements
SBOA161
for Three-Phase Systems
High-Side Motor Current Monitoring for
SBOA163
Over-Current Protection

SBOA160C – JULY 2016 – REVISED SEPTEMBER 2021 Low-Drift, Precision, In-Line Motor Current Measurements With PWM 37
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Copyright © 2021 Texas Instruments Incorporated
www.ti.com TI Tech Note

Tech Note
High-Side Drive, High-Side Solenoid Monitor With PWM
Rejection

Arjun Prakash,Current Sensing Products

A solenoid is an electromechanical device that is when the high-side switch is turned off. Eliminating
made up of a coil wound around a movable iron the solenoid's continuous connection to the battery
material, also called an armature or plunger. When an voltage reduces solenoid degradation and early
electric current is passed through the coil, a magnetic lifetime failures.
field is generated, causing the armature to travel over Battery
a fixed range. Figure 1 shows an illustration of an Reference
electromechanical solenoid. Solenoids are often Voltage

designed for simple ON - OFF applications like relays

+
that require only two states of operation. These -
solenoids can be also be designed for linear operation
where the current is proportional to the position of the INA253

armature. Linear solenoids are used in several

applications where pressure, fluid, or air is precisely
regulated. In automotive applications, linear solenoids
are used in fuel injectors, transmission, hydraulic
suspension, and for haptic effects. Linear solenoids Figure 2. High-Side Drive With High-Side Current
are seen in critical medical applications that require Sense
precise air flow control as well as industrial
applications that redirect and control fluid flow. The current sense amplifier shown in Figure 2 must
be able to reject high common-mode dv/dt signals as
well as support common-mode voltages that fall below
Induced Magnetic Field Inside Coil

Rod Moves In

ground. In the above configuration when the high-side

S N switch is turned on, the solenoid is energized by the
current flowing from the battery. The duty cycle of the
high-side switch determines the current flowing
through the solenoid, which in turn controls the travel
Current

range of the plunger. At the time when the high-side

Induced Magnetic Field Inside Coil
switch is turned off, the current flows through the
Rod Moves Out flyback diode forcing the common voltage to drop one
diode drop below ground.
S N
Solenoids and valves are highly inductive in nature.
The effective impedance of solenoid can be simplified
Current
as resistance and inductance. The coil is constructed
using copper (4000ppm/°C) and the effective
resistance varies on the type of solenoids from 1 Ω for
Figure 1. Electromechanical Solenoid haptic applications to 10 Ω for a linear or positional
Construction valve systems. The inductance for all of the solenoids
ranges from 1 mH to 10 mH. Figure 3 shows example
There are multiple configurations for connecting and of current profile of a solenoid driver in open-loop
driving solenoids. One common approach to driving mode at 25 °C and 125 °C. Over a 100 °C rise in
solenoids is to use a high-side driver configuration. In ambient temperature without compensating for Cu
this configuration, the current sense amplifier is resistance, the plunger travel distance accuracy is
connected between high-side switch and the solenoid around 40%. The solenoid current flow directly
as shown in Figure 2. One benefit to this configuration controls the plunger's travel distance. If the ambient
is the solenoid is isolated from the battery voltage

SBOA166C – OCTOBER 2016 – REVISED DECEMBER 2020 High-Side Drive, High-Side Solenoid Monitor With PWM Rejection 38
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TI Tech Note www.ti.com

temperature changes, the plunger's travel distance Alternate Device Recommendations

changes impacting the output control which could be
The INA240 is a high-side, bidirectional current sense
regulating pressure, fluid, or air.
amplifier that can support large common-mode
PWM
Current @ 25C
voltages ranging from –4 V to +80 V. The INA240 is
Current @ 125C specifically designed to operate within PWM
applications where high dv/dt transients needs to be
suppressed. The device's low offset voltage of 25 µV
0V (maximum), drift of 250nV/°C (maximum), gain (0.2%)
and high bandwidth of 400 kHz enables accurate in-
-0.7V
line current measurements for PWM applications.
Figure 3. Solenoid Current Profile Across The INA293 is another device to recommend for this
Temperature application. The INA293 is a unidirectional current
sense amplifier that can support a common mode
Measuring current in solenoid and valve applications
voltage from -4 V to 110 V and can survive -20 V to
provides the capability to detect changes in a
120 V. This large negative common-mode survivability
solenoid's operating characteristics. Current
is important due to inductive kickbacks seen when
measurement can identify the effects of a decrease in
engaging the solenoid. The INA293 also has a high-
the magnetic field of an aging solenoid to detect faulty
bandwidth of 1 MHz which enables fast reaction times
components before they fail. In an open-loop solenoid
in the event of an overcurrent scenario. Furthermore,
control system, the variation of effective impedance
the INA293 is an high-precision current sense
can drift 40% for a 100 °C rise in temperature from the
amplifier with a low offset voltage of 15 µV and gain
copper windings. Current measurement used in a
error of 0.15%.
current control feedback loop can reduce the
solenoid's impedance variation over temperature from The INA281 is another device to recommend, which is
40% down to 0.2% using the INA253 current sense a unidirectional current sense amplifier similar. It can
amplifier. support a common-mode voltage from -4 V to 110 V
and also survive -20 V to 120 V. The INA281 has a
The INA253 is a high-side, bidirectional current sense
high bandwidth of 1 MHz for fast in-line
amplifier with an integrated 2-mΩ low inductive shunt
measurements.
that can support large common-mode voltages
ranging from –4 V to +80 V. The integrated shunt is Table 1. Alternate Device Recommendations
factory calibrated to provide <0.1% total system OPTIMIZED PERFORMANCE
DEVICE
accuracy with a gain error temperature drift of PARAMETER TRADE-OFF
<15ppm/°C. The INA253 is specifically designed to PWM settling time: 2
operate within PWM applications where high dv/dt INA240 µs, Package: TSSOP
transients needs to be suppressed. INA253 is Vos: 25 µV
designed with circuitry to suppress dv/dt signals. This Vcm range: -4 V to
+110 V,
features lowers blanking time enabling accurate PWM No enhanced PWM
INA293 Bandwidth: 1.3 MHz,
current measurements at lower duty cycle. The Offset voltage: 15 µV,
rejection
device's low offset voltage, drift, gain, and high Gain error: 0.15%
bandwidth of 400 kHz enables accurate in-line current Vcm range: -4 V to No enhanced PWM
measurements for PWM applications. Valve INA281
+110 V, rejected,
applications requiring precision control of fluid, air, Bandwidth: 1.3 MHz, Offset voltage: 50 µV,
Cost Optimized Gain error: 0.5%
and pressure all benefit from the accuracy and
temperature stability in the current measurement by
Table 2. Related TI TechNotes
using the INA253. The integrated precision shunt of
DOCUMENT TITLE
the INA253 can provide a high-accuracy position
control of <0.2% across temperature, eliminating the Precision Brightness and Color Mixing in
SBOA189 LED Lighting Using Discrete Current Sense
need for current measurement calibration across Amplifiers
temperature.
Low-Drift, Low-Side Current Measurements
SBOA161
for ThreePhase Systems
High-Side Motor Current Monitoring for
SBOA163
Over-Current Protection
SBOA193 Safety and Protection for Discrete Digital
Outputs in a PLC System Using Current
Sense Amplifiers

39 High-Side Drive, High-Side Solenoid Monitor With PWM Rejection SBOA166C – OCTOBER 2016 – REVISED DECEMBER 2020
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Application Brief
Current Mode Control in Switching Power Supplies

