Pololu Dual VNH5019 Motor Driver Shield User`s Guide
Contents
1. 2001 2014 Pololu Corporation This example ramps motor speed from zero to max speed forward to max speed reverse and back to zero again over a period of about 3 seconds while checking for motor faults and periodically printing the motor current to the serial monitor It then performs the same process on motor 2 before repeating all over again 9 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 the shield is working properly 3 Getting Started with an Arduino Page 14 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 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 However we strongly encourage you to consult the VNH5019 datasheet http www pololu com file download VNH5019A E pdf file_id 0J504 629k pdf for detailed pin descriptions truth tables and electrical characteristics This shield is essentially a breakout board for two VNH5019 motor driver ICs so the datasheet is your best resource for answering questions not covered by2. motor 1 DualVNH5019MotorShield md 2 7 6 AO 2 7 12 Al void setup md init remaining setup code goes here void loop loops endlessly main loop goes here the following code is a simple example md setM1lSpeed 400 single channel motor full speed forward delay 2000 wait for 2 seconds md setMl1Speed 0 single channel motor stop coast delay 500 wait for 0 5 s md setMlSpeed 400 single channel motor full speed reverse 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 library functions will work on the single motor channel However note that the getmiCurrentMilliamps method will not return a meaningful result since current sense feedback is not available in single channel mode Also you will need to check both M1 and M2 faults in order to get an accurate picture of the driver s fault status getM1 Fault effectively only returns the fault status of half bridge A and getm2rault effectively returns the fault status of half bridge B You could conceivably connect the two fault lines together into a single fault line but you would want to do so before the 1k protection resistors such as by connecting them together via the MxEN DIAG A B pins which give you access t
3. pin mappings if the above defaults are not convenient 3 Getting Started with an Arduino Page 9 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation Power Connections and Considerations gt a s GA Puy NO Ply ou 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 to 24 V through the large VIN and GND pads on the right side of the board Attempting to power the shield through other means such as from the Arduino or through the small VOUT pin can permanently damage both the Arduino and the shield only the large power traces on the right side of the shield are designed to handle the high currents involved in powering motors A high side reverse voltage protection MOSFET prevents the shield from being damaged if shield power is inadvertently connected backwards Logic power VDD is automatically supplied by the Arduino 97 Note that the motor driver features over voltage protection that can activate at voltages as low as 24 V so we do not recommend using it with 24 V batteries such batteries can significantly exceed 24 V when fully charged It is important that you use a power source that is capable of delivering the current your motors
4. reverse protection MOSFETs are used This does not significantly change the electrical or thermal performance of the shield Schematic diagram for revision ash02b http www pololu com file download dual vnh5019 motor driver shield schematic diagram pdf file_id 0J740 356k pdf 8 Differences between board revisions Page 28 of 28
5. table explains the board pins in detail See the VNH5019 datasheet http www pololu com file download VNHS5019A 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 4 Using as a General Purpose Motor Driver Page 16 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation PIN Default State Description The connection point for the positive side of the 5 5 24 V motor power supply VIN Since the overvoltage protection can be as low as 24 V we do not recommend using 24 V batteries for VIN The connection point for the positive side of the logic power supply typically 2 5 VDD 5 V The only function of this pin is to power the internal pull ups on the enable lines MIEN DIAG and M2EN DIAG This pin gives you access to the motor power supply after the reverse voltage protection MOSFET see the board schematic in Section 5 It can be used to VOUT f supply reverse protected power to other components in the system but it should not be used for high currents This pin should only be used as an output Ground connection points for logic and motor power supplies The controlling GND a device and the motor driver must share a common ground MxA B Output of half bridge A B Each half bridge connects to one terminal of a DC moto
