Adafruit Motor Shield RB-Ada-02
Contents
1. Adafruit Motor Shield RB Ada 02 2 Pae NIG Cec e mo Pe e A 4 ISS A En E telonsen sateen esedowaes atcuesustoascs acne 7 Powering your DC motors voltage and current requirement sseeeseeeeeeeeeeeeeeees 18 How to set up the Arduino Shield for powering MOCOSS cccccccecceeeeeeeeeeeseeseeeeseeeees 19 Se B AM 21 DMOO PP oe 23 OS acct eee A 25 F A Q How many motors can I use with this shield Y ou 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 I 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 What is the LED for The LED indicates motor power 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 Im trying to build this robot and it doesn t seem to run on a 9V batterv Please read the user manual for information about appropriate power supplies Can this shield control small 3V motors Not really 1ts meant for larger 6V motors In theory you should be able to get 1t working with 3V motors but I have no information on how to do so or whether it will work What is the power connector on the shield for How do I power my motors Please read the user manual for information about appropriate power supplies My Arduino freaks out when the motors are run2. for position servos and not moving for continuous rotation servos WR WN e Hime huge Ser vol imer L m Ssemvolime mm servol Servo ler lAs envio void setup Sri began 6 0100 e set up Serial librarv at 9600 bps serial prine Ini ervo resel secvollt ciee eteri 10 seryvoz2 acctcacn 9 void loop Seride pa T trok servol write 180 servo write 0 delay 1000 Serial print tock servol write 0 servo write 180 delav 1000 DC Motors DC motor 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 quality built in PWM This means the speed is very smooth and won t vary Note that the H bridge chip is not really 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 l Make sure you include lt AFMotor h gt 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 contr
3. 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 E 4 MACU anna soso AS GA e iss jieX1811 i A A E EEES LRE IEX os RA i gt Doom e A TG y l Era l yy Y FAQ AT aS pa PA B 3 83 dl IK SS T vii 2 Mo gt SN al AE EOS A i Tm 53 y An A Wha y 9dAdJsA a Ka yf aT a ek AS _e l f E o EG ii ka f 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 Place the motor shield on top of the Arduino making sure that all the header lines up 9513 17 1110 9 ab SR sn CCOATA AD CANAAN i ai v1 8 dose ASNO OG JOLIE LA je ia A kaw AST ro lt IALALA f 4 motor contrat pal hield for arduino ce de Step ot HA nl RU Solder in each pin of the header It tid al ARet N13 12 11 10 NAS AR El fel TA U O d 4 ran D You re done NO ACA XA A mei G13 121110 8 L G ALA of re Ll LEO Y rw Yvy y 100000 GAN E AWAS e IY YUN R NA Powering vour DC motors voltage and current requirements Motors need a lot of energy especially cheap motors since they re less efficient The first important thi
4. BACKWARD and the step type is SINGLE DOUBLE INTERLEA VE 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 There s tons of information about the pros and cons of these different stepping methods in the resources page 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 By default the motor will hold the position after its done stepping If you want to release all the coils so that 1t can spin freely call release The stepping commands are blocking and will return once the steps have finished If someone wants to be awesome and write a version of the library that does background stepping that would be cool jalmellteclE AEMe ron lat AF_Stepper motor 48 2 void setup Serial begin 9600 e set up Serial librarv at 9600 bps Serial println Stepper test molto SS Soeecl le s 77 IO de om MOTOS re ADO FORWARD SINGLEN motor release delay 1000 e o Looe 4 MOIEOM sie co LQ FORWARD INGLE moron e res LOO BACKWARD SINGLE Moro Sres MONO FORWARD DOUBLE MOCOr Step LOO BACKWARD DOUBLE motor step 100 FORWARD
5. INTERLEAVE motor step 100 BACKWARD INTERLEAVE motor step 100 FORWARD MECRO STE motor step 100 BACKWARD MECRO STE If you want two stepper motors to step at once you ll need to write something like this vold doublestep int steps int AS eran bas Eye while steps Mor Oi es berth chine Stone style motor step l direct Lom style
6. gt Yy A 2 o nn Qal Je IVODADO PONCE 60D l AJ PIJU PS DUO 500 Eat 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 Clip the long leads just above the solder joint using diagonal cutters PEI Next place the three yellow ceramic capacitors C4 C2 and C6 a ARA SSSI MPA Ceramic capacitors are not polarized so you can put them in a 8 Oh ied ORE either way and they work fine Bend the leads out just like you did with the resistors i sa Y A oe Fe 8 e 0 M4 th c gt ER RA RES L293D el a A motor cnet JA 74HC595 ield for ardui JUG az As i i o i ip COLADA 4 SETA Solder all 6 wires then clip them as you did with the resistors AE S8 9900099 i 3 6000660 y 709 TOBOOO TO0 00 8 eo ri JUDO j SOLO 10888898 o e e e e o o e s von ee OOOO gt mi o y FES sede e se lt Next is the 6mm tactile switch RESET and the resistor network RN 1 The tact switch is used to reset the Arduino since its not possible to reach the reset button once the motor shield is on The r