Most switching power supplies are designed with 2. The power supply looks like a voltage controlled
closed-loop feedback circuitry to provide stable current source. This permits a modular supply
power under various transient and load conditions. design to allow load sharing between multiple
The feedback methodology options fall into two supplies in a parallel configuration.
general categories, voltage mode control (VMC) and 3. The effects of the inductor in the control loop
current mode control (CMC). Both methodologies can be minimized since the current feedback loop
have their strengths and weakness that determine effectively reduces the compensation to a single
the appropriate selection for the end-equipment pole requirement.
application.
While current mode control addresses some of the
drawbacks of VMC, it introduces challenges that
Control Methodologies can effect the circuit performance. The addition of
Voltage mode control utilizes a scaled value the current feedback loop increases the complexity
of the output voltage as the feedback signal. of the control/feedback circuit and circuit analysis.
This methodology provides simple, straight–forward Stability across the entire range of duty cycles and
feedback architecture for the control path. However, sensitivity to noise signals are other items that need
this method has several disadvantages that should to be considered in the selection of current mode
be noted. The most significant disadvantage is output control. CMC can further be broken down into several
voltage regulation requires sensing a change in output different types of control schemes: peak, valley,
voltage and propagation through the entire feedback emulated, hysteretic, and average CMC. The below
signal and filter before the output is appropriately text discusses the two most common methodologies
compensated. This can generate a unacceptably used in circuit design — peak and average current
slow response for systems that desire high levels of mode control.
regulation. The feedback compensation of the supply
requires a higher level of analysis to address the Peak Current Mode Control
two poles introduced by the output low–pass filter.
Peak current mode control (PCMC) utilizes the current
Additionally, the feedback component values must
waveform directly as the ramp waveform into the
be adjusted since different input voltages affect the
PWM–generation comparator instead of a externally
overall loop gain.
generated sawtooth– or triangle–signal like VMC. The
Current mode control addresses the above short- up-slope portion of the inductor current or high–side
falls of voltage mode control by using the inductor transistor current waveform is used to provide a
current waveform for control. This signal is included fast response control loop in addition to the existing
with the output voltage feedback loop as a second, voltage control loop. As shown in Figure 1, the current
fast response control loop. The additional feedback signal is compared with the output of the voltage error
loop does potentially increase the circuit/feedback amplifier to generate the PWM control signal for the
complexity, so the advantages need to be evaluated power supply.
as part of the design requirements. VIN

+
INA240

By using the inductor current as part of the feedback

RSENSE 

control: Control and Gate Drive

VOUT

1. The added current feedback loop responds faster

L
C

compared with only using the output voltage for

feedback control. Additionally, with the inductor 

current information, the circuit can be designed

+


PWM Generation
Reference Voltage

to provide pulse by pulse current limiting allowing

+

Voltage Error Amplifier

rapid detection and control for current limiting Figure 1. Block Diagram of PCMC circuit
needs.

SBOA187C – DECEMBER 2020 – REVISED MARCH 2022 Current Mode Control in Switching Power Supplies 40
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Switching power supplies provide high levels of INA240 high accuracy and low drift specifications
efficiency between the input and output power rails. provide consistent measurement across temperature
To maintain the high efficiency of the converter, ideally and different assemblies.
the sense resistor used to measure the inductor
The INA240 provides performance and features
current is as small as possible to reduce power
for measurement accuracy which is needed to
loss due to the measurement. This small–valued
maintain good control signal integrity. The INA240
resistor results in a small amplitude feedback signal.
features a 25μV maximum input offset voltage
Since the inductor current waveform is used directly
and a 0.20% maximum gain error specification at
as the comparator input signal, PCMC is known
room temperature. Temperature stability is important
to be susceptible to noise and voltage transients.
to maintain system performance and the INA240
Using a current sense amplifier like the INA240
provides input offset voltage drift of 250nV/°C with a
with high common-mode rejection ratio (CMRR)
2.5ppm/°C amplifier gain drift. The INA240 features
provides suppression of transients associated with
enhanced PWM rejection to improve performance
pulse-width modulation (PWM) signals and systems.
with large common-mode transients and a wide
The gain flexibility of the INA240 allows the inductor
common-mode input range for maximum design
current waveform be amplified to provide a larger
variance for supply output voltages.
signal for comparison without the need for additional
gain or sacrificing performance. Additionally, the low
offset and gain errors provide a reduction in design Alternative Device Recommendations
variations and changes across temperature. To utilize Based on system requirements, alternative devices
PCMC, the inductor current necessitates a high are available that can provide the needed
common–mode voltage measurement. The INA240 performance and functionality. The LMP8601 family
common–mode range allows for a wide range in provides lower performance levels than the INA240
supply input and output voltages. for in-line sensing applications. The INA282
It should be noted that PCMC most often adds slope allows current measurement for high common-mode
compensation to address stability issues with duty voltages, making it ideal for high voltage DC
cycles greater than 50%. The slope compensation is application that do not have PWM signals. The
added to the inductor current before being used as INA290 is a high-voltage current sense amplifier with
the comparator input signal. high bandwidth packaged in a small SC-70 package.
VIN
Table 1. Alternative Device Recommendations
Device Optimized Parameters Performance Trade-Off
RSENSE
Control and Gate Drive

Integrated Low inductive

VOUT
L

+/-15A maximum
C

precision shunt: 2mΩ,

INA253 continuous current at TA
+

0.1%, Enhanced PWM

= 85°C
Current Error Amplifier INA240

+


+
rejection


Low power, High Gain No Enhanced PWM



PWM Generation + Reference Voltage

Voltage Error Amplifier INA282 Options, High Supply Rejection, Higher drift
Voltage specifications
Figure 2. Block Diagram of ACMC circuit
Wide Common–Mode No Enhanced PWM
Input Range, High Rejection, Unidirectional,
INA290
Average Current Mode Control bandwidth, Small SC-70 Common–mode range
package does not include ground
Average current mode control (ACMC) utilizes the
inductor current waveform and an additional gain
and integration stage before the signal is compared Related Documentation
to a externally provided ramp waveform (similar to 1. Precision Brightness and Color Mixing in LED
VMC). This allows improved immunity to noise and Lighting Using Discrete Current Sense Amplifiers
removes the need for slope compensation. Figure 2 2. Current Sensing in an H-Bridge
shows a block diagram of ACMC operation for a buck 3. Switching Power Supply Current Measurements
converter.
The noise sensitivity of PCMC methodology is
improved using ACMC to acceptable performance
levels with the INA240 high CMRR helping to provide
additional transient reduction. The INA240 high
common–mode range is required to make the inductor
current measurement and allows usage of the current
amplifier in a wide–range of output voltages. The

41 Current Mode Control in Switching Power Supplies SBOA187C – DECEMBER 2020 – REVISED MARCH 2022
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Application Brief
Switching Power Supply Current Measurements

There are many different switching power supply the current flowing through the high-side devices
topologies available to meet system power of the half H–bridge and are used primarily for
requirements. DC–DC switching converters reduce a overcurrent/short–circuit detection with a comparator.
higher voltage DC rail to a lower voltage DC rail. Any measurements being made at this node require
These converter architectures include buck, boost, high common-mode circuits with the performance to
buck-boost, and flyback topologies. DC–AC switching measure a small differential voltage.
converters convert a DC input voltage to an AC output
Node 2 is the mid-point of the half H–bridge and
voltage.
displays the pulse-width modulation (PWM) signal that
As implied by their name, switching converters switching power supplies are based around. Current
employ various switches, transistors/FETs and/or measurements at this location provide the inductor
diodes, to translate the input voltage to the desired current for system control and overcurrent/short–
output voltage at high system efficiency levels. circuit detection. The voltage transitions between
The switching nature of these converters present the upper voltage and ground (or negative supply)
challenges in trying to accurately measure the current in the PWM ratio that is averaged to produce the
waveforms. Voltage node requirements, system correct output voltage. Node 2 voltage will have sharp
control requirements, and measurement drift are common-mode transitions, so measurements here
areas to consider when selecting current sense need to be able to handle the transition voltage in
amplifiers. magnitude as well as suppressing the transient in the
output waveform.
Voltage Node Requirements Node 3 voltage is the converter output voltage, which
Each node in the circuit architecture has a different is a DC voltage level with a small voltage ripple
common-mode voltage and behavior. Measuring when observed on oscilloscope. Measurements at this
currents at each of these locations has different location will have similar requirements to Node 1 and
characteristics that the measurement circuit must take provide the inductor current for use in system control
into consideration. Figure 1 illustrates the different and overcurrent/short–circuit detection. Even though
nodes of a buck/step-down converter. The circuit Node 3 voltage is less than Node 1, the desired
shows a basic circuit consisting of a half H–bridge output voltage level may still require measurement
output stage with a low-pass filter constructed from circuitry to handle a high common-mode voltage.
an inductor and capacitor. The control circuitry, output Node 4 voltage is tied to ground of the circuit.
stage drivers, and load are not shown. This node will see low, close to ground, common-
1 mode levels so measurements at this location have
a reduced set of requirements compared with the
3
previously mentioned locations.
Other DC–DC switching architectures have similar
L
behavior as the nodes described above, although they
2 C
LOAD
may be at different locations in the converter circuitry.