6. the left picture below older Arduino boards use two 8x1 headers and two 6x1 headers as shown in the right picture below the two pairs of pins highlighted in darker red should not be populated if you are using this board with an older Arduino that does not support these additional pins Please make sure you solder the appropriate headers for your particular Arduino 2 Motor and power connections The six large holes twelve small holes on the right side of the board highlighted in yellow in the above diagram are the motor outputs and power inputs You can optionally solder the included 5mm pitch terminal blocks to the six large holes to enable temporary motor and motor power connections or you can break off a 12x1 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 the terminal blocks are only rated for 16 A and each header pin pair is only rated for a combined 6 A so for higher current applications 3 Getting Started with an Arduino Page 7 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation thick wires with high current connectors http www pololu com product 925 should be soldered directly to the board The smaller holes are intended only for 0 1 header pins not for the terminal blocks 3 Arduino power jumper If you want the option of powering your Arduino and motor shiel
7. this user s guide 4 a Assembly for Use as a General Purpose Motor Driver 600000000 006006000046 EG 3 TEE Poloks 7 lt om lt 9 N gt PTittitii titi SCGSCGCEREGaREE AAA LAA AL 1 Logic connections The 13 small holes along the left side of the board highlighted in red in the above diagram are used to interface with the motor drivers You can optionally solder a 13x1 piece of the included 0 1 male header strip to these pins Soldering the pins so they protrude down allows the logic side of the motor driver to be plugged into a standard solderless breadboard http www pololu com category 28 solderless breadboards or perfboard You can also solder 0 1 female headers http www pololu com category 50 0 100 in 2 54 mm female headers or custom connectors to these pins 2 Motor and power connections The six large holes twelve small holes on the right side of the board highlighted in yellow in the above diagram are the motor outputs and power inputs You can optionally solder the included 5mm pitch terminal blocks to the board to enable temporary motor and motor power connections or you can break offan 12x1 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 the terminal blocks are only rated for 16 A and each header pin pair is only rated for a combined 6
8. will 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 3 Getting Started with an Arduino Page 10 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation z N m lt z gt a USB System power 7 12 V jumper ON Arduino VIN shield So 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 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 When power is connected properly VOUT is essentially the same as the shield s VIN The Arduino s power jack must remain disconnected at all times in this configuration Warning When powering the Arduino from the motor shield you must never connect a different power supply to the Arduino s VIN pin or plug a power supply into the Arduino s power jack as doing so will create a short between the shield s power supply and the Arduino s power supply that could permanently damage both the Arduino and the motor shield In this case it is also important
9. 02b http www pololu com product 2507 of the Pololu dual VNH5019 motor driver shield but most of the information also applies to the earlier ash02a http www pololu com product 2502 version See Section 8 for details about the differences between board revisions The Pololu dual VNH5019 motor driver shield for Arduino http www pololu com product 2507 and its corresponding Arduino library make it easy to control two bidirectional high power DC A motors with an Arduino http www pololu com product 2191 Or Pololu dual VNH5019 motor driver shield compatible board such as the A Star 32U4 Prime for Arduino http www pololu com category 165 a star 32u4 prime The board features a pair of robust VNH5019 motor drivers from ST which operate from 5 5 to 24 V and can deliver a continuous 12 A 30 A peak per channel and incorporates most of the components of the typical application diagram on page 14 of the VNH5019 datasheet http www pololu com file download VNH5019A E pdf file_id 0J504 629k pdf including pull up and protection resistors and FETs for reverse battery protection It ships fully populated with its SMD components including the two VNH5019 ICs as shown in the picture to the right stackable Arduino headers and terminal blocks for connecting motors and motor power are included but are not soldered in This versatile motor driver is intended for a wide range of users from beginners who just want a plug and play motor c
