The DRV3201 offers a unity gain amplifier that supports a shift voltage with lower output impedance. This allows each current sense path to handle negative common-mode voltages across the external shunt resistor. The shift-voltage is applied externally on the RI pin, with the actual shift-voltage being buffered on the RO pin. The RI input pin is a high-impedant input to a MOS gate with internal ESD protection to ground. There is no reverse pull-up path present to any supply (fail-safe ESD structure).