Texas Instruments DRV887 Series User manual

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DRV8876/74 Evaluation Module
User's Guide
SLVUBG7C–August 2018–Revised December 2019
DRV8876/74 Evaluation Module
This document is provided with the DRV887x family customer evaluation modules (EVM) as a supplement
to the DRV8876,DRV8876-Q1,DRV8874, and DRV8874-Q1 datasheets. This user's guide describes the
hardware implementation of the EVM.
CAUTION
Hot surface. Contact may cause burns. Do not Touch.
DRV8876EVM and DRV8876-Q1EVM are rated for power supply voltages
between 4.5 VDC and 37 VDC max. The components can support peak output
currents up to a maximum of 3.5 ADC. To maintain component temperatures
below the 130°C rating of the printed circuit board material, TI requires that the
continuous current of both channels be limited to 1.7 ADC (each) when
operating for extended periods of time at an ambient temperature of 25°C.
DRV8874EVM and DRV8874-Q1EVM are rated for power supply voltages
between 4.5 VDC and 37 VDC max. The components can support peak output
currents up to a maximum of 6 ADC. To maintain component temperatures
below the 130°C rating of the printed circuit board material, TI requires that the
continuous current of both channels be limited to 3.3 ADC (each) when
operating for extended periods of time at an ambient temperature of 25°C.
Contents
1 PCB (Top-Assembly View) ................................................................................................. 3
2 Introduction ................................................................................................................... 3
3 Power Connectors........................................................................................................... 3
4 Test Points.................................................................................................................... 4
5 PMODE Jumper and Speed-Adjustment Potentiometers .............................................................. 4
5.1 PH/EN Control Mode (PMODE = Logic Low)................................................................... 6
5.2 PWM Control Mode (PMODE = Logic High) .................................................................... 7
5.3 Independent Half-Bridge Control Mode (PMODE = Hi-Z) ..................................................... 8
6 Operation of the EVM ....................................................................................................... 9
6.1 Dual Motor Operation .............................................................................................. 9
6.2 Single Motor Operation ............................................................................................ 9
List of Figures
1 PCB (Top 3-D View)......................................................................................................... 3
2 PMODE header and PWM Potentiometers .............................................................................. 5
3 PMODE jumper configuration for PH/EN................................................................................. 6
4 PMODE jumper configuration for PWM................................................................................... 7
5 PMODE does not require a jumper for independant half-bridge mode............................................... 8
List of Tables

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1 PH/EN Control Mode........................................................................................................ 6
2 PWM Control Mode.......................................................................................................... 7
3 Independent Half-Bridge Control Mode................................................................................... 8
Trademarks
MSP430, eZ-FET are trademarks of Texas Instruments.
All other trademarks are the property of their respective owners.

www.ti.com PCB (Top-Assembly View)
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DRV8876/74 Evaluation Module
1 PCB (Top-Assembly View)
Figure 1. PCB (Top 3-D View)
2 Introduction
The DRV8876x/74xEVM is a complete solution for evaluating the DRV8876/74x H-bridge motor drivers. It
includes an MSP430™ microcontroller that is preprogrammed to take input from two dedicated analog
potentiometers for PWM speed control of one or two brushed DC motors. The jumper on the PMODE pin
allows the user to select from the input modes of PH/EN (GND), PWM (3.3 V), and independent half-
bridge control (Hi-Z). Power can be provided externally up to 37 V through the power header. To expand
beyond the included firmware capability, the MSP430 MCU can be reprogrammed through the eZ-FET
emulation circuit found in newer MSP430 Launchpads. We recommend the http://www.ti.com/tool/MSP-
EXP430FR5969. Note that a four pin angled male header is required and must be soldered to J21 of this
Launchpad from V+ pin to GND pin. We recommend a pin header with pin dimensions like 850-10-050-20-
001000. The U1 MCU must be removed from the Launchpad.
NOTE: To test the DRV8876N functionality (no current sensing), replace R7 with a 0-Ohm resistor
and set VREF to a voltage greater than 1 V. This will configure the DRV8876 to the same
operation as the DRV8876N.
3 Power Connectors
The DRV8876/74xEVM uses a single header for power entry to the EVM board. Only a single power
supply rail is necessary since an onboard 3.3-V regulator provides power to the MSP430. The minimum
recommended VM voltage for the EVM is 4.5 V and the maximum is 37 V. For complete voltage range
information of the driver itself, refer to the device.

