User's Guide
SLVU350A – November 2009 – Revised July 2019
DRV8821/DRV8823 User's Guide
This document is provided as a supplement to the DRV8821/DRV8823 datasheet. It details the hardware
implementation of the CPG003 DRV8821-23EVM-001 Customer Evaluation Module (EVM).
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Contents
Block Diagram ................................................................................................................ 3
1.1
Power Connectors .................................................................................................. 3
1.2
Test Stakes .......................................................................................................... 3
1.3
Jumpers .............................................................................................................. 4
1.4
Motor Outputs ....................................................................................................... 4
GUI Software Installation .................................................................................................. 4
2.1
System Requirements .............................................................................................. 5
2.2
Installation Procedure .............................................................................................. 5
The Windows Application ................................................................................................. 16
3.1
DRV8821 GPIO Control Signals ................................................................................ 17
3.2
Updating DAC Output for Current Control (VREF) ........................................................... 18
3.3
Operating the Stepper Motor (DRV8821) ...................................................................... 18
3.4
Operating the Motors (DRV8823) ............................................................................... 21
3.5
Updating DAC Output for Reference Voltage ................................................................. 22
Menu Options .............................................................................................................. 22
List of Figures
.................................................................................... 4
.................................................................................. 4
Setup_DRV8821/DRV8823_EVM.exe .................................................................................... 5
Installation Initialization ..................................................................................................... 5
License Agreement .......................................................................................................... 6
NI License Agreement ...................................................................................................... 6
Installation Directory Screen ............................................................................................... 7
Component Selection ....................................................................................................... 7
Configure Proxy .............................................................................................................. 8
Ready to Install .............................................................................................................. 8
Downloading RTE ........................................................................................................... 9
LabVIEW RTE Self Extraction ............................................................................................. 9
LabVIEW RTE Installation Initialization ................................................................................. 10
Installation of LabVIEW RTE in Progress ............................................................................... 11
FTDI Installation Initialization ............................................................................................. 12
Driver Installation Wizard.................................................................................................. 12
License Agreement for FTDI Driver ...................................................................................... 13
Driver Installation Completion ............................................................................................ 14
Installation Complete ...................................................................................................... 14
Readme Window ........................................................................................................... 15
CPG003_DRV8821-23EVM-001_R1p0.exe Main Screen (DRV8821) .............................................. 16
CPG003_DRV8821-23EVM-001_R1p0.exe Main Screen (DRV8823) .............................................. 17
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VREF Select Jumpers (JP1 and JP2)
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DECAY Select Jumpers (JP3 and JP4)
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Control Signals Frame ..................................................................................................... 17
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Current Control Frame..................................................................................................... 18
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Turning the Stepper Motor ................................................................................................ 19
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Speed cnotrol Frame
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......................................................................................................
Step Control Frame ........................................................................................................
Motor A and B Frame ......................................................................................................
Reference Voltage Frame .................................................................................................
File Menu ....................................................................................................................
Debug Menu ................................................................................................................
Help Menu ..................................................................................................................
About Page .................................................................................................................
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Trademarks
All trademarks are the property of their respective owners.
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Block Diagram
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1
Block Diagram
Stepper AB or DC Motors 1 and 2
VM Power
Motor Outputs
DRV8821-23
MSP430
USB Chip
USB
Conn
Motor Outputs
Stepper CD or DC Motors 3 and 4
1.1
Power Connectors
The DRV8821/DRV8823 Customer EVM 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.
User must apply VM according to datasheet recommended parameters.
NOTE: VDD for logic and microcontroller is derived from USB interface.
1.2
Test Stakes
Every pin on the DRV8821/DRV8823 device has been brought out to a test stake. A label on the
silkscreen identifies each signal.
For those pins that change functionality depending on device flavor, a table is provided with corresponding
function name on its particular column.
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Block Diagram
1.3
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Jumpers
There are two styles of jumpers on the DRV8821-23EVM: two pin jumpers (JP3 and JP4) and three pin
jumpers (JP1 and JP2).
Two pin jumpers are used to set AB DECAY or CD DECAY HI or LO.
Three pin jumpers are used to select the VREF from a pot or from the microcontroller’s DAC outputs.
