DRV8816EVM

User's Guide SLVU971 – September 2013 DRV8816 Evaluation Module This document is provided with the DRV8816 customer evaluation module (EVM) as a supplement to the DRV8816 data sheet. It details the hardware implementation of the EVM. 1 2 3 4 Contents PCB (Top-Assembly View) ................................................................................................ Introduction .................................................................................................................. 2.1 Power Connectors ................................................................................................. 2.2 Test Points .......................................................................................................... 2.3 Jumpers ............................................................................................................. 2.4 Speed Adjust Potentiometer (RP1 and RP2) ................................................................... 2.5 Motor Outputs ...................................................................................................... 2.6 Operation of the EVM ............................................................................................. DRV8816 Schematic ....................................................................................................... DRV8816 Bill of Materials .................................................................................................. 2 2 2 3 3 5 5 6 7 8 List of Figures 1 PCB (Top 3-D View) ........................................................................................................ 2 2 ENABLE Jumpers (EN1 and EN2) ....................................................................................... ....................................................................................... Speed Adjust Potentiometer (RP1 and RP2)............................................................................ DRV8816EVM Schematic.................................................................................................. 3 3 SLEEP SELECT (SLEEP) Jumper 4 4 5 SLVU971 – September 2013 Submit Documentation Feedback DRV8816 Evaluation Module Copyright © 2013, Texas Instruments Incorporated 5 7 1 PCB (Top-Assembly View) 1 www.ti.com PCB (Top-Assembly View) Figure 1. PCB (Top 3-D View) 2 Introduction The DRV8816EVM is a complete solution for evaluating the DRV8816 dual ½ -H Bridge Motor Driver. It includes an MSP430 microcontroller that is preprogrammed to take input from two dedicated analog potentiometers, for PWM speed control of 2 brushed DC motors. Two enable jumpers provide the ability to HIZ the motor outputs. Power can be provided externally up to 38 volts through the power header. To expand beyond the included firmware capability, the MSP430 can be reprogrammed via an external MSP430 USB Stick Development Tool available at www.ti.com/tool/ez430-f2013. 2.1 Power Connectors The DRV8816EVM uses a header for the application and monitoring of power. For the EVM, only a single power supply rail is necessary and an onboard 3.3-V regulator provides power to the MSP430 micro and logic core, VCC, of the DRV8816 motor driver. The minimum recommended VBB for the EVM is 8 V and the maximum is 38 V. See the data sheet for the DRV8816 (SLVSAI1) for complete voltage range information of the driver itself. NOTE: FAULT stays asserted (FAULT = L) until VBB reaches VBBNFR to give the charge pump headroom to reach the under voltage threshold. FAULT is a status-only signal and does not affect any device functionality. The H-bridge portion still operates normally down to VBB = 8 V with FAULT asserted. VBB for the DRV8816 is directly taken off the J1 power supply header. The J1 header is located near the bottom left corner of the board. As previously mentioned, the MSP430 comes preprogrammed to control basic DC motor operation. If changing the firmware via the external ez430 development tool is desired, it is NOT necessary or recommended to provide any input power to the DRV8816EVM. Power is provided from the ez430 board. 