Adafruit Motor Shield
Contents
1. AN SER TU Sd dU edd Em AI Tg 8 8 9 d 43 ELE aii oe ak raden rim t Make Y4 THU eld 2 servos 2 3 2 EEn aA ww AGAM ele la Led ag Arduino is a great starting point for electronics and with a motor shield it can also be a nice tidy platform for robotics and mechatronics Here is a design for a full featured motor shield that will be able to power many simple to medium complexity projects e 2 connections for 5V hobby servos connected to the Arduino s high resolution dedicated timer no jitter e Up to 4 bi directional DC motors with individual 8 bit speed selection so about 0 5 resolution e Up to 2 stepper motors unipolar or bipolar with single coil double coil interleaved or micro stepping e 4 H Bridges L293D chipset provides 0 6A per bridge 1 2A peak with thermal shutdown Adafruit Industries https learn adafruit com adafruit motor shield Page 4 of 58 protection 4 5V to 25V Pull down resistors keep motors disabled during power up Big terminal block connectors to easily hook up wires 10 22AWG and power Arduino reset button brought up top 2 pin terminal block to connect external power for seperate logic motor supplies Tested compatible with Mega Diecimila amp Duemilanove Full kit available for purchase from the Adafruit shop http adafru it 81 Download the easy to use Arduino software libraries and you re ready to go http adafru it aON ki f i NETTE a2. Brown Black Orange Gold 10 pin bussed 10K 100K resistor network 0 1uF ceramic capacitor 100uF 6V capacitor or bigger 47uF 25V capacitor or bigger 5 position 3 5mm terminal block Or a 3 position and a 2 position 2 position 3 5mm terminal block https learn adafruit com adafruit motor shield 1 4W 5 resistor 100K resistor network Generic 3 100uF 6V cap 3 47uF 25V cap 2 3 5mm terminals 2 3 5mm terminals 1 Page 16 of 58 RESET 6mm tactile switch 6mm tact switch 1 PWR Jumper shunt 0 1 jumper 1 36 pin male header 1x36 Generic 1 Adafruit Industries https learn adafruit com adafruit motor shield Page 17 of 58 Solder It This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only First check that you have all the parts Look over the parts list here http adafru it aOw and shown on the left Also check to make sure you have the necessary tools for assembly http adafru it aOv Place the motor shield PCB in a vise or other circuit board holder and turn on your soldering iron 9 to 700 degrees RI l E 535 xt HAMERRAEAARRE E aac Tia p Pe LM i mM 3 Fi CE ralf LEL emee ALIIS sto eee oe i E The first parts to go in are the two
3. C3and C5 Electrolytic capacitors are polarized and must be placed in the correct OESO gp v1 0 GES orientation or they could pop The long leg of the rer ICI SERUO 2 T oet gs Land s capacitor is i positive leg and goes into the NE hole marked with a The close up images shown SOrMOs ARE S e tss here indicate with hole is the one 2 stepper ACA 4 dc motor i KUS Capacitors are not color coded The body color can vary from blue to violet to green to black sobe sure to read the value on the side don t depend on the color otor control d for arduind Steppe dE motc Ar ELT iot ield for arduird T D a m u he it o m ia ES T i IC cont teld for arduingse 7 nn a a aj motor hd dee E ET F m H tr 1 Adafruit Industries https learn adafruit com adafruit motor shield Page 26 of 58 After double checking their polarity solder and clip Pe dUi 1 o ETT TIT OAIE the three capacitors Fe ume A Lu zs da bu d Place the two 47uF remaining electrolytic capacitors C7 andC8 These are also polarized so make sure the long lead is inserted into the hole in the silkscreened image Adafruit Industries https learn adafruit com adafruit motor shield Page 27 of 58 e Grd ede molor rar in ISP E n g E H ke RESET alie Adafruit Industries GNU d AB e
4. Do not use a ColdHeat soldering iron They are not suitable for delicate electronics work and can damage the kit see here http adafru it aOo Click here to buy our entry level adjustable 30W 110V soldering iron http adafru it 1 80 Click here to upgrade to a Genuine Hakko FX 888 adjustable temperature soldering iron http adafru it 303 Adafruit Industries https learn adafruit com adafruit motor shield Page 11 of 58 Solder You will want rosin core 60 40 solder Good solder is a good thing Bad solder leads to bridging and cold solder joints which can be tough to find Click here to buy a spool of leaded solder recommended for beginners http adafru it 145 Click here to buy a spool of lead free solder http adafru it 734 Adafruit Industries https learn adafruit com adafruit motor shield Page 12 of 58 Multimeter You will need a good quality basic multimeter that can measure voltage and continuity Click here to buy a basic multimeter http adafru it 71 Click here to buy a top of the line multimeter http adafru it 308 Click here to buy a pocket multimeter http adafru it 850 EXTECH Flush Diagonal Cutters Adafruit Industries https learn adafruit com adafruit motor shield Page 13 of 58 You will need flush diagonal cutters to trim the wires and leads off of components once you have soldered them in place Click here to buy our favorite cutter
5. a Adafruit Industries https learn adafruit com adafruit motor shield Page 5 of 58 FAQ This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only How many motors can use with this shield You can use 2 DC servos that run on 5V and up to 4 DC motors or 2 stepper motors or 1 stepper and up to 2 DC motors Can connect more motors No at this time it is not possible to stack the shield or otherwise connect it up easily to control 4 steppers for example HELP My motor doesnt work HELP My motor doesnt work But the servos work FINE Is the LED lit The Stepper and DC motor connections wont do a single thing if the LED is not lit Don t bother writing up uploading code or wiring up motors if the LED doesn t light up its not going to work What is the LED for The LED indicates the DC Stepper motor power supply is working If it is not lit then the DC Stepper motors will not run The servo ports are 5V powered and does not use the DC motor supply I m trying to build this robot and it doesn t seem to run on a 9V baittery Please read the user manual http adafru it aOz for information about appropriate power supplies Can this shield control small 3V motors Not really its meant for larger 6V motors It does not work for 3V