1.3.1
VREF Select Jumpers (JP1 and JP2)
From Pot
From DAC
1
1
(a)
(b)
Figure 1. VREF Select Jumpers (JP1 and JP2)
To configure the VREF select (either AB or CD) jumper, (a) Use position JPx-1:2 to select the MSP430
DAC output (default). (b) Use position JPx-2:3 to select the respective variable resistance potentiometer.
These jumpers should not be left open as a lack of a reference voltage on the device will minimize current
sourcing into the respective H Bridge, resulting in very poor motion or no motion at all.
1.3.2
DECAY Select Jumpers (JP3 and JP4)
(a)
(b)
Figure 2. DECAY Select Jumpers (JP3 and JP4)
To configure the DECAY select jumper: (a) place a jumper to set the respective DECAY signal HI. (b)
remove the jumper to use internal pull down resistor and set the DECAY signal to LO.
1.4
Motor Outputs
There are three ways of connecting the bipolar stepper motor (for DRV8821) or the dual DC motors (for
DRV8823) into the CPG003_DRV882123EVM-001 evaluation module: four pin header (J4 and J5), four
position terminal block (J2 and J3) and test clips. We do not recommend the connection of a stepper
motor into the test clips as these are Kelvin connections and not rated for high current output.
2
GUI Software Installation
The following section explains the location of files and the procedure for installing the software correctly.
NOTE: Ensure that no USB connections are made to the EVM until the installation is completed.
The installer will also install LabVIEW RTE 2014 and FTDI Driver, along with the GUI.
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GUI Software Installation
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2.1
System Requirements
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•
•
2.2
Supported OS – Windows 7 (32 Bit,64 Bit). The window text size should be Smaller-100% (Default)
Recommended RAM - 4 GB or higher
Recommended CPU Operating Speed – 3.3 GHz or higher
Installation Procedure
The following procedure helps you install the DRV8821/DRV8823 GUI
1. Double click on the Setup_DRV8821/DRV8823_EVM.exe as shown in Figure 3.
Figure 3. Setup_DRV8821/DRV8823_EVM.exe
2. The screen shown in Figure 4 appears, indicating installer initialization. Click the Next button.
Figure 4. Installation Initialization
3. In the newly open installation pop-up window, click Next. The license agreement will be displayed.
Please, read through it carefully and enable the "I Accept the Agreement" radio button and press Next.
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Figure 5. License Agreement
4. A screen as shown in Figure 6 appears, displaying the license agreement of National Instruments.
Please read through the agreement carefully and enable the “I Accept the License Agreement” radio
button and press the Next button.
Figure 6. NI License Agreement
5. Set the default directory for the GUI Installation and click Next.
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Figure 7. Installation Directory Screen
NOTE: It is highly recommended to keep the default values as provided in the installer.
6. A screen as shown in Figure 8 appears. This screen is to select the components to install. Select the
Components to Install and Click Next to continue installation. The LabVIEW RTE component checks
out if the LabVIEW RTE 2014 is already installed on the PC.
Figure 8. Component Selection
7. If LabVIEW RTE is selected as a component to install, a screen appears as shown in Figure 9.
Configure the proxy settings as required. This screen is to download the LabVIEW RTE 2014 from
ni.com, Click Next to continue the installation.
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Figure 9. Configure Proxy
8. A screen as shown in Figure 10 appears. Click Next to begin the installation.
Figure 10. Ready to Install
9. If the LabVIEW RTE 2014 is selected as a component to install, LabVIEW RTE downloads and
performs a silent mode installation.
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Figure 11. Downloading RTE
10. Once the Download completes, LabVIEW begins with the self-extraction as shown in Figure 12.
Figure 12. LabVIEW RTE Self Extraction
11. A screen appears as shown in Figure 13. It initializes the LabVIEW RTE Installation.
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Figure 13. LabVIEW RTE Installation Initialization
12. A display as shown in Figure 14 appears which indicates the progress of LabVIEW RTE installation.
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Figure 14. Installation of LabVIEW RTE in Progress
13. Once the LabVIEW RTE 2014 is installed, DRV 8821/DRV8823 EVM GUI component installs.
14. After DRV8821/DRV8823 Installation, FTDI Installation begins. A screen as shown in Figure 15
appears, click Extract to proceed.