2 DRV8816 Evaluation Module SLVU971 – September 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated Introduction www.ti.com 2.2 Test Points Test points are provided and labeled for the inputs to the DRV8816 motor driver and also for the control signals back to the MCU. The inputs are labeled IN1 and IN2. The control inputs for enabling and disabling the motor outputs are labeled as EN1 and EN2. In addition, a test point labeled VPROPI is given to measure the voltage at the sense pin of the DRV8816. The purpose of this test point is to easily measure the average output current from the DRV8816. VSENSE x 5 = VPROPI. VSENSE = ISENSE x RSENSE. RSENSE = 0.2 Ω. See the data sheet for the DRV8816 SLVSAI1 under sections SENSE and VPROPI for more details 2.3 Jumpers There are three jumpers normally installed on the EVM. Two jumpers, EN1 and EN2, control the enable inputs on the DRV8816 and are used to enable or disable the motors attached to OUT1 and OUT2. The other jumper, labeled SLEEP, controls the low-power state, or sleep state, on the DRV8816. 2.3.1 ENABLE Jumpers (EN1 and EN2) The EN1 and EN2 jumpers are found in Figure 2. Installing the EN1 jumper provides a logic high to the DRV8816 EN1 pin and the motor connected to the OUT1 output is enabled. Installing the EN2 jumper provides a logic high to the DRV8816 EN2 pin and the motor connected to the OUT2 output is enabled. Figure 2. ENABLE Jumpers (EN1 and EN2) SLVU971 – September 2013 Submit Documentation Feedback DRV8816 Evaluation Module Copyright © 2013, Texas Instruments Incorporated 3 Introduction 2.3.2 www.ti.com SLEEP SELECT (SLEEP) Jumper The SLEEP jumper is found in Figure 3. Installing the jumper places the DRV8816 in an ACTIVE state and the motors spin. Removing the jumper places the DRV8816 in a low power consumption, or sleep state, and the motor outputs along with internal circuitry will be turned OFF. Figure 3. SLEEP SELECT (SLEEP) Jumper 4 DRV8816 Evaluation Module SLVU971 – September 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated Introduction www.ti.com 2.4 Speed Adjust Potentiometer (RP1 and RP2) The speed adjust potentiometers are found in Figure 4. Turning the wheel counter-clockwise will slow down the input PWM duty cycle to the DRV8816 and the motor turns slower. Turn the wheel clockwise and the motor spins faster. RP2 controls the motor connected across OUT2 and GND. RP1 controls the motor connected across OUT1 and GND. Figure 4. Speed Adjust Potentiometer (RP1 and RP2) 2.5 2.5.1 Motor Outputs Dual Motor Control This mode allows for up to two motors to be controlled independently. Connect a DC motor across OUT1 and GND. If desired, connect an additional DC motor across OUT2 and GND. To reverse motor direction of one of the motors, replace the connection from that motor to GND with a connection from that motor to VBB. This can be done with both motors if desired. 2.5.2 Single Motor Control This mode allows for bidirectional control of one motor. Connect a DC motor across OUT1 and OUT2. Reversing direction os now controlled by the potentiometer. This is covered in the Single Motor Operation section in more detail. SLVU971 – September 2013 Submit Documentation Feedback DRV8816 Evaluation Module Copyright © 2013, Texas Instruments Incorporated 5 Introduction 2.6 2.6.1 www.ti.com Operation of the EVM Dual Motor Operation Use the following steps to operate the EVM with up to two motors with single direction speed control: 1. Connect a DC motor across OUT1 and GND. If desired, connect an additional DC motor across OUT2 and GND. 2. Adjust the potentiometer, RP1, to minimum voltage by turning the wheel counter-clockwise all the way. This minimizes the motor speed of the motor connected across OUT1. If using a second motor perform this process with potentiometer RP2 as well. 3. Apply power to J1 header 4. Turn potentiometer, RP1, clockwise and the motor connected across OUT1 starts to turn. Continue adjusting, as desired, until the maximum speed is reached. If using a second motor perform this process with potentiometer RP2 as well. 5. The direction of the motor turning can be reversed, if desired, by removing the connection from GND to the motor and connecting the motor to VBB. If this is done, the potentiometer associated with controlling the motor will operate in reverse and thus should be turned all the way clockwise before powering on the board and then slowly turned counter-clockwise to speed up the motor. 