7. 1s 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 Gently insert the three chips Check to make sure none of the legs got bent or broken The 74HC595 goes in the middle and the two 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 Next are the three 100uF electrolytic capacitors C1 C3 and C5 Electrolytic capacitors are polarized and must be placed in the correct orientation or they could pop The long leg of the 00 SERVO sl Z capacitor is the positive leg and goes into the hole marked s BP B l 2 servos NEA 7 fee with a The close up images shown here indicate with hole is 2 stepper 1 L the one 4 dc motor i A ED SA Shield for arduir welt ao r ee ash g motor control OF m O H a H 7 hield A gt e Wino eo e e aa om as fa j ii ield for ard motor cont ss 2 After double checking their polarity solder and clip the three capacitors Y ka AS A gt 2 4 i e lt 7 a Ta Place the two 47uF remaining electrolytic capacitors C7 and C8 These are also polarized so make sure the long lead is inserted into the hole in the silkscr
8. ad the latest Arduino library file and uncompress the folder Place the folder AFMotor into the Arduino hardware library folder That is find your Arduino install folder then open up hardware amp library and drag AFMotor into it Inside AFMotor should be a AFMotor c and AFMotor h file I have two stepper motors and I 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 1 0 1 lt 100 i motorl step 1 FORWARD SINGLE motor2 step 1 FORWARD SINGLE Parts list Image Name Description Distributor Qtv fe PCB Printed circuit board Adafruit 1 L293D Dual H bridge ICI Digikey gt 2 Mouser IC See note on usage page ASS for replacing with SN754410 74HC595N Serial to parallel output ras 1 latch MOUSEL 3mm LED any color E LED1 siin 1 ee Mouser Motor power indicator 1 5K resistor for LED1 Digikey 1 Mouser Brown Green Red Gold 10K pulldown resistor Brown Black Orange Gold Digikey 1 Mouser 10 pin bussed 10K 100K Digikey resistor network Mouser L lt Digike C4 O 1uF ceramic capacitor DIJIKEN 3 Mouser C6 100uF 6V capacitor vena 3 ouser C7 Digik
9. 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 Voila double the current capability 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 It s 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 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 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 Arduino 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
10. d like to have 2 separate 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 1s 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 Servos AT L zl l L all LI a BE i role Y lora FI Hobby servo 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 inputs The motor shield simply brings out the 16bit PWM output lines to 2 3 pin headers so that it s easy to plug in and go They can take a lot of power so a 9V battery won t last more than a few minutes The nice thing about using the onboard PWM is that it s very precise and goes about its business in the background You can use the Servo Timerl library as is Using the servos is easy Install the ServoTimerl library as indicated on its webpage Make sure you include lt ServoTimer1 h gt Create a ServoTimerl object for each servo you want up to 2 Attach the servos to pin 9 servo A or 10 servo B using attach Finally when you want to set the position of the servo simply use write ANGLE where ANGLE ranges from 0 to 180 90 is dead center
11. eened image E q ield for A T b L KO S eee ee oll sa i e e J 5 de vel t contr e motor con ExT PUR x pur cx ga gu aA E KIIK OOOO OOOO Solder and clip the two capacitors ee A AUD 0 A gt Y 7 TRAD EA l 4 k e de i K B GLD A AAA 4 IR Pos VIT y a Pra ma o m Ta a f 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 Cae SER KO v1 8 oe mad pr Solder and clip the LED leads Car SR OE A d ns WAY Vala SS ee NS ETU CURT fab pe E LI e gt be he a A d py SAY KA i w J Hoa whs 8 0 e O l Pes 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 Xou 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 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
12. esistor network 1s used to pull down the pins on the motor driver chips so that they don t power up the motors before the Arduino sketch tells them to The tactile switch can go in either way The resistor network e Le D eesosa y however must go in a certain way Make sure the end with a dot aa peste is posititioned so it is at the same end as the X in the silkscreened AS AA image of the resistor network See picture on left op E JA 4 oe f rq Ger KI hs 7 4HC595 motor control AA AAA ield for ardui A E A 60 gt DUO Bd OO o a OIC 1 0 O 2c tS 2 servos KILT Oa re sees eee g JUL 2 ML 4 j motor contro ardi A x 5 fer GB im o Sa ield for 703 O m oF Oi Ta GAT 9 l ONN iel lt o AAA AOI la A can 66066674 000000 je A Flip the board over and solder in the resistor network and switch You wont need to clip the leads as they are quite short aleady Next are the three integrated circuits ICs ICI IC2 and IC3 When ICs come from the factorv 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 ICs must be placed in the correct orientation to work properly To help with placement each chip has a U notch at the top of the chip On the circuit board there
