Texas Instruments DRV8846 Bedienungsanleitung

User's Guide

SLLU203A–June 2014–Revised March 2015

DRV8846 Evaluation Module

This document is provided with the DRV8846 customer evaluation module (EVM) as a supplement to the

DRV8846 (SLLSEK2) datasheet. It details the hardware implementation of the EVM.

Contents

1 PCB (Top View).............................................................................................................. 2

2 Introduction ................................................................................................................... 2

2.1 Connectors .......................................................................................................... 2

2.2 Test Points........................................................................................................... 3

2.3 Jumpers.............................................................................................................. 4

2.4 Motor Outputs ....................................................................................................... 4

2.5 Operation of the EVM .............................................................................................. 4

2.6 Motor Control Frame (Includes Start/Stop Steps and Move Steps).......................................... 6

2.7 Schematic and Bill of Materials (BOM) .......................................................................... 9

Appendix A Driver Installation Instructions ................................................................................... 12

List of Figures

1 Connections .................................................................................................................. 3

2 DRV8846 Schematic (1 of 2)............................................................................................... 9

3 DRV8846 Schematic (2 of 2) ............................................................................................. 10

SLLU203A–June 2014–Revised March 2015 DRV8846 Evaluation Module

PCB (Top View)

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1 PCB (Top View)

2 Introduction

The DRV8846 customer EVM is a platform revolving around the DRV8846, a low voltage dual H-bridge

driver and highly configurable power stage. This device has been optimized to drive a single bipolar

stepper with up to 32 degrees of internally generated microstepping.

The EVM houses an MSP430 microcontroller and a USB interface chip. The USB chip allows for serial

communications from a PC computer where a Microsoft®Windows®application is used to schedule serial

commands. These commands can be used to control each of the device’s signals, and drive the stepper

motor by issuing the step commands at the desired rate.

The microcontroller firmware operates using internal index mode.

This user's guide details the operation of the EVM, as well as the hardware configurability of the

evaluation module.

2.1 Connectors

The DRV8846EVM offers access to VM (motor voltage) power rail via a terminal block (J1). A set of test

clips in parallel with the terminal block allows for the monitoring of the input power rail.

Apply VM according to datasheet-recommended parameters.

NOTE: VDD for the microcontroller is derived from the micro USB connector.

Microsoft, Windows are registered trademarks of Microsoft Corporation.

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Introduction

Figure 1. Connections

2.2 Test Points

A 0.100 in pitch header connector (J4) is used to provide access to every device signal in the event a

different microcontroller is to be employed. To disconnect the internal MSP430 microcontroller, remove

resistor packs R5 and R6. Table 1 describes the connections available on the J4 header. Each header pin

is labeled on the evaluation module, and matches the pin of the DRV8846.

Table 1. Descriptions of the Connections Available on the J4 Header

Header Label Description

V3P3R 3.3 V after 33-Ωresistor

nFAULT Fault output

nSLEEP Sleep Mode input

RSVD Adaptive DECay input

DIR Direction input

nENBL Stepper motor enable

STEP Step input

M0 Step mode

M1 Step mode

TOFF_SEL Off-time selection

VREF Scale voltage to set IFS

VINT Internal supply voltage

I0 Torque (current level)

I1 Torque (current level)

DEC0 Decay mode

DEC1 Decay mode

GND Ground

SLLU203A–June 2014–Revised March 2015 DRV8846 Evaluation Module

VINT

VREF    (VREF _ slider 4)

4095

= ´ ´

VREF

I    TORQUE StepModifier

FS 6.6 RISENSE

= ´ ´

Introduction

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2.3 Jumpers

There are no jumpers on the DRV8846EVM module.

2.4 Motor Outputs

Two motor connectors are provided. Connectors J2 and J3 are available as shown in Figure 1.

2.5 Operation of the EVM

Use the following steps to operate the EVM.

1. Install the drivers and GUI. Refer to Appendix A at the end of this document for instructions.

2. Connect the wires of the stepper motor to terminals AOUT1, AOUT2, BOUT1, and BOUT2.

3. Connect the VM power supply but do not apply power at this step.

4. Connect the USB between the PC and the EVM. Open the GUI by selecting the launcher.exe file. It

may take up to 15 seconds to establish connection.

(a) Once the USB connection is established, the Status LED will begin to blink.

5. Apply 12 V to the VM and GND connections.

6. Configure the current settings, step and decay modes, torque, and pwm off time as desired as shown

in the following image:

The current is calculated using the VREF slider, the Sense resistor value, the Torque setting, and the

Step mode setting using the formula.