2.6.2 Single Motor Operation Use the following steps to operate the EVM with a signal motor and bidirectional speed control: 1. Connect a motor across OUT1 and OUT2. 2. Adjust both potentiometers, RP1 and RP2, to minimum voltage by turning both wheels counterclockwise all the way. This minimizes the motor speed. 3. Apply power to J1 header 4. To spin the motor in one direction, turn potentiometer, RP1, clockwise and the motor will start to turn. Continue adjusting, as desired, until you reach maximum speed. 5. To spin in the other direction, turn potentiometer, RP1, counter-clockwise all the way and then turn potentiometer, RP2, clockwise and the motor will start to turn in the opposite direction. Continue adjusting, as desired, until maximum speed is reached. 6 DRV8816 Evaluation Module SLVU971 – September 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated DRV8816 Schematic www.ti.com 3 DRV8816 Schematic Figure 5 shows the DRV8816EVM schematic. 1 2 3 EXTERNAL SIGNALS DRV8816 VREF 3 3 R11 SPD_REF_1 2 CCW CW W SPD_REF_2 2 W 3.3k nFAULT 1 EN2 2 IN1 3 1 GND R10 330 GND VCC GND JP3 EN1 6 VCC JP2 ENABLE1 2 1 ENABLE2 2 R1 10k R12 D2 Red R2 10k OUT1 7 SENSE 8 0.2 GND GND GND VCP GND GND nSLEEP CP2 EN1 CP1 OUT1 SENSE 0.1µF C2 13 12 CP2 GND GND EN2 C3 100µF IN1 IN2 GND MSP430 OUT1 OUT2 3 4 GND C VCC TBLK_6A_4X3.5MM SPD_REF_1 STATUS IN1_MCU ENABLE2 EN1_MCU EN2_MCU SPD_REF_2 GND VCC 1 2 C6 10µF 3 4 TPS7A1633DGN OUT IN FB/DNC DELAY PG NC GND EN 1 2 3 4 5 6 7 8 15 16 VBB U3 IN1_MCU R6 IN2_MCU B 0 Remove These Resistors To Apply External Signals to Motor Driver VREF TBLK_6A_2X3.5MM R5 VCC U2 2 2 EN2_MCU 0 C4 0.1µF 0 GND 1 1 R4 GND J2 VBB EN1_MCU 0 9 VBB CONNECTIONS/LDO J1 R3 EN1 10 OUT2 OUT2 GND 0.1µF 11 CP1 DRV8816 nFAULT B IN1 A VBB C1 14 VCP 0 JP1 1 15 VPROPI VPROPI GND TP7 VPROPI 2 nSLEEP 5 1 EN2 IN1 4 16 IN2 IN2 IN2 VCC nFAULT EN1 EN2 IN1 IN2 VPROPI GND TP1 TP2 TP3 TP4 TP5 TP6 EN1 RP2 3352T-1-503LF R13 100k GND U1 EN2 RP1 3352T-1-503LF 1 CCW CW A TEST POINTS VCC PPAD VREF 4 P1.0/TA0CLK/ACLK P1.1/TA0.0 P1.2/TA0.1 P1.3 P1.4/SMCLK/TCK P1.5/TA0.0/SCLK/TMS P1.6/TA0.1/SDO/SCL/TDI/TCLK P1.7/SDI/SDA/TDO/TDI XIN/P2.6/TA0.1 XOUT/P2.7 RST/NMI/SBWTDIO TEST/SBWTCK DVSS DVSS PAD DVCC DVCC 12 IN2_MCU 11 ENABLE1 9 R8 47k EZ430 INTERFACE J3 SBWTDIO 4 3 2 1 10 SBWTCK 14 13 17 GND C5 0.1µF GND 7 6 VCC D1 C7 1µF STATUS GND R7 VCCX 0 Remove R7 To DebugMSP430 With Motor Supply R9 330 5 C 851-43-004-20-001000 MSP430G2131IRSA16 8 VCCX SBWTCK SBWTDIO Green 9 GND GND GND GND D D Texas Instruments and/or its licensors do not warrant the accuracy or completeness of this specification or any information contained therein. Texas Instruments and/or its licensors do not warrant that this design will meet the specifications, will be suitable for y our 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. 1 2 Number: DRV8816EVM Rev: A SVN Rev: Not in version control Drawn By: Engineer: Nicholas Oborny 3 Designed for: Public Release Project Title: DRV8816EVM Sheet Title: Assembly Variant: [No Variations] File: DRV8816EVM.SchDoc Contact: http://www.ti.com/support Mod. Date: 9/3/2013 Sheet: 1 of 1 Size: A4 http://www.ti.com © Texas Instrum ents 2013 4 Figure 5. DRV8816EVM Schematic SLVU971 – September 2013 Submit Documentation Feedback DRV8816 Evaluation Module Copyright © 2013, Texas Instruments Incorporated 7 DRV8816 Bill of Materials 4 www.ti.com DRV8816 Bill of Materials Table 1 is the BOM for the DRV8816EVM. Table 1. DRV8816EVM Bill of Materials 8 Designator Quantity PCB 1 Printed Circuit Board Description DRV8816EVM PartNumber Any C1, C2, C4 3 CAP, CERM, 0.1uF, 50V, +/-10%, X7R, 0603 C1608X7R1H104K TDK C3 1 CAP, AL, 100uF, 50V, +/-20%, 0.34 ohm, SMD