10. 2560 http www pololu com product 1699 Arduino Duemilanove both with ATmegal68 and ATmega328P chipKIT Max32 Arduino Compatible Prototyping Platform PIC32 based Arduino clone A soldering iron and solder The through hole parts included with the shield must be soldered in before you can plug the shield into an Arduino or before you can connect power and motors An inexpensive soldering iron http www pololu com product 156 will work but you might consider investing in a higher performance adjustable soldering iron if you will be doing a lot of work with electronics A power supply You will need a power supply such as a battery pack capable of delivering the current your motors will draw See the Power Connections and Considerations portion of Section 3 c for more information on selecting an appropriate power supply One or two brushed DC motors This shield is a dual motor driver so it can independently control two bidirectional brushed DC motors See the Motor Connections and Considerations portion of Section 3 c for more information on selecting appropriate motors 2001 2014 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 23 A The Due should generally be able to handle this since the MCU s integrated protection diodes will clamp the input voltage to a safe value and since the CS circuit has a 10 kQ resistor in series with
11. A so for higher current applications thick wires with high current connectors http www pololu com product 925 should be soldered directly to the board 3 Additional power capacitor The motor driver shield includes three pre installed 47 uF electrolytic power capacitors and there is space highlighted in blue in the above picture to add an additional capacitor e g to compensate for long power wires or increase stability of the power supply An additional power capacitor is usually not necessary and no additional capacitors are included with this shield With the exception of the pins labeled MxEN A B and MxCS_DIS all of the through holes not highlighted in the above diagram are only relevant when using this driver as an Arduino shield The MxEN A B and MxCS_DIS 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 Using as a General Purpose Motor Driver Page 15 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 4 b Board Connections logic power typ 2 5 5V 4 a motor power 55 24v 3 Q o o Oo 3 re Q Dual VNH5019 motor driver shield connected to a microcontroller gray connections are optional The above diagram shows the minimum connections typically required to interface this motor driver with a microcontroller Pinout The following
12. Fault Serial println M2 fault while 1 void setup Serial begin 115200 Serial println Dual VNH5019 Motor Shield md init void loop for int i 0 i lt 400 i md setM1Speed i stopIfFault if 15200 100 Serial print M1 current Serial printin md getM1lCurrentMilliamps 3 Getting Started with an Arduino Page 13 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide delay 2 for int i 400 i gt 400 i md setMlSpeed i stoplfFault if 15200 100 Serial print Ml current Serial printin md getM1CurrentMilliamps delay 2 for int i 400 i lt 0 itt md setMlSpeed i stopIfFault if 15200 100 Serial print Ml current Serial printin md getM1CurrentMilliamps delay 2 for int i 0 i lt 400 i md setM2Speed i stoplfFault 1f 15200 100 Serial print M2 current Serial printlin md getM2CurrentMilliamps delay 2 for int i 400 i gt 400 i md setM2Speed 1 stoplfFault if 15200 100 Serial print M2 current Serial printin md getM2CurrentMilliamps delay 2 for int i 400 i lt 0 itt md setM2Speed 1 stoplfFault if 15200 100 Serial print M2 current Serial printin md getM2CurrentMilliamps delay 2
13. Pololu Dual VNH5019 Motor Driver Shield User s Guide 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 For information on how to use this board as a general purpose motor driver controlled by something other than an Arduino see Section 4 3 a What You Will Need The following tools and components are required for getting started using this motor driver as an Arduino shield An Arduino or compatible control board Using this product as an Arduino shield rather than a general purpose motor driver board requires an Arduino http www pololu com product 2191 This shield should work with all Arduinos and Arduino clones that behave like a standard Arduino You will also need a USB cable for connecting your Arduino to a computer We have specifically tested this shield using our Arduino library with o o o A Star 32U4 Prime http www pololu com category 165 a star 32u4 prime Arduino Uno http www pololu com product 2191 both original and R3 Arduino Leonardo http www pololu com product 2192 Arduino Due http www pololu com product 2193 Arduino Mega
14. Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation Pololu Dual VNH5019 Motor Driver Shield User s Guide l Overview sec eek eS Oe eS SRR eed eb ee tee Ged eee EM er ged eee bee es 2 Teas Featires e vies og doe oe eg A A dae oe bop deg doce OS Gla we Gas dos wo 2 l b Included Hardware ee 4 2 Contacting Polol ess a a a ee eee a aa a Se ta 5 3 Getting Started With an Arduino 6 3 4 What You Will Need s ta 44 008 radar a a A 6 3 b Assembly for Use as an Arduino Shield aoaaa ee 7 3 07 Shield Connections s x pce Yes Aas Oe Sok Be aS Ea a eee ek Sea ee 8 3 d Programming Your Arduino 2 ee 13 4 Using as a General Purpose Motor Driver oaoa ee 15 4 a Assembly for Use as a General Purpose Motor Driver o o e e 15 4 b Board Connections sss do aa a e We eS 16 5 Schematic Diagram 2 24 ae ee erie dneh a eS 19 6 Customizing the Shield e a s s a ewe ala Gee a ea ee ee ee Se a 22 6 a Remapping the Arduino Connections 22 6 b Accessing ENA DIAGA and ENB DIAGB Pins Separately o e 23 7 Using the Driver in Single Channel Mode 2 ee 25 8 Differences between board revisions a a 28 http www pololu com docs 0J49 all Page of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 1 Overview conc ec s Es Y This user s guide focuses on the latest version ash
