A4988 Stepper Motor Driver Carrier, Black Edition

A4988 stepper motor driver carrier, Black Edition, bottom view with dimensions.

This product is a carrier board or breakout board for Allegro’s A4988 DMOS Microstepping Driver with Translator and Overcurrent Protection; Pololu therefore recommend careful reading of the A4988 datasheet (1MB pdf) before using this product. This stepper motor driver lets you control one bipolar stepper motor at up to 2 A output current per coil (see the Power Dissipation Considerations section below for more information). Here are some of the driver’s key features:

• Simple step and direction control interface
• Five different step resolutions: full-step, half-step, quarter-step, eighth-step, and sixteenth-step
• Adjustable current control lets you set the maximum current output with a potentiometer, which lets you use voltages above your stepper motor’s rated voltage to achieve higher step rates
• Intelligent chopping control that automatically selects the correct current decay mode (fast decay or slow decay)
• Over-temperature thermal shutdown, under-voltage lockout, and crossover-current protection
• Short-to-ground and shorted-load protection
• 4-layer, 2 oz copper PCB for improved heat dissipation
• Exposed solderable ground pad below the driver IC on the bottom of the PCB

This product ships with all surface-mount components—including the A4988 driver IC—installed as shown in the product picture.

This product ships individually packaged with 0.1" male header pins included but not soldered in; Pololu also carry a version with male header pins already soldered in. For customers interested in higher volumes at lower unit costs, Pololu offer a bulk-packaged version without header pins and a bulk-packaged version with header pins installed.

The Black Edition has the same component layout and pinout as Pololu's A4988 stepper motor driver carrier, so it can be used as a higher-performance drop-in replacement in applications designed for Pololu's original drivers. The Black Edition achieves its higher performance through its four-layer printed circuit board (PCB), which better draws heat out of the A4988 driver—while Pololu's original carrier can deliver up to approximately 1 A per phase in full-step mode without a heat sink or air flow, the Black Edition can deliver up to approximately 1.2 A under the same conditions.

Note that Pololu carry several other stepper motor drivers that can be used as alternatives for this module (and drop-in replacements in many applications):

• The MP6500 carrier can deliver up to 1.5 A per phase (continuous) without a heat sink and is available in two versions, one with a pot for controlling the current limit and one with digital current limit control for dynamic current limit adjustment by a microcontroller.
• The DRV8825 carrier can deliver more current over a wider voltage range and offers a few additional features.
• The DRV8834 carrier works with motor supply voltages as low as 2.5 V, making it suitable for low-voltage applications.
• The DRV8880 carrier offers dynamically scalable current limiting and “AutoTune”, which automatically selects the decay mode each PWM cycle for optimal current regulation performance based on factors like the motor winding resistance and inductance and the motor’s dynamic speed and load.

Pololu also sell a larger version of the A4988 carrier that has reverse power protection on the main power input and built-in 5 V and 3.3 V voltage regulators that eliminate the need for separate logic and motor supplies.

Some unipolar stepper motors (e.g. those with six or eight leads) can be controlled by this driver as bipolar stepper motors. For more information, please see the frequently asked questions. Unipolar motors with five leads cannot be used with this driver.

Included hardware

The A4988 stepper motor driver carrier comes with one 1×16-pin breakaway 0.1" male header. The headers can be soldered in for use with solderless breadboards or 0.1" female connectors. You can also solder your motor leads and other connections directly to the board. (A version of this board with headers already installed is also available.)

Using the driver

Minimal wiring diagram for connecting a microcontroller to an A4988 stepper motor driver carrier (full-step mode).

Power connections

The driver requires a logic supply voltage (3 – 5.5 V) to be connected across the VDD and GND pins and a motor supply voltage (8 – 35 V) to be connected across VMOT and GND. These supplies should have appropriate decoupling capacitors close to the board, and they should be capable of delivering the expected currents (peaks up to 4 A for the motor supply).

