IC - L293D - Dual H-bridge motor driver

Hardware

De L293D Motor driver bezit 4 H-bruggen voor het aansturen van DC of stappenmotoren.
Met deze chip kun je twee motoren tegelijk besturen, en kun je tevens de motoren beide richtingen op laten draaien. Ook wel beken als h-bridge (h-brug).
Ideaal voor rijdende robots of de besturing van je robot-arm.

Pinout

Informatie (ENG):

CONNECTIONS IN L293D

Pin1 and Pin9 are “Enable” pins or the switch pins as you can say. They should be connected to +5V for the drivers to function (for the motor to follow the inputs). If they pulled low (GND), then the outputs will be turned off regardless of the input states, stopping the motors.
Pin4, Pin5, Pin12 and Pin 13 are ground pins which should ideally be connected to microcontroller’s ground.
Pin2, Pin7, Pin10 and Pin15 are logic input pins. These are control pins which should be connected to microcontroller pins or whatever is the input to L293D. Pin2 and Pin7 control the left motor ; Pin10 and Pin15 control the right motor. (as shown in diagram)
Pin3, Pin6, Pin11, and Pin 14 are output pins. Tie Pin3 and Pin6 to the left motor, Pin11 and Pin 14 to right motor. Note that there is a bijection between the input pins and output pins.
Pin16 powers the IC and it should be connected to regulated +5Volts.
Pin8 powers the two motors and should be connected to positive lead of a secondary battery. As per the datasheet, supply voltage can be as high as 36 Volts.As we can see the highest output is 36V so considerably larger motor can also be driven using this IC.

Truth Table

The truth table will explain you that how to make connections for the motor if you want it to move in either clockwise or anti clockwise direction.

PIN 1 (Enable)	PIN2	PIN7	OUTPUT
High	High	Low	Turn Anti Clockwise
High	Low	High	Turn Clockwise
High	High	Low	Stop
High	Low	High	Stop
Low	Doesn’t matter	Doesn’t matter	Doesn’t matter

MOTOR CONTROL PINS

EN1	Enable Motor 1
EN2	Enable Motor 2
IN1	Direction 1 Motor A
IN2	Direction 2 Motor A
IN3	Direction 1 Motor B
IN4	Direction 2 Motor B

PIN VALUES AND MEANING TO THE BRIDGE AND MOTORS

PIN	Value
IN1	HIGH	Enables Motor A
IN1	LOW	Disables Motor A
IN2	HIGH	Enables Motor B
IN2	LOW	Disables Motor B
IN1	HIGH	Motor A Forward
IN2	LOW	Motor A Forward
IN1	LOW	Motor A Backwards
IN2	HIGH	Motor A Backwards
IN1	LOW	Motor A Stops
IN2	LOW
IN1	HIGH
IN2	HIGH

The same happens when using EN3 and EN4

Bron(nen):
elec-club-iitb.github.io
electronicshobbyists.com

Arduino

Kleine motors zijn te voeden via de Arduino.

Sluit de IC aan volgens onderstaand overzicht:

Grotere motors met meer vermogen hebben een aparte voeding nodig.

Sluit de IC aan volgens onderstaand overzicht:

Voorbeeldcode voor bovenstaande schema’s:

//Dc motor example code//

int motorpin1 = 3;                  //define digital output pin no.
int motorpin2 = 4;                  //define digital output pin no.

void setup () {
  pinMode(motorpin1,OUTPUT);        //set pin 3 as output
  pinMode(motorpin2,OUTPUT);        // set pin 4 as output
}

void loop () {
  digitalWrite(motorpin1,LOW);
  digitalWrite(motorpin2,HIGH);
}

//Dc motor example code//

int motorpin1 = 3; //define digital output pin no.

int motorpin2 = 4; //define digital output pin no.

void setup () {

pinMode(motorpin1,OUTPUT); //set pin 3 as output

pinMode(motorpin2,OUTPUT); // set pin 4 as output

}

void loop () {

digitalWrite(motorpin1,LOW);

digitalWrite(motorpin2,HIGH);

}

Bron(nen):
communityofrobots.com

Hieronder een voorbeeld schema om 2 motoren aan te sturen:

/**
* Bruno Santos, 2013
* feiticeir0@whatgeek.com.pt
* Small code to test DC motors - 2x with a L298 Dual H-Bridge Motor Driver
* Free to share
**/

//Testing the DC Motors with
// L293D

//Define Pins
//Motor A
int enableA = 5;
int MotorA1 = 6;
int MotorA2 = 7;
 