4
Measurement Drift Requirements
Switching power supplies are highly efficient circuits
Figure 1. DC–DC Switching Power Supply – Buck for voltage level translation, but there are still power
Architecture losses in the conversion. These power losses are
system efficiency losses that manifest as thermal
Node 1 voltage is tied to the input supply of the generation or heat. Depending on the power levels of
converter. This is the high voltage the converter the converter, this can be a significant thermal source.
is “stepping-down” to the lower output voltage.
Current measurements at this node are measuring

SBOA176C – DECEMBER 2020 – REVISED MARCH 2022 Switching Power Supply Current Measurements 42
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The INA240 has a-low thermal drift spec, which The current typically used is the inductor current in
means that the current measurement does not the converter (see Figure 2). This provides a much
change significantly due to heat generation. To faster internal loop to run in parallel with the voltage
further reduce the heat generated, the INA240 feedback loop. In general, one of the down sides of
comes in different gain versions, which allow current mode feedback is the susceptibility to noise/
for the decrease in value of the current sense transients on the signal.
resistor. Traditional amplifiers can have significant
decreases in performance as amplifier gain increases.
By contrast, all gains versions of the INA240
have excellent electrical specifications allowing the
RSENSE

L
achievement of high performance levels across C

different gain variants. Table 1 provides a comparison LOAD

of the power dissipation difference between gains.


INA240

Table 1. Power Dissipation Summary(1)

Gain
Parameter To Feedback/Control Circuit
20V/V 100V/V 200V/V
Input Voltage (mV) 150 30 15 Figure 2. Current Sensing for Power Supply
RSENSE (mΩ) 15 3 1.5 Control Feedback
Power dissipated (W) 1.5 0.30 0.15
Current mode feedback is generally split into peak
(1) Full-scale output voltage = 3 V and current measurement = current mode control and average current mode
10A
control. Peak current mode control utilizes the
System Control and Monitoring Requirements inductor current directly and therefore any noise
or transients on the signal cause disturbances in
Most switching power supplies employ closed- the feedback loop. The INA240 is designed with
feedback systems to provide stable, well regulated high CMRR, which helps to attenuate any potential
power. In order to provide optimized feedback control, disturbances or noise due to the input signal.
precision measurements are desired. Amplifier
specifications, like offset and gain errors, can
significantly influence the regulation ability of the Alternative Device Recommendations
control system. Different feedback methods are used Based on the system requirements, additional
depending on the system requirements and desired devices are available that may provide the needed
complexity of the circuitry. Additionally, system power performance and functionality. For applications
monitoring is a growing need as designs optimize requiring the lower performance levels than the
and report the power consumption during different INA240, use the INA290. The LMP8481 is a bi-
operating modes of the end equipment. directional current sense amplifier used for high
Voltage mode feedback compares a scaled version common-mode voltages that do not require the
of the output voltage to a reference voltage to obtain amplifier to include ground in the input voltage range.
the error voltage. This feedback method is relatively Table 2. Alternative Device Recommendations
simple, but provides slow feedback as the system Device Optimized Parameters Performance Trade-Off
must allow the output voltage to change before Integrated Low Inductive
INA253 +/-15A at TA= 85°C
adjustments can be made. Current measurements Shunt: 2mΩ, PWM rejection
for voltage mode feedback generally monitor the Wider Common-Mode Input
INA290 Range, Small Package No Enhanced PWM Rejection
load currents and determine if any short–circuits are (SC-70)
present. The most important current amplifier criteria No Enhanced PWM Rejection,
for voltage mode feedback converters is the common- LMP8481
Wide Common-Mode Input
Common-mode range does not
Range, Low power
mode output voltage of the converter. The output include ground

voltage on these converters ranges from low voltages

used for microprocessors and low voltage digital
circuitry (1.8 V to 5 V) to high voltages used for 48 Related Documentation
V or higher systems. The output waveform, while after 1. Precision Brightness and Color Mixing in LED
the filter, may still contain noise/transients that can Lighting Using Discrete Current Sense Amplifiers
disturb or cause errors in the measurement. 2. Current Sensing in an H-Bridge
3. Benefits of a Low Inductive Shunt for Current
Current mode feedback adds a feedback loop to
Sensing in PWM Applications
the control system that utilizes the system current.

43 Switching Power Supply Current Measurements SBOA176C – DECEMBER 2020 – REVISED MARCH 2022
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____________________________________________________
Increase Measurement Accuracy Using High-Speed
Amplifiers for Low-Side Shunt Current Monitoring
Author: Leaphar Castro

to replicate the pulse accurately in a single gain stage.

The need to accurately and quickly detect the load
A possible solution is to use multiple gain stages with
current through a low-side shunt resistor is a critical
a lower bandwidth device, thus increasing the amount
application in systems requiring overcurrent, feedback
of components and potentially increasing the shunt
control loops, battery monitoring, and power-supply
resistance in order to use a smaller gain. By having a
monitoring. Load current is often measured using low-
large shunt-resistor, you introduce noise to your signal,
side current sensing, which is when the voltage is
increase the power dissipation, and cause ground
measured across a shunt-resistor that is placed
disturbances. Instead, an alternative solution is to use
between the load and ground. One common way to
a single high-speed amplifier. By using the high-speed
discretely implement low-side current monitoring is to
amplifier. you have more gain-bandwidth, which allows
use a current-sense amplifier in a difference
you to use a single high-gain stage with a small shunt-
configuration, as shown in Figure 1.
resistor. For current sensing applications, you want to
VCC VEE choose an amplifier with low offset and noise so that it
+ + does not degrade the accuracy of low-voltage
5V 0V measurements. Consider a widely used op-amp such
as the OPA365. This device has a maximum input
GND GND offset voltage as of 200 µV and an input voltage noise
of 4.5 nV/√Hz at 100 kHz. Using an amplifier such as
VCC
5 k
OPA365 allows you to implement the circuit in a single
high-gain stage, save board space, keep the shunt-
resistor low, and enable driving an analog-to-digital
GND
VCC converter (ADC) with a single device. The OPA365 is
I_IN
available in an AEC-Q100 version (OPA365-Q1) that
supports automotive applications.
100 
Choosing the correct amplifier simplifies detection of
high-current spikes that may cause damage to the
R_Sense 15 m Out
OPA354 system or reduce motor and servo efficiency, all while
100  maximizing system efficiency. There are several
benefits to using a high-speed amplifier in current-
sensing circuit. For example, in applications such as
power-supply monitoring, the duration of the pulse
GND VEE may be as low as 1 µs. Without being able to detect
these transients, short-duration pulses may go
5 k
unnoticed, and thus cause glitches or potential
damage to the rest of the system. As shown in Figure
Figure 1. Low-Side Current Sensing Test Circuit 2, with a short-duration 1-µs pulse input in a gain of
Using the OPA354 50, the OPA354 is able to reach 3-V output and is able
to replicate the original input signal much closer than a
Traditionally, this low-side current measurement is 400-kHz or a 20-MHz bandwidth op amp. As Figure 3
done with a dedicated current sense amplifier or a shows, 100-nA input pulse in a gain of 50 is
lower-speed amplifier connected to an external shunt- introduced, and again the output response of the
resistor. However, in applications that are required to OPA354 is much closer than the other two devices.
detect a small, high-speed transient pulse, these
amplifiers tend to lack the adequate bandwidth needed

SBOA298A – May 2018 – Revised August 2019 Increase Measurement Accuracy Using High-Speed Amplifiers for Low-Side 44
Submit Documentation Feedback Shunt Current Monitoring Author: Leaphar Castro
Copyright © 2018–2019, Texas Instruments Incorporated
 www.ti.com

microseconds. Use a high-speed amplifier for motor-

control applications to provide a fast and precise
current measurement for the best dynamic motor
control, minimum torque ripple, and minimal audible
noise.
For maximum system efficiency when using an op
amp to measure a small differential voltage signal from
the shunt-resistor, make sure the op amp has enough
bandwidth to make a precise and accurate
measurement without introducing error to the signal.
Measuring short duration pulses are a challenge, but
by using a high-speed amplifier, high slew rates and
plenty of bandwidth are available to track the input
Figure 2. Output Response With a 3-A, 1-µs Input signal. This article used the OPA354 as an example,
Into 15 mΩ With a Gain of 50 vs an Integrated and but there are many other available amplifiers offered
Lower-Bandwidth Device by Texas Instruments. For automotive applications that
require AEC-Q100 devices, and applications that
require higher supply ranges or higher bandwidth, see
Table 1. The amplifiers listed inTable 1 give alternative
recommendations with optimized parameter benefits,
and what the performance trade-offs are of using each
of the devices.

