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Pololu Dual MC33926 Motor Driver Shield User's Guide
Pololu Dual MC33926 Motor
Driver Shield User's Guide
1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.a. Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
2. Contacting Pololu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3. Getting Started with an Arduino . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.a. What You Will Need . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.b. Assembly for Use as an Arduino Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.c. Shield Connections: Signals, Power, and Motors . . . . . . . . . . . . . . . . . . . . . 10
3.d. Programming Your Arduino . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
4. Using as a General-Purpose Motor Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.a. Assembly for Use as a General-Purpose Motor Driver . . . . . . . . . . . . . . . . . . 19
4.b. Board Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6. Customizing the Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.a. Remapping the Arduino Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
6.b. Accessing nD2 and nSF Pins Separately for Each Channel . . . . . . . . . . . . . . . 29
https://www.pololu.com/docs/0J55/all
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© 2001-2017 Pololu Corporation
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Summary of Contents for Pololu MC33926
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Page 1: Table Of Contents
2. Contacting Pololu ........ -
Page 2: Overview
I/O pins to control. The Arduino pin mappings can all be customized if the defaults are not convenient, and the simplified MC33926 control lines are broken out along the left side of the board, providing a convenient interface point for other microcontroller boards. -
Page 3: Features
Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation 1.a. Features • Wide operating voltage range: 5 – 28 V • Output current: 3 A continuous (5 A peak ) per motor • Inputs compatible with both 5 V and 3.3 V systems •... -
Page 4: Included Hardware
Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation information. There is no reverse-voltage protection on the logic supply. 1.b. Included Hardware This motor driver board ships with all of the surface-mount parts populated. However, soldering is required for assembly of the included through-hole parts. - Page 5 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation Arduino is not included. [https://www.pololu.com/product/2191] 1. Overview Page 5 of 30...
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Page 6: Contacting Pololu
Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 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 [https://www.pololu.com/product/... -
Page 7: Getting Started With An Arduino
Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 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. -
Page 8: Assembly For Use As An Arduino Shield
Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation * Note for Due users: The voltage on the current sense pins will exceed the Due’s 3.3 V limit when the current draw exceeds ~6 A. The CS circuit has a 1 kΩ resistor in series with... - Page 9 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation with two 8×1 headers and two 6×1 headers; the right picture below shows an example of the shield assembled in this way (note: the shield can still be used with newer Arduinos when assembled in this way, and it is actually plugged into an Uno R3 in the picture).
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Page 10: Shield Connections: Signals, Power, And Motors
Arduino, and they are discussed in more detail later in this guide. 3.c. Shield Connections: Signals, Power, and Motors Using the dual MC33926 motor driver shield with an Arduino (shield and Arduino powered separately). All of the necessary logic connections between the Arduino and the motor driver shield, including VDD, are made automatically when the shield is plugged into the Arduino. - Page 11 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation Default Arduino Pin Mappings The following table shows how the shield connects your Arduino’s pins to the motor drivers’ pins: Arduino Shield Pin Basic Function Name Tri-state disables both outputs of both motor channels when...
- Page 12 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation 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.
- Page 13 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 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.
- Page 14 6 A (3 A per channel), and it can deliver in excess of 10 A before the internal current limiting is activated. Shield Power Dissipation Each MC33926 motor driver IC has a maximum continuous current rating of 5 A. However, the actual 3. Getting Started with an Arduino Page 14 of 30...
- Page 15 Unlike other H-Bridges, the MC33926 has a feature that allows it to gracefully reduce current as the current exceeds 5 A or as the chip temperature approaches its limit. This means that if you push the chip close to its limit, you will see less power to the motor, but it might allow you to avoid a complete shutdown.
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Page 16: Programming Your Arduino
3.d. Programming Your Arduino Our Arduino library for the dual MC33926 motor driver shield makes it easy to get started writing your Arduino sketches. A link to download the library, installation instructions, and the library command reference can be found on the library’s github page... - Page 17 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation #include "DualMC33926MotorShield.h" DualMC33926MotorShield md; void stopIfFault() (md.getFault()) Serial.println("fault"); while(1); void setup() Serial.begin(115200); Serial.println("Dual MC33926 Motor Shield"); md.init(); void loop() (int i = 0; i <= 400; i++) md.setM1Speed(i);...
- Page 18 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation Serial.print("M2 current: "); Serial.println(md.getM2CurrentMilliamps()); delay(2); (int i = 400; i >= -400; i--) md.setM2Speed(i); stopIfFault(); (abs(i)%200 == 100) Serial.print("M2 current: "); Serial.println(md.getM2CurrentMilliamps()); delay(2); (int i = -400; i <= 0; i++) md.setM2Speed(i);...
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Page 19: Using As A General-Purpose Motor Driver
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. -
Page 20: Board Connections
4.b, but they will not be needed in typical applications and can generally be ignored. 4.b. Board Connections Using the dual MC33926 motor driver shield with a microcontroller (gray connections are optional). The above diagram shows the minimum connections typically required to interface this motor driver with a microcontroller. - Page 21 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation enable the drivers. Only two pins are required per motor: direction control with MxDIR and speed control with MxPWM. Pinout The following table explains the board pins in detail. See the...
- Page 22 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation Default State Description The connection point for the positive side of the 5 – 28 V motor power supply. The connection point for the positive side of the logic power supply (typically 2.5 –...
- Page 23 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation MxPWM held high results in drive-coast operation (vs. drive-brake when the PWM is applied to MxPWM and D2 is held high). Toggling this pin will clear any latched faults. Note that the disable lines from both drivers are tied together.
- Page 24 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. The shield must be supplied with 5 to 28 V through the large VIN and GND pads on the right side of the board.
- Page 25 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation require. For example, alkaline cells are typically poor choices for high-current applications, and you should almost never use a 9V battery (the rectangular type with both terminals on the same side) as your motor power supply.
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Page 26: Schematic Diagram
Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 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 [https://www.pololu.com/file/download/ (350k pdf). dual_mc33926_shield_schematic.pdf?file_id=0J559] 5. Schematic Diagram... -
Page 27: Customizing The Shield
The connections between the Arduino pins and the MC33926 motor driver pins are each made through a pair of 0.1″-spaced holes that are connected on the underside of the shield by a thin trace: 6. - Page 28 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 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.
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Page 29: Accessing Nd2 And Nsf Pins Separately For Each Channel
Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation 6.b. Accessing nD2 and nSF Pins Separately for Each Channel The shield combines the two motor driver chips’ D2 and SF pins in order to decrease the number of I/ O lines required to control the motors. - Page 30 Pololu Dual MC33926 Motor Driver Shield User’s Guide © 2001–2017 Pololu Corporation To separately access both the pins, you can use a knife to cut the trace between the through-hole pair. For D2, note that once the connection between the two pins is severed, only M1D2 will have the protection resistor between it and the logic connections.
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