Motor Driver BTS7960 43A

The BTS 7960 is a fully integrated high-current half bridge for motor drive applications. It comes with two packages, as in the 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 article, I want to show you how we can use it with Arduino to control a high-power Motor and change the PWM Frequency of the Arduino.

The datasheet for this IC gives us useful data

This IC has 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) drops under 5.4V, The Motor driver will switch Off And won’t turn on until the Supply voltage increases 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, the High and Low sides. If the current reaches 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 pins D5 and D6, we want to increase the frequency for smooth control.

Note that Timer0 controls 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);
}

The Arduino Mega 2560 it has 5 timers  :

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

This code for Arduino Mega with Timers 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);
}