//Motor B
int enableB = 8;
int MotorB1 = 9;
int MotorB2 = 10;

void setup() {
  
  Serial.begin (9600);
  //configure pin modes
  pinMode (enableA, OUTPUT);
  pinMode (MotorA1, OUTPUT);
  pinMode (MotorA2, OUTPUT);  
  
  pinMode (enableB, OUTPUT);
  pinMode (MotorB1, OUTPUT);
  pinMode (MotorB2, OUTPUT);  
  
}

void loop() {
  //enabling motor A
  Serial.println ("Enabling Motors");
  digitalWrite (enableA, HIGH);
  digitalWrite (enableB, HIGH);
  delay (1000);
  //do something

  Serial.println ("Motion Forward");
  digitalWrite (MotorA1, LOW);
  digitalWrite (MotorA2, HIGH);

  digitalWrite (MotorB1, LOW);
  digitalWrite (MotorB2, HIGH);

  //3s forward
  delay (3000);
  
  Serial.println ("Motion Backwards");
  //reverse
  digitalWrite (MotorA1,HIGH);
  digitalWrite (MotorA2,LOW);  
  
  digitalWrite (MotorB1,HIGH);
  digitalWrite (MotorB2,LOW);  

  //5s backwards
  delay (3000);

  Serial.println ("Stoping motors");
  //stop
  digitalWrite (enableA, LOW);
  digitalWrite (enableB, LOW);
  delay (3000);
}

/**

* Bruno Santos, 2013

* feiticeir0@whatgeek.com.pt

* Small code to test DC motors - 2x with a L298 Dual H-Bridge Motor Driver

* Free to share

**/

//Testing the DC Motors with

// L293D

//Define Pins

//Motor A

int enableA = 5;

int MotorA1 = 6;

int MotorA2 = 7;

//Motor B

int enableB = 8;

int MotorB1 = 9;

int MotorB2 = 10;

void setup() {

Serial.begin (9600);

//configure pin modes

pinMode (enableA, OUTPUT);

pinMode (MotorA1, OUTPUT);

pinMode (MotorA2, OUTPUT);

pinMode (enableB, OUTPUT);

pinMode (MotorB1, OUTPUT);

pinMode (MotorB2, OUTPUT);

}

void loop() {

//enabling motor A

Serial.println ("Enabling Motors");

digitalWrite (enableA, HIGH);

digitalWrite (enableB, HIGH);

delay (1000);

//do something

Serial.println ("Motion Forward");

digitalWrite (MotorA1, LOW);

digitalWrite (MotorA2, HIGH);

digitalWrite (MotorB1, LOW);

digitalWrite (MotorB2, HIGH);

//3s forward

delay (3000);

Serial.println ("Motion Backwards");

//reverse

digitalWrite (MotorA1,HIGH);

digitalWrite (MotorA2,LOW);

digitalWrite (MotorB1,HIGH);

digitalWrite (MotorB2,LOW);

//5s backwards

delay (3000);

Serial.println ("Stoping motors");

//stop

digitalWrite (enableA, LOW);

digitalWrite (enableB, LOW);

delay (3000);

}

Bron(nen):
blog.whatgeek.com.pt

Raspberry Pi

Sluit de IC aan zoals aangegeven op onderstaand schema:

Ps. Altijd de pinout van je Raspberry Pi controleren, deze kan verschillen per versie.

Met onderstaand python script kun je de motoren aansturen

#!/usr/bin/python
#encoding:utf-8
#Tutorial: http://www.knight-of-pi.org/simple-dc-motor-board-for-the-raspberry-pi-with-ic-l293-and-software-pulse-width-modulation/
#Licence: http://creativecommons.org/licenses/by-nc-sa/3.0/
# Author: Johannes Bergs

import RPi.GPIO as GPIO
from time import sleep
 
GPIO.setmode(GPIO.BOARD)

class Motor:

    def __init__(self, pinForward, pinBackward, pinControl):
        """ Initialize the motor with its control pins and start pulse-width
             modulation """

        self.pinForward = pinForward
        self.pinBackward = pinBackward
        self.pinControl = pinControl
        GPIO.setup(self.pinForward, GPIO.OUT)
        GPIO.setup(self.pinBackward, GPIO.OUT)
        GPIO.setup(self.pinControl, GPIO.OUT)
        self.pwm_forward = GPIO.PWM(self.pinForward, 100)
        self.pwm_backward = GPIO.PWM(self.pinBackward, 100)
        self.pwm_forward.start(0)
        self.pwm_backward.start(0)
        GPIO.output(self.pinControl,GPIO.HIGH) 