Table 1. Alternative Device Recommendations

Performance
Device Optimized Parameters
Trade-Offs
IN to –V rail,
Higher bandwidth,
OPA836 slightly less output
lower power consumption
current
Figure 3. 100-nA Pulse Input Into 15 mΩ With a Dual channel,
Gain of 50 vs an Integrated and Lower-Bandwidth IN to –V rail,
higher bandwidth,
Device OPA2836-Q1 slightly less output
lower power consumption,
current
automotive qualification

In another example, a three-phase inverter shunt- Higher bandwidth,

higher slew rate, Slightly higher
resistor is sensing large negative phase voltages. OPA354
higher output current, offset and power
These PWM duty cycles tend to be very small (around OPA354-Q1
automotive qualification consumption
2 µs). The current sense amplifier must be able to (Q1)
settle to < 1% in this time frame, and in many cases Higher supply (maximum), Slightly higher
drive an ADC. In applications such as three-phase LMH6618 higher bandwidth, noise and less
inverters, maintain low distortion at the maximum rate lower IQ output current
at which the output changes with respect to time. In Higher supply (maximum), IN to –V rail,
general, high-speed amplifiers offer slew rates > 25 LMH6611 higher bandwidth, slightly higher
V/µs and fast settling times of < 0.5 µs. These features higher slew rate power consumption
make high-speed amplifiers a great choice when a Single, dual, quad channels,
high rate of change exists in the output voltage that is higher supply (maximum), IN to –V rail,
LMH6642
lower IQ , slightly higher
caused by a step change on the input in the form of LMH6642Q-Q1
automotive qualification noise
short current pulses. High slew rate, larger bandwidth, (Q1)
and fast settling high-speed amplifiers contribute to
keeping the detection time down to a few

45 Increase Measurement Accuracy Using High-Speed Amplifiers for Low-Side SBOA298A – May 2018 – Revised August 2019
Shunt Current Monitoring Author: Leaphar Castro Submit Documentation Feedback
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Application Brief
Extending Beyond the Max Common-Mode Range of
Discrete Current-Sense Amplifiers

Arjun Prakash, Current Sensing Products

For high-side power supply current sensing needs, it is to use precision 0.1% matched low temperature
is critical to understand the maximum voltage rating drift external resistor dividers.
of the power supply. The maximum power supply
voltage will drive the selection of a current sense Power Supply

amplifier. The common mode voltage of the current R1

R2
sense amplifier should exceed the maximum voltage IN+

Rshun
on the power supply. For example, if a current is Vout = G x (V(IN+)  V(IN-))

t
measured on the 48 V power supply with a transient IN-
R3 G = R2/R1

voltage not exceeding 96 V a current sense amplifier

with a maximum common mode voltage supporting 96 Load R4

V needs to be designed. Likewise for a 400 V supply

a common mode voltage of current sense amplifier
supporting 400 V needs to be chosen. Power Supply

The system cost solution of high voltage, high-side V+

RD1 R1
R2
Vout = G x (VCMP - VCMN)
current sensing can be expensive considering a goal RD2
IN+
G = (R2/R1)
Rshun

of <1% accuracy needs to be achieved. For common

t

R3 VCMP = V(+) x (RD2/(RD2 +RD1))

RD3
mode voltages higher than 90 V often the selection V-
IN- VCMN = V(-) x (RD4/(RD4 +RD3))

of current sense amplifiers are limited to isolation RD4

technology which can be expensive and BOM Load R4

extensive. Below are some of the techniques that

illustrates the extension of low voltage common mode
current sense amplifiers beyond its maximum rating Figure 1. Extending Common Mode Range using
by adding a few inexpensive external components like Resistor Dividers
resistors, diodes and PMOS FETs.
Extending Common Mode Range for Current
Common Mode Voltage Divider Using Resistors. Output Amplifiers

The simplest approach to monitor high voltage high- As voltage dividers has serious consequences with
side current sensing is a design with a low voltage output error and degradation in performance, another
current sensing amplifier with external input voltage alternative approach is to shift the ground reference
dividers, for example, if a 40 V common mode voltage of the current output amplifier to the high voltage
amplifier is selected for a 80 V application, the 80 common mode node as shown in Figure 2.
V input common mode needs to be divided down to Figure 2 enables current sensing at higher voltages
40 V common mode voltage. This voltage division beyond rated common mode voltage of INA168 is
can be accomplished using external resistor dividers 60V. This technique can be extended to any voltage
as shown in the Figure 1. This is a simple design beyond 60V by designing an appropriate PMOS FET
approach and the tradeoffs are significant. The gain (Q1).
error and CMRR of the amplifier are dependent In Figure 2 Zener diode DZ1 regulates the supply
on the accuracy and the matching of the external voltage that the current shunt monitor operates within,
input divider resistors. Apart from gain error and and this voltage floats relative to the supply voltage.
CMRR errors, the tolerance of the external resistors DZ1 is chosen to provide sufficient operating voltage
will contribute to imbalance in input voltage causing for the combination of IC1 and Q1 over the expected
additional output error. This error does increase over power-supply range (typically from 5.1 V to 56 V).
temperature depending on the drift specifications of Select R1 to set the bias current for DZ1 at some
the resistors. One technique to minimize output error value greater than the maximum quiescent current of

SBOA198A – JULY 2017 – REVISED MARCH 2022 Extending Beyond the Max Common-Mode Range of Discrete Current-Sense 46
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IC1. The INA168 shown in Figure 2 is specified at to obtain accurate readings even at the low end of the
90 µA maximum at 400 V. The bias current in DZ1 measurement. The voltage across R1 sets the drain
is approximately 1 mA at 400 V, well in excess of current of the FET and by matching the resistor R2
IC1’s maximum current (the bias current value was in the drain of the FET to be equal to R1, VSENSE
selected to limit dissipation in R1 to less than 0.1 voltage is developed across R2 (VR2). Inputs of the
W). Connect a P-channel MOSFET, Q1, as shown to current monitor INA226 are connected across R2 for
cascode the output current of IC1 down to or below current sensing. Hence the current monitor does not
ground level. Transistor Q1’s voltage rating should need the high common mode capability as it will only
exceed the difference between the total supply and see common mode voltages around VSENSE which
DZ1 by several volts because of the upward voltage is usually less than 100mV. INA226 was chosen for
swing on Q1’s source. Select RL, IC1’s load resistor, current, voltage and power monitoring as it is a high
as if IC1 were used alone. The cascode connection accuracy current/voltage/power monitor with an I2C
of Q1 enables using IC1 well in excess of its normal interface. The INA226 can also sense bus voltages
60-V rating. The example circuit shown in Figure 2 less than 36 V. Since the bus voltage employed here
was specifically designed to operate at 400 V. is 400 V, a divider is employed to scale down the
high voltage bus to a voltage within the common
400V mode range of INA226. In this case a ratio of 64 is
chosen and hence the bus voltage LSB can be scaled
5k
IN+
INA168 accordingly to obtain the actual bus voltage reading.
200uA/V
+ In this case the a modified LSB of 80 mV could be
Rshunt

DZ1 used. Precision resistors are chosen for the divider to

5k maintain accuracy of the bus measurement.
-
IN-
Q1 400V
VOUT
Load
R1 Vsense
RL + 10 5.1V
50K - Zener
Vsense