(1)

Where StepModifier is 0.71 for full step and 1.0 for other STEP MODE settings

The 12-bit DAC channel 0 is connected to the DRV8846 analog input VREF. Changing the DAC digital

value from 0 to 4092 in steps of 4, changes the analog voltage at the VREF pin from 0 V to VINT V.

See Equation 2.

(2)

Where VINT is the output of the DRV8846 pin and VREF_slider is the slider value from 0 to 1023.

4DRV8846 Evaluation Module SLLU203A–June 2014–Revised March 2015

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Introduction

7. Wake and Enable the device for operation.

(a) After setting up the controls signals for the DRV8846, enabling the DRV8846 requires selecting

both the WAKE and ENABLE buttons. When the WAKE button or ENABLE button are selected, the

circle to the left of the button will toggle from red to green.

(b) The WAKE button, which controls the nSLEEP pin, is used to wake the DRV8846. The ENABLE

button, which controls the nENBL pin, is used to enable the DRV8846 outputs.

buttons will be visible until both the WAKE and ENABLE buttons are activated. Once these two

buttons have been activated, the message disappears and the Start/Stop and Move Steps buttons

will be available.

(d) If the WAKE or ENABLE buttons are selected during motor operation, the motor is immediately

stopped and the STEP control signal from the microcontroller is reset.

8. The DRV8846 EVM is now awake and can be commanded to turn the motor. This can be done by

either selecting the Start/Stop Steps,Move # of Steps, or Reciprocate buttons.

The Start/Stop Steps button is used to run the motor indefinitely. The motor will accelerate to the target

speed and run until the Start/Stop Steps button is selected. When the Start/Stop Steps button is

selected, the red button will change to green, and the Move Steps and Reciprocate buttons will be

disabled.

The Move Steps button is used to allow movement of an exact number of steps. When the Move Steps

button is selected, the red button to the left of Move Steps will turn green, and the Start/Stop Steps and

Reciprocate buttons are disabled until the number of steps have completed.

The Reciprocate button is a special case of the Move Steps. When selected, the motor will advance

the specified number of steps in the direction initially set by the control inputs. After a short pause, the

motor will then advance the same number of steps in the opposite direction. This sequence is repeated

until the Reciprocate button is selected.

When the Reciprocate button is selected, the red button to the left of Reciprocate will turn green, and

the Start/Stop Steps and Move # of Steps buttons are disabled until the number of steps have

completed.

SLLU203A–June 2014–Revised March 2015 DRV8846 Evaluation Module

Introduction

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2.6 Motor Control Frame (Includes Start/Stop Steps and Move Steps)

The GUI has an area which offers access to a series of very useful stepper control algorithms. This area

allows for determining the best current settings during running at various speeds, and when holding torque

is applied.

Motor motion can only happen by using an acceleration profile which will be detailed later on. A detailed

explanation of each stepper control section follows.

This frame allows the configuration and running of the stepper with the direction as specified by the DIR

checkbox, with the current decay mode as specified under the Decay Mode checkbox and the

microstepping resolution as specified under the Step Mode drop down box.

6DRV8846 Evaluation Module SLLU203A–June 2014–Revised March 2015

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Stopping SpeedStarting Speed

Steps to Stop

Number of Steps

Acceleration Rate

Target Speed

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Introduction

The Motion Control frame gathers user information regarding stepping rate, or motor speed. An

acceleration profile is employed to start at a programmable speed and increase stepping rate until

reaching the programmable desired speed.

An internal 8-MHz timer is used to measure time and generate the steps on a timely manner. The GUI will

send the information to the microcontroller as PPS, and the microcontroller will transform it into the

respective clock cycles needed for the timer to generate accurate STEP pulse timing.

2.6.1 Start/Stop Steps

The acceleration profile is coded inside of the microcontroller to accept both the starting speed PPS and

target speed PPS as a clock cycle number. When the start steps command is issued (Starts/Steps button

is selected), the PWM timer generates steps at a rate specified by the start speed PPS parameter.

When accelerating or decelerating, PPS is adjusted every 32 ms, based on the integer value of PPSPS/32

ms. If a non-zero value of PPSPS is entered, a minimum value of 1 is used. The step rate is increased by

the calculated value until the target speed is reached.

The very same start steps command computes how frequent automatic speed updates are issued and a

second timer is used to change the speed according to the programmed acceleration rate profile.

Once the target speed (PPS) is reached, the acceleration profile ends and the motor stays running until

the stop stepper command is issued (Start/Stop Steps button is selected again). When the stepper is

commanded to stop, the controller does exactly as it did while accelerating, but in reverse to decelerate

until the stop speed PPS is reached, in which case the motor fully stops.

