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Pololu Dual VNH5019 Motor Driver Shield User's Guide
Pololu Dual VNH5019 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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.c. Shield Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.d. Programming Your Arduino . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
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 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
6. Customizing the Shield . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.a. Remapping the Arduino Connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
6.b. Accessing ENA/DIAGA and ENB/DIAGB Pins Separately . . . . . . . . . . . . . . . . . . . . . . 21
7. Using the Driver in Single-Channel Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
http://www.pololu.com/docs/0J49
© 2001-2011 Pololu Corporation
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Summary of Contents for Pololu VNH5019
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Page 1: Table Of Contents
2. Contacting Pololu ........ -
Page 2: Overview
ST’s great motor driver ICs. The Arduino pin mappings can all be customized if the defaults are not convenient, and the VNH5019 control lines are broken out along the left side of the board, providing a convenient interface point for other microcontroller boards (see the right connection diagram below). This versatility, along with an option to power the Arduino directly from the shield, sets this board apart from similar competing motor shields. -
Page 3: Features
Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation 1.a. Features • Wide operating voltage range: 5.5 – 24 V • High output current: up to 12 A continuous (30 maximum) per motor • Motor outputs can be combined to deliver up to 24 A continuous... -
Page 4: Included Hardware
Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation 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. The following through-hole parts are included: •... -
Page 5: Contacting Pololu
Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 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 VNH5019 motor driver shield for Arduino . -
Page 6: Getting Started With An Arduino
Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 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 7: Shield Connections
Arduino. They are discussed in more detail later in this guide. 3.c. Shield Connections Dual VNH5019 motor driver shield with an Arduino (shield and Arduino powered separately). 3. Getting Started with an Arduino Page 7 of 25... - Page 8 Analog 1 M2CS Motor 2 current sense output See the Pinout portion of Section 4.b for detailed descriptions of the VNH5019 driver pins and Section 5 for a schematic diagram of the shield. See Section 6.a for instructions on how to customize your board’s Arduino pin mappings if the above defaults are not convenient.
- Page 9 Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation Power Connections and Considerations Dual VNH5019 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 5.5...
- Page 10 Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation Dual VNH5019 motor driver shield with an Arduino (Arduino powered by the 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 11 © 2001–2011 Pololu Corporation Each VNH5019 motor driver IC has a maximum continuous current rating of 30 A. However, the chips by themselves will overheat at lower currents. In our tests on a sample unit, we were able to deliver 30 A for a few milliseconds, 20 A for several seconds, 15 A for over a minute, and 12 A for around five minutes.
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Page 12: Programming Your Arduino
3.d. Programming Your Arduino Our Arduino library for the dual VNH5019 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 13 Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation Serial.println(md.getM1CurrentMilliamps()); delay(2); for (int i = 400; i >= -400; i--) md.setM1Speed(i); stopIfFault(); if (i%200 == 100) Serial.print("M1 current: "); Serial.println(md.getM1CurrentMilliamps()); delay(2); for (int i = -400; i <= 0; i++) md.setM1Speed(i);...
- Page 14 Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation Note: Even if you don’t have any motors yet, you can still try out this sketch and use the motor indicator LEDs for feedback that it’s working properly.
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Page 15: Using As A General-Purpose Motor Driver
4. Using as a General-Purpose Motor Driver The set of pins along the left side of the shield provides direct access to the VNH5019 motor drivers, which means this board can be used as a general-purpose motor driver controlled by devices other than Arduinos. This section explains how to use the dual VNH5019 motor driver shield this way and provides some basic information about the motor driver pins to help get you started. -
Page 16: Board Connections
(outputs alternate between driving and high-impedance). Pinout The following table explains the board pins in detail. See the VNH5019 datasheet":/file/download/VNH5019A- E.pdf?file_id=0J504 (629k pdf) for even more detailed information about these pins, including the truth table that explains how the MxPWM and MxINA/B pins affect the MxA/B motor outputs. - Page 17 IC drives this pin low and the motor outputs are disabled. Note that the MxEN/ HIGH VNH5019 actually has separate EN/DIAG pins for each half bridge (ENA/ DIAG DIAGA and ENB/DIAGB), but these are tied together on the board by default to create a single enable input/diagnostic output for each driver.
- Page 18 Logic power at the same level as your controlling device should be supplied to the VDD pin. This will typically be between 2.5 and 5 V, but the VNH5019 motor drivers are guaranteed to treat any logic input voltage over 2.1 V as high.
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Page 19: Schematic Diagram
Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation 5. Schematic Diagram Schematic diagram of the Pololu dual VNH5019 motor driver shield for Arduino. This schematic is also available as a downloadable pdf: dual VNH5019 motor driver shield schematic (87k pdf) [http://www.pololu.com/file/download/dual_VNH5019_shield_schematic.pdf?file_id=0J513]... -
Page 20: Customizing The Shield
The connections between the Arduino pins and the VNH5019 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:... -
Page 21: Accessing Ena/Diaga And Enb/Diagb Pins Separately
6.b. Accessing ENA/DIAGA and ENB/DIAGB Pins Separately The VNH5019 motor drivers have separate enable/diagnostic pins for the A and B half bridges, but the shield combines these lines into a single enable/diagnostic pin for each motor driver in order to decrease the number of I/O lines required to monitor motor faults. - Page 22 Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation To separately access both ENA/DIAGA and ENB/DIAGB, you can use a knife to cut the trace between the through-hole pair and then run a wire to the right (B) pin. Note that once the connection between the two pins is severed, only ENA/DIAGA will have the required pull-up resistor;...
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Page 23: Using The Driver In Single-Channel Mode
7. Using the Driver in Single-Channel Mode The dual VNH5019 motor driver shield uses two VNH5019 motor driver ICs to enable independent control of two bidirectional brushed DC motors, and each motor channel by itself is capable of delivering up to 12 A of continuous current while tolerating brief current spikes up to 30 A. - Page 24 Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation The above truth table assumes that both motor drivers are enabled and are not experiencing a fault condition (i.e. M1EN/DIAG and M2EN/DIAG pins are low). Otherwise, the disabled output will be “open” (high-impedance).
- Page 25 Pololu Dual VNH5019 Motor Driver Shield User's Guide © 2001–2011 Pololu Corporation delay(2000); // wait for 2 seconds md.setM1Speed(0); // single-channel motor stop (coast) delay(500); // wait for 0.5 s When the library object is initialized this way, you can treat your single motor as if it were motor 1 (i.e. all of the “M1”...
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