Motor Driver BTS7960 43A

When you Build Your project , Sometimes you faced some issue with Motor driving Control , Specially if you want to control High Power Motor , I want to write about a nice Motor driver Module , it's BTS7960 half bridge motor controller .

The BTS 7960 is a fully integrated high current half , bridge for motor drive applications , comes with Two package as in pictures .

The Operating Voltage of 24V And Continuous current of 43A Max  , PWM capability of up to 25 kHz combined with active freewheeling 

In this artical I want to show you How we can use it with arduino and control High power Motor , And change The PWM Frequency of the arduino .

The datasheet for this IC Give us useful data 

this IC Have a good protection  circuit such as :

1) Undervoltage Shut Down: To avoid uncontrolled motion of the driven motor at low voltages the device shuts off . 
if the Supply voltage VUV(OFF) droped under 5.4V , The Motor driver will switched Off , And won't turned on untill the Supply voltage increased to 5.5V Or more .

2)Overtemperature Protection: The BTS 7960 is protected against overtemperature by an integrated temperature
sensor. Overtemperature leads to a shut down of both output stages.

3)Current Limitation : The current in the bridge is measured in both switches, High and Low side ,if The current reaching the limit current (Iclx)  the switch is deactivated and the other switch is activated for a certain time(Tcls).

You can read The datasheet for more info 

The connection of  this module to Arduino Board is shown in schematic Below , 2 PWM Pin must connected to PWM Pin on the arduino , EN pin connected to digital pin on the arduino , The motor driver channel Will be disable if EN Pin is LOW .

Simple code for arduino below .

/*........................
BTS7960 Motor Driver Test
Written By : Mohannad Rawashdeh
Code for :
https://www.instructables.com/member/Mohannad+Rawashdeh/
*/
int RPWM=5;
int LPWM=6;
// timer 0
int L_EN=7;
int R_EN=8;

void setup() {
  // put your setup code here, to run once:
  for(int i=5;i<9;i++){
   pinMode(i,OUTPUT);
  }
   for(int i=5;i<9;i++){
   digitalWrite(i,LOW);
  }
   delay(1000);
    Serial.begin(9600);
  }



void loop() {
  // put your main code here, to run repeatedly:
  Serial.println("EN High");
  digitalWrite(R_EN,HIGH);
  digitalWrite(L_EN,HIGH);
delay(1000);
for(int i=0;i<256;i++){
  analogWrite(RPWM,i);
//  analogWrite(LPWM,255-i);
  delay(100);
}
delay(500);
for(int i=255;i>0;i--){
  analogWrite(RPWM,i);
// analogWrite(LPWM,255-i);
  delay(100);
}
delay(500);
Serial.println("EN LOW");
digitalWrite(R_EN,LOW);
  digitalWrite(L_EN,LOW);
delay(1000);
for(int i=0;i<256;i++){
  analogWrite(RPWM,i);
  delay(100);
}
delay(500);
for(int i=255;i>0;i--){
  analogWrite(RPWM,i);
  delay(100);
}
delay(500);
}

And this is a video to show how this code works 

the PWM Frequency on the arduino UNO Atmega328p - Timer0 is 970Hz , This is a low PWM Frequency , in the next step we want to increase PWM Frequency .

arduino Uno atmega 328p MCU has 3 timers , Time0,,Time2 8 Bit and Time1 16Bit  

Timer0 is connected to pin D5 , D6  , we want to increase the frequency "More smoothly control " 

Note That Timer0 is control the  (delay , millis ) on the arduino , so any change on the prescale of this timer will change the delay and millis time .

int RPWM=5;
int LPWM=6;
int L_EN=7;
int R_EN=8;

  void setPWMfrequency(int freq){
   TCCR0B = TCCR0B & 0b11111000 | freq ;
  }
 
  void MotorActiveStatus(char Side,boolean s){
    boolean state=s;
    if(Side=='R'){
    digitalWrite(R_EN,s);
    }
    if(Side=='L'){
    digitalWrite(L_EN,s);
    }    
  }
  void setMotor(char side,byte pwm){
   if(side=='R'){
    analogWrite(RPWM,pwm);
   }
    if(side=='L'){
    analogWrite(LPWM,pwm);
   }
  }
  void closeMotor(char side){
     if(side=='R'){
    digitalWrite(RPWM,LOW);
     }
     if(side=='L'){
    digitalWrite(LPWM,LOW);
     }