6. for historical reference and previous customers only First Install the Arduino Library Before you can use the Motor shield you must install the AF Motor Arduino library this will instruct the Arduino how to talk to the Adafruit Motor shield and it isn t optional 1 First grab the library from github http adafru it aOA 2 Uncompress the ZIP file onto your desktop 3 Rename the uncompressed folder AFMotor 4 Check that inside AFMotor is AFMotor cpp and AFMotor h files If not check the steps above 5 Place the AF Motor folder into your arduinosketchfolder libraries folder For Windows this will probably be something like MY Documents Arduino libraries for Mac it will be something likeDocuments arduino libraries If this is the first time you are installing a library you ll need to create the libraries folder Make sure to call it libraries exactly no caps no other name 6 Check that inside the libraries folder there is the AFMotor folder and inside AFMotor isAFMotor cpp AFMotor h and some other files 7 Quit and restart the IDE You should now have a submenu called File gt Examples gt AFMotor gt MotorParty Adafruit Industries https learn adafruit com adafruit motor shield Page 37 of 58 Power Usage This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previo
7. pins on each header These are duplicates of other pins on the header and are not needed by the shield I m using a 4WD robot platform and can t get anything to work The motors used in the 4WD robot platforms from Maker Shed DF Robotics Jameco and others have a lot of brush noise This feeds back into the Arduino circuitry and causes unstable operation This problem can be solved by soldering 3 noise suppression capacitors to the motor 1 between the motor terminals and one from each terminal to the motor casing Adafruit Industries https learn adafruit com adafruit motor shield Page 8 of 58 But my motor already has a capacitor on it and it still doesn t work These motors generate a lot of brush noise and usually need the full 3 capacitor treatment for adequate suppression Why don t you just design capacitors into the shield They would not be effective there The noise must be suppressed at the source or the motor leads will act like antennae and broadcast it to the rest of the system Adafruit Industries https learn adafruit com adafruit motor shield Page 9 of 58 Make It This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only Lets go This is a vey easy kit to make just go through each of these steps to build the kit 1 Tool
8. resistors R1 Brown Green Red Gold and R2 Brown Black Orange Gold Bend the resistors so that they look like staples as seen in this photo Adafruit Industries https learn adafruit com adafruit motor shield Page 18 of 58 m Next slip the resistors into the PCB as shown so rrt p NED Eer Le that they sit flat against the circuit board Bend the rege tc SU Uren 0 7 4 ae BA wire legs out a bit so that when the board is flipped over Pa SEE mi ac Resistors are not polarized that means you can put them in either way and they ll work just fine E2930 gerere LX ei r Using your soldering iron tip heat the resistor wire lead and the metal ring pad at the same time after a few seconds poke a little solder in so that it melts into a nice cone Remove the solder and then remove the soldering iron Do this for all 4 wires Check your work you should have clean solder joints Adafruit Industries https learn adafruit com adafruit motor shield Page 19 of 58 Reeeeees oaeee a X md gem uw III Pee eee amp bs Li OU nnee se eeeeeeee CeStesee Ld C L LI LI 022721 4 EEEN i E Clip the long leads just above the solder joint using diagonal cutters Peeeeere be L o i A 4 MN e d p BERERREREEN ia de dl nanne a neee LI E E F e 58 B8 LE E PPM ENEN Adafruit Industries https le
9. suggested method of powering your motor project If you have a Diecimila Arduino don t forget to set the Arduino power jumper to USB If you have a Diecimila you can alternately do the following plug the DC power supply into the Arduino and place the jumper on the motor shield If you would like to have 2 seperate DC power supplies for the Arduino and motors Plug in the supply for the Arduino into the DC jack and connect the motor supply to the PWR_EXT block Make sure the jumper is removed from the motor shield If you have a Diecimila Arduino set the Arduino jumper to EXT This is a suggested method of powering your motor project Either way if you want to use the DC motor Stepper system the motor shield LED should be lit indicating good motor power Adafruit Industries https learn adafruit com adafruit motor shield Page 40 of 58 Using RC Servos This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only hi Fi J en ITE 1 Lir 3 O aou a wn J PI T I BN No o LLL E e E nr QD Saai motor con FL Es EET er Qe m Le m f i li O PJ Hobby servos are the easiest way to get going with motor control They have a 3 pin 0 1 female header connection with 5V ground and signal input
