The Arduino Nano is a small, complete, and breadboard-friendly board based on the

ATmega328 (Arduino Nano 3.0) or ATmega168 (Arduino Nano 2.x). It has more or less
the same functionality of the Arduino Duemilanove, but in a different package. It lacks only
a DC power jack, and works with a Mini-B USB cable instead of a standard one. The Nano

was designed and is being produced by Gravitech.

Arduino Nano 3.0 (ATmega328): schematic, Eagle files.

Arduino Nano 2.3 (ATmega168): manual (pdf), Eagle files. Note: since the free version
of Eagle does not handle more than 2 layers, and this version of the Nano is 4 layers, it
is published here unrouted, so users can open and use it in the free version of Eagle.

Microcontroller Atmel ATmega168 or ATmega328

Operating Voltage 5V
(logic level)

Input Voltage 7-12 V

(recommende
d)
6-20 V
Input Voltage (limits)
14 (of which 6 provide PWM output)
Digital I/O Pins
8
Analog Input Pins
40 mA
DC Current per I/O
Pin
16 KB (ATmega168) or 32 KB (ATmega328) of which 2 KB
used by bootloader
Flash Memory
1 KB (ATmega168) or 2 KB (ATmega328)

SRAM
512 bytes (ATmega168) or 1 KB (ATmega328)

EEPROM
16 MHz

Clock Speed
0.73" x 1.70"

Dimensions
The Arduino Nano can be powered via the Mini -B USB connection, 6-20V unregulated external
power supply (pin 30), or 5V regulated external power supply (pin 27). The power source is
automatically selected to the highest voltage source.

The FTDI FT232RL chip on the Nano is only powered if the board is being powered over USB.
As a result, when running on external (non-USB) power, the 3.3V output (which is supplied by
the FTDI chip) is not available and the RX and TX LEDs will flicker if digital pins 0 or 1 are high.

The ATmega168 has 16 KB of flash memory for storing code (of which 2 KB is used for the
bootloader); the ATmega328 has 32 KB, (also with 2 KB used for the bootloader). The
ATmega168 has 1 KB of SRAM and 512 bytes of EEPROM (which can be read and written with
the EEPROM library); the ATmega328 has 2 KB of SRAM and 1 KB of EEPROM.
Each of the 14 digital pins on the Nano can be used as an input or output, using pinMode(),
digitalWrite(), and digitalRead() functions. They operate at 5 volts. Each pin can provide or
receive a maximum of 40 mA and has an internal pull-up resistor (disconnected by default) of
20-50 kOhms. In addition, some pins have specialized functions:

Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data.
These pins are connected to the corresponding pins of the FTDI USB-to-TTL Serial chip.

External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a

low value, a rising or falling edge, or a change in value. See the attachInterrupt() function
for details.

PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite() function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication, which,
although provided by the underlying hardware, is not currently included in the Arduino language.

LED: 13. There is a built-in LED connected to digital pin 13. When the pin is HIGH value,
the LED is on, when the pin is LOW, it's off.

The Nano has 8 analog inputs, each of which provide 10 bits of resolution (i.e. 1024 different
values). By default they measure from ground to 5 volts, though is it possible to change the
upper end of their range using the analogReference() function. Additionally, some pins have
specialized functionality:

I2C: 4 (SDA) and 5 (SCL). Support I2C (TWI) communication using the Wire library
(documentation on the Wiring website).

There are a couple of other pins on the board:

AREF. Reference voltage for the analog inputs. Used with analogReference().

Reset. Bring this line LOW to reset the microcontroller. Typically used to add a reset
button to shields which block the one on the board.

See also the mapping between Arduino pins and ATmega168 ports.
The Arduino Nano has a number of facilities for communicating with a computer, another Arduino,
or other microcontrollers. The ATmega168 and ATmega328 provide UART TTL (5V) serial
communication, which is available on digital pins 0 (RX) and 1 (TX). An FTDI FT232RL on the
board channels this serial communication over USB and the FTDI drivers (included with the
Arduino software) provide a virtual com port to software on the computer. The Arduino software
includes a serial monitor which allows simple textual data to be sent to and from the Arduino
board. The RX and TX LEDs on the board will flash when data is being transmitted via the FTDI
chip and USB connection to the computer (but not for serial communication on pins 0 and 1).

A SoftwareSerial library allows for serial communication on any of the Nano's digital pins.

The ATmega168 and ATmega328 also support I2C (TWI) and SPI communication. The
Arduino software includes a Wire library to simplify use of the I2C bus; see the documentation
for details. To use the SPI communication, please see the ATmega168 or ATmega328
datasheet.