Warning: This carrier board uses low-ESR ceramic capacitors, which makes it susceptible to destructive LC voltage spikes, especially when using power leads longer than a few inches. Under the right conditions, these spikes can exceed the 35 V maximum voltage rating for the A4988 and permanently damage the board, even when the motor supply voltage is as low as 12 V. One way to protect the driver from such spikes is to put a large (at least 47 µF) electrolytic capacitor across motor power (VMOT) and ground somewhere close to the board.

Motor connections

Four, six, and eight-wire stepper motors can be driven by the A4988 if they are properly connected; a FAQ answer explains the proper wirings in detail.

Warning: Connecting or disconnecting a stepper motor while the driver is powered can destroy the driver. (More generally, rewiring anything while it is powered is asking for trouble.)

Step (and microstep) size

Stepper motors typically have a step size specification (e.g. 1.8° or 200 steps per revolution), which applies to full steps. A microstepping driver such as the A4988 allows higher resolutions by allowing intermediate step locations, which are achieved by energizing the coils with intermediate current levels. For instance, driving a motor in quarter-step mode will give the 200-step-per-revolution motor 800 microsteps per revolution by using four different current levels.

The resolution (step size) selector inputs (MS1, MS2, and MS3) enable selection from the five step resolutions according to the table below. MS1 and MS3 have internal 100kO pull-down resistors and MS2 has an internal 50kO pull-down resistor, so leaving these three microstep selection pins disconnected results in full-step mode. For the microstep modes to function correctly, the current limit must be set low enough (see below) so that current limiting gets engaged. Otherwise, the intermediate current levels will not be correctly maintained, and the motor will skip microsteps.

Control inputs

Each pulse to the STEP input corresponds to one microstep of the stepper motor in the direction selected by the DIR pin. Note that the STEP and DIR pins are not pulled to any particular voltage internally, so you should not leave either of these pins floating in your application. If you just want rotation in a single direction, you can tie DIR directly to VCC or GND. The chip has three different inputs for controlling its many power states: RST, SLP, and EN. For details about these power states, see the datasheet. Please note that the RST pin is floating; if you are not using the pin, you can connect it to the adjacent SLP pin on the PCB to bring it high and enable the board.

Current limiting

One way to maximize stepper motor performance is to use as high of a voltage as is practical for your application. In particular, increasing the voltage generally allows for higher step rates and stepping torque since the current can change more quickly in the coils after each step. However, in order to safely use voltages above the rated voltage of a stepper motor, the coil current must be actively limited to keep it from exceeding the motor’s rated current.

The A4988 supports such active current limiting, and the trimmer potentiometer on the board can be used to set the current limit. One way to set the current limit is to put the driver into full-step mode and measure the current running through a single motor coil while adjusting the current limit potentiometer. This should be done with the motor holding a fixed position (i.e. without clocking the STEP input). Note that the current you are measuring is only 70% of the actual current limit setting, since both coils are always on and limited to this value in full-step mode, so if you later enable microstepping modes, the current through the coils will be able to exceed this measured full-step current by 40% (1/0.7) on certain steps; please take this into account when using this method to set the current limit. Also, note that you will need to perform this adjustment again if you ever change the logic voltage, Vdd, since the reference voltage that sets the current limit is a function of Vdd.

Note: The coil current can be very different from the power supply current, so you should not use the current measured at the power supply to set the current limit. The appropriate place to put your current meter is in series with one of your stepper motor coils.

Another way to set the current limit is to calculate the reference voltage that corresponds to your desired current limit and then adjust the current limit potentiometer until you measure that voltage on the VREF pin. The VREF pin voltage is accessible on a via that is circled on the bottom silkscreen of the circuit board. The current limit, I_MAX, relates to the reference voltage as follows:

IMAX=VREF8⋅RCSIMAX=VREF8·RCS$I_{MAX}=\frac{V_{REF}}{8·R_{CS}}$

or, rearranged to solve for VREF:

VREF=8⋅IMAX⋅RCSVREF=8·IMAX·RCS$V_{REF}=8·I_{MAX}·R_{CS}$

R_CS is the current sense resistance; original versions of this board used 0.050 O current sense resistors, but Pololu switched to using 0.068 O current sense resistors in January 2017, which makes more of the adjustment potentiometer’s range useful. The following picture shows how to identify which current sense resistors your board has:

Identification of original 50 mO sense resistors (left) and 68 mO sense resistors (right) introduced in January 2017.

