Note that this motor driver add-on is designed specifically for newer versions of the Raspberry Pi with 40-pin GPIO headers, including the Model B+, Model A+, Raspberry Pi 2 Model B, and Raspberry Pi 3 Model B. The board matches the Raspberry Pi HAT (Hardware Attached on Top) mechanical specification, although it does not conform to the full HAT specifications due to the lack of an ID EEPROM. (A footprint for adding your own EEPROM is available for applications where one would be useful; pull-ups on SDA, SCL, and WP are provided.) It is not practical to use this expansion board with the original Raspberry Pi Model A or Model B due to differences in their pinout and form factor.

These dual motor drivers are also available as Arduino shields. For single-channel versions in a more compact form factor, consider our High-Power Motor Drivers. For smaller, lower power, and lower cost alternatives designed for a Raspberry Pi, consider our Dual MC33926 Motor Driver for Raspberry Pi and DRV8835 Dual Motor Driver for Raspberry Pi.

Features common to all versions

• PWM operation up to 100 kHz
• Motor indicator LEDs show what the outputs are doing even when no motor is connected
• Integrated 5 V, 2.5 A switching step-down voltage regulator powers the Raspberry Pi base for single-supply operation
• Python library makes it easy to get started using this board as a motor driver expansion board
• GPIO pin mappings can be customized if the default mappings are not convenient
• Current sensing and limiting pins are exposed for advanced use
• Reverse-voltage protection
• Undervoltage shutdown
• Short circuit protection

Details for item #3754

• Operating voltage: 6.5 V to 30 V (absolute maximum; not intended for use with 24 V batteries)
• Output current: 22 A continuous
• Active current limiting (chopping) with approximate default threshold of 60 A (can be adjusted lower)

This is the 18v22 motor driver, which is a partial kit; connectors are included but not soldered in.

Shorting blocks and 0.1″ male headers (not included) can be used to make some of the more advanced optional modifications to the board, such as remapping the control pins.

The motor driver includes six 100 μF or 150 μF electrolytic power capacitors, and there is room to add additional capacitors (e.g. to compensate for long power wires or increase stability of the power supply). Additional power capacitors are usually not necessary, and no additional capacitors are included with this motor driver.

A Raspberry Pi is not included.

Using the motor driver board

Power

By default, the motor power supply also feeds a 5 V, 2.5 A switching step-down regulator that provides power to the connected Raspberry Pi. An ideal diode circuit makes it safe to have a different power supply connected to the Raspberry Pi through its USB Micro-B receptacle while the motor driver is connected and powered.

If you want to power the Raspberry Pi separately, the regulator can be disconnected by cutting two exposed traces on the board: one between the surface-mount pads labeled “VM” and “REG IN”, and another between the two pins by the “REG OUT” label, as shown to the right. On the 24v14 and 24v18 versions, disconnecting the regulator increases the absolute maximum operating voltage of the board to 40 V.

Default pin mappings

This table shows how the Raspberry Pi’s GPIO pins are used to interface with the motor drivers:

Motor control options

With the PWM pin held low, both motor outputs will be held low (a brake operation). With PWM high, the motor outputs will be driven according to the DIR input. This allows two modes of operation: sign-magnitude, in which the PWM duty cycle controls the speed of the motor and DIR controls the direction, and locked-antiphase, in which a pulse-width-modulated signal is applied to the DIR pin with PWM held high.

In locked-antiphase operation, a low duty cycle drives the motor in one direction, and a high duty cycle drives the motor in the other direction; a 50% duty cycle turns the motor off. A successful locked-antiphase implementation depends on the motor inductance and switching frequency smoothing out the current (e.g. making the current zero in the 50% duty cycle case), so a high PWM frequency might be required.

PWM frequency

The motor driver supports PWM frequencies as high as 100 kHz, but note that switching losses in the driver will be proportional to the PWM frequency. Typically, around 20 kHz is a good choice for sign-magnitude operation since it is high enough to be ultrasonic, which results in quieter operation.

A pulse on the PWM pin must be high for a minimum duration of approximately 0.5 µs before the outputs turn on for the corresponding duration (any shorter input pulse does not produce a change on the outputs), so low duty cycles become unavailable at high frequencies. For example, at 100 kHz, the pulse period is 10 µs, and the minimum non-zero duty cycle achievable is 0.5/10, or 5%.

Fault conditions

The motor driver can detect several fault states that it reports by driving the FLT pin low; this is an open-drain output that should be pulled up to your system’s logic voltage. The detectable faults include short circuits on the outputs, under-voltage, and over-temperature. All of the faults disable the motor outputs but are not latched, meaning the driver will attempt to resume operation when the fault condition is removed (or after a delay of a few milliseconds in the case of the short circuit fault). The over-temperature fault provides a weak indication of the board being too hot, but it does not directly indicate the temperature of the MOSFETs, which are usually the first components to overheat, so you should not count on this fault to prevent damage from over-temperature conditions.

