Welcome!

Thank you very much for purchasing our AZ-Delivery 4-channel L293D
motor shield for ATmega328p, Mega2560 R3 and Nano V3.0. On the
following pages, we will introduce you to how to use and setup this handy
device.

Have fun!
The 4-channel L293D motor driver shield is simply plugged onto an
microcontroller board and allows up to 4 DC motors, 2 stepper motors or 2
servo motors to be controlled. The powerful and reliable L293D chip that
distributes the load serves as an H-bridge. This allows you to easily use DC
motors and power supplies up to 36V.

The proven design allows motors to be easily connected and controlled by a

microcontroller boardand is particularly suitable for fast prototyping. This
shield is also suitable for beginners, there are numerous libraries,
instructions and example sketches that make controlling the direction or
speed of motors child's play. We especially recommend the Adafruit Motor
Shield Library (AFM), which you can download from the Arduino-IDE.

The most important information in a nutshell

» Labeled connections for easy connection

» Compatible with microcontrollers Mega 2560 R3, Diecimila, Duemilanove
and ATmega328p » 2 connections for 5V servo motors with connection to
the microcontroller timer for smooth control
» For controlling 4 DC motors, 2 stepper motors or 2 servo motors » Up to 4
bidirectional DC motors with individual 8-bit control » Up to 2 stepper
motors (unipolar or bipolar) with single coil, double coil or interleaved
stepping
» 4 H-bridges: 0.6A (1.2A peaks) with thermal protection for motors from
4.5V to 36V DC
» Pull-down resistors to stop the motors when switched on » 2 connections
for external power supply, separate for logic and motor supply
» Status LED for operation indication
» Reset button
» Dimensions:70*55mm

All links at a glance

Programming interfaces
» Arduino-IDE: https://www.arduino.cc/en/Main/Software »
Web-Editor: https://create.arduino.cc/editor
» Extension for SublimeText: https://github.com/Robot-Will/Stino
» Extension "VisualMicro" for Atmel Studio or Microsoft Visual Studio:
http://www.visualmicro.com/page/Arduino-for-Atmel-Studio.aspx

Arduino Tutorials, References, Community

» https://www.arduino.cc/en/Tutorial/HomePage
» https://www.arduino.cc/en/Reference/HomePage
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 Overview

4 DC motors or 2 stepper motors can be connected, the voltage range is

4.5 - 13.5 V. Additionally there are 2 connections for standard servo motors
for 5V.

The shield uses the standard PWM pins of the microcontroller board to
control the connected motors and servos. The Shield is compatible with
every microcontroller board (e.g. ATmega328p, Nano V3.0, Mega 2560 R3).
One microcontroller board can use only Motor Shield at a time.
 Used pins of the microcontroller

PIN 11: DC Motor 1 / Stepper motor 1 (Activation / Speed)

PIN 3: DC Motor 2 / Stepper motor 1 (Activation / Speed)
PIN 5: DC Motor 3 / Stepper motor 1 (Activation / Speed)
PIN 6: DC Motor 4 / Stepper motor 1 (Activation / Speed)

PINs 4, 7, 8 and 12 are used to control the DC / stepper motors via the
74HC595.

These PINs are only used for the servo motors.

PIN 9: Servo motor 1 control
PIN 10: Servo motor 2 control

The six analog inputs (PINs 14 to 19) and the digital inputs (PIN 2 and 13)
are not used.
Selection of motors; hardware
Motor voltage
Most motors require voltages from 6V to 12V. These can
be operated with the microcontroller shield.
Motors with voltages from 1.5V to 3V cannot b operated.
 Hardware motor voltage

Most motors require voltages from 6V to 12V. These can be operated with
the motor shield. Motors with voltages from 1.5V to 3V can not be used.

Current range

The shield is designed for 0.6 A per motor. Тhe peak value may behe peak
value may be up to 1.2 A for a short time. If a large amount of current is
required, the ICs used become so hot and must be cooled.

NiMH batteries are the best power supply. An operation on e.g. 9V battery
blocks is not recommended. It is best to disconnect the power supply of the
motors from the power supply of the microcontroller board(2 power
supplies).

Many problems during the operation of a microcontroller system come from

disturbances generated by motors on a common power supply. Large
fluctuations in power consumption caused by different loads on the motors
result in voltage fluctuations that can "confuse" a microcontroller program.

Separation of power supplies can be done by removing Power select

jumper, and connecting external power supply on motor shield (image
above). This way, the board has its own power supply, and motor shield has
external power supply.

If jumper is not removed, power for motors and driver, will be used from
board (microcontroller board and motor shield have the same power
supply).