A second motor actuation is provided by the Move # of Steps and Reciprocate commands in which a

programmed number of steps are issued and then the motor stopped. The acceleration and deceleration

profiles work similarly as before, except when the deceleration starts and when the motor actually stops

are a function of the Steps to Stop and deceleration rate parameters.

This second motor actuation is adjusted automatically for rising edge or rising and falling edge settings in

the STEP MODE.

The following figure shows the acceleration profile and the role each parameter plays during speed

computation:

2.6.2 Move Steps

If the user desires to move the stepper a certain number of steps, this can be accomplished by using the

move steps function. Parameters from the other frames are reused and its utilization is as explained

previously. Two new parameters have been added to properly control the limited number of steps

actuation.

Number of Steps: Number of steps the controller will issue.

Steps to Stop: The controller is continuously monitoring the step being issued and when the current step

is equal to the steps to stop parameter, a deceleration profile is issued. If Steps to Stop is larger than the

number of steps, then the motor stops abruptly and without undergoing a deceleration profile.

When a deceleration profile is issued, the controller decreases the speed until reaching the stop speed

value. If the number of steps parameter is met before the deceleration profile is complete, then the motor

stops at the current speed. If the stop speed is met before all the number of steps is issued, then the

motor rotates at the stop speed value until all the steps are executed.

SLLU203A–June 2014–Revised March 2015 DRV8846 Evaluation Module

Introduction

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Ideally, the system should be tuned to resemble the case in which the controller executes all the

commanded steps at a speed as close as possible to the stop speed. In the event this is not possible, due

to the particular parameters being chosen, stopping the motor at a speed very close to the stop speed is

often good enough to ensure good motion quality and application performance.

The following figure shows the three conditions possible when stopping and the action taken:

8DRV8846 Evaluation Module SLLU203A–June 2014–Revised March 2015

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D D

C C

B B

A A

1 1

5/13/2014

DRV8846EVM_RevA.SchDoc

Sheet Title:

Size:

Mod. Date:

File:

Sheet: of

Bhttp://www.ti.com

Contact: http://www.ti.com/support

DRV8846EVMProject Title:

Designed for: Public Release

Assembly Variant: 001

Drawn By:

Engineer: Rick Duncan

Texas Instruments and/or its licensors do not warrant the accuracy or completeness of this specification or any information contained therein. Te xas Instruments and/or its licensors do not

warrant that this design will meet the specifications, will be suitable for your application or fit for any particular purpose, or will operate in an implementation. Texas Instruments and/or its

licensors do not warrant that the design is production worthy. You should completely validate and test your design implementation to confirm the system functionality for your application.

Not in version controlSVN Rev:

DRV8846EVMNumber: Rev: A

10µF

AOUT2

AOUT1

TOFF_SEL

nENBL

STEP

12 DIR 13

VREF 14

VM 15

NC 16

VINT 17

GND 18

ADEC 19

I0 20

I1 21

DEC0 22

nSLEEP 23

DEC1 24

PPAD

AOUT1

AISEN

AOUT2

BOUT2

BISEN

BOUT1

nFAULT

DRV8846RGE

DEC1

GND

AOUT1

DEC0

GND

AOUT2

BOUT1

BISEN

BOUT2

DRV8846

nFAULT notification

GND

nFAULT

1A2

D_LED_603_RED

0.1µF

2.2µF

ED555/2DS

nSLEEP

nFAULT

4.99k

BOUT1

BOUT2

AISEN

VINT

VREF

DIR

TOFF_SEL

nENBL

STEP

ADEC

0.25

GND

510

ED555/2DS

MSP_M1

MSP_TOFF_SEL

MSP_VREF

MSP_VINT

MSP_I0

MSP_I1

MSP_DEC0

MSP_DEC1

MSP_nFAULT

MSP_nSLEEP

MSP_ADEC

MSP_DIR

MSP_nENBL

MSP_STEP

MSP_M0

nSLEEP

ADEC

DIR

nENBL

STEP

TOFF_SEL

VREF

VINT

DEC0

DEC1

EXB-2HV330JV

DEC1

DEC0

VINT

VREF

TOFF_SEL

DIR

STEP

nENBL

ADEC

nSLEEP

nFAULT

AOUT1

AOUT2

TEST POINTS & DEBUG MODE

BOUT1

BOUT2

VM GND2 AOUT1 AOUT2 BOUT1 BOUT2

GNDGND

nFAULT

Remove R4 to

disable current flow

through diode

Motor Supply and

Outputs

VM range 4 to 16V

Connection to microcontroller

or external interface

Notes:

1) For normal operation, populate resistor packs R5 and R6

2) For external control, remove resistor packs R5,R6 and provide signals at J4

3) Signals can be observed at J4 during normal operation

GND

1GND 2

GND1

D3082-05

GND

HEADER_1X18

V3P3R

V3P3

V3P3R

GND

0.1µF

C12

GND

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Introduction

2.7 Schematic and Bill of Materials (BOM)

2.7.1 DRV8846 Schematic

Figure 2 and Figure 3 illustrate the schematics for this EVM.