10. with driving motors you may want to skip the sockets as the decrease the chips heat sinking abilities ICs must be placed in the correct orientation to Sce SN ey Ed 8 work properly To help with placement each chip DINE Er e pere HE T SS has a U notch at the top of the chip On the circuit le board there is a printed out image of the chip outline and one end has a U notch Make sure the chip notch is on the same end as the image notch In this PCB all are facing the same way ie Shield for arcane m m Ir L Gently insert the three chips Check to make sure none of the legs got bent or broken Fi Zo motor coni iral 21 djeererees j mar PHE CE j k 9U 5 ee d The 74HC595 goes in the middle and the two 31 8 89 DOT Y L293Ds go on either side Solder each pin of the chips The four middle pins of the L293D motor driver chips are tied to a large heat sink and thus may end up getting bridged with solder as shown in the second image Adafruit Industries https learn adafruit com adafruit motor shield Page 24 of 58 Adafruit Industries OCE EX VWE Eu AA L2 FS L aa de 17 ee see see nr AL i 22 4L TT DO sane ARR RN E T E ZU ius E NE E XE ie fb K eta IP PPS pigo dareen sene ry P i p 4 Ew f al ay ada Next are the three 100uF electrolytic https learn adafruit com adafruit motor shield Page 25 of 58 capacitors C1
11. 8 e MICROSTEP Adjacent coils are ramped up and down to create a number of micro steps between each full step This results in finer resolution and smoother rotation but with a loss in torque Example onestep FORWARD DOUBLE one step forward using double coil stepping release Release the holding torque on the motor This reduces heating and current demand but the motor will not actively resist rotation Example release stop rotation and turn off holding torque Adafruit Industries https learn adafruit com adafruit motor shield Page 55 of 58 Resources Motor ideas and tutorials e Wikipedia has tons of information http adafru it aOF on steppers e Jones on stepper motor types http adafru it aOH e Jason on reverse engineering the stepper wire pinouts http adafru it aOl Adafruit Industries https learn adafruit com adafruit motor shield Page 56 of 58 Downloads This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only Schematics amp Layout You can grab the latest Schematic Layout files EagleCAD format from github Click the ZIP download button at top middle to download the entire zip http adafru it aOJ Firmware e Arduino Stepper Servo software library with microstepping support
12. al pin 11 DC Motor 1 Stepper 1 activation speed control Digital pin 3 DC Motor 2 Stepper 1 activation speed control Digital pin 5 DC Motor 3 Stepper 2 activation speed control Digital pin 6 DC Motor 4 Stepper 2 activation speed control The following pins are in use if any DC steppers are used Digital pin 4 7 8 and 12 are used to drive the DC Stepper motors via the 74HC595 serial to parallel latch The following pins are used only if that particular servo is in use Digitals pin 9 Servo 1 control Digital pin 10 Servo 2 control Which pins are connected to the DC Stepper motors The DC Stepper motors are NOT connected to the Arduino directly They are connected to the 74HC595 latch which is spoken to by the Arduino You CANNOT talk directly to the motors you MUST use the motor shield library Huh don t understand You can try reading this nice overview written by Michael K http adafru it aO9 How can connect to the unused pins The analog pins analog 0 5 also Known as digital pins 14 19 are broken out in the bottom right corner Pin 2 has a small breakout since its the only truly unused pin The remaining pins are not broken out because they could be used by the motor shield If you are sure that you are not using those pins then you can connect to them by using stacking Adafruit Industries https learn adafruit com adafruit motor shield Page 7 of 58 headers when assembling the kit or
13. arn adafruit com adafruit motor shield Page 20 of 58 Next place the three yellow ceramic COM ace IT 383 SSE s capacitors C4 C2 andC6 Ceramic capacitors are SIN servo c EEn E 28 not polarized so you can put them in either way z e Nds ERI s Jr E and they work fine 2 stepper T xe qd de motor ML Lum T Bend the leads out just like you did with the resistors ra inq 2930 mj de Jmm wi Oe eee EERE TE T EE E TA giten L 13 2m ke g i 8 TR l be ig d Grd eu E Lo ss E eed GOOG Solder all 6 wires then clip them as you did with the resistors Adafruit Industries https learn adafruit com adafruit motor shield Page 21 of 58 TEFC T PLU lt 3 AD Le a3 ar GG a Ed Lr A WL LF F Ce Gi G F vo a 2G G oe ia La i2 Die ad qj Topogr A e ape amp X LB F LI L2 Li Li elo G DE P ia ia is ailes ala als OEREN LE LE Next is the 6mm tactile switchRESET and the resistor networkRN1 The tact switch is used to Adafruit Industries https learn adafruit com adafruit motor shield Page 22 of 58 reset the Arduino since its not possible to reach the reset button once the motor shield is on Dar In Ts OE P 7 amp E E M 2 Servos C3 2 giepp r 1 deo mar Mi The resistor network is used topull down the pins on the motor driver chips so that they don t
14. d task stepper control check out AccelStepper library http adafru it aOL install similarly to how you did with AFMotor which has some examples for controlling two steppers simultaneously with varying accelleration Adafruit Industries https learn adafruit com adafruit motor shield Page 44 of 58 include lt AFMotor h gt AF Stepper motor 48 2 void setup begin 9600 set up Serial library at 9600 bps printIn Stepper test motor setSpeed 10 10 rom motor step 100 FORWARD SINGLE motor release delay 1000 void loop motor step 100 FORWARD SINGLE motor step 100 BACKWARD SINGLE motor step 100 FORWARD DOUBLE motor step 100 BACKWARD DOUBLE motor step 100 FORWARD INTERLEAVE motor step 100 BACKWARD INTERLEAVE motor step 100 FORWARD MICROSTEP motor step 100 BACKWARD MICROSTEP Adafruit Industries https learn adafruit com adafruit motor shield Page 45 of 58 Using DC Motors This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only DC motors are used for all sort of robotic projects The motor shield can drive up to 4 DC motors bi directionally That means they can be driven forwards and backwards The speed can also be varied at 0 5 increments using the high quali