13. ey C8 47uF 25V capacitor Molnar 2 5 position 5 08 terminal block X1 Mouser 2 Or a 3 position and a 2 position X2 2 position 5 08 terminal Mor i block Digikev RESET 6mm tactile switch Manca Digikey PWR Jumper shunt Mouser Digikey 36 pin male header 1x36 Moncer Assembly First check that you have all the parts Look over the parts list shown on the left Also check to make sure you have the necessary tools for assembly Place the motor shield PCB in a vise or other circuit board holder and turn on your soldering iron to 700 degrees GOOTI QIY ei y ARRE em 2 s a t kI kr Y ES 74HC595 JULI e4 pe Ara 2930 2 98 t2930 e INS Y S pra SE o MO motor control ARY ield for ki ree ve i con E AAA CRA The firt parts to go in are the two resistors RI and R2 Bend the resistors so that they look like staples as seen in this photo Co a NIII EGO f Next slip the resistors into the PCB as shown so that they sit flat sao jodadiat kella against the circuit board Bend the wire legs out a bit so that when THe EU wud fadyadapet nake nshisid 7 ve E FS Dia x At QT es zom the board is flipped over u E Resistors are not polarized that means you can put them in either way and they ll work just fine i 5 re je D 12 k IO EU 74HC59 ees du sn a Y o L A eeenen mil ta ii v AAA De
14. 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 U fi fet Motor logic supply We Servo power supply Arduino VAN FBLOSZ Arduing power supply U ki IV we ll a vO GNO 4 o GND GND 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 the shield Do not place the jumper on the shield This 1s a 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 woul
15. ng 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 36V However in theory they should be OK down to about 2 5V 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 If you need more current you can double up the motor connect your motor to two ports at once for 1 2A per motor 2 4A peak 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 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 willing to risk it and need the extra currrent feel free to
16. ning Is the shield broken Motors take a lot of power and can cause brownouts that reset the Arduino For that reason the shield 1s designed for seperate split supplies one for the electronics and one for the motor Doing this will prevent brownouts Please read the user manual for information about appropriate power supplies I have good solid power supplies but the DC motors seem to cut out or skip Try soldering a ceramic or disc 0 1uF capacitor between the motor tabs on the motor itself this will reduce noise that could be feeding back into the circuit thanks macegr What pins are not used on the motor shield 2 All 6 analog input pins are available They can also be used as digital pins pins 14 thru 20 Digital pin 2 and 13 are not used Digital pin 11 DC Motor 1 Stepper 1 Digital pin 3 DC Motor 2 Stepper 1 Digital pin 5 DC Motor 3 Stepper 2 Digital pin 6 DC Motor 4 Stepper 2 These pins are in use only if the DC Stepper noted is in use Digital pin 4 7 8 and 12 are used to drive the DC Stepper motors via the latch These pins are in use if any DC steppers are used Digitals pin 9 Servo 1 control Digital pin 10 Servo 2 control These pins are used only if that particular servo is in use I get the following error trying to run the example code error AFMotor h No such file or directory Make sure you have installed the AFMotor library How do I install the library Downlo
17. olling signal is For motors 1 and 2 you can choose MOTOR12_64KHZ MOTOR12_8KHZ MOTOR12_2KHZ or MOTOR12_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 Then you can set the speed of the motor using setSpeed speed where the speed ranges from 0 stopped to 255 full speed You can set the speed whenever you want 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 thinks 1s forward simply swap the two wires from the motor to the shield Hino lice AEMotot la AF_DCMotor mo or a MOTOR12_64KHZ create motor 2 64KHz pwm void setup Geri l beg im 96000 ieli Set up Serial library t 9000 bos Serial pra In Motor test motor setSpeed 200 set the speed to 200 255 void loop 1 Ser lol proto motor run FORWARD TO ETA IE ON going On me tol delav 1000 Seria pei Eo motor run BACKWARD ale other way delay 1000 Serial peinar tack motor run RELEASE PA stopped delav 1000 Steppers A bi polar stepper motor 4 wires 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 identicall
18. v 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 There s plenty of tutorials online on how to reverse engineer the coils pinout 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 For bipolar motors its just like unipolar motors except there s 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 it is connected to If you re using M1 and M2 its port 1 If you re using M3 and M4 its 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 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
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