+ -
Rshunt

OPA333
IN+ VBUS
+

Vsense
SCL

210 R
10 K SDA
-
Figure 2. High-Side DC Current Measurements for RZ
IN- GND
400-V Systems
Load

Extending Common Mode Voltage Range for

Power Monitors
Figure 3. High Voltage Power Monitoring
System optimization and power monitoring for high
voltage systems (40 V to 400 V), if implemented Table 1. Alternate Device Recommendations
accurately can result in improvement of overall Performance Trade-
Device Optimized Parameter
system power management and efficiency. Current, Off
voltage and system power information can be Bandwidth : 900kHz,
LMP8645HV Slew rate: 0.5V/uS
beneficial in taking preventive steps to diagnose Package: SOT-23-6
faults or calculate total power consumption of the MSOP-8 Package, I2C
Gain Error (1%), Shunt
system. Monitoring faults and power optimization INA220 interface, Selectable
Offset Voltage: 100uV
I2C address
will assist high voltage system in premature failures
and significantly lower power savings by optimizing Package: SOT-23,
INA139 Bandwidth: 4400 kHz, Offset voltage: 1mV
system shut down and wake up. cost
Figure 3 illustrates a methodology by using INA226 a
36 V common mode voltage power monitoring device
to be used in applications supporting 40 V to 400 V Related Documentation
systems. Shown in Figure 2 is the precision, rail-to-rail 1. Current Sensing in an H-Bridge
op amp OPA333 used to mirror the sense voltage 2. Switching Power Supply Current Measurements
across the shunt resistor on to a precision resistor 3. High-Side Drive, High-Side Solenoid Monitor With
R1. OPA333 is floated up to 400 V using a 5.1 V PWM Rejection
zener diode between its supply pins. The op amp
drives the gate of the 600 V P-FET in a current
follower configuration. A low leakage P-FET is chosen

47 Extending Beyond the Max Common-Mode Range of Discrete Current-Sense SBOA198A – JULY 2017 – REVISED MARCH 2022
Amplifiers Submit Document Feedback
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Application Brief
Interfacing a Differential-Output (Isolated) Amp to a
Single-Ended Input ADC

Introduction Embedded ADCs

Whether you are sensing current in an industrial 3- Both the MSP430 and C2000 family of processors
phase servo motor system, a battery management have embedded single-ended input ADCs so the
system for an electric vehicle, or a photo voltaic question becomes, How do I get this differential signal
inverter, it is often necessary to include some sort into my single-ended data converter?
of safety isolation scheme. Safety-related standards
The simplest way to achieve this is to use only
define the specific isolation requirements for the
one output of the AMC1301 leaving the second
end equipment associated with the particular design.
output floating. The down side to this solution is
Various factors come into play when determining
that only half the output voltage swing is available
what level of safety insulation (basic, supplemental,
to the data converter, reducing the dynamic range
or reinforced) is required depending on the type
of the measurement. The analog input range to the
of equipment, the voltage levels involved, and the
AMC1301 is ±250 mV. With a fixed gain of 8.2, the
environment that the equipment is to be installed.
VOUTN and VOUTP voltages are ±1.025 V centered
Texas Instruments offers a variety of isolated current around the 1.44-V common-mode output as shown in
shunt amplifiers that are used in the previously- Figure 2. Differentially, the output voltage is ±2.05 V.
mentioned applications for voltage and current shunt
sensing that meet either basic or reinforced insulation
requirements. For applications requiring reinforced
insulation, one such device is the AMC1301. The
output of the AMC1301 is a fully differential signal
centered around a common-mode voltage of 1.44 V
that can be fed directly to a stand-alone analog-to-
digital converter (ADC) as shown in Figure 1, or to
the on-board ADC found in the MSP430 and C2000
family of micro-controller devices.
Floating
HV+ Power Supply

3.3 V or AMC1301
Gate 5.0 V
Driver VDD1 VDD2 3.3 V or 5.0 V
Figure 2. Differential Output Voltage
Reinforced Isolation

GND1 GND2

To Load
RSHUNT VINN VOUTP
ADS7263
The addition of a differential to single-ended amplifier
VINP VOUTN
14-Bit ADC
output stage, illustrated in Figure 3, allows the full
Gate output range of the AMC1301 to be provided to the
ADC.
Driver

HV-

Figure 1. AMC1301 Functional Block Diagram

Figure 3. Differential to Single-Ended Output

SBAA229A – APRIL 2017 – REVISED MARCH 2022 Interfacing a Differential-Output (Isolated) Amp to a Single-Ended Input ADC 48
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Assuming a full scale sine wave of ±250 mV is applied Design Example

at VIN; the internal gain of the AMC1301 will provide
The ADC12 found on the MSP430 devices have
2.05 Vpk-pk outputs at points VOUTP and VOUTN
an input voltage range of 0–2.5 V when using the
which are 180° out of phase. The difference between
internal voltage reference. Using the VOUTP from the
these signals, VODIF, is 4.1 Vpk-pk. When R1 = R4
AMC1301 would provide the ADC12 with an input
and R2 = R3 the transfer function of the output stage
signal ranging from 0.415 V to 2.465 V, well within
is shown in Equation 1.
the input range of the converter while only utilizing
half the input range of the AMC1301. As shown
 R4   R1 
VOUT  VOUTP     VOUTN   R2   VCM in Figure 5, utilizing a differential to single-ended
 R3    (1) amplifier configuration with a gain of 0.5 and common
mode voltage of 1.25 V, the entire voltage range of
With equal value resistors for R1 through R4 in
the AMC1301 can be applied to the ADC12.
Equation 1 and VCM set to 2.5 V, Equation 2 reduces
to:

VOUT  VOUTP  VOUTN  VCM (2)

The plots of Figure 4 show the input voltage and

output voltages of the AMC1301 along with the output
voltage of the final differential to single-ended output
stage. Note that the differential voltage of ±2.05 V is
transposed to a single-ended signal from 0.5 to 4.5 V.

Figure 5. Scaled Differential to Single-Ended

Output

Alternative Device Recommendations

The AMC1100 or AMC1200 provide basic isolation
with similar performance to the AMC1301 at a lower
price point. For applications requiring a bipolar output
option, the TLV170 is an excellent choice.
Table 1. Alternative Device Recommendations
Device Optimized Parameter Performance Trade-Off
AMC1100 Galvanic Isolation up to 4250 Lower Transient Immunity
VPEAK
AMC1200 Galvanic Isolation up to 4250 Basic Isolation versus
VPEAK Reinforced
TLV170 Bi-polar operation to ±18 V Higher input bias current

Figure 4. Single-Ended Output Voltage Conclusion

Depending on the input voltage range of the ADC, While it is possible to use a single output of the
gain or attenuation can be incorporated into the AMC1301 to drive a single-ended ADC, adding a
differential to single-ended stage to adjust the output differential to single-ended op-amp stage at the output
swing. The output common mode voltage can be ensures the target application will have the largest
adjusted to fit the input needs of the ADC as well. possible dynamic range.

Related Documentation
1. Low-Drift, Low-Side Current Measurements for
Three-Phase Systems
2. Precision Current Measurements on High Voltage
Power Supply Rails

49 Interfacing a Differential-Output (Isolated) Amp to a Single-Ended Input ADC SBAA229A – APRIL 2017 – REVISED MARCH 2022
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Low-Drift, Precision, In-Line Isolated Magnetic Motor
Current Measurements
Steven Loveless - Current Sensing Products

leadframe, which creates an internal magnetic field. A

The demand for higher efficiency systems continues to
galvanically isolated sensor then measures the
increase, leading to direct pressure for improvement in
magnetic field, providing a measurement of the current
motor operating efficiency and control. This focus
without any direct electrical connection between the
applies to nearly all classes of electric motors,
sensor IC and the isolated phase current. By
including those used in:
measuring only the magnetic field, the sensor provides
• White goods isolation to high common-mode voltages, as well as
• Industrial drives excellent immunity to PWM switching transients. This
results in excellent motor phase current measurements
• Automation
without unwanted disturbances at the sensor output
• Automotive applications due to large, PWM-driven input voltage steps. Figure 2
This is especially true in higher-power systems with illustrates an RC-filtered TMCS1100 output waveform,
elevated operating voltages. Operational along with the motor phase voltage and current
characteristics of the motor fed back into the control waveforms. Only minor PWM-coupling due to
algorithm are critical to ensure the motor is operating measurement parasitics are observable, and the
at peak efficiency and performance. Phase current is TMCS1100 output tracks the motor phase current with
one of these critical diagnostic feedback elements no significant output transients due to the 300-V
used by the system controller to enable optimal motor switching events.
performance.
Due to the continuity of the measurement signal and
direct correlation to the phase currents, an ideal
location to measure the motor current is directly in-line
with each phase, as shown in Figure 1. Measuring
current in other locations, such as the low-side of each
phase, requires recombination and processing before
meaningful data can be used by the control algorithm.

