EVALUATION BOARD MANUAL
Motor Driver
Stepper Motor Driver IC EVK
STEPMO_EVK_20x
ROHM Stepper Motor Driver IC Evaluation Kit based on Arduino/Genuino Platform
Abstract
This evaluation board manual describes the
usage of ROHM’s stepper motor driver IC
evaluation kit (EVK) called STEPMO_EVK_20x.
It is designed as a plug-in board (Shield) for
popular Arduino microcontroller platform. This
document provides guidelines to quickly setup
the hardware and software for fast and easy
stepper motor driver IC performance evaluation.
●
Description of Supported ICs
This EVK supports a variety of pin-compatible
ROHM stepper motor driver ICs from standard,
microstep, low voltage and high voltage families
with CLK-IN (clock input) or PARA-IN (parallel
input)
control.
They
integrate
PWM
constant-current drive with adjustable decay ratio
and the ability for full, half and microstepping.
The ICs feature single supply operation by
integrating the voltage regulator for the low
power logic together with highly efficient DMOS
output power stages. These do not require an
internal charge pump so the motor drivers
achieve low EMI performance. The motor drivers
integrate various protection functions such as
Ghost Supply Prevention (GSP), Thermal
Shutdown (TSD), Over-Current Protection
(OCP), Under / Over Voltage Lockout (UVLO /
OVLO) high ESD resistance and Pin Short
Protection for robust and reliable operation. The
ICs are housed in compact HTSSOP-B28 power
packages. For further details, please also consult
the
relevant
product
datasheets
at
http://www.rohm.com.
●
EVK Key Specifications (Across Model Versions)
Input voltage range…………………..……8~42V
Maximum Output Current Range..........1A~2.5A
Stepping Modes……………………. ,½,¼,⅛,
●
EVK Features
Designed as plug-in Shield for Arduino platform
Recommended: Arduino Uno
Several model variants covering wide range of
pin- compatible stepper driver ICs
Support of bipolar or unipolar stepper motors
Adjustable current limit
Adjustable current decay mode
Single supply operation
Stackable design to allow controlling two motors
at the same time
Reverse power supply protection
Software library for Arduino IDE
Arduino example programs (Sketches)
Visit
●
http://www.rohm.com/web/eu/arduino-stepper-motor-shield
for details
www.rohm.com
© 2016 ROHM Co., Ltd. All rights reserved.
1/20
EUDC59-U-002 - Rev. 1.3
STEPMO_EVK_20x
Evaluation Board Manual
Table of Contents
0.
Cover Page...............................................................................................................................................................................1
Abstract ............................................................................................................................................................................. 1
Description of Supported ICs ............................................................................................................................................. 1
EVK Key Specifications (Across Model Versions) ............................................................................................................. 1
EVK Features .................................................................................................................................................................... 1
1.
Safety Instructions .................................................................................................................................................................... 3
1.1
Warnings ............................................................................................................................................................................... 3
1.2
Instructions for Safe Use ....................................................................................................................................................... 3
2.
Introduction ............................................................................................................................................................................... 4
2.1
Block Diagram ....................................................................................................................................................................... 4
2.2
Model Overview .................................................................................................................................................................... 5
3.
Hardware Description ............................................................................................................................................................... 5
3.1
Schematic ............................................................................................................................................................................. 6
3.2
Bill of Materials ...................................................................................................................................................................... 8
4.
Setup Instruction ....................................................................................................................................................................... 9
4.1
Hardware .............................................................................................................................................................................. 9
●
Master/Slave Mode ............................................................................................................................................................ 9
●
Current Limitation Value ...................................................................................................................................................11
●
Current Decay Mode ....................................................................................................................................................... 12
●
Supply and Motor Connection ......................................................................................................................................... 13
●
Connection to Microcontroller Motherboard ..................................................................................................................... 14
4.2
Software .............................................................................................................................................................................. 15
●
Installation Procedure ...................................................................................................................................................... 15
●
Content of the Software Delivery Package ...................................................................................................................... 16
●
DEMO Sketch .................................................................................................................................................................. 16
●
Library function description / FAQ.................................................................................................................................... 17
●
●
●
●
www.rohm.com
© 2016 ROHM Co., Ltd. All rights reserved.
2/20
EUDC59-U-002 - Rev. 1.3
STEPMO_EVK_20x
Evaluation Board Manual
1. Safety Instructions
1.1 Warnings
This evaluation kit (EVK) should be operated in a well ventilated environment and, if used inside a case, the case should
not be covered.
This EVK should be placed on a stable, flat, non-conductive surface in use and should not be contacted by conductive
items.