15. d from the same source you can solder a 2x1 piece of the included 0 1 male header strip to the pins highlighted in orange in the above picture Shorting across these pins with the included shorting block will connect the shield power to the Arduino s VIN pin You should not use this to power the shield from the Arduino as this connection is not designed to handle high currents and you must never supply power to the Arduino s VIN pin or power jack while this shorting block is in place because it will create a short between the shield power supply and the Arduino power supply and will likely permanently damage something 4 Additional power capacitor The motor driver shield includes three pre installed 47 uF electrolytic power capacitors and there is space highlighted in blue in the above picture to add an additional capacitor e g to compensate for long power wires or increase stability of the power supply An additional power capacitor is usually not necessary and no additional capacitors are included with this shield The other through holes on the shield are used for more advanced things like customizing the Arduino pin mappings and are not necessary for getting started using this shield with an Arduino They are discussed in more detail later in this guide 3 c Shield Connections ollovia nazw S OHOVIG NALW 12 USB gt jumper OFF Arduino and shield Arduino powered il power Dual VNH5019 motor dri
16. e 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 The only purpose of the VDD pin is to power the pull up resistors on the EN DIAG lines Motor Considerations The motor considerations are the same as those detailed in Section 3 c 4 Using as a General Purpose Motor Driver Page 18 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 5 Schematic Diagram 5 Schematic Diagram Page 19 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 5 Schematic Diagram Page 20 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 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 http www pololu com file download dual vnh5019 motor driver shield schematic diagram pdf file_id 0J740 356k pdf 9 This schematic is for the latest version of the shield ash02b 5 Schematic Diagram Page 21 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 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 adva
17. ese are tied together on the board by default to create a single enable input diagnostic output for each driver See Section 6 b for information on how to individually access ENA DIAGA and ENB DIAGB pins this is typically not necessary MxEN DIAG Disables the current sense output MxCS when high Can be left disconnected in MxCS_DIS LOW a most applications 4 Using as a General Purpose Motor Driver Page 17 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation Power Considerations Dual VNH5019 motor driver shield power buses when not used with an Arduino shield The shield must be supplied with 5 5 to 24 V through the large VIN and GND pads on the right side of the board A high side reverse voltage protection MOSFET prevents the shield from being damaged if shield power is inadvertently connected backwards 3 Note that the motor driver features over voltage protection that can kick it at voltages as low as 24 V so we do not recommend using it with 24 V batteries such batteries can significantly exceed 24 V when fully charged It is important that you use a power source that is capable of delivering the current your motors will 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 Logic power at the sam
18. heat out of the motor driver chips but performance can be improved by adding a heat sink This product can get hot enough to burn you long before the chip overheats Take care when handling this product and other components connected to it Many motor controllers or speed controllers can have peak current ratings that are substantially higher than the continuous current rating this is not the case with these motor drivers which have a 30 A continuous rating and over current protection that can activate at currents as low as 30 A 50 A typical Therefore the stall current of your motor should not be more than 30 A Even if you expect to run at a much lower average current the motor can still draw short bursts of high currents such as when it is starting 1f special steps are not taken If your motor has a stall current over the driver s continuous current rating of 12 A per channel we recommend you take extra steps to make sure that your motor will not be exposed to loads that will cause it to exceed 12 A for prolonged periods of time or you take extra steps to keep the motor drivers cool such as increasing air flow or adding heat sinks Exceeding 12 A for long durations should not damage the shield but it will eventually activate the driver s thermal protection which might result in inadequate performance for your application 3 It is not unusual for the stall current of a motor to be an order of magnitude 10x higher than its f