Remapping pins

All of the Raspberry Pi’s GPIO pins are broken out along a row of numbered through-holes just below the 40-pin GPIO connector. Each GPIO pin used by the board is connected from this row to the corresponding motor driver pin by a trace on the top side of the board spanning the pair of holes. If you want to remap one of these motor driver pins, you can cut its trace with a knife and then run a wire from the lower hole to a new GPIO pin.

Current sensing and limiting

The motor driver exposes current sensing and limiting pins that are not connected to the Raspberry Pi, but they are accessible through their own through-holes in case you want to use them in a more advanced application.

The driver has the ability to limit the motor current through current chopping: once the motor drive current reaches a set threshold, the driver goes into brake mode (slow decay) for about 25 μs before applying power to drive the motor again. This makes it more practical to use the driver with a motor that might only draw a few amps while running but can draw many times that amount (tens of amps) when starting.

On this board (18v22), the nominal current limiting threshold is set to about 60 A by default. For each motor channel, you can lower the limit by connecting an additional resistor between the VREF pin and the adjacent GND pin; the graph below shows how the current limit relates to the VREF resistor value. For example, adding a 100 kΩ resistor between VREF and GND lowers the current limit to approximately 41 A. Note that the current limiting threshold is not highly precise, and is less accurate at especially low settings (indicated by the dashed portion of the curve).

The driver’s current sense pins, labeled CS, output voltages proportional to the motor currents while the H-bridges are driving. The output voltage for this version is about 10 mV/A plus a small offset, which is typically about 50 mV.

Each CS output is only active while the corresponding H-bridge is in drive mode; it is inactive (low) when the channel is in brake mode (slow decay), which happens when the PWM input is low or when current limiting is active. Current will continue to circulate through the motor when the driver begins braking, but the voltage on the CS pin will not accurately reflect the motor current in brake mode. The CS voltage is used internally by the motor driver, so to avoid interfering with the driver’s operation, you should not add a capacitor to this pin or connect a load that draws more than a few mA from it.

Real-world power dissipation considerations

The MOSFETs can handle large current spikes for short durations (e.g. 100 A for a few milliseconds), and the driver’s current chopping will keep the average current under the set limit. The peak ratings are for quick transients (e.g. when a motor is first turned on), and the continuous rating is dependent on various conditions, such as the ambient temperature. PWMing the motor will introduce additional heating proportional to the frequency. The actual current you can deliver will depend on how well you can keep the motor driver cool. The driver’s printed circuit board is designed to draw heat out of the MOSFETs, but performance can be improved by adding a heat sink or air flow. For high-current installations, the motor and power supply wires should also be soldered directly instead of going through the supplied terminal blocks, which are rated for up to 16 A.

Warning: This motor driver has no over-temperature shut-off. An over-temperature or over-current condition can cause permanent damage to the motor driver. You might consider using either the driver’s integrated current sense output (with an external ADC) or an external current sensor to monitor your current draw.

This product can get hot enough to burn under normal operating conditions. Take care when handling this product and other components connected to it.

Dimensions

Size:	65 mm × 56 mm
Weight:	20 g1

General specifications

Motor channels:	2
Minimum operating voltage:	6.5 V
Maximum operating voltage:	30 V2
Continuous output current per channel:	22 A3
Maximum PWM frequency:	100 kHz
Reverse voltage protection?:	Y
Partial kit?:	Y

Identifying markings

PCB dev codes:	rpe03a
Other PCB markings:	0J10613, blank white box

Notes:

1

Without included connectors and mounting hardware.

2

Absolute maximum; higher voltages can permanently destroy the motor driver. Recommended maximum is approximately 24 V, which leaves a safety margin for ripple voltage on the supply line. Not recommended for use with 24V batteries.

3

Typical results at room temperature with both channels running at 90% duty cycle.

File downloads

Dimension diagram of the Pololu Dual G2 High-Power Motor Driver 18v18 or 24v14 for Raspberry Pi (464k pdf)

Dimension diagram of the Pololu Dual G2 High-Power Motor Driver 18v22 or 24v18 for Raspberry Pi (437k pdf)

3D model of the Pololu Dual G2 High-Power Motor Driver 18v18 or 24v14 for Raspberry Pi (17MB step)

3D model of the Pololu Dual G2 High-Power Motor Driver 18v22 or 24v18 for Raspberry Pi (17MB step)

Drill guide for the Pololu Dual G2 High-Power Motor Driver 18v18 or 24v14 for Raspberry Pi (196k dxf)

This DXF drawing shows the locations of all of the board’s holes.

Drill guide for the Pololu Dual G2 High-Power Motor Driver 18v22 or 24v18 for Raspberry Pi (196k dxf)

This DXF drawing shows the locations of all of the board’s holes.

Recommended links

Python library for the Pololu Dual G2 High Power Motor Drivers for Raspberry Pi

This Python library for the Raspberry Pi makes it easy to interface with a Pololu Dual G2 High-Power Motor Driver for Raspberry Pi and use it to drive a pair of brushed DC motors. An example program is included with the library.