EEE-FK1H101P Panasonic C5 1 CAP, CERM, 0.1uF, 16V, +/-20%, X7R, 0603 C0603C104M4RACTU Kemet C6 1 CAP, CERM, 10uF, 10V, +/-10%, X7R, 0805 GRM21BR71A106KE51L MuRata C7 1 CAP, CERM, 1uF, 50V, +/-10%, X7R, 0805 GRM21BR71H105KA12L MuRata D1 1 LED, Green, SMD LTST-C171GKT Lite-On D2 1 LED, Red, SMD LTST-C170KRKT Lite-On J1 1 Terminal Block, 2-pin, 6-A, 3.5mm ED555/2DS OST J2 1 Terminal Block, 4-pin, 6-A, 3.5mm ED555/4DS OST J3 1 SOCKET .050" GRID SIP 4 POS R/A, TH 851-43-004-20-001000 Mill-Max JP1, JP2, JP3 3 Header, Male 2-pin, 100mil spacing, PEC02SAAN Sullins R1, R2 2 RES, 10k ohm, 5%, 0.1W, 0603 CRCW060310K0JNEA Vishay-Dale R3, R4, R5, R6, R7 5 RES, 0 ohm, 5%, 0.1W, 0603 CRCW06030000Z0EA Vishay-Dale R8 1 RES, 47k ohm, 5%, 0.1W, 0603 CRCW060347K0JNEA Vishay-Dale R9, R10 2 RES, 330 ohm, 5%, 0.1W, 0603 CRCW0603330RJNEA Vishay-Dale R11 1 RES, 3.3k ohm, 5%, 0.1W, 0603 CRCW06033K30JNEA Vishay-Dale R12 1 RES, 0.2 ohm, 1%, 2W, 2512 CSRN2512FKR200 Stackpole Electronics Inc R13 1 RES, 100k ohm, 1%, 0.1W, 0603 CRCW0603100KFKEA Vishay-Dale RP1, RP2 2 Potentiometer, 3/8 Cermet, SingleTurn, Flat 3352T-1-503LF Bourns TP1, TP2, TP3, TP4, TP5, TP6, TP7 7 PC Test Point, Miniature 5019 Keystone U1 1 DMOS Dual ½-H Bridge Motor Drivers DRV8816 Texas Instruments U2 1 Mixed Signal MicroController, RSA0016B MSP430G2131IRSA16 Texas Instruments U3 1 IC, 60-V, 6-A IQ, 100-mA, LDO Voltage Regulator TPS7A1633DGN Texas Instruments DRV8816 Evaluation Module Manufacturer SLVU971 – September 2013 Submit Documentation Feedback Copyright © 2013, Texas Instruments Incorporated EVALUATION BOARD/KIT/MODULE (EVM) ADDITIONAL TERMS Texas Instruments (TI) provides the enclosed Evaluation Board/Kit/Module (EVM) under the following conditions: The user assumes all responsibility and liability for proper and safe handling of the goods. Further, the user indemnifies TI from all claims arising from the handling or use of the goods. Should this evaluation board/kit not meet the specifications indicated in the User’s Guide, the board/kit may be returned within 30 days from the date of delivery for a full refund. THE FOREGOING LIMITED WARRANTY IS THE EXCLUSIVE WARRANTY MADE BY SELLER TO BUYER AND IS IN LIEU OF ALL OTHER WARRANTIES, EXPRESSED, IMPLIED, OR STATUTORY, INCLUDING ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE. EXCEPT TO THE EXTENT OF THE INDEMNITY SET FORTH ABOVE, NEITHER PARTY SHALL BE LIABLE TO THE OTHER FOR ANY INDIRECT, SPECIAL, INCIDENTAL, OR CONSEQUENTIAL DAMAGES. Please read the User's Guide and, specifically, the Warnings and Restrictions notice in the User's Guide prior to handling the product. This notice contains important safety information about temperatures and voltages. For additional information on TI's environmental and/or safety programs, please visit www.ti.com/esh or contact TI. No license is granted under any patent right or other intellectual property right of TI covering or relating to any machine, process, or combination in which such TI products or services might be or are used. TI currently deals with a variety of customers for products, and therefore our arrangement with the user is not exclusive. TI assumes no liability for applications assistance, customer product design, software performance, or infringement of patents or services described herein. REGULATORY COMPLIANCE INFORMATION As noted in the EVM User’s Guide and/or EVM itself, this EVM and/or accompanying hardware may or may not be subject to the Federal Communications Commission (FCC) and Industry Canada (IC) rules. For EVMs not subject to the above rules, this evaluation board/kit/module is intended for use for ENGINEERING DEVELOPMENT, DEMONSTRATION OR EVALUATION PURPOSES ONLY and is not considered by TI to be a finished end product fit for general consumer use. It generates, uses, and can radiate radio frequency energy and has not been tested for compliance with the limits of computing devices pursuant to part 15 of FCC or ICES-003 rules, which are designed to provide reasonable protection against radio frequency interference. Operation of the equipment may cause