19. hen becomes 7 Using the Driver in Single Channel Mode Page 25 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation INB OUTB operating mode 0 0 OPEN OPEN coast 1 0 coast clockwise brake counterclockwise 0 1 coast counterclockwise brake clockwise brake high to VOUT 1 brake low to GND 1 1 l drive clockwise drive counterclockwise brake high to VOUT 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 Note that in this new configuration the MIEN DIAG pin effectively becomes a new ENA DIAGA pin and the M2EN DIAG pin effectively becomes a new ENB DIAGB pin Note In single channel mode the current sense feedback is disabled and the motor indicator LEDs do not illuminate Arduino Shield Modifications If you are using this motor driver as an Arduino shield and want to reconfigure it for single channel mode we recommend you physically modify the Arduino pin mappings general information on this is available in Section 6 a While the reconfiguration could be done completely in software doing so makes it very easy to accidentally command the motor drivers to create a short circuit that could damage something so we advise against this approach I
20. ion you can use three capacitors per motor one across the terminals and one from each terminal to the case 2 Make your motor leads as thick and as short as possible and twist them around each other It is also beneficial to do this with your power supply leads 3 Route your motor and power leads away from your logic connections if possible 4 Place decoupling capacitors also known as bypass capacitors across power and ground near any electronics you want to isolate from noise These can typically range from 10 uF to a few hundred uF 3 d Programming Your Arduino Our Arduino library for the dual VNH5019 motor driver shield makes it easy 2001 2014 Pololu Corporation Motor with one 0 1 uF capacitor soldered across its terminals Motor with two 0 1 uF capacitors soldered from its terminals to its case 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 http github com pololu dual vnh5019 motor shield Once installed we recommend you try out the example sketch by selecting File gt Examples gt DualVNH5019MotorShield gt Demo from the Arduino IDE or by copying the following code into a new sketch include DualVNH5019MotorShield h DualVNH5019MotorShield md void stoplfFault if md getMlFault Serial println M1 fault while 1 if md getM2
21. n Arduino or Arduino clone through shield headers or other microcontroller boards through 0 1 header along the left side When used as a shield the motor power supply can optionally be used to power the Arduino base as well e Arduino pin mappings can be customized if the default mappings are not convenient Arduino library http github com pololu dual vnh5019 motor shield makes it easy to get started using this board as a motor driver shield e Reverse voltage protection e Robust drivers o Can survive input voltages up to 41 V gt Undervoltage and overvoltage shutdown o High side and low side thermal shutdown o Short to ground and short to Vec protection 3 While the overvoltage protection typically activates at 27 V it can trigger at voltages as low as 24 V so we do not recommend using this motor driver with 24 V batteries which significantly exceed 24 V when fully charged If the shield is configured to power an Arduino or Arduino clone the supply voltage must conform to that Arduino s input voltage requirements 1 Overview Page 3 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 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 e one extended stackable 1x10 female header for Arduino
22. n of the motor driver Cuttable traces on the dual VNH5019 motor driver shield for separately accessing ENA DIAGA and ENB DIAGB The following diagram shows the relevant section of the board schematic VDD VNHS019 ENA DIAGA ENB DIAGB Schematic diagram of the enable diagnostic circuit on the Pololu dual VNH5019 motor driver shield 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 6 Customizing the Shield Page 23 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation only ENA DIAGA will have the required pull up resistor you will need to add a separate pull up resistor for the ENB DIAGB pin or connect it to a microcontroller I O line with a built in pull up resistor enabled Also you might consider adding a 1k current limiting resistor in series with the ENB DIAGB connection as a safeguard against incidental shorts You can later use a shorting block to restore the default combined EN DIAG line if you populate the severed hole pair with a 2x1 piece of the included 0 1 male header strip 6 Customizing the Shield Page 24 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 7 Using the Driver in Single Channel Mode The dual VNH5019 motor driver shield uses