15. ee pe edis edi Pep iz m NN NM M NM H i e y CB EN UL Srani ICO C 1 LLL Capacitors are not color coded The body color can vary from blue to violet to green to black sobe sure to read the value on the side don t depend on the color Solder and clip the two capacitors https learn adafruit com adafruit motor shield Page 28 of 58 Next is the 3mm LED used to indicate motor power LEDs are polarized just like capacitors and the long lead is the positive lead Make sure the LED is placed correctly otherwise it wont work i D JL i oh 3 L i Ae j 5 2 Een a Boom en Weleer ie cone Solder and clip the LED leads Adafruit Industries https learn adafruit com adafruit motor shield Page 29 of 58 Cees CET 5 b IUI ars Pd BAT E ium 1 E T o AE ii p E Be x Adas IE Tee Tir an Ja ee bee a b d fo Fe aera Y fe 8 l ntti T PERRE ene dennen sneed ze atria Next its time to make the headers for the jumper servos and arduino We use one stick of 36 pin breakaway header and break it apart to make smaller strips You can use diagonal cutters or pliers to snap off the pieces Break the 36 pin header into 2 8 pin 2 6 pin 2 3 pin and 1 2 pin headers If you have an NG arduino you may want 1 6 pin header and 1 4 pin header instead of 2 6 pin headers Ada
16. for each stepper motor in your Sketch Each stepper motor instance must have a unique name as in the example below Parameters e steps declare the number of steps per revolution for your motor e num declare how the motor will be wired to the shield Valid values for num are 1 channels 1 amp 2 and 2 channels 3 amp 4 Example Adafruit Industries https learn adafruit com adafruit motor shield Page 52 of 58 Digital 1 0 Digital 1 0 fis 2 servos 2 stepper m dc motor 3 d LY 3 M T3 oc is E Pj m E ht Y H err 1 m JT u m a je n a otepper 1 1 uam i Lu mia F D rel motor control shield for arduino Pouer 000000 000000 4 3v Sv 5nd Y Y PE NP e DS A Analog in AF Stepper Stepper1 AF Stepper Stepper2 step steps direction style Step the motor Parameters e steps the number of steps to turn e direction the direction of rotation FORWARD or BACKWARD e style the style of stepping Valid values for style are e SINGLE One coil is energized at a time e DOUBLE Two coils are energized at a time for more torque e INTERLEAVE Alternate between single and double to create a half step in between This can result in smoother operation but because of the extra half step the speed is reduced by half too e MICROSTEP Adjacent coils are ramped up and down to create a number of micro Adafruit Industries http
17. fruit Industries https learn adafruit com adafruit motor shield Page 30 of 58 Adafruit Industries https learn adafruit com adafruit motor shield Page 31 of 58 The 2 3 pin pieces go in the servo connections in the top left corner The 2 pin piece goes in the PWR jumper in the bottom center Also place the 3 large screw terminals for the motor and external motor power wires If you received only 2 and 3 position terminal blocks slide them together so that you have 2 5 position terminals and 1 2 position terminal Solder in the 3 pieces of header and the three terminal blocks Adafruit Industries https learn adafruit com adafruit motor shield Page 32 of 58 no ERES d ener ni a LA en A mi EE de RIZITERE i TIU GUU U INS ALE al ee 3231 EX 4 me Next place the 8 pin and 6 pin headers into the Arduino board This will make sure that the headers are perfectly lined up Make sure the Arduino is not plugged in or powered E T TER L Place the motor shield on top of the Arduino making sure that all the header lines up Adafruit Industries https learn adafruit com adafruit motor shield Page 33 of 58 a zap AE Z dt gu Tks fr dine poe Diecimila LM 1 F a ADE nini A E EVEN 4 gt S RAR TEM I m NT Qo urit em RE Pretetupe TET HEA Liekie Eitin ef ATTE T 1 Solder in each pin of the header rll PE b
18. grammed speed run cmd Sets the run mode of the motor Parameters e cmd the desired run mode for the motor Valid values for cmd are e FORWARD run forward actual direction of rotation will depend on motor wiring e BACKWARD run backwards rotation will be in the opposite direction from FORWARD e RELEASE Stop the motor This removes power from the motor and is equivalent to setSpeed 0 The motor shield does not implement dynamic breaking so the motor may take some time to spin down Example motor run FORWARD delay y run forward for 1 second motor run RELEASE delay 100 coast for 1 10 second motor run BACKWARDS run in reverse Adafruit Industries https learn adafruit com adafruit motor shield Page 50 of 58 Adafruit Industries https learn adafruit com adafruit motor shield Page 51 of 58 AF Stepper Class This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only The AF Stepper class provides single and multi step control for up to 2 stepper motors when used with the Adafruit Motor Shield To use this in a sketch you must first add the following line at the beginning of your sketch AF Stepper steppername steps portnumber The AF Stepper constructor defines a stepper motor Call this once