So, for example, if you want to set the current limit to 1 A and you have a board with 68 mO sense resistors, you would set VREF to 540 mV. Doing this ensures that even though the current through each coil changes from step to step, the magnitude of the current vector in the stepper motor stays constant at 1 A:

ICOIL12+ICOIL22=IMAX=1AI2COIL1+I2COIL2-------------v=IMAX=1A$\sqrt{I_{COIL1}^2+I_{COIL2}^2}=I_{MAX}=1\text{A}$

If you instead want the current through each coil to be 1 A in full-step mode, you would need to set the current limit to be 40% higher, or 1.4 A, since the coils are limited to approximately 70% of the set current limit in full-step mode (the equation above shows why this is the case). To do this with a board with 68 mO sense resistors, you would set VREF to 770 mV.

Power dissipation considerations

The A4988 driver IC has a maximum current rating of 2 A per coil, but the actual current you can deliver depends on how well you can keep the IC cool. The carrier’s printed circuit board is designed to draw heat out of the IC, but to supply more than approximately 1.2 A per coil, a heat sink or other cooling method is required (in Pololu's tests, Pololu were able to deliver approximately 1.4 A per coil with air flow from a PC fan and no heat sink).

This product can get hot enough to burn you long before the chip overheats. Take care when handling this product and other components connected to it.

Please note that measuring the current draw at the power supply will generally not provide an accurate measure of the coil current. Since the input voltage to the driver can be significantly higher than the coil voltage, the measured current on the power supply can be quite a bit lower than the coil current (the driver and coil basically act like a switching step-down power supply). Also, if the supply voltage is very high compared to what the motor needs to achieve the set current, the duty cycle will be very low, which also leads to significant differences between average and RMS currents.

Schematic diagram

Schematic diagram of the A4988 stepper motor driver carrier (both green and black editions).

Note: This board is a drop-in replacement for Pololu's original A4988 stepper motor driver carrier.

People often buy this product together with:

DRV8825 Stepper Motor Driver Carrier, High Current

Dimensions

General specifications

Identifying markings

Notes:

1

Without included optional headers.

2

Without a heat sink or forced air flow.

3

With sufficient additional cooling.

4

Male header pins are included for the board's 16 holes, but they are not installed.

File downloads

• Allegro A4988 stepper motor driver datasheet (1MB pdf)

• Dimension diagram of the A4988 Stepper Motor Driver Carrier, Black Edition (231k pdf)

• 3D model of the A4988 Stepper Motor Driver Carrier, Black Edition (3MB step)

• A4988 Stepper Motor Driver Carrier drill guide (33k dxf)

  This DXF drawing shows the locations of all of the board’s holes. It applies to both the green (md09b) and black (md09c) editions of the A4988 stepper motor driver carrier.

Recommended links

• Video: setting the current limit on Pololu stepper motor driver carriers

• Pololu A4988 stepper motor driver carrier assembly video

  A short video showing the in-house assembly of a panel of Black Edition A4988 stepper motor driver carriers on Pololu's Samsung SM421F pick and place machine.

• Pololu A4983/A4988 Stepper Motor Driver Carrier Kicad module

  A customer-made module for using the Pololu A4983/A4988 Stepper Motor Driver Carrier in Kicad. By Jared Harvey, October 2011.

• Arduino library for A4988, DRV8825, DRV8834, DRV8880

  This Arduino library, written by forum member laurb9, allows users to control a stepper motor with Pololu's A4988, DRV8825, or DRV8834 carriers. The library has functions that enable users to set rotational rate, change microstepping mode, and specify how many steps to take or specify how many degrees to rotate.