23. nced 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 For example maybe you want to use the 16 bit Timer 1 for making music on a buzzer and would rather use PWMs from Timer 0 to control your motor speed Or maybe you don t care about monitoring the motor current and would rather use all of your analog inputs for reading sensors With this in mind we designed the shield to have break points in the connection between the Arduino pins and the motor drivers It is easy to cut the connections at these points and establish new connections to replace the broken ones if desired 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 e eeeeeee e2eeee88288 coso oe es o Cuttable traces on the dual VNH5019 motor driver shield for changing default Arduino pin mappings The following two diagrams show the default pin mapping for motor drivers and 2 Dual VNH5019 motor driver shield Dual VNH5019 motor driver shield Arduino pin mappings for motor driver Arduino pin mappings for motor driver 1 2 6 Customizing the Shield Page 22 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corp
24. nstead we recommend you do the following in order e Disconnect Arduino pins 4 8 and 10 from driver pins M1INB M2INB and M2PWM respectively by cutting the appropriate traces on the underside of the PCB with a knife The thin red wavy lines in the picture to the right show where to cut You can restore these connections with shorting blocks should you want to revert back to the Arduino pin remapping of dual default pin mappings later pc e Next connect Arduino pin 2 to M1INB pin 7 to M2INB and pin 9 underside of PCB to M2PWM The orange brown and purple wires in the picture to the right are one example of where these connections can be made You might find it convenient to first solder 2x1 pieces of the included 0 1 male header strip into these holes and then use jumper wires http www pololu com product 1706 or in the case of neighboring pins shorting blocks http www pololu com product 968 to make these connections To use our Arduino library http github com pololu dual vnh5019 motor shield with your newly reconfigured board you should initialize your DualVNH5019MotorShield object as follows 7 Using the Driver in Single Channel Mode Page 26 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation include DualVNH5019MotorShield h configure library with pins as remapped for single channel operation this lets the single motor be controlled as if it were
25. o the lines before the protection resistors 7 Using the Driver in Single Channel Mode Page 27 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 8 Differences between board revisions There have been two versions of the dual VNH5019 motor driver shield The revision identifier ash02a or ash02b can be found printed near the upper left corner of the board below the mounting hole While either version should generally be a drop in replacement for the other there are some minor differences between the two versions The first revision released in October 2011 was ash02a http www pololu com product 2502 This version predated the Arduino Uno R3 so it lacked pass throughs for the four new pins present on the R3 and all newer Arduinos Schematic diagram for revision ash02a http www pololu com file download dual_VNH5019_shield_ash02a_schematic pdf file_id 03513 87k pdf The second and latest revision released in March 2014 is ash02b http www pololu com product 2507 Compared to ash02a the following changes were made e Pass throughs were added for the four additional pins SCL SDA IOREF and an unused pin on the Arduino Uno R3 and all newer Arduinos e The additional capacitor through holes the Arduino power jumper and the upper block of pin remapping jumpers for Arduino pins 8 12 were moved slightly to make room for the new pass throughs e Different
26. ontrol solution for their Arduinos and are okay with a little soldering to experts who want to directly interface with 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 This versatility along with an option to power the Arduino directly from the shield sets this board apart from similar competing motor shields 1 a Features Pololu dual VNH5019 motor driver shield assembled and connected to an Arduino Uno R3 1 Overview Page 2 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation e Wide operating voltage range 5 5 24 y LARREA Cee ee eens High output current up to 12 A continuous 30 maximum per motor e Motor outputs can be combined to deliver up to 24 A continuous 60 A maximum to a single motor see Section 7 e Inputs compatible with both 5V and 3 3V systems logic high threshold is 2 1 V e PWM operation up to 20 kHz which is ultrasonic and allows for quieter motor operation Pololu dual VNH5019 motor Current sense voltage output proportional to motor current approx 140 driver shield for Arduino bottom mV A view with board dimensions e Motor indicator LEDs show what the outputs are doing even when no motor is connected e Can be used with a
27. or and motor power connections should not be made through a breadboard The motor driver includes three 47 uF electrolytic power capacitors and there is room to add additional capacitors e g to compensate for long power wires or increase stability of the power supply Additional power capacitors are usually not necessary and no additional capacitors are included with this motor driver The two mounting holes are intended for use with 4 screws http www pololu com category 101 nuts and screws not included They have a horizontal separation of 0 30 and a vertical separation of 1 70 An Arduino http www pololu com product 2191 is not included 1 Overview Page 4 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide 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 http www pololu com product 2502 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 Tell us what we did well what we could improve what you would like to see in the future or anything else you would like to say 2001 2014 Pololu Corporation Pololu dual VNH5019 motor driver shield assembled and connected to an Arduino Uno R3 2 Contacting Pololu Page 5 of 28