All peripherals used with the EVK should comply with relevant standards for the country of use and be marked accordingly
to ensure that safety and performance requirements are met.
Where peripherals are connected that do not include the cable or connector, the cable or connector used must offer
adequate insulation and operation in order that the requirements of the relevant performance and safety are met.
The connection of incompatible devices to the EVK may affect compliance or result in damage to the unit and invalidate the
warranty.
1.2 Instructions for Safe Use
Do not expose the EVK to water, moisture or place on a conductive surface whilst in operation.
Do not expose the EVK to temperatures, which are out of the operational range specified for hardware and components
populating the EVK.
Take care whilst handling to avoid mechanical or electrical damage to the printed circuit board and components.
Avoid handling the printed circuit board while it is powered. Only handle by the edges to minimize the risk of electrostatic
discharge damage.
Do not short any outputs to each other, to the supply or to GND.
Do not reverse polarize the power supply connection.
Do not operate the EVK outside its specified ratings.
Take care to monitor the PCB and motor driver IC temperature when operating with high load currents and do not exceed
the absolute maximum ratings of all components.
www.rohm.com
© 2016 ROHM Co., Ltd. All rights reserved.
3/20
EUDC59-U-002 - Rev. 1.3
STEPMO_EVK_20x
Evaluation Board Manual
2. Introduction
This evaluation board manual describes the usage of ROHM’s stepper motor driver IC evaluation kit (EVK) called
STEPMO_EVK_20x. The purpose of the EVK is to allow the test and evaluation of the stepper driver IC in professional research and
development environments. It is designed as a plug-in board (Shield) for popular Arduino microcontroller platform. This document
provides guidelines to quickly setup the hardware and software for fast and easy stepper motor driver IC performance evaluation.
For further details about the motor driver ICs and other ROHM products, please also consult the relevant product datasheets and
general information at http://www.rohm.com.
The EVK provided by ROHM consists of hardware and software. This document refers to hardware revision 1605.
Please check http://www.rohm.com/web/eu/arduino-stepper-motor-shield for downloading additional useful information such as
application notes, Gerber files, schematics, bill of materials, software libraries, example programs etc.
For operation of the EVK an Arduino motherboard is required. For all tests and performance evaluation by ROHM the EVK has been
used together with an Arduino Uno R3 motherboard.
Arduino (also Genuino) is an open-source electronics microcontroller platform based on easy-to-use hardware and software.
The concept of Arduino includes a defined IO and Power pinning which allows the easy connection of daughter application boards
into the microcontroller mother board. These plug-in boards are also called Shields. The microcontroller programs created using the
Arduino IDE are called Sketches. For more information about Arduino please visit https://www.arduino.cc/.
Of course, the EVK hardware can be operated with any other microcontroller platform if desired if this is preferred for evaluation of
the IC performance. For this case the required information about the necessary IO and power signals is also provided within this
document.
2.1 Block Diagram
A block diagram of the EVK hardware is depicted in Figure 1. The motor voltage applied to screw terminal J6 is also the supply for
the motor driver IC. For single supply operation a Buck regulator creates a 7V input voltage for the Arduino motherboard (Vin) which
again uses this voltage to create the logic supplies of 5V/3.3V. Therefore it is not necessary to power the microcontroller board
separately. The 5V created by the Arduino motherboard is used by the EVK to supply logic blocks and voltage levels to configure the
stepper motor driver IC.
The EVK is designed to be stackable to allow evaluating two stepper driver ICs at the same time. For this purpose the Jumper J1 is
used to configure the board from Master (default, used for the first Shield) and Slave (only used for a second stacked Shield). As
Slave the Buck Regulator is turned off with high impedance output because the Vin Voltage is already generated by the Master
Shield.
Based on the setting of J1 the control signals for the motor driver IC are routed via multiplexers to different Arduino IOs to allow
independent motor drive. The Master or Slave configuration is indicated by an LED (Master: green, Slave red).
The screw terminal J7/J8 allows the connection of a 4-wire bipolar or a 5-to-6-wire unipolar stepper motor.
Figure 1: EVK Shield Block Diagram
www.rohm.com
© 2016 ROHM Co., Ltd. All rights reserved.
4/20
EUDC59-U-002 - Rev. 1.3
STEPMO_EVK_20x
Evaluation Board Manual
2.2 Model Overview
This stepper motor EVK has several different model variants. The main difference between the variants is the equipped ROHM
stepper motor driver IC. Table 1 gives an overview of the different IC features and the according naming of the EVK. The ID suffix “x”
of the EVK name STEPMO_EVK_20x denotes the model version. For further information about the ICs please follow the hyperlinks
to the datasheets on ROHM’s global web site.