Figure 2. DRV8846 Schematic (1 of 2)

SLLU203A–June 2014–Revised March 2015 DRV8846 Evaluation Module

D D

C C

B B

A A

1 1

5/13/2014

DRV8846EVM_MSP430F2617_RevA.SchDoc

Sheet Title:

Size:

Mod. Date:

File:

Sheet: of

Bhttp://www.ti.com

Contact: http://www.ti.com/support

DRV8846EVMProject Title:

Designed for: Public Release

Assembly Variant: 001

Drawn By:

Engineer: Rick Duncan

Texas Instruments and/or its licensors do not warrant the accuracy or completeness of this specification or any information contained therein. Te xas Instruments and/or its licensors do not

warrant that this design will meet the specifications, will be suitable for your application or fit for any particular purpose, or will operate in an implementation. Texas Instruments and/or its

licensors do not warrant that the design is production worthy. You should completely validate and test your design implementation to confirm the system functionality for your application.

Not in version controlSVN Rev:

DRV8846EVMNumber: Rev: A

MSP430 w JTAG Interface

USB TO UART

ZX62-B-5PA(11)

TXD

DTR#

RTS#

VCCIO

RXD

RI#

GND

DSR#

DCD#

CTS#

CBUS4

CBUS2

CBUS3

14 USBDP 15

USBDM 16

3V3OUT 17

GND 18

RST# 19

VCC 20

GND 21

CBUS1 22

CBUS0 23

NC 24

AGND 25

TEST 26

OSCI 27

OSCO 28

FT232RL

0.1µF

GND

V3P3

1 2

MI0805K400R-10

GND

V3P3

DVCC

P6.3/A3

P6.4/A4

P6.5/A5

P6.6/A6

P6.7/A7/SVSIN

VREF+

XIN

XOUT

VEREF+

VREF-/VEREF-

P1.0/TACLK/CAOUT

P1.1/TA0

P1.2/TA1

P1.3/TA2

P1.4/SMCLK

P1.5/TA0

P1.6/TA1

P1.7/TA2

P2.0/ACLK/CA2

P2.1/TAINCLK/CA3

P2.2/CAOUT/TA0/CA4

P2.3/CA0/TA1

P2.4/CA1/TA2

P2.5/ROSC/CA5

P2.6/ADC12CLK/CA6

P2.7/TA0/CA7

P3.0/UCB0STE/UCA0CLK

P3.1/UCB0SIMO/UCB0SD

P3.2/UCB0SOMI/UCB0SC

P3.3/UCB0CLK/UCA0STE

P3.4/UCA0TXD/UCA0SIM

P3.5/UCA0RXD 33

P3.6 34

P3.7 35

P4.0/TB0 36

P4.1/TB1 37

P4.2/TB2 38

P4.3 39

P4.4 40

P4.5 41

P4.6 42

P4.7/TBCLK 43

P5.0 44

P5.1 45

P5.2 46

P5.3 47

P5.4/MCLK 48

P5.5/SMCLK 49

P5.6/ACLK 50

P5.7/TBOUTH/SVSOUT 51

XT2OUT 52

XT2IN 53

TDO/TDI 54

TDI/TCLK 55

TMS 56

TCK 57

RST/NMI 58

P6.0/A0 59

P6.1/A1 60

P6.2/A2 61

AVSS 62

DVSS 63

AVCC 64

MSP430F2617TPMR

GND

RST

V3P3

3.32k

1 2

3 4

5 6

7 8

9 10

11 12

13 14

PEC07DAAN

V3P3

MSP_DEC0

MSP_I1

MSP_I0

MSP_TOFF_SEL

MSP_M1

MSP_M0

GND

FTDI regulator used for 3.3V

STATUS

MSP_VREF

MSP_BVREF

330

GND

STATUS

GND

RST

1A2

EVQP1D05M

MSP_CA7

MSP_DEC1

MSP_nFAULT

MSP_nSLEEP

MSP_ADEC

MSP_DIR

MSP_nENBL

MSP_STEP

MSP_VINT

GND

0.1µF

C10

0.1µF

VBUS

0.1µF

4.7µF

C11

R10

DNP

DNP R9. If debug or

programming adapter is used

to power the MSP430,

remove R10 and populate R9

1µF

GND

Introduction

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Figure 3. DRV8846 Schematic (2 of 2)

10 DRV8846 Evaluation Module SLLU203A–June 2014–Revised March 2015

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