interference with radio communications, in which case the user at his own expense will be required to take whatever measures may be required to correct this interference. General Statement for EVMs including a radio User Power/Frequency Use Obligations: This radio is intended for development/professional use only in legally allocated frequency and power limits. Any use of radio frequencies and/or power availability of this EVM and its development application(s) must comply with local laws governing radio spectrum allocation and power limits for this evaluation module. It is the user’s sole responsibility to only operate this radio in legally acceptable frequency space and within legally mandated power limitations. Any exceptions to this are strictly prohibited and unauthorized by Texas Instruments unless user has obtained appropriate experimental/development licenses from local regulatory authorities, which is responsibility of user including its acceptable authorization. For EVMs annotated as FCC – FEDERAL COMMUNICATIONS COMMISSION Part 15 Compliant Caution This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation. Changes or modifications not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. FCC Interference Statement for Class A EVM devices This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense. FCC Interference Statement for Class B EVM devices This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed and used in accordance with the instructions, may cause harmful interference to radio communications. However, there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful interference to radio or television reception, which can be determined by turning the equipment off and on, the user is encouraged to try to correct the interference by one or more of the following measures: • Reorient or relocate the receiving antenna. • Increase the separation between the equipment and receiver. • Connect the equipment into an outlet on a circuit different from that to which the receiver is connected. • Consult the dealer or an experienced radio/TV technician for help. For EVMs annotated as IC – INDUSTRY CANADA Compliant This Class A or B digital apparatus complies with Canadian ICES-003. Changes or modifications not expressly approved by the party responsible for compliance could void the user’s authority to operate the equipment. Concerning EVMs including radio transmitters This device complies with Industry Canada licence-exempt RSS standard(s). Operation is subject to the following two conditions: (1) this device may not cause interference, and (2) this device must accept any interference, including interference that may cause undesired operation of the device. Concerning EVMs including detachable antennas Under Industry Canada regulations, this radio transmitter may only operate using an antenna of a type and maximum (or lesser) gain approved for the transmitter by Industry Canada. To reduce potential radio interference to other users, the antenna type and its gain should be so chosen that the equivalent isotropically radiated power (e.i.r.p.) is not more than that necessary for successful communication. This radio transmitter has been approved by Industry Canada to operate with the antenna types listed in the user guide with the maximum permissible gain and required antenna impedance for each antenna type indicated. Antenna types not included in this list, having a gain greater than the maximum gain indicated for that type, are strictly prohibited for use with this device. Cet appareil numérique de la classe A ou B est conforme à la norme NMB-003 du Canada. Les changements ou les modifications pas expressément approuvés par la partie responsable de la conformité ont pu vider l’autorité de l'utilisateur pour actionner l'équipement. Concernant les EVMs avec appareils radio Le présent appareil est conforme aux CNR d'Industrie Canada applicables aux appareils radio exempts de licence. L'exploitation est autorisée aux deux conditions suivantes : (1) l'appareil ne doit pas produire de brouillage, et (2) l'utilisateur de l'appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d'en compromettre le fonctionnement. Concernant les EVMs avec antennes détachables Conformément à la réglementation d'Industrie Canada, le présent émetteur radio peut fonctionner avec une antenne d'un type et d'un gain maximal (ou inférieur) approuvé pour l'émetteur par Industrie Canada. Dans le but de réduire les risques de brouillage radioélectrique à l'intention des autres utilisateurs, il faut choisir le type d'antenne et son gain de sorte que la puissance isotrope rayonnée équivalente (p.i.r.e.) ne dépasse pas l'intensité nécessaire à l'établissement d'une communication satisfaisante. Le présent émetteur radio a été approuvé par Industrie Canada pour fonctionner avec les types d'antenne énumérés dans le manuel d’usage et ayant un gain admissible maximal et l'impédance requise pour chaque type d'antenne. Les types d'antenne non inclus dans cette liste, ou dont le gain est supérieur au gain maximal indiqué, sont strictement interdits pour l'exploitation de l'émetteur. SPACER SPACER SPACER SPACER SPACER SPACER SPACER SPACER 【Important Notice for Users of EVMs for RF Products in Japan】 】 This development kit is NOT certified as Confirming to Technical Regulations of Radio Law of Japan If you use this product in Japan, you are required by Radio Law of Japan to follow the instructions below with respect to this product: 1. 2. 3. Use this product in a shielded room or any other test facility as defined in the notification #173 issued by Ministry of Internal Affairs and Communications on March 28, 2006, based on Sub-section 1.1 of Article 6 of the Ministry’s Rule for Enforcement of Radio Law of Japan, Use this product only after you obtained the license of Test Radio Station as provided in Radio Law of Japan with respect to this product, or Use of this product only after you obtained the Technical Regulations Conformity Certification as provided in Radio Law of Japan with respect to this product. Also, please do not transfer this product, unless you give the same notice above to the transferee. Please note that if you could not follow the instructions above, you will be subject to penalties of Radio Law of Japan. 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It is intended solely for use for preliminary feasibility evaluation in laboratory/development environments by technically qualified electronics experts who are familiar with the dangers and application risks associated with handling electrical mechanical components, systems and subsystems. It should not be used as all or part of a finished end product. Your Sole Responsibility and Risk. You acknowledge, represent and agree that: 1. 2. 3. 4. You have unique knowledge concerning Federal, State and local regulatory requirements (including but not limited to Food and Drug Administration regulations, if applicable) which relate to your products and which relate to your use (and/or that of your employees, affiliates, contractors or designees) of the EVM for evaluation, testing and other purposes. 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Any loads applied outside of the specified output range may result in unintended and/or inaccurate operation and/or possible permanent damage to the EVM and/or interface electronics. Please consult the EVM User's Guide prior to connecting any load to the EVM output. If there is uncertainty as to the load specification, please contact a TI field representative. During normal operation, some circuit components may have case temperatures greater than 60°C as long as the input and output are maintained at a normal ambient operating temperature. These components include but are not limited to linear regulators, switching transistors, pass transistors, and current sense resistors which can be identified using the EVM schematic located in the EVM User's Guide. When placing measurement probes near these devices during normal operation, please be aware that these devices may be very warm to the touch. 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