The Arduino Nano can be programmed with the Arduino software (download). Select "Arduino
Diecimila, Duemilanove, or Nano w/ ATmega168" or "Arduino Duemilanove or Nano w/
ATmega328" from the Tools > Board menu (according to the microcontroller on your board). For
details, see the reference and tutorials.

The ATmega168 or ATmega328 on the Arduino Nano comes preburned with a bootloader that
allows you to upload new code to it without the use of an external hardware programmer. It
communicates using the original STK500 protocol (reference, C header files).

You can also bypass the bootloader and program the microcontroller through the ICSP (In-
Circuit Serial Programming) header; see these instructions for details.

Rather then requiring a physical press of the reset button before an upload, the Arduino Nano is
designed in a way that allows it to be reset by software running on a connected computer. One of
the hardware flow control lines (DTR) of the FT232RL is connected to the reset line of the
ATmega168 or ATmega328 via a 100 nanofarad capacitor. When this line is asserted (taken low),
the reset line drops long enough to reset the chip. The Arduino software uses this capability to
allow you to upload code by simply pressing the upload button in the Arduino environment. This
means that the bootloader can have a shorter timeout, as the lowering of DTR can be well-
coordinated with the start of the upload.

This setup has other implications. When the Nano is connected to either a computer running Mac
OS X or Linux, it resets each time a connection is made to it from software (via USB). For the
following half-second or so, the bootloader is running on the Nano. While it is programmed to
ignore malformed data (i.e. anything besides an upload of new code), it will intercept the first few
bytes of data sent to the board after a connection is opened. If a sketch running on the board
receives one-time configuration or other data when it first starts, make sure that the software with
which it communicates waits a second after opening the connection and before sending this dat
Arduino can sense the environment by receiving input from a variety of sensors and can affect its
surroundings by controlling lights, motors, and other actuators. The microcontroller on the board is
programmed using the Arduino programming language (based on Wiring) and the Arduino
development environment (based on Processing). Arduino projects can be stand-alone or they can
communicate with software on running on a computer (e.g. Flash, Processing, MaxMSP).

Arduino is a cross -platoform program. You’ll have to follow different instructions for your personal
OS. Check on the Arduino site for the latest instructions. http://arduino.cc/en/Guide/HomePage

Once you have downloaded/unzipped the arduino IDE, you’ll need to install the FTDI Drivers to let
your PC talk to the board. First Plug the Arduino to your PC via USB cable.

Now you’re actually ready to “burn” your

first program on the arduino board. To
select “blink led”, the physical translation
of the well known programming “hello
world”, select

File>Sketchbook>
Arduino-0017>Examples>
Digital>Blink

Once you have your skecth

you’ll see something very close
to the screenshot on the right.

In Tools>Board select Arduino

NANO and with the AtMEGA
you’re using (probably 328)
Now you have to go
to Tools>SerialPort

and select the right serial port,

the one arduino is attached to.
1. Warranties

1.1 The producer warrants that its products will conform to the Specifications. This warranty lasts for one (1) years from the date of the sale. The
producer shall not be liable for any defects that are caused by neglect, misuse or mistreatment by the Customer, including im proper installation or
testing, or for any products that have been altered or modified in any way by a Customer. Moreover, The producer shall not be liable for any defects that
result from Customer's design, specifications or instructions for such products. Testing and other quality control techniques are used to the extent the
producer deems necessary.

1.2 If any products fail to conform to the warranty set forth above, the producer's sole liability shall be to replace such products. The producer's liability
shall be limited to products that are determined by the producer not to conform to such warranty. If the producer elects to replace such products, the
producer shall have a reasonable time to replacements. Replaced products shall be warranted for a new full warranty period.

1.3 EXCEPT AS SET FORTH ABOVE, PRODUCTS ARE PROVIDED "AS IS" AND "WITH ALL FAULTS." THE PRODUCER DISCLAIMS ALL OTHER
WARRANTIES, EXPRESS OR IMPLIED, REGARDING PRODUCTS, INCLUDING BUT NOT LIMITED TO, ANY IMPLIED WARRANTIES OF
MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE

1.4 Customer agrees that prior to using any systems that include the producer products, Customer will test such systems and the functionality of the
products as used in such systems. The producer may provide technical, applications or design advice, quality characterization, reliability data or other
services. Customer acknowledges and agrees that providing these services shall not expand or otherwise alter the producer's warranties, as set forth
above, and no additional obligations or liabilities shall arise from the producer providing such services.

1.5 The Arduino products are not authorized for use in safety-critical applications where a failure of the product would reasonably be expected to cause
severe personal injury or death. Safety-Critical Applications include, without limitation, life support devices and

systems, equipment or systems for the operation of nuclear facilities and weapons systems. Arduino products are neither designed nor intended for
use in military or aerospace applications or environments and for automotive applications or environment. Customer

acknowledges and agrees that any such use of Arduino products which is solely at the Customer's risk, and that Customer is solely responsible for
compliance with all legal and regulatory requirements in connection with such use.