Figure 2. Motor Phase Current Measurement with

High Transient Immunity

The unique characteristics of an in-package magnetic

To Controller
current sensor eliminate many of the challenges faced
Figure 1. In-Line Current Sensing by alternative solutions to measuring motor phase
currents. The inherent galvanic isolation provides
The drive circuitry for the motor generates pulse width capability to withstand high voltage, and the high
modulated (PWM) signals to control the operation of transient immunity of the output reduces output noise
the motor. These modulated signals subject the due to switching events. Current sensing
measurement circuitry placed in-line with each motor implementations without this immunity require higher
phase to large voltage transients that switch between bandwidth in order to improve output glitch settling
the positive and negative power rails every cycle. An time; a magnetic sensor can use a lower-bandwidth
ideal current sensor has the ability to completely reject signal chain without sacrificing transient immunity
the common-mode voltage component of the
measurement, and only measure the current of
interest. In-package magnetic current sensors like the
TMCS1100 pass the phase current through a package

SBOA351 – April 2019 Low-Drift, Precision, In-Line Isolated Magnetic Motor Current Measurements 50
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performance. In-package magnetic current sensors temperature drift of the sensor. In addition to high-
also provide a reduction in total solution cost and sensitivity accuracy, the device has less than 2 mV of
design complexity due to no requirement for external output offset drift, shown in Figure 4, which greatly
resistive shunts, passive filtering, or isolated power improves measurement dynamic range, and allows for
supplies relative to the high voltage input. precise feedback control even at light loads.
For applications where phase current measurements 5
provide over-current protection or diagnostics, the high 4.5
TMCS1100A1
TMCS1100A2
transient rejection of a magnetic current sensor TMCS1100A3
4
prevents false overcurrent indications due to output TMCS1100A4
glitches. In motor systems where closed loop motor 3.5

Typical Offset (mV)

control algorithms are used, precise phase current 3
measurements are needed in order to optimize motor 2.5
performance. Historically, Hall-based current sensors 2
have suffered from large temperature, lifetime, and
hysteresis errors that degrade motor efficiency, 1.5

dynamic response, and cause non-ideal errors such as 1

torque ripple. Common system-level calibration 0.5
techniques can improve accuracy at room 0
temperature, but accounting for temperature drift in -40 -20 0 20 40 60 80 100 120
parameters, such as sensitivity and offset, is Temperature (C) D009
challenging.
Figure 4. TMCS1100 Typical Output Offset Across
Magnetic current sensing products from Texas Temperature
Instruments improve system-level performance by
incorporating patented linearization techniques and Combining high-sensitivity stability and a low offset
zero-drift architectures that provide stable, precise results in an industry-leading isolated current sensing
current measurements across temperature. A high- solution with <1% total error across the full
precision sensor tightly controls phase-to-phase temperature range of the device. A 600-V working
current measurement errors, maintaining accurate voltage and 3 kV isolation barrier allows the device to
feedback control and delivering a seamless user fit into a wide array of high voltage systems.
experience. Combining measurement temperature stability,
1 galvanic isolation, and transient PWM input rejection,
the TMCS1100 is an ideal choice for PWM-driven
applications, such as motor phase current
0.5
measurements, where accurate and reliable
measurements are required for precisely controlled
Sensitivity Error (%)

performance.
0
Table 1. Alternate Device Recommendations
Device Optimized Parameter Performance Trade-Off
-0.5
Magnetic Current Sensor with
TMCS1101 Lower precision, PSRR
Internal Reference
Reinforced Isolation Shunt
AMC1300 Solution size, complexity
Amplifier
-1
-40 -20 0 20 40 60 80 100 120 Precision Shunt Amplifier with
INA240 80V functional isolation
Temperature (C) D006
PWM Rejection
Precision Integrated-Shunt
INA253 80V Functional isolation, size
Figure 3. TMCS1100 Typical Sensitivity Error Amplifier with PWM Rejection
Across Temperature
Table 2. Related TI TechNotes
The TMCS1100 features less than 0.3% typical Lit # Title
sensitivity error at room temperature, and less than Ratiometric Versus Non-Ratiometric Magnetic Signal
0.85% maximum sensitivity error across the entire SBOA340
Chains
temperature range from –40°C to 125°C. This stability SBOA160
Low-Drift, Precision, In-Line Motor Current Measurements
across temperature, shown in Figure 3, provides With PWM Rejection

excellent phase-to-phase matching by minimizing the SBOA161

Low-Drift, Low-Side Current Measurements for Three-
Phase Systems
High-Side Motor Current Monitoring for Over-Current
SBOA163
Protection

51 Low-Drift, Precision, In-Line Isolated Magnetic Motor Current Measurements SBOA351 – April 2019
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Application Brief
Current Sensing in Mobile Robots

Kyle Stone Current Sensing

Introduction
Mobile robots are widely used in warehouse settings. These mobile robots help to increase efficiency within
warehouses by moving quickly around a facility and collecting items that are needed to fulfill orders in a timely
manner. By using these mobile robots, warehouse operators can have reduced overhead cost, a continuous
faster output, and warehouses can potentially be organized in more efficient configurations, as these mobile
robots can reach places humans cannot easily access.
Mobile robots start at their home base where robots are charged and are stored. When the robot is called upon,
the robot can move around the warehouse to pick up the requested items, and bring those items to a desired
location, where either a human or another robot such as industrial robot can take the items to an assembly
line or shipping line. The mobile robot typically uses brushless DC motors to move. An accurate phase current
sensing is critical in motor control. A poor current sensing can lead to large torque ripple, audible noise, and
inefficiency. Figure 1 illustrates where current sensing plays a role in motor-drive applications.

High-side DC link
Vbus

+ + + High-side
–

– – –

D1 D3 D5
Q1 Q3 Q5

I_U U

I_V V

I_W W
–

+
–

D2 D4 D6
Q2 Q4 Q6
Inline

+ + +

– – – Low-side
Low-side DC link
–

Figure 1. Methods of Motor Current Sensing in Mobile Robots

There are three methods of motor current sensing with their own positives and negatives as shown in Table
1. The best location to measure the motor current is directly inline with each phase due to continuity of signal
measurement and direct correlation to the phase currents. In-line current sensing comes with the challenge
where each motor phase is subjected to common-mode voltage transitions that can switch between large
voltage levels over very short time periods. Current measurement in other locations, such as the low-side
of each phase, requires recombination and processing before meaningful data can be utilized by the control

SBOA554 – NOVEMBER 2022 Current Sensing in Mobile Robots 1

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algorithm. INA241A is designed for in-line motor current sensing. INA241A offers high CMRR of 166 dB and
enhanced PWM rejection allowing for minimal error at the output in switching systems.
Table 1. Current Sensing in an H-Bridge
Current Measurement Positives Negatives
High-side Detect shorted load from battery for diagnostics High voltage common-mode amplifier
Direct motor current measurement, low bandwidth
Inline High dv/dt signals. PWM settling time.
amplifier
Low-side Low cost, low common-mode voltage Unable to detect shorted load.

