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Pololu Dual MC33926 Motor

Driver Shield User's Guide

1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.a. Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.b. Included Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3. Getting Started with an Arduino . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

3.a. What You Will Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

3.b. Assembly for Use as an Arduino Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

3.c. Shield Connections: Signals, Power, and Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

3.d. Programming Your Arduino . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4. Using as a General-Purpose Motor Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.a. Assembly for Use as a General-Purpose Motor Driver . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.b. Board Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

5. Schematic Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

6. Customizing the Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.a. Remapping the Arduino Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6.b. Accessing nD2 and nSF Pins Separately for Each Channel . . . . . . . . . . . . . . . . . . . . . . 22

http://www.pololu.com/docs/0J55/all Page 1 of 24

Summary of content (24 pages)

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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation Pololu Dual MC33926 Motor Driver Shield User's Guide 1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.a. Features . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.b. Included Hardware . . . . . . . . . . . . . . . . . . . . . 2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . 3. Getting Started with an Arduino . . . . . . . . . . . . . . . . . . 3.a.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 1. Overview The Pololu dual MC33926 motor driver shield for Arduino [http://www.pololu.com/catalog/product/2503] and its corresponding Arduino library make it easy to control two bidirectional, brushed DC motors with an Arduino [http://www.pololu.com/catalog/product/2191] or Arduino clone.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 1.a. Features • Wide operating voltage range: 5 – 28 V 1 • Output current: 3 A continuous (5 A peak 2) per motor • Inputs compatible with both 5 V and 3.3 V systems • PWM operation up to 20 kHz, which is ultrasonic and allows for quieter motor operation • Current sense voltage output proportional to motor current (approx.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 1.b. Included Hardware This motor driver board ships with all of the surfacemount parts populated. However, soldering is required for assembly of the included through-hole parts.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 2. Contacting Pololu We would be delighted to hear from you about any of your projects and about your experience with the dual MC33926 motor driver shield for Arduino [http://www.pololu.com/catalog/product/2503]. If you need technical support or have any feedback you would like to share, you can contact us [http://www.pololu.com/contact] directly or post on our forum [http://forum.pololu.com/viewforum.php?f=15].
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 3. Getting Started with an Arduino As with virtually all other Arduino shields, connections between the Arduino and the motor driver are made via extended stackable headers that must be soldered to the through-holes along the top and bottom edges of the shield. This section explains how to use this motor driver as an Arduino shield to quickly and easily add control of up to two DC motors to your Arduino project.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 3.b. Assembly for Use as an Arduino Shield 1. Stackable Arduino headers: Before you can use this board as an Arduino shield, you need to solder four of the five included Arduino header strips to the set of holes highlighted in red in the picture above.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation power connections, or you can break off a 12×1 section of the included 0.1″ header strip and solder it into the smaller through-holes that border the six large motor and motor power pads. Note, however, that each header pin pair is only rated for a combined 6 A, so for higher-power applications, the terminal blocks should be used or thick wires with high-current connectors [http://www.pololu.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation directly to the shield itself via its large, high-current VIN and GND pads. The motor channels, located on either side of these power pins, can each be used to independently control a bidirectional brushed DC motor. Each motor channel is comprised of a pair of pins—MxA and MxB—that connect to the two terminals of a DC motor and can deliver a continuous 3 A (5 A peak).