1.6 Customer acknowledges and agrees that it is solely responsible for compliance with all legal, regulatory and safety-related

requirements concerning its products and any use of Arduino products in Customer's applications, notwithstanding any applications-related information
or support that may be provided by the producer.

2. Indemnification

The Customer acknowledges and agrees to defend, indemnify and hold harmless the producer from and against any and all third-party losses,
damages, liabilities and expenses it incurs to the extent directly caused by: (i) an actual breach by a Customer of the representation and warranties
made under this terms and conditions or (ii) the gross negligence or willful misconduct by the Customer.

3. Consequential Damages Waiver

In no event the producer shall be liable to the Customer or any third parties for any special, collateral, indirect, punitive, incidental, consequential or
exemplary damages in connection with or arising out of the products provided hereunder, regardless of whether the producer has been advised of the
possibility of such damages. This section will survive the termination of the warranty period.

4. Changes to specifications

The producer may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or
characteristics of any features or instructions marked "reserved" or "undefined." The producer reserves these for future d efinition and shall have no
responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is
subject to change without notice. Do not finalize a design with this information.
Quick Reference NEMA size 17 1.8° 2-phase stepper motor

Notes and Warnings

Installation, configuration and maintenance must be carried out by qualified tech-nicians only. You must have detailed information to be able to carry out this work.

• Unexpected dangers may be encountered when working with this product!

• Incorrect use may destroy this product and connected components!

For more information, go to www.imshome.com

Specifications

1.5 Amp motors Single length Double length Triple length

Part number M-1713-1.5 • (1) M-1715-1.5 • (1) M-1719-1.5 • (1)

Holding torque oz-in 32 60 75

N-cm 23 42 53

Detent torque oz-in 1.7 2.1 3.5

N-cm 1.2 1.5 2.5

2
Rotor inertia oz-in-sec 0.000538 0.0008037 0.0011562

2
kg-cm 0.038 0.057 0.082

Weight oz 7.4 8.1 12.7

grams 210 230 360

Phase current amps 1.5 1.5 1.5

Phase resistance ohms 1.3 2.1 2.0

Phase inductance mH 2.1 5.0 3.85

(1) Indicate S for single-shaft or D for double-shaft. Example M-1713-1.5S

Wiring and Connections

Signals and wire colors

Phase A Red

Phase /A Blue

Phase B Green

Phase /B Black
Mechanical Specifications

Dimensions in inches (mm)

0.94 ± 0.02

(23.88 ± 0.51)

L
Optional MAX

rear

0.590 (14.86)

shaft

0.55 0.177 ± 0.002

(14) (4.52 ± 0.05)

0.177 ± 0.002

(4.52 ± 0.05)

Ø 0.197 (Ø 5.0)

0.08 (2.03)

Flat extends to

rear end bell

11.8 inches (30 cm)

FRONT VIEW

4X Ø M3xP0.5

0.177 (4.5) deep min

Ø 0.197 +0/-0.001

(Ø 4.99 +0/-0.012)

Ø 0.866 +0/-0.002

(Ø 22.0 +0/-0.052)

…1.22

(…30.99)

…1.67

(…42.3)

REAR VIEW (Reduced)

2X M2

0.20 (5.1)

deep min
 0.75 ±0.005

(19 ±0.13)

Motor stack length inches (mm) Single Double Triple

LMAX 1.34 (34.0) 1.57 (40) 1.89 (48)

Part Numbers

Example: M - 1 7 13-1.5S

Stepper motor frame size M - 1 7 1 3 -1.5S

M - 17 = NEMA 17 (1.7” / 42 mm)

Motor length M - 1 7 1 3 1 .5S

13 - = single stack

15 - = double stack

19 - = triple stack

Phase current M - 1 7 1 3 -1 .5S

1.5 = 1.5 Amps

Shaft M - 1 7 1 3 -1 .5S

S = single, front shaft only

D = double, front and rear shafts

Optional optical encoder (1) M - 1 7 1 3 -1 .5ES100

ES = Single-end

ED = Differential

Line count

100, 200, 250, 400, 500 or 1000 (2)

(1) An encoder replaces the shaft designator in the part number.

(2) All encoders have an index mark, except the 1000 line count version.