The mobile robots typically have onboard 48-V lithium-ion batteries, and can be charged wirelessly or wired.
Charging currents and discharging currents can be monitored through Texas Instruments’ line of digital power
monitors such as the INA228 and INA238. The INA228 can monitor current, voltage, power, energy, or charge
up to 85-V common-mode input range with 20-bit resolution through an I2C output. This allows for the robot to
monitor the battery levels to the onboard computer. INA228 can monitor battery level and when the battery level
runs low, the mobile robot can report back to the home base to be re-charged.
There are several other subsystems within the mobile robot, such as DC/DC converters, onboard computers,
lighting systems, radars, and so forth, that can use current sensing. DC/DC converters can use current monitors
in the system such as the INA296A to monitor the safe level of current and to make the system more efficient.
The onboard computer is the brain of the mobile robot, and typically operates on a 5-V rail. The onboard
computer can leverage current sensing with a digital power monitor such as the INA219, to monitor current and
voltage into the system to report back health or power usage in the system. Current monitors can also be used
to monitor various peripherals on the robot such as the lighting and radar systems.
Using current monitors can verify these subsystems are operating correctly for safely preventing an incident
with a human or physical structure. Monitoring current through the peripheral systems can enable the system
to detect a malfunction and can have the robot return to home base for maintenance. The INA281 or INA296A
can be used to monitor the current flow in these peripherals. Figure 2 shows one possible way current sensing
can be used in point-of-load (POL) applications where understanding the current going to a specific load in the
system is important. This can be used for diagnostics, safety, and protection.

2 Current Sensing in Mobile Robots SBOA554 – NOVEMBER 2022

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Shunt resistor

Load
3.3V DC/DC

Load switch

Digital power monitor

Shunt resistor

Load
5V DC/DC

EMI filter
Main switch Load switch
Battery

Digital power monitor

Shunt resistor

Load
12V DC/DC

Load switch

Digital power monitor

Figure 2. Power Monitoring at POL for Power System in Robotics

Conclusion
In conclusion, mobile robots are generally used in warehousing settings to reduce human involvement and
speed up the movement of goods within the facility. Safety and efficiency are critical components of mobile
robots. Leveraging various current-sensing techniques within the subsystems in motors, batteries, onboard
computers, and peripheral systems can help these robots to operate safely and efficiently.
Alternate Device Recommendations
The INA241B is a high-precision, accurate analog current-sense amplifier. INA241B can be used in high-voltage
bidirectional applications paired with 1.1-MHz bandwidth to offer fast response time with precise control for
in-line control within H-bridge applications. The INA241B can measure currents at common-mode voltages of –5
V to 110 V and survive voltages between –20 V to 120 V, making the INA241B device an excellent choice for
many systems.
The INA253 is an ultra-precise current-sense amplifier with an integrated low-inductive, precision 2-mΩ shunt
with an accuracy of 0.1% and a temperature drift of < 15 ppm/°C. The INA253 is limited to applications that need
< ±15 A of continuous current at TA = 85°C. The INA253 integrated shunt is internally Kelvin-connected to the
INA240 amplifier. The INA253 provides the performance benefits of the INA240 amplifier with the inclusion of a
precision shunt providing a total uncalibrated system gain accuracy of < 0.2%.
The INA281 can be used in high-voltage applications such as high-side current sensing in a motor. The INA281
can measure currents at common-mode voltages of –4 V to 110 V and survive voltages between –20 V to 120 V,
making the device versatile for a variety of applications where voltage can swing negative.
An option for low-side sensing is the INA381 which is a cost-optimized current-sense amplifier with an integrated
comparator which serves to reduce PCB footprint size and simplifies design.

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Table 2. Alternate Device Recommendations

Device Optimized Parameter Performance Trade-Off
INA241B Vcm range: –5 V to 110 V Bidirectional Slightly lower accuracy compared to INA241A
INA281 Vcm range: –4 V to 110 V Unidirectional
INA381 Integrated Comparator Vcm limited to 26 V
INA253 Integrated shunt 2 mΩ, VCM range: –4 V to 80 V ±15-A maximum continuous current

Table 3. Related TI Application Briefs

Literature Number Description
Low-Drift, Precision, In-Line Motor Current Measurements With PWM
SBOA160
Rejection
SBOA176 Switching Power Supply Current Measurements
SBOA163 High-Side Current Overcurrent Protection Monitoring
SBOA555 Current Sensing in Collaborative and Industrial Robotic Arms

4 Current Sensing in Mobile Robots SBOA554 – NOVEMBER 2022

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www.ti.com Application Brief

Application Brief
Current Sensing in Collaborative and Industrial
Robotic Arms

Kyle Stone, Guang Zhou, Sanjeev Manandhar Current Sensing

Introduction
Collaborative robots and Industrial robots are the dominant robot technologies driving factories toward
automation and increasing efficiency and throughput of the factories. Factories are able to build their end
products at an ever-faster rate to meet the demand of the customers by implementing these semi- and full-
factory automation technologies.

Collaborative Robots
Collaborative robots are human-assisted robots that typically work only with human interactions. These robots
assist humans in lifting payloads in the range of 6 kg to 25 kg and greater to help reduce human fatigue,
while increasing production speed. The collaborative robot is typically operating at voltages lower than 80 V,
with most systems operating in the 48-V to 50-V range due to direct human interaction. These systems are
sometimes isolated and requirements are based on the system design. Typical current ranges for these systems
are between 10 A to 30 A depending on the circuit node. Current sensing in collaborative robots is typically
used for motor control within the axis, where a device is monitoring the in-phase current of the electric motors as
shown in Figure 1.

High-side DC link
Vbus

+ + + High-side
–

– – –

D1 D3 D5
Q1 Q3 Q5

I_U U

I_V V

I_W W
–

+
–

D2 D4 D6
Q2 Q4 Q6
Inline

+ + +

– – – Low-side
Low-side DC link
–

Figure 1. Methods of Motor Current Sensing in Collaborative and Industrial Robots

An accurate phase current sensing is critical in motor control. Poor current sensing can lead to large torque
ripple, audible noise, and inefficiency. There are three methods of motor current sensing with their own positives

SBOA555 – NOVEMBER 2022 Current Sensing in Collaborative and Industrial 1

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and negatives as shown in Table 1. The best location to measure the motor current is directly inline with each
phase due to the continuity of signal measurement and direct correlation to the phase currents. In-line current
sensing comes with the challenge where each motor phase is subjected to common-mode voltage transitions
that can switch between large voltage levels over very short time periods. Current measurement in other
locations, such as the low-side of each phase, requires recombination and processing before meaningful data
can be utilized by the control algorithm.
Table 1. Current Sensing in an H-Bridge
Current Measurement Advantages Disadvantages
High-side Detect shorted load from battery for diagnostics High-voltage common-mode amplifier
Inline Direct motor current measurement, low bandwidth amplifier High dv/dt signals. PWM settling time.
Low-side Low cost, low common-mode voltage Unable to detect shorted load

Board space is highly constrained in collaborative robots, so a small-footprint device is desired. Since isolation
is typically not a requirement, a device such an the INA241A is an excellent choice for an in-line current-sensing
application because the INA241A offers high CMRR and enhanced PWM rejection allowing for minimal error in
switching systems in a collaborative robot. The INA241A is packaged in a small SOT-23 (DDF) 8-pin package
measuring 2.95 mm × 2.95 mm (8.70 mm2) with the leads. If the application does require isolation, then a device
such as the TMCS1108 (a Hall-effect current sensor), provides functional isolation up to 100 V.

Industrial Robots
Industrial robots are very large robots that are found in car factories and other manufacturing facilities where
heavy lifting is required to pick and place large products. Industrial robots help bring a level of safety to a
manufacturer because these robots are moving very large items without the need for human interaction, and can
be done in a very controlled manner. The industrial robots typically operate in the AC domain with voltage levels
between 400 V to 600 V, which are common AC voltage levels in large manufacturing facilities. The current
levels generally range from 35 A to 250 A dependent upon what the robot is moving around the facility. Current
sensing is typically done within a cabinet near the robot, so space is less of a concern in these systems. The
current monitoring is usually done in-phase with the motors controlling the robot. Given the high-voltage present
in industrial systems, isolation is generally required to separate the high-voltage levels that are dangerous to the
low-voltage circuit systems and to humans. Today, current sensing is typically done with isolated amplifiers such
as the AMC1306.
One other common place where current sensing is required in industrial robots is in the coil drive brake release
unit. Coil drive is used for releasing the brake friction disks once the motor moving the joints has stopped or to
provide dynamic stopping in an emergency event. The magnetic field in the coil drive keeps two spring-loaded
friction disks away from each other so that rotor can turn freely. When flow of the current stops, the two braking
friction disks are pressed against each other with the help of the loaded springs to stop the rotor. Figure 2
shows a low-side current sensing used in a coil drive in a brake release unit. Low-side current sensing gives
more choices of current-sensing devices but due to the inductive nature of the coil, inputs of the current-sense
amplifier can be subjected to negative voltage during switching. In such an event, a current-sensing device is
required to survive the negative input voltage.