19. http adafru it aOK To install click on Downloads in the middle of the page select Download as zip and uncompress the folder Rename the folder to AFmotor check that the renamed folder contains the cpp and h files and install into the Arduinosketches libraries folder For information how to use and install libraries see our tutorial http adafru it aYG This version now works with with the Mega Public domain e AccelStepper library http adafru it aOL with AFMotor support This library allows for advanced stepper control including accelleration and decelleration and concurrent stepper control You still need AFmotor above To install click on Download in the middle of the page select Download as zip and uncompress the folder Rename the folder to AccelStepper check that the renamed folder contains the cpp and h files and install into the Arduinosketches libraries folder For information how to use and install libraries see our tutorial http adafru it a YG Adafruit Industries https learn adafruit com adafruit motor shield Page 57 of 58 Forums Forums http adafru it aOM Adafruit Industries Last Updated 2015 06 07 05 20 13 PM EDT Page 58 of 58
20. i L 1 L i ie MO f mo ln s J q L Pi i motor control ens AT i bnd c You re done Now go read the user manual http adafru it aOz Adafruit Industries https learn adafruit com adafruit motor shield Page 34 of 58 r ax Lh de NEM beer S ET m Ae 4 T b Rr fe oi FU LER T s TX dasE Es 5 s P mm 7 4 T a i F L send T 1 Sac Cata adC ay ays Hie Ba 8 control i I I peert 21 B r L1 E iba War n CAP Grad gu 2 AT n Fa 5 d i I AT ee Adafruit Industries https learn adafruit com adafruit motor shield Page 35 of 58 Use It This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only The Adafruit Motor Shield kit is a great motor controller for Arduino but it does a little care to make sure it s used correctly Please read through all the User manual sections at left especially the section about library installation and power requirements Adafruit Industries https learn adafruit com adafruit motor shield Page 36 of 58 Library Install This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is
21. it is connected to If you re using M1 and M2 its port 1 If you re using M3 and M4 it s port 2 3 Set the speed of the motor using setSpeed rpm where rpm is how many revolutions per minute you want the stepper to turn 4 Then every time you want the motor to move call the step steps direction steptype procedure steps is how many steps you d like it to take direction is either FORWARD or BACKWARD and the step type is SINGLE DOUBLE INTERLEAVE or MICROSTEP Single means single coil activation double means 2 coils are activated at once for higher torque and interleave means that it alternates between single and double to get twice the resolution but of course its half the speed Microstepping is a method where the coils are PWM d to create smooth motion between steps Theres tons of information about the pros and cons of these different stepping methods in the resources page http adafru it aOO You can use whichever stepping method you want changing it on the fly to as you may want minimum power more torque or more precision 5 By default the motor will hold the position after its done stepping If you want to release all the coils so that it can spin freely call release 6 The stepping commands are blocking and will return once the steps have finished Because the stepping commands block you have to instruct the Stepper motors each time you want them to move If you want to have more of a backgroun
22. ks is forward simply swap the two wires from the motor to the shield include lt AFMotor h gt AF_DCMotor motor 2 MOTOR12 64KHZ create motor 2 64KHz pwm void setup Serial begin set up Serial library at 9600 bps Serial printin Motor test motor setSpeed 200 set the speed to 200 255 j void loop Serial print tick motor run FORWARD turn it on going forward delay 1000 Serial print tock motor run BACKWARD the other way delay Serial print tack motor run RELEASE stopped delay 1000 Adafruit Industries https learn adafruit com adafruit motor shield Page 47 of 58 AF _DCMotor Class This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only The AF DCMotor class provides speed and direction control for up to four DC motors when used with the Adafruit Motor Shield To use this in a sketch you must first add the following line at the beginning of your sketch include lt AFMotor h gt AF DCMotor motorname portnum freq This is the constructor for a DC motor Call this constructor once for each motor in your sketch Each motor instance must have a different name as in the example below Parameters e port num selects which channel 1 4 of the moto
23. motors unless you overdrive them at 6V and then they will burn out faster What is the power connector on the shield for How do power my motors Please read the user manual http adafru it aOz for information about appropriate power supplies My Arduino freaks out when the motors are running Is the shield broken Motors take a lot of power and can cause brownouts that reset the Arduino For that reason the shield is designed for seperate split supplies one for the electronics and one for the motor Doing this will prevent brownouts Please read the user manual http adafru it aOz for information about appropriate power supplies Adafruit Industries https learn adafruit com adafruit motor shield Page 6 of 58 have good solid power supplies but the DC motors seem to cut out or skip Try soldering a ceramic or disc O 1uF capacitor between the motor tabs on the motor itself this will reduce noise that could be feeding back into the circuit thanks macegr http adafru it clc What if need more than 600mA per motor You can subsitute SN754410 s at your risk or piggyback solder some more L293D drivers on top of the existing ones http adafru it aOz What pins are not used on the motor shield All 6 analog input pins are available They can also be used as digital pins pins 14 thru 19 Digital pin 2 and 13 are not used The following pins are in use only if the DC Stepper noted is in use Digit