    def forward(self, speed):
        """ pinForward is the forward Pin, so we change its duty
             cycle according to speed. """
        self.pwm_backward.ChangeDutyCycle(0)
        self.pwm_forward.ChangeDutyCycle(speed)    

    def backward(self, speed):
        """ pinBackward is the forward Pin, so we change its duty
             cycle according to speed. """

        self.pwm_forward.ChangeDutyCycle(0)
        self.pwm_backward.ChangeDutyCycle(speed)

    def stop(self):
        """ Set the duty cycle of both control pins to zero to stop the motor. """

        self.pwm_forward.ChangeDutyCycle(0)
        self.pwm_backward.ChangeDutyCycle(0)

motor1 = Motor(16, 22, 18)
motor2 = Motor(23, 19, 21)

# Motor 1 test
motor1.forward(90)
sleep(5)
motor1.backward(50)
sleep(5)
motor1.stop()


# Motor 2 test
motor2.forward(90)
sleep(5)
motor2.backward(30)
sleep(5)
motor2.stop()

# Running both
motor1.forward(20)
motor2.backward(70)
sleep(5)
motor1.forward(90)
sleep(5)
motor1.stop()
motor2.stop()


GPIO.cleanup()

#!/usr/bin/python

#encoding:utf-8

#Tutorial: http://www.knight-of-pi.org/simple-dc-motor-board-for-the-raspberry-pi-with-ic-l293-and-software-pulse-width-modulation/

#Licence: http://creativecommons.org/licenses/by-nc-sa/3.0/

# Author: Johannes Bergs

import RPi.GPIO as GPIO

from time import sleep

GPIO.setmode(GPIO.BOARD)

class Motor:

def __init__(self, pinForward, pinBackward, pinControl):

""" Initialize the motor with its control pins and start pulse-width

modulation """

self.pinForward = pinForward

self.pinBackward = pinBackward

self.pinControl = pinControl

GPIO.setup(self.pinForward, GPIO.OUT)

GPIO.setup(self.pinBackward, GPIO.OUT)

GPIO.setup(self.pinControl, GPIO.OUT)

self.pwm_forward = GPIO.PWM(self.pinForward, 100)

self.pwm_backward = GPIO.PWM(self.pinBackward, 100)

self.pwm_forward.start(0)

self.pwm_backward.start(0)

GPIO.output(self.pinControl,GPIO.HIGH)

def forward(self, speed):

""" pinForward is the forward Pin, so we change its duty

cycle according to speed. """

self.pwm_backward.ChangeDutyCycle(0)

self.pwm_forward.ChangeDutyCycle(speed)

def backward(self, speed):

""" pinBackward is the forward Pin, so we change its duty

cycle according to speed. """

self.pwm_forward.ChangeDutyCycle(0)

self.pwm_backward.ChangeDutyCycle(speed)

def stop(self):

""" Set the duty cycle of both control pins to zero to stop the motor. """

self.pwm_forward.ChangeDutyCycle(0)

self.pwm_backward.ChangeDutyCycle(0)

motor1 = Motor(16, 22, 18)

motor2 = Motor(23, 19, 21)

# Motor 1 test

motor1.forward(90)

sleep(5)

motor1.backward(50)

sleep(5)

motor1.stop()

# Motor 2 test

motor2.forward(90)

sleep(5)

motor2.backward(30)

sleep(5)

motor2.stop()

# Running both

motor1.forward(20)

motor2.backward(70)

sleep(5)

motor1.forward(90)

sleep(5)

motor1.stop()

motor2.stop()

GPIO.cleanup()

Start het script met: sudo python motor.py , druk op CTRL+C om het script te stoppen!

Bron:
knight-of-pi.org

Afmetingen

GEEN GEGEVENS

Schema

GEEN GEGEVENS

Teardown

GEEN GEGEVENS

Datasheet

L293 datasheet (Texas Instruments)

Fritzing

GEEN GEGEVENS

Downloads

GEEN GEGEVENS

Zoeken

IC – L293D – Dual H-bridge motor driver

Hardware

Pinout

Truth Table

MOTOR CONTROL PINS

PIN VALUES AND MEANING TO THE BRIDGE AND MOTORS

Arduino

Raspberry Pi

Afmetingen

Schema

Teardown

Datasheet

Fritzing

Downloads