     }
void setup() {
  // put your setup code here, to run once:
  setPWMfrequency(0x02);// timer 0 , 3.92KHz
  for(int i=5;i<9;i++){
   pinMode(i,OUTPUT);
  }
   for(int i=5;i<9;i++){
   digitalWrite(i,LOW);
  }
   delay(1000);
   MotorActiveStatus('R',true);
   MotorActiveStatus('L',true);
    Serial.begin(9600);
  }

void loop() {
  // put your main code here, to run repeatedly:
for(int i=0;i<256;i++){
  setMotor('R',i);
  delay(500);
}
delay(1000);
closeMotor('R');
delay(1000);
  for(int i=0;i<256;i++){
  setMotor('L',i);
  delay(500);
}
delay(1000);
closeMotor('L');
delay(1000);
}

if we want to use this code with another timer " timer 2 " just change  D5 , D6 To pin D3 , D11 Respectively

int RPWM=3;
int LPWM=11;
int L_EN=7;
int R_EN=8;

  void setPWMfrequency(int freq){
   TCCR2B = TCCR2B & 0b11111000 | freq ;
  }
 
  void MotorActiveStatus(char Side,boolean s){
    boolean state=s;
    if(Side=='R'){
    digitalWrite(R_EN,s);
    }
    if(Side=='L'){
    digitalWrite(L_EN,s);
    }    
  }
  void setMotor(char side,byte pwm){
   if(side=='R'){
    analogWrite(RPWM,pwm);
   }
    if(side=='L'){
    analogWrite(LPWM,pwm);
   }
  }
  void closeMotor(char side){
     if(side=='R'){
    digitalWrite(RPWM,LOW);
     }
     if(side=='L'){
    digitalWrite(LPWM,LOW);
     }

     }
void setup() {
  // put your setup code here, to run once:
  setPWMfrequency(0x02);// timer 2 , 3.92KHz
  for(int i=5;i<9;i++){
   pinMode(i,OUTPUT);
  }
   for(int i=5;i<9;i++){
   digitalWrite(i,LOW);
  }
   delay(1000);
   MotorActiveStatus('R',true);
   MotorActiveStatus('L',true);
    Serial.begin(9600);
  }

void loop() {
  // put your main code here, to run repeatedly:
for(int i=0;i<256;i++){
  setMotor('R',i);
  delay(50);
}
delay(500);
closeMotor('R');
delay(1000);
  for(int i=0;i<256;i++){
  setMotor('L',i);
  delay(50);
}
delay(500);
closeMotor('L');
delay(1000);
}

 

For arduino MEGA 2560 ,  it has 5 timers  : 

timer 0 (controls pin 13, 4)
timer 1 (controls pin 12, 11)
timer 2 (controls pin 10, 9)
timer 3 (controls pin 5, 3, 2)
timer 4 (controls pin 8, 7, 6)

This code For arduino mega with Timer 1 and 3  :

// code for Arduino Mega2560 and BTS7960 Motor driver
// written by : Mohannad Rawashdeh

int RPWM=3;
int LPWM=11;
int L_EN=7;
int R_EN=8;

  void setPWMfrequency(int freq){
    TCCR1B = TCCR2B & 0b11111000 | freq ;
    TCCR3B = TCCR2B & 0b11111000 | freq ;
  }
 
  void MotorActiveStatus(char Side,boolean s){
    boolean state=s;
    if(Side=='R'){
    digitalWrite(R_EN,s);
    }
    if(Side=='L'){
    digitalWrite(L_EN,s);
    }    
  }
  void setMotor(char side,byte pwm){
   if(side=='R'){
    analogWrite(RPWM,pwm);
   }
    if(side=='L'){
    analogWrite(LPWM,pwm);
   }
  }
  void closeMotor(char side){
     if(side=='R'){
    digitalWrite(RPWM,LOW);
     }
     if(side=='L'){
    digitalWrite(LPWM,LOW);
     }

     }
void setup() {
  // put your setup code here, to run once:
  setPWMfrequency(0x02);// timer 2 , 3.92KHz
  for(int i=5;i<9;i++){
   pinMode(i,OUTPUT);
  }
   for(int i=5;i<9;i++){
   digitalWrite(i,LOW);
  }
   delay(1000);
   MotorActiveStatus('R',true);
   MotorActiveStatus('L',true);
    Serial.begin(9600);
  }

void loop() {
  // put your main code here, to run repeatedly:
for(int i=0;i<256;i++){
  setMotor('R',i);
  delay(50);
}
delay(500);
closeMotor('R');
delay(1000);
  for(int i=0;i<256;i++){
  setMotor('L',i);
  delay(50);
}
delay(500);
closeMotor('L');
delay(1000);
}