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| chipkit_shield_motor:refmanual [2015/05/28 19:00] – Martha | chipkit_shield_motor:refmanual [2022/10/04 11:38] (current) – external edit 127.0.0.1 | ||
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| The Motor Shield provides a means to control 2 independent DC motors via a DRV883 dual H-bridge motor driver. The motor driver must be powered via J1 to operate, voltages between 2.7 and 10.8 volts are acceptable. Each channel is controlled by an “enable” and “direction” signal. | The Motor Shield provides a means to control 2 independent DC motors via a DRV883 dual H-bridge motor driver. The motor driver must be powered via J1 to operate, voltages between 2.7 and 10.8 volts are acceptable. Each channel is controlled by an “enable” and “direction” signal. | ||
| + | |||
| + | ^ Uno32 Pin # ^ PIC32 Pin # ^ Signal | ||
| + | | 3 | 46 | Enable1: OC1/ | ||
| + | | 4 | 59 | Direction1: RF1 | ||
| + | | 3/5 | 46/49 | Enable2: OC1/RD0 or OC2/ | ||
| + | | 4/34 | 59/53 | Direction2: RF1 or PMRD/ | ||
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| PWM levels on enable pins will regulate the speed of the motors. Logic levels on direction pins will determine the motors rotation direction of the attached DC motors. The chipKIT Uno32 uses a demultiplexer and pull-down resistors on the inputs to the DRV8833 H-Bridge pins to ensure that the H-Bridge only works in fast decay mode. Table 1 lists the motor responses that result from various input combinations. | PWM levels on enable pins will regulate the speed of the motors. Logic levels on direction pins will determine the motors rotation direction of the attached DC motors. The chipKIT Uno32 uses a demultiplexer and pull-down resistors on the inputs to the DRV8833 H-Bridge pins to ensure that the H-Bridge only works in fast decay mode. Table 1 lists the motor responses that result from various input combinations. | ||
| + | |||
| + | ^ DIR1 ^ EN1 ^ Result | ||
| + | | 0 | 0 | Stop | | ||
| + | | 0 | 1/PWM | Fprward | ||
| + | | 1 | 0 | Stop | | ||
| + | | 1 | 1/PWM | Reverse | ||
| + | | **DIR2** | ||
| + | | 0 | 0 | Stop | | ||
| + | | 0 | 1/PWM | Forward | ||
| + | | 1 | 0 | Stop | | ||
| + | | 1 | 1/PWM | Reverse | ||
| + | |||
| The DRV8833 chip provides overcurrent protection on the motor drive circuits. Each internal drive FET is independently monitored for an overcurrent condition and will be shut down internally to protect the chip. When an overcurrent condition is sensed the chip will shut down the FET with the fault and then set the NFAULT pin low signaling a fault condition on the chip. The remaining FETs will continue to operate as normal. When the fault condition is over, the chip will self-reset and return the NFAULT logic level to logic high. (See Table 2 for connector descriptions.) | The DRV8833 chip provides overcurrent protection on the motor drive circuits. Each internal drive FET is independently monitored for an overcurrent condition and will be shut down internally to protect the chip. When an overcurrent condition is sensed the chip will shut down the FET with the fault and then set the NFAULT pin low signaling a fault condition on the chip. The remaining FETs will continue to operate as normal. When the fault condition is over, the chip will self-reset and return the NFAULT logic level to logic high. (See Table 2 for connector descriptions.) | ||
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| The stepper motor controller has 4 output signals. It is composed of 4 open-drain transistor amplifiers. | The stepper motor controller has 4 output signals. It is composed of 4 open-drain transistor amplifiers. | ||
| + | |||
| + | ^ Uno32 Pin # ^ PIC32 Pin # ^ Signal | ||
| + | | 26 | 60 | A: PMD0/ | ||
| + | | 27 | 61 | B: PMD1/ | ||
| + | | 28 | 62 | C: PMD2/ | ||
| + | | 29 | 63 | D: PMD3/ | ||
| + | |||
| The stepper motor driver can be powered by either VIN, or an external power source connected to J10. If connecting an external power source, JP5 should be removed to prevent shorting the stepper motor voltages to the input voltage of the chipKIT board. | The stepper motor driver can be powered by either VIN, or an external power source connected to J10. If connecting an external power source, JP5 should be removed to prevent shorting the stepper motor voltages to the input voltage of the chipKIT board. | ||
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| The Motor Shield has 4 servo motor connections. They can be powered from VCC5V0 or an external power source connected to J14. If connecting an external power source, JP6 should be removed. The voltage of the power source can be measured on analog pin A11 via a resistor divider network (see the schematic for more details). | The Motor Shield has 4 servo motor connections. They can be powered from VCC5V0 or an external power source connected to J14. If connecting an external power source, JP6 should be removed. The voltage of the power source can be measured on analog pin A11 via a resistor divider network (see the schematic for more details). | ||
| + | |||
| + | ^ Uno32Pin # ^ PIC32 Pin # ^ Signal | ||
| + | | 30 | 64 | Servo1: PMD4/ | ||
| + | | 31 | 1 | Servo2: PMD5/ | ||
| + | | 32 | 2 | Servo3: PMD6/ | ||
| + | | 33 | 3 | Servo4: PMD7/ | ||
| + | |||
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| ==== J14, J16, J17, J18, and J20 Pins (Servo Motor Connections) ==== | ==== J14, J16, J17, J18, and J20 Pins (Servo Motor Connections) ==== | ||
| - | ^ Uno32 Pin # ^ PIC32 Pin # ^ Pin ^ Signal | + | ^ Uno32 Pin # ^ PIC32 Pin # ^ Pin |
| - | | | | | | + | | | | J14-01 |
| - | | | | | | + | | | | J14-02 |
| - | | | | | | + | | 30 | 64 | J16-01 |
| - | | | | | | + | | | | J16-02 |
| - | | | | | | + | | | | J16-03 |
| - | | | | | | + | | 31 | 1 | J17-01 |
| - | | | | | | + | | | | J17-02 |
| - | | | | | | + | | | | J17-03 |
| - | | | | | | + | | 32 | 2 | J18-01 |
| - | | | | | | + | | | | J18-02 |
| - | | | | | | + | | | | J18-03 |
| - | | | | | | + | | 33 | 3 | J19-01 |
| - | | | | | | + | | | | J19-02 |
| - | | | | | | + | | | | J19-03 |
| + | |||
| + | |||
| + | ==== J21 Pins (I2C) ==== | ||
| + | ^ Uno32 Pin # ^ PIC32 Pin # ^ Pin ^ Signal | ||
| + | | 46 | 37 | J21-01 | ||
| + | | 46 | 37 | J21-02 | ||
| + | | 45 | 36 | J21-03 | ||
| + | | 45 | 36 | J21-04 | ||
| + | | | | J21-05 | ||
| + | | | | J21-06 | ||
| + | | | | J21-07 | ||
| + | | | | J21-08 | ||