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Figure 15. FTDI Installation Initialization
15. A screen as shown in Figure 16 appears, click Next to proceed.
Figure 16. Driver Installation Wizard
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16. The License Agreement appears on screen as shown in Figure 17.
17. Read through the License Agreement carefully and enable the “I Accept this Agreement” radio button
and Click on Next.
Figure 17. License Agreement for FTDI Driver
18. Click Finish to complete the Driver Installation.
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Figure 18. Driver Installation Completion
19. Figure 19 appears denoting the completion of DRV8821/DRV8823 EVM GUI Installation. Click Finish.
Figure 19. Installation Complete
20. A Readme window as shown in Figure 20 appears displaying the link for LV 2014 RTE.
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Figure 20. Readme Window
WARNING
The DRV8821/DRV8823 EVM GUI requires the LabVIEW Run-Time
Engine 2014 to be installed before the GUI executes. Please note
the application is not compatible with other versions of LabVIEW
Runtime Engine.
You can download National Instruments LabVIEW Run-Time Engine 2014
from the below link:
LabVIEW Run-Time Engine 2014
NOTE: DRV8821/DRV8823 EVM GGUI executable has been built in LabVIEW 2014 (32-bit) version,
and it expects the LabVIEW Run-Time Engine version to be LabVIEW Run-Time Engine (32bit version).
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The Windows Application
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The Windows Application
The CPG003_DRV8821-23EVM Windows application is the software counterpart for the
CPG003_DRV8821-23EVM-001 EVM. It allows the PC computer to connect to the MSP430F1612
microcontroller though an USB interface chip. Once connection is established and commands are sent,
microcontroller takes care of configuring control signals and administering certain levels of automation,
such as STEP generation (for DRV8821) or SPI communications (for DRV8823).
The graphical user interface (GUI) has been designed to allow for all of the DRV8821/DRV8823 device’s
functionality to be tested without having to intervene with the hardware, except for the proper configuration
of jumpers, when needed.
Figure 21 and Figure 22 show the CPG003_DRV8821-23EVM-001_R1p0.exe main screen. The
application is divided into two tabs: One for the DRV8821 and one for the DRV8823. The menu contains
items to configure and enable/disable the serial port.
The DRV8821 tab contains frames with GPIO control for DRV8821’s control signals, speed, acceleration
and number of steps control for both stepper motors AB and CD, and current control through the
microcontroller’s DACs.
Figure 21. CPG003_DRV8821-23EVM-001_R1p0.exe Main Screen (DRV8821)
The DRV8823 tab contains two frames with the bits that make up the 16-bit serial registers which contain
the control signals to properly articulate each motor. Also GPIO signals such as Reset and SLEEPn are
made accessible through check boxes. Finally, two sliders adjust the reference voltage through the
microcontroller’s DAC outputs.
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Figure 22. CPG003_DRV8821-23EVM-001_R1p0.exe Main Screen (DRV8823)
3.1
DRV8821 GPIO Control Signals
Once the application is communicating with the interface board, the control signals can be actuated by
checking or un-checking check boxes on the Control Signals frame.
Figure 23. Control Signals Frame
A checked checkbox translates to a HI level on the respective control signal. Un-checked checkboxes
translate to a LO level on the respective control signals.
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The Windows Application
3.2
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Updating DAC Output for Current Control (VREF)
If the DRV8821 has been configured to accept VREF analog voltages through the microcontroller DAC
outputs (refer to Jumpers section), then the slider bar on the Current Control frame can be used to set the
VREF voltage.
Figure 24. Current Control Frame
The 12-bit DAC channels, 0/1, are connected to the DRV8821/DRV8823 VREF analog inputs ABVREF
and CDVREF. Changing the DAC digital value from 0 to 4095 changes the analog voltage at the
respective VREF pin from 0 V to 2.5 V respectively, following Equation 1.
2.5 V
VREF = DAC_VALUE · ¾
4095
(1)
Where:
1. VREF is the output voltage.
2. DAC_VALUE is a number from 0 to 4095.
3.3
3.3.1
Operating the Stepper Motor (DRV8821)
Turning the Stepper Motor
The Windows application, in conjunction with the MSP430F1612 microcontroller, utilizes a series of timers
to coordinate the rate of steps sent to the device. Once all the control signals are configured accordingly,
(ENABLEn = LO, SLEEPn = HI, RESETn = HI; DIR, USM0 and USM1 can be HI or LO depending on
preferred mode of operation; SRn must be L, if external diodes are not populated), the motor is ready to
be turned.