24. no board and the other is the 2 terminal block on the shield that is labeled EXT_PWR The DC Jack on the Arduino has a protection diode so you won t be able to mess things up too bad if you plug in the wrong kind of power However the EXT_PWR terminals on the shield do not have a protection diode for a fairly good reason Be utterly careful not to plug it in backwards or you will destroy the motor shield and or your Arduino Here s how it works ARDUINO BOARD e Motor logic supply servo power supply Arduino power supply Arduino vin mI Ll 3 PT TRIAL Motor power high voltage supply Motor shield power jumper MOTOR SHIELD If you would like to have a single DC power supply for the Arduino and motors simply plug it into the DC jack on the Arduino or the 2 pin PWR_EXT block on the shield Place the power jumper on the motor shield If you have a Diecimila Arduino set the Arduino power source jumper to EXT Note that you may have problems with Arduino resets if the battery supply is not able to provide constant power and it is not a suggested way of powering your motor project If you would like to have the Arduino powered off of USB and the motors powered off of a DC power supply plug in the USB cable Then connect the motor supply to the PWR_EXT block on Adafruit Industries https learn adafruit com adafruit motor shield Page 39 of 58 the shield Do not place the jumper on the shield This is a
25. power up the motors before the Arduino sketch tells them to IT ER N entel 7 meses ee ee EE P4HESSS RR REE ER 3 8 M M EM se ee motor control jeld for arcuir The tactile switch can go in either way The Im ve goo EE resistor network however must go in a certain ds ler Euren gt way Make sure the end with a dot is posititioned so z aui T a F it is at the same end as the X in the silkscreened image of the resistor network See picture on left Flip the board over and solder in the resistor network and switch You won t need to clip the leads as they are quite short aleady ese TEER iF In r eee amp ie 88 ss 8 88 tek Next are the three integrated circuits ICs IC1 IC2 and IC3 When ICs come from the factory the legs are angled out somewhat which makes it difficult to insert them into the PCB Prepare them for soldering by gently bending the legs against a flat tabletop so that they are perfectly straight Adafruit Industries https learn adafruit com adafruit motor shield Page 23 of 58 The latest kits from Adafruit come with 2 16 pin sockets for the L293D motor drivers They are OPTIONAL and not necessary for operation If you are not experienced with driving motors your likelyhood of wiring up a mis specified motor is high you should install these so if the L293Ds are destroyed you can easily replace them If you are experienced
26. r controller the motor will be connected to Adafruit Industries https learn adafruit com adafruit motor shield Page 48 of 58 e freq selects the PWM frequency If no frequency is specified 1KHz is used by default Frequencies for channel 1 amp 2 are e MOTOR12 64KHZ e MOTOR12 8KHZ e MOTOR12 2KHZ e MOTOR12 1KHZ Frequencies for channel 3 amp 4 are e MOTOR34 64KHZ e MOTOR34 8KHZ e MOTOR34 1KHZ Example AF DOMotor motor4 4 AF DOWMotor left motor 1 MOTOR12 64KHZ it c Digital 170 a Fa Pam ge me e al 170 ARelgndi3 12 11 10 3 B 99009 Used nt hee a E Fa rh E A E el ci o cl a LA f s r E Motor i t FJ v ro m m i 2 Motor Iri x on c pouver i imper Adafruit Industries https learn adafruit com adafruit motor shield e 154 S5r ej C 7T m oio contr ol shield for arduino 9000000 000000 gi x Ev bnd Uin 9 i z X gt E 2 E E i Analog in Page 49 of 58 Note Higher frequencies will produce less audible hum in operation but may result in lower torque with some motors setSpeed speed Sets the speed of the motor Parameters e speed Valid values for speed are between 0 and 255 with O being off and 255 as full throttle Example Note DC Motor response is not typically linear and so the actual RPM will not necessarily be proportional to the pro
27. s learn adafruit com adafruit motor shield Page 53 of 58 steps between each full step This results in finer resolution and smoother rotation but with a loss in torque Note Step is a synchronous command and will not return until all steps have completed For concurrent motion of two motors you must handle the step timing for both motors and use the onestep function below step 100 FORWARD DOUBLE 100 steps forward using double coil stepping A M step 100 BACKWARD MICROSTEP 100 steps backward using double microst setSpeed RPMspeed set the speed of the motor Parameters e Speed the speed in RPM Note The resulting step speed is based on the steps parameter in the constructor If this does not match the number of steps for your motor you actual speed will be off as well Example SetSpeed SetSpeed onestep direction stepstyle Single step the motor Parameters e direction the direction of rotation FORWARD or BACKWARD e stepstyle the style of stepping Valid values for style are e SINGLE One coil is energized at a time e DOUBLE Two coils are energized at a time for more torque e INTERLEAVE Alternate between single and double to create a half step in between This can result in smoother operation but because of the extra half step the speed is reduced by half too Adafruit Industries https learn adafruit com adafruit motor shield Page 54 of 5
28. s http adafru it 152 Solder Sucker Strangely enough that s the technical term for this desoldering vacuum tool Useful in cleaning up mistakes every electrical engineer has one of these on their desk Click here to buy a one http adafru it 148 Helping Third Hand With Magnifier Not absolutely necessary but will make things go much much faster and it will make soldering much easier Pick one up here http adafru it 291 Adafruit Industries https learn adafruit com adafruit motor shield Page 14 of 58 Parts List This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only Image Name Description Distributor Qty PCB Printed Circuit Board Adafruit 1 L293D Dual H bridge IC1 IC2 L293D 2 See note on usage page for replacing with SN754410 IC3 lain 74HC595N 1 Serial to parallel output latch 16 pin sockets OPTIONAL IC1 and Ca These are included in kits as Generic 2 of July 2010 3mm LED any color menen LED1 EN 3 LED 1 Motor power indicator aa R1 1 5K resistor for LED1 M ii 1 resistor Adafruit Industries https learn adafruit com adafruit motor shield Page 15 of 58 Adafruit Industries RN1 C2 C4 C6 C1 C3 C5 C7 C8 X1 X2 10K pulldown resistor