Power supply of motors

DC motors must be supplied with their own power supply, as some of them
draw high currents. They must not be connected to the 5V pins of the
microcontroller board. This could destroy the microcontroller board or the
USB port.
There are two possibilities for connection:
1. The DC plug (power supply) on the board.
There is a protective diode on the plug. This protects the microcontroller
board against incorrect voltage.
2. The 2-pole screw terminal PWR on the Motor Shield.
There is also a protective circuit on the screw terminal which prevents
damage to the motor shield.

Option 1: Same power supply for the Board and Motor

Shield (1 battery)

A voltage source 6 - 12V e.g. battery is connected to the plug of the

microcontroller board or to the screw terminals of the motor shield.

IMPORTANT: The jumper Power selection jumper must be plugged into the
motor shield! This can lead to interference, as the voltage can fluctuate,
depending on the current consumption of the motors. This operating mode
is only recommended if a strong battery pack is used.

Option 2: Different power supply for the Board and

Motor Shield (2 batteries)

The microcontroller board is supplied either via the USB cable or via the
power connector. An additional power supply is connected to the screw
terminals of the Motor Shield.

IMPORTANT: The jumper Power selection jumper on the Motor Shield must
not be plugged in! This is the recommended method when motors or larger
loads are used. Logic voltage and load voltage are decoupled.

Connection for servo motors

The connectors of the microcontroller Shields are designed for small model
servos. They are powered directly by the 5V of the microcontroller board. If
larger servos are used (more power), then the tracks have to be
disconnected from the servo connections to the pin header and cables have
to be soldered to the external 5V supply for servo motors.

Model servo motors are very easy to use.

They have a 3-pin female cable. The signals are transmitted as PWM
signals, there is a PULS connector on 3-pin cable for this purpose (often
designed as orange or white wire). Power is supplied via the microcontroller
board. The other two wires of 3-pin cable are for the power supply: Red =
Vcc (+5V) and Black or Brown = GND.

PIN Assignment
Pin 9 PWM Servo 1
Pin 10 PWM Servo 2

Connection of DC motors (2 wire)

4 bidirectional DC motors can be connected: M1, M2, M3, M4. The speed
can be changed in steps of 0.5%. The motors can run in both directions
depending on the control.
The Motor Shield does not have a heat sink. It is not designed for a
constant motor current of 0,6 A. For larger motors or long running times it is
recommended to glue a heat sink onto the driver IC.

Both wires of the motor are connected to the corresponding terminals.

The direction of rotation can be changed by exchanging the wires. (e.g. all
motors should run in the same direction.)
 Connection of stepper motors

2 stepper motors can be connected: both uni-polar and bi-polar.

When connecting 2 stepper motors, make sure that the same coils are
always connected to one DC Motor connection (the colours used are used
just for example, they are different for each stepper motor).

Coil 1 of stepper motor 1 > M1

Coil 2 of stepper motor 1 > M2
Coil 1 of stepper motor 2 > M3
Coil 2 of stepper motor 2 > M4
 Loading the library

We recoment the "Adafruit Motorshield v1 library" to be used to program the

motor shield. We can download it in Arduino-IDE by going to: Tools >
Manage library

New window will open and in the search box type "adafruit motor"

Click on install button and when it is installed "INSTALLED" will be appear

near the of library name .
ATTENTION: Do not load the library for the Motor Shield V2. It
is not compatible with the Motor Shield.

After loading you can have a look at the example sketches.

 Example sketch for the control of a servo motor

// Adafruit Motor shield library copyright

// Adafruit Industries LLC, 2009
// this code is public domain, enjoy!

#include <AFMotor.h>
#include <Servo.h>
Servo servo1; // DC hobby servo
void setup() {
Serial.begin(9600); // set up Serial library at 9600 bps Serial.println("Servo Test!");
servo1.attach(9); // servo switch on
}
int i;
void loop() {
for(i = 0; i < 255; i++) {
servo1.write(i);
delay(3);
}
for(i = 255; i != 0; i--) {
servo1.write(i-255);
delay(3);
}
}
 Functions for the control of a DC motor

#include <AFMotor.h>

To create the DC motor object:

AF_DCMotor motor(number, frequency)

This command has 2 arguments:

» number - Motor connection 1,2,3 or 4.
» frequency – Rotation speed control signal
Rotation speed for motors 1 and 2 these frequencies can be selected:
MOTOR12_64KHZ,

MOTOR12_8KHZ,

MOTOR12_2KHZ or

MOTOR12_1KHZ.

And for motors 3 and 4, only 1KHz can be selected.

All other settings are ignored.