28. oration In all cases the top through hole of the pair connects to the Arduino pin and the bottom through hole connects to the motor driver pin To change one of the default mappings simply use a knife to cut the trace between the appropriate pair of holes on the underside of the PCB there is no connection to cut on the topside of the PCB and run a wire from a different Arduino pin to the bottom hole of the pair to create a new connection You can later use shorting blocks http www pololu com product 968 to restore the default pin mapping if you populate the severed hole pairs with 2x1 pieces of the included 0 1 male header strip 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 This combined line is sufficient for most applications but you can modify the board to get independent access to MxENA DIAGA and MxENB DIAGB if you want the additional information There are two pairs of 0 1 spaced holes on the shield labeled MIEN A B and M2EN A B These pairs are connected on the underside of the PCB by a thin trace with the hole labeled A connecting to the ENA DIAGA pin of the corresponding motor driver and the hole labeled B connecting to the ENB DIAGB pi
29. r Pulse width modulation input a PWM signal on this pin corresponds to a PWM output on the corresponding driver s motor outputs When this pin is low the motor outputs are high impedance When it is high the output state is determined by the MxPWM LOW states of the MxINA B and MxEN DIAG pins MxINA FLOATING Motor direction input A clockwise input MxINB FLOATING Motor direction input B counterclockwise input Current sense output The pin voltage is roughly 140 mV per amp of output current when the CS_DIS pin is low or disconnected The current sense reading is more accurate at higher currents Note that while the CS voltage can potentially exceed 3 3 V at high currents the current sense circuit should be safe for use with many 3 3V analog inputs Most MCUs have integrated protection diodes that will clamp the input voltage to a safe value and since the CS circuit has a 10 kQ resistor in series with the output only a few hundred microamps at most will flow through that diode MxCS Combination enable input diagnostic output When the driver is functioning normally this pin acts as an enable input with a logical high enabling the motor outputs and a logical low disabling motor outputs When a driver fault occurs the IC drives this pin low and the motor outputs are disabled Note that the VNH5019 HIGH actually has separate EN DIAG pins for each half bridge ENA DIAGA and ENB DIAGB but th
30. ree run current If you do not know your motor s stall current you can approximate it by measuring the current it draws while held stalled at a lower voltage such as when powered from a single battery cell and then scaling that value linearly with voltage For example the stall current of a motor at 6 V is six times the stall current of that motor at 1 V Another less accurate method is to use a multimeter to measure the resistance between the motor terminals and then use Ohm s law to compute the stall current at voltage V I V R This last method generally is not as reliable because it can be difficult to measure such small resistances accurately Occasionally electrical noise from a motor can interfere with the rest of the system This can depend on a number of factors including the power supply system wiring and the quality of the motor If you notice parts of your system behaving strangely when the motor is active first double check that your power supply is adequate then consider taking the following steps to decrease the impact of motor induced electrical noise on the rest of your system 3 Getting Started with an Arduino Page 12 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide 1 Solder a 0 1 uF ceramic capacitor http www pololu com 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 For the greatest noise suppress
31. shields e two extended stackable 1x8 female headers for Arduino shields e two extended stackable 1x6 female headers for Arduino shields e three 2 pin 5mm terminal blocks http www pololu com product 2440 for shield power and Pololu dual VNH5019 motor driver shield for motor outputs Arduino with included hardware e 40 pin 0 1 straight breakaway male header http www pololu com product 965 may ship in several pieces such as two 20 pin strips A 0 1 shorting block http www pololu com product 968 for optionally supplying shield power to Arduino is also included You can use the terminal blocks to make your motor and motor power connections or you can break off an 12x1 section of the 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 the terminal blocks are only rated for 16 A and each header pin pair is only rated for a combined 6 A so for higher power applications thick wires should be soldered directly to the board When not using this board as an Arduino shield you can solder the 0 1 headers to the logic connections along the left side of the board to enable use with custom cables http www pololu com category 70 crimp connector housings Or solderless breadboards http www pololu com category 28 solderless breadboards or you can solder wires directly to the board for more compact installations Note that mot