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As previously mentioned, the MSP430 comes preprogrammed to control basic DC motor operation. If
changing the firmware via the external eZ-FET™ emulation tool, do not supply power to the VM connector
on the EVM. The eZ-FET™ board provides the necessary power during programming when connected to
the J6 connector. Note that a four pin angled male header is required and must be soldered to J21 of this
Launchpad from V+ pin to GND pin. We recommend a pin header with pin dimensions like 850-10-050-20-
001000. The U1 MCU must be removed from the Launchpad.
4 Test Points
The inputs and control signals between the MCU and the DRV8876/74 connect to the J4 header pins to
use as test points for EN/IN1, PH/IN2, nSLEEP, nFAULT, VREF, and IPROPI signals. The resistors next
to the headers (R2, R3, R4, R6, R10, and R11) can be removed to test the DRV8876/74 with external
signals rather than the signals from the MCU. The MCU provides logic output signals to the EN/IN1,
PH/IN2, and nSLEEP pins between 0 V and 3.3 V. The nFAULT signal pulls low during a fault condition
from the DRV8876/74. When nFAULT is low, the Fault LED, D2, will turn on. The VREF potentiometer
sets a reference voltage between 0 V and 3.3 V. The IPROPI signal voltage will be proportional to the
current out of the IPROPI pin. On the EVM, the RIPROPI resistor (R8) is 1.5 kΩ. For more information on
IPROPI, refer to the DRV8876 and DRV8876-Q1 datasheets.
5 PMODE Jumper and Speed-Adjustment Potentiometers
The PMODE header and jumper allow the user to select from the input modes of PH/EN (GND), PWM
(3.3 V), and independent half-bridge control (Hi-Z). PMODE must be selected prior to powering the EVM.
The inputs to the DRV8876/74 are EN/IN1 and PH/IN2. The function of these inputs are IN1 and IN2 when
the PMODE is 3.3 V (PWM mode) or Hi-Z (independent half-bridge mode). When PMODE is connected to
ground (PH/EN control mode) the input function is a phase/enable (PH/EN) interface.
The MSP430 produces PWM signals for the EN/IN1 and PH/IN2 pins with duty cycles proportional to the
voltage from the PWM potentiometers. The tables below show how to configure the potentiometers for
each PMODE configuration.
NOTE: When switching between modes, completely power down the board before changing the
PMODE jumper. Once powered down, turn both potentiometers completely counterclockwise
so motor does not start turning immediately when the board is powered. After moving the
PMODE jumper and setting the potentiometers, power up the board again to use the new
mode.

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Figure 2. PMODE header and PWM Potentiometers

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5.1 PH/EN Control Mode (PMODE = Logic Low)
When the PMODE pin is logic low on power up, the device latches into PH/EN mode (Figure 3). PH/EN
mode allows for the H-bridge to be controlled with a speed and direction type of interface. The truth table
for PH/EN mode is shown in Table 1. This method is best for bidirectional driving for one motor.
Figure 3. PMODE jumper configuration for PH/EN
Table 1. PH/EN Control Mode
EN PH OUT1 OUT2 DESCRIPTION
LOW - turn
IN1 PWM
Pot
completely
counterclock
wise
X L L Brake, (Low-Side Slow Decay)
PWM - set
IN1 PWM pot
in any
position
LOW - turn
IN2 PWM
completely
counterclock
wise
L H Reverse (OUT2 →OUT1)
PWM - set
IN1 PWM pot
in any
position
HIGH - turn
IN2 PWM
completely
clockwise H L Forward (OUT1 →OUT2)

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5.2 PWM Control Mode (PMODE = Logic High)
When the PMODE pin is logic high on power up, the device latches into PWM mode (Figure 4). PWM
mode allows for the H-bridge to enter the Hi-Z state without taking the nSLEEP pin logic low. The truth
table for PWM mode is shown in Table 2. This method is best for bidirectional driving for one motor.
Figure 4. PMODE jumper configuration for PWM
Table 2. PWM Control Mode
IN1 IN2 OUT1 OUT2 DESCRIPTION
LOW - turn
IN1 PWM
completely
counterclock
wise
LOW - turn
IN2 PWM
completely
counterclock
wise
Hi-Z Hi-Z Coast, (H-Bridge Hi-Z)
LOW - turn
IN1 PWM
completely
counterclock
wise
PWM - set
IN2 PWM pot
in any
position L H Reverse (OUT2 →OUT1)
PWM - set
IN1 PWM pot
in any
position
LOW - turn
IN2 PWM
completely
counterclock
wise
H L Forward (OUT1 →OUT2)
HIGH - turn
IN1 PWM
completely
clockwise
HIGH - turn
IN2 PWM
completely
clockwise L L Brake, (Low-Side Slow Decay)

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5.3 Independent Half-Bridge Control Mode (PMODE = Hi-Z)
When the PMODE pin is Hi-Z on power up, the device is latched into independent half-bridge control
mode. This mode allows for each half-bridge to be directly controlled in order to support high-side slow
decay or driving two independent loads. The truth table for independent half-bridge mode is shown in
Table 3.
Figure 5. PMODE does not require a jumper for independant half-bridge mode
Table 3. Independent Half-Bridge Control Mode
INx OUTx DESCRIPTION
LOW - turn INx PWM
completely
counterclockwise L OUTx Low-Side On
PWM - set IN1 PWM pot
in any position H or PWM OUTx High-Side On

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6 Operation of the EVM
6.1 Dual Motor Operation
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
VM. This can be done with both motors if desired.
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, IN1 PWM, 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 IN2 PWM as well.
3. Remove the jumper from the PMODE header so the PMODE pin is Hi-Z.
4. Apply power to J1 header
5. Turn potentiometer, IN1 PWM, 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 IN2 PWM as well.
6. 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 VM. 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.
6.2 Single Motor Operation
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 described in detail in Section 6.2.
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. Use a jumper to connect the PMODE header to 3.3 V or GND to set the input mode to PWM control
mode or PH/EN mode respectively.
3. Adjust both potentiometers, IN1 PWM and IN2 PWM, according to the table of the corresponding
PMODE setting in Section 5.1.
4. Apply power to J1 header.
5. Control the motor direction and speed by adjusting the potentiometers according to the tables in
Section 5.1.

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