ID
ROHM Motor
Driver IC
Supply Voltage
/V
x
BD63510AEFV
1
BD63520AEFV
1
3
BD63524AEFV
1
4
5
Max. Current per
Phase / A
Min
Max
25°C
8
28
1.0
Supported Step
Modes
Control Type
6
BD63720AEFV
19
28
7
BD63843EFV
19
28
8
BD63847EFV
19
28
9
BD63873EFV
19
28
1.0
A
BD63875EFV
19
28
1.5
,½,¼,
,½,¼,
,½,¼,⅛
,½(A),½(B),¼
,½(A),½(B),¼
,½(A),½(B),¼
,½,⅛,
,½,⅛,
,½(A),½(B),¼
,½(A),½(B),¼
B
C
Reserved
BD63872EFV
19
28
1.0
,½(A),½(B),¼
PARALLEL-IN
D
E
Reserved
BD63876EFV
19
28
PARALLEL-IN
F
BD6425EFV
19
42
,½(A),½(B),¼
,½(A),½(B),¼
1
2
8
28
2.0
2
2.5
2
8
28
BD63710AEFV
19
28
1.0
BD63715AEFV
19
28
1.5
2.0
2
1.0
2.0
2.0
2
2
1.5
CLK-IN
CLK-IN
CLK-IN
CLK-IN
CLK-IN
CLK-IN
CLK-IN
CLK-IN
CLK-IN
CLK-IN
CLK-IN
Note 1: In development.
Note 2: Will require additional heat sinking or cooling techniques to achieve the maximum current continuously.
Table 1: EVK Model Variants
3. Hardware Description
The schematic of the EVK is shown in Figure 2 and Figure 3 and the Bill-of-Materials (BOM) is summarized in Table 2. Please note
that the depicted schematics and BOM refer to model version 2 of the EVK. The other model versions differ in some details while the
major differences are the in assembled motor driver IC part number (see Table 1) and the different current sense resistor values. For
schematics and BOMs of all available model versions please visit http://www.rohm.com/web/eu/arduino-stepper-motor-shield.
Main part of the EVK is the ROHM stepper motor driver labelled IC4. Q2, R20 and Z3 form a reverse power supply protection. Z2 is a
TVS diode to protect against transient surge voltages. Supply decoupling and filtering is accomplished by C13, L2, and C6-C9.
Voltage dividers R9-R11 and R6, R19, R7 set the necessary voltage levels for VREF and MTH. Test pins are connected to GND via
0Ω-resistors.
The PWM frequency is set by C10 and R8 to the standard value as suggested in the IC datasheet. The resulting chopping frequency
is ~ 25 kHz. For fine tuning the stepper motor performance it is usually recommended to find the optimum frequency as a trade-off
between motor noise and current waveform distortion. Thus, if desired, the values of C10 and R8 could be changed by the user by
soldering different components. Please refer to the IC datasheet for recommended values.
TM
D2 is an instance of ROHM’s ultra-compact PICOLED -Duo two-color type LED indicating Master/Slave mode. It is switched by Q1
and controlled by Jumper J1.
J5 is the defined Arduino compatible set of header rows for IOs and power.
IC1 and IC2 are ROHM BU4551 parts which contain 4 times a 2:1 multiplexer each. They are required to route the correct control
signals to the motor driver IC depending on the setting of Jumper J1.
IC3 is ROHM’s BD9G101G wide input range DC/DC step-down regulator which integrates a high-side power MOSFET into its small
SOT-23 package while able to provide up to 0.5A DC output. It is used together with adjacent circuitry to create the 7V input voltage
to the Arduino with a high efficiency.
www.rohm.com
© 2016 ROHM Co., Ltd. All rights reserved.
5/20
EUDC59-U-002 - Rev. 1.3
F
E
D
C
B
J6
2
1
+VM_PIN
1
R8
A
J4
n.c.
68k
R12
R13
EDZ4.7B
C8
R9
R10
R11
100u
2
VREF
R5
3
3
C13
n.m.
Z3
R20
100nF
RSD131P10
C9
D
J2
3
MTH
VREF
PS
14
TEST0/NC
11
13
CR
10
12
GND
9
NC
VCC1
7
8
NC
6
OUT1A
RNF1S
5
RNF1
4
OUT1B
3
GND
2
IC4
1
NC
NC
VCC2
NC
OUT2A
RNF2S
RNF2
OUT2B
15
16
17
18
19
20
21
22
23
24
25
26
27
28
A[6.0]
CLK,CW_CCW,ENABLE,MODE[0-1],PS,I11
PS
R4
CLK
CW_CCW
I11
MODE0
MODE1
NTS
SCALE:
100u
n.m.