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation Power Connections Dual MC33926 motor driver shield power buses when connected to an Arduino. In the shield’s default state, the motor driver shield and Arduino are powered separately. When used this way, the Arduino must be powered via USB, its power jack, or its VIN pin, and the shield must be supplied with 5 to 28 V through the large VIN and GND pads on the right side of the board.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation Using the dual MC33926 motor driver shield with an Arduino (Arduino powered by shield). It is also possible to power your Arduino directly from the motor shield, as shown in the diagram above, which eliminates the need for a separate Arduino power supply. When the ARDVIN=VOUT shorting block is in place, the shield’s reverse-protected input power, VOUT, is connected to the Arduino’s VIN pin.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation use a 9V battery (the rectangular type with both terminals on the same side) as your motor power supply. We recommend NiMH batteries [http://www.pololu.com/catalog/category/54], lithium-based rechargeable batteries (if you have a good charger and adequately understand the dangers of using them improperly), or a power adapter with an appropriate power rating.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation consider taking the following steps to decrease the impact of motor-induced electrical noise on the rest of your system: 1. Solder a 0.1 µF ceramic capacitor [http://www.pololu.com/catalog/ product/1166] across the terminals of your motors, or solder one capacitor from each terminal to the motor case (see the pictures to the right).
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Pololu Dual MC33926 Motor Driver Shield User's Guide } © 2001–2013 Pololu Corporation } delay(2); for (int i = 400; i >= -400; i--) { md.setM1Speed(i); stopIfFault(); if (abs(i)%200 == 100) { Serial.print("M1 current: "); Serial.println(md.getM1CurrentMilliamps()); } delay(2); } for (int i = -400; i <= 0; i++) { md.setM1Speed(i); stopIfFault(); if (abs(i)%200 == 100) { Serial.print("M1 current: "); Serial.println(md.getM1CurrentMilliamps()); } delay(2); } for (int i = 0; i <= 400; i++) { md.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 4. Using as a General-Purpose Motor Driver MC33926 motor driver control lines and output signals are available via the set of pins along the left side of the board, which means this shield can be used as a general-purpose motor driver controlled by devices other than Arduinos.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation With the exception of the pins labeled “D2 1=2” and “SF 1=2”, all of the through-holes not highlighted in the above diagram are only relevant when using this driver as an Arduino shield. The “D2 1=2” and “SF 1=2” pins are explained in the “Pinout” portion of Section 4.b, but they will not be needed in typical applications and can generally be ignored. 4.b.
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Pololu Dual MC33926 Motor Driver Shield User's Guide PIN Default State © 2001–2013 Pololu Corporation Description VIN The connection point for the positive side of the 5 – 28 V motor power supply. VDD The connection point for the positive side of the logic power supply (typically 2.5 – 5 V). VOUT This pin gives you access to the motor power supply after the reverse-voltage protection MOSFET (see the board schematic in Section 5).
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation Simplified Motor Control Truth Table Inputs Outputs D2 MxPWM MxDIR MxA MxB SF Mode H H L H L H forward H H H L H H reverse H L X L L H brake L X X Z Z L coast L = LOW, H = HIGH, X = HIGH or LOW, Z = high impedance The above table assumes there are currently no driver faults. Power Considerations Dual MC33926 motor driver shield power buses when not used with an Arduino.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation Motor Considerations The motor considerations are the same as those detailed in Section 3.c. 4.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 5. Schematic Diagram Schematic diagram for the Dual MC33926 Motor Driver Shield for Arduino. PDF of schematic: dual MC33926 motor driver shield schematic dual_mc33926_shield_schematic.pdf?file_id=0J559] (350k pdf). 5. Schematic Diagram [http://www.pololu.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation 6. Customizing the Shield This motor driver shield has several features that will not be useful in a typical application but that might benefit an advanced user. This section explains how to modify the shield from its default state to access these features. 6.a. Remapping the Arduino Connections For some applications, this shield’s default Arduino pin mappings might not be convenient.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation Cuttable traces on the dual MC33926 motor driver shield for changing default Arduino connections. The yellow boxes mark the locations where traces can be cut on the underside of the PCB to remap the default Arduino pin assignments. The top through-hole of each vertical pair connects to the Arduino pin and the bottom through-hole connects to the motor driver pin.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation Cuttable traces on the dual MC33926 motor driver shield for accessing nD2 and nSF separately on each driver IC. The following diagrams shows the relevant sections of the board schematic: To separately access both the pins, you can use a knife to cut the trace between the through-hole pair.
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Pololu Dual MC33926 Motor Driver Shield User's Guide © 2001–2013 Pololu Corporation You can later use a shorting block to restore the default combined D2 or SF lines if you populate the severed hole pair with a 2×1 piece of the included 0.1″ male header strip. 6.