29. s The motor shield simply brings out the 16bit PWM output lines to two 3 pin headers so that its easy to plug in and go They can take a lot of power so a 9V battery wont last more than a few minutes The nice thing about using the onboard PWM is that its very precise and goes about its business in the background You can use the built in Servo library Using the servos is easy please read the official Arduino documentation for how to use them and see the example Servo sketches in the IDE http adafru it aOD Power for the Servos comes from the Arduino s on board 5V regulator powered directly from Adafruit Industries https learn adafruit com adafruit motor shield Page 41 of 58 the USB or DC power jack on the Arduino If you need an external supply cut the trace right below the servo pins on v1 2 boards and connect a 5V or 6V DC supply directly Using an external supply is for advanced users as you can accidentally destroy the servos by connecting a power supply incorrectly When using the external supply header for servos take care that the bottom of the header pins do not contact the metal USB port housing on the Arduino A piece of electrical tape on the housing will protect against shorts Adafruit Industries https learn adafruit com adafruit motor shield Page 42 of 58 Using Stepper Motors This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafr
30. s and preparation http adafru it aOv 2 Check the parts list http adafru it aOw 3 Solder it http adafru it aOx Adafruit Industries https learn adafruit com adafruit motor shield Page 10 of 58 Preparation This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only Tutorials e Learn how to solder with tons of tutorials http adafru it aOm http adafru it aOm e Don t forget to learn how to use your multimeter too http adafru it aOy Tools There are a few tools that are required for assembly None of these tools are included If you don t have them now would be a good time to borrow or purchase them They are very very handy whenever assembling fixing modifying electronic devices provide links to buy them but of course you should get them where ever is most convenient inexpensive Many of these parts are available in a place like Radio Shack or other higher quality DIY electronics stores Soldering iron Any entry level all in one soldering iron that you might find at your local hardware store should work As with most things in life you get what you pay for Upgrading to a higher end soldering iron setup like the Hakko FX 888 that we stock in our store http adafru it 180 will make soldering fun and easy
31. soldering onto the top of the header with wires or using a Wing shield get the following error trying to run the example code error AF Motor h No such file or directory Make sure you have installed the AFMotor library How do install the library Read our tutorial on libraries http adafru it aYG have two stepper motors and want to run them simulaneously but the example code can only control one and then the other The stepper motor library step routine does not have the ability to run both motors at a time Instead you will have to interleave the calls For example to have both motors step forward 100 times you must write code like this for i0 i lt 100 i motor1 step 1 FORWARD SINGLE motor2 step 1 FORWARD SINGLE j If you want more intelligent control check out the AccelStepper library in the Downloads section which has some concurrent stepper motor control examples What are some suggested motors Most people buy motors from surplus shops and no motor will make everyone happy However since its a popular question suggest buying motors from Pololu DC Servos http adafru it aOa DC motors http adafru it aOb or Jameco all sorts http adafru it aOc As well as the many surplus webshops http adafru it aOd Is the motor shield compatible with the UNO R3 or Mega R3 What about the extra pins The motor shield is compatible with the R3 UNO and MEGA The R3s have 2 extra
32. ty built in PWM This means the speed is very smooth and won t vary Note that the H bridge chip is not meant for driving loads over 0 6A or that peak over 1 2A so this is for small motors Check the datasheet for information about the motor to verify its OK To connect a motor simply solder two wires to the terminals and then connect them to either the M1 M2 M3 or M4 Then follow these steps in your sketch Adafruit Industries https learn adafruit com adafruit motor shield Page 46 of 58 1 Make sure you include lt AFMotor h gt 2 Create the AF DCMotor object with AF_DCMotor motor frequency to setup the motor H bridge and latches The constructor takes two arguments The first is which port the motor is connected to 1 2 3 or 4 frequency is how fast the speed controlling signal is For motors 1 and 2 you can choose MOTOR12_64KHZ MOTOR12 8KHZ MOTOR12 2KHZ orMOTOR12_1KHZ A high speed like 64KHz wont be audible but a low speed like 1KHz will use less power Motors 3 amp 4 are only possible to run at 1KHz and will ignore any setting given 3 Then you can set the speed of the motor using setSpeed speed where the speed ranges from O stopped to 255 full speed You can set the speed whenever you want 4 To run the motor call run direction where direction is FORWARD BACKWARD or RELEASE Of course the Arduino doesn t actually know if the motor is forward or backward so if you want to change which way it thin