Hints: High speeds e.g. 64KHz are not used. The choice of a low speed
e.g. 1KHz leads to a lower energy consumption.

To set the speed of the motor, we use:

motor.setSpeed(speed)

» speed - is integer number which limits are from 0 (motor stop) to 255
(maximum speed).
To move the motor we use:
motor.run(direction)

» direction - can be one of three values:

FORWARD
BACKWARD
RELEASE

The directions "forwards" and "backwards" are not fixed. They depend on
the wiring of the individual motors. They can be changed by simply
exchanging the connections.

Example sketch for the control of a DC motor

An object with the name "motor" is created. All commands refer to <motor>.
The sketch is taken from the examples of the "Adafruit Motor shield library".

// Adafruit Motor shield library copyright

// Adafruit Industries LLC, 2009
// this code is public domain, enjoy!
#include <AFMotor.h>
AF_DCMotor motor(2, MOTOR12_64KHZ); // Creating an object of // <motor> class:
// port 2, 64KHz pwm
void setup() {
Serial.begin(9600);
Serial.println("Motor test!");
motor.setSpeed(200); // Speed 200 (maximal 255 possible) }
void loop() {
Serial.print("tick");
motor.run(FORWARD); // Motor goes forward
delay(1000);
Serial.print("tock");
motor.run(BACKWARD); // Motor goes backwards delay(1000);
Serial.print("tack");
motor.run(RELEASE); // Motor stops
delay(1000);
}

Functions for the control of a stepper motor

#include <AFMotor.h>

To create the stepper motor object we use:

AF_Stepper name(steps, stepper)
» name - name of the motor object, e.g. "motor" is specified for all other
commands.
» steps - resolution of the stepper motor
 e.g. 7.5 degree stepper motor has 360/7.5 = 48 steps resolution
e.g. 1.8 degree stepper motor has 360/1.8 = 200 steps resolution » stepper
- number for connection of the stepper motor
Connection 1 = Terminals M1 and M2
Connection 2 = Terminals M3 and M4

To set the speed of the motor we use:

motor.setSpeed(rpm)

» rpm - number of revolutions per minute of the stepper motor

To start the motor we use:

motor.step(steps, direction, steptype)

» steps - number of steps

» direction - rotation direction of motor, can be one of these values:
FORWARD
BACKWARD

» steptype - type of step:

SINGLE - only one coil is active
DOUBLE - both coils are simultaneously active (higher
torque) INTERLEAVE - Switching between SINGLE and
DOUBLE to double the resolution, thus halving the speed
MICROSTEP - The coils are controled with a PWM signal. This
results in a "soft" movement between the
individual steps.
 Stop the engine

By default, the motor keeps its position active after the step is completed.
(high power consumption). If you want the motor to move freely (low power
consumption), you must order it separately.
motor.release()

Program flow

The step commands BLOCK the program flow, they are not executed in the
background. Program flow waits until the motor movement is completed.
(There is no multitasking!)

Example sketch for the control of a stepper motor

An object with the name "motor" is created. All commands refer to <motor>.
The sketch is taken from the examples of the "Adafruit Motor shield library".

// Adafruit Motor shield library copyright

// Adafruit Industries LLC, 2009
// this code is public domain, enjoy!
#include <AFMotor.h>
AF_Stepper motor(48, 2); // 48 Steps / revolution, port 2, M3+M4 // Object name: motor
void setup() {
Serial.begin(9600); // Serial Interface with 9600 bps
Serial.println("Stepper test!");
motor.setSpeed(10); // 10 revolutions / Minute motor.step(100, FORWARD, SINGLE); // 100
Steps, forward, single motor.release(); // Motor releaced, low energy consumption
delay(1000); // wait 1000ms = 1s
}
void loop() {
// 100 steps each in different modes
motor.step(100, FORWARD, SINGLE);
motor.step(100, BACKWARD, SINGLE);
motor.step(100, FORWARD, DOUBLE);
motor.step(100, BACKWARD, DOUBLE);
motor.step(100, FORWARD, INTERLEAVE);
motor.step(100, BACKWARD, INTERLEAVE);
motor.step(100, FORWARD, MICROSTEP);
motor.step(100, BACKWARD, MICROSTEP);
}

You've done it, you can now use your module for your
projects.
Now it is time to learn and make the Projects on your own. You can do that
with the help of many example scripts and other tutorials, which you can
find on the internet.

If you are looking for the high quality microelectronics and

accessories, AZ-Delivery Vertriebs GmbH is the right company to get
them from. You will be provided with numerous application examples,
full installation guides, eBooks, libraries and assistance from our
technical experts.

https://az-delivery.de
Have Fun!
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