4-Channel Encoder Motor Driver Guide

Development Discussion Servos & Accessories
1

4-Channel Encoder Motor Driver Guide

1. Version Differences

  1. The 4-channel encoder motor driver has undergone multiple upgrades, resulting in subtle differences between versions. Checking the silkscreen on the front of the module is required to confirm the version number before operation. Version 1.3 serves as the default reference, and special attention must be paid to specific features of other versions.

  2. The silkscreen labels for the SDA and SCL interfaces on version 1.2 are reversed, requiring these two interfaces to be cross-connected during installation. This issue has been corrected in subsequent versions.

  3. In version 1.4, the 5V pin of the serial interface is modified to a No Connect floating pin, meaning there is no voltage output from this interface.

2. Power Supply Guidelines

  1. Power supplies dedicated to the motor driver module must not simultaneously power other high-power devices to prevent unstable module operation.

  2. Two power supply configurations are recommended. The first option utilizes independent power sources for the controller and the motor driver module. The second option uses the original power source voltage directly for the motor driver module and delivers a stepped-down voltage to the controller through a DC-to-DC buck converter.

  3. The 5V pin of the I2C interface may exhibit a falsely high voltage due to the presence of a diode, but no current flows through it. Since this pin only supports power input, the voltage levels do not pose a risk.

  4. Utilizing a power supply that matches the rated motor voltage is highly recommended, such as using a 5V power supply when driving 5V motors.

  5. If third-party batteries are used, the voltage must satisfy the specifications, and the discharge rate must be at least 3C.

  6. After powering on the module, the PWR indicator status reflects the operational state. For version 1.3 and earlier versions, the indicator remains solid during normal operation. For version 1.4, the indicator flashes during normal operation. The indicator turns off when power is disconnected.

3. Port Connections and Wiring

  1. The 6-pin PH2.0/1.25mm port is suitable for connecting TT motors. The pinout sequence differs from that of encoder motors, meaning it must not be connected to other ports to prevent short circuits.

  2. The 6-pin PH2.0/2.0mm port is designed for DC encoder motors and must be aligned and connected accurately.

  3. The voltage between VCC and GND of the encoder motor port depends on the operating voltage of the microcontroller unit, which is typically 3.3V or 5V. The voltage between M+ and M- is determined by the rated voltage of the specific motor.

  4. When the main shaft rotates clockwise, the Phase A pulse signal leads Phase B. When rotating counterclockwise, the Phase A pulse signal lags Phase B. Proper alignment of the signal sequence is required.

  5. For example, when establishing I2C communication with an Arduino UNO board, the SDA, SCL, and GND pins of the driver board must connect to the A4, A5, and GND ports of the UNO board, respectively. Furthermore, power cannot be supplied through the 5V, GND, SCL, and SDA lines of the I2C port because the 5V pin on this port only supports input and cannot output power.

4. Register Settings

  1. When configuring the encoder direction polarity via address 0x15, the polarity must be set to 0. Otherwise, the motor will rotate continuously in the forward direction, making it impossible to control the direction of rotation.

  2. Writing 16 bytes of 0x00 to the 0x3C register resets the pulse count of the encoder.