33. uit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only Stepper motors are great for semi precise control perfect for many robot and CNC projects This motor shield supports up to 2 stepper motors The library works identically for bi polar and uni polar motors For unipolar motors to connect up the stepper first figure out which pins connected to which coil and which pins are the center taps If its a 5 wire motor then there will be 1 that is the center tap for both coils Theres plenty of tutorials online on how to reverse engineer the coils pinout http adafru it aOO The center taps should both be connected together to the GND terminal on the motor shield output block then coil 1 should connect to one motor port say M1 or M3 and coil 2 should connect to the other motor port M2 or M4 Adafruit Industries https learn adafruit com adafruit motor shield Page 43 of 58 For bipolar motors its just like unipolar motors except theres no 5th wire to connect to ground The code is exactly the same Running a stepper is a little more intricate than running a DC motor but its still very easy 1 Make sure you include lt AFMotor h gt 2 Create the stepper motor object with AF_Stepper steps stepper to setup the motor H bridge and latches Steps indicates how many steps per revolution the motor has a 7 5degree step motor has 360 7 5 48 steps Stepper is which port
34. us customers only Powering your DC motors voltage and current requirements Motors need a lot of energy especially cheap motors since they re less efficient The first important thing to figure out what voltage the motor is going to use If you re lucky your motor came with some sort of specifications Some small hobby motors are only intended to run at 1 5V but its just as common to have 6 12V motors The motor controllers on this shield are designed to run from 4 5V to 25V MOST 1 5 3V MOTORS WILL NOT WORK Current requirements The second thing to figure out is how much current your motor will need The motor driver chips that come with the kit are designed to provide up to 600 mA per motor with 1 2A peak current Note that once you head towards 1A you ll probably want to put a heatsink on the motor driver otherwise you will get thermal failure possibly burning out the chip On using the SN754410 Some people use the SN754410 http adafru it aOB motor driver chip because it is pin compatible has output diodes and can provide 1A per motor 2A peak After careful reading of the datasheet and discussion with TI tech support and power engineers it appears that the output diodes were designed for ESD protection only and that using them as kickback protection is a hack and not guaranteed for performance For that reason the kit does not come with the SN754410 and instead uses the L293D with integrated kickback protection diodes If you re
35. ve adafruit learning system Adafruit Motor Shield Created by lady ada ad Last updated on 2015 06 07 05 20 10 PM EDT Guide Contents Guide Contents Overview FAQ Make It Lets go Preparation Tutorials Tools Parts List Solder It Use It Library Install First Install the Arduino Library Power Usage Powering your DC motors voltage and current requirements How to set up the Arduino Shield for powering motors Using RC Servos Using Stepper Motors Using DC Motors DC motors are used for all sort of robotic projects AF_DCMotor Class AF_DCMotor motorname portnum freq setSpeed speed run cmd AF_Stepper Class AF_Stepper steppername steps portnumber step steps direction style setSpeed RPMspeed onestep direction stepstyle release Hesources Motor ideas and tutorials Adafruit Industries https learn adafruit com adafruit motor shield 2 4 6 10 10 11 11 11 16 19 36 37 3 38 38 38 41 43 46 46 48 48 50 50 52 52 53 54 54 55 96 56 Page 2 of 58 Downloads Schematics amp Layout Firmware Forums Adafruit Industries https learn adafruit com adafruit motor shield 5 57 57 58 Page 3 of 58 Overview This tutorial is for the now ancient V1 Motor shield Chances are you have a V2 check out the tutorial https learn adafruit com adafruit motor shield v2 for arduino This tutorial is for historical reference and previous customers only
36. willing to risk it and need the extra currrent feel free to buy SN754410 s and replace the provided chips Need more power Buy another set of L293D drivers and solder them right on top of the ones on the board piggyback http adafru it aOC Voila double the current capability You can solder 2 more chips on top before it probably isnt going to get you much benefit You can t run motors off of a 9V battery so don t even waste your time batteries Use a big Lead Acid or NiMH battery pack Its also very much suggested that you set up two power supplies split supply one for the Arduino and one for the motors 99 of weird motor problems are due to noise on the power line from sharing power supplies and or not having a powerful enough supply How to set up the Arduino Shield for powering motors Servos are powered off of the same regulated 5V that the Arduino uses This is OK for the Adafruit Industries https learn adafruit com adafruit motor shield Page 38 of 58 small hobby servos suggested If you want something beefier cut the trace going to on the servo connectors and wire up your own 5 6V supply The DC motors are powered off of a high voltage supply and NOT the regulated 5V Don t connect the motor power supply to the 5V line This is a very very very bad idea unless you are sure you know what you re doing There are two places you can get your motor high voltage supply from One is the DC jack on the Ardui
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