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Friction
Disks
Spring

Rotor and Shaft

Field coil

Current sense
amplifier

Figure 2. Low-Side Current Sensing in Coil Drive for Brake Release Unit

Conclusion
In conclusion, both collaborative and industrial robots generally both use current sensing to monitor the in-phase
current of the electric motor in the various robots. The main differences are the need for isolation, the level of
power, and the amount of weight the robot can lift, hence the difference in requirements for current-sensing
devices. Industrial robots require current sensing in the coil drive to brake and stop motor. Collaborative robots
generally do not need isolation, have power levels that do not exceed 2.0 kW, and typically lift payloads between
6 kg to 25 kg. While industrial robots generally do need isolation, their power levels that can range from as little
as 3 kW up to and beyond 125 kW, and lift from 20 kg to a few thousand kilograms.
Alternate Device Recommendations
The INA241B is a high-precision, accurate analog current-sense amplifier. The INA241B can be used in high-
voltage bidirectional applications paired with 1.1-MHz bandwidth to offer fast response times with precise control
for in-line control within H-bridge applications. The INA241B can measure currents at common-mode voltages of
–5 V to 110 V and survive voltages between –20 V to 120 V, making the INA241B an excellent choice for many
systems.
The INA253 is an ultra-precise, current-sense amplifier with an integrated low inductive, precision 2-mΩ shunt
with an accuracy of 0.1% and a temperature drift of < 15 ppm/°C. The INA253 is limited to applications that need
< ±15 A of continuous current at TA = 85 °C. The INA253 integrated shunt is internally Kelvin-connected to the
INA240 amplifier. The INA253 provides the performance benefits of the INA240 amplifier with the inclusion of a
precision shunt providing a total uncalibrated system gain accuracy of < 0.2%.
The INA281 can be used in high-voltage applications such as high-side current sensing in a motor. The INA281
can measure currents at common-mode voltages of –4 V to 110 V and survive voltages between –20 V to 120 V,
making the INA281 versatile for a variety of applications where voltage can swing negative.
An option for low-side sensing is the INA381. This device is a cost-optimized current-sense amplifier with an
integrated comparator which serves to reduce the PCB footprint size and simplify the design.
Table 2. Alternate Device Recommendations
Device Optimized Parameter Performance Trade-Off
INA241B Vcm range: –5-V to 110-V Bidirectional Slightly lower accuracy compared to INA241A
INA281 Vcm range: –4 V to 110 V Unidirectional
INA381 Integrated Comparator Vcm limited to 26 V
INA253 Integrated shunt 2 mΩ, VCM range: –4 V to 80 V ±15-A maximum continuous current

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Table 3. Related TI Application Briefs

Literature Number Description
Low-Drift, Precision, In-Line Motor Current Measurements With PWM
SBOA160
Rejection
SBOA176 Switching Power Supply Current Measurements
SBOA163 High-Side Current Overcurrent Protection Monitoring
SBOA554 Current Sensing in Mobile Robots

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Application Brief
How to optimize PoE systems using discrete current
sensing

Power over Ethernet (PoE) describes several Camera

IR LEDs

standards that pass power along with data on PTZ Motor

twisted-pair Ethernet cabling. PoE allows a single

cable to provide both data connection and power
PoE PD DC/DC
Controller Controller

to devices such as wireless access points (WAPs),

Internet Protocol (IP) cameras, and voice-over- MCU

Internet Protocol (VoIP) phones.

Power sourcing equipment (PSE) such as network Figure 1. Current sensor in a PoE-powered device
switches or video recorders are used to power (IP camera)
powered devices (PDs). However, many PDs have
an auxiliary power connector for an optional external Flyback converters are a common choice for DC/DC
power supply, which often acts as backup power. conversion in low-power applications like PDs due
PoE offers several classes from one to eight, allowing to their low cost and BOM count. These DC/DC
input powers between 4W and 71W. Powered devices converters reduce the voltage from 48 V to 12 V.
must be designed so that they do not exceed the Current sensors can be placed in several locations
PoE class specification chosen. If a powered device around the flyback transformer before the load.
exceeds its PoE class limit, the PSE turns off the PD. Measuring current on the primary and high-voltage
side of the flyback offers the greatest accuracy as
There are several methods to avoid PSE shutdown. the power seen here includes losses in the DC/DC.
One solution would be to characterize the load by However, designers must select a higher common-
measuring the maximum power consumption of every mode input range capable device like the INA238 to
subsystem in the PD, and designing for a PoE accommodate the 44-V to 57-V rail.
class that is within that characterized peak power to
guarantee that the powered device never exceeds the Low-side current sensing on the primary side offers
PoE class limit. However, this method is not ideal diminished accuracy as this option does not include
because it requires more characterization and the power losses in the transformer. Still, these current
selection of an arbitrarily high PoE class. sensing devices (like the INA180) do not require high
common-mode voltage capability. Current sensing
Suppose designers chose not to characterize their on the secondary side of the transformer also
systems for the highest possible power consumption allows designers to choose lower common-mode
and want to dynamically control system power input voltage devices, but the sensor will not include
consumption to stay within a lower PoE class limit, power losses in the flyback converter. This leads
in this case, their circuit design would require current to diminished current sensing accuracy because
sensors. designers must estimate or characterize power
Current sensors can monitor DC/DC converter current losses in their DC/DC converter to know the power
and report to an MCU or PMIC that controls the consumption of the entire PD.
various subsystems within a PD, throttling power, and The next selection is the technology of the current
cycling functionality to avoid exceeding the PoE class sensor. Digital power monitors like the INA219 can
limit. measure bus voltage and current, multiplying these to
output a power calculation over I2C. Having power
information means designers can more accurately
and easily know how close the powered device is to
the PoE class limit.
The second option is to use an analog-output current
sense amplifier like the INA180 which will not give bus

SBOA561 – JANUARY 2023 How to optimize PoE systems using discrete current sensing 1
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voltage information, so if the rail voltage fluctuates,

designers will not be able to know the total power
consumption of the PD with as great accuracy.
Ultimately, this power or current information
communicates to a microcontroller or SoC. This
microcontroller or SoC is responsible for making
decisions about turning off or throttling power and
current to downstream electronic subsystems when
current reaches too close to the class limit. So in an
IP camera, for example, the MCU or SoC could turn
off the pan-tilt-zoom (PTZ) motor, heater, or IR LEDs
when power consumption gets too close to the class
limit.
Current sensors can be used for other uses
in powered devices. Specifically for IP cameras,
subsystem current can be monitored. Often IP
cameras are used outside in cold weather conditions
and heaters must be implemented. Power is a
leading indicator for temperature for resistive heating,
therefore digital power monitors or current sense
amplifiers can be used to actively control heating
elements. Current sensing can also be used for safety
and diagnostics in PTZ servo/stepper motors.
Additionally, IP cameras often have auxiliary power
inputs in the form of 24 Vac and 12VDCcoaxial inputs.
Current sense amplifiers can be used with a FET in
a simple e-fuse configuration on these input rails to
monitor if current exceeds a threshold, triggering the
FET and turning the device off to protect downstream
electronics.
Related Documentation:
1. Texas Instruments, Getting Started with Digital
Power Monitors application note
2. Texas Instruments, Integrating the Current
Sensing Signal Path application brief

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Additional resources

Current Sense Amplifier Overview

Explore TI’s portfolio of current-sense amplifiers.

Current Sense Amplifier Comparison and Error Calculator

Compare up to five of TI’s current-sense amplifiers and calculate the residual sum-of-squares error based on the devices
selected and user-input system level parameters.

Power Monitor Tool

Input design constraints to determine the correct digital power monitor to use.

E2E is trademark of Texas Instruments.

All other trademarks are the property of their respective owners.

An©Engineer’s
2022 TexasGuide to Current
Instruments Sensing
Incorporated 65 Texas Instruments Incorporated
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