32. that your shield power supply is an acceptable voltage for your Arduino so the full shield operating voltage range of 5 5 24 V probably will not be available For example the recommended operating voltage of the Arduino Uno is 7 12 V Motor Connections and Considerations This motor driver shield has two motor channels M1 and M2 each of which can 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 12 A 30 A peak Y Note It is also possible to connect a single brushed DC motor to both motor channels simultaneously to deliver nearly twice the current as is available from a channel by itself See Section 7 for more information 3 Getting Started with an Arduino Page 11 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 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 At 6 A the chip just barely gets noticeably warm to the touch The actual current you can deliver will depend on how well you can keep the motor driver cool The shield s printed circuit board is designed to draw
33. the output only a few hundred microamps at most will flow through that diode However if you really want to be safe you can use a 3 3 V zener diode to clamp the current sense output voltage to a maximum of 3 3 V If you want to get the full range of current feedback while using the Due you can disconnect the shield s current sense pins from the Due and then reconnect them through a voltage divider see Section 6 a for more information 3 Getting Started with an Arduino Page 6 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide O 2001 2014 Pololu Corporation 3 b Assembly for Use as an Arduino Shield E 10 9 we H r v te Pe gt 8 o Motor Over wo Shield g ash02b o gt 038002 2014 BBBB an A ono vout voo mien MIINA mino mew a mics men Mana O mano gt O mrwwm mcs www polotu com 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 The headers should be oriented so that the female sockets rest on the top side of the shield and face up while the male pins protrude down through the board and the solder connections should be made on the underside of the shield The newest Arduino boards including the Uno R3 and the Leonardo use one 10x1 header two 8x1 headers and one 6x1 header as shown in
34. 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 If you need more power than this however you can combine the two motor channels into a single doubly powerful channel that can deliver up to a continuous 24 A 60 A peak to one brushed DC motor Page 23 of the VNH5019 datasheet http www pololu com file download VNH5019A E pdf file_id 0J504 629k pdf recommends accomplishing this by using each of the two motor drivers as a half bridge The connections shown in the following diagram turn motor driver M1 into a new half bridge A and motor driver M2 into a new half bridge B logic power 19 01JU090491 motor power 5 5 24 V Using the dual VNH5019 motor driver shield to drive a single more powerful motor e Effectively create a new INA pin by connecting MIINA and MIIB to the same digital output e Effectively create a new INB pin by connecting M2INA and M2INB to another digital output e Effectively create a new PWM pin by connecting MIPWM and M2PWM to the same PWM output e Effectively create a new OUTA pin by connecting one motor terminal to both M1A and M1B motor outputs e Effectively create a new OUTB pin by connecting the other motor terminal to both M2A and M2B motor outputs The motor driver truth table for this new setup t
35. ver shield with an Arduino shield and Arduino powered separately All of the necessary logic connections between the Arduino and the motor driver shield are made automatically when the shield is plugged into the Arduino However the shield s power connections must be made directly to the shield itself via its large VIN and GND pads The picture above shows the typical connections involved in using this board as an Arduino shield 3 Getting Started with an Arduino Page 8 of 28 Pololu Dual VNH5019 Motor Driver Shield User s Guide Default Arduino Pin Mappings O 2001 2014 Pololu Corporation The following table shows how the shield connects your Arduino s pins to the motor drivers pins Arduino Pin VNH5019 Driver Pin Digital 2 Digital 4 Digital 6 Digital 7 Digital 8 Digital 9 Digital 10 Digital 12 Analog 0 Analog 1 MIINA MIINB MIEN DIAG M2INA M2INB MIPWM M2PWM M2EN DIAG MICS M2CS Basic Function Motor direction input A Motor direction input B Motor 1 enable input fault output Motor 2 direction input A Motor 2 direction input B Motor 1 speed input Motor 2 speed input Motor 2 enable input fault output Motor 1 current sense output Motor 2 current sense output 3 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
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