AN2350 datasheet(18/41 Pages) STMICROELECTRONICS

18 / 41 page

Hardware and mechanical equipments

AN2350

18/41

Figure 12.

The chassis of the dual DC motor

Each DC motor is driven by a monolithic solution (L6205PD) that is a dual full bridge driver.

In order to increase the current capability, the two full bridges inside the driver have been

connected in parallel mode.

A current controller IC (L6506) has been used for both the monolithic drivers in order to

sense the current motor. When the sensed motor current exceeds its current rate, the

current controller disables the power drivers.

Each motor is driven through a PWM signal generated by the microcontroller; the velocity

and the direction of rotation of each DC motor depends on the duty cycle of such signal. For

duty cycles over 50%, the motor moves in one direction, while for duty cycles under 50%,

the motor moves in the opposite direction. For a duty cycle of 50% the motor is stopped.

The driver board has been developed in order to control three links, even if the control

algorithm refers to the control of only one arm (two links).

In the driver board there is also placed a DC/DC converter that generates all the needed

voltages to supply all the circuits and the SDK-ST10F276 board. A detail of the schematic of

the power stage is shown in the following figure.

AN2350 Datasheet(PDF) 18 Page - STMicroelectronics