Digilent chipKIT Motor Shield 참조 매뉴얼 - 페이지 3
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chipKIT™ Motor Shield™ Reference Manual
J19: Analog Signal Pass-Through Connector
This connector passes the analog input pins on the Uno32 through the chipKIT Motor Shield.
J22: Power Pass-Through Connector
This connector passes the power connector from the Uno32 through the chipKIT Motor Shield, and powers the
chipKIT Motor Shield from the Uno32.
2
DC Motor Controller
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
PIC32
Pin #
Pin #
3
46
Enable1: OC1/RD0
4
59
Direction1: RF1
3/5
46/49
Enable2: OC1/RD0 or OC2/RD1
4/34
59/53
Direction2: RF1 or PMRD/CN14/RD5
Channel 2 can be set up for identical or independent operation from channel 1 using JP1 and JP2.
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.
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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Signal
DIR1
EN1
Result
0
0
Stop
0
1/PWM
Forward
1
0
Stop
1
1/PWM
Reverse
DIR2
EN2
Result
0
0
Stop
0
1/PWM
Forward
1
0
Stop
1
1/PWM
Reverse
Notes
Select with JP1
Select with JP2
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