NEMA17 stepper motor Quick Reference R060210

Torque-speed performance
Optical Encoder Option

Measured at 1.5 Amps RMS

Dimensions in inches (mm)

Ø 0.078 (1.98) 3 places

M-1713-1.5 equally spaced on a

Ø 0.823 (20.9) bolt circle

0.600
Torque in oz-in (N-cm)

2X Ø 0.109 (2.7) (15.2)

1.420

53 (39)

24 VDC
(36.0)

1.700

37 (26) 48 VDC
(43.1)

0.750

18(13) (19.0)

0.69

(17.5)

Connectivity single-end encoder differential encoder

0 0 2000 4000 6000 2 4 6 8 10

(600) (1200) (1800) 13579

12345

Speed in full steps per second (rpm)

wire function pin function pin function

1 Brown Ground 1 no connect 6 Channel A+

M-1715-1.5
2 Violet Index 2 +5 VDC input 7 Channel B –

8 Channe l B+

Torque in oz-in (N-cm)

53 (39) 3 Blue Channel A 3 Ground

24 VDC
4 Orange +5 VDC input 4 no connect 9 Index –

48 VDC 5 Yellow Channel B 5 Channel A – 10 Index +

37 (26)
optional interface cable interface cable included

available: ES-CABLE-2

18(13)
Timing single-end encoder differential encoder

C X Y

X Y

CH A +

0 0 2000 4000 6000

(600) (1200) (1800) 18(13)

Speed in full steps per second (rpm)

M-1719-1.5

0 0 2000 4000 6000

Torque in oz-in (N-cm)

(600) (1200) (1800)

53 (39) Speed in full steps per second (rpm)

24 VDC

48 VDC

2. (26)
 CH A

CH A -

CH B

CH B +

t1

t2

CH B -

IDX

t1

Po t2

IDX +

Po IDX -

Parameter Symbol Min Typ Max Units

Cycle error 3 5.5 ºe

Symmetry 130 180 230 ºe

Quadrature 40 90 140 ºe

Index pulse width Po 60 90 120 ºe

Index rise (after Ch A or B rise) t1 -300 100 250 ns

Index fall (after Ch A or B fall) t2 70 150 1000 ns

C One cycle: 360 electrical degrees (ºe).

X/Y Symmetry: the measure of the relationship between X and Y, nominally 180ºe.

Z Quadrature: the phase lead or lag between channels A and B, nominally 90ºe.

Po Index pulse width, nominally 90 ºe.

NOTE: Rotation is as viewed from the cover side of the encoder.

RB-Pol-176
Pololu 8-35V 2A Single Bipolar Stepper Motor Driver A4988

A4988

Stepper Motor Driver Carrier

The A4988 stepper motor driver carrier is a breakout board for Allegro’s easy-to-use A4988
microstepping bipolar stepper motor driver and is a drop-in replacement for the A4983
stepper motor driver carrier. The driver features adjustable current limiting, overcurrent
protection, and five different microstep resolutions. It operates from 8 – 35 V and can deliver
up to 2 A per coil.
Note: This board is a drop-in replacement for the original A4983 stepper motor driver carrier.
The newer A4988 offers overcurrent protection and has an internal 100k pull-down on the
MS1 microstep selection pin, but it is otherwise virtually identical to the A4983.

Description
Overview
This product is a carrier board or breakout board for Allegro’s A4988 DMOS
Microstepping Driver with Translator and Overcurrent Protection; we therefore
recommend careful reading of the A4988 datasheet (380k 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 (this feature is not available on

the A4983)

Like nearly all our other carrier boards, this product ships with all surface-mount components
—including the A4988 driver IC—installed as shown in the product picture.
We 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.

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.

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 of (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).

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.)

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, MS3) enable selection from the five
step resolutions according to the table below. MS1 and MS3 have internal 100kΩ pull-down
resistors and MS2 has an internal 50kΩ 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 effectively operate in a full-step mode.
MS1 MS2 MS3 Microstep Resolution
Low Low Low Full step
High Low Low Half step
Low High Low Quarter step

High High Low Eighth step

High High High Sixteenth step

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.

Current limiting
To achieve high step rates, the motor supply is typically much higher than would be
permissible without active current limiting. For instance, a typical stepper motor might have a
maximum current rating of 1 A with a 5Ω coil resistance, which would indicate a maximum
motor supply of 5 V. Using such a motor with 12 V would allow higher step rates, but the
current must actively be limited to under 1 A to prevent damage to the motor.

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 to measure the current running through a single motor coil without
clocking the STEP input. The measured current will be 0.7 times the current limit (since both
coils are always on and limited to 70% in full-step mode). Please note that the current limit is
dependent on the Vdd voltage.

Another way to set the current limit is to measure the voltage on the “ref” pin and to calculate
the resulting current limit (the current sense resistors are 0.05Ω). The ref pin voltage is
accessible on a via that is circled on the bottom silkscreen of the circuit board. See the A4988
datasheet for more information.
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 A per coil, a
heat sink or other cooling method is required.

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 does not necessarily
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 md09b A4988 stepper motor driver carrier.