This circuit helps to limit the output current less than 20mA which can be sense and set by R1 & R8. It also disconnects I/O when the output shorts to positive high voltage or negative high voltage by limiting the current.
The diode, D1at the output and 5V0 pin is used to suppress the kick-back voltage from an inductive load that is excited when the drivers are turned off (stop sinking) and the stored energy in the coils causes a reverse current to flow into the coil supply through the kick-back diode
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