L5
4
100nF
2
mm
DIMENSIONS:
STEPMO_EVK_20x
DESIGN TITLE:
STEPMO_EVK_20x_1605
ORIGINAL A3
SIZE:
L3
n.m.
n.m.
L6
n.m.
L4
Nch
3
1
5
4:24:52 PM
5/20/2016
Pch
G
Q1
5
2
1
J7
J8
6
4
1
3
2
D2
ISSUE/DATE:
CHECKED:
1605
REVISION:
ISSUED:
SHEET
1
Page1
PAGE:
DRAWING NO.
IF IN DOUBT ASK
6
OF
2
ROHM Semiconductor GmbH
COMPANY:
D
S
D
S
4
6
T. Leineweber
AUTHOR:
G
C11
C15
5
C14
C18
DESCRIPTION:
n.m.
n.m.
ENABLE
NOTE:
R14
470
R15
470
4
REVISION:
n.m.
n.m.
L2
2.2u
R6
R19
6/20
n.m.
2
C6
1
C7
www.rohm.com
© 2016 ROHM Co., Ltd. All rights reserved.
R7
F
E
D
C
B
A
STEPMO_EVK_20x
Evaluation Board Manual
3.1 Schematic
Figure 2: EVK Schematic – STEPMO_EVK_20x – Page 1
EUDC59-U-002 - Rev. 1.3
C17
100u
C16
G
S
Q2
C10
Z2
TVS
7/20
F
E
D
C
B
1
SCL
SDA
AREF
GND
SCK MISO MOSI
SS
RXACTIVE
delayMicroseconds(40); // wait 40us after PS->High as recommended in data sheet
RS.MODE (FULL_STEP);
RS.CW_CCW(CCW);
}
void loop()
{
RS.CLK(1);
}
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© 2016 ROHM Co., Ltd. All rights reserved.
16/20
EUDC59-U-002 - Rev. 1.3
STEPMO_EVK_20x
●
Evaluation Board Manual
Library function description / FAQ
How to define the EVK version?
Before including the ROHM steppers library define which stepper motor IC your EVK model is using. E.g. in case of
STEPMO_EVK_206 use
#define BD63720AEFV
See Table 1 for the list of different EVK models.
How to initialize the motor shield?
In the sketch before the setup() function the motor shield is initialized by instantiating ROHM_Stepper class
Example with using the instance name “RS”:
ROHM_Stepper RS(BoardNumber);
BoardNumber depends on how many stacked boards you are using. Predefined values for BoardNumber: ONE, TWO
See sketch examples for references.
How to enable the motor?
The motor driver ICs have two pins (PS, ENABLE) which must be set on HIGH level to enable the motor. This can be controlled with
the equivalent functions ENABLE(int en) and PS(int ps). For example use
[instancename].ENABLE(ACTIVE);
[instancename].PS(ACTIVE);
Predefined values as referenced in the IC datasheet are for en:
ACTIVE, OPEN
and respectively for ps:
ACTIVE, RESET.
Both functions are similar as when the IC is set to OPEN with the ENABLE function or to RESET with the PS function the motor
driver outputs are set to high impedance and will not react on a clocking signal. The motor will no longer draw any current and thus
lose its holding torque.
The difference is that the static current consumption of the IC in PS=RESET mode is reduced but also the position of the stepper
motor is being re-initialized when setting PS=ACTIVE again.
If the driver was set to ENABLE=OPEN and then back to ACTIVE the motor driver outputs will go back to their latest values.
If the CLK() function is used directly after the PS(ACTIVE) command it is recommended to add a delay of 40us before clocking to
fulfill the motor driver’s timing requirements.
How to set up the stepping mode (full step, half step, etc)?
Use the method MODE(int mode). For example to set the stepper motor driver in quarter step mode use
[instancename].MODE(QUARTER_STEP);
Predefined values for mode: FULL_STEP, HALF_STEP, HALF_STEP_A, HALF_STEP_B, QUARTER_STEP, EIGHTH_STEP,
SIXTEENTH_STEP
Default: FULL_STEP
Note that not every stepper motor driver IC supports every stepping mode. See Table 1 and the IC datasheet for the available
modes.
How to run the motor for N steps
Use the method CLK(int clk) where clk is the number of steps.
Example1 (5 steps):
[instancename].CLK(5);
Example2 (5 steps):
for (i=0;i
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