The DRV8821-23EVM-001 customer EVM allows for the possibility of coordinating step rates such that
accelerating and decelerating profiles are achieved. Both acceleration and deceleration are controlled by
the same parameters, acceleration rate and time base.
When the motor starts, it always starts at the slowed PPS speed (62 pulses per second). The controller
will accelerate the motor in order to reach the PPS speed. Acceleration rate is an 8-bit number (0 to 255)
that gets added to the current PPS speed and time base is an 8-bit number (0 to 255) that specifies how
many milliseconds will elapse from one speed increase to the next. Once the specified PPS has been
achieved, the acceleration stops.
The inverse of the above described will command the motor to stop.
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Pulses Per Second
Accel Rate
Time
Base
Figure 25. Turning the Stepper Motor
The Windows application frame to control speed, acceleration and deceleration, as well as motor start and
stop is shown in Figure 26.
Figure 26. Speed cnotrol Frame
Pressing the “Start Steps” button, will start the timer and pulses will be generated at the rate specified by
the decimal number at the PPS text box. Once the “Start Steps” button is pressed it becomes the
“Stepping” button. Press the “Stepping” button to stop the stepper motion.
When the motor is stepping, the “Update Speed” button becomes enabled. Speed can be updated by
modifying the PPS text box and then pressing the “Update Speed” button. The “Speed" button is disabled
every time the motor is not turning because the stepping has been halted by pressing the “Stepping”
button.
3.3.2
Step by Step control
The Step Control frame has a series of tools to control the stepping of the motor on a predetermined
number of steps fashion.
The “Pulse Step” button allows for a single step to be issued. Remember that a STEP takes place when
STEP goes from LO to HI.
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Figure 27. Step Control Frame
To move the motor a number of steps and then stop, fill the "# of Steps" text box with a decimal number
from 0 to 65535 and the motor will move that number of steps at the speed specified on the PPS text box.
No acceleration or deceleration takes place under this function.
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3.4
Operating the Motors (DRV8823)
The Windows application gives access to both serial registers on the DRV8823 bit by bit, very similar to
the GPIO section on the DRV8821 tab. If the “Auto Update” checkbox is checked, checking any of the
checkboxes on the respective frame, will update the serial register. If the “Auto Update” checkbox is
unchecked, the button “Write Motor x” must be pressed for these bit states to be transmitted to the device.
Figure 28. Motor A and B Frame
A checked checkbox translates to a 1 on the respective serial register bit. Un-checked checkboxes
translates to a 0 on the respective serial register bits.
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The Windows Application
3.5
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Updating DAC Output for Reference Voltage
If the DRV8823 has been configured to accept VREF analog voltages through the microcontroller’s DAC
outputs (refer to Jumpers section), then the slider bar on the Reference Voltage frame can be used to set
the VREF voltage.
Figure 29. Reference Voltage Frame
The 12-bit DAC channels, 0/1, are connected to the DRV883 VREF analog inputs ABVREF and CDVREF.
Changing the DAC digital value from 0 to 4095 changes the analog voltage at the respective VREF pin
from 0 V to 2.5 V respectively, following Equation 2.
2.5 V
VREF = DAC_VALUE · ¾
4095
(2)
Where:
1. VREF is the output voltage.
2. DAC_VALUE is a number from 0 to 4095.
4
Menu Options
•
File - The File menu contains the option Exit as shown in Figure 30 below.
Figure 30. File Menu
•
Debug - The Debug option can be used for the following operations.
Figure 31. Debug Menu
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•
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– Demo - By selecting the Demo in the submenu, the GUI runs in simulation mode, and by
unselecting it, the GUI runs in connected mode.
– Log to File - The log to file submenu is used to log the GUI activities to a log file that is specified.
– Debug log - The Debug log option enables to log all the activities of the user. If that is not selected,
only the high-level operations log.
Help
– Clicking the About in the Help Menu
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Figure 32. Help Menu
– The About Page provides the details like the Name of the GUI, GUI version, Supported OS and
